Home

OMNUC W series DeviceNet Option Unit

1. lows Terminating Tr nklin Trunk line Terminating resistor DeviceNet special cable DeviceNet special cable resistor A Cs pa F fs A eS A E 3 m max e E Communications ma a Node Node Node power supply Node Node Node 0 1A 0 25 A 0 2 A 0 15 A 0 25 A 0 15 A l 120 m af 120m Trunk line Power supply cable Total power supply length on left Total power supply length on right 120 m Total current consumption on left 0 1 0 25 0 2 0 55 A Total current consumption on right 0 15 0 25 0 15 0 55 A Maximum current for the left side of the thick cable see previous table approx 2 5 A Maximum current for the right side of the thick cable see previous table approx 2 5 A using straight line approximation between 100 to 150 m Because the total current flow 0 55 A is less than the maximum current approx 2 5 A on both the left and the right sides the power supply can be placed at the center of the network and provide power to all nodes 6 12 6 3 Precautions for Communications Line Design E Step 2 Calculating the Best Location of the Actual Nodes Go to Step 2 if the best location for the power supply cannot be determined from the graphs The second method calculates the best location for each actual node and does not estimate the worst possible configuration for the power supply Basically in
2. 5 41 5 3 7 Multi speed Positioning 5 41 5 3 8 Notch Signal Output Positioning 5 42 5 1 5 Parameter Settings 5 1 1 Outline of Parameters 5 1 Parameters This section provides an outline types editing method and effective timing of DeviceNet Unit parameters 5 1 1 Outline of Parameters A parameter is the name given to the user constants that are required as the settings used to operate the DeviceNet Unit You must set the optimum values for parameters according to the machine to which the DeviceNet Unit and the W series Servo Driver are connected You can edit the DeviceNet Unit parameters using the Setup Tool DeviceNet Configurator version 2 2 or later or host controller For parameters of the W series Servo Driver refer to Chapter 8 Servo Driver Settings or the OMNUC W series Servomotors Servo Drivers User 5 Manual 1531 E1 Q 5 1 2 Parameter Types Parameters are classified depending on their purpose as follows e Unit parameters e Origin search parameters e Machine system and peripheral device parameters e Speed acceleration and deceleration parameters e Positioning parameters e Multi speed positioning parameters e Notch output positioning parameters e Point table parameters Parameters are further classified according to the priority of the setting as shown below Table 5 1 Parameter Types Paramet
3. 6 4 6 5 sampling interval 6 73 sequence input circuit 4 10 sequence input signal 8 13 sequence output signal 8 14 Servo ON OFF Command 6 60 Servomotor rotation direction 8 8 Setup Tool 1 3 4 3 4 4 4 5 5 2 speed acceleration and deceleration parameters 5 26 standard settings 8 4 8 8 Station Command 6 46 6 62 Step Command 6 44 6 62 T terminating resistor 4 18 4 21 trace settings 6 71 trunk line and drop lines 4 17 4 18 Unit Reset Command 6 64 WwW warning codes 10 31 OMRON OMRON Corporation Systems Components Division 66 Matsumoto Mishima city Shizuoka 411 8511 Japan Tel 81 559 77 9633 Fax 81 559 77 9097 a SN Authorized Distributor N A Cat No 1538 E1 01 Note Specifications subject to change without notice Printed in Japan No 6182 OMRON Corporation Read and Understand this Manual Please read and understand this manual before using the product Please consult your OMRON representative if you h
4. 8 15 8 4 1 Using the Dynamic Brake 8 15 8 4 2 Using the Holding Brake 8 16 8 5 Absolute Encoders 8 20 8 5 1 Selecting an Absolute Encoder 8 20 8 5 2 Absolute Encoder Setup Initialization 8 21 8 5 3 Absolute Encoder Multi turn Limit Setting 8 21 8 6 Parameter Unit 8 23 8 1 8 Servo Driver Settings 8 1 1 Parameters 8 1 Setting Up the Servo Driver When the DeviceNet Unit is Mounted This section describes the procedure for setting parameters to operate the Servo Driver 8 1 1 Parameters The W Series Servo Driver provides many functions and has parameters that allow the user to specify functions and perform fine adjustments Servo Driver Parameters are divided into the following three groups Pn000 to Pn601 Specify Servo Driver functions set servo gains etc gt o ol Bk o 88389 o Display Setting Area Parameter Unit or DeviceNet commands is used to set parameters P Lpttpttp H Fn000 to Fn013 Execute auxiliary functions such as JOG operations and origin searches Un000 to Un00D Monitor the motor speed and torque command value on the panel display 8 2 8 1 Setting Up the Servo Driver When the DeviceNet Unit is Mounted 8 1 2 Auto
5. the circuit OFF when overcurrent is detected Molded case pi circuit breaker Noise Filter Magnetic contactor Power supply line ground LIL2131 acLoc Regenerative Resistor Connect an external regenerative resistor to terminals B1 and B2 if the regenerative capacity is insufficient Host Controller The following OMRON DeviceNet Master Units are available CS1W DRM21 id CJ1W DRM21 Can be connected to DeviceNet Master Unit J C J Parameter Unit R88A PR02W Allows the user to set parameters and to display operation references or alarm status Cable model RB88A CCW002C Personal Computer for Setup Tool SV Cable model R88A CCW02P4 Xz es Encoder Cable WW Regenerative resistor Encoder Connector A special Setup Tool Cable and the Setup Tool Software SBCE 001 are required to set and monitor Servo Driver and DeviceNet Unit parameters from a personal computer 4 1 Connecting to Peripheral Devices 4 1 3 Three phase 400 V Main Circuit Specifications Host Controller Can be connected to DeviceNet Master Unit Power Supply for Brake 100 VAC or 200 VAC power supply zef g ae ee ie 24 VDC power supply for Servomo we EY BE EE Be i tors with 24 VDC brakes YJ The fo
6. 8 13 8 3 1 Sequence I O Signals 8 13 8 4 Setting Stop Functions 8 15 8 4 1 Using the Dynamic Brake 8 15 8 4 2 Using the Holding Brake 8 16 8 5 Absolute Encoders 8 20 INDEX 10 8 5 1 Selecting an Absolute Encoder 8 20 8 5 2 Absolute Encoder Setup Initialization 8 21 8 5 3 Absolute Encoder Multi turn Limit Setting 8 21 8 6 Parameter Unit 8 23 9 Troubleshooting 9 1 Alarm Display Table 9 2 9 2 Warning Display Table 9 5 9 3 Troubleshooting with Alarm Displays 9 6 9 4 Error Diagnosis Due To Operating Status 9 44 10 Appendix 10 1 DeviceNet Object Model 10 2 10 2 DeviceNet Attributes 10 3 10 2 1 Identity Object 0x01 10 3 10 2 2 Message Router Object 0x02 10 4 10 2 3 DeviceNet Object 0x03 10 5 10 2 4 Assembly Object 0x04 10 6 10 2 5 Connection Object 0x05 10 7 10 2 6 DeviceNet Unit Parameter Object 0x64
7. Positioning Ground complete 1 GND common E 26 INP1COM output 1 2 GND Ground 27 BKIR lock output common common P Brake inter 3 28 BKIRCOM lock output common 4 29 READY Servo ready P Servo ready 5 E 7 6 i 30 READYCOM output ervo alarm common 6 GND Ground 31 ALM output common 7 2 32 aLmcon Alarm output ground 8 33 Ground 9 34 GND 10 common 35 11 lt J Alarm code 36 K g 12 37 ALO1 output 1 a arm code 13 E 38 ALO2 output 2 14 7 39 ALO3 Alarm code p 15 output 3 40 Z E Origin pro 7 6 T 41 ORG ximity input Forward rota 17 signal ia 42 POT tion drive pro 18 43 NOT tion drive pro hibited input 19 _ hibited input 44 EXTP Interrupt Origin input input signal a 21 BAT Backup sala erd 46 22 BATGND ie on battery input 47 24VIN power supply 23 inpu 48 as 24 i Positioning 49 a 25 INP1 complete 50 s z output 1 Make signal allocations using parameters Refer to 8 1 3 Standard Settings for I O Signals Note 1 Do not use unused terminals for relays 2 Connect the shield of the I O signal cable to the connector shell The shield is connected to the FG frame ground at the Servo Driver end connector E CN1 Specifications Specifications for Servo Driver Connectors Applicable Receptacles 10250 52A2JL 50 p 10150 3000VE 10350 52A0 008 Sumitomo 3M Ltd Right Angle Plug 4 8 4 3 Servo
8. 6 6 CRC check 6 65 CS CJ series DeviceNet Master Unit 6 68 D DeviceNet Configurator 1 4 5 2 DeviceNet connection example 4 17 DeviceNet connector specifications 4 15 DeviceNet Master Unit 6 20 Direct Operation Command 6 52 dynamic brake 8 9 8 15 E EDS files 1 2 electronic gear function 5 10 Emergency Stop Command 6 61 encoder cable 4 3 4 4 4 5 encoder connector 4 3 4 4 4 5 environmental conditions 3 4 error responses 6 66 Explicit Message communications 6 20 6 65 external regenerative resistor 4 3 4 4 4 5 F forward command 8 8 fully closed encoder 4 14 8 10 function outlines 1 5 Gmark 2 7 general command bits command 6 22 general status response 6 24 ground line connecting screw 2 6 l Interrupt Feeding Comma
9. Communications power supply Node Node Node Node Node Splitting the Power Supply System with Multiple Power Supplies and Locating the Nodes on One Side of the Power Supplies System 2 System 1 t F Power Supply Tap Power Supply Tap rt ri rf rf rt Communications Node Communications af 5 power supply Node Node power supply Node Node Node fuse V o ies Remove the fuse and split V Make V the same for Systems 1 and 2 Y i 24V OV Dual Power Supply with Multiple Power Supplies Power Supply Tap Power Supply Tap T I J rt J J I j l H FH Communications a at Communications power supply Node Node Node Node Node power supply 6 8 6 3 Precautions for Communications Line Design Note 1 Configu
10. however does not indicate an alarm Refer to the following sections to identify the cause of an alarm and the action to be taken Contact your OMRON representative if the problem cannot be solved by the described proce dures E A 02 A 02 Parameter Corruption Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state Status and Remedy for Alarm e i Power turned OFF during parameter write Initialize parameters using Fn005 and Alarm occurred at the next power ON reinput user settings e Replace the Servo Driver B Circuit board 1PWB is defective Replace the Servo Driver The DeviceNet Unit is defective Replace the DeviceNet Unit 9 6 9 3 Troubleshooting with Alarm Displays E A 03 A 03 Main circuit Detection Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state Status and Remedy for Alarm At power ON gt Circuit board 1PWB or 2PWB is defective Replace the Servo Driver E A 04 A 04 Parameter Setting Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state Status and Remedy for Alarm At power ON A B C An out of range parameter was previously e Reset all user parameters in range set or loaded e O
11. 6 65 6 DeviceNet Communications 6 8 2 Command Response Blocks 6 8 2 Command Response Blocks This section describes details of Explicit Message command response blocks when the CS CJ series DeviceNet Master Unit is used E Command Block The Explicit Message command block is shown below Command Class ID Instance ID Service data code Object Attribute No or Service code attribute No data Destination node address E Response Block The Explicit Message response block is shown below Normal Response When a normal response is returned to the sent Explicit Message the response block is shown below Command Response No of bytes j Service data code code received Service code Source node address Error Responses The following response is returned if an error occurs for the Explicit Message Command Response No of bytes Error code code code received Service code 94 fixed Source node address For DeviceNet error codes refer to 10 3 3 Error Codes for Message Communications 6 66 6 8 Communications Using Explicit Messages Failed Sending or Timeout The following response is returned if the Explicit Message cannot be sent or times out a ar gt Sees sare Command Response code code Details of Command Response Blocks This section describes details of command response blocks used for the Explicit Message Send Destination Node Address Command Specifies th
12. 4 For Explicit Messages this must be set to at least 2 s 5 Set bit 15 of word C 4 to 0 response returned or 1 response For Explicit Messages this bit must be set to 0 response returned E Message Timing When executing CMND an AND condition must be set for the ON status of the SYSMAC s Network Communications Enabled Flag A20200 to A20207 and the Master Unit s Mes sage Communications Enabled Flag bit 12 of word 25 x unit number 1542 Execution Network Communications Message Communications condition Enabled Flag Enabled Flag e E 4 6 69 6 DeviceNet Communications 6 8 3 Sending Explicit Messages Using the CMND Instruction E Message Response Read Timing Execute response reading by the rising edge of the Network Communications Enabled Flag for each communications port Network Communications Enabled Flag A Response read processing E Communication related Flags The following table shows the communications related flags SYSMAC flags Network Com Execution disabled munications Executing Enabled Flag Execution enabled Not executing wo fe e w Network Com Normal completion N wo o munications Execution Error Flag Error Z HOd gt HOd gt ZWOg gt IN 0 HOd gt Master Unit status Message Com 25 X unit Error is read and Master Unit
13. 6 3 6 2 DeviceNet Switch Settings and Display 6 4 6 2 1 Rotary Switch Settings for Setting Node Address 6 4 6 2 2 Rotary Switch Settings for Setting Baud Rate 6 5 6 2 3 LED Indicators 6 5 6 3 Precautions for Communications Line Design 6 6 6 3 1 Providing the Communications Power Supply 6 6 6 3 2 Communications Line Noise Precautions 6 16 6 4 Overview of Remote I O and Explicit Message Communications 6 20 6 4 1 Remote I O Communications 6 20 6 4 2 Explicit Message Communications 6 20 6 5 Remote I O Communications 6 21 6 5 1 Basic Block 6 21 6 5 2 General Command Bits and Status 6 22 6 5 3 Move Commands for Remote I O Communications 6 26 6 5 4 Set Read Commands for Remote I O Communications 6 34 6 6 Details on Move Commands for Remote I O Communications 6 42 6 6 1 No operation Command Code 0000 0 Hex 6 42 6 6 2 Operation 6 52 6 7 Command Method Using the Remote I O Communications 6 60 6 7 1 Basic Operation 6 60 6 7 2
14. 6 42 6 6 Details on Move Commands for Remote I O Communications Operation Command Method 1 Set the Servo ON Command byte 0 bit 1 to 1 2 Set the movement direction byte 3 bit 1 3 Set the override value The Pn830 setting determines whether the override will be set as a ratio or as a speed x 1000 steps min 4 Set the JOG Command byte 2 bit 3 to 1 Override value 0 to 200 or JOG speed 0 to 240 000 x 1000 steps min 6 43 6 DeviceNet Communications 6 6 1 No operation Command Code 0000 0 Hex E Step Command Command Bit STEP 1 This section describes the Step Command function related parameters operation and com mand method Function When the Step Command is set to 1 the axis will travel from the present position in the set direction for the set travel distance and then stop The travel distance can be selected from four parameters Related Parameters Name Setting Range Unit Effective Default Type Timing Setting Pn821 Speed 1 to 240 000 x 1000 Immediate 24 000 steps min i 00 i 00 Pn824 Switch Speed 1 to 240 000 x 1000 Immediate 12 000 steps min Pn825 Second Acceleration 1 to 10 000 00 Deceleration Time 5 5 1 0 00 Object Attribute No P 1 1 C i Pn826 Acceleration Decelera 0 1 2 3 Immediate tion Type Pn843 Maximum Speed 1 to 240 000 x 1000 Immediate 24 000 steps min Pn844 Step Distance 1 0 to 99 99
15. N Caution N Caution N Caution Do not hold the product by the cables or motor shaft while transporting it Doing so may result in injury or malfunction Do not place any load exceeding the figure indicated on the product Doing so may result in injury or malfunction Use the motor eye bolts only for transporting the Motor Using them for transporting the machinery may result in injury or malfunction Installation and Wiring Precautions N Caution N Caution N Caution N Caution N Caution N Caution N Caution N Caution N Caution N Caution N Caution N Caution N Caution N Caution Do not step on or place a heavy object on the product Doing so may result in injury Do not cover the inlet or outlet ports and prevent any foreign objects from entering the prod uct Doing so may result in fire Be sure to install the product in the correct direction Not doing so may result in malfunction Provide the specified clearances between the Servo Driver and the control panel or with other devices Not doing so may result in fire or malfunction Do not apply any strong impact Doing so may result in malfunction Be sure to wire correctly and securely Not doing so may result in motor runaway injury or malfunction Be sure to install the Unit correctly and securely Not doing so may result in motor runaway injury or malfunction Be sure that all the mounting screws terminal screws and c
16. Set the target for activating the trigger The objects that can be selected are the four targets set for Data Trace 1 Data Trace 2 I O Trace 1 and I O Trace 2 as well as no trigger When no trigger is set the trigger is activated when tracing begins and the Trigger Level Trigger Edge and Pre trigger Data Amount settings are disabled 0000 Hex No trigger target 0001 Hex Data set for Data Trace 1 0002 Hex Data set for Data Trace 2 0003 Hex T O data set for I O Trace 1 0004 Hex T O data set for I O Trace 2 Trigger Level Object 0x67 Instance 0x01 Attribute 16 Set the criteria for detecting the trigger The unit for this setting is the same as for the Trigger Target If the Trigger Target is set for I O Trace 1 I O Trace 2 or no trigger the trigger level setting is disabled Edge Type Object 0x67 Instance 0x01 Attribute 17 Set the direction of change when the trigger is considered valid If the Trigger Target is set to no trigger the Edge Type setting is disabled 0000 Hex Rising edge Trace data The trigger is detected when the data changes from less than the trigger level to the trigger level or higher I O trace The trigger is detected when the signal changes from low to high 0001 Hex Falling edge Trace data The trigger is detected when the data changes from higher than the trigger level to the trigger level or lower TO trace The trigger is detected when the signal change
17. 0100 3221 MOVL 021 Sets the command code and response type Sets the relative value Sets the 1000000 a target position SET 3220 00 Turns ON C_STRT Continued on next page 7 Ladder Programming Examples 7 2 3 Direct Operation Command From previous page 3320 00 3321 00 C_STRT_R PRGS Ends direct operation when PRGS turns OFF Direct operation end RSET 3220 00 Turns OFF C_STRT 7 2 Remote I O Programming 7 2 4 Parameter Read Command The following is a programming example for reading parameters E Condition Reads parameter Pn843 Maximum Speed E Operation 1 Turn ON MOD and set the set read command 2 Set the command code Parameter Read Command 3 Set the parameter number to 843 4 Turn ON C_STRT to read parameters E Ladder Programming Execution condition 3320 00 DIFU 013 W030 03 MOVD 034 0800 0212 3220 SET 3220 07 MOV 021 C_STRT_R W030 03 0843 3221 SET 3220 00 7 7 Sets the command code and response type Turns ON MOD Sets the parameter number Turns ON C_STRT 7 Ladder Programming Examples 7 3 Programming Explicit Messages The following is a programming example for using Explicit Messages to read parameters E Conditions e Reads parameter Pn843 Maximum Speed e Uses CS CJ series DeviceNet Master U
18. 4 10 4 4 I O Signal Connections for DeviceNet Units CN4 4 12 4 4 1 CN4 Connection Example 4 12 4 4 2 Connection Terminal Layout 4 12 4 4 3 I O Signal Interface Circuits 4 13 4 4 4 Fully closed Encoder Connection Example 4 14 4 5 Connection and Wiring of the DeviceNet Communications Connector 4 15 4 5 1 Connector Specifications 4 15 4 5 2 DeviceNet Communications Connection Example 4 17 4 5 3 DeviceNet Network Configuration Restrictions 4 19 5 Parameter Settings 5 1 Parameters 5 2 5 1 1 Outline of Parameters 5 2 5 1 2 Parameter Types 5 2 5 1 3 Editing Parameters 5 3 5 1 4 Effective Timing 5 3 5 2 Parameter Tables 5 4 5 2 1 Unit Parameters 5 4 5 2 2 Origin Search Parameters 5 4 5 2 3 Machine System and Peripheral Device Parameters 5 5 5 2 4 Speed Acceleration and Deceleration Parameters 5 6 5 2 5 Positioning Parameters 5 7 5 2 6 Multi
19. 6 26 6 5 Remote I O Communications Response Types The response type in the commands specifies the type of data that will be stored as the response data in the responses The DeviceNet Unit creates response data in the responses based on the specified response type Table 6 6 Response Type 0000 O Fx 0001 THe 0070 Hew 0100 4 Hex Present speed 1000 Command unit 1010 A Hex Station number e While stopping station number of the present value e While moving station number at startup 1077 Hod Command Bits The command bits for move commands are described below Cancel Command CANCEL Byte 2 Bit 0 If the Cancel Command is set to 1 during execution of a move command the execution of the move command will be stopped and the Servomotor will decelerate to a stop The remaining travel distance will be canceled Hold Command HOLD Byte 2 Bit 1 If the Hold Command is set to 1 during execution of a move command the execution of the move command will be held and the Servomotor will decelerate to a stop The DeviceNet Unit will wait for command execution to be restarted Set the Hold Command to 0 again to restart the execution of a move command 6 27 6 DeviceNet Communications 6 5 3 Move Commands for Remote I O Communications JOG Command JOG Byte 2 Bit 3 The DeviceNet Unit will start JOG operation when it detects the rising edge of the JOG bit JOG operation will continue while this b
20. 6 59 6 DeviceNet Communications 6 7 1 Basic Operation 6 7 Command Method Using the Remote I O Communications This section describes the basic operation of the DeviceNet Unit and command method using the Remote I O communications 6 7 1 Basic Operation The basic operation of the DeviceNet Unit is shown below 1 Once DeviceNet communications have started check that the Unit is ready i e that READY is 1 2 Set the Emergency Stop Command STOP to 1 to clear emergency stop status 3 Set the Servo ON Command SVON to 1 to turn ON the servo Confirm that the servo of the W series Servo Driver is ON by checking the status of SVON_ R 4 Set a command 5 Confirm that the Progressing Flag PRGS has changed to 1 6 Monitor the Progressing Flag PRGS When it changes to 0 again the operation has been completed 7 Set another command 6 7 2 Command Method For the following commands that involve movement always wait until one command has been completed before executing another command If commands are executed simulta neously or while the axis is travelling a Command Warning A 95 will occur e JOG Command e Step Command e Station Command e Point Table Command e Origin Search Command e Move command based on a command code The Emergency Stop Servo ON Cancel and Hold Commands are effective any time E Servo ON OFF Command When the Servo ON Command SVON is changed from 0 to 1 current i
21. Backup battery 1 BAT BATGND 2 8 to 4 5V 24VDC_ 24VIN ae 21 Not used Origin proximity ORG o o Forward rotation drive prohibited POT 2 e Reverse rotation drive prohibited NOT o e Interrupt EXTP e Origin ZERO o e Not used 25 JINP1 Positioning completed 1 3 26 INP1COM Maximum operating voltage 30 VDC Maximum output current 20 mA DC Maximum operating voltage 30 VDC Maximum output current 20 mA DC 1 When using an absolute encoder connect a backup battery only when there is no battery connected to the CN8 2 Make signal allocations using parameters Refer to 8 1 3 Standard Set tings for I O Signals Input signal settings are changed by the DeviceNet Unit and cannot be changed by the user The functions of the output signals on pins 25 to 30 and the polarity effective high low of the input signals on pins 41 to 45 can be changed using the parameter settings The diagram above shows the standard settings Fig 4 1 I O Signal Connections for CN1 Connectors 4 Connectors 4 3 2 I O Signals Connector CN1 4 3 2 O Signals Connector CN1 m CN1 Terminal Layout The following diagram shows the layout of CN1 terminals
22. 0x10 Set_Attribute Single Modifies the specified attribute Data Types UINT Unsigned integer DINT Double precision integer 10 26 10 2 DeviceNet Attributes 10 2 10 Trace Data Object 0x68 Class and instances of the Trace Data Object 0x68 are shown below E Class e Attributes None supported e Services None supported E Instances Attributes Instance 1 Explicit Message Data Trace 1 0x1C Byte data read 1 to 1000 0x1D Word data read Attributes Instance 2 Explicit Message Data Trace 2 0x1C Byte data read 1 to 1000 0x1D Word data read Attributes Instance 3 Explicit Message VO Trace 1 0x1C Byte data read 1 to 63 0x1D Word data read Attributes Instance 4 Explicit Message T O Trace 2 0x1C Byte data read 1 to 63 0x1D Word data read 10 27 10 Appendix 10 3 1 Alarm Codes 10 3 Alarm Warning Codes and Error Codes for Message Communications This section lists the alarm warning codes and error codes for message communications 10 3 1 Alarm Codes Alarm codes are displayed on the front of the W series Servo Driver and at the same time can also be read as responses at the host device connected via DeviceNet Alarms are also displayed using the MS and NS indicators on the DeviceNet Unit The MS indicator is the module status the NS indicator is the network status The required indicator responses are shown in the table The alarm codes are shown
23. Status and Remedy for Alarm When main circuit power Ai Si A Frequently turning the main circuit power Do not repeatedly turn ON OFF the main ON OFF circuit power Circuit board 1PWB is defective Replace the Servo Driver 9 16 9 3 Troubleshooting with Alarm Displays E A 7A A 7A Overheat Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm During Servomotor D When control circuit operation power turned ON A The ambient temperature of the Servo Alter conditions so that the ambient temper Driver exceeds 55 C ature goes below 55 C The air flow around the heat sink is bad Follow installation method and provide suf ficient surrounding space as specified Fan stopped Replace the Servo Driver fied The Servo Driver is operating under over Reduce load load The Servo Driver is defective Replace the Servo Driver Note This alarm display tends to occur only with a Servo Driver of 30 W to 1 000 W 9 Troubleshooting E A 81 A 81 Backup Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state Status and Remedy for Alarm The following power supplies to the abso Follow absolute encoder set up procedure lute encoder all failed e 5
24. an S Z 10 2 DeviceNet Attributes No Access Name Data Type Description Setting Default Range Setting Get Set Reverse UINT Sets the reverse torque limit 0 to 800 350 Torque Limit Unit 144 Get Set Forward Rotation UINT Sets the forward rotation external torque 0 to 800 100 External Torque limit Limit Unit 145 Get Set Reverse Rotation UINT Sets the reverse rotation external torque 0 to 800 100 External Torque limit Limit Unit 146 Get Set Emergency UINT Sets the emergency stop torque 0 to 800 350 Stop Torque Unit 147 Get Set Speed Limit UINT Sets the speed limit 0 to 10000 3000 Unit r min 148 Get Set Torque Command UINT Sets the torque command 0000 Setting 149 Get Set Notch Filter UINT Sets the notch filter frequency 50 to 2000 2000 Frequency Unit Hz 160 Get Set Positioning UINT Sets the positioning completion range 1 0 to 250 3 Completion Unit command unit Range 1 161 Get Set Positioning Lock UINT Sets the positioning lock rotation speed 0 to 10000 10 Rotation Speed Unit r min 162 Get Set Rotation Speed for UINT Sets the rotation speed for motor rotation 0 to 10000 20 Motor Rotation detection Detection Unit r min 163 Get Set Speed Conformity Sets the speed conformity signal output 0 to 100 10 Signal Output width Width Unit r min 164 Get Set Positioning Com Sets the positioning completion range 2 1 to 250 3 pletion Unit command unit Ran
25. by checking that the Progressing Flag is set to 1 6 31 6 DeviceNet Communications 6 5 3 Move Commands for Remote I O Communications Origin Search Flag HOME_R Byte 2 Bit 7 The HOME R bit reflects the status of the Origin Search Command The host device can confirm by the change of status of this flag that the DeviceNet Unit has correctly received a change in the Origin Search Command This flag is set to 1 even if the origin search cannot be executed because of a Servo OFF status for example The user must monitor for alarms during origin search The host device can confirm that the origin search is being executed by checking that the Progressing Flag is set to 1 Relative Specification Flag INC_R Byte 3 Bit 0 The INC R bit reflects the status of the Relative Specification The host device can confirm by the change of status of this flag that the DeviceNet Unit has correctly received a change in the relative specification Movement Direction Flag DIR_R Byte 3 Bit 1 The DIR R bit reflects the status of the Movement Direction Command The host device can confirm by the change of status of this flag that the DeviceNet Unit has correctly received a change in the Movement Direction Origin Flag HOME_P Byte 3 Bit 3 The HOME P bit is set to 1 when the Servomotor is within the origin range The origin range is set in Pn806 Zero Position Output Width When an incremental position detection system is used
26. origin input signal status changed and that position becomes the origin Origin search high speed Pn802 Origin search proximity speed Speed Pn803 Origin search compensation speed Pn804 Origin compensation value Pn805 Time _ Dog width Origin proximity input signal th site Origin input signal Machine coordinate LSE system origin lt lt Origin area 5 Parameter Settings 5 3 2 Origin Search Parameters Type 3 This origin search type returns to the origin using the phase Z pulse of the encoder only The outline of the operation is as follows 1 The axis travels in the direction specified as origin search direction in the Origin Search Function Selection Pn801 at the Origin Search Proximity Speed Pn803 2 When the first phase Z pulse of the encoder is detected the axis decelerates and travels at the Origin Search Compensation Speed Pn804 3 The axis travels the Origin Compensation Value Pn805 from the position where the phase Z pulse was detected and that position becomes the origin Origin search proximity speed Pn803 Origin search compensation speed Pn804 Origin compensation value Pn805 Speed Time Phase Z pulse Machine coordinate system origin Origin area 5 16 5 3 Parameter Details Type 4 This origin search type returns to the origin using the origin proximity input signal ORG signal and the phase Z pul
27. 4 22 5 Parameter Settings This chapter provides an outline and details of the DeviceNet Unit parameters 5 1 Parameters 5 2 5 1 1 Outline of Parameters 5 2 5 1 2 Parameter Types 5 2 5 1 3 Editing Parameters 5 3 5 1 4 Effective Timing 5 3 5 2 Parameter Tables ccreccccce 5 4 5 2 1 Unit Parameters 5 4 5 2 2 Origin Search Parameters 5 4 5 2 3 Machine System and Peripheral Device Parameters 5 5 5 2 4 Speed Acceleration and Deceleration Parameters 5 6 5 2 5 Positioning Parameters 5 7 5 2 6 Multi speed Positioning Parameters 5 7 5 2 7 Notch Output Parameters 5 9 5 2 8 Point Table Parameter 5 9 5 3 Parameter Details 5 10 5 3 1 Unit Parameters 5 10 5 3 2 Origin Search Parameters 5 13 5 3 3 Machine System and Peripheral Devices 5 22 5 3 4 Speed Acceleration and Deceleration 5 26 5 3 5 Positioning 5 39 5 3 6 Point Table
28. Application Function Selection Application Switch 1 Function Selection Application Switch 2 Get Set Switch 3 Gain Gain 52 Get Set Position Loop Gain 55 Get Set Speed Loop Integration Constant 2 56 Get Set Position Loop Gain 2 57 Get Set Bias Rotational Speed Bias Addition Band Speed Loop Integra tion Constant Amount U UINT IN INT INT INT INT INT INT INT INT INT IN INT INT INT INT Setting Range Default Setting 0010 1002 0000 0002 Do not change the setting 0000 Sets the speed loop gain 1 to 2000 Unit Hz Sets the speed loop integration time 15 to 51200 2000 constant Unit 0 01ms Sets the position loop gain 1 to 2000 Unit 1 s Sets the inertia ratio 0 to 10000 Unit S ets the speed loop gain 2 1 to 2000 Unit Hz Sets the speed loop integration constant 15 to 51200 2000 nit 1 s ets the bias rotational speed ae nit r min nit command unit ets the feed forward amount Poe Sets function selection basic switches Sets function selection application switches 1 Sets function selection application switches 2 Sets function selection application switches 3 CN 0 Calcan Alan Gc nit 10 20 No G G Access et Set et Set Get Set 63 Get Set Get Set G ron Q Q Q Q Q Q Qa Q O Ww G Nn et Set et Set et
29. Get Set Filter Selection Sets the type of filter 0 to3 0 None 1 Exponential 2 Exponential with bias 3 Moving Average 10 10 nN N NT NT NT T T INT kg 10 2 DeviceNet Attributes cont d No Access Name Data Type Description Setting Default Range Setting Get Set JOG Unit Selection UINT Sets the command unit for the speed setting 0 1 for JOG Get Set JOG Speed DINT Sets the JOG speed 1 to 240 000 24 000 Unit X 1000 steps min Get Set JOG Acceleration UINT Sets the JOG acceleration time 1 to 10 000 Time Unit ms IN Nn O an p 0 0 N 10 Get Set JOG Deceleration Sets the JOG deceleration time 1 to 10 000 10 Time Unit ms Get Set JOG Switch Speed DINT Sets the switch speed for second accelera 1 to 240 000 12 000 tion deceleration for the JOG Unit X 1000 steps min 64 Get Set JOG Second Accel UINT Sets the acceleration deceleration time for 1 to 10 000 200 eration Decelera the second acceleration deceleration for the tion Time JOG Unit ms 5 5 0 0 Ww 65 Get Set JOG Acceleration Sets the JOG acceleration deceleration 0 to3 Deceleration Type type 0 None 1 Single step linear 2 Double step linear 3 Asymmetric 70 Get Set Time Constant U Sets the time constant of exponential accel 4 to 1 000 2 for Exponential eration deceleration Curve Unit ms 71 Get Set Bias Speed D Sets the bias speed of exponential accelera 0 to 240 000 tion deceler
30. Limit Pn819 Limit Input Signal 0 to3 Immediate 1 Function Selection Pn81A Limit Input Action 0 1 Immediate 1 Selection Pn81B Emergency Stop Immediate 1 Function Selection Pn81C Emergency Stop Immediate Action Note 1 Steps means command unit For command unit details refer to 5 3 7 Unit Parameters 4 4 4 EE 2 If you set the command unit to 0 001 mm 1 000 steps min becomes mm min 5 5 5 Parameter Settings 5 2 4 Speed Acceleration and Deceleration Parameters 5 2 4 Speed Acceleration and Deceleration Parameters A table of speed acceleration and deceleration parameters is shown below Object Attribute No Name Range Units Effective Default Type Timing Value P Pn827 Interrupt Feeding 1 to 240 000 x 1 000 steps min 24 000 Speed Pn831 JOG Speed 1 to 240 000 x 1 000 steps min 24 000 C C Pn832 JOG Acceleration 1 to 10 000 Immediate Time Pn833 JOG Deceleration 1 to 10 000 Immediate C Time Pn834 JOG Switch Speed 1 to 240 000 x 1 000 steps min 12 000 C Pn835 JOG Second Accel 1 to 10 000 Immediate 2 C eration Decelera tion Time Pn836 JOG Acceleration 0 to 3 Immediate Deceleration Type Pn840 Time Constant for 4 to 1 000 Immediate C Exponential Curve Pn841 Bias Speed 0 to 240 000 x 1 000 steps min Immediate 0 C Pn842 Time Constant of 4 to 1 000 m Immediate C Moving Average Pn843 Maximum Speed 1 to 240 000
31. The status for move commands is described below Progressing Flag PRGS Byte 2 Bit 0 The PRGS bit is set to 1 during the execution of a command For move commands this flag will be set to 1 while outputting to the W series Servo Driver When command execution has been completed or when a Cancel Command or other stop command has been received the Progressing Flag is set to 0 Holding Flag HOLD_R Byte 2 Bit 1 The HOLD R bit is set to 1 when a Hold Command is received from the host device and for the duration of the hold The host device can confirm that the DeviceNet Unit correctly received the Hold Command by checking that the Holding Flag is set to 1 6 30 6 5 Remote I O Communications JOG Flag JOG_R Byte 2 Bit 3 The JOG R bit reflects the status of the JOG Command The host device can confirm by the change of status of this flag that the DeviceNet Unit has correctly received a change in the JOG Command This flag is set to 1 even if the JOG operation cannot be executed because of a Servo OFF status for example The user must monitor for alarms during the JOG operation The host device can confirm that the JOG operation is being executed by checking that the Progressing Flag is set to 1 The movement direction during JOG operation can be checked using the Movement Direction Flag DIR_R Step Flag STEP_R Byte 2 Bit 4 The STEP _R bit reflects the status of the Step Command The host device can confirm
32. Xx 1 000 steps min 24 000 Pn844 Step Distance 1 0 to Steps Immediate 99 999 999 Pn845 Step Distance 2 0 to Steps Immediate 99 999 999 Pn846 Step Distance 3 0 to Steps Immediate 1 99 999 999 Pn847 Step Distance 4 0 to Steps Immediate 1 000 99 999 999 Note 1 Steps means command unit For command unit details refer to 5 3 1 Unit Parameters 0x64 51 5 i i 54 Pn824 Switch Speed 1 to 240 000 x 1 000 steps min 12 000 55 Pn825 Second Accelera 1 to 10 000 ms Immediate 200 tion Deceleration Time 56 n826 Acceleration Decel 0 to 3 Immediate eration Type 57 i i i 58 59 60 i 61 ms 100 62 ms 100 63 i 64 ms 00 65 70 ms 25 71 i 72 s 25 13 l 74 1 75 10 76 00 77 2 If you set the command unit to 0 001 mm 1 000 steps min becomes mm min 5 6 5 2 Parameter Tables 5 2 5 Positioning Parameters The positioning parameter table is shown below Object Attribute No Name Range Units Effective Default Type Timing Value 0x64 90 Pn850 Positioning Comple 0 to 10 000 Steps Immediate 5 A tion Range 91 Pn851 Positioning Monitor 0 to 65 535 ms Immediate A Time 92 Pn852 Positioning Near 0 to 32 767 Steps Immediate 10 Range 94 Pn854 Interrupt Feeding 1 to 240 000 x 1 000 Immediate 24 000 Positioning Speed steps min 95 Pn855 Interrupt Feeding 99 999 999 Steps Immediate Distance 96 Pn856 Interrupt Feeding 0 1 Power up Func
33. e Ambient Temperature of Servo Driver 0 to 55 C e Humidity 90 RH or less Vibration 4 9 m s e Condensation and Freezing None e Ambient Temperature for Long term Reliability 45 C max 3 4 4 Connectors This chapter describes the procedure used to connect W series Servo Driver to peripheral devices when DeviceNet Unit is mounted and gives typical exam ples of I O signal connections 4 1 Connecting to Peripheral Devices 4 2 4 1 1 Single phase 100 V or 200 V Main Circuit Specifications 4 3 4 1 2 Three phase 200 V Main Circuit Specifications 4 4 4 1 3 Three phase 400 V Main Circuit Specifications 4 5 4 2 Internal Block Diagrams 4 6 4 3 Servo Driver I O Signals 4 7 4 3 1 Connection Example of I O Signal Connector CN1 4 7 4 3 2 I O Signals Connector CN1 4 8 4 3 3 I O Signal Names and Functions 4 9 4 3 4 Interface Circuits 4 10 4 4 I O Signal Connections for DeviceNet Units CN4 4 12 4 4 1 CN4 Connection Example 4 12 4 4 2 Connection Terminal Layout 4 12 4 4 3 I O Signal Interface Circuits 4 13 4 4 4 Fully closed Encoder Connection Example 4 14 4 5 Co
34. this flag cannot be set to 1 for the period from when power is turned ON to the W series Servo Driver until the initial origin search has been completed Near Signal Flag NEAR Byte 3 Bit 4 The NEAR bit is set to 1 when the present position is within the In position range When the present position is outside the In position range the flag is set to 0 The In position range is set in Pn852 Positioning Near Range In position Flag INPOS Byte 3 Bit 5 The INPOS bit is set to 1 when the present position is within the positioning completed range of the target position The flag is set to 0 when the present position is outside the positioning completed range The In position range is set in Pn850 Positioning Completion Range 6 32 6 5 Remote I O Communications Negative Limit Input NOT Byte 3 Bit 6 The NOT bit indicates the status of the reverse rotation drive prohibit input signal for the external input connected to CN1 on the W series Servo Driver Positive Limit Input POT Byte 3 Bit 7 The POT bit indicates the status of the forward rotation drive prohibit input signal for the external input connected to CN1 on the W series Servo Driver 6 33 6 DeviceNet Communications 6 5 4 Set Read Commands for Remote I O Communications 6 5 4 Set Read Commands for Remote I O Communications This section explains set read commands for Remote I O communications E Commands Details on bytes 1 to 7 of the comm
35. unexpected restart Doing so may result in injury Do not use the built in brake of the Servomotor for ordinary braking Doing so may result in malfunction When using the DeviceNet Unit in a Programmable Controller system execute online edit only after confirming that no adverse effects will be caused by extending the cycle time Oth erwise the input signals may not be readable When using the DeviceNet Unit in a Programmable Controller system confirm safety at the destination node before transferring parameters or other data to another node or changing output signals Doing either of these without confirming safety may result in injury Confirm that no adverse effect will occur in the system before attempting any of the follow ing Not doing so may result in an unexpected operation or damage to the product e Changing the present values or set values e Changing the parameters Do not turn OFF the power supply to the Unit while data is being transferred Doing so may result in malfunction or damage to the product Maintenance and Inspection Precautions WARNING Do not attempt to disassemble repair or modify any Units Any attempt to do so may result in malfunction fire electric shock or injury i Resume operation only after transferring to the new Unit the contents of the data required for N Caution i operation Not doing so may result in an unexpected operation or damage to the product Overview E About
36. 0 15 0 09075 V Node 5 80 x 0 015 2 x 0 005 x 0 25 0 3025 V Node 6 120 x 0 015 3 x 0 005 x 0 15 0 27225 V 0 09075 0 3025 0 27225 0 6655 V lt 4 65 V Thus the best location for the nodes can be determined by using the condition formula E Step 3 Splitting the System into Multiple Power Supplies Go to Step 3 if the best location for the nodes cannot be calculated from the formulae In the third step there are multiple power supplies and the power supply system is split Splitting the Power Supply System e Be sure to use a Power Supply Tap for each power supply when the network is supplied by two or more power supplies e Remove the fuses in the Power Supply Tap to split the power supply system Once the power supply system is split return to Step 1 or 2 and determine the best location of the nodes in each system 6 14 6 3 Precautions for Communications Line Design Power Supply Tap Configuration Connector C Fuse A Fuse B 9 Power supply Model number 1485T P2T5 T5 cable Description e With reverse current Cable A iB prevention e With ground terminal E daliai zi Gamo Manwtectrer AienBradtoy Can be purchased from OMRON 24 SER Connector A Connector B VICE CO Ltd Vo oy Internal Circuitry of the Power Supply Tap Remove fuse A when disconnecting cables on side A and fu
37. 1 Absolute Encoder Multi turn Limit The upper limit of multi turn data The multi turn data will vary between 0 and the value of Pn205 Absolute Encoder Multi turn Limit Setting when Pn002 2 is set to 0 8 21 8 Servo Driver Settings Note Turn the power OFF and then ON after changing the setting of parameter Pn002 2 or Pn205 The Absolute Encoder Multi turn Limit value in the encoder is default set to 65535 the same as the Servo Driver If the multi turn limit value in the Servo Driver is changed with Pn205 and then the Servo Driver power is turned OFF and ON the following alarm will occur Alarm Name Absolute Encoder Multi turn Limit Mismatch A CC Alarm Display Alarm Code Outputs Description of Alarm ALO1 ALO2 ALO3 A CC ON OFF ON The multi turn limit value is different in the encoder and Servo Driver Note ON signals are low level OFF signals are high level When this alarm occurs the Absolute Encoder Multi turn Limit in the encoder must be changed Refer to the OMNUC W series Servomotors Servo Drivers User s Manual 1531 E1 D for details on changing the multi turn limit setting Fn013 using a Parameter Unit or a Servo Driver front key Setup can also be performed using the personal computer monitor software Note 1 The Absolute Encoder Multi turn Limit setting in the encoder can be changed only when the Absolute Encoder Multi turn Limit Mismatch A CC alarm has occurred After changing the setting turn the p
38. 20 9 3 Troubleshooting with Alarm Displays E A 84 A 84 Absolute Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state Status and Remedy for Alarm At power ON A During operation B A Encoder is defective Replace the Servomotor if the error occurs frequently e Separation between the encoder cable and the Servomotor power cable e Insertion of toroidal cores onto cables Encoder operational error caused by Check and correct wiring around the external noise encoder as follows e Grounding of the Servomotor 9 21 9 Troubleshooting E A 85 A 85 Overspeed Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state Status and Remedy for Alarm At power ON A B At SENS_ON command A B A Absolute encoder turned ON at a speed Turn ON power supply again with the Ser exceeding 200 r min vomotor stopped B Circuit board 1PWB is defective Replace the Servo Driver m A 86 A 86 Encoder Overheating Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state Status and Remedy for Alarm During Servomotor A B At power ON C D operation The ambient temperature of the Servomotor Alter conditions so that the ambient tem is high
39. 5 3 1 Unit Parameters E Electronic Gear Settings when Using a Rotary Table If using a rotary table first check the following specifications e Number of encoder pulses e Gear ratio The following system example shows the formulas when the command unit is set to 0 001 R88D WT DeviceNet Unit 1 G2 0 001 0 001 3 revolutions Encoder No of encoder pulses 1 revolution 2048 x4 Rotating load 360 revolution Moving distance of load per revolution command unit 360 0 001 36000 G2 Moving distance of load per revolution command unit x Gear Ratio load rev 36000 x 1 36000 G1 Encoder pulses x Pulse multiplier x Gear Ratio motor rev 2048 x 4 x 3 24576 Data ranges are shown below G2 lt 10 000 000 G1 lt 10 000 000 0 01 lt G1 G2 lt 100 By storing the value of G2 in Pn811 and the value of G1 in Pn810 you can use the Elec tronic Gear function These parameters are enabled when the power is turned ON After you have changed the parameter execute the Unit Reset Command or the Reset Service to the Identity Object Note Setting G1 G2 outside the range 0 01 to 100 may result in a misoperation Make sure to set G1 and G2 within this range 5 12 5 3 Parameter Details 5 3 2 Origin Search Parameters This section provides origin search types and their parameter details E Origin Search Types The following seven types of origin search are supported Type 0 This o
40. 6 which represents the relationship between the drop line length and the current capacity for the drop line Note 1 From the graph a hypothetical power supply location can be determined if the conditions calculated in the graph are met by estimating the worst configuration that has the maximum voltage drop as shown in the diagram below Node Node M Node Node Communications power supply 2 Even if the power supply specifications cannot be met using the graph the conditions can be met and a hypothetical power supply location determined by using the formula 3 When the communications power supply and the internal circuit power supply are the same use the formula to calculate a hypothetical power supply location because it cannot be determined by using the graph 6 DeviceNet Communications 6 3 1 Providing the Communications Power Supply E Step 1 Determining the Best Location for the Power Supply from a Graph A voltage drop occurs when a current flows through a DeviceNet special cable The longer the communications cable and the greater the current the greater the voltage drop The com munications power supply at each node must be 11 V DC or more To ensure this the rela tionship is plotted as shown in the graph below to find the maximum current that easily satisfies the voltage of the communications power supply at different t
41. 9 1 Alarm Display Table cont d Alarm Alarm Code Outputs Alarm Name Description Display ALO1 ALO2 ALO3 Backup Error All the power supplies for the absolute encoder have failed and position data was cleared Checksum Error The checksum results of the absolute encoder memory are abnormal Battery Error Backup battery voltage for the absolute encoder has dropped eee Absolute Error Data in the encoder is abnormal Overspeed Error The Servomotor was rotating at 200 r min or more when the power was turned ON Encoder Overheating The internal temperature of encoder is too high Speed Command Input The A D converter for speed command Reading Error input is defective Torque Command Input The A D converter for torque command Reading Error input is defective Gate Array Error Communications LSI error System Error A system error occurred in the Servo Driver Runaway Detected The Servomotor ran out of control Fully closed Encoder Phase A or B of the fully closed encoder Phase A B Disconnection was disconnected Fully closed Encoder Phase Z Phase Z of the fully closed encoder was dis Disconnection connected Multi turn Data Error The multi turn for the absolute encoder was not properly cleared or set Encoder Communications Communications between Servo Driver and Error 2 encoder is not possible Encoder Parameter Error 2 Encoder parameters are incorrect Encoder Data Error 2 Contents of co
42. 999 to 99 999 999 99 999 999 to 99 999 999 99 999 999 to 99 999 999 99 999 999 to 99 999 999 99 999 999 to 99 999 999 99 999 999 to 99 999 999 99 999 999 to 99 999 999 99 999 999 to 99 999 999 10 2 DeviceNet Attributes cont d No Access Name Data Description Setting Range Default Type Setting 91 Get Set Position 42 DINT Target position 42 99 999 999 to 99 999 999 Unit Steps 92 Get Set Position 43 DINT Target position 43 99 999 999 to 99 999 999 Unit Steps 93 Get Set Position 44 DINT Target position 44 99 999 999 to 99 999 999 Unit Steps 94 Get Set Position 45 DINT Target position 45 99 999 999 to 99 999 999 Unit Steps 95 Get Set Position 46 DINT Target position 46 99 999 999 to 99 999 999 Unit Steps Get Set Position 47 DINT Target position 47 99 999 999 to 99 999 999 Unit Steps 97 Get Set Position 48 DINT Target position 48 99 999 999 to 99 999 999 Unit Steps Get Set Position 49 DINT Target position 49 99 999 999 to 99 999 999 Unit Steps Get Set Position 50 DINT Target position 50 99 999 999 to 99 999 999 Unit Steps 150 Get Set Speed_1 DINT Target speed 1 1 to 240 000 24 000 Unit X 1000 steps min 151 Get Set Speed_2 DINT Target speed 2 1 to 240 000 24 000 Unit X 1000 steps min 152 Get Set Speed 3 DINT Target speed 3 1 to 240 000 24 000 Unit X 1000 steps min 153 Get Set Speed_4 DINT Target speed 4 1 to 240 000 24 0
43. A A Parameter Setting Error 2 The parameter setting is out of the allowable setting range Servomotor Mismatch Servo Driver and Servomotor capacities do not match each other Overcurrent An overcurrent flowed through the IGBT Heat sink of Servo Driver was overheated OFF Regeneration Error e Regenerative resistor is disconnected e Regenerative transistor is defective Regeneration Overload Regenerative energy exceeds regenerative resistor capacity Main circuit Power Supply The AC DC wiring method of the main cir Setting Error cuit power supply is different from the set ting of the parameter Pn001 2 Power Supply AC DC Input Selection Main circuit DC voltage is excessively high OFF ON Low Voltage 3 Main circuit DC voltage is low OFF ON OFF Overspeed Rotational speed of the motor is excessively high ON ON OFF Overload The motor was operating for several seconds to several tens of seconds under a torque largely exceeding ratings Overload The motor was operating continuously under a torque largely exceeding rating A 40 04 05 i Ba 30 32 l i 71 72 73 74 7A OFF ON ON ON OFF ON ON Dynamic Brake Overload When the dynamic brake was applied rota tional energy exceeded the capacity of dynamic brake resistor Inrush Resistance Overload The main circuit power was frequently turned ON and OFF The heat sink of Servo Driver is overheated A A A A 9 1 Alarm Display Table Table
44. Attribute No Name Setting Unit Effective Default Type Range Timing Setting 33 Pn813 Command Unit R 1 to 1 500 000 360 000 Operation Speed Time 6 46 6 6 Details on Move Commands for Remote I O Communications Station 0 Station 1 Station 2 Command Method 1 Set the Servo ON Command byte 0 bit 1 to 1 2 Set the movement direction byte 3 bit 1 The movement direction setting is disabled when the Pn853 setting is 1 travel the short est distance 3 Set absolute incremental byte 3 bit 0 If an incremental position has been specified set the value corresponding to target station number present station number in bytes 4 to 7 4 Set the target station number 5 Set the Station Command byte 2 bit 5 to 1 g Note When a relative value is specified set the station number so that the following formula is satisfied The movement amount per station X station number n lt 99 999 999 Target station number 6 47 6 DeviceNet Communications 6 6 1 No operation Command Code 0000 0 Hex E Point Table Command Command Bit PTBL 1 This section describes the Point Table Command function related parameters operation and command method Function The Point Table Command performs positioning at the position and speed stored in advance in the point table by specifying the point table number Related Parameters Object Attribute No Name Setting Unit E
45. Command e Incorrect parameter No at the Parameter Read Command d Command Warning A command not supported in the product specifications was issued d The command reception conditions were not met e Illegal command Command given during execution of another move command e Command given during servo OFF e Command given during alarm e Command given during emergency stop Flashes R e Move command data error Flashes Communications Warning A DeviceNet communications error occurred Red once Flashes Main Power OFF The main power supply is not being supplied Re Flashes Positioning Timer Timeout Positioning was not completed within the Red positioning monitoring time 10 31 10 Appendix 10 3 3 Error Codes for Message Communications 10 3 3 Error Codes for Message Communications If an Explicit Message has been sent and then is not completed normally an error code 2 bytes is added after service code 14 Hex and an Explicit Message is returned The message communications error codes are shown below O9FF Hex Invalid attribute value There is an error in the attribute data for the requested service OBFF Hex Already in requested The specified object is already in the requested mode mode state or state OCFF Hex Object state conflict The specified object is in a state in which the requested service cannot be executed OEFF Hex Attribute not settable The requested setting service has speci
46. Data 6 77 6 10 Changing Parameters 6 78 6 10 1 Managing DeviceNet Data 6 78 6 10 2 Changing Parameters 6 79 7 Ladder Programming Examples 7 1 Programming Conditions 7 2 7 2 Remote I O Programming 7 3 7 2 1 Servo ON Command 7 3 7 2 2 Origin Search Command 7 4 7 2 3 Direct Operation Command 7 5 7 2 4 Parameter Read Command 7 7 7 3 Programming Explicit Messages 7 8 8 Servo Driver Settings 8 1 Setting Up the Servo Driver When the DeviceNet Unit is Mounted 8 2 8 1 1 Parameters 8 2 8 1 2 Automatically Set Parameters 8 3 8 1 3 Standard Settings for I O Signals 8 4 8 1 4 Analog Monitors 8 7 8 2 Settings According to Equipment Characteristics 8 8 8 2 1 Switching Servomotor Rotation Direction 8 8 8 2 2 Stop Mode Selection at Servo OFF 8 9 8 2 3 Fully closed Control 8 10 8 3 Settings According to Host Controller
47. G Watchdog _ Timeout_Action et Produced_ 7 Q o fo Connection _ Path Length Produced _ Connection _Path Ez D 1 1 Consumed Connection _ Path Length 4 5 16 Consumed _ Connection _Path Services Name Ea USINT UINT UINT INT INT INT SINT INT USINT Array UINT USINT Array Defines the state of the object f Get TransportClass__ Byte Defines behavior of the connection 0x83 trigger Get Set Produced_ Placed in CAN Identifier Field when the connec Connection_ID tion transmits Get Instance type USINT Defines either I O or messaging connection CAN Identifier Field value that denotes message to be received Maximum number of bytes transmitted across 0x0008 this connection Maximum number of bytes received across this 0x0008 connection Defines timing associated with this connection E Defines how to handle timeouts 0x0006 0x0006 Defines the message group across which produc tions and consumption associated with this con nection occur Number of bytes in the produced connection path attribute Specifies the application object whose data is to be sent by this connection object Number of bytes in the consumed connection path attribute Specifies the application object that are to receive the data received by this connection object Description Get_Attribute_Single Returns the contents of the specified attribute Set_Attribute_Si
48. Gain or Speed Loop Gain Correct the Positioning Loop Gain or Speed setting is too small Loop Gain setting m A B1 A B1 Speed Command Input Reading Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF OFF OFF OFF Note OFF Output transistor is OFF alarm state Status and Remedy for Alarm During Servomotor operation A B At power ON C A Error in command read in unit Reset alarm and restart operation A D convertor etc Command read in unit is defective Replace the Servo Driver A D convertor etc Circuit board 1PWB is defective Replace the Servo Driver 9 26 9 3 Troubleshooting with Alarm Displays E A B2 A B2 Torque Command Input Reading Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output OFF ALO1 ALO2 ALO3 or om om om Note OFF Output transistor is OFF alarm state Status and Remedy for Alarm During Servomotor A B At power ON C operation A Error in command read in unit A D Con Reset alarm and restart operation verter etc Command read in unit faulty A D Con Replace the Servo Driver verter etc Circuit board 1PWB is defective Replace the Servo Driver E A B6 A B6 Communications LSI Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state Status and Remedy for Alarm At powe
49. Messages Parameters can be referenced or changed using message communications To use Explicit Messages specify the objects instance and attributes explained in 6 10 1 Managing DeviceNet Data and change the parameters The basic block of Explicit Messages is shown below Command Block Master Device to Slave Device Command code Class ID Instance ID Service data object attribute No or Service code attribute No data Destination node address Response Block Slave Device to Master Device Command code Response code Number of i Service data bytes received Service code Source node address 6 79 6 DeviceNet Communications 6 10 2 Changing Parameters The following example shows the Origin Search High Speed Object 0x64 instance 1 attribute 12 being read by using the Get_Attribute_Single command code 0x0e when the master device node number is 0 Command Block Master Device to Slave Device Class ID Instance ID object Service code Service data 0E fixed attribute No or Destination attribute No data node address Response Block Slave Device to Master Device Number of bytes received Service data Service code 8E fixed Source node address Note Origin Search Hith Speed will be 04D2 Hex Refer to the DeviceNet Operation Manual W267 E1 D for the master device for details on Explicit Messages 6 80 7 Ladder Programming Examples This cha
50. Notch Signal Position Designation aa Specifies absolute position Specifies relative position Notch Signal Object 0x64 Attribute 161 Pn891 Use the Notch Signal to set the polarity of the notch signal output Table 5 22 Notch Signal 0 Sets NOTCH 1 signal Sets NOTCH 2 signal Table 5 23 Bit Meanings a co Normally OFF When passed ON Normally ON When passed OFF Negative Direction Notch 1 Object 0x64 Attribute 162 Pn892 Positive Direction Notch 1 Object 0x64 Attribute 163 Pn893 Use the Positive Negative Direction Notch 1 to set the output position range for notch signal NOTCH 1 When the present position is inside this range the status of the NOTCH 1 sig nal output is reversed based on the Notch Signal set in Pn891 Negative Direction Notch 2 Object 0x64 Attribute 164 Pn894 Positive Direction Notch 2 Object 0x64 Attribute 165 Pn895 Use the Positive Negative Direction Notch 2 to set the output position range for notch signal NOTCH 2 When the present position is inside this range the status of the NOTCH 2 sig nal output is reversed based on the Notch Signal set in Pn891 5 43 5 Parameter Settings SSS a 5 3 8 Notch Signal Output Positioning 5 44 6 DeviceNet Communications This chapter explains using DeviceNet communications to execute commands and editing user parameters for a DeviceNet Unit 6 1 Control Configuration
51. OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm When servo ON RUN signal turned ON A At power ON c When speed reference input No Servomotor B rotation During normal B operation Servomotor wiring is incorrect or discon Check wiring and connectors at Servomotor nected Load greatly exceeds rated torque Reduce load torque and inertia Otherwise replace with a larger capacity Servomotor Circuit board 1PWB is defective Replace the Servo Driver 9 Troubleshooting E A 73 A 73 Dynamic Brake Overload Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm When servo OFF signal turned ON during Servomotor A At power ON B operation The product of the square of rotational e Lower the rotational speed motor speed and the combined inertia of the e Lower the load inertia motor and load rotation energy exceeds the capacity of the dynamic brake resistor built into Servo Driver Do not frequently use dynamic braking Circuit board 1PWB is defective Replace the Servo Driver E A 74 A 74 Inrush Resistance Overload Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state ON Output transistor is ON
52. Operation Speed Time 6 52 6 6 Details on Move Commands for Remote I O Communications Command Method 1 Set the command code byte 1 bits 0 to 3 to 0 2 Set the Servo ON Command byte 0 bit 1 to 1 3 Set absolute relative byte 3 bit 0 If a relative position has been specified the target position will be present position position specified from bytes 4 to 7 4 Set the target position in the command data bytes 4 to 7 5 Set direct operation 1 in the command code byte 1 bits 0 to 3 6 Change the Command Start Command byte 0 bit 0 from 0 to 1 Target position data E Interrupt Feeding Command Command Code 0010 2 Hex This section describes the Interrupt Feeding function related parameters operation and command method Function The Interrupt Feeding Command performs interrupt feeding to the specified target position If the status of the interrupt input signal changes during movement the axis will decelerate to the interrupt feeding positioning speed from the position where the status changed and travel the distance specified in the parameter Related Parameters The same acceleration deceleration data is used as for the Positioning Command Object Attribute No Name Setting Range Unit Effective Default Type Timing Setting 0x64 57 Pn827 Interrupt Feeding 1 to 240 000 x 1 000 Immediate 24 000 Speed steps min 94 Pn854 Interrupt Feeding 1 to 240 000 x 1 0
53. Pn881 Speed 15 for 1 to 240 000 x 1 000 Immediate 24 000 ee ipt aami 144 Pn882 Speed 16 for 1 to 240 000 x 1 000 Immediate 24 000 C S seas Multi speed Kana steps min Note 1 Steps means command unit For command unit details refer to 5 3 7 Unit Parameters C C C C C C C C C C C C C C C C C C C C C C 2 Ifyou set the command unit to 0 001 mm 1 000 steps min becomes mm min 5 8 5 2 Parameter Tables 5 2 7 Notch Output Parameters The notch output parameter table is shown below Object Attribute No Name Range Units Effective Default Type Timing Value 0x64 160 Pn890 Notch Signal Position 0 1 Immediate C Designation Me Pe eme oo Ewo See msde OC Ce Ps PeDe E0909 Sere msde P Ae Pas eme Dreo E0090 Sere mmea OO AS ea peonon Ewo Sere inmate 0 E Note 1 Steps means command unit For command unit details refer to 5 3 7 Unit Parameters 2 If you set the command unit to 0 001 mm 1 000 steps min becomes mm min 5 2 8 Point Table Parameter The table of point table parameters for target positions and speeds used when the point table operation is commanded is shown below Object Attribute No Name Range Units Effective Default Type Timing Value Eae ee Ue Ie 150 Pn940 Speed 1 1 to 240 000 x 1 000 steps min 24 000 B 151 Pn941 Speed 2 1 to 240 000 x 1 000 steps min 24 000 EJ 199 Pn971 Speed 50
54. Relay 5 to 12 VDC Line Receiver Note The maximum allowable voltage and current capacities for open collector output circuits are as follows e Voltage 30 V DC max e Current 20 mA DC max 4 10 4 3 Servo Driver I O Signals e Connecting to a Photocoupler Output Circuit Photocoupler output circuits are used for alarm servo ready and other sequence output signal circuits Connect a photocoupler output circuit through a relay or line receiver circuit 5 to 12 VDC 5to 12 VDC Relay Servo o o Driver end ss Servo Driver end Relay Line Receiver Note The maximum allowable voltage and current capacities for photocou pler output circuits are as follows e Voltage 30 V DC max e Current 50 mA DC max 4 11 4 Connectors 4 4 1 CN4 Connection Example 4 4 I O Signal Connections for DeviceNet Units CN4 The CN4 on a DeviceNet Unit is used for I O signal and fully closed encoder signal connec tions 4 4 1 CN4 Connection Example The following diagram shows a CN4 connection example Line receiver input conforms to EIA RS422A SN75175 or equivalent Phase A pulse A Grails 12 NOTCH1 Notch output 1 Maximum operating O i i D IRKI 13 NOTCH1 voltage 30 V DC E EAI Maximum output Phase B pulse B lio ae 10 NOTCH2 current 50 mA DC B 18 gt F Notch output 2 IPSN 20 NOTCH2 Phase Z pulse 7 44 9 0 00 meem Al Z
55. Servo Driver parameter PO Performs brake operation using the Servo Driver parameter Note When setting the Pn005 0 to 1 the Servo Driver s parameters Pn506 Pn507 Pn508 settings will be ignored E Brake ON Timing If the equipment moves slightly due to gravity when the brake is applied set the following parameter to adjust brake ON timing Brake Timing 1 Setting Default No time delay Range Setting 0 to 50 0 This parameter is used to set the output time from the brake control output signal BKIR until the servo OFF operation Servomotor output stop when a Servomotor with a brake is used Release brake Hold with brake Servomoton Servo ON OFF ON Servomotor OFF operation f servomotor lt gt ON OFF status Servo OFF time delay With the standard setting the servo is turned OFF when the BKIR signal brake operation is output The equipment may move slightly due to gravity depending on equipment configura tion and brake characteristics If this happens use this parameter to delay servo OFF timing This setting sets the brake ON timing when the Servomotor is stopped Use Pn507 and 508 for brake ON timing during operation Note The Servomotor will turn OFF immediately if an alarm occurs The equipment may move due to gravity in the time it takes for the brake to operate 8 18 8 4 Setting Stop Functions m Holding Brake Setting Set the following parameters to adjust brake ON ti
56. Timing Setting 0x64 160 Pn890 Notch Signal Position 0 1 Immediate C Designation aa eo eese foes e fe o eE ie Notch ac poe ee eee oe Notch 1 163 Pn893 Positive Direction 99 999 999 Steps Immediate C Notch 1 164 Pn894 Negative Direction 99 999 999 Steps Immediate C Notch 2 165 Pn895 Positive Direction 99 999 999 Steps Immediate C Notch 2 Operation Speed Time 1 C_STRT 0 NOTCH1 Positive Direction Notch 1 Negative Direction Notch 1 6 55 6 DeviceNet Communications 6 6 2 Operation Command Method 1 Set the command code byte 1 bits 0 to 3 to 0 2 Set the Servo ON Command byte 0 bit 1 to 1 3 Set absolute relative byte 3 bit 0 If a relative position has been specified the target position will be present position position specified from bytes 4 to 7 4 Set the target position in the command data bytes 4 to 7 5 Set positioning with notch signal output 3 in the command code byte 1 bits 0 to 3 6 Change the Command Start Command byte 0 bit 0 from 0 to 1 Target position data 6 56 6 6 Details on Move Commands for Remote I O Communications E Multi speed Positioning Command Command Code 0100 4 Hex This section describes the Multi speed Positioning Command function related parameters operation and command method Function The Multi speed Positioning Command changes the speed in stages and performs posit
57. Unit When a DeviceNet Configurator is not used to allocate Remote I O with C200HS series PC the maximum is 33 nodes including the DeviceNet Master Unit Communications 24 VDC With pow r Supply With terminating Trunk line Trunk line L Trunk line Trunk line terminating resistor x resistor Power Supply Nod l Tap or T branch Tap gue EH Drop Drop line Node line ri mo mo x Node Node Node Node Node Node Drop line Cr H Node Hie 4 5 3 DeviceNet Network Configuration Restrictions To enable the widest possible application of DeviceNet communications the baud rate can be selected and the connection methods can be freely combined using both T branch and multi drop connections This section describes the restrictions required in DeviceNet communications to achieve this wide range of application E Baud Rate and Communications Distance The maximum length of the DeviceNet communications lines depends on the baud rate and the type of cable that is used The DeviceNet communications lines are restricted in the following three ways e Maximum network length e Drop line length e Total drop line length Design and install the DeviceNet network to meet all of
58. Unlike other FINS commands the Explicit Message Send command specifies the local node DeviceNet Master Unit as the CMND instruction control code destination The actual destination node is specified using the destination node address in the Explicit Message Send command Always specify the local node DeviceNet Master Unit in the CMND instruction control code If another node Master Unit is specified an error will occur 3 Ifthe DeviceNet Master Unit receives an Explicit Message it will automatically return a response 6 8 3 Sending Explicit Messages Using the CMND Instruction This section explains how to use the CMND command sending instruction to send Explicit Messages including the timing of message execution and responses m CMND With the CS CJ series DeviceNet Master Unit CMND instructions can be used in the CPU Unit s ladder program to send Explicit Messages The Explicit Message command data is sent with FINS command code 2801 Hex attached at the beginning The Explicit Message response is received following the FINS command code 2801 Hex CMND 490 and FINS completion code S First Command Word at Local Node Specify the beginning word for the command data to be transferred to the DeviceNet Master Unit Preset in consecutive words the data to be transferred as shown below Command code Set Explicit Message FINS command 2801 Node address of slave or master to which Explicit Message service code
59. amount overtraveled Time Phase Z pulse rs E E Origin E Parameter Details The details of parameters relating to origin search are shown below Origin Search Mode Object 0x64 Attribute 10 Pn800 The origin search type is specified in the Origin Search Mode Origin Search Origin Search Type Mode 3 step deceleration using origin proximity input signal and phase Z pulse Double step deceleration using origin input signal 3 step deceleration using origin proximity input signal and origin input signal Double step deceleration using phase Z pulse Double step deceleration using origin input signal Reverse operation at limit input in origin search direction 3 step deceleration using origin proximity input signal and origin input signal Reverse operation at limit input in origin search direction 4 3 step deceleration using origin proximity input signal and phase Z pulse Reverse operation at limit input in origin search direction 5 20 5 3 Parameter Details Origin Search Function Selection Object 0x64 Attribute 11 Pn801 The Origin Search Function Selection has the following bit settings Origin Search Direction Setting 0 Positive direction 1 Negative direction 1 Origin Proximity Input Signal Setting 0 Enabled on Low 1 Enabled on High 2 Origin Input Signal Setting 0 Enabled on falling edge 1 Enabled on rising edge Origin Search High Speed Object 0x64 Attribute 12 Pn802 Use
60. below Tei Parameter Corruption EEPROM data of Servo Driver is abnormal Lit Red Main circuit Detection Error Detection data for power circuit is abnormal A 04 ces m Setting Error The parameter setting is out of the allowable set ting range A Flashes Servomotor Mismatch Servo Driver and Servomotor capacities do not Red match each other A 10 ei Overcurrent An overcurrent flowed through the IGBT Heat sink of Servo Driver was overheated Lit Red Regeneration Error e Regenerative resistor is disconnected e Regenerative transistor is defective ae Regeneration Overload Le e energy exceeds regenerative resis tor Le e A Main circuit Power Supply Setting The AC DC wiring method of the main circuit Error power supply is different from the setting of the parameter Pn001 2 Power Supply AC DC Input Selection A 40 Flashes Overvoltage Main circuit DC voltage is excessively high Red A 41 Flashes Low Voltage Main circuit DC voltage is low Red A 51 Flashes Overspeed Rotational speed of the motor is excessively Red high A 71 Flashes Overload The motor was operating for several seconds to Red several tens of seconds under a torque largely exceeding ratings A 72 Flashes Overload The motor was operating continuously under a Red torque largely exceeding rating A 73 Flashes Dynamic Brake Overload When the dynamic brake was applied rotational Red energy exceeded the capacity of dynamic brake resistor A 74 Flashes Inrush Re
61. by the Maximum Speed set in parameter Pn843 and the Acceleration Time set in parameter Pn822 In the second step the rate of acceleration deceleration is determined by the difference between the Maximum Speed set in parameter Pn843 and the Switch Speed set in parameter Pn824 along with the Second Acceleration Deceleration Time set in param eter Pn825 The time T required to reach the constant speed in the positioning operation can be calcu lated using the following formulas T1 ms Pn822 x Pn824 Pn843 T2 ms Pn825 x Pn821 Pn824 Pn843 Pn824 T ms T1 T2 If this acceleration deceleration pattern is used the rate of acceleration deceleration will remain constant even if the Speed set in Pn821 is changed Table 5 9 Related Parameters Pn824 Switch Speed X1 000 steps min Pn825 Second Acceleration Deceleration Time ms Pn843 Maximum Speed 1 000 steps min 5 5 5 5 5 5 7 6 8 1 7 PR asetaontine ns 4 5 3 Speed Time Fig 5 2 Double step Linear Acceleration Deceleration with Constant Acceleration Deceleration 5 28 5 3 Parameter Details Asymmetric Linear Acceleration Deceleration with Constant Acceleration Deceleration With asymmetric linear acceleration deceleration the linear acceleration deceleration described in is used but separate rates can be set for acceleration and deceleration For deceleration for example the time T required to stop from the Speed set in pa
62. cal culated using the following formula T ms Pn842 Pn822 x Pn821 Pn843 If this acceleration deceleration pattern is used the rate of acceleration deceleration will remain constant even if the Speed set in Pn821 is changed Table 5 15 Related Parameters Pn826 Acceleration Deceleration Type 3 Pn829 Filter Selection 3 73 i BL Pn843 Maximum Speed X1 000 steps min Speed Pn822 Pn823 Val aN Pn843 Time Fig 5 8 Asymmetric S curve Acceleration Deceleration with Constant Acceleration Deceleration 5 34 5 3 Parameter Details E Parameter Details This section describes parameter details for speed and acceleration deceleration speed Speed Object 0x64 Attribute 51 Pn821 Use the Speed to set the speed for the positioning The setting unit is x 1 000 steps min Acceleration Time Object 0x64 Attribute 52 Pn822 Use the Acceleration Time to set the acceleration time for the positioning The setting unit is ms Deceleration Time Object 0x64 Attribute 53 Pn823 Use the Deceleration Time to set the deceleration time when using the asymmetric linear acceleration deceleration The setting unit is ms This parameter is enabled only when the Acceleration Deceleration Type Object 0x64 Attribute 56 Pn826 is set to the asymmetrical linear acceleration deceleration Switch Speed Object 0x64 Attribute 54 Pn824 Use the Switch Speed to set the switching sp
63. connected to the case and the capacitor as shown below The FG terminal must be suspended and the control board for the power supply itself must be insulated Switching Power Supply Configuration Switching power supply O AC power Power supply AC input supply DC output circuit I T I es Casing Suspending the Communications Power Supply oD S82J power supply DC power supply p s ESD Yc Insulating material such as s82Y O0ON Mounting Tool baked board or acrylic board When using S82J power supply When using other power supplies 6 DeviceNet Communications 6 3 2 Communications Line Noise Precautions E Noise Precautions According To Wiring Methods Noise precautions according to wiring methods are described below To prevent inductive noise do not wire the communications line SYSMAC power lines and power lines near each other In particular be sure to keep the power lines for invert ers motors regulators and contactors at least 300 mm away from both the communica tions lines and the SYSMAC power lines Also provide separate conduits or ducts for the communications lines and power lines Low voltage cable Suspended duct Floor duct DeviceNet special 1 2 Communications line cable ae SSSSSYSSII50 O00000 SYSMAC I O line COO O00 E Control cable 300 mm max e
64. constant when using exponen tial acceleration deceleration This parameter is used in common by the positioning and the continuous rotary operation The setting unit is ms Bias Speed Object 0x64 Attribute 71 Pn841 Use the Bias Speed to set the bias speed of the exponential acceleration deceleration The setting unit is x 1 000 steps min Time Constant of Moving Average Object 0x64 Attribute 72 Pn842 Use the Time Constant of Moving Average to set the time constant of the average moving speed of the acceleration deceleration This parameter is used in common by the positioning and the continuous rotary operation The setting unit is ms Maximum Speed Object 0x64 Attribute 73 Pn843 Use the Maximum Speed to set the maximum speed of the positioning JOG and origin search operations The acceleration deceleration data is calculated from this data and the time constants The setting unit is x 1 000 steps min Step Distance 1 Object 0x64 Attribute 74 Pn844 Use the Step Distance 1 to set the amount of movement when executing step operation This value is used when the 0 has been specified as the step movement amount in a command data The setting unit is steps Step Distance 2 Object 0x64 Attribute 75 Pn845 Use the Step Distance 2 to set the amount of movement when executing step operation This value is used when the has been specified as the step movement amount in a command data The se
65. general command bits and status E General Command Bits Command The general command bit area is detailed below Table 6 2 General Command Bits o v o aces sor o 0 svon seer Mode MOD Use the MOD bit to specify the data block for bytes to 7 e 0 Move command block e 1 Set read command block Note The MOD bit alters the data block for bytes 1 to 7 Set it carefully Alarm Reset Command ALRST Set the ALRST bit to 1 to reset the present alarm warning When an alarm or warning occurs in the DeviceNet Unit or W series Servo Driver remove the cause of the alarm before set ting this bit to 1 The alarm warming will be cleared Always make sure this bit is set to 0 during normal operation and after an alarm has been cleared Emergency Stop Command STOP When the STOP bit is changed from 1 to 0 a move command is canceled and the servo of the W series Servo Driver is turned OFF If the axis is travelling axis travel is stopped immediately and the servo of the W series Servo Driver is turned OFF as soon as the Servo motor stops The STOP Command has negative logic to confirm that DeviceNet communications have been established Therefore set the bit to 1 for normal operation and 0 for emergency stops The emergency stop status will continue while this bit is set to 0 To release the emergency stop status set the bit to 1 To turn ON the servo after releasing an emergency stop set the Servo ON Command bi
66. register capacity tor Capacity Unit 10 W Services Get_Attribute Single Returns the specified attribute Set_Attribute Single Modifies the specified attribute Data Types 176 Get Set Output Signal Sets the output signal selection 3 Selection 3 10 24 10 2 DeviceNet Attributes 10 2 9 Trace Setting Object 0x67 Class and instances of the Trace Setting Object 0x67 are shown below E Class e Attributes None supported e Services None supported E Instances Attributes Instance 1 Explicit Message Range Setting i i 14 Get Set Sampling Cycle DINT Specifies the sampling cycle 250 to 250 Unit Us 8191750 15 Trigger Target UINT Specifies the trigger condition 0 to 4 16 Get Set Trigger Level UINT Specifies the trigger level 0000 to FFFF Hex 17 Edge Type UINT Specifies the edge type 18 UINT Specifies the amount of pre trigger data 0 to 999 19 Get Set Start Trace UINT Specifies the trace execution status 0 to 2 0 No operation initial status 1 Trace Start Command 2 Trace Stop Command Trace State Stores the trace execution status 0000 Hex Initial status 0001 Hex Tracing data 0002 Hex Trace completed Read enabled 0010 Hex Trace interrupted 0011 Hex Setting error 10 25 10 Appendix 10 2 9 Trace Setting Object 0x67 Services Service Name Description Code Ox0E Get_Attribute Single Returns the specified attribute
67. setting for CN1 I O signals when the DeviceNet Unit is mounted are described below To use the standard settings change the parameters to the standard setting as shown below The input signal setting from the DeviceNet Unit will be force changed so the user cannot change this setting W series Servo Driver CN1 Not used 40 40pin 25 26pin 25 INP1 ORG 41 41pin 26 INP1COM POT 42 42pin 27 28pin 27 BKIR NOT 43 43pin 28 BKIR COM EXTP 44 44pin 29 30pin 29 READY ZERO 45 45pin 30 READY COM Not used 46 46pin Fig 8 1 Standard CN1 I O Signal Settings Table 8 1 Default Setting and Standard Settings for I O Signals E Input Circuit Signal Allocation The allocation of the sequence input signal circuit when the DeviceNet Unit is mounted on the W series Servo Driver is not changed It will be as follows Terminal Input Terminal Symbol Name Numbers Name ae a e a 41 ORG Origin proximity input signal 42 42pin POT Forward rotation drive prohibited 43 NOT Reverse rotation drive prohibited 44 Interrupt input signal 45 Origin input signal C E 8 4 8 1 Setting Up the Servo Driver When the DeviceNet Unit is Mounted E Output Circuit Signal Allocations Output signal functions can be allocated to the sequence signal output circuits shown below In general allocate signals according to the standard settings in the following table CN1 Connector Output Default Setting Standard Setting Name 25 26p
68. storing with the power cable disconnected Temperature range 20 to 85 C Humidity range 90 RH or less non condensing S gt OomrR Ac SERVO RESD WTAS H ER ZO J0 ozoz OMNUC W series AC Servo Driver with DeviceNet Unit mounted 3 2 Installation Site Take the following precautions at the installation site Installation Precaution Installation in a Control Design the control panel size Servo Driver layout and cooling method Panel so that the temperature around the Servo Driver does not exceed 55 C Installation Near a Minimize heat radiated from the heating unit as well as any temperature Heating Unit rise caused by natural convection so that the temperature around the Servo Driver does not exceed 55 C Installation Near a Source Install a vibration isolator beneath the Servo Driver to avoid subjecting of Vibration it to vibration Installation at a Site Corrosive gas does not have an immediate effect on the Servo Driver Exposed to Corrosive Gas but will eventually cause electronic components and contactor related devices to malfunction Take appropriate action to avoid corrosive gas Other Situations Do not install the Servo Driver in hot or humid locations or locations subject to excessive dust or iron powder in the air 3 3 Orientation 3 3 Orientation Install the Servo Driver perpendicular to the wall as shown in the figure The Servo D
69. the Emergency Stop Action to set the operation when the emergency stop signal is input a Emergency stop and servo OFF 5 25 5 Parameter Settings 5 3 4 Speed Acceleration and Deceleration 5 3 4 Speed Acceleration and Deceleration This section provides acceleration and deceleration patterns speeds and parameter details E Acceleration and Deceleration Patterns The following acceleration and deceleration patterns are possible by combining accelera tion deceleration types Pn826 or Pn836 and filter selection Pn829 Table 5 7 Acceleration and Deceleration Patterns Acceleration Deceleration Type Pn826 or Pn836 1 Single step Linear 2 Double step Linear Filter 0 None No acceleration and OSingle step Linear Double step Linear Asymmetric Linear Selection deceleration Accel Decel Accel Decel Accel Decel Pn829 Constant Accel Constant Accel Constant Accel 1 Exponent Exponential Accel Decel Constant Accel Decel time Decel Decel 2 Exponent Exponential Accel with Bias Decel with Bias Constant Accel Decel time 3 Moving Single step Linear Asymmetric S curve Average Accel Decel Constant Accel Accel Decel Constant Accel Decel Decel Constant Accel time 2 Decel 1 With Constant Accel Decel the time required for acceleration and deceleration changes with feeeding speed changes 2 With Constant Accel Decel time the time required for acceleration and decel
70. the following table Pn003 0 and Monitor Signal Analog Monitor CN5 Pn003 1 Settings Observed Gain O o fee vo o E 4 Position deviation 0 05 V 100 command units 5 Command pulse frequency 1 V 1000 r min Servomotor speed conversion Reserved monitor signal Note Refer to 4 10 Using Monitor Output in the OMNUC W series Servomotors Servo Drivers User s Manual 1531 E1 Q for information on monitoring methods of analog monitors 8 7 8 Servo Driver Settings 8 2 1 Switching Servomotor Rotation Direction 8 2 Settings According to Equipment Characteristics This section describes the procedure for setting parameters according to the dimensions and per formance of the equipment used 8 2 1 Switching Servomotor Rotation Direction The Servo Driver has a Reverse Rotation Mode that reverses the direction of Servomotor rotation without rewiring Forward rotation in the standard setting is defined as counter clockwise as viewed from the motor output shaft With the Reverse Rotation Mode the direction of Servomotor rotation can be reversed with out changing other items The direction of shaft motion is reversed There are no other changes P Standard Setting Reverse Rotation Mode Forward Command CCW Position data from Servo Driver ol Positive direction Deed aes Position data from Servo Driver E Positive direction ia Reverse Command Position data from Ccw Position data from
71. to Output Circuit Signal Allocations on page 8 5 for more details 8 4 Setting Stop Functions 8 4 Setting Stop Functions This section describes the procedure used to stably stop the Servo Driver 8 4 1 Using the Dynamic Brake To stop the Servomotor by applying the dynamic brake DB set the desired mode in the fol lowing parameter The Servomotor will stop due to equipment friction if the dynamic brake is not applied Pn001 0 Select stop if an alarm occurs when Default Setting Coasts the Servo Servomotor is OFF 0 motor to a stop The Servo Driver turns OFF under the following conditions e When the SV_OFF Command is sent e A servo alarm occurs e Power is turned OFF Stop mode Dynamic brake stop Stop by free run After stopping Hold dynamic brake Pn001 0 0or1 Pn001 0 Specify the Stop Mode if any of these occurs during Servomotor operation Uses the dynamic brake to stop the Servomotor rinse acm Uses the dynamic brake to stop the Servomotor Releases dynamic brake after the Servomotor stops and the Ser vomotor coasts to a stop Servomotor stopped with free run Default setting The Servomotor is turned OFF and stops due to equipment fric tion 1 Ifthe Servomotor is stopped or moving at extremely low speed it will stop by free run 2 A dynamic brake is used when the control power and main power are turned OFF Note The dynamic brake is
72. 0 V and 100 V models 8 16 8 4 Setting Stop Functions Output to BKIR Brake Interlock Output Position Control This output signal controls the brake when using a Servomotor with a brake and does not have to be connected when using a Servomotor without a brake Closed or low level Releases the brake oe Open or high level Applies the brake Related Parameters Brake Operation Pn506 Brake Timing 1 Pn507 Brake Command Speed Pn508 Brake Timing 2 The output signal in the following parameter must be selected when the BKIR signal is used com Output Signal Selection 2 Default Setting Not allocated 0000 Pere Output terminals fe BKIR 1 CN1 25 26 25 26pin Brake interlock CN1 27 28 27 28pin output CN1 29 30 29 30pin Select the terminal to which the BKIR is output Setting Output Terminal CN1 4 2 a O a a l a Cee Note Signals are output with OR logic when multiple signals are allocated to the same output circuit Set other output signals to a value other than that allocated to the BKIR signal in order to output the BKIR signal alone Refer to 8 1 3 Standard Settings for I O Signals 8 Servo Driver Settings 8 4 2 Using the Holding Brake E Brake Operation Set whether the brake is applied using the Servo Driver parameter Pn005 0 Brake Operation Default Setting Performs brake 0 operation Pn005 0 Setting Description 1 Does not perform brake operation using the
73. 0 steps min Target speed 23 Unit X 1000 steps min Target speed 24 Unit X 1000 steps min Target speed 25 Unit X 1000 steps min Target speed 26 Unit x 1000 steps min Target speed 27 Unit X 1000 steps min Target speed 28 Unit X 1000 steps min Target speed 29 Unit X 1000 steps min Target speed 30 Unit X 1000 steps min Target speed 31 Unit X 1000 steps min Target speed 32 Unit X 1000 steps min Target speed 33 Unit X 1000 steps min Target speed 34 Unit X 1000 steps min Target speed 35 Unit X 1000 steps min Target speed 36 Unit X 1000 steps min Target speed 37 Unit X 1000 steps min 10 18 1 to 240 000 1 to 240 000 1 to 240 000 1 to 240 000 1 to 240 000 1 to 240 000 1 to 240 000 1 to 240 000 1 to 240 000 1 to 240 000 1 to 240 000 24 000 24 000 24 000 24 000 24 000 24 000 24 000 24 000 24 000 24 000 24 000 24 000 24 000 24 000 24 000 24 000 24 000 24 000 24 000 24 000 24 000 24 000 24 000 10 2 DeviceNet Attributes cont d No Access Name Data Description Setting Range Default Type Setting 187 Get Set Speed 38 DINT Target speed 38 1 to 240 000 24 000 Unit X 1000 steps min 188 Get Set Speed 39 DINT Target speed 39 1 to 240 000 24 000 Unit X 1000 steps min 189 Get Set Speed_40 DINT Target speed 40 1 to 240 000 24 000 Unit X 1000 steps min 190 Get Set Speed 41 DINT Target speed 41 1 to 240 000
74. 00 Unit X 1000 steps min 154 Get Set Speed_5 DINT Target speed 5 1 to 240 000 24 000 Unit X 1000 steps min 155 Get Set Speed 6 DINT Target speed 6 1 to 240 000 24 000 Unit X 1000 steps min 156 Get Set Speed_7 DINT Target speed 7 1 to 240 000 24 000 Unit X 1000 steps min 157 Get Set Speed 8 DINT Target speed 8 1 to 240 000 24 000 Unit X 1000 steps min 158 Get Set Speed_9 DINT Target speed 9 1 to 240 000 24 000 Unit X 1000 steps min 159 Get Set Speed_10 DINT Target speed 10 1 to 240 000 24 000 Unit X 1000 steps min 160 Get Set Speed_11 DINT Target speed 11 1 to 240 000 24 000 Unit X 1000 steps min 161 Get Set Speed 12 DINT Target speed 12 1 to 240 000 24 000 Unit X 1000 steps min 162 Get Set Speed_13 DINT Target speed 13 1 to 240 000 24 000 Unit X 1000 steps min 163 Get Set Speed_14 DINT Target speed 14 1 to 240 000 24 000 Unit X 1000 steps min 10 17 10 Appendix 10 2 7 Point Table Object 0x65 cont d Default Setting Type 164 165 166 167 168 169 170 171 172 o E il a i ie il aad a ince ae is ial ae Target speed 15 Unit X 1000 steps min Target speed 16 Unit X 1000 steps min Target speed 17 Unit X 1000 steps min Target speed 18 Unit X 1000 steps min Target speed 19 Unit X 1000 steps min Target speed 20 Unit X 1000 steps min Target speed 21 Unit X 1000 steps min Target speed 22 Unit X 100
75. 00 Immediate 24 000 Positioning Speed steps min 95 Pn855 Interrupt Feeding 99 999 999 Steps Immediate Distance 96 Pn856 Interrupt Feeding Otol Power up Function Selection 6 53 6 DeviceNet Communications 6 6 2 Operation Operation Speed PN827 Aea Pn854 pm Time 1 C_STRT 0 1 EXTP signal a Command Method 1 Set the command code byte 1 bits 0 to 3 to 0 2 Set the Servo ON Command byte 0 bit 1 to 1 3 Set absolute relative byte 3 bit 0 If a relative position has been specified the target position will be present position position specified from bytes 4 to 7 4 Set the target position in the command data bytes 4 to 7 5 Set external positioning 2 in the command code byte 1 bits 0 to 3 6 Change the Command Start Command byte 0 bit 0 from 0 to 1 Target position data 6 54 6 6 Details on Move Commands for Remote I O Communications E Notch Output Positioning Command Command Code 0011 3 Hex This section describes the Notch Output Positioning Command function related parameters operation and command method Function The Notch Output Positioning Command performs positioning to the specified position If a specified position is passed during the positioning a notch output signal will be output Two notch signals can be used in the DeviceNet Unit Related Parameters Object Attribute No Name Setting Range Unit Effective Default Type
76. 1 to 240 000 x 1 000 steps min 24 000 B Note 1 Steps means command unit For command unit details refer to 5 3 7 Unit Parameters 2 Ifyou set the command unit to 0 001 mm 1 000 steps min becomes mm min 5 9 5 Parameter Settings 5 3 1 Unit Parameters 5 3 Parameter Details 5 3 1 Unit Parameters The unit for performing positioning using a DeviceNet Unit is determined by the following two parameters Object Attribute No Name Range Units Effective Default Type Timing Value 0x64 30 Pn810 Electronic Gear Ratio G1 1 to 10 000 000 Power up l Numerator 31 Pn811 Electronic Gear Ratio G2 1 to 10 000 000 Power up 1 Denominator The electronic gear function can be used to set the position command units equal to the amount of encoder pulses The host controller can generate position commands in more familiar user defined units such as millimeters or inches E Not Using the Electronic Gear If not using the electronic gear set Pn810 and Pn811 to 1 This will set the command unit to 1 pulse so you must calculate the scale position units using the host controller R88D WT DeviceNet Unit 1 1 1 1 1 pulse 1 pulse 7 revolutions Motor No of encoder pulses 5 revolutions 2048 x4 Pitch of ball screws P 6 mm Encoder 5 10 5 3 Parameter Details E Electronic Gear Settings When Using a Ball Screw If using a ball screw first check the following specifications
77. 10 9 10 2 7 Point Table Object 0x65 10 15 10 2 8 Servo Driver Parameter Object 0x66 10 20 10 2 9 Trace Setting Object 0x67 10 25 10 2 10 Trace Data Object 0x68 10 27 10 3 Alarm Warning Codes and Error Codes for Message Communications 10 28 10 3 1 Alarm Codes 10 28 10 3 2 Warning Codes 10 31 10 3 3 Error Codes for Message Communications 10 32 1 Features and System Configuration This chapter describes the basic functions and performance of the DeviceNet Unit 1 1 Features 1 2 1 2 System Configuration 1 4 1 3 Basic Functions and Function Outlines 1 5 1 4 Specifications 1 6 1 4 1 General Specifications 1 6 1 4 2 Performance Specifications 1 7 1 4 3 VO Specifications 1 7 1 4 4 DeviceNet Communications Specifications 1 8 1 Features and System Configuration 1 1 Features The R88A NCW152 DRT DeviceNet Unit can be mounted to an OMNUC W series Servo Driver to treat the Servo Driver as a slave in a DeviceNet network enabling applicat
78. 15 PGO Vv 1 Ground common PGO V 2 PGO V 3 Vv 24V DC 24VIN 11 3 3kQ Shell FG Emergency stop STOP 9 N i el Frame ground 4 4 2 Connection Terminal Layout The terminal layout and specifications for the CN4 are outlined below m CN4 Terminal Layout 1 PGOV Signal ground 11 24VIN 24 V common terminal for external input PGOV Signal ground NOTCH1 Notch output 1 a a E E opp e ee o E OCC S a OC S OC a a a Note 1 The encoder power supply and battery must be supplied externally 2 The FG is connected to the connector shell 4 12 4 4 I O Signal Connections for DeviceNet Units CN4 E CN4 Connector Specifications 10120 3000VE 20P Sumitomo 3M Ltd 10320 52A0 008 4 4 3 IO Signal Interface Circuits The following diagram shows an example of connections between a host controller and the T O signals for a DeviceNet Unit E Sequence Input Circuit The sequence input circuit connects through a relay or open collector transistor circuit Select a low current relay otherwise a faulty contact will result DeviceNet Unit DeviceNet Unit Relay Open Collector E Sequence Output Circuit Notch output signals are used for photocoupler output circuits Connect the notch output signals to relays or line receiver circuits 5 to 24 VDC 5 to 12 VDC DeviceNet Relay DeviceNet Unit end 5 6 O Unit end Relay Line Receiver Note The maximum al
79. 24 000 Unit X 1000 steps min 191 Get Set Speed_42 DINT Target speed 42 1 to A 240 000 24 000 Unit X 1000 steps min 192 Get Set Speed_43 DINT Target speed 43 1 to 240 000 24 000 Unit X 1000 steps min 193 Get Set Speed_44 DINT Target speed 44 1 to 240 000 24 000 Unit X 1000 steps min 194 Get Set Speed_45 DINT Target speed 45 1 to 240 000 24 000 Unit X 1000 steps min 195 Get Set Speed_46 DINT Target speed 46 1 to 240 000 24 000 Unit X 1000 steps min 196 Get Set Speed_47 DINT Target speed 47 1 to 240 000 24 000 Unit X 1000 steps min 197 Get Set Speed_48 DINT Target speed 48 1 to 240 000 24 000 Unit X 1000 steps min 198 Get Set Speed_49 DINT Target speed 49 1 to 240 000 24 000 Unit X 1000 steps min Get Set Speed_50 DINT Target speed 50 1 to 240 000 Unit X 1000 steps min Services Service Name Description Code Ox0E Get_Attribute_ Single Returns the specified attribute 0x10 Set_Attribute_Single Modifies the specified attribute Data Types Double precision integer 10 19 10 Appendix 10 2 8 Servo Driver Parameter Object 0x66 10 2 8 Servo Driver Parameter Object 0x66 Class and instances of the Servo Driver Parameter Object 0x66 are shown below E Class e Attributes None supported e Services None supported E Instances Attributes Instance 1 Explicit Message Function Selection Basic Switch 13 Function Selection
80. 3320 04 3220 01 Servo is ON when emergency stop status is cleared 3320 01 Servo ON end If servo ON in _______________ effect ends servo ON 7 3 7 Ladder Programming Examples 7 2 2 Origin Search Command 7 2 2 Origin Search Command The following is a programming example for executing an origin search E Condition Servo ON is in effect E Operation 1 Set the command code no operation and response type command position 2 Turn ON the HOME the Origin Search Command E Ladder Programming Execution condition 4 4 DIFU 013 PRGS ALRM SVON_R W030 01 3221 07 3321 00 3320 03 3220 01 W030 01 Sets the command code and response type Turns ON HOME 3321 11 3321 01 3321 07 L Ends the origin search when the Origin Flag HOME_P PRGS HOME_R Origin search end turns ON RSET Turns OFF HOME 3221 07 7 2 Remote I O Programming 7 2 3 Direct Operation Command The following is a programming example for executing direct operation E Condition Servo ON is in effect E Operation 1 Set the command code direct operation response type command position and rela tive value 2 Set the target position data to 1 000 000 3 Turn ON C_STRT to start direct operation m Ladder Programming Execution condition 3321 00 3320 03 3220 01 4 Se DIFU 013 PRGS ALRM SVON_R W030 02 W030 02 MOVD 034 0100 0212 3220 MOV 021
81. 5 0 to 65535 20 to 100 20 to 100 1 to 2000 1 to 2000 1 to 150 1 to 150 0 to 150 0 to 150 0 to 2000 0 to 51200 10 to 250 0 to 250 0 to 100 ceNet Attributes cont d Default Setting 0004 200 10 0012 100 100 1000 200 32 16 100 100 1000 10 Appendix 10 2 8 Servo Driver Parameter Object 0x66 cont d No Access Name Data Type Description Setting Default Range Setting 100 Get Set Position UIN Performs the position control setting 1 0100 Control Setting 1 Get Set Encoder Divider UIN Sets the encoder divider rate 16 to 16384 1000 Rate Unit p r 102 Get Set Electronic Gear UIN Sets the electronic gear ratio G1 1 to 65535 1 Ratio G1 Numerator numerator 103 Get Set Electronic Gear UINT Sets the electronic gear ratio G2 1 to 65535 1 Ratio G2 Denomi denominator nator b W UIN C Get Set Position Command Sets the position command filter time 0 to 6400 Filter Time Con constant 1 stant 1 Unit 0 01 ms Get Set Absolute Encoder UINT Sets the absolute encoder multi turn 0 to 65535 65535 Multi Turn Limit limit Setting Unit rev T T T T Get Set Number of Fully T Sets the number of fully closed encoder 25 to 65535 16384 closed Encoder pulses Pulses Get Set Position Control UINT Performs the position control setting 2 0000 Setting 2 T T T T T 0 0 0 0 2 4 5 6 7 1 1 1 1 EE 08 Get Set Position Command UI
82. 6 12 Responses for Parameter Read Command a o e S Parameter number Parameter data 6 35 6 DeviceNet Communications 6 5 4 Set Read Commands for Remote I O Communications E Parameter Write Command Command Code 1001 9 Hex The Parameter Write Command rewrites parameters for the W series Servo Driver and DeviceNet Unit To use the Parameter Write Command make the following settings and then change the Command Start Command from 0 to 1 e Command code e Parameter number e Parameter data Table 6 13 Commands for Parameter Write Command SS Parameter number Parameter data a Parameter number Parameter data 6 36 6 5 Remote I O Communications E Present Position Setting Command Command Code 1010 A Hex The Present Position Setting Command sets the specified value as the present position of the Servomotor To use the Present Position Setting Command make the following settings and then change the Command Start Command from 0 to 1 e Command code e Present position data Table 6 15 Commands for Present Position Setting Command SS a Present position data Table 6 16 Responses for Present Position Setting Command a Present position data 6 37 6 DeviceNet Communications 6 5 4 Set Read Commands for Remote I O Communications E Origin Setting Command Command Code 1011 B Hex When an absolute encoder is used the Origin Setting Command sets the prese
83. 9 999 gt eal mal Pn829 Filter Selection 0 1 2 3 0 70 Pn840 Time Constant for 4 to 1 000 Immediate 2 C Exponential Curve 71 Pn841 Bias Speed 0 to 240 000 x 1000 Immediate C steps min 12 Pn842 Time Constant of Mov 4 to 1 000 ms Immediate 2 C ing Average 999 a 77 Pn847 Step Distance 4 0 to 99 999 999 1 000 6 44 6 6 Details on Move Commands for Remote I O Communications Operation Speed Pn844 to Pn847 Command Method 1 Set the Servo ON Command byte 0 bit 1 to 1 2 Set the movement direction byte 3 bit 1 3 Select the travel distance to be used for step operation from within the range from Pn844 0 to Pn847 3 4 Set the Step Command byte 2 bit 4 to 1 Step distance selection 0 to 3 6 45 6 DeviceNet Communications 6 6 1 No operation Command Code 0000 0 Hex E Station Command Command Bit STN 1 This section describes the Station Command function related parameters operation and command method Function The Station Command can be used when the DeviceNet Unit is used in a rotating system One rotation of the Servomotor is divided into a specified number of stations and station numbers are allocated When a station number is specified the axis travels in the specified direction to the specified position Related Parameters The same speed and acceleration deceleration data is used as for the Positioning Command Object
84. 9 999 999 126 Pn870 Position 14 for Multi 0 to Steps Immediate speed 99 999 999 127 Pn871 Position 15 for Multi 0 to Steps Immediate speed 99 999 999 6 57 C 6 DeviceNet Communications 6 6 2 Operation cont d Object Attribute No Name Setting Range Unit Effective Default Type Timing Setting 0x64 128 n872 Position 16 for Multi 0 to Steps Immediate speed 99 999 999 129 Pn873 Speed 1 for Multi speed 1 to 240 000 x 1000 Immediate 24 000 steps min 130 Pn874 Speed 2 for Multi speed 1 to 240 000 x 1000 Immediate 24 000 steps min 131 Pn875 Speed 3 for Multi speed 1 to 240 000 x 1000 Immediate 24 000 steps min 132 Pn876 Speed 4 for Multi speed 1 to 240 000 x 1000 Immediate 24 000 steps min 133 Pn877 Speed 5 for Multi speed 1 to 240 000 x 1000 Immediate 24 000 steps min 134 Pn878 Speed 6 for Multi speed 1 to 240 000 x 1000 Immediate 24 000 steps min 135 Pn879 Speed 7 for Multi speed 1 to 240 000 x 1000 Immediate 24 000 steps min 136 Pn87A Speed 8 for Multi speed 1 to 240 000 x 1000 Immediate 24 000 steps min 137 Pn87B Speed 9 for Multi speed 1 to 240 000 x 1000 Immediate 24 000 steps min 138 Pn87C Speed 10 for Multi speed 1 to 240 000 x 1000 Immediate 24 000 steps min 139 Pn87D Speed 11 for Multi speed 1 to 240 000 x 1000 Immediate 24 000 steps min 140 Pn87E Speed 12 for Multi speed 1 to 240 000 x 1000 Immedi
85. Attributes Instance 1 Explicit Message Vendor ID UINT Identification of each vendor by number Device Type UINT Identification of general type of product 3 Get Product Code UINT Identification of a particular product of an indi 0x3C vidual vendor sents Ea Serial Number UDINT Serial number of DeviceNet Unit STRING User readable identification R88A NCW152 DRT Services Service Name Description Code Invokes the Reset Service for the DeviceNet Unit Get_Attribute_Single Returns the contents of the specified attribute Data Types USINT Unsigned short integer UINT Unsigned integer UDINT Unsigned double precision integer STRING Character string 1 byte character fe 10 3 10 Appendix 10 2 2 Message Router Object 0x02 10 2 2 Message Router Object 0x02 Class and instances of the Message Router Object 0x02 are shown below E Class e Attributes None supported e Services None supported E Instances e Attributes None supported e Services None supported 10 4 10 2 DeviceNet Attributes 10 2 3 DeviceNet Object 0x03 Class and instances of the DeviceNet Object 0x03 are shown below E Class e Attributes None supported e Services None supported E Instances Attributes Instance 1 Explicit Message 4 Get Busoff USINT Number of times CAN went to the Busoff state 0 to 255 Counter Allocation Structure Information including byte and USINT Allocation Byte C
86. Command Method 6 60 6 8 Communications Using Explicit Messages 6 65 6 8 1 Explicit Messages Overview 6 65 6 8 2 Command Response Blocks 6 66 6 8 3 Sending Explicit Messages Using the CMND Instruction 6 68 6 1 6 DeviceNet Communications 6 9 Tracing Data 6 71 6 9 1 Trace Parameters 6 71 6 9 2 Reading Trace Data 6 74 6 9 3 Tracing Data 6 77 6 10 Changing Parameters 6 78 6 10 1 Managing DeviceNet Data 6 78 6 10 2 Changing Parameters 6 79 6 2 6 1 Control Configuration 6 1 Control Configuration An outline of the control configuration is shown below A maximum of 63 DeviceNet Units or other slave devices can be connected to one DeviceNet Master Unit OMRON CS CJ series DeviceNet Master Unit PLC or personal computer 00 o0 00 oO 63 nodes max i O oe O O oF
87. Countermeasures If the second value B is less than the first A use the following procedure to locate the communications power supply e Locate the communications power supply in the center of the network and the nodes to both sides of it If the nodes are already located at both sides of the power supply move the power sup ply in the direction that requires the larger current capacity e If thin cable is being used replace it with thick cable Note If after following the above procedure B is still the same as A or less go to Step 2 and determine the actual position of the nodes by the formula calculation method 6 DeviceNet Communications 6 3 1 Providing the Communications Power Supply Example The following example shows a Network that requires power to be supplied for 240 m on thick cable The power supply is located in the center of the network Because the power supply is in the center the maximum current will flow both to the left and to the right enabling the supply of at least twice the maximum current as when the power supply is placed on the end of the network The current consumption for individual nodes is as fol
88. Driver I O Signals 4 3 3 I O Signal Names and Functions The following section describes I O signal names and functions of the Servo Driver E Input Signals Common Origin proximity input signal Origin proximity input signal for origin search connected Forward rotation drive Overtravel prohibited Stops Servomotor when movable part prohibited travels beyond the allowable range of motion Reverse rotation drive prohibited EXTP Interrupt input signal Signal used for interrupt input connected Origin input signal 24 V DC control power supply input Users must provide the 24 V power supply Allowable voltage fluctuation range 11 to 25 V Backup battery input Connecting pin for the absolute encoder backup battery Connect to either CN8 or CN1 24VIN BAT BATGND E Output Signals Common ALM Alarm Turns OFF when an error is detected ALMCOM BKIR Brake interlock output Output that controls the brake The brake is released when this sig BKIRCOM nal is ON READY Servo ready Turns ON if there is no servo alarm when the control main circuit power sup READYCOM ply is turned ON ALO1 Alarm code output Outputs 3 bit alarm codes ALO2 e Open collector 30 V and 20 mA rating maximum Shell Connected to frame ground if the shield wire of the I O signal cable is connected to the con nector shell Position a Positioning complete output 1 output in Position Control Mode Turns ON when the num INP1COM ber of d
89. N1 sy 4 4 ai 1 Gate drive over T Relay Voltage Gate current protection xc drive detection drive ry Y Encoder f Vottage t 1 detection DN C gt Interface O gt ames fea i For battery Lic T gt 5V i connection gt d PODE 15 Vi if Tt con EEE ASIC L2C A rt Neuer is y PWM control i V lamn CNI 1 4 Power Power g g p g g Ts v OFF ON mi 1MC 1 JDOJDJOJC On eNe o fo fo e yov CPU IMC Surge n Peene rowed rae speed aes killer d 1O Anak ta Hoo 1 i converter i Digi Sequence I O eee 5RY Open during if CNS CN3 LY CN10 servo alarm 4 4 Analog monitor Parameter Unit A output for personal computer supervision Sealy ee 4 ono N Bus interface i l DeviceNet CNG communica i 1 tions interface k Master node je I 24 V communications gt Fully closed encoder power supply gt CN4 fi CPU position commands 5 V command interpretation ry R arithmetic processing Power supply y etc T SW1 swal Node i address SW3 ICommuni 5V A 7 cations setting y i i 4 3 Servo Driver I O Signals 4 3 Servo Driver I O Signals This section describes I O signals for the Servo Driver with the DeviceNet Unit 4 3 1 Connection Example of I O Signal Connector CN1 The following diagram shows a typical example of I O signal connections Note 1
90. NT Sets the position command filter time 0 to 6400 Filter Time Con constant 2 stant 2 nit 0 01 ms 0 Get Set Speed Command UIN ets the speed command scale 150 to 3000 1000 Scale nit 0 01 V rated speed 121 Get Set No 1 Internal Speed UIN ets the No 1 internal speed 0 to 10000 100 Setting nit r min 122 Get Set No 2 Internal Speed UIN ets the No 2 internal speed 0 to 10000 200 Setting nit r min 123 Get Set No 3 Internal Speed UIN ets the No 3 internal speed 0 to 10000 300 Setting nit r min 124 Get Set JOG Speed UIN ets the JOG speed 0 to 10000 500 nit r min 125 Get Set Soft Start U ets the soft start acceleration time 0 to 10000 Acceleration Time nit ms 126 Get Set Soft Start U ets the soft start deceleration time 0 to 10000 Deceleration Time nit ms 127 Get Set Speed Command T Sets the speed command filter time con 0 to 65535 40 Filter Time Con stant stant Unit 0 01 ms 128 Get Set Speed Feedback Fil Sets the speed feedback filter time con 0 to 65535 ter Time Constant stant Unit 0 01 ms 140 Get Set Torque Command UINT Sets the torque command scale 10 to 100 30 Scale Unit 0 1 V rated torque 141 Get Set Torque Command UINT Sets the torque command filter time con 0 to 65535 40 Filter Time Con stant stant Unit 0 01 ms 142 Get Set Forward UINT Sets the forward torque limit 0 to 800 350 Torque Limit Unit 10 22 nla 1 Alc nAlIlaca ajc a an Z Z 4 4 an
91. Network Message Communications Communications Enabled Flag Enabled Flag communications port No 0 D00200 ASL 025 W031 W031 01 A202 00 A219 00 MOV 021 Network Network Communications Communications Enabled Flag Execution communications Error Flag port No 0 ASR 026 wo31 Executes CMND If a transmission error occurs retries after response code is stored 8 servo Driver Settings This chapter describes various settings of the Servo Driver and settings of con nected devices such as an absolute encoder or Parameter Unit when a DeviceNet Unit is mounted 8 1 Setting Up the Servo Driver When the DeviceNet Unit is Mounted 8 2 8 1 1 Parameters 8 2 8 1 2 Automatically Set Parameters 8 3 8 1 3 Standard Settings for I O Signals 8 4 8 1 4 Analog Monitors 8 7 8 2 Settings According to Equipment Characteristics 8 8 8 2 1 Switching Servomotor Rotation Direction 8 8 8 2 2 Stop Mode Selection at Servo OFF 8 9 8 2 3 Fully closed Control 8 10 8 3 Settings According to Host Controller 8 13 8 3 1 Sequence I O Signals 8 13 8 4 Setting Stop Functions
92. O O OJ ojo OOOO 3558F gt ojo OO 0o00 oo000 gt ojec ojo Up LO LL TA D EE a oo a Fo i FEER TTT ge ello B 4 alll po D po O a A W series Servo Drivers Inverter OMRON slave or others DeviceNet Unit R88A NCW152 DRT 6 DeviceNet Communications 6 2 1 Rotary Switch Settings for Setting Node Address 6 2 DeviceNet Switch Settings and Display This section explains the switch settings and display on the DeviceNet Unit 6 2 1 Rotary Switch Settings for Setting Node Address Use the rotary switches x1 x10 to set the DeviceNet node address After making the set tings with the power OFF turn ON the communications power again to enable the settings The node address can be set between 0 and 63 If you make a setting outside this range a Rotary Switch Setting Error A E8 will occur Select the node address of the DeviceNet Unit using the switch settings as shown in the fol lowing table Note The node address can be set anywhere within the specified range as long as it is not the same as Node Node Address Address ea a Sa a ae eee ea ee Fe AEM eral ees 2s TA DE CARA Eo ae ee a Ea ester 3 ea EA ees the node address of any other no
93. OFF alarm state ON Output transistor is ON 9 43 9 Troubleshooting 9 4 Error Diagnosis Due To Operating Status Refer to the tables below to identify the cause of a problem which causes no alarm display and take the remedy described Turn OFF the servo system power supply before commencing the shaded procedures Table 9 3 Troubleshooting Table with No Alarm Display Symptom Cause Inspection Remedy e Servomotor does not start Power not a E _ voltage between Correct the power circuit power supply terminals Loose connection Check terminals of connec Tighten any loose parts tors CN1 CN2 CN4 and CN6 Connectors CN1 CN4 and CN6 Check connectors CN1 Refer to connection diagram external wiring incorrect CN4 and CN6 external and correct wiring wiring Servomotor or encoder wiring dis Reconnect wiring connected Overloaded Run under no load Reduce load or replace with larger capacity Servomotor Encoder type differs from parameter Check the type of encoder Set parameter Pn002 2 to the setting being used encoder type being used POT and NOT inputs are turned OFF Refer to 8 3 Turn POT and NOT input sig nals ON Software limit reached Refer to 5 3 3 Operate the Servomotor within software limits Servomotor does not run Move commands have not been sent Check using DeviceNet Send the move commands communications or the Send Servo ON Command Servo ON Command ha
94. OMRON Mi USER S MANUAL OMNUC W xs Model R88A NCW152 DRT DeviceNet Option Unit Thank you for choosing this OMNUC W series DeviceNet Option Unit Proper use and handling of the product will ensure proper product performance will length product life and may prevent possible accidents Please read this manual thoroughly and handle and operate the product with care General Instructions This manual describes the functions of the product and relations with other products You should assume that anything not described in this manual is not possible Although care has been given in documenting the product please contact your OMRON representa tive if you have any suggestions on improving this manual The product contains dangerous high voltages inside Turn OFF the power and wait for at least five minutes to allow power to discharge before handling or working with the product Never attempt to disassemble the product We recommend that you add the following precautions to any instruction manuals you prepare for the system into which the product is being installed e Precautions on the dangers of high voltage equipment e Precautions on touching the terminals of the product even after power has been turned OFF These terminals are live even with the power turned OFF Specifications and functions may be changed without notice in order to improve product performance Positive and negative rotat
95. ON Status and Remedy for Alarm During Servomotor operation A Regenerative power exceeds the allowable Use an external regenerative resistor that value matches the regenerative power capacity ative resistor is used and the temperature setting rise of the regenerative resistor is small i Alarm occurs although an external regener Reset the incorrect Pn600 user parameter 9 Troubleshooting E A 40 A 40 Main Circuit DC Voltage Error Detected Overvoltage Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm Occurred when the control During Servomotor A B C D operation circuit power turned ON E Occurred when main circuit power turned ON A The power supply voltage is not within the Check power supply range of specifications Load exceeds capacity of the Regenerative Check specifications of load inertia and Unit overhanging load Regenerative transistor is abnormal Replace the Servo Driver D Rectifying diode is defective The Servo Driver is defective 9 12 9 3 Troubleshooting with Alarm Displays m A 41 A 41 Main Circuit DC Voltage Error Detected Low Voltage Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state ON Output transistor
96. Patterns from Trunk Line 1 One Drop Line from 2 Three Drop Lines Maximum Trunk Line from Trunk Line Trunk 7 Trunk Trunk _ 7 Trunk 3 Node Connected Directly to Trunk Line line line f line Multi drop is aera E aeg e Trunk Trunk Tap Tap line line T Drop line Drop line 1 1 io Node Node Node Node Branching Patterns from Drop Line 4 One Drop Line from 5 Three Drop Lines Maximum 6 Node Connected Directly Drop Line from Drop Line to Drop Line Drop Drop Drop SS Drop line line line i I line Multi drop T branch T branch Drop Drop Drop line Drop line Node Node Node Node Various combinations of these connections can be used on the same network as shown in the following diagram 4 18 4 5 Connection and Wiring of the DeviceNet Communications Connector Note There are no restrictions in the number of nodes that can be connected to a single drop line but a maximum of 64 nodes total can be connected to a single network including the DeviceNet Master Unit When a DeviceNet Configurator is not used to allocate Remote I O with SYSMAC CS CJ series or C200HX HG HE PC a maximum of 51 nodes total can be connected to a single network includ ing the DeviceNet Master
97. Servo Driver 4 Servo Driver o Negative direction __ Negative direction aeai aa E Setting Reverse Rotation Mode Use parameter Pn000 0 Pn000 0 Reverse Rotation Default Setting CCW rotation by 0 positive command Use the following settings to select the direction of Servomotor rotation Setting Description Forward rotation is defined as counterclockwise CCW Standard setting rotation as viewed from the motor output shaft 1 Forward rotation is defined as clockwise CW rotation as Reverse Rotation viewed from the motor output shaft Mode 8 8 8 2 Settings According to Equipment Characteristics i ee a ee 8 2 2 Stop Mode Selection at Servo OFF The W series Servo Driver turns OFF under the following conditions The SV_OFF command is transmitted e A servo alarm occurs e Power is turned OFF Specify the Stop Mode if any of these occurs during Servomotor operation Pn001 0 Select stop if an alarm occurs when Default Setting Coasts the Servo Servomotor is OFF 2 motor to a stop Stop Mode After stopping 0 Fold with dynamic brake Note The dynamic brake electrically applies a brake by using a resistor to consume Servomotor rotation energy Refer to 8 4 1 Using the Dynamic Brake Pn001 0 Uses the dynamic brake to stop the Servomotor and maintains dynamic brake status after stopping Uses the dynamic brake to stop the Servomotor and cancels dynamic brake status after s
98. Set et Set et Set et Set et Set et Set et Set et Set et Set et Set et Set et Set et Set et Set et Set et Set et Set Get Set ina cae Palliat aol aa lal Sag a Pele cam ican Bic Bic ican ican ican ican P ican acum Bian Feed forward Com mand Filter Speed Control Set ting P Control Switching Torque Commands P Control Switching Speed Commands P Control Switching Acceleration Com mands P Control Switching Deviation Pulse Online Autotuning Setting Speed Feedback Compensating Gain Data Type IN UINT UINT UINT Bi UIN T UINT T T T T T T T T T T Z T Z T Z T Z T Z T Z T Z G m io eS a eG ie T INT Sets the feed forward command filter Unit 0 01 ms Sets the speed control Sets the P control switching torque commands Unit Sets the P control switching speed commands Unit r min Sets the P control switching accelera tion Unit 10 r min s Sets the P control switching deviation pulse Unit pulse Sets the online autotuning Sets the speed feedback compensation Unit Do not change the settings Do not change the settings 10 21 10 2 Devi Setting Range 0 to 6400 0 to 800 0 to 10000 0 to 3000 0 to 10000 1 to 500 0 to 1000 0 to 1000 0 to 1000 0 to 6553
99. THE OMRON PRODUCTS ARE PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM PROGRAMMABLE PRODUCTS OMRON shall not be responsible for the user s programming of a programmable product or any consequence thereof No 6182 Disclaimers CHANGE IN SPECIFICATIONS Product specifications and accessories may be changed at any time based on improvements and other reasons It is our practice to change model numbers when published ratings or features are changed or when significant construction changes are made However some specifications of the products may be changed without any notice When in doubt special model numbers may be assigned to fix or establish key specifications for your application on your request Please consult with your OMRON representative at any time to confirm actual specifications of purchased products DIMENSIONS AND WEIGHTS Dimensions and weights are nominal and are not to be used for manufacturing purposes even when tolerances are shown PERFORMANCE DATA Performance data given in this manual is provided as a guide for the user in determining suitability and does not constitute a warranty It may represent the result of OMRON s test conditions and the users must correlate it to actual application requirements Actual performance is subject to the OMRON Warranty and Limitations of Liability ERRORS AND OMISSIONS The inf
100. Tool LED MS Module status LED indicator LED NS DeviceNet network status LED indicator Connector for DeviceNet communications CN6 For connection to any device that conforms to DeviceNet specifications uig Connector for I O signals CN4 For connection to external I O signals and fully closed encoder signal NJ aR oak a Fig 2 3 DeviceNet Unit 2 Outline Drawings and Nomenclature 2 4 Mounting the DeviceNet Unit This section describes how to mount a DeviceNet Unit on the W series Servo Driver Prepare the screws for connecting the ground line as shown in the following table Base Mounted R88D WTA3HL to 0O2HL M3 x 10 round head screw R88D WTA3H to 10H spring or flat washer R88D WT15 to 50H M4 x 10 round head screws spring or flat washer R88D WT60 75H M4 x 8 round head screw spring or flat washer Rack Mounted R88D WTA3HL to 02HL M3 x 10 round head screw Frontl panel mounting fitting R88D WTA3H to 10H spring or flat washer R88A TKO1W is necessary R88D WT15H M4 x 10 round head screw Front panel mounting fitting spring or flat washer R88A TK02W is necessary R88D WT20H 30H 50H M4 x 10 round head screw Frontl panel mounting fitting spring or flat washer R88A TK03W is necessary By mounting DeviceNet Unit the W series Servo Driver can be used in a DeviceNet network Use the following procedure to ensure DeviceNet Units are mounted correctly 1 R
101. V supply supplied from Servo Driver e Battery EJ Absolute encoder malfunctioned Replace the Servomotor Circuit board 1PWB is defective Replace the Servo Driver 9 18 9 3 Troubleshooting with Alarm Displays E A 82 A 82 Checksum Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state Status and Remedy for Alarm At power ON A B During operation At SENS_ON command Error during encoder memory check e Follow absolute encoder setup procedure e Replace Servomotor if error occurs fre quently B Circuit board 1P WB is defective Replace the Servo Driver 9 19 9 Troubleshooting E A 83 A 83 Battery Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state Status and Remedy for Alarm At power ON Pn002 2 0 Pn002 2 1 A e Battery is not connected Check and correct battery connection e Battery connection is defective At SENS_ON command c Specified value 2 7 V power to Servo Driver is ON After replace ment turn the power OFF and ON Circuit board 1 PWB is defective Replace the Servo Driver Note No alarm will occur at the Servo Driver if the battery error occurs during operation K Battery voltage below specified value Install a new battery while the control circuit 9
102. a deceleration stop will be made at the software limit If the origin has not been set the software limits will not be valid even if they have valid settings Table 5 4 Software Limit Function Selection Table 5 5 Backlash Compensation Function Selection o a Enabled Limit Input Signal Function Selection Object 0x64 Attribute 39 Pn819 Use the Limit Input Signal Fuction Selection to set whether or not to use the limit input function and to set the signal polarity Enable Disable Limit Input 0 Disabled 1 Enabled 1 Limit Input Signal Polarity 0 Enabled on Low 1 Enabled on High Limit Input Action Selection Object 0x64 Attribute 40 Pn81A Use the Limit Input Action Selection to set the operation of the DeviceNet Unit when a limit input status is detected Table 5 6 Limit Input Action Selection Servo OFF 1 Emergency Stop Stops at the specified maximum torque 5 24 5 3 Parameter Details Emergency Stop Function Selection Object 0x64 Attribute 41 Pn81B Use the Emergency Stop Function Selection to set whether or not to use the emergency stop function and to set the polarity of the signal Note Emergency stop and servo OFF are performed when the emergency stop signal is input Enable disable 0 Disabled Emergency Stop 1 Enabled 1 Emergency Stop 0 Enabled on Low Signal Polarity 1 Enabled on High Emergency Stop Action Object 0x64 Attribute 42 Pn81C Use
103. able connector screws are tight ened to the torque specified in the relevant manuals Incorrect tightening torque may result in malfunction Use crimp terminals for wiring Do not connect bare stranded wires directly to terminals Connection of bare stranded wires may result in fire Always use the power supply voltage specified in the User s Manual An incorrect voltage may result in burning Take appropriate measures to ensure that the specified power with the rated voltage and fre quency is supplied Be particularly careful in places where the power supply is unstable An incorrect power supply may result in damage to the product Install external breakers and take other safety measures against short circuiting in external wiring Insufficient safety measures against short circuiting may result in fire Provide an appropriate stopping device on the machine side to secure safety A holding brake is not a stopping device for securing safety Not doing so may result in injury Provide an external emergency stopping device that allows an instantaneous stop of opera tion and power interruption Not doing so may result in injury N Caution N Caution N Caution Take appropriate and sufficient countermeasures when installing systems in the following locations Not doing so may result in damage to the product e Locations subject to static electricity or other forms of noise e Locations subject to strong electromagnetic
104. ame as Pn50E 0 VLIMT Brake Interlock Pn50F 2 0to3 Same as Pn50E 0 BKIR Warning Pn50F 3 0 to 3 Same as Pn50E 0 WARN Positioning Completion Pn510 0 0 to 3 Same as Pn50E 0 2 INP2 Same as Pn50E 0 means output signals are disabled or allocated to output terminals 25 26pin to 29 30pin through parameter settings 0 to 3 Note Signals are output with OR logic when multiple signals are allocated to the same output circuit Signals that are not detected are invalid 8 6 8 1 Setting Up the Servo Driver When the DeviceNet Unit is Mounted Output Signal Reversal The following parameter can be used to reverse the signals output on output terminals 25 26pin to 29 30pin Output Signal Reverse Default Setting Output signal not 0000 reversed The settings specify which of the connector CN1 output signals are to be reversed Output Terminals Description 25 26pin CN1 25 26 Pn512 0 po Output signal not reversed 1 Output signal reversed 27 28pin CN1 27 28 Pn512 1 aac 29 30pin CN1 29 30 Pn512 2 eee 2 en 8 1 4 Analog Monitors The analog monitors can be changed by changing the PN003 0 and Pn003 1 parameter set tings Pn003 0 Analog Monitor 1 AM Allocation Default Setting Torque Control 2 Analog Monitor 2 AM Allocation Default Setting Servomotor 0 speed The monitor signals and units and the observation gains when observing using the analog monitor CNS5 are shown on
105. an emergency stop function Do not repeatedly start and stop the Servomotor using the SV_ON SV_OFF command or by repeatedly turning power ON and OFF because the Servo Driver internal elements will deteriorate 8 Servo Driver Settings 8 4 2 Using the Holding Brake 8 4 2 Using the Holding Brake The holding brake is used when a Servo Driver controls a vertical axis In other words a Servomotor with brake prevents the movable part from shifting due to gravity when system power goes OFF Servomotor Holding brake Prevents the movable part from shifting due to gravity when system power goes OFF Note The brake built into the Servomotor with brakes is a non excitation brake which is used only to hold and cannot be used for braking Use the holding brake only to hold a stopped motor Brake torque is at least 120 of the rated Servomotor torque E Wiring Example Use the Servo Driver sequence output signal BKIR and the brake power supply to form a brake ON OFF circuit The following diagram shows a standard wiring example Servomotor Servo Driver with brake Power suppl pply L1 U A 1 H oL2 Vv i OL3 Ww L1C L2C BK RY i CN1 241 BKIR 4 oy4 1 BKIRCOM BK RY Blue or _ oo ere yellow Oo oO WhiteJAC DC 2 Brake Power Supply BK RY Brake control relay 1 The output terminal signal is allocated with Pn50F 2 2 Brake power supplies are available in 20
106. ands for set read commands MOD 1 are shown below The response type does not need to be specified for set read commands Table 6 8 Set Read Commands C e o e o o e eea Command number Command data 7 Command Codes A list of command codes is shown in the following table Set No operation for commands that will not be executed The command codes in the responses will basically be a copy of the command codes in the commands A warning for parameter setting error will be returned when the parameter num ber is different or the data is outside the setting range for the parameter Table 6 9 Command Codes D000 O Hen 00sen 1001 Hew TOT B Hen 1700 Cen 101 en 110 Hew 1010 A Hex Present Position Setting Command 6 34 6 5 Remote I O Communications E Responses Details on bytes 1 to 7 of the responses for set read commands MOD 1 are shown below Table 6 10 Responses for Set Read Commands eed status a Command number Response data 7 E Parameter Read Command Command Code 1000 8 Hex The Parameter Read Command reads parameters for the W series Servo Driver and DeviceNet Unit To use the Parameter Read Command make the following settings and then change the Command Start Command from 0 to 1 e Command code Parameter number Table 6 11 Commands for Parameter Read Command po far este o 0 son sre fe tg ee 8 Hex Parameter number Table
107. are Limit is enabled e Bit 1 0 Backlash Compensation Value is dis abled 1 Backlash Compensation Value is enabled U T T Ww U N 38 39 Get Set Limit Input Signal Sets whether the limit input is used 0 to3 Function Selection Get Set Limit Input Action Sets the action when using limit input 0 1 1 Selection Get Set Emergency Stop UI Sets the polarity and other settings for the 0to3 1 Function Selection emergency stop signal Get Set Emergency Stop UIN Sets the action when emergency stop Action Get Set Speed Sets the speed command value 1 to 240 000 24 000 Unit X 1000 steps min Get Set Acceleration Time Sets the acceleration time for positioning 1 to 10 000 100 Unit ms 53 Get Set Deceleration Time UINT Sets the deceleration time for positioning 1 to 10 000 100 Unit ms S 54 Get Set Switch Speed DINT ets the switch speed for positioning sec 1 to 240 000 12 000 ond acceleration deceleration time Unit X 1000 steps min 55 Get Set Second Accelera UINT Sets the acceleration deceleration time of 1 to 10 000 200 tion Deceleration second acceleration deceleration for posi Time tioning Unit ms 56 Get Set Acceleration Sets acceleration deceleration type at posi 0 to 3 Deceleration Type tioning 0 None 1 Single step linear 2 Double step linear 3 Asymmetric 57 Get Set Interrupt Feeding DINT Sets the interrupt feeding speed 1 to 240 000 24 000 Speed Unit X 1000 steps min 58
108. ate 24 000 steps min 141 Pn87F Speed 13 for Multi speed 1 to 240 000 x 1000 Immediate 24 000 steps min 142 Pn880 Speed 14 for Multi speed 1 to 240 000 x 1000 Immediate 24 000 steps min 143 Pn881 Speed 15 for Multi speed 1 to 240 000 x 1000 Immediate 24 000 steps min 144 Pn882 Speed 16 for Multi speed 1 to 240 000 x 1000 Immediate 24 000 steps min C C C C C C C C C C C C C C C C C 6 58 6 6 Details on Move Commands for Remote I O Communications Operation Speed sf eee Speed 2 for Multi speed E Speed 1 for Multi speed Multi speed Positioning Initial Speed Speed 3 for Multi speed Time A 1 C_STRT 0 j Position 3 for Multi speed Position 2 for Multi speed Position 1 for Multi speed Command Method 1 Set the command code byte 1 bits 0 to 3 to 0 2 Set the Servo ON Command byte 0 bit 1 to 1 3 Set absolute relative byte 3 bit 0 If a relative position has been specified the target position will be present position position specified from bytes 4 to 7 4 Set the target position in the command data bytes 4 to 7 5 Set multi speed positioning 4 in the command code byte 1 bits 0 to 3 6 Change the Command Start Command byte 0 bit 0 from 0 to 1 Note Do not change the positon or speed for multi speed while the Multi speed Positioning Command is being executed Target position data
109. ation with bias nit X 1000 steps min nia INT INT INT 72 Get Set Time Constant of INT ets the time constant of moving average 4 to 1 000 2 Moving Average nit ms Get Set Maximum Speed INT ets the maximum speed 1 to 240 000 24 000 nit X 1000 steps min INT INT INT INT SR A calca Get Set Step Distance1 ets step distance 1 for STEP operation 0 to nit Steps 99 999 999 i ets step distance 2 for STEP operation 0 to nit Steps 99 999 999 Get Set Step Distance3 ets step distance 3 for STEP operation 0 to 1 nit Steps 99 999 999 771 Get Set Step Distance4 D ets step distance 4 for STEP operation 0 to 1 000 nit Steps 99 999 999 Get Set Positioning U ets the positioning completion range 0 to 10 000 5 Completion Range nit Steps 91 Get Set Positioning U ets the positioning monitoring time 0 to 65535 Monitor Time nit ms U 92 Get Set Positioning Near T Sets the width for the positioning proximity 0 to 32767 10 Range signal Unit Steps 93 Get Set Direction BOOL Sets the direction of rotation for station 0 1 positioning 10 11 1 1 an Get Set Step Distance2 an 0 bal i ia i i an NUJE ua 4 4 c ew Z 10 Appendix 10 2 6 DeviceNet Unit Parameter Object 0x64 cont d No Access Name Data Type Description Setting Default Range Setting 94 Get Set Interrupt Feeding Sets the positioning speed for interrupt 1 to 240 000 24 000 Positioning Speed feeding U
110. ations connected 6 5 6 DeviceNet Communications 6 3 1 Providing the Communications Power Supply 6 3 Precautions for Communications Line Design This section explains how to provide communications power supply and communications line noise prevention 6 3 1 Providing the Communications Power Supply This section explains how to locate the communications power supply and its concept how to determine the located power supply steps 1 to 3 and dual power supply E Locating the Communications Power Supply and Its Concept The power supply location patterns and the basic concept are described below Basic Concept Basic precautions are as follows The communications power supply must be 24 V DC Make sure that the power is supplied from the trunk line When providing power to several nodes from one power supply try to locate the nodes in both directions from the power supply if possible Provide power through Power Supply Taps It is however possible to use T branch Taps instead when there is one communications power supply in the system and the total cur rent consumption is 5 A or less The power supply capacity for cables is restricted to 8 A for thick cables and 3 A for thin cables A single network is usually supplied by one power supply It is however possible to have more than one power supply when power supply specifications cannot be met with a single power supply Refer to Step 3 Splitting the System
111. ave any questions or comments Warranty and Limitations of Liability WARRANTY OMRON s exclusive warranty is that the products are free from defects in materials and workmanship for a period of one year or other period if specified from date of sale by OMRON OMRON MAKES NO WARRANTY OR REPRESENTATION EXPRESS OR IMPLIED REGARDING NON INFRINGEMENT MERCHANTABILITY OR FITNESS FOR PARTICULAR PURPOSE OF THE PRODUCTS ANY BUYER OR USER ACKNOWLEDGES THAT THE BUYER OR USER ALONE HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE OMRON DISCLAIMS ALL OTHER WARRANTIES EXPRESS OR IMPLIED LIMITATIONS OF LIABILITY OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL INDIRECT OR CONSEQUENTIAL DAMAGES LOSS OF PROFITS OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS WHETHER SUCH CLAIM IS BASED ON CONTRACT WARRANTY NEGLIGENCE OR STRICT LIABILITY In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which liability is asserted INNO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY REPAIR OR OTHER CLAIMS REGARDING THE PRODUCTS UNLESS OMRON S ANALYSIS CONFIRMS THAT THE PRODUCTS WERE PROPERLY HANDLED STORED INSTALLED AND MAINTAINED AND NOT SUBJECT TO CONTAMINATION ABUSE MISUSE OR INAPPROPRIATE MODIFICATION OR REPAIR No 6182 Application Considerations SUITABILITY FOR USE OMRON shall not be responsible for conformity w
112. basic block of commands sent to a DeviceNet Unit from the master device and the responses sent from the DeviceNet Unit to the master device Commands and responses are in an 8 byte data block Byte No 0 1 2 3 4 5 6 7 Commands General command bits Command dependant data Byte No 0 1 2 3 4 5 6 7 Responses General status Command dependant data Both the commands and responses are separated into two sections Byte 0 is a general area and bytes 1 to 7 make up the command dependant data area The command dependant data area depends on the two types of commands move commands and set read commands The type of command is defined by the highest bit of byte 0 E Block for Move Commands Byte No Commands 0 General command bits 1 Response type Commend coda 2 3 Command bit 4 5 6 7 Command data E Block for Set Read Commands Byte No Commands 0 General command bits 11 0 _ Eommand code 2 4 5 6 Command data 7 I I I I I 6 21 Byte No Responses l0 0 Generalstatus 1 2 3 Status 4 5 Response data 6 7 Byte No Responses 0 1 2 3 4 5 6 7 General status 0 Command code Command number Response data 6 DeviceNet Communications 6 5 2 General Command Bits and Status 6 5 2 General Command Bits and Status This section explains
113. by the change of status of this flag that the DeviceNet Unit has correctly received a change in the Step Command This flag is set to 1 even if the step operation cannot be executed because of a Servo OFF status for example The user must monitor for alarms during the step operation The host device can confirm that the step operation is being executed by checking that the Progressing Flag is set to 1 Station Flag STN_R Byte 2 Bit 5 The STN _R bit reflects the status of the Station Command The host device can confirm by the change of status of this flag that the DeviceNet Unit has correctly received a change in the Station Command This flag is set to 1 even if the station operation cannot be executed because of a Servo OFF status for example The user must monitor for alarms during station operation The host device can confirm that the station operation is being executed by checking that the Progressing Flag is set to 1 Point Table Flag PTBL_R Byte 2 Bit 6 The PTBL R bit reflects the status of the Point Table Command The host device can confirm by the change of status of this flag that the DeviceNet Unit has correctly received a change in the Point Table Command This flag is set to 1 even if the point table operation cannot be executed because of a Servo OFF status for example The user must monitor for alarms during point table operation The host device can confirm that the point table operation is being executed
114. bytes 1 to 7 This bit will be the same as the mode given in the commands e 0 Response block for move commands e 1 Response block for set read commands Ready READY The READY bit will be set to 1 when the DeviceNet Unit is ready to receive commands from the host device The READY status will be 0 when the power is turned ON and when the Unit Reset Command has been received and the DeviceNet Unit is initializing Main Power Supply Status PWWRON The PWRON bit will be 1 when the main power supply of the W series Servo Driver is turned ON If the main power supply is turned OFF the bit will be 0 and the Servo ON and other commands cannot be executed Emergency Stop STOP_R The STOP_R bit will be 1 when the Emergency Stop Command has been set to 0 and the DeviceNet Unit is in emergency stop status Set the Emergency Stop Command to 1 to clear the emergency stop status and this bit will change to 0 This status has negative logic Alarm ALRM The ALRM bit will be 1 when the DeviceNet Unit has detected an alarm When all alarms have been cleared by the Alarm Reset Command this bit will change to 0 Warning WARN The WARN bit will be 1 when the DeviceNet Unit has detected a warning When all warn ings have been cleared by the Alarm Reset Command this bit will change to 0 When a warning has occurred the commands other than data setting commands and the command that generated the warning can still be executed normall
115. ce function Object Attribute Access Name Data Contents Type TO Tracel Selection of target for I O trace 1 Sampling Cycle Sampling cycle setting Trigger Target Trigger target setting I I Trigger Level Trigger level setting z seed E ee e eee ee ae EA EA EE clolclol lclolcloc 0x67 10 11 T 12 T 13 T 14 T 15 T 16 T 17 T 20 INT 6 71 Data trace status 6 DeviceNet Communications 6 9 1 Trace Parameters E Parameter Contents The contents of the parameters for the data trace function are described in detail below Data Trace 1 Object 0x67 Instance 0x01 Attribute 10 Set the target for Data Trace 1 Set Value Trace Target 0003 Hex Command pulse rate Data Trace 2 Object 0x67 Instance 0x01 Attribute 11 Set the target for Data Trace 2 The settings are the same as for Data Trace 1 I O Trace 1 Object 0x67 Instance 0x01 Attribute 12 Set the target for I O Trace 1 Set Value Contents 6 72 6 9 Tracing Data I O Trace 2 Object 0x67 Instance 0x01 Attribute 13 Set the target for I O Trace 2 The settings are the same as for I O Trace 1 Sampling Cycle Object 0x67 Instance 0x01 Attribute 14 Set the interval for executing the trace function The setting is made in multiples of 250 us and the setting range is 250 Us to 8 191 750 us Trigger Target Object 0x67 Instance 0x01 Attribute 15
116. ceNet Unit mounted the LED indicators on the front panel of the Servo Driver will turn OFF when a Parameter Unit is mounted and turn ON again when it is removed This is not a malfunction The LED indicators will also turn OFF in the following circumstances e At power up for approximately 3 s e When data tracing is executed via DeviceNet e When Servo Driver Parameter Read or Write Command data is sent via DeviceNet or from the Setup Tool The indicators turn OFF momentarily 8 23 8 Servo Driver Settings a ee 8 5 3 Absolute Encoder Multi turn Limit Setting 8 24 9 Troubleshooting This chapter describes troubleshooting In addition troubleshooting procedures are described for problems which cause an alarm display and for problems which result in no alarm display 9 1 Alarm Display Table 9 2 9 2 Warning Display Table 9 5 9 3 Troubleshooting with Alarm Displays 9 6 9 4 Error Diagnosis Due To Operating Status 9 44 9 1 9 Troubleshooting 9 1 Alarm Display Table The alarm display and the relationship between ON OFF alarm code outputs are shown in Table 9 1 Table 9 1 Alarm Display Table Alarm Alarm Code Outputs Alarm Name Description Display ALO1 ALO2 ALO3 EEPROM data of Servo Driver is abnormal A 03 Main circuit Detection Error Detection data for power circuit is abnor mal A A A
117. celeration deceleration with a constant acceleration deceleration time the rate of acceleration deceleration is determined by the Speed set in parameter Pn821 and the Time Constant of Moving Average set in parameter Pn842 If this acceleration deceleration pattern is used the acceleration deceleration time will remain constant even if the Speed set in Pn821 is changed Table 5 13 Related Parameters Pn821 Speed X1 000 steps min Pn842 Time Constant of Moving Average ms Fig 5 6 Single step Linear Acceleration Deceleration with Constant Acceleration Deceleration Time 5 32 5 3 Parameter Details S curve Acceleration Deceleration with Constant Acceleration Deceleration With S curve acceleration deceleration the rate of acceleration deceleration is determined by the Maximum Speed set in parameter Pn843 and the Acceleration Time set in parameter Pn822 just as in the single step linear acceleration deceleration pattern described in In this case however a filter is applied when starting and stopping and applied before and after reaching the Speed set in parameter Pn821 to round the corners of the acceleration deceleration The time the corners are rounded is determined by the Time Constant of Mov ing Average set in parameter Pn842 The time T required to reach the Speed set in parameter Pn821 in the positioning operation can be calculated using the following formula T ms Pn842 Pn822 x Pn821 Pn843 If t
118. d Turn the power ON again 9 39 9 Troubleshooting m A ED A ED Command Execution Incomplete Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm During DeviceNet communications Command was interrupted Do not connect a Parameter Unit or start communications with a personal computer during command execution 9 40 9 3 Troubleshooting with Alarm Displays Em AF1 A F1 Missing Phase Detected Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF OFF Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm At main circuit power Occurred when the control supply ON circuit power turned ON One phase L1 L2 or L3 of the main cir e Check power supply cuit power supply is disconnected e Check wiring of the main circuit power supply e Check QF noise filter magnetic contac tor ee There is one phase where the line voltage is Check power supply low The Servo Driver is defective Replace the Servo Driver Note A and B tend to occur in a Servo Driver with a capacity of 500 W or higher 9 41 9 Troubleshooting m CPFOO CPF00 Parameter Unit Transmission Error 1 This alarm is not stored in the alarm record function memory Display an
119. d Encoder Phase Z Phase Z of the fully closed encoder was discon Red Disconnection nected Lit Red Multi turn Data Error The multi turn for the absolute encoder was not properly cleared or set Flashes Encoder Communications Error Communications between Servo Driver and Red encoder is not possible Lit Red Encoder Parameter Error Encoder parameters are incorrect Flashes Encoder Data Error Contents of communications with encoder are Red incorrect Flashes Multi turn Limit Discrepancy Different multi turn limits have been set in the Red encoder and Servo Driver Flashes Deviation Counter Overflow Lag pulse of the deviation counter exceeded the Red parameter Pn505 Motor Load Deviation Over The Motor Load Deviation Over Level Pn51A was exceeded for fully closed encoder and semi closed encoder No DeviceNet Unit No DeviceNet Unit installed DeviceNet Unit Timeout No response from the DeviceNet Unit WDC Error of DeviceNet Unit WDC error in the DeviceNet Unit DeviceNet Duplicate MAC ID Error Same node address already exists on the DeviceNet network DeviceNet Unit Detection Error No DeviceNet Unit was detected when the power was supplied to the W series Servo Driver 10 29 10 Appendix 10 3 1 Alarm Codes cont d A E8 Flashes Rotary Switch Setting Error Unit rotary switch setting error Red A E9 Lit Red DeviceNet Busoff Error Fatal communications error has occurred in DeviceNet communications A EA Fla
120. d One phase in the 3 phase main power supply is not connected CPF00 Not specified Parameter Unit Transmission Communications not possible between CPFO1 Error Parameter Unit R88A PR02W and the Servo Driver error ae ene ee eee This alarm display appears only within the range of 30 W to 1 000 W A EB A EC A ED x 5 These alarms are not reset for the Alarm Reset Command Eliminate the cause of the alarm and then turn OFF the power supply to reset the alarms 3 For Servo Drivers with a capacity of 6 0 kW or more A 40 indicates a main circuit detection error alarm This means that either an overvoltage or a low voltage has occurred at some stage Note OFF Output transistor is OFF high ON Output transistor is ON low 9 2 Warning Display Table 9 2 Warning Display Table The warning display and the relationship between ON OFF warning code outputs are shown in Table 9 2 Normally warning codes are not output However if the parameters are set for warning codes to be output those outputs will be as indicated in Table 9 3 Table 9 2 Warning Display and Warning Code Outputs Warning Warning Code Outputs Servo Alarm Warning Name Description Display aot ALO2 ALO3 eds A 91 Overload This warning occurs before the overload alarms A 71 or A 72 occur If the warn ing is ignored and operation continues an overload alarm may occur Main Power OFF The main power supply is not being sup plied Regeneratio
121. d Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Not specified Status and Remedy for Alarm At power ON Parameter Unit Parameter Unit connected to connected before Servo Driver ous Servo Driver while power power turned ON turned ON A Cable defective or poor contact between e Check connector connections Parameter Unit and Servo Driver Replace cable Malfunction due to external noise Separate Parameter Unit and cable from noise source C Parameter Unit is defective Replace Parameter Unit The Servo Driver is defective Replace the Servo Driver 9 42 9 3 Troubleshooting with Alarm Displays m CPFO1 CPFO1 Parameter Unit Transmission Error 2 This alarm is not stored in the alarm record function memory Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Not specified Status and Remedy for Alarm During operation A B C D A Cable defective or poor contact between e Check connector connections Parameter Unit and Servo Driver Replace cable Malfunction due to external noise Separate Parameter Unit and cable from noise source C Parameter Unit is defective Replace Parameter Unit The Servo Driver is defective Replace the Servo Driver E A A Normal Operation This is not an alarm display Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is
122. d from 0 to 1 the axis travels in the direction specified in the origin search direction in parameter Pn801 Origin Search Func tion Selection If the Origin Search Command is changed from to 0 during origin search the origin search stops Therefore the Origin Search Command must be maintained to 1 until the origin search has been completed Using an Incremental Detection System When the power is turned ON the present position is 0 and the Origin Flag HOME P is 0 When the origin search has been completed the Origin Flag changes to 1 6 62 6 7 Command Method Using the Remote I O Communications Using an Absolute Value Detection System When the Origin Search Command is changed from 0 to 1 the origin search is not per formed but the axis is positioned to the machine coordinate origin based on the parameter Pn802 Origin Search High Speed HOME a gf HOME_R DE a ee PRGS O E HOME_P o Fig 6 6 Origin Search Command Positioning Command When the Command Start Command C_STRT is changed from 0 to 1 positioning starts according to the command code If the Hold Command HOLD is changed from 0 to 1 during execution of positioning axis travel is held Confirm that the Hold Command has been received by checking that the Hold ing Flag HOLD_R is set to 1 Change the Hold Command from to 0 to restart the remain ing axis travel If the Cancel Command CANCEL is changed from 0 to 1 during execution of the
123. de in the network Node Node Address Address Ee ea E2 EA a EA Ea EA 8 Es EZ EE ES EA EA o EEN Ea cm En ae sees e mm m femal Lae Sar ol ewes E o ee eee ea ed EA 6 4 6 2 DeviceNet Switch Settings and Display 6 2 2 Rotary Switch Settings for Setting Baud Rate Use the rotary switches DR to set the DeviceNet baud rate After making the settings with the power OFF turn ON the communications power again to enable the settings Table 6 1 DR Settings DR Baud Rate Setting za 125 kbit s 250 kbit s 500 kbit s 6 2 3 LED Indicators DeviceNet Units are equipped with two LED indicators the Module Status indicator to indi cate the Unit status and the Network Status indicator to indicate the DeviceNet communica tions status Module Status MS Indicator The MS indicator shows the status of the DeviceNet Unit Green Flashing Red Flashing Red and green flash alternately Unit self diagnosis Refer to 10 3 Alarm Warning Codes and Error Codes for Message Communications for details on the malfunction if the the Module Status indicator is either red flashing or red ON Network Status NS Indicator The NS indicator shows the status of DeviceNet communications OFF Offline and power OFF Green Flashing Online and communications not connected Red Flashing Nonfatal communications error Red ON Fatal communications error Green ON Online and communic
124. due to machine slip Pn51A Motor Load Deviation Setting Default Position Over Level Range Setting Control 0 to 32767 0 8 12 8 3 Settings According to Host Controller 8 3 Settings According to Host Controller This section describes the procedure for connecting the Servo Driver to the host controller and provides details on related parameters 8 3 1 Sequence I O Signals Sequence I O signals are used to control Servo Driver operation Connect these signal termi nals as required E Input Signal Connections Connect the sequence input signals as shown below standard settings Servo Driver 3 3k2 Photocoupler Host controller JAMIN lt CNIMAT a eee zeal CN1 40 oar a eee ORG CN1 41 gt h I ah a pot cN1 42 zk mE zi NOT CN1 43 gt gt ETS EXTP CN1 44 Ki do i gt r ZERO cnt 45 3K C aera CN1 46 iv Sh Note 1 Provide an external 24 V power supply the Servo Driver does not have an internal 24 V power supply e Sequence input signal power supply specifications 24 1 V DC 50 mA min 2 OMRON recommends using the same external power supply as that used for output circuits The allowable voltage range for the 24 V sequence input circuit power supply is 11 V to 25 V Although a 12 V power supply can be used contact faults can easily occur for relays and other mechanical contacts under low curre
125. e Number of encoder pulses e Gear ratio e Ball screw pitch The following system example shows the formulas when the command unit is set to 0 001 mm R88D WT DeviceNet Unit G1 eS G2 0 001 mm 0 001 mm 7 revolutions No of encoder pulses 5 revolutions 2048 x4 Pitch of ball screw P 6 mm Moving distance of load per revolution command unit _ Moving distance of load per revolution mm 6mm command unit mm T001 mm 6000 G2 Moving distance of load per revolution command unit x Gear ratio load rev 6000 x 5 30000 G1 Encoder pulses x Pulse multiplier x Gear ratio motor rev 2048 x 4 x 7 57344 G1 G2 57344 30000 1 911 Data ranges are shown below G2 lt 10 000 000 G1 lt 10 000 000 0 01 lt G1 G2 lt 100 By storing the value of G2 in Pn811 and the value of G1 in Pn810 you can use the Elec tronic Gear function These parameters are enabled when the power is turned ON After you have changed the parameter execute the Unit Reset Command or the Reset Service to the Identity Object Note 1 The command unit explained in Electronic Gear Settings When Using a Ball Screw is based on a unit of 0 001 mm The speed and other parameters must be interpreted as follows Pn821 Speed x 1 000 steps min mm min 2 Setting G1 G2 outside the range 0 01 to 100 may result in a misoperation Make sure to set G1 and G2 within this range 5 11 5 Parameter Settings
126. e connec Connection ID tion transmits 5 Get Set Consumed_ UIN CAN Identifier Field value that denotes message Connection_ID to be received Get Set Initial Comm_ USINT Defines the message group across which produc Characteristics tions and consumption associated with this con nection occur 7 Get Produced _ UI Maximum number of bytes transmitted across OxOOFF Connection_Size this connection Get Consumed_ UIN Maximum number of bytes received across this OxOOFF Connection_Size connection Get Set Expected_ UI Defines timing associated with this connection Packet_Rate 12 Get Watchdog _ U Defines how to handle timeouts 0x03 Timeout_Action 13 Get Produced _ UINT Number of bytes in the produced connection 0x0000 Connection_ path attribute Path Length 14 Get Produced_ U Specifies the application object whose data is to Connection_Path Array be sent by this connection object 15 Get Consumed_ UIN Number of bytes in the consumed connection Connection_ path attribute Path Length 16 Get Consumed_ US Specifies the application object that are to Connection_Path Array receive the data received by this connection object T T S NT T NT SINT SINT T INT 10 7 10 Appendix 10 2 5 Connection Object 0x05 Attributes Instance 2 Polled I O No Q a Get Set Consumed_ Connection_ID Get Set Initial Comm_ Characteristics G Produced_ Connection_Size G Consumed_ Connection_Size Get Set Expected_ Packet_Rate
127. e dee eee ee 125 Pn86F Position 13 for 0 to 99 999 999 Steps ee ee nares eee re 126 Pn870 Position 14 for 0 to 99 999 999 Steps ecu ieee ier de od 127 Pn871 Position 15 for 0 to 99 999 999 Steps ee ieee Wee a 128 Pn872 Position 16 for 0 to 99 999 999 Steps Immediate masna a Fee eee 129 Pn873 peed 1 for 1 to 240 000 x 1 000 Immediate 24 000 ee O a O em 130 Pn874 Speed 2 for 1 to 240 000 x 1 000 Immediate 24 000 S N ipea O O emn 131 Pn875 Speed 3 for 1 to 240 000 x 1 000 Immediate 24 000 S OSS iepen O O emmin 132 Pn876 Speed 4 for 1 to 240 000 x 1 000 Immediate 24 000 O O iape emin 133 Pn877 Speed 5 for 1 to 240 000 x 1 000 Immediate 24 000 OS OO imes O O emn 134 Pn878 Speed 6 for 1 to 240 000 x 1 000 Immediate 24 000 en impen eama S 135 Pn879 Speed 7 for 1 to 240 000 x 1 000 Immediate 24 000 E Multi speed isco steps min pee 136 Pn87A Speed 8 for 1 to 240 000 x 1 000 Immediate 24 000 137 Pn87B Speed 9 for 1 to 240 000 x 1 000 Immediate 24 000 ea T ipea O a ema ee 138 Pn87C Speed 10 for 1 to 240 000 x 1 000 Immediate 24 000 iar EP Tn 139 Pn87D Speed 11 for 1 to 240 000 x 1 000 Immediate 24 000 S OS ian TnL 140 Pn87E Speed 12 for 1 to 240 000 x 1 000 Immediate 24 000 141 Pn87F Speed 13 for 1 to 240 000 x 1 000 Immediate 24 000 142 Pn880 Speed 14 for 1 to 240 000 x 1 000 Immediate 24 000 en ipea emm 143
128. e gt Explicit Set the sampling cycle lt Setting the Trigger Conditions gt Explicit Set the trigger target Set the trigger level Set the edge type Set the amount of pre trigger data Step 2 lt Starting the trace gt Explicit Start trace command Step 3 lt Reading trace status gt Explicit Read the trace status No Tracing completed Yes Step 4 lt Reading trace data gt Explicit Read required data Required data reading completed No Yes Tracing data end 6 77 6 DeviceNet Communications 6 10 1 Managing DeviceNet Data 6 10 Changing Parameters This section provides the DeviceNet conceptual diagram and how to change parameters 6 10 1 Managing DeviceNet Data In DeviceNet all parameters and point tables are managed as objects instances and attributes Aconceptual diagram is given below Connection Object 0x05 DeviceNet Unit Control Parameter Object 0x64 Object 0x05 Instance 1 Attribute 1 Instance 1 Attribute 1 Attribute 2 Servo Driver Parameter Object 0x64 DeviceNet Units have the following ojbects Object Name No of Description Instances Identity Object 1 Manages device types and serial numbers Manages Manages device types and serial numbers types and serial numbers Message Router Object 1 CU Assembly Object a ee pe 100 Poneeos o Servo Drive
129. e node address of the Explicit Message destination The local node DeviceNet Master Unit is specified for CMND instruction control data for Explicit Message Send commands and the actual destination node is specified here Service Code Command Response For commands the service code defined by the DeviceNet is specified For normal responses the value for when bit 15 of the service code specified in the com mand turns ON is returned For error responses 94 hex which indicates an error is returned Class ID Command Specifies the class ID for the Explicit Message destination 6 Instance ID Command Specifies the instance ID for the Explicit Message destination Service Data Command Response For commands specifies the data defined by the service code For responses returns the reception data defined by the service code No of Bytes Received Response Returns the number of bytes received after source node address Source Node Address Response Returns the local node DeviceNet node address that was the source of the Explicit Message Error Code Response Returns the error code defined by the DeviceNet 6 67 6 DeviceNet Communications 6 8 3 Sending Explicit Messages Using the CMND Instruction Note 1 The Explicit Message Send command sends a DeviceNet defined Explicit Message to an OMRON Special I O Slave Unit or a Slave manufactured by another company and receives a response 2
130. eNet Unit can be set for application as a linear axis or as a rotary axis Reading Monitor Status Remote I O communications can be used to read the signal I O status or internal information displayed by the Servo Driver in Monitor Mode to a PLC This information provides infor mation on the operating status of the Servo Driver E Absolute Encoders OMRON motors with absolute encoders are also supported Once the origin has been set after startup no further origin search operations are required 1 2 1 1 Features E Setup Tool A personal computer based Setup Tool for the DeviceNet Unit enables setting changing and monitoring Servo Driver and DeviceNet Unit parameters A special cable R88A CCW002P4 to connect to the personal computer is connected to the CN11 connector on the front of the DeviceNet Unit The Setup Tool is provided on the Setup Tool Software SBCE 001 1 Features and System Configuration 1 2 System Configuration The DeviceNet Unit provides the following system configuration DeviceNet Master Unit for CS CJ made by OMRON RS 232C etc Hh DeviceNet Configurator parameter settings etc DeviceNet DeviceNet D
131. ed turn the power OFF and then ON again 2 Ifthe following absolute encoder alarms are displayed the alarms must be cleared using the method described above for the setup operation They cannot be cleared using the Alarm Reset Command e Backup Error A 81 e Checksum Error A 82 In addition if a monitoring alarm is generated in the encoder release the alarm by turning OFF the power 8 5 3 Absolute Encoder Multi turn Limit Setting When implementing absolute position detection systems for machines that turn m times in response to n turns in the load shaft such as round tables it is convenient to reset the multi turn data from the encoder to 0 every m turns The Absolute Encoder Multi turn Limit Set ting allows the value m to be set for the encoder The Absolute Encoder Multi turn Limit is set in the Servo Driver using the following param eter Absolute Encoder Multi Setting Default turn Limit Setting Range Setting 0 to 65535 65535 If the Absolute Encoder Multi turn Limit Setting is set to 65535 default setting the multi turn data will vary from 32768 to 32767 If any other value is set the multi turn data will vary from 0 to the setting of Pn205 If the Servomotor rotates in the negative direction from 0 the multi turn data will change to the value set for Pn205 If the Servomotor rotates in the positive direction from the value set in Pn205 the multi turn data will change to 0 Set Pn205 to m 1
132. eed to acceleration and deceleration of the sec 5 ond step when using double step linear acceleration deceleration The setting unit is x 1 000 steps min This parameter is enabled only when the Acceleration Deceleration Type Object 0x64 Attribute 56 Pn826 is set to double step linear acceleration deceleration Second Acceleration Deceleration Time Object 0x64 Attribute 55 Pn825 Use the Second Acceleration Deceleration Time to set the acceleration and deceleration time for the second step when using double step linear acceleration deceleration The setting unit is ms This parameter is enabled only when the Acceleration Deceleration Type Object 0x64 Attribute 56 Pn826 is set to double step linear acceleration deceleration 5 35 5 Parameter Settings 5 3 4 Speed Acceleration and Deceleration Acceleration Deceleration Type Object 0x64 Attribute 56 Pn826 Use the Acceleration Deceleration Type to set the type of acceleration and deceleration for the positioning You can set eight different acceleration and deceleration patterns using different combina tions of Acceleration Deceleration Type and Filter Selection Object 0x64 Attribute 58 Pn829 Table 5 16 Acceleration Deceleration Type es O Interrupt Feeding Speed Object 0x64 Attribute 57 Pn827 Use the Interrupt Feeding Speed to set the speed for interrupt feeding The setting unit is x 1 000 steps min Filte
133. eee aae A There is no terminating resistance in the Check that a terminator is mounted to both network ends of the DeviceNet network There is noise in network wiring Separate the network wiring from the power supply circuit C The baud rate is incorrect Check the communications settings of the rotary switches mounted on the front panel of the DeviceNet Unit A EA Servo Driver System Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm At power ON A The Servo Driver is defective Replace the Servo Driver 9 38 9 3 Troubleshooting with Alarm Displays E A EB A EB Servo Driver Initial Access Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm At power ON A A The Servo Driver is defective Replace the Servo Driver E AEC A EC WDC Error of Servo Driver Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm During DeviceNet At power ON A communications B The Servo Driver is defective Replace the Servo Driver DeviceNet communications interrupte
134. emove the connector cover from the CN10 connector on the Servo Driver CN10 gt Connector cover Baa GOSS Q chance power 2 6 2 4 Mounting the DeviceNet Unit 2 Mount the DeviceNet Unit on the Servo Driver Connector for connection to Servo Driver i OO OFCOCOFJO0 000 Of O 3 For grounding connect a ground line of the DeviceNet Unit to the point marked G on the Servo Driver Ground line O CHARGE POWER O Ground line For 6 0 kW Servo Driver 2 Outline Drawings and Nomenclature When the DeviceNet Unit has been mounted correctly the Servo Driver will appear as shown in the following diagram 2 5 OMROJ 2 8 3 Installation This chapter describes precautions for W series Servo Driver with the DeviceNet Unit mounted Incorrect installation will cause problems Always observe the installation precautions shown in this chapter 3 1 Storage Conditions 3 2 3 2 Installation Site 3 2 3 3 Orientation 3 3 3 4 Installation 3 4 3 1 3 Installation 3 1 Storage Conditions Store the Servo Driver within the following temperature and humidity range when
135. er coupling tered Check if coupling unbal Balance coupling anced Bearing is defective Check noise and vibration Remove the cause of problem near bearing and repair Machine causing vibrations Check for presence of for Remove the cause of problem eign object damage or and repair deformation of movable parts of machine 9 45 9 Troubleshooting 9 46 10 Appendix This appendix provides list of DeviceNet object models DeviceNet attributes alarm warning codes and error codes for message communications 10 1 DeviceNet Object Model 10 2 10 2 DeviceNet Attributes 10 3 10 2 1 Identity Object 0x01 10 3 10 2 2 Message Router Object 0x02 10 4 10 2 3 DeviceNet Object 0x03 10 5 10 2 4 Assembly Object 0x04 10 6 10 2 5 Connection Object 0x05 10 7 10 2 6 DeviceNet Unit Parameter Object 0x64 10 9 10 2 7 Point Table Object 0x65 10 15 10 2 8 Servo Driver Parameter Object 0x66 10 20 10 2 9 Trace Setting Object 0x67 10 25 10 2 10 Trace Data Object 0x68 10 27 10 3 Alarm Warning Codes and Error Codes for Message Communications 10 28 10 3 1 Alarm Cod
136. eration does not change even if the feeding speed changes Note Combinations for the hyphen may result in incorrect acceleration and deceleration 5 26 5 3 Parameter Details Single step Linear Acceleration Deceleration with Constant Acceleration Deceleration With single step linear acceleration deceleration the rate of acceleration deceleration is determined by the Maximum Speed set in parameter Pn843 and the Acceleration Time set in parameter Pn822 The time T required to reach the Speed set in parameter Pn821 in the positioning operation can be calculated using the following formula T ms Pn822 x Pn821 Pn843 If this acceleration deceleration pattern is used the rate of acceleration deceleration will remain constant even if the Speed set in Pn821 is changed Table 5 8 Related Parameters Pn826 Acceleration Deceleration Type 1 3 Pn843 Maximum Speed 1 000 steps min Speed Time Fig 5 1 Single step Linear Acceleration Deceleration with Constant Acceleration Deceleration 5 27 5 Parameter Settings 5 3 4 Speed Acceleration and Deceleration Double step Linear Acceleration Deceleration with Constant Acceleration Deceleration With double step linear acceleration deceleration the rate of acceleration deceleration changes at the Switch Speed set in parameter Pn824 In the first step of acceleration deceleration the rate of acceleration deceleration is deter mined
137. ere is noise in the encoder wiring Separate the encoder wiring from the main circuit Encoder is defective Replace the Servomotor 9 29 9 Troubleshooting m A C7 A C7 Fully closed Encoder Phase Z Disconnection Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm At power ON A 1 to 3 seconds after power ON o gt o w During Servomotor operation OF Op Circuit board 1P WB is defective Replace the Servo Driver Encoder wiring error or faulty contact Check the wiring and check that the connec tor is fully inserted on the encoder There is noise in the encoder wiring Separate the encoder wiring from the main circuit Encoder is defective Replace the Servomotor 9 30 9 3 Troubleshooting with Alarm Displays E A C8 A C8 Multi turn Data Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm At power ON A B At absolute encoder setup B Encoder is defective Replace the Servomotor B The Servo Driver is defective Replace the Servo Driver E A C9 A C9 Encoder Communications Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 N
138. erminals B1 and B2 if the regenerative capacity is insufficient A special Setup Tool Cable and the Setup Tool Software SBCE 001 are required to set and monitor Servo Driver and DeviceNet Unit parameters from a personal computer 4 Connectors 4 2 Internal Block Diagrams The following diagram shows an internal block diagram for the Servo Driver with the DeviceNet Unit using the example of the 30 to 400 W 200 V and 30 to 200 W 100 V models Single phase 10 200 to 230 V 50 60Hz 15 1 PBZ x gt E T 1 1 AA RY1 p M i i PM 1 E PM1 2 D2D3D4 Pi T T P2 1 AC Servomotor Noise filter 1 l FU1 amo D1 iva R7 u 1 U LK 4 R it 4 Ly y IMC xx cry _ Harter v o 1 i R8 w T 4 wi oN die G 1 4 ED i
139. ers that must be set even when using the DeviceNet Unit in standard mode B O Parameters that must be set when using the DeviceNet Unit in special mode Parameters whose settings hardly ever need to be changed 5 1 Parameters 5 1 3 Editing Parameters You can edit parameters using the following methods Table 5 2 Methods of Editing Parameters Setup Tool Select Option Parameter List from the All changed parameters are stored in Parameter Menu to read all the RAM so they are erased when the DeviceNet Unit parameters After the power is turned OFF Use the Unit parameters have been displayed select Reset Command to write the parameter the parameters you want to edit and data in RAM to the flash ROM click the Edit Button to edit the param eters Master Device or You can edit using Explicit Message All changed parameters are stored in DeviceNet Set_Attribute Single from the Mas RAM so they are erased when the Configurator ter Device power is turned OFF Execute the Reset Service for the Identity Object to write the parameter data in RAM to the flash ROM Note Parameters changed from each setting device are stored in RAM To save parameters in flash ROM after adjustments have been completed execute the Unit Reset Command in the Setup Tool or execute the Reset Service to the Identity Object via DeviceNet 5 1 4 Effective Timing Not all parameters edited from the Setup Tool or Master Device are effecti
140. es 10 28 10 3 2 Warning Codes 10 31 10 3 3 Error Codes for Message Communications 10 32 10 1 10 Appendix 10 1 DeviceNet Object Model The following shows the list of the DeviceNet object models Servo Driver Parameter Object Point Table Object R88D WT Control Parameter Object Identity Object Message Router DeviceNet Object Assembly Object Explicit Message Connection Object DeviceNet Network Fig 10 1 DeviceNet Object Model Object Class Class Code Function Identity 0x01 Manages ID information such as the device type serial number vendor code and ID fcsese ower _ Router fT Routes Explicit ees to the appropriate oe Pe a eee Slave connection set and release demands Assembly 0x04 100 Manages I O output messages for Slave to Master os T O input messages from Master to Slave Connection 0x05 1 Manages Explicit Messages attributes Manages I O message polled I O attributes Copaan 0a 1 Masson olor pmen 10 2 10 2 DeviceNet Attributes 10 2 DeviceNet Attributes This section lists the attributes that can be used in DeviceNet 10 2 1 Identity Object 0x01 Class and instances of the Identity Object 0x01 are shown below E Class e Attributes None supported e Services None supported E Instances
141. eset to 0 so be careful The setting unit is steps The initial value is 360 000 Backlash Compensation Value Object 0x64 Attribute 34 Pn814 Use the Backlash Compensation Value to set the amount of compensation when backlash compensation is used The setting unit is steps Backlash Compensation Direction Object 0x64 Attribute 35 Pn815 Use the Backlash Compensation Direction to set the direction of the backlash compensation Normally set this parameter in the opposite direction of the direction immediately before completion of the origin search 5 e eree Negative Direction Positive Software Limit Object 0x64 Attribute 36 Pn816 Use the Positive Software Limit to set the software limit in the positive direction The setting unit is steps Make the setting between 99 999 999 and 99 999 999 Negative Software Limit Object 0x64 Attribute 37 Pn817 Use the Negative Software Limit to set the software limit in the negative direction The set ting unit is command unit Make the setting between 99 999 999 and 99 999 999 5 23 5 Parameter Settings 5 3 3 Machine System and Peripheral Devices Function Selection Object 0x64 Attribute 38 Pn818 Use the Function Selection to set whether or not to use the software limit functions and the backlash compensation value functions Note If a position command is received that exceeds a software limit except for jogging
142. et Set Position 9 for Multi speed Get Set Position 10 for Multi speed Get Set Position 11 for Multi speed Get Set Position 12 for Multi speed Get Set Position 13 for Multi speed Sets speed switching position 9 for multi 0 to speed 99 999 999 Unit Steps Sets speed switching position 10 for multi 0 to speed 99 999 999 Unit Steps Sets speed switching position 11 for multi 0 to speed 99 999 999 Unit Steps Sets speed switching position 12 for multi 0 to speed 99 999 999 Unit Steps Sets speed switching position 13 for multi 0 to speed 99 999 999 Unit Steps Position 7 for Multi speed 10 12 10 2 DeviceNet Attributes cont d Access Name Data Type Description Setting Default Range Setting Get Set Position 14 for DINT Sets speed switching position 14 for multi 0 to Multi speed speed 99 999 999 Unit Steps 127 Get Set Position 15 for Sets speed switching position 15 for multi 0 to Multi speed speed 99 999 999 Unit Steps No 126 128 Get Set Position 16 for Sets speed switching position 16 for multi 0 to Multi speed speed 99 999 999 Unit Steps S 129 Get Set Speed 1 for D ets speed 1 for multi speed 1 to 240 000 24 000 Multi speed Unit xX 1000 steps min 130 et Set Speed 2 for T Sets speed 2 for multi speed 1 to 240 000 24 000 Multi speed Unit x 1000 steps min Get Set Speed 3 for T Sets speed 3 for multi speed 1 to 240 000 24 000 Multi speed Un
143. et position 14 99 999 999 to 99 999 999 Unit Steps 64 Get Set Position_15 DINT Target position 15 99 999 999 to 99 999 999 Unit Steps 65 Get Set Position_16 DINT Target position 16 99 999 999 to 99 999 999 Unit Steps Get Set Position_17 DINT Target position 17 99 999 999 to 99 999 999 Unit Steps 10 15 10 Appendix 10 2 7 Point Table Object 0x65 cont d Default Setting Type 67 71 72 73 74 75 Pier aA i ne a a scald Target position 18 nit Steps Target position 19 Unit Steps Target position 20 Unit Steps Target position 21 Unit Steps Target position 22 Unit Steps Target position 23 Unit Steps Target position 24 Unit Steps Target position 25 Unit Steps Target position 26 Unit Steps Target position 27 Unit Steps Target position 28 Unit Steps Target position 29 Unit Steps Target position 30 Unit Steps Target position 31 Unit Steps Target position 32 Unit Steps Target position 33 Unit Steps Target position 34 Unit Steps Target position 35 Unit Steps Target position 36 Unit Steps Target position 37 Unit Steps Target position 38 Unit Steps Target position 39 Unit Steps Target position 40 Unit Steps Target position 41 Unit Steps 10 16 99 999 999 to 99 999 999 99 999 999 to 99 999 999 99 999 999 to 99 999 999 99 999 999 to 99 999 999 99 999 999 to 99 999 999 99 999 999 to 99 999 999 99 999
144. et the switching speed to double step acceleration and decel eration when using double step linear acceleration deceleration with the JOG operation The setting unit is x 1 000 steps min This parameter is enabled only when the JOG Acceleration Deceleration Type Object 0x64 Attribute 65 Pn836 is set to Double step Linear set value 2 JOG Second Acceleration Deceleration Time Object 0x64 Attribute 64 Pn835 Use the JOG Second Acceleration Deceleration Time to set the second acceleration and deceleration time when using double step linear acceleration deceleration with the JOG operation The setting unit is ms This parameter is enabled only when the JOG Acceleration Deceleration Type Object 0x64 Attribute 65 Pn836 is set to Double step Linear set value 2 JOG Acceleration Deceleration Type Object 0x64 Attribute 65 Pn836 Use the JOG Acceleration Deceleration Type to set the acceleration and deceleration type with the JOG operation You can set eight different acceleration and deceleration patterns using different combina tions of JOG Acceleration Deceleration Type and Filter Selection Object 0x64 Attribute 58 Pn829 Table 5 19 JOG Acceleration Deceleration Type ooo e O 5 37 5 Parameter Settings 5 3 4 Speed Acceleration and Deceleration Time Constant for Exponential Curve Object 0x64 Attribute 70 Pn840 Use the Time Constant for Exponential Curve to set the time
145. eviation pulses reaches the set value The setting is the number of deviation pulses set in command units input pulse units defined by the electronic gear Note 1 Pin numbers in parenthesis indicate signal grounds 2 The functions allocated to BKIR READY and INP1 output signals can be changed via parameters Those output signals can be changed to CLIMT VLIMT TGON WARN and INP2 signals 4 9 4 Connectors 4 3 4 Interface Circuits 4 3 4 Interface Circuits The following diagram shows an example of connections between a host controller and the I O signal for a Servo Driver E Sequence Input Circuit The sequence input circuit interface connects through a relay or open collector transistor cir cuit Select a low current relay otherwise a faulty contact will result Servo Driver Servo Driver 24 VDC 50 mA min 4 r i i ORG etc L O i ORG etc Lo O Relay Open Collector Output Circuit Any of the following two types of Servo Driver output circuits can be used Form an input circuit at the host controller that matches one of these types e Connecting to an Open collector Output Circuit Alarm code output are open collector transistor output circuits Connect an open collector output circuit through a photocoupler relay or line receiver circuit 5 to 12 VDC Photocoupler 5 to 12 VDC Servo Driver end 3K i Servo Driver end Relay E n Photocoupler
146. eviceNet Unit d DOl po P _ R88A NCW152 DRT Bo Ub me J Oo Ole Inverter ing W series Servomotor Servo Driver Driver software version 14 or later 1 3 Basic Functions and Function Outlines 1 3 Basic Functions and Function Outlines The DeviceNet Unit provides the following functions a oo y o S Move No opera JOG Command Moves the axis in the specified direction at the specified speed commands tion Step Command Moves the axis the specified amount in the specified direction Station This command can be used when the DeviceNet Unit is being used as a Command rotary axis One rotation of the motor is divided into the specified num ber of stations and the axis is positioned at the specified station Point Table Moves the axis to a target position specified in the point table at the tar Command get speed Origin Search Determines the origin using the specified origin search mode Command Operation Direct Operation Moves the axis to the specified target position Command Interrupt Feeding Move the axis the specified amount when a change occurs in the exter Command nal signal status during axis movement Notch Output Outputs a notch signal when the specified position is passed during axis Positioning movement Command Multi speed Posi Changes the speed in stages and moves the axis to the specified posi tioning Command ti
147. ffective Default Type Range Timing Setting Pn821 Speed 1 to 240 000 x 1000 Immediate 24 000 are 53 Pn823 Deceleration Time Time ae to 10 000 ee aoe Pesteatin Tne Speed to 240 000 x a E 000 steps min Pn825 Second Acceleration 1 to 10 000 Immediate Deceleration Time Pn826 Acceleration Decelera 0 1 2 3 Immediate tion Type 58 Pn829 Filter Filter Selection 0 1 23 1 2 3 Immediate Rea Time Constant od eee to 1 000 a Exponential Curve Pn841 Bias Speed 0 to 240 000 x 1000 Immediate steps min 72 Pn842 Time Constant of Mov 4 to 1 000 ms Immediate 25 C ing Average 73 Pn843 Maximum Speed 1 to 240 000 x 1000 Immediate 24 000 steps min Object Attribute Name Setting Unit Effective Default Type oy ung oe 99 Pn931 Position 50 50 999 999 Stes Immediate ee a fon o 1 KA to 240 000 x ss Loar 000 steps min 151 Pn941 Speed 2 1 to 240 000 x 1000 Immediate 24 000 steps min 199 Pn971 Speed_50 1 to 240 000 x 1000 Immediate 24 000 steps min 6 48 6 6 Details on Move Commands for Remote I O Communications Operation Speed Time PTBL Command Method 1 Set the Servo ON Command byte 0 bit 1 to 1 2 Set absolute relative byte 3 bit 0 If a relative position has been specified the target position will be present position position stored in point table 3 Set the point table number to be specified 4 Set the Po
148. fied an attribute that cannot be changed 10FF Hex Device state conflict The specified device is in a state in which the requested service cannot be executed 13FF Hex Not enough data The requested service is not providing enough data to execute the processing 14FF Hex Attribute not sup The requested service specified an unsupported ported attribute 15FF Hex The requested service included invalid data 10 32 Index INDEX Numerics 24 V external power supply input 8 14 A absolute encoder 8 20 alarm codes 10 28 alarm name 9 2 Alarm Reset Command 6 61 attributes 10 3 B baud rate 4 19 brake operation 8 18 CMND instruction 6 68 CNI connector 4 7 4 8 4 9 8 4 CN10 connector 2 6 CN11 connector 2 5 CN4 connector 2 5 4 12 CN6 connector 2 5 command codes 6 26 6 34 communications distance 4 19 communications power supply 6 6 communications power supply location
149. fields and magnetic fields e Locations subject to possible exposure to radioactivity e Locations close to power supplies Do not reverse the polarity of the battery when connecting it Reversing the polarity may damage the battery or cause it to explode Before touching a Unit be sure to first touch a grounded metallic object in order to discharge any static build up Not doing so may result in malfunction or damage Operation and Adjustment Precautions N Caution N Caution N Caution N Caution N Caution N Caution N Caution N Caution N Caution N Caution N Caution Confirm that no adverse effects will occur in the system before performing the test operation Not doing so may result in damage to the product Check the newly set parameters and switches for proper execution before actually running them Not doing so may result in damage to the product Do not make any extreme adjustments or setting changes Doing so may result in unstable operation and injury Separate the Servomotor from the machine check for proper operation and then connect to the machine Not doing so may cause injury When an alarm occurs remove the cause reset the alarm after confirming safety and then resume operation Not doing so may result in injury Do not come close to the machine immediately after resetting momentary power interruption to avoid an unexpected restart Take appropriate measures to secure safety against an
150. flags munications number message communications Enabled Flag 1524 are disabled Master Unit message com munications are enabled 6 70 6 9 Tracing Data 6 9 Tracing Data The data trace function allows a host controller to read I O information and operating data col lected in the Servo Driver s memory via the DeviceNet By implementing trace settings data is collected in the Servo Driver s memory Then by imple menting trace data reading the collected data can be read from a host controller by means of Explicit Messages The following table provides an outline of the data trace function Trace targets Data trace 2 items max VO trace 2 items max Trace data targets Torque commands speed feedback command pulse rate position deviation I O data trace targets ALM INP1 VCMP TGON READY CLIMT VLIMT BKIR WARN INP2 ALO1 ALO2 ALO3 Number of trace points 1 000 points each Sampling cycle 250 Us to 8 191 750 Us Up to approximately 8 seconds can be set in units of 250 us Note 1 It takes approximately one minute from the beginning of the tracing until the end 2 Trace parameters are not saved when the Unit is reset When the power is turned OFF the default values are restored 3 The LED indicators on the front panel of the Servo Driver are not lit while tracing is being executed 6 9 1 Trace Parameters E Trace Settings The following table shows the parameters for the data tra
151. forming In position check The set ting unit is ms If after the move command distribution from the DeviceNet Unit has been completed the positioning completed range is not entered within the time set A 9A posi tioning a completion timeout warning will be sent If this parameter is set to 0 the positioning time is not monitored Positioning Near Range Object 0x64 Attribute 92 Pn852 Use the Positioning Near Range to set the range for positioning area proximity to be detected If the difference between the present position and the target position are within this parameter range the proximity signal in the response data will be set to 1 The setting unit is steps 5 39 5 Parameter Settings 5 3 5 Positioning Direction Object 0x64 Attribute 93 Pn853 Use the Direction to set the movement direction for when Station Commands or rotation commands using absolute values are used Table 5 20 Direction Description oo Uses the movement direction in command data Uses the direction for the shortest travel Interrupt Feeding Positioning Speed Object 0x64 Attribute 94 Pn854 Use the Interrupt Feeding Positioning Speed to set the positioning speed after the interrupt input signal has reversed status for an interrupt feeding command The setting unit is x 1 000 steps min Interrupt Feeding Distance Object 0x64 Attribute 95 Pn855 Use the Interrupt Feeding Distance to set the feeding di
152. forms origin search based on each origin search mode Speed Time 1 HOME 0 External signal 4 ORG 0 External signal 4 p tee Encoder phase Z 0 Command Method Set the Servo ON Command byte 0 bit 1 to 1 Set the Origin Search Command byte 2 bit 7 to 1 6 51 6 DeviceNet Communications 6 6 2 Operation 6 6 2 Operation Move commands performed using the command codes are described below E Direct Operation Command Command Code 0001 1 Hex This section describes the Direct Operation Command function related parameters opera tion and command method Function The Direct Operation Command performs positioning to the specified target position Related Parameters Object Attribute No Name Setting Unit Effective Default Type Range Timing Setting Pn821 Speed 1 to 240 000 x 1000 Immediate 24 000 oe es Pn823 Deceleration Time Time J to 10 000 Se Peston tne Speed to 240 000 x Eaa 000 steps min Pn825 Second Acceleration 1 to 10 000 Immediate Deceleration Time Pn826 Acceleration Decelera 0 1 2 3 Immediate tion Type Pn829 Filter Filter Selection 0 1 2 3 1 2 3 Immediate a Time Constant z to 1 000 a Exponential Curve Pn841 Bias Speed 0 to 240 000 x 1000 Immediate steps min 72 Pn842 Time Constant of Mov 4 to 1 000 ms Immediate 25 C ing Average 73 Pn843 Maximum Speed 1 to 240 000 x 1000 Immediate 24 000 steps min
153. ge press or put excessive stress or heavy objects on the cables Doing so may N WARNING result in electric shock stopping operation of the product or burning N WARNING Do not touch the rotating parts of the Servomotor in operation Doing so may result in injury N WARNING Do not modify the product Doing so may result in injury or damage to the product Use the Servomotors and Servo Drivers in a specified combination Using them incorrectly N Caution abe may result in fire or damage to the product i Do not store or install the product in the following places Doing so may result in fire electric N Caution shock or damage to the product e DeviceNet is a registered trademark of the ODVA Open DeviceNet Vendors Association Inc e Locations subject to direct sunlight e Locations subject to temperatures or humidity outside the range specified in the specifica tions e Locations subject to condensation as the result of severe changes in temperature e Locations subject to corrosive or flammable gases e Locations subject to dust especially iron dust or salts e Locations subject to shock or vibration e Locations subject to exposure to water oil or chemicals Caution Do not touch the Servo Driver radiator Regeneration Resistor or Servomotor while the power is being supplied or soon after the power is turned OFF Doing so may result in a skin burn due to the hot surface Storage and Transportation Precautions
154. ge 2 165 Get Set Deviation Counter Sets the deviation counter overflow 1 to 32767 1024 Overflow Level level Unit X 256 Command Unit 166 Get Set Brake Timing 1 U ets the brake timing 1 0 to 50 nit 10 ms 167 Get Set Brake Command UIN ets the brake command speed 0 to 10000 100 Speed nit r min 168 Get Set Brake Timing 2 UIN ets the brake timing 2 10 to 100 50 nit 10 ms anian an an 169 Get Set Momentary Hold UIN ets the momentary hold time 20 to 1000 20 Time nit ms 170 Get Set Input Signal Selec UINT Sets the input signal selection 1 8881 tion 1 171 Get Set Input Signal Selec UINT Sets the input signal selection 2 8888 tion 2 172 Get Set Input Signal Selec UINT Sets the input signal selection 3 8888 tion 3 Input Signal Selec Sets the input signal selection 4 8888 tion 4 10 23 10 Appendix 10 2 8 Servo Driver Parameter Object 0x66 cont d No Access Name Data Type Description Setting Default Range Setting 174 Get Set Output Signal IN Sets the output signal selection 1 3211 Selection 1 175 Get Set Output Signal Sets the output signal selection 2 0000 Selection 2 UINT UINT UINT UINT 178 Get Set Output Signal UINT Sets the output signal reversals Reverse 181 Get Set Motor Load Devia UINT Sets the position deviation over level 0 to 32767 tion Over Level between the motor and load 190 Get Set Regeneration Regis UINT Sets the regenerative
155. ge Communications 6 20 6 4 1 Remote I O Communications 6 20 6 4 2 Explicit Message Communications 6 20 6 5 Remote I O Communications 6 21 6 5 1 Basic Block 6 21 6 5 2 General Command Bits and Status 6 22 6 5 3 Move Commands for Remote I O Communications 6 26 6 5 4 Set Read Commands for Remote I O Communications 6 34 6 6 Details on Move Commands for Remote I O Communications 6 42 6 6 1 No operation Command Code 0000 0 Hex 6 42 6 6 2 Operation 6 52 6 7 Command Method Using the Remote I O Communications 6 60 6 7 1 Basic Operation 6 60 6 7 2 Command Method 6 60 6 8 Communications Using Explicit Messages 6 65 6 8 1 Explicit Messages Overview 6 65 6 8 2 Command Response Blocks 6 66 6 8 3 Sending Explicit Messages Using the CMND Instruction 6 68 6 9 Tracing Data 6 71 6 9 1 Trace Parameters 6 71 6 9 2 Reading Trace Data 6 74 6 9 3 Tracing
156. he encoder when the origin setting in the absolute value detection system has been completed Normally this parameter does not need to be set When using an absolute value detection system set this value to enable adjustment of the origin Origin Search Acceleration Deceleration Time Object 0x64 Attribute 18 Pn80A Use the Origin Search Acceleration Deceleration Time to set the acceleration declaration time constant used during origin search The setting unit is ms Single step linear accelera tion deceleration is used for origin search Refer to 5 3 4 Speed Acceleration and Decelera tion for information on this acceleration deceleration type 5 3 3 Machine System and Peripheral Devices The details of parameters relating to the machine system and peripheral devices are shown below Coordinate Type Object 0x64 Attribute 32 Pn812 Use the Coordinate Type to set whether to use the DeviceNet Unit as a linear axis or rotary axis The linear axis is designated The unit of present value steps 1 The rotary axis is designated The unit of present value steps 5 22 5 3 Parameter Details Command Unit R Object 0x64 Attribute 33 Pn813 Use the Command Unit R to set the command unit for one machine rotation This parameter is enabled only when the Coordinate Type is set to rotary axis If this parameter is not set correctly when the machine performs a 360 rotation the present position will not be r
157. his acceleration deceleration pattern is used the rate of acceleration deceleration will remain constant even if the Speed set in Pn821 is changed Table 5 14 Related Parameters Pn826 Acceleration Deceleration Type 1 Pn829 Filter Selection 3 73 O B Pn843 Maximum Speed X1 000 steps min 5 a 5 5 Speed Fig 5 7 S curve Acceleration Deceleration with Constant Acceleration Deceleration 5 33 5 Parameter Settings 5 3 4 Speed Acceleration and Deceleration Asymmetric S curve Acceleration Deceleration with Constant Acceleration Deceleration With asymmetric S curve acceleration deceleration the S curve acceleration deceleration described in is used but separate rates can be set for acceleration and deceleration First the rates of acceleration deceleration are determined by the Maximum Speed set in parameter Pn843 the Acceleration Time set in parameter Pn822 and the Deceleration Time set in parameter Pn823 just as in the asymmetric linear acceleration deceleration pattern described in Then a filter is applied when starting and stopping and positioning com pleted point as well as before and after reaching the Speed set in parameter Pn821 to round the corners of the acceleration deceleration The time the corners are rounded is determined by the Time Constant of Moving Average set in parameter Pn842 The time T required to reach the Speed set in Pn821 in the positioning operation can be
158. ibes the fully closed system specifications of the W series Servo Driver when a DeviceNet Unit is mounted Fully closed Encoder Pulse Output Form 5 V Differential line driver output complies with EIA Standard RS 422A Fully closed Encoder Pulse Signal Form 90 Phase difference 2 phase differential pulse phase A phase B Maximum receivable frequency for Servo Driver 1 Mbit s JO L TT 4 4 PENAPENA tt t2 t3 t4 gt 0 2 US Phase B Forward rotation Reverse rotation 8 10 8 2 Settings According to Equipment Characteristics E Parameter Settings for the Fully closed System This section describes the user parameters that must be set when using a DeviceNet Unit Overflow Level For information on parameter contents refer to the OMNUC W series Servomotors Servo Drivers User s Manual 1531 E1 Q The default setting is made to minimize the chance of the motor going out of control due to wiring errors or other causes After performing a trial operation at a low speed change the setting to a higher value if necessary Fully closed Encoder Set the method for using the fully closed encoder Fully closed Encoder Usage Method Default Setting Fully closed en 0 coder is not used The setting details are as follows Parameter Setting Meaning Pn002 3 0 Fully closed encoder is not used Default setting Fully closed encoder is used without phase Z Fully closed encoder is used w
159. iceNet communications specifications Communications Protocol Conforms to DeviceNet Supported Connections Master slave connections Remote I O and Explicit Messagee communications Communications Combination of multi drop and T branch connections for trunk or drop lines Set on rotary switch DR to 125 250 or 500 kbit s Communications Distance Baud Rate Max net Max drop Max total kbit s work length line length drop line length m Communications Power 11 to25 V DC Supply Communications Power Supply Current Consumption Slaves Communications Cycle DeviceNet processing time Time From DeviceNet Unit start command until Min 8 ms command to Servo Driver Explicit Message response time Normal attributes 1 ms or less to 4 ms Values in parentheses are for thin cable 1 8 2 Outline Drawings and Nomenclature This chapter describes the outline drawings of the DeviceNet Unit cable and connector and the procedure for checking the DeviceNet Unit upon delivery It also describes the names of product parts and how to mount the DeviceNet Unit on the W series Servo Driver 2 1 Outline Drawings 2 2 2 2 Checking Products on Delivery 2 4 2 3 Product Nomenclature 2 5 2 4 Mounting the DeviceNet Unit 2 6 2 1 2 Outline Drawings and Nomenclature 2 1 Outline Drawings This section provides ou
160. ick cable Consider changing the location of high current consumption nodes Are the power supply No specifications met Step 3 y Split the power supply ln system by installing more than two power supplies Y Set the location for the power supply 6 DeviceNet Communications 6 3 1 Providing the Communications Power Supply Power Supply Location Patterns The power supply can be located in the configurations shown below Basically select from the configurations and Consider using configuration when power supply specifications cannot be met by con figurations and It is possible to use configuration for a dual power supply Locating the Nodes on Both Sides of the Power Supply Power Supply Tap or T branch Tap in 4 See a N C z f Y Es p E co ra Er 7 ro roa Communications Node Node Node power supply Node Node Locating the Nodes on One Side of the Power Supply Power Supply Tap or T branch Tap L O 4 Se i ATAA AMNA AM f 4 H EE i 7 4 7 T
161. imum length of a drop line is 6 m It is possible to make more branches from a drop line but the total length must be added to the drop line length from the first branch from the trunk line to the end of the last drop line Total Drop Line Length A total drop line length is the total sum length of all the drop lines used for the communica tions line It does not include the length of the trunk line The standard for the total drop line length varies with the baud rate refer to the table in Maximum Lengths of DeviceNet Com munications Lines on page 4 20 4 20 4 5 Connection and Wiring of the DeviceNet Communications Connector Communications Line Length Calculation Example An example of calculating the maximum network length drop line length and total drop line length is given below for the following DeviceNet network With i With Sei Trunk line Trunk line viih terminating Truong 10m 20m terminating resistor 4 7 N resistor 2m 3m 6m 1m 3m ee coe Iso 2m 1m 2m 6m 6m 6m in 2m I I Co rm I CI Node Node Node Node Node Node Node Node Node Node Drop line length Drop line length Drop line length Drop line length 2m 5m 6m 6
162. in INP1 Positioning completion 1 INP1 Positioning completion 1 INP1COM INP1COM 27 28pin TGON Rotation detection BKIR Brake interlock TGONCOM BKIRCOM 29 30pin READY Servo ready READY Servo ready READYCOM READYCOM The following table shows the output signal selection parameters and their default settings and standard settings Output Signal Selection 1 Default Setting Standard Setting 3211 3001 Output Signal Selection 2 Default Setting Standard Setting 0000 0200 Output Signal Selection 3 Default Setting Standard Setting 0000 0000 Select the CN1 connector terminals that will output the signals Pn50E 0 to Pn510 0 25 26pin CN1 25 26 27 28pin CN1 27 28 29 30pin CN1 29 30 8 5 8 Servo Driver Settings 8 1 3 Standard Settings for I O Signals Output Signal Parameter Description Positioning Completion Pn50E 0 Disabled Not used for the output signal on the left TUNET Outputs the signal on the left from the 25 26pin CN1 25 and 26 output terminal Outputs the signal on the left from the 27 28pin CN1 27 and 28 output terminal Outputs the signal on the left from the 29 30pin CN1 29 and 30 output terminal Speed Conformity Pn50E 1 0to3 Same as Pn50E 0 VCMP Rotation Detection Pn50E 2 Oto3 Same as Pn50E 0 TGON Servo Ready Pn50E 3 0 to 3 Same as Pn50E 0 READY Current Limit Detection Pn50F 0 0 to 3 Same as Pn50E 0 CLIMT Speed Limit Detection Pn50F 1 0to3 S
163. in stages during positioning Up to 16 speed change stages are possible When the axis reaches a specified position the speed switches to the speed for the next stage and the axis moves to the specified position in that next stage Speed Position 3 for Multi speed Pn865 Speed 2 22 eee Pn874 Speed 1 PN873 gt eee eee os Position 2 for Multi speed Pn864 Multi speed Positioning Initial Speed Pn862 Position 1 for Multi speed Pn863 Speed 3 if sfs Shere ete ores See eee seg ee Pre RS ras Se Seo er Pn875 Time E Parameter Details This section describes the parameter details about multi speed positioning Speed Switch Point Object 0x64 Attribute 111 Pn861 Use the Speed Switch Point to set the number of points at which the speed will be switched If for example the parameters for speed switching positions were set from to 16 but this setting for the number of points was set to 3 the speed switching would be enabled for 3 points only 5 41 5 Parameter Settings 5 3 8 Notch Signal Output Positioning Multi speed Positioning Initial Speed Object 0x64 Attribute 112 Pn862 Use the Multi speed Positioning Initial Speed to set the initial feed speed when performing speed multi step positioning This speed will be enabled until the position in the speed switching position parameter is reached The setting unit is x 1 000 steps min Posi
164. int Table Command byte 2 bit 6 to 1 Point table number to be specified 6 49 6 DeviceNet Communications 6 6 1 No operation Command Code 0000 0 Hex E Origin Search Command Command Bit HOME 1 This section describes the Origin Search Command function related parameters operation and command method Function The Origin Search Command moves the axis in the specified direction and sets the origin based on the specified origin search mode When an absolute position detection system has been selected the positioning will be per formed to the origin Related Parameters Object Attribute No Name Setting Unit Effective Default Type Range Timing Setting Pn800 Origin Search Mode Pn801 Origin Search Function 0 to7 Power up 1 Selection Pn802 Origin Search High 1 to 240 000 x 1000 Immediate 10 000 Speed steps min Ma KA 13 Pn803 Origin Search Proximity 1 to 240 000 x 1000 Immediate 1 000 Speed steps min 14 Pn804 Origin Search 1 to 240 000 x 1000 Immediate 5 Compensation Speed steps min pa Kg ii son D ve on Tine j ui i pa Pn806 Zero Position Output 0 to 32 767 Steps Immediate 1 Width Pn809 Absolute Position Set 99 999 999 to Steps Immediate ting 99 999 999 tion Deceleration Time Pn805 Origin Compensation 0 to Steps Immediate Value 99 999 999 6 50 6 6 Details on Move Commands for Remote I O Communications Operation The Origin Search Command per
165. into Multiple Power Sup plies on page 6 14 Fully consider the power supply capacity allowance in the design If the power supply is switched OFF during the operation of the network there may be a malfunction in the nodes The current capacity of the drop line varies according to its length The longer the drop line the lower its maximum capacity becomes This is the same whether the cable is thick or thin Calculate the current capacity passing through the drop line I the total cur rent consumption at the drop line using the following formula e 1 4 57 L I Permissible current A L Length of the drop line m 6 6 6 3 Precautions for Communications Line Design Flow Chart Use the flow chart below to determine the communications power supply on the trunk line Satisfy the conditions for each drop line on the previous page Provisionally determine the location of the power supply Step 1 Determine the best location of the e power supply from the graphs Are the power supply No specifications met Yes Consider changing the location of the power supply Consider using thick cable No Are the power supply specifications met Yes Calculate the best location Pa of the actual nodes Are the power supply No specifications met Yes Consider changing the location of i the power supply Consider using th
166. ion Command data Set the selection number for step distance 0 Uses Pn844 data 1 Uses Pn845 data 2 Uses Pn846 data 3 Uses Pn847 data 6 28 6 5 Remote I O Communications Station Command STN Byte 2 Bit 5 The DeviceNet Unit will start station operation when it detects the rising edge of the STN bit If this command is set to 0 while the axis is travelling the Servomotor will decelerate to a stop and the station operation will end The remaining travel distance will be cancelled Movement direction 0 Positive direction 1 Negative direction Absolute relative Specify whether the station number is an absolute value or relative value value 0 To specify the absolute value for the station number 1 To specify the relative value for the station number Command data Specify the target station number Point Table Command PTBL Byte 2 Bit 6 The DeviceNet Unit will start point table operation when it detects the rising edge of the PTBL bit If this command is set to 0 while the axis is travelling the Servomotor will decelerate to a stop and the point table operation will end The remaining travel distance will be cancelled Settings Data Area Description Absolute relative Specify whether the position data in the point table is an absolute value value or relative value Command data Specify the point table number to be used Origin Search Command HOME Byte 2 Bit 7 The DeviceNet Unit wi
167. ion ing to specified positions When the positions specified in the parameters are reached during axis travel the axis switches to the next set speed and travels to the position specified in the next stage Up to 16 speed switching positions can be set Related Parameters Object Attribute No Name Setting Range Unit Effective Default Type Timing Setting 112 Pn862 Multi speed Positioning 1 to 240 000 x 1000 Immediate 24 000 C Initial Feed steps min 113 Pn863 Position 1 for Multi 0 to Steps Immediate C speed 99 999 999 114 Pn864 Position 2 for Multi 0 to Steps Immediate C speed 99 999 999 C C C C C C C C C C C C 115 Pn865 Position 3 for Multi 0 to Steps Immediate speed 99 999 999 116 Pn866 Position 4 for Multi 0 to Steps Immediate speed 99 999 999 117 Pn867 Position 5 for Multi 0 to Steps Immediate speed 99 999 999 118 Pn868 Position 6 for Multi 0 to Steps Immediate speed 99 999 999 119 Pn869 Position 7 for Multi 0 to Steps Immediate speed 99 999 999 120 Pn86A Position 8 for Multi 0 to i speed 99 999 999 121 Pn86B Position 9 for Multi 0 to Steps Immediate speed 99 999 999 122 Pn86C Position 10 for Multi 0 to Immediate speed 99 999 999 123 Pn86D Position 11 for Multi 0 to speed 99 999 999 124 Pn86E Position 12 for Multi 0 to Steps Immediate speed 99 999 999 125 Pn86F Position 13 for Multi 0 to Steps Immediate speed 9
168. ion of AC Servomotors described in this manual are defined as looking at the end of the output shaft of the motor as follows counterclockwise rotation is positive and clockwise rotation is negative Do not perform withstand voltage or other megameter tests on the product Doing so may damage internal components Servomotors and Servo Drivers have a finite service life Be sure to keep replacement products on hand and to consider the operating environment and other conditions affecting the service life The OMNUC W Series can control both incremental and absolute encoders Differences in functions or specifications according to the encoder type are indicated in this manual Be sure to check the model that is being used and follow the relevant specifications e Servomotors with incremental encoders R88M W W e Servomotors with absolute encoders R88M W W Notice Before using the product under the following conditions consult your OMRON representatives make sure that the ratings and performance characteristics of the product are good enough for the systems machines or equipment and be sure to provide the systems machines or equipment with double safety mechanisms Conditions not described in the manual The application of the product to nuclear control systems railroad systems aviation systems ve hicles combustion systems medical equipment amusement machines or safe
169. ion of the W series Servo Drivers as network drivers Commands received via DeviceNet communications are output to the Servo Driver Position commands can be output via a connector to the Servo Driver to enable positioning without using a positioner Em DeviceNet Compatibility The DeviceNet is an open field network Mounting a DeviceNet Unit to a W series Servo Driver software version 14 or later enables constructing a network that includes many dif ferent types of slave The DeviceNet supports two kinds of communications Remote I O communications and Explicit Message communications An OMRON DeviceNet Configurator version 2 2 or later can be used to easily set or change parameters via the DeviceNet The use of EDS files on the DeviceNet network enables application of slaves from different vendors without restrictions in a multivendor network The EDS files contain device ID information device parameters operating information and other information required to define the devices E Tracing Tracing allows the access of collected operating data and I O information via the DeviceNet at a specified sampling cycle Tracing is implemented from a PLC or personal computer using Explicit Messages to start tracing or read trace data Tracing thus enables confirming specified Servo Driver operating status to predict failures in the servo system or troubleshoot failures that have occurred E Setting Linear and Rotary Axes The Devic
170. is ON Status and Remedy for Alarm During Servomotor ABC Occurred when the control operation E circuit power turned ON Occurred when main A B C circuit power turned ON A The power supply voltage is not within the Check power supply voltage range of specifications Rectifying diode is defective D The Servo Driver is defective 9 13 9 Troubleshooting m A 51 A 51 Overspeed Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm When servo ON RUN A 5 signal turned ON At power ON During high speed Servomotor rotation after command input Servomotor wiring is incorrect Check and correct wiring Check phase U V and W motor wiring errors ia Position or speed command input is too Lower the command input values large C Incorrect command input gain settings Check and correct the parameter settings D Circuit board 1PWB is defective Replace the Servo Driver 9 14 9 3 Troubleshooting with Alarm Displays m A 71 A 71 Overload Instantaneous Maximum Load The alarm output the status when LEDs are lit and the remedy procedure are identical to those of A 72 below Em A 72 A 72 Overload Continuous Maximum Load Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output OFF ALO1 ALO2 ALO3 ox oN oF Note
171. it X1000 steps min 132 Get Set Speed 4 for T Sets speed 4 for multi speed 1 to 240 000 24 000 Multi speed Unit X 1000 steps min et Set Speed 5 for T Sets speed 5 for multi speed 1 to 240 000 24 000 Multi speed Unit x 1000 steps min S Q Z J J J J J J J J J J J J J J ow J px U w w RK Q et Set Speed 6 for T ets speed 6 for multi speed 1 to 240 000 24 000 Multi speed Unit X 1000 steps min 135 Get Set Speed 7 for T Sets speed 7 for multi speed 1 to 240 000 24 000 Multi speed Unit x 1000 steps min 98 a Q ww oo Q et Set Speed 10 for T ets speed 10 for multi speed 0 to 24 000 Multi speed Unit X 1000 steps min 99 999 999 et Set Speed 11 for T Sets speed 11 for multi speed 0 to 24 000 Multi speed Unit X 1000 steps min 99 999 999 et Set Speed 12 for T Sets speed 12 for multi speed 0 to 24 000 Multi speed Unit x 1000 steps min 99 999 999 et Set Speed 13 for T Sets speed 13 for multi speed 0 to 24 000 Multi speed Unit X 1000 steps min 99 999 999 et Set Speed 14 for T Sets speed 14 for multi speed 0 to 24 000 Multi speed Unit X 1000 steps min 99 999 999 et Set Speed 15 for T Sets speed 15 for multi speed 0 to 24 000 Multi speed Unit X 1000 steps min 99 999 999 Get Set Speed 16 for DINT Sets speed 16 for multi speed 0 to 24 000 Multi speed Unit X 1000 steps min 99 999 999 160 Get Set Notch Signal Posi Sets notch signal output position 0 1 0 Specifies absolute position 1 Specifies relative p
172. it is set to 1 When the JOG bit is set to 0 the Servomotor will decelerate to a stop and the JOG oper ation will end The direction for JOG is determined by the Movement Direction set in the command data An override can be set for this command in the command data However it is clamped at the maximum speed The override can be from 0 to 200 of the parameter speed or a specific speed can be set in the command data Which method is used depends on Pn830 JOG Unit Selection Movement direction 0 Positive direction 1 Negative direction Command data When Pn830 0 Set an override value 0 to 200 Set to 100 when not using the override function When Pn830 1 Set the JOG speed Step Command STEP Byte 2 Bit 4 The DeviceNet Unit will start step operation from the present position when it detects the rising edge of the STEP bit While the STEP bit is set to 1 the axis will travel only the distance set in the specified parameter If the STEP bit is set to 0 during step operation the Servomotor will decelerate to a stop and the step operation will end The remaining travel distance will be canceled The direction of movement for step operations is determined by the Movement Direction set in the command data The number of the step distance 0 to 3 is also set in the com mand data The parameter data set in Pn844 to Pn847 will be used for the step distance Movement direction 0 Positive direction 1 Negative direct
173. it of the PC under which a DeviceNet Master Unit is mounted without special programming in the PC DeviceNet Master Unit CPU Unit t t Remote I O communications DeviceNet Slaves Each slave is allocated words in the I O Memory in the CPU Unit under which the DeviceNet Master Unit is mounted There are two methods of allocation Free and fixed e User I O Allocations The user can allocate desired words for Slave I O in the DeviceNet I O Areas Input Area Output Area in the I O Memory With the OMRON CS CJ series DeviceNet Master Units the settings can be made without a DeviceNet Configurator e Fixed I O Allocations Slave I O is allocated in the DeviceNet I O Areas Input Area Output Area in the I O Memory in the same order as the slave node addresses 6 4 2 Explicit Message Communications Explicit Message communications function use Explicit Messages defined for DeviceNet to send and receive service requests With a DeviceNet Unit it is possible to receive service requests using Explicit Messages from PCs with OMRON Master Units or from DeviceNet masters by other vendors 6 20 6 5 Remote I O Communications 6 5 Remote I O Communications This section explains commands sent to a DeviceNet Unit from the master device and the responses sent from the DeviceNet Unit 6 5 1 Basic Block This section explains the
174. ith any standards codes or regulations that apply to the combination of products in the customer s application or use of the products At the customer s request OMRON will provide applicable third party certification documents identifying ratings and limitations of use that apply to the products This information by itself is not sufficient for a complete determination of the suitability of the products in combination with the end product machine system or other application or use The following are some examples of applications for which particular attention must be given This is not intended to be an exhaustive list of all possible uses of the products nor is it intended to imply that the uses listed may be suitable for the products e Outdoor use uses involving potential chemical contamination or electrical interference or conditions or uses not described in this manual e Nuclear energy control systems combustion systems railroad systems aviation systems medical equipment amusement machines vehicles safety equipment and installations subject to separate industry or government regulations e Systems machines and equipment that could present a risk to life or property Please know and observe all prohibitions of use applicable to the products NEVER USE THE PRODUCTS FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO ADDRESS THE RISKS AND THAT
175. ith phase Z 3 Fully closed encoder is used in Reverse Rotation Mode without phase Z 4 Fully closed encoder is used in Reverse Rotation Mode with phase Z Setting the Pn002 3 to 0 enables the operation with the normal semi closed specifications When changes have been made to this parameter turn OFF the power once The set value will become effective when the power is turned ON again Number of Fully closed Encoder Pulses Set the number of fully closed encoder pulses for each motor rotation When the number of fully closed encoder pulses per motor rotation is not an integer set the closest integer Error will occur in the speed monitor for position loop gain feed forward and command pulse but no position displacement will occur Set the number of pulses with a multiplica tion factor of 1 Number of Fully closed Setting Default Encoder Pulses Range Setting 25 to 65535 16384 Note Set the Pn206 to 513 or more When changes have been made to this parameter turn OFF the power once The set value will become effective when the power is turned ON again 8 11 8 Servo Driver Settings 8 2 3 Fully closed Control Motor Load Deviation Over Level Set the allowable range of deviation of the number of pulses for fully closed encoder and semi closed encoder Errors are not detected when 0 is set Set 0 in the system where the position of the fully closed encoder and the semi closed encoder will be shifted
176. ken in the preparation of this manual Nevertheless OMRON assumes no responsibility for deviations or omissions Neither is any lia bility assumed for damages resulting from the use of the information contained in this publication General Warnings Observe the following warnings when using the DeviceNet Unit and all peripheral devices This manual may include illustrations of the product with protective covers removed in order to describe the components of the product in detail Make sure that these protective covers are on the product before use Consult your OMRON representative when using the product after a long period of storage WARNING Always connect the frame ground terminals of the Servo Driver and the Servomotor to a class 3 ground to 100 or less Not connecting to a class 3 ground may result in electric shock N WARNING Do not touch the inside of the Servo Driver Doing so may result in electric shock Do not remove the front cover terminal covers cables Parameter Units or optional items NWARNING ace while the power is being supplied Doing so may result in electric shock Installation operation maintenance or inspection must be performed by authorized person N WARNING ip nel Not doing so may result in electric shock or injury Wiring or inspection must not be performed for at least five minutes after turning OFF the N WARNING power supply Doing so may result in electric shock Do not dama
177. ll start an origin search when it detects the rising edge of the HOME bit If this command is set to 0 while the axis is travelling the Servomotor will decelerate to a stop and the origin search will end The origin search will not continue even if the HOME bit is set to 1 again The type of origin search depends on the Origin Search Mode setting in Pn800 Relative Specification INC Byte 3 Bit 0 The INC bit specifies whether the data that indicates a position is used as an absolute value or a relative value Set this bit to 0 to specify an absolute position and to 1 to specify a relative position This setting is used for the following commands Station Command Point Table Command e Positioning Command 6 29 6 DeviceNet Communications 6 5 3 Move Commands for Remote I O Communications Movement Direction DIR Byte 3 Bit 1 The DR bit specifies the movement direction Set this bit to 0 for positive direction and to 1 for negative direction This specification is used for the following commands e JOG Command e Step Command Station Command The movement direction specification is disabled during normal positioning E Responses The responses for move commands are shown below Table 6 7 Responses for Move Commands 02 ese ee ose Response type Command code roe PTBL_R STN R STEP R JOGR HOLD R PRGS Status ror ror nos Near oe o o RCE H Response data en Status
178. llowing OMRON DeviceNet Master Units are He available 7 CS1W DRM21 Molded case Circuit N Power supply CJ1W DRM21 F Breaker QF Three phase 400 VAC RST Protects the pow er line by shutting the circuit OFF when overcurrent is detected J Molded case j circuit breaker VY Used to eliminate external noise from the power line a gt Parameter Unit R88A PRO2W Allows the user to set parameters and to display operation references or alarm status Cable model R88A CCW002C q Noise Filter Personal Computer for Setup Tool SS Noise filter i W Cable model R88A CCW02P4 p Magnetic Contactor HI Series 1 Tums the servo ON and OFF Install a surge suppressor on the magnetic contactor Magnetic f 1 x contactor S Uvw ai P 4 Magnetic contactor I ly Brake Brake Power Suppl power Pply supply Used for a Servomotor with a LOTR supply Encoder owen Cable ine Encoder Connector L1L213 4VOV B1B2 ie brake DC power supply lri 2 24V ae Bay oe STs OSA Regenerative eS 2 resistor e _ option ete a Regenerative Resistor A Te Connect an external regenerative resistor __ gt to t
179. lowable voltage and current capacity for photocoupler output circuits are as follows Voltage 30 V DC max e Current 50 mA DC max 4 13 4 Connectors 4 4 4 Fully closed Encoder Connection Example 4 4 4 Fully closed Encoder Connection Example The following diagram shows a connection example for a fully closed encoder DeviceNet Unit External encoder External power PES supply J1 Shield 4 14 4 5 Connection and Wiring of the DeviceNet Communications Connector aes a a eB a a ee eee 4 5 Connection and Wiring of the DeviceNet Communications Connector This section provides connection and wiring of the DeviceNet communications connector 4 5 1 Connector Specifications Removable connectors are used to connect the cable and Unit and to connect the cable and Branch Taps The connectors are provided with the product Some products are equipped with connector lock screws and others are not For multi drop wiring convenient multi drop connectors are commercially available COMBICON Plug MSTB2 5 5 ST Used to connect a node Product code 5 08AU 1752399 Phoenix Contact K K COMBICON Plug XW4B 05C1 H1 D Used to connect a node with Lock Screws Used to connect a T branch Tap Equipped with lock screws COMBICON Plug XW4B 05C4 T D e Used to connect a node A e Used for multi drop wiring Connectors made by Phoenix Contact K K can be purchased from OMRON 24 SERVICE Co Ltd E Dimensio
180. lt in death or seri N Caution Indicates a potentially hazardous situation which if not avoided may result in minor or mod erate injury or property damage OMRON Product References All OMRON products are capitalized in this manual The word Unit is also capitalized when it refers to an OMRON product regardless of whether or not it appears in the proper name of the product The abbreviation Ch which appears in some displays and on some OMRON products often means word and is abbreviated Wd in documentation in this sense The abbreviation PC means Programmable Controller and is not used as an abbreviation for anything else Visual Aids The following headings appear in the left column of the manual to help you locate different types of infor mation Note Indicates information of particular interest for efficient and convenient operation of the product OMRON 2001 All rights reserved No part of this publication may be reproduced stored in a retrieval system or trans mitted in any form or by any means mechanical electronic photocopying recording or otherwise with out the prior written permission of OMRON No patent liability is assumed with respect to the use of the information contained herein Moreover be cause OMRON is constantly striving to improve its high quality products the information contained in this manual is subject to change without notice Every precaution has been ta
181. m Maximum Network Length The line length between two nodes that are farthest apart is 48 m The line length between the terminating resistors is 40 m The maximum network length is thus 48 m Drop Line Length There are four branches from the trunk line The drop line length is given in the above dia gram for each The longest drop line length is 6 m Total Drop Line Length The total length of all drop lines is 41 m E Connection of the Terminating Resistors Be sure to connect the Terminating Resistors at both ends of the trunk line to reduce signal reflection and stabilize communications e When there is a T branch Tap 6 m or less from the end of the trunk line or the node A Terminating Resistor attached to a T branch Tap can easily be mounted without taking up much space e When there is not a T branch Tap 6 m or less from the end of the trunk line or the node Use one of the following methods e Connect a T branch Tap to which a Terminating Resistor has been mounted e Connect a Terminal block Terminating Resistor 4 21 4 Connectors 4 5 3 DeviceNet Network Configuration Restrictions In either case be sure to make the cable length m or less from the node to the Terminating Resistor 1 mor less Truck line Y L T branch Tap with Terminating Resistor or Node a Terminal block Terminating Resistor Node at end of trunk line
182. mance Specifications 1 7 1 4 3 I O Specifications 1 7 1 4 4 DeviceNet Communications Specifications 1 8 2 Outline Drawings and Nomenclature 2 1 Outline Drawings 2 2 2 2 Checking Products on Delivery 2 4 2 3 Product Nomenclature 2 5 2 4 Mounting the DeviceNet Unit 2 6 3 Installation 3 1 Storage Conditions 3 2 3 2 Installation Site 3 2 3 3 Orientation 3 3 3 4 Installation 3 4 4 Connectors 4 1 Connecting to Peripheral Devices 4 2 4 1 1 Single phase 100 V or 200 V Main Circuit Specifications 4 3 4 1 2 Three phase 200 V Main Circuit Specifications 4 4 4 1 3 Three phase 400 V Main Circuit Specifications 4 5 4 2 Internal Block Diagrams 4 6 4 3 Servo Driver I O Signals 4 7 4 3 1 Connection Example of I O Signal Connector CN1 4 7 4 3 2 I O Signals Connector CN1 4 8 4 3 3 I O Signal Names and Functions 4 9 4 3 4 Interface Circuits
183. matically Set Parameters When a DeviceNet Unit is mounted on a W series Servo Driver and the Servo Driver is used for DeviceNet communications the following parameters are automatically set The follow ing parameters will be treated as reserved for system use so do not change them The W series Servo Driver will be set for position control It is not necessary to set parameters for speed and torque control so do not change the settings Parameter Digit Parameter Name Description an on Ce S ee oo Pn202 Electronic Gear Ratio G1 1 Electronic gear on W series Servo Numerator Driver is not used Pn203 Electronic Gear Ratio G2 1 Electronic gear on W series Servo Denominator Driver is not used Pn204 Position Command Filter Time constant 0 Time Constant 1 Pn207 Selects Position Command Uses the position command accelera Filter tion deceleration filter Pn50A iE Input Signal Selection 1 8881 Not used Pn50B ise Input Signal Selection 2 0081 Not used Pn50C za Input Signal Selection 3 8888 Not used i i 8888 Pn50D Input Signal Selection 4 8888 Not used Note These parameters are set automatically the first time the power to the Servo Driver is turned ON after the DeviceNet Unit has been mounted Startup will take approximately 6 seconds when these parameters are being set 8 Servo Driver Settings 8 1 3 Standard Settings for I O Signals 8 1 3 Standard Settings for I O Signals The standard
184. message is to be sent Write 10 Read 0E 0 to 3F Hex 0 to 63 S 2 Class ID code Sets the DeviceNet class code for the function 3 S Instance ID code Sets the DeviceNet instance code for the function S 4 Attribute ID code Sets the DeviceNet Attached data for write attribute code for the function Attached data for write 6 68 6 8 Communications Using Explicit Messages D First Response Word at Local Node Specify the beginning word of the area for storing responses to messages C First Control Data Word Specify the beginning word for storing the control data required for message communica tions Preset in consecutive words the required data as shown below This data is required by the DeviceNet Master Unit Bits C Number of command data bytes 0000 to 021E Hex 0 to 542 bytes Number of response data bytes 0000 to 021E Hex 0 to 542 bytes C 2 Destination network address 0000 to 007F Hex 0 to 127 0000 Hex local network C 3 Destination node address 00 to 3F Hex Destination unit address 0 to 63 10 to 1F Hex 4 C Response 5 Communications port Number of retries 00 to OF Hex No 00 to 07 0 to 15 times C 5 Response monitor time 0000 Hex 2 s 0001 to FFFF Hex 0 1 to 6 553 5 s Unit 0 1 s 1 Set the number of words from the beginning word S 2 Set the number of words from the beginning word D 3 Set the number of retries when there is an error response
185. ming so the holding brake is applied when the Servomotor stops Brake Command Speed Setting Default Range Setting 0 to 10000 100 Pn508 Brake Timing 2 Setting Default Range Setting 10 to 100 50 Set the brake timing used when the servo is turned OFF by the SV_OFF command or when an alarm occurs during Servomotor with brake operation Oe eee ON tae command Servo OFF 1 1 I Stop by dynamic brake or free run Motor speed Pn507 Release 1 BKIR output rake _ Hold with brake Pn508 i lt gt Brake ON timing when the Servomotor stops must be adjusted properly because Servomotor brakes are designed as holding brakes Adjust the parameter settings while observing equip ment operation BKIR Signal Output Conditions During Servomotor Operation The circuit is open under either of the following conditions Motor speed drops below the setting at Pn507 after servo OFF The time set at Pn508 has elapsed since servo OFF The actual setting will be the maximum speed if Pn507 is set higher than the maximum speed 8 19 8 Servo Driver Settings 8 5 1 Selecting an Absolute Encoder 8 5 Absolute Encoders Ifa Servomotor with an absolute encoder is used a system to detect the absolute position can be made in the host controller Consequently operation can be performed without performing an origin search immediately after the power is turned ON Motor R88M WOOOOOT O With absolute encode
186. mmand Do not send unsupported commands A move command data is abnormal Reset correctly 9 24 9 3 Troubleshooting with Alarm Displays E A 96 A 96 Communications Warning Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF ON Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm During DeviceNet communications Cable and connector contact is faulty Correct the connector wiring BY Malfunction due to noise Take noise prevention measures E A 98 A 98 Main Power OFF Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF OFF OFF Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm When main power supply OFF A Power supply cable and the connector con Correct the connector wiring tact is faulty B Power Supply Unit is defective Check the Power Supply Unit 9 25 9 Troubleshooting E AIA A 9A Positioning Timer Timeout Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF OFF ON Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm During Servomotor AB operation f A Positioning Monitoring Time setting is too Correct the Positioning Monitoring Time small setting Positioning Loop
187. mmunications with encoder are incorrect Multi turn Limit Discrepancy Different multi turn limits have been set in the encoder and Servo Driver Deviation Counter Overflow Lag pulse of the deviation counter exceeded the parameter Pn505 Motor Load Deviation Over The Motor Load Deviation Over Level Pn51A was exceeded for fully closed encoder and semi closed encoder 9 Troubleshooting Table 9 1 Alarm Display Table cont d Alarm Alarm Code Outputs Alarm Name Description Display ALO1 ALO2 ALO3 A E0 No DeviceNet Unit 2 No DeviceNet Unit installed A El DeviceNet Unit Timeout 2 No response from the DeviceNet Unit A E2 WDC Error of DeviceNet WDC error in the DeviceNet Unit Unit DeviceNet Duplicate MAC ID Same node address already exists on the Error DeviceNet network DeviceNet Unit Detection No DeviceNet Unit was detected when the Error power was supplied to the W series Servo Driver A E8 Rotary Switch Setting Error Unit rotary switch setting error A E9 DeviceNet Busoff Error Fatal communications error has occurred in DeviceNet communications A EA Servo Driver System Error Servo Driver is defective Servo Driver Initial Access Initial processing failed Error WDC Error of Servo Driver WDC error in the Servo Driver Command Execution Command was interrupted Incomplete Error Option Parameter Error The parameters of the DeviceNet Unit con tains abnormalities AF Missing Phase Detecte
188. n search nit X 1000 steps min 1 to 240 000 5 ets the origin compensation data 0 to nit Steps 99 999 999 00 Sets the output width of the origin 0 to 32 767 100 Unit Steps 00 nit Steps ets the offset from the encoder coordinate 99 999 999 to 99 999 999 Sets the acceleration deceleration time for origin search 1 to 10 000 Unit ms 1 to 10 000 000 Sets the numerator of electronic gear G1 1 to 10 000 000 Sets the denominator of electronic gear G2 Get Set Coordinate Type BOOL Sets the coordinate type 0 1 0 Linear axis 1 Rotary axis Sets the command unit per one machine rotation for rotary axis Unit Steps 1 to 1 500 000 360 000 Get Set Backlash Compen UINT Sets the compensated value for backlash 0 to 32 767 sation Value 10 9 10 Appendix 10 2 6 DeviceNet Unit Parameter Object 0x64 cont d No Access Name Data Type Description Setting Default Range Setting Get Set Backlash Compen UIN Sets the direction for backlash compensa 0 1 sation Direction tion Get Set Positive Software D Sets the limit position for positive direction 99 999 999 to 99 999 999 Limit Unit Steps 99 999 999 I IN Get Set Negative Software DINT Sets the limit position for negative direc 99 999 999 to 99 999 999 Limit tion 99 999 999 Unit Steps IN Get Set Function Selection UINT Sets the mechanical function 0 to 3 Bit 0 0 Software Limit is disabled 1 Softw
189. n Overload This warning occurs before the regenera AIA O O Positioning Timer Positioning was not completed within the Timeout positioning monitoring time tive overload alarm A 32 occurs If the warning is ignored and operation contin Note OFF Output transistor is OFF high ON Output transistor is ON low ues a regenerative overload alarm may occur Battery Warning This warning occurs before the absolute encoder battery error alarm occurs If the power supply is turned OFF the alarm may occur when the power supply is turned ON Parameter Setting A value outside the setting range was set Warning using DeviceNet communications e Incorret parameter No and data at the Parameter Write Command e Incorrect parameter No at the Parame ter Read Command ON ON ON ON ON Command Warning A command not supported in the product specifications was issued The command reception conditions were not met e Illegal command e Command given during execution of another move command Command given during servo OFF e Command given during alarm e Command given during emergency stop OFF OFF FF e Move command data error Communications A DeviceNet communications error Warning occurred once ON OFF ON OFF ON OFF OFF FF 9 Troubleshooting 9 3 Troubleshooting with Alarm Displays Problems that occur in the Servo Drivers are displayed on the Servo Driver s front display as A OD or CPFOD A
190. n be used to connect DeviceNet nodes T branch connections and multi drop connections e T branch connections Used to branch a drop line using a T branch Tap e Multi drop connections Used to connect a node directly to the trunk line or directly to a drop line As shown in Fig 4 2 both T branch connections and multi drop connections can be used together in the same network 4 17 4 Connectors 4 5 2 DeviceNet Communications Connection Example Terminating Resistors Terminating resistors must be connected to both ends of the trunk line to reduce signal reflection and stabilize communications Terminating resistors can be connected either on a T branch Tap or as a Terminal Block When connecting terminating resistors as a Terminal Block use special DeviceNet cable to connect the Terminal Block Communications Power Supply To enable DeviceNet communications power for communications must be provided via the special DeviceNet cables to the communications connector at each node Use separate power supplies for the communications internal circuits and I O E Connection Methods The network connection methods are described in this section Trunk Line and Drop Lines The trunk line is the cable with terminating resistors connected to both ends A drop line is a cable that branches from the trunk line Special DeviceNet cables must be used for both the trunk line and all drop lines Branching Patterns Branching
191. nd 6 53 Index 1 JOG Command 6 42 6 61 M MS module status indicator 6 5 Multi speed Positioning Command 6 57 multi turn limit setting 8 21 N nameplate 2 4 nodes 4 17 noise filter 4 3 4 4 4 5 noise prevention 6 16 no operation 1 5 6 42 Notch Output Positioning Command 6 55 NS network status indicator 6 5 object name 6 78 OFF voltage 1 7 ON voltage 1 7 operation 1 5 6 52 Origin Search Command 6 50 6 62 origin search parameters 5 20 output circuit 4 10 P parameter tables 5 4 Parameter Unit 4 3 4 4 4 5 8 23 Point Table Command 6 48 6 62 positioning parameters 5 41 R Remote I O communications 6 20 6 21 reverse command 8 8 rotary switch
192. nd E JOG Command While the JOG Command JOG is set to 1 the axis travels in the direction specified as the movement direction DIR at the feed speed JOG l aaa DIR JOG_R ee DIR_R ees L Fig 6 4 JOG Command 6 61 6 DeviceNet Communications 6 7 2 Command Method E Step Command While the Step Command STEP is set to 1 the axis travels in the direction specified as the movement direction DIR at the feed speed for the step distance If the Step Command is set to 0 during the step operation the step operation stops and the remaining travel distance is canceled STEP a jee a ope Jo fF oo en anne a aes Fig 6 5 Step Command E Station Command The station operation starts when the Station Command STN is changed from 0 to 1 The following data must be set before the station operation is started e Movement direction Specify the movement direction byte 3 bit 1 e Station number Specify at the 1 word of bytes 4 and 5 e Absolute relative Specify whether the station number is an absolute value or a relative value byte 3 bit 0 E Point Table Command The point table operation starts when the Point Table Command PTBL is changed from 0 to 1 The following data must be set before the point table operation is started e Point table number Specified at the 1 word of bytes 4 and 5 E Origin Search Command When the Origin Search Command HOME is change
193. nditions so that the ambient tem Driver exceeded 55 C perature goes below 55 C F The air flow around the heat sink is bad Follow the installation method and provide sufficient space as specified G Fan stopped Replace the Servo Driver H The Servo Driver is operating under an Reduce load overload Note E to H can occur with 200 V Servo Driver models for 1 5 to 5 kW 9 9 9 Troubleshooting E A 30 A 30 Regeneration Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF OFF Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm During Servomotor A B Occurred when the operation control power turned ON Occurred approximately 1 second after the main A B C circuit power ON Regenerative transistor is abnormal Replace the Servo Driver m Disconnection of the regenerative resistor Replace the Servo Driver or regenerative resistor C Regenerative resistor is disconnected Check wiring of the external regenerative for an external regenerative resistor resistor D The Servo Driver is defective Replace the Servo Driver 9 10 9 3 Troubleshooting with Alarm Displays E A 32 A 32 Regeneration Overload Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF Note OFF Output transistor is OFF alarm state ON Output transistor is
194. nector Case Model 10320 52A0 008 Sumitomo 3M Ltd 33 3 t 18 Unit mm 2 Outline Drawings and Nomenclature 2 2 Checking Products on Delivery The following procedure is used to check products upon delivery Check the following items when products are delivered Check the model numbers marked on the nameplates of the DeviceNet Unit Check the overall appearance and check for damage or scratches that may have occurred during shipping If any of the above items are faulty or incorrect contact your OMRON sales representative or the dealer from whom you purchased the products E External Appearance and Nameplate Example omron R88A NCW152 DRT DEVICENET OPTION UNIT 24V DC 0 6 W INPUT 24V DC 5mA OUTPUT 24V DC 50mA O N SERIAL No Use with R88D WT Servo Driver and Class 2 I O Circuits only OMAGH Corporatii MADE IN JAFAN Fig 2 2 Nameplate Fig 2 1 External Appearance of the DeviceNet Unit 2 4 2 3 Product Nomenclature 2 3 Product Nomenclature The following diagram illustrates the nomenclature of the DeviceNet Unit Ground line Connect to the terminal marked G on the Servo Driver Rotary switches x 1 x 10 Used to set the DeviceNet node address Rotary switch DR Used to set the baud rate for DeviceNet Connector for Setup Tool CN11 RS 232C connector for Setup
195. next to device Wy H W DC input type Device such as a motor AC input type Device such as a motor e Ifa surge suppressor does not fit on the device such as a contactor installing a ferrite core directly next to the device s contactors may be effective Ferrite Core 0443 164151 ra made by Nisshin Electric Co Ltd etc oO ee O O O e Insert a line filter on the primary side of the communications power supply e When there are two or more communications power supplies the DeviceNet special cables can be grounded by simply connecting a single Power Supply Tap near the center of the DeviceNet special cable Do not ground shield wire at more than one place When There Is One Power Supply T branch Tap or Power Supply Tap Master PS Slave s When There Are Two or More Power Supplies Power Supply Tap Power Supply Tap Power Supply Tap PS Slave PS Slave PS I Ground at only one point 6 19 6 DeviceNet Communications 6 4 1 Remote I O Communications 6 4 Overview of Remote I O and Explicit Message Communications This section provides an overview of Remote I O communications and Explicit Message com munications 6 4 1 Remote I O Communications Remote I O communications function enable automatic exchange of I O data between slaves and a CPU Un
196. ng Trace Data Error Response Number of bytes Error code received Service code 94 fixed Source node address Reading Word Data Command Block Class ID Address Low Number of words to read Address High Service code 1D fixed Destination node address Instance ID Response Block Service code 9D fixed Source node address Word data High Word data High Word data Low Word data Low Number of bytes received Read data 200 bytes max Note 1 The maximum number of words is 100 2 Ifthe settings for the beginning address and the number of words exceed the data capacity data traces 1 and 2 1 000 words I O traces 1 and 2 63 words the number of words of data to be read will be returned without generating an error Example If the address is 1000 and the number of words is 10 only one word of data for address 1000 will be returned Error Response Number of bytes Error code received Service code 94 fixed Source node address 6 76 6 9 Tracing Data 6 9 3 Tracing Data Use the following procedures to execute a data trace from a host controller 1 Set the trace 2 Execute the trace 3 Read the trace status 4 Read the trace data Tracing data start Step 1 lt Setting Trace Targets gt Explicit Set the data trace 1 target Set the data trace 2 target Set the I O trace 1 target Set the I O trace 2 target lt Setting the Trace Cycl
197. nge Units Effective Default Type Timing Value eee Pn801 Origin Search 0 to7 Power up Function Selection n802 Origin Search High 1 to 240 000 X1 000 Immediate 10 000 Speed steps min Pn806 Zero Position Output 0 to 32 767 Steps Immediate 1 Width Pn809 Absolute Position 99 999 999 Steps Immediate Setting C bea 13 Pn803 Origin Search 1 to 240 000 x1 000 Immediate 1 000 Proximity Speed steps min 14 Pn804 Origin Search 1 to 240 000 x1 000 Immediate 500 Compensation Speed steps min 15 Pn805 Origin Compensation 0 to Steps Immediate Value 99 999 999 i Baka E l fees 18 Pn80A Origin Search 1 to 10 000 ms Immediate 100 Acceleration Decele ration Time Note 1 Steps means command unit For command unit details refer to 5 3 1 Unit Parameters 2 If you set the command unit to 0 001 mm 1 000 steps min becomes mm min 5 4 5 2 Parameter Tables 5 2 3 Machine System and Peripheral Device Parameters The machine system and peripheral device parameter table is shown below Object Attribute No Name Range Units Effective Default Type Timing Value Pn813 Command Unit R 1 to 1 500 000 360 000 32 33 34 Pn814 Backlash Compensa 0 to 32 767 Steps Immediate tion Value 35 Pn815 Backlash Compensa 0 1 Immediate tion Direction 36 37 38 39 0 1 2 Pn817 Negative Software 99 999 999 99 999 999 Limit Pn816 Positive Software 99 999 999 Steps Immediate 99 999 999
198. ngle Modifies the contents of the specified attribute Data Types USINT Unsigned short integer BYTE 8 bit string 10 8 10 2 DeviceNet Attributes 10 2 6 DeviceNet Unit Parameter Object 0x64 Class and instances of the DeviceNet Unit Parameter Object 0x64 are shown below E Class e Attributes None supported e Services None supported E Instances Attributes Instance 1 Explicit Message No p Oo Origin Search Function Selection 1 U 4 Origin Search Compensation Speed z Get Set Origin Compensa tion Value Get Set Zero Position Output Width Get Set Absolute Position Setting 2 gt 1 j an N 8 Origin Search Acceleration Deceleration Time 0 Electronic Gear 1 3 Ratio Gl Numerator 31 Electronic Gear Ratio G2 Denominator 32 Ww 3 Command Unit R 34 DINT DINT DINT Access Name Data Type Description Setting Default Range Setting Origin Search Mode Sets the origin search type Sets the function selection for origin search Bit 0 Direction of origin search Bit 1 Origin proximity input signal setting Bit 2 Origin input signal setting Get Set Origin Search Sets the high speed for origin search 1 to 240 000 10 000 High Speed Unit X 1000 steps min Get Set Origin Search Sets the proximity speed for origin search 1 to 240 000 1 000 Proximity Speed Unit x 1000 steps min Sets the compensation speed for origi
199. nit e Uses CMND to send Explicit Message E Operation 1 Set the operands for CMND 2 Execute CMND when the Network Communications Enabled Flag turns ON 3 If a transmission error occurs retry after response code is stored m Ladder Programming Execution condition DIFU 013 W030 04 MOV 021 Sets Explicit commands D00000 MOV 021 Sets destination node address and 140E service code D00001 MOV 021 Sets class ID 0064 D00002 W030 04 MOV 021 Sets instance ID 0001 D00003 Continued on next page 7 8 From previous page Continued on next page MOV 021 4900 D00004 BSET 071 D00100 D00199 MOV 021 0009 D00200 MOV 021 000C D00201 MOV 021 0000 D00202 MOV 021 0010 D00203 MOV 021 0000 D00204 MOV 021 0064 D00205 7 3 Programming Explicit Messages Sets service data Clears response storage area Sets number of command bytes to 9 Sets number of response bytes to 12 Sets destination network address to 0 Sets destination node address to 0 and sets destination unit address to 10 Hex Sets response returned to 0 communications port number to 0 and number of retries to 0 Sets response monitoring time to 100 ms 7 Ladder Programming Examples From previous page MOV 021 0001 W031 CMND 490 D00000 D00100 W031 00 A202 00 1524 12 TE E
200. nit X 1000 steps min 95 Get Set Interrupt Feeding DINT Sets the amount of interrupt feeding 99 999 999 Distance Unit Steps to 99 999 999 Get Set Interrupt Feeding UINT Sets the polarity of interrupt input signals 0 1 Function Selection UINT Sets the number of stations 1 to 32 767 1 111 Get Set Speed Switch UIN Sets the number of speed switching points 0 to 16 Point 112 Get Set Multi speed Posi DIN Sets the initial speed for multi speed 1 to 240 000 24 000 tioning Initial Speed Unit X 1000 steps min Get Set Position 1 for DI Sets speed switching position 1 for multi 0 to Multi speed speed 99 999 999 Unit Steps Get Set Position 2 for Multi speed Get Set Position 3 for Multi speed Get Set Position 4 for Multi speed Get Set Position 5 for Multi speed Get Set Position 6 for Multi speed T T Sets speed switching position 2 for multi 0 to speed 99 999 999 Unit Steps Sets speed switching position 3 for multi 0 to speed 99 999 999 Unit Steps Sets speed switching position 4 for multi 0 to speed 99 999 999 Unit Steps Sets speed switching position 5 for multi 0 to speed 99 999 999 Unit Steps Sets speed switching position 6 for multi 0 to speed 99 999 999 Unit Steps Sets speed switching position 7 for multi 0 to speed 99 999 999 Unit Steps Sets speed switching position 8 for multi 0 to speed 99 999 999 Unit Steps Get Set Position 8 for Multi speed G
201. nnected to DeviceNet Master Unit A Va Parameter Unit R88A PRO2W Allows the user to set parameters and to display operation references or alarm status Cable model R88A CCW002C N Personal Computer for Setup Tool SS Cable model R88A CCW02P4 a J Encoder Cable Brake power l Regenerative Resistor Connect an external regenerative resistor to terminals B1 and B2 if the regenerative capacity is insufficient Regenerative resistor option Encoder Connector A special Setup Tool Cable and the Setup Tool Software SBCE 001 are required to set and monitor Servo Driver and DeviceNet Unit parameters from a personal computer 4 Connectors 4 1 2 Three phase 200 V Main Circuit Specifications 4 1 2 Three phase 200 V Main Circuit Specifications C Molded case Circuit Breaker QF Protects the pow er line by shutting RS Power supply Three phase 200 VAC T Used to eliminate external noise from the power line Noise filter L A Magnetic Contactor iid ae 2 Ws Hi Series 1 Tums the servo _ J ON and OFF en Install a surge suppressor on the magnetic contactor Magnetic contactor Brake Power Supply Used for a Servomotor with a brake
202. nnection and Wiring of the DeviceNet Communications Connector 4 15 4 5 1 Connector Specifications 4 15 4 5 2 DeviceNet Communications Connection Example 4 17 4 5 3 DeviceNet Network Configuration Restrictions 4 19 4 1 4 Connectors 4 1 Connecting to Peripheral Devices This section provides examples of standard W series Servo Driver connections to peripheral devices It also briefly explains how to connect each peripheral device 4 2 4 1 Connecting to Peripheral Devices 4 1 1 Single phase 100 V or 200 V Main Circuit Specifications Molded case Circuit Breaker QF Protects the pow er line by shutting the circuit OFF when overcurrent is detected Noise Filter Used to eliminate external noise from the power line HI Series Tums the servo ON and OFF Install a surge suppressor on the magnetic contactor Brake Power Supply Used for a Servomotor with a brake Magnetic contactor g o 0 L Power supply Single phase 100 or 200 VAC F RST d Molded case circuit breaker Noise filter Magnetic Aee contactor supply ost Controller The following OMRON DeviceNet Master Units are available CS1W DRM21 CJ1W DRM21 Can be co
203. ns The dimension of the connectors are shown below MSTB2 5 5 ST 5 08AU Ty 2 25 4 20 32 5 08 RRS 15 0 i 439 Unit mm 4 Connectors 4 5 1 Connector Specifications XW4B 05C1 H1 D 7 OL Lo o ime N fe z s LO s 2l Lo S i 5 z be 439 Unit mm XW4B 05C4 T D o Fo Al N IF 3 8 2 Ol N i a eee 21 5 ai fo a ee Unit mm E Special Screwdriver for Connectors Use the following Screwdrivers for the connectors Model Number Manufacturer XWAz00C OMRON Can be purchased from OMRON 24 SERVICE Co Ltd Lo a Unit mm A B C 0 6 3 5 100 4 16 4 5 Connection and Wiring of the DeviceNet Communications Connector 4 5 2 DeviceNet Communications Connection Example A DeviceNet network configuration is shown below Connect terminating resistors Connect terminating re
204. nsumption current required for the communications power supply for each node 0 005 Q The contact resistance of the T branch Taps Note If nodes are placed on both sides of the power supply calculate in each direction and make sure the following conditions are satisfied Voltage drop V on left trunk line lt 4 65 V Voltage drop V on right trunk line lt 4 65 V 6 13 6 DeviceNet Communications 6 3 1 Providing the Communications Power Supply Example The following example shows a Network that requires power to be supplied for 240 m on thick cable The power supply is located in the center of the network Terminating Trunk line Trunk line Terminating resistor DeviceNet special cable DeviceNet special cable resistor i ee Oe re Within 3 m Communications 0 1A 0 25A 0 2A 0 15A 0 25A 0 15A k 40m alu 40m al 40m ul 40m ab 40m dl 40m e Calculation on the left of the power supply Node 1 120 x 0 015 3 x 0 005 x 0 1 0 1815 V Node 2 80 x 0 015 2 x 0 005 x 0 25 0 3025 V Node 3 40 x 0 015 1 x 0 005 x 0 2 0 121 V 0 1815 0 3025 0 121 0 605 V lt 4 65 V Thus the best location for the nodes can be determined by using the condition formula e Calculation on the right of the power supply Node 4 40 x 0 015 1 x 0 005 x
205. nt position of the Servomotor as the origin This command is disabled when an incremental encoder is used To use the Origin Setting Command make the command code settings and then change the Command Start Command from 0 to 1 There is no need to set the data area When the origin has been set an offset value is set for parameter Pn809 Absolute Position Setting This set value is cleared when the W series Servo Driver control power supply is turned OFF After the Origin Setting Command has been executed therefore the parameter must be stored in flash ROM by executing the Unit Reset Command Table 6 17 Commands for Origin Setting Command SS 6 38 6 5 Remote I O Communications E Alarm Read Command Command Code 1100 C Hex The Alarm Read Command reads the last four alarms that have occurred on the W series Servo Driver and the DeviceNet Unit Refer to 10 3 Alarm Warning Codes and Error Codes for Message Communications to check alarms To use the Alarm Read Command make the command code settings and then change the Command Start Command from 0 to 1 Table 6 19 Commands for Alarm Read Command o oe j o o ee 7 i Table 6 20 Responses for Alarm Read Command a 2 6 39 6 DeviceNet Communications 6 5 4 Set Read Commands for Remote I O Communications Em Monitor Mode Read Command Command Code 1101 D Hex The Monitor Mode Read Command reads the I O status and internal data for the various
206. nterference will alter the communications signal data and communications will be impossible Communications lines are more sensitive and require faster response than normal I O lines so be sure that noise does not interfere with communications Use the preventative noise countermeasures described below when config uring the system to ensure smooth system start up E Grounding the Network Network grounding method and ground line are described below Method The DeviceNet network must be grounded at one location only so that a ground loop is not created The ground should also be connected as close as possible to the center of the Net work Connect the cable shield to the ground terminal on the communications power supply and then connect to a ground of 100 Q max as shown in the following diagrams Power Supply Tap V V UU 2 CAN H CAN H D 7 i Shield Shield O t Q DeviceNet CAN L L CAN L special cable VY VY vz A aZ 1G if O Q Ground terminal V V VW e4 O FG V V Communications power supply Ground 100 max Note If more than one communications power supply is connected to the same network ground only the one nearest the center of the network Do not connect the shield wire at the other power supplies Note 1 Always ground the communications cable shield directly at one location only in the network 2 Always ground to 100 Q or less 3 Always use a separa
207. nts Confirm the characteristics of relays and other mechanical contacts before using a 12 V power supply 8 13 8 Servo Driver Settings 8 3 1 Sequence I O Signals einer Na Nee hewam 24 V External Power Supply Input Position Control The external power supply input terminal is common to sequence input signals 24 V power supply 24V Contact input signals ORG CNI 41 POT CN1 42 NOT CN1 43 EXTP CN1 44 ZERO CN1 45 Servo Driver 24 VIN E Output Signal Connections Connect the sequence output signals as shown in the following figure standard settings 24 V power supply Servo Driver S ignal d fov equence output signals are use Photocoupler CN to indicate Servo Driver operating er 2 31 ALM status i d L Photocoupler output iy per output Maximum operating voltage 30 V DC Maximum output current 50 mA DC BIRIBIN haaay 37 ALO1 lt 20 mA max Open collector output per output Maximum operating 38 ALO2 voltage 30 V DC Maximum output current 20 mA DC Host ov controller Note Provide a separate external 24 V power supply the Servo Driver does not have an internal 24 V power supply OMRON recommends using the same type of external power supply as that used for input circuits Function allocations for some sequence output signal circuits can be changed Refer
208. on Setting reading Parameter Read Command Reads user parameters from the Servo Driver and DeviceNet Unit user Reads user parameters from the Servo Driver and DeviceNet Unit from the Servo Driver and DeviceNet Unit commands Parameter Write Command Writes user parameters to the Servo Driver and DeviceNet Unit Present Position Setting Resets the present position of the motor to a specified position Command Origin Setting Command When using an absolute encoder sets the present position of the motor as the origin Alarm Read Command Reads up to the most recent three alarms that have occurred in the Servo Driver or DeviceNet Unit Monitor Mode Read Command Reads the monitor mode Unxxx displayed on the Servo Driver Unit Reset Command Saves the user parameters in the DeviceNet Unit to flash ROM and then restarts the Servo Driver and DeviceNet Unit software Other functions Tracing Reads accumulated trace data using Explicit Messages from a PC or personal computer Backlash compensation Compensates for play in the mechanical system Deceleration stop Decelerates the axis to a stop using a Cancel or Hold Command during axis movement Absolute encoder support An OMNUC W series Servomotor with an absolute encoder can be used Using an absolute encoder eliminates the need for origin searches reducing system startup time Software limits Positioning positions can be monitored in the software separately from limit input signal
209. on in the Origin Search Function Selection Pn801 at the Origin Search Proximity Speed Pn803 2 When the origin input signal status changes the axis decelerates and travels at the Ori gin Search Compensation Speed Pn804 3 The axis travels the Origin Compensation Value Pn805 from the position that the ori gin input signal status changed and that position becomes the origin Speed Origin search proximity speed Origin search compensation speed Pn803 Pn804 Origin compensation value Pn805 Time Origin input signal nr oi Machine coordinate i system origin lt _____ Origin area 5 14 5 3 Parameter Details Type 2 This origin search type returns to the origin using the origin proximity input signal ORG signal and the origin input signal ZERO signal The outline of the operation is as follows 1 The axis travels in the direction specified as origin search direction in the Origin Search Function Selection Pn801 at the Origin Search High Speed Pn802 2 When the status of the origin proximity input signal changes the axis decelerates and travels at the Origin Search Proximity Speed Pn803 3 When the origin input signal changes after the status of the origin proximity input signal changes again the axis decelerates further and travels at the Origin Search Compensa tion Speed Pn804 4 The axis travels the Origin Compensation Value Pn805 from the position where the
210. onnection type for Master Slave connection Choice Byte Master s USINT Node address of Master 0 to 63 MAC ID Services Service Name Description Code Ox0E Get_Attribute_Single Returns the contents of the specified attribute 0x4B Allocate _Master Slave_ Requests the use of the Predefined Master Slave Connec Connection_Set tion Set 0x4C Release _Master Slave_ Opens the Master Slave connection Connection Set Data Types USINT Unsigned short integer 10 5 10 Appendix 10 2 4 Assembly Object 0x04 10 2 4 Assembly Object 0x04 Class and instances of the Assembly Object 0x04 are shown below E Class e Attributes None supported e Services None supported E Instances Attributes Instance 100 No Access Data Type Attributes Instance 101 Value Description Output data Services Service Name Description Code Get_Attribute_Single Returns the contents of the specified attribute 10 6 10 2 DeviceNet Attributes 10 2 5 Connection Object 0x05 Class and instances of the Connection Object 0x05 are shown below E Class e Attributes None supported e Services None supported E Instances Attributes Instance 1 Explicit Message USINT Defines the state of the object USINT Defines either I O or messaging connection 3 Get TransportClass_ Byte Defines behavior of the connection trigger 4 Get Set Produced_ UIN Placed in CAN Identifier Field when th
211. ormation in this manual has been carefully checked and is believed to be accurate however no responsibility is assumed for clerical typographical or proofreading errors or omissions
212. osition tion Designation 10 13 9 Ke Q 140 Q P ean G Q S Unit et Set Speed 9 for T Sets speed 9 for multi speed 0 to 24 000 Multi speed Unit X 1000 steps min 99 999 999 S 136 Get Set Speed 8 for T ets speed 8 for multi speed 1 to 240 000 24 000 Multi speed nit X 1000 steps min P US Q A A 10 Appendix 10 2 6 DeviceNet Unit Parameter Object 0x64 cont d No Access Name Data Type Description Setting Default Range Setting 161 Get Set Notch Signal UINT Sets notch signal output 0 to3 e Bit 0 Notch output 1 0 Normally OFF ON when passing 1 Normally ON OFF when passing e Bit 1 Notch output 2 0 Normally OFF ON when passing 1 Normally ON OFF when passing 162 Get Set Negative Direction T Sets negative direction notch 1 99 999 999 to Notch 1 nit Steps 99 999 999 163 Get Set Positive Direction DINT ets positive direction notch 1 99 999 999 to Notch 1 nit Steps 99 999 999 164 Get Set Negative Direction DINT ets negative direction notch 2 99 999 999 to Notch 2 nit Steps 99 999 999 DINT ets positive direction notch 2 99 999 999 to Notch 2 nit Steps 99 999 999 Services Service Name Description Code Get_Attribute_Single Returns the specified attribute Set_Attribute_ Single Modifies the specified attribute Data Types 10 14 10 2 DeviceNet Attributes 10 2 7 Point Table Object 0x65 Class and ins
213. ote OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm During Servomotor operation A B C At power ON A B C Cause Remedy Encoder wiring incorrect or disconnected Check wiring and connectors at encoder B Encoder is defective Replace the Servomotor The Servo Driver is defective Replace the Servo Driver 9 31 9 Troubleshooting E A CA A CA Encoder Parameter Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm At power ON A B Encoder is defective Replace the Servomotor EA The Servo Driver is defective Replace the Servo Driver E A CB A CB Encoder Data Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm At power ON A B Cause Remedy Encoder wiring incorrect or disconnected Check wiring and connectors at encoder B Encoder is defective Replace the Servomotor The Servo Driver is defective Replace the Servo Driver 9 32 9 3 Troubleshooting with Alarm Displays E A CC A CC Multi turn Limit Discrepancy Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transi
214. ower supply OFF and then ON 2 The Absolute Encoder Multi turn Limit value must be changed only for special applications Do not change this data inappropriately or unintentionally 3 Ifthe Absolute Encoder Multi turn Limit Mismatch A CC alarm occurs check the setting of parameter Pn205 in the Servo Driver to be sure that it is correct If Fn013 is executed when an incorrect value is set in Pn205 an incorrect value will be set in the encoder The alarm will dis appear even if an incorrect value is set but incorrect positions will be detected resulting in a dangerous situation where the machine will move to unexpected positions 8 22 8 6 Parameter Unit 8 6 Parameter Unit A Parameter Unit is required to operate and monitor the Servo Driver from a remote location or from a control panel To connect the Parameter Unit to the Servo Driver use a special Parameter Unit cable and connect it to the CN3 connector on the front panel of the Servo Driver One meter of cable is provided with the Parameter Unit If a distance of one meter between the Parameter Unit and the Servo Driver is not enough purchase a 2 m Parameter Unit cable R88A CCWO002C separately Note 1 With a DeviceNet Unit mounted a DeviceNet communications timeout will occur if a Servo Driver Parameter Write Command data is sent via DeviceNet while a Parameter Unit is con nected or while communications with a personal computer are in progress 2 With a Devi
215. perature goes below 40 C B Servomotor is operating under overload Reduce load Circuit board 1PWB is defective Replace the Servo Driver D Encoder is defective Replace the Servomotor 9 22 9 3 Troubleshooting with Alarm Displays E A 94 A 94 Parameter Setting Warning Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm When the command was sent A A value outside the DeviceNet communications Reset correctly setting range was set at the Parameter Write Command e Parameter No settings are incorrect at the Parameter Read Command i e A parameter No or data settings are incorrect Reset correctly 9 23 9 Troubleshooting E A 95 A 95 Command Warning Display and Outputs Alarm Outputs Alarm Code Outputs ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm When the command was sent Presently unable to receive the command Adjust conditions to match the command that has been sent Refer to the specifications for each com Illegal command mand e Command given during execution of another move command e Command given during servo OFF e Command given during alarm e Command given during emergency stop e Move command data error Unsupported co
216. position ing the moving axis decelerates to stop and the remaining travel distance is discarded Con firm that the Cancel Command has been received by checking that the Progressing Flag PRGS has changed from 1 to 0 C_STRT T Do Too PRGS ah I C_STRT_R O r e O O INPOS Sa T N Fig 6 7 Positioning Command 6 63 6 DeviceNet Communications 6 7 2 Command Method E Unit Reset Command The Unit is reset by setting the Unit Reset Command and changing the Command Start Command C_STRT from 0 to 1 When the Unit Reset Command is executed the Unit Ready Flag READY is changed from 1 to 0 When the reset processing for the DeviceNet Unit and the W series Servo Driver has been completed the Unit Ready Flag changes from 0 to 1 The Unit reset operation process is outlined below e Ifthe axis is travelling it decelerates to a stop and the remaining travel distance is dis carded If the present status is Servo ON it changes to Servo OFF Ifan alarm occurs it is reset e All of the latest DeviceNet Unit parameters are stored in flash memory 6 64 6 8 Communications Using Explicit Messages 6 8 Communications Using Explicit Messages This section explains Explicit Message communications frames how to send Explicit Messages using the CMND instruction and Explicit Message command and response blocks 6 8 1 Explicit Messages Overview Explicit Messages are sent and received as described below Explici
217. pter provides ladder programming examples for OMRON CS CJ series Programmable Controllers 7 1 Programming Conditions 7 2 7 2 Remote I O Programming 7 3 7 2 1 Servo ON Command 7 3 7 2 2 Origin Search Command 7 4 7 2 3 Direct Operation Command 7 5 7 2 4 Parameter Read Command 7 7 7 3 Programming Explicit Messages 7 8 7 1 7 Ladder Programming Examples 7 1 Programming Conditions The programming conditions are as follows DeviceNet Master Unit Unit 0 Node address 63 e DeviceNet Unit Node address 20 e Command CIO 3220 to CIO 3223 e Response CIO 3320 to CIO 3323 The default values are used for parameters The following ladder programming examples are for OMRON CS CJ series Programmable Controllers 7 2 7 2 Remote I O Programming 7 2 Remote I O Programming The following ladder programming examples use a variety of instructions 7 2 1 Servo ON Command The following is a programming example from the beginning of DeviceNet communications up until servo ON E Operation 1 Clear the emergency stop when READY turns ON 2 Turn ON the Servo ON Command E Ladder Programming Execution condition 3320 06 3320 05 DIFU 013 W030 00 W030 00 MOV 021 Clears emergency stop status
218. r Always detects on absolute position OrigitpRearch Absolute encoder 8 5 1 Selecting an Absolute Encoder Select the absolute encoder usage with the following parameter Operation Switch When Using Default Setting Uses the absolute Absolute Encoder encoder as an ab solute encoder 0 in the following table must be set to enable the absolute encoder Pn002 2 Setting Description fF A Uses the absolute encoder as an absolute encoder Uses the absolute encoder as an incremental encoder Note This parameter setting goes into effect when the power is turned OFF and ON again after the change has been made 8 20 8 5 Absolute Encoders 8 5 2 Absolute Encoder Setup Initialization Perform the setup operation for the absolute encoder in the following circumstances e When starting the machine for the first time e When an encoder backup alarm is generated e When the Servo Driver s power supply is turned OFF and the encoder s cable is removed Perform the setup operation in one of the following ways e Perform the operation by the absolute encoder Fn008 using the Parameter Unit or the Servo Driver s front key Refer to the OMNUC W series Servomotors Servo Drivers User s Manual 1531 E1 D for details e Perform the operation referring to Setup Tool Software SBCE 001 Note 1 The absolute encoder setup operation is only possible when the servo is OFF After the setup processing is finish
219. r ON A A The DeviceNet Unit is defective Replace the DeviceNet Unit 9 27 9 Troubleshooting E A C1 A C1 Runaway Detected Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm At power ON Parameter Pn50A 1 7 When servo ON RUN signal turned ON A B C D D On speed reference input A B C Occurred 1 to 3 seconds after power ON Parameter Pn50A 1 Other A B C D than 7 Servomotor wiring incorrect or discon Check wiring and connectors at Servomo nected tor B Encoder wiring incorrect or disconnected Check wiring and connectors at encoder Encoder is defective Replace the Servomotor EJ Circuit board 1PWB is defective Replace the Servo Driver 9 28 9 3 Troubleshooting with Alarm Displays E A C6 A C6 Fully closed Encoder Phase A B Disconnection Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm 1 to 3 seconds after At power ON A power ON o gt ow During Servomotor operation Circuit board 1PWB is defective Replace the Servo Driver Encoder wiring error or faulty contact Check the wiring and check that the connec tor is fully inserted on the encoder Th
220. r Parameter onea 1 OO O Connection Object Trace Setting Object Trace Data Object Acts as a router to distribute Explicit Messages to objects Manages the physical connection to the DeviceNet Manages responses Mangages commands Manages Explicit Messages Manages I O messages Manages detailed motion settings Manages point table data Manages Servo Driver paramters Manages the settings of the data trace function Manages trace data Instances within objects hold data called attributes and show the status of the DeviceNet Unit If referencing or changing attributes via DeviceNet you must specify the object name instance number and attribute number For example when referencing via DeviceNet the DeviceNet Unit parameter Pn802 Origin Search High Speed specify the attribute as follows e Control Parameter Object 0x64 Instance 1 Attribute 12 Refer to 10 2 DeviceNet Attributes for a table of attributes 6 78 6 10 Changing Parameters 6 10 2 Changing Parameters This section explains how to change parameters using commands or message communica tions E Changing Parameters Using Remote I O Communications W series Servo Driver parameters DeviceNet Unit parameters and point table data can be changed using Remote I O communications Refer to 6 5 Remote I O Communications E Changing Parameters Using Message Communications DeviceNet supports message communications called Explicit
221. r Selection Object 0x64 Attribute 58 Pn829 Use the Filter Selection to set the acceleration and deceleration filter type This parameter is used in common by the positioning JOG and origin search operations Table 5 17 Filter Selection ooo eS JOG Unit Selection Object 0x64 Attribute 59 Pn830 Use the JOG Unit Selection to set the command unit for the speed setting for command data at JOG operation Table 5 18 JOG Unit Selection OO ae Sets an override value for the JOG speed Pn831 in the command data 1 Set the JOG speed directly in the command data The setting unit is 1 000 steps min JOG Speed Object 0x64 Attribute 60 Pn831 Use the JOG Speed to set the speed when using the JOG operation The setting unit is x 1 000 steps min 5 36 5 3 Parameter Details JOG Acceleration Time Object 0x64 Attribute 61 Pn832 Use the JOG Acceleration Time to set the acceleration time when using the JOG operation The setting unit is ms JOG Deceleration Time Object 0x64 Attribute 62 Pn833 Use the JOG Deceleration Time to set the deceleration time when using asymmetrical accel eration deceleration with the JOG operation The setting unit is ms This parameter is enabled only when the JOG Acceleration Deceleration Type Object 0x64 Attribute 65 Pn836 is set to Asymmetric set value 3 JOG Switch Speed Object 0x64 Attribute 63 Pn834 Use the JOG Switch Speed to s
222. rameter Pn821 in a positioning operation can be calculated using the following formula T ms Pn823 x Pn821 Pn843 If this acceleration deceleration pattern is used the rates of acceleration deceleration will remain constant even if the Speed set in Pn821 is changed Table 5 10 Related Parameters Pn826 Acceleration Deceleration Type 3 Pn829 Filter Selection 0 3 Pn843 Maximum Speed x1 000 steps min Speed Time Fig 5 3 Asymmetric Linear Acceleration Deceleration with Constant Acceleration Deceleration 5 29 5 Parameter Settings 5 3 4 Speed Acceleration and Deceleration Exponential Acceleration Deceleration with Constant Acceleration Deceleration Time With exponential acceleration deceleration the rate of acceleration deceleration is deter mined by the Speed set in parameter Pn821 and the Time Constant for Exponential Curve set in parameter Pn840 The Time Constant for Exponential Curve set in Pn840 is set to the time required to reach 63 2 of the Speed set in Pn821 If this acceleration deceleration pattern is used the time of acceleration deceleration will remain constant even if the Speed set in Pn821 is changed Table 5 11 Related Parameters 0x64 Pn826 Acceleration Deceleration Type 0 Pn829 Filter Selection 1 Pn821 Speed X1 000 steps min Pn840 Time Constant for Exponential Curve ms 63 2 of Pn821 Time Fig 5 4 Exponential Acceleration Decelera
223. ration is recommended for a single power supply to several nodes 2 If power supply specifications cannot be met with a single power supply when the current capacity of the thick cable exceeds 8 A even after the power supply location is modified use more than one communications power supply 3 In configuration the power can be supplied bi directionally to the trunk line as long as each current capacity is 8 A or less when using thick cable Accordingly it is possible to have a configuration with a total maximum current capacity of up to 16 A 4 Consider changing to thick cable to meet specifications if the current capacity of the thin cable exceeds 3 A when using thin cable for the trunk line Setting the Location of the Power Supply Determine whether or not the current can be supplied normally by finding the current capac ity required by each node and the voltage drop in the cables to be used to provide power Calculate the values below in advance The current capacity required by each node The distance between the power supply and each node Calculating the Location of the Power Supply There are two methods to find the best location of the communications power supply on the trunk line e Simple calculation from a graph e Calculation by formula Calculating the voltage drop from resistance and current con sumption of the communications cables Each drop line must satisfy the equation in Basic Concept on page 6
224. rigin search type returns to the origin using the origin proximity input signal ORG signal and the phase Z pulse of the encoder The outline of the operation is as follows 1 The axis travels in the direction specified as the origin search direction in the Origin Search Function Selection Pn801 at the Origin Search High Speed Pn802 2 When the status of the origin proximity input signal changes the axis decelerates and travels at the Origin Search Proximity Speed Pn803 3 After the status of the origin proximity input signal changes again the axis decelerates further when the first encoder phase Z pulse is detected and then travels at the Origin Search Compensation Speed Pn804 4 The axis travels the Origin Compensation Value Pn805 from the position where the phase Z was detected and that position becomes the origin 5 Origin search high speed Pn802 Origin search proximity speed Speed Pn803 Origin search compensation speed Pn804 Origin compensation value Pn805 Time Dog width Origin proximity input signal ee Tiles Machine coordinate Phase Z system origin Origin area 5 13 5 Parameter Settings 5 3 2 Origin Search Parameters Type 1 This origin search type returns to the origin using the origin input signal ZERO signal The outline of the operation is as follows 1 The axis travels in the direction specified as the origin search directi
225. river must be oriented this way because it is designed to be cooled by natural convection or cooling fan Secure the Servo Driver using 2 to 4 mounting holes The number of holes depends on the Servo Driver capacity Ventilation 3 3 3 Installation 3 4 Installation Follow the procedure below to install multiple Servo Drivers side by side in a control panel AEN ae e mm min f 34 o A o o gt zang fa o gt 6 6 ollogcallo o o Lp Lp p trl o O Q cL Lp Lp p ooo cooojoooog o o O lODdD O o 000 o i R 0 F 0 mm min Install the Servo Driver perpendicular to the wall so that the front panel display and setting E Servo Driver Orientation section faces outward E Cooling As shown in the figure above provide sufficient space around each Servo Driver for cooling by cooling fans or natural convection E Side by side Installation When installing Servo Drivers side by side as shown in the figure above provide at least 10 mm 0 39 in between and at least 50 mm 1 97 in above and below each Servo Driver Install cooling fans above the Servo Drivers to avoid excessive temperature rise and to main tain even temperature inside the control panel E Environmental Conditions in the Control Panel
226. runk line lengths even if there is a voltage drop due to cable resistance Thick Cable ome OTe a o aw po mo aa fw ao a ex caren a oO woo Sa ass amr os as im Pow an om os 8 7 6 5 Max current A 4 3 2 1 0 0 50 100 150 200 250 300 350 400 450 500 Distance m Thin Cable 2 Max current A 1 0 10 20 30 40 50 60 70 80 90 100 Distance m 6 10 6 3 Precautions for Communications Line Design Determining the Best Location of the Power Supply from a Graph Verify the Items to below for each node located in the same direction viewed from the power supply Therefore if nodes are located on both sides of the power supply these items must be verified for all nodes located in each direction Find A the total current consumption of all the nodes located for each direction Using the graph compute B the maximum current flow in each cable from the power supply to the end of the trunk line according to the types of cables thick or thin Compare the values found in Steps and above If the first value A is the same as the second B or less this shows that power supply specifications are met and power can be supplied to all nodes at any point in the network Note Be sure to refer to the correct graph because the maximum current flow is different for thick and thin cables
227. s from high to low 0002 Hex Changed edge Trace data The trigger is detected when the trigger target data changes across the trigger level I O trace The trigger is detected when the signal level changes 6 73 6 DeviceNet Communications 6 9 2 Reading Trace Data Pre trigger Object 0x67 Instance 0x01 Attribute 18 Set how much of the 1 000 points of pre trigger data is to be stored before detecting the trig ger The setting unit is the amount of data and the setting range is 0 to 999 If the Trigger Target is set to no trigger the pre trigger setting is disabled Start Trace Object 0x67 Instance 0x01 Attribute 19 Set start trace or stop trace To execute tracing continuously reset start trace 0000 Hex No operation NOP Trace Status Object 0x67 Instance 0x01 Attribute 20 Contains the data trace status 6 9 2 Reading Trace Data m Data Trace Object Data traced by the Servo Driver is stored in Data Trace Object There are four general data trace objects as shown in the following table Data Type Data Range Stored Objects Trace data 1 1 to 1 000 Object 0x68 instance 1 I O trace 1 Object 0x68 instance 3 I O trace 2 Object 0x68 instance 4 Trace Data 1 and 2 Trace data 2 1 to 1 000 Object 0x68 instance 2 Trace data is stored as shown in the following diagram Oldest data Object 0x68 Instance 1 or 2 LAJArESS ETE m 4 Time flo
228. s not been DeviceNet monitor sent Servomotor moves instanta Servomotor or encoder wiring incor Refer to chapter 4 Connectors neously then stops rect and correct wiring Servomotor speed unstable Wiring connection to Servomotor is Check connection of Tighten any loose terminals or defective phase U V and W power connectors lines and encoder connec tors Servomotor vibrates at ap Speed loop gain value is too high Reduce Speed Loop Gain proximately 200 to 400 Hz Pn100 preset value High rotation speed over Speed loop gain value is too high Reduce Speed Loop Gain shoot on starting and stop Pn100 preset value ping Increase Speed Loop Integra tion Constant Pn101 Speed loop gain value too low com Increase Speed Loop Gain pared to position loop gain value Pn100 preset value Reduce Speed Loop Integra tion Constant Pn101 Servomotor overheated Ambient temperature is too high Measure Servomotor ambi Reduce ambient temperature to ent temperature 40 C max Servomotor surface is dirty Visual check Clean dust and oil from motor surface Overloaded Run under no load Reduce load or replace with larger capacity Servomotor 9 44 9 4 Error Diagnosis Due To Operating Status Table 9 3 Troubleshooting Table with No Alarm Display cont d Abnormal noise Mechanical mounting is incorrect Check if Servomotor Tighten mounting screws mounting screws loose Check if coupling not cen Cent
229. s supplied to the Servomotor When it is changed from 1 to 0 the current is not supplied If DeviceNet communications time out the DeviceNet Unit automatically enters Servo OFF status To restart communications the Servo ON Command must be changed from 0 to 1 SVON a re E eel E Fig 6 1 Servo ON OFF Signal 6 60 6 7 Command Method Using the Remote I O Communications m Emergency Stop Command While the Emergency Stop Command STOP is set to 0 the W series Servo Driver is in emergency stop status During this status the Emergency Stop Flag STOP_R is 0 The emergency stop status can be released by setting the Emergency Stop Command STOP to 1 and changing the Servo ON Command SVON from 0 to 1 STOP Nite SSS SVON et ee ee oe STOP_R i maa ee Fig 6 2 Emergency Stop Command E Alarm Reset Command When an alarm occurs use the following procedure to restart the DeviceNet Unit 1 Set the Servo ON Command SVON to 0 and set the Cancel Command CANCEL to 1 Remove the cause of the alarm Clear any move commands that have been set Execute the Alarm Reset Command Check that the Alarm Flag ALRM is 0 Alarm reset is executed by changing the Alarm Reset Command ALRST from 0 to 1 nA A UU N When execution of the alarm reset has been completed and all alarms have been cleared the alarm bit ALRM will change to 0 ALRST e ae e ALRM ra Fig 6 3 Alarm Rest Comma
230. s to prevent or reduce damage to external devices resulting from unexpected positioning operations caused by operating errors Linear axis rotary axis setting The DeviceNet Unit can be set for application as a linear axis or as a rotary axis 1 Features and System Configuration 1 4 1 General Specifications 1 4 Specifications This section shows the ratings and specifications of DeviceNet Unit 1 4 1 General Specifications The DeviceNet Unit provides the following general specifications Basic Specifica Power Supply Method Supplied from the control power supply of the Servo Driver External Dimensions mm Approx Mass kg Ib 0 2 0 441 Current Consumption Environment Ambient Operating Temperature Ambient Operating Humidity Impact Resistance Acceleration 19 6 m s or less when the impact is applied three times in each X Y and Z direction A DeviceNet Unit cannnot be used with software version 8 1 6 1 4 Specifications 1 4 2 Performance Specifications The DeviceNet Unit provides the following performance specifications DeviceNet Communications Conform to DeviceNet Remote I O and Explicit Messages Communications Method Command Operation Specifications Positioning via DeviceNet communications System Command Input DeviceNet communications Commands move commands positions and speeds Reading and writing user parameters Position control Acceleration Decelera One step linear
231. se B when disconnecting cables on side B Power supply Tap Fuse A Fuse B V O orno oooO V CAN H O _ CAN H DeviceNet special DeviceNet special cables on side A Shield O y Shield cables on side B CAN L O CAN L V O V WY VW Ground V V terminal Power supply device Fuses used Little fuse 312008 Rated current 8 A Rated voltage 250 V 6 35 x 31 75 mm Dual Power Supply Power Supply Taps can be used to construct a dual power supply system in the network because diodes are built in Dual power supply differs from parallel operation of power sup plies so the following restrictions apply E Restrictions Dual power supply is basically used to ensure backup power supply not parallel operation of power supplies Therefore each power supply to be used must meet the power allocation specifications must satisfy Steps 1 and 2 6 DeviceNet Communications 6 3 2 Communications Line Noise Precautions 6 3 2 Communications Line Noise Precautions This section describes network grounding methods noise countermeasures for communica tions lines and noise countermeasures according to wiring methods E Communications Line Noise The communications line sends and receives high speed pulse signals and checks whether the data is correct by checking the sequence of the signals If the amount of noise on the communications line is too great the i
232. se of the encoder The axis travels in the reverse direction when the limit input signal of the origin search direction is input The outline of the operation is N the same as Type 0 ORG signal rs ee I i j N i Phase Z pulse l 1 N L L i i i Origin search high speed Pn802 Origin search proximity speed Pn803 i i I Origin search compensation speed Pn804 Negative direction Positive direction Start End Origin search proximity speed Pn803 a Origin search compensation speed Pn804 Positive direction Negative direction Start End Limit input Origin search proximity speed Pn803 Origin search compensation speed Pn804 Negative direction Positive direction 5 17 5 Parameter Settings 5 3 2 Origin Search Parameters Type 5 This origin search type returns to the origin using the origin input signal only The axis trav els in the reverse direction when the limit input signal of the origin search direction is input The outline of the operation is the same as Type 1 Origin input signal Origin search proximity speed Pn803 Origin search compensation speed Pn804 Negative direction Positive direction End Origin search proximity speed Pn803 i I Start i i Limit input l Negative direction Positive direction Start Origin search proximity speed Pn803 Limi
233. serse SYSMAC power line 009000000 R O00000 000 General control circuit line ena Shielding Power cable 300 mm max 1 2 1 Communications line Power line QO OOO 8808 QP E SYSMAC I O Line Ooo OO E 2 Power line Ground 100 Q max e Do not install communications lines and SYSMAC power lines on the control panels on which high voltage devices are mounted e Because noise currents flow through metallic equipment such as casings the commu nications lines should be placed as far away from metallic equipment as possible e Ground the shield wire on the DeviceNet special cable at one point e If the same ground for the power line is used for the DeviceNet special cable and com munications power supply there is a possibility that noise may be transmitted through the ground line to the communications line In order to avoid this be sure that the power line ground and the grounds for the DeviceNet special cables and the communications power supply are located as far from each other as possible 6 18 6 3 Precautions for Communications Line Design Noise Precautions for Peripheral Devices Implement the following noise precautions for peripheral devices e Install surge suppressors on devices that generate noise particularly devices that have an inductive component such as motors transformers solenoids and magnetic coils Surge suppressor Surge suppressor Installed next to device Installed
234. shes Servo Driver System Error Servo Driver is defective Red A EB Flashes ea Servo Driver Initial Access Error Initial processing failed Red A EC Flashes WDC Error of Servo Driver WDC error in the Servo Driver Red A ED Lit Red Command Execution Incomplete Command was interrupted Error A EE Flashes Option Parameter Error The parameters of the DeviceNet Unit contain Red abnormalities A F1 Flashes Missing Phase Detected One phase in the 3 phase main power supply is Red not connected 10 30 10 3 Alarm Warning Codes and Error Codes for Message Communications 10 3 2 Warning Codes The warning codes are shown below Warning MSLED NSLED Warning Name Description Code Flashes Overload This warning occurs before the overload R alarms A 71 or A 72 occur If the warning is ignored and operation continues an overload alarm may occur Regeneration Overload This warning occurs before the regenerative R Ci Ci Ci Ci Ci d Flashes Red Red d overload alarm A 32 occurs If the warning is ignored and operation continues a regenera tive overload alarm may occur Battery Warning This warning occurs before the absolute encoder battery error alarm occurs If the power supply is turned OFF the alarm may occur when the power supply is turned ON Parameter Setting Warning A value outside the setting range was set using DeviceNet communications e Incorret parameter No and data at the Parameter Write
235. sig nals displayed on the Servo Driver To use the Monitor Mode Read Command make the following settings and then change the Command Start Command from 0 to 1 e Command code e Monitor number The monitor number indicates the three characters following Un in OOO displayed on the Servo Driver For Un00C and Un00D only the lowest 16 bits are read Table 6 21 Commands for Monitor Mode Read Command je ro o o e a ON EE T 7 Sy Table 6 22 Responses for Monitor Mode Read Command i a a 2 Monitor data ar cc am 6 40 6 5 Remote I O Communications E Unit Reset Command Command Code 1110 E Hex When the Unit Reset Command is executed the parameters for the W series Servo Driver and the DeviceNet Unit are stored in flash ROM and then the DeviceNet Unit is restarted To use the Unit Reset Command make the command code settings and then change the Command Start Command from 0 to 1 When the DeviceNet Unit is resetting the Unit the Unit Ready Flag is set to 0 When the reset has been completed the flag is set to 1 Table 6 23 Commands for Unit Reset Command o o e o o o a 7 i Table 6 24 Responses for Unit Reset Command ia eens 6 41 6 DeviceNet Communications 6 6 1 No operation Command Code 0000 0 Hex 6 6 Details on Move Commands for Remote I O Communications This section describes how to use the move commands 6 6 1 No operation Command Code 0000 0 Hex Mo
236. sistance Overload The main circuit power was frequently turned Red ON and OFF 10 28 A 7A A 81 A 82 A 83 A 84 A 85 A 86 A B1 A B2 A B6 A BF A C1 A C6 A C7 A C8 A C9 A CA A CB A CC A DO 10 3 Alarm Warning Codes and Error Codes for Message Communications cont d Flashes Overheat The heat sink of Servo Driver is overheated Red Flashes Backup Error All the power supplies for the absolute encoder Red have failed and position data was cleared Flashes Checksum Error The checksum results of the absolute encoder Red memory are abnormal Flashes Battery Error Backup battery voltage for the absolute encoder Red has dropped LitRed Absolute Error Data in the encoder is abnormal Flashes Overspeed Error The Servomotor was rotating at 200 r min or Red more when the power was turned ON Flashes Encoder Overheating The internal temperature of encoder is too high Red Flashes Speed Command Input Reading The A D converter for speed command input is Red Error defective Flashes Torque Command Input Reading The A D converter for torque commad input is Red Error defective Flashes Gate Array Error Communications LSI error Red Flashes System Error A system error occurred in the Servo Driver Red Flashes Runaway Detected The Servomotor ran out of control Red Flashes Fully closed Encoder Phase A B Phase A or B of the fully closed encoder was Red Disconnection disconnected Flashes Fully close
237. sistors to both ends of the trunk line Communications Use special to both ends of the trunk line 24 VDC _power supply DeviceNet cables Power Supply Tap T runk Trun Trunk line Trunk line Trunk line _ f or T branch Tap pren M tine line AUENA RA d i DORNA x yY DX T T T T T branchi Franch Node Node E ql Tap Tap T branch T branch T branch Use special Tap Tap Drop line Drop line Tap DeviceNet cables T branch Tap i M Node Drop line Drop line Drop line Node Drop line q Node Node Node Node M Node Drop line M gt Node T T branch connection H M Multi drop connection Node Trunk and drop lines Use special DeviceNet cables 5 wire cable Fig 4 2 Network Connections E Configuration Elements The network is configured from the following elements Nodes A node is either a slave that connects to an external I O or the master that manages the external I O of the slaves There are no restrictions on the location of the master or slaves Any node in Fig 4 2 can be the master or a slave Trunk Line and Drop Lines A cable with a terminator on each end is a trunk line Any cable branching from the trunk line is a drop line The length of the trunk line and the maximum network length are not necessarily the same Use special DeviceNet cables for the trunk line and all drop lines Either thick cables or thin cables may be used Connection Methods There are two methods that ca
238. speed Positioning Parameters 5 7 5 2 7 Notch Output Parameters 5 9 5 2 8 Point Table Parameter 5 9 5 3 Parameter Details 5 10 5 3 1 Unit Parameters 5 10 5 3 2 Origin Search Parameters 5 13 5 3 3 Machine System and Peripheral Devices 5 22 5 3 4 Speed Acceleration and Deceleration 5 26 5 3 5 Positioning 5 39 5 3 6 Point Table 5 41 5 3 7 Multi speed Positioning 5 41 5 3 8 Notch Signal Output Positioning 5 42 6 DeviceNet Communications 6 1 Control Configuration 6 3 6 2 DeviceNet Switch Settings and Display 6 4 6 2 1 Rotary Switch Settings for Setting Node Address 6 4 6 2 2 Rotary Switch Settings for Setting Baud Rate 6 5 6 2 3 LED Indicators 6 5 6 3 Precautions for Communications Line Design 6 6 6 3 1 Providing the Communications Power Supply 6 6 6 3 2 Communications Line Noise Precautions 6 16 6 4 Overview of Remote I O and Explicit Messa
239. stance after the interrupt input signal has reversed status for an interrupt feeding command The setting unit is steps Interrupt Feeding Function Selection Object 0x64 Attribute 96 Pn856 Use the Interrupt Feeding Function Selection to select the polarity of the interrupt input sig nal Interrupt Input Signal Polarity 0 Enabled on low 1 Enabled on high Station Object 0x64 Attribute 100 Pn85A Use the Station to set how many stations one revolution of the Servomotor will be evenly split into when Station Commands are used In Station Commands equally divided stations are numbered in order from 0 and position ing is performed by specifying a station number Station 0 Station n Station 1 5 40 5 3 Parameter Details 5 3 6 Point Table This section describes the parameter details about point tables mE Parameter Details Position_1 to 50 Object 0x65 Attributes 50 to 99 Pn900 to Pn931 Set the Position_1 to 50 to the movement amounts for point table operation Use the same number for the Position_1 to 50 and Speed_1 to 50 The setting unit is steps Speed_1 to 50 Object 0x65 Attributes 150 to 199 Pn940 to Pn971 Set the Speed_1 to 50 to the speeds for point table operation Use the same number for the Position_1 to 50 and Speed_1 to 50 The setting unit is x 1 000 steps min 5 3 7 Multi speed Positioning By using multi speed positioning the speed can be changed
240. stor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm At powre ON A B The setting of the Absolute Encoder Multi Change parameter Pn205 turn Limit Setting Pn205 parameter in the Servo Driver is incorrect The Absolute Encoder Multi turn Limit has Check that the Absolute Encoder Multi turn not been set in the encoder Limit Setting Pn205 parameter in the Servo Driver is correct and then execute the absolute encoder multi turn limit setting change Fn013 when a Absolute Encoder Multi turn Limit Disagreement A CC occurs 9 33 9 Troubleshooting E A DO A DO Deviation Counter Overflow Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF OFF Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm During Servomotor At power ON E operation Deviation counter overflow during high speed rotation Operation is normal but deviation counter overflows when long command is input Servomotor wiring is incorrect Check wiring at Servomotor The Servo Driver was not correctly Increase Speed Loop Gain Pn100 and adjusted Position Loop Gain Pn102 corrected replace with a larger capacity Servomotor Position command is too high e Reduce the acceleration deceleration rate e Change electronic gear ratio Circuit board 1PWB is defective Replace the Servo Driver Mo
241. t Message communications are basically executed in one byte units eight bits Communications frames for Explicit Messages are as follows Table 6 25 Explicit Message Communications Frames Header Node Service Class Instance Attribute Data Footer address code Table 6 26 Explicit Message Communications Frames Header Indicates the beginning of an Explicit Message and whether the frame is an Explicit Message request or response The header is automatically set by DeviceNet so the user need not pay attention Node address Request Specifies the node address of the slave or master being requested Response Specifies the node address of the master or slave sending the response Service code Request Specifies the code for the service being requested read write etc Response The highest bit bit 15 of the requested service code is changed to 1 and returned Function classification major item Indicates the classification for each function speci Item classification minor item fied by DeviceNet When a function is specified it is specified by these three codes Attribute Attribute The set value for each function is allocated Data Request The data to be written Response The requested data to be read or an error message is attached Indicates the end of the Explicit Message and the section of data for which a CRC check is to be exe cuted The footer is automatically set by DeviceNet so the user need not pay attention
242. t input Negative direction Positive direction Start 5 18 5 3 Parameter Details Type 6 This origin search type returns to the origin using the origin proximity input signal ORG signal and the origin input signal ZERO signal The axis travels in the reverse direction when the limit input signal of the origin search direction is input The outline of the opera tion is the same as the Type 2 N N ORG signal et 1 Origin input signal i i I N j j I I j j l l I i i Origin search high speed Pn802 Origin search proximity speed Pn803 1 1 Origin search compensation speed Pn804 Negative direction Positive direction Start End Origin search proximity speed Pn803 Origin search compensation speed Pn804 Ae Positive direction End Negative direction Start Limit input Origin search proximity speed Pn803 Origin search compensation Tn speed Pn804 Negative direction Positive direction 5 19 5 Parameter Settings 5 3 2 Origin Search Parameters Note When the setting for the Origin Compensation Value Pn805 is small when the distance is shorter than the distance required for the deceleration from proximity speed the axis will travel past the origin and then return to it from the other direction Origin search proximity speed Origin compensation value Amount of overtravel Returning the
243. t to 0 and then 1 6 22 6 5 Remote I O Communications Servo ON Command SVON Set the SVON bit to 1 to turn ON the servo of the W series Servo Driver When the rising edge of the bit is detected the servo of the W series Servo Driver is turned ON and remains ON while the command bit is set to 1 When the command bit setting changes to 0 the servo is turned OFF If an alarm automatically turns OFF the servo of the W series Servo Driver the command bit must be set to 0 and then set to 1 again The servo cannot be turned ON in the following circumstances When an alarm has been generated e When the main circuit power supply is OFF During an emergency stop e When the deviation at the Servo Driver exceeds the positioning completed range Command Start Command C_STRT Set the C_STRT bit to 1 to start execution of the command specified by the command code Always set the command code and command data before or at the same time as setting the C_STRT bit to 1 Refer to 6 5 3 Move Commands for Remote I O Communications and 6 5 4 Set Read Com mands for Remote I O Communications for details on using command codes 6 23 6 DeviceNet Communications 6 5 2 General Command Bits and Status E General Status Response Details on the general status area are shown below Table 6 3 General Status Bits o MOD_R READY PWRON STOP ALRM WARN svona esk Mode MOD_R The MOD R bit specifies the data block of
244. tances of the Point Table Object 0x65 are shown below E Class e Attributes None supported e Services None supported E Instances Attributes Instance 1 Explicit Message No Access Name Data Description Setting Range Default Type Setting 50 Get Set Position_1 DINT Target position 1 99 999 999 to 99 999 999 Unit Steps 51 Get Set Position 2 DINT Target position 2 99 999 999 to 99 999 999 Unit Steps 52 Get Set Position 3 DINT Target position 3 99 999 999 to 99 999 999 Unit Steps 53 Get Set Position 4 DINT Target position 4 99 999 999 to 99 999 999 Unit Steps 54 Get Set Position 5 DINT Target position 5 99 999 999 to 99 999 999 Unit Steps 55 Get Set Position 6 DINT Target position 6 99 999 999 to 99 999 999 Unit Steps 56 Get Set Position 7 DINT Target position 7 99 999 999 to 99 999 999 Unit Steps 57 Get Set Position 8 DINT Target position 8 99 999 999 to 99 999 999 Unit Steps 58 Get Set Position 9 DINT Target position 9 99 999 999 to 99 999 999 Unit Steps 59 Get Set Position_10 DINT Target position 10 99 999 999 to 99 999 999 Unit Steps Get Set Position_11 DINT Target position 11 99 999 999 to 99 999 999 Unit Steps 61 Get Set Position_12 DINT Target position 12 99 999 999 to 99 999 999 Unit Steps 62 Get Set Position_13 DINT Target position 13 99 999 999 to 99 999 999 Unit Steps 63 Get Set Position_14 DINT Targ
245. te ground Never use the same ground as for inverters or other drive system devices 6 16 6 3 Precautions for Communications Line Design E Communications Power Supply Noise Precautions The communications power supply is the most important power supply in a DeviceNet net work The following measures will prevent noise in the communications power supply e Use the recommended power supply OMRON S82H S82J for communications e Use an independent power supply for communications e Make sure to install a noise filter on the primary AC input side of the communications power supply e Always use a control system power supply for the primary AC side of the communica tions power supply that is not shared with power devices such as inverters or motors If noise interference remains in cables after taking noise countermeasures the following countermeasures may be effective DeviceNet Special Cable Shielding Suspend the DeviceNet special cable shield wire without grounding it This will filter the noise that flows from the ground to the DeviceNet special cable and will filter the noise cur rent that flows in the shield wire Communications Power Supply Suspend the communications power supply without grounding it This will also filter the noise that flows from the communications power supply ground to the DeviceNet special cable or the noise current that flows in the DeviceNet special cable The switching power supply is usually
246. the DeviceNet network the permissible maximum voltage drop within the sys tem can be specified at 5 V for a power supply line V or V by calculating the specifica tions for the voltage of the communications power supply 24 V DC and the input voltage of the communications power supply of each device 11 to 25 V DC Of the permissible maximum voltage drop within the system 5 V the permissible voltage drop in the trunk lines and drop lines are 4 65 V and 0 35 V respectively The following explains the formula in case the communications power supply and the internal circuit power supply are provided individually For details about voltage drop and the formula when the communications power supply and the internal circuit power supply are the same refer to the DeviceNet Operation Manual W267 E1 D Formulas Try to calculate the best location for each node using the condition formula below If the best location for each node can be determined using the formula the specifications for the power supply to each node can also be met Do not exceed the maximum current capacity of the cable Thick cable 8 A and thin cable 3 A x Lnx Re Ntx 0 05 x In lt 4 65 V Ln The distance between the power supply and the nodes not including the lengths of the drop lines Rc Maximum cable resistance per cable Thick cable 0 015 W m thin cable 0 069 W m Nt The number of T branch Taps between each node and the power supply In The co
247. the Origin Search High Speed to set the initial speed for 3 step deceleration origin search The setting unit is x1 000 steps min Origin Search Proximity Speed Object 0x64 Attribute 13 Pn803 5 Use the Origin Search Proximity Speed to set the proximity speed for origin search The set ting unit is x1 000 steps min Origin Search Compensation Speed Object 0x64 Attribute 14 Pn804 Use the Origin Search Compensation Speed to set the compensation speed for origin search The setting unit is x1 000 steps min Origin Compensation Value Object 0x64 Attribute 15 Pn805 Use the Origin Compensation Value to set the distance from the position where the encoder phase Z and origin input signal were detected to the machine origin The setting unit is steps 5 21 5 Parameter Settings 5 3 3 Machine System and Peripheral Devices Zero Position Output Width Object 0x64 Attribute 16 Pn806 Use the Zero Position Output Width to set the area that will be regarded as the origin The setting unit is steps In the following diagram if the conditions outlined below are met the Origin Flag in the response data will be set to 1 e X Origin point Present position lt Pn806 Present position Origin Position Absolute Position Setting Object 0x64 Attribute 17 Pn809 The system automatically writes to the Absolute Position Setting the value of the offset from the origin on t
248. therwise re load the correct parameter Circuit board 1P WB is defective Replace the Servo Driver C The DeviceNet Unit is defective Replace the DeviceNet Unit 9 7 9 Troubleshooting E A 05 A 05 Servomotor Mismatch Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state Status and Remedy for Alarm At power ON A B A The range of Servomotor capacities that can Replace the Servomotor so that a suitable be combined has been exceeded combination is achieved Encoder parameters have not been written Replace the Servomotor properly 9 8 9 3 Troubleshooting with Alarm Displays E A 10 A 10 Overcurrent Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm During Servomotor gt D E When SERVO ON Ep operation H i RUN signal turned ON At power ON Cc A Wiring shorted between Servo Driver and Check and correct wiring Servomotor B Servomotor phase U V or W shorted Replace the Servomotor C e Circuit board 1PWB is defective Replace the Servo Driver e Power transistor is defective Current feedback circuit power transistor Replace the Servo Driver DB relay or circuit board is defective The ambient temperature of the Servo Alter co
249. these restrictions to ensure reliabil ity in communications 4 19 4 Connectors 4 5 3 DeviceNet Network Configuration Restrictions Maximum Lengths of DeviceNet Communications Lines Baud Rate Maximum Network Length m Maximum Drop Maximum Total Drop kbit s 4 z2 Line Length m Line Length m Thick Cable Thin Cable 1 Thick cable 5 wire DCA2 5C10 100 m 2 Thin cable 5 wire DCA1 5C10 100 m Maximum Network Length The maximum network length is longest of the following Distance between the two most distant nodes e Distance between the Terminating Resistors There are two types of cables for special DeviceNet cables Thick cables and thin cables The maximum length of a network depends on the type of cable that is used as shown in the above table Use the cables within the restrictions given for them The signal voltage atten uation is affected by the cable thickness and thus the maximum length is different If both types of cable are combined in the same network the following restrictions apply Baud Rate kbit s Maximum Network Length Length of the thick cable Length of thin cable lt 100 m Length of the thick cable 2 5 x Length of thin cable lt 250 m Length of the thick cable 5 0 x Length of thin cable lt 500 m Drop Line Lengths A drop line length is measured from the point in the trunk line where the original branch was made to the end of the branch The max
250. this Manual This manual provides the following information for the OMNUC W series R88M WO R88D WTO AC Servomotors Servo Drivers with an R88A NCW152 DRT DeviceNet Option Unit hereinafter called the DeviceNet Unit mounted e Procedures for installing and wiring the DeviceNet Unit e Specifications and methods for DeviceNet communications e Procedures for setting user parameters Information on the Setup Tool e Troubleshooting procedures Related Manuals E Refer to the following manuals as required E Read this manual carefully to ensure the proper use of W series Servo Driver Also keep this manual in a safe place so that it can be referred to whenever necessary C Weman Waman Contents OMNUC W series 1531 E1 O Provides the detailed information on models AC Servomotors Servo Drivers and functions of OMNUC W Series Servo User s Manual Drivers DeviceNet W267 E1 O Provides the overview of DeviceNet and User s Manual installation Registered Trademark DeviceNet is a registered trademark of the ODVA Open DeviceNet Vendor Association Inc Contents 1 Features and System Configuration 1 1 Features 1 2 1 2 System Configuration 1 4 1 3 Basic Functions and Function Outlines 1 5 1 4 Specifications 1 6 1 4 1 General Specifications 1 6 1 4 2 Perfor
251. tion Selection Note 1 Steps means command unit For command unit details refer to 5 3 7 Unit Parameters 2 If you set the command unit to 0 001 mm 1 000 steps min becomes mm min 5 2 6 Multi speed Positioning Parameters A table of multi speed positioning parameters is shown below Timing Value ores AT Pane Speed Soneh Pom oo omete OC 112 Pn862 Multi speed Position 1 to 240 000 x 1 000 Immediate 24 000 C S E EP on PS 113 Pn863 Position 1 for 0 to 99 999 999 Steps Immediate C A S imaa ERP ss a ed E a ee eee Multi speed ee eee ere ied Multi speed 116 Pn866 Position 4 for 0 to 99 999 999 Steps Immediate C Multi speed 117 Pn867 Position 5 for 0 to 99 999 999 Steps Immediate C Multi speed 118 Pn868 Position 6 for 0 to 99 999 999 Steps Immediate C E a cc ea ae alle 119 Pn869 Position 7 for 0 to 99 999 999 Steps Immediate C a ce T ac a 120 Pn86A Position 8 for 0 to 99 999 999 Steps Immediate C EE E fare A 121 Pn86B Position 9 for 0 to 99 999 999 Steps Immediate C ee eee pee ee O Ga 5 7 5 Parameter Settings 5 2 6 Multi speed Positioning Parameters cont d Object Attribute No Name Range Units Effective Default Type Timing Value P 0x64 122 n86C Position 10 for 0 to 99 999 999 Steps Immediate i ae a ie 123 Pn86D Position 11 for 0 to 99 999 999 Steps eed agers eee 124 Pn86E Position 12 for 0 to 99 999 999 Steps e
252. tion with Constant Acceleration Deceleration Time 5 30 5 3 Parameter Details Exponential Acceleration Deceleration with Bias with Constant Acceleration Deceleration Time With exponential acceleration deceleration with bias the rate of acceleration deceleration is the same as described in but a bias is applied The Time Constant for Exponential Curve set in parameter Pn840 is set to the time required to reach the following speed Speed Bias Speed set in Pn841 Speed set in Pn821 Bias Speed set in Pn841 x 0 632 If this acceleration deceleration pattern is used the acceleration deceleration time will remain constant even if the Speed set in Pn821 is changed If the Bias Speed set in Pn841 is set to 0 then the acceleration deceleration pattern will be the same as the exponential accel eration deceleration pattern described in Table 5 12 Related Parameters Pn826 Acceleration Deceleration Type 0 Pn829 Filter Selection 2 Pn821 Speed X1 000 steps min as Pn840 Time Constant for ae Curve ms 63 2 of difference between Pn821 and Pn841 63 2 of difference between Pn821 and Pn841 Pn841 Fig 5 5 Exponential Acceleration Deceleration with Bias with Constant Acceleration Deceleration Time 5 31 5 Parameter Settings 5 3 4 Speed Acceleration and Deceleration Single step Linear Acceleration Deceleration with Constant Acceleration Deceleration Time With single step linear ac
253. tions 1 to 16 for Multi speed Object 0x64 Attributes 113 to 128 Pn863 to Pn872 Use the Positions for Multi speed to set the position at which the speed is to change at a rel ative position to the start position The speed switching position xx and switching speed xx are used together For example the axis will move from speed switching position 1 to speed switching position 2 at speed 1 The setting unit is steps Speeds 1 to 16 for Multi speed Object 0x64 Attributes 129 to 144 Pn873 to Pn882 Use the Speeds for Multi speed to set the speed between specified speed switching posi tions For example the axis will move at speed 2 between speed switching position 2 and speed switching position 3 The setting unit is x 1 000 steps min 5 3 8 Notch Signal Output Positioning During the positioning notch signals NOTCH 1 and NOTCH 2 are output when specified points are passed Two notch signals NOTCH 1 and NOTCH 2 can be output Negative Direction Notch 1 Pn892 Positive Direction Notch 1 Pn893 Speed Time NOTCH1 1 signal 5 42 5 3 Parameter Details E Parameter Details This section describes the parameter details about notch signal output positioning Notch Signal Position Designation Object 0x64 Attribute 160 Pn890 Use the Notch Signal Position Designation to set whether absolute or relative positions are set for the notch signal output position parameters Table 5 21
254. tline drawings of the DeviceNet Unit Setup Tool Cable and I O signal connectors E DeviceNet Unit FG terminal M4 E Nameplate CES TA Approx mass 0 2 kg Unit mm m Setup Tool Cable R88A CCW002P4 A Setup Tool Cable and the Setup Tool Software SBCE 001 are required to set and monitor Servo Driver and DeviceNet Unit parameters from a personal computer Available Cable Model Number Length L Sheath External Approx Mass Diameter 2 2 2 1 Outline Drawings Connection Configuration and Dimensions 45 1 2000 3 lt DeviceNet Unit end Personal LJ j R88A NCW152 DRT computer end oO Unit mm Wiring Personal computer DeviceNet Unit Signal NOE ac es oe Ese wpe cdiamisteh dala sein dh No Signal ero a game ane D 3 9 2 RD k S cTS 8 SrayBlack 4 3 GND enD 5 F7 4 GND _ Socket Model FG Shell aie en eg cai i Case FG DF11 4DS 2C Hirose Electric Co Ltd Connector Model Cable AWG28 x 5C UL2464 Contact Model 17JE 13090 02 D8A DDK Ltd DF11 2428SCF Hirose Electric Co Ltd E I O Connector R88A CNU01R This connector connects to the I O signals CN4 of the DeviceNet Unit Dimensions 39 Connector Plug Model 10120 3000VE 20P Sumitomo 3M Ltd Con
255. topping to go into coast status Servomotor stopped with free run The Servomotor is ean setting turned OFF and stops due to equipment friction Note If the Servomotor is stopped or rotating at extremely low speed when the item above is set to 0 dynamic brake status after stopping with the dynamic brake then braking power is not generated the same as in free fun 1 Dynamic brake Servo Driver Servomotor The dynamic brake is a common way of suddenly stopping a Servomotor Built into the Servo Driver the dynamic brake suddenly stops a Servomotor by electrically shorting its electrical circuit Q 8 Servo Driver Settings 8 2 3 Fully closed Control 8 2 3 Fully closed Control A fully closed loop can be formed using the parameter settings on the W series Servo Driver In previous Servo Drivers a semi closed method was used to control the motor but with this function even more precise control is achieved because control involves the detec tion of the position and speed of actual machine operation Fully closed control Torque gt Mechanism in gt Speed and Servomotor cluding backlash position at the Kee and friction Power machine end Load torque ee ll Detection Speed ll current position Controlled machine Parameters must be set when using fully closed control Refer to Parameter Settings for the Fully closed System on page 8 11 Fully closed System Specifications This section descr
256. tor load was excessive Reduce load torque or inertia If problem not 9 34 9 3 Troubleshooting with Alarm Displays E A E0O A E0 No DeviceNet Unit Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm At power ON A The DeviceNet Unit is defective Replace the DeviceNet Unit m A E1 A E1 DeviceNet Unit Timeout Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm At power ON A The DeviceNet Unit is defective Replace the DeviceNet Unit 9 35 9 Troubleshooting E A E2 A E2 WDC Error of DeviceNet Unit Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm At power ON A A The DeviceNet Unit is defective Replace the DeviceNet Unit E A E6 A E6 DeviceNet Duplicate MAC ID Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm Duplicate MAC ID A Duplicate node address Check node addresses of all Units on the DeviceNet ne
257. tting unit is steps Step Distance 3 Object 0x64 Attribute 76 Pn846 Use the Step Distance 3 to set the amount of movement when executing step operation This value is used when the 2 has been specified as the step movement amount in a command data The setting unit is steps Step Distance 4 Object 0x64 Attribute 77 Pn847 Use the Step Distance 4 to set the amount of movement when executing step operation This value is used when the 3 has been specified as the step movement amount in a command data The setting unit is steps 5 38 5 3 Parameter Details 5 3 5 Positioning This section describes the parameter details about positioning E Parameter Details Positioning Completion Range Object 0x64 Attribute 90 Pn850 Use the Positioning Completion Range to set the positioning completed range i e to deter mine if the axis is In position The setting unit is steps When the Positioning Completion Range is set to 0 an In position check will not be performed Present value that is changing End Point Coordinate axis Fig 5 9 Positioning Completion Range When the following condition is satisfied in the above figure the axis is viewed as being at the In position and the In position Flag in the response data will be set to 1 e X End point Present value lt Pn850 Positioning Monitor Time Object 0x64 Attribute 91 Pn851 Use the Positioning Monitor Time to set the time for per
258. two step linear asymmetric exponential or S curve functions tion Method Acceleration Decelera 1 to 10 000 ms time to maximum speed tion Times Fully closed Control 1 Supported Software Limits Supported Origin Searches Search direction designation Applicable sensor designation Limit input reversal designation Backlash Compensation 0 to 32 767 steps I O Signals Forward reverse rotation drive prohibit origin input signal 2 Phase A phase B and phase Z inputs emergency stop input notch output Built in Latch Function for The following can be latched Position data for phase Z origin input signal and Functions Position Data interrupt input signal Protective Functions Protection is provided for the following User parameter corruption user parameter setting errors communications errors etc LED Indicators MS Module status NS Network status Speed Unit X 1 000 steps min 1 A fully closed encoder is required on the load to perform fully closed control 2 Input signals for the Servo Driver to which the DeviceNet Unit is mounted 1 4 3 I O Specifications The DeviceNet Unit provides the following I O specifications Rated I O Voltage 24VDC I1 V 30 V DC max ON Voltage Min 24 VIN 11 P OFF Voltage Max 24 VIN I f 1 7 1 Features and System Configuration 1 4 4 DeviceNet Communications Specifications 1 4 4 DeviceNet Communications Specifications The DeviceNet Unit provides the following Dev
259. twork 9 36 9 3 Troubleshooting with Alarm Displays E A E7 A E7 DeviceNet Unit Detection Error when the W series Servo Driver power is ON A E7 occurs when the W series Servo Driver is used without the DeviceNet Unit after it has been used with the DeviceNet Unit Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm DeviceNet Unit detection error A The DeviceNet Unit is not mounted Check that DeviceNet Unit mounted cor properly rectly B The DeviceNet Unit is not mounted Execute Fn014 from Parameter Unit E A E8 A E8 Rotary Switch Setting Error on DeviceNet Unit Front Panel Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF OFF Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm Rotary switch setting error when power is turned ON Baud rate setting is incorrect Be sure the setting is between 0 and 2 B Node address setting is incorrect Be sure the setting is between 0 and 63 9 37 9 Troubleshooting E A E9 A E9 DeviceNet Busoff Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm
260. ty equipment The application of the product to systems machines or equipment that may have a serious influence on human life and property if they are used improperly Items to Check After Unpacking Check the following items after removing the product from the package e Has the correct product been delivered i e the correct model number and specifications e Has the product been damaged in shipping e Are any screws or bolts loose The following are included with the DeviceNet Unit Safety Precautions Communications Connector From Phoenix Contact MSTB 2 5 5 STF 5 08AUM Ground screws pan head M3 x 10 M4 x 8 and M4 x 10 The ground screws that are used depend on the model of the Servo Driver to which the DeviceNet Unit is mounted OMRON 4 USER S MANUAL OMNUC W xs Model R88A NCW152 DRT DeviceNet Option Unit Notice OMRON products are manufactured for use according to proper procedures by a qualified operator and only for the purposes described in this manual The following conventions are used to indicate and classify precautions in this manual Always heed the information provided with them Failure to heed precautions can result in injury to people or damage to property Indicates an imminently hazardous situation which if not avoided will result in death or seri DANGER ous injury N WARNING HA potentially hazardous situation which if not avoided could resu
261. ve commands performed using the No operation Command are described below No operation is a method in which the command is executed using only the command bit and not the command code E JOG Command Command Bit JOG 1 This section describes the JOG Command function related parameters operation and com mand method Function While the JOG Command is set to 1 the axis travels in the direction specified as the move ment direction at the speed specified in the parameters Parameter settings are used for acceleration deceleration speeds and acceleration deceleration types The speed during movement can be changed by changing the override value Related Parameters Object Attribute No Name Setting Unit Effective Default Type Range Timing Setting 60 Pn831 JOG Speed 1 to 240 000 x 1000 Immediate 24 000 steps min Pn832 JOG Acceleration Time 1 to 10 000 s s JOG Switch Speed 1 to 240 000 x 1000 Immediate 12 000 C steps min JOG Second Accelera 1 to 10 000 s Immediate 200 C tion Deceleration Time s s 59 65 Pn836 JOG Acceleration Decel 0 1 2 3 Immediate eration Type 70 Pn840 Time Constant for Expo 4 to 1 000 m Immediate 25 C nential Curve 71 Pn841 Bias Speed 1 to 240 000 x 1000 Immediate C steps min 12 Pn842 Time Constant of 4 to 10 000 m Immediate 25 C Moving Average 73 Pn843 Maximum Speed 1 to 240 000 x 1000 Immediate 24 000 steps min
262. ve immediately Changed parameters are effective at one of the following two times Table 5 3 Effective Timing for Parameters Control or Processing Power up The values of all parameters are made effective at the following times e When power is turned ON e When the Unit is reset from the Setup Tool or via commands Immediate The values of changed parameters are made effective immediately However parameters will be stored in the Flash ROM at the following times e When the Unit is reset from the Setup Tool or via commands e When the Reset Service to the Identity Object is executed via DeviceNet 5 Parameter Settings 5 2 1 Unit Parameters 5 2 Parameter Tables The following tables list the parameters If using the Setup Tool or reading writing using a Remote I O communications fuction edit parameters using parameter No If editing via DeviceNet Explicit Messages edit using the object number and attribute number Refer to 6 10 Changing Parameters or the host controller manual for details 5 2 1 Unit Parameters The unit parameter table is shown below Object Attribute No Name Range Units Effective Default Type Timing Value P 0x64 30 n810 Electronic Gear Ratio G1 1 to 10 000 000 Power up l Numerator 31 Pn811 Electronic Gear Ratio G2 1 to 10 000 000 Power up l Denominator 5 2 2 Origin Search Parameters The table of origin search parameters are shown below Object Attribute No Name Ra
263. w Address 100 Newest data 6 74 6 9 Tracing Data I O Trace 1 and 2 T O trace data is stored as shown below The remainder of the 1 000 points of data address 63 bits 8 to 15 is always stored as 0 Address we 15 14 13 2 1 0 New data Old data Object 0x68 Oldest data Instance 3 or 4 Address 1 Time flow Address 63 Newest data m Explicit Messages This section explains the Explicit Message blocks and transfer sequences used for trace data reading Trace data reading uses both byte data reading and word data reading as shown below Reading Byte Data Command Block Class ID Address Low Number of bytes to read Service coder Instance ID 1C fixed Address High Destination node address Response Block Service code 1 9C fixed Word data Low Word data Low Source node A address Word data High Word data High Number of bytes received Read data 200 bytes max Note 1 The maximum number of bytes is 200 2 Ifthe settings for the beginning address and the number of bytes exceed the data capacity data traces 1 and 2 2 000 bytes I O traces 1 and 2 126 bytes the number of bytes of data to be read will be returned without generating an error Example If the address is 1000 and the number of bytes is 10 only two bytes of data from address 1000 will be returned 6 75 6 DeviceNet Communications 6 9 2 Readi
264. y 6 24 6 5 Remote I O Communications Servo ON SVON_R The SVON R bit will be 1 when the Servo ON Command is set to 1 and the servo of the W series Servo Driver is ON The SVON R bit will be 0 in the following circumstances e When the Servo ON Command has been set to 0 e When the Emergency Stop Command has been set to 0 e When the Unit Reset Command has been set to 1 e When an alarm has occurred Command Start Response C_STRT_R The C_STRT_R bit will be 1 when the Command Start Command has been set to 1 The host device can recognize that the DeviceNet Unit has received a command from the host device by checking that this bit is 1 6 25 6 DeviceNet Communications 6 5 3 Move Commands for Remote I O Communications 6 5 3 Move Commands for Remote I O Communications This section explains move commands for Remote I O communications E Commands Details on commands for move commands are shown below Table 6 4 Commands for Move Commands o f o o r soe o o ron e ero 1 Command data ga ee Eei Command Codes Command codes are used to specify positioning and other commands To start execution of a command code set the command code and command data first or at the same time and then change the Command Start Command from 0 to 1 Table 6 5 Command Codes Byte 1 0000 eg 0010 2 Hex Interrupt feeding 0011 3 Hex Positioning with notch signal outputs 0100 4 Hex Multi speed positioning

OMNUC W series DeviceNet Option Unit

Contents

Download Pdf Manuals

Related Search

Related Contents