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Sigma-II Series SGDH Indexer Application Module USER'S MANUAL

1. Zone Table oi ZONEN ZONEP a ee E E opoe e ee a P A e S E e e or000 a 10 o S EEE co Le ae La az O a O a ea ee ae ee Pe C a pa aes e Ca ae pee a a 5 49 5 Parameter Settings and Functions 5 6 9 Program Table Examples E Using the INFINITE Parameter rawsver pos spo Rost RsPo Pour event oor NeXT mnene o toon o ao en o 000 e a a T E E E A E A E E nnn E woe seo E PGMSTEP 0 PGMSTEP 2 PGMSTEP 0 PGMSTEP 2 PGMSTEP i i PGMSTEP3 i _PGMSTEP 4 i PGMSTEP 3 2s Speed ISTART STOP _ SELO ISEL1 INPOSITION i m Using Registration See 5 7 Registration for details on the Registration function PGMSTEP 0 i PGMSTEP 1 i PGMSTEP 0 Speed START STOP _ RGRT H i H INPOSITION j 5 50 5 7 Registration 5 7 Registration Positioning is performed for the specified distance and specified speed from the position where the RGRT signal is latched Speed SSS RS SSE Registration Registration speed distance IRGRT M 5 7 1 Registration Timing Specifications The following figure shows the latch timing specifications 30 us max 20 us min when Pn80F 0 Eza 200 us min when Pn80F 1
2. St CH ISELO JOGN A Y E4 be Se C He ISEL1 JOGO A f ai Q il e ISEL2 JOG1 gt A ii E4 a l k d ISEL3 JOG2 gt 15 A f gt by gt gt k d ISEL4 IJOG3 A i z k amp NS600 CN7 E Digital Operator or Support Software CN4 lt INPOSITION Era vw 2 INPOSITION anne vw POUTO AN POUT1 vw as R AN lt POUT1 lt POUT2 vw oe lt POUT2 Hs vy SR ORE i lt POUT3 Bu POUT3 POUT4 lt j vw lt 30 lt POUT4 Photocoupler outputs Max voltage 30 VDC Max current 50 mA DC CN6 Serial command communications gt Note When two signal names are listed the first set of signals START STOP PGMRES SELO SEL1 SEL2 SEL3 and SEL4 is valid when Mode 0 is set The second set of signals HOME JOGP JOGN JOGO JOG1 JOG2 and JOG3 is valid when Mode 1 is set Fig 3 2 Example Connections to I O Signal Connector CN4 3 3 3 Connector Wiring 3 1 2 Terminal Layout on I O Signal Connectors CN1 and CN4 3 1 2 Terminal Layout on I O Signal Connectors CN1 and CN4 The following diagrams show the layout and specifications of CN1 and
3. Forward rotation Reverse rotation Ei lt lt 90 4 90 Phase A Phase A Phase B Phase B Phase C Phase C gt t gt t m Pulse Divider Setting Set the pulse dividing ratio in the following parameter PG Divider Setting Factory Speed Torque Range Setting Control Posi 16 to 16 384 16 384 tion Control The number of output pulses per revolution is set at this parameter The setting range varies with the encoder used 5 24 5 3 Sequence I O Signals Setting Example Preset value 16 Paon nnnm U PBO UU j One revolution Servomotor Model Resolution Number of Encoder Setting Range and Encoder Bits Pulses Per Revolution Specifications P R 6 16384 P R 16 to 16384 7 There are two phases the PAO and PBO phases and both phases are output at the dividing ratio so a resolution of the dividing ratio x 4 can be achieved if all of the edges of the PAO and PBO signals are counted For example 64 rising and falling edges can be counted if the dividing ratio is set to 16 pulses revolution 1 Turn OFF power once and turn ON again after changing the parameter 2 A 13 bit encoder will run at 2048 P R even if the setting at Pn201 is set higher than 2049 5 25 5 Parameter Sett
4. 5 16 interlock output signal 5 16 Cc cables V O cables 1 4 Index 1 serial communications cables 1 4 clearing hold 6 12 6 15 6 17 6 18 CNI 1 4 connections examples 3 2 examples of I O signal connections to CN1 and CN4 3 2 input signal connections 5 12 output signal connections 5 14 specifications 3 5 terminal layout 3 4 CNI0 1 6 CN2 3 2 CN4 1 4 connection examples 3 2 examples of I O signal connections to CN1 and CN4 3 2 input signal connections 5 12 output signal connections 5 14 specifications 3 5 terminal layout 3 5 CN6 1 4 3 10 serial command communications connector CN6 3 10 specifications 6 2 CN7 1 4 Digital Opera
5. 5 34 5 1 5 Parameter Settings and Functions 5 6 Program Table 5 36 5 6 1 Mode Switch Signal MODE 0 1 5 36 5 6 2 Input Signals for Program Table Operation 5 37 5 6 3 Program Table Step Selection 5 38 5 6 4 Program Table Settings 5 39 5 6 5 Examples of Event Conditions 5 42 5 6 6 Program Table Operation 5 43 5 6 7 Status Changes in Program Table Operation 5 44 5 6 8 Input Signal Timing Specifications for Program Table Operation 5 45 5 6 9 Program Table Examples 5 46 5 7 Registration 5 51 5 7 1 Registration Timing Specifications 5 51 5 7 2 Registration Input Setting 5 51 5 7 3 Registration Operation 5 52 5 8 ZONE Table Settings 5 54 5 9 Homing Jog Speed Table Mode 5 56 5 9 1 Mode Switch Signal MODE 0 1 5 56 5 9 2 Homing Jog Speed Table Input Signals 5 57 5 9 3 Parameters Related to Homing 5 57 5 10 Homing Operation 5 58 5 11 Jog Speed Table Operation
6. 5 39 starting and stopping 5 43 status changes in program table operation 5 44 stopping 5 44 programmable output signals 5 22 5 40 6 23 protocol 6 3 PSO 3 2 R RDST 5 39 5 52 reference units 5 26 setting 5 26 region 5 54 registration 5 50 5 51 jog forward reverse with registration 6 17 positioning start with registration 6 15 6 16 registration distance 5 39 5 52 6 14 registration input 5 51 registration latch signal 5 51 registration operation 5 52 registration speed 5 29 6 14 registration timing specifications 5 51 related manuals v reset 6 9 response 6 4 6 5 6 6 6 8 6 9 command answer format 6 5 details
7. 9 9 9 2 3 Error Display Table 9 13 9 2 4 Warning Display Table 9 18 9 2 5 Normal Display Table 9 19 9 3 STS Status Indicators 9 20 9 1 9 Troubleshooting 9 1 1 Alarm Display Table 9 1 Servodrive Troubleshooting This section explains how to troubleshoot and correct servodrive problems 9 1 1 Alarm Display Table The following table shows the alarm displays and meaning of the alarms Table 9 1 Alarm Displays and Outputs Alarm Alarm Name Meaning ALM Output Alarm Code Outputs Displa ro ALO1 ALO2 ALO3 A 02 Parameter Breakdown 2 EEPROM data of SERVOPACK is abnor OFF OFF OFF mal A 03 Main Circuit Encoder Error Detection data for power circuit is abnormal A 04 Parameter Setting Error The parameter setting is outside the allow able setting range Combination Error SERVOPACK and servomotor capacities do not match each other Overcurrent or Heat Sink An overcurrent flowed through the IGBT OFF ON FF Overheated 2 Heat sink of the SERVOPACK was over heated Regeneration Error Detected Regenerative circuit is faulty OFF e Regenerative resistor is faulty Regenerative Overload Regenerative energy exceeds regenerative resistor capacity A 40 Main circuit DC voltage is excessively high OFF A 41 Undervoltage Main circuit DC voltage is excessively low
8. 2 2 2 2 Installation Site 2 3 2 3 Orientation 2 4 2 4 Installation 2 5 2 1 2 Installation 2 1 Storage Conditions Store the SERVOPACK within the following temperature range if it is stored with the power cable disconnected Temperature Range 20 to 85 C x ll Series SGDH SERVOPACK with NS600 installed 2 2 Installation Site 2 2 Installation Site Take the following precautions at the installation site Installation in a Control Panel Design the control panel size unit layout and cooling method so the temperature around the SERVOPACK does not exceed 55 C Installation Near a Heating Unit Minimize heat radiated from the heating unit as well as any temperature rise caused by natural convection so the temper ature around the SERVOPACK does not exceed 55 C Installation Near a Source of Install a vibration isolator beneath the SERVOPACK to avoid Vibration subjecting it to vibration Installation at a Site Exposed to Corrosive gas does not have an immediate effect on the SER Corrosive Gas VOPACK but will eventually cause electronic components and contactor related devices to malfunction Take appropri ate action to avoid corrosive gas Other Situations Do not install the SERVO
9. 5 57 input conditions 5 61 input signal timing specifications 5 62 operation 5 58 5 59 selection 5 60 setup commands 6 32 ISPD EOE EET EE 5 60 L latch coisg nine naan 5 51 5 52 5 53 6 14 6 17 latch signal 5 52 latch timing 5 5 limit switches 5 7 POOR G 22242 2 esis Sh canoe ee ich bles sees ee 5 41 M Mode Qr zsetsisE tss tentiae eter eet 2 3 3 5 36 Mode listist ti sees S AEA AA 3 3 5 56 mode switch signal MODE 0 1 5 36 5 56 model number 1 3 monitor commands 6 33 monitor modes B 2 moving method 5 10 multiturn limit setting 5 31 5 34 6 37 N NEAR 3 ss0s4e sesh et se eet eeetes tee eee tee 5 40 5 42 negative responses 6 8 NEXT seo esvesce coe sese et ee sscete eee eto 5 39 5 41 NEE S 2 oats es ee ie deve eme tel ck Sees 9 19 N OT sd so eicpicsinis nad Se ecient 3 2 5 7 5 8 5 12 9 19 number of executions 5 41 O OK
10. 3 15 3 3 2 Communications Connector 3 16 3 3 3 Connector Signal Names 3 16 3 3 4 Connection Examples 3 17 3 3 5 RS 422 Interface 3 18 3 4 Power Loss in the NS600 3 19 3 1 3 Connector Wiring 3 1 1 Examples of I O Signal Connections to CN1 and CN4 3 1 I O Signal Connections This section describes I O signal connections for an SGDH SERVOPACK with an NS600 installed 3 1 1 Examples of I O Signal Connections to CN1 and CN4 The following diagram shows a typical example of I O signal connections ae Ou i Servomotor A 1 __1 SGDHSERVOPACK v ey TR OLic we an coh Q L2C oS D4 1 4 Optical 2 encoder oO CN2 1 FG o CN1 25 Mwarn Error Warning tak a warn ON for an Error Warning Bye BATA A 27 amp IBK Brake interlock Backup battery 2 cc og IL ek ON when brake is released 2 8 to 4 5 V BAT lt ji Servo read lt y Sinking or sourcing av 424 3 3 kQ K sof srov ON when ready N when ON e oN YK at am Alarm OFF for an Alarm E npn Por Hopa LA Photocoupler output Max voltage 30 VDC Reverse run prohibited N OT ay
11. 5 40 positioning completed output signal 5 21 positioning interruption 6 21 positioning speed 5 29 5 39 6 11 positioning start 6 12 6 13 positioning table 5 49 positioning registration speed 5 29 stopping 6 22 target position 5 10 5 39 6 10 positive responses 6 8 P OT 3 2 5 7 5 8 5 12 9 19 POUT POUTO to POUT4 5 22 5 40 6 23 power loss 3 19 program cancelling 5 44 input signal timing for program table operation 5 45 input signals for program table operation 5 37 program step 5 39 program table 5 22 5 36 5 39 program table examples 5 46 program table operation 5 37 5 41 5 43 5 44 program table operation commands 6 30 program table setup commands 6 26 program table step selection 5 38 resetting 5 44 restarting 5 43 settings
12. 6 8 Index OK response 6 4 reverse reference 5 6 Reverse Rotation Mode 5 6 reverse run prohibited 5 7 reverse torque limit 5 11 rotary switch 1 4 6 3 rotation direction 5 6 RS 232C 3 10 3 13 3 15 3 17 6 2 RS 422 3 10 3 12 3 15 3 17 6 2 RS 485 3 10 3 12 6 2 RSPD 5 39 RTS CTS control 6 2 S safety information viii safety precautions ix S curve time 5 30 sequence I O signals input signal connections 5 12 output signal connections 5 14 serial commands 5 37 6 9 command response format 6 5 communications 6 1 list C 2 parameters 6 4 serial command received character trace 7 15 serial command transmitted character trace 7 1
13. 6 4 6 8 structure of OK response 6 8 online autotuning rigidity setting 7 20 7 28 open collector output circuits 3 9 output circuits interfaces 3 9 output signals 3 6 3 7 overrun error 6 8 overtravel 5 8 6 19 9 19 overtravel limit function 5 7 P PAO ore Son Ote Soe ah ee eee aise aa AEE 3 2 parameters for NS600 22 s4e2ee et seeeemtiseesees AAA esas A 2 for SERVOPACK A 6 offline A 5 online A 5 parameter edit commands 6 24 restrictions 5 4 parity 6 2 parity error 6 8 PBO 3 2 PCO 3 2 PGMSTEP 5 38 5 39 5 41 5 43 5 44 photocoupler output circuit 3 9 P LS 9 19 POS 5 39 position error 5 21 positioning positioning completed judgement
14. 5 20 X X ON X OFF control 6 2 Index 3 Index Z ZONE ZONE signal 5 40 5 54 ZONE table 5 40 5 48 5 54 6 23 ZONE table settings 5 54 ZONE table setup commands 6 31 Index 4 I Series SGDH Indexer Application Module USER S MANUAL IRUMA BUSINESS CENTER 480 Kamifujisawa Iruma Saitama 358 8555 Japan Phone 81 42 962 5696 Fax 81 42 962 6138 YASKAWA ELECTRIC AMERICA INC 2121 Norman Drive South Waukegan IL 60085 U S A Phone 1 847 887 7000 Fax 1 847 887 7370 MOTOMAN INC HEADQUARTERS 805 Liberty Lane West Carrollton OH 45449 U S A hone 1 937 847 6200 Fax 1 937 847 6277 PI YASKAWA ELETRICO DO BRASIL COMERCIO LTD A Avenida Fagundes Filho 620 Bairro Saude Sao Paulo SP Brazil CEP 04304 000 Phone 55 11 5071 2552 Fax 55 11 5581 8795 YASKAWA ELECTRIC EUROPE GmbH Am Kronberger Hang 2 65824 Schwalbach Germany Phone 49 6196 569 300 Fax 49 6196 569 398 Motoman Robotics Europe AB Box 504 838525 Tors s Sweden Phone 46 486 48800 Fax 46 486 41410 Motoman Robotec GmbH KammerfeldstraZe 1 85391 Allershausen Germany hone 49 8166 90 100 Fax 49 8166 90 103 ASKAWA ELECTRIC UK LTD Hunt Hill Orchardton Woods Cumbernauld G68 9LF United Kingdom hone 44 1236 735000 Fax 44 1236 458182 PI Y 1 PI YASKAWA ELECTRIC KOREA CORPORATION Kfpa Bldg 1
15. 5 59 5 11 1 Example of Jog Speed Table Operation 5 59 5 11 2 Jog Speed Table Selection 5 60 5 11 3 Input Conditions for Homing and Jog Speed Table Operation 5 61 5 11 4 Input Signal Timing Specifications for Homing and Jog Speed Table 5 62 5 2 E Before Reading this Chapter This chapter describes the use of the I O signals in the SDH SERVOPACK and NS600 I O signals in the CN1 and CN4 connectors as well as the procedure for setting the related parameters for the intended purposes The following sections can be used as references for this chapter e Lists of CN1 and CN4 I O signals See 3 1 3 I O Signal Names and Functions e CNI and CN4 V O signal terminal layout See 3 1 2 Terminal Layout on I O Signal Con nectors CN and CN4 e List of parameters See Appendix A List of Parameters E Parameter Configurations Parameters are comprised of the types shown in the following table See Appendix A List of Parameters Function Selection Pn000 to Pn005 Select basic and application functions such as the Parameters Pn819 type of control or the stop mode used when an alarm occurs Servo Gain and Pn100 to Pn123 Set numerical values such as speed and position Other Parameters loop gains Position Control Pn200 to Pn208 Set position control parameters such as S shaped Parameters curve Speed Control Pn308 Set speed con
16. Brake power supply BK RY Brake control relay Output gt BK Brake Interlock Output 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 ON Photocoupler ON Releases the brake OFF Photocoupler OFF Applies the brake The BK signal setting can be changed with parameter Pn817 Parame Signal Pin No Settings Factory ter Setting Pn817 IBK CN1 27 0 Photocoupler ON Releases the brake CN1 28 1 Photocoupler OFF Releases the brake Related Parameters Pn506 Time Delay from Brake Reference until Servo OFF Pn507 Speed Level for Brake Reference Output during Motor Operation Pn508 Timing for Brake Reference Output during Motor Operation 5 17 5 Parameter Settings and Functions 5 3 3 Brake Interlock Output Signal BK IMPORTANT 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 Reference Servo OFF Delay Time Setting Factory Range Setting 0 to 50 0 This parameter is used to set the output time from the brake control signal BK until the servo OFF operation servomotor output stop when a servomotor with a brake is used S ON input Servo ON en mc CN1 40 em Servo OFF Release _ _ _ o oO o brake F BK output rak
17. SERVOPACKs power supply cables encoder cables and other accessories 1 5 1 Checking Products and Part Names 1 3 Installing the Application Module Use the following procedure to mount an NS600 to an SGDH SERVOPACK A screw is needed to connect the ground wire use the screw listed in the following table Screw Comments SERVOPACK Model SGDH A3 to 02BE SGDH A3 to 10AE SGDH 15 to 50AE SGDH 05 to 50DE SGDH 60 to 1EAE SGDH 60 to 1EDE SGDH A3 to 02BE R SGDH A3 to 50AE R SGDH 05 to 50DE R Rack mounting models M3x10 round head screw Attachments with split lock and plain washers M4x10 round head screw Attachments with split lock and plain washers M4x8 round head screw Use the screw on the front with split lock and plain washers panel M4x6 round head screw Attachments with split lock and plain washers 1 Remove the connector cover attached to the SERVOPACK s CN10 Connector y YASKAWA SERVOPACK 200v SGDH elelele e Q000 vE A TAN QO mee we CN10 Connector cover 2 Insert the two tabs on the bottom of the NS600 into the holes on the lower right side of the SERVOPACK 1 6 1 3 Installing the Application Module 77 Ammi 20H elese 4 CA a gt F Ee om O 3 Push the NS600 until the two tabs on the top of the NS600 are fully inserted into the two holes on the upper right side of the SERVOPACK a
18. uo ee A i v wzo 7 I oF ae l FEC B lt ADRS EI l y 20 oooolo ooo oog gt ZO lt mzo amp amp EISS 7 ATES NIII 6 3 6 Serial Command Communications 6 2 3 Parameters Related to Serial Communications 6 2 3 Parameters Related to Serial Communications The following table shows the parameters that set the communications protocol baud rate and OK response es Function Settings Factory l i Pn802 Response OK 0 Full duplex wiring 1 Full duplex wiring Echoback each character 2 Half duplex wiring delimiter CR 3 Half duplex wiring delimiter CR Echoback each char acter 4 Half duplex wiring delimiter CR Echoback each com mand 5 Half duplex wiring delimiter CR LF 6 Half duplex wiring delimiter CR LF Echoback each character 7 Half duplex wiring delimiter CR LF Echoback each command 0 9 600 bps 1 19 200 bps 2 38 400 bps 0 Disables response OK 1 Enables response OK 6 4 6 3 Command Response Format 6 3 Command Response Format The following diagram shows the command response format Command Host controller NS600 Response Host co
19. 9 1 3 Troubleshooting Problems with No Alarm Display Refer to the tables below to identify the cause of a problem that causes no alarm display and take the remedy described Turn OFF the servo system power supply before starting the shaded procedures Contact your Yaskawa representative if the problem cannot be solved by the described pro cedures Table 9 3 Troubleshooting Table with No Alarm Display Servomotor Does Not Power not connected Check voltage between power Correct the power circuit Start supply terminals Loose connection Check terminals of connectors Tighten any loose parts CN1 CN2 CN4 and CN6 Connector CN1 CN4 or Check connector CN1 CN4 Refer to connection diagram CN6 external wiring incorrect and CN6 external wiring and correct wiring Servomotor or encoder wiring Reconnect wiring disconnected Overloaded Run under no load Reduce load or replace with larger capacity servomotor S ON is turned OFF Turn S ON input ON execute the SVON command or set parameter Pn80B 2 so that the servo is always ON P OT and N OT inputs are Refer to 5 2 2 Setting the Over Turn P OT and N OT input turned OFF travel Limit Function for signals ON details A software position reference Check for NS600 errors Check the motor position and limit P LS or N LS is ON the position reference limit set tings Pn81B and Pn81C If necessary move within the software position reference limits There
20. I7 H The current write protection setting will be displayed ZIN Press the Up or Down Key to change ENTER E the write protection setting Settings 0001 Write protect data 0000 Clear write protection DATA Press the DATA ENTER Key to save the setting to EEPROM The display will flash Never turn OFF the control power i Wait until the display stops flashing supply while the display is flashing The display will return to the 0 function number setting display Turn the control power supply OFF and then ON again End IMPORTANT For a function whose settings has been changed the control power supply must be turned OFF and then ON again to enable the new settings 7 36 7 7 Operations during Auxiliary Function Display m Fn011 Motor Model Display This function displays the motor model code motor capacity encoder model code and the SERVOPACK special specification code Y specification code Fold pata Press the ey to display the model code display pata Press the DATA ENTER Key to display the model code displ Press the DATA ENTER Key again to return to the function number setting display Example 0 0 0 The motor model code is displayed first e DSPL SET Example z 0 B 0 The motor capacity is displayed e DSPL SET Example 0 B The encoder model code is displayed e DSPL SET Example DENR H 0 B 0 O The SERVOPACK specification code is disp
21. SEL4 JOG3 Pn80F RGRT Setting Range Factory Setting 0 Closed Program select Mode 0 Jog select Mode 1 1 Open Program select Mode 0 Jog select Mode 1 2 Always program select Mode 0 Always jog select Mode 1 3 No program select Mode 0 No jog select Mode 1 0 Closed Program select Mode 0 Jog select Mode 1 1 Open Program select Mode 0 Jog select Mode 1 2 Always program select Mode 0 Always jog select Mode 1 3 No program select Mode 0 No jog select Mode 1 0 Closed Program select Mode 0 Jog select Mode 1 1 Open Program select Mode 0 Jog select Mode 1 2 Always program select Mode 0 Always jog select Mode 1 3 No program select Mode 0 No jog select Mode 1 0 Closed Program select Mode 0 Jog select Mode 1 1 Open Program select Mode 0 Jog select Mode 1 2 Always program select Mode 0 Always jog select Mode 1 3 No program select Mode 0 No jog select Mode 1 0 Closed Servo ON 1 Open Servo ON 2 Always Servo ON 3 Always Servo OFF 0 Open Positive forward overtravel 1 Closed Positive forward overtravel 2 Always positive forward overtravel 3 Always movable 0 Open Negative reverse overtravel 1 Closed Negative reverse overtravel 2 Always negative reverse overtravel 3 Always movable 0 Open Homing Deceleration LS ON 1 Closed Homing Deceleration LS ON 2 Homing Deceleration LS Al
22. 1 M _ t n _ gt ITn Speed gt t INPOSITION A NTn Speed NEAR lt gt ten DTn Speed f f t DEN t n i SELxTn Speed t SELx TAA n Note If t lt t4 an error E53E will occur and program table operation will be stopped 5 42 5 6 Program Table 5 6 6 Program Table Operation E Starting and Stopping the Program If the START STOP signal becomes active the program will be executed from the PGM STEP specified with SELO to SEL6 Speed gt t START STOP If the START STOP returns to inactive status the program will be stopped and the motor will stop positioning will be stopped Speed If the START STOP becomes active again while the program is stopped the program posi START STOP tioning will be restarted Speed gt t ISTART STOP The program will be restarted even if the motor is decelerating Speed gt t ISTART i STOP 5 43 5 Parameter Settings and Functions 5 6 7 Status Changes in Program Table Operation E Resetting the Program The program will be cancelled if the PGMRES signal becomes active after the program was stopped the START STOP signal became inactive Once the program has been cancelled it will be executed from the PGMSTEP specified with SELO to SEL6 if the START STOP signal b
23. 7 32 FnOOE Automatic offset adjustment of motor current detection siganl 7 33 FnOOF Manual offset adjustment of motor current detection signal 7 35 Fn010 Write protection setting 7 36 Fn011 Motor model display 7 37 Fn012 SERVOPACK software version display 7 38 Fn013 Multiturn limit value setting change when a Multiturn Limit Disagreement Alarm A CC occurs 7 39 Fn800 NS600 software version display 7 41 Fn801 NS600 model code 0600 Hex display 7 41 Fn802 NS600 Yspec number display 7 41 Fn803 Program table save 7 42 Fn804 Zone table save 7 43 Fn805 Jog speed table save 7 44 Fn806 Program table initialization 7 45 Fn807 Zone table initialization 7 46 Fn808 Jog speed table initialization 7 47 7 8 Operations during Program Table Editing Display 7 48 7 9 Operation during Zone Table Editing Display 7 57 7 10 Operation during Jog Speed Table Editing Display 7 59 7 2 7 1 Connecting the Digital Operator 7 1 Connecting the Digital Operator CAUTION e The built in Panel Operator can
24. 7 4 Switching between Basic Displays Switch between the Digital Operator s basic displays for indicating the status of the SERVO PACK in operation and setting a variety of parameters and operation references The following basic displays are available status display auxiliary function parameter editing monitor program table editing zone table editing and jog speed table editing displays Select the basic display by pressing the DSPL SET Key The displays will appear in the following order as the key is pressed 7 6 Example gt Example Example Example Example Example Example ABE DSPL SET FaOpg Fn000 DSPL SET PaOpg Pn000 DSPL SET HnGGo Un000 DSPL SET Poll Po000 DSPL SET cPOOO ZP000 DSPL SET 485000 JS000 DSPL SET 7 7 7 4 Switching between Basic Displays Status Display Indicates the status with codes such as bb and run Refer to 7 3 Status Display for details on codes The display changes each time the DSPL SET is pressed Auxiliary Function Display Indicates Fn and the selected function number Refer to 7 7 Operations during Auxiliary Function Display for details Parameter Editing Display Indicates Pn and the selected parameter number Refer to 7 5 Operation during Parameter Editing Display for details Monitor Display Indicates Un and the selected monitor number Refer t
25. Press the DATA ENTER Key to display the Program Table Save display SEork StorE p Ga DSPL_ Press the DSPL SET Key to SET execute the function If the DATA ENTER Key is pressed before executing the display will return to the function number setting display BHE l Wait until the display stops flashing Never turn OFF the control power E 4 supply while the display is flashing The display will return to the function number setting display 7 42 7 7 Operations during Auxiliary Function Display E Fn804 Zone Table Save This function saves the zone table to flash memory When this function is executed the zone table in RAM is saved to flash memory Data saved in flash memory is retained even when the control power supply is turned OFF Foy Press the DATA ENTER Key to display ENTE the Zone Table Save display SEork StorE p DSPL Press the DSPL SET Key to SET execute the function If the DATA ENTER Key is pressed before executing the display will return to the function number setting display l S A Never turn OFF the control power N 7 supply while the display is flashing a E Wait until the display stops flashing O N 0 don The display will return to the function number setting display 7 43 7 Using the Digital Operator m Fn805 Jog Speed Table Save This function
26. 5 39 5 Parameter Settings and Functions 5 6 4 Program Table Settings Table 5 2 Program Table Functions cont d Programmable out pannan n NAZ put signals E IPOUTO N Inactive POUT1 A Active POUT2 Z ZONE signal ZONE table reference POUT3 POUT4 _ Retain previous status When execution of a step is started the corresponding output signal POUTO to POUTA is output If you want to output the signal at the end of the step specify POUT as POS in the next step Positioning com The LOOP is the process from the start of positioning until the EVENT pleted judgement Conditions I INPOSITION N NEAR The following parameters set the INPOSITION and NEAR detection widths Pn821 O INPOSITION Width Setting Factory Setting Range 1 Near Width Reference speed Motor speed Ce Error pulses 0 NEAR INPOSITION D DEN position reference distribution completed SELx x 0 to 6 Input signal SELO to SEL6 active Level detection is used not edge detection Tn n 0 to 99 999 Time elapsed ms since the program step started Continue the previously executed step s specification Note The I N D and SELx parameters can be combined with Tn ITn Waits for n ms after INPOSITION becomes active NTn Waits for n ms after NEAR becomes active DTn Waits for n ms after DEN becomes active SEL x Tn Waits for n ms after SELx becomes active The factory se
27. Pn826 Homing Approach Speed 1 to 99 999 999 x1 000 reference units min Pn827 Homing Creep Speed 1 to 99 999 999 x1 000 reference units min Pn828 Homing Final Move Distance 99 999 999 to 99 999 999 Reference units Note 1 The software position reference limits Pn81B and Pn81C are disabled until homing is completed They are effective after homing is completed On the other hand the overtravel signals P OT and N OT signals are effective before homing is com pleted 2 When an incremental encoder is being used homing will be completed if the ZSET command Coordinates Setting is executed instead of homing 3 Error ESDE will occur if the ZRN command is executed while Pn823 0 4 Homing can be performed only when an incremental encoder is being used Error E61E will occur if the ZRN command is executed and an absolute encoder is being used 6 19 6 Serial Command Communications 6 7 2 Control Commands Table 6 2 Control Commands cont d Serial Command Function Positive Response ZSET Coordinates Setting OK nnnnannnn Setting range 99 999 999 lt nnnnnnnn lt 99 999 999 Reference units e With an Incremental Encoder Replaces the home position with nnnnnnnn Homing will be completed and the software position reference limits Pn81B and Pn81C will be enabled This Coordinates Setting will be cleared when the control power supply is turned OFF or the RES command is executed Note Param
28. RGRT Latch operation e Shifting to Registration Operation 8 ms max Speed RGRT 5 7 2 Registration Input Setting Parameter Pn80F sets the logic for the RGRT Registration Latch Signal Parame Settings ter Pn80F RGRT CN1 46 0 Photocoupler ON Latch 1 Photocoupler OFF Latch 5 51 5 Parameter Settings and Functions 5 7 3 Registration Operation 5 7 3 Registration Operation If the RGRT signal becomes active latches during positioning operation will proceed from the latch position to the registration distance only The registration distance is specified in RDST Speed START STOP RGRT Alarm E23E will occur when the registration distance is too short i e when positioning will move too far even if deceleration begins immediately When alarm E23E occurs the servo will go OFF and the program will stop Speed Servo turned OFF by alarm START STOP RGRT ALM The second and later latch signals are ignored Speed gt t START STOP IRGRT 5 52 5 7 Registration The RGRT latch signal can be input while the program is stopped Speed Registration targent position gt t ISTART STOP RGRT The program can be stopped during Registration operation The Registration operation will be restarted if the program is res
29. Series SGDH Indexer Application Module USER S MANUAL MODEL JUSP NS600 YASKAWA MANUAL NO SIE C718 9 Copyright 2002 YASKAWA ELECTRIC CORPORATION All rights reserved No part of this publication may be reproduced stored in a retrieval system or transmitted in any form or by any means mechanical electronic photocopying recording or otherwise without the prior written permission of Yaskawa No patent liability is assumed with respect to the use of the information contained herein Moreover because Yaskawa is con stantly striving to improve its high quality products the information contained in this manual is subject to change without notice Every precaution has been taken in the preparation of this manual Nevertheless Yaskawa assumes no responsibility for errors or omissions Neither is any liability assumed for damages resulting from the use of the information contained in this publication Overview E About this Manual This manual provides the following information for a X II Series SG MOH SGDH Servo drive that has an Indexer Application Module installed The Indexer Application Module is referred to as the NS600 in the remainder of this manual Procedures for installing and wiring the NS600 Procedures for trial operation of the NS600 Procedures and specifications for serial communications Procedures for using the Hand held Digital Operator Procedures for setting parameters and the prog
30. e Check the final control form Connect to the machine Follow the procedures below to perform the trial operation 1 Make sure power is OFF 2 Connect the servomotor to the equipment See 2 1 Servomotors in the SGM LIH SGDH User s Manual Design and Maintenance Manual No SIE S800 32 2 for more details on connecting the servomotor 3 Use autotuning to match the SERVOPACK to equipment characteristics See 6 3 Autotuning in the SGMUHA SGDH User s Manual Design and Maintenance Manual No SIE S800 32 2 for details 4 Operate the servomotor with Digital I O or Serial Mode operation See Chapter 5 Parameter Settings and Functions and Chapter 6 Serial Command Com munications for details 5 Set and record parameters Set parameters as required and record all settings for use later in maintenance This completes the trial operation procedure 4 10 4 3 Step 2 Trial Operation with the Servomotor Connected to the Machine A WARNING The servomotor will not be broken in completely during the trial operation Therefore let it the sys tem run for a sufficient amount of additional time to ensure that it is properly broken in 5 Parameter Settings and Functions This chapter describes the procedure for setting and applying parameters 5 1 Restrictions on SGDH SERVOPACK Parameters 5 4 5 2 Settings According to Device Characteristics 5 6 5 2 1 Switching Servomotor Rotation Di
31. 12345678 CR LF Reads the ZONEN setting negative side zone boundary position zz Zone number ZONE ID ZONENTzz nnnnnnnn Zone Table ZONEN Write Sets the ZONEN setting negative side zone boundary position zz Zone number ZONE ID Settings 99 999 999 lt nnnnnnnn lt 99 999 999 6 31 6 Serial Command Communications 6 7 7 Jog Speed Table Setup Commands 6 7 7 Jog Speed Table Setup Commands The following table shows the Jog Speed Table Setup Commands Table 6 7 Jog Speed Table Setup Commands JSPDSTORE JOG Speed Table Save OK Saves the jog speed table in flash memory Once JSPDSTORE is executed the jog speed table will be retained after the control power supply is turned OFF or the RES command is executed Since the jog speed table is stored in flash memory this command must not be exe cuted frequently JSPDINIT JOG Speed Table Initialization Resets all values in the jog speed table to their factory default settings JSPDTdd JOG Speed Table Read JSPDT123 12345678 CR LF Reads the jog speed table setting for the specified number dd Jog speed number JSPDTdd nnnnnnnn JOG Speed Table Write Sets the jog speed table setting for the specified number dd Jog speed number Settings 1 lt nnnnnnnn lt 99 999 999 6 32 6 7 Serial Commands 6 7 8 Monitor and Auxiliary Function Commands The following table shows the Monitor and Auxiliary Function Commands Table 6 8 Monito
32. ALM RST Eliminate the cause of the alarm and then turn the control power supply OFF ON or execute the RES command to reset the alarm 3 For the SERVOPACK with a capacity of 6 0 kW or higher alarm A 40 indicates main circuit DC voltage is excessively high or low 9 3 9 Troubleshooting 9 1 2 Warning Display Table 9 1 2 Warning Display Table The following table shows the warning displays status of the alarm code outputs and mean ing of the warnings Table 9 2 Warning Displays and Outputs Warning Warning Name Meaning Warning Code Outputs Code Outputs Displa sa ALO1 ALO2 ALO3 Overload This warning occurs before the overload alarms A 71 or ON A 72 occur If the warning is ignored and operation con tinues an overload alarm may occur Regenerative Overload This warning occurs before the regenerative overload OFF ON OFF alarm A 32 occurs If the warning is ignored and opera tion continues a regenerative overload alarm may occur Absolute Encoder Battery This warning indicates that the absolute encoder s battery ON ON OFF Warning voltage has dropped If the warning is ignored and opera tion continues an absolute encoder battery alarm may occur A 9F NS600 Error This warning indicates that some kind of error occurred in ON ON ON the NS600 Check the NS600 Error Display for details Note OFF Output transistor is OFF high ON Output transistor is ON low 9 4 9 1 Servodrive Troubleshooting
33. 1 45648 JIN Lower 5 digits Press the Left or Right Key to display the upper 3 digits or lower 5 digits 7 Using the Digital Operator 7 6 Operation during Monitor Display The Monitor Display can be used for monitoring the reference values I O signal status and SERVOPACK internal status I Hano Use these keys to select lt gt IA N the monitor number JAROA Press the DATA ENTER Key to display the monitored value we AO Bd Press the DATA ENTER Key to return to the monitor number display There may be additional operations depending on the monitor number selected Refer to the fol lowing description of each monitor number for details 7 10 7 6 Operation during Monitor Display m Contents of the Monitor Display The following table shows contents of the monitor display Table 7 1 Monitor Displays Monitor Monitored Display Explanation Number Value Un000 Actual motor Indicates the motor speed speed 3000 Un002 Internal torque reference m 8400 Un003 Rotation angle pulses pulse Un004 Rotation angle Example 90 electrical angle degrees Example 3 000 min Example 100 Indicates the torque The torque level is displayed as a percentage of the rated torque rated torque 100 Indicates the number of encoder phase C pulses counted since the start point Example 8 191 pulses 08494 0090 Indicates the motor s electri
34. 5 31 5 5 1 Interface Circuit 5 32 5 5 2 Selecting an Absolute Encoder 5 32 5 5 3 Handling Batteries 5 32 5 5 4 Absolute Encoder Setup Initialization 5 33 5 5 5 Multiturn Limit Setting 5 34 5 6 Program Table 5 36 5 6 1 Mode Switch Signal MODE 0 1 5 36 5 6 2 Input Signals for Program Table Operation 5 37 5 6 3 Program Table Step Selection 5 38 5 6 4 Program Table Settings 5 39 5 6 5 Examples of Event Conditions 5 42 5 6 6 Program Table Operation 5 43 5 6 7 Status Changes in Program Table Operation 5 44 5 6 8 Input Signal Timing Specifications for Program Table Operation 5 45 5 6 9 Program Table Examples 5 46 5 7 Registration 5 51 5 7 1 Registration Timing Specifications 5 51 5 7 2 Registration Input Setting 5 51 5 7 3 Registration Operation 5 52 xiii 5 8 ZONE Table Settings 5 54 5 9 Homing Jog Speed Table Mode 5 56 5 9 1
35. 9 2 2 Alarm Display Table 9 9 9 2 3 Error Display Table 9 13 9 2 4 Warning Display Table 9 18 9 2 5 Normal Display Table 9 19 9 3 STS Status Indicators 9 20 Appendix A List of Parameters A 1 NS600 Parameters A 2 A 2 SERVOPACK Parameters A 6 A 3 SERVOPACK Switches A 10 Appendix B Monitor Mode and Auxiliary Functions B 1 Monitor Modes B 2 B 2 Auxiliary Functions B 4 Appendix C List of Serial Commands C 1 Alphabetical List of Serial Commands C 2 Checking Products and Part Names This chapter describes the procedure for checking products upon delivery of the NS600 as well as the product parts and installation method 1 1 Checking Products on Delivery 1 2 1 1 1 External Appearance and Nameplate Examples 1 2 1 1 2 Model Number 1 3 1 2 Product Part Names 1 4 1 3 Installing the Application Module 1 6 1 Checking Products and Part Names 1 1 1 External Appearance and Nameplate Examples 1 1 Checking Products on Delivery The
36. E1BA E1CA Initial Communication Alarm between NS600 and SGDH Detected only when con trol power supply is turned ON or the RES command is executed Communication Alarm between NS600 and SGDH after initializa tion Program Table Checksum Alarm Detected only when con trol power supply is turned ON or the RES command is executed Program Version Unmatched Detected only when con trol power supply is turned ON or the RES command is executed Program Out of range Alarm Detected only when con trol power supply is turned ON or the RES command is executed Zone Table Checksum Alarm Detected only when con trol power supply is turned ON or the RES command is executed Table 9 4 NS600 Alarm Displays cont d Alarm Alarm Name Details Remedy Panel Alarm Display Display Reset When the control power sup ply was turned ON or the RES command was exe cuted the NS600 was unable to acquire necessary informa tion from the SERVOPACK such as parameters or an absolute encoder s position data When an absolute encoder is being used this alarm can occur if the Digital Operator is connected to SERVOPACK connector CN3 and the posi tion data cannot be acquired An error occurred in commu nications between the NS600 and SGDH during operation The program table stored in flash memory was not recorded properly This alarm can occur if the control power supply is turned OFF while
37. HOBO Laue Displays the error code of the most recent error If no errors have occurred nonE will be displayed nonk nonE Indicates the ON OFF status of each signal The ON OFF logic is the ON l OFF status of the input photo coupler lt OFF lt ON MODE0 1 START HOME Indicates the ON OFF status of each signal The ON OFF logic is the ON OFF status of the output photo coupler lt OFF lt ON Fiieosiron POUTO POUT2 POUT1 7 Using the Digital Operator Monitor Number Un803 Un804 Un805 Un806 Un807 Un808 Status flag monitor Current position reference monitor reference units Current motor position monitor reference units Target position monitor reference units Target distance monitor reference units Registration target position monitor reference units Table 7 1 Monitor Displays cont d Example lt lt Active lt Inactive oS INPOSITION DEN NEAR Torque control Program executing Main power supply i P Example 12 345 678 reference units naaa lt 2 agaga ge Upper 3 digits Press the Left or Right Key Lower 5 digits to display the upper 3 digits or lower 5 digits Example 12 345 678 reference units 2483 45698 Upper 3 digits Lower 5 digits Press the Left or Right Key to display the upper 3 digits or lower 5 digits Example 12 345 678 reference units gaga
38. Indicates the position error If the value exceeds 9 999 SAt will be displayed Indicates the executed torque over a 10 second interval The torque level is displayed as a percentage of the rated torque rated torque 100 Indicates the power consumed by the regenerative resistor over a 10 second interval The load rate is displayed as a percentage of the regenerative resistor s allowed power con sumption Indicates the power consumed by the dynamic brake over a 10 second interval The load rate is displayed as a percentage of the dynamic brake s allowed power con sumption Displays a position reference counter for monitoring 7 6 Operation during Monitor Display Table 7 1 Monitor Displays cont d Monitor Number Un00D Un800 Encoder pulse counter pulses HBSAB Upper 2 bytes MIA HABE Lower 2 bytes AY Example E4BE EHBE Last error NS600 CN4 input signal mon itor Example HI III l ae ISEL4 JOG3 SEL3 JOG2 SEL2 JOG1 Un801 Un802 NS600 CN4 output signal monitor Example H HHH HHI POUT4 POUT3 7 13 oe PGMRES JOGP SEL1 JOGO SELO JOGN Monitored Display Explanation Value Example 89ABCDEF pulses hexadecimal Displays an encoder pulse counter for monitoring Press the Up or Down Key to display the upper 2 bytes or lower 2 bytes The counter can be cleared by pressing the Up and Down Keys together
39. O40880 Example 1 repetition 08004 394930 _ Received ASCII value Reception Hexadecimal error Program loop progress monitor repetitions Serial command received character trace Number of characters from end of text string 49490 law The Up and Down Keys can be used to scroll up and down from the 99th character ia 04898 isc 00904 Example 7 15 Indicates the registration dis tance Indicates the program step that is being executed If the program is not being executed End will be dis played Indicates the time elapsed in the program table event Indicates the program table s loop execution progress Displays a record of the char acters received through serial communications Use the Up and Down Keys to scroll up and down between the 99 oldest character to the most recent character Reception error When reception errors have occurred the following codes are added to indicate which errors have occurred A blank space indicates that no errors occurred 1 Overrun error 2 Framing error 4 Parity error For example a value of 6 indicates that a framing error and parity error occurred 7 Using the Digital Operator Table 7 1 Monitor Displays cont d Monitor Monitored Display Explanation Number Value Un80E Serial command received charac ter count Un80F Serial command received error character count Un810 Serial command transmit
40. Receive data inverted Personal computer gt SERVOPACK fRemedpn Si SSSSSCS S If RT and RXD are connected shorted the built in terminator 120 Q will be connected between RXD and RXD RD 3 16 3 3 Digital Operator or Support Software Connector CN7 3 3 4 Connection Examples E Using RS 422 Cable RS 422 RS 485 port A ant NS600 1 RXD o o 1 TXD Twisted pair wire RXD o 1 Oo 2 TXD l o 8 TXD Oo 9 TXD TXD O l t o 3 RXD TXD O o 4 RXD o 10 RXD r 6 RXD l O7 RT l OV o e o 14 GND Shield wire j e e Case FG A al Yv y Y y y To next axis Pin 1 2 3 4 4 Note 1 Cable length 50 m max 2 Connect short the RT and RXD pins in the last axis Fig 3 6 Wiring with RS 422 Cable m Using RS 232C Cable RS 232C port RXD o NS600 TXD o oV o RTS 9 __ CTS o _ CD o FGo Shield wire DTR O _ DSR o Note Cable length 3 m max Fig 3 7 Wiring with RS 232C Cable 3 17 o 2 MXD O 4 RXD 014 GND o Case FG 3 Connector Wiring 3 3 5 RS 422 Interface 3 3 5 RS 422 Interface The maximum total length for an RS 422 cable is 50 m Use the minimum length of cable that is needed The NS600 s communications circuits are not isolated If communications errors occur because of noise use noise suppression methods such as shielded cable or ferrite cores
41. SP ERR SP PN CR LF Data Out of range Error ES8E SP ERR SP OV CR LF Other Errors ExxE SP SP SP SP SP SP SP CR LF The xx is the error number Note The ASCII values for these special characters are 20 Hex for SP OD Hex for CR and 0A Hex for LF 6 8 6 7 Serial Commands 6 7 Serial Commands The axis number and delimiter are attached to actual serial commands but are omitted here Some data in responses such as parameters table numbers and monitored data is expressed numerically The sign and the number of digits are correct in the numerical data shown in these examples but the sign and number of digits will vary in actual applications 6 7 1 Basic Operation Commands The following table shows the basic operation commands Table 6 1 Basic Operation Commands Serial Command Positive Response Normal Response SVON SVOFF ARES Servo ON Supplies power to the motor OK This command is the same as turning ON the S ON signal Servo OFF OK Stops the power supply to the motor This command is the same as turning OFF the S ON signal Alarm Reset The response OK will be returned when the alarm has Clears the alarm been cleared The alarm code will be returned if the alarm remains uncleared ALM SP A xx SP CR LF The xx is the SGDH alarm code ALM SP E xxA SP CR LF The xx is the NS600 alarm code Reset This command is the same as
42. START STOP 3 3 5 13 5 37 5 43 5 44 5 45 WARN 3 2 5 14 5 20 A absolute encoder 5 31 6 19 6 20 interface circuit 5 32 reset 6 37 selecting usage 5 32 setup initialization 5 33 acceleration 5 30 6 11 alarms alarm code output signals 5 15 alarm display 9 7 alarm display table 9 2 9 9 alarm reset 6 9 7 5 Servo alarm output 5 15 troubleshooting 9 5 ALM 3 2 5 14 5 15 ALO to ALO3 3 2 5 14 5 15 auxiliary functions commands 6 33 list B 4 axis address 1 4 6 3 setting 6 3 axis number 6 3 6 5 6 6 6 8 6 9 B baseblock 9 19 BAT 3 2 battery handling 5 32 baud rate 6 2 6 3 6 4 6 7 brake
43. The N OT signal is the input signal for the reverse hardware limit BB or travel N OT switch This display indicates that the N OT signal is OFF RUN When the N OT signal is being used move to a position where the ting Pn80D 3 N N OT signal is ON PLS Forward Positive Position This display indicates that the motor position exceeds the forward BB or Reference Limit P LS position reference limit setting a software setting RUN When the Moving Method is set to Linear Pn81A 0 the for ward position reference limit is set in Pn81B When the forward position reference limit is being used move to a position within the position reference limits When the position reference limits are not being used because the system is a rotary system set the moving method to Rotary by set ting Pn81A 1 2 or 3 When the system is a linear system but position reference limits are not being used disable the software limits by setting Pn81B Pn81C 0 When the N OT signal is not being used disable the signal by set Reference Limit N LS position reference limit setting a software setting RUN When the Moving Method is set to Linear Pn81A 0 the reverse position reference limit is set in Pn81C When the reverse position reference limit is being used move to a position within the position reference limits When the position reference limits are not being used because the system is a rotary system set the moving method to Rotar
44. When using RS 422 cable connect a terminator in the host controller s reception circuit and the reception circuit of the last NS600 in the line The NS600 has a built in terminator 120 Q that is connected between the RXD and RXD pins when the RT and RXD pins are shorted The NS600 s transmission circuit is high impedance when it is not transmitting Pull up or pull down the host controller s reception circuit 3 18 3 4 Power Loss in the NS600 3 4 Power Loss in the NS600 Refer to 3 3 4 SERVOPACK Power Losses in the SGM OH SGDH User s Manual Design and Maintenance Manual No SIE S800 32 2 for a table showing the SERVOPACK power losses at the rated output Table 3 1 NS600 Specifications Min operating voltage 5 05 V Max operating voltage 5 25 V Max operating current 500 mA INFOt The NS600 s power is supplied from the SERVOPACK 3 19 4 Trial Operation This chapter describes a two step trial operation Be sure to complete step 1 before proceeding to step 2 4 1 Two step Trial Operation 4 2 4 2 Step 1 Trial Operation for Servomotor without Load 4 3 4 3 Step 2 Trial Operation with the Servomotor Connected to the Machine 4 10 4 1 4 Trial Operation 4 1 Two step Trial Operation Make sure that all wiring is completed prior to starting trial operation Perform the trial operation in the order given below steps and 2 for your s
45. ing Un005 the input signal monitor Refer to Chapter 7 Using the Digital Operator for details on using the Digital Operator 4 6 4 2 Step 1 Trial Operation for Servomotor without Load Turn ON and OFF each signal line to see if the LED monitor bit display changes as shown below Input signal LED display lt 4 Top lights when OFF high level lt q Bottom lights when ON low level SEL6 RGRT Not used Always ON Input Signal Status LED Display OFF high level Top LED indicators light ON low level Bottom LED indicators light IMPORTANT The servomotor will not operate properly if the following signal lines are not wired correctly Short the signal lines if they will not be used The input signal selections parameters Pn803 to Pn80F can be used to eliminate the need for external short circuiting P OT CN1 42 The servomotor can rotate in the forward direction when this signal is ON The servomotor is in forward overtravel status Forward Run Prohibited when this signal is OFF N OT CN1 43 The servomotor can rotate in the reverse direc tion when this signal is ON The servomotor is in reverse overtravel status Reverse Run Prohibited when this signal is OFF S ON CN1 40 The servomotor is turned ON when this signal is ON Leave the servomotor OFF 24VIN CN1 47 Control power supply terminal for sequence signals 4 7 4 Trial Operation IMPORTANT 7 Check the CN4 input signal
46. 1 revolution P 360 1 revolution _ 1 revolution Reference unit Reference unit Reference unit Padani B 5 Electronic gear ratio is given as 2 If the decelerator ratio of the motor and the load shaft is given as F where m is the rotation of the motor and n is the rotation of the load shaft No of encoder pulses x 4 F n B Electronic gear ratio A Travel distance per load shaft revolution n reference unit Make sure the electronic gear ratio satisfies the following condition IMPORTANT j j B 0 01 lt Electronic gear ratio 2 lt 100 The SERVOPACK will not work properly if the electronic gear ratio is outside this range In this case modify the load configuration or reference unit 5 27 5 Parameter Settings and Functions 6 Set the parameters B n Reduce the electronic gear ratio 2 to the lower terms so that both A and B are inte gers smaller than 65 535 then set A and B in the respective parameters Pn202 Electronic gear ratio E ae Numerator R Electronic gear ratio E pees Denominator This concludes the electronic gear ratio setting procedure Electronic Gear Ratio Setting Factory Numerator Range Setting 1 to 65 535 4 Electronic Gear Ratio Setting Factory Denominator Range Setting 1 to 65 535 1 Set the electronic gear ratio according to equipment specifications Electronic gear ratio 2 Pn202 A
47. 3 p gt Phase oP A CN1 34 PAO iy ae Y 1 CN1 35 D Prase B lt PBO A re gt R 8 5 gt Phase oP B CN1 36 an ae PBO 22 Sy 7 Phase C _ CN1 19 st lt PCO Ip gt R m Phase AP c CN1 20 J PCO ye UW A RA Sa 9 os 8 c Jis Choke end coil ov coon Panes i 5V CN1 1 noi lt gt 4 d ov P ae Smoothing capacitor Connector shell Shield P represents twisted pair wires Applicable line receiver SN75175 manufactured by Texas Instruments Inc MC3486 or the equivalent R terminator 220 to 470 Q C decoupling capacitor 0 1 uF 5 23 5 Parameter Settings and Functions 5 3 8 Encoder Signal Outputs E O Signals T O signals are described below Output PAO CN1 33 Encoder Output Phase A Output gt PAO CN1 34 Encoder Output Phase A Output PBO CN1 35 Encoder Output Phase B Output gt PBO CN1 36 Output gt PCO CN1 19 Output gt PCO CN1 20 Divided encoder signals are output Set a dividing ratio at the following parameter The dividing ratio setting is not related to the gear ratio setting Pn202 and 203 for the SER VOPACK electronic gear function during position control INFON Dividing is the process that takes the pulse data output from the encoder connected to the motor con 7 verts that pulse data to the specified pulse density and outputs the converted value The units are pulses revolution Output Phase Form
48. 6 2 Control Commands cont d Serial Command Function Positive Response OK SPDnnnnnnnn Positioning Speed Reservation Setting range 1 lt nnnnnnnn lt 99 999 999 x1 000 reference units min Specifies the positioning speed After the control power supply is turned ON or the RES command is executed the position ing speed set in parameter Pn81E will be used until the SPD command is executed For example when the reference unit is 0 01 mm and the desired speed is 15 m min 1500 mm min 0 01 mm 1 500 000 references units min 1500 x1 000 reference units min SPD1500 Note If a new positioning speed is specified during positioning the new speed will not become effective until the next positioning operation ACCnnnnnnnn Acceleration Reservation OK Setting range 1 lt nnnnnnnn lt 99 999 999 x1 000 reference units min ms Speed reference V gt Time ta es eles V X1 000 reference units min cceleration t t ms Deceleration V x1 000 reference units min eceleration t t ms Note The acceleration setting in parameter Pn81F can also be used Executing the command ACCnnnnnnnn is the same as executing TRM81F nnnnnnnn DECnnnnnnnn Deceleration Reservation Setting range 1 lt nnnnnnnn lt 99 999 999 x1 000 reference units min ms Note The deceleration setting in parameter Pn820 can also be used Executing the command DECnnnnnnnn is the same as executing TRM820 nnnnnnnn 6 Serial Command Communication
49. Abnormal Noise Mechanical mounting incorrect Servomotor mounting screws Tighten mounting screws loose Coupling not centered Center coupling Coupling unbalanced Balance coupling Bearing defective Check noise and vibration near Consult your Yaskawa repre bearing sentative if defective Machine causing vibrations Foreign object intrusion dam Consult with machine manu age or deformation of sliding facturer parts of machine 9 6 9 2 NS600 Troubleshooting 9 2 NS600 Troubleshooting This section explains how to troubleshoot and correct NS600 problems 9 2 1 Status Displays Displays when an Alarm Occurred Serious errors that occur unexpectedly are known as alarms When an alarm occurs the servo will be forced OFF STS Status Indicator Green LED Continuously OFF Red LED Continuously Lit Digital Operator connected to CN7 In Status Display Mode the alarm code is displayed continuously In other Modes the alarm code is displayed for just 2 seconds Response to the Alarm or Warning Read command Alarm code ALM Response to the Most Recent Error Read command No change ERR Panel Displays A EF or the SERVOPACK alarm code In some cases nothing is displayed ALM signal Active photocoupler OFF Displays when an Error Occurred Negative acknowledgments error responses to input signals serial commands or opera tions from the Digital Operator are known as errors The error status lasts
50. Active Active Active Active 5 8 ZONE Table Settings He ZONE signals POUTO Z0 POUT1 Z1 POUT2 Z2 POUT3 Z3 and POUT4 ZA 3 The status of outputs Z0 to Z4 is determined by the ZONE ID 4 The programmable output signals POUTO to POUT4 must be specified as ZONE sig nals Z For example if POUT ZAZZN then signals Z1 Z2 and Z4 will be output from programmable outputs POUT1 POUT2 and POUT4 ZONE Signal Conditions e When ZONEN lt ZONEFP the motor position is within range when ZONEN lt motor position lt ZONEP e When ZONEN gt ZONEP the motor position is within range when the motor position ZONEN or the motor position lt ZONEP lt q EXAMPLE gt ZONEN 11000 _ 0 ZONEP 1000 e When the motor position is within range for two or more zones only the lowest ZONE ID will be effective Ifthe motor position is not within range of any zones signals Z0 to Z4 will all be inac tive e A ZONE ID will be disabled if ZONEN ZONEP 0 is set for that zone 5 55 5 Parameter Settings and Functions 5 9 1 Mode Switch Signal MODE 0 1 5 9 Homing Jog Speed Table Mode 5 9 1 Mode Switch Signal MODE 0 1 If the MODE 0 1 input signal is inactive the mode is set to Mode 1 homing jog speed table operation mode Parameter Pn803 sets the relationship between the signal s ON OFF status and its active inactive status Parameter Signal Pin No Settings Facto
51. Connects to the deceleration limit switch for homing Registration Latch This is a latch signal used for registration external positioning Power Supply for Sequence Signals Voltage range 11 V to 25 V These pins can be used to connect an absolute encoder s backup battery Connect to CN8 or pins 21 and 22 of CN1 When Mode 0 has been set this pin functions as Program Table Select 5 When Mode 0 has been set this pin functions as Program Table Select 6 oe S ON Servo ON P OT N OT DEC RGRT 24VIN BAT BAT SEL5 SEL6 CN1 Output Signals When ON power is supplied to the motor When OFF power is not supplied to the motor game ALM Servo Alarm ALM Turns OFF when an error is detected IWARN Error Warning MWARN ON for 2 seconds when an error has occurred ON continuously while a warning is being detected BK Brake interlock controls the brake IBK ON when the brake is released S RDY S RDY ALO1 Alarm Code Outputs 3 bit alarm codes ALO2 38 Open collector 30 V and 20 mA rating maximum ALO3 39 1 Forward Run prohibited Overtravel prohibited Stops servomotor when movable Reverse Run prohibited part travels beyond the allowable range of motion Servo Ready ON when the control and main circuit power supplies are ON and a Servo Alarm has not occurred Ge 2 a O O o Note The pin number in parentheses indicates the signal ground 3 6 3 1 I O Signal Connections E CN4 Inp
52. ENTER Key to return to the function number setting display M L C e e C p The motor will rotate forward at 60 min when the Up Key is pressed Press the DATA ENTER The motor will rotate in reverse at 60 min Key to return to the when the Down Key is pressed function number setting display 1 When the phase C is found the motor C will stop the display will flash e e 7 N gt ENTER Press the DATA ENTER Key to return to the function number setting display 7 23 7 Using the Digital Operator Related Errors The following table shows the main errors related to the Zero point Search operation ESAE Execution Disabled while Servo ON Error ESCE Execution Disabled while Main Power OFF Error ESEE Execution Disabled dur ing Program Operation Error 7 24 Zero point Search operation cannot be exe cuted while the Servo is ON Switch the Servo OFF and try again Zero point Search operation cannot be exe cuted if the main power supply is OFF Turn ON the main power supply and try again Zero point Search operation cannot be exe cuted while program operation is in progress or on hold interrupted Reset program operation and try again 7 7 Operations during Auxiliary Function Display m Fn005 Parameter Settings Initialization IMPORTANT IMPORTANT This function returns the parameters to their factory default settings The Servo must be
53. OFF when this function is executed KBs Press the DATA ENTER Key to display ENTER the Parameter Initialization display HHHHE P Init DSPL_ Press the DSPL SET Key to SET execute the function If the DATA ENTER Key is pressed before executing the display will return to the function number setting display 7 Wait until the display stops flashing Never turn OFF the control power z supply while the display is flashing F The display will return to the function 0 number setting display Turn the control power supply OFF and then ON again End For a function whose settings has been changed the control power supply must be turned OFF and then ON again to enable the new settings 7 25 7 Using the Digital Operator Related Errors The following table shows the main errors related to the initialize parameter settings opera tion ESAE The parameter settings initialization opera F C H F Execution Disabled while tion cannot be executed while the Servo is Servo ON Error ON Switch the Servo OFF and try again 7 26 7 7 Operations during Auxiliary Function Display E Fn006 Alarm Traceback Data Clear This function clears the record of alarms that have occurred Robb Press the DATA ENTER Key to display the Alarm Traceback Data Clear display HOBBE trCLr p DSPL_ Press the DSPL SET Key to SET execute the function If the DATA ENTER Key is press
54. Parameter Settings and Functions 5 1 Restrictions on SGDH SERVOPACK Parameters 5 4 5 2 Settings According to Device Characteristics 5 6 5 2 1 Switching Servomotor Rotation Direction 5 6 5 2 2 Setting the Overtravel Limit Function 5 7 5 2 3 Software Position Limit Settings and the Moving Method 5 10 5 2 4 Limiting Torques 5 11 5 3 Sequence I O Signals 5 12 5 3 5 12 5 3 1 Using the Servo ON OFF Input Signal S ON 5 15 5 3 2 Using Servo Alarm and Alarm Code Outputs ALM ALO1 to ALO3 5 15 5 3 3 Brake Interlock Output Signal BK 5 16 5 3 4 Using the Servo Ready Output Signal S RDY 5 19 5 3 5 Using the Error Warning Output Signal WARN 5 20 5 3 6 Using the Positioning Completed Output Signal INPOSITION 5 21 5 3 7 Using the Programmable Output Signals POUTO to POUT4 5 22 5 3 8 Encoder Signal Outputs 5 23 5 4 Setting Reference Units 5 26 5 4 2 22 ee eee ee ee ee ee eee e 5 26 5 4 1 Setting the Speed 5 29 5 4 2 Setting the Acceleration and Deceleration 5 30 5 5 Absolute Encoders
55. Pn203 B Number of encoder pulses x 4 x motor speed e A Reference units travel distance per load shaft revolution x load shaft revolution speed INFO After changing parameter Pn202 or Pn203 turn the power OFF and then ON again E Electronic Gear Setting Examples The following examples show electronic gear settings for different load mechanisms Ball Screws Reference unit 0 001 mm Load shaft CH H Travel distance per load shaft revolution a 6000 13 bit Ball screw pitch 6 mm 0 24 in i 7 _ B _ 2048 x4 x1 _ Pn202 Epona Electronic gear ratio A 6000 x1 Pn203 Preset Values Pn202 8 192 Pn203 6 000 5 28 5 4 Setting Reference Units Circular Tables Reference unit 0 1 Deceleration ratio 3 1 o Travel distance per load shaft revolution seg 3600 Load shaft 13 bit incremen Electronic gear ratio 8 2018 4 T os ae tal encoder Preset Values Pn202 24 576 Pn203 3 600 Belts and Pulleys Reference unit 0 02 mm 0 0008 in 3 14 100mm 45 799 Travel distance per load shaft revolution 0 02 mm Load shaft c B 16 3844 x 2_ Pn202 Electronic gear ratio A 15 700x1 Pn203 131 072 _ 32 768 Deceleration ratio 2 1 Pully diameter 6100 mm ee 15 700 3925 Set a PG dividing ratio equivalent to 16 bit for the absolute encoder Preset Values Pn202 32 768 5 4 1 Setting the Speed Calculate t
56. Pn808 SEL2 enea O a 3 Always Inactive Pn809 SEL3 CN4 15 Pn80A SEL4 CN4 17 Pn833 SEL5 CN4 41 Pn834 SEL6 CN4 45 INFO The wiring and parameter settings described in the table above are not necessary when pro 7 Pn806 SELO CN4 9 0 Photocoupler ON Active N gram table operations are performed with serial commands The following table shows which serial commands correspond to the various input signals Signal Corresponding Serial Command MODE 0 1 None Mode switching is not necessary START STOP Start START OOO command O00 000 to 127 SELO to SEL6 Stop STOP command Restart START command PGMRES PGMRES command 5 37 5 Parameter Settings and Functions 5 6 3 Program Table Step Selection 5 6 3 Program Table Step Selection Use the 7 bit selection signals SELO to SEL6 to specify PGMSTEP 0 to 127 PGMSTEP Selection Signal Status e de Ne ee e pe pe o p pee e pe p ae a ee ee asive naive E 10 11 12 eje e face aie aes facie awe E pee pe Ca e p e e e pee e eme aee aene aee Ce ee e e e e Ee e Le Se EE ae oa LS a a ae roles aa ae cae oat eel a ee ber es ee ee se ae cca eee Boe Wire le i Zo ee les il Pe Me e al fe ee ters ee ea ane cee ee fad 728 ave Rete Rave Rave aie Rane Note The symbols indicate an inactive input status and Activ
57. Registration Absolute Position 6 7 2 RSA nnnnnnnn RSI nnnnnnnn Positioning Start with Registration Relative Distance 6 7 2 RSPDnnnnnnnn Registration Speed Reservation 6 7 2 RSPDTsss Program Table RSPD Read 6 7 4 RSPDTsss Program Table RSPD Write 6 7 4 SKIP Positioning Stop or Jog Stop 6 7 2 SPDnnnnnnnn Positioning Speed Reservation 6 7 2 C 3 Appendix C List of Serial Commands Table C 1 Alphabetical List of Serial Commands cont d Reference 6 7 4 6 7 4 6 7 2 6 7 2 Serial Command Function SPDTsss SPDTsss Program Table SPD Read Program Table SPD Write Yn 4 Positioning Start ST nnnnnnnn Positioning Start Absolute Position STA nnnnnnnn START STARTsss STI nnnnnnnn Positioning Start Relative Position STIFF STIFFd STOP STS or MONG SVOFF SVON SVTYPE SVVER SVYSPEC TREF or MON5 TRMppp TRMS TUNESTORE TYPE VER YSPEC ZONEINIT ZONENTzz ZONENTzz ZONEPTzz ZONEPTzz ZONESTORE ZRN ZSET nnnnnnnn Coordinates Setting 6 7 5 6 7 5 6 7 2 6 7 8 6 7 8 6 7 5 6 7 8 6 7 1 6 7 1 6 7 8 6 7 8 6 7 8 6 7 8 6 7 3 6 7 8 6 7 8 6 7 8 6 7 8 6 7 8 6 7 6 6 7 6 6 7 6 6 7 6 6 7 6 6 7 6 6 7 2 6 7 2 Program Table Operation Restart Program Table Operation Start Rigidity Monitor Rigidity Reservation Program Table Operation Interruption Status Flag Monitor reference units Servo OFF Servo ON SGDH Type Code xx02H Display SGDH Firmware Versio
58. Remedy Panel Alarm Display Display 2 Reset A SERVOPACK alarm occurred The firmware processing time was too long The firmware and hardware are not compatible Incorrect or corrupted param eters are stored in EEPROM This alarm can occur if the control power supply is turned OFF while the param eters are being initialized or changed The firmware version is not compatible with the version of the parameters The moving method is set to a rotary method Pn81A 1 2 or 3 but the home position set in Pn81D exceeds the software position reference limits set in Pn81B and Pn81C 9 9 See 9 1 1 Alarm Display Table for details OO SERVOPACK alarm code The firmware is not recorded Repair the firmware properly Memory device verification Repair the memory device failed The Digital Operator is faulty Replace the Digital Operator e Upgrade the firmware ver sion e Reduce the number of func tions being used Replace the firmware or the hardware e Initialize the parameters with the PRMINIT com mand or Fn005 function If the problem is not solved correct the parameters Replace the firmware or parameters Correct the home position set ting Pn81D or the software position reference limits Pn81B and Pn81C See 9 1 1 Ineffective Pf A A A A A a EO EF EF EF EF EF 9 Troubleshooting 9 2 2 Alarm Display Table E17A E18A E19A
59. STOP in Mode 0 or HOME in Mode 1 E Visual Aids The following aids are used to indicate certain types of information for easier reference IMPORTANT ne important eee that on be memorized including precautions such as alarm displays to avoid damaging the devices A Indicates supplemental information INFOL lt EXAMPLE gt Indicates application examples TERMS Indicates definitions of difficult terms or terms that have not been previously explained in E this manual Related Manuals Refer to the following manuals as required Read this manual carefully to ensure the proper use of Z II Series Servodrives Also keep this manual in a safe place so that it can be referred to whenever necessary Describes the procedure used to select X II Series Servodrives and capacities D II Series SGMOH SGDH User s Manual Servo Selection and Data Sheets x II Series SGMOH SGDH User s Manual Design and Maintenance SIE S800 32 1 SIE S800 32 2 Provides detailed information on the installation wiring trial operation functions mainte nance and inspection of X II Series Servodrivers Product Overview The NS600 Indexer Application Module is a single axis positioning device that is equipped with a registration function and connects to the SGDH SERVOPACK through Dual port RAM The NS600 SERVOPACK combination enhances the SERVOPACK s functions and allows easy positioning between two points along with t
60. The display will return to the function number setting display 7 33 7 Using the Digital Operator Related Errors The following table shows the main errors related to the Automatic Offset adjustment of the Motor Current Detection Signal operation ESAE The offset adjustment cannot be executed Execution Disabled while while the Servo is ON Servo ON Error Switch the Servo OFF and try again ESCE The offset adjustment cannot be executed if Execution Disabled while the main power supply is OFF Main Power OFF Error Turn ON the main power supply and try again 7 34 IMPORTANT 7 7 Operations during Auxiliary Function Display E Fn00F Manual Offset adjustment of Motor Current Detection Signal This function manually adjusts the motor current s zero setting offset current The motor current detection offset is adjusted at Yaskawa before shipping Normally the user does not have to perform this adjustment Perform this adjustment only if you require even higher accuracy because the torque ripple caused by current offset is causing unaccept able errors and you want to reduce the torque ripple even more 1 Ifthis function is executed carelessly it may worsen the characteristics When the generated torque ripple is clearly high compared to other SERVOPACKs execute the automatic offset adjustment function function number Fn00E 2 When making manual adjustments run the motor at a speed of approxima
61. Y2 agaaa s Upper 3 digits Press the Left or Right Key Lower 5 digits to display the upper 3 digits or lower 5 digits Example 12 345 678 reference units 39ga lt gt 95696 Upper 3 digits Lower 5 digits Press the Left or Right Key to display the upper 3 digits or lower 5 digits Example 12 345 678 reference units Fagg lt gt 45690 nn Upper 3 digits Press the Left or Right Key Lower 5 digits to display the upper 3 digits or lower 5 digits 7 14 rogram or positioning interrupted Monitored Display Explanation Value Displays the flags that indicate status Indicates the current position of the position reference Indicates the current motor position Indicates the target position for positioning Indicates the distance from the positioning start position to the target position Indicates the registration target position that was determined when the registration signal latched Monitor Number Un809 Un80A Un80B Un80C Un80D Table 7 1 Monitor Displays cont d 7 6 Operation during Monitor Display Monitored Display Explanation Value Registration distance monitor reference units Example 12 345 678 reference units jaq Y2 _ g5698 Upper 3 digits Press the Left or Right Key Lower 5 digits to display the upper 3 digits or lower 5 digits Program step monitor 00429 Example 1 000 ms End Program event time progress monitor ms
62. ZONENOO1 1 ZONEP001 ZONENO01 M SNN venea epee 71N ZONE No ZONEP ZONEN 0 ONEPOOO ZONENOOO 1 IZONEPO01 ZONENO01 2 Press the Key to display the setting editing display Press the DATA ENTER Key again to return to the initial zone table display ORARE 000 3 Edit the setting with the gt A M Keys 4 Press the Key to enter the new setting and return to the zone table number display 7 57 7 Using the Digital Operator INFO N The Zone Table Save function Fn804 can be executed to save the new settings to flash memory Once saved to flash memory the data will be retained even if the control power supply goes OFF See page 7 43 for details ARAAA A ARE _1_N StorE m ZONEP Forward Positive Zone Setting ZONEN Reverse Negative Zone Setting These parameters define the zones in the zone table CREB amp AAS Press the DATA ENTER Key to display the Zone Setting Edit display Press the DATA ENTER Key again to return to the zone table number display Example 12 345 678 Upper 3 digits Lower 5 digits I7 I7 a g g ioe 24 g b H H cursor Use the Up and Down Keys to change the setting wile 7 58 7 10 Operation during Jog Speed Table Editing Display 7 10 Operation during Jog Speed Table Editing Display The jog speed table can be edited during the jog speed table editing diaplay The following diagram shows the code
63. are sent consecutively with out waiting for the responses Normally the reception buffer will not overflow if there is command response handshaking e When an overflow has occurred error code E47E will be returned and all of the data that has accumulated in the recep tion buffer will be discarded 9 13 Repair the hardware Repair the hardware Repair the hardware When program table operation is being used the cause of the alarm must be eliminated When jog speed table operation is being used the cause of the alarm must be eliminated Wait for a response to be received before sending the next command The reception buffer can contain up to 100 commands 9 Troubleshooting 9 2 3 Error Display Table E4BE Moving Disabled Error due to P OT E4CE Moving Disabled Error due to N OT E4DE Moving Disabled Error due to P LS Table 9 5 NS600 Error Displays cont d Error Error Name Details Remedy Panel Display Display 2 E48E Serial Communications Parity Error E49E Serial Communications Framing Error E4AE Serial Communications Overrun Error A parity check error occurred with the serial command e This error will occur if even parity is not being used e The command that caused this error will be discarded and no response will be returned e There will be no response but the WARN output and LED indicators will indicate that an error has occurred A stop bit detection error occurred
64. be used for operations such as editing parameters and monitoring 4 8 4 2 Step 1 Trial Operation for Servomotor without Load 9 Turn ON the servo with S ON or the SVON serial command SERVOPACK SERVOPACK Servomotor Serial command OR SVON Servomotor S ON OV Display when servo is ON If the system is setup correctly the servomotor will turn ON and the Digital Operator Turn ON S ON display shown above will appear If an alarm display appears take appropriate action as described in Chapter 9 Troubleshooting 4 9 4 Trial Operation 4 3 Step 2 Trial Operation with the Servomotor Connected to the Machine N WARNING e Follow the procedure below for step 2 trial operation precisely as given Malfunctions that occur after the servomotor is connected to the equipment may not only damage the equip ment but may also cause an accident resulting death or injury Before proceeding to step 2 repeat step 1 servomotor trial operation without a load until you are fully satisfied that all items including parameters and wiring have been tested completely After step 1 has been completed proceed to step 2 for trial operation with the servomotor con nected to the equipment The purpose of step 2 is to adjust the SERVOPACK according to equipment characteristics e Use autotuning to match the SERVOPACK to equipment characteristics e Match the direction of rotation and speed to equipment specifications
65. because the Encoder Mismatch Error encoder is not an absolute encoder A p The operation failed Try the operation again nO OP 7 30 7 7 Operations during Auxiliary Function Display m Fn00C Manual Zero adjustment of Analog Monitor Output This function adjusts the analog monitor s zero setting offset voltage gt FoGUe Press the DATA ENTER Key to display the channel selection display ARG HABBE Press DSPL SET CH1_o to select the channel CH2_o Press the Left or Right Key to display the lt OR gt the adjustment display Press the Key again Press the DATA ENTER to return to the channel selection display Key to return to the function number setting display change the setting Example 0 0 0 The current zero adjust setting will be displayed Press the Up and Down Keys to Press the DATA ENTER Key to confirm the new setting and return to the function number setting display 7 31 7 Using the Digital Operator m Fn00D Manual Gain adjustment of Analog Monitor Output This function adjusts the analog monitor s gain gt Follfd Press the DATA ENTER Key to display the channel selection display oe 0AO86 BHELE Reo DSPL SET CHG to select the channel CH2_G ra pata Press the Left or Right Key to display the DATA ENTER OR the adjustment display Press the Key again Press the DATAENTER to return to the channel selection display Key to return to
66. cal angle Indicates the ON OFF status of each signal The ON OFF logic is the ON OFF status of the input pthoto coupler Un005 SERVOPACK Example CN1 input signal monitor l HHHH o lt lt ON Not used Z S ON Always ON RGRT SEL5 P OT SEL6 Dec N OT Un006 SERVOPACK CN1 output signal monitor Indicates the ON OFF status of each signal The ON OFF logic is the ON OFF status of the output tran sistor Example IH A ALO3 ALO 4 OFF 4 ON ran WARN BK 2 ALO1 S RDY Indicates the reference speed of the position reference Example 3 000 min JOO Un007 Position refer ence speed min 7 Using the Digital Operator Un008 Un009 Un00A Un00B Un00C Position error reference units Torque load ratio monitor Regeneration load ratio moni tor 1 Dynamic brake load ratio moni tor 1 Position refer ence pulse counter reference units Table 7 1 Monitor Displays cont d Monitor Monitored Display Explanation Number Value Example 6 250 reference units 6250 Example 100 SHE O40E Example 30 0040 Example 10 0040 Example 01234567 reference units hexadecimal HOAe4 Upper 2 bytes mito H4569 Lower 2 bytes Nv Press the Up or Down Key to display the upper 2 bytes or lower 2 bytes The counter can be cleared by pressing the Up and Down Keys together HOBO Leo 7 12
67. e Table 1 1 Model Numbers Indexer I O Cables Serial Communi cations Cables Z S600 Q aqyaqyaqyayay aya N6 Cable for RS 422 or RS 485 connections 2 Q Q N7 Cable for RS 422 connection Q with 9 pin D SUB connector 2 0 m JUSP NS600 N4 I O Cable loose wires on other end 36 pins 1 0 m N4 I O Cable loose wires on other end 36 pins 2 0 m N4 I O Cable loose wires on other end 36 pins 3 0 m N4 I O Cable terminal block on other end 36 pins 0 5 m N1 I O Cable terminal block on other end 50 pins 1 0 m N1 I O Cable terminal block on other end 50 pins 2 0 m N1 I O Cable terminal block on other end 50 pins 3 0 m JZSP CKI01 3 N1 I O Cable terminal block on other end 50 pins 0 5 m JUSP TA50P Prepared by user N6 Cable for personal computer connection RS 232C Cable JZSP CMS02 ith 9 pin D SUB connector 2 0 m Prepared by user N7 Cable for personal computer connection RS 232C Cable JZSP CMS02 1 2 Product Part Names Table 1 1 Model Numbers cont d Component Model Number Digital Operator Cable 1 5 m JZSP CMS00 2 Digital Operator Cable 2 m JZSP CMS00 3 Support Software Sigma Indexer Japanese language version JZSP SGNS600J Sigma Indexer English language version JZSP SGNS600E Note Refer to the X I Series SGM OH SGDH User s Manual Servo Selection and Data Sheets Manual No SIE S800 32 1 for part numbers and additional information on servomotors
68. error code displayed on the Digital Operator when it is connected to CN7 This same code is also used in the response to the ERR command and error responses 2 The panel display may be OFF depending on communications between the NS600 and the SERVOPACK 9 2 4 Warning Display Table Refer to the following table to identify the cause of a problem and take the remedy described Warning Error Name Details Remedy Panel Display Display 2 SGDH SERVOPACK A SERVOPACK warning occurred See 9 1 2 Warning Display Table Warning for details The 90 is the SERVOPACK s warning code 1 This is the warning code displayed on the Digital Operator when it is connected to CN7 This same code is also used in the response to the ALM command 2 The panel display may be OFF depending on communications between the NS600 and the SERVOPACK 9 18 9 2 NS600 Troubleshooting 9 2 5 Normal Display Table The following table shows the NS600 s normal status displays Table 9 6 NS600 Normal Displays Digital Operator Name Description Panel Display Display T Forward Positive Over The P OT signal is the input signal for the forward hardware limit BB or travel P OT switch This display indicates that the P OT signal is OFF RUN When the P OT signal is being used move to a position where the P OT signal is ON When the P OT signal is not being used disable the signal by set ting Pn80C 3 T Reverse Negative Over
69. for the column of the jog speed table ay JOG speed ND JSPD 0 JSPD000 1 JSPD001 15 JSPD015 1 Use the Keys to move between rows I 05000 JOG speed No JSPD 0 1 JSPD001 Move vertically I7 d580H ZIN JOG speed peed JSPD 0 PD000 1 JSPDO01 2 Press the Key to display the setting editing display Press the DATA ENTER Key again to return to the initial jog speed table display Example 0 0 0 000 3 Edit the setting with the gt Av Keys 4 Press the Key to enter the new setting and return to the jog speed table number display 7 59 7 Using the Digital Operator INFON The Jog Speed Table Save function Fn805 can be executed to save the new settings to flash memory 7 Once saved to flash memory the data will be retained even if the control power supply goes OFF See page 7 44 for details RABOS S AEE StorE E JSPD Jog Speed Table This parameter sets the jog speed mm m Jog speed number Tl ea BH Press the DATA ENTER Key to display the Jog Speed Setting Edit display ENTER Press the DATA ENTER Key again to return to the jog speed table number display Example 12 345 678 Upper 3 digits Lower 5 digits I I7 aq lt gt Y56980 ZIN Moe JIN cursor Use the Up and Down Keys to change the setting 7 60 8 Dimensions This chapter provides a dimensional drawing of
70. is no position reference Check for NS600 errors Set the program table correctly or it is incorrect Servomotor Moves Servomotor or encoder wiring Refer to Chapter 3 Wiring in Instantaneously then incorrect the Series SGM H Stops SGDH User s Manual Design and Maintenance Manual Number SIE S800 32 2 and correct the wiring Servomotor Speed Wiring connection to motor Check connection of power Tighten any loose terminals or Unstable defective lead phases U V and W connectors and encoder connectors Servomotor Vibrates at Speed loop gain value too high Reduce speed loop gain Approximately 200 to 400 Pn100 preset value Hz 9 5 9 Troubleshooting 9 1 3 Troubleshooting Problems with No Alarm Display Table 9 3 Troubleshooting Table with No Alarm Display cont d High Rotation Speed Speed loop gain value too high Reduce speed loop gain Overshoot on Starting Pn100 preset value and Stopping Increase integration time con stant Pn101 Speed loop gain is too low Increase the value of parameter compared to position loop gain Pn100 speed loop gain Reduce the integration time constant Pn101 Servomotor Overheated Ambient temperature too high Measure servomotor ambient Reduce ambient temperature to temperature 40 C max Servomotor surface dirty Visual check Clean dust and oil from motor surface Overloaded Run under no load Reduce load or replace with larger capacity servomotor
71. move reference requested even though the system was already mov ing in a positioning operation or other trav elling operation 9 15 e Check the target position spec A 9F ification e Check the reverse limit in Pn81C e Check the moving method rotary or linear set in Pn81A If software position limits are not being used either select a rotary moving method in Pn81A or disable the limits by setting Pn81B Pn81C 0 e Check the target position spec ification e Check the positioning range set with Pn81B and Pn81C e Check the moving method rotary or linear set in Pn81A Specify a target position with a command such as the POS com mand STnnnnnnnn command or RSnnnnnnnn command Specify a registration distance with the RDST command e Send the next move reference request only after the current movement operation is com pleted Position reference dis tribution is completed e A movement operation can be interrupted or cancelled with the HOLD or SKIP serial commands Also STOP can be specified in the target position reserva tion POS with the program table 9 Troubleshooting 9 2 3 Error Display Table E54E E55E E56E E57E E58E Servo ON Incomplete Error Servo ON Failure Error Undefined Serial Com mand Error Address Out of range Error Data Out of range Error Table 9 5 NS600 Error Displays cont d Error Error Name Details Remedy Panel Display Display 2
72. o pee e SA e po e pe e e Or pe e ee ee e S e fom fpe e e e E E E O o f pe e p e E O eo pee e e e Oe om e pe i e oem fee ee ae Note 1 The symbols indicate inactive signal status 2 JSPD Jog speed number JOGO to JOG3 Selection signals Jog speed Speed setting Setting range 1 to 99 999 999 x1 000 Reference units min Factory setting 1 000 5 60 5 11 Jog Speed Table Operation 5 11 3 Input Conditions for Homing and Jog Speed Table Operation The following table shows the functions of the signals related to homing and jog speed table operation HOME JOGP JOGN Start or restart H p homin p Inactive Inactive 8 Inactive S Jog forward Inactive Inactive Inactive n i Jog reverse Inactive Inactive Hn Inactive Stop Inactive Inactive Inactive Stop Inactive Active Active Stop l Inactive Active i Stop Inactive Active Active 5 61 5 Parameter Settings and Functions 5 11 4 Input Signal Timing Specifications for Homing and Jog Speed Table 5 11 4 Input Signal Timing Specifications for Homing and Jog Speed Table The following figures show the timing specifications of input signals for homing and jog speed table operation MODEO 1 HOME 4 ms min 0 ms min MODEO 1 JOGP 4 ms min 0 ms min MODEO 1 JOGN 4 ms min 0 ms
73. of alarm display H Eli STATUS Indicator Lit red Turn ON SERVOPACK power If the SERVOPACK has turned ON normally the Digi tal Operator s display will appear as shown above Power is not supplied to the servo motor because the servo is OFF If an alarm display appears on the LED indicator as shown above the power supply cir cuit servomotor wiring or encoder wiring is incorrect In this case turn OFF power and take appropriate action See Chapter 9 Troubleshooting 4 4 4 2 Step 1 Trial Operation for Servomotor without Load INFON If an absolute encoder is used it must be set up Refer to 5 5 4 Absolute Encoder Setup Initialization 4 Operate with Digital Operator Operate the servomotor using the Digital Operator Check to see if the servomotor runs normally Use the following procedure to operate the servomotor with the Digital Operator Refer to Chapter 7 Using the Digital Operator for details on using the Digital Operator a Press the DSPL SET Key to select Fn002 in the auxiliary function mode FAI LIL b Press the DATA ENTER Key to select the Digital Operator operation mode Opera tion is now possible using the Digital Operator mi aah c Press the SVON Key to set to servo ON state with motor power turned ON rn ERTEN d Press the Up Cursor Key or Down Cursor Key to operate the motor The motor keeps C operating wh
74. only for the moment that the error occurred but the display and signal output will remain for 2 seconds The servo will not be turned OFF when an error occurs STS Status Indicator The Red LED flashes for just 2 seconds Digital Operator connected to CN7 The error code is displayed for just 2 seconds Response to the Alarm or Warning Read command No change ALM Response to the Most Recent Error Read command Error code the most recent error code ERR Panel Displays A 9F for just 2 seconds In some cases nothing is dis played ALM signal No change WARN signal Active for just 2 seconds 9 7 9 Troubleshooting 9 2 1 Status Displays Displays when a Warning Occurred Minor errors that occur unexpectedly are known as warnings The servo will not be turned OFF when a warning occurs STS Status Indicator The Red LED flashes continuously Digital Operator connected to CN7 In Status Display Mode the warning code is displayed continu ously In other Modes the warning code is displayed for just 2 sec onds Response to the Alarm or Warning Read command Warning code ALM Response to the Most Recent Error Read command No change ERR Panel Displays the SERVOPACK warning code In some cases nothing is displayed ALM signal No change Normal Displays The displays and signals are normal when no alarms errors or warnings have occurred Display or Signal Content STS Status Indicator Green LED
75. output brake Hold with brake l Pn508 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 BK 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 even if Pn507 is set higher than the maximum speed 5 3 4 Using the Servo Ready Output Signal S RDY The basic use and wiring procedures for the Servo Ready S RDY output signal photocou pler output signal are described below Servo Ready signal means there are no servo alarms and the main circuit power supply is ON so the servo can be turned ON Power supply SERVOPACK 24V OV CN1 29 laa VSG T ov1 s0 16 R0v ae Photocoupler output per output Maximum operating voltage 30 V DC Maximum output current 50 mA DC oTo eee woah AONT N Servo Ready Output Signal 5 19 5 Parameter Settings and Functions 5 3 5 Using the Error Warning Output Signal WARN This signal indicates the SERVOPACK received the Servo ON signal and completed all preparations The S RDY signal setting can be changed with parameter Pn818 Parame Signal Pin No Setting
76. return to the parameter number display 1 A function that automatically keeps the displayed value within the allowed setting range has been added for parameters with numbers Pn800 and higher This function does not operate for parame ters with numbers lower than Pn800 If you attempt to change to a value outside of the allowed range the value will not change so keep the new values within range 2 Some parameters can be changed during operation online parameters and others cannot offline parameters When an offline parameter s setting has been changed the control power supply must be turned OFF and then ON again to enable the new setting 7 8 E Displaying Parameters 7 5 Operation during Parameter Editing Display This section explains how to display parameters The following table shows the 4 data for mats used for parameter settings Data Format Display Method 5 digit Decimal Example 12 345 4 digit Hexadecimal nied 8 digit Decimal Example 12 345 678 I7 aja JIN Upper 3 digits 8 digit Signed Decimal Example 12 345 678 Ba i 4 Upper 3 digits 1N 7 9 Example 1 234 Hexadecimal N17 this display is used for parameters that are set digit by digit For example the expression Pn000 0 indicates the TIN lowest digit setting of PnOOO 45698 Press the Left or Right Key to display the upper 3 digits e Lower 5 digits or lower 5 digits
77. setup process ing is finished turn the power back ON again 5 33 5 Parameter Settings and Functions 5 5 5 Multiturn Limit Setting 5 5 5 Multiturn Limit Setting N INFO op INFOQ nrofy When implementing absolute detection system 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 multiturn data from the encoder to 0 every m turns The Multiturn Limit Setting allows the value m 1 to be set for the encoder 6699 Set the value m 1 in the encoder if the motor turns m times The multiturn limit is set in the SERVOPACK using the following parameter Multiturn Limit Setting Setting Factory Range Setting 0 to 65 535 65 535 If the Multiturn Limit Setting is set to 65 535 factory setting the multiturn data will vary from 32 768 to 32 767 If any other value is set the multiturn data will vary from 0 to the setting of Pn205 e Variation of multiturn data when the multiturn limit value is 65 535 factory setting 32767_ Positive i direction Multiturn data 32768 No of rotations gt Variation of multiturn data when the multiturn limit value is other than 65 535 fac tory setting Positive Negative direction direction Pn205 _ il set value Multiturn data No of rotations gt If the servomotor rotates in the negative direction from 0 the multiturn data will cha
78. the function number setting display Example 0 A 0 ir The current gain setting will be displayed Press the Up and Down Keys to change the setting Press the DATA ENTER Key to confirm the new setting and return to the function number setting display 7 32 IMPORTANT 7 7 Operations during Auxiliary Function Display m Fn00E Automatic Offset adjustment of Motor Current Detection Signal This function automatically adjusts the motor current s zero setting offset current The motor current detection offset is adjusted at Yaskawa before shipping Normally the user does not have to perform this adjustment Perform this adjustment only if you require even higher accuracy because the torque ripple caused by current offset is causing unaccept able errors and you want to reduce the torque ripple even more If this function is executed carelessly it may worsen the characteristics Execute this function only when the generated torque ripple is clearly high compared to other SERVOPACKs Fo Ge Press the DATA ENTER Key to display the Automatic Motor Current Offset Adjustment display Eucco Cur_o DSPL_ Press the DSPL SET Key to SET execute the function If the DATA ENTER Key is pressed before executing the display will return to the function number setting display S Wait until the display stops flashing Never turn OFF the control power 7 supply while the display is flashing
79. the NS600 8 1 NS600 Dimensions 8 2 8 1 8 Dimensions 8 1 NS600 Dimensions The following diagram shows the external dimensions of the NS600 Unit mm in z o nNDOLS 142 5 59 YASKAWA A World of Automation Solutions gt gt AZO te e 24 1 128 5 04 0 94 0 039 9 Troubleshooting This chapter describes the troubleshooting procedures for problems which cause an alarm display problems that do not cause an alarm display and related functions 9 1 Servodrive Troubleshooting 9 2 9 1 1 Alarm Display Table 9 2 9 1 2 Warning Display Table 9 4 9 1 3 Troubleshooting Problems with No Alarm Display 9 5 9 2 NS600 Troubleshooting 9 7 9 2 1 Status Displays 9 7 9 2 2 Alarm Display Table
80. the last STARTsss command i e START will repeat the last STARTsss command Program Table Operation Interruption Interrupts a program table operation When a positioning operation is in progress the remainder of the operation remaining distance is put on hold Program Table Operation Reset When program table operation has been interrupted by the STOP command or other method the PGMRES command can be executed to cancel that operation reset program table operation 6 30 6 7 Serial Commands 6 7 6 Zone Table Setup Commands The following table shows the Zone Table Setup Commands Table 6 6 Zone Table Setup Commands OK ZONESTORE Zone Table Save Saves the zone table in flash memory Once ZONESTORE is executed the zone table will be retained after the control power supply is turned OFF or the RES command is executed Since the zone table is stored in flash memory this command must not be exe cuted frequently ZONEINIT Zone Table Initialization OK Resets all values in the zone table to their factory default settings ZONEPTzz Zone Table ZONEP Read ZONEPT 123 12345678 CR LF Reads the ZONEP setting positive side zone boundary position zz Zone number ZONE ID ZONEPTzz nnnnnnnn Zone Table ZONEP Write Sets the ZONEP setting positive side zone boundary position zz Zone number ZONE ID Settings 99 999 999 lt nnnnnnnn lt 99 999 999 ZONENTzz Zone Table ZONEN Read ZONENT 123
81. to connector CN7 Table B 2 Usable Auxiliary Functions Function Serial Command Alarm traceback data display ALMO to ALM9 Rigidity setting during online autotuning STIFF STIFFd JOG mode operation Zz Zero point search C Parameter settings initialization Alarm traceback data clear Writing to EEPROM inertia ratio data obtained from online autotuning Absolute encoder reset Manual zero adjustment of analog monitor output C Manual gain adjustment of analog monitor output C Automatic offset adjustment of motor current detection signal CURZERO Manual offset adjustment of motor current detection signal Write protection setting Motor models display MTTYPE MTSIZE PGTYPE SVYSPEC SERVOPACK software version display SVVER PGVER Multiturn limit value setting change when a Multiturn Limit Disagree MLTLIMSET ment Alarm A CC occurs Not used NS600 software version display NS600 model code 0600 Hex display NS600 Y spec number display Program table save Zone table save B 4 Appendix C List of Serial Commands This appendix provides a list of the serial commands in alphabetical order C 1 Alphabetical List of Serial Commands C 2 C 1 Appendix C List of Serial Commands C 1 Alphabetical List of Serial Commands The following table lists the usable serial commands in alphabetical order For more details on the serial commands see 6 7 Serial Commands Table C 1 Alpha
82. used to check wiring Photocoupler OFF Photocoupler ON INPOSITION POUTO POUT1 POUT2 POUT3 POUT4 Always 0 Always 0 OUT2TESTEND Clears the forced signal status Note Error E56E will occur if fewer than 6 digits bbbbbb are specified in the command POUT POUT Monitor POUT SP ANANZ CR LF Bit 0 POUTO Bit 1 POUTI Bit 2 POUT2 Bit 3 POUT3 Bit 4 POUT4 PGMSTEP Program PGMSTEP Pass Through Monitor PGMSTEP 12345 CR LF EVTIME Program EVENT Elapsed Time Monitor EVTIME 12345 CR LF Monitors time elapsed ms for an event in program table operation LOOP Program LOOP Pass Through Monitor LOOP 12345 CR LF Monitor Read See following description of the responses for isn lt ll STS to RDST See following description of STS to RDST 6 35 6 Serial Command Communications 6 7 8 Monitor and Auxiliary Function Commands Table 6 8 Monitor and Auxiliary Function Commands cont d STS or MON6 Status Flag Monitor STS 1010101 CR LF Bit 0 ON 1 when the INPOSITION posi tioning completed signal is active Bit 1 ON 1 when the NEAR positioning near signal is active Bit 2 ON 1 when the DEN positioning ref erence distribution signal is active Bit 3 ON 1 when positioning or program operation is interrupted on hold Bit 4 ON 1 during program operation Bit 5 ON 1 when the current torque is being limited Bit 6 ON 1 when
83. 0 After stopping Overtravel Stop Mode 0 Froid wit dynamic brake Pn001 0 0 or 1 ae by r 4 namic brake Pn819 0 Coast status 2 ag toa Coast status Pn819 1 Emergency stop Servo lock Pn819 2 Decelerate to a stop Servo lock ter Overtravel Stop Stops the servomotor the same way as turning Mode the servo OFF according to Pn001 0 Stop the servomotor by emergency stop and locks the servomotor Decelerates the servomotor to a stop and locks the servomotor Deceleration setting in parameter Pn820 5 8 5 2 Settings According to Device Characteristics Set the deceleration rate with the deceleration time setting in Pn820 Pn820 Decelera Unit Setting Factory Enabled tion x1 000 Reference Range Setting when Pn819 units min ms 1 to 1 000 2 99 999 999 Stop Mode Forward run prohibit input P OT CN1 42 Stop by dynamic brake __ Coast to a stop Reverse run prohibit input Emergency sto N OT CN1 43 geney Stop Decelerate to a stop E Servo OFF Stop Mode Selection The SGDH SERVOPACK turns OFF under the following conditions Servo ON input signal S ON is turned OFF or a Servo OFF command SVOFF is sent e Servo alarm occurs e The main power is turned OFF Specify the Stop Mode if any of these occurs during operation Pn
84. 00 baud Start stop synchronization Start bits 1 bit Data bits 7 bits ASCH Parity 1 bit even parity Stop bits 1 bit 3 10 3 2 Serial Command Communications Connector CN6 3 2 2 Communications Connector E Pin Layout E Connector Model NS600 side Applicable Receptacles Connector Solder Type Case Manufacturer 10214 52A2JL 10114 3000VE 10314 52A 0 008 Sumitomo 3M Co 14 p 3 2 3 Connector Signal Names Signal Name Signal Circuit Name Signal Direction No sono ientaomaowy SSCS Ce mx Reseda veresy SiS 7 RT If RT and RXD are connected shorted the built in terminator 120 Q will be connected between RXD and RXD a o Transnicdanwrinered Posnalconpuer SERVOPACK Ce po nsnicdaa Gerad Poa compu SERVOPACK Ca pea eea oo C ea ee SSCs Ce kea eee o KECHEE O 3 Connector Wiring 3 2 4 Connection Examples 3 2 4 Connection Examples m Full duplex Wiring RS 422 or RS 485 port go NS600 I 1 RXD o I o 1 TXD Twisted pair wire t l RXD o i o 2 TXD o 8 TXD i o 9 TXD l TXD O a o 3 RXD TXD O gt Y YNNYIAN A 5t __ __ 0 4 RXD mo 10 RXD l I l m m 6 RXD i 1 07 RT I l l Wa i r o14 GND Shield wire P NE Case FG e O O L j lT Tonextaxis yvovwyvy Pin 1 2 3 4 14 Note 1 Cable length 50 m max 2 Connect short the RT and RXD pins in the last axis Fig 3 3 Full duplex Wiring 3
85. 001 0 Servo OFF or Alarm Stop Factory Setting Mode 0 After stopping Stop Mode 0 Hold with The dynamic brake electrically applies dynamic brake brake by using a resistor to consume servomotor rotation energy Pn001 0 0 or 1 Stop by dynamic brake Coast status Pn001 0 2 gt __ ___ Coast to a stop Coast status Parameter Setting Description Pn001 0 0 Uses the dynamic brake to stop the servomotor and maintains dynamic Factory brake status after stopping sie Uses the dynamic brake to stop the servomotor and cancels dynamic brake status after stopping to go into coast status Coasts the servomotor to a stop The servomotor is turned OFF and stops due to equipment friction Note If the servomotor is stopped or rotating at extremely low speed when the items above are set at 0 dynamic brake status after stopping with the dynamic brake then braking power is not generated and the ser vomotor will stop the same as in coast status 5 9 5 Parameter Settings and Functions 5 2 3 Software Position Limit Settings and the Moving Method 5 2 3 Software Position Limit Settings and the Moving Method Set the following parameters to limit the software position Pn81A Moving Method 0 Linear 1 Rotary Shortest path 2 Rotary Forward 3 Rotary Reverse Pn81B Position Reference Reference 99 999 999 to 99 999 999 Forward Limit Units 99 999 9
86. 008 Position error 7 12 Un009 Torque load ratio monitor 7 12 UnOOA Regeneration load ratio monitor 7 12 Un0OB Dynamic brake load ratio monitor 7 12 UnO0C Position reference pulse counter 7 12 UnOOD Encoder pulse counter 7 13 Un800 Last error 7 13 Un801 NS600 CN4 input signal monitor 7 13 Un802 NS600 CN4 output signal monitor 7 13 Un803 Status flag monitor 7 14 Un804 Current position reference monitor 7 14 Un805 Current motor position monitor 7 14 Un806 Target position monitor 7 14 Un807 Target distance monitor 7 14 Un808 Registration target position monitor 7 14 Un809 Registration distance monitor 7 15 Un80A Program step monitor 7 15 Un80B Program event time progress monitor 7 15 Un80C Program loop progress monitor 7 15 Un80D Serial command received character trace 7 15 Un80E Serial command received c
87. 100 VAC 00 SGMAH 01 200 VAC 01 SGMPH 02 400 VAC 02 SGMSH 03 SGMG 06 SGMUH MTSIZE Motor Capacity Display 10 W MTSIZE 12345678 CR LF PGTYPE Encoder Model Code Display PGTYPE 00001234 CR LF Displayed in hexadecimal 000D 13 bit incremental encoder 0011 17 bit incremental encoder 0100 16 bit absolute encoder 0111 17 bit absolute encoder PGVER Encoder Firmware Version Display PGVER 00001234 CR LF Displayed in hexadecimal STIFF aa Monitor STIFF 12345 CR LF pure fae 1 lt d lt 10 ABSPGRES____ AvouemnenteRew ORCS MCTUNSET Nation tin Soung i OK SSCSCSCS S ES a e ORESTORE Aung nse fo 6 37 7 Using the Digital Operator This chapter explains how to connect the Digital Operator to the NS600 and how to use the Digital Operator s various functions All constant settings and motor operations can be performed by simple convenient operations Operate the Digital Operator as you read through this chapter 7 1 Connecting the Digital Operator 7 3 7 2 Digital Operator Functions 7 4 7 3 Status Display 7 5 7 4 Switching between Basic Displays 7 6 7 5 Operation during Parameter Editing Display 7 8 7 6 Operation during Monitor Display 7 10 Un000 Actual motor speed 7 11 Un002 Int
88. 12 3 2 Serial Command Communications Connector CN6 m Half duplex Wiring RS 485 port n 7 a NS600 i TXD t o 3 RXD Twisted pair wire TXD o O 4 RXD m 10 RXD m n 6 RXD T O7 RT OV o o 5 GND Shield wire F r o 14 GND N FG o e Case FG EN Vv yY y To next axis Pin 3 4 14 Note Connect short the RT and RXD pins in the last axis Fig 3 4 Half duplex Wiring m RS 232C Wiring RS 232C port NS600 RXD o 2 2 TXD TXD o Oo 4 RXD l OVo i 014 GND l CTS o il l CD o Shield wire FG o 9 7 Case FG DTR o DSR o _ Note Cable length 3 m max Fig 3 5 RS 232C Wiring 3 13 3 Connector Wiring 3 2 5 RS 422 RS 485 Interface 3 2 5 RS 422 RS 485 Interface The maximum total length for RS 422 or RS 485 cable is 50 m Use the minimum length of cable that is needed The NS600 s communications circuits are not isolated If communications errors occur because of noise use noise suppression methods such as shielded cable or ferrite cores When using full duplex wiring connect a terminator in the host controller s reception circuit and the reception circuit of the last NS600 in the line The NS600 has a built in terminator 120 Q that is connected between the RXD and RXD pins when the RT and RXD pins are shorted When using half duplex wiring connect a terminator at both ends of the communicati
89. 201 35 4 Youido dong Yeongdungpo Ku Seoul 150 010 Korea Phone 82 2 784 7844 Fax 82 2 784 8495 Y ASKAWA ELECTRIC SINGAPORE PTE LTD 151 Lorong Chuan 04 01 New Tech Park Singapore 556741 Singapore hone 65 6282 3003 Fax 65 6289 3003 PI YASKAWA ELECTRIC SHANGHAI CO LTD 4F No 18 Aona Road Waigaoqiao Free Trade Zone Pudong New Area Shanghai 200131 China hone 86 21 5866 3470 Fax 86 21 5866 3869 PI YATEC ENGINEERING CORPORATION 4F No 49 Wu Kong 6 Rd Wu Ku Industrial Park Taipei Taiwan hone 886 2 2298 3676 Fax 886 2 2298 3677 PI YASKAWA ELECTRIC HK COMPANY LIMITED Rm 2909 10 Hong Kong Plaza 186 191 Connaught Road West Hong Kong hone 852 2803 2385 Fax 852 2547 5773 PI BEIJING OFFICE Room No 301 Office Building of Beijing International Club 21 Jianguomenwai Avenue Beijing 100020 China hone 86 10 6532 1850 Fax 86 10 6532 1851 PI TAIPEI OFFICE 9F 16 Nanking E Rd Sec 3 Taipei Taiwan hone 886 2 2502 5003 Fax 886 2 2505 1280 PI SHANGHAI YASKAWA TONGuJI M amp E CO LTD 27 Hui He Road Shanghai China 200437 hone 86 21 6553 6060 Fax 86 21 5588 1190 PI BEIJING YASKAWA BEIKE AUTOMATION ENGINEERING CO LTD 30 Xue Yuan Road Haidian Beijing P R China Post Code 100083 hone 86 10 6233 2782 Fax 86 10 6232 1536 PI SHOUGANG MOTOMAN ROBOT CO LTD 7 Yongchang North Street Beijing Economic Technological Investment amp Development Area Beijing 100076 P R China Phone 86 10
90. 3 T12345 SP SP SP SP CR LF Reads the EVENT value end judgement EVENTT123 IT12345 SP SP SP sss Program step PGMSTEP CR LF EVENTT123 NT12345 SP SP SP CR LF EVENTT123 DT12345 SP SP SP CR LF EVENTT123 SELIT12345 CR LF EVENTT123 SP SP SP SP SP SP SP SP SP CR LF EVENTTsss nnnnnnnn Program Table EVENT Write Sets the EVENT value end judgement sss Program step PGMSTEP Settings I INPOSITION positioning completed active N NEAR positioning near active D DEN positioning reference distribution active SELx SEL input signal active x 0 to 4 Tnnnnn Time elapsed ms since the program step started 0 lt nnnnn lt 99 999 ITnnnnn Time elapsed ms after the INPOSITION signal became active 0 lt nnnnn lt 99 999 NTnnnnn Time elapsed ms after the NEAR signal became active 0 lt nnnnn lt 99 999 DTnnnnn Time elapsed ms after the DEN signal became active 0 lt nnnnn lt 99 999 SELxnnnnn Time elapsed ms after the SEL input signal became active x 0 to 6 0 lt nnnnn lt 99 999 Continue the specification used in the program step that was executed last 6 28 6 7 Serial Commands Table 6 4 Program Table Setup Commands cont d LOOPTsss Program Table LOOP Read LOOPT123 12345 CR LF Reads the LOOP setting number of repetitions sss Program step PGMSTEP LOOPTsss nnnnn Progra
91. 6 Servo OFF 5 9 6 9 9 19 Servo ON 6 9 9 19 Servo ON OFF input signal S ON 5 15 Servo ready output signal 5 19 Sigma Indexer 1 5 software limit 5 10 5 39 6 19 9 19 SPD 5 39 speed setting 5 29 start bits 6 2 6 7 status status display 9 7 status indicators 9 7 9 8 9 20 stop bits 6 2 6 7 storage conditions 2 2 OTStsecs sc senha Ge see re Sob eee ble 9 7 9 8 9 20 STS status indicators 1 4 9 20 Support Software 1 5 T terminator 3 11 3 16 torque limit 5 11 trial operation 4 1 step 1 servomotor without load 4 3 step 2 servomotor connected to the machine 4 10 troubleshooting 9 7 warnings warning display 9 8 warning display table 9 4 9 18 warning output signal
92. 6788 0551 Fax 86 10 6788 2878 YASKAWA ELECTRIC CORPORATION YASKAWA In the event that the end user of this product is to be the military and said product is to be employed in any weapons systems or the manufacture thereof the export will fall under the relevant regulations as stipulated in the Foreign Exchange and Foreign Trade Regulations Therefore be sure to follow all procedures and submit all relevant MANUAL NO SIE C718 9 documentation according to any and all rules regulations and laws that may apply P 9 Z 9 WARY Printed in Japan January 2003 02 1 lt gt 02 11 00 71066 Specifications are subject to change without notice for ongoing product modifications and improvements 2002 2003 YASKAWA ELECTRIC CORPORATION All rights reserved
93. 9 999 999 1 000 ence units min ms Pn821 INPOSITION Width 2 Reference 1 to 99 999 1 units Pn822 Near Width 2 Reference 1 to 99 999 1 units Moving Method A 4 A 1 NS600 Parameters Table A 1 NS600 Parameters cont d Parameter Name Unit Setting Range Factory Setting Homing Method 0 No Homing 1 DEC and phase C 2 DEC only 3 Phase C only Pn824 Homing Direction 0 Forward 1 Reverse Pn825 Homing Moving x1 000 refer 1 to 99 999 999 1 000 Speed ence units min Pn826 Homing Approach x1 000 refer 1 to 99 999 999 1 000 Speed ence units min Pn827 Homing Creep Speed x1 000 refer 1 to 99 999 999 1 000 ence units min Pn828 Homing Final Move Dis Reference 99 999 999 to 99 999 999 tance units 1 These are off line parameters Turn OFF the power after changing these parameters The new settings will become effective the next time that the power is turned ON or the RES serial command is executed 2 These are on line parameters The new settings become effective immediately A 5 Appendix A List of Parameters A 2 SERVOPACK Parameters The following table shows the SERVOPACK s parameters Table A 2 SERVOPACK Parameters Function Pn000 Function Selection Basic Switches 3 Selection r Pn001 Function Selection Application Switches 1 3 Constants Fixed parameters Do not change Pn005 Pn108 Bias Width Addition Pn109 Feed forward Gain Related C
94. 99 Pn81C Position Reference Reference 99 999 999 to 99 999 999 Reverse Limit Units 99 999 999 Setting the Moving Method e Pn81A 0 Linear An error will occur if the positioning target position exceeds the software limit If the motor reaches the software limit during operation with Jog commands or the Jog speed table the motor will be decelerated and stopped at the deceleration rate specified in Pn820 e Pn81A 1 Rotary Shortest Path When the positioning target position has been specified as an absolute position the motor will rotate in the shortest path direction The settings in Pn81B and Pn81C spec ify the start limit and end limit of the rotational coordinates e Pn81A 2 Rotary Forward When the positioning target position has been specified as an absolute position the motor will always rotate in the forward direction The settings in Pn81B and Pn81C specify the start limit and end limit of the rotational coordinates e Pn81A 3 Rotary Reverse When the positioning target position has been specified as an absolute position the motor will always rotate in the reverse direction The settings in Pn81B and Pn81C specify the start limit and end limit of the rotational coordinates 5 10 5 2 Settings According to Device Characteristics 5 2 4 Limiting Torques The SGDH SERVOPACK can limit the maximum output torque to protect the equipment or workpiece Maximum torque is limited to the values set
95. A 51 otational speed of the motor is excessively high A Overload High Load The motor was operating for several seconds to several tens of seconds under a torque largely exceeding ratings A 72 Overload Low Load The motor was operating continuously under a torque largely exceeding ratings Dynamic Brake Overload When the dynamic brake was applied rota tional energy exceeded the capacity of dynamic brake resistor Overload of Surge Current The main circuit power was frequently Limit Resistor turned ON and OFF Heat Sink Overheated The heat sink of SERVOPACK overheated A 0 05 A 10 30 32 71 A A A 74 TA A 9 2 9 1 Servodrive Troubleshooting Table 9 1 Alarm Displays and Outputs cont d Alarm Alarm Name Meaning ALM Output Alarm Code Outputs Displa isp ay ALO1 ALO2 ALO3 Encoder Backup Error All the power supplies for the absolute OFF OFF OFF encoder have failed and position data was cleared A 82 Encoder Checksum Error 2 The checksum results of encoder memory is abnormal Absolute Encoder Battery Battery voltage for the absolute encoder has Error dropped A84 84 A84 Encoder Data Error Data Error Encoder Data Error Datai in Data in the encoder is abnormal encoder is abnormal A 85 Encoder Overspeed The encoder was rotating at a a speed when OFF the power was turned ON A 86 Encoder Overheated The internal temperature of encoder is too high A b1 Re
96. CN4 terminals WARN Servo warning output BK Brake interlock output S RDY Servo ready out put ALM Servo alarm out put PAO PG divided out put phase A PBO PG divided out put phase B ALO2 Alarm code out put S ON Servo ON input P OT Forward over travel input DEC Zero point return deceleration LS input RGRT Registration latch Phase S output mE CN1 Terminal Layout 27 BK Brake inter lock output 3 29 S RDY Servo ready N oo output Ww Alarm output s U U N output phase A U A 35 PG divided output Ww nN phase B 37 ALOI Alarm code outputs ALO3 41 SEL5 Program table select signal 5 3 PCO PG divided output 1 ALM 33 ul PG divided 4 Reverse over travel input phase C 45 SEL6 Program table select signal 6 BAT Battery 47 24VIN Power supply for sequence da nN PCO output phase C BAT Battery 25 WARN Error Warn ing output Note 1 Do not use unused terminals for relays amp oo A w N A N oo rom 49 Phase S out put nN 2 Connect the shield of the I O signal cable to the connector shell Connect to the FG frame ground at the SERVOPACK end connector 3 4 3 1 I O Signal Connections E CN1 Specifications Specifications for Applicable Receptacles SERVOPACK Solder Type Case Manufacturer Co
97. Continuously Lit Red LED Continuously OFF Digital Operator connected to CN7 In Status Display Mode the display shows the status such as POT BB or RUN Response to the Alarm or Warning Read command Returns BB COIN HOLD P OT etc ALM Response to the Most Recent Error Read command Error code the most recent error code ERR Displays BB or RUN In some cases nothing is displayed ALM signal Inactive photocoupler ON 9 8 9 2 2 Alarm Display Table CPFOO E12A E13A E14A E15A E16A 9 2 NS600 Troubleshooting Refer to the following table to identify the cause of a problem and take the remedy described Contact your Yaskawa representative if the problem cannot be solved by the described pro cedures SGDH Alarm Activation Alarm System Alarm Detected only when con trol power supply is turned ON or the RES command is executed Firmware Execution Alarm Firmware Version Unmatched Detected only when con trol power supply is turned ON or the RES command is executed Parameter Checksum Alarm Detected only when con trol power supply is turned ON or the RES command is executed Parameter Version Unmatched Detected only when con trol power supply is turned ON or the RES command is executed Parameter Out of range Alarm Detected only when con trol power supply is turned ON or the RES command is executed Table 9 4 NS600 Alarm Displays Alarm Alarm Name Details
98. Homing Method Homing Direction Pn823 0 No homing Homing ends when the control power supply is turned ON or the RES command is executed Pn823 1 Pn824 0 Forward Use the DEC signal and Pn824 1 Reverse Moving speed gt Pn825 Approach Creep the encoder s phase C speed speed Pn826 _ Pn827 Final Move Distance i Pn828 DEC Encoder phase C INN nh H First encoder phase C signal after the DEC signal went from OFF to ON Pn823 2 Use the DEC signal only Approa spee Creep Pn826 _ speed Pn827 Final Move Dis tance Pn828 LI Pn823 3 Approach Use the encoder s phase C speed Creep Pn826 only speed Pn827 Final Move Dis Encoder tance Pn828 phase C The home position when homing is completed is specified in Pn81D When the control power supply is turned ON or the RES command is executed and hom ing is completed the home position is replaced with the value in Pn81D 6 18 6 7 Serial Commands Table 6 2 Control Commands cont d Serial Command Function Positive Response K ZRN O Pn81D Home Position 99 999 999 to 99 999 999 Reference units Pn823 Homing Method 0 No Homing 1 DEC and Encoder phase C 2 DEC signal only 3 Encoder phase C only Pn824 Homing Direction 0 Forward 1 Reverse Pn825 Homing Moving Speed 1 to 99 999 999 x1 000 reference units min
99. ITE gt gt YABA cursor Example Target position set to 12 345 678 m gt YAaaa cursor Example Target position set to A 12 345 678 N INFO wero 7 8 Operations during Program Table Editing Display E SPD Positioning Speed This parameter sets the positioning speed SPESI Press the DATA ENTER Key to display the Positioning Speed Edit display Press the DATA ENTER Key again to return to the program table number display Example 12 345 678 Upper 3 digits mi 5 digits Y EO jag lt gt 45698 IN cursor 71N Use the Up and Down Keys to change the setting m RDST Registration Distance This parameter sets the registration distance eda Press the DATA ENTER Key to display the Registration Distance Edit display Press the DATA ENTER Key again to return to the program table number display Example 12 345 678 Upper 3 digits Lower 5 digits I7 I aq lt 2 456N8 ZIN Move ZIN cursor Use the Up and Down Keys to change the setting ce 99 If the registration distance is set to a negative value the setting will automatically be changed to 7 51 7 Using the Digital Operator m RSPD Registration Speed This parameter sets the registration speed eSG29 Press the DATA ENTER Key to display the Registration Speed Edit display Press the DATA ENTER Key again to return to the program table number display Example 12 345 678 Upper 3 i o 5 digits U
100. J CN4 5 i SN i PASE CN4 7 h PGMRES JOGP TO Ase CN4 9 lt Jaw ORK ISEL 0 NOGN J cy Mal arme ISEL1 J0Go CN4 11 l gt l WY ISEL 2 JOG1 e 3 y A gt K gt i he gt y gt ISEL 3 WOG2 CN4 15 K Fh gt ISEL 4 JOG3 CN4 17 Ly a ov Provide an external power supply the SERVOPACK and NS600 do not have an internal 24 V power IMPORTANT l p Ppy p supply Yaskawa 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 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 currents Confirm the characteristics of relays and other mechanical contacts before using a 12 V power supply E Input Signal Specifications CN1 and CN4 Item Specification Signal Names CN1 S ON P OT N OT DEC RGRT CN4 MODE0 1 START STOP HOME PGMRES JOGP SELO JOGN SEL1 JOGO SEL2 JOG1 SEL3 JOG2 SEL4 JOG3 Input Form Sinking or Sourcing 5 13 5 Parameter Settings and Functions Connect the sequence output signals as shown in the following figure CN1 Connector Photocoupler output per output Maximum operating voltage 30 V DC Maximum output current 50 mA DC Open collector output p
101. Mode Switch Signal MODE 0 1 5 56 5 9 2 Homing Jog Speed Table Input Signals 5 57 5 9 3 Parameters Related to Homing 5 57 5 10 Homing Operation 5 58 5 11 Jog Speed Table Operation 5 59 5 11 1 Example of Jog Speed Table Operation 5 59 5 11 2 Jog Speed Table Selection 5 60 5 11 3 Input Conditions for Homing and Jog Speed Table Operation 5 61 5 11 4 Input Signal Timing Specifications for Homing and Jog Speed Table 5 62 6 Serial Command Communications 6 1 CN6 Connector Specifications 6 2 6 2 Settings 6 3 6 2 1 Block Diagram 6 3 6 2 2 Setting the Axis Address 6 3 6 2 3 Parameters Related to Serial Communications 6 4 6 3 Command Response Format 6 5 6 4 Global Commands 6 6 6 5 Echoback Response Time 6 7 6 6 Response Data Details 6 8 6 6 1 Positive Responses 6 8 6 6 2 Negative Responses 6 8 6 7 Serial Commands 6 9 6 7 1 Basic Op
102. Not Not used C E E E Po Nowe e e o Pas esea ms eoo 0 Poe Sot SarrDeeearinTine ms oeoo o oo poa o e e e Poos Speet Feat vand er Teos fon oos o A 7 Appendix A List of Parameters Table A 2 SERVOPACK Parameters cont d Category Parameter Name Unit Setting Range Factory Setting Ww So 100 800 800 0 to 65 535 0 to 800 0 to 800 S wo C moa poa me po moe poa C E Pros ners Sd ie 3 pin oof ojl 2 oj o 0 0 10 000 0000 H 50 to 2 000 2 000 Pn409 Notch Filter Frequency Related Pn501 Not used Constants Pn502 Rotation Detection Level m 1 to 10 000 20 pa N N 1 024 Pn505 Overflow Level 256 refer 1 to 32 767 ence units Pn506 Brake Reference Servo OFF Delay Time 0 to 50 50 Pn508 Timing for Brake Reference Output during 10 ms 10 to 100 Motor Operation Fixed parameters Do not change ooo E E E E p CE a Z in Pn507 Brake Reference Output Speed Level 0 to 10 000 100 s 10 W 0 to capac ity 0 to ak ity Pn511 Other Pn600 Regenerative Resistor Capacity Constants Pn601 Fixed parameter Do not change 1 The multiturn limit must be changed only for special applications Changing this limit inap 5 capac 5 propriate or unintentionally can be dangerous 2 The setting of parameter Pn111 is valid only when parameter Pn110 1 is set to 0 3 After changing th
103. PACK Peripheral Device ty L Design Revision Order Unit Identifier NS60 Idenxer Application Module 1 Checking Products and Part Names 1 2 Product Part Names The figure below shows the part names of a SERVOPACK that has the NS600 installed SERVOPACK SGDH YASKAWA Ns600 lt a NS600 8 8 8 8 8 A Kel i lt STS Status Indicator green or red Ly Not used gt 7 D lt d and e CN7 Digi o gital Operator Support Do not use a Built in Panel Operator J Software connector for setup Use a Hand held Digital Operator instead Het power O maintenance and inspection mA co A L OJI i NI Ne Pl Rotary switch for axis address setting S L2 gt 0O y 9 Not used Do not connect anything here T oOllei A O O 2 O c O Olle co e b CN4 I O Signal Connector A a N Connect sequence I O signals here O Ollie SRS O O tec ma O O 81 A Q D Olle c CN1 I O Signal Connector 5 Connect sequence I O signals here LJ Ollu oo O O lv A o B t lt d CN6 Signal Command Connector HOw Spo Lor ml y O Soj ES Note Refer to Table1 1 below for details on components a through
104. PACK in hot and humid locations or locations subject to excessive dust or iron powder in the air 2 3 2 Installation 2 3 Orientation Install the SERVOPACK perpendicular to the wall as shown in the figure The SERVOPACK must be oriented this way because it is designed to be cooled by natural convection or cooling fan Secure the SERVOPACK using 2 to 4 mounting holes The number of holes depends on the 4 yo wll i L V capacity ti Hi j W Wall L i Ss MM M S S 1 ti H Mi 2 4 Installation 2 4 Installation Use the following layout side by side installation when installing two or more SERVOPACKs side by side in a control panel Cooling fan Cooling fan yO fe x oN 7 50 mm 1 97 in min IN o5 bz g i 1 L 40 mm 0 39 in min 50 mm 1 97 in min 10 mm 0 39 in min SERVOPACK Orientation Install the SERVOPACK perpendicular to the wall so the front panel containing connectors faces outward toward the user Cooling As shown in the figure above allow sufficient space around each SERVOPACK for cooling by cooling fans or natural convection Side by side Installation When installing SERVOPACKs side by side as shown in the figure abov
105. SK Max output current 50 mA ae Prohibited when OFF mek Oper az A01 Alarm code outputs Zero point return deceleration LS 4 d ad aoz Mex voltage 30 VDC Deceleration when ON Max output current 20 mA DC R latch L ST itz K t a A103 Latch when OFF gt ON l l Program table select signal5 S55 y RYE I 33 T Bit 5 1 when ON 7 SEL6 3K IPAO Program table select signal 6 BE E lt Ae PG divided outputs Applicable line receiver SN75175 manufactured by T I or the equivalent Bit 6 1 when ON 4 pe PBO T PCO IPCO pso Phase S serial data output o l Applicable line receiver PSO SN75175 manufactured by T I G or the equivalent T sb Rie Kg g n j je fo iS jo ee G NE Not used Do not connect to anything A Digital Operator or computer running Sup CN10 NS600 port Software can be connected to CN7 1 represents twisted pair wires 2 Connect only when an absolute encoder is being used and a battery is not connected to CN8 Fig 3 1 Example Connections to I O Signal Connector CN1 3 2 SGDH SERVOPACK Sinking or sourcing 3 1 I O Signal Connections 4 ON Mode 0 330 OFF Mode 1 IMODE 0 1 A y h fae as i ISTART STOP y HOME gt 2 PGMRES JOGP ts
106. Sequence I O Signals Pn001 3 Description Setting fF E Outputs alarm codes alone for alarm codes ALO1 ALO2 and ALO3 1 Outputs both alarm and warning codes for alarm codes ALO1 ALO2 and ALO3 and outputs an alarm code when an alarm occurs The following warning codes are output in 3 bits Warning Warning Code Output Warning Description ALO1 ALO2 ALO3 A 91 ON signal OFF signal OFF signal Overload low level high level high level A 92 OFF signal ON signal OFF signal Regenerative overload high level low level high level ON signal ON signal OFF signal Low battery voltage low level low level high level 5 3 6 Using the Positioning Completed Output Signal INPOSITION Power supply NS600 24V NOV Photocoupler output per output ais CN4 19 ea Maximum operating voltage 30 V DC Ibe i t Maximum output current 50 mA DC IY ZR E CN4 20 INPOSITION l Oio T NONON TN Positioning Completed Output Signal This signal indicates that servomotor movement has been completed Reference speed Motor speed Position error INPOSITION ON Circuit between CN4 19 and CN4 20 is Positioning is completed Position error is closed below the setting OFF Circuit between CN4 19 and CN4 20 is Positioning is not completed Position error open is above the setting The timing for output of the Positioning Completed Output can be adjuste
107. The servo is not ON e There was a positioning request or other move reference request in servo OFF status The servo went OFF during program table operation Program table operation will be inter rupted when just the step that was being executed is cancelled LOOP 1 and first LOOP The servo could not be turned ON within 2 s after turning ON the S ON signal or exe cuting the SVON command e The motor is rotating during servo ON execution e The main power supply went OFF dur ing servo ON execution Error ESBE will occur if there was an alarm when the servo ON request was sent Error ES5CE will occur if the main power supply was OFF when the servo ON request was sent e There was a syntax error in the serial command e There was a number in the serial com mand longer than 8 digits The specified address was incorrect for a parameter program table zone table jog speed table or alarm history in a monitor read write command The specified setting was incorrect in a parameter or program table write com mand 9 16 Send the move reference request only after turning the servo ON by turning ON the S ON signal setting Pn80B 2 so that the servo is always ON or executing the SVON command There are two possibilities The program can be cancelled with the PGMRES signal or PGMRES command The servo can be turned ON and the program can be restarted with the START STOP signal or the START comman
108. Usage Poos 0 frm Pn200 Clear Operation Pn207 o Position Reference Filter Selection Position Control Option V REF as Speed Forward oa 0 Input Signal Mapping Pn50B 1 S ON Pn50C Do fRor Do fs Po frectawe 5 4 Axis Address soit the address set on the NS600 s rotary switch analog voltage inputs An analog voltage input cannot be used as a speed feed forward input 5 1 Restrictions on SGDH SERVOPACK Parameters Table 5 1 Setting restricted Parameters cont d Parame Setting Description ter Pn50E Not used Pn50F aa EA o poe CS o poe SSOSCSC S o po SSCS Ewe Fi al Ems Pn510 es eases Gpo o OSOS 5 5 5 Parameter Settings and Functions 5 2 1 Switching Servomotor Rotation Direction 5 2 Settings According to Device Characteristics This section describes the procedure for setting parameters according to the dimensions and per formance of the equipment used 5 2 1 Switching Servomotor Rotation Direction The SERVOPACK has a Reverse Rotation Mode that reverses the direction of servomotor rotation without rewiring Forward rotation in the standard setting is defined as counter clockwise as viewed from the load 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 Po Standard Setting Reverse Rotation Mode Forward En
109. aces with Sequence Input Circuits 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 24 VDC 50 mA min CN1 O CN4 0 NS600 and SERVOPACK 24 VDC 50 mA min NS600 and SERVOPACK 24 VICOM x 3 3kQ START STOP HOME etc NS600 and SERVOPACK 24 VDC 24 VICOM 50 mA min 3 3kQ es BBS CN4 0 START STOP HOME etc Fi Alternative configurations 24 VICOM 3 3kQ CN1 O CN4 0 START STOP HOME etc 3 8 NS600 and SERVOPACK 24 VICOM 3 3kQ CN1 0 tbs K CN4 0 AY 3 g g START STOP _ HOME etc 24 VDC 50 mA min 3 1 I O Signal Connections E Interfaces with Output Circuits Any of the following two types of SERVOPACK output circuits can be used Form an input circuit at the host controller that matches one of two types e Connecting to an Open collector Output Circuit Alarm code signals are output from 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 24 VDC SERVOPACK s y i SERVOPAC Relay end Ai Y3 end 3K 5 to 12 VDC SERVOPACK end Note The maximum allowable voltage and curr
110. afety See 4 2 Step 1 Trial Operation for Servomotor without Load and 4 3 Step 2 Trial Operation with the Servomotor Connected to the Machine for more details on the trial operation Step 1 Trial Operation for Servomotor without Load Make sure the servomotor is wired properly and then turn the shaft prior to connecting the servomotor to the equipment S na J i mA eJ aa VA dt Do not connect to the equipment Step 2 Trial Operation with the Equipment and Servomotor Connected Adjust the SERVOPACK according to equipment characteristics connect the servomotor to the equipment and perform the trial operation SGMOH servomotor Connect to the equipment 4 2 4 2 Step 1 Trial Operation for Servomotor without Load 4 2 Step 1 Trial Operation for Servomotor without Load CAUTION Do not operate the servomotor while it is connected to the equipment To prevent accidents initially perform step 1 where the trial operation is conducted under no load conditions with all couplings and belts disconnected In step 1 make sure that the servomotor is wired properly as shown below Incorrect wiring is generally the reason why servomotors fail to operate properly during trial operation e Check main power supply circuit wiring e Check servomotor wiring e Check I O signal wiring CN1 and or CN4 if these connectors are being used e Check Serial Command Communications wiring CN6 if this
111. aken viii Safety Precautions The following precautions are for checking products upon delivery installation wiring operation maintenance and inspections Em Checking Products upon Delivery CAUTION e Always use the servomotor and SERVOPACK in one of the specified combinations Not doing so may cause fire or malfunction E Installation N CAUTION e Never use the products in an environment subject to water corrosive gases inflammable gases or combustibles Doing so may result in electric shock or fire m Wiring N WARNING e Connect the ground terminal to electrical codes ground resistance 100 Q or less Improper grounding may result in electric shock or fire CAUTION Do not connect a three phase power supply to the SERVOPACK s U V or W output terminals Doing so may result in injury or fire e Securely fasten the power supply terminal screws and motor output terminal screws Not doing so may result in fire E Operation WARNING Never touch any rotating motor parts while the motor is running Doing so may result in injury N CAUTION Conduct trial operation on the servomotor alone with the motor shaft disconnected from machine to avoid any unexpected accidents Not doing so may result in injury Before starting operation with a machine connected change the settings to match the parameters of the machine Starting operation without matching the prop
112. ary Function Display E Fn008 Absolute Encoder Reset This function resets the absolute encoder and clears the recorded position information Execute this function in the following cases e When starting up the machine for the first time e When an Encoder Backup Alarm has occurred e When the encoder cable was disconnected FoGUb Press the DATA ENTER Key to display ENTER the Absolute Encoder Reset display POEL PGCL1 AN Press the Up Key several times to display PGCL5 PGCL5 DSPL Press the DSPL SET Key to SET execute the function If the DATA ENTER Key is pressed before executing the display will return to the function number setting display m Never turn OFF the control power supply while the display is flashing z Wait until the display stops flashing The display will return to the 0 function number setting display Turn the control power supply OFF and then ON again End IMPORTANT For a function whose settings has been changed the control power supply must be turned OFF and then ON again to enable the new settings 7 29 7 Using the Digital Operator Related Errors The following table shows the main errors related to the absolute encoder reset operation ESAE The absolute encoder reset operation cannot Execution Disabled while be executed while the Servo is ON Servo ON Error Switch the Servo OFF and try again E61E The function cannot be executed
113. ated by an RS RSnnnnnnnn RSAnnnnnnnn or RSInnnnnnnn command the registration positioning opera tion can be restarted by executing the RS command When the HOLD command has interrupted a forward jogging with registration operation that was initiated by the RJOGPnnnnnnnn command the operation can be restarted by executing the RJOGPnnnnnnnn command again When the HOLD command has interrupted a reverse jogging with registration operation that was initiated by the RJOGNnnnnnnnn command the operation can be restarted by executing the RJOGNnnnnnnnn command again When the HOLD command has interrupted a homing operation initiated by the ZRN command homing can be restarted by executing the ZRN command When the HOLD command is executed during a jog forward operation initiated by JOGP nnnnnnnn or a jog reverse operation initiated by JOGNnnnnnnnn the jog operation will be stopped e SPDx Speed e POSly ST ST v2 0 yity2 y 4 i Remaining dis tance put on hold When the HOLD command is executed after positioning is completed a remaining distance of zero is put on hold Speed A spp POSly ST If a new target position is specified while a positioning operation has been put on hold by the HOLD command the remaining distance recorded by the HOLD command is cancelled and the new target position is used instead A Speed SPDx HOLD POSly ST i i Remaining dis tance put on hold 6 21 6 Serial Comma
114. ation has been completed 6 12 6 7 Serial Commands Table 6 2 Control Commands cont d Serial Command Function Positive ST nnnnnnnn Positioning Start Absolute Position STA nnnnnnnn The sign can Setting range 99 999 999 lt nnnnnnnn lt 99 999 999 Reference units be omitted Specifies the absolute position nnnnnnmn as the target position and starts positioning at the same time This command is equivalent to the following combination POSA nnnnnnnn gt ST Example SPDnnnnnnnn Speed Reservation STA nnnnnnnn Target Position Reservation and Positioning Start Speed A sppx e STy or STAy ar e STz or STAZ i gt a y z Position When the target position is an absolute position the axis coordinate will not travel if the same positioning is repeated with ST STI nnnnnnnn Positioning Start Relative Position The sign can be omitted Setting range 99 999 999 lt nnnnnnnn lt 99 999 999 Reference units Specifies the relative distance nnnnnnnn as the target position and starts positioning at the same time This command is equivalent to the following combination POSI nnnnnnnn gt ST Example SPDnnnnnnnn Speed Reservation STI nnnnnnnn Target Position Reservation and Positioning Start Speed 4 SPDx The same position ing is repeated with ST gt Position coordinate 6 13 6 Serial Command Communications 6 7 2 Control Commands Tabl
115. ation in the forward direction is prohibited by the P OT signal INPOSITION es ai P OT Positive side Over Travel Indicates N OT status Rotation in the reverse direction is prohibited by Lit when Servo OFF ig es the N OT signal Control power supply Main we ria N OT Negative side Over Travel any Indicates P LS status Rotation in the forward direction is prohibited by the limit setting in parameter Pn81B P LS Positive side Limit Switch Indicates N LS status Rotation in the reverse direction is prohibited by the limit setting in parameter Pn81C N LS Negative side Limit Switch Indicates Alarm or Warning status A xx SERVOPACK alarm or warning code Indicates Alarm status ExxA NS600 s alarm code seconds when an error has occurred Indicates an error The error code is displayed for 2 m Code l 2 seconds ExxE Error code ExxE Indicates that data is being saved to flash memory 0 oO C E Flashing Never turn OFF the control power supply while StorE data is being saved Flashing default settings Never turn OFF the control power Indicates that data is being initialized to the factory supply while settings are being initialized Init ALARM IMPORTANT If an alarm has occurred reset the alarm after eliminating the cause of the alarm Refer to Chapter 9 Troubleshooting for details The key can be used to reset alarms on the Status Display only 7 5 7 Using the Digital Operator
116. be used as the homing acceleration and deceleration rate e Mode 1 Pn823 1 DEC and phase C Pn825 Homing Moving Speed Pn827 Homing Creep Speed Pn828 Homing Final Move Distange HOME DEC went from inactive to active gt 4ms min Mode 2 Pn823 2 DEC only First phase C input after DEC signal Pn826 Homing Approach Speed Pn827 Homing Creep Speed Motor speed l Pn828 Homing Final Move Forward t Distance l Pi HOME i IDEC pi e 20 us min when Pn80E 0 200 us min when Pn80F 1 e Mode 3 Pn823 3 phase C only Pn826 Homing Approach Speed Pn827 Homing Creep Speed Motor speed l Pn828 Homing Final Move Forward Distance i gt t HOME DEC 5 58 5 11 Jog Speed Table Operation 5 11 Jog Speed Table Operation The JOGP signal selects forward operation and the JOGN signal selects reverse operation The JOGO to JOG3 signals select the speed 5 11 1 Example of Jog Speed Table Operation The following diagram shows an example of Jog Speed Table operation Speed moce JOGN ae oe oe oe E wooo a IJOG1 JOG IJOG3 Fig 5 1 Jog Speed Table Operation 5 59 5 Parameter Settings and Functions 5 11 2 Jog Speed Table Selection 5 11 2 Jog Speed Table Selection ns SE oww o o o e ow ooo o p e E oww o pe e e w
117. betical List of Serial Commands Reference 6 7 8 6 7 2 6 7 8 6 7 8 6 7 8 6 7 1 6 7 8 Serial Command Function ABSPGRES ACCnnnnnnnn Absolute Encoder Reset Acceleration Reservation gt E Alarm or Warning Read ALMn ALMTRCCLR ARES CURZERO DBRMS DECnnnnnnnn DST or MON9 Target Distance Monitor ERR Most Recent Error Read EVENTTsss Program Table EVENT Read EVENTsss Program Table EVENT Write EVTIME Program EVENT Elapsed Time Monitor HOLD N N IN2TESTbbbbbbbb INERTIA JOGPnnnnnnnn Alarm History Read Alarm Trace Clear Alarm Reset Motor Current Zero Adjustment Dynamic Brake Load Ratio Monitor Deceleration Reservation Positioning Interruption or Jog Stop SGDH Input Signal Monitor CN1 NS600 Input Signal Monitor CN4 NS600 Input Signal Reservation CN4 Auto tuning Inertia Display Motor Forward Motor Reverse JOG Speed Table Initialization JOG Speed Table Save JOG Speed Table JSPD jog speed reservation Read JOG Speed Table Write Program LOOP Pass Through Monitor Program Table LOOP Read Program Table LOOP Write Multiturn Limit Setting JOGNnnnnnnnn JSPDINIT JSPDSTORE JSPDTdd JSPDTdd LOOP LOOPTsss LOOPTsss MLTLIMSET MONn MTSIZE MTTYPE NEXTTsss NEXTTsss NFB or MON3 NREF or MON4 Monitor Read Monitor Capacity Display Motor Type Display Program Table NEXT Read Program Table NEXT Write Motor Speed Monitor Speed Reference Monitor Rion rnc Rooms SSCS PAeeca
118. ble stored in the NS600 Registration Both serial commands and program table are equipped with registration functions external positioning Programmable There are 5 output signals POUTO to POUT4 that can be programmed output signals Zone signals and The programmable output signals POUTO to POUT4 can also be used as zone table zone signals Up to 32 zones can be specified in the zone table Homing can be used for zero point return when an incremental encoder is being used There are three variations of the homing function e Using the deceleration limit switch and encoder s phase C e Using the deceleration limit switch only e Using the encoder s phase C only Profiler operation Local I O Current control Speed control Position control Dual port RAM Counter ETE eee eee eee es O RS 422 485 Block Diagram vii Safety Information The following conventions are used to indicate precautions in this manual Failure to heed precautions provided in this manual can result in serious or possibly even fatal injury or damage to the products or to related equipment and systems A WARNING Indicates precautions that if not heeded could possibly result in loss of life or serious injury A CAUTION Indicates precautions that if not heeded could result in relatively serious or minor injury damage to the product or faulty operation OQ PROHIBITED Indicates actions that must never be t
119. coder output Encoder output Reference Ca cew from SERVOPACK from SERVOPACK PAO phase A PAO phase A SW eo TUUL PBO phase B Reverse Refi ui Encoder output Encoder output eIerenice Cc from SERVOPACK from SERVOPACK PAO phase A PAO phase A eet AA poj SUL PBO phase B PBO phase B E Setting Reverse Rotation Mode Use parameter Pn000 0 Pn000 0 Direction Selection Factory Setting 0 Use the following settings to select the direction of servomotor rotation Forward rotation is defined as counterclock Standard setting wise CCW rotation as viewed from the load 1 Forward rotation is defined as clockwise Reverse Rotation Mode CW rotation as viewed from the load Q GENER 5 6 5 2 Settings According to Device Characteristics 5 2 2 Setting the Overtravel Limit Function The overtravel limit function forces movable equipment parts to stop if they exceed the allowable range of motion E Using the Overtravel Function To use the overtravel function connect the overtravel limit switch input signal terminals shown below to the correct pins of the SERVOPACK CN1 connector Input P OT CN1 42 Forward Run Prohibited Forward Overtravel Input N OT CN1 43 Reverse Run Prohibited Reverse Overtravel Connect limit switches as shown below to prevent damage to the devices during linear motion Reverse Forward rotation rotation end end Servomotor Limit Limi
120. connector is being used Make sure that adjustments in the host controller and other adjustments are completed as much as possible in step 1 prior to connecting the servomotor to equipment poll fal E Sje T Check wiring Do not connect to the equipment Check the items on the following pages in the order given during the servomotor trial operation IMPORTANT RES S p See 5 3 3 Brake Interlock Output Signal BK if you are using a servomotor with brakes 4 3 4 Trial Operation 1 Secure the servomotor Secure the mounting plate of the servomotor to the equipment Do not connect anything to the shaft a No load condition Secure the servomotor mounting plate to the equipment in order to prevent the servomo tor from moving during operation 2 Check the wiring Digital 7 A Operator fA EY I Ong Malar ys mn 900 JME Oae a A u 0 Bae PAT a gt af a8 oly I a Disconnect the CN1 CN4 and CN6 connectors Disconnect the CN1 CN4 and CN6 connectors and check servomotor wiring in the power supply circuit The I O signals CN1 and CN4 and Serial Command Signals CN6 are not used Connect the Digital Operator to the CN7 connector 3 Turn ON power Normal displays blb OR Ploe STATUS Indicator Lit green Example
121. d Turn the servo ON when the motor is stopped e Check the main power supply e Check the serial command s character string e Use the Digital Operator s Serial Command Reception Character Trace function Un80D to check the charac ter string that the NS600 received e Check the address e Use the Digital Operator s Serial Command Reception Character Trace function Un80D to check the charac ter string that the NS600 received e Check the setting e Use the Digital Operator s Serial Command Reception Character Trace function Un80D to check the charac ter string that the NS600 received Communication Failure Error between NS600 and SGDH E59E E5AE E5BE Execution Disabled while Servo ON Error Execution Disabled while Alarm Activated Error Execution Disabled while Main Power OFF Error E5CE E5DE E5EE E5FE Homing Method Unspecified Error Execution Disabled dur ing Program Operation Error Session Conflict Error 9 2 NS600 Troubleshooting Table 9 5 NS600 Error Displays cont d Error Error Name Details Remedy Panel Display Display 2 Communications between the NS600 and SERVOPACK failed when a Digital Oper ator or computer was connected to SER VOPACK connector CN3 and the SERVOPACK s parameter or monitor read write command was sent An auxiliary function such as Digital Operator jog operation or parameter ini tialization was requested when the s
122. d and the new manual is published as a next edition The edition number appears on the front and back covers If the manual must be ordered due to loss or damage inform your nearest Yaskawa representative or one of the offices listed on the back of this manual Yaskawa will not take responsibility for the results of unauthorized modifications of this product Yaskawa shall not be liable for any damages or troubles resulting from unauthorized modification xi CONTENTS Overview iii Related Manuals v Product Overview vi Safety Information viii Safety Precautions ix 1 Checking Products and Part Names 1 1 Checking Products on Delivery 1 2 1 1 1 External Appearance and Nameplate Examples 1 2 1 1 2 Model Number 1 3 1 2 Product Part Names 1 4 1 3 Installing the Application Module 1 6 2 Installation 2 1 Storage Conditions 2 2 2 2 Installation Site 2 3 2 3 Orientation 2 4 2 4 Installation 2 5 3 Connector Wiring 3 1 I O Signal Connection
123. d by adjusting the INPOSITION Width with parameter Pn821 INPOSITION Width Unit Setting Factory Reference Range Setting units 0 to 1 99 999 5 21 5 Parameter Settings and Functions 5 3 7 Using the Programmable Output Signals POUTO to POUT4 This parameter sets the output timing between completion of motor positioning and the out put of the positioning completed output INPOSITION Input the set value in reference units The positioning completed width setting has no effect on final positioning accuracy 5 3 7 Using the Programmable Output Signals POUTO to POUT4 The basic use and wiring procedure for the Programmable Outputs POUT0 to POUT4 are given below The 5 Programmable Outputs can be changed by the user through the program table s POUT bits or the POUT serial command Power supply NS600 24V ov CN4 21 J POUTO lt VV gt i k 1 CN4 22 POUTO eooo CN4 23 J POUT1 b e eee amp lt NN r i i bY Yok CN4 24 IPOUTI Photocoupler output per output CN4 25 IPOUT2 pi Maximum operating voltage 30 V DC Woe Maximum output current 50 mA DC Yok 1 CN4 26 POUT2 e a eee y SP CN4 27 g POUT3 A w L H gt Yk CN4 28 IPOUT3 CN4 29 POUT4 vg Yk CN4 30 L IPOUT4 Output gt POUTO CN4 21 Programmable Output 0 Output POUT1 CN4 23 P
124. distance from the latched position The registration oper ation uses the registration distance specified by the RDST command and the registration speed specified by the RSPD command Error E52E will occur if the RJOGP RJOGNnnnnnnnn command is executed but the registra tion distance hasn t been specified even once If the RJOGP RJOGNnnnnnnnn command is executed but the registration speed hasn t been specified even once the speed specified in parameter Pn81E will be used for the registration speed When registration jogging has been stopped with the HOLD command forward registration jogging will be restarted the hold will be cleared when the RJOGPnnnnnnnn command is exe cuted again Reverse registration jogging will be restarted when the RJOGNnnnnnnnn com mand is executed again The specified speed and direction cannot be changed while jogging is in progress Error E53E will occur if the speed or direction is changed during operation Speed RDSTa a RSPDb e RJOGPx RJOGNy 6 17 6 Serial Command Communications 6 7 2 Control Commands Table 6 2 Control Commands cont d Serial Command Function Positive Response ZRN Homing Start OK Starts homing operation When homing has been stopped with the HOLD command homing will be restarted the hold will be cleared when the ZRN command is executed again The parameters for homing are specified in parameters Pn823 to Pn828 Pn823 Pn824 Pn825 to Pn828
125. e indi cates an active input status 5 38 5 6 Program Table 5 6 4 Program Table Settings This section explains the program table settings E Program Table Lee ae I I ee oe E Fe We a a a e ee ee E Program Table Functions The following table shows the various program table functions Table 5 2 Program Table Functions The program step can be specified with NEXT POS Target position I 99 999 999 Relative position travel distance specification reference units A 99 999 999 Absolute position specification reference units INFINITE Jog forward operation See note INFINITE Jog reverse operation See note STOP Stop for use with INFINITE operation No positioning specified for POUT only The factory setting is STOP Note The INFINITE and INFINITE settings can be used only when the rotary coordinates have been set Pn81A 1 2 or 3 or software limits are not being used Pn81B Pn81C 0 An error will occur if linear coordinates are being used or a software limit is enabled SPD Positioning speed 1 to 99 999 999 Positioning speed x 1 000 reference units min The factory setting is 1 000 Registration dis 0 to 99 999 999 Registration distance reference units tance us No registration The factory setting is for no registration RSPD Registration speed 1 to 99 999 999 Registration speed x 1 000 reference units min The factory setting is 1 000
126. e Hold with brake Servo ee Servo ON OFF Motor ON servomotor OFF Servomotor i l ON OFF status lt _ gt Servo OFF time delay With the factory setting the servo is turned OFF when the BK 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 Pn508 for brake ON timing during operation The servomotor will turn OFF immediately if an alarm occurs The equipment may move due to grav ity in the time it takes for the brake to operate Holding Brake Setting Set the following parameters to adjust brake ON timing so the holding brake is applied when the servomotor stops Brake Reference Output Speed Level Setting Factory i Range Setting 0 to 10 000 100 Timing for Brake Reference Output Setting Factory during Motor Operation Range Setting 0 to 100 50 5 18 5 3 Sequence I O Signals Set the brake timing used when the servo is turned OFF by input signal S ON CN1 40 or when an alarm occurs during servomotor with brake operation S ON input Power OFF by 5s ON IS ON CN1 40 2 Servo OFF input or alarm a Stop by dynamic brake or coast to a Motor speed stop min 1 I Pn001 0 E a 4t Pn 507 l Release BK
127. e allow at least 10 mm 0 39 in between and at least 50 mm 1 97 in above and below each SERVOPACK Install cooling fans above the SERVOPACKs to avoid excessive temperature rise and to maintain even temperature inside the control panel Environmental Conditions in the Control Panel e Ambient Temperature 0 to 55 C e Humidity 90 or less e Vibration 4 9 m s e Condensation and Freezing None e Ambient Temperature for Long term Reliability 45 C max 2 5 3 Connector Wiring This chapter explains how to connect to the connectors of an SGDH SERVO PACK with an NS600 installed 3 1 I O Signal Connections 3 2 3 1 1 Examples of I O Signal Connections to CN1 and CN4 3 2 3 1 2 Terminal Layout on I O Signal Connectors CN1 and CN4 3 4 3 1 3 I O Signal Names and Functions 3 6 3 1 4 Interface Circuits 3 8 3 2 Serial Command Communications Connector CN6 3 10 3 2 1 Communications Specifications 3 10 3 2 2 Communications Connector 3 11 3 2 3 Connector Signal Names 3 11 3 2 4 Connection Examples 3 12 3 2 5 RS 422 RS 485 Interface 3 14 3 3 Digital Operator or Support Software Connector CN7 3 15 3 3 1 Communications Specifications
128. e function number setting display Related Errors The following table shows the main errors related to program table initialization ESEE The program table cannot be initialized F C l Execution Disabled dur while program operation is in progress or on ing Program Operation hold interrupted Error Reset program operation and try again 7 45 7 Using the Digital Operator E Fn807 Zone Table Initialization This function initializes the zone table i e returns the zone table settings to their factory default settings Road Press the DATA ENTER Key to display ENTE R the Zone Table Initialization display In dE Init p cS Press the DSPL SET Key to SET i If the DATA ENTER Key execute the function is pressed before executing the display will return to the function number setting display A 77 N Wait until the display stops flashing Never turn OFF the control power S Vt E Z supply while the display is flashing N The display will return to the function number setting display 7 46 7 7 Operations during Auxiliary Function Display m Fn808 Jog Speed Table Initialization This function initializes the jog speed table i e returns the jog speed table settings to their factory default settings Fo f0d Press the DATA ENTER Key to display the Jog Speed Table Initialization display lode Init 9 DSPL Press the DSPL SET K
129. e 6 2 Control Commands cont d Serial Command Function Positive RDSTnnnnnnnn Registration Distance Reservation Setting range 0 lt nnnnnnnn lt 99 999 999 Reference units Specifies the registration distance that is used in the RS RSnnnnnnnn RSAnnnnnnnn and RSInnnnnnnn commands POSa EP Speed I RSPDy yt RGRT i Note Alarm E23A will occur the motor Servo will go OFF if the RGRT signal latched but the registration distance is longer than the deceleration distance i e the registration dis tance will be exceeded even if deceleration begins immediately RSPDnnnnnnnn Registration Speed Reservation Setting range 1 lt nnnnnnnn lt 99 999 999 x1 000 reference units min Specifies the registration speed After the control power supply is turned ON or the RES command is executed the position ing speed set in parameter Pn81E will be used until the speed is specified with this command Note Ifa new registration speed is specified during registration operation the new speed will not become effective until the next registration operation 6 14 6 7 Serial Commands Table 6 2 Control Commands cont d Serial Command Function Positive RS Positioning Start with Registration HOLD Positioning Interruption RS Positioning Restart Clear Hold Note Error E53E will occur if a new travelling command such as the RS command is received while the motor is already travelling posit
130. e Save Failure Error Zone Table Save Failure Error Jog Speed Table Save Failure Error Program Table Check sum Error Jog Speed Table Check sum Error Serial Communications Receiving Buffer Over flow Error Table 9 5 NS600 Error Displays Error Error Name Details Remedy Panel Display Display 2 A OF The flash memory write process failed dur ing a program table save operation execu tion of the PGMSTORE command or Fn803 or program table initialization operation execution of the PGMINIT command or Fn806 The flash memory write process failed dur ing a zone table save operation execution of the ZONESTORE command or Fn804 or zone table initialization operation exe cution of the ZONEINIT command or Fn807 The flash memory write process failed dur ing a jog speed table save operation exe cution of the JSPDSTORE command or Fn805 or jog speed table initialization operation execution of the JSPDINIT command or Fn808 There was a request to start program table operation even though an E19A E1AA or E1BA alarm occurred when the control power supply was turned ON or the RES command was executed There was a request to start jog speed table operation even though an E1FA E20A or E21A alarm occurred when the control power supply was turned ON or the RES command was executed There was an overflow in the reception buffer used for serial commands e An error will occur if too many serial commands
131. e setting change when a Multiturn Limit Disagreement Alarm A CC occurs 7 39 Fn800 NS600 software version display 7 41 Fn801 NS600 model code 0600 Hex display 7 41 Fn802 NS600 Yspec number display 7 41 Fn803 Program table save 7 42 XV Fn804 Zone table save 7 43 Fn805 Jog speed table save 7 44 Fn806 Program table initialization 7 45 Fn807 Zone table initialization 7 46 Fn808 Jog speed table initialization 7 47 7 8 Operations during Program Table Editing Display 7 48 7 9 Operation during Zone Table Editing Display 7 57 7 10 Operation during Jog Speed Table Editing Display 7 59 8 Dimensions 8 1 NS600 Dimensions 8 2 9 Troubleshooting 9 1 Servodrive Troubleshooting 9 2 9 1 1 Alarm Display Table 9 2 9 1 2 Warning Display Table 9 4 9 1 3 Troubleshooting Problems with No Alarm Display 9 5 9 2 NS600 Troubleshooting 9 7 9 2 1 Status Displays 9 7
132. ecomes active again 5 6 7 Status Changes in Program Table Operation The following table shows the status changes that can occur during program table operation Cancelled Inactive Inactive Executing Started or restarted Inactive Inactive Stopped Inactive Inactive Inactive Inactive OF 5 44 Active Start Latch specified signal between SELO and SEL6 Restart 5 6 Program Table 5 6 8 Input Signal Timing Specifications for Program Table Operation The following figures show the timing specifications of program table input signals MODE0 1 4 START STOP PGMRES ISTART STOP START STOP SELO to SEL4 2ms min lt b lt gt 4 ms min SEL5 SEL6 8 ms min lt gt 0 ms min e When SELO to SEL6 are specified in EVENT SELO to SEL4 SEL5 SEL6 START STOP i 5 45 5 Parameter Settings and Functions 5 6 9 Program Table Examples 5 6 9 Program Table Examples This section provides representative examples of program tables E Simple Round trip Operation PGMSTEP 0 PGMSTEP 1 i PGMSTEP 1 i PGMSTEP 0 LOOP 1 LOOP 2 Speed START STOP INPOSITION POUTO POUT1 E Output POUTx Signal for 2 Seconds after Positioning C
133. ectronic gear e Deceleration ratio e Ball screw pitch Pulley diameter Ball screw pitch Deceleration ratio 2 Check the number of encoder pulses Servomotor Model Encoder Type and Encoder Specifications Incremental encoder 5 26 Number of Encoder Pulses Per Revolution P R 5 4 Setting Reference Units 3 Determine the reference unit to be used To move table in 0 001 mm units Reference unit 0 001 mm 7 gt Determine the reference unit according to equipment specifications and positioning accuracy lt EXAMPLE gt gt 0 01 mm 0 0004 in 0 001 mm 0 1 or 0 01 inch A reference unit of one pulse moves the load by one reference unit e When the reference unit is 1 um If a reference of 50 000 pulses is input the load moves 50 mm 1 97 in 50 000 x 1 um 4 Determine the load travel distance per load shaft revolution in reference units Travel distance per load shaft revolution Travel distance per load shaft revolution reference unit Ref rs eference uni lt EXAMPLE gt gt e When the ball screw pitch is 5 mm 0 20 in and the reference unit is 0 001 mm 5000 reference unit Ball Screw Disc Table Belt and Pulley Load shaft lt p Load shaft 2D 9 Z n LI ZII T y P Pitch yr oO Load shaft D Pulley diameter nD
134. ed before executing the display will return to the function number y Te oI setting display E 7 Wait until the display stops flashing Never turn OFF the control power supply while the display is flashing rc Nv Hdo 7 m A L Nn donE The display will return to the function number setting display 7 27 7 Using the Digital Operator N INFO op E Fn007 Write Inertia Ratio Data This function writes the inertia ratio calculated by online autotuning to the parameter When this function is executed parameter Pn103 is refreshed with the new inertia ratio data and saved in EEPROM Fol Press the DATA ENTER Key to display ENTER the Write Inertia Ratio Data display Example d lt p 0 The calculated inertia ratio will be displayed ee _DSPL_ Press the DSPL SET Key to SET execute the function If the DATA ENTER Key is pressed before executing the display will return to the function number setting display N I 77 T do 0 0 Wait until the display stops flashing 1 l N Never turn OFF the control power supply while the display is flashing N Ne L 7 1 N The display will return to the function number setting display For details on autotuning operations see 6 3 Autotuning in the X I Series SGMMOH SGDH User s Manual Design and Maintenance Manual No SIE S800 32 2 7 28 7 7 Operations during Auxili
135. educe the deceler ation distance increase the deceleration rate The registration distance can be set by executing the RDST command or changing the RDST parameter in the pro gram table The deceleration rate can be changed by executing the DEC command or changing parame ter Pn820 same alarm code is also used in the response to the ALM command 9 2 NS600 Troubleshooting A EF EF 1 This is the alarm code displayed on the Digital Operator when it is connected to CN7 This 2 The panel display may be OFF depending on communications between the NS600 and the SERVOPACK 3 These alarms can be reset but a Program Table Checksum Error E44E will occur the next time you attempt to start program table operation so program table operation will not be pos sible 9 Troubleshooting a l 7k 9 2 2 Alarm Display Table 4 These alarms can be reset but it is possible that the zone signals POUTO to POUT4 will be output incorrectly When using the zone table correct the alarm without resetting 5 These alarms can be reset but a Jog Speed Table Checksum Error E46E will occur the next time you attempt to start jog speed table operation so jog speed table operation will not be possible 9 12 9 2 3 Error Display Table E41E E42E E43E E44E E46E 9 2 NS600 Troubleshooting Refer to the following table to identify the cause of a problem and take the remedy described Program Tabl
136. eement Alarm A CC occurs Fn005 Parameter settings initialization 7 17 7 Using the Digital Operator The following example shows how to select and execute an auxiliary function RADOR gt l lt I gt A Iv Use these keys to select the auxiliary function number BAHOE Press the DATA ENTER Key to enter the selected auxiliary function number GEGEE Press the DATA ENTER Key again to return to the auxiliary function number display The actual function displays and operations vary depending on the function selected Refer to the description of each function for details 7 18 7 7 Operations during Auxiliary Function Display m Fn000 Alarm Traceback Data Display This function displays the last ten alarms that have occurred End Press the DATA ENTER Key once to enter ENTER alarm traceback display Press the DATA ENTER Key again to return to the auxiliary function number display Example z E 4 H IOM Use the Up and Down Keys to scroll through the last 10 alarms numbered 0 to 9 IAN HAE JAY HARES Note The following diagram shows the content of the alarm traceback dis play If no alarms have occurred nonE will be displayed HAAAA ABAE nonE Alarm code Alarm record number Alarm 0 is the most recent 7 19 7 Using the Digital Operator m Fn001 Rigidity Setting during Online Autotuning This function sets the mach
137. ent capacities for open collector output circuits are as follows e Voltage 30 VDC max e Current 20 mA DC max Connecting to a Photocoupler Output Circuit Connect a photocoupler output circuit through a relay or line receiver circuit 5to24VDC Rel 5 to 12 VDC a Ney SERVOPACK TE ROTI H ov L end Note The maximum allowable voltage and current capacities for photocoupler output circuits are as follows e Voltage 30 VDC max e Current 50 mA DC max 3 9 3 Connector Wiring 3 2 1 Communications Specifications 3 2 Serial Command Communications Connector CN6 Serial commands can be used to perform operations such as positioning setting parameters and program tables monitoring and other operations RS 422 RS 485 or RS 232C gt Host controller 3 2 1 Communications Specifications The following table shows the communications specifications of the CN6 connector Item Interface Max Number of Axes Total Cable Length Baud Rate Synchronization Data Format Flow Control Shift Control Specification Full duplex RS 422 RS 485 or RS 232C or half duplex RS 485 Selectable with parameter Pn800 RS 422 RS 485 50 m max RS 232C 3 m max 9 600 19 200 or 38 400 baud Selectable with parameter Pn801 Factory setting 9 6
138. er output Maximum operating voltage 30 V DC Maximum output current 20 mA DC CN4 Connector Photocoupler output per output Maximum operating voltage 30 V DC Maximum output current 50 mA DC IMPORTANT lt t _ E Output Signal Connections SERVOPACK Photocouplers CNi ALM Power supply 24v4 OV t 34 a 50 mA max ALM atin r 1 1 25 IWARN tec 1 2 an fe SSI lt lt 26 lt ANARN ani 7 2h BK t l FaN zes Fi peas FI 28 A BK Qe 29 S RDY l ar a 1 1 wo CS n m f lt 30 S RDY lt ALO1 4 4 ALO2 lt ALO3 H y SG Host controller NS600 Photocouplers INPOSITION D INPOSITION ov Power supply T 24V OV VIPOUTO ynne St POUTO JIPOUTI gig St POUTI e POUT2 26 ET POUT2 27 IPOUT3 ynne 28 lt POUT3 29 J POUTA 30 POUT4 lt Provide a separate external I O power supply the SERVOPACK and NS600 do not have an internal 24 V power supply Yaskawa recommends using the same type of external power supply as that used for input circuits 5 14 5 3 Seq
139. er settings may cause the machine to run out of control or mal function Before starting operation with a machine connected make sure that an emergency stop can be applied at any time Not doing so may result in injury Do not touch the heat sinks during operation Doing so may result in burns due to high temperatures E Maintenance and Inspection WARNING Never touch the inside of the SERVOPACKs Doing so may result in electric shock e Do not remove the panel cover while the power is ON Doing so may result in electric shock Do not touch terminals for five minutes after the power is turned OFF Residual voltage may cause electric shock CAUTION Do not disassemble the servomotor Doing so may result in electric shock or injury Do not attempt to change wiring while the power is ON Doing so may result in electric shock or injury E General Precautions Note the following to ensure safe application The drawings presented in this manual are sometimes shown without covers or protective guards Always replace the cover or protective guard as specified first and then operate the products in accordance with the manual The drawings presented in this manual are typical examples and may not match the product you received This manual is subject to change due to product improvement specification modification and manual improvement When this manual is revised the manual code is update
140. eration Commands 6 9 6 7 2 Control Commands 6 10 6 7 3 Parameter Edit Commands 6 24 6 7 4 Program Table Setup Commands 6 26 6 7 5 Program Table Operation Commands 6 30 6 7 6 Zone Table Setup Commands 6 31 6 7 7 Jog Speed Table Setup Commands 6 32 6 7 8 Monitor and Auxiliary Function Commands 6 33 7 Using the Digital Operator 7 1 Connecting the Digital Operator 7 3 7 2 Digital Operator Functions 7 4 7 3 Status Display 7 5 7 4 Switching between Basic Displays 7 6 7 5 Operation during Parameter Editing Display 7 8 xiv 7 6 Operation during Monitor Display 7 10 Un000 Actual motor speed 7 11 Un002 Internal torque reference 7 11 Un003 Rotation angle pulses 7 11 Un004 Rotation angle electrical angle 7 11 Un005 SERVOPACK CN1 input signal monitor 7 11 Un006 SERVOPACK CN1 output signal monitor 7 11 Un007 Position reference speed 7 11 Un
141. ernal torque reference 7 11 Un003 Rotation angle pulses 7 11 Un004 Rotation angle electrical angle 7 11 Un005 SERVOPACK CN1 input signal monitor 7 11 Un006 SERVOPACK CN1 output signal monitor 7 11 Un007 Position reference speed 7 11 Un008 Position error 7 12 Un009 Torque load ratio monitor 7 12 UnOOA Regeneration load ratio monitor 7 12 Un0OB Dynamic brake load ratio monitor 7 12 Un00C Position reference pulse counter 7 12 UnOOD Encoder pulse counter 7 13 Un800 Last error 7 13 Un801 NS600 CN4 input signal monitor 7 13 Un802 NS600 CN4 output signal monitor 7 13 Un803 Status flag monitor 7 14 Un804 Current position reference monitor 7 14 Un805 Current motor position monitor 7 14 7 1 7 Using the Digital Operator Un806 Target position monitor 7 14 Un807 Target distance monitor 7 14 Un808 Registration ta
142. ervo was ON For safety these functions cannot be exe cuted with the servo ON Disabled Auxiliary Functions Digital Operator jog operation home posi tion search parameter initialization abso lute encoder reset motor current automatic zero adjustment precision off line auto tuning Servo ON was requested the S ON signal was turned ON or SVON command was executed while there was an alarm Servo ON was requested the S ON signal was turned ON or SVON command was executed while the main power supply was OFF The homing method is not specified e Homing Start was requested HOME signal was turned ON or ZRN command was executed without setting the hom ing method There was a request to execute a process that is not allowed during program table operation while program table operation was in progress or on hold e There was an attempt to change the pro gram table while program table opera tion was in progress or on hold e There was a request to start positioning by a serial command while program table operation was in progress or on hold There was a request that could not be exe cuted at the same time as the function that was being executed Example There was a request to start program table operation while the program table was being initialized 9 17 Connect the Digital Operator or computer to NS600 connector CN7 Execute after turning the servo OFF Turn the servo ON after eli
143. es and warning codes While warning codes are out put ALM signal output remains ON normal Pn002 Function Selection Application Switches Nowe f SSS Absolute Encoder Uses absolute encoder as an absolute encoder Usage A 8 Uses absolute encoder as an incremental encoder Peat owe fd AC DC Power Input a to DC power input Input AC Selection power supply through L1 L2 and L3 terminals A 3 SERVOPACK Switches Table A 3 SERVOPACK Switches cont d Parameter Digit Name Setting Place Contents Factory Setting Motor speed 1 V 1000 min Internal speed reference 1 V 1000 min Internal torque reference 1 V 100 Pn003 Analog Monitor 1 Function Torque Reference Mon Selection itor Application Switches Analog Monitor 2 Speed Reference Moni Position error 0 05 V 1 reference unit tor Position error 0 05 V 100 reference units Position reference speed converted to min 1 V 1000 min Motor speed x 4 1 V 250 min 7 Motor speed x 8 1 V 125 min Fixed parameters Do not change E F Mode Switch Selection Uses internal torque reference as the condition Level setting Pn10C 1 Uses speed reference as the condition Level setting Pn10D 2 Uses acceleration as the condition Level setting Pn10E Uses error pulse as the condition Level setting Pn10F No mode switch function available Speed Loop Control PI control Method 1 IP control Fixed parameter 0 to2 Do not chan
144. ese parameters turn OFF the main circuit and control power supplies and then turn them ON again to enable the new settings Pn110 1 and Pn110 2 are on line param eters and become effective immediately 4 Normally set to 0 When using an External Regenerative Resistor set the capacity W of A 8 A 2 SERVOPACK Parameters the regenerative resistor 5 The upper limit is the maximum output capacity W of the SERVOPACK A 9 Appendix A List of Parameters A 3 SERVOPACK Switches The following table shows the SERVOPACK s software switches Table A 3 SERVOPACK Switches Parameter Digit Name Setting Contents Factory Place Setting Pn000 Direction Selection Sets CCW as forward direction Function Selection Basic Switches fo ss CW as forward direction reverse rotation mode 1 Control Method Selec 1 Position control 1 fixed tion Axis Address 0 to F Sets SERVOPACK axis address rotary switch lt _ Reserved o Servo OFF or e t the motor o applying dynamic brake H Stop Mode Stops the motor by applying dynamic brake DB and then releases DB Makes the motor coast to a stop state without a eeo the dynamic brake DB Pn001 Function Selection Application Switches Applicable to DC power input Input DC power supply through 1 and terminals Warning Code Output ALO1 ALO2 and ALO3 output only alarm Selection codes ALO1 ALO2 and ALO3 output both alarm cod
145. eter Pn81D will not be refreshed Pn81D will be used as the homing position when the control power supply is turned ON or the RES command is executed and homing is completed e With an Absolute Encoder Refreshes Pn81D with the absolute position offset so that the home position becomes nnnnnnnn The Coordinates Setting will remain effective after the control power supply is turned OFF or the RES command is executed Normally this command is executed once during system setup and it is not necessary to exe cute it again Each time that the command is executed the content of Pn81D are refreshed and stored in EEPROM so this command must not be executed repeatedly or too frequently Note When the electronic gear ratio Pn202 Pn203 has been changed enable the new gear ratio by turning the control power supply OFF and then ON again or executing the RES command before executing the ZSET nnnnnnnn command 6 20 6 7 Serial Commands Table 6 2 Control Commands cont d Serial Command Function Positive HOLD Positioning Interruption Interrupts the current positioning operation The remainder of the positioning operation is put on hold When the HOLD command has interrupted a positioning operation initiated by an ST STnnnnnnnn STAnnnnnnnn or STInnnnnnnn command the positioning operation can be restarted by executing the ST command When the HOLD command has interrupted registration positioning initi
146. etting Range Factory 1 to 99 999 999 Setting x1 000 reference units min ms 1 000 Pn208 S curve Time Setting Range Factory 0 to 6 400 0 01 ms Setting 0 Speed reference before S curve filtering Speed lat reference Speed reference ARIES V 4 after S curve filtering i i gt t t2 ts t4 Time ti te ts ts t4 te Time y x1 000 reference units min Acceleration te t ms Decdlerationa x1 000 reference units min ta ts ms S curve time ts t2 te t4 5 30 5 5 Absolute Encoders 5 5 Absolute Encoders If a motor with an absolute encoder is used operation can be restarted without performing the homing operation Motor SGMOH OOO1O With 16 bit absolute encoder SGMOH 00020 With 17 bit absolute encoder Always detects _ absolute position Hoping Absolute encoder WARNING The output range of multiturn data for II series absolute detection system differs from that for conventional systems 15 bit encoder and 12 bit encoder Specially when Infinite length position ing system of conventional type is to be configured with II series be sure to make the following system modification Absolute Output Range of Motion When Exceeds the Limit Encoder Type Multiturn Data Conventional 99 999 to 99 999 When exceeds the upper limit 99999 in the pos Types itive direction the multiturn data is 0 12 bit and 15 bit e When exceeds the lowe
147. etting ae sd B a Press the Up Key to jog forward Press the Down Key to jog in reverse ENTER Press the DATA ENTER Key to return to the function number setting display INFON The speed can be changed with parameter Pn304 The factory default speed is 500 min 7 21 7 Using the Digital Operator Related Errors The following table shows the main errors related to JOG mode operation ESAE Execution Disabled while Servo ON Error ESCE Execution Disabled while Main Power OFF Error ESEE Execution Disabled dur ing Program Operation Error 7 22 JOG operation cannot be executed while the Servo is ON Switch the Servo OFF and try again JOG operation cannot be executed if the main power supply is OFF Turn ON the main power supply and try again JOG operation cannot be executed while program operation is in progress or on hold interrupted Reset program operation and try again 7 7 Operations during Auxiliary Function Display E Fn003 Zero point Search This function operates the motor and searches for the encoder s phase C N CAUTION P OT N OT P LS and N LS are not effective during the Zero point Search operation These sig nals and parameter settings prohibit forward and reverse operation Fold Press the DATA ENTER Key to display the Zero point Search display Press the JOG SVON Key to switch between Servo ON and Servo OFF Press the DATA
148. etting in EEPROM but the TRMppp nnnnnnnn command does not Since this com mand does not write the setting in EEPROM it can be used to change settings frequently Online parameters The setting is enabled immediately Offline parameters Offline parameters must be enabled by turning the control power supply OFF and ON or executing the RES command so the TRMppp nnnnnnnn command cannot be used to change these parame ters Use the PRMppp nnnnnnnn command Refer to Appendix A List of Parameters to determine whether a parameter is an online or offline parame ter PRMINIT Parameter Initialization Resets all parameters to their factory default settings After executing PRMINIT turn the control power supply OFF and ON or execute the RES command 6 25 6 Serial Command Communications 6 7 4 Program Table Setup Commands 6 7 4 Program Table Setup Commands The following table shows the Program Table Setup Commands Table 6 4 Program Table Setup Commands PGMSTORE Program Table Save Saves the program table in flash memory Once PGMSTORE is executed the program table will be retained after the control power supply is turned OFF or the RES command is executed Since the program table is stored in flash memory this command must not be exe cuted frequently Note Do not turn OFF the control power supply while PGMSTORE is being executed Execution can take slightly longer than 10 seconds The green LED wi
149. ey to SET execute the function If the DATA ENTER Key is pressed before executing the display will return to the function number 4 l 7 setting display l l N Wait until the display stops flashing Never turn OFF the control power supply while the display is flashing The display will return to the function number setting display 7 47 7 Using the Digital Operator 7 8 Operations during Program Table Editing Display The program table can be edited during the program table editing display The following diagram shows the codes for each column of the program table Po gF co aja oe EU La ne Se 7 RDST RSPD POUT EVENT LOOP NEXT POUTO000 EVENT000 LOOP000 NEXTO00 POUT001 EVENT001 LOOP001 NEXT001 PGMSTEP POS SPD 0 POS000 SPD000 RDST000 RSPDO00 1 POS001 SPD001 RDST001 RSPD001 127 POS127 SPD127 RDST127 RSPD127 POUT127 EVENT127 LOOP127 NEXT127 1 Use the l gt lt N A Keys to move between columns and rows m DA pag lt o gt gp Og horizontally PGMSTEP POS SPD PGMSTEP POS SPD o eosooo sepooof 0 SPDOOO _ 1 POS001 SPD001 1 POS001 SPD001 M ventcally 17 Poll Z1 PGMSTEP POS SPD 0 SPDOOO _ 1 SPD001 _ 2 Press the Key to display the setting editing display Press the DATA ENTER Key again to return to the initial prog
150. ference Speed Input Read The A D converter for reference speed input Error is faulty A b2 Reference Torque Input The A D converter for reference torque input Read Error is faulty A bF System Alarm A system error occurred in the SERVO PACK Servo Overrun Detected The servomotor ran out of control Absolute Encoder Clear The multiturn for the absolute encoder was Error and Multiturn Limit not properly cleared or set Setting Error Encoder Communications Communications between SERVOPACK Error 2 and encoder is not possible Encoder Parameter Error 2 Encoder parameters are Encoder parameters are faulty A Cb Encoder Echoback Error Contents ee communications with encoder is incorrect A Multiturn Limit Disagree Pe multiturn limits have been set in ment Pe encoder and SERVOPACK oe Error Pulse Over Position error pulse exceeded parameter ON ON OFF Pn505 Application Module Error Some kind of alarm occurred in the Applica OFF OFF ON ON tion Module Check the NS600 Alarm Dis play Power Line Open Phase One phase is not connected in the main ON OFF power supply Notan error 0 an Notan error 0 Normal operating status o operating status Normal operating status ON OFF OFF OFF Note OFF Output transistor is OFF high ON Output transistor is ON low 1 This alarm display appears only within the range of 30 W to 1000 W 2 These alarms cannot be reset with the alarm reset signal
151. following procedure is used to check the NS600 upon delivery Check the following items when the NS600 is delivered Are the delivered products the ones that were ordered Is there any damage Can the SERVOPACK be used with the NS600 Check the model number marked on the NS600 s nameplate Refer to the descriptions of model numbers on following pages Check the overall appearance and check for dam age or scratches that may have occurred during shipping Check the model number marked on the SERVO PACK s nameplate SERVOPACK model number SGDH OOOE O0 D 2 1 First part must be SGDR 2 Middle part must end with an E If any of the above items are faulty or incorrect contact your Yaskawa sales representative or the dealer from whom you purchased the products 1 1 1 External Appearance and Nameplate Examples 2 io a S 5 EEE Ako _ 0a J 0 4 oCo Fig 1 1 External Appearance of the NS600 1 1 Checking Products on Delivery Application Module model number Name SERVOPACK IP1X INDEXER OPTION UNIT MODEL JUSP NS600 VER 01000 0 N OP0210 3 1 S N D00081703490001 4 US Use with SGDH LISTED SERVOPACK only IND CONT EQ YASKAWA ELECTRIC MADE IN JAPAN EI I Manufacturing number Version Fig 1 2 Example Nameplate 1 1 2 Model Number NS600 JUSP NS60 0 SERVO
152. full duplex wiring 3 12 6 2 6 4 6 5 6 7 G global commands 6 6 H half duplex wiring 3 13 6 2 6 4 6 5 6 7 holding brake ON timing 5 18 settings 5 18 wiring example 5 17 homing 5 56 homing start 6 18 homing jog speed table input signals 5 57 input conditions 5 61 input signal timing specifications 5 62 operation 5 58 parameters 5 57 T O signals connection examples 3 2 signal names and functions 3 6 INFINITE 5 39 5 50 INPOSITION 5 40 5 42 input signals 3 6 3 7 installation 2 1 2 5 installation site 2 3 orientation 2 4 interfaces with sequence input circuits 3 8 J jog speed table 5 56 5 61 5 62 6 32 homing jog speed input signals
153. ge i ca a et a E aa i o EEE 0 2 2 1 3 1 3 Appendix A List of Parameters Table A 3 SERVOPACK Switches cont d Parameter Digit Name Setting Contents Factory Place Setting Pn110 Online Autotuning o Tunes only at the beginning of operation Online Method Autotuning Switches a Does not perform autotuning 1 Speed Feedback Com fO Enabled 1 pensation Selection 1 Disabled 2 Friction Compensation oo Friction compensation Disabled Selection fod tne tunes Friction compensation Small 2 Friction compensation Large compensation Friction compensation Large Fixed parameter E to 3 eles not change Tre osa Not used References Cruse EE Switches Selection Clear Operation fO Clears error counter at the baseblock 0 fixed _ _ jae Clears error counter when an alarm occurs 3 Not Not used o Pn207 a e C E curve 1 om Position Control Filter Selection Function fi ON ot Not used o e e Pn408 Notch Filter Selection fo Disabled Ee eg Uses a notch filter for torque reference Trees A i a A Reened f i Appendix B Monitor Mode and Auxiliary Functions This appendix provides lists of monitor modes and auxiliary functions that can be used when the Digital Operator is connected to connector CN7 B 1 Monitor Modes B 2 B 2 Auxiliary Functions B 4 B 1 Appendix B Mon
154. haracter count 7 16 Un80F Serial command received error character count 7 16 Un810 Serial command transmitted character trace 7 16 Un811 Serial command transmitted character count 7 16 7 7 Operations during Auxiliary Function Display 7 17 Fn000 Alarm traceback data display 7 19 Fn001 Rigidity setting during online autotuning 7 20 Fn002 JOG mode operation 7 21 Fn003 Zero point search 7 23 Fn005 Parameter settings initialization 7 25 Fn006 Alarm traceback data clear 7 27 Fn007 Write inertia ratio data 7 28 Fn008 Absolute encoder reset 7 29 Fn00C Manual zero adjustment of analog monitor output 7 31 Fn0OD Manual gain adjustment of analog monitor output 7 32 FnOOE Automatic offset adjustment of motor current detection siganl 7 33 FnOOF Manual offset adjustment of motor current detection signal 7 35 Fn010 Write protection setting 7 36 Fn011 Motor model display 7 37 Fn012 SERVOPACK software version display 7 38 Fn013 Multiturn limit valu
155. he Positioning Speed lt EXAMPLE gt gt e Reference unit 0 01 mm 0 0004 in Desired Positioning Speed 15 m min 15 000 mm min 1 500 000 reference units min 0 01 mm Thus the Positioning Speed setting is 1 500 x 1 000 reference units min Specify the Positioning Speed and Registration Speed in the program table in SPD and RSPD Specify the Jog Speed in the Jog speed table in JSPD Specify the Positioning Speed and Registration Speed with the SPD and RSPD serial com mands The SPD and RSPD commands can be omitted in this case the setting in the follow ing parameter will be used Positioning Registration Setting Range Factory Speed 1 to 99 999 999 Setting x 1 000 reference units min 1 000 5 29 5 Parameter Settings and Functions 5 4 2 Setting the Acceleration and Deceleration 5 4 2 Setting the Acceleration and Deceleration Calculate the Acceleration Deceleration lt EXAMPLE gt gt e Reference unit 0 01 mm 0 0004 in e Acceleration rate from 0 m min to 15 m min 100 ms 13 000 mm min 1 500 000 reference units min 0 01 mm 1 509 000 reference nitsmin 15 000 reference units min ms 100 ms Thus the Acceleration setting is 15 x 1 000 reference units min ms Use the parameters listed in the following table to set the Acceleration and Deceleration rates Acceleration Setting Range Factory 1 to 99 999 999 Setting x1 000 reference units min ms 1 000 Pn820 Deceleration S
156. he registration function The NS600 has two reference methods serial commands and digital I O With serial commands ASCII command strings are sent to the NS600 through RS 232C RS 422 or RS 485 wiring and these commands are interpreted and executed immediately Digital I O is structured as a program table Mode 0 or jog speed table Mode 1 If the pro gram table Mode 0 is being used the program step selected with the input signal pattern binary format can be executed If the jog speed table Mode 1 is being used the jog speed selected with the input signal pattern binary format can be executed X Il Series SGDH SERVOPACK with NS600 installed vi NS600 Functions Digital I O The program step selection input signals binary format are used to select program table the desired positioning data from the program table stored in the NS600 Mode 0 The NS600 can store up to 128 program steps The program steps can be linked to create combinations that perform more complex motions Digital I O Up to 16 jog speed levels can be set The jog speed selection input signals jog speed table binary format are used to select the desired jog speed Mode 1 Serial commands Positioning is controlled by ASCII command strings received through RS 232C RS 422 or RS 485 wiring Up to 16 axes can be connected It is also possible to use the ASCII serial commands to select positioning data from the program ta
157. homing parameters with the parameters listed in the following table Pn823 Homing method 0 No Homing DEC and phase C 2 DEC only 3 Phase C only Pn824 Homing direction 0 Forward 1 Reverse Pn825 Homing Moving Speed 0 to 99 999 999 x1 000 Reference gt units min Pn826 Homing Approach Speed 0 to 99 999 999 x1 000 Reference gt units min Pn827 Homing Creep Speed 0 to 99 999 999 x1 000 Reference gt units min Pn828 Homing Final Moving 99 999 999 to Reference units Distance 99 999 999 5 57 5 Parameter Settings and Functions 5 9 3 Parameters Related to Homing 5 10 Homing Operation Pn824 0 Forward NN Pn826 Homing Approach Speed Encoder s phase C Pn824 0 Encoder s phase C Pn824 0 Encoder s phase C Homing starts when the HOME signal becomes active Homing stops if the HOME signal becomes inactive again If the HOME signal becomes active again while the homing operation is stopped homing will be restarted from the point where it was interrupted The homing operation will be cancelled if operation is switched to Jog Speed Table Mode with the JOGP signal or JOGN signal or the mode is switched with the MODE 0 1 signal while the homing operation is stopped When parameter Pn823 0 No Homing homing will end as soon as the control power supply is turned ON or the RES command is executed The smaller of the settings in parameter Pn81F Acceleration and Pn820 Deceleration will
158. ile the key is pressed Down Cursor Key Up Cursor Key Motor reverse rotation Motor forward rotation e Press the DATA ENTER Key and the display will revert to Fn002 This sets to the servo OFF state with motor power turned OFF Alternatively press the SVON Key to set to the servo OFF state FIle This disables operation under the Digital Operator control 4 5 4 Trial Operation Use the following parameter to set or modify motor speed when operating the servomotor from the Digital Operator Setting min Pn304 JOG speed Initial setting 500 INFON The rotation direction of the servomotor depends on the setting of parameter Pn000 0 Rotation Direc 7 tion The above example applies when Pn000 0 is set to 0 the factory setting 5 Connect the signal lines Digital Operator f Z SG PEDIS c E f be a KIA 3 a e Faki A Pl BS gt a Y Connect the CN1 CN4 and CN6 connectors Use the following procedure to connect the CN1 CN4 and CN6 connectors if these connectors are being used The Digital Operator can remain connected a Turn OFF power b Connect the CN1 CN4 and CN6 connectors c Turn ON power again 6 Check the CN1 input signals if CN1 input signals are being used Check the input signal wiring in Monitor Mode using the Digital Operator by monitor
159. imum output current 20 mA DC cn1 39 ALO3 lt K Host I cn1 1 J SG os lt gt controller ov ov A suitable external I O power supply must be provided by the user separately because there is no internal 24 V power supply in the SERVOPACK 5 15 5 Parameter Settings and Functions Eee 5 3 3 Brake Interlock Output Signal BK The use of the photocoupler output signals is described below Output ALM CN1 31 Servo Alarm Output Output gt ALM CN1 32 Signal Ground for Servo Alarm Output These alarms are output when a SERVOPACK alarm is detected SERVOPACK Alarm ALM output Turns OFF the main power supply Form an external circuit so this alarm output ALM turns the SERVOPACK OFF ON Circuit between CN1 31 and 32 is closed Normal state and CN1 31 is at low level OFF Circuit between CN1 31 and 32 is open and Alarm state CN1 31 is at high level Alarm codes ALO1 ALO2 and ALO3 are output to indicate each alarm type The uses of open collector output signals ALO1 ALO2 and ALO3 is described below Output ALO1 CN1 37 Alarm Code Output Output gt ALO2 CN1 38 Alarm Code Output Output ALO3 CN1 39 Alarm Code Output Output gt SG CN1 1 Signal Ground for Alarm Code Output These signals output alarm codes to indicate the type of alarm detected by the SERVO PACK Use these signals to display alarm codes at the host controller See 9 7 1 Alarm D
160. in the following parameters Set the torque lim its as a percentage of the rated torque Forward Torque Unit Setting Range Factory Setting Limit 0 to 800 800 Pe 7 Reverse Torque Unit Setting Range Factory Setting Limit 9 0 to 800 800 INFO N 1 Ifthe torque limit is set higher than the maximum torque of the servomotor the maximum torque of the servomotor is the limit 2 The external torque limits P CL and N CL cannot be used when an NS600 is installed on an SGDH SERVOPACK 5 Parameter Settings and Functions 5 3 Sequence I O Signals Sequence I O signals are used to control operation of the SERVOPACK and NS600 Connect these signal terminals as required E Input Signal Connections Connect the Sequence Input signals as shown below CN1 Connector SERVOPACK Power supply 24V CN1 24 VIN CN1 47 33ko Photocouplers Host controller S ON CN1 40 gt ISEL5 CN1 41 e 5 ZA gt L P OT gt N E gt N OT aN gt gt IDEC gt b an Dal gt SEL6 vA gt gt ad IRGRT CN1 46 3 gt ae vov 5 12 5 3 Sequence I O Signals CN4 Connector NS600 Power supply T V CNG 3 3k2 Photocouplers Host controller 24VICOMLCN4 1 a p ithe WV gt MODE 01 Y CN4 3 K yO ais a ISTART STOP HOME
161. ine rigidity When this function is executed parameters Pn100 Pn101 Pn102 and Pn401 will be refreshed and saved to EEPROM Foils Press the DATA ENTER Key to enter the autotuning rigidity setting display Example The current rigidity setting will be displayed Use the Up and Down Keys to change the rigidity setting If the DATA ENTER Key is pressed before editing the display will return to the function number setting display A0005 Press the DATA ENTER Key again to confirm the new autotuning rigidity setting N lI 7 Wait until the display stops flashing oO OM Never turn OFF the control power supply 7 1 x while the display is flashing donE The display will return to the function number setting display INFON For details on autotuning operations see 6 3 Autotuning in the X I Series SGMOH SGDH User s 4 Manual Design and Maintenance Manual No SIE S800 32 2 7 20 7 7 Operations during Auxiliary Function Display E Fn002 JOG Mode Operation This function performs JOG mode operation CAUTION e P OT N OT P LS and N LS are not effective during JOG mode operation These signals and parameter settings prohibit forward and reverse operation Robbe Press the DATA ENTER Key to display the JOG mode operation display dob Press the JOG SVON Key to switch between Servo ON and Servo OFF Press the DATA ENTER Key to return to the function number s
162. ing 1 Pn8s00 Serial Communication 0 Full duplex wiring Protocol 1 Full duplex wiring Echoback each character 2 Half duplex wiring delimiter CR 3 Half duplex wiring delimiter CR Echoback each character 4 Half duplex wiring delimiter CR Echoback each command 5 Half duplex wiring delimiter CR LF 6 Half duplex wiring delimiter CR LF Echoback each character 7 Half duplex wiring delimiter CR LF Echoback each command i i Pn802 Response OK 2 Pn803 MODE 0 1 0 Disables response OK 1 1 Enables response OK 0 Closed Mode 0 1 Closed Mode 1 2 Always Mode 0 3 Always Mode 1 Pn805 PGMRES JOGP Pn806 SELO JOGN 0 Closed Program select Mode 0 Jog reverse Mode 1 1 Open Program select Mode 0 Jog reverse Mode 1 2 Always program select Mode 0 No jog reverse Mode 1 3 No program select Mode 0 No jog reverse Mode 1 Pn804 START STOP 0 Closed Program Start Mode 0 HOME Homing Start Mode 1 1 Open Program Start Mode 0 Homing Start Mode 1 2 or 3 No Program Start Mode 0 No Homing Start Mode 1 0 Open to closed Reset program Mode 0 Jog forward Mode 1 1 Closed to open Reset program Mode 0 Jog forward Mode 1 2 or 3 No program reset Mode 0 No jog forward Mode 1 A 2 A 1 NS600 Parameters Table A 1 NS600 Parameters cont d SEL1 JOGO 7 7 7 I Pn80E DEC SEL2 JOG1 SEL3 JOG2
163. ings and Functions 5 4 Setting Reference Units Reference units are the position and distance units that are used between the host controller and NS600 A reference unit is the minimum unit for positioning The electronic gear ratio converts between reference units and encoder pulses When the Electronic Gear Function is Not Used Workpiece 7 a BT ET YT k A No of encoder pulses 2 048 Ball screw pitch 6 mm 0 24 in To move a workpiece 10 mm 0 39 in One revolution is 6 mm Therefore 10 6 1 6666 revolutions 2 048 x 4 pulses in one revolution Therefore 1 6666 x 2 048 x 4 13 653 pulses 13 653 pulses are input as references The equation must be calculated at the host controller When the Electronic Gear Function is Used Workpiece Reference unit 1 um r A A No of encoder pulses 2 048 Ball screw pitch 6 mm 0 24 in To move a workpiece 10 mm 0 39 in Equipment conditions and reference units must be defined for the electronic gear function beforehand Reference unit is 1 um Therefore 10 mm 7 an 10 000 pulses E Setting Procedure of the Reference Unit Calculate the electronic gear ratio B A using the following procedure and set the values in parameters Pn202 and Pn203 1 Check equipment specifications Items related to the el
164. ion Commands 6 33 6 1 6 Serial Command Communications 6 1 CN6 Connector Specifications The following table shows the specifications of the CN6 connector Interface Full duplex RS 422 RS 485 or RS 232C or half duplex RS 485 Set the appropriate wiring method with parameter Pn800 Synchronization Start stop synchronization ASYNC Baud Rate 9 600 19 200 or 38 400 baud Selectable with parameter Pn801 Data Bits 7 bits ASCII Echoback Each character Each command or None Selectable with parameter Pn800 Data Configuration Character string 00101011 0 1 lt Stop bit Start bit E a Data Even parity 6 2 6 2 Settings 6 2 Settings This section explains the settings for the NS600 s serial commands 6 2 1 Block Diagram The following block diagram shows the basic connections for multi axis control Hot So controller SGDH SGDH CN6 CN6 Le Up to 16 axes can be connected For details on wiring see 3 2 Serial Command Communications Connector CN6 Initial Settings e Axis address e Protocol e Baud rate 6 2 2 Setting the Axis Address Set the axis number on the ADRS rotary switch Up to 16 axes can be connected 0 to 9 and 6 A to F SERVOPACK SGDH YASKAWA 8 818 818 0000 MODEK V DMa CHARGE power
165. ioning or other travelling operation Positioning Start with Registration Starts positioning with the speed specified by the SPD command and the target position speci fied by the POS POSA or POSI command If the RGRT signal goes ON during positioning that position is latched and the motor will move the specified relative distance from the latched position The registration operation uses the registration distance specified by the RDST command and the registration speed specified by the RSPD command The target position reservation positioning speed reservation registration distance reservation and registration speed reservation can be omitted In this case the positioning performed in the previous registration operation will be repeated Error E51E will occur if the RS command is executed but the target position hasn t been speci fied even once Error E52E will occur if the RS command is executed but the registration dis tance hasn t been specified even once If the RS command is executed but the positioning speed and registration speed haven t been specified even once the speed specified in parameter Pn81E will be used for both the positioning speed and registration speed When registration positioning has been stopped with the HOLD command the registration positioning will be restarted the hold will be cleared if the RS command is executed Example 1 POSI nnnnnnnn Target Position Reservation SPDnnnnnnnn Speed Reservati
166. isplay Table for more details on the relationship between NS600 alarm display and alarm code output See 9 2 2 Alarm Display Table for more details on the rela tionship between SERVOPACK alarm display and alarm code output 5 3 3 Brake Interlock Output Signal BK The holding brake is used when a servodrive controls a vertical axis In other words a servo motor with brake prevents the movable part from shifting due to gravity when system power goes OFF Servomotor Holding brake a Prevents the movable part from shifting due to gravity when system power goes OFF 5 16 5 3 Sequence I O Signals IMPORTANT The brake built into the SGMOH servomotor with brakes is a de energization 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 motor torque E Wiring Example Use the SERVOPACK contact output signal BK and the brake power supply to form a brake ON OFF circuit The following diagram shows a standard wiring example SERVOPACK Servomotor with brake Power supply A B Lic BK RY oe fa CN1 27 to gt IBK SO wo lt miS eS 24V CN2 28 IBK CN2 Blue or BK RY yellow Red _ __White Ac DC Black
167. istration Jog Forward Reverse Setting range 1 lt nnnnnnnn lt 99 999 999 x1 000 reference units min Starts jog forward or jog reverse operation at the speed specified in nnnnnnnn JOGPnonnnnnnn Forward JOGNnnnnnnnn Reverse The specified speed and jog direction can be changed while jogging is in progress Speed e SKIP e JOGPx y e JOGNy eJOGNz JOGPx Y 7 Positioning Start with Registration Relative Distance Setting range 99 999 999 lt nnnnnnnn lt 99 999 999 Reference units Specifies the relative distance nnnnnnnn as the target position and starts registration positioning at the same time This command is equivalent to the following combination POSI nnnnnnnn RS Example SPDnnnnnnnn Speed Reservation RDSTnnnnnnnn Registration Distance Reservation RSPDnnnnnnmn Registration Speed Reservation RSI nnnnnnnn Relative Position Reservation and Positioning Start with Registration 6 16 6 7 Serial Commands Table 6 2 Control Commands cont d Serial Command Function Positive Response RJOGPnnnnnnnn Jog Forward Reverse with Registration OK RJOGNnnnnnnnn Setting range 1 lt nnnnnnnn lt 99 999 999 x1 000 reference units min Starts jog forward or jog reverse operation at the speed specified in nnnnnnnn RJOGPnnnnnnnn Forward RJOGNnnnnnnnn Reverse If the RGRT signal goes ON during forward reverse jogging that position is latched and the motor will move the specified relative
168. itor Mode and Auxiliary Functions B 1 Monitor Modes The following table shows the monitor modes that can be used when the Digital Operator is connected to connector CN7 Table B 1 Monitor Modes Monitor Number Display Contents Serial Command i 1 Un009 Torque load ratio monitor Un00A Regeneration load ratio monitor 4 a P C e POMSTER EVTIME Uneo Seal conmandssvedchaneartase Uneoe Set commen reese ereere Uneor Seal ommend eene ovr chaaeercoom Unst0 Seal command vansnivedchaweertmee Unett Serial ommend varsmited chase count 1 Indicates the percentage of the rated torque 100 is the rated torque 2 Indicates the number of pulses from the encoder s phase C 3 Indicates the percentage of the rated torque over a 10 second period B 2 B 1 Monitor Modes 4 Indicates the percentage of the maximum regenerative power over a 10 second period 5 Indicates the percentage of the maximum DB power consumption over a 10 second period 6 These values are expressed in hexadecimal Appendix B Monitor Mode B 2 Auxil Monitor Number Fn000 Fn001 Fn002 Fn003 Fn004 Fn005 Fn006 Fn007 Fn008 Fn009 Fn00A Fn00B Fn00C Fn00D Fn00E Fn0OF Fn010 Fn011 Fn012 Fn013 Fn014 Fn800 Fn801 Fn802 Fn803 Fn804 and Auxiliary Functions lary Functions The following table shows the auxiliary functions that can be used when the Digital Operator is connected
169. layed DSPL SET INFON For details on the various codes displayed by this function see 7 2 6 Checking the Motor Model in the LIT Series SGM OH SGDH User s Manual Design and Maintenance Manual No SIE S800 32 2 7 37 7 Using the Digital Operator m Fn012 SERVOPACK Software Version Display This function displays the SERVOPACK and encoder software version AaB Press the DATA ENTER Key to display the software ENTER version display Press the DATA ENTER Key again to return to the function number setting display Example eee C The SERVOPACK s software version is displayed first DSPL SET Example F 0 B 0 The encoder s software version is displayed e DSPL SET 7 38 7 7 Operations during Auxiliary Function Display E Fn013 Change Multiturn Limit Value Setting This function sets the multiturn limit value When this function is executed the maximum multiturn value set in the absolute encoder is refreshed with the value in parameter Pn205 This operation clears alarm A CC the Multiturn Limit Disagreement alarm N WARNING The multiturn limit value must be changed only for special applications Changing it inappropriately or unintentionally can be dangerous If a Multiturn Limit Disagreement alarm occurs check the setting of parameter Pn205 in the SER VOPACK first to confirm that it is correct If Fn013 is executed when an incorrect value is set in Pn205 an incor
170. ll flash during execution PGMINIT Program Initialization Resets all values in the program table to their factory default settings Note Do not turn OFF the control power supply while PGMINIT is being executed Execution can take slightly longer than 10 seconds The green LED will flash during execution POSTsss Program Table POS Read POST123 A 12345678 CR LF POST123 I 12345678 CR LF Reads the POS value positioning target position POST 123 INFINITE SP CR LF sss Program step PGMSTEP POST 123 STOP SP SP SP SP SP SP CR LF POST123 SP SP SP SP SP SP SP SP SP CR LF POSTsss nnnnnnnn Program Table POS Write Sets the POS value positioning target position sss Program step PGMSTEP Settings Annnnnnnn Absolute position Reference units 99 999 999 lt nnnnnnnn lt 99 999 999 Innnnnnnn Relative distance Reference units 99 999 999 lt nnnnnnnn lt 99 999 999 INFINITE or INFINITE Jog forward or Jog reverse STOP Stop No specification SPDTsss Program Table SPD Read SPDT123 12345678 CR LF Reads the SPD value positioning speed sss Program step PGMSTEP 6 26 Serial Command SPDTsss nnnnnnnn RDSTTsss RDSTTsss nnnnnnnn RSPDTsss RSPDTsss nnnnnnnn POUTTsss 6 7 Serial Commands Table 6 4 Program Table Setup Commands cont d Program Table SPD Write Sets the SPD value positioning speed sss P
171. m Table LOOP Write Sets the LOOP setting number of repetitions sss Program step PGMSTEP Setting 1 lt nnnnn lt 99 999 NEXTTsss Program Table NEXT Read NEXTT123 12345 CR LF NEXTT123 END SP SP CR LF Reads the NEXT setting link destination sss Program step PGMSTEP NEXTTsss nnn Program Table NEXT Write Sets the NEXT setting link destination sss Program step PGMSTEP Settings 0 lt nnn lt 127 Program step PGMSTEP END End 6 29 6 Serial Command Communications 6 7 5 Program Table Operation Commands 6 7 5 Program Table Operation Commands STARTsss START STOP PGMRES The following table shows the Program Table Operation Commands Table 6 5 Program Table Operation Commands Program Table Operation Start Starts program table operation from program step sss sss Program step PGMSTEP When program table operation has been interrupted by the STOP command or other method the STARTsss com mand can be executed to cancel that operation and simul taneously start a new program table operation from program step sss Program Table Operation Restart When program table operation has been interrupted by the STOP command or other method the START command can be executed to restart that operation Clear Hold If program table operation was cancelled or ended the START command will start a new program table operation from the program step sss that was specified in
172. mi nating the cause of the alarm and clearing the alarm Turn the servo ON after turning ON the main power supply Specify the homing method in Pn823 Request execution of the process again after cancelling program table operation with the PGMRES signal or RES com mand Execute the operation again after the execution of the current func tion is completed 9 Troubleshooting 9 2 4 Warning Display Table Table 9 5 NS600 Error Displays cont d Error Error Name Details Remedy Panel Display Display 2 Encoder Mismatch Error There was a request that was incompatible Check the encoder with the connected encoder Examples e An Absolute Encoder Reset ABSPGRES command or Fn008 was requested when an incremental encoder is connected e Homing Start was requested HOME signal was turned ON or ZRN command was executed when an absolute encoder is connected An absolute encoder can be used as an incremental encoder if parameter Pn002 2 1 No A CC Alarm A Multiturn Limit Setting MLTLTMSET Use the Multiturn Limit Setting Occurred Error command or Fn013 was requested even operation to adjust the setting in though alarm A CC has not occurred the encoder to match Pn205 only Alarm A CC indicates that Pn205 does after alarm A CC has occurred not match the setting in the encoder after the multiturn limit setting in Pn205 was changed and the control power supply was turned OFF and ON 1 This is the
173. min HOME JOGP IJOGN 4 ms min gt Ams min 5 62 6 Serial Command Communications This chapter explains the NS600 s serial command capabilities 6 1 CN6 Connector Specifications 6 2 6 2 Settings 6 3 6 2 1 Block Diagram 6 3 6 2 2 Setting the Axis Address 6 3 6 2 3 Parameters Related to Serial Communications 6 4 6 3 Command Response Format 6 5 6 4 Global Commands 6 6 6 5 Echoback Response Time 6 7 6 6 Response Data Details 6 8 6 6 1 Positive Responses 6 8 6 6 2 Negative Responses 6 8 6 7 Serial Commands 6 9 6 7 1 Basic Operation Commands 6 9 6 7 2 Control Commands 6 10 6 7 3 Parameter Edit Commands 6 24 6 7 4 Program Table Setup Commands 6 26 6 7 5 Program Table Operation Commands 6 30 6 7 6 Zone Table Setup Commands 6 31 6 7 7 Jog Speed Table Setup Commands 6 32 6 7 8 Monitor and Auxiliary Funct
174. n Display SGDH Y Spec No Display Torque Reference Monitor Temporary Parameter Write Torque Load Ratio Monitor Auto tuning Inertia Save NS600 Type Code 0600H Display NS600 Firmware Version Display NS600 Y Spec No Display Zone Table Initialization Zone Table ZONEN negative side zone position limit Read Zone Table ZONEN negative side zone position limit Write Zone table ZONEP positive side zone position limit Read Zone Table ZONEP positive side zone position limit Write Zone Table Save Homing Start C 4 Index Index global address 6 6 BK 3 2 5 14 5 16 DEC 3 2 5 12 5 57 5 58 6 18 6 19 HOME 3 3 5 13 5 58 5 62 INPOSITION 3 3 5 21 5 40 JOGO to JOG3 3 3 5 13 5 59 JOGN 3 3 5 13 5 58 5 59 5 62 JOGP 3 3 5 13 5 58 5 59 5 62 MODE 0 1 3 3 5 13 5 36 5 37 5 45 5 56 5 62 PGMRES 3 3 5 13 5 37 5 44 5 45 POUTO to POUT4 3 3 5 22 5 40 5 54 RGRT 3 2 5 12 5 50 5 51 5 52 6 14 6 17 SELO to SEL6 3 2 3 3 5 12 5 37 5 38 5 40 5 42 5 43 5 44 5 45 IS ON 3 2 5 12 5 15 S RDY 3 2 5 14 5 19
175. n position data when the power is turned OFF the data must be backed up by a battery Provide the battery recommended below E Installing the Battery at the Host Device CN1 21 CN1 22 Lithium battery by Toshiba ER6VC3 3 6 V 2 000 mAh 5 32 5 5 Absolute Encoders m Battery Provided for SERVOPACK CN8 Lithium battery JZSP BAO1 includes battery and connector Battery Toshiba ER3 V 3 6 V 1 000 mAh Battery carrying space Battery connector CN8 Ln BIBBIE o000 MODE SET A v DATA lt Ocuarce Power O PROHIBITED e Install the battery at either CN1 21 CN1 22 or CN8 It is dangerous to install batteries at both simultaneously because that sets up a loop circuit between the batteries 5 5 4 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 SERVOPACK s power supply is turned OFF and the encoder s cable is removed The absolute encoder can be set up using Digital Operator function Fn008 or the ABSPGRES serial command For more details refer to B 2 Auxiliary Functions INFON The absolute encoder setup operation is only possible when the servo is OFF After the
176. nd Communications 6 7 2 Control Commands Table 6 2 Control Commands cont d Serial Command Function Positive Response OK HOLD Even if a new target position is specified before the HOLD command is executed the remain ing distance will be cancelled and the new target position will be used instead Speed POSIz SPDx POSly HOLD ST i 2 gt t Remaining dis tance put on hold When the speed setting has been changed the new setting will be used when positioning is restarted Example 1 Speed 4 SOB SPDz ST HOLD i y y2 y Example 2 Speed 4 SPDX POSIy ST e HOLD Positioning Stop Stops the current positioning operation The remainder of the positioning operation is cancelled SPDx e POSIy ST SKIP Remaining ieee y distance i i cancelled y 6 22 6 7 Serial Commands Table 6 2 Control Commands cont d Serial Command Function Positive POUTnnnnn POUT Reservation Specifies the operation of programmable output signals POUTO to POUT4 Settings N Inactive A Active Z Zone table Continue POUTnnnnn Lrouro POUTI POUT2 POUT3 POUT4 6 23 6 Serial Command Communications 6 7 3 Parameter Edit Commands 6 7 3 Parameter Edit Commands The following table shows the Parameter Edit Commands Table 6 3 Parameter Edit Commands PRMppp Parameter Read An 8 digit signed decimal value is returned fo
177. nge to the value set for Pn205 If the servomotor rotates in the positive direction from the value set in Pn205 the multiturn data will change to 0 Set Pn205 to m 1 Turn the power OFF and then back ON after changing the setting of parameter Pn002 2 or Pn205 TERWS 1 Multiturn Limit The multiturn limit is the upper limit of the multiturn data If Pn002 2 0 the multiturn data will vary between 0 and the value set for Pn205 Multiturn Limit Setting 5 34 N INFO J nrofy 5 5 Absolute Encoders The multiturn limit value in the Encoder is factory set to 65 535 the same as the SERVO PACK If the multiturn limit value in the SERVOPACK is changed with Pn205 and then the SERVOPACK power is turned OFF and ON the following alarm will occur Alarm Name Multiturn Limit Disagreement Alarm Alarm Code Outputs Code Alarm Code Outputs Meaning of Alarm A CC The multiturn limit value is different in the Encoder and SERVOPACK Note ON signals are low level OFF signals are high level When this alarm occurs the multiturn limit in the Encoder must be changed This setting can be changed with Digital Operator function Fn013 the Auxiliary Function Mode or the MLTLIMSET serial command The multiturn limit setting in the Encoder can be changed only when the Multiturn Limit Disagreement alarm has occurred After changing the setting turn the power supply OFF and then back ON 5 35 5 Parameter Settings and Function
178. nnectors 10250 52A2JL or 10150 3000VE 10350 52A0 008 Sumitomo 3M Co Equivalent 50 p Right Angle Plug E CN4 Terminal Layout 24V COM Power supply for sequence signals MODE0 1 Mode select input START Start Stop STOP Homing start HOME PGMRES Program reset JOGP JOG Forward input Positioning complete output INPOSI Positioning TION complete output 19 INPOSI TION POUTO Programma ble output 0 Programma ble output 0 Programma ble output 1 Programma ble output 1 Programma ble output 2 Programma ble output 2 Program select 0 JOG Reverse input Programma ble output 3 Programma ble output 3 Program select 1 JOG Select 0 input Programma ble output 4 PEN p N N o Programma ble output 4 Program select 2 JOG Select 1 input A Program select 3 JOG Select 2 input an Program select 4 JOG Select 3 input oo E CN4 Specifications Specifications for Applicable Receptacles SERVOPACK Solder Type Case Manufacturer Connectors 10236 52A2JL or 10136 3000VE 10336 52A0 008 Sumitomo 3M Co Equivalent 36 p Right Angle Plug 3 5 3 Connector Wiring 3 1 3 I O Signal Names and Functions 3 1 3 I O Signal Names and Functions The following tables describe SERVOPACK I O signal names and functions CN1 Input Signals Zero Point Return Deceleration Limit Switch
179. not be used Do not operate the built in Panel Operator Connect the Hand held JUSP OP02A Digital Operator to connector CN7 on the NS600 The SERVOPACK power supply can be left ON while connecting and disconnecting the Digital Operator s connector JUSP OP02A Digital Operator FECES Je Wee 7 3 7 Using the Digital Operator 7 2 Digital Operator Functions Hand held Digital Operator _ blb FF SERVOPACK ORERATOR ALARM SoS set D YASKAWA The Digital Operator can be used for parameter settings operating references and status dis plays This section provides information on the keys and their functions available from the initial dis plays ALARM RESET On the Status Display use this key to reset alarms DSPL SET Use this key for operations such as switching dis plays or executing auxiliary functions DATA ENTER Use this key for operations such as inputting numerical values Use these keys for operations such as incrementing and decrementing numerical values DOWN LEFT Use these keys for operations such as moving the cursor RIGHT JOG SVON Press this key to switch between Servo ON and Servo OFF status during JOG operation 7 4 7 3 Status Display 7 3 Status Display On the Status Display bit data and codes are displayed to indicate the status of SERVOPACK Display Indicates Servo OFF status bb Base Block Indicates Servo ON status Indicates P OT status Rot
180. ntroller NS600 Command character string Response character string Example Example R R ISVON 2SVON 1POS10000 CR 2POS10000 CR 1ST CR 2ST CR 1PUN CR 2PUN CR 10K CR LF 20K CR LF C C 10K CR LF 20K CR LF 10K CR LF 20K CR LF 1PUN 00004567 CR LF 2PUN 00002345 CR LF VVYVVVVYVY Note When full duplex wiring is being used either CR or Note The response s delimiter is always CR LF CR LF can be used as the delimiter Alphabetical characters in the response are always upper When half duplex wiring is being used the delimiter case can be set to either CR or CR LF with parameter Pn800 In both cases CR LF will be returned as the echo back Upper case and lower case characters can be used in the command including the axis number and are treated the same Note In ASCII the CR character is 0D Hex and the LF character is 0A Hex To maximize communications reliability confirm the echoback and responses to each command while IMPORTANT communicating with the NS600 When the echoback and responses are not being confirmed commu nications reliability can be improved by reading the status when appropriate 6 5 6 Serial Command Communications 6 4 Global Commands Global commands are commands that are sent to all axes at the same time Command Host controller gt NS600 Respon
181. o 7 6 Operation during Monitor Display for details Program Table Editing Display Indicates the mode such as Po or SP and the selected program step number Refer to 7 8 Operations during Program Table Editing Display for details Zone Table Editing Display Indicates the mode i e ZP or Zn and the selected zone number Refer to 7 9 Operation during Zone Table Editing Display for details Jog Speed Table Editing Display Indicates JS and the selected jog speed number Refer to 7 10 Operation during Jog Speed Table Editing Display for details 7 Using the Digital Operator 7 5 Operation during Parameter Editing Display IMPORTANT Functions can be selected or adjusted by setting parameters Refer to Appendix A List of Param eters for a list of parameters 1 Poli ZIN Use these keys to select gt y lt J gt IN N the parameter number I Pob JIN Press the DATA ENTER Key to display the current value 1 OOOE8 JIN la K gt AIM Use these keys to edit If the DATA ENTER Key is Ine parameter valie pressed before editing the display will return to the parameter number display VI HOAAe DATA Press the DATA ENTER Key to save the new setting in EEPROM N II 7 z Wait until the display stops flashing 0 0 0 O Never turn OFF the control power supply while the display is flashing 4 N x Press the DATA ENTER Key to
182. ompleted 00 00 a a a o p o foo j o j e oa e a o o o o e a e a 5 46 5 6 Program Table PGMSTEP 1 71 PGMSTEP 3 q PGMSTEP 5 q PGMSTEPO PGMSTEP2 PGMSTEP4 PGMSTEP 0 Speed ISTART STOP INPOSITION POUTO POUT1 POUT2 E Using a SELx Signal in an EVENT OE S oo evan fsecranoo 2 1 200000 30000 PGMSTEP 0 PGMSTEP 1 PGMSTEP 1 PGMSTEP 0 LOOP 1 i LOOP 1 LOOP 2 ISTART STOP SELO SEL1 INPOSITION 7 POUTO POUT1 5 47 5 Parameter Settings and Functions 5 6 9 Program Table Examples m Using a ZONE Table PGMSTEPO PGMSTEP1 PGMSTEPO PGMSTEP1 PGMSTEPO Speed START STOP INPOSITION POUTO I POUT1 M IPOUT2 moo n mo IPOUT3 mio m mim mo M POUT4 ZONE Table a 099995 199995 oS 299995 300004 i a a 399995 5 48 5 6 Program Table E Using a Positioning Table on oo PGMSTEPO PGMSTEP1 PGMSTEP2 PGMSTEP3 i PGMSTEP4 i Speed smntstoe_ 4 oh LE ISELO l ISEL1 ISEL2 INPOSITION m m IPOUTO IPOUT1 POUT2 IPOUT3 A POUT4
183. on RDSTnnnnnnnn Registration Distance Reservation RSPDnnnnnnnn Registration Speed Reservation RS Positioning Start with Registration RS Repeat Example 2 POSI nnnnnnnn Target Position Reservation RDSTnnnnnnnn Registration Distance Reservation RS Positioning Start with Registration using the speed specified in Pn81E for both the posi tioning and registration speeds Example 3 POSI nnnnnnnn Target Position Reservation RDSTnnnnnnnn Registration Distance Reservation Execute a travelling command such as the RS command only after the previous travel ling operation has been completed 6 15 6 Serial Command Communications 6 7 2 Control Commands Table 6 2 Control Commands cont d Serial Command Function Positive RS nnnnnnnn RSA nnnnnnnn The sign can be omitted RSI nnnnnnnn The sign can be omitted JOGPnnnnnnnn JOGNnoannnnnnn Positioning Start with Registration Absolute Position Setting range 99 999 999 lt nnnnnnnn lt 99 999 999 Reference units Specifies the absolute position nnnnnnnn as the target position and starts registration position ing at the same time This command is equivalent to the following combination POSA nnnnnnnn gt RS Example SPDnnnnnnnn Speed Reservation RDSTnnnnnnnn Registration Distance Reservation RSPDnnnnnnmn Registration Speed Reservation RSA nnnnnnnn Target Position Reservation and Positioning Start with Reg
184. onResnaion C BY C BY PAmTweeGear S C O C S S B DesceaionReenaion SSCS TY FTagtDitneeMonioe dB C O dT O SSCS Rogan EVENT Eet Te o Pstionng nein oreson O e Co C sao mosean G Ce iY C C CES CES OG Spet Tane SPD Goe eed eeno r CE Rogan LOOP r Ta G C C C iY C O id C C TY O id Meese y BY Ee dB C 2 C 1 Alphabetical List of Serial Commands Table C 1 Alphabetical List of Serial Commands cont d OUT1 SGDH Output Signal Monitor CN1 6 7 8 OUT2 NS600 Output Signal Monitor CN4 6 7 8 OUT2TESTbbbbbb NS600 Output Signal Reservation CN4 6 7 8 PER or MON2 Position Error Monitor 6 7 8 PFB or MON7 Current actual Motor Position Monitor 6 7 8 PGMINIT Program Initialization 6 7 4 PGMRES Program Table Operation Reset 6 7 5 PGMSTEP Program PGMSTEP Pass Through Monitor 6 7 8 PGMSTORE Program Table Save 6 7 4 PGTYPE Encoder Type Display 6 7 8 PGVER Encoder Firmware Version Display 6 7 8 POS nnnnnnnn Target Position Reservation Absolute Position 6 7 2 POSA nnnnnnnn POS or MON8 Target Position Monitor 6 7 8 POSI nnnnnnnn 6 7 2 POSTsss 6 7 4 POSTsss 6 74 POUT 6 1 8 POUTnnnnn 6 7 2 POUTTsss 6 7 4 POUT Tsss 6 7 4 PRMINIT 6 73 PRMppp 6 73 PRMppp 6 13 PUN or MON1 6 78 RDST or MON11 6 1 8 RDSTnnnnnnnn 6 7 2 RDSTTsss 6 7 4 RDSTTsss 6 7 4 RES 6 7 RGRMS 6 78 RPOS or MON10 6 18 S Positioning Start with Registration 6 7 2 RS nnnnnnnn Positioning Start with
185. ons cable The NS600 has a built in terminator 120 Q that is connected between the RXD and RXD pins when the RT and RXD pins are shorted The NS600 s transmission circuit is high impedance when it is not transmitting Pull up or pull down the host controller s reception circuit 3 14 3 3 Digital Operator or Support Software Connector CN7 3 3 Digital Operator or Support Software Connector CN7 A Digital Operator or a computer running the Support Software can be used for operations such as setting parameters and program tables monitoring and other functions Special cable ZO nae Digital Operator AROS RS 422 or RS 232C EZO CE CN Personal computer Sa with Support Software 3 3 1 Communications Specifications The following table shows the communications specifications of the CN7 connector RS 232C 3 m max Baud Rate 9 600 baud Synchronization Start stop synchronization Data Format Start bits 1 bit Data bits 7 bits ASCII Parity 1 bit even parity Stop bits 1 bit 3 15 3 Connector Wiring 3 3 2 Communications Connector 3 3 2 Communications Connector E Pin Layout E Connector Model NS600 side Applicable Receptacles Connector Solder Type Case Manufacturer 10214 52A2JL 10114 3000VE 10314 52A0 008 Sumitomo 3M Co 14 p 3 3 3 Connector Signal Names
186. onstants Pn10F Mode Switch Error Pulse Pn110 Online Autotuning Switches 3 Speed Feedback Compensation fe Fixed parameters Do not change A 6 Unit Setting Range Factory Setting 0010 0000 0000 0002 1to 2 000 40 15 to 51 200 2 000 1to 2 000 40 0 to 10 000 0 to 450 0 to 250 a Reference units 0 to 100 0 to 6 400 Reference units 1 0 m 0 9 0 to 800 0 to 10 000 0 to 3 000 0 to 10 000 0010 1 to 500 100 100 1 000 200 32 16 100 100 0 to 1 000 0 to 1 000 0 to 1 000 0 to 65 535 0 to 65 535 20 to 100 50 to 100 s in in in l s 0 o oO A 2 SERVOPACK Parameters Table A 2 SERVOPACK Parameters cont d Range Setting Gain Related Fixed parameters Do not change is 1t02 000 fso Cont d ns oom fo oor foes oO C 0 mo fow fo Position Pn200 oe Control Reference Selection Switches 0000 Related Constants Pn201 Pn201 fPG Divider 3 PG Divider a e 16 to 16 384 16 384 Pn202 Electronic Gear Ratio Numerator i LE 1 to 65 535 eo i Pn203 Electronic Gear Ratio Denominator E 4 1 to 65 535 a a a Pn205 Pn205 Muttiturn Limit Setting Multiturn Limit Setting 9 rev 0 to 65 535 65535 333 Pn206 Fixed parameter Do not change ee 384 65 535 Pn207 e Pn207 Position Control Function Switches 3 Pan a ee 0001 Pn208 es Reference Movement Averaging Time 0 to 6 400 fa Speed Related Pn300
187. ormal display table 9 19 status display 9 7 STS status indicators 9 20 Index warning display table 9 4 9 18 DTR DSR control 6 2 dynamic brake 5 8 5 9 E echoback 6 4 6 5 6 7 response time 6 7 electronic gear 5 26 6 20 setting examples 5 28 settings 5 26 encoder encoder signal outputs 5 23 output phase form 5 24 output phase A 5 24 output phase B 5 24 output phase C 5 24 pulses 5 26 errors error display 9 7 error display table 9 13 error warning output signal WARN 5 20 EVENT 0c rr rere es iire 5 40 5 42 5 45 F forward reference 5 6 forward run prohibited 5 7 forward torque limit 5 11 framing error 6 8
188. otocoupler OFF 1 Photocoupler ON Bit 0 MODE 0 1 Bit 1 START STOP HOME Bit 2 PGMRES JOGP Bit 3 SELO JOGN Bit 4 SEL1 JOGO Bit 5 SEL2 JOG1 Bit 6 SEL3 JOG2 Bit 7 SEL4 JOG3 IN2TESTbbbbbbbb NS600 Input Signal Reservation The actual signal is ignored and the input signal is forcibly set to the specified status This command is used to test operation when the actual signal line is not connected b 0 Photocoupler OFF b 1 Photocoupler ON Bit 0 MODE 0 1 Bit 1 START STOP HOME Bit 2 PGMRES JOGP Bit 3 SELO JOGN Bit 4 SEL1 JOGO Bit 5 SEL2 JOG1 Bit 6 SEL3 JOG2 Bit 7 SEL4 JOG3 IN2TESTEND Return to actual signal status Note Error E56E will occur if fewer than 8 digits bbbbbbbb are specified in the command SGDH Output Signal Monitor OUTI 01010101 CR LF 0 Photocoupler OFF 1 Photocoupler ON Bit 0 ALM Bit 1 WRN Bit 2 BK Bit 3 S RDY Bit 4 ALOL Bit 5 ALO2 Bit 6 ALO3 Bit 7 Always 0 6 34 6 7 Serial Commands Table 6 8 Monitor and Auxiliary Function Commands cont d NS600 Output Signal Monitor OUT2 01010101 CR LF 0 Photocoupler OFF 1 Photocoupler ON Bit 0 INPOSITION Bit 1 POUTO Bit 2 POUT1 Bit 3 POUT2 Bit 4 POUT3 Bit 5 POUT4 Bit 6 Always 0 Bit 7 Always 0 OUT2TESTbbbbbb NS600 Output Signal Reservation Forcibly sets the output signals to the specified sta tus This command is
189. r and Auxiliary Function Commands Alarm or Warning Read One of the following responses is returned depending on the status ALM SP A xx SP CR LF The xx is the SERVOPACK s alarm warning code ALM SP ExxA SP CR LF ExxA is the NS600 s alarm code ALM SP P OT SP CR LF ALM SP N OT SP CR LF ALM SP P LS SP CR LF e ALM SP N LS SP CR LF ALM SP BB SP SP SP CR LF ALM SP HOLD SP CR LF ALM SP INPOS CR LF ALM SP NEAR SP CR LF e ALM SP RUN SP SP CR LF e ALM SP SP SP SP SP CR LF Alarm History Read One of the following responses is returned O lt n lt 9 depending on the status no alarm SERVO PACK alarm or NS600 alarm e ALM1 NONE CR LF e ALMI A xx CR LF e ALMI ExxA CR LF Most Recent Error Read One of the following responses is returned A response of NONE indicates that no errors have occurred ERR SP NONE SP CR LF ERR SP ExxE SP CR LF SGDH Input Signal Monitor IN1 01010101 CR LF 0 Photocoupler OFF 1 Photocoupler ON Bit 0 S ON Bit 1 SEL5 Bit 2 P OT Bit 3 N OT Bit 4 DEC Bit 5 SEL6 Bit 6 RGRT Bit 7 Always 0 6 33 6 Serial Command Communications 6 7 8 Monitor and Auxiliary Function Commands Table 6 8 Monitor and Auxiliary Function Commands cont d NS600 Input Signal Monitor IN2 01010101 CR LF 0 Ph
190. r commands PRM81B PRM8I1C Reads a parameter PRM81D and PRM828 ppp Parameter number Pn number Example PRM81B 12345678 CR LF Example Reading Pn800 An 8 digit hexadecimal value is returned for Command 1PRM800 CR commands PRM000 to PRM005 PRM080 Response 1PRM800 00000001 CR LF PRMIOB PRM110 PRM200 PRM207 PRM408 and PRMSOA to PRMS512 Example PRM000 00001234 CR LF An 8 digit unsigned decimal value is returned for all other parameters Example PRM800 12345678 CR LF PRMppp nnnnnnnn Parameter Write Sets a parameter ppp Parameter number Pn number Parameters are stored in EEPROM so the settings will be retained after the control power supply is turned OFF or the RES command is executed Since the value is stored in EEPROM this command must not be used if the setting needs to be changed fre quently In this case use the TRMppp nnnnnnnn command Online parameters The setting is enabled immediately Offline parameters Enable the setting by turning the control power sup ply OFF and ON or executing the RES command Refer to Appendix A List of Parameters to determine whether a parameter is an online or offline parame ter 6 24 6 7 Serial Commands Table 6 3 Parameter Edit Commands cont d TRMppp nnnnnnnn Temporary Parameter Write Sets a parameter ppp Parameter number Pn number The PRMppp nnnnnnnn command stores the parameter s
191. r limit 99999 in the neg ative direction the multiturn data is 0 x II Series 32 768 to 32 767 When exceeds the upper limit 32767 in the pos 16 bit and 17 bit itive direction the multiturn data is 32768 e When exceeds the lower limit 32768 in the neg ative direction the multiturn data is 32767 When the multiturn limit setting Pn205 is changed the motion differs Refer to 5 5 5 Multiturn Limit Setting 5 31 5 Parameter Settings and Functions 5 5 1 Interface Circuit 5 5 1 Interface Circuit The following diagram shows the standard connections for an absolute encoder mounted to a servomotor SERVOPACK CN1 CN2 wes 1 epee TP 2 amp 2 8 to 4 5 V 21 3 R gt lt r J P l 7 5 il 22 4 P 5 amp p 5 X F Connector shell i J L Shield wire shell P represents twisted pair wire 5 5 2 Selecting an Absolute Encoder Select the absolute encoder usage with the following parameter oe Absolute Encoder Usage Factory Setting 0 0 in the following table must be set to enable the absolute encoder Pn002 2 Setting Contents 1 Use the absolute encoder as an incremental encoder FO Use the absolute encoder as an absolute encoder Note This user definition goes into effect when the power is turned OFF after the change has been made 5 5 3 Handling Batteries In order for the absolute encoder to retai
192. ram table Procedures for using digital I O signals Procedures for troubleshooting E Intended Audience This manual is intended for the following users Those designing X II Series Servodrive systems Those installing or wiring X II Series Servodrives Those performing trial operation or adjustments of X II Series Servodrives Those maintaining or inspecting X II Series Servodrives E Description of Technical Terms In this manual the following terms are defined as follows e NS600 JUSP NS600 Servomotor X II Series SGMAH SGMPH SGMGH or SGMSH servomotor e SERVOPACK X II Series SGDH SERVOPACK e Servodrive A set including a servomotor and Servo Amplifier e Servo System A servo control system that includes the combination of a Servodrive with a host computer and peripheral devices E Indication of Reverse Signals In this manual the names of reverse signals ones that are valid when low are written with a forward slash before the signal name as shown in the following examples e S ON S ON e RGRT RGRT E Indication of Dual Purpose Input Signals Some terminals have different functions input different signals depending on the mode set with the MODE 0 1 signal The two input signal names are separated by a semi colon with the Mode 0 signal name on the left and the Mode 1 signal name on the right Example START STOP HOME START STOP HOME In the example above the input signal is START
193. ram table display HABEEB StoP 3 Edit the setting with the Keys 4 Press the Key to enter the new setting and return to the program table number dis play 7 48 N INFO nop 7 8 Operations during Program Table Editing Display The Program Table Save function Fn803 can be executed to save the new settings to flash memory Once saved to flash memory the data will be retained even if the control power supply goes OFF See page 7 42 for details FABDa Skar StorE Related Errors The following table shows the main errors related to the program table editing operations E5EE The program table cannot be edited while Execution Disabled dur program operation is in progress or on hold ing Program Operation interrupted Error Reset program operation and try again 7 49 7 Using the Digital Operator m POS Target Position This parameter sets the target position Bar Press the DATA ENTER Key again to return to the program table number Press the DATA ENTER Key to display the Target Position Edit display display Example Changing the Target Position Setting Target position set to IAM IRFH InF Inu RHAFRE InFl IAM nnna KO IHHgJ piga lt 2 JIN 14123 ae IAS y pegea K JIN 44123 cursor IAM GEgF StoP 2 naaa S Target position set to STOP 7 50 Target position set to INFINITE Target position set to INFIN
194. rect value will be set in the Encoder The alarm will disappear even if an incorrect value is set but incorrect positions will be detected resulting a dangerous situation where the machine will move to unexpected positions Fond Press the DATA ENTER Key to display the multiturn limit setting display HRABE PGSEt DATA DSPL_ Press the DSPL SET Key to SET execute the function If the DATA ENTER Key is pressed before executing the display will return to the function number f 7 2 setting display P G L P 7 l h Wait until the display stops flashing Never turn OFF the control power N I 7 7 supply while the display is flashing d A I N gt donE The display will return to the T function number setting display Turn the control power supply OFF and then ON again End 7 39 7 Using the Digital Operator INFON For details on the multiturn limit setting see 5 5 5 Multiturn Limit Setting F IMPORTANT For a function whose settings has been changed the control power supply must be turned OFF and then ON again to enable the new settings Related Errors The following table shows the main errors related to the change multiturn limit value setting operation E61E The function cannot be executed because the m H F Encoder Mismatch Error encoder is not an absolute encoder E62E The function cannot be executed if an A CC No A CC Alarm alarm has not occurred F H z F Occu
195. rection 5 6 5 2 2 Setting the Overtravel Limit Function 5 7 5 2 3 Software Position Limit Settings and the Moving Method 5 10 5 2 4 Limiting Torques 5 11 5 3 Sequence I O Signals 5 12 5 3 1 Using the Servo ON OFF Input Signal S ON 5 15 5 3 2 Using Servo Alarm and Alarm Code Outputs ALM ALO1 to ALO3 5 15 5 3 3 Brake Interlock Output Signal BK 5 16 5 3 4 Using the Servo Ready Output Signal S RDY 5 19 5 3 5 Using the Error Warning Output Signal WARN 5 20 5 3 6 Using the Positioning Completed Output Signal INPOSITION 5 21 5 3 7 Using the Programmable Output Signals POUTO to POUT4 5 22 5 3 8 Encoder Signal Outputs 5 23 5 4 Setting Reference Units 5 26 5 4 1 Setting the Speed 5 29 5 4 2 Setting the Acceleration and Deceleration 5 30 5 5 Absolute Encoders 5 31 5 5 1 Interface Circuit 5 32 5 5 2 Selecting an Absolute Encoder 5 32 5 5 3 Handling Batteries 5 32 5 5 4 Absolute Encoder Setup Initialization 5 33 5 5 5 Multiturn Limit Setting
196. response time 6 7 6 Serial Command Communications 6 6 1 Positive Responses 6 6 Response Data Details There are positive responses and negative responses The positive response indicates normal operation and the negative response indicates an error 6 6 1 Positive Responses There two kinds of positive responses responses that return data for commands such as PRM and responses that do not return data for commands such as SVON For commands that require data to be returned see the description of the individual com mand for details on the structure of the response s character string For commands that do not require data to be returned the positive response is OK unless parameter Pn802 is set to 0 If Pn802 0 there is no response Structure of the Response OK OK SP SP SP SP SP SP SP SP SP CR LF Note The ASCII values for these special characters are 20 Hex for SP OD Hex for CR and 0A Hex for LF 6 6 2 Negative Responses There will be no response if one of the following errors is detected a parity error E48E framing error E49E or overrun error E4AE Furthermore there will be no response to a global command or a command with an incorrect axis number In all other cases a negative response will be returned if an error is detected Structure of the Negative Response Undefined Command Error ES6E SP ERR SP SN CR LF Address Out of range Error E57E
197. rget position monitor 7 14 Un809 Registration distance monitor 7 15 Un80A Program step monitor 7 15 Un80B Program event time progress monitor 7 15 Un80C Program loop progress monitor 7 15 Un80D Serial command received character trace 7 15 Un80E Serial command received character count 7 16 Un80F Serial command received error character count 7 16 Un810 Serial command transmitted character trace 7 16 Un811 Serial command transmitted character count 7 16 7 7 Operations during Auxiliary Function Display 7 17 Fn000 Alarm traceback data display 7 19 Fn001 Rigidity setting during online autotuning 7 20 Fn002 JOG mode operation 7 21 Fn003 Zero point search 7 23 Fn005 Parameter settings initialization 7 25 Fn006 Alarm traceback data clear 7 27 Fn007 Write inertia ratio data 7 28 Fn008 Absolute encoder reset 7 29 Fn00C Manual zero adjustment of analog monitor output 7 31 Fn00D Manual gain adjustment of analog monitor output
198. rogram step PGMSTEP Settings 1 lt nnnnnnnn lt 99 999 999 x1 000 reference units min Program Table RDST Read RDSTT123 12345678 CR LF RDSTT123 SP SP SP SP SP Reads the RDST value registration distance SP SP CR LF sss Program step PGMSTEP Program Table RDST Write Sets the RDST value registration distance sss Program step PGMSTEP Settings 0 lt nnnnnnnn lt 99 999 999 Registration distance Reference units No registration Program Table RSPD Read RSPDT123 12345678 CR LF Reads the RSPD value registration speed sss Program step PGMSTEP Program Table RSPD Write Sets the RSPD value registration speed sss Program step PGMSTEP Settings 1 lt nnnnnnnn lt 99 999 999 x1 000 reference units min Program Table POUT Read POUTT123 ANANZ CR LF Reads the POUT settings programmable output signal specifications sss Program step PGMSTEP 6 27 6 Serial Command Communications 6 7 4 Program Table Setup Commands Table 6 4 Program Table Setup Commands cont d POUTTsss nnnnn Program Table POUT Write Sets the POUT settings programmable output signal specifications sss Program step PGMSTEP Settings N Inactive A Active Z Zone table Continue the POUT specifications used in the program step that was executed last nnonnn is POUTO POUTI POUT2 POUT3 POUT4 EVENTTsss Program Table EVENT Read EVENTT12
199. rogrammable Output 1 Output gt POUT2 CN4 25 Programmable Output 2 Output gt POUT3 CN4 27 Programmable Output 3 Output gt POUT3 CN4 28 Output gt POUT4 CN4 29 Programmable Output 4 Output gt POUT4 CN4 30 Status of POUTO to POUT4 Status 5 22 5 3 Sequence I O Signals Parameters Pn811 to Pn815 set the output status for POUTO to POUT4 as shown in the following table Parame Signal Pin No Settings Factory ter Setting Pn811 POUTO CN4 21 CN4 22 0 Output closed Active Pn812 POUT1 CN4 23 CN4 24 Output open Active Pn814 POUT3 CN4 27 CN4 28 Pn815 POUT4 CN4 29 CN4 30 5 3 8 Encoder Signal Outputs Pn813 POUT2 CN4 25 CN4 26 The encoder signals can be used to monitor the servomotor s speed and position However the NS600 manages the servomotor s speed and position so it isn t necessary to use the encoder signals to monitor the speed and position from the host controller These outputs explained here SERVOPACK Host controller Servomotor Encoder W Phase Al Serial data i Frequency E Phase B dividing EiPhase C circuit Erce The output circuit is for line driver output Connect each signal line according to the follow E ing circuit diagram SERVOPACK Host controller Ph A Line receiver ase CN1 33 ne lt Pag Ip gt ie 2
200. rred Error Alarm A CC occurs only when the setting stored in the encoder does not match the set ting in parameter Pn205 7 40 7 7 Operations during Auxiliary Function Display m Fn800 NS600 Software Version Display This function displays the NS600 s software version End Press the DATA ENTER Key to display the software ENTER version display Press the DATA ENTER Key again to return to the function number setting display Fxampig C 0 0 B The NS600 s software version is displayed e m Fn801 NS600 Model Code Display This function displays the NS600 s model code Fos Press the DATA ENTER Key to display the model code display Press the DATA ENTER Key again to return to the function number setting display O H 0 0 The NS600 s model code is displayed m Fn802 NS600 Y Specification Number Display This function displays the NS600 s Y specification code Fable Press the DATA ENTER Key to display the NS600 Y specification code display Press the DATA ENTER Key again to return to the function number setting display Example 4 0 0 0 0 The NS600 s Y specification code is displayed 7 41 7 Using the Digital Operator Em Fn803 Program Table Save This function saves the program table to flash memory When this function is executed the program table in RAM is saved to flash memory Data saved in flash memory is retained even when the control power supply is turned OFF Roba
201. ry Setting Pn803 IMODE 0 CN4 3 0 Photocoupler OFF Mode 1 1 1 Photocoupler ON Mode 1 2 Always Mode 0 3 Always Mode 1 lt q EXAMPLE gt e Pn803 1 DC 24V Sonat jefe oe MODE 0n Lcna 3 Input signal closed Mode 1 i Input signal open Mode 0 i e Pn803 0 NS600 DC 24 V SEMI gee A z gt MODE 0 1 X Input signal open Mode 1 Input signal closed Mode 0 5 56 5 9 Homing Jog Speed Table Mode 5 9 2 Homing Jog Speed Table Input Signals The input signals are set with the parameters shown in the following table Param Signal Pin No Settings Factory eter Setting Pn804 HOME CN4 5 0 Photocoupler ON Homing Start 1 Photocoupler OFF Homing Start 2 Always active 3 Always inactive Pn80E_ DEC CN1 44 0 Photocoupler ON Homing Deceleration Start 1 Photocoupler OFF Homing Deceleration Start 2 Always homing Deceleration 3 No homing Deceleration Pn805 JOGP CN4 7 0 Photocoupler ON Jog Forward 1 Photocoupler OFF Jog Forward 2 Always active 3 Always inactive Pn806 JOGN CN4 9 0 Photocoupler ON Jog Reverse 1 Photocoupler OFF Jog Reverse 2 Always active 3 Always inactive Pn807 JOGO CN4 11 0 Photocoupler ON Active Pn808 JOGI CN4 13 1 Photocoupler OFF Active Pn809 JOG2 CN4 15 2 Always active 3 Always inactive Pn80A_ JOG3 CN4 17 5 9 3 Parameters Related to Homing Set the
202. s 3 2 3 1 1 Examples of I O Signal Connections to CN1 and CN4 3 2 3 1 2 Terminal Layout on I O Signal Connectors CN1 and CN4 3 4 3 1 3 I O Signal Names and Functions 3 6 3 1 4 Interface Circuits 3 8 3 2 Serial Command Communications Connector CN6 3 10 3 2 1 Communications Specifications 3 10 3 2 2 Communications Connector 3 11 3 2 3 Connector Signal Names 3 11 3 2 4 Connection Examples 3 12 3 2 5 RS 422 RS 485 Interface 3 14 3 3 Digital Operator or Support Software Connector CN7 3 15 3 3 1 Communications Specifications 3 15 3 3 2 Communications Connector 3 16 3 3 3 Connector Signal Names 3 16 3 3 4 Connection Examples 3 17 3 3 5 RS 422 Interface 3 18 3 4 Power Loss in the NS600 3 19 xii 4 Trial Operation 4 1 Two step Trial Operation 4 2 4 2 Step 1 Trial Operation for Servomotor without Load 4 3 4 3 Step 2 Trial Operation with the Servomotor Connected to the Machine 4 10 5
203. s 6 7 2 Control Commands Table 6 2 Control Commands cont d Serial Command Function Positive Response Positioning Start OK Starts positioning with the speed specified by the SPD command and the target position speci fied by the POS POSA or POSI command The target position reservation and speed reservation can be omitted In this case the previous positioning will be repeated Error E51E will occur if the ST command is executed but the target position hasn t been speci fied even once If the ST command is executed but the speed hasn t been specified even once the speed specified in parameter Pn81E will be used When positioning has been stopped with the HOLD command the positioning will be restarted the hold will be cleared if the ST command is executed Example 1 POSI nnnnnnnn Target Position Reservation SPDnnnnnnnn Speed Reservation ST Positioning Start ST Repeat Example 2 POSI nnnnnnnn Target Position Reservation ST Positioning Start using the speed specified in Pn81E Example 3 POSI nnnnnnnn Target Position Reservation ST Positioning Start HOLD Positioning Interruption ST Positioning Restart Clear Hold Note An E53E error will occur if a new travelling command such as the ST command is received while the motor is already travelling positioning or other travelling operation Execute a travelling command such as the ST command only after the previous travel ling oper
204. s 5 6 1 Mode Switch Signal MODE 0 1 5 6 Program Table 5 6 1 Mode Switch Signal MODE 0 1 If the MODE 0 1 input signal is active the mode is set to program table operation mode Mode 0 Parameter Pn803 sets the relationship between the signal s ON OFF status and its active inactive status Parame Signal Pin No Settings Factory ter Setting Pn803 MODE 0 1 CN4 3 0 Photocoupler ON Mode 0 1 Photocoupler OFF Mode 0 2 Always Mode 0 3 Always Mode 1 lt q EXAMPLE gt e Pn803 0 24V DC J CNG eee 1 A1 MODE 0 1 aa ere Ra 1 Input signal closed Mode 0 Input signal open Mode 1 e Pn803 1 24VDC ae a in gt Lona YA gt k Input signal open Mode 0 MODE 0 1 Input signal closed Mode 1 5 36 5 6 Program Table 5 6 2 Input Signals for Program Table Operation Set input signals with the following parameters Parame Signal Pin No Settings Factory ter Setting Pn804 ISTART STOP CN4 5 0 Photocoupler ON Program table operation start Photocoupler OFF Program table operation stop 1 Photocoupler OFF Program table operation start Photocoupler ON Program table operation stop 2 or 3 Do not start program Pn805 PGMRES CN4 7 0 Photocoupler OFF to ON Cancel program 1 Photocoupler ON to OFF Cancel program 2 or 3 Do not cancel program Pn807 SEL1 CN4 11 l Fhotocouplier OFF Active
205. s Factory ter Setting Pn818 S RDY CN1 29 0 Output closed Servo Ready CN1 30 1 Output open Servo Ready 5 3 5 Using the Error Warning Output Signal WARN The basic use and wiring procedure for the warning WARN output signal photocoupler output signal are given below The warning output is composed from the following WARN signals NS600 Error Over load Warning Regenerative Overload Warning and Low Battery Voltage Warning Power supply SERVOPACK 24V AOV CN1 25 WARN o Photocoupler output per output Ear i 5 h Maximum operating voltage 30 V DC l BN CN1 26 WARN Maximum output current 50 mA DC pa lt OTi o ANAONA N VWarning Output Signal This output signal indicates an error or warning has occurred If an error occurred the output will last for 2 seconds if a warning occurred the output will remain until the cause of the warning has been eliminated Closed or low level Error or warning status Overload Regenerative Overload Low Battery Voltage or NS600 Error The WARN output setting can be changed with parameter Pn816 Parame Signal Pin No Settings Factory ter Setting Pn816 AWARN CN1 25 0 Output closed Error or warning CN1 26 1 Output open Error or warning The following parameter is used to output warning details with an alarm code ome Warning Code Output Selection Factory Setting 0 5 20 5 3
206. s if CN4 input signals are being used Check the input signal wiring in Monitor Mode using the Digital Operator by monitor ing Un801 Refer to Chapter 7 Using the Digital Operator for details on using the Digi tal Operator Turn ON and OFF each signal line to see if the LED monitor bit display changes as shown below PGMRES JOGP SELO JOGN START STOP HOME MODEO 1 SEL1 JOGO ISEL2 JOG1 ISEL3 JOG2 SEL4 JOG3 Input Signal Status LED Display OFF high level Top LED indicators light ON low level Bottom LED indicators light The CN1 and CN4 input signals can also be monitored from CN6 connector using the IN1 and IN2 Serial Commands Refer to Chapter 6 Serial Command Communications for details on the Serial Com mands 8 Check the CN6 serial command communications if CN6 serial commands are being used Check the serial communications in Monitor Mode using the Digital Operator by monitoring Un80D through Un811 Refer to Chapter 7 Using the Digital Operator for details on using the Digital Operator Check the communications protocol and baud rate set in parameters Pn800 and Pn801 Change the settings if necessary If the settings are changed the new settings is enabled by turning the control power supply OFF and then ON again Refer to Chapter 7 Using the Digital Operator for the procedure to use when editing parameters Once serial communications have been established serial communications can
207. s shown in the diagram above 4 Connect the NS600 s ground wire to the SERVOPACK s G terminal and tighten the screw Ground wire g Y vaskawa SERVOPACK SGDH 888188 oQ O ee we O Ground on 30 W to 50 kW SERVOPACKs G US Ground wire y YASKAWA seRvoPAcK 200v p Goody Ground on 6 0 kW to 15 kW SERVOPACKs 1 Checking Products and Part Names G Ground wire SERVOPACK SGDH YASKAWA alelelela g 2 gt 4 A cHarce Power C FRBEBC IDE 0 G g dloood 6 ooog Ip Cl oo OO c Ground on Rack mounting SERVOPACKs The following diagram shows a SERVOPACK with an NS600 installed correctly elelee A 0000 MODESET A DAK cinse owe O ex O e e y wzo J o y 20 OJ ar 2 Installation This chapter describes precautions for X II Series installation The SGDH SERVOPACKs are base mounted servoamps Incorrect installation will cause problems Always observe the installation instructions described in this chapter 2 1 Storage Conditions
208. saves the jog speed table to flash memory When this function is executed the jog speed table in RAM is saved to flash memory Data saved in flash memory is retained even when the control power supply is turned OFF AnaS Press the DATA ENTER Key to display NTER the Jog Speed Table Save display HEHEHE StorE DSPL_ Press the DSPL SET Key to ENTER SET execute the function If the DATA ENTER Key is pressed before executing the display will return to function number s setting display F r A N Wait until the display stops flashing Never turn OFF the control power 1 supply while the display is flashing g S N l Hdo 7 1 m LO l don The display will return to the function number setting display 7 44 7 7 Operations during Auxiliary Function Display m Fn806 Program Table Initialization This function initializes the program table i e returns the program table settings to their factory default settings mininiais Press the DATA ENTER Key to display the Program Table Initialization display lode Init DSPL_ Press the DSPL SET Key to ENTER SET execute the function If the DATA ENTER Key is pressed before executing the display will return to the function number setting display Wait until the display stops flashing Never turn OFF the control power supply while the display is flashing The display will return to th
209. se Host controller NS600 Command character string Example No response returned SVON CR ST CR PUN CR The axis number setting is the global address and ad dresses all axes No echoback or response is returned when the global ad dress is used When global commands are used communications reliability can be improved by reading the status IMPORTANT ak y P ER when appropriate 6 6 6 5 Echoback Response Time 6 5 Echoback Response Time The following diagram shows the response time from the command transmission until the echo back Stop bit Command te High impedance High impedance Echoback 2 p p Start bit Pn800 Protocol Settings 1 Full duplex wiring Echoback each character 100 us Baud rate x2 Baud rate x 2 Centered at the command stop bit 3 Half duplex wiring delimiter CR Echoback each 1 1 character 250 us Baud rate x 2 GUU USA Baud rate x 2 4 Half duplex wiring delimiter CR Echoback each command 6 Half duplex wiring delimiter CR LF Echoback each character 7 Half duplex wiring delimiter CR LF Echoback each command lt EXAMPLE gt e Echoback response time when Pn800 1 9 600 bps gt 1 _ 1 tp man Baud rate x 2 9 600 x 2 52 us When using half duplex wiring the host controller must set the line driver to high impedance within IMPORTANT ee di the tg min
210. se the Up and Down Keys to change the setting A Th cursor 7 52 7 8 Operations during Program Table Editing Display m POUT Programmable Output Signals This parameter sets the usage of the programmable output signals doESS Press the DATA ENTER Key to display the Editing display Press the DATA ENTER Key again to return to the program table number display Example 1 lt gt Use the Up and Down Keys Ld L LJ LJ to change the setting eee 71N Changing the Programmable Output Signal Setting Set to Set to Z gt K Set to A gt lt i Set to n 7 53 7 Using the Digital Operator E EVENT Pass Condition This parameter sets the pass condition FUESS Press the DATA ENTER Key to display the Editing display Press the DATA ENTER Key again to return to the program table number display Example 7 54 7 8 Operations during Program Table Editing Display Changing the EVENT Setting Set to Ine agana lt 2 secede Hanae Move SELot Sp ZIN cursor ei Example Set to SELOTO0000 WM 1 id a Ga RABAR Eats a JIN cursor ac gagn nk 0 0 0 0 Example Set to NT00000 T 1 cursor as O0 wy Example Set to IT00000 Mowe FIN ins m lt JL gt opogogp Example N ple lt __ gt Set to TOO000 Move t cursor ZIN 7 55 7 Using the Digital Operator E LOOP Number of Execu
211. t switch switch SERVOPACK Drive status with an input signal ON or OFF is shown in the following table P OT ON Normal operating status Input photocoupler ON Rotation allowed in both directions OFF Forward run prohibited Input photocoupler OFF Reverse rotation allowed ON Normal operating status _ photocoupler ON Rotation allowed in both directions Reverse run prohibited A photocoupler OFF Forward rotation allowed 5 7 5 Parameter Settings and Functions 5 2 2 Setting the Overtravel Limit Function E Changing the Input Signal Settings The overtravel input signal settings can be changed with parameters Pn80C and Pn80D jee Signal Pin No Settings Factory Setting Pn80C CN1 42 0 Photocoupler OFF Forward OT Status Forward run prohibited Photocoupler ON Forward OT Status Forward run prohibited Always Forward OT Status Forward run is always prohibited Forward run is always allowed and P OT is not used Pn80D CN1 43 0 Photocoupler OFF Reverse OT Status Reverse run prohibited Photocoupler ON Reverse OT Status Reverse run prohibited Always Reverse OT Status Reverse run is always prohibited Reverse run is always allowed and N OT is not used E Servomotor Stop Mode for P OT and N OT Input Signals Set the following parameter to specify the Servomotor Stop Mode when P OT and N OT input signals are used Pn819 Overtravel Stop Mode Factory Setting
212. tarted Speed Registration target position N ISTART STOP RGRT 5 53 5 Parameter Settings and Functions 5 7 3 Registration Operation 5 8 ZONE Table Settings ZONE signals are signals that indicate regions defined in the ZONE table Outputs POUTO to POUT4 must be specified as ZONE signals in order to use ZONE signals Table 5 3 ZONE Table ZONE ID Z2 Zinman Emm Zinn Ean Zann Emm Zn Zn Ea Zn Ea Ss e Zann Emm EEE Eoo Active Active Active Active Active Active Active Active C ae o ad Ee a an nnnnnnnn i n n n Sw n i n n n connnnnnnn nnnnnnnn Active P Active Active Active Active Active Active A Active Active Active Active N oO Active Zann Zann Zann Zann Zann Zann Zn Zann Note 1 The symbols indicate inactive signal status 2 ZONE ID ZONE Number ZONE N Negative side ZONE boundary position ZONE P Positive side ZONE boundary position Z0 to Z4 If the programmable output signals POUTO to POUT4 are specified as N Active N Active Active N wo Active Active N N A N O Active N J Active N Co N wo Oo Active Active 5 54 Active Active Active Active Active Active Active Active Active Active Active Active
213. ted character trace Serial command transmitted char acter count Example 5 characters HOBBS Example 1 character 080004 Hg 30 Transmitted ASCII value Number of characters Hexadecimal from end of text string 99930 Iau The Up and Down Keys can be used to scroll up and down from the 39th character Aw 040d JAN HO HH Example 17 characters 00049 7 16 Indicates the number of char acters received through serial communications Indicates the number of char acters received through serial communications that had reception errors Displays a record of the char acters transmitted through serial communications Use the Up and Down Keys to scroll up and down between the 39 oldest character to the most recent character Indicates the number of char acters transmitted through serial communications 7 7 Operations during Auxiliary Function Display 7 7 Operations during Auxiliary Function Display The various auxiliary functions such as jog operation or initialization of parameters can be executed during the auxiliary function display The following table shows the auxiliary function numbers and the corresponding auxiliary func tions jramcvone Function No Fn00B Reserved Fn00C Manual zero adjustment of analog monitor output Write protection setting SERVOPACK software version display Multiturn limit value setting change when a Multiturn Limit Disagr
214. tely 100 min and adjust the offset until the torque monitor ripple is minimized It is necessary to adjust the motor s phase U and phase V offsets alternately several times until these offsets are well balanced FADOF Press the DATA ENTER Key to display the channel selection display Phase U Phase V DSPL Budde BAE O_O UC O Cu1_o Press DSPL SET Cu2_o to select the channel lt gt Press the Left or Right Key to display the ENTER OR the adjustment display Press the Key again If the DATA ENTER Key to return to the channel selection display is pressed before executing the display will return to the function number setting display play Example 0 B 4 The current offset setting will be displayed Press the Up and Down Keys to change the motor current offset setting Press the DATA ENTER Key to confirm the new setting and return to the function number setting display 7 35 7 Using the Digital Operator If the DATA ENTER Key is pressed before executing the display will return to the function number setting pode m Fn010 Write protection Setting This function sets write protection for various data If data is write protected it will not be possible to change the program table zone table jog speed table or parameters Some auxiliary functions will also be disabled Folia Press the DATA ENTER Key to display ENTER the write protection setting display
215. the main power supply is ON PUN or MON1 Current Distributed Position Monitor PUN 12345678 CR LF PFB or MON7 Current Actual Motor Position Monitor PFB 12345678 CR LF POS or MON8 Target Position Monitor POS 12345678 CR LF DST or MONQ Target Distance Monitor DST 12345678 CR LF RPOS or MON10 Registration Target Position Monitor RPOS 12345678 CR LF RDST or MON11 Registration Target Distance Monitor RDST 12345678 CR LF Dynamic Brake Load Ratio Monitor TYPE NS600 Type Code Display TYPE 00000600 CR LF Displayed in hexadecimal NS600 Type Code 0600 YSPEC NS600 Y Spec No Display YSPEC 12345678 CR LF VER NS600 Firmware Version Display VER 00001234 CR LF Displayed in hexadecimal SVTYPE SGDH Type Code Display SVTYPE 00000002 CR LF Displayed in hexadecimal SGDH Type Code 02 SVYSPEC SGDH Y Spec No Display SVYSPEC 12345678 CR LF SVVER SGDH Firmware Version Display SVVER 0000123 CR LF Displayed in hexadecimal 1 TREF or MON5 Torque Reference Monitor TREF 12345678 CR LF NFB or MON3 Motor Speed Monitor min NFB 12345678 CR LF NREF or MON4 Speed Reference Monitor min NREF 12345678 CR LF 6 36 6 7 Serial Commands Table 6 8 Monitor and Auxiliary Function Commands cont d MTTYPE Motor Type Display MTTYPE 00001234 CR LF 0100 Displayed in hexadecimal Voltage Motor model 00
216. the parameter Pn80C 3 e When N OT is being used A OF move to a position where the N OT is not in effect e When N OT is not being used disable N OT in the parameter Pn80D 3 e Check the target position spec ification e Check the forward limit in Pn81B e Check the moving method rotary or linear set in Pn81A e If software position limits are not being used either select a rotary moving method in Pn81A or disable the limits by setting Pn81B Pn81C 0 E4EE E4FE E51E E52E E53E Moving Disabled Error due to N LS Position Reference Out of range Error Target Position Unspeci fied Error Registration Distance Unspecified Error Move Reference Dupli cation Error 9 2 NS600 Troubleshooting Table 9 5 NS600 Error Displays cont d Error Error Name Details Remedy Panel Display Display 2 The specified target position exceeds the position reference reverse limit set in Pn81C The moving method is set to rotary Pn81A 1 2 or 3 and the target position specification exceeds the position refer ence limits in Pn81B and Pn81C Even though the target position wasn t specified even once there was a request by the ST command to start positioning or a request by the RS command to start regis tration positioning Even though the registration distance wasn t specified even once there was a request by the RS command to start regis tration positioning There was a new
217. the pro gram table is being saved or initialized The firmware version is not compatible with the program table version being used A value set in the program table is not within the allowed setting range The zone table stored in flash memory was not recorded properly This alarm can occur if the control power supply is turned OFF while the zone table is being saved or initial ized 9 10 e Connect the Digital Operator to CN7 e Take steps to reduce noise in the system such as improv ing the frame ground Take steps to reduce noise in the system such as improving the frame ground e Initialize the program table with the PGMINIT com mand or Fn806 function e If the problem is not solved correct the program table Replace the firmware or pro gram table Replace the firmware or pro gram table e Initialize the zone table with the ZONEINIT command or Fn807 function e If the problem is not solved correct the zone table E1DA E1EA E1FA E21A E22A E23A Zone Table Version Unmatched Detected only when con trol power supply is turned ON or the RES command is executed Zone Table Out of range Alarm Detected only when con trol power supply is turned ON or the RES command is executed Jog Speed Table Check sum Alarm Detected only when con trol power supply is turned ON or the RES command is executed Jog Speed Table Version Unmatched Detected only when con
218. tions This parameter sets the number of executions repetitions babSa Press the DATA ENTER Key to display the Editing display Press the DATA ENTER Key again to return to the program table number display Example 1 A 0 A g i Use the Left and Right Keys to move the cursor 7IN Use the Up and Down Keys to change the setting E NEXT PGMSTEP to be Executed Next This parameter sets the PGMSTEP number that will be executed next a sieyors Press the DATA ENTER Key to display the Editing display Press the DATA ENTER Key again to return to the program table number display Example 1 A A A g i Use the Left and Right Keys to move the cursor ZIN Use the Up and Down Keys to change the setting INFON If the NEXT parameter is set to a negative value the setting will automatically be changed to End End 7 56 7 9 Operation during Zone Table Editing Display 7 9 Operation during Zone Table Editing Display The zone table can be edited during the zone table editing diaplay The following diagram shows the codes for each column of the zone table cp co ZONE No ZONEP ZONEN 0 ZONEP000 ZONENOOO 1 ZONEP001 ZONENO01 31 ZONEP031 ZONENO31 Jse the gt lt IM a Keys to move between columns and rows anaa lt lt gt DANAB horizontally ZONE No ZONEP ZONEN ZONE No ZONEP ZONEN 0 ZONENO00 0 1 ZONEP001
219. tor or Support Software connector CN7 3 15 CN8 5 33 coasting to a stop 5 8 5 9 commands 6 5 6 6 6 7 6 8 command response format 6 5 communications protocol 6 4 connectors Digital Operator or Support Software connector CN7 3 15 I O signal connections 3 2 serial command communications connector CN6 3 10 wiring 3 1 coordinates rotational 5 10 setting e ssh ee eee ete see 6 19 6 20 D deceleration 5 30 6 11 deceleration ratio 5 26 delimiter 6 4 6 5 6 6 6 9 DEN sie Beeson se Me able ecu Pee ae cae 5 40 5 42 Digital Operator 7 1 available models 1 4 1 5 dimensions 8 1 display alarm display table 9 2 9 9 error display table 9 13 for alarms 9 7 for errors 9 7 for warnings 9 8 normal display 9 8 n
220. trol parameters such as the Speed Parameter Feedback Filter Time Constant Torque Control Pn401 to Pn409 Set torque control parameters such as the torque Parameters limit values Sequence Pn500 to Pn509 Sets conditions for the sequence I O signals Parameters Pn803 to Pn818 Positioning Pn81A to Pn822 Sets parameters related to positioning Parameters Homing Parameters Pn823 to Pn828 Sets parameters related to homing Serial Pn800 to Pn802 Sets parameters related to serial communications Communications through CN6 Parameters Setup Information Pn829 to Pn834 Do not change these parameters Parameters These parameters are used by the Support Software 5 3 5 Parameter Settings and Functions 5 1 Restrictions on SGDH SERVOPACK Parameters The following parameters are set automatically when an NS600 is installed on an SGDH SER VOPACK Do not change these parameters because they are reserved for system use Also the SGDH SERVOPACK will be set for position control It is not necessary to set parameters related to speed control or torque control so those parameters should not be changed After the NS600 is installed it will take about 2 seconds before the SERVOPACK starts up for the first time because the parameters are set automatically the first time that the power is turned ON Table 5 1 Setting restricted Parameters Pn000 Pn002 T REF Allocation Torque Limit Torque Feed forward Full Closed Loop
221. trol power supply is turned ON or the RES command is executed Jog Speed Table Out of range Alarm Detected only when con trol power supply is turned ON or the RES command is executed Insufficient Registration Distance Alarm Table 9 4 NS600 Alarm Displays cont d Alarm Alarm Name Details Remedy Panel Alarm Display Display 2 Reset The firmware version is not compatible with the zone table version being used A value set in the zone table is not within the allowed set ting range The jog speed table stored in flash memory was not recorded properly This alarm can occur if the control power supply is turned OFF while the jog speed table is being saved or initialized The firmware version is not compatible with the jog speed table version being used A value set in the jog speed table is not within the allowed setting range The registration distance was shorter than the deceleration distance when the RGRT sig nal went ON to start registra tion operation The registration distance will be exceeded even if decelera tion begins immediately Replace the firmware or zone table Replace the firmware or zone table e Initialize the jog speed table with the JSPDINIT com mand or Fn808 function e If the problem is not solved correct the jog speed table Replace the firmware or jog speed table Replace the firmware or jog speed table Either increase the registration distance or r
222. tting is ITO Note Refer to 5 6 5 Examples of Event Conditions if necessary 5 40 5 6 Program Table Table 5 2 Program Table Functions cont d Number of execu Specifies how many times to repeat execution of the processing from the start of positioning tions until the EVENT Setting range 1 to 99 999 The factory setting is 1 PGMSTEP to be n n 0 to 127 Jump to the specified PGMSTEP exceed next END End program table operation The factory setting is END Note The NEXT parameter is referenced after the number of LOOP repetitions are completed The LOOP specification cannot apply to more than one PGMSTEP Note 1 An error E53E will occur and program table operation will be stopped if a new position ing command is received during positioning To restart turn the START STOP signal OFF and then ON again 2 When the target position is INFINITE or INFINITE the PGMSTEP can be switched and the speed can be changed In this case the motor will shift to the new speed 5 41 5 Parameter Settings and Functions 5 6 5 Examples of Event Conditions 5 6 5 Examples of Event Conditions The following figures show examples of event conditions 1 Reference speed Speed Motor speed gt t ae m ON INPOSITION N Reference speed Motor speed Speed X gt t NEAR Speed gt t DEN SELx Speed SELx Tn Speed i lt t
223. turning the control power supply OFF and then ON again 6 9 6 Serial Command Communications 6 7 2 Control Commands 6 7 2 Control Commands The following table shows the control commands Table 6 2 Control Commands Serial Command Function Positive Response POS Target Position Reservation Absolute Position OK nnnnnnnn POSA Setting range 99 999 999 lt nnnnnnnn lt 99 999 999 Reference units nnnannnnn The sign can Speed SPDx be omitted p A POS or POSz or POSAy POSAz ST e ST ST Specifies the target position as an absolute position When the target position is an absolute position the axis will not travel if the same positioning is repeated with ST gt Z Y Position coordinate Note If a new target position is specified during positioning the new target position will be used in the next ST command POSI Target Position Reservation Relative Position nNnnNNNNNN The sign can Setting range 99 999 999 lt nnnnnnnn lt 99 999 999 Reference units be omitted Specifies the target position as a relative distance Speed cpp POSly ST ST sT a The same positioning is repeated with ST Jol fol a i mo P b bty b 2y b 3y Position coordinate Note If a new target position is specified during positioning the new target position will be used in the next ST command 6 10 6 7 Serial Commands Table
224. uence I O Signals 5 3 1 Using the Servo ON OFF Input Signal S ON SERVOPACK Photo coupler Power supply T 24V ae 3 3k 6 24 VIN J peo Host controller S ON X CN1 40 Vo v Input S ON CN1 40 This signal is used to turn the servomotor ON and OFF S ON Photocoupler ON Power is supplied to the servomotor Photocoupler OFF Power is not supplied to the servomotor Do not turn the servo OFF while the servomotor is operating except in an emergency stop situation The S ON signal setting can be changed with parameter Pn80B Parame Signal Pin No Settings Factory ter Setting 0 Photocoupler ON Servo ON i 1 Photocoupler OFF Servo ON 2 Servo is always ON 3 Servo is always OFF Pn80B S ON CN1 40 5 3 2 Using Servo Alarm and Alarm Code Outputs ALM ALO1 to ALO3 The basic procedure for connecting alarm output signals is described below SERVOPACK Power supply 24v Dov Photocouplers CN1 31 ALM a lt Photocoupler output per output Jay 50 MA max T E z a Maximum operating voltage 30 V DC ERA i cont 32 ALM Maximum output current 50 mA DC are EE cn1 37 ALO1 lt _ Yr 20 mA max Ny Open collector output per output J CN1 38 ALO2 gt gt Maximum operating voltage 30 V DC 4 lt Max
225. ut Signals 24V COM Power Supply for Sequence Signals Voltage range 11 V to 25 V MODE 0 1 3 This pin switches between Mode 0 and Mode 1 ON Mode 0 Program table operation OFF Mode 1 JOG speed table operation or homing ISTART STOP Mode 0 When ON starts or restarts program table operation Refers to signals SELO through HOME SEL6 when starting operation When OFF interrupts program table operation Mode 1 When ON starts or restarts homing When OFF interrupts homing PGMRES Mode 0 When ON while program table operation is interrupted resets program table operation JOGP Mode 1 When ON causes forward JOG operation When OFF stops forward JOG operation SELO JOGN Mode 0 Program table 0 Mode 1 When ON causes reverse JOG operation When OFF stops reverse JOG operation SEL1 JOGO 11 Mode 0 Program table selector 1 Mode 1 JOG speed table selector 0 SEL2 JOG1 13 Mode 0 Program table selector 2 Mode 1 JOG speed table selector 1 SEL3 JOG2 15 Mode 0 Program table selector 3 Mode 1 JOG speed table selector 2 SEL4 JOG3 17 Mode 0 Program table selector 4 Mode 1 JOG speed table selector 3 E CN4 Output Signals Positioning complete ae aa 2 POUTO Programmable outputs POUTO POUT1 x 3 7 3 Connector Wiring 3 1 4 Interface Circuits 3 1 4 Interface Circuits This section shows examples of SERVOPACK I O signal connection to the host controller E Interf
226. ways ON 3 Homing Deceleration LS Always OFF 0 Closed Registration Start 1 Open Registration Start A 3 Appendix A List of Parameters Table A 1 NS600 Parameters contd Parameter Name Unit Setting Range Factory Setting Pn810 INPOSITION 0 Closed Positioning complete 1 Open Positioning complete Pn811 POUTO 0 Closed Active 1 Open Active Pn812 PoUT1 0 Closed Active 1 Open Active Pn813 POUT2 0 Closed Active 1 Open Active Pn814 POUT3 0 Closed Active 1 Open Active Pn815 POUT4 0 Closed Active 1 Open Active Pn816 WARN 0 Closed Error Warning status 1 Open Error Warning status Pn819 Overtravel OT Stop 0 Closed Servo ready 1 Open Servo ready 0 Servo OFF same as Pn001 0 setting 1 Emergency stop 2 Deceleration stop 0 Closed Brake release 1 Open Brake release Method 0 Linear 1 Rotary shortest path 2 Rotary forward 3 Rotary reverse P LS Reference 99 999 999 to 99 999 999 99 999 999 Position Reference For units ward Limit a N LS Reference 99 999 999 to 99 999 999 99 999 999 Position Reference units Reverse Limit ai Home Position Reference 99 999 999 to 99 999 999 units Positioning Registration x1 000 refer 1 to 99 999 999 1 000 Speed ence units min Acceleration x1 000 refer 1 to 99 999 999 1 000 ence units min ms Deceleration x1 000 refer 1 to 9
227. with the serial command The command that caused this error will be discarded and no response will be returned There will be no response but the WARN output and LED indicators will indicate that an error has occurred Serial command reception failed e The hardware s reception buffer was overwritten with the subsequent data Normally data is read before it is over written so this error does not occur Travel in the forward direction was requested when P OT was in effect For ward movement is disabled when P OT positive overtravel is in effect Travel in the reverse direction was requested when N OT was in effect Reverse movement is disabled when N OT negative overtravel is in effect The specified target position exceeds the position reference forward limit set in Pn81B 9 14 e Check the serial communica A 9F tions protocol Pn800 and baud rate Pn801 settings e Check the wiring e If noise may be causing the problem take steps to reduce noise such as using communi cations cables with ferrite cores e Check the serial communica A 9F tions protocol Pn800 and baud rate Pn801 settings e Check the wiring If noise may be causing the problem take steps to reduce noise such as using communi cations cables with ferrite cores Repair the hardware e When P OT is being used move to a position where the P OT is not in effect e When P OT is not being used disable P OT in
228. y by set ting Pn81A 1 2 or 3 When the system is a linear system but position reference limits are not being used disable the software limits by setting Pn81B Pn81C 0 Servo OFF Baseblock This display indicates that power is not being supplied to the motor This display indicates that power is being supplied to the motor The panel display may be OFF depending on communications between the NS600 and the SER VOPACK O O L LS Reverse Negative Position This display indicates that the motor position exceeds the reverse BB or B RU 9 19 9 Troubleshooting 9 2 5 Normal Display Table 9 3 STS Status Indicators The following table shows the meaning of the STS Status Indicators LED indicators Status Green LED Red LED Normal Lit Not lit Overtravel Software Limit Activated Resetting Flashing Saving a Table Initializing a Table Initializing Parameters Error P Flashing 2 seconds 9 20 Appendix A List of Parameters This appendix lists the parameters and switches for the NS600 and SGDH SERVOPACKs with an NS600 installed A 1 NS600 Parameters A 2 A 2 SERVOPACK Parameters A 6 A 3 SERVOPACK Switches A 10 Appendix A List of Parameters A 1 NS600 Parameters The following table shows the NS600 s parameters Table A 1 NS600 Parameters Parameter Name Unit Setting Range Factory Sett

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