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AC Servodrive Σ-V Series USER'S MANUAL MECHATROLINK

1. D7 D6 D5 D4 D3 D2 D1 DO 0 0 0 ACCFIL 0 0 0 D15 D14 D13 D12 D11 D10 D9 D8 N CL P CL P PI CLR V PPI 0 0 G SEL Functions That Can Be Allocated to Bits of the OPTION Field T 3 Default Name Description Value Details Setting 0 No acceleration deceleration filter Exponential function acceleration decel ACCFIL 1 ti i Acceleration Deceleration filter erauon D3 D4 2 bits R 2 S curve acceleration deceleration 3 Do not set 0 First gain 1 Second gain oa Gain switching D8 D9 2 bits 2 Reserved invalid 3 Reserved invalid V PPI 0 PI control s Speed loop P PI control D12 1 bit P F 1 P control P PI CLR Position loop position integral 0 Does not clear D13 1 bit clear 1 Clears 0 Does not control torque force E Forward torque force limit que D14 1 bit 1 Controls torque force 0 Does not control torque force NT Reverse torque force limit P D15 1 bit 1 Controls torque force 0 Enables latch signal input LI DABLE Latch signal input disabled T T Not allocated 1 bit 1 Disables latch signal input Bank selector 1 BANK SELI 0t Bank for acceleration decelera Bank 0 to Bank 15 Not allocated 4 bits a GM 15 tion parameter switching 0 SO output signal OFF BIT 0 1 SO output signal ON i 5 0 SO2 output signal OFF OUT SIGNAL VO signal output com BIT 1 He Not allocated 3 bits mand 1 SO2 output signal ON 0
2. D7 D6 D5 D4 D3 D2 D1 DO 0 0 0 ACCFIL 0 0 0 D15 D14 D13 D12 D11 D10 D9 D8 N CL P CL P PI CLR V PPI 0 0 G SEL Functions That Can Be Allocated to Bits of the OPTION Field pP Default Name Description Value Details Setting 0 No acceleration deceleration filter ACCFIL 1 Exponential function acceleration decel Q bits Acceleration Deceleration filter eration D3 D4 2 S curve acceleration deceleration ma 3 Do not set A 0 First gain 1 Second gain GA a Gain switching p D8 D9 7 2 bits 2 Reserved invalid 3 Reserved invalid 7 5 7 6 7 Data Field RE Default Name Description Value Details Setting V PPI 0 PI control us Speed loop P PI control D12 1 bit p 1 P control P PI CLR Position loop position integral 0 Does not clear DI3 1 bit clear 1 Clears 0 Does not control torque force ps Forward torque force limit D14 1 bit 1 Controls torque force 0 Does not control torque force NEST Reverse torque force limit D15 1 bit 1 Controls torque force 0 Enables latch signal input DI DISABLE Latch signal input disabled zi 5 Not allocated 1 bit 1 Disables latch signal input Bank selector 1 BANK SELI Ot d Bank for acceleration decelera Bank 0 to Bank 15 Not allocated 4 bits SUE 15 tion parameter switching 0 SO1 output signal OFF BIT 0 1 SO output signal O
3. Parameter No Name Pn80A Pn834 1st Linear Acceleration Constant Pn80B Pn836 2nd Linear Acceleration Constant Pn80C Pn838 Acceleration Constant Switching Speed Pn80D Pn83A 1st Linear Deceleration Constant Pn80E Pn83C 2nd Linear Deceleration Constant Pn80F Pn83E Deceleration Constant Switching Speed Pn81F Position Control Command TFF TLIM Function Allocation Pn002 Torque Force Reference Option During Speed Position Control Set the parameters as shown below to use TLIM Ead Set Value Meaning O Pn81F n0010 Enables forward reverse torque force limit using TLIM Pn002 n 000 Pn81F n0010 When P_CL of OPTION field is set to 1 Uses TLIM as positive torque force limit Pn002 n0003 When N_CL of OPTION field is set to 1 Uses TLIM as negative torque force limit 4 12 4 6 4 6 Constant Speed Feeding FEED 36H Constant Speed Feeding FEED 36H FEED Command 36H The FEED command is used to start constant speed feeding at the specified target speed TSPD by position control Use Stop Motion command HOLD 25H to stop constant speed feeding executed by this command FEED E Byte Description Command Response Phases in 1 36H 36H which the Phase 2 and 3 Synchronization Asynchronous command can classification command be executed 2 ALARM ATA YA Within commu Subcommand Can be used ime nications cycle 3 OPTION
4. Note 1 Do not allocate more than one signal to one bit If more than one signal is allocated to one bit the bit will control more than one signal 2 An unallocated function bit acts as if it is set to 0 3 Set the bit to the least significant bit position to be allocated Command Related Parameters 5 13 5 14 5 Command Related Parameters 5 5 1 Latching Allowable Area 5 5 5 5 1 5 5 2 Position Data Latch Function Setting This section describes the parameters for setting the position data latch function Latching Allowable Area Use the following parameters to set the range to input the latch signal for position data latching by LTMOD ON LATCH EX POSING or ZRET command If the latch signal is input out of the set range posi tion data will not be latched Data jo Name Size Setting Range Unit Fess byte 2 5 2147483648 to Pn820 Forward Latching Allowable Area 4 2147483647 Reference unit 0 2147483648 to Pn822 Reverse Latching Allowable Area 4 2147483647 Reference unit 0 When Pn820 Pn822 Pn822 Pn820 Latching allowable area When Pn820 x Pn822 Pn820 Pn822 Latching allowable area Latching allowable area Continuous Latch Function This function sequentially latches the input positions of sequence signal to sequence signal n n to 8 for a specified number of times The continuous latch operation can be aborted by executing the LIMOD OF
5. 3 26 3 17 Set Coordinate System POS SET 20H 3 27 3 18 Monitor and Adjust Settings ADJ 3EH 3 28 m Commands for Preparation Process 3 Commands for Preparation Process Commands for Preparation Process 3 2 Operation Command to Send Description Confirmation of completion of Checks if the SERVOCK has been initialized to be ready for SERVOPACK initialization NOR DIBCONNEGI communications or not Establishment of MECHA CONNECT Establishes communications connection and starts WDT TROLINK II connection count pa e kaan a On SYNC SET Starts synchronous communications Device ID check ID RD Checks information such as device ID Parameter setting PRM WR Sets the parameters required for device When parameters are managed by a controller Sets the parameters required for device and saves them in the Parameter setting and saving PPRM WR non volatile memory When parameters are managed by SERVOPACK Validationof pafamstor settings CONFIG Enables the set parameters Setup Encoder power supply ON SENS ON Turns on the encoder power supply to get position data Servo ON SV ON Turns the servo on Encoder power supply OFF SENS OFF Turns off the encoder power supply off Servo OFF SV OFF Turns the servo off Reads active parameters Farameter read out PRM RD When parameters are managed by a controller SERVOPACK status monitori
6. aaae 2 6 2 4 5 Operation Sequence At Occurrence of Alarm 2 6 2 5 Setting the Origin Before Starting Operation 2 8 2 5 1 When Using an Incremental Encoder 2 8 2 5 2 When Using an Absolute Encoder 2 8 n Operation Sequence 2 1 2 2 2 Operation Sequence 2 1 1 Setting MECHATROLINK II Communications 2 1 Preparing for Operation This section describes how to set communications specifications before starting communications and how to confirm the communications status 2 1 1 Setting MECHATROLINK II Communications The rotary switch SW1 and DIP switch SW2 which are located near the top under the front cover of 2 V series SERVOPACK are used as shown below to set the MECHATROLINK II communications specifications SW1 is used to set the lowermost digit of station address SW2 is used to set the communications specifica tions as shown in the table below s ow Factory SW2 Function Setting Description setting E 2 6 OFF 4 Mbps MECHATROLINK I UM LA Pin 1 Sets the baud rate ON 0 223p ON 10 Mbps MECHATROLINK II FO Ng E 7 AA Sets the number of OFF 17 bytes DCB Puma transmission b ON paa bali ON 32 bytes SW1 factory setting OFF Station address 40H SW1 Pin 3
7. Origin Origin Range Pn803 Data ju ad Name Size Setting Range Unit fand byte 2 Pn803 Origin Range 2 0 to 250 Reference unit 10 Information ZPOINT detection will be performed only after completion of the following operations Other wise it will not be performed W When an incremental encoder is connected Homing operation by ZRET command is completed The coordinate setting is completed after reference point setting REFE 1 by executing POS SET com mand B When an absolute encoder is connected Execution of SENS ON command is completed 2 Positioning Completed PSET Width Setting Set the PSET signal status detection range PSET detection range r 1 Feedback position APOS 7 Pag Target position Positioning Completed Width TPOS Pn522 Data scel Name Size Setting Range Unit enu byte 9 Pn522 Positioning Completed Width 4 Oto 1073741824 Reference unit 7 Information PSET 1 when output is completed DEN 1 and the feedback position APOS is within the positioning completed PSET detection range 5 20 5 7 STATUS Field and Monitor Related Settings 3 NEAR Signal Width Setting Set the NEAR signal status detection range NEAR detection range l l l I Feedback position 1 APOS 7 uz R Target position NEAR Signal Width TPOS Pn524 Data o Na Name Size Setting Range Unit E j byte 2 Pn524 NEAR Signal
8. AC Servodrive YX V Series USER S MANUAL MECHATROLINK II Command IRUMA BUSINESS CENTER SOLUTION CENTER 480 Kamifujisawa Iruma Saitama 358 8555 Japan Phone 81 4 2962 5696 Fax 81 4 2962 6138 YASKAWA ELECTRIC AMERICA INC 2121 Norman Drive South Waukegan IL 60085 U S A Phone 1 847 887 7000 Fax 1 847 887 7370 YASKAWA ELETRICO DO BRASIL LTDA 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 569 312 YASKAWA ELECTRIC UK LTD 1 Hunt Hill Orchardton Woods Cumbernauld G68 9LF United Kingdom Phone 44 1236 735000 Fax 44 1236 458182 YASKAWA ELECTRIC KOREA CORPORATION 7F Doore Bldg 24 Yeoido dong Youngdungpo Ku Seoul 150 877 Korea Phone 82 2 784 7844 Fax 82 2 784 8495 YASKAWA ELECTRIC SINGAPORE PTE LTD 151 Lorong Chuan 04 01 New Tech Park 556741 Singapore Phone 65 6282 3003 Fax 65 6289 3003 YASKAWA ELECTRIC SHANGHAI CO LTD No 18 Xizang Zhong Road Room 1702 1707 Harbour Ring Plaza Shanghai 200001 China Phone 86 21 5385 2200 Fax 86 21 5385 3299 YASKAWA ELECTRIC SHANGHAI CO LTD BEIJING OFFICE Room 1011A Tower W3 Oriental Plaza No 1 East Chang An Ave Dong Cheng District Beijing 100738 China Phone 86 10 8518 4086 Fax 86 10 8518 4082 YASKAWA ELECTRIC TAIWAN CORPORATION 9F 16 Nanking E Rd Sec 3 Taipei Taiwa
9. Release MECHATROLINK II Connection DISCONNECT OFH The connection must be released at the end of communications Send a DISCONNECT command to release the connection Disconnection DISCONNECT OFH The specifications of the DISCONNECT command are shown below DISCONNECT AZA Byte Description Command Response Phases in which the Synchronization Asynchronous l VEH command can All phases classification command OFH be executed Broeassin Communications 2 ALARM 9 cycle or more Subcommand Cannot be used time KG Within 5 s 3 Releases the MECHATROLINK II connection and the SERVOPACK 4 STATUS changes communications to Phase 1 When this command is received the following operations will be per 5 formed 6 The SERVOPACK changes communications to Phase 1 The SERVOPACK changes to Servo OFF 7 The reference point setting becomes invalid 8 The position data is initialized 9 BRAKE signal turns ON If an alarm has occurred releasing the connection will not clear the 10 alarm status The set parameter data saved in the volatile memory will 11 remain valid To re establish connection carry out operations in the same sequence 12 as when turning ON the power supply and set the required parameters 13 again 14 15 16 WDT RWDT Note Always send a DISCONNECT command for at least two communications cycles 3 3 3 3 Establish MECHATROLINK II Connection CONNECT OEH
10. 7 YASKAWA AC Servodrive 2 V Series USER S MANUAL MECHATROLINK II Command MECHATROLINK II Commands E Operation Sequence ez Commands for Preparation Process GE MANUAL NO SIEP 5800000 54A Motion Commands for Operation EUN Command Related Parameters EE MECHATROLINK II Subcommands EN Data Field Appendix App Copyright 2007 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 Preface This manual describes the specifications of MECHATROLINK II commands used for X V series SERVO PACKs model SGDV LILILIE111 and 15 MECHATROLINK II comm
11. Pn81F n0010 When P_CL of OPTION field is set to 1 Uses TLIM as positive torque force limit Pn002 n0003 When N_CL of OPTION field is set to 1 Uses TLIM as negative torque force limit 4 8 4 8 External Input Positioning EX POSING 39H External Input Positioning EX POSING 39H EX POSING Command 39H The EX POSING command is used to start positioning to the target position TPOS at the target speed TSPD When a latch signal is input midway positioning is performed according to the final travel distance for external positioning from the latch signal input position When no latch signal is input positioning is per formed for the target position TPOS EX POSING Byte Description Command Response Phases in which the Synchronization Asynchronous a 32H command can Phase 2 and 3 classification command be executed 2 LT SGNL ALARM Processing Within commu Subcommand Can be used BG time nications cycle 3 Use LT SGNL to select the latch signal OPTION STATUS When the latch signal is input positioning is performed according to the 4 final travel distance for external positioning specified in Pn814 from the 5 latch signal input position And the latch signal input position is stored in 6 the feedback latch position LPOS and is forcibly output to MONITOR2 for one communications cycle 7 1593 NOM When no latch signal is input positioning is performed for the speci
12. 12 13 14 15 16 WDT RWDT Alarm history is saved in the non volatile memory and will not be lost if the control power goes OFF 2 ALM_CLR_MOD Specifications ALM_CLR_MOD Description Processing Time 0 Clears current alarm warning status Within 200 ms 1 Clears alarm history Within 2 s 3 17 3 17 Set Coordinate System POS SET 20H Set Coordinate System POS SET 20H Send a POS SET command to set the position coordinate system Set Coordinates POS SET 20H The specifications of the POS SET command are described below POS SET Kaha Byte Description Command Response Phases in 1 20H 20H which the Phase 2 and 3 Synchronization Asynchronous command can classification command be executed 2 ALARM Aia Within commu Subcommand Cannot be used ime nications cycle 3 Sets the current position to the position specified by POS DATA 4 STATUS The origin ZPOINT and software limit settings are enabled by setting a reference point 5 PS_SUBCMD PS SUBCMD See 2 PS SUBCMD Specifications for details on PS SUBCMD 6 Specify the position coordinates in POS DATA 7 A warning will occur and the command will be ignored in the following POS DATA POS DATA Case M 8 A number out of the range is set in PS SUBCMD Data setting warn 9 ing 2 A 94B 10 11 12 13 14 15 16 WDT RWDT 2 PS SUBCMD Specifications The
13. 2 Alarm history ALM RD MOD 1 Index 0 Previously occurred alarms Index n 1 Index n The most recently occurred alarm Index 9 Byte ALM_DATA Byte ALM_DATA 6 96H Index 0 Warnig data will 6 x be cleared 7 E6H Index 1 automatically a i a n 1 x 0 n E6H d n 1 15 Index 9 0 15 Note 1 The current warning or alarm status can be cleared by executing the ALM CLR ALM CLR MOD 0 com mand 2 The alarm history will not be cleared until the ALM CLR ALM CLR MOD 1 command is executed 2 When ALM RD MOD 2or3 An alarm code of 2 byte length is returned If ALM RD MOD is set to 2 in the above example the following alarm codes will be read out 0x960 for alarm index 0 and OxE61 for alarm index 1 7 LT SGNL Specifications Applicable Commands LATCH EX POSING ZRET LTMOD ON When Pn850 0 SVCTRL The latch signal can be specified by setting the lowermost two bits of the 2nd byte LT SGNL in the command as shown below D7 D6 D5 D4 D3 D2 D1 DO 0 0 0 0 0 0 LT_SGNL D1 DO Latch Signal Signal Details 0 Phase C Encoder origin signal 0 1 EXTI External input signal 1 1 0 EXT2 External input signal 2 1 1 EXT3 External input signal 3 Data Field bs 7 7 Appendix A Brake Control Commands A 2 B General purpose Servo Control Command A 4 A 6 C Latch F
14. Subcommand area Reads the current status of the SERVOPACK Commands for Preparation Process 3 23 3 24 3 Commands for Preparation Process 3 15 Read Alarm or Warning ALM RD 05H Send an ALM RD command to read out the current alarm warning and the alarm history Read Alarm or Warning ALM RD 05H The specifications of the ALM RD command are described below ALM RD WAZI Byte Description Command Response Phases in 1 05H 05H which the Phase 2 and 3 Synchronization Asynchronous command can classification command be executed See 2 ALARM eee Sela AIM R MOD Subcommand Cannot be used time Specifications on the next page 3 Reads the following alarm and warning status 4 STATUS Current alarm warning status Alarm history Warnings and communications alarms A E50 and 5 ALM_RD_ ALM_RD_ A E60 will not be read out since they are not preserved in the history MOD MOD See 2 ALM RD MOD Specifications for details on ALM RD MOD 6 Alarm and warning codes are set in ALM DATA from byte 6 in order from the most recent and 0 is set in the bytes that are blank Accordingly 7 the data in byte 6 is the latest alarm or warning code 8 A warning will occur and the command will be ignored in the following cases 9 If ALM RD MOD is out of the range Data setting warning 2 A 94B m ALM DATA 11 12 13 14 15 16 WDT RWDT Alarm history is saved in the non volatile
15. 5 2 1 Linear Acceleration Deceleration Function Use the following parameters to set the acceleration deceleration constants used to execute POSING FEED EX_POSING ZRET or HOLD commands The Ist digit of Pn833 is used to switch the parameters used for acceleration deceleration the parameters Pn80A to Pn80F and Pn827 or the parameters Pn834 to Pn840 Command speed acceleration constant Acceleration constant 1 switching speed 2nd linear deceleration constant NS Deceleration constant switching speed 1st linear acceleration constant 1st linear deceleration constant N Time 1 Acceleration Deceleration Constant Switching Setting Factory Parameter Meaning Setting Use parameters Pn80A to Pn80F and Pn827 n0000 Parameters Pn834 to Pn840 are invalid ii Pn834 to Pn840 n LILILIO nooo Use parameters Pn834 to Pn840 Parameters Pn80A to Pn80F and Pn827 are invalid Note The setting will be validated by turning the power supply OFF and then ON again or by executing the CONFIG command 2 Acceleration Deceleration Parameters when Pn833 n OO00 Parameter Dala Facto 5 No Name Size Setting Range Unit Bab 2 byte 9 5 10000 Pn80A 1st Linear Acceleration Constant 1 2 1 to 65535 2 100 o reference units s g 10000 5 Pn80B 2nd Linear Acceleration Constant 1 2 1 to 65535 2412 100 Q reference units s a 2 Pn80C Acceleration Cons
16. Acceleration Deceleration Function 5 5 5 2 2 Position Reference Filter 5 6 5 2 3 Linear Deceleration Speed Setting for Commands to Stop a Motor 5 7 5 3 Motion Sequence Setting 5 9 5 3 1 Settings for EX POSINGCommand 5 9 5 3 2 Settings for ZRET Command 5 9 5 4 Command Data Options 5 10 5 4 1 Torque Force Limiting Function 5 10 5 4 2 Torque Force Feed Forward Function 5 11 5 4 3 Speed Limiting Function During Torque Force Control 5 11 5 4 4 OPTION Field Allocation 5 12 5 5 Position Data Latch Function Setting 5 14 5 5 1 Latching Allowable Area 5 14 5 5 2 Continuous Latch Function 5 14 5 6 Acceleration Deceleration Parameter High speed Switching Function 5 17 5 7 STATUS Field and Monitor Related Settings 5 20 5 7 1 STATUS Field Status Detection Level Setting 5 20 5 7 2 I O Monitor Field Signal Allocation 5 22 5 7 3 Option Monitor Setting iss s
17. Establish MECHATROLINK II Connection CONNECT OEH Send a CONNECT command to establish a MECHATROLINK II communications connection When the connection is established the WDT watchdog timer count starts MECHATROLINK II Connection CONNECT OEH The specifications of the CONNECT command are shown below CONNECT UE Byte Description Command Response Phases in 1 OEH OEH which the Phase 1 Synchronization Asynchronous command can classification command be executed Processin Communications 2 ALARM ti 9 cycle or more Subcommand Cannot be used Ime Within 5 s 3 Establishes a MECHATROLINK II connection and sets the communica STATUS tions mode according to COM MODE 4 VER Version Set VER to 21H Version 2 1 5 VER VER COM MOD Sets the communications mode Refer to 2 Details of COM MOD for details COM TIM Sets the communications cycle The communications cycle must satisfy the following equation within the range between 1 and 32 6 COM MOD COM MOD 7 COM TIM COM TIM 0 25 ms lt Transmission cycle ms x COM TIM lt 32 ms 8 A warning will occur and the command will be ignored in the following cases 9 If COM MODE is out of the setting range Data setting warning 2 A 94B 10 IfCOM TIM is out of the settting range Data setting warning 2 CIEN A 94B 11 Ifthe transmission bytes is 17 but SUBCMD 1 Data setting warning 2 A 94B 12 Ifthe transmission
18. Homing ZRET SAR sis vence ee eee ee ea ERR ets 4 19 4 10 Velocity Control VELCTRL 3CH 4 21 4 11 Torque Force Control TRQCTRL 3DH 4 23 Chapter 5 Command Related Parameters 5 1 5 1 Electronic Gear Setting 5 4 531 1 Electhonic Gear i ore belt einen Ba Da aute putauit ki BA Dhan oe toe deeds 5 4 5 1 2 Setting the Electronic Gear Ratio 5 4 5 2 Motion Acceleration Deceleration Function Setting 5 5 5 2 1 Linear Acceleration Deceleration Function 5 5 5 2 2 Position Reference Filter ne 5 6 5 2 3 Linear Deceleration Speed Setting for Commands to Stop a Motor 5 7 5 3 Motion Sequence Setting 5 9 5 3 1 Settings for EX POSINGCommand 5 9 5 3 2 SettingsforZRETCommand 5 9 5 4 Command Data Options 5 10 5 4 1 Torque Force Limiting Function 5 10 5 4 2 Torque Force Feed Forward Function 5 11 5 4 3 Speed Limiting Function During Torque Force Control 5 11 5 4 4 OPTION Field Allocation 5 12 5 5
19. I I l I I n Command Related Parameters 5 7 5 8 5 Command Related Parameters 5 2 3 Linear Deceleration Speed Setting for Commands to Stop a Motor Data Verb Name Size Setting Range Unit aui byte 10000 Pn827 Linear Deceleration Constant 1 for Stopping 2 0 to 65535 100 reference units s Pn829 SVOFF Waiting Time SVOFF at decelera 2 0 to 65535 iom 0 tion to stop 10000 Pn840 Linear Deceleration Constant 2 for Stopping 4 0 to 20971520 100 reference units s 5 3 Motion Sequence Setting 5 3 Motion Sequence Setting This section describes parameters related to the actions of EX POSING and ZRET commands 5 3 1 Settings for EX POSING Command Set the travel distance from the external signal input position to the final target position for execution of an EX POSING command If a negative value distance to the negative direction or a small value is set the axis will decelerate to a stop and then move to the reverse direction for positioning i I Final Travel Distance for External Positioning Pn814 Latch signal ua Data a id Name Size Setting Range Unit fecun i byte g Final Travel Distance for External Position 1073741823 to Pn814 ing 4 1073741823 Reference unit 100 5 3 2 Settings for ZRET Command This section describes the parameters to set the following items for ZRET command Pn816 Homing di
20. LT_SGNL ALARM Starts latch operation STATUS Use LT MOD to switch the latch mode 0 Normal latch mode Latches the position data when a signal selected LT MOD by LT SGNL is input 1 Continuous latch Latches the position data according to the values MONITORI set in Pn850 to Pn853 Note When LT MOD 1 the normal latch mode is always selected When CMDRDY 1 this command has been received Confirm that L CMP of status field is set to 1 at completion of latching 2 When there is monitor data such as SMON and POSING appended to the 10 command response LPOS is forcefully returned to MONITOR 2 for one A MONITOR2 communications cycle When there is no monitor data such as PRM RD or ALM RD appended 12 to the command response confirm that L CMP of status field is set 1 13 SEL MONIZ SEL MONI 2 then use a command that has monitor data such as SMON in the response and select LPOS to confirm 14 IO MON A warning will occur and the command will not be executed 15 T Interference with another latch mode command If this command is sent while another latch mode command such as EX POSING NI 00 a DD m AJ w 16 WEE RWDT LATCH ZRET and SVCTRL is being executed Command warning 4 17 A 95D 18 LT_MOD 1 and Pn850 0 Data setting warning 5 A 94E Latch time lag 19 From reception of the command to latching start 250ms max 20 From completion of latching to transmission of a res
21. MECHATROLINK II Commands 1 1 1 1 MECHATROLINK II Communications 1 2 11 1 CAV ONS ire ie od ot a PA KI a MUI MEUS ee gd eee vad EO Eg REGE 1 2 1 12 Frame Structures 3 222 5 ou he ee a kee eee Dep Pee eee aa ee UR 1 2 1 1 3 State TransitionDiagram 1 3 1 1 4 Terminology aa tae teat nl ace tea aed aoe e e eis gob GG ere E ad 1 4 1 2 MECHATROLINK II CommandlList 1 5 1 2 1 Main Commands In command code order 1 5 1 2 2 Subcommands In command code order 1 6 1 2 3 Combination of MECHATROLINK II Main Commands and Subcommands 1 7 1 3 Command and Response Timing 1 8 1 3 1 Command Data Execution Timing 1 8 1 3 2 Monitored Data Input Timing 1 8 1 4 Data Order 3 sas cye xTM IRR ERE ERAS EDGE 1 9 GHabiek24Operallo Sequences mer tene dee dpt e ANA NUN 2 1 2 1 Preparing for Operation ens 2 2 2 1 1 Setting MECHATROLINK II Communications 2 2 2 1 2 Checking the Communications Status 2 2 2 2 Operation Sequence for Managing Parameters Using a Controller 2 3 2 3 Operation Sequence for Managing Parameters Using a SERVOPACK 2 4
22. Position Data Latch Function Setting 5 14 5 5 1 Latching Allowable Area 5 14 5 5 2 Continuous Latch Function saser es 5 14 5 6 Acceleration Deceleration Parameter High speed Switching Function 5 17 5 7 STATUS Field and Monitor Related Settings 5 20 5 7 1 STATUS Field Status Detection Level Setting 5 20 5 7 2 I O Monitor Field Signal Allocation 5 22 5 7 3 Option MOHSEIN eae 5 23 Chapter 6 MECHATROLINK II Subcommands 6 1 6 1 NoOperation NOP OOH 6 2 6 2 Read Parameter PRM RD O1lH 6 2 6 3 Write Parameter PRM WR OZ2ZH 6 3 vi 6 4 Read Alarm or Warning ALM RD O5H 6 3 6 5 Write Non volatile Parameter PPRM WR 1CH 6 4 6 6 Set Latch Mode LTMOD ON 28H 6 4 6 7 Release Latch Mode LTMOD OFF 29H 6 5 6 8 Status Monitoring SMON 30H 6 5 Chapter Dala Fees lk ee eee ee AA ANA ABA NR LU EO EUR 7 1 APPEN ADOREI A E PG aL CMS INMATE ee Le A 1 A Brake Control Commands A 2 B General purpose Servo Control Command A 4 C Catch FUNCTION
23. Sets the station OFF on address ON Station address 50H SW1 OFF Pind j eee OFF OFF S ME Do not change SW2 factory settings 2 1 2 Checking the Communications Status Turn ON the control and main circuit power supplies and use the following procedure to confirm that the SER VOPACK is ready for communications 1 Operation Procedure Procedure Operation 1 Confirm that the wiring is correctly made Turn ON the SERVOPACK control and main circuit power supplies When the control power is being normally supplied to the SERVOPACK POWER LED on the SERVO PACK is lit When the main circuit power supply is ON CHARGE is lit Turn ON the controller power supply and start MECHATROLINK communications Check the communications status When communications in the data link layer have started COM LED on the SERVOPACK is lit Note If COM LED is not lit check the communications settings of SW1 SW2 and the controller and then turn the power supplies OFF and ON again When the MECHATROLINK II connection in the application layer is established the 7 segment LED indi cates the completion of CONNECT execution as shown below When lit CONNECT execution completed When unlit CONNECT execution not completed 2 2 2 2 Operation Sequence for Managing Parameters Using a Controller Operation Sequence for Managing Parameters Using a Controller When the parameters are managed by
24. Velocity Control VELCTRL 3CH 4 21 4 11 Torque Force Control TRQCTRL 3DH 4 23 gt Motion Commands for Operation 4 2 4 Motion Commands for Operation The motion commands described in this chapter are listed below 1 Motion Commands The motion commands are listed below Command to Items Send Description Stop Motion HOLD From current motion status performs a deceleration stop in the set pattern and positioning Set Latch Mode LTMOD ON Requests the latch mode If a latch signal is input in latch m mode position latching will be performed Release Latch Mode LTMOD OFF Releases the latch mode Interpolation Feed INTERPOLATE Starts interpolation feeding Position Positioning POSING Performs positioning to the target position TPOS at the tar get speed TSPD Control Constant Speed Feed FEED eae constant speed feeding in position by position con Interpolation Feeding Performs interpolation feeding and latches the position when a A in LATCH er with Position Detection external signal is input Moves toward the target position TPOS at the target speed d TSPD When a latch signal is input midway positioning is um TapupPosinga EX POSING performed according to the final travel distance for external 8 position specified in the parameter from the latch signal input position Homing ZRET Performs a homing Seed Controls speed
25. Width 4 0 to 1073741824 Reference unit 7 Information NEAR 1 when the feedback position APOS is within the NEAR signal detection range 4 Zero speed ZSPD Detection Level Setting Set the ZSPD signal status detection level during speed control VELCTRL command Data Parmer Name Size Setting Range Unit Ru i byte 2 Pn502 Rotation Detection Level For rotational ser 2 1 to 10000 adl 20 vomotors Pn581 Mig Detection Level For linear servomo 2 1 to 5000 imis 20 5 Speed Coincidence VCMP Detection Level Setting Set the VCMP signal status detection level during speed control VELCTRL command Data Saka Name Size Setting Range Unit Ba byte i Speed Coincidence Signal Output Width La Bra For rotational servomotors 2 bala min 19 Speed Coincidence Signal Output Width Pn582 For linear servomotors 2 nadi mm s 10 Command Related Parameters 5 21 5 22 5 Command Related Parameters 5 7 2 1 0 Monitor Field Signal Allocation 5 7 2 O Monitor Field Signal Allocation Allocate CN1 connector input signals SIO to SI6 to bits D12 to D15 of the I O monitor field x xs Function Setting Allocation Bow 0 No mapping 1 Monitors SIO signal CN1 2 Monitors SI1 signal CN1 G 1012 Signal Mapping 3 Monitors SI2 signal CN1 4 Monitors SI3 signal CN1 Pn81E 5 Monitors SI4 signal CN1 6 Monitors SI5 signal CN
26. a controller the parameters are automatically transmitted from the con troller to the SERVOPACK when the power is turned ON Therefore the settings of SERVOPACK do not need to be changed when the SERVOPACK is replaced Procedure Operation Command to Send 1 Turn on the control and main circuit power supplies NOP 2 Reset the previous communications status DISCONNECT 3 Establish communications connection and starts WDT count CONNECT 4 Check information such as device ID ID_RD 5 Get device setting data such as parameters PRM RD ADJ 6 Set the parameters required for device PRM WR 7 Enable the parameter settings Setup CONFIG 8 Turn the encoder power supply to the position data SENS ON 9 Turn the servo on SV ON 10 Start operation 11 Tum the servo off SV OFF 12 Disconnect the communications connection DISCONNECT 13 Turn the control and main circuit power supplies Ifthe connection cannot be released normally send DISCONNECT command for 2 or more communications cycles and then send CONNECT command n Operation Sequence 2 3 2 4 2 Operation Sequence 2 3 1 Setup Sequence 2 3 SERVOPACK To manage the parameters by using SERVOPACK s non volatile memory save the parameters in the non vol atile memory at setup and use an ordinary operation sequence 2 3 1 Setup Sequence Operation Sequence for Managing Parameters Using a Procedur
27. a ter e Oe OR TCR ER RO bina MA A 6 Revision History 1 MECHATROLINK II Commands This chapter provides on outline of MECHATROLINK II commands 1 1 MECHATROLINK II Communications 1 2 LAST Layssa KA ea eee eee Bae Ae AG ha mh be Art wee EE 1 2 1 1 2 Frame Str ct re a aa tin dus metas aoe eee oe Nee OPN ee REESE DA KAG 1 2 1 1 3 State Transition Diagram 2 21 221 ereot eiri tereni ee ee ee ee ee 1 3 1 14 Terminology o2 orem o Ege EORR NER eco eee eek aE 1 4 1 2 MECHATROLINK II Command List 1 5 1 2 1 Main Commands In command code order 1 5 1 2 2 Subcommands In command code order 1 6 1 2 3 Combination of MECHATROLINK II Main Commands and Subcommands 1 7 1 3 Command and Response Timing 1 8 1 3 1 Command Data Execution Timing 1 8 1 3 2 Monitored Data Input Timing 1 8 1 4 Data Order 1 9 MECHATROLINK II Commands 1 1 1 2 1 MECHATROLINK II Commands 1 1 1 Layers 1 4 MECHATROLINK II Communications 1 1 1 Layers The MECHATROLINK II communications layers have functions equivalent to layers 1 2 and 7 in the OSI Open System Interconnection reference model OSI Reference Model and MECHATROLINK II Model OSI MECHATR
28. and software limits will gt be enabled when an absolute encoder is used 6 After having used this command the position data must be monitored MONITOR1 and the coordinate system of host controller must be setup 7 8 9 10 fi MONITOR2 12 13 SEL MON1 2 SEL MON1 2 14 IO MON 15 E 16 WDT RWDT 2 Monitor Selection and Monitor Information Field Specifications SEL_MON1 2 3 4 MONITOR 1 2 3 4 The monitor selection and monitor information SEL MONI 2 3 4 MONITOR1 2 3 4 field is used to select the Servo monitor information Setting Method Set MONITOR 1 2 3 4 monitor codes in SEL MON1 2 3 4 allocated in the thirteenth byte of the main com mand or in the reserved area of the nineteenth byte of the subcommand SEL MONI 2 3 4 allocation is shown below D7 D6 D5 D4 D3 D2 D1 DO SEL_MON2 SEL MONI D7 D6 D5 D4 D3 D2 D1 DO SEL_MON4 SEL_MON3 m Commands for Preparation Process 3 15 3 16 3 Commands for Preparation Process 3 The MONITOR 1 2 3 4 monitor codes are listed below Monitor Information Field Specifications MONITOR 1 2 3 4 Monitor Hai s Code Name Description Unit 0 POS Reference position in reference coordinate system R f rence unit position after reference filtering 1 MPOS Reference position Reference unit 2 PERR Position error Reference unit APOS Feedback p
29. both synchronous and asynchronous commands Synchronous Commands Classification S For commands of this type commands are sent and response are received every communications cycle A response to a command that has been sent to a slave station is received at the next communications cycle The WDT Watchdog Timer in the frames are refreshed and checked every communications cycle Synchro nous commands can be used only during synchronous communications Phase 3 Asynchronous Commands Classification A For commands of this type commands are sent asynchronously to the communications cycle Subsequent commands can be sent after confirming the completion of processing of the slave station that received the command The WDT Watchdog Timer in the frames are not checked 1 2 MECHATROLINK II Command List 1 2 MECHATROLINK II Command List 1 2 1 Main Commands In command code order The MECHATROLINK II main commands used for X V series servodrives are listed below pang Command Function Reference 00H NOP Nothing is performed 3 1 01H PRM RD Reads the specified parameter 3 13 02H PRM WR Saves the specified parameter 3 6 03H ID RD Reads the device ID 3 5 04H CONFIG Enables the current parameter settings 3 8 05H ALM RD Reads the current alarm or warning status and the alarm history 3 15 06H ALM CLR Clears the current alarm or warning st
30. feed for 8 ward TFF can be used Use Pn002 to select TLIM setting range 0 to 4000H maximum motor torque force 9 4000H 10 If a value between 4000H to FFFFH is set the maximum motor VREF MONITOR2 torque force will be applied as the limit ll Use the ADJ command to obtain the maximum motor torque force 12 TFF setting range A signed 2 byte data maximum motor torque force 4000H t SEL MONI 2 SEL MONIZ li During execution of this command the following bits for STATUS are 14 allocated 15 IO MON D8 ZSPD zero speed bit 0 Zero speed not detected 16 WDT RWDT 1 Zero speed detected 17 D7 V CMP speed coincidence bit 0 Speed coincidence not detected 18 1 Speed coincidence detected 19 Monitor MONITOR 1 2 3 4 The units for TSPD CSPD and FSDP is maximum motor speed 20 40000000H 21 22 a Subcommand Subcommand area area 24 25 26 27 28 29 gt Motion Commands for Operation 4 21 4 Motion Commands for Operation 4 22 2 Soft Start Function The soft start function converts input speed references from sudden step progression to steady diagonal pro gression Set the acceleration speed and deceleration speed in the following parameters Use this function to achieve a smooth speed control in speed control mode including internal set speed selec tion Soft Start Acceleration Time Time of period the motor speed reaches the maximum from zero the stop status Pn3
31. p Velocity Control VELCTRL The SERVOPACK does not perform position control but Control f directly controls the speed of the speed loop Torque Controls torque force Force Torque Force Control TRQCTRL The SERVOPACK does not perform position control and Control speed control but directly performs torque force control 4 1 1 4 1 Stop Motion HOLD 25H Stop Motion HOLD 25H HOLD Command 25H The HOLD command is used to perform a deceleration to stop from the current run status at a deceleration ratio specified by the parameter for positioning HOLD a Byte Description Command Response Phases in which the Synchronization Asynchronous l 2H BH command can Phase 2 and 3 classification command be executed 2 ALARM Mia Within commu Subcommand Cannot be used ime nications cycle 3 From current motion status performs a deceleration stop at a deceleration 1 OPTION STATUS ratio specified by the parameter for positioning Use DEN output complete to confirm position data output completion 5 HOLD MOD Option field can be used 6 This command will cancel the latch processing specified by the LATCH MONITORI or EX POSING command 7 This command will cancel ZRET latch processing and ZRET homing 8 Upon completion of execution of this command the reference position 9 POS must be read and the controller coordinate system must be setup The stopping
32. ready for operation 4 OPTION STATUS Command warning 1 A 95A will occur and the command will be ignored if the command is sent 5 During alarm occurrence When ALM of STATUS is 1 6 When the main power supply is OFF PON of STATUS is 0 7 MONITORI When the HWBB signal is ON HWBB of IO MON is 1 Before completion of execution of SENS ON when an absolute 8 encoder is used 9 OPTION field can be selected i Upon completion of execution of this command the reference position MONITOR2 POS must be read and the controller coordinate system must be set up 12 13 SEL MONI 2 SEL MONI 2 14 IO MON 15 z 16 WDT RWDT 17 18 19 20 21 22 23 Subcommand Subcommand area area 24 25 26 27 28 29 2 OPTION Field Specifications The option field is used to add functions to a motion command 3 10 Turn Servo ON SV_ON 31H Set the functions to be added to a motion command in the main command third and forth bytes reserved for the option field The option field of the Z V series SERVOPACK is set by default as shown below To change the default setting set the parameter Pn81F as Pn81F LILILII and set the bits to which functions are to be allocated using the parameters Pn82A to Pn82E The change must be validated by turning the power supply OFF and then ON again or by sending a CONFIG command OPTION Field Default Setting
33. section describe how to start synchronization to change a communications phase from phase 2 to phase 3 When SYNCMOD bit of the COM MOD of CONNECT command is set to 1 the communications phase will change from phase 1 to phase 3 at the moment the connection is established In this case it is not necessary to send a SYNC SET command Start Synchronous Communications SYNC SET ODH The specifications of the SYNC SET command are described below SYNC SET Byte Description Command Response Phases in 1 0DH ODH which the Phase 2 Synchronization Asynchronous command can classification command be executed Processing Communications 2 ALARM cycle or more Subcommand Cannot be used time sure Within 5 s 3 STATUS Starts synchronous communications Switched from phase 2 to phase 3 4 Synchronization is made at the WDT changing edge However if WDT 5 errors are masked by parameter Pn800 0 processing is completed when this command is received 6 During phase 3 the slave ignores this command and returns a normal 7 response without a warning 8 If the slave station in Servo ON status receives this command in phase 2 the slave station enters Servo OFF status 9 At occurrence of the following alarms and warnings this command must 10 be transmitted to restart synchronous communications mz Command warning 1 A 95A occurs when this command is used in 11 phase 1 12 MECHATROLINK II synchronization Error
34. specifications of PS SUBCMD are described below D7 D6 D5 D4 D3 D2 D1 DO REFE 0 0 POS SEL REFE Reference Point Setting 0 Does not set reference point 1 Sets reference point The coordinates will be determined and the zero point position ZPOINT and soft ware limit setting will be enabled POS SEL Coordinate system selection 3 Sets APOS feedback position in machine coordinate system and sets the positions of all coordinate sys tems TPOS IPOS POS MPOS APOS to POS DATA Commands for Preparation Process 3 27 3 28 3 Commands for Preparation Process Send an ADJ command to monitor and adjust settings 1 Adjusting ADJ 3EH The specifications of the ADJ command are described below 3 18 Monitor and Adjust Settings ADJ 3EH Byte ADJ T Description Command Response Phases in 1 3EH 3EH which the Phase 2 and 3 Synchronization Asynchronous command can classification command be executed 2 SUBCODE 01 ALARM peewee Depends on pro Subcommand Cannot be used ime cessing 3 Use this command as SUBCODE 01H STATUS The SERVOPACK will be in maintenance mode 4 And data monitoring and adjustment will be enabled See 2 How to Send an ADJ Command for Adjustment for details on 5 ADJ for adjustment 6 CANS See 3 How to Send an ADJ Command for Monitoring Data for details on ADJ for monitoring dat
35. speed is set to 10 Mbps but VER is not set to 21H 13 Data setting warning 2 A 94B Ifthe SERVOPACK is being operated by SigmaWin or digital 14 operator Command warning 1 A 95A Slave stations will not accept commands other than CONNECT DIS 15 CONNECT and NOP before the connection is established If a command other than CONNECT DISCONNECT and NOP is sent before the con 16 WDT RWDT nection is established NOP is always returned as the response Note Slave stations will not accept any MECHATROLINK II command while a motion command such as JOG is being executed to run the motor through SigmaWin or by digital operator Commands for Preparation Process 3 7 3 Commands for Preparation Process Details of COM MOD COM MOD bit allocation and each bit status are described below 2 D2 D1 DO SYNCMOD 0 D7 D6 D5 D4 SUBCMD 0 0 0 D3 DTMOD e SYNCMOD Sets the synchronization mode SYNCMOD 0 Asynchronous communications SYNCMOD 1 Synchronous communications DTMOD Sets the data transmission method DTMOD 00 or 11 Single transmission DTMOD 01 Continuous transmission Normally set DTMOD to 00 SUBCMD Specify whether to use subcommands or not SUBCMD 0 Do not use subcommands SUBCMD 1 Use subcommands Note When SYNCMOD 0 it is necessary to send SYNC SET command to enter Phase 3 Warning SYNCMOD 0 SYNCMOD 1 SYNC_SET 3 Transmission Cycle
36. which the Synchronization Asynchronous l DH DH command can Phase z and3 classification command be executed 2 ALARM N Within commu Subcommand Can be used ime nications cycle 3 OPTION field can be used 4 OPTION STATUS VLIM is a speed limit value and has an unsigned 4 byte data The unit for the speed limit is maximum motor speed 40000000H 5 Set Pn002 to enable VLIM 6 Use the ADJ command to obtain the maximum motor speed VLIM MONITOR1 TQREF is a torque force reference and has a signed 4 byte data 7 The unit for torque force reference is maximum motor torque force 8 40000000H The direction is specified by the sign When the designation for TQREF exceeds the maximum motor torque 9 force it is clamped at the maximum motor torque force 10 Use ADJ command to obtain the maximum motor torque force TQREF MONITOR During execution of this command the following bits of STATUS field 11 are allocated 12 D11 V LIM speed limit bit 0 Speed limit not detected 13 SEL MON1 2 SEL MON1 2 1 Speed limit detected Monitor MONITOR 1 2 3 4 14 The unit for TRQ is maximum motor torque force 40000000H IO MON 15 B 16 WDT RWDT 17 18 19 20 21 22 a Subcommand Subcommand area area 24 25 26 27 28 29 Motion Commands for Operation 4 23 4 24 4 Motion Commands for Operation 2 Speed Limit Option 1 B When Using a Rotational Servomotor Use Pn407 Speed Limit during To
37. 05 Setting Range Unit Factory Setting When Enabled 0 to 10000 1 ms 0 Immediately Soft Start Deceleration Time Time of period the motor speed decreases to zero stop status from the maximum PREUS Setting Range Unit Factory Setting When Enabled 0 to 10000 1 ms 0 Immediately Max motor speed _ After soft start Before soft start gt Note For normal speed control set Pn305 and Pn306 to O factory setting Torque Force Reference Option The settings of the parameters related to the torque force reference option for VELCTRL command are listed below 4 Vi Pn305 Pn306 Parameter Description n 0000 The set values ofP TLIM and N TLIM are invalid factory setting n 000 Uses the set value of P_TLIM N_TLIM as forward reverse torque force limit Pn002 n 0002 Uses TFF as the torque force feed forward Set N TLIM to 0 When P CL of OPTION field is set to 1 uses P TLIM as the torque force limit DEBER When N CL of OPTION field is set to 1 uses N TLIM as the torque force limit 4 11 4 11 Torque Force Control TRQCTRL 3DH Torque Force Control TRQCTRL 3DH TRQCTRL 3DH The TRQCTRL command is used to control torque force The Servo does not perform position control and speed control but directly performs torque force control TRQCTRL fa Byte Description Command Response Phases in
38. 1 7 Monitors SI6 signal CN1 1 1013 Signal Mapping 1to7 Refer to 1012 signal mapping 0 2 1014 Signal Mapping 1to7 Refer to 1012 signal mapping 0 3 1015 Signal Mapping 1to7 Refer to 1012 signal mapping 0 5 7 STATUS Field and Monitor Related Settings 5 7 3 Option Monitor Setting Set the contents to be monitored when Option Monitor 1 and Option Monitor 2 are selected for MONITOR 1 21314 Parameter No Name Remarks Pn824 Option Monitor 1 Selection 0000H Motor rotation speed 1000000H OS 0001H Speed reference 1000000H OS 0002H Torque Force 1000000H max torque force 0003H Position error lowermost 32 bits reference unit 0004H Position error uppermost 32 bits reference unit 0005H System reserved 0006H System reserved 000AH Encoder count lowermost 32 bits reference unit 000BH Encoder count uppermost 32 bits reference unit 000CH am encoder count lowermost 32 bits reference For fully closed loop control 000DH uu encoder count uppermost 32 bits reference For fully closed loop control 0010H Un000 Motor rotation speed min 0011H Un001 Speed reference min 0012H Un002 Torque Force reference 0013H Un003 Rotation angle 1 pulse 0014H Un004 Rotation angle 2 degree 0017H Un005 Input position reference speed min 0018H Un006 Input si
39. 2 3 1 SetupSeguence 2 4 2 3 2 Ordinary Operation Seguence 2 4 2 4 Specific OperationSeguences 2 5 2 4 1 Operation Sequence When Turning the ServoON 2 5 2 4 2 Operation Sequence When OT Overtravel Limit Switch Signal Is Input 2 5 2 4 3 Operation Sequence at Emergency Stop Main Circuit OFF 2 5 2 4 4 Operation Sequence When a Safety Signal is Input aa aaa 2 6 2 4 5 Operation Sequence At Occurrence of Alarm 2 6 2 5 Setting the Origin Before Starting Operation 2 8 2 5 1 When Using an Incremental Encoder 2 8 2 5 2 When Using an Absolute Encoder 2 8 Chapter 3 Commands for Preparation Process 3 1 3 1 No Operation NOP OOH 3 3 3 2 Release MECHATROLINK II Connection DISCONNECT OFA 3 6 3 3 Establish MECHATROLINK II Connection CONNECT OEH 3 7 3 4 Start Synchronous Communications SYNC SET ODH 3 9 3 5 Check Device ID ID RD O3H 3 10 3 6 Set Parameters PRM WR 02H 3 12 3 7 Set and Save Parameters in N
40. 21 SVCTRL a When a command other than the above commands is received homing 22 operation will continue 3 Subcommand Subcommand A warning will occur and the command will be ignored in the following area area cases 24 This command is used while the servo is OFF Command warning 1 25 A 95A The target speed TSPD exceeds the limit Data setting warning 2 26 A 94B 27 28 29 Motion Commands for Operation 4 19 4 Motion Commands for Operation 2 Operation The motion executed by ZRET command is illustrated below Reference speed Homing Approach Speed 1 Pn817 Homing Approach Speed 2 Pn818 Final Travel Distance for Homing Pn819 DEC uc ana Latch signal MNM MA up 3 Related Parameters The parameters related to ZRET command are listed below Parameter number in parentheses is when Pn833 1 Parameter No Name Parameter No Name Pn816 Homing Direction Pn80A Pn834 Ist Linear Acceleration Constant Pn817 Homing Approach Speed 1 Pn80B Pn836 2nd Linear Acceleration Constant Pn818 Homing Approach Speed 2 Pn80C Pn838 Acceleration Constant Switching Speed Pn819 Final Travel Distance for Homing Pn80D Pn83A 1st Linear Deceleration Constant Pn820 Forward Latching Allowable Area Pn80E Pn83C 2nd Linear Deceleration Constant Pn822 Reverse Latching Allowable Area Pn80F Pn83E Deceleration Constant Switching Speed Pn002
41. 3 14 15 16 WDT RWDT 2 Status and Output Signal during CONFIG Command Execution The status and output signal during CONFIG command execution are listed below Status and Output Signal Before CONFIG During CONFIG After CONFIG ALM status Current status Current status Current status CMDRDY status 1 0 1 Other status Current status Not specified Current status ALARM code Alarm currently occurred Alarm currently occurred Alarm currently occurred ALM CNI output signal Current status Current status Current status S RDY CNI output signal Current status OFF Current status Other output signals Current status Not specified Current status 3 9 Turn Encoder Power Supply ON SENS ON 23H Send SENS ON command to turn ON the encoder power supply 3 9 Turn Encoder Power Supply ON SENS ON 23H 1 Turn Sensor ON SENS ON 23H The specifications of the SENS ON command are described below SENS ON Kaha Byte Description Command Response Phases in which the Synchronization Asynchronous 23H AH command can Era 2 anda classification command be executed 2 ALARM He Within 2 s Subcommand Cannot be used 3 Obtains the initial position data and creates the present position when an 1 STATUS absolute encoder is used The reference point home position ZPOINT
42. 6 ZPOINT ri 1 Within home position range 0 Out of positioning complete range PSET v p ian 8 p 8 During position Within positioning complete range control 1 The output is completed DEN 1 and APOS is within the positioning D7 complete range V CMP 0 Speed does not coincide During speed mE control 1 Speed coincides DEN 0 During output During position control 1 Output completed D8 ZSPD 0 Zero speed not detected During speed control 1 Zero speed detected 0 Not during torque force limit D9 T LIM E 1 During torque force limit 0 Latch not completed D10 L_CMP 1 Latch completed NEAR 0 Out of positioning proximity During position T UE uU control 1 Within positioning proximity D11 V_LIM 0 Speed limit not detected During speed wa control 1 Speed limit detected 2 Bit Name Value Description 0 OT signal is off D12 P_SOT 2 1 OT signal is on 0 OT signal is OFF D13 N SOT i 1 OT signal is ON D14 D15 Monitor Selection and Monitor Information Field Specifications SEL_MON1 2 3 4 MONITOR 1 2 3 4 The monitor selection SEL MONI 2 3 4 field is used to select the Servo monitor information Applicable Commands SV ON SV OFF HOLD INTERPOLATE POSING FEED LATCH EX POSING ZRET VELCTRL TRQCTRL SMON SENS ON SENS OFF BRK ON BRK OFF LTMOD ON LTMOD OFF Setting Method Set MONITOR 1 2 3 4 monitor codes in SEL MON1 2 3 4 allocated in the thirt
43. A E50 3 MECHATROLINK II synchronization failed A E51 MECHATROLINK II Communications Error A E60 14 MECHATROLINK II Transmission Cycle Error A E61 15 Command warning 1 A 95A occurs when this command is used while operating the servo using SigmaWin or a digital operator 16 WDT RWDT Commands for Preparation Process 3 9 3 10 3 Commands for Preparation Process 3 5 Check Device ID ID RD 03H Send ID RD command to read the device ID for confirmation 1 Read ID ID RD 03H The specifications of the ID RD command are described below Byte ID RD Command Response Description 03H 03H Phases in which the command can be executed Phase 2 and 3 Synchronization classification Asynchronous command ALARM Processing time Within commu nications cycle Subcommand Can be used STATUS DEVICE CODE DEVICE CODE OFFSET OFFSET SIZE SIZE NI 00 30 11 12 13 14 15 ID 16 WDT RWDT 17 18 19 20 21 22 23 24 25 gt CA Subcommand area Subcommand area Reads the device ID for contirmation Use DEVICE CODE to specify the device ID to be read Use OFFSET to specify which data of the device ID is to be read out Use SIZE to specify the number of data bytes to be read out 2 3 5 Check Device ID ID RD 03H Device ID Specif
44. F command This function can shorten the time between latch completion and the start of the next latch and enables sequential latch operations at high speed Latches the sequence signal 1 input position t Latches the sequence signal 2 input position Latches the sequence signal n input position Note 1 N the number of sequence signals is specified by Pn850 2 The signals for sequence signal n are selected by Pn852 and Pn853 3 The number of times of continuous latching m is set by Pn851 Repeats m times 5 5 Position Data Latch Function Setting How to Start and Stop Continuous Latch Operation Set the following parameters and then set LT MOD to 1 to execute the LTMOD ON command The continu ous latch operation will start To abort the operation execute the LTMOD OFF command Pn850 Latch Sequence Number n Pn851 Continuous Latch Count m When m 0 the continuous latch operation will be infinitely repeated Pn852 Latch Sequence Signal 1 to 4 Setting Pn853 Larch Sequence Signal 5 to 8 Setting Note If the LTMOD ON command is executed by setting Pn850 to 0 and LT MOD to 1 the latch mode error warning A 94E will occur and the latch operation will not start Latch Status Latch completion can be confirmed by the following status STATUS Field The 3rd and 4th byte L CMP D10 L CMP is set to 1 for one communications cycle every time the external signal is input EX STATUS Field Th
45. HOLD command TSPD t Time FEED command 2 Related Parameters The parameters related to the execution of this command are listed below Parameter number in parentheses is when Pn833 1 Parameter No Name Pn80A Pn834 1st Linear Acceleration Constant Pn80B Pn836 2nd Linear Acceleration Constant Pn80C Pn838 Acceleration Constant Switching Speed Pn81F Position Control Command TFF TLIM Function Allocation Torque Force Reference Option During Speed Position Pn002 Control Set the parameters as shown below to use TLIM jobs Set Value Meaning Pn81F 0010 n 0001 or Enables torque force limit TLIM Pn002 n0003 Pn81F n0010 When P_CL of OPTION field is set to 1 Uses TLIM as positive torque force limit Pn002 n 0003 When N CL of OPTION field is set to 1 Uses TLIM as negative torque force limit 4 14 4 7 4 7 Interpolation Feeding with Position Detection LATCH 38H Interpolation Feeding with Position Detection LATCH 38H LATCH Command 38H The LATCH command is used to start interpolation feeding and to latch the current position when the external signal is input during positioning Speed feed forward torque force feed forward and torque force limit can be applied LATCH Byte Description Command Response Phases in 1 38H 38H which the Phase 3 Synchronization Asynchronous command can c
46. N i 0 SO2 output signal OFF OUT SIGNAL 1 O signal output com BIT 1 p bi Notalfonit d 3 bits mand 1 S0O2 output signal ON 0 SO3 output signal OFF BIT 2 1 SO3 output signal ON 2 The bits to which no function is allocated will act as it is set to 0 zero 6 ALM_RD_MOD Specifications Note 1 Do not allocate more than one signal to one bit Otherwise multiple signals will be controlled by one bit one Processing ALM_RD_MOD Description nite 0 Read current alarm warning status Within ORE 10 items max sixth to fifteenth byte M CC ks cycle Read alarm history warnings and communications alarms A E50 and A E60 are 1 not preserved in the history Within 60 ms 10 records max sixth to fifteenth byte Gets the detailed information of current alarm or warning one by one Set the occurrence order from 0 the latest to 9 for the alarm index Byte Command Response 6 Alarm index Alarm index 7 0 Alarm code 8 0 Within 12 m Gets the detailed information of alarm history one by one Set the occurrence order from 0 the latest to 9 for the alarm index Byte Command Response 3 6 Alarm index Alarm index 7 0 Alarm code 8 0 1 When ALM RD MOD 0 or 1 An alarm code of I byte length is returned Example The communications error alarm A E61 occurred after warning A 960 occurred 1 Current warning alarm ALM RD MOD 0
47. OK 25 HOLD OK OK OK OK OK OK OK 28 LTMOD ON OK NG NG NG NG NG OK 29 LTMOD OFF OK NG NG NG NG NG OK 30 SMON OK OK OK OK OK OK OK 31 SV ON OK OK OK OK OK OK OK 32 SV OFF OK OK OK OK OK OK OK 34 INTERPOLATE OK OK OK OK OK OK OK 35 POSING OK OK OK OK OK OK OK 36 FEED OK OK OK OK OK OK OK 38 LATCH OK OK OK OK NG NG OK 39 EX POSING OK OK OK OK NG NG OK 3A ZRET OK OK OK OK NG NG OK 3C VELCTRL OK OK OK OK OK OK OK 3D TRQCTRL OK OK OK OK OK OK OK 3E TADJ OK NG NG NG NG NG OK Note OK Can be combined NG Cannot be combined MECHATROLINK II Commands 1 7 1 MECHATROLINK II Commands 1 3 1 Command Data Execution Timing 1 3 Command and Response Timing This section describes command execution timing at a slave station and monitored data input timing at the master station These timings are constant regardless of the transmission cycle and communications cycle 1 3 1 Command Data Execution Timing Motion commands such as POSING and INTERPOLATE and the OPTION in the command data field are executed 312 5 us after they are received Command Response Transmission cycle Master sends Slave sends N Received Sent i i i 1 312 5 us until the motor starts running 1 3 2 Monitored Data Input Timing The monitor I O and status data are the data of 312 5 us before the response is sent Command Response 1 Transmission cycle l gt Maste
48. OLINK II Layer 7 Application layer MECHATROLINK II application layer Layers 3 to 6 None Layer 2 Data link layer MECHATROLINK II data link layer Layer 1 Physical layer MECHATROLINK II physical layer This manual describes commands for the application layer 1 1 2 Frame Structure A MECHATROLINK II command is composed of a main command and a subcommand as shown below It can also be used only with a main command Byte 0 1 16 17 29 30 31 FEES Main command area Subcommand area k Information field gt Classifi cation Byte Command Response Control a Field 0 03H Fixed 01H Fixed 1 to 16 Used by main command Informa tion Used by subcommands The subcommands for servo drives use only 17th to 29th byte Therefore Field 17 to 31 only 17th to 29th byte are described in this manual Note In some main commands subcommand cannot be used The application layer interfaces with only the information field 1 1 MECHATROLINK II Communications 1 1 3 State Transition Diagram The primary master and secondary slave station state transitions are shown in the following diagrams Primary Station Master Station State Transition Power ON v P1 Waits for connection establishment Communications error Sends CONNECT Sends CONNECT Synchronous communications Asynchronous communications Y P2 Asynchronous communications state Sends SYNC SET Communicatio
49. SO3 output signal OFF BIT2 1 SO3 output signal ON Note 1 Do not allocate more than one signal to one bit Otherwise multiple signals will be controlled by one bit 2 The bits to which no function is allocated will act as it is set to 0 zero Commands for Preparation Process 3 19 3 20 3 Commands for Preparation Process Send a SENS OFF command to turn OFF the encoder power supply 1 Turn Sensor OFF SENS OFF 24H The specifications of the SENS OFF command are described below 3 11 Turn Encoder Power Supply OFF SENS OFF 24H SENS OFF rd Byte Description Command Response Phases in 1 24H 24H which the Phase 2 and 3 Synchronization Asynchronous command can classification command be executed 2 ALARM gau Within 2 sec Subcommand Cannot be used 3 Turn the encoder OFF The position data will be not specified when an 4 STATUS absolute encoder is used The reference point origin ZPOINT and software limits will be 5 invalid 6 Command warning 1 A 95A will occur and the command will be MONITORI ignored if the command is sent 7 While the servo is ON 8 9 10 MONITOR2 11 12 13 SEL MON1 2 SEL MONI 2 14 IO MON 15 T 16 WDT RWDT 3 12 3 12 Tum Servo OFF SV OFF 32H Turn Servo OFF SV OFF 32H Send an SV OFF command to stop current flow through the servomotor Servo OFF SV OFF 32H The specifications of the SV OFF command are described bel
50. TATUS Asynchronous command 4 Processing time Within communications cycle 5 Subcommand 6 MONITOR1 Cannot be used 7 Turns the brake signal BK ON and releases the brake This command is enabled when Pn50F 2 is not set to 0 8 A warning will occur and the command will be ignored in the following 9 cases 10 When Pn50F 2 0 Command warning 3 A 95C MONITOR2 Brake signal output timing 11 BRK OFF received 12 13 SEL MON1 2 SEL MON1 2 14 IO MON 1 15 7 IBK i i a 16 WDT RWDT Within2ms 1 al O Li D BRK_ON and BRK_OFF commands are always valid as command as long as no warning occurs Therefore sending BRK_OFF command while the servomotor is being powered Servo IMPORTANT ON will not change the operation status However it is very dangerous to send SV_OFF command in the above status since the brake is kept released Always make sure of the status of brake control command when using BRK_ON or BRK_OFF command Appendix gt oo A 4 Appendix General purpose Servo Control Command The specifications of general purpose servo control command are described below SVCTRL Ks Byte Description Command Response Phases in which the Synchronization Asynchronous l EH a command can Phase pandi classification command be executed 2 SUBCTRL ALARM FI0Ce8Sing Depends on pro Subcommand Can be used ime cessing 3 This command is compatibl
51. Torque Force Reference Option during Pn8lF Position Control Command TLIM Func Speed Position Control tion Allocation Set the parameters as shown below to use TLIM Parameter No Set Value Meaning Pn81F n0010 Pn002 n0001 Enables positive negative torque force limit TLIM Pn81F n0010 When P CL of OPTION field is set to 1 Uses TLIM as positive torque force limit Pn002 n0003 When N_CL of OPTION field is set to 1 Uses TLIM as negative torque force limit 4 20 4 10 Velocity Control VELCTRL 3CH VELCTRL Command 3CH The VELCTRL command is used to control speed The Servo does not perform position control but directly controls the speed of the speed loop 4 10 Velocity Control VELCTRL 3CH VELCTRL sA Byte Description Command Response Phases in which the Synchronization Asynchronous l CH 29 command can Phase 2 and 3 classification command be executed 2 ALARM Aa Within commu Subcommand Can be used ime nications cycle 3 OPTION field can be used 4 OPTION STATUS VREF is a speed reference and has a signed 4 byte data The unit for speed reference is maximum motor speed 40000000H The direction is 5 P TLIM specified by the sign 6 JTFF Soft start function can be used See 2 Soft Start Functionon the next MONITORI page for details on soft start 7 N TLIM Either torque force limit P TLIM N TLIM or torque force
52. a 7 A warning will occur and the command will be ignored in the following CADDRESS CADDRESS cases 8 While editing using SigmaWin or digital operator Command warning 1 A 95A 9 IZE CSIZE CADDRESS is out of the range Parameter setting warning 1 A 94A 10 GS ERRCODE CSIZE does not match Parameter setting warning 4 A 94D CCMD and or CDATA are out of the range Parameter setting warning 11 2 A 94B 12 13 CDATA RDATA 14 15 16 WDT RWDT 2 How to Send an ADJ Command for Adjustment The table below lists the adjustments that can be executed by sending an ADJ command List of Executable Adjustments Preparation A Adjustment BATI Before sees Execution Conditions Execution Normal mode 0000H None 200 ms max Initialization impossible while the servo is Tee ON Parameter initialization 1005H None 20 s max After initialization the power supply must be turned off and then on again When using an incremental encoder impos Absolute encoder reset 1008H Required 5 s max sible to reset the encoder while the servo is ON Adjustment is disabled Automatic offset adjustment While the main circuit power supply is of motor current detection sig 100EH None 5smax OFF nals While the servo is ON While the servomotor is running 3 3 18 Monitor and Adjust Settings ADJ 3EH List of Executable Adjustments cont d Preparation Adjustment prisa Before icon Execution Cond
53. alculated by adding the homing final travel distance Pn819 The position data is recorded as the feedback latch position LPOS of the 6 MONITOR 1 machine coordinate system and the LPOS will forcibly be indicated as the 7 MONITOR for one communications cycle When the latch signal is input L CMP of STATUS field is set to 1 and 8 then reset to O at the completion of homing Therefore when the homing 9 final travel distance is short the duration L CMP 1 is too short so that TO the status L CMP 1 can not be confirmed TSPD MONITOR2 OPTION field can be used 11 Set the target speed TSPD to a value in the range between 0 and the 12 motor max speed reference unit s The target speed during motion can be changed until DEC is input 13 SEL MON1 2 SEL MON1 2 The torque force limit TLIM can be used by setting Pn81F and Pn002 E H TLIM setting range 0 to 4000H maximum motor torque force 14 4000H TLIM IO MON If a value between 4000H and FFFFH is set the maximum motor p torque will be applied as the limit 16 WDT RWDT Use the ADJ command to obtain the maximum motor torque force 17 Use DEN output complete and ZPOINT home position to confirm the completion of position reference output 18 If any of the following commands is received during execution of ZRET 19 command homing motion will be interrupted DISCONNECT SYNC SET CONFIG HOLD SV OFF INTERPO 20 LATE POSING FEED LATCH EX POSING VELCTRL TRQCTRL
54. an appropri ate stop command While an interpolation command INTERPOLATE LATCH is being executed Leave the interpolation 1 command as it is and stop updating the interpolation position Or send a HOLD command and SMON command While a move command such as POSING other than interpolation commands is being executed Send a HOLD command Check the output completion flag DEN If DEN 1 the SERVOPACK completed the OT processing 2 At the same time check the flag PSET If PSET 1 the motor is completely stopped Keep the command used in procedure 1 active until both of the above flags are set to 1 Use a move command such as POSING for OT cancellation retraction processing 3 Before sending a move command read out the current reference position POS and write it to reset the cor rect reference coordinate system for the controller Information When an OT signal is input during execution of motion command ZRET or EX_POSING the execution of the command will be cancelled For retraction always send a stop command described in procedure 1 first and then send a retraction command move command Operation Sequence at Emergency Stop Main Circuit OFF After confirming that SV ON or PON bit in the response data STATUS field is OFF 0 send an SV OFF command During emergency stop always monitor the SERVOPACK status using a command such as the SMON Status Monitoring command n Operation Sequence 2 5 2 Oper
55. and Communications Cycle The table below provides the applicable communications cycle and the maximum number of connectable sta tions for each transmission cycle setting Transmission Bytes Transmission Cycle Applicable Communications Cycle 17 byte 32 byte Connectable Max Number of Stations 0 25 ms 0 25 ms to 8 00 ms in 0 25 ms units 2 1 0 50 ms 0 50 ms to 16 00 ms in 0 50 ms units 7 4 0 75 ms 0 75 ms to 24 00 ms in 0 75 ms units 11 7 1 00 ms 1 00 ms to 32 00 ms in 1 00 ms units 15 9 1 50 ms 1 50 ms to 32 00 ms in 1 50 ms units 23 15 2 00 ms 2 00 ms to 32 00 ms in 2 00 ms units 30 21 2 50 ms 2 50 ms to 2 00 ms in 2 50 ms units 30 26 3 00 ms 3 00 ms to 32 00 ms in 3 00 ms units 30 30 3 50 ms 3 50 ms to 32 00 ms in 3 50 ms units 30 30 4 00 ms 4 00 ms to 32 00 ms in 4 00 ms units 30 30 Note Communications retry stations can be connected as long as the total number of connected stations including the retry stations is within the connectable max number of stations The maximum number of retry stations is the dif ference between the connectable max number of stations and the number of actually connected slave stations but limited to 7 Note that the connectable max number of stations may differ depending on the controller specifications 3 8 3 4 1 3 4 Start Synchronous Communications SYNC SET ODH Start Synchronous Communications SYNC SET ODH This
56. ation Sequence 2 4 4 Operation Sequence When a Safety Signal is Input 2 4 4 Operation Sequence When a Safety Signal is Input When an HWBBI or HWBB2 signal is input while the motor is being operated current to the motor will be forcibly stopped and the motor will be stopped according to the setting of the 1st digit of parameter Pn001 When an HWBB signal is input after the SERVOPACK stops powering the motor HWBB1 HWBB2 MI Motion command command etc SV OFF SV_OFF etc SV_ON T i 1 1 4 field 4 SVON STATUS my a IO Monitor field HBB SERVOPACK BB status HWBB status BB status ia CO baseblocked ba When an HWBB signal is input while the SERVOPACK is powering the motor HWBB1 HWBB2 M II command Motion command etc SV OFF etc SV ON STATUS field SVON IO Monitor field HBB SERVOPACK HWBB status BB status RUN stat status Hind hard wire baseblocked baseblocked RUN status B When an HWBB Signal is Input Monitor the HWBB input signal and SCM output signal status or HBB signal status in IO Monitor field If a forced stop status is detected send a command such as SV OFF to stop the motor B Restoration from Stop Status Reset the HWBB1 or HWBB2 signal and then send a command other than SV ON such as SV OFF Then restore the controller and system When the controller and system are restored turn the servo ON using the operation sequence to
57. atus and the alarm history 3 16 0DH SYNC SET Starts synchronous communications 3 4 OEH CONNECT Requests to establish a MECHATROLINK connection 3 3 OFH DISCONNECT _ Requests to releases connection 3 2 1CH PPRM WR Saves the parameters in non volatile memory 3 7 20H POS SET Sets the coordinates 3 17 23H SENS ON Turns the encoder power supply on and gets the position data 3 9 24H SENS OFF Turns the encoder power supply off 3 11 E c Ta TC Uu 28H LTMOD ON Enables the position data latch by the external signal input 4 2 29H LTMOD OFF Disables the position data latch by the external signal input 4 3 30H SMON Monitors the SERVOPACK status 3 14 31H SV ON Turns the servo of the motor on 3 10 32H SV OFF Turns the servo of the motor off 3 12 34H INTERPOLATE Starts interpolation feeding 4 4 35H POSING or ial to the target position TPOS at the target speed 45 36H FEED Starts constant speed feeding at the target speed TSPD 4 6 38H LATCH Ta in feeding and latches the position using the specified 47 Moves toward the target position TPOS at the target speed TSPD er xe c oo E from the latch signal input position 3AH ZRET Performs a homing 4 9 3CH VELCTRL Controls speed 4 10 3DH TRQCTRL Controls torque force 4 11 3EH ADJ Used to monitor and adjust data for maintenance 3 18 MECHATROLINK II Commands 1 5 1 6 1 MECHATROLINK II Commands 1 2 2 Subcommands In command code order 1 2 2 Subcommands In command code
58. cannot be accelerated to the target speed TSPD specified in the motion command Set the parameter for deceleration speed to a value that satisfies the following equation Deceleration speed reference unit s gt Max command speed reference unit s Max deceleration distance ref erence unit x 2 Position Reference Filter A filter can be applied to the position reference output of a positioning command such as INTERPOLATE LATCH POSING FEED EX POSINT ZRET and HOLD Position Reference Filter Setting Parameters Parameter Data Factor Pomes Name Size Setting Range Unit y No Setting byte Pn810 Exponential Function Acceleration Decelera 2 0 to 65535 100 reference 0 tion Bias units s Pn811 Exponential Function Acceleration Decelera 2 0 to 5100 0 1 ms 0 tion Time Constant Pn812 Movement Average Time 2 0 to 5100 0 1 ms 0 Pn811 Before filter Pn812 Before filter After filter Exponential Function Acceleration Deceleration Curve After filter Movement Average Time Curve 5 2 Motion Acceleration Deceleration Function Setting 2 Position Reference Filter Type Selection Use the ACCFIL bit of the OPTION field to specify the position reference filter type ACCFIL Meaning 0 Without position reference filter 1 Exponential function acceleration deceleration position reference filter 2 Movement average time position reference filter Inf
59. d Related Parameters 5 4 4 OPTION Field Allocation 1 Internal Speed Limit This method always limits the servomotor speed to either of the following set parameter values Data cda Name Size Setting Range Unit Apa ry byte 9 Pn407 Speed Limit during Toque Control For rota 2 0 to 10000 T 10000 tional servomotors Pn480 Speed Limit during Force Control For linear 2 0 to 10000 na 10000 servomotors 2 Speed Limit by Torque Force Control Command TRQCTRL This method limits the speed by setting a desired speed limit value in the command data VLIM Setting Parameter Set the following parameter to use the speed limit set in TRQCTRL command Pn002 Torque Force Reference Option n 0000 Disables the speed limit set in the VLIM Factory setting n0010 Enables the speed limit set in the VLIM 5 4 4 OPTION Field Allocation The commands can be allocated to the OPTION field using the following parameters To change the factory setting set Pn81F 00011 and allocate the function bits using parameters Pn82A to Pn82E The setting will be validated by turning the power supply OFF and then ON again or by executing CONFIG Setting Parameters Parameter Factor No T Digit Name Setting Range Setting Pn81F Command Data Allocation 0000h to 011h 0000h OPTION Field Allocation 0 0 Disables OPTION field allocati
60. d input 1 ON 0 OFF DI N OT Reverse run prohibited input 1 ON 0 OFF D2 DEC Homing deceleration LS input 1 ON 0 OFF D3 PA Encoder phase A input 1 ON 0 OFF D4 PB Encoder phase B input 1 ON 0 OFF D5 PC Encoder phase C input 1 ON 0 OFF D6 EXTI First external latch signal input 1 ON 0 OFF D7 EXT2 Second external latch signal input YA 1 ON o o O 0 OFF o D8 EXT3 Third external latch signal input o 1 ON E 2 0 Released D9 BRK Brake output G 1 Locked o OFF n Dio HBB Stop signal input OR of HWBBI signal and HWBB2 sig Forced stop released nal ON g 1 S Forced stop D11 Reserved 0 5 O 0 OFF D12 1012 CNI input signal selected in Pn81E 0 LO E 0 OFF D13 IO13 CNI input signal selected in Pn81E 1 1 ON 0 OFF D14 1014 CNI input signal selected in Pn81E 2 1 ON 0 OFF D15 1015 CNI input signal selected in Pn81E 3 i GR 3 17 3 18 3 Commands for Preparation Process 3 10 Turn Servo ON SV ON 31H Send the SV ON command to power the servomotor and make it ready for operation Servo ON SV ON 31H The specifications of the SV ON command are described below SV ON rd Byte Description Command Response Phases in 1 31H 31H which the Phase 2 and 3 Synchronization Asynchronous command can classification command be executed 2 ALARM Processing Normally su fus Subcommand Can be used time 10 s max 3 Powers the servomotor and makes it
61. e Encoder resolution A Upper 2 bytes AN MIWA iie iin enabled iios ppe PIPEAA LP Pn002 320 the unit is pulse pitch Maximum motor torque force that can E701H 2 bytes be output Rotary servomotor x10 COIEH reference value sol Motor max output C027H 2 bytes min speed Linear servomotor x10 COIEH reference value mm s 8 For linear servo E 086H reference value 7 Linear scale pitch E084H 4 bytes x10 vane pm pitch motors only Linear scale pitch E086H 2bytes For linear servo exponent motors only ADJ Command Execution Procedure for Monitoring Data Details of Command to Monitor Data Command Response CCMD CANS CCMD 03H CANS 03H copy of the command CADDRESS Reference address Reference address copy of the command CSIZE Not required At normal reception SIZE 2 or 4 ERRCODE At error occurrent A value other than 2 and 4 CDATA RDATA Not required Reference data 1 Set the reference address to be monitored and send the ADJ command CCMD CADDRESS 0003H Reference address When the slave station receives the command normally CMDRDY of status field will be see to 1 Also check ERRCODE 2 When the command transmission is completed normally CDATA of RSP will be read out for CSIZE to obtain the data Speed Torque Force Data Normalization The following data used in position speed or torque force control commands will b
62. e 28th and 29th byte L SEQ NO D8 D11 The latch sequence signal number value n at latch completion L CMP CNT D0 D7 The continuous latch count value m Added at completion of position latch when the latch sequence signal n is input Note LPOS is forcibly output to MONITOR 2 for one communications cycle while L CMP 1 every time the external signal is input Operation Example An example of a continuous latch operation using two latch sequence signals EXT1 and EXT2 is illustrated below The parameters are set as follows Pn850 2 Pn851 2 or more Pn852 0021H Pn853 any Sends LTMOD ON L Sends LTMOD OFF Communications Al L CMP cycle STATUS L POS Monitor L_CMP_CNT j EX STATUS L SEQ NO i Ex srATUS 9j EXT input signal EXT2 input signal i i i i i i i Time from LTMOD_ON Interval between reception to latch latch signals 500 us operation start 250 us n Command Related Parameters 5 15 5 Command Related Parameters 5 5 2 Continuous Latch Function Setting Parameters map m Elem Pn850 Latch Sequence Number 2 0 to 8 0 Pn851 Continuous Latch Count 2 0 to 255 0 Pn852 Latch Sequence Signal 1 to 4 Setting 2 0000H to 3333H 0000H 0 Phase C o Latch sequence 1 si
63. e Operation Command to Send 1 Turn on the control and main circuit power supply NOP 2 Reset the previous communications status DISCONNECT 3 Establish communications connection and start WDT count CONNECT 4 Check information such as device ID ID_RD 5 Get device setting data such as parameters PRM_RD ADJ 6 Save the parameters reguired for device in the non volatile PPRM WR memory Note Do not use PRM WR 7 Disconnect the communications connection DISCONNECT 8 Turn off the control and main circuit power supplies If the connection cannot be released normally send a DISCONNECT command for 2 or more communications cycles and then send a CONNECT command 2 3 2 Ordinary Operation Sequence Procedure Operation Command to Send 1 Turn on the control and main circuit power supplies NOP 2 Reset the previous communications status DISCONNECT 3 Establish communications connection and start WDT count CONNECT 4 Check information such as device ID ID_RD 5 Get device setting data such as parameters PRM_RD ADJ 6 Turn on the encoder power supply to get the position data SENS ON 7 Turn the servo on SV ON 8 Start operation POSING INTERPOLATE etc 9 Turn the servo off SV OFF 10 Disconnect the communications connection DISCONNECT 11 Turn off the control and main circuit power supplies Ifthe connection cannot be released normally send a DISCONNECT command for 2 or more communication
64. e alarm or warning This command has the same function as the main command ALM RD 19 ALM RD MOD ALM RD MOD 20 21 SH HI ALM DATA a MECHATROLINK II Subcommands 6 3 6 MECHATROLINK II Subcommands 6 5 Write Non volatile Parameter PPRM WR 1CH PPRM WR a Byte Description Command Response 17 1CH 1CH Writes the parameters 18 SUBSTATUS i aa has the same function as the main command 19 a 21 SIZE SIZE 22 23 EO NE 25 Aa E FEET NO NO PARAMETER PARAMETER 6 6 Set Latch Mode LTMOD ON 28H PPRM WR E Byte Description Command Response 17 28H 28H Enables the latch mode This command has the same function as the main command 18 LT SGN SUBSTATUS LTMOD ON 19 SEL MON3 4 SEL MON3 4 20 21 MONITOR3 22 23 24 25 LEM MONITOR4 26 27 28 EX STATUS 29 6 7 Release Latch Mode LTMOD OFF 29H 6 7 Release Latch Mode LTMOD OFF 29H LTMOD OFF Aga Byte Description Command Response 17 29H 29H Releases the latch mode This command has the same function as the main command 18 SUBSTATUS LTMOD OFF 19 SEL MON3 4 SEL MON3 4 20 21 MONITOR3 22 23 24 25 MONITOR4 26 27 28 L EX STATUS 29 6 8 Status Monitoring SMON 30H SMON apes Byte Description Command Response 17 30H 30H Reads the monitoring informatio
65. e command normally CMDRDY of status field will be set to 1 Also check ERRCODE If an error occurs carry out the operation in step 4 to abort execution 4 Send the following data to abort the execution CCMD 0004H CADDRESS 2000H CSIZE 0002H CDATA 0000H When the execution is aborted CMDRDY of status field will be set to 1 How to Send an ADJ Command for Monitoring Data The table below lists the data that can be monitored List of Data that Can be Monitored Reference Data Name Address NA Unit Remarks COOFH Lower most Motor capacity CO10H Upper 2bytes W most Motor voltage C011H 2 bytes V m Commands for Preparation Process 3 29 3 30 3 Commands for Preparation Process List of Data that Can be Monitored Reference Data Name PN EO Unit Remarks Rot tor x10 COIEH reference value 1 Motor rated speed C01CH 2 bytes tary motore UN CUENTA mua 1 Linear motor x10 TE1ETENGE va We tim f x10 COIEH reference value n 1 Motor max speed COIDH 2 bytes Rotary motor p CHEBIGR ur Linear motor x10 Teterence vaUe mm 7 s Motor speed exponent COLEH 2bytes Rotary servomotor x10 C021H reference value Motor rated torque force C01FH 2 bytes N m Linear servomotor x10 021H reference value N Motor torque force C021H 2bytes exponent Note When fully C022H Lower closed setting is t Rot tor ls
66. e normalized Speed data VREF VLIM maximum motor speed 40000000H 3 18 Monitor and Adjust Settings ADJ 3EH Torque force data TFF P_TLIM N_TLIM TLIM maximum motor torque force 4000H TQREF maximum motor torque force 40000000H The maximum motor speed and maximum motor torque force used in the above data can be obtained by the following equations 0 CO1EH reference value Maximum motor speed C027H reference value x1 Rotational servomotor min Linear servomotor mm s Maximum motor torque force CO1FH reference value x10 021H reference value E071H reference value 100 Rotational servomotor N m Linear servomotor N m Commands for Preparation Process 3 31 4 Motion Commands for Operation This chapter describes the MECHATROLINK I commands needed to control motions 4 1 Stop Motion HOLD 25H 4 3 4 2 Set Latch Mode LTMOD_ON 28H 4 5 4 3 Release Latch Mode LTMOD_OFF 29H 4 8 4 4 Interpolation Feeding INTERPOLATE 34H 4 9 4 5 Positioning POSING 35H 4 11 4 6 Constant Speed Feeding FEED 36H 4 13 4 7 Interpolation Feeding with Position Detection LATCH 38H 4 15 4 8 External Input Positioning EX POSING 39H 4 17 4 9 Homing ZRET SAA 4 19 4 10
67. e used by setting Pn81F and Pn002 10 TLIM setting range 0 to 4000H maximum motor torque force T TSPD MONITOR2 4000H If TLIM is set to a value between 4000H and FFFFH the maximum 12 motor torque force will be applied as the limit 13 SEL MON1 2 SEL MON1 2 Use the ADJ command to obtain the maximum motor torque force Use DEN output complete to confirm the completion of position refer TLIM IO MON POES UMEN 15 E A warning will occur and the command will be ignored in the following case lo WDI Ewe This command is used while the servo is OFF Command warning 1 17 A 95A 18 The travel amount Target position TPOS Current position IPOS exceeds the limit Data setting warning 2 A 94B 19 The target speed TSPD exceeds the limit Data setting warning 2 20 A 94B 21 22 23 Subcommand Subcommand area area 24 25 26 27 28 29 Motion Commands for Operation 4 Motion Commands for Operation Positioning will be performed as illustrated below Command speed TSPD 2nd linear Acceleration acceleration constant constant switching speed 2nd linear deceleration constant Deceleration constant switching speed 1st linear acceleration constant N 1st linear deceleration constant N Time 2 Related Parameters The parameters related to the execution of POSING command are listed below Parameter number in parentheses is when Pn833 1
68. e with MECHATROLINK versions before 4 OPTION STATUS Ver 1 0 It is used to perform the general purpose servo control Latch Processing 5 Supported 6 Select the latch signal using L_SGN in SUBCTRL and set SET L to 1 TOPS MONITOR1 When the selected latch signal is input L CMP in STATUS field will 7 become 1 8 Perform latch processing again after setting SET L to O The latch signal cannot be changed while SET L 1 9 Motion 10 TSPD Any of the motions selected for Motion Selection is executed VFF MONITOR Sequence Signals ll Any of the sequence signals listed in the following table is input 12 13 SEL MON1 2 SEL MONI 2 14 E SQ CMD IO MON 16 WDT RWDT 17 18 19 20 21 22 Subcommand Subcommand 23 area area 24 25 26 27 28 29 Sub control SUBCTRL D7 D6 D5 D4 D3 D2 D1 DO SET L RESERVE 0 MOTION RESERVE 0 Latch com L_SGN Select motion nand Select latch signal Select Motion MOTION B General purpose Servo Control Command During phase 1 Command warning 1 A 95A will occur for POSING and FEEL and the com mand will be ignored For INTERPOLATED in all other phases except phase 3 Command warning 1 A 95A will occur and the command will be ignored D6 D5 D4 Motion 0 0 0 HOLD 0 0 1 INTERPOLATE 0 1 0 FEED 0 1 1 POSING Select Latch Signal L_SGN D1 DO Latch Signal Meaning 0 0 P
69. ed 7 3 7 4 7 Data Field Monitor HAN Code Name Description Unit Position control Reference units s 9 CSPD Reference speed Speed control Mazimum speed 40000000H Position control Reference units s A TSPD Target speed Speed control Maximum speed 40000000H Position speed control B TRQ Torque force reference The rated torque is The rated torque is 100 100 Torque force control Maximum torque force 40000000H C D E OMNI Option monitor 1 selected in Pn824 F OMN2 Option monitor 2 selected in Pn825 4 IO Monitor Field Specifications IO MON The IO monitor field is used to monitor the I O signal status of the SERVOPACK Applicable Commands SMON SV ON SV OFF HOLD INTERPOLATE POSING ZRET LATCH EX POSING ZRET VELCTRL TRQCTRL SENS ON SENS OFF BRK ON BRK OFF LTMOD ON LTMOD OFF I O signal allocation is shown below D7 DE D5 D4 D3 D2 D1 DO EXT2 EXTI PC PB PA DEC N OT P OT D15 D14 D13 D12 D11 D10 D09 D08 IO15 IO14 IO13 IO12 HBB BRK EXT3 Bit Name Contents Value Status 0 OFF DO P OT Forward run prohibited input K 1 ON 0 OFF DI N OT Reverse run prohibited input 1 ON 0 OFF D2 DEC Homing deceleration LS input 1 ON 0 OFF D3 PA Encoder phase A input 1 ON 0 OFF D4 PB Encoder phase B input 1 ON 0 OFF D5 PC Encode
70. ed as Bank Members The following parameters can be registered as parameter bank members among parameters Pn902 to Pn910 For 4 byte parameters one parameter must be registered as two consecutive members See Setting Example 2 Data ea Name Size Setting Range Unit Baa ry byte 9 10000 Pn80A 1st Linear Acceleration Constant 1 2 1 to 65535 212 100 reference units s 10000 Pn80B 2nd Linear Acceleration Constant 1 2 1 to 65535 212 100 reference units s Pn80C Acceleration Constant Switching Speed 1 2 0 to 65535 ur 0 10000 Pn80D 1st Linear Deceleration Constant 1 2 1 to 65535 212 100 reference units s 10000 Pn80E 2nd Linear Deceleration Constant 1 2 1 to 65535 2412 100 reference units s Pn80F Deceleration Constant Switching Speed 1 2 0 to 65535 WAA 0 10000 Pn834 1st Linear Acceleration Constant 2 4 1 to 20971520 2 100 reference units s i 10000 Pn836 2nd Linear Acceleration Constant 2 4 1 to 20971520 212 100 reference units s Pn838 Acceleration Constant Switching Speed 2 4 0 to 2097152000 Reference unit s 0 Command Related Parameters 5 17 5 Command Related Parameters 5 18 Data oou Name Size Setting Range Unit Er byte g 10000 Pn83A 1st Linear Deceleration Constant 2 4 1 to 20971520 S 100 reference units s 10000 Pn83C 2nd Linear Deceleration Constant 2 4 1 to 20971520 212 100 reference units s Pn83E Decelera
71. edback position Current Reference coordinate position System origin Reference e coordinate system POS APOS Pn808 Encoder e coordinate Encoder origin i System X xX Pn808 Pn808 Absolure Encoder Origin Offset 3 Commands for Preparation Process This chapter describes the MECHATROLINK II commands needed to prepare for opera tion 4 1 NoOperation NOP OOH 3 3 3 2 Release MECHATROLINK II Connection DISCONNECT OFH 3 6 3 3 Establish MECHATROLINK II Connection CONNECT OEH 3 7 3 4 Start Synchronous Communications SYNC SET ODH 3 9 3 5 Check Device ID ID RD 03H 3 10 3 6 Set Parameters PRM WR OZ2H 3 12 3 7 Set and Save Parameters in Non volatile Memory PPRM WR 1CH 3 13 3 8 Validate Parameters Setup CONFIG 04H 3 14 3 9 Turn Encoder Power Supply ON SENS ON 23H 3 15 3 10 Turn Servo ON SV ON 31H 3 18 3 11 Turn Encoder Power Supply OFF SENS OFF 24H 3 20 3 12 Turn Servo OFF SV OFF 32H 3 21 3 13 Read Parameters PRM RD O1H 3 22 3 14 Check SERVOPACK Status SMON 30H 3 23 3 15 Read Alarm or Warning ALM RD 05H 3 24 3 16 Clear Warning or Alarm ALM CLR 06H
72. eenth byte of the main com mand or in the reserved area of the nineteenth byte of the subcommand SEL MONI 2 3 4 allocation is shown below D7 D6 D5 D4 D3 D2 D1 DO SEL_MON2 SEL MONI D7 D6 D5 D4 D3 D2 D1 DO SEL_MON4 SEL MON3 Monitor Information Field Specifications MONITOR 1 2 3 4 The monitor information MONITOR 1 2 3 4 field is used to monitor information selected by the monitor codes in the monitor selection field Applicable Commands SV ON SV_OFF HOLD INTERPOLATE POSING FEED LATCH EX POSING ZRET VELCTRL TRQCTRL SMON SENS ON SENS OFF BRK ON BRK OFF LTMOD ON LTMOD OFF The MONITOR 1 2 3 4 monitor codes are listed below Monitor aarp Code Name Description Unit 0 POS Reference position in reference coordinate system Rel tenceunii position after reference filtering 1 MPOS Reference position Reference unit 2 PERR Position error Reference unit 3 APOS Feedback position in machine coordinate system Reference unit 4 LPOS Feedback latch position in machine coordinate Reference unit system Reference position in reference coordinate system 3 IPOS position before reference filtering Reference unit 6 TPOS Target position in reference coordinate system Reference unit N3 Data Field Position torque force control reference units s Speed control Maximum speed 40000000H 8 FSPD Feedback spe
73. erefore 0 is set to all the ID data when no Feedback Option unit is connected When an encoder option for fully closed loop control is connected to the Feedback Option unit 0 is set to all the ID data of Feedback Option unit Commands for Preparation Process 3 11 3 12 3 Commands for Preparation Process 3 6 Set Parameters PRM WR 02H Send PRM WR command to set parameters when parameters are managed by a controller Parameters will be set without being saved in the non volatile memory of SERVOPACK Write Parameter PRM WR 02H The specifications of the PRM WR command are described below PRM WR e Byte Description Command Response Phases in 1 02H 02H which the Phase 2 and 3 Synchronization Asynchronous command can classification command be executed 2 ALARM FI0088N9 Within 200 ms Subcommand Cannot be used 3 Writes parameters 4 STATUS The parameters will not be saved in the non volatile memory For parameters that require turning the power supply OFF and ON again 5 to be validated it is necessary to send a CONFIG command to validate 6 NO NO the settings Use NO to specify the parameter to be written 7 SIZE SIZE Use SIZE to specify the number of data bytes of the parameter to be 8 written 9 PARAMETER is the data to be written A warning will occur and the command will be ignored in the following 10 cases EET TE W
74. etting Pn920 to Pn95F Parameter Bank Data Classification Parameter Name Description Pn803 Origin Range Pn522 Positioning Completed Width Sets the following monitoring items Pn524 NEAR Signal Width STATUS Field and Monitor Related Settings Pn502 Pn581 Rotation Detection Level Pn503 Pn582 Speed Coincidence Signal Output Width Pn81E Input Signal Monitor Selection Pn824 Pn825 Option Monitor Selection STATUS field signal status detection level Input signal allocation to the D12 to D15 bits of I O Monitor field Data mapping to option monitors Command Related Parameters 5 3 5 4 5 Command Related Parameters 5 1 1 Electronic Gear 5 1 5 1 1 Electronic Gear Electronic Gear Setting The electronic gear enables the servomotor travel distance per input reference pulse from the host controller to be set to any value One reference pulse from the host controller is the minimum unit and is called one reference unit When the Electronic Gear Function is Not Used Workpiece TITITI WT LI 20 bit encoder resolution 1048576 Ba To move a workpiece 10 mm screw pitch 6 mm 1 revolution is 6 mm Therefore 10 6 1 6666 revolutions 1 6666 x 1048576 1746928 pulses Input 1746928 pulses as references This calculation must be made at the host controller 1048576 p
75. f the range Data setting warning 2 A 94B While editing using SigmaWin or a digital operator Command warn 10 ing 1 A 95A 11 PARAMETER PARAMETER 13 14 15 16 WDT RWDT O Do not turn off the power supply while the parameter is being written CMDRDY 0 IMPORTANT Commands for Preparation Process 3 13 3 14 3 Commands for Preparation Process 3 8 Validate Parameters Setup CONFIG 04H The set parameters need to be validated setup using a CONFIG command Executing this command recalculates all currently set parameters and initializes positions output signals etc Set Up Device CONFIG 04H The specifications of the CONFIG command are described below CONFIG au Byte Description Command Response Phases in 1 04H 04H which the Phase 2 and 3 Synchronization Asynchronous command can classification command be executed 2 ALARM Mace Within 5 s Subcommand Cannot be used 3 Recalculates all currently set parameters and initializes position etc 4 STATUS The SERVOPACK will change to Servo OFF if this command is received when the SERVOPACK is Servo ON 5 The command warning 1 A 95A will occur and the command will be 6 ignored if this command is sent When editing using SigmaWin or a digital operator 7 Refer to 2 Status and Output Signal during CONFIG Command Execu 8 tionfor details on status and output signal during CONFIG command exe cution 9 10 11 12 1
76. ference units s is a signed 4 byte data 8 Either torque force feed forward TFF or torque force limit TLIM can be used It can be selected by setting Pn81F and Pn002 9 TFF setting range A signed 2 byte data maximum motor torque 10 force 4000H T VFF MONITOR2 Use the ADJ command to obtain the maximum motor torque force TLIM setting range 0 to 4000H maximum motor torque force 12 4000H 13 SEL MONI SEL MONI If a value between 4000H and FFFFH is set the maximum motor torque force will be applied as the limit 14 Use DEN output complete to confirm the completion of position refer T TFF TLIM IO MON ence output When a command in execution is switched to another command the feed 16 WDT RWDT forward value VFF or TFF will be cleared 17 A warning will occur and the command will not be executed in the fol lowing cases 18 If this command is used in communications phase other than phase 3 19 Command warning 1 A 95A 20 If this command is sent while the servo is OFF Command warningl A 95A 21 The travel amount Target position TPOS Current position IPOS 22 exceeds the limit value Data setting warning 2 A 94B na Subcommand Subcommand area area 24 25 26 27 28 29 Motion Commands for Operation 4 9 4 10 4 Motion Commands for Operation 2 Related Parameters Fither torque force feed forward TFF or torque force limit TLIM can be selected by setti
77. fied target position TPOS B OPTION field can be used 9 The target position TPOS is a signed 4 byte data and the absolute posi 10 tion in reference coordinate system TSPD MONITOR2 Set the target position TPOS so that the travel distance TPOS IPOS 11 is a value of 31 bits 24 or less 12 The target speed TSPD is an unsigned 4 byte data Set a value in the range between 0 and the motor max speed reference 13 SEL MONI 2 SEL MONI 2 unit s 14 The target position and target speed can be changed during positioning TLIM IO MON executed by this command 15 However any change in the target position and or target speed after the 16 WDT RWDT latch signal input will be invalid The torque force limit TLIM can be used by setting Pn81F and Pn002 Ht TLIM setting range 0 to 4000H maximum motor torque force 18 4000H 19 If a value between 4000H and FFFFH is set the maximum motor torque force will be applied as the limit 20 Use the ADJ command to obtain the maximum motor torque force 21 Use DEN output complete to confirm the completion of position refer ence output 22 When the command in execution is switched from this command to 23 Subcommand Subcommand another command latching will be cancelled and positioning will be per area area formed for the specified target position TPOS 24 A warning will occur and the command will not be executed in the fol 25 lowing cases This command is used when t
78. field can be selected 4 OPTION STATUS The target speed TSPD is a signed 4 byte data The feeding direction is determined by the sign 5 Constant speed feeding is carried out at the specified target speed pa TSPD setting range From the negative motor maz speed to the posi MONITORI tive motor max speed reference unit s 7 Changes can be made to the target speed during movement 8 Change the target speed as required and send this command The torque force limit TLIM can be used by setting Pn81F and Pn002 9 TLIM setting range 0 to 4000H maximum motor torque force 10 4000H TSPD MONITOR2 If TLIM is set to a value between 4000H and FFFFH the maximum ll motor torque force will be applied as the limit 12 Use the ADJ command to obtain the maximum motor torque force Use the DEN output complete to confirm the completion of position 13 SEL MONI 2 SEL MON1 2 reference output 14 A warning will occur and the command will not be executed in the fol 15 TLIM IO MON lowing cases The command is used while the servo is OFF Command warning 1 16 WDT RWDT A 95A 17 The target speed TSPD exceeds the limit Data setting warning 2 A 94B 18 19 20 21 22 23 Subcommand Subcommand area area 24 25 26 27 28 29 A Motion Commands for Operation 4 13 4 Motion Commands for Operation Constant speed feeding is performed as illustrated below Command speed
79. gnal L EAT Signal 0 to 3 0 selection 2 EXT2 signal 3 EXT3 signal 0 Phase C _ Latch sequence 2 signal l Be signal 0 to 3 0 selection 2 EXT2 signal 3 EXT3 signal 0 Phase C 2 Latch sequence 3 signal l EXTI signal 0 to 3 2 0 selection 2 EXT2 signal 3 EXT3 signal 0 Phase C 3 Latch sequence 4 signal l EXTI signal 0 to 3 0 selection 2 EXT2 signal 3 EXT3 signal Pn853 Latch Sequence Signal 5 to 8 Setting 2 0000H to 3333H 0000H 0 Phase C 0 Latch sequence 5 signal EXTI signal 0 to 3 0 selection 2 EXT2 signal 3 EXT3 signal 0 Phase C 1 Latch sequence 6 signal l EXTI signal 0 to 3 2e 0 selection 2 EXT2 signal 3 EXT3 signal 0 Phase C 2 Latch sequence 7 signal 1 EXTI signal 0to3 0 selection 2 EXT 2 signal 3 EXT3 signal 0 Phase C 3 Latch sequence 8 signal EXTI signal 0 to 3 0 selection 2 EXT2 signal 3 EXT3 signal Application Notes 1 The minimum interval between latch signals is 500 us An interval between latch signals that is longer than the communications cycle is required to continuously obtain latched position data 2 If two latch signals are input without allowing the minimum required interval only the first latch signal input position will be latched The second latch signal will be ignored 3 Use a subcommand to monitor completion status of continuous latch count etc 4 The parameters Pn850 to Pn853 can be changed only while the continuous latch ope
80. gnal monitor 0019H Un007 Output signal monitor 0018H Un008 Position error reference unit 0019H Un009 Accumulated load ratio 001AH Un00A Regenerative load ratio 001BH Un00B DB resistance consumption power 001CH Un0OC Input reference pulse reference unit 001DH Un00D Feedback pulse pulse 001EH UnOOE Fully closed loop feedback pulse pulse For fully closed loop control 0023H Initial multiturn data rev For rotational servomotors 0024H Initial incremental pulse For rotational servomotors 0025H Initial absolute position data lowermost 32 bits pulse For linear servomotors 0026H Initial absolute position data uppermost 32 bits pulse For linear servomotors 0080H Previous value of latched feedback position LPOS Pn825 Option Monitor 2 Selection Same as for Pn824 Command Related Parameters 5 23 6 1 6 2 6 3 6 4 6 5 6 6 6 7 6 8 6 MECHATROLINK II Subcommands This chapter describes MECHATROLINK II subcommands No Operation NOP OOH 6 2 Read Parameter PRM RD 01H 6 2 Write Parameter PRM WR 02H 6 3 Read Alarm or Warning ALM RD 05H 6 3 Write Non volatile Parameter PPRM WR 1CH 6 4 Set Latch Mode LTMOD ON 28H 6 4 Release Latch Mode LTMOD OFF 29H 6 5 Sta
81. hase C Encoder zero point signal 0 EXTI External latch signal 1 1 0 EXT2 External latch signal 2 1 EXT3 External latch signal 2 Sequence Signals SQ CMD D7 D6 D5 D4 D3 D2 D1 DO ACLR SEN BRK SON Reserved Reserved Reserved Reserved Auri clear Sensor ON Brake ON Servo ON Applicable Subcommands Subcommand CODE Main Command PPRM LTMOD LTMOD NOP PRM_WR ALM_RD WR ON OFF SMON 3F SVCTRL Applicable Applicable Applicable Applicable PE li Aa Ii Applicable Appendix gt a A 6 Latch Function Three types of current position latch function using an external signal input are available Latching by using the move command with the latch function LATCH EX POSING ZRET SVCTRL e Normal latching one position by using the LTMOD ON command e Continuous latching by using the LTMOD ON command X V series new function Each type of latching operation is described below Type Operations Latching by Move Command Normal One Position Latch by LTMOD ON Continuos Latch by LTMOD_ON Latch operation The slave station starts latching at reception of the command and completes latching when the speci fied latch signal is input The slave station starts latching at reception of the command and completes latching when the specified latch signal is input The slave station starts latching at reception of the c
82. he feed 20 forward values VFF and TFF will be cleared A warning will occur and the command will not be executed in the fol 21 lowing cases 0 The command is used in a phase other than phase 3 Command warning na Subcommand Subcommand 1 A 95A area area The command is sent while the servo is OFF Command warning 1 24 A 95A Tag The travel amount Target position TPOS Current position IPOS exceeds the limit Data setting warning 2 A 94B 26 Latch time lag From reception of the command to latching start 250 us max From completion of latching to transmission of a response One com 28 munications cycle max 29 gt Motion Commands for Operation 4 15 4 16 4 Motion Commands for Operation 2 Related Parameters The parameters related to the execution of LATCH command are listed below Parameter No Name Pn820 Forward Latching Allowable Area Pn822 Reverse Latching Allowable Area Pn81F Position Control Command TFF TLIM Function Allocation Pn002 Torque Force Reference Option during Speed Position Control Fither torque force feed forward TFF or torque force limit TLIM can be selected by setting the follow ing parameters Parameter No Set Value Meaning Pn81F n0010 Pn002 n 0002 Enables the torque force feed forward TFF Pn81F n0010 Enables forward reverse torque force limit using TLIM Pn002 n 000
83. he most recently occurred alarm Index 9 The current warning or alarm status can be cleared by executing the ALM CLR ALM CLR MOD 0 com mand 2 The alarm history will not be cleared until the ALM CLR ALM CLR MOD 1 command is executed 2 When ALM RD MOD 2 or 3 An alarm code of 2 byte length is returned If ALM RD MOD ss set to 2 in the above example the following alarm codes will be read out 0x960 for alarm index 0 and OxE61 for alarm index 1 Commands for Preparation Process 3 25 3 26 3 Commands for Preparation Process 3 16 Clear Warning or Alarm ALM CLR 06H Send an ALM CLR command to clear the warning alarm status and the alarm history Clear Alarm or Warning ALM CLR 06H The specifications of the ALM CLR command are described below ALM CLR T Byte Description Command Response Phases in 1 06H 06H which the Phase 2 and 3 Synchronization Asynchronous command can classification command be executed See 2 2 ALARM Processing ir CLR MO Subcommand Cannot be used time eat D Specifications 3 Clears the followings 4 STATUS Current alarm warning status Alarm history 5 ALM_CLR_ ALM_CLR_ A warning will occur and the command will be ignored in the following MOD MOD cases 6 While editing using Sigma Win or digital operator Command warning 7 1 A 95A ALM_CLR_MOD is out of the setting range Data setting warning 2 8 A 94B 9 10 11
84. he servo is OFF Command warning 1 26 A 95A 27 The target speed TSPD exceeds the limit Data setting warning 2 28 A 94B 29 A Motion Commands for Operation 4 17 4 18 4 Motion Commands for Operation 2 Operation The operation executed by EX POSING command is illustrated below When the latch signal is input Positioning to the position Latch signal input position LPOS Final Travel Distance for External Positioning Pn814 When the latch signal is not input We Positioning to the specified target position TPOS Latch signal 3 Related Parameters The parameters related to the execution of EX POSING command are listed below Parameter number in parentheses is when Pn833 1 Parameter No Name Parameter No Name 1st Linear Acceleration Con Pn80A Pn834 stant Pn80F Pn83E Deceleration Constant Switching Speed 2nd Linear Acceleration Con Pn80B Pn836 ciant Pn814 Final Travel Distance for External Positioning Pn80C Pn838 Acceleration Constant Pn820 Forward Latching Allowable Area Switching Speed Pn80D Pn83A tcm Deceleration Con Pn822 Reverse Latching Allowable Area Pn80E Pn83C kg Deceleration Con Pn8lF n Control Command TLIM Function Allo Torque Force Reference Option during Speed Ente Position Control Set the parameters as shown below to use TLIM Parameter No Set Value Meaning Pn81F n0010 Enables posi
85. hen editing using SigmaWin or a digital operator Command warning PARAMETER PARAMETER 1 A 95A 12 NO is set out of the range Data setting warning 1 A 94A 13 SIZE does not match Data setting warning 4 A 94D Ta PARAMETER is out of the range Data setting warning 2 A 94B 15 16 WDT RWDT Example of NO For the parameter Pn80D the data is set in little endian as shown below Byte Data 5 0D 6 08 3 7 Set and Save Parameters in Non volatile Memory PPRM WR 1CH 3 7 5 Set and Save Parameters in Non volatile Memory PPRM WR 1CH Send a PPRM WR command to save parameters in the SERVOPACK 1 Write Non volatile Parameter PPRM WR 1CH The specifications of the PPRM WR command are described below PPRM WR Aot Byte Description Command Response Phases in 1 ICH ICH which the Phase 2 and 3 Synchronization Asynchronous command can classification command be executed 2 ALARM FI00889NG within200ms Subcommand Cannot be used 3 Saves parameters in the non volatile memory 4 STATUS For parameters that require turning the power supply OFF and ON again to be validated it is necessary to send a CONFIG command to validate 5 the settings 6 NO NO A warning will occur and the command will be ignored in the following cases 7 SIZE SIZE NO is out of the range Data setting warning 1 A 94A 8 SIZE does not match Data setting warning 4 A 94D 9 PARAMETER is out o
86. ications The specifications of the device ID are described below ID Data OFFSET Device Type Name 00 01 02 03 04 05 06 07 08 09 OA OB OC OE OD OF 10 11 12 13 14 Model 00H S D 4 4 2 0 4314 4 45 amp 176 al 6 8 e 00 SERVOPACK Software version 02H Ver Model 20H S GJ MyJ 7 7 8 8 9 10 11 12 13 00 Servomotor Encoder software 12H Ver version Model 30H External Saat Encoder oftware version 32H Ver Model 60H Safety Option Sone Unit oftware version 62H Ver Model 70H Feedback ETT Option Unit oftware S version TH Ver SERVOPACK Model Model code 2 Current capacity 3 Power supply voltage specifications 4 Interface specifications 5 Design revision order 6 Options Servomotor Model 7 Model code 8 Rated output 9 Power supply voltage 10 Encoder type 11 Design revision order 12 Shaft end specifications 13 Options Software version is binary data Model is expressed in ASCII code and 00 NULL is added at the end of each character string 50H and 52H of DEVICE CODE are reserved for system When the Safety Option unit or and Feedback Option unit are not connected 0 is set to all the ID data For an external encoder the ID of the encoder connected to the Feedback Option unit is set Th
87. invalid 5 4 2 Torque Force Feed Forward Function This function is used to apply a torque force feed forward TFF from a position speed control command Torque Force Feed Forward Reference Settable Commands INTERPOLATE LATCH and VELCTRL Setting Parameters Set the following parameters to use TFF as the torque force feed forward Position Control Command TFF TLIM Function Allocation Pn81F n 0010 Enables allocation Set TFF TLIM operation using Pn002 Torque force Reference Option During Speed Position Control n n 0002 Enables the torque force feed forward by TFF Information 1 To use the torque force feed forward in a position control command set the parameters as fol lows Pn81F n 0010 and Pn002 nn 0002 If Pn81F n0000 the torque force feed forward by a position control command is dis abled 2 To use the torque force feed forward in a speed control command set the parameter as fol lows Pn002 n LILIL12 Command Related Parameters 5 4 3 Speed Limiting Function During Torque Force Control This function limits the servomotor speed during torque force control to protect the connected machine etc There are two ways to control the speed during torque control 1 Internal speed limit 2 Speed limit by the torque force control command TRQCTRL Information If both of the above methods are used the smaller speed limit will be applied 5 11 5 Comman
88. it 2 External torque force limit using P CL N CL signal of OPTION field 3 Torque force limit by position speed control command Information If all of the above three methods are used the smallest torque force limit will be applied Internal Torque Force Limit This method always limits the maximum output torque force to the set values of the following parameters Data PARIS Name Size Setting Range Unit Facto ry No byte Setting Pn402 Forward Torque Limit For rotational servo 2 0 to 800 800 motors Pn403 Reverse Torque Limit For rotational servo 2 0 to 800 800 motors Pn483 Forward Force Limit For linear servomo 2 0 to 800 30 tors Pn484 Reverse Force Limit For linear servomotors 2 0 to 800 Vo 30 Information Set the limit value in percentage Yo of the motor rated torque force External Torque Force Limit Using P CL N CL Signal of OPTION Field This method uses the P CL N CL signal of the OPTION field to limit the output torque force to the set val ues of the following parameters Data paaa Name Size Setting Range Unit Aa ry byte Pn404 Forward External Torque Force Limit 2 0 to 800 Yo 100 Pn405 Reverse External Torque Force Limit 2 0 to 800 Yo 100 Information Set the limit value in percentage Yo of the motor rated torgue force Torgue Force Limit By Position Speed Control Command This methods limits the output t
89. itions Execution When using an incremental encoder the set Multiturn limit setting 1013H Required 5smax ting is disabled unless A CCO Multitum limit disagreement occurs ADJ Command Execution Procedure for Adjustment Details of Command for Adjustment Command Response CCMD CANS CCMD 04H CANS 04H copy of the command CADDRESS Setting address Reference address copy of the command CSIZE ndi At normal reception 0000H ERRCODE n At error occurrence A value other than 0 CDATA RDATA Setting data Setting data copy of the command 1 Send the following data and set the request code of the adjustment to be executed CCMD 0004H CADDRESS 2000H CSIZE 0002H CDATA Request code of the adjustment to be executed When the slave station receives the command normally CMDRDY of status field will be set to 1 Also check ERRCODE If an error occurs carry out the operation in step 4 to abort execution 2 For adjustment that requires a preparation process send the following data CCMD 0004H CADDRESS 2001H CSIZE 0002H CDATA 0002H When the slave station receives the command normally CMDRDY of status field will be set to 1 Also check ERRCODE If an error occurs carry out the operation in step 4 to abort execution 3 Send the following data to execute adjustment CCMD 0004H CADDRESS 2001H CSIZE 0002H CDATA 0001H When the slave station receives th
90. lassification command be executed 2 LT SGNL ALARM Frocessing 8 Withincommu lsubcommand Can be used ime nications cycle 3 7 PEDIS STATUS Use TT SGNL to select the latch signal The position data when the latch signal is input is stored in the feedback 5 latch position LPOS and is forcibly output to MONITOR for one com 6 munications cycle TPOS MONITOR1 OPTION field can be used 7 Interpolation feeding is performed by specifying the target position 8 TPOS every communications cycle The target position TPOS is a signed 4 byte data 9 Note The target position is not an incremental value travel amount but 10 the absolute position in the reference coordinate system ai 4 VFF MONITOR The speed feed forward VEF reference units s is a signed 4 byte data Either torque force feed forward TFF or torque force limit TLIM 12 can be used It can be selected by setting Pn81F and Pn002 13 SEL MON1 2 SEL MONI 2 TLIM setting range O to 4000H maximum motor torque force 4000H 14 If a value between 4000H and FFFFH is set the maximum motor 15 a JO MON torque force will be applied as the limit Use the ADJ command to obtain the maximum motor torque force 16 WDT RWDT TFF setting range A signed 2 byte data maximum motor torque 17 force 4000H 18 Use DEN output complete to confirm the completion of position refer ence output 19 When a command in execution is switched to another command t
91. leek yates hok mm ee ek s ce eee REOR ds 5 23 n Command Related Parameters 5 1 5 2 5 Command Related Parameters This chapter describes the following parameters related to command actions Classification Parameter Name Description Pn20E Pn210 Electronic Gear Ratio Sets the unit of position data Pn000 Direction Selection Sets the servomotor rotation direction Settings Accord ing to Machine Pn50A Pn50B Overtravel Signal Setting Pn801 Software Limit Function Setting Pn804 Pn806 Software Limit Sets the overtravel function and software limit operation Pn808 Absolute Encoder Origin Offset Sets the origin when using an absolute encoder Motion Accelera tion Deceleration Function Settings Pn833 Motion Setting Pn80A Pn834 1st Linear Acceleration Constant Pn80B Pn836 2nd Linear Acceleration Constant Pn80C Pn838 Acceleration Constant Switching Speed Pn80D Pn83A 1st Linear Deceleration Constant Pn80E Pn83C 2nd Linear Deceleration Constant Pn80F Pn83E Deceleration Constant Switching Speed Sets the acceleration deceleration speed for POSING EX POSING FEED ZRET HOLD commands Pn827 Pn840 Linear Deceleration Constant for Stopping Sets the deceleration speed for HOLD SV OFF commands Pn829 SVOFF Waiting Time Exponential Function Accelera Poen tion Deceleration Bias Exponential Fu
92. ly while DEN 1 Distribution Completed The parameters will not switch while DEN 0 Distributing 5 In the following cases error A 04A parameter setting error 2 will occur when the power supply is turned ON or CONFIG command is executed One 4 byte parameter is not registered for two bank members The total number of bank data entries exceeds 64 Pn900 x Pn901 5 64 6 If a parameter that is not allowed to be a bank member is registered the bank data of the parameter regis tered member will become invalid 7 Bank data that exceeds the setting range of the registered bank member parameter will be clamped to a value within the setting range 8 If a bank number larger than the bank number set in Pn900 is specified BANK SEL12Pn900 the param eter bank will not switch and the currently active bank will be used n Command Related Parameters 9 Parameters Pn920 to Pn95F will not be saved in the non volatile memory Therefore they must be set each time the power supply is turned ON 5 19 5 Command Related Parameters 5 7 1 STATUS Field Status Detection Level Setting 5 7 STATUS Field and Monitor Related Settings 5 7 1 STATUS Field Status Detection Level Setting This section describes the parameters for setting the status detection levels for the STATUS field data 1 Origin ZPOINT Range Setting Set the ZPOINT signal status detection range ZPOINT detection range AE Feedback position i APOS e
93. memory and will not be lost if the control power goes OFF 2 ALM RD MOD Specifications 3 15 Read Alarm or Warning ALM RD 05H Ar Processing ALM RD MOD Description Time 0 Read current alarm warning status e 10 items max sixth to fifteenth byte cycle Read alarm history warnings and communications alarms A E50 and A E60 are 1 not preserved in the history Within 60 ms 10 records max sixth to fifteenth byte Gets the detailed information of current alarm or warning one by one Set the occurrence order from 0 the latest to 9 for the alarm index Byte Command Response 2 6 Alarm index Alarm index 7 0 Alarm code 8 0 Within 12 m Gets the detailed information of alarm history one by one Set the occurrence order from 0 the latest to 9 for the alarm index Byte Command Response 6 Alarm index Alarm index 7 0 Alarm code 8 0 1 When ALM RD MOD 0 or 1 An alarm code of 1 byte length is returned Example The communications error alarm A E61 occurred after warning A 960 occurred 1 Current warning alarm ALM_RD_MOD 0 2 Alarm history ALM_RD_MOD 1 Byte ALM_DATA 6 96H 7 E6H 8 0 15 Note 1 Byte ALM DATA Index 0 Warnig data will 6 EEUU be cleared m Index 1 automatically z aa n 1 Ko x n E6H nti Index 9 a 0 15 Index 0 Previously occurred alarms Index n 1 Index n T
94. method can be selected using HOLD MOD 10 0 Stop according to the Ist or 2nd linear deceleration constant Tl MONITOR2 1 Stop immediately stop reference output 2 Stop according to the linear deceleration constant for stopping 12 13 SEL MONI 2 SEL MONI 2 14 IO MON 15 B 16 WDT RWDT 17 18 19 20 21 22 a Subcommand Subcommand area area 24 25 26 27 28 29 gt Motion Commands for Operation 4 3 4 4 4 Motion Commands for Operation 2 Related Parameters Deceleration is specified by the following parameters Parameter No Name Pn80D Pn83A 1st Linear Deceleration Constant Pn80E Pn83C 2nd Linear Deceleration Constant Pn80F Pn83E Deceleration Constant Switching Speed Pn827 Pn840 Linear Deceleration Constant for Stopping Parameter number in parenthesis is when Pn833 1 4 2 2 4 2 Set Latch Mode LTMOD ON 28H Set Latch Mode LTMOD ON 28H LTMOD ON Command 28H The LTMOD ON command is used to start latching the external signal input position data Execution on the LTMOD ON command allows latch operation while a command such as POSING and VELCTRL is being executed LTMOD ON HE Byte Description Command Response Phases in which the Phase 2 and 3 Synchronization Asynchronous command can classification command be executed 1 28H 28H Processing Within commu fe nications cycle Subcommand Can be used 2
95. mmand are described below PRM RD T Byte Description Command Response Phases in 1 01H 01H which the Phase 2 and 3 Synchronization Asynchronous command can classification command be executed 2 ALARM processing Within 200ms Subcommand Can be used 3 Reads out parameters 4 STATUS A warning will occur and the command will be ignored in the following cases 5 NO NO While editing using a digital operator Command warning 1 A 95A 6 NO is out of the range Data setting warning 1 A 94A 7 SIZE SIZE SIZE does not match Data setting warning 4 A 94D 8 9 10 11 PARAMETER 12 13 14 15 16 WDT RWDT 3 14 Check SERVOPACK Status SMON 30H 3 14 Check SERVOPACK Status SMON 30H Send a SMON command to check the SERVOPACK status 1 Status Monitoring SMON 30H The specifications of the SMON command are described below Byte SMON Command Response Description 30H 30H Phases in which the command can be executed Phase 2 and 3 Synchronization classification Asynchronous command NO 00 Aala BY Ww 11 12 ALARM Processing time Within commu nications cycle Subcommand Can be used STATUS MONITORI MONITOR2 13 SEL MON1 2 SEL MON1 2 14 15 IO MON 16 WDT RWDT 17 18 19 20 21 HI Subcommand area
96. mory carry out STEP 1 1 to 2 5 each time the power supply is turned ON 5 6 Acceleration Deceleration Parameter High speed Switching Function Setting Example 1 Switching three banks of members Pn80B Pn80E and Pn80C Pn900 3 Bank number Pn920 80BH value Pn921 80EH value Bank 0 Pn901 3 Bank number Pn922 80CH value Pn902 80BH Member 1 Pn923 80BH value Pn903 80EH Member 2 Pn924 80EH value Bank 1 Pn904 80CH Member 3 Pn925 80CH value Pn926 80BH value Pn927 80EH value Bank 2 Pn928 80CH value Setting Example 2 Switching two banks of members Pn836 Pn83C and Pn838 Pn900 2 Bank number Pn920 836H LS word Pn921 836H MS word Pn901 6 Bank number Pn922 83CH LS word Bank 0 Member 1 Pn923 83CH MS word Pn902 836H Pn903 836H Pn904 83CH Pn905 83CH aden Bank 1 Pn929 83CH MS word Pn92A 838H LS word Pn92B 838H MS word Pn906 838H Pn907 838H Application Notes 1 If Pn900 Parameter Bank Number or Pn901 Parameter Bank Member Number is set to 0 the bank func tion will be disabled 2 If one parameter is registered for more than one bank member definition the bank data of the biggest bank member definition parameter number will be applied 3 If the bank selector BANK SEL is not allocated to the function bit of the OPTION field the data of Bank 0 will be always applied 4 The acceleration deceleration parameter high speed switching function is enabled on
97. n Phone 886 2 2502 5003 Fax 886 2 2505 1280 YASKAWA ELECTRIC CORPORATION In the event that the end user of this product is to be the military and said product is to be employed in any weapons systems or the manufacture thereof the export will fall under the relevant regulations as stipulated in the Foreign Exchange and Foreign Trade Regulations Therefore be sure to follow all procedures and submit all relevant documentation according to any and all rules regulations and laws that may apply YASKAWA Specifications are subject to change without notice for ongoing product modifications and improvements 2007 YASKAWA ELECTRIC CORPORATION All rights reserved MANUAL NO SIEP S800000 54A Printed in Japan July 2007 07 7 07 70
98. n specified in SEL_MON3 4 18 SUBSTATUS This command has the same function as the main command SMON 19 SEL_MON3 4 SEL_MON3 4 20 21 MONITOR3 22 23 24 25 MONITOR4 26 27 28 EK STATUS 29 a MECHATROLINK II Subcommands 6 5 YA Data Field This chapter describes the data field to be used for the main commands and subcommands Descriptions in this chapter are also contained in the previous chapter describing each com mand Data Field 7 1 7 2 7 Data Field The data of each field in the main commands or subcommands is described below Status Field Specifications The status field is used to monitor the SERVOPACK status The following table shows the bit allocation in the status field D7 D6 D5 D4 D3 D2 D1 DO FSET ZPOINT aj PON SVON CMDRDY WARNG ALM V CMP D15 D14 D13 D12 D11 D10 D9 D8 NEAR 2 N_SOT P_SOT V LIM L CMP T LIM DEN ZSPD The following table explains each bit value and its status Bit Name Value Description 0 No alarm DO ALM 1 Alarm occurs 0 No warning D1 WARNG f 1 Warning occurs 0 Command cannot be received busy D2 CMDRDY f 1 Command can be received ready 0 Servo OFF D3 SVON 1 Servo ON 0 Main power supply OFF D4 PON s PPA 1 Main power supply ON D5 0 Out of home position range D
99. nction Accelera Sets the position reference filter Pn811 tion Deceleration Time Constant Pn812 Movement Average Time Pn814 Final Travel Distance for External Sets the travel distance after the external Positioning signal is input for positioning oe Sequence Png 16 Homing Mode Setting ettin 7 Pn817 Pn818 Homing Approach Speed Sets the homing operation Pn819 Final Travel Distance for Homing Command Data Option Setting Pn81F Pn002 Torque Force Reference Options for Speed Position Control Sets the usage of torque force limit and torque force feed forward during position speed control Pn002 Speed Limit during Torque Force Sets the usage of speed limit during torque Pn407 Pn480 Control force control Pn81F i Selects function bits to be assigned in PASA DPR ETIN eld allocator OPTION field Position Data Latch Function Pn820 Pn822 Latching Allowable Area Sets the range to latch position data Pn850 Latch Sequence Number Sets continuous latch operation executed by Setting Pn851 Continuous Latch Count LTMOD ON command Pn852 Pn853 Latch Sequence Signal Selection Pn900 Parameter Bank Number Acceleration Deceleration Pn901 Parameter Bank Member Number Parameter High B aan Sets the acceleration deceleration parameter arameter Bank Member Defini igh itchi i speed Switching Pn902 to Pn910 Ha high speed switching function Function S
100. nd Can be used time nications cycle 3 Check that CMDRDY is 1 to confirm that this command has been 1 STATUS received It takes 250 us max to release the latch mode 5 This command cannot be used while LATCH ZRET EX POSING or 6 SVCTRL command is being executed MONITOR1 If used the command warning 4 A 95D will occur 7 8 9 10 MONITOR2 11 12 13 SEL MON1 2 SEL MON1 2 14 IO MON 15 16 WDT RWDT 17 18 19 20 21 22 23 Subcommand Subcommand area area 24 25 26 27 28 29 4 4 1 4 4 Interpolation Feeding INTERPOLATE 34H Interpolation Feeding INTERPOLATE 34H INTERPOLATE Command 34H The INTERPOLATE command is used to start interpolation feeding Speed feed forward and torque force feed forward can be specified simultaneously INTERPOLATE ut Byte Description Command Response Phases in which the Synchronization Asynchronous l n Mid command can Phase 3 classification command be executed 2 ALARM Aa Within commu Subcommand Can be used ime nications cycle 3 OPTION field can be selected 4 OPTION STATUS Interpolation feeding is performed by specifying the target position TPOS every communications cycle 5 The target position TPOS is a signed 4 byte data 6 Note The target position is not an incremental value travel amount but TPOS MONITOR1 the absolute position in the reference coordinate system 7 The speed feed forward VEF re
101. ng SMON Monitors the SERVOPACK status Alarm and warning read out ALM RD Reads the current alarm or warning and the alarm occurrence history Clearing alarm or warning status ALM CLR Clears the current alarm or warning status and the alarm occurrence history Coordinate system setting POS_SET Sets the coordinate system Data monitoring and adjustment ADJ Monitors and adjusts the set data 3 1 No Operation NOP 00H 3 1 No Operation NOP 00H After turning on the control and main circuit power supplies send NOP command to check if initialization of SERVOPACK has been completed or not No Operation NOP 00H The specifications of the NOP command are shown below Byte NOE Description Command Response Phases in if am om I Gmgyenbaton Anon be executed 2 ALARM r Ng essing EE Subcommand Can be used 3 Returns the ALM WARNG and CMDRDY bits in STATUS field 4 STATUS Other bits will not be specified The response will be NOP from the moment the power is turned on until 5 the initialization of SERVOPACK is completed During this time 6 CMDRY 0 7 8 9 10 11 12 13 14 15 16 WDT RWDT 17 18 19 NEU 21 na Subcommand Subcommand area area 24 ai E S E 2 ALARM The uppermost two digits of the SERVOPACK alarm code are set in the ALARM field of the response For example ALARM 02 when a parameter checksum error 1 A 020 occurs If
102. ng the follow ing parameters kahi Set Value Meaning O Pn81F n0010 Enables the torque force feed forward TFF Pn002 n 0002 Pn81F n 0010 Enables forward reverse torque force limit using TLIM Pn002 n 000 Pn81F n0010 When P_CL of OPTION field is set to 1 Uses TLIM as positive torque force limit Pn002 n 0003 When N CL of OPTION field is set to 1 Uses TLIM as negative torque force limit 4 5 Positioning POSING 35H 1 POSING Command 35H 4 5 Positioning POSING 35H The POSING command is used to start positioning to the target position TPOS at the target speed TSPD F POSING 5 v e escription is Command Response E Phases in 1 35H 35H which the Phase 2 and 3 Synchronization Asynchronous command can classification command be executed 2 ALARM iia na Within commu Sibcommand Can be used ime nications cycle 3 OPTION field can be selected 4 OPTION STATUS The target position TPOS is a signed 4 byte data It is sent by using an absolute position in the reference coordinate system 5 Set the target position TPOS so that the movement distance TPOS 6 IPOS is 2 147 483 647 23 1 or less 7 TPOS MONITORI Set the target speed TSPD to a value between 0 and the motor max speed reference unit s 8 Changes can be made to the target position and target speed during move 9 ment The torque force limit TLIM can b
103. ning ON the power supply After the origin is set set the reference coordinate system to determine the work coordinate origin as required 1 Setting the Reference Coordinate System Using ZRET Command The master station controller uses ZRET command to return the slave station to the origin and sets the ref erence coordinate system based on the origin 2 Setting the Reference Coordinate System Using POS SET Command The master station controller uses POS SET command to set the reference coordinate system of the slave station i Position to the reference position ii Send the POS SET command with POS SET MODE POS SEL APOS 3 POS SET MODE REFE 1 and POS DATA reference position ZPOINT and software limits are enabled after the reference coordinate system has been set When Using an Absolute Encoder When an absolute encoder is used in the slave station SENS ON command can be used to set the reference coordinate system of the slave station The reference coordinate system will be set according to the position detected by the absolute encoder and the coordinate system offset of the encoder i e the offset between the encoder s coordinate system and the reference coordinate system device built in parameter The relationship between the reference coordinate system POS and APOS the encoder s coordinate system and the coordinate system offset of the encoder are shown in the following figure POS Reference position APOS Fe
104. no alarm occurs ALARM 00 For details on alarms and alarm codes refer to 3 V Series SEML SGDV User s Manual Design and Mainte nance MECHATROLINK II Communications Reference Rotary Servomotors SIEPS80000046 Linear Servo motors SIEPS8000048 Commands for Preparation Process 3 3 3 4 3 Commands for Preparation Process 3 Status Field Specifications The status field is used to monitor the SERVOPACK status The following table shows the bit allocation in the status field D7 D6 D5 D4 D3 D2 D1 DO FSET ZPOINT us PON SVON CMDRDY WARNG ALM V CMP D15 D14 D13 D12 D11 D10 D9 D8 NEAR a N SOT P SOT V LIM L CMP T LIM DEN ZSPD The following table explains each bit value and its status Bit Name Value Description 0 No alarm DO ALM 1 Alarm occurs 0 No warning D1 WARNG 1 Warning occurs 0 Command cannot be received busy D2 CMDRDY 1 Command can be received ready 0 Servo OFF D3 SVON 1 Servo ON 0 Main power supply OFF D4 PON F PRY 1 Main power supply ON D5 0 Out of home position range D6 ZPOINT 1 Within home position range 0 Out of positioning complete range PSET p 8 ip 8 During position Within positioning complete range control 1 The output is completed DEN 1 and APOS is within the positioning D7 complete range V CMP 0 Speed does not coincide D
105. ns v P3 Synchronous communications state Secondary Station Slave Station State Transition Power ON i P1 Waits for connection establishment Communications error Sends CONNECT Asynchronous communications Receives DISCONNECT Receives CONNECT Communications error P2 Asynchronous communications state Receives DISCONNECT Sends SYNC SET Communications error P3 Synchronous communciations state Phase Abbreviation Description 1 P1 Waiting for establishment of connection 2 P2 Asynchronous communications enabled Only asynchronous commands can be used Synchronous communications enabled Both synchronous and asynchronous commands can be used MECHATROLINK II Commands 1 4 1 MECHATROLINK II Commands 1 1 4 Terminology 1 1 4 2 Terminology This section defines the terminology used in this manual Transmission Cycle and Communications Cycle Transmission Cycle The transmission cycle is the cycle in the MAC Media Access Control layer It is the communications cycle for physically sending data to the transmission path The transmission cycle is unaffected by the services provided by the application layer Communications Cycle The communications cycle is the cycle for application layer The communications cycle is set to an integral multiple of the transmission cycle Synchronization Classification MECHATROLINK II commands include
106. ode LTMOD ON 28H The previously latched position data can be obtained by using the following option monitor Option Monitor Selection Neme Ge Pn824 and Pn825 Option Monitor 1 and 2 OMNI 2 80H Previous latch signal input position LT SGNL Specifications The latch signal can be specified by setting the lowermost two bits of the 2nd byte LT SGNL in the command as shown below D7 D6 D5 D4 D3 D2 D1 DO 0 0 0 0 0 0 LT SGNL D1 DO Latch Signal Signal Details 0 0 Phase C Encoder origin signal 0 1 EXTI External input signal 1 1 0 EXT2 External input signal 2 1 1 EXT3 External input signal 3 5 Related Parameters The parameters related to latch operation are listed below Parameter No Name Pn820 Forward Latching Allowable Area Pn822 Reverse Latching Allowable Area Pn850 Latch Sequence Number Pn851 Continuous Latch Count Pn852 and Pn853 Latch Sequence Signal Setting gt Motion Commands for Operation 4 7 4 8 4 Motion Commands for Operation 4 3 Release Latch Mode LTMOD OFF 29H 1 LTMOD OFF Command 29H The LTMOD OFF command is used to release the latch mode LTMOD OFF m Byte Description Command Response Phases in which the Synchronization Asynchronous i o E command can PEDES ROS classification command be executed 2 ALARM Processing Within commu Subcomma
107. ommand and repeats latch ing the specified latch sig nal input position Latch operation cancel Cancelled when the slave station receives another command Cancelled by LTMOD_ OFF Latch Status monitor Use STATUS L_CMP to check the status Use STATUS L_CMP to check the status Use STATUS L_CMP and EX_STATUS to check the status Latch Position monitor The latest signal input position is stored in LPOS Output to MONITOR2 when a latch signal is input LPOS is forcibly output to MONITOR2 for one communications cycle Latching Allowable Area According to the settings of Pn820 and Pn822 Operation when a move command with latch func tion is received during latch ing with latch function Switched to the operation executed by the move command LTMOD ON OFF command will become invalid Command warning 4 A 95D Operation when LTMOD_ON OFF com mand is received during latching Currently active latching will continue LTMOD_ON OFF com mand is invalid Command warning 4 A 95D For a SVCTRL command the latch request bit controls latching function Revision History The revision dates and numbers of the revised manuals are given on the bottom of the back cover MANUAL NO SIEPS80000054A Printed in Japan July 2007 07 7 Date of Date of original printing publication July 2007 First edition WEB Date of Printing Revised Content No
108. on Oorl 0 1 Enables OPTION field allocation Pn82A OPTION Field Allocation 1 0000H to IEIEH 1813H 0 OtoE ACCFIL bit position 3 0 Disables ACCFIL bit allocation 1 Enables ACCFIL bit allocation 2 OtoE GSEL bit position 8 0 Disables GSEL bit allocation a 1 Enables GSEL bit allocation Pn82B OPTION Field Allocation 2 0000H to IFIFH IDICH 0 OtoF V PPI bit position C 0 Disables V PPI bit allocation 1 Enables V_PPI bit allocation i 2 OtoF P PI CLR bit position D 0 Disables P PI CLR bit allocation 1 Enables P_PI CLR bit allocation 5 12 5 4 Command Data Options Parameter Facto No Digit Name Setting Range Setting Pn82C OPTION Field Allocation 3 0000H to IFIFH 1IFIEH 0 OtoF P CL bit position E 0 Disables P CL bit allocation i 1 Enables P_CL bit allocation 2 OtoF N CL bit position F 0 Disables N CL bit allocation i 1 Enables N_CL bit allocation Pn82D OPTION Field Allocation 4 0000H to IFICH 0000H 0 0toC BANK SELI bit position 0 0 Disables BANK SELI bit allocation 1 Enables BANK SELI bit allocation 0 2 OtoF LT DISABLE bit position 0 0 Disables LT DISABLE bit allocation 1 Enables LT_DISABLE bit allocation i Pn82E OPTION Field Allocation 5 0000H to IDIFH 0000H 0 OtoF Reserved 0 i 0 Reserved 0 1 Reserved 2 0toD OUT SIGNAL bit position 0 3 0 Disables OUT SIGNAL bit allocation i 1 Enables OUT_SIGNAL bit allocation
109. on volatile Memory PPRM WR 1CH 3 13 3 8 Validate Parameters Setup CONFIG 04H 3 14 3 9 Turn Encoder Power Supply ON SENS ON 23H 3 15 3 10 Turn Servo ON SV ON 31iH 3 18 3 11 Turn Encoder Power Supply OFF SENS OFF 24H 3 20 3 12 Tum Servo OFF SV OFF 32H 3 21 3 13 Read Parameters PRM RD O1H 3 22 3 14 Check SERVOPACK Status SMON 30H 3 23 3 15 Read Alarm or Warning ALM RD OB5H 3 24 3 16 Clear Warning or Alarm ALM CLR 06H 3 26 3 17 Set Coordinate System POS SET 20H 0 0 3 27 3 18 Monitor and Adjust Settings ADJ 3EH 3 28 Chapter 4 Motion Commands for Operation 4 1 4 1 Stop Motion HOLD 25H 4 3 4 2 SetLatchMode LTIMOD ON 28H 4 5 4 3 Release Latch Mode LTMOD OFF 29H 4 8 4 4 Interpolation Feeding INTERPOLATE 34H 4 9 4 5 Positioning POSING 35H 4 11 4 6 Constant Speed Feeding FEED 36H 4 13 4 7 Interpolation Feeding with Position Detection LATCH 38H 4 15 4 8 External Input Positioning EX POSING 39H 4 17 4 9
110. order The MECHATROLINK II subcommands used for 2 V series servodrives are listed below M Command Function Reference 00H NOP Same function as of the main command NOP 6 1 01H PRM RD Same function as of the main command PRM RD 6 2 02H PRM WR Same function as of the main command PRM WR 6 3 05H ALM RD Same function as of the main command ALM RD 6 4 ICH PPRM WR Same function as of the main command PPRM WR 6 5 28H LTMOD ON Same function as of the main command LTMOD ON 6 6 29H LTMOD OFF Same function as of the main command LTMOD OFF 6 7 30H SMON Same function as of the main command SMON 6 8 1 2 MECHATROLINK II Command List 1 2 3 Combination of MECHATROLINK II Main Commands and Subcommands Subcommands can be used by combining as listed below Subcommand ERE Command NOP PRM WR ALM RD PPRM_ LTMOD_ LTMOD_ sion E 2 WR ON OFF 00 NOP OK OK OK OK OK OK OK 01 PRM RD OK NG NG NG NG NG OK 02 PRM WR OK NG NG NG NG NG OK 03 ID RD OK OK OK OK OK OK OK 04 CONFIG OK NG NG NG NG NG OK 05 ALM RD OK NG NG NG NG NG OK 06 ALM CLR OK NG NG NG NG NG OK 0D SYNG SET OK NG NG NG NG NG OK OE CONNECT OK NG NG NG NG NG NG OF DISCONNECT OK NG NG NG NG NG NG 1C PPRM WR OK NG NG NG NG NG OK 20 POS SET OK NG NG NG NG NG OK 28 SENS ON OK NG NG NG NG NG OK 24 SENS OFF OK NG NG NG NG NG
111. orgue force by setting a desired limit value in the command data TLIM P TLIM N TLIM Torque Force Limiting Function Settable Commands INTERPOLATE LATCH FEED EX POSING ZRET and VELCTRL 5 4 Command Data Options Setting Parameters Set the following parameters to apply a torque force limit from a position speed control command Position Control Command TFF TLIM Function Allocation mi n0010 Enables allocation Set TFF TLIM operation using Pn002 Torque force Reference Option During Speed Position Control Pn002 n 000 Enables positive negative torque force limit by TLIM 0003 Uses TLIM P TLIM as positive torque force limit when OPTION P_CL 1 Uses TLIM N TLIM as negative torque force limit when OPTION N CL 1 Information 1 When using a torque force limit set in a position control command set Pn81F and Pn002 as follows Pn81F n0010 and Pn002 n0001 or n0003 If Pn81F n LILIOLI the torque force limit set in the position control command will not applied NI When using a torque force limit set in a speed control command set Pn002 as follows Pn002 n0001 orn 0003 3 When a command other than the commands listed in Torque Force Limiting Function Setta ble Commands the torque force limit of the previously executed TLIM P TILM N TLIM remains valid During execution of HOLD SV OFF SVCTRL or TRQCTRL command the torque force limit specified by TLIM P TRIM N TLIM is
112. ormation While a position reference is being output STATUS DEN 0 the parameter or the filter type cannot be changed Wait for completion of the position reference output STATUS DEN 1 to change the setting 5 2 3 Linear Deceleration Speed Setting for Commands to Stop a Motor Set the deceleration speed when using either of the following commands to stop a motor HOLD When HOLD MOD 2 SV OFF When Pn829 0 1 Setting for Deceleration to a Stop by Executing HOLD Command HOLD MOD 2 HOLD command HOLD MOD 2 Motor speed Pn827 Pn840 N The parameter number in parentheses is when Pn833 1 Parameter Dala Facto Name Size Setting Range Unit b No Setting byte 10000 Pn827 Linear Deceleration Constant 1 for Stopping 2 0 to 65535 212 100 reference units s 10000 Pn840 Linear Deceleration Constant 2 for Stopping 4 0 to 20971520 2 100 reference units s 2 Setting for Deceleration to a Stop by Executing SV_OFF Command When SV_OFF command is executed while a motor is running the servo can be turned OFF after deceleration to a stop When Pn829 is set to 0 factory setting the servo will turn OFF immediately upon reception of the SV_OFF command SV_OFF command Motor speed Pn827 Pn840 The motor stops according to Pn001 0 Servo ON Servo OFF Servo ON status i Pn829 The parameter number in parentheses is when Pn833 1 L I I I I I
113. osition in machine coordinate system Reference unit 4 LPOS Feedback latch position in machine coordinate Mieterenes tnit system 5 IPOS Reference position in reference coordinate system Reference unit position before reference filtering 6 TPOS Target position in reference coordinate system Reference unit 7 Position torque force control reference 8 FSPD Feedback speed pe p Speed control Maximum speed 40000000H Position control Reference units s 9 CSPD Reference speed Speed control Maximum speed 40000000H Position control Reference units s A TSPD Target speed Speed control Maximum speed 40000000H Position speed control Torque force reference The rated torque is The rated torque is 100 B TRQ 100 Torque force control Maximum torque force 40000000H C D E OMNI Option monitor 1 selected in Pn824 F OMN2 Option monitor 2 selected in Pn825 3 9 Turn Encoder Power Supply ON SENS ON 23H 4 IO Monitor Field Specifications IO MON The IO monitor field is used to monitor the I O signal status of the SERVOPACK I O signal allocation is shown below D7 D6 D5 D4 D3 D2 D1 DO EXT2 EXTI PC PB PA DEC N OT P OT D15 D14 D13 D12 D11 D10 D09 D08 1015 1014 1013 1012 HBB BRK EXT3 Bit Name Contents Value Status 0 OFF DO P OT Forward run prohibite
114. ow SV OFF KAPE Byte Description Command Response Phases in 1 32H 32H which the Phase 2 and 3 Synchronization Asynchronous command can classification command be executed The time set in 2 ALARM Processing Pn506 Subcommand Can be used time 500 ms max Stops current flow through the servomotor When Pn829 SVOFF waiting time at deceleration to stop is set to a value other than 0 the servo will be turned OFF after the servomotor decelerates to a stop according to the deceleration constant for stopping 3 STATUS 4 5 6 set by the parameter The servomotor decelerates to a stop in position 7 8 9 MONITORI control mode When Pn829 SVOFF waiting time at deceleration to a stop is set to 0 the servo will be turned OFF immediately after reception of this com mand The control mode before receiving SV OFF command remains 10 unchanged MONITOR Executing the SV OFF command will cancel the speed reference speed feed forward torque force feed forward and torque force limits set by 12 a position speed control command 13 SEL MON1 2 SEL MONI 2 IO MON 16 WDT RWDT Subcommand Subcommand area area Commands for Preparation Process 3 21 3 22 3 Commands for Preparation Process 3 13 Read Parameters PRM RD 01H Send a PRM RD command to read out parameters Read Parameter PRM RD 01H The specifications of the PRM RD co
115. ponse One com 3i munications cycle max 22 a Subcommand Subcommand area area 24 25 26 27 28 29 Normal Latch Mode In normal latch mode the latch operation is started by sending an LTMOD ON command and it is completed when the input position of the latch signal LT SGNL specified in the LTMOD ON command is latched To restart the latch operation send the LTMOD OFF command once then send the L MODE ON command again Use LT MOD in the LTMOD ON command to select either normal or continuous latch mode Motion Commands for Operation 4 5 4 Motion Commands for Operation 3 Continuous Latch Mode This function sequentially latches the input positions of sequence signal 1 to sequence signal n n to 8 for a specified number of times The continuous latch operation can be aborted by executing the LIMOD OFF command This function can shorten the time between latch completion and the start of the next latch and enables sequential latch operations at high speed Latches the sequence signal 1 input position 3 Latches the sequence signal 2 input position y j Latches the sequence signal n input position Repeats m times Note 1 N the number of sequence signals is specified by Pn850 2 The signals for sequence signal n are selected by Pn852 and Pn853 3 The number of times of continuous latching m is set by Pn851 How to Start and Stop Continuous Latch Ope
116. r phase C input 1 ON 0 OFF D6 EXTI First external latch signal input 1 ON 0 OFF D7 EXT2 Second external latch signal input 1 ON 0 OFF D8 EXT3 Third external latch signal input i ON 5 Bit Name Contents Value Status 0 Released D9 BRK Brake output 1 Locked 0 OFF DIO HBB Stop signal input OR of HWBBI signal and HWBB2 sig Forced stop released nal ON Forced stop D11 Reserved 0 0 OFF D12 1012 CNI input signal selected in Pn81E 0 1 ON 0 OFF D13 1013 CNI input signal selected in Pn81E 1 1 ON 0 OFF D14 1014 CNI input signal selected in Pn81E 2 1 ON 0 OFF DIS 1015 CNI input signal selected in Pn81E 3 i ON OPTION Field Specifications The option field is used to add functions to a motion command Applicable Commands SV_ON HOLD INTERPOLATE POSING FEED LATCH EX POSING ZRET VELCTRL TRQCTRL SVCTRL Set the functions to be added to a motion command in the main command third and forth bytes reserved for the option field The option field of the Y V series SERVOPACK is set by default as shown below To change the default setting set the parameter Pn81F as Pn81F LILILII and set the bits to which functions are to be allocated using the parameters Pn82A to Pn82E The change must be validated by turning the power supply OFF and then ON again or by sending a CONFIG command OPTION Field Default Setting
117. r sent Slave sent i i i Position and signal data 312 5 us before 1 8 1 4 Data Order Data in MECHATROLINK II commands and responses is stored in little endian byte order 1 4 Data Order For example 4 byte data 0x1234A BCD in hexadecimal is stored from the least significant byte as shown below Byte Data 1 CD 2 AB 3 34 4 12 MECHATROLINK II Commands 1 9 2 Operation Sequence This chapter describes basic operation sequences through MECHATROLINK II communi cations 2 1 Preparing for Operation 2 2 2 1 1 Setting MECHATROLINK II Communications 2 2 2 1 2 Checking the Communications Status 2 2 2 2 Operation Sequence for Managing Parameters Using a Controller 2 3 2 3 Operation Sequence for Managing Parameters Using a SERVOPACK 2 4 2 9 1 Setup SEQUENCE coss awe e RR EE phe REA ee be rahia GER eae 2 4 2 3 2 Ordinary Operation Sequence 2 4 2 4 Specific Operation Sequences 2 5 2 4 1 Operation Sequence When Turning the Servo ON 2 5 2 4 2 Operation Sequence When OT Overtravel Limit Switch Signal Is Input 2 5 2 4 3 Operation Sequence at Emergency Stop Main Circuit OFF 2 5 2 4 4 Operation Sequence When a Safety Signal is Input
118. ration Set the following parameters and then set LT MOD to 1 to execute the LTMOD ON command The continu ous latch operation will start To abort the operation execute the LIMOD OFF command Pn850 Latch Sequence Number n Pn851 Continuous Latch Count m When m 0 the continuous latch operation will be infinitely repeated Pn852 Latch Sequence Signal 1 to 4 Setting Pn853 Larch Sequence Signal 5 to 8 Setting Note If the LTMOD_ON command is executed by setting Pn850 to 0 and LT MOD to 1 the latch mode error warning A 94E will occur and the latch operation will not start Latch Status Latch completion can be confirmed by the following status STATUS Field The 3rd and 4th byte L CMP D10 L CMP is set to 1 for one communications cycle every time the external signal is input EX_STATUS Field The 28th and 29th byte L SEQ NO D8 D11 The latch sequence signal number value n at latch completion L CMP CNT D0 D7 The continuous latch count value m Added at completion of position latch when the latch sequence signal n is input Note LPOS is forcibly output to MONITOR 2 for one communications cycle while L CMP 1 every time the external signal is input Latched Position Data The latest latched position data at completion of latching can be obtained by using the following monitor Name Code Remarks Feedback Latch Position LPOS The latest latch signal input position 4 6 4 2 Set Latch M
119. ration is stopped 5 16 5 6 Function 5 6 Acceleration Deceleration Parameter High speed Switching Function Acceleration Deceleration Parameter High speed Switching This function switches at high speed the acceleration deceleration parameters that are used for positioning executed by the POSING FEED EX POSING ZRET or HOLD commands Register the acceleration deceleration parameter settings in a bank before starting operation and execute the bank selector BANK SEL to switch the acceleration deceleration parameter settings to those of the registered bank Bank Selector Allocation Allocate the following bank selector BANK SELI in the OPTION field The allocation is disabled by default Refer to 5 OPTION Field Specifications of chapter 7 Data Field for details on bit allocation meth ods Name Description Setting Data BANK SELI Bank selector Bank 0 to 15 Parameter Bank Setting Set the following parameters Data s Facto Parameter No Name Size Setting Range n Setting byte Pn900 Parameter Bank Number 2 0 to 16 0 Pn901 Parameter Bank Member Number 2 0 to 15 0 Pn902 to Pn910 Parameter Bank Member Definition 2 0000H to 08FFH 0 Pn920 to Pn95F Parameter Bank Data 2 SURI PEPE 0 Depends on bank member The parameters Pn920 to Pn95F will not be stored in the non volatile memory They need to be set every time the power is turned ON Parameters that Can be Register
120. rection selection Pn817 Approach speed after the origin limit signal is input DEC signal turns ON Pn818 Approach creep speed after the latch signal is input Pn819 Final travel distance from the latch signal input position to the origin TSPD Homing Approach Speed 1 Pn817 Homing Approach Speed 2 Pn818 Final Travel Distance for Homing Pn819 l Latch signal Parameter Meaning Factory Setting n 0000 Forward direction homing Pn816 n 0000 n 000 Reverse direction homing Data ka Hana Name Size Setting Range Unit B byte 2 Pn817 Homing Approach Speed 1 2 0 to 65535 100 50 aa a pee i reference units s Pn818 Homing Approach Speed 2 2 0 to 65535 100 5 PBB ABAYA ARA reference units s 1073741823 to Pn819 Final Travel Distance for Homing 4 1073741823 Reference unit 100 Information Set Pn819 Final Travel Distance for Homing to a value that satisfies the following equation When Pn816 n LILILI0 Origin Latch signal input position Pn819 When Pn816 n 0001 Origin Latch signal input position Pn819 Command Related Parameters 5 9 5 10 5 Command Related Parameters 5 4 1 Torque Force Limiting Function 5 4 5 4 1 1 Command Data Options Torque Force Limiting Function The torque force limiting function limits the output torque force to protect the connected machine etc There are three ways to limit the output torque force 1 Internal torque force lim
121. rque Control to set the speed limit Pn407 Speed Limit during Torque Control Setting Range Unit Factory Setting When Enabled 0 to 10000 1 min 1 10000 Immediately Note Ifa speed higher than the maximum speed of the connected servomotor is set the servomotor speed will be limited to its maximum speed B When Using a Linear Servomotor Use Pn480 Speed Limit during Force Control to set the speed limit Pn480 Speed Limit during Force Control Setting Range Unit Factory Setting When Enabled 0 to 5000 mm s 5000 Immediately Note Ifa speed higher than the maximum speed of the connected servomotor is set the servomotor speed will be limited to its maximum speed 3 Speed Limit Option 2 Set the following parameter to enable VLIM Speed Limit specified in TRQCTRL command Parameter Description n 0000 Disables VLIM factory setting Pn002 n0010 Enables VLIM Uses VLIM as the speed limit 5 Command Related Parameters This chapter describes parameter settings related to each command action 5 1 Electronic Gear Setting 5 4 5 1 1 Electronic Gear os Xa aa na NG pee LGA PERS RAPID bes mere Y ee ae 5 4 5 1 2 Setting the Electronic Gear Ratio 5 4 5 2 Motion Acceleration Deceleration Function Setting 5 5 5 2 1 Linear
122. s cycles and then send a CONNECT command 2 4 2 4 1 2 4 2 2 4 3 2 4 Specific Operation Sequences Specific Operation Sequences This section describes operations that use commands in specific sequences Operation Sequence When Turning the Servo ON Motor control using a host controller is performed using motion commands only during Servo ON motor power ON While the SERVOPACK is in Servo OFF status while current to the motor is interrupted the SERVOPACK manages position data so that the reference coordinate system POS MPOS and the feedback coordinate sys tem APOS are equal For correct execution of motion commands therefore it is necessary to use the SMON Status Monitoring command after the SERVOPACK status changes to Servo ON to read the servo reference coordinates POS and send an appropriate reference position Confirm the following bit status before sending the SV_ON command STATUS field PON 1 and ALM 0 IO Monitor field HBB 0 Operation Sequence When OT Overtravel Limit Switch Signal Is Input When an OT signal is input the SERVOPACK prohibits the motor from rotating in the way specified in the parameter Pn001 The motor continues to be controlled by the SERVOPACK while its rotation is prohibited When an OT signal is input use the following procedure to process the OT signal Procedure Operation Monitor OT signals P_OT and N_OT of IO Monitor field When an OT signal is input send
123. tant Switching Speed 1 2 0 to 65535 109 0 g reference units s E 100 S Pn80D 1st Linear Deceleration Constant 1 2 1 to 65535 9000 2 100 o reference units s 10000 5 Pn80E 2nd Linear Deceleration Constant 1 2 1 to 65535 212 100 reference units s Pn80F Deceleration Constant Switching Speed 1 2 0 to 65535 199 0 reference units s 10000 Pn827 Linear Deceleration Constant 1 for Stopping 2 0 to 65535 212 100 reference units s 5 5 5 6 5 Command Related Parameters 5 2 2 Position Reference Filter 3 Acceleration Deceleration Parameters when Pn833 n LILIL11 5 2 2 Parameter Dala Factor Name Size Setting Range Unit y No Setting byte 10000 Pn834 1st Linear Acceleration Constant 2 4 1 to 20971520 412 100 reference units s 10000 Pn836 2nd Linear Acceleration Constant 2 4 1 to 20971520 212 100 reference units s Pn838 Acceleration Constant Switching Speed 2 4 0 to 2097152000 Reference unit s 0 10000 Pn83A 1st Linear Deceleration Constant 2 4 to 20971520 WI 100 reference units s 10000 Pn83C 2nd Linear Deceleration Constant 2 4 1 to 20971520 Mor 100 reference units s Pn83E Deceleration Constant Switching Speed 2 4 0 to 2097152000 Reference unit s 0 10000 Pn840 Linear Deceleration Constant 2 for Stopping 4 0 to 20971520 100 reference units s Note If the deceleration distance exceeds 1073741823 reference units during positioning the motor
124. tion Constant Switching Speed 2 4 0 to 2097152000 Reference unit s 0 Pn810 Exponential Function Acceleration Decelera 2 0 to 65535 100 reference 0 tion Bias units s Pn811 Exponential Function Acceleration Decelera 2 0 to 5100 0 1 ms 0 tion Time Constant Pn812 Movement Average Time 2 0 to 5100 0 1 ms 0 Setting Procedure STEP 1 1 Set Pn900 Parameter Bank Number to m 2 Set Pn901 Parameter Bank Member Number to n Set Pn900 and Pn901 so that Pn900 x Pn901 lt 64 3 Register bank member parameter numbers using parameters Pn902 to Pn910 4 To enable the bank function execute the CONFIG command or turn the power supply OFF and then ON again STEP 2 5 Set the data of each bank in the parameter bank data area from the leading parameter Pn920 in order as shown below Bank 0 Pn920 to Pn 920 n 1 Bank 1 Pn 920 n to Pn 920 2n 1 Bank m 1 Pn 920 m 1 xn to Pn 920 mxn 1 Note 1 If parameters Pn900 to Pn910 set in STEP 1 1 1 2 and 1 3 are saved in the non volatile memory carry out STEP 2 5 only after power up However if you turn the power supply OFF and then ON again after saving parameters Pn900 to Pn910 in the non volatile memory and start the operation without setting parameters Pn920 to Pn95F the operation will be carried out under the condition that all bank data is set to 0 zero or the minimum setting 2 If parameters Pn900 to Pn910 set in STEP 1 1 1 2 and 1 3 are not saved in the non volatile me
125. tive negative torque force limit TLIM Pn002 n 0001 P j Pn81F n0010 When P_CL of OPTION field is set to 1 Uses TLIM as positive torque force limit Pn002 n 0003 When N CL of OPTION field is set to 1 Uses TLIM as negative torque force limit 4 9 Homing ZRET 3 AH ZRET Command 3AH The ZRET command is used to perform homing motion in the following sequence BR U N e 4 9 Homing ZRET 3AH Accelerates to the target speed TSPD in the direction specified in Pn816 Homing Direction Decelerates to the homing approach speed 1 Pn817 at the DEC 1 Latch operation will start at the DEC 0 When a latch signal is input positioning is performed to define the target position at the homing approach speed 2 Pn818 The target position is calculated by adding the final travel distance for homing Pn819 After the completion of positioning the coordinate system is set so that the position reached is 0 ZRET Byte Description Command Response Phases in 1 3AH 3AH which the Phase 2 and 3 Synchronization Asynchronous command can classification command be executed 2 LT SGNL ALARM Aa Within commu Subcommand Can be used ime nications cycle 3 Use LT_SGNL to select the latch signal OPTION STATUS When the latch signal is input positioning is performed to define the target 2 position at the homing approach speed 2 Pn818 The target position is 5 c
126. turn the servo ON Note 1 Ifthe SERVOPACK enters HWBB status while sending an SV ON command reset the HWBB1 or HWBB2 signal and then send a command other than SV ON such as SV OFF Then send the SV ON command again to restore the normal operation status 2 Ifthe SERVOPACK enters HWBB status during execution of an SV OFF INTERPOLATE LATCH POSING FEED EX POSING or ZRET command a command warning will occur since the SERVOPACK status changes to Servo OFF status Execute the Clear Alarm or Warning ALM CLR command to restore normal operation 2 4 5 Operation Sequence At Occurrence of Alarm When the ALM bit in STATUS field of response turns on 7 1 send SV OFF command Use ALM RD com mand to check the alarm occurrence status To clear the alarm status send ALM CLR command after removing the cause of alarm However the alarms that require turning the power supply off and then on again to clear the alarm status sending ALM CLR com mand will not clear the alarm status 2 6 2 4 Specific Operation Sequences If a communications alarm A E5Llor A E6L occurs send ALM CLR command to reset the alarm and then send SYNC SET command n Operation Sequence 2 7 2 8 2 Operation Sequence 2 5 1 When Using an Incremental Encoder 2 5 2 5 1 2 5 2 Setting the Origin Before Starting Operation When Using an Incremental Encoder When an incremental encoder is used in the slave station carry out a homing operation after tur
127. tus Monitoring SMON 30H 6 5 a MECHATROLINK II Subcommands 6 2 6 MECHATROLINK II Subcommands The MECHATROLINK II subcommands can be used by specifying them with the CONNECT command when MECHATROLINK II communications starts The specifications of each MECHATROLINK II subcommand are described below Refer to 1 2 3 Combination of MECHATROLINK II Main Commands and Subcommands for information on applicable combinations with main commands 6 1 No Operation NOP 00H NOP Pi Byte Description Command Response 17 00H 00H Not operation command 18 SUBSTATUS 6 2 Read Parameter PRM RD 01H PRM RD n Byte Description Command Response 17 01H 01H Reads the parameters This command has the same function as the main command 18 SUBSTATUS PRM RD NO NO 21 SIZE SIZE PARAMETER 6 3 Write Parameter PRM WR 02H 6 3 Write Parameter PRM WR 02H Byte PRM WR Command Response Description 17 02H 02H 18 SUBSTATUS Writes the parameters This command has the same function as the main command PRM WR 19 20 NO NO 21 SIZE SIZE 22 MM HI PARAMETER PARAMETER 6 4 Read Alarm or Warning ALM RD 05H Byte ALM RD Command Response Description 17 05H 05H 18 SUBSTATUS Reads th
128. ulses is 1 revolution Therefore 5 1 2 Setting the Electronic Gear Ratio Use the parameters Pn20E and Pn210 to set the electronic gear ratio When the Electronic Gear Function is Used Workpiece IIITT LI LII A Reference unit 1 yum 20 bit encoder resolution 1048576 Ball screw pitch 6 mm To move a workpice 10 mm using reference units 1 pulse 1 The reference unit is 1 yum Therefore to move the workpiece 10 mm 10000 mm mm so 10000 1 10000 pulses Input 10000 pulses Electronic Gear Ratio Numerator Classification Pn20E Setting Range Setting Unit Factory Setting When Enabled 1 to 1073741824 239 4 After restart Setup f Sos Electronic Gear Ratio Denominator ehian Pn210 Setting Range Setting Unit Factory Setting When Enabled 1 to 1073741824 239 1 After restart Setup Ifthe decelerator ratio of the motor and load shaft is given as n m where m is the rotation of the motor and n is the rotation of the load shaft B Pn20E Electronic gear ratio A Pn210 Encoder resolution Travel distance per load shaft rotation reference unit 5 2 Motion Acceleration Deceleration Function Setting 5 2 Motion Acceleration Deceleration Function Setting This section describes the parameters used to set the acceleration deceleration function for motion commands for positioning
129. unction E Appendix T A 2 Appendix A Brake Control Commands Command Command Function Code 21H BRK_ON Turns the brake signal off and applies the holding brake 22H BRK_OFF Turns the brake signal on and releases the holding brake 1 Apply Brake BRK ON 21H The specifications of BRK ON 21H command are described below BRK ON PATE Byte Description Command Response Phases in which the Synchronization Asynchronous 21H a command can ees classification command be executed 2 ALARM a Within commu Subcommand Cannot be used ime nications cycle 3 1 STATUS Turns the brake signal BK off and apply brake This command is enabled only while the servo is OFF 5 This command is enabled when the parameter Pn50F 2is not set to 0 6 A warning will occur and the command will be ignored in the following MONITORI cases 7 If Pn50F 2 0 Command warning 3 A 95C 8 Brake signal output timing 9 BRK_ON received 10 MONITOR2 11 12 13 SEL MON1 2 SEL MONI 2 i a IBK M NNMENMEN IO MON 1 Within 2 ms 15 n h a 1 16 WDT RWDT A Brake Control Commands 2 Release Brake BRK OFF 22H The specifications of BRK OFF command 22H are described below BRK OFF um Byte Description Command Response 1 22H 22H Phases in which the command can be executed 7 ALARM Phase 2 and 3 Synchronization classification 3 S
130. unications reference input type the basic operations using these commands and the parameters for these commands This manual is designed to provide information for People who implement MECHATROLINK II commands for a controller People who prepare the application program for the host controller that directly transmits MECHA TROLINK II commands Refer to the following manuals for information on 2 V series SERVOPACKs including hardware adjustment methods and trial operation 3 V Series SGMLIV SGDV Catalog KAEPS80000042 Y V Series SGMLIV SGDV User s Manual Setup Rotational Motor SIEPS80000043 e 3 V Series SGMLIV SGDV User s Manual Setup Linear Motor SIEPS80000044 e 3 V Series SGMLIV SGDV User s Manual Design and Maintenance Rotational Motor MECHA TROLINK II Communications Reference SIEPS80000046 e 3 V Series SGMLIV SGDV User s Manual Design and Maintenance Linear Motor MECHATROLINK II Communications Reference SIEPS80000048 appropriate for your application Incorrect usage of the commands can result not only unexpected motions but in a seri IMPORTANT ous accident Special care and verification must be taken for usage of the commands in order to avoid accidents O W Be sure that you fully understand each command and use the commands in the order Be sure to also establish safety measures for the system CONTENTS Preface a kA IA ee eR A eve hed HBD ANA eh os paan LUANE iii Chapter 1
131. uring speed TR control 1 Speed coincides DEN 0 During output During position control 1 Output completed D8 ZSPD 0 Zero speed not detected During speed control 1 Zero speed detected 0 Not during torque force limit D9 T LIM ciis 3 D 1 During torque force limit 0 Latch not completed D10 L_CMP T 1 Latch completed NEAR 0 Out of positioning proximity During position KE EAS SN control 1 Within positioning proximity D11 V_LIM 0 Speed limit not detected During speed m control 1 Speed limit detected 0 OT signal is OFF D12 P_SOT 1 OT signal is ON 4 3 1 No Operation NOP 00H Bit Name Value Description 0 OT signal is OFF D13 N_SOT 1 OT signal is ON D14 D15 Details WDT and RWDT The watchdog timer data will be set in WDT and RWDT of NOP command and response as shown below WDT RWDT D7 D4 D3 DO SN Copy of RSN in RWDT communications cycle MN Incremented by 1 each D7 D4 D3 DO RSN Incremented by 1 each RMN Copy of MIN in WDT communications cycle MN Master station watchdog timer count RSN SERVOPACK s watchdog timer count The watchdog timer is checked after synchronous communications has been established The SERVOPACK watchdog timer data will be refreshed whether synchronous communications is established or not Commands for Preparation Process 3 5 3 6 3 Commands for Preparation Process 3 2

AC Servodrive Σ-V Series USER'S MANUAL MECHATROLINK

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AC Servodrive &Sigma;-V Series USER'S MANUAL MECHATROLINK

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AC Servodrive Σ-V Series USER'S MANUAL MECHATROLINK