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Powerlink Network Module - User's Manual

1. Shield box Power supply Noise Brake Power Single phase Aa pk Supply 200 VAG filter as Hi SERVOPACK absorber ontro power UNN jess Brake 24V 0V Tana amp Ko supply Ooms TO 24 VDC 1 Servomotor Power supply Noi Three phase Ai L1 L2 L3 400 VAC CN2 E Encoder as absorber Regenerative D resistor unit o PE 3 e Powerlink ie 5 z PE controller O O 5 6 258 oiz CN8 One turn Clamp E Host controller Safety unit Symbol Cable Name Specification O TO signal cable Shield cable Safety signal cable Shield cable Motor main circuit cable Shield cable Encoder cable Shield cable Control power cable Shield cable Main circuit cable Shield cable Regenerative resistor unit cable Non shield cable Ethernet communication cable Shield cable x1 Products that have received CE marking are recommended for the 24 VDC power supply 2 Install the following noise filter on the power line between the single phase 200 V power supply and the 24 VDC power supply Model number FN2070 6 07 SCHAFFNER 3 For more information on this filter refer to Z V Series Product Catalog KAEP S800000 42 o SERVOPACK Installation 3 11 3 12 3 SERVOPACK Installation Attachment Methods of Ferrite Cores One turn Two turn Cable Ferrite core Ferrite core Recommended Ferrite Cor
2. Y man Gov FT OCB02A Reserved Do not use Reserved Do not use Powerlink secondary address Refer to 4 4 4 Powerlink Secondary Address Settings LED Indicators Refer to 2 5 LED Indicators Powerlink communication port Input CN11A Powerlink communication port Output CN11B Reserved CN 12 Do not use Ino Specifications 2 5 2 6 2 Specifications 2 3 2 Communication Specifications 2 5 LED Indicators This diagram shows details of the LED indicators OO 00 m RUN ERR RUN Link Activity CN11B Link Activity CN11A The RUN indicator shows the status of Powerlink communication Green LED STATUS State Flash rates NMT GS OFF LED off NMT GS INITIALISATION Constantly off NMT CS NOT ACTIVE LED flickering NMT CS BASIC ETHERNET Equal on and off times with a frequency of approximately 10 Hz on for approximately 50 ms and off for approximately 50 ms LED single flash NMT CS PRE OPERATIONAL I
3. lt Note gt e Overtravel may not be required for rotating applications such as rotary tables and conveyors If overtravel is not required disable the overtravel signal allocations in parameters Pn50A and Pn50B e For details on overtravel wiring signal settings and stopping methods refer to 4 2 3 Overtravel in 3 V series User s Manual Design and Maintenance Rotational Motor Command Option Attachable Type SIEP S800000 60 Status during Overtravel When an overtravel signal is input the status of the following objects will be set to 1 Then the servomotor will stop according to the overtravel stop method selected in Pn001 If the overtravel signal is turned OFF these statuses will change to 0 zero e Statusword Object 6041h Internal limit active bit 11 e Digital Inputs Object 60FDh Negative limit switch bit 0 or Positive limit switch bit 1 Behavior for Overtravel in Each Mode Operation Mode Description e When the overtravel signal is activated while the motor is moving to its target the motor stops rotating and the target reached bit in the statusword will be active Profile position mode In the overtravel state positioning return operations will start only when a target posi tion is specified in the reverse direction of the present overtravel signal for Position actual value e g for P OT a command to move in the negative direction e When the o
4. 900h Position Error Pulse Overflow Pn520 x Pn51E 100 901h Position Error Pulse Overflow When the servo turns ON the position error pulses exceeded the Alarm at Servo ON parameter setting Pn526 x Pn528 100 This warning occurs before the overload alarms 710h or 720h 910h Overload occur If the warning is ignored and operation continues an overload alarm may occur Abnormal vibration at the motor speed was detected The detec 911h Vibration tion level is the same as 520h Set whether to output an alarm or warning by Vibration Detection Switch of Pn310 This warning occurs before the regenerative overload alarm 920h Regenerative Overload 320h occurs If the warning is ignored and operation contin ues a regenerative overload alarm may occur This warning occurs before Dynamic Brake Overload 73 1h 921h Dynamic Brake Overload alarm occurs If the warning is ignored and operation continues a dynamic brake overload alarm may occur 930h Absolute Encoder Battery Error This warning occurs when the absolute encoder battery voltage is lowered This warning occurs before Undervoltage 410h alarm occurs 971h Undervoltage If the warning is ignored and operation continues an undervolt age alarm may occur Note 1 Warning code is not outputted without setting Pn001 3 1 Outputs both Alarm Codes and Warning Codes 2 If Pn008 2 1 Do not detect warning is selected no warnings will be detected 9 3 9
5. 1 2 Nameplate and Model Designation E Nameplate Example Application Module model number Name SERVOPACK OPTION MODULE MODEL SGDV OCB02A O N 123456 1 1 S N 123456789ABCDEF Use with SGDV SERVOPACK only Y YASKAWA EUROPE GMBH MADE IN JAPAN UA TI L Manufacturing number Nameplate 1 2 1 3 E Model Designation SGDV OC B02 A Series SGDV Y V Series 1 3 Nameplate Location L 6th digit Design Revision Order 3rd 4th 5th digits Interface Specifications ist 2nd digits Module Type Code Module OC Command option module Nameplate Location ANA 5 10 keki A Fi z 0 Nameplate Ratings Code Interface B02 Ethernet POWERLINK Interface OCBO2A lt amp Nameplate Model no Nameplate Component code Checking Products 1 3 1 4 1 Checking Producis 2 Specifications This chapter gives an overview and describes the specifications of the Ethernet POWERLINK Network Module 2 OVENIOW 20 mao aio Ge owe rE hd Sree WID dada bare 2 2 2 2 Technical TEENS 3 hoes bee a SE ee eae wee eee 2 2 2 2 1 Data Type siti bad be AN K
6. 0x0609 0011 Sub index does not exist 0x0609 0030 0x0609 0031 Invalid value for parameter Error cause a The command in the controlword is not allowed b Attempt to write not supportable mode to object 0x6060 c The commanded homing method is not supported d PDO communication parameter wrong setting e In the objects 0x2100 and 0x2101 attempts to read write value from to not exist parameter number f User Unit Group Enable object 0x2300 If after attempting to enable the user unit the Max motor Acceleration Velocity in user unit is greater than 2431 or the Position user unit ratio is greater than 1000 or less than 0 001 g Attempt to write value to any object from device profile in case of User Unit Group Enable object 0x2300 not equal to 1 h Attempt to write value to objects 0x3101 0x3106 0x3107 0x3108 and 0x3109 in case of wrong password value in the object 0x3100 i Absolute Target Torque is greater than Max Torque j Absolute Target Velocity is greater than Max Profile Velocity k Attempt to change operation mode to pole detection mode in Servo On states 1 Attempt to move into pole detection mode in case of rotary motor is forbidden Value of parameter written too high 0x0609 0032 0x0609 0036 Value of parameter written too low Maximum value is less than minimum value Error cause a Max Software Position Limit less than Min Software Position Limit 0x0800 0000 General err
7. 10 20 10 2 SERVOPACK Parameters A Factory Data Pn No Name Setting Range Units Setting When Enabled Type Notch Filter Adjustment Switch 0000 to 0101 0101 Immediately UINT 4th 3rd 2nd 1st digit digit digit digit n Notch Filter Adjustment Selection 1 0 Ist step notch filter is not adjusted automatically with utility function Pn460 1 Ist step notch filter is adjusted automatically with utility function Reserved Do not change Notch Filter Adjustment Selection 2 0 2nd step notch filter is not adjusted automatically with utility function 1 2nd step notch filter is adjusted automatically with utility function Reserved Do not change Pn4go 2 Speed Limit during Force Control 0 to 10000 1 mm s 10000 Immediately UINT Pn481 Polarity Detection Speed Loop Gain 1 0 to 2000 0 0 1 Hz 40 0 Immediately UINT x Polarity Detection Speed Loop Integral 5 2 y p p g Pn482 Time Constant 0 15 to 512 00 0 01 ms 30 00 Immediately UINT Pn483 2 Forward Force Limit 0 to 800 1 30 Immediately UINT Pn484 Reverse Force Limit 0 to 800 1 30 Immediately UINT Pn485 2 Polarity Detection Reference Speed 0 to 100 1 mm s 20 Immediately UINT Polarity Detection Reference 2 y Pn486 Accel Decel Time 0 to 100 1 ms 25 Immediately UINT Pn4 87 Sad Detection Constant Speed 0 to 300 iene 0 Immediately UINT Pn488 a Detection Reference Waiting 50A 500 iims 100 Immed
8. The main circuit power supply is not ON The control power supply is not ON Servomotor Moves Instantaneously and then Stops Servomotor wiring is incorrect Servomotor Speed Unstable An Powerlink communication error may have occurred and the refer ence may not be updated The controller is not updating the reference data in the regular cycle Wiring connection to servomotor is defective Check the P OT and N OT input signals and the input signal alloca tion parameters Pn50A Pn50B Check the HWBB1 or HWBB2 input signal Check the panel display to see whether an alarm is occurring Run under no load and check the load status Check the wiring Check whether the main circuit power supply is connected Check whether the control power supply is connected Check the servomotor wiring Check the Powerlink cable and con nector wiring Trace the reference data and check whether it is being updated in the regular cycle Check connections of main circuit cable phases U V and W and encoder connectors Change the Powerlink communica tion state to Operational Turn P OT or N OT input signal ON Or disable the P OT and N OT input signal allocations Set the HWBB1 or HWBB2 input signal to ON When not using the safety function mount the safety function jumper connector provided as an acces sory on the CN8 Remove the cause of the alarm and
9. 5 Interface Physical Address STRING RO No 0020B5000001 m 7 6 Interface Name STRING RO No eplcn0 7 Interface Operational Status USINT RO No 0 0 1 8 Interface Administration USINT Status RW No 1 0 255 9 BOOLE Valid AN RW No FALSE TRUE FALSE 1300h 0 SDO Sequence Layer UDINT RW Timeout VOR No 30000 0 4294967295 ms 1C0A DLL CN Collision Record 0 Number of entries RO No 3 o 1 Cumulative counter UDINT RW No 0 0 4294967295 2 Threshold counter UDINT RO No 0 0 4294967295 3 Threshold UDINT RW No 15 0 4294967295 10 1 Object List Index ae Name Data Access Monon g Default Value Lower Limit Upper Limit Unit 1C0Bh DLL CN Loss of Soc Record 0 Number of entries in RO No 3 1 Cumulative counter UDINT rw No 0 0 4294967295 2 Threshold counter UDINT RO No 0 0 4294967295 3 Threshold UDINT RW No 15 0 4294967295 1C0Ch DLL CN Loss of SoA Record 0 Number of entries RO No 3 1 Cumulative counter UDINT rw No 0 0 4294967295 2 Threshold counter UDINT RO No 0 0 4294967295 3 Threshold UDINT RW No 15 0 4294967295 1C0Dh DLL CN Loss of PReq Record 0 Number of entries ir RO No 3 1 Cumulative counter UDINT RW No 0 0 4294967295 2 Threshold counter UDINT RO No 0 0 4294967295 3 Threshold UDINT RW No 15 0 4
10. 40 mm or more Leave sufficient space on each side and at the top and the bottom of each SERVOPACK The width on each side varies in accordance with the models of the SERVOPACKs used SERVOPACK Model SGDV Side Left Right Top and bottom R70F R9OF 2R1F R70A R90A 1R6A 2R8A 1 mm or more 2R8F 3R8A 5R5A 7R6A 1 mm or more 10 mm or more 120A 180A 200A 330A 470A 550A 590A 780A 1R9D 3R5D 5R4D 8R4D 120D 170D 210D 260D 280D 370D 10 mm or more 40 mm or more Also install cooling fans above the SERVOPACKs to disperse local pockets of warmer air around the SERVO PACKs Inside the Control Panel The conditions inside the control panel should be the same as the environmental conditions of the SERVO PACK Refer to 3 1 1 Installation Environment 3 3 EMC Installation Conditions 3 3 EMC Installation Conditions This section describes the recommended installation conditions that satisfy EMC guidelines for each model of the SGDV SERVOPACK The conditions required for the standard type base mounted of the SERVOPACK are described Refer to this section for other SERVOPACK models such as the rack mounted types as well This section describes the EMC installation conditions satisfied in test conditions prepared by Yaskawa The actual EMC level may differ depending on the actual system s configuration wiring and other condi tions However because this product is bui
11. Velocity user units Numerator 2302h 1h 28 resolution of serial converter 256 dec Denominator 2302h 2h 20 dec linear scale pitch User acceleration units Numerator 2303h 1h 28 20 1000 resolution of serial converter linear scale pitch 1000 256 20 1000 dec 12800 Denominator 2303h 2h 10000 dec 3 Profile position objects Profile velocity 6081h 1h 1000 dec Profile acceleration 6083h 1h 5000 dec Profile deceleration 6084h 1h 5000 dec Target Position 607Ah 1h 1400000 dec Speed mm s 1000 je Object Dictionary 8 13 8 14 8 Object Dictionary 8 5 1 Device Control Controlword 6040h The Controlword consists of bits for the controlling of the drive state the controlling of operating modes and manufacturer specific options PDO Index Sub Name Data Type Access Mapping Value 6040h 0 Controlword UINT RW Yes pipe Default 0 Hm Controlword Bits Bit No Function Description 0 Switch on 1 Enable voltage See lt Details on Bits 0 3 and 75 2 Quick stop 3 Enable operation 4to6 Operation mode specific See lt Details on Bits 4 to 95 7 Fault reset See lt Details on Bits 0 3 and 75 8 Halt 9 Operation mode specific Not supported 10 Not used No effect 11 Positive Torque Limit 0 Torque Limit disable 12 Negative Torque Limit 1 Torque Limit enable 13to 15 Not used No
12. F E75h Module Alarm A non supported feedback option module was connected Gr 1 N A Command Option Module The command option module was replaced with a different kaila Detection Disagreement Alarm model Cal Die Safety Device Signal Input There is an error in the timing of the safety function input Ebah Timing Error signal ot Di Main Circuit Cable Open With the main power supply ON voltage was low for more F Al Phase than 1 second in phase R S or T ane mk CPF00 Digital Operator Transmission B N A Error 1 Digital operator JUSP OPOSA fails to communicate with jai issi the SERVOPACK e g CPU error CPF01 Digital Operator Transmission e g 7 N A Error 2 x1 May occur if a linear servomotor is connected 2 May occur if a rotational servomotor is connected x3 May occur if a fully closed option module is mounted ol Troubleshooting 9 5 9 6 9 Troubleshooting 9 1 2 List of the Powerlink Network Module Alarms 9 1 2 List of the Powerlink Network Module Alarms This table lists the alarms of the Powerlink Network Module Servomotor Ab Alarm Name Meaning Stop sel Method OEAOh Command Option IF The initial sequence between the Powerlink Network Mod Grl N A Servo Unit Initial Error ule and the SERVOPACK was not completed within 10s OEAth Command Option IF The communication memory of the Powerlink Network Grl N A Memory Check Error Module and the SERVOPACK is broken Comman
13. For more information on safe and stable usage of the servo system be sure to read the precautions in the section labelled Q IMPORTANT in the following manual 2 V Series User s Manual Design and Maintenance Rotational Motor Command Option Attachable Type Chapter 3 Wiring and Connection STEP S800000 60 4 1 System Configuration Diagram ea 4 2 4 2 I O Signal Connections PASA DAN ha BELA dd da 4 3 4 2 1 I O Signal CN1 Names and Functions aaa aa eaaa 4 3 4 2 2 I O Signal Connector CN1 Terminal Layout aee 4 4 4 2 3 Example of I O Signal Connections ee 4 5 4 3 NO Signal Allocations 4 2 4c0s0 lt e esse ease teeene eb A 4 6 4 3 1 Input Signal Allocations cette eee 4 6 4 3 2 Output Signal Allocations ete 4 8 4 4 Connection Example of Powerlink Communication 4 9 4 4 1 Connection Example 0 00 kanga d emeki Ea aa a agan da alaga an EDA BR BN 4 9 4 4 2 Powerlink Connector RJ45 lt teens 4 9 4 4 3 Ethernet Cable oio sa saa ga akena ar AB E E ata e ka a da JANE Ta a aa E daa 4 10 4 4 4 Powerlink Secondary Address Settings a eee eee eee 4 10 a Wiring and Connection 4 1 4 Wiring and Connection 4 1 System Configuration Diagram E Connecting to S DV OOHOOE1A SERVOPACK Power supply Three phase 200 VAC RST Molded case circuit breaker MCCB Protects the power supply line by shutting the
14. 0 0000 cece eee eee 5 2 5 2 Trial Operator 5 3 5 2 1 Inspection before Trial Operaiion anane 5 3 5 2 2 Trial Operation via Powerlink Communication cece eee 5 3 5 3 Test Without Motor Function aee 5 4 9 4 Limiting A a BA cea BA KG Gis AA 24 RPGS See ha bos 5 4 5 5 Absolute Encoders aan ga EN ga Ba Eng eee eens 5 5 5 6 Safety FUNCION ss saa hannah a bee KN KG BRA NA NAA DAA a a a a a bese AN 5 6 O AA AA AP 5 7 Chapter 6 Powerlink Communication 0000 eee eee 6 1 6 1 Powerlink functional principle 000 ee 6 2 6 2 Powerlink cycle time time slot principle 00ers 6 3 6 3 Powerlink Device Architecture 0c ees 6 4 6 4 Powerlink Slave Information eee eee eee ooo 6 5 6 5 Powerlink Initialization NMT State Machine 00000 00 6 5 6 6 NMT GN State Machine sico what oa aban PAG beeen 6 7 Chapter 7 CIA402 Drive Prol cama es ee sete ee ee ees 7 1 YA Device TONO kaa KEN Sinem Gen comets Mpg Rack Sak Oa beta AO Baca ae ep ee hee 7 2 2 Modes Of Op rations ita dd etn nents BN gates hy KANA wed 7 4 7 3 Profile Position Mode cet tees 7 5 7 4 Interpolated Position Mode axed Mab AG WEA Geen eS 7 7 KO WO INU aaa ia SS ne RNa ees EA MOONEE AA 7 8 7 6 Profile Velocity Mode lt ere HAS eta a 7 11 7 7 Profile Torque Mode 2 5 aise a a wd Oe eee te eee 7 12 7 8 Digital Input
15. 5 Profile Acceleration 6083h This object specifies the acceleration for profile modes Index Sub Name Data Type Access nae Value apping 0 to Max acceleration 6083h O Profile Acceleration UDINT RW Yes Default 0 6 Profile Deceleration 6084h This object specifies the deceleration for profile modes Index Sub Name Data Type Access Musa Value apping 6084h 0 Profile Deceleration UDINT RW Yes wo pen aa Si 7 Quick Stop Deceleration 6085h The quick stop deceleration is the deceleration used to stop the motor if the Quick Stop command is given and the Quick Stop Option Code see 605 Ah is set to 2 Index Sub Name Data Type Access a an Value apping 6085h O Quick Stop Deceleration UDINT RW Yes 0 to Max deceleration je Object Dictionary 8 23 8 Object Dictionary 8 7 Homing Mode 1 Home Offset 607Ch The home offset is the difference between the zero position for the application and the machine home position found during homing Index Sub Name Data Type Access es Value apping 536870912 to 607Ch 0 Home Offset DINT RW No 536870911 Default 0 Pos unit lt For Incremental Encoder During the homing the machine home position is found and once the homing is completed the zero position is offset from the home position by adding the home offset to the home position lt For Absolute Encoder When an ab
16. Ex Powerlink 5 2 controller 3 D Oa z CN1 CN8 D FF Core Core Two turn aaa Two turn o Host controller Satety unit Symbol Cable Name Specification O T O signal cable Shield cable Safety signal cable Shield cable Motor main circuit cable Shield cable Encoder cable Shield cable Main circuit cable Shield cable Ethernet communication cable Shield cable B SERVOPACK Installation 3 SERVOPACK Installation Hm Three phase 200 V SGDV OOOAE1A 000 180 200 330 SGDV OCBO2A Shield box Brake Power Supply SERVOPACK UVW hy Brake Power supply Noise 1 14213 O O SA Three phase 200 VAC 6 5 filter nat a Servomotor Surge LIC L2C pa absorber oO CN2 be 5 pama E Encoder O O 2 5 jo gt PE x2 o TS Powerlink EF 8 Zs controller 3 o 5 az PE CN1 CN8 cee Core Core One turn Two turn aa N wo turn O O Host controller Safety unit Symbol Cable Name Specification O VO signal cable Shield cable Safety signal cable Shield cable Motor main circuit cable Shield cable Encoder cable Shield cable Main circuit cable Shield cable Ethernet communication cable Shield cable 3 8 3 3 EMC Installation Conditions Hm Three phase 200 V
17. Touch Probe 1 Position Value DINT RO TPDO Default 0 Pos unit Touch Probe 2 Position Value 60BCh This object provides the position value of the touch probe 2 The value is given in user position units 4 Index Sub Name Data Type Access ee Value apping 60BCh O Touch Probe 2 Position Value DINT RO TPDO Default 0 Pos unit je Object Dictionary 8 31 8 32 8 Object Dictionary 8 13 Digital Inputs Outputs 1 Digital Inputs 60FDh This object indicates the digital inputs state of CN1 of the SGDV SERVOPACK Index Sub Name Data Type Access PDO Value Mapping 60FDh O Digital Inputs UDINT RO TPDO Default 0 m Data Description Bit Signal Description 0 N OT Negative limit switch 0 Switched off 1 Switched on 1 P OT Positive limit switch 0 Switched off 1 Switched on 2 Home switch 0 Switched off 1 Switched on 3 to 15 Reserved 3 7 0 Switched off Open 16 S10 CN1 13pin 1 Switched on Close Jn 0 Switched off Open 14 SITEN pih 1 Switched on Close ani 0 Switched off Open 18 SI2 CN1 8pin 1 Switched on Close ani 0 Switched off Open 19 S13 CN1 9pin 1 Switched on Close 410p 0 Switched off Open 20 SI4 CN1 10pin 1 Switched on Close i ni 0 Switched off Open ai SI5 CN1 11pin 1 Switched on Close 7 0 Switched off Open 22 SI6 CN1 12pin 1 S
18. 10 Appendik Factory Data Pn No Name Setting Range Units Setting When Enabled Type Output Signal Inverse Setting 0000 to 0111 0000 After restart UINT 4th 3rd 2nd 1st digit digit digit digit n Output Signal Inversion for CN1 1 or 2 Terminals 0 Does not inverse outputs 1 Inverses outputs Pn512 Output Signal Inversion for CN1 23 or 24 Terminals 0 Does not inverse outputs 1 Inverses outputs Output Signal Inversion for CN1 25 or 26 Terminals 0 Does not inverse outputs 1 Inverses outputs Reserved Do not change 1 Excessive Error Level Between Servo 1 to 1073741824 3 referi Pn51B waka and Load Positi ns 230 re papang 1000 Immediately UDINT unit Pn51E oe Position Error Warning 10 to 100 1 100 Immediately UINT 1 1 to 1073741823 Pn520 Excessive Position Error Alarm Level il 530 reference 5242880 Immediately UDINT eb unit 1 0 to 1073741824 Pn522 Positioning Completed Width 7 530 reference 7 Immediately UDINT Z unit 1 1t0 1073741824 Pn524 NEAR Signal Width 4 530 reference wi Immediately UDINT Bi unit 1 x Excessive Position Error Alarm Level 1 to 1073741823 z 5 refer Pn526 at Servo ON 230 1 re a 5242880 Immediately UDINT unit x Excessive Position Error Warnin 5 g Pn528 Level at Servo ON 10 to 100 190 100 Immediately UINT Pn529 5 Speed Limit Level at Servo ON 0 to 10000 1 min 10000 Immediately UINT x Multiplier per On
19. 36 1000 2 Velocity user unit 2302h Number of encoder counts per msec for One user velocity unit Number of encoder counts per sec for One user velocity unit 1 Deg sec 1048576 counts rev 36 Deg rev 1 Deg sec 1048576 36 counts sec 1000 msec Numerator 1048576 Denominator 36 1000 3 Acceleration user unit 2303h Number of encoder counts increments per msec for One user acceleration unit Type 1 Number of encoder counts per msec for top speed 3600 Deg sec 3 6 Deg msec 1048576 counts rev 36 Deg rev 3 6 Deg msec 1048576 10 Numerator 1048576 100 Denominator 10 80 1000 Type 2 Number of encoder counts per msec for 1 Deg sec 1048576 counts rev 36 Deg rev 1000 msec 1048576 10 36 1000 Number of encoder counts increments per msec for 1 Deg sec 1048576 36 10001000 Numerator 1048576 100 Denominator 36 1000 1000 8 12 8 4 Manufacturer Specific Objects 9 Example for linear motor application 1 User requirements and application data A linear motor moves a distance AB 1 4 m The motor acceleration and deceleration is equal to 5000 mm s The cruising velocity is equal to 1000 mm s The linear scale pitch is equal to 20 um and an 8 bit serial converter is connected to the motor 2 User settings and configuration Position user units Numerator 2301h 1h 28 resolution of serial converter 256 dec Denominator 2301h 2h 20 dec linear scale pitch
20. Check Pn001 0 and Pn001 1 when in torque control Select a servo mode stop method other than coast to stop Servomotor Overheated Ambient temperature too high Servomotor surface dirty Servomotor overloaded Measure the servomotor ambient temperature Visually check the surface Check the load status with monitor Reduce the ambient temperature to 40 C or less Clean dust and oil from the surface a Troubleshooting If overloaded reduce load or replace the SERVOPACK and the servomotor with larger capacity 9 11 9 Troubleshooting 9 1 3 Troubleshooting of the Powerlink Network Module Alarms Application hint for B amp R controller users The B amp R master overwrites the default values of the objects at boot up This behaviour can t be changed Some objects in the YASKAWA drive are write protected such as user units etc Therefore the B amp R controller will detect some SDO abort messages at boot up which will force the controller to end up in the SERV mode Such kind of behaviour will be experienced in versions of Automation Studio which do not include the Yaskawa drive SGDV OCB02A under the POWERLINK Device Library Additionally these versions require the upload of the XDD file 9 12 10 Appendik 10 1 Object List a aaa a aaa eaaa 10 2 10 2 SERVOPACK Parameters a 10 9 10 3 Error COVE asa a Eh 10 29 10 4 SDO Abort Code List
21. S11 Powerlink secondary address upper 4 bit S12 Powerlink secondary address lower 4 bit General Identification Process during Start Up During start up the master detects the slaves by using the Auto Increment Addressing The Identity object will be read from the slave and compared with the values from the master s configuration which was provided by the Powerlink configuration tool before So the order of the slaves in the network has to be the same as in the master s configuration To allow a different network topology a Station Alias is defined Example Scenario With a machining center there might be two identical drives to work in X and Y direction It might happen that the cabling order is mixed up after a device replacement To avoid that the drives receive wrong process data an explicit address of the device is used with a Station Alias Identification of Devices with Station Alias The master reads the Station Alias by using the Auto Increment Addressing The detected Station Alias will be compared with the values from the master s configuration to get the relation of the network topology and the configured topology e Station Alias in Register 0x0012 Station Alias is set to the Configured Station Alias register of ESC during power on The value can be read with the following formula Configured Station Alias S11 setting x 16 S12 setting 5 Operation 5 1 Settings for Common Basic F
22. Troubleshooting The SERVOPACK stops the servomotor by one of the methods described below and displays the alarm status E Status Display SERVOPACK Panel Display The alarm code is displayed Example A gt 0 gt 1 gt 0 Digital Operator The alarm code is displayed Statusword Object 6041h Statusword bit 3 Fault turns 1 Bit 3 is 0 when operation is normal Error Code Object 1003h The alarm code for the current error is stored in object 1003h Emergency Message notified The controller is notified of the alarm that occurred When Powerlink communication is not stable the controller may not be m Alarm Stopping Method Gr 1 The servomotor is stopped according to the setting in Pn001 0 if an alarm occurs Pn001 0 is factory set to stop the servomotor by applying the DB Gr 2 The servomotor is stopped according to the setting in PnOOB 1 if an alarm occurs PnOOB 1 is factory set to stop the servomotor by setting the speed reference to O The servomotor under torque control will always use the Gr 1 method to stop By setting Pn00B 1 to 1 the servomotor stops using the same method as Gr 1 When coordinating a number of servomotors use this alarm stop method to prevent machine damage that may result due to differences in the stop method 9 1 1 Alarm List for SERVOPACKs with Command Option Attachable Type The following table provides a list of SE
23. UDINT Interpolation Time Period 60C2h Interpolation time period RW Yes USINT 2 Interpolation time index RW Yes SINT Note The objects 6081 0 6083 0 and 6084 0 must have a different value than 0 to start interpolation CiA402 Drive Profile 7 8 7 CiA402 Drive Profile 7 5 Homing The following figure shows the defined input objects as well as the output objects The user may specify the speeds acceleration and the method of homing There is a further object home offset which allows the user to displace zero in the user s coordinate system from the home position Controlword 6040h gt Homing Method 6098h Statusword 6041h gt gt Homing Speeds 6099h i LP rah gt Homing Position Demand Internal Value 80FCh Homing Acceleration 609Ah al or Position Demand Value 6062h Homing Offset 607Ch gt m Related Objects PDO a Index Sub Name Access Mapping Units Type 6040h Controlword RW Yes UINT 6041h Statusword RO Yes UINT 607Ch Home Offset RW No Pos units DINT 6098h Homing Method RW Yes SINT Homing Speeds 6099h Speed during search for switch RW Yes Vel units UDINT 2 Speed during search for zero RW Yes Vel units UDINT 609Ah Homing Acceleration RW Yes Acc units UDINT m Homing Method 6098h Value Definitions Explanation 0 No homing operation No h
24. changed on the SERVOPACK Pn511 Note When the homing function is executing touch probe 1 function cannot be used If touch probe 1 function was already enabled touch probe 1 will be switched off Hm Related Objects Index Sub Name Access bah g Units Type 60B8h Touch Probe Function RW Yes UINT 60B9h Touch Probe Status RO Yes UINT 60BAh Touch Probe 1 Position Value RO Yes Pos units DINT 60BCh Touch Probe 2 Position Value RO Yes Pos units DINT CiA402 Drive Profile 7 13 7 14 7 CiA402 Drive Profile m Example of Handshaking Procedure for the Touch Probe Function lt Single Trigger Mode 60B8h bit1 0 or bit9 0 60B8h Bit 0 Bit 8 60B8h Bit 4 Bit 12 60B9h Bit 0 Bit 8 60B9h Bit 1 Bit 9 60BAh 60BCh Probe input o Latch start Latch start v We 1 a a LI lob Latched position 1 Ls Latched position 3 LA LA amar N x wo e Continuous Trigger Mode 60B8h bit1 1 or bit9 1 60B8h Bit 0 Bit 8 60B8h Bit 4 Bit 12 60B9h Bit O Bit 8 60B9h Bit 1 Bit 9 60BAh 60BCh 60B9h Bit 7 Bit 15 Probe input o Latch start Na N 1 1 1 1 1 1 1 1 f 1 LI UN Latched position 1 Latched position 2 Latched position 3 H H H 1 1 1 1 1 1 1 1 1 p 1 1 1 11 gt 1 gt Bi Je 14 11 i i M N
25. circuit OFF when overcurrent is detected SGDV OOOOE1A Noise filter SERVOPACK Used to eliminate external noise from the power line Ka par Magnetic o Y Kan contactor 5 pasa Turns the servo x ON and OFF Install a surge D E absorber Regenerative resistor 200 VAC Brake power supply Used for a servomotor with a brake Magnetic contactor Turns the brake power supply ON and OFF Install a surge absorber Battery case when an absolute encoder is used Digital operator Connection cable for digital operator Personal fo computer Connect to the Powerlink supported devices Connection cable for personal computer I O signal cable LB mp External LED indicator external device etc When not using the safety function use the SERVOPACK with the safety function jumper connector JZSP CVH05 E provided as an accessory inserted G When using the safety function insert a connection cable specifically for the safety function S Safety function devices ES Motor main circuit cable SGMJV SGMAV SGMEV SGMGV SGMSV SGMCS Servomotor 1 Use a 24 VDC power
26. or the reception of a NMTResetNode command Manufacturer specific and device parameter are set to their POWER ON values NMT GS RESET COMMUNICATION 1 Sub state Is present automatically after completion of the previous state or the recognition of an internal communication error or the reception of a NMTResetCommunication command Communication parameters are set to their POWER ON values NMT GS RESET CONFIGURATION 1 Sub state Is present automatically after completion of the previous state or the reception of a NMTResetConfiguration com mand Generation of the active device configuration NMT GS COMMUNICATING Superordinate state Is present automatically after completion of the previous state or the reception of a NMTSwReset NMT_GT8 NMTResetNode NMT GT4 NMTResetCommunica tion NMT GT35 or NMTResetConfiguration NMT GT7 command or the recognition of an internal communication error NMT GT6 Includes the MN or CN specific state machine According to the type of node a MN enters the MN specific state machine and a CN enters the CN specific state machine The shown states are device internal states and aren t signaled over the network by an individual NMT Status command After transition to the above state will cause a transition to the PDS FSA fault reaction state 1 After transition to the above state will cause a transition to the PDS FSA fault reaction state if the PDS FSA is
27. 0 Immediately UNIT Pn11F Position Integral Time Constant 0 to 50000 0 1 ms 0 Immediately UINT Pn121 Friction Compensation Gain 10 to 1000 1 100 Immediately UINT Pn122 2nd Gain for Friction Compensation 10 to 1000 1 100 Immediately UINT Pn123 Friction Compensation Coefficient 0 to 100 1 0 Immediately UINT Pn124 Friction Compensation Frequency 10000 to 10000 0 1 Hz 0 Immediately UINT Correction Pn125 Friction Compensation Gain Correction 1 to 1000 1 100 Immediately UINT Pn131 Gain Switching Time 1 0 to 65535 1 ms 0 Immediately UINT Pn132 Gain Switching Time 2 0 to 65535 1 ms 0 Immediately UINT 1 In the Powerlink Network Module the reference units of the SERVOPACK parameters are encoder pulses units inc x3 This parameter is exclusive for SERVOPACK s to be used with rotational servomotors model SGDV OOOOE Pn135 Gain Switching Waiting Time 1 0 to 65535 1 ms 0 Immediately UINT Pn136 Gain Switching Waiting Time 2 0 to 65535 1 ms 0 Immediately UINT E Appendix 10 15 10 Appendik Factory Data Pn No Name Setting Range Units 5 When Enabled 9 9 Setiing Type Aut ti in Ch Related f utomatie Gam angot Relate 0000 to 0052 E 0000 Immediately UINT Switch 1 4th 3rd 2nd 1st digit digit digit digit n Gain Switching Selection Switch Manual gain switching Cannot be used with the Powerlink Network Module Reserved Do not change Au
28. 1 Number of encoder counts per msec for top speed 1000 mm sec 1mm msec 1048576 counts rev 2 mm rev 1mm msec 524288 counts msec Numerator 524288 Denominator 80 1000 Type 2 Number of encoder counts per msec for 1 mm sec 524288 counts msec Number of encoder counts increments msec for 1 mm sec 524288 1000 1000 Numerator 524288 100 Denominator 1000 1000 je Object Dictionary 8 11 8 Object Dictionary 8 Example for rotary table application 1 User requirements and application data Note Deg Rev dimension for rotary table deg rev servomotor dimension 1 User position unit 0 001 Deg 2 User velocity unit 1 Deg sec 3 User acceleration unit Type 1 1 1000 0 1 96 of the calculated acceleration for the target application Type 2 Deg sec 4 Application data Encoder 20 bit 1048576 counts rev The rotary table moves 36 Degrees for 1 motor revolution 5 User acceleration type 2 Time Constant data for top speed 10 Rev sec 3600 Deg rev Top speed 10 Rev sec 3600 Deg sec Calculated acceleration time to top speed 80 msec Note calculated acceleration for the target application 45000 2 Setting 1 Position user unit 2301h Number of encoder counts for One user position unit Number of encoder counts for One user position unit 0 001 Deg 1048576 counts rev 36 Deg rev 0 001 Deg 1048576 36 counts sec 1000 msec Numerator 1048576 Denominator
29. 1 min 50 Immediately UINT Pn324 a or Inertia Calculating Start 0 to 20000 1 300 Immediately UINT Pn383 2 JOG Speed 0 to 10000 1 mm s 50 Immediately UINT Pn384 2 Vibration Detection Level 0 to 5000 1 mm s 10 Immediately UINT Pn385 2 Motor Max Speed 1 to 100 100 mm s 50 After restart UINT Pn401 1st Step lst Torque Reference Filter 0 to 65535 0 01 ms 100 Immediately UINT Time Constant Pn402 3 Forward Torque Limit 0 to 800 1 800 Immediately UINT Appendix 10 19 10 Appendik 3 Factory Data Pn No Name Setting Range Units Setting When Enabled Type Pn403 2 Reverse Torque Limit 0 to 800 1 800 Immediately UINT Pn404 Forward External Torque Limit 0 to 800 1 100 Immediately UINT Pn405 Reverse External Torque Limit 0 to 800 1 100 Immediately UINT Pn406 Emergency Stop Torque 0 to 800 1 800 Immediately UINT Pn407 3 Speed Limit during Torque Control 0 to 10000 1 min 10000 Immediately UINT 2 This parameter is exclusive for SERVOPACKs to be used with linear servomotors model SGDV 000085 x3 This parameter is exclusive for SERVOPACKs to be used with rotational servomotors model SGDV OOOOE Torque Related Function Switch 0000 to 1111 0000 UNIT 4th 3rd 2nd 1st digit digit digit digit n 1st Step Notch Filter Selection Enabled Data Type N A Immediately Uses Ist ste
30. 2 Installation Conditions for Applicable Standards a 3 2 3 2 SERVOPACK Installation ccc ees 3 3 3 2 A A NG Da IA ang Dan aa an a Ke 3 3 3 2 2 Installation Standards a 3 4 3 3 EMC Installation Conditions 0 0c ee 3 5 o SERVOPACK Installation 3 1 3 2 3 SERVOPACK Installation 3 1 1 Installation Environment 3 1 3 1 1 3 1 2 SERVOPACK Installation Environment and Applicable Standards SERVOPACK installation environment and applicable standards are as follows Installation Environment Surrounding air temperature 0 to 55 C Ambient humidity 90 RH or less with no condensation Altitude 1 000 m or less Vibration resistance 4 9 m s Shock resistance 19 6 m s Installation Precautions Mounting in a Control Panel To prevent the temperature around the SERVOPACK from exceeding 55 C take into account the size of the control panel the layout of the SERVOPACK and the cooling method For details refer to 3 2 SERVOPACK Installation Mounting Near a Heating Unit To prevent the temperature around the SERVOPACK from exceeding 55 C suppress radiant heat from the heating unit and temperature rise due to convection Mounting Near a Vibration Source To prevent vibration from being transmitted to the SERVOPACK install a vibration isolator underneath the SERVOPACK Mounting to a Location Exposed to Corrosive Gas Take measures to prevent exposure to corrosive g
31. 240 networked real time nodes in one network segment deterministic communication guaranteed IAONA Real Time Class 4 highest performance minimum cycle time of 200 Is minimum jitter of lt 1 Is for precise synchronization of networked nodes direct peer to peer communication of all nodes publish subscribe Hot Plugging functionality Seamless integration into other networks via routing Standard Compliant IEEE 802 3u Fast Ethernet IP based protocols supported e g UDP Integration with CANopen Profiles EN50325 4 for device interoperability 6 2 6 2 Powerlink cycle time time slot principle Powerlink cycle time time slot principle POWERLINK is based on standard Ethernet with CSMA CD technique which is afflicted with collisions but with the time slot method this problem will be avoided Ina POWERLINK network only one node may send at the same time thus POWERLINK is also applicable for hard real time requirements Network access is managed by a master the EPL Managing Node MN A node can only be granted the right to send data on the network via the MN Further the MN synchronizes all connected nodes The remaining nodes Controlled Nodes CN react to its instruction The figure below shows a complete EPL communica tion cycle Cycle Time Broadcast Communication is effected with the time slot principle mentioned already above Each configured CN is accessed cyclically by the MN At the b
32. 4294967295 STRING String value Data Units This table describes the data units used in this manual Units Description Pos unit This is the user defined position reference unit set by object 2301h i 1 Pos unit 2301 01h 2301 02h inc Vel unit This is the user defined velocity reference unit set by object 2302h 1 Vel unit 2302 01h 2302 02h inc sec Ace uni This is the user defined acceleration reference unit set by object 2303h 1 Acc unit 2303 01h 2303 02h x 10 inc sec ne This is the encoder pulse unit For a 20 bit encoder the resolution will be 1048576 inc per revolution 2 3 2 3 1 2 3 Specifications of the Ethernet Powerlink Network Module Specifications of the Ethernet Powerlink Network Module General Specifications This table lists the general specifications of the Ethernet Powerlink Network Module Applicable SERVOPACK 2 V Series SGDV OOOOE10 SERVOPACK For rotational servomotor 2 V Series SGDV OOOOESO SERVOPACK For linear servomotor Placement Attached to the SERVOPACK Power 3 Specification Power Supply Method Supplied from the control power supply of the SGDV SERVOPACK Surrounding Air Storage 6 P 6 Temperature 0 C to 55 C 20 C to 85 C Ambient Storage Humidity 90 RH or less with no condensation Vibration Shock 2 2 Resistance 4 9 m s 19 6 m s Operating Protection class IP10 Pollution degree 2 Conditions 4
33. Before starting operation with a machine connected change the settings to match the parameters of the machine Starting operation without matching the proper settings may cause the machine to run out of control or mal function lt Do not frequently turn power ON and OFF Since the SERVOPACK has a capacitor in the power supply a high charging current flows when power is turned ON Frequently turning power ON and OFF causes main power devices like capacitors and fuses to deteriorate resulting in unexpected problems lt When using JOG operations Fn002 search operations Fn003 or EasyFFT operations Fn206 the dynamic brake function does not work for reverse overtravel or forward overtravel Take neces sary precautions When using the servomotor for a vertical axis install safety devices to prevent workpieces from fall ing due to alarms or overtravels Set the servomotor so that it will stop in the zero clamp state when overtravel occurs Failure to observe this caution may cause workpieces to fall due to overtravel When not using turning less function set to the correct moment of inertia ratio Pn103 Setting to an incorrect moment of inertia ratio may cause machine vibration lt Do not touch the SERVOPACK heatsinks regenerative resistor or servomotor while power is ON or soon after the power is turned OFF Failure to observe this caution may result in burns due to high temperatures Do not make any extreme adjustmen
34. Demand Pene GUGAH limit function 2301 1 2301 2 Internal Software Position Limit 607Dh y Value Bi Velocity unit Position 60FCh Position Velocity Torque A Vel unit rede inc s trajectory gt control Ey control control Motor Profile Velocity 6081h 2300123022 generator loop loop loop Controlword 6040h gt Quick Stop Deceleration 6085h a A 1 i or Profile Deceleration 6084h Acc unit Acceleration unit 10 finc s i 5 multiplier ma Profile Acceleration 6083h gt 2303 1 2303 2 Quick Stop Option Code 605Ah gt i Encoder i Torque Actual Value 6077h PA ps as da a AE AASA basaaada kasassa isasazl a Velocity Actual Value 606Ch Velocity unit pa AAN AS multiplier j 6 2302 2 2302 1 Position Actual Position Actual Value 6064h Position unit Internal Value 6063h a TA ee a Position Window 6067h Suput ot postion 2301 1 1 Target Reached in Fa anni Posit hed 1 Statusword 6041h pana Magan le E O lt comparator m Related Objects Index Sub Name Access PDO Units Type Mapping 6040h Controlword RW Yes UINT 6041h Statusword RO Yes UINT 60C1h 1 Interpolation Data RW Yes Pos units DINT Software Position Limit 607Dh Min position limit RW No Pos units DINT 2 Max position limit RW No Pos units DINT 6084h Profile Deceleration RW Yes Acc units UDINT 6085h Quick Stop Deceleration RW Yes Acc units
35. HG Naks Index lade Name Type Access Mapping Default Value Lower Limit Upper Limit Unit 1F93h NMT EPL Node ID Record 0 Number of entries RO No 2 2 3 1 Node ID USINT RO No BOOLE 2 Node ID by Hardware AN RO No TRUE 1F98h NMT Cycle Timing Record 0 Number of entries RO No 9 1 9 1 Isochronous Tx max Payload UINT RO No 1490 0 1500 2 Isochronous Rx max Payload UINT RO No 1490 0 1500 3 PRes Max Latency UDINT RO No 2000 0 4294967295 ns 4 umt RW PReq Act Payload Limit VOR No 36 36 1490 5 umt RW PRes Act Payload Limit VOR No 36 36 1490 6 ASnd Max Latency UDINT RO No 2000 0 4294967295 ns 7 USINT RW Multiple Cycle Counter VOR No 0 8 unt RW ASync MTU VOR No 300 300 1500 9 umt RW Prescaler VOR No 2 0 1000 NMT CN Basic Ethi t RW 1F99h Jo SEC UDINT i No 5000000 0 4294967295 Timeout VOR 1F9Ah 0 NMT Hostname STRING RW No 1F9Eh 0 NMT Reset Command USINT RW No 255 40 43 255 1400h Receive PDO Communication O Number of entries USINT No 2 E 1 NodeID_U8 USINT RO No 0 0 259 2 Mapping Version U8 USINT RW No 0 0 255 1600h 1st Receive PDO Mapping O Number of entries USINT RW No 3 0 8 1 Mapping entry 1 u64 RW No 0x10000000006040 0 ee ts 2 Mapping entry 2 u64 RW No 0x2000780000607A 0 panan as lia 3 Mapping entry 3 u64 RW No 0x200078000060FF 0 pr ice 4 Mapping entry 4 u64 RW No 0 0 NIN 5 Mapping entry 5 u64 RW No 0 0 paisa 6 Mapping entry
36. One short flash approximately 200ms followed by a long off phase approximately 1000 ms LED double flash NMT CS PRE OPERATIONAL 2 A sequence of two short flashes approximately 200 ms sepa rated by an off phase approximately 200ms The sequence is finished by a long off phase approximately 1000 ms LED triple flash NMT_CS_READY_TO_OPERATE A sequence of three short flashes approximately 200ms sep arated by an off phase approximately 200ms The sequence is finished by a long off phase approximately 1000 ms LED on NMT_CS_OPERATIONAL Constantly on Equal on and off times with a frequency of approximately 2 5 LED blinking NMT_CS_STOPPED Hz on for approximately 200 ms followed by off for approxi mately 200 ms m ERR The ERR indicator shows the error status of Powerlink communication Red LED Error State Description Off No error The device is in working condition On Error Communication error occurs NMT GT6 or NMT_CT11 E Link Activity The Link Activity indicators show the status of the physical link and show activity on this link Green LED state Link Activity On Yes No Flickering Yes Yes Off No Not applicable 3 SERVOPACK Installation This chapter describes how to install the SERVOPACK 3 1 SERVOPACK Installation Environment and Applicable Standards 3 2 3 1 1 Installation Environment a 3 2 3 1
37. Option Card This alarm is detected if Board ID or OpType Option Card ID set during DPM Initial Sequence is found to be out of supported range No 0x0E80 Error of Command Option Card not Matching Upon power on Servo Unit confirms a Board ID signal output from Option Card This alarm is detected if OpType Option Card ID set during DPM Initial Sequence is different from the Board ID obtained upon previous power on Itis to notify that Option Card has been replaced by another type After the alarm detection the DPM data exchange will be continued This alarm cannot be reset unless Fn014 in an operation mode is executed a Appendix 10 31 10 Appendik 10 32 10 4 SDO Abort Code List The following table shows the SDO abort codes for SDO communication errors Value Meaning 0x0504 0005 Out of memory 0x0601 0001 Attempt to read a write only object 0x0601 0002 Attempt to write a read only object 0x0602 0000 Object does not exist in the object dictionary 0x0604 0041 Object can not be mapped to the PDO 0x0604 0042 The number and length of the objects to be mapped would exceed PDO length 0x0604 0043 General parameter incompatibility reason 0x0606 0000 Access failed due to an hardware error Error cause a The EEPROM operation is failed 0x0607 0010 Data type does not match length of service parameter does not match
38. RW No Vel units UDINT 6083h Profile Acceleration RW Yes Acc units UDINT 6084h Profile Deceleration RW Yes Acc units UDINT 6085h Quick Stop Deceleration RW Yes Acc units UDINT 606Bh Velocity Demand Value RO Yes Vel units DINT 606Ch Velocity Actual Value RO Yes Vel units DINT 606Dh Velocity Window RW No Vel units UINT 606Eh Velocity Window Time RW No ms UINT CiA402 Drive Profile 7 CiA402 Drive Profile 7 7 Profile Torque Mode In the Profile Torque mode the torque is output to the target torque based on the torque slope setting The following figure shows the block diagram of the Profile Torque mode Torque Target Torque 6071h a Demand Torque Slope 6087h Value Pl Torque 6074h two E 1 9 Motor trajectory generator Max Torque 6072h q Torque control E Torque Actual Value 6077h E A A ca AE dah kan aw LAA ih ka da in in dd in baa bah ka kah SA da ad ele Ka kah Velosiy Actual Value e0ach er k 2302 2 2302 1 Position Actual 1 Position Actual Value 6064h Position unit Internal Value 6063h D multiplier M 2301 2 2301 1 m Related Objects PDO Index Sub Name Access Mapping Units Type 6071h Target Torque RW Yes 0 1 INT 6087h Torque Slope RW Yes 0 1 s UDINT 6074h Torque Demand Value RO Yes 0 1 INT 6077h Torque Act
39. Signal Mapping BK Oto 3 Same as CLT Warning Signal Mapping WARN Oto 3 Same as CLT 10 24 10 2 SERVOPACK Parameters A Factory Data Pn No Nam ing Ran ni When Enabl o ame Setting Range Units Setting e abled Type Output Signal Selection 3 0000 to 0033 0000 After restart UINT 4th 3rd 2nd 1st digit digit digit digit n Near Signal Mapping NEAR 0 Disabled the above signal is not used Pn510 1 Outputs the signal from CN1 1 2 terminal 2 Outputs the signal from CN1 23 24 terminal 3 Outputs the signal from CN1 25 26 terminal Reserved Do not change Reserved Do not change Reserved Do not change Input Signal Selection 5 0000 to FFFF 6543 After restart UINT 4th 3rd 2nd 1st digit digit digit digit n Reserved Do not change Input Signal Mapping for Probe1 S14 4 Inputs the signal from CN1 10 input terminal Inputs the signal from CN1 11 input terminal Inputs the signal from CN1 12 input terminal Sets signal ON Pn511 Z 5 6 7 8 Sets signal OFF D Inputs the reverse signal from CN1 10 input terminal E Inputs the reverse signal from CN1 11 input terminal E Inputs the reverse signal from CN1 12 input terminal g to 7 Sets signal OFF Input Signal Mapping for Probe2 SI5 0 to F Same as Probel signal mapping Input Signal Mapping for Home S16 O to F Same as Probel signal mapping 5 Appendix 10 25
40. Speed Reference 0 to 10000 1 mm s 0 Immediately UINT 2 This parameter is exclusive for SERVOPACKs to be used with linear servomotors model SGDV 000085 Pn182 Mode Switch Acceleration 0 to 30000 1 mm s2 0 Immediately UINT Pn2053 Multiturn Limit 0 to 65535 1 rev 65535 After restart UINT Position Control Function Switch 0000 to 2210 0010 After restart UINT 4th 3rd 2nd 1st digit digit digit digit n Reserved Do not change Reserved Do not change Pn207 Reserved Do not change COIN Output Timing 0 Outputs when the position error absolute value is the same or less than the positioning completion width Pn522 1 Outputs when the position error absolute value is the position completion width Pn522 or less and the reference after position reference filtering is 0 2 When the absolute value of the position error is below the positioning completed width setting Pn522 and the position reference input is 0 Pn20A3 Number of External Encoder Pitch 4 to 1048576 y l 32768 After restart UDINT pitch rev 4 2 1 to 1073741824 Pn20E Electronic Gear Ratio Numerator 230 1 4 After restart UDINT x4 f 1 to 1073741824 Pn210 Electronic Gear Ratio Denominator 030 1 1 After restart UDINT 10 18 10 2 SERVOPACK Parameters A Factory Data Pn No Name Setting Range Units Setting When Enabled Type 16 to Pn2123 Encoder
41. Sub Name Data Type Access ia Value apping 2300h O User Unit Group Enable UDINT RW No 0 to 1 Default 0 E Procedure 1 Change FSA state to Switch on Disabled 2 Set new parameter setting value 3 Set object 2300h to 1 for activating the new user settings When processing is completed the value of object 2300h is reset to 0 je Object Dictionary 8 9 8 Object Dictionary 8 10 4 Position User Unit 2301h This object sets the user defined position reference unit Pos unit The user defined position reference unit is calculated by the following formula 1 Pos unit Numerator Denominator inc Index Sub Name Data Type Access Dad Value apping O Number of entries USINT RO No 2 1 to 1073741823 2301h 1 Numerator UDINT RW No Default 1 i 1 to 1073741823 2 Denominator UDINT RW No Default 1 5 Velocity User Unit 2302h This object sets the user defined velocity reference unit Vel unit PDO Index Sub Name Data Type Access Mappi Value apping O Number of entries USINT RO No 2 1 to 1073741823 2302h 1 Numerator UDINT RW No Default 1 2 Denominator UDINT RW No Lito 1073141953 Default 1 6 Acceleration User Unit 2303h This object sets the user defined acceleration reference unit Acc unit PDO Index Sub Name Data Type Access Value Mapping O Number of entries USINT RO No 2 1 to 10
42. according to IEEE 802 3 or transmit ASnd frames On the reception of a SoC PReq PRes or SoA frame the CN immediately change over to NMT CS PRE OPERATIONAL 1 In Basic Ethernet Mode the network medium is accessed according to CSMA CD thus the network communication is collision prone and non deterministic Data between the nodes are preferentially exchanged via UDP IP The large extension of the maximum topology of an Ethernet POWERLINK Network conflicts with the topology rules of IEEE 802 3 Due to this fact CSMA CD might work poorly in large EPL networks EPL nodes shouldn t operate in Basic Ethernet Mode when the node is part of an automation system Basic Ethernet Mode is provided for point to point configurations to be used for node setup and service purpose only After transition to the above state will cause a transition to the PDS FSA fault reaction state if the PDS FSA is in Switch on Operation enabled or in Quickstop state 7 1 7 2 7 3 7 4 7 5 7 6 7 7 7 8 7 9 CiA402 Drive Profile Device Control tus dunes Selena BAN NG Naa Kha Read 7 2 Modes of Operation_ lt a tee 7 4 Profile Position Mode coincida rai pe 7 5 Interpolated Position Mode 000 2 eee eee eee 7 7 HOMINO anes ue Pee sb NG hee UNG ee tae HENAN ee PERETE REEE EERE 7 8 Profile Velocity Mode aa tee 7 11 Profile Torque Mode oococococcco 7 12 Digital Inputs and Outputs lt lt lt 00 ra
43. controller absorber Network Module Clamp Core Powerlink CN11 o Noise E 6 filter 2 Supply O Surge SERVOPACK absorber Control power Kl 5 24 v 0ov UVW L1 L2 L3 CN2 CN1 CN8 Core Servomotor Core Encoder One turn or Two turn Clamp Cor Clamp Two turn One turn PE Host controller Safety unit Symbol Cable Name Specification O VO signal cable Shield cable O Safety signal cable Shield cable Motor main circuit cable Shield cable Encoder cable Shield cable O Control power cable Shield cable Main circuit cable Shield cable Ethernet communication cable Shield cable 1 2 x3 Products that have received CE marking are recommended for the 24 VDC power supply Install the following noise filter on the power line between the single phase 200 V power supply and the 24 VDC power supply Model number FN2070 6 07 SCHAFFNER For more information on this filter refer to 2 V Series Product Catalog KAEP S800000 42 Hm Three phase 400 V 3 3 EMC Installation Conditions e SGDV OOODE1A 1000 210 260 280 370 SGDV OCB02A
44. default parameters In order to avoid restoring of parameters by mistake restoring is only executed when a specific signature is written to the appropriate sub index The signature that shall be written is load Signature MSB LSB ASCII d a o l hex 64h 61h 6Fh 6Ch By writing load to Sub Index 1 the values of the mentioned above objects are restored Note 1 fer APRO If a wrong signature is written the SGDV SERVOPACK refuses to restore and responds with Abort SDO Trans Sub Index 1 can be written only in Switch on Disabled state Servo off state During restoring values O will be returned by read this object The default values are set as valid after the SGDV SERVOPACK has been reset or power cycled If the restoring failed the device responds with an Abort SDO Transfer Identity Object 1018h The object contains general information about the device Index Sub Name Data Type Access oases Value O Number of entries USINT RO No 4 1 Vendor ID UDINT RO No 0x010000E7 1018h 2 Product code UDINT RO No 00000B02h 3 Revision number UDINT RO No 4 Serial number 2 UDINT RO No 0x00000000 7 1 OCUUDA are stored as a data 2 Serial number is not used always 0 8 6 In this area the type ID of the Option Card is stored The values represented as U in the substrate model SGDV 8 3 PDO Mapping Ob
45. digit digit digit n Servomotor power OFF or Alarm Gr 1 Stop Mode 0 Stops the motor by applying DB dynamic brake 1 Stops the motor by applying dynamic brake DB and then releases DB 2 Makes the motor coast to a stop state without using the dynamic brake DB Overtravel OT Stop Mode Pn001 0 Same setting as Pn001 0 Stops the motor by applying DB or by coasting 1 Sets the torque of Pn406 to the maximum value decelerate the servomotor to a stop and then sets it to servolock state 2 Sets the torque of Pn406 to the maximum value decelerates the servomotor to a stop and then sets it to coasting state AC DC Power Input Selection Not applicable to DC power input Input AC power supply through L1 L2 and L3 terminals Applicable to DC power input Input DC power supply between B1 and or input DC power supply between Bl and 2 Reserved Do not change 5 Appendix 10 9 10 Appendik Pn No Name Setting Range Units ae L When Enabled ee Application Function Select Switch 2 0000 to 4113 0000 After restart UINT 4th 3rd 2nd 1st digit digit digit digit n Torque Limit Reference Selection for Powerlink Network Module 1 Enables the torque limit reference from the command option module Automatically set by the Powerlink Network Module Speed Limit Reference Selection for Powerlink Network Module 0 Disables the speed limit reference when torgue limit is used
46. error O0 No error 1 Error 1 7 Reserved 0 Always 3 Error History 1003h This object displays the error history of the device Index Sub Name Data Access EDO Value Type Mapping 1003h 0 Number of entries USINT RW TPDO 0 254 1 254 Error entry RO No An error entry has the following format Octet offset Field Abbr Description Value 0 1 Entry Type iype see the following table Unsigned16 Depending on the Entry Type the error codes are 2 3 Error Code code described in the device profiles device Unsigned16 descriptions or the communication profile a 3 SoC Nettime from the cycle when the error event 4 11 Time Stamp time was d tected Unsigned64 12 19 Manufacturer Error add This field contains device profile error information Unsigned64 8 4 8 2 General Objecis Description of one entry All elements of the Error Entry shall be stored and transferred in little endian format Octet Bit Value Description 0 ERR History entry 15 status i Status Entry in StatusResponse frame Bit 14 shall be sent to 0 0 ERR History only 14 send Additional to the ERR History the entry shall also be entered into the Emergency Queue of the Error Signaling Not allowed in ERR History Entries with this mode may only be used by Oh the Error Signaling itself to indicate the termination of the History Entries in the StatusResponse frame 0 1 13 12 mode 4h An error has occurre
47. faulty Gr 1 N A bFOh System Alarm 0 Internal program error 0 occurred in the SERVOPACK Gr 1 N A bF1h System Alarm 1 Internal program error 1 occurred in the SERVOPACK Gr 1 N A bF2h System Alarm 2 Internal program error 2 occurred in the SERVOPACK Gr 1 N A bF3h System Alarm 3 Internal program error 3 occurred in the SERVOPACK Gr 1 N A bF4h System Alarm 4 Internal program error 4 occurred in the SERVOPACK Gr 1 N A C10h Servo Overrun Detected The servomotor ran out of control Gr 1 Available C20h Phase Detection Error An error occurred in phase detection Gr 1 N A C21h Hall Sensor Error A hall sensor error occurred Gr 1 N A x Phase Information lt 1 C22h Disagreement Magnetic detection failed Gr 1 N A C50h 1 Polarity Detection Error Magnetic detection failed Gr 1 N A x Overtravel Detection at i lt 1 C51h Polarity Detection An overtravel signal was detected during polarity detection Gr 1 Available x Polarity Detection The servo has been turned ON while polarity detection was 1 C52h Uncompleted not yet complete oe sayan anis x Out of Range for Polarity The moving distance exceeded the set value of Pn48E in 1 C53h Detection middle of detection ou NA C54h Polarity Detection Error 2 Magnetic detection failed Gr 1 N A Absolute Encoder Clear Error C80h and Multi turn Limit Setting nagi Sra for the absolute encoder was not properly Gr 1 N A Error cleared or set c90h Encoder Communications Communication
48. from the command option module Automatically set by the Powerlink Network Module Pn002 Absolute Encoder Usage 0 Uses absolute encoder as an absolute encoder 1 Uses absolute encoder as an incremental encoder External Encoder Usage 0 Do not use external encoder 1 Uses external encoder in forward rotation direction 2 Reserved Do not change 3 Uses external encoder in reversed rotation direction 4 Reserved Do not change Application Function Select Switch 6 0000 to 005F 0002 Immediately UINT 4th 3rd 2nd st digit digit digit digit n Analog Monitor 1 Signal Selection 00 Motor speed 1 V 1000 min 01 Speed reference 1 V 1000 min 02 Torque reference 1 V 100 03 Position error 0 05 V 1 reference unit 04 Position amplifier error after electronic gears 0 05 V 1 encoder pulse unit 05 Position reference speed 1 V 1000 min Pn006 06 Reserved Do not change 07 Motor load position error 0 01 V 1 reference unit e 08 Positioning completion positioning completed 5 V positioning not completed 0 V 09 Speed feedforward 1 V 1000 min OA Torque feedforward 1 V 100 OB Active gain 1st gain 1 V 2nd gain 2 V OC Completion of position reference completed 5 V not completed 0 V OD External encoder speed 1 V 1000 min Reserved Do not change Reserved Do not change 10 10 10 2 SERVOPACK Parameters Pn No Name Setting Range U
49. is in progress and a new set point is validated by the new set point bit 4 in the Control word the new set point shall be processed only after the previous has been reached The additional dotted line segment in the following figure shows the actual speed if the change of set point bit bit 9 is set to 1 Motor speed New set point bit 4 LEO OW y t Target set point t Current target N position processed St Set point N acknowledge bit 12 t Target AX reached bit 10 gt t 7 4 Interpolated Position Mode 7 4 Interpolated Position Mode The Interpolated Position mode is used to control multiple coordinated axes or a single axis with the need for time interpolation of set point data The Interpolated Position mode normally uses time synchronization mechanisms for a time coordination of the related drive units The interpolation time period defines the update cycle of the interpolation data The intercycle interpolation will be performed based on this settings The interpolation data is interpreted as absolute value The following figure shows the block diagram of the Interpolated Position mode Interpolation Data 60C1h RP i i put Pos unit Position unit inc Bonton Interpolation Time buffer Position aier
50. may result in malfunction Use shielded twisted pair wires or multi core shielded twisted pair wires for input output signal cables and the encoder cables I O signal cables must be no longer than 3 m encoder cables must be no longer than 50 m and control power supply cables for the SERVOPACK with a 400 V power supply 24 V O V must be no longer than 10 m Do not touch the power terminals while the charge indicator is ON after turning power OFF because high voltage may still remain in the SERVOPACK Make sure the charge indicator is off first before starting an inspection Observe the following precautions when wiring main circuit terminal blocks of the SERVOPACK Remove the detachable main circuit terminal blocks from the SERVOPACK prior to wiring Insert only one main power line per opening in the main circuit terminals Make sure that no part of the core wire comes into contact with i e short circuit adjacent wires Install a battery at either the host controller or the SERVOPACK but not both It is dangerous to install batteries at both ends simultaneously because that sets up a loop circuit between the batteries Always use the specified power supply voltage An incorrect voltage may result in fire or malfunction Take appropriate measures to ensure that the input power supply is supplied within the specified voltage fluctuation range Be particularly careful in places where the power supply is unstable An incorrect power supply may
51. mounting holes depending on the SERVOPACK capacity e Base mounted e Rack mounted 7 mi Air flow TITI tt ONIS e Duct ventilated tt Z Duct e VA o p d Gi tt Air flow o SERVOPACK Installation 3 3 3 4 3 SERVOPACK Installation 3 2 2 Installation Standards 3 2 2 Installation Standards Observe the standards for mounting SERVOPACKs in control panels including those for the mounting SER VOPACKs side by side in one control panel as shown in the following illustration e SERVOPACK Mounting Orientation Mount the SERVOPACK vertically to the wall with the front panel the side with the panel operator display facing out Cooling Refer to the following diagram and leave sufficient space for cooling by fans and natural convection e Mounting SERVOPACKs Side by Side in a Control Panel Fan Fan z i t gt gt gt 4 7 po Width varies with SERVOPACK model 30 mm or more ni 00 oo 40 mm or more
52. not use adjust anti resonance control automatically using utility function 1 Adjusts anti resonance control automatically using utility function Reserved Do not change Reserved Do not change Pn161 Anti Resonance Frequency 10 to 20000 0 1 Hz 1000 Immediately UINT Pn162 Anti Resonance Gain Compensation 1 to 1000 100 100 Immediately UINT Pn163 Anti Resonance Damping Gain 0 to 300 1 0 Immediately UINT Pn164 Anti Resonance Filter Time Constant 1 11000 to 1000 0 01 ms 0 Immediately UINT Compensation Pn165 Anti Resonance Filter Time Constant 2 a to 1000 0 01 ms 0 Immediately UINT Compensation E Appendix 10 17 10 Appendik Factory Data Pn No Nam ing Ran ni When Enabl o ame Setting Range Units Setting e abled Type Tuning less Function Rated Switch 0000 to 2411 1401 UINT 4th 3rd 2nd 1st digit digit digit digit n a A i When Tuning less Function Selection Enabled Data Type Tuning less function disabled After Tuning less function enabled restart When Pn170 Enabled Data Type After UINT 4 Uses as speed control and uses the host controller for position control restart A When Tuning less Tuning Level Enabled Data Type 0 to 4 Sets tuning less tuning level Immediately UINT When Tuning less Load Level Enabled Data Type 0 to 2 Sets tuning less load level Immediately UINT Pn181 Mode Switch
53. off or HWBB will be active the alarm Abnormal control state will appear and go into Fault state 1 2 3 State Machine Controlling Command 7 1 Device Control Bits of the Controlword 6040h a Command Transitions Bit7 Bit3 Bit2 Bit1 Bito Shutdown 0 1 1 0 2 6 8 Switch on 0 0 1 1 1 3 e KEN o l l l dri Disable voltage 0 0 7 9 10 12 Quick stop 0 0 1 7 10 11 Disable operation 0 0 1 1 1 5 Enable operation 0 1 1 1 1 4 Fault reset 031 15 Related Objects Index Sub Name Access HG Units Type 6040h Controlword RW Yes UINT 6041h Statusword RO Yes UINT 605Ah Quick Stop Option Code RW No z INT 605Dh Hali Option Code RW No INT Unconfigurable FSA Stop Action Transitions Transitions number Action Shutdown 8 Servo off Disable voltage 9 Servo off Disable operation 5 Slow down in Profile Deceleration 0x6084 Fault reaction active 13 Slow down in Quick Stop Deceleration 0x6085 CiA402 Drive Profile 7 3 7 4 7 CiA402 Drive Profile 7 2 Modes of Operation The SGDV SERVOPACK supports the following modes of operation e Profile Position mode e Homing mode e Interpolated Position mode e Profile Velocity mode e Torque Profile mode Related Objects Index Sub Name Access ane Units Type 6060h Modes of Operation RW Yes SINT 6061h M
54. physical output 1 Enable 17 SO2 CN1 23 24 pin 0 Disable physical output 1 Enable 18 S03 CN1 25 26 pin 0 Disable physical output 1 Enable 19to 31 Reserved Note Setting of bit mask 0 Disable 1 Enable The Output mask Ox60FE 2 is made to secure the physical outputs from sudden change by Output Ox60FE 1 Therefore in order to prevent unintended results of the physical outputs it is user s obligation to set and verify the Output mask Ox60FE 2 value before any Output Ox60FE 1 assignment It is recommended that read and write of Output mask Ox60FE 2 are done only by SDO command However reading the value of 60FE is possible it does not reflect the actual value of the digital outputs Reading the status of the digital outputs is possible using the 2211 object je Object Dictionary 8 33 8 Object Dictionary 8 34 9 Troubleshooting 9 1 Troubleshooting suis ia ds sd 9 2 9 1 1 Alarm List for SERVOPACKs with Command Option Attachable Type 9 2 9 1 2 List of the Powerlink Network Module Alarms eaaa eaaa ae 9 6 9 1 3 Troubleshooting of the Powerlink Network Module Alarms o oo o o o 9 6 9 2 Warning Displays a 9 8 9 3 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor esaeran 9 9 a Troubleshooting 9 1 9 2 9 Troubleshooting 9 1 1 Alarm List for SERVOPACKs with Command Option Attachable Type 9 1
55. prevent the resistor from being disconnected take measures to reduce the load Replace the SERVOPACK Reduce the load so that the moment of inertia ratio becomes within the allowable value or increase the load level or lower the tuning level for the tuning less level setting Fn200 Tighten the mounting screws Align the couplings Balance the couplings Replace the servomotor Contact the machine manufacturer Use the specified input signal wires The input output cable length must be no more than 3 m Use the specified encoder cable The encoder cable must be no more than 20 m Replace the encoder cable and mod ify the encoder cable layout Correct the encoder cable layout so that no surge is applied Ground machines correctly and prevent diversion to the FG at the PG side Take measures against noise in the encoder wiring Reduce vibration from the machine or secure the servomotor installa tion Replace the servomotor 9 3 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor Corrective Actions Execute the advanced autotuning Reduce the speed loop gain Pn100 Problem Probable Cause Investigative Actions a Check to see if the servo gains have Unbalanced servo gains been correctly adjusted Speed loop gain value Pn100 too Pall ag Speed Oop gain valus high BANA ae Servomotor Factory setting Kv 40 0 Hz Vibrates at B8 Check the pos
56. result in damage to the product Install external breakers or other safety devices against short circuiting in external wiring Failure to observe this caution may result in fire Take appropriate and sufficient countermeasures for each form of potential interference when installing systems in the following locations e Locations subject to static electricity or other forms of noise e Locations subject to strong electromagnetic fields and magnetic fields e Locations subject to possible exposure to radioactivity e Locations close to power supplies Failure to observe this caution may result in damage to the product Do not reverse the polarity of the battery when connecting it Failure to observe this caution may damage the battery the SERVOPACK the servomotor or cause an explosion Wiring or inspection must be performed by a technical expert Use a 24 VDC power supply with double insulation or reinforced insulation m Operation AN CAUTION lt Always use the servomotor and SERVOPACK in one of the specified combinations Failure to observe this caution so may result in fire or malfunction lt Conduct trial operation on the servomotor alone with the motor shaft disconnected from the machine to avoid accidents Failure to observe this caution may result in injury lt During trial operation confirm that the holding brake works correctly Furthermore secure system safety against problems such as signal line disconnection lt
57. rotating at high speed when the power was Gr1 N A turned ON 860h Encoder Overheated The internal temperature of encoder is too high Gr 1 N A 890h Encoder Scale Error A linear scale fault occurred Gr 1 N A 891h Encoder Module Error An encoder fault occurred Gr 1 N A 8A0h 3 External Encoder Error External encoder is faulty Gr 1 Available 8A1h3 External Encoder Error of Serial converter unit is faulty Gr 1 Available Module External Encoder Error of A lt 3 P 8A2h Sensor Incremental External encoder is faulty Gr 1 Available External Encoder Error of wis Ha 7 3 8A3h Position Absolute The external encoder position data is incorrect Gr 1 Available 8A5h 3 External Encoder Overspeed The overspeed from the external encoder occurred Gr 1 Available 8A6h3 External Encoder Overheated The overheat from the external encoder occurred Gr 1 Available b31h Curent eon Errori The current detection circuit for phase U is faulty Gr 1 N A Phase U o Troubleshooting 9 3 9 4 9 Troubleshooting 9 1 1 Alarm List for SERVOPACKs with Command Option Attachable Type Servomotor pai Alarm Name Meaning Stop aus Method Current Detection Error 2 SAN b32h Phase V The current detection circuit for phase V is faulty Gr 1 N A Current Detection Error 3 ee f b33h Current detector The detection circuit for the current is
58. saa aaa ee ky pa a maa aa ga maa a aan an 3 2 3 1 2 Installation Conditions for Applicable Standards a 3 2 3 2 SERVOPACK Installation Ga baa ad 3 3 3 24 Orientation aye nc ad do mba pa dora dt nA ANG 3 3 3 2 2 Installation Standards mn gng a AN ai ad ABA PAN eee EA 3 4 3 3 EMG Installation ConditionsS rra PAANAN 3 5 Chapter 4 Wiring and Conneclion AA ee 4 1 4 1 System Configuration Diagram e ee 4 2 4 2 VO Signal Connections ca ena 4 3 4 2 1 I O Signal CN1 Names and Functions a eet 4 3 4 2 2 I O Signal Connector CN1 Terminal Layout cece eee ee 4 4 4 2 3 Example of I O Signal Connections aaa aa aaa aaa 4 5 4 3 VO SignalAllocati0ns naa eh hee dk Tadhana Bising EA a idos KANAN 4 6 4 3 1 Input Signal Allocations a a a e aa aaa aa aa aaa aa aaa 4 6 4 3 2 Output Signal Allocations a a a e aa aa e aa aa aaa aaa aaa 4 8 4 4 Connection Example of Powerlink Communication 4 9 4 4 1 Connection Example 2 a ea a aaa aa aaa aa eaaa a aaa aa aaa 4 9 4 4 2 Powerlink Connector RJ45 0 a aa aaa aa aaa aa aa aaa aaa 4 9 4 4 3 Ethernet Cable ana noha Slade E Wk a a Da ys A NADIN ANA a KS ion 4 10 4 4 4 Powerlink Secondary Address Setitings eaaa eaaa ee 4 10 xii Chapters Operations AA a AA ANG Bias ber a 5 1 5 1 Settings for Common Basic Functions
59. slave If reversed communication will not be successfully performed controller AA CHARGE o ulo vlog jon ulon 14 OD joo BJ OD oo equ e NG Jon vion OT 526 On pA Powerlink Note The maximum length of cables between stations L1 to Ln is 50 m 4 4 2 Powerlink Connector RJ45 Connector Description CN11A Powerlink signal input CN11B Powerlink signal output Connector Pin Arrangement Pin No Signal Name Remarks 1 TD 5 TD Send data 3 RD Receive data 4 N C 5 N C 6 RD Receive data 7 N C 8 N C Pins denoted as N C do not connect to any signal Wiring and Connection 4 9 4 10 4 Wiring and Connection 4 4 3 Ethernet Cable 4 4 3 4 4 4 Ethernet Cable Ethernet cables in CATSe quality can be used as the connection cables Also requirements of a cable is follows Shield type S STP or S UTP Length Max 50 m between the nodes Note Using other type of cables might lead to noise and communication problems Powerlink Secondary Address Settings The Powerlink secondary address Station Alias can be used for identification or for addressing of a device OCB02A
60. supply not included 2 Before connecting an external regenerative resistor to the SERVOPACK refer to 2 V Series User s Manual Design and Maintenance Rotational Motor Command Option Attachable Type SIEP S800000 60 Note The connections and wiring of the power supply of the main circuit and that of the controls differ in accordance with the SERVOPACK to be used For details refer to Z V Series User s Manual Design and Maintenance Rotational Motor Command Option Attachable Type SIEP S800000 60 4 2 4 2 4 2 1 O Signal Connections 4 2 I O Signal Connections This section describes the names and functions of I O signals CN1 Also terminal layout and connection examples by control method are shown I O Signal CN1 Names and Functions The following table shows the names and functions of I O signals CN1 Input Signals Refer Signal Pin No Name Function ence Section Forward run P OT 7 prohibited Overtravel prohibited Stops servomotor when movable part 5 7 N OT 8 Reverse run travels beyond the allowable range of motion prohibited Probe1 SI4 10 Probe 1 latch signal Connects the Probe signals to latch the value of the feedback 7 9 Probe2 11 Probe 2 latch signal counter S15 Home Home switch input SI6 9 signal Connects the Home signal for homing 7 5 Control power sup Control power supply input for sequence signals The 24 24VIN 6 ply for sequence si
61. target position and are always relative to the machine home position Software limit change is not allowed in Operation enable and Quick Stop state Movement operation from out of limits condition is allowed only to the negative direction of the software limit The software limits will be disabled if Min position limit gt Max position is given PDO Index Sub Name Data Type Access Maooi Value apping O Number of entries USINT RO No 2 2147483648 to A PR HA 2147483647 1 Min position limit DINT RW Yes D fault Depending on 607Dh the motor type 2147483648 to 2 Max position limit DINT RW Yes 21474804 Default Depending on the motor type 3 Max Profile Velocity 607Fh The max profile velocity is the maximum allowed speed in either direction during a profiled move It is given in the same units as profile velocity Index Sub Name Data Type Access eee Value apping 0 to Max motor speed 607Fh 0 Max Profile Velocity UDINT RW Yes Default Max motor speed 8 22 8 6 Profile Position Mode Profile Velocity 6081h The profile velocity is the velocity normally attained at the end of the acceleration ramp during a profiled move and is valid for both directions of motion 4 Index Sub Name Data Type Access hie Value apping 6081h o Profile Velocity UDINT RW Yes a a i ae
62. temperature e Locations subject to corrosive or flammable gases e Locations subject to dust salts or iron dust e Locations subject to exposure to water oil or chemicals e Locations subject to shock or vibration lt Do not hold the product by the cables motor shaft or detector while transporting it Failure to observe this caution may result in injury or malfunction Do not place any load exceeding the limit specified on the packing box Failure to observe this caution may result in injury or malfunction If disinfectants or insecticides must be used to treat packing materials such as wooden frames pal lets or plywood the packing materials must be treated before the product is packaged and meth ods other than fumigation must be used Example Heat treatment where materials are kiln dried to a core temperature of 56 C for 30 minutes or more If the electronic products which include stand alone products and products installed in machines are packed with fumigated wooden materials the electrical components may be greatly damaged by the gases or fumes resulting from the fumigation process In particular disinfectants containing halogen which includes chlo rine fluorine bromine or iodine can contribute to the erosion of the capacitors m Installation N CAUTION Never use the product in an environment subject to water corrosive gases inflammable gases or combustibles Failure to observe this caution may r
63. the IGBT for the current amplifier IMPORTANT Explanations The following icon is displayed for explanations requiring special attention 0 MPORTANT e Indicates important information that should be memorized as well as precautions such as alarm displays that do not involve potential damage to equipment Notation Used in this Manual Reverse Symbol Notation In this manual the names of reverse signals ones that are valid when low are written with a forward slash before the signal name as shown in the following example Example The notation for BK is BK lt Parameter Notation The following two types of notations are used for parameter digit places and settings Example Notation Example for Pn000 Pn0005n 0000 Digit Notation Set Value Notation i Notation Method Meaning Notation Method Meaning suh i igi Indicates that digit 1 of the Digit 1 Pn000 0 Indicates digit 1 Pn000 0 x J of the parameter Pn000 or n 000x parameter Pn000 is x Digit2 Pn000 4 Indicates digit 2 Pn000 1 x Indicates that digit 2 of the of the parameter Pn000 or n OOxO parameter Pn000 is x ai Indicates digit 3 Pn000 2 x Indicates that digit 3 of the Digit 3 Pn000 2 of the parameter Pn000 or n OxOO parameter Pn000 is x Digit4 Pn000 3 Indicates digit 4 Pn000 3 x Indicates that digit 4 of the of the parameter Pn000 or n xOOO parameter Pn000 is x
64. the Servo MOTOR sa naaa Gea an ah dean a a PG AnG ale Maud nd laa may ka 9 9 GhapierlO0 AppendiK asa aako AKNG ene Ren Arte a LANG lan 10 1 1041 ODOC AA 10 2 10 2 SERVOPACK Parameters aa 10 9 10 3 Error CODE sha ia NIRA a ND ae Dae NAMA a eee Pee ee 10 29 10 4 SDO Abort Code List sg ia nag kan ag ag E es 10 32 Revision History 4 O Checking Products This chapter describes how to check products upon delivery 1 1 Checking Products on Delivery anaa 1 2 1 2 Nameplate and Model Designation een 1 2 1 3 Nameplate Location eea 1 3 Checking Products 1 1 1 Checking Producis 1 1 Checking Products on Delivery 1 When the Powerlink Network Module is Not Connected to the SERVOPACK 1 Mount the Powerlink Network Module to the SERVOPACK as described in the enclosed 3 V Series Command Option Module Installation Guide TOBP C720829 01 For the location of the nameplate refer to 1 3 Nameplate Location 2 Check the nameplate to confirm that the product is the one that was ordered For the nameplate refer to 1 2 Nameplate and Model Designation 2 When the Powerlink Network Module is Connected to the SERVOPACK Check the nameplate to confirm that the Module that is mounted is the Powerlink Network Module The nameplate is located in the following position
65. then restart operation Reduce load or replace with larger capacity servomotor Correct the wiring Wire the main circuit power supply correctly Wire the control power supply cor rectly Correct the wiring Correct the Powerlink cable and connector wiring Send the reference data in the regu lar cycle Tighten any loose terminals or con nectors a Troubleshooting 9 9 9 10 9 Troubleshooting Problem Probable Cause Investigative Actions Corrective Actions Dynamic Brake Does Not Operate Improper Pn001 0 setting DB resistor disconnected DB drive circuit fault Check the setting of parameter Pn001 0 Check if excessive moment of iner tia motor overspeed or DB fre quently activated occurred If any of these occurred it is possible that DB resistance may have been dis connected Abnormal Noise from Servomotor The servomotor largely vibrated during execution of tuning less function Mounting is not secured Bearings are defective Vibration source at the driven machine Noise interference due to incorrect input output signal cable specifica tions Noise interference due to length of input output signal cable Noise interference due to incorrect encoder cable specifications Noise interference due to length of encoder cable wiring Noise interference due to damaged encoder cable Excessive noise to the enc
66. voltage may cause electric shock Follow the procedures and instructions provided in this manual for trial operation Failure to do so may result not only in faulty operation and damage to equipment but also in personal injury The multi turn serial data output range for the Z V Series absolute position detecting system is dif ferent from that of earlier systems with 15 bit and 12 bit encoders In particular change the system to configure the Series infinite length positioning system with the 2 V Series The multi turn limit value need not be changed except for special applications Changing it inappropriately or unintentionally can be dangerous If the Multi turn Limit Disagreement alarm occurs check the setting of parameter Pn205 in the SER VOPACK to be sure that it is correct If Fn013 is executed when an incorrect parameter value is set an incorrect value will be set in the encoder The alarm will disappear even if an incorrect value is set but incorrect positions will be detected resulting in a dangerous situation where the machine will move to unexpected positions Do not remove the front cover cables connectors or optional items from the upper front of the SERVOPACK while the power is ON Failure to observe this warning may result in electric shock Do not damage press exert excessive force on or place heavy objects on the cables Failure to observe this warning may result in electric shock stopping operation of the produ
67. 0 Target Velocity 60FFh 8 10 Target Torque 6071h 8 11 Max Torque 6072h 8 11 Torque Demand Value 6074h 8 11 Profile Torque Mode Torque Slope 6087h 8 11 Motor Rated Torque 6076h 8 11 Torque Actual Value 6077h 8 11 Touch Probe Function 60B8h 8 12 Touch Probe Status 60B9h 8 12 Touch Probe Function Touch Probe 1 Position Value 60BAh 8 12 Touch Probe 2 Position Value 60BCh 8 12 ang Digital Inputs 60FDh 8 13 Digital Inputs Outputs Digital Outputs 60FEh 8 13 je Object Dictionary 8 3 8 Object Dictionary 8 2 General Objects Abbreviations VOR Valid On Reset TPDO May be mapped into TPDO only 1 Device Type 1000h The object at index 1000h describes the type of device and its functionality PDO Index Sub Name Data Type Access Mapping Value 1000h 0 Device Type UDINT RO No 0x00420192 m Data Description Bit 31 1615 0 Additional information Device profile number Additional information 0042 Servo drive Device profile number 0192 DS402 2 Error Register 1001h This object is an error register for the device The value of this object is stored in a part of emergency message PDO Index Sub Name Data Type Access Mapping Value 1001h O Error Register USINT RO TPDO 0x00 m Data Description Bit Data Meaning Explanation 0 Generic
68. 294967295 1C0Eh DLL CN Loss of Jitter Record 0 Number of entries RO No 3 1 Cumulative counter UDINT RW No 0 0 4294967295 2 Threshold counter UDINT RO No 0 0 4294967295 3 Threshold UDINT RW No 15 0 4294967295 1C0Fh DLL CN CRC Error Record 0 Number of entries RO No 3 1 3 1 Cumulative counter UDINT RW No 0 0 4294967295 2 Threshold counter UDINT RO No 0 0 4294967295 3 Threshold UDINT RW No 15 0 4294967295 1C13h 0 DLL CN Soc Jitter Range UDINT RW No 2000 0 4294967295 ns Ten o DLL CN Loss of Soc E Tolerance RW No 100000 0 4294967295 ns 1E40h NWL Ip Address Table Oh Record 0 Number of entries gt RO No 5 1 5 1 If Index UINT RO No 0 OxCOA864xx xx 2 IP Address UDINT RO No E E 3 Netmask IP Address UDINT RO No OxFFFFFF00 4 Reassemble Max Size UINT RO No 0 5 Default Gateway IP Address UDINT RW No OxCOA864FE pa 1E4Ah NWL Ip Group Record 0 Number of entries RO No 2 2 3 1 Forwarding irae RO No FALSE TRUE FALSE 2 Default TTL UINT RW No 64 0 65535 1F82h lo NMT Feature Flags UDINT RO No OxE7 1F83h 0 NMT EPL version USINT RO No 0x20 Ox1C 1F8Ch 0 NMT Current State USINT RO TPDO NMT_CS_NOT_ACTI VE E Appendix 10 3 10 4 10 Appendik Sub Data PDO
69. 3 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor Conditions of the Servomotor Troubleshooting Malfunction Based on Operation and Troubleshooting for the malfunctions based on the operation and conditions of the servomotor is provided in this section Be sure to turn OFF the servo system before troubleshooting items shown in bold lines in the table Problem Probable Cause Investigative Actions Corrective Actions Servomotor Does Not Start A servo ON command was not input The torque limit reference is set too low Check that the Controlword object 6040h is set to Operation enabled Check the torque limit reference Set the Controlword object 6040h value correctly The torque limit reference is set too high The Operation mode is not set Check whether the Operation mode object 6060h is set Set the Operation mode object 6060h correctly A software limit is in effect Check whether the target position exceeds the limit Specify a target position within the limit range The Powerlink communication is not established Check whether the Powerlink indi cators show Operational state The forward run prohibited P OT and reverse run prohibited N OT input signals are turned OFF The safety input signal HWBB1 or HWBB2 remains OFF An alarm is occurring Overloaded Servomotor or encoder wiring dis connected
70. 3648 to 1 Interpolation data record DINT RW Yes 2147483647 Default 0 Pos unit 2 Interpolation Time Period 60C2h This object defines the update cycle of the interpolated position reference This object can be changed only in Switch on Disabled state Index Sub Name Data Type Access ee Value apping O Number of entries USINT RO No 2 Default 2 60C2h 1 Interpolation time units USINT RW No See note 1 below 2 Interpolation time index SINT RW No 3 4 Default 3 Interpolation time Object 60C2 01h x 10 Object 60C2 02h sec 1 Supported values are 1 2 4 in case of Interpolation time index 0x60C2 2 is 3 Supported values are 5 10 20 40 in case of Interpolation time index 0x60C2 2 is 4 je Object Dictionary 8 27 8 Object Dictionary 8 10 Profile Velocity Mode 1 Velocity Demand Value 606Bh This object provides the output value of the velocity trajectory generator or the output value of the position control function Index Sub Name Data Type Access ea Value apping 606Bh O Velocity Demand Value DINT RO TPDO Vel unit 2 Velocity Actual Value 606Ch This object provides the actual velocity value derived from the position encoder Index Sub Name Data Type Access ae Value apping 606Ch O Velocity Actual Value DINT RO TPDO Vel unit 3 Velocity Windo
71. 41 Model Following Control Gain 10 to 20000 0 1 s 500 Immediately UINT Model Followi trol Gai Pn142 ode Bolong Controlan 500 to 2000 0 1 1000 Immediately UINT Compensation Model Followi trol Bias Pn143 ode Fo lowing Control pias 0 to 10000 0 1 1000 Immediately UINT Forward Direction 10 16 10 2 SERVOPACK Parameters i Factory Data Pn No Name Setting Range Units Setting When Enabled Type Pn144 Model Following Control Bias 0 to 10000 0 1 1000 Immediately UINT Reverse Direction Pn145 Vibration Suppression 1 Frequency A 10 to 2500 0 1 Hz 500 Immediately UINT Pn146 Vibration Suppression 1 Frequency B 10 to 2500 0 1 Hz 700 Immediately UINT Pn147 Model Following ControlSpeed 0 to 10000 0 1 1000 Immediately UINT Feedforward Compensation Pn148 2nd Model Following Control Gain 10 to 20000 0 1 s 500 Immediately UINT Pn149 eng Mose Boloyung Kontol ani 500 to 2000 0 1 1000 Immediately UINT Compensation Pn14A Vibration Suppression 2 Frequency 10 to 2000 0 1 Hz 800 Immediately UINT Pn14B Vibration Suppression 2 Compensation 10 to 1000 1 100 Immediately UINT Anti Resonance Control Related Switch 0000 to 0011 0010 After restart UINT Ath 3rd 2nd 1st digit digit digit digit n Anti Resonance Control Selection 0 Does not use anti resonance control 1 Uses anti resonance control Pn160 Anti Resonance Control Adjustment Selection 0 Does
72. 520h Vibration Alarm Vibration at the motor speed was detected Gr 1 Available 521h Autotuning Alarm a was detected while performing tuning less func Grl Available 550h Maximum Speed Setting Error The Pn385 setting is greater than the maximum speed Gr 1 Available 710h Overload High Load The motor was operating for several seconds to several tens Gr2 Available of seconds under a torque largely exceeding ratings 720h Overload Low Load ane motor was operating continuously under a torque Grl Available largely exceeding ratings 730h When the dynamic brake was applied rotational energy 731h Dynamic Brake Overlgad exceeded the capacity of dynamic brake resistor Ga Ga Overload of Surge Ka an 740h Current Limit Resistor The main circuit power was frequently turned ON and OFF Gr 1 Available 7A0h Heat Sink Overheated The heat sink of the SERVOPACK exceeded 100 C Gr 2 Available ABR Bulltin Fan in SERVOPACK The fan inside the SERVOPACK stopped Gr 1 Available Stopped x All the power supplies for the absolute encoder have failed 2 p pp 810h Encoder Backup Error and position data was cleared Gr 1 N A 820h Encoder Checksum Error The checksum results of encoder memory is incorrect Gr 1 N A Absolute Encoder Battery The battery voltage was lower than the specified value after i 2 830h Error the control power supply is turned ON anl Table 840h Encoder Data Error Data in the encoder is incorrect Gr 1 N A 850h Encoder Overspeed The encoder was
73. 6 u64 RW No 0 0 kata 7 Mapping entry 7 u64 RW No 0 0 o ce 8 Mapping entry 8 u64 RW No 0 0 ia Na 1800h Transmit PDO Communication 0 Number of entries USINT No 2 z 1 NodeID_U8 USINT RO No 0 0 255 2 Mapping Version US USINT RW No 0 0 255 10 1 Object List Sub Data PDO Index hab Name Type Access Mapping Default Value Lower Limit Upper Limit Unit 1A00h Ist Transmit PDO Mapping 0 Number of entries USINT RW No 8 0 8 1 Mapping entry 1 u64 RW No 0x 1000000000604 1 0 OxFFFFFFFF 2 Mapping entry 2 u64 RW No 0x20001000006064 0 OxFFFFFFFF 3 Mapping entry 3 u64 RW No 0x2000100000606C 0 OxFFFFFFFF 4 Mapping entry 4 u64 RW No 0 0 IH 3 Mapping entry 5 u64 RW No 0 0 ya 6 Mapping entry 6 u64 RW No 0 0 Nakalaan 7 Mapping entry 7 u64 RW No 0 0 E 8 Mapping entry 8 u64 RW No 0 0 Pa Get Parameter 0 Number of entries RO No 2 2100h 1 Parameter identify UINT RW No FFFFh 0 65535 2 Parameter value DINT RO No 0 2147483648 2147483627 Set Parameter 0 Number of entries RO No 2 2101h 1 Parameter identify UINT RW No FFFFh 0 65535 2 Parameter value DINT RW No 0 2147483648 2147483627 Read Servo Monitor 0 Number of entries RO No 2 2211h 1 Monitor identify USINT RW No 2 0 12h 2 Monitor
74. 70911 0 Zero Position actual value Object 6064h NI Home offset Encoder position q 607Ch Encoder position a Encoder home i Operation 5 5 5 Operation 5 6 Safety Function Safety functions are hard wired into the SGDV SERVOPACK If the HBB signal is active during motor oper ation the power to the motor will be forcibly shut off and the motor will be stopped according to the setting of the 1 digit of parameter Pn001 The following diagram shows the status of the safety functions when the Powerlink Network Module is con nected HBB input CN8 Controlword 6040h Statusword 6041h Drive Display Digital inputs 60FDh bit 24 25 HBB status 6041h 0 bit 14 For details refer to 4 6 Safety Function in J V series User s Manual Design and Maintenance Rotational active active Switch on Enable operation Ready to Switch On Fault HBB Operation enabled HBB HBB HBB Motor Command Option Attachable Type SIEP S800000 60 5 7 2 5 7 Overtravel Overtravel The overtravel limit function forces movable machine parts to stop by turning on a limit switch if they exceed the allowable range of motion L 4 Motor forward rotation direction SERVOPACK Servomotor ENT Limit Limit E Switch Switch Nor 8 P OT 7
75. 73741823 2303h 1 Numerator UDINT RW No Default 1 2 Denominator UDINT RW No 140 1073741923 Default 1 7 Example for ballscrew application 1 User requirements and application data 1 User position unit 0 001 mm 2 User velocity unit 1 mm sec 3 User acceleration unit Type 1 1 1000 0 1 of the calculated acceleration for the target application Type 2 1 mm sec 4 Application data Encoder 20 bit 1048576 counts rev The movement for 1 motor revolution 2 mm 5 User acceleration type 1 Time Constant data for top speed Top speed 1000 mm sec 60 m min Calculated acceleration time to top speed 80 msec Note calculated acceleration for the target application 12500 mm sec 1 275G 2 Setting 1 Position user unit 2301h Number of encoder counts for One user position unit Number of encoder counts for 1 mm 1000 user position units 1048576 counts rev 2 mm rev 1 mm 524288 counts Numerator 524288 Denominator 1000 8 4 Manufacturer Specific Objects 2 Velocity user unit 2302h Number of encoder counts per msec for One user velocity unit Number of encoder counts per sec for 1 mm sec 1 user velocity unit 1048576 counts rev 2 mm rev 1 mm 524288 counts sec 1000 msec Numerator 524288 Denominator 1000 3 Acceleration user unit 2303h Number of encoder counts increments per msec for One user acceleration unit Type
76. 75ALS175 manufactured by Texas Instruments or an MC3486 KO pco equivalent PCO 16 e SG__ Signal ground General purpose input SIO y Home switch input signal SI3 BAT Backup battery 2 8 to 4 5 V Switch CT 24V fuse Safety function signal 4 ov SERVOPACK FG Connect shield to connector shell Ta represents twisted pair wires Connect when using an absolute encoder When the encoder cable for the battery case is connected do not connect a backup battery The 24 VDC power supply is not included Use a power supply with double insulation or reinforced insulation To turn the servomotor power ON a safety device must be connected and the wiring to activate the safety function must be done When not using the safety function use the SERVOPACK with the plug JZSP CVH05 E provided as an accessory inserted into the CN8 Note The functions allocated to the input signals P OT N OT Probel Probe2 and Home and the output signals SO1 SO2 and SO3 can be changed by using the parameters Refer to 4 3 1 Input Signal Allocations and 4 3 2 Output Signal Allocations Wiring and Connection 4 6 4 Wiring and Connection 4 3 1 Input Signal Allocations 4 3 O Signal Allocations This section describes the I O signal allocations 4 3 1 Input Signal Allocations Input signals are allocated as shown in the following table Refer to the Interpreting the Input Signal A
77. AC Servo Drives V Series USER S MANUAL Powerlink Network Module Model SGDV OCB02A To properly use the product read this manual thoroughly and retain for easy reference inspection and maintenance Ensure the end user receives this manual Checking Products Specifications BA E Ng en 4 SERVOPACK Installation eu Il lb en El I Ed Wiring and Connection en en R oa e A Operation Bal en a Powerlink Communication Pain Bala a CiA402 Drive Profile Object Dictionary Troubleshooting CG L Please check www yaskawa eu com for up to date versions Appendix MANUAL NO YEG SIEP C720829 21A Copyright 2010 YASKAWA EUROPE GMBH 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 constantly 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 prepara
78. An environment that satisfies the following conditions Protection Class e Free of corrosive or explosive gases Pollution Degree ee Free of exposure to water oil or chemicals e Free of dust salts or iron dust Altitude 1000 m or less Others Free of static electricity strong electromagnetic fields magnetic fields or exposure to radioactivity 4 inputs Fixed Negative limit switch or negative over travel N OT Allocation to Positive limit switch or positive over travel P OT Input CN1 Reference switch or home switch DEC signals Connector General purpose input SIO of Probe latch inputs EXT1 EXT2 SERVOPACK No effect function Can not use External latch inputs EXT3 Output Fixed 3 outputs signals Allocation to Signal allocations and positive negative logics can be modified CN1 Positioning completion COIN VO Signals Connector Speed coincidence detection V CMP of Servomotor rotation detection TGON SERVOPACK Servo ready S RDY Torque limit detection CLT Speed limit detection VLT Brake interlock BK Warning WARN NEAR NEAR D Specifications 2 3 2 4 2 Specifications 2 3 2 Communication Specifications 2 3 2 Communication Specifications Powerlink Communications Communication profile Ethernet Powerlink version V 2 Physical layer 100BASE TX IEEE802 3 Fieldbus connection 2xRJ45 CN11A CN11B Baud Rate Setting 100 MBit s half dupl
79. Ban AN Completion ICOIN 1 2 3 eee did Detection IV CMP 1 5 3 Kas Detection ITGON 1 5 3 alae S RDY 1 2 3 ang Fab Detection ICLT 1 5 3 TT il Detection NLT 1 5 3 GN WARN 1 2 3 kgad ao NEAR 1 2 3 Output signal polarity inversion pa Pn512 0 1 Polarity inversion of CN1 1 2 a ig pelentiiy inversion Polarity inversion of CN1 23 24 Not invert at nots factory setting Sa ma poava on Polarity inversion of CN1 25 26 lt The signals not detected are considered as Invalid Inverting the polarity of the brake output signal BK i e positive logic will prevent the holding brake from working in case of its signal line disconnection IMPORTANT If this setting is absolutely necessary check the operation and confirm that there are no safety problems lt If two or more signals are allocated to the same output circuit a signal is output with OR logic circuit lt If the output signals are used as general purpose output signals for Digital Output Object 60FEh disable the settings for Pn50E Pn50F and Pn510 4 4 4 4 1 4 4 Connection Example of Powerlink Communication Connection Example of Powerlink Communication Connection Example The following figure shows an example of connections between a host controller and a SERVOPACK using the Powerlink communication Connect the connector of the Powerlink communications cable to the connectors CN11A and CN11B Connect CN11A to the master and CN11B to the
80. CNs If required the CN shall download its configuration data from a configuration server Both processes may be completely or partially shifted to NMT CS PRE OPERATIONAL 2 if the MN is not in NMT MS PRE OPERATIONAL 1 respectively leaves NMT MS PRE OPERATIONAL 1 before the CN has completed its configuration The transi tion from NMT CS PRE OPERATIONAL 1 to NMT CS PRE OPERATIONAL 2 is triggered by a SoC frame NMT CS PRE OPERATIONAL 2 In this state the CN configuration is completely finished The node is queried by the MN via PReq The received PDO data may be invalid and may differ to the PDO map ping requirements The PDO data received from the MN via PReq and from other CNs and the MN via PRes are ignored by the CN The transmitted PRes frames may dif fer to the PDO mapping requirements The data are declared invalid by not setting the RD flag There is no pro cessing of the process data The CN responds to AsyncInvite commands via SoA If not invited by the MN there is no Ethernet frame transmission in this state Precondition for the transition from NMT CS PRE OPERATIONAL 2 to NMT CS READY TO OPERATE is the reception of an NMTEnableReadyToOperate command The transition is triggered by the MN if the application is ready for opera tion The transition from NMT CS PRE OPERATIONAL 2 to NMT CS PRE OPERATIONAL 1 is triggered if an error is detected The transition from NMT CS PRE OPERATIONAL to NMT CS STOPPED is trigg
81. Device Control PDO Index Sub Name Data Type Access Mapping Value 6502h O Supported Drive Modes UDINT RO TPDO 006Dh m Data Description Bit Supported Modes Definition 0 Pp Profile Position mode 1 Supported 1 VI Velocity mode 0 Not supported 2 Pv Profile Velocity mode 1 Supported 3 Tq Torque Profile mode 1 Supported 4 Reserved 0 No effect 5 Hm Homing mode 1 Supported 6 Ip Interpolated Position mode 1 Supported 7 15 Reserved 0 No effect 16 31 Manufacturer specific 0 No effect je Object Dictionary 8 21 8 Object Dictionary 8 6 Profile Position Mode 1 Target Position 607Ah This object is the target position in the Profile Position mode In Profile Position mode the value of this object is interpreted as either an absolute or relative value depend ing on the abs rel flag of Controlword PDO Index Sub Name Data Type Access Mapai Value apping 2147483648 to 607Ah O Target Position DINT RW Yes 2147483647 Default 0 Pos unit 2 Software Position Limit 607Dh Software position limit contains the sub parameters min position limit and max position limit These parameters define the absolute position limits for the position demand value and the position actual value Every new target position must be checked against these limits The limit positions are specified in position units same as
82. ERVOPACK Parameters 2100h 2101h 8 4 Monitor Object 2211h 8 5 Manufacturer Specific User Parameter Configuration 2300h 8 4 Objects Position User Unit 2301h 8 4 Velocity User Unit 2302h 8 4 Acceleration User Unit 2303h 8 4 Controlword 6040h 8 5 Statusword 6041h 8 5 Quick Stop Option Code 605 Ah 8 5 Device Control Halt Option Code 605Dh 8 5 Modes of Operation 6060h 8 5 Modes of Operation Display 6061h 8 5 Supported Drive Modes 6502h 8 5 Target Position 607Ah 8 6 Software Position Limit 607Dh 8 6 Max Profile Velocity 607Fh 8 6 Profile Position Mode Profile Velocity 6081h 8 6 Profile Acceleration 6083h 8 6 Profile Deceleration 6084h 8 6 Quick Stop Deceleration 6085h 8 6 Home Offset 607Ch 8 7 Homing Method 6098h 8 7 Homing Mode Homing Speeds 6099h 8 7 Homing Acceleration 609 Ah 8 7 Position Demand Value 6062h 8 8 Position Actual Internal Value 6063h 8 8 Position Actual Value 6064h 8 8 Position Control Function Position Demand Internal Value 60FCh 8 8 Position Window 6067h 8 8 Position Window Time 6068h 8 8 Interpolated Position Interpolation Data Record 60C1h 8 9 Mode Interpolation Time Period 60C2h 8 9 8 1 Object Dictionary List Object Dictionaries Refer to Velocity Demand Value 606Bh 8 10 Velocity Actual Value 606Ch 8 10 Profile Velocity Mode Velocity Window 606Dh 8 10 Velocity Window Time 606Eh 8 1
83. M 6 Object Dictionary 8 1 Object Dictionary List ea aaa 8 2 8 2 General Objects cc eee 8 4 8 3 PDO Mapping Objects E 8 7 8 4 Manufacturer Specific Objecis_ eaaa 8 9 6 5 DEVICE Control esos si vardei nunt ates ye aera as 8 14 8 6 Profile Position Mode lt BAL BAK as 8 22 8 7 Homing MOUS espiral pisar 8 24 8 8 Position Control Function shave eaaa 8 26 8 9 Interpolated Position Mode cee eee 8 27 8 10 Profile Velocity Mode cece eee 8 28 8 11 Profile Torque Mode ai badd bedelaeiensede tenes 8 29 8 12 Touch Probe Function hbase ice a bee eke s 8 30 8 13 Digital Inputs Outputs has Gaderer Eaton baad KNANG 8 32 je Object Dictionary 8 2 8 Object Dictionary 8 1 Object Dictionary List The following table shows the object dictionaries Object Dictionaries Refer to Device Type 1000h 8 2 Error Register 1001h 8 2 Error History 1003h 8 2 General Objects Manufacturer Device Name 1008h 8 2 Store Parameters 1010h 8 2 Restore Default Parameters 1011h 8 2 Identity Object 1018h 8 2 Receive PDO Communication 1400h 8 3 Receive PDO Mapping 1600h 8 3 PDO Mapping Objects NS Transmit PDO Communication 1800h 8 3 Transmit PDO Mapping 1A00h 8 3 S
84. N1 9 input signal is OFF H level OFF when CN1 10 input signal is OFF H level OFF when CN1 11 input signal is OFF H level OFF when CN1 12 input signal is OFF H level N CL Signal Mapping Oto F Same as P CL signal mapping Refer to 4 2 3 Appendix 10 23 10 Appendik Pn No 8 Factory Data Name Setting Range Units Setting When Enabled Type Pn50E Output Signal Selection 1 0000 to 3333 0000 After restart UINT 4th 3rd 2nd 1st digit digit digit digit n Positioning Completion Signal Mapping COIN Disabled the above signal is not used Outputs the signal from CN1 1 2 output terminal Outputs the signal from CN1 23 24 output terminal Outputs the signal from CN1 25 26 output terminal Speed Coincidence Detection Signal Mapping V CMP 0 to 3 Same as COIN Servomotor Rotation Detection Signal Mapping TGON 0 to 3 Same as COIN Servo Ready Signal Mapping S RDY O to 3 Same as COIN Pn50F Output Signal Selection 2 0000 to 3333 0100 After restart UINT 4th 3rd 2nd 1st digit digit digit digit n Torque Limit Detection Signal Mapping CLT Disabled the above signal is not used Outputs the signal from CN1 1 2 output terminal Outputs the signal from CN1 23 24 output terminal Outputs the signal from CN1 25 26 output terminal Speed Limit Detection Signal Mapping VLT Oto 3 Same as CLT Brake
85. Output Pulses 1073741824 1 P rev 2048 After restart UDINT 29 Fully closed Control Selection Switch 0000 to 1003 0000 After restart UINT 4th 3rd 2nd ist digit digit digit digit n Reserved Do not change Pn22A Reserved Do not change Reserved Do not change Speed Feedback Selection at Fully closed Control 0 Uses motor encoder speed 1 Uses external encoder speed Pn281 Encoder Output Resolution 1 to 4096 1 P pitch 20 After restart UINT Pn282 Linear Scale Pitch 0 00 to 65536 00 0 01 um 0 After restart UINT 2 This parameter is exclusive for SERVOPACKs to be used with linear servomotors model SGDV H00085 x3 This parameter is exclusive for SERVOPACK s to be used with rotational servomotors model SGDV OOOOE x4 This parameter is automatically set to 1 by the Powerlink Network Module Pn3043 JOG Speed 0 to 10000 1 min 500 Immediately UINT Pn305 Soft Start Acceleration Time 0 to 10000 1 ms 0 Immediately UINT Pn306 Soft Start Deceleration Time 0 to 10000 1 ms 0 Immediately UINT Vibration Detection Switch 0000 to 0002 0000 Immediately UINT 4th 3rd 2nd ist digit digit digit digit n Vibration Detection Selection 0 No detection Pn310 1 Outputs warning 911h when vibration is detected 2 Outputs alarm 520h when vibration is detected Reserved Do not change Reserved Do not change Reserved Do not change Pn311 Vibration Detection Sensibility 50 to 500 1 100 Immediately UINT Pn3123 Vibration Detection Level 0 to 5000
86. Posi tion Error Alarm Level Motor load Position Error Position error between motor and load is excessive when A 3 d10h Pulse Overflow fully closed position control is used Gr yaan d30h Position Data Overflow The position data exceeded 1879048192 Gr 1 N A 9 1 Troubleshooting Servomotor Pai Alarm Name Meaning Stop asili Method E00h Command Option Module IF Communications initialization failed between the SERVO Gr2 Available Initialization Timeout Error PACK and the command option module E02h Com mand Option Module IF A synchronization error occurred between the SERVOPACK Grl Available Synchronization Error 1 and the command option module E03h Command Option Module IF An error occurred in the data of communications between Grl Available Communications Data Error the SERVOPACK and the command option module Command Option Module f E70h Detection Failure Alarm Detection of the command option module failed Gr 1 N A Safety Option Module E71h Detection Failure Alarm Detection of the safety option module failed Gr 1 N A Feedback Option Module f y 3 E72h Detection Failure Alarm Detection of the feedback option module failed Gr 1 N A E73h Unsupported Command A non supported command option module was connected Gr 1 N A Option Module Alarm f Unsupported Safety Option E74h Module Alarm A non supported safety option module was connected Gr 1 N A 3 Unsupported Feedback Option
87. RVOPACK alarms For details on causes of SERVOPACK alarms and countermeasures to take refer to Z V series User s Manual Design and Maintenance Rotational Motor Command Option Attachable Type SIEP S800000 60 Servomotor pal Alarm Name Meaning Stop ae Method 020h Parameter Checksum Error 1 The data of the parameter in the SERVOPACK is incorrect Gr 1 N A 021h Parameter Format Error 1 The data of the parameter in the SERVOPACK is incorrect Gr 1 N A 022h System Checksum Error 1 The data of the parameter in the SERVOPACK is incorrect Gr 1 N A 030h Main Circuit Detector Error Detection data for power circuit is incorrect Gr 1 Available 040h Parameter Setting Error 1 The parameter setting is outside the allowable setting range Gr 1 N A The encoder output pulse setting pulse unit Pn212 is out 041h laag QutpurPubesseting side the allowable setting range or not satisfies the setting Gr 1 N A conditions 042h Parameter Combination Error Combination of some parameters exceeds the setting range Gr 1 N A Semi closed Fully closed Loop 044h Control Parameter Setting The settings of the fully closed option module and Pn00B 3 Grl N A Pn002 3 do not match Error 04Ah Parameter Setting Error 2 a an error in settings of parameters reserved by the Grl N A 050h Combination Error The SERVOPACK and the servomotor capacities do not Gr 1 Available match each other 051h Unsupported Device Alarm The device unit unsupported was connected Gr 1 N A x L
88. SGDV OODAE1A 000 470 550 590 780 SGDV OCBO2A Shield box gil amp O Brake Power Cooling fan Supply SERVOPACK UVW Brake Q a ki Power supply Noise L1 L2 L3 MO OO 6 L2 Three phase 200 VAC 3 filter Servomotor Surge L1C L2C absorber a CN2 p E Encoder O Regenerative resistor unit 3 B1 B2 PE ag 2 Powerlink controller sa PE O0Z CN1 CN8 Clamp Clamp pi O Host controller Safety unit Symbol Cable Name Specification O T O signal cable Shield cable O Safety signal cable Shield cable Motor main circuit cable Shield cable Encoder cable Shield cable Main circuit cable Shield cable Regenerative resistor unit cable Non shield cable Cooling fan cable Shield cable Ethernet communication cable Shield cable B SERVOPACK Installation 3 SERVOPACK Installation 3 10 E Three phase 400 V lt SGDV OOODE1A 000 1R9 3R5 5R4 8R4 120 170 SGDV OCBO2A Shield box Power supply Single phase 200 VAC Brake Power Core 400 VAC Power supply Three phase Core filter 3 Powerlink
89. SGDV SERVOPACK saves parameters on command 4 In order to avoid storage of parameters by mistake storage is only executed when a specific signature is writ ten to the appropriate sub index The signature that shall be written is save Signature MSB LSB ASCII e v a s hex 65h 76h 61h 73h By writing save to Sub Index 1 the values of the mentioned above objects are stored Note 1 Ifa wrong signature is written the SGDV SERVOPACK refuses to store and responds with Abort SDO Transfer 2 If the storing parameters are executing O will be returned by read this object 3 Sub Index 1 can be written only in Switch on Disabled state Servo off state 4 After storing the objects by Sub Index 1 power on reset is necessary to transit into the Operation Enabled state je Object Dictionary 8 Object Dictionary 6 Restore Default Parameters 1011h With this object the default values of the valid on reset objects and the PDO mapping objects 1600h and 1A00h can be restored Index Sub Name Data Type Access PDO Value Mapping O Largest subindex supported USINT RO No 1h 7Fh 1011h 0x00000000 to 1 Restore default values UDINT RW No A Default 0x00000001 By reading data of an object entry the SERVOPACK provides its capability to restore default values Bit Value Meaning 0 0 Device does not restore default parameters 1 Device restores
90. a 10 32 Appendix 10 1 10 2 10 Appendik 10 1 Object List Index kana Name nata Access F Default Value Lower Limit Upper Limit Unit 1000h O Device Type UDINT RO No 00420192h 1001h O Error Register USINT RO TPDO 1003h Error history 0 Number of entries USINT RW TPDO 0 254 1 254 Error entry RO No 1006h O Cycle length UDINT eae No 1000 unconfigurable 1008h O Manufacturer Device Name STRING RO No SGDV OCB02A 1010h Store Parameters 0 Number of entries USINT RO No 1 127 1 Save all parameters UDINT RW No 0x00000001 1011h Restore Default Parameters O Number of entries USINT RO No 1 127 1 a detan UDINT RW No 0x00000001 2 2 1018h Identity Object 0 Number of entries USINT RO No 1 4 1 Vendor ID UDINT RO No 010000E7h 2 Product code UDINT RO No 00000B02h 3 Revision number UDINT RO No 4 Serial number UDINT RO No 0 1020h Verify configuration 0 Number of entries RO No 2 2 4 1 Configuration Date UDINT oe A i ioios 2 Configuration Time UDINT RW VOR No 0 0 4294967295 1030h NMT Interface Group 0 Number of entries T RO No 9 1 9 1 Interface Index UINT RO No 1 1 10 a Interface Description AO RO No aa 3 Interface Type USINT RO No 6 4 Interface Mtu UINT RO No 1500
91. acturer Specific Objects For writing values to the parameters 2101h must be used The wanted parameter must be written to 2101 1h and the wanted value must be written to 2101 1h afterwards PDO Index Sub Name Data Type Access Mappi Value apping O Number of entries RO No 2 2100h 1 Parameter identify UINT RW No 0 to 65535 2147483648 to 2 Parameter value DINT RO No 2147483627 PDO Index Sub Name Data Type Access Mapoi Value apping O Number of entries RO No 2 2101h 1 Parameter identify UINT RW No 0 to 65535 2 Parameter value DINT RW No pa cn a 2 Read servo monitor 2211h This object enables using the Sigma 5 Monitor mode Un 000 012 Reading Monitor data of Sigma 5 In order to read Monitor data of Sigma 5 do the following 1 Write Un number to subindex 1 2 Read the value from subindex 2 Index Sub Name Data Type Access aia Value apping O Number of entries RO No 2 2241h 1 Monitor identify USINT RW No 0 0x12 2 Monitor value DINT RO No je a 3 User Parameter Configuration 2300h This object enables all User parameter settings and initializes the all position values Before restarting operation without turning the power supply OFF and then ON again after having changed the following objects this object must be executed to enable new settings e Object 2301h 2302h and 2303h Index
92. al The Powerlink Network Module is composed of the Powerlink communication in the data link layer and CANopen drive profile DS402 in the application layer CANopen based data communication generally differentiates between data packets that are Process Data Objects PDO Service Data Objects SDO or Network Management Objects NMT PDOs carry raw real time data without protocol overhead and therefore put data transfer capacities to max imum use These communication objects are send cycle by cycle and in broadcast style In contrast SDOs transmit parameter data that is used for network device configuration In this case data is transferred via point to point connections The Network Management service monitors the status of devices on the network and uses a Master Slave connection for communication between the devices and the controller Data pertain ing to this service are called Network Management Objects 6 4 Powerlink Slave Information 6 4 Powerlink Slave Information The Powerlink Slave Information file XDD file i e XML Device Description file is available for configur ing the Powerlink master The XDD file contains general information about Powerlink communication settings when setting the SGDV SERVOPACK 6 5 Powerlink Initialization NMT State Machine The NMT state machine determines the behavior of the communication function unit Both Managing Node and Controlled Node start up by common initialization process Com
93. al Operation 5 2 Trial Operation Check the following items If any problems exist take appropriate measures before trial operation Servomotors e Are all wiring and connections correct e Are all nuts and bolts securely tightened Note If a motor with an oil seal is used check whether the oil shield is not damaged and if there is an oil coat When per forming operation on a servomotor that has been stored for a long period of time perform the maintenance and inspection according to the procedures described in 2 V Series User s Manual Setup Rotational Motor STEP S800000 43 SERVOPACKs e Are all wiring and connections correct e Is the correct power supply voltage being supplied to the SERVOPACK 5 2 2 Trial Operation via Powerlink Communication An example of drive operation procedure via Powerlink is shown below This example is described in Profile Position mode Step Operation Reference Confirm whether the power line Encoder I O signal and Powerlink cables are correctly connected 4 2 I O Signal Connections 4 4 Connection Example of Powerlink Communication Turn ON the power supply to the SERVOPACK If the power supply is normal the CHARGE indicator on the SER VOPACK will light Change the Powerlink communication state to Operational 6 5 Powerlink Initialization NUT State Machine Set the Modes of operation to Profile Position mode Change the drive state to Operation enabled b
94. as Corrosive gases will not immediately affect the SERVO PACK but will eventually cause electronic components and contactor related devices to malfunction Other Locations Do not mount the SERVOPACK in locations subject to high temperatures high humidity dripping water cut ting oil dust iron filings or radiation lt Note gt When storing the SERVOPACK with the power OFF store it in an environment with the following tempera ture and humidity e 20 to 85 C 90 RH or less with no condensation Installation Conditions for Applicable Standards Applicable oa Standards EN50178 EN55011 A2 group classA EN61000 6 2 EN61800 3 EN61800 5 1 EN954 1 IEC61508 1 to 4 Operating Overvoltage category III ae Pollution degree 2 Conditions Protection class IP10 UL Standard and Low Voltage Directive Satisfy the conditions outlined in 3 V Series AC SERVOPACK SGDV Safety Precautions TOBP Installation C710800 10 Conditions EMC Directive Certification is required after installation in the user s machine under the conditions outlined in 3 3 EMC Installation Conditions 3 2 SERVOPACK Installation 3 2 SERVOPACK Installation 3 2 1 Orientation The SERVOPACK is available in models that are base mounted models that are rack mounted and models that are duct ventilated In any case mount the SERVOPACK with a vertical orientation Firmly secure the SERVOPACK to the mounting surface using either two or four
95. ase C 22 PCO _ output pulse Phase C 23 SO2 ie 2A iSO2 Rees Dupes General 25 S03 ponerarpurpose General purpose 26 SO3 input KI 2 Connect the shield of the I O signal cable to the connector shell Connect to the FG frame ground at the SERVOPACK connector 3 The functions allocated to the following input signals can be changed by using the parameters Input signals P OT N OT Probel1 Probe2 Home 4 The output signals SO1 SO2 and SO3 can be used as the output signal COIN V CMP TGON S RDY CLT VLT BK WARN or NEAR by setting the parameter Pn50E Pn50F or Pn510 For details refer to 4 3 2 Output Signal Allocations 4 2 I O Signal Connections 4 2 3 Example of I O Signal Connections The following diagram shows a typical connection example x1 2 3 4 Photocoupler output Max operating voltage SGDV SERVOPACK 30 VDC Max operating current 50 mA DC Control power supply 24VIN 24Vl 6 for sequence signal tg 3 ALM Servo alarm output T E OFF for an alarm P OT ALM Prohibited when OFF rohibited when oa BKE Brake output Reverse run prohibited SO1 BK Brake released when ON Prohibited when OFF 23 SO2 Probe 1 latch signal Latch when ON Probe 2 latch signal Latch when ON is i Home SI6 General purpose input a DD IPAO Encoder output pulses Latch when ON 4 i 19 PBO Applicable line receiver IPBO SN
96. ata will be saved as a batch in the EEPROM Tf the objects are modified by the digital operator or SigmaWin the data will be directly stored in the EEPROM Appendix 10 7 10 8 10 Appendik Sub Data PDO AN aa Index nel Name Type Access Mapping Default Value Lower Limit Upper Limit Unit 60C2h Interpolation Time Period O Highest sub index supported USINT RO Yes 2 2 2 USINT RW Yes 1 1 2 442 1 Interpolation time period USINT RW Yes 5 3 40 3 2 Interpolation time index SINT RW Yes 3 4 3 60C5h Max acceleration UDINT RW Yes Max motor acceleration 0 Max motor acceleration 60C6h Max deceleration UDINT RW Yes Max motor deceleration 0 Mas motor deceleration 60FCh 0 Position Demand Internal DINT RO Yes a E The Value 60FDh 0 Digital Inputs UDINT RO Yes 60FEh Digital Outputs O JNumber of entries USINT RO No 2 1 Physical outputs UDINT RW Yes 0 0 OxFFFFFFFF 2 Bit mask UDINT RW No 0x000C0000 0 OxFFFFFFFF 60FFh O Target Velocity DINT RW Yes 0 2147483648 2147483647 Al 6502h O Supported Drive Modes UDINT RO No 0x03ED 1 Write Save into the object 1010h The current parameter data will be saved as a batch in the EEPROM If the objects are modified by the digital operator or SigmaWin the data will be directly stored in the EEPROM 2 Supported values are 1 2 4 in case of I
97. ct or fire Provide an appropriate stopping device on the machine side to ensure safety The holding brake on a servomotor with a brake is not a braking device for ensuring safety Failure to observe this warning may result in injury Connect the ground terminal according to local electrical codes 100 or less for a SERVOPACK with a 100 V 200 V power supply 10 Q or less for a SERVOPACK with a 400 V power supply Improper grounding may result in electric shock or fire Installation disassembly or repair must be performed only by authorized personnel Failure to observe this warning may result in electric shock or injury The person who designs a system using the safety function Hard Wire Baseblock function must have full knowledge of the related safety standards and full understanding of the instructions in this manual Failure to observe this warning may result in injury m Storage and Transportation AN CAUTION Do not store or install the product in the following locations Failure to observe this caution may result in fire electric shock or damage to the product e Locations subject to direct sunlight e Locations subject to ambient operating temperatures outside the range specified in the storage installation temperature conditions e Locations subject to humidity outside the range specified in the storage installation humidity conditions e Locations subject to condensation as the result of extreme changes in
98. d Option IF F Sarat The data exchange between the Powerlink Network Module lt DEA2h SW aan aa and the SERVOPACK was not synchronized Ons a Command Option IF The communication data between the Powerlink Network DEASh Servo Data Error Module and the SERVOPACK was inappropriate oy EUG 0A03h Node ID setting error Node ID is not one of the allowable addresses Gr 1 Available 0A10h Device Error Gr 1 Available 9 1 3 Troubleshooting of the Powerlink Network Module Alarms Refer to the following table to identify the cause of an alarm and the action to be taken Contact your Yaskawa representa tive if the problem cannot be solved by the described corrective action cae Alarm Name Cause Investigative Action Corrective Action Faulty connection Check the connection between the SERVO between the SERVO Reconnect the Powerlink PACK and the Powerlink PACK and the Powerlink Network Module Network Module Network Module OEAOh ine iG Fault occurred in the Repair or replace the ervo Unit Initial Error Powerlink Network Mod Powerlink Network Mod ule ule Fault occurred in the Repair or replace the SERVOPACK Hi SERVOPACK Faulty connection Check the connection between the SERVO between the SERVO Reconnect the Powerlink PACK and the Powerlink PACK and the Powerlink Network Module Network Module Network Module OEAt1h a ba Fault occurred in the Repair or replace the Emory SNEL NGT Powerlink Netwo
99. d and is active 2h An active error was cleared 3h An error event occurred 000h Reserved 001h The field Error Code contains a vendor specific error code 11 O profile 002h The field Error Code contains Powerlink communication profile specific errors 003h FFFh The field Error Code contains device profile specific errors 4 Manufacturer Device Name 1008h This object contains the name of the Sigma V Powerlink Option Card SGDV OCB02A PDO Mapping Value Index Sub Name Data Type Access 1008h O Manufacturer Device Name STRING RO No SGDV OCB02A 5 Store Parameters 1010h With this object the setting values of the valid on reset objects and the PDO mapping objects 1600h and 1A00h can be stored in the non volatile memory PD Index Sub Name Data Type Access o Value Mapping O Largest subindex supported USINT RO No 1h 7Fh 1010h 0x00000000 to OxFFFFFFFF 1 Save all parameters UDINT RW No Default 0x00000001 This object enables saving data written in defined objects The device saves parameters on command By reading data of an object entry the SERVOPACK provides its capability to save the values Bit Value Meaning 0 The SGDV SERVOPACK does not save parameters autonomously The SGDV SERVOPACK saves parameters autonomously 4 0 The SGDV SERVOPACK does not save parameters on command 1 The
100. d by writing to modes of operation Appendix Object 6060h can be written several times with the same value as SDO Setting pole detection mode of operation enables the pole detection in which a magnetic pole of linear motor connected to Sigma 5 can be detected When an incremental linear scale is used the detected phase informa tion will not be saved and thus the mode of operation is required at every power on When an absolute linear scale is used detected information will be saved into both Sigma 5 and the scale con nected to Sigma 5 In the following CiA 402 FSA transition the pole detection starts 1 From Ready to Switch on to Switch on 2 From Ready to Switch on to Operation Enabled Transition command to Switch On Disable during the pole detection will not stop the pole detection immedi ately only after the pole detection completion Then the driver will be is servo off and in Switch On Disable state Reset application should not be done during pole detection process Modes of Operation Display 6061 h The modes of operation display show the current mode of operation The meaning of the returned value corresponds to that of the modes of operation option code index 6060h PDO Index Sub Name Data Type Access Mapping Value 6061h O Modes of Operation Display SINT RO Yes 0 7 Supported Drive Modes 6502h This object gives an overview of the implemented operating modes in the device 8 5
101. d chet ene 7 12 Touch Probe Function KAGAD Gewese eee haben eee kee 7 13 CiA402 Drive Profile 7 2 7 CiA402 Drive Profile 7 1 Device Control The device control of the SGDV SERVOPACK can be used to carry out all the motion functions in the corre sponding modes The state machine is controlled through the Controlword Object 6040h The status of the state machine can be revealed by using the Statusword Object 6041h Power ON 0 Not ready to Switch on STW xxxx xxxx x0xx 0000 y Switch on Disabled Fault reset gt STW xxxx xxx x1xx 0000 e 15 Disable voltage 2 i or Quick stopped Shutdown Disable voltage ray or Quick stop STW xxxx xxxx x0xx 1000 A 7 Ready to Switch on Disable voltage or Quick stop STW xxxx xxxx x01x 0001 Disable voltage 3 A Switch on Sia Switched on STW xxxx xx1x x011 0011 Fault reaction active STW xxxx xxxx x0xx 1111 Quick stop active STW xxxx xxxx x00x 0111 Operation enabled STW xxxx xx1x x011 0111 Note 1 shows state 2 STW means the Statusword of Object 6041h 3 underline means the control command of Object 6040h A Control power is on Power is not supplied to the motor Servo off state 4 If during the following FSA state Operation Enable Switch on or Quick stop the main power will be turned
102. ding PBO 19 pulse of the encoder IPBO 20 Phase B signal PCO 21 a a sng IPCO 22 Phase C signal Output signal for origin pulse of the encoder SG 16 Signal ground Control circuit 0 V Connected to frame ground if the shield wire of the I O signal _ FG Shell Bk ground cable is connected to the connector shell Note For more information on the allocation of SO1 SO2 and SO3 refer to 4 3 2 Output Signal Allocations I O Signal Connector CN1 Terminal Layout The following table shows the terminal layout of I O signal connectors CN1 Brake output Battery Servo alarm output Control power supply for sequence signal input Reverse run prohibited input Probe 1 latch signal input General purpose input 4 BK SO1 Brake output ne 2 S01 3 ALM Servo alarm output 4 ALM 5 6 24VIN 7 Sun Forward run SI1 prohibited input 3 N OT 9 Home TE switch s12 jan as Probe1 10 isi 11 Probe2 Probe 2 latch SI5 signal input 12 S16 General purpose 13 SIO input Note 1 Do not use unused terminals 14 BAT lin put 15 BAT Battery put 161 SG Signal ground Encoder 17 PAO Encoder Sa a 18 PAO output pulse Encoder Phase A 19 PBO output pulse Encoder Phase B 20 PBO joutput pulse Encoder Phase B 21 PCO output pulse Encoder Ph
103. dule the reference units of the SERVOPACK parameters are encoder pulses units inc 2 This parameter is exclusive for SERVOPACKs to be used with linear servomotors model SGDV 000085 x3 This parameter is exclusive for SERVOPACKs to be used with rotational servomotors model SGDV OOOOE Pn584 2 Speed Limit Level at Servo ON 0 to 10000 1 mm s 10000 Immediately UINT Pn585 2 Program JOG Movement Speed 1 to 10000 1 mm s 50 Immediately UINT Pn586 2 Motor Running Air cooling Ratio 0 to 100 1 maxvel 0 Immediately UINT E Appendix 10 27 10 Appendik Factory Data Pn No Name Setting Range Units Setting When Enabled Type Polarity Detection for Absolute Scale 0000 to 0001 _ 0000 Immediately UINT Selection 4th 3rd 2nd 1st digit digit digit digit n Detection for Absolute Scale Selection Pn587 2 Does not detect polarity Detects polarity Reserved Do not change Do not change Reserved Do not change Reserved Do not change Depends on Pn600 Regenerative Resistor Capacity SERVOPACK 10W 0 Immediately UINT Capacity 10 28 2 This parameter is exclusive for SERVOPACKs to be used with linear servomotors model SGDV 000085 10 3 Error code The following table shows the SDO abort codes for SDO communication errors 10 3 Error code Entry Type Manufacturer Sta
104. e Cable Name Ferrite Core Model Manufacturer Motor main circuit cable ESD SR 250 NEC TOKIN Corp Recommended Noise Filter and Surge Absorber For more information on recommended noise filters and surge absorbers refer to 2 V Series Product Catalog KAEP S800000 42 Fixing the Cable Fix and ground the cable shield using a piece of conductive metal e Example of Cable Clamp Shield cable sheath stripped Host controller side L 7 Fix and ground the cable shield a using a piece of conductive metal Remove paint on mounting surface Shield Box A shield box which is a closed metallic enclosure is effective as reinforced shielding against electromagnetic interference EMI from SERVOPACKss The structure of the box should allow the main body door and cool ing unit to be attached to the ground The box opening should be as small as possible lt Note gt Do not connect the digital operator and the analog monitor cable to the SERVOPACK during operations Connect them only when the machinery is stopped during maintenance 4 Wiring and Connection This chapter describes an example of how a system is configured using the Ethernet Power link Network Module how the I O signals are connected and how the cable for Powerlink communication is connected For details on the main circuit encoders safety devices and regenerative resistors refer to the following manual
105. e Fully closed y 3 pier p y Pn52A Rotation 0 to 100 190 20 Immediately UINT Pn52B Overload Warning Level 1 to 100 1 20 Immediately UINT Pn52C Derating of Base Curtent at Detectitig 10 to 100 1 100 After restart UINT Overload of Motor 10 26 1 In the Powerlink Network Module the reference units of the SERVOPACK parameters are encoder pulses units inc 3 This parameter is exclusive for SERVOPACKs to be used with rotational servomotors model SGDV OOOOE 5 If the Powerlink Network Module is used this parameter is not required to be set Use the factory setting for this parameter 10 2 SERVOPACK Parameters A Factory Data Pn No Name Setting Range Units Setting When Enabled Type Program JOG Operation Related Switch 0000 to 0005 0000 Immediately UINT 4th 3rd 2nd 1st digit digit digit digit n Program JOG Operation Related Switch 0 Waiting time Pn535 gt Forward movement Pn531 x Number of times of movement Pn536 1 Waiting time Pn535 Reverse movement Pn531 x Number of times of movements Pn536 2 Waiting time Pn535 Forward movement Pn531 x Number of times of movements Pn536 Waiting time Pn535 Reverse movement Pn531 x Number of times of movements Pn536 Pn530 3 Waiting time Pn535 Reverse movement Pn531 x Number of times of movements Pn536 Waiting time Pn535 Forward mov
106. e by host controller 2 Detects warning and limits torque by Pn424 and Pn425 Does not detect warning Reserved Do not change 5 Appendix 10 11 10 Appendik a Factory Data Pn No Nam ing Ran ni a When Enabl o ame Setting Range Units Setting e abled Type Application Function Select Switch 9 0000 to 0111 0010 After restart UINT 4th 3rd 2nd 1st digit digit digit digit n Reserved Do not change Current Control Method Selection Pn009 0 Current control method 1 1 Current control method 2 Speed Detection Method Selection 0 Speed detection 1 1 Speed detection 2 Reserved Do not change Application Function Select Switch B 0000 to 1111 0000 After restart UINT 4th 3rd 2nd 1st digit digit digit digit n Parameter Display Selection 0 Setup parameters 1 All parameters Alarm Gr 2 Stop Method Selection Pn00B 0 Stops the motor by setting the speed reference to 0 Uses the encoder connected to the feedback option module 10 12 10 2 SERVOPACK Parameters A Factory Data Pn No Nam ing Ran ni a When Enabl o ame Setting Range Units Setting e abled Type Application Function Select Switch C 0000 to 0111 0000 After restart UINT Ath 3rd 2nd 1st digit digit digit digit n Selection of Test without Motor 0 Test without motor disabled 1 Test without motor enabled Pn00C Encoder Resolution f
107. eached in Postion reached y TUS WON Position Window OSMON TEACNEI A 4 je 4 d e od Time 6068h comparator m Related Objects PDO Index Sub Name Access E Units Type Mapping yp 6040h Controlword RW Yes UINT 6041h Statusword RO Yes UINT 607Ah Target Position RW Yes Pos units DINT Software Position Limit 607Dh Min position limit RW No Pos units DINT 2 Max position limit RW No Pos units DINT 607Fh Max Profile Velocity RW No Vel units UDINT 6081h Profile Velocity RW Yes Vel units UDINT 6083h Profile Acceleration RW Yes Acc units UDINT 6084h Profile Deceleration RW Yes Acc units UDINT 6085h Quick Stop Deceleration RW Yes Acc units UDINT CiA402 Drive Profile 7 CiA402 Drive Profile In Profile Position mode the following two methods can be used to start positioning e Single Set point change set immediately bit of Controlword is 1 When a set point is in progress and a new set point is validated by the new set point bit 4 in the Control word the new set point shall be processed immediately Motor speed New set point bit 4 t Target N positon set point t Current target N position processed St Set point N acknowledge bit 12 t Target reached bit 10 gt t Set of Set points change set immediately bit of Controlword is 0 When a set point
108. effect lt Details on Bits O 3 and 75 Bit 0 3 and 7 for the controlling command of the drive state Bit of the Controlword Command Bit7 Bit3 Bit2 Bit1 Bito Shutdown 0 1 1 0 Switch on 0 0 1 1 1 Switch on Enable 0 1 1 1 1 operation Disable voltage 0 0 Quick stop 0 0 1 Disable operation 0 0 1 1 1 Enable operation 0 1 1 1 1 Fault reset 0 1 In order to be able to achieve SERVO ON a supported mode of operation must be O set to the object 6060h Without providing 6060h with a mode of operation the SDO abort code 0x08000022 will appear at the moment 7 is given to 6040h IMPORTANT Bit 11412 Positive torque limit Negative torque limit Enable Disable To use these torque limit you have to set follow Servo Drive Parameter using 2101h Set parameter Manufacturer specific object before set Enable Pn404 Forward External Torque Limit Pn405 Reverse External Torque Limit refer to Sigma 5 user manual Design Maintenance for detail lt Details on Bits 4 to 9 gt e Bit 4 5 and 9 for the controlling of Profile position mode 8 5 Device Control Bit9 Bit5 Bit4 Definition 0 0 0 51 Positiong shall be completed target reached before the next one gets started 0 1 0 51 Next positioning shall be started immediately 1 Not supported e Bit 6 and 8 for the controlling of Profile positi
109. eginning of an EPL cycle the MN is sending a Start of Cycle frame to all nodes via Ethernet multicast which is used by the CNs for synchronization purposes After that the MN sends a Poll Request to the first node which then transmits the received data to the outputs I1 and records new process data After a predefined time all configured CNs are accessed by the MN For this purpose the MN sends further PReqs to the nodes The PReq contains output data for the node and serves as transmission request If a configured CN receives the PReq he saves the input data and sends a Poll Response with the data recorded with the SoC as broadcast I1 In Thus it is possible for all other CNs to monitor these transmitted data Cyclical communication is terminated by an End of Cycle frame After that there is an asynchronous period while user defined communication can be performed and is initiated by a Start of Asynchronous frame SoC Start of Cycle PRes MN Poll Response Managing Node gt End of Cycle PReq Poll Request PRes Poll Response SoA Start of Asynchronous ASnd Asynchronous Send MN Managing Node CN Controlled Node Ix Isochronous data Process data o Powerlink Communication 6 3 6 4 6 Powerlink Communication 6 3 Powerlink Device Architecture The following figure shows the device architecture of the SGDV Ethernet Powerlink Network Module Session Present Transport Data Link Physic
110. emand Internal Value DINT RO TPDO inc Position Window 6067h This object specifies the positioning completed width for the target position When the drive complets output ting of the reference to the target position and the time specified by object 6068h has passed after the distance between the Target Position and the Position Actual Value falls within the value of this object bit 10 Target 5 reached of Statusword is set to 1 6 8 26 Index Sub Name Data Type Access gano Value apping pa A 0 to 1073741823 6067h 0 Position Window UDINT RW No Default 32 Pos unit Position Window Time 6068h When the drive completed outputting the reference to the target position and the time specified by this object has passed after the distance between the Target Position and the Position Actual Value became within the value of object 6067h the bit 10 Target reached of Statusword is set to 1 Index Sub Name Data Type Access OR Value apping piz A 0 to 65535 6068h 0 Position Window Time UINT RW No Default 0 ms 8 9 Interpolated Position Mode 8 9 Interpolated Position Mode 1 Interpolation Data Record 60C1h This object represents the interpolation position reference in Interpolated Position mode Index Sub Name Data Type Access Kisa Value apping O Number of entries USINT RO No 1 60C1h 214748
111. ement Pn531 x Number of times of movements Pn536 4 Waiting time Pn535 Forward movement Pn531 gt Waiting time Pn535 gt Reverse movement Pn531 x Number of times of movement Pn536 5 Waiting time Pn535 Reverse movement Pn531 gt Waiting time Pn535 gt Forward movement Pn531 x Number of times of movement Pn536 Reserved Do not change Reserved Do not change Reserved Do not change 1 to 1073741824 l Pn531 Program JOG Movement Distance 530 reference 32168 Immediately UDINT 2 unit Pn5333 Program JOG Movement Speed 1 to 10000 1 min 500 Immediately UINT Program JOG Pn534 Acceleration Dec letation Time 2 to 10000 1 ms 100 Immediately UINT Pn535 Program JOG Waiting Time 0 to 10000 1 ms 100 Immediately UINT Pn536 Number of Times of Program JOG 0 to 1000 1 time 1 Immediately UINT Movement Pn550 Analog Monitor 1 Offset Voltage 10000 to 10000 0 1 V 0 0 Immediately UNIT Pn551 Analog Monitor 2 Offset Voltage 10000 to 10000 0 1 V 0 0 Immediately UINT Pn552 Analog Monitor Magnification x1 10000 to 10000 x0 01 100 Immediately UINT Pn553 Analog Monitor Magnification x2 10000 to 10000 x0 01 100 Immediately UINT Pn560 Remained Vibration Detection Width 1 to 3000 0 1 400 Immediately UINT Pn561 Overshoot Detection Level 0 to 100 1 100 Immediately UINT Pn582 2 m ee Signal Output 0 to 100 1 mm s 10 Immediately UINT Pn583 2 Brake Reference Output Speed Level 0 to 10000 1 mm s 10 Immediately UINT 1 In the Powerlink Network Mo
112. ent 0 1 3 0x192 OXxFFOO 0x0002 8004 NMT Stop 0 1 3 0x192 OxFF00 0x0002 8009 Communication Error 0 1 3 0x192 OxFF00 0x0003 0001 Motion buffer full warning 0 1 3 0x192 OxFF00 0x0000xxxx xxxx Other Sigma 5 Alarm amp Warning Refer to Ox0001xxxx Sigma 5 user manual The error is reported also Sigma 5 amplifier Appendix 10 29 10 Appendik Error code chart 1 detected by Powerlink option card Faultcode same as display A XXX Attribute Bit 16 Attribute Bit 17 Meaning Description Zero speed Stop Store EEPROM of servo unit Operate Alarm reset OxOEAO 0 1 Command Option IF Servo Unit Initial Error This alarm is detected when the initial sequence is not completed within 10 s The timeout period between the power on and the completion of DPM initial sequence is provided for both Option Card and Servo Unit This alarm is not allowed for an alarm reset and the sequence is stopped after the alarm is detected Yes Ox0EA1 0 1 Command Option IF Memory Check Error Option Card detects this alarm if there is a verify error during the memory check in the DPM initial sequence This alarm is not allowed for an alarm reset and the sequence is stopped after the alarm is detected so that the DPM data exchange will not be carried out No Yes OxOEA2 0 1 Command Option IF Servo Synchronization Error Option Card detects this alarm if
113. ered by reception of NMT state command NMTStopNode 6 6 NMT CN State Machine State Description NMT CS READY TO OPERATE With this state the CN signals its readiness to operation to the MN The CN responds via PRes when queried via PReq by the MN and is included into the cyclic data exchange How ever the process input data sent via PRes frames of the measuring system to the MN are defined as invalid by the RD flag The CN responds to AsyncInvite commands via SoA If not invited by the MN there is no Ethernet frame transmission in this state The length of the PRes frame is equal to configured size of object NMT CycleTiming REC PResActPayloadLimit U16 The transmitted data correspond to the requirements defined by the PDO mapping The transition from NMT CS READY TO OPERATE to NMT CS OPERATIONAL is triggered by the reception of NMT state command NMTStartNode The transition from NMT_CS_READY_TO_OPERATE to NMT CS PRE OPERATIONAL is triggered if an error is detected The transition from NMT CS READY TO OPERATE to NMT CS STOPPED is triggered by reception of NMT state command NMTStopNode NMT_CS_OPERATIONAL This is the normal operating state of the CN Now active process data exchange between MN and CN over PReq and PRes messages is possible The CN responds to AsyncInvite commands via SoA If not invited by the MN there is no standard Ethernet frame transmission in this state The length of the PRes f
114. esult in electric shock or fire Do not step on or place a heavy object on the product Failure to observe this caution may result in injury Do not cover the inlet or outlet ports and prevent any foreign objects from entering the product Failure to observe this caution may cause internal elements to deteriorate resulting in malfunction or fire Be sure to install the product in the correct direction Failure to observe this caution may result in malfunction lt Provide the specified clearances between the SERVOPACK and the control panel or with other devices Failure to observe this caution may result in fire or malfunction Do not apply any strong impact Failure to observe this caution may result in malfunction vii viii m Wiring N CAUTION Be sure to wire correctly and securely Failure to observe this caution may result in motor overrun injury or malfunction Do not connect a commercial power supply to the U V or W terminals for the servomotor connec tion Failure to observe this caution may result in injury or fire Securely connect the main circuit power supply terminal screws control power supply terminal screws and servomotor connection terminal screws Failure to observe this caution may result in fire Do not bundle or run the main circuit cables together with the input output signal cables or the encoder cables in the same duct Keep them separated by at least 30 cm Failure to do so
115. ex Node Address Setting Select the address from 1 to 239 using rotary switches S1 S2 Communications Power Supply Supplied from the internal power supply LED indicator Red ERR Green STATUS Powerlink communicating L A x 2 Node type Slave CN Controlled Node SDO communication 1 server SDO over ASND and UDP PDO communication Set of pre defined PDOs type Set for Servo drive Supported RPDOs 1 Supported TPDOs 1 PDO mapping Dynamic with max 8 mapping entries default setting according to TEC 61800 7 301 MN Guarding By timeout monitoring of SoC frames Powerlink Standard TEC 61800 7 1 2 3 Committee Draft Drive profiles Motor type Servo Axis Type Rotary Linear Homing Modes Supported Methods 1 6 17 20 35 33 34 Motion profile type linear Homing persistent in absolute motor encoder Profile Position mode Single set point Yes Set of set points Yes Motion Profile type Linear Profile Velocity mode Motion Profile type Linear Profile Torque mode Torque Profile type Linear Interpolated Position mode Buffering No Interpolated sub mode Linear Synchronization by SOC SYNC Time Period 0 5 1 2 and 4 ms 2 4 Part Names of the Powerlink Network Module 2 4 Part Names of the Powerlink Network Module The following figure shows the part names of the Powerlink Network Module With front cover open
116. ff sampling at touch probe 2 1 Enable sampling at touch probe 2 13 to 15 Reserved Note Bit 0 to 7 For touch probe 1 Bit 8 to 15 For touch probe 2 When the homing function is executing touch probe 1 function cannot be used If touch probe 1 function was already enabled touch probe 1 will be disabled 8 30 8 12 Touch Probe Function Touch Probe Status 60B9h This object provides the status of the touch probe 2 Index Sub Name Data Type Access oasis g Value 60B8h O Touch Probe Status UINT RO TPDO Default 0 m Data Description Bit Value Definition 0 Touch probe 1 is switched off j 1 Touch probe 1 is enabled 0 Touch probe 1 no value stored 1 Touch probe 1 value stored 2106 Reserved 7 0 1 toggle with every update of Touch probe 1 value stored 0 Touch probe 2 is switched off i 1 Touch probe 2 is enabled 0 Touch probe 2 no value stored 1 Touch probe 2 value stored 10 to 14 Reserved 15 1 toggle with every update of Touch probe 2 value stored If the continuous latch is enabled Object 60B8 bitl 1 or bit9 1 bit7 or bit15 of Object 60B9h is toggled with every update of touch probe value stored Touch Probe 1 Position Value 60BAh This object provides the position value of the touch probe 1 The value is given in user position units 3 Index Sub Name Data Type Access Ka Value apping 60BAh O
117. g VDC power supply is not included nal Allowable voltage fluctuation range 11 to 25 V Battery input sig BAT 14 nal i BAT 15 Battery 5 input sig Connecting pin for the absolute encoder backup battery nal SIO 13 General purpose SI3 12 input signal General purpose input signal 8 13 1 Note 1 The functions allocated to P OT N OT Probel Probe2 and Home input signals can be changed by using the parameters Refer to 4 3 1 Input Signal Allocations 2 If the Forward run prohibited Reverse run prohibited function is used the software can be used to stop the SER VOPACK If the application does not satisfy the safety requirements add an external circuit for safety reasons as required Wiring and Connection 4 3 4 4 4 Wiring and Connection 4 2 2 I O Signal Connector CN1 Terminal Layout 2 4 2 2 Output Signals Refer Signal Pin No Name Function ence Section ae GING alarm output Turns OFF when an error is detected ALM signal BK Controls the brake The brake is released when the signal 3019 Brake interlock signal turas ON BK 8 Allocation can be changed to general purpose output signals SO1 SO1 SO1 SO2 23 SO2 24 General purpose General purpose output signal 8 13 2 SO3 25 output signal Note Set the parameter to allocate a function i SO3 26 PAO 17 Phase A signal PAO 18 Output signals of the 90 phase differential for the divi
118. g NT ga YE eee Sue BG Eh LG PAKA 2 2 2 2 2 Data UNIS aras cia ank a AE da E aid aie dln Bag BANDANA GAL E gk Wako Gerd AA 2 2 2 3 Specifications of the Ethernet Powerlink Network Module 2 3 2 3 1 General Specifications aaa a aa aaa aa aaa aa aa eee 2 3 2 3 2 Communication Specifications a aaa eaaa eaaa 2 4 2 4 Part Names of the Powerlink Network Module 2 5 2 5 LED Indicators cesses pa 5088 bod bes BADA ANNA KA hha hk HG hha 2 6 Ino Specifications 2 1 2 2 2 Specifications 2 2 1 Data Type 2 1 2 2 2 2 1 2 2 2 Overview The 2 V series Ethernet POWERLINK Network Module implements the CANopen drive profile DS 402 from Ci A402 in Ethernet POWERLINK communication real time Ethernet communication Position velocity and torque control can be performed An appropriate form of system control can be selected from simple positioning to high speed high precision locus control Moreover the 2 V high servo control performance advanced tuning function and wide range of actuator con trols can be performed via Powerlink Technical Terms Data Type This table lists the data types and ranges used in this manual Code Data Type Range SINT Signed 8 bit 128 to 127 INT Signed 16 bit 32768 to 32767 DINT Signed 32 bit 2147483648 to 2147483627 USINT Unsigned 8 bit 0 to 255 UINT Unsigned 16 bit 0 to 65535 UDINT Unsigned 32 bit 0 to
119. h O Motor Rated Torque UDINT RO No mNm or mN Torque Actual Value 6077h For SGDV SERVOPACKs this object specifies the same setting as the torque reference output value Index Sub Name Data Type Access pies Value apping 6077h O Torque Actual Value INT RO TPDO 0 1 Default 0 je Object Dictionary 8 29 8 Object Dictionary 8 12 Touch Probe Function 1 Touch Probe Function 60B8h This object indicates the configured function of the touch probe Index Sub Name Data Type Access hee Value 60B8h 0 Touch Probe Function UNT RW Yes eras m Data Description Bit Value Definition 0 Switch off touch probe 1 y 1 Enable touch probe 1 4 0 Single trigger mode Latches the position at the first trigger event 1 Continuous trigger mode Latches the position every trigger event o 0 Triggers with the probe 1 input SERVOPACK CN1 Probe 1 S14 signal 1 Triggers with the encoder zero signal phase C 3 Reserved 4 0 Switch off sampling at touch probe 1 1 Enable sampling at touch probe 1 5to7 Reserved 0 Switch off touch probe 2 8 1 Enable touch probe 2 0 Single trigger mode Latches the position at the first trigger event 3 1 Continuous trigger mode Latches the position every trigger event 10 0 Triggers with the probe 2 input SERVOPACK CN1 Probe 2 S15 signal 1 Reserved 11 Reserved 12 0 Switch o
120. iately UINT Pn48E Polarity Detection Range 1 to 65535 1 mm 10 Immediately UINT Pn490 2 Polarity Detection Load Level 0 to 20000 1 100 Immediately UINT x9 Polarity Detection Confirmation Force Pn495 Reference 0 to 200 190 100 Immediately UINT Pn498 Polarity Detection Allowable Error 0 to 30 1 deg 10 Immediately UINT Range Pn5023 Rotation Detection Level 1 to 10000 1 min 20 Immediately UINT Pn503 3 m a anu 0 to 100 1 min 10 Immediately UINT Pn506 a Refetenge SENG OFP Delay 0 to 50 10 ms 0 Immediately UINT 2 This parameter is exclusive for SERVOPACKs to be used with linear servomotors model SGDV OOOOES x3 This parameter is exclusive for SERVOPACKs to be used with rotational servomotors model SGDV OOOOE Pn507 3 Brake Reference Output Speed Level 0 to 10000 1 min 100 Immediately UINT Pn508 Warung Time for Brake signal When 10 to 100 10 ms 50 Immediately UINT Motor Running Pn509 Instantaneous Power Cut Hold time 20 to 1000 1 ms 20 Immediately UINT E Appendix 10 21 10 Appendik Pn No Name Setting Range Units Factory Setting When Enabled Data Type Pn50A Input Signal Selection 1 0000 to FFF1 1881 After restart UINT 4th 3rd 2nd 1st digit digit digit digit n Reserved Do not change Reserved Do not change Reserved Do not change P OT Signal Mapping 0 TIM T O FB S O O N O A A O N Forward run al Forward run a
121. in Switch on Operation enabled or in Quickstop state 2 After receiving a NMTSwReset NMT_GTS8 first the servopack is being reset and then the option card The servopack reset success depends on the servopack state 6 6 6 6 NMT CN State Machine NMT CN State Machine The NMT CN State Machine is controlled by the Common Initialization NMT State Machine and is a sub state of NMT GS POWERED and NMT GS COMMUNICATING Type of Communication a Powerlink Communication 6 7 6 8 6 Powerlink Communication State Description NMT CS NOT ACTIVE NMT CS NOT ACTIVE is a non permanent state which is present by the CN automatically after POWER ON if the initialization phase could be executed error free The CN is passive listen only observes the network traf fic does not send any frames and is waiting for MN com mands The node is able to recognize NMTReset commands sent via ASnd The transition from NMT CS NOT ACTIVE to NMT CS PRE OPERATIONAL is triggered by a SoA or SoC frame The transition from NMT CS NOT ACTIVE to NMT CS BASIC ETHERNET is triggered by timeout for SoC PReq PRes and SoA frames NMT CS PRE OPERATIONAL 1 The CN sends a frame only if the MN has authorized it to do so by a SoA AsyncInvite command there is no PDO communication First the connected CNs is identified This is performed with an IdentRequest message of the MN and is acknowl edged by an IdentResponse message of the
122. in illustrations in this manual are sometimes shown without covers or protective guards Always replace the cover or protective guard as specified first and then operate the products in accordance with the manual The drawings presented in this manual are typical examples and may not match the product you received lt If the manual must be ordered due to loss or damage inform your nearest Yaskawa representative or one of the offices listed on the back of this manual Warranty Details of Warranty Please refer to the general terms and conditions Applicable Standards m North American Safety Standards UL cus Aus LISTED Model UL Standards pd UL File No SERVOPACK SGDV UL508C E147823 SGMIV e SGMAV Servomotor e SGMEV UL1004 E165827 lt SGMGV SGMSV Underwriters Laboratories Inc Note Applicable when the Powerlink Network Module is attached to the SERVOPACKs for the command option attach able type m European Standards Model Low Voltage EMC Directive Safety Directive EMI EMS Standards EN55011 A2 EN50178 EN61800 3 EN954 1 SERVOPACK SGDV group 1 class A EN61800 5 1 EN61800 3 EN61000 6 2 IFC61508 1 to 4 karan IEC60034 1 MAV Ss pas TEC60034 5 Ee EN61800 3 ervomotor SGMEV group 1 class A MGV TEC60034 8 EN61800 3 EN61000 6 2 SOMO TEC60034 9 SGMSV Note 1 Because SERVOPACKs and servomotors are built into machines certificatio
123. indow UDINT RW No 30 0 1073741823 pos 6068h O Position Window Time UINT RW No 0 0 65535 ms 606Bh 0 Velocity Demand Value DINT RO TPDO E bi a an 606Ch 0 Velocity Actual Value DINT RO TPDO Re 606Dh 0 Velocity Window UINT RW No 20000 0 65535 a 1 Write Save into the object 1010h The current parameter data will be saved as a batch in the EEPROM If the objects are modified by the digital operator or SigmaWin the data will be directly stored in the EEPROM 10 1 Object List Sub Data Index haan Name Type Access Mapping Default Value Lower Limit Upper Limit Unit 606Eh 0 Velocity Window Time UINT RW No 0 0 65535 ms 6071h O Target Torque INT RW Yes 0 32768 32767 0 1 6072h 0 Max Torque UINT RW Yes Motor max torque 0 65535 0 190 6074h 0 Torque Demand Value INT RO Yes 0 190 6077h O Torque Actual Value INT RO Yes 0 190 607Ah 0 Target Position DINT RW Yes 0 2147483648 2147483647 er 607Bh Position Range Limit 0 Number of entries USINT RO No 2 1 Min position range limit DINT RW Yes 2147483648 2147483648 0 Ha 2 Max position range limit DINT RW Yes 2147483647 0 2147483647 aya 607Ch Home Offset DINT RW No 0 536870912 536870911 Pa 607Dh Software Position Limit 0 Number of entries USINT RO No 2 1 Min position limit DINT RW N
124. inear Scale Pitch Setting The setting of the linear scale pitch Pn282 has not been 1 080h Error changed from the default setting Gal Ne The Host controller reference was sent to turn the Servo ON 0b0h Cancelled Servo ON after the Servo ON function was used with the utility func Gr 1 Available Command Alarm tion 9 1 Troubleshooting Servomotor sa Alarm Name Meaning Stop AU Method 100h Overcurrent or Heat Sink An overcurrent flowed through the IGBT Grl N A Overheated Heat sink of the SERVOPACK was overheated i 300h Regeneration Error Regenerative circuit or regenerative resistor is faulty Gr 1 Available 320h Regenerative Overload Regenerative energy exceeds regenerative resistor capacity Gr 2 Available Main Circuit Power e Setting of AC input DC input is incorrect Si Supply Wiring Error e Power supply wiring is incorrect SR Available 400h Overvoltage Main circuit DC voltage is excessively high Gr 1 Available 410h Undervoltage Main circuit DC voltage is excessively low Gr 2 Available Main Circuit 5 ere A 5 450h Capacitor Overvoltage The capacitor of the main circuit has deteriorated or is faulty Gr 1 N A 510h Overspeed The servomotor speed is excessively high Gr 1 Available Overspeed of Encoder Output The motor speed upper limit of the set encoder output pulse ula Pulse Rate pulse unit Pn212 is exceeded Gr Available
125. ing 32168 to 32767 6071h O Target Torque INT RW Yes Default 0 0 196 2 Max Torque 6072h This object sets the maximum output torque to the motor Set the value in units of 0 1 of the motor rated torque The maximum motor torque is automatically set in this object when the power is turned ON Index Sub Name Data Type Access Rie Value apping 0 to 65535 6072h O Max Torque UINT RW Yes Default max motor torque 0 1 3 Torque Demand Value 6074h This object indicates the currently output torque reference value The value is indicated in units of 0 1 of the motor rated torque 4 5 6 Index Sub Name Data Type Access a Value apping 6074h 0 Torque Demand Value INT RO TPDO 0 1 Default 0 Torque Slope 6087h This object sets the torque output slope to be used in Profile Torque mode Set the amount of change per sec ond in units of 0 196 of the motor rated torque Index Sub Name Data Type Access en Value apping 0 to 2147483647 6087h O Torque Slope UDINT RW Yes Default 0 0 1 s Motor Rated Torque 6076h This object indicates the motor rated torque rated force for linear servomotors The value is indicated in units of m Nm for rotational servomotors and masN for linear servomotors Index Sub Name Data Type Access Pia Value apping 6076
126. ional Motor Command Option Attach able Type SIEP S800000 60 4 2 7 Holding Brakes in 2 V series User s Pn50F 5 Holdine Brakes Manual Design and Maintenance Rotational Pn506 8 Motor Command Option Attachable Type Pn507 STEP S800000 60 Pn508 4 2 8 Stopping Servomotor after Servo OFF Stopping Servomotor after Command or Alarm Occurrence in 3 V Pn001 6 Servo OFF Command or series User s Manual Design and Mainte Pn00B Alarm Occurrence nance Rotational Motor Command Option i Attachable Type SIEP S800000 60 4 2 9 Instantaneous Power Interruption Set tando Power tings in J V series User s Manual Design 7 Tatan G On Setin s and Maintenance Rotational Motor Com Pn509 P 8 mand Option Attachable Type SIEP S800000 60 4 2 10 SEMI F47 Function Torque Limit SEMI F47 Function Function for Low Power Supply Voltage for Pn008 8 Torque Limit Function for Main Circuit in J V series User s Manual Pn424 Low Power Supply Voltage Design and Maintenance Rotational Motor Pn425 for Main Circuit Command Option Attachable Type SIEP Pn509 S800000 60 4 2 11 Setting Motor Overload Detection Level in 2 V series User s Manual Design 9 petite Motor Overload and Maintenance Rotational Motor Com Pn52B Detection Level mand Option Attachable Type SIEP S800000 60 Note After the above basic functions have been set to activate these settings you must write 1 to object 2300h 5 2 5 2 1 Trial Operation Inspection before Tri
127. ition loop gain value Frequency of ee loop gain value Pn102 Pn102 Approx 200 to 400 gh Factory setting Kp 40 0 s Hz Reduce the position loop gain Pn102 Incorrect speed loop integral time constant Pn101 setting Check the speed loop integral time constant Pn101 Factory setting Ti 20 0 ms Correct the speed loop integral time constant Pn101 setting Incorrect moment of inertia ratio data Pn103 Check the moment of inertia ratio setting Pn103 Correct the moment of inertia ratio Pn103 setting High Rotation Speed Overshoot on Starting and Stopping Unbalanced servo gains Check to see if the servo gains have been correctly adjusted EN the advanced autotuning Speed loop gain value Pn100 too high Check the speed loop gain value Pn100 Factory setting Kv 40 0 Hz Reduce the speed loop gain Pn100 Position loop gain value Pn102 too high Check the position loop gain value Pn102 Factory setting Kp 40 0 s Reduce the position loop gain Pn102 Incorrect speed loop integral time constant Pn101 setting Check the speed loop integral time constant Pn101 Factory setting Ti 20 0 ms Correct the speed loop integral time constant setting Pn101 Incorrect moment of inertia ratio data Pn103 Check the moment of inertia ratio setting Pn103 Correct the moment of inertia ratio setting Pn103 Overtravel OT For
128. jecis 8 3 PDO Mapping Objects Powerlink allows the user to map objects into Process Data Objects PDOs to use these PDOs for real time data transfer PDO Mapping configuration defines which objects in a PDO will include Each Mapping entry Sub Index 1 to 8 is defined as follows UNSIGNED64 Bits 63 48 47 32 31 24 23 16 15 0 Name Length Offset Reserved Sub index Index Encoding UNSIGNED16 UNSIGNED16 UNSIGNED8 UNSIGNED16 Structure of PDO Mapping Entry Octet Offset Name Description 0 1 Index Index of the object to be mapped 2 Sub Index Sub index of the object to be mapped 3 reserved for alignment purpose 4 5 Offset Offset related to start of PDO payload Bit count 6 7 Length Length of the mapped object Bit count Mapping entries Sub Index 1 8 has to be set after Sub Index 0 was written to 0 1 Receive PDO Communication 1400h Index Sub Name Data Type Access ABO Value Mapping 2 O Number of entries USINT No Default 2 14000 NodelD_U8 USINT RO No 010255 2 MappingVersion U8 USINT RW No 0 to 255 je Object Dictionary 8 7 8 Object Dictionary 1 Receive PDO Mapping 1600h PDO Index Sub Name Data Type Access Mapping Value i 3 0 to 8 O N
129. king wiring and verifying the system and parameters when errors occur while debugging the sys tem thus shortening the time required for setup work and preventing damage to the equipment that may result from possible malfunctions The operation of the motor can be checked during performing this function regardless of whether the motor is actually connected or not For details refer to 4 3 Test Without Motor Function in 2 V series User s Manual Design and Maintenance Rotational Motor Command Option Attachable Type SIEP S800000 60 SERVOPACK Reference LAA Reference Simulates the operation without motor x Response e E Related Parameters 5 4 The following parameters are used for the test without motor Object Indek Meaning When Pn No Enabled n 0000 Disables the test without motor Factory setting n 0001 Enables the test without motor n 0000 Sets 13 bits as encoder resolution for the test without motor Factory setting Pn00C 7 0010 Sets 20 bits as encoder resolution for the test without motor After restart n0000 oe kan we encoder as encoder type for the test without motor n 0100 Sets absolute encoder as encoder type for the test without motor External encoders such as encoders for fully closed loop control are used as incremental encoders Limiting Torque The SERVOPACK provides the following four methods for limiting output torque to protect
130. l Forward run al Forward run al Forward run al Forward run al Forward run al owed wi owed wl owed wl owed wi owed wl owed wl owed wi Forward run prohibited Forward run al Forward run al Forward run al Forward run al Forward run al Forward run al Forward run al Forward run al owed owed wi owed wi owed wl owed wi owed wi owed wl owed wl hen CN1 13 input signal is ON L level hen CN1 7 input signal is ON L level hen CN1 8 input signal is ON L level hen CN1 9 input signal is ON L level hen CN1 10 input signal is ON L level hen CN1 11 input signal is ON L level hen CN1 12 input signal is ON L level hen CN1 13 input signal is OFF H level hen CN1 7 input signal is OFF H level hen CN1 8 input signal is OFF H level hen CN1 9 input signal is OFF H level hen CN1 10 input signal is OFF H level hen CN1 11 input signal is OFF H level hen CN1 12 input signal is OFF H level 10 22 3 This parameter is exclusive for SERVOPACKs to be used with rotational servomotors model SGDV OOOOE 10 2 SERVOPACK Parameters Pn No Name Factory Setting Range Units Setting When Enabled Data Type Pn50B Input Signal Selection 2 0000 to FFFF 8882 After restart UINT Ath 3rd 2nd 1st digit digit digit digit n N OT Signal Mapping 0 mimfojojou i gt ojo xoja ouo m Reverse run allowed when CN1 13 input signa
131. l is ON L level Reverse run allowed when CN1 7 input signal is ON L level Reverse run allowed when CN1 8 input signal is ON L level Reverse run allowed when CN1 9 input signal is ON L level Reverse run allowed when CN1 10 input signal is ON L level Reverse run allowed when CN1 11 input signal is ON L level Reverse run allowed when CN1 12 input signal is ON L level Reverse run prohibited Reverse run allowed Reverse run allowed when CN1 13 input signal is OFF H level Reverse run allowed when CN1 7 input signal is OFF H level Reverse run allowed when CN1 8 input signal is OFF H level Reverse run allowed when CN1 9 input signal is OFF H level Reverse run allowed when CN1 10 input signal is OFF H level Reverse run allowed when CN1 11 input signal is OFF H level Reverse run allowed when CN1 12 input signal is OFF H level Reserved Do not change P CL Signal Mapping 0 NIM TO O WIS O NN O O R O N ON when CN1 13 input signal is ON L level ON when CN1 7 input signal is ON L level ON when CN1 8 input signal is ON L level ON when CN1 9 input signal is ON L level ON when CN1 10 input signal is ON L level ON when CN1 11 input signal is ON L level ON when CN1 12 input signal is ON L level Sets signal ON Sets signal OFF OFF when CN1 13 input signal is OFF H level OFF when CN1 7 input signal is OFF H level OFF when CN1 8 input signal is OFF H level OFF when C
132. l under the relevant regulations as stipulated in the Foreign Exchange and Foreign Trade Regulations Therefore be sure to follow all procedures and submit all relevant documentation according to any and all rules regulations and laws that may apply Specifications are subject to change without notice for ongoing product modifications and improvements O 2010 YASKAWA EUROPE GmbH All rights reserved MANUAL NO YEG SIEP C720829 21A Published in Germany September 2010 10 6 4 1 10 3
133. llocation Tables and change the allocations accordingly lt Interpreting the Input Signal Allocation Tables gt The parameter set values to be used are shown Signals are allocated to CN1 pins according to the selected set values Values in cells in bold lines are the factory settings Level at which input signal allocations are valid Input Signal Names and Parameters Connection Not Required SERVOPACK judges the connection CN1 Pin Numbers Validit y Level Input Signal Always ON Always OFF Forward Run Prohibited Pn50A 3 7 8 If always ON 7 or always OFF 8 is set signals will be processed in the SERVOPACK which will eliminate the need for wiring changes Connection Not Required A ax CN1 Pin Numbers SERVOPACK Input Signal Names Validit Input judges the and Parameters y Level Signal connection Always Always 13 7 8 9 10 11 12 ON OFF Forward Run Prohibited H POT 0 2 Se Baa Seal a A 6 Pn50A 3 L P o 9 A B C D E F Reverse Run H NOT 0 1 gt 3 417576 Prohibited 7 8 Pn50B 0 L N OT 0 A B C D E F Home Switch Signal L Home ti E 7 i 4 5 5 7 Pn511 0 H Home KG eo er D EJ F Probe 1 Latch Signal L Probel i i 7 5 6 8 Pn511 1 H Probel x D E F i L Probe2 x K p 4 5 6 Probe 2 Latch Signal Tobe 8 Pn511 2 H P
134. lt in check that the following conditions are still met after being installed in the user s product The applicable standards are EN55011 A2 group 1 class A EN61800 3 and EN61000 6 2 E Single phase 100 V lt SGDV OOOFE1A 000 R70 R90 2R1 2R8 SGDV OCB02A o SERVOPACK Installation Shield box Brake Power Supply One turn SERVOPACK z gt U V W o Sd E M Brake Power supply E Noise 8 lel L1 12 O 3 ha O kahat O fm Single phase 100 VAC filter O Servomotor o Surge 5 LIC L2C On tumn absorber o a Two turn g CN2 5 5 Encoder oO lo KO em D PE E 7 2 pa 2 conta E O O Z ony CN8 PE I Core Core One turn I Two turn Two turn Clamp O Host controller Safety unit Symbol Cable Name Specification O T O signal cable Shield cable Safety signal cable Shield cable Motor main circuit cable Shield cable Encoder cable Shield cable Main circuit cable Shield cable Ethernet communication cable Shield cable 3 SERVOPACK Installation 3 6 E Three phase 200 V lt SGDV OOOAE1A 000 R70 R90 1R6 2R8 3R8 5R5 7R6 SGDV OCB02A Shield box Power su
135. m Manuals Related to the Z V Series Refer to the following manuals as required Selecting Trial l Name Models and Ratings and Panels and Trial Operation NG anG Peripheral Specifications Wiring Operation and Servo Inspection Devices Adjustment p 2 V Series User s Manual Design and Maintenance Rotational Motor Y Y Y Y Command Option Attachable Type SIEP S800000 60 2 V Series Option Module Safety Precautions Y TOBP C720829 00 2 V Series Command Option Module p Installation Guide TOBP C720829 01 2 V Series User s Manual Setup Rotational Motor Y Y SIEP S800000 43 Z V Series Product Catalog Y Y KAEP S800000 42 x V Series User s Manual Operation of Digital Y J y Operator SIEP S800000 55 2 V Series AC SERVOPACK SGDV Y P Safety Precautions TOBP C710800 10 gt Series Digital Operator Safety Precautions Y TOBP C730800 00 AC SERVOMOTOR Safety Precautions Y Y TOBP C230200 00 m Safety Information The following conventions are used to indicate precautions in this manual Failure to heed precautions pro vided in this manual can result in serious or possibly even fatal injury or damage to the products or to related equipment and systems Indicates precautions that if not heeded could possibly result in loss of AN WARNING life or serious injury Indicates precautions that if not heeded could result in relatively serious AN CAUTION or minor injury damage to the product or faulty ope
136. mon Initialization NMT State Machine At the end of this process the measuring system passes the CN specific state machine NMT CN State Machine and the Managing Node passes the MN specific state machine NMT MN State Machine The MN specific state machine is not part of this description NMT_GT1 PowerOn NMT_GT2 Reret T05 INMALISATION NMT G3 INITIALISING INMT_ZGT10 NMT_GT3 sino NDUT SuReset NMT G5 RE3ET APFLICATION NMT_GT1 awo NMT_GT4 Y NMT_fieseNode NMT 05 RESET COMMUNICATION INMT GTS NMT_ResetCommunication NMT_GT12 awo NMT_GTE imema Communication Error NMT 03 RESET CONFIGURATION INMT_ZGTT NMT_ResetComtigurstion NMT_MT1 NMT_MT1 Auto Auto INGOED la Node D GADANN DEF NGGEJOI CJADANN DEF NGGEJOI NNT 05 COMMUNICATING NIT MIN NMT MN STATE o Powerlink Communication 6 5 6 6 6 Powerlink Communication State Description NMT GS POWERED Superordinate state Valid after POWER ON NMT GS INITIALISATION Superordinate state Is present automatically after system start Initialization of network functionality NMT GS INITIALISING Sub state Is present automatically after POWER ON Hardware or Software Reset NMT GT2 or the reception of a NMTSwReset NMT_GT8 command 2 Main initialization of the node NMT GS RESET APPLICATION Sub state Is present automatically after completion of the previous state
137. n is required after installation in the final product 2 Applicable when the Powerlink Network Module is attached to SERVOPACKs for the command option attach able type xi CONTENTS Aboutithis Manual ie ico etek soe eked ec DA PAGASA LANA A Ea iii Safety PrecautiOnS tina ada Soe ting tees sieve rl Da Spas ESA vi Applicable Standards 0 0 0 cece cette eee xi Chapter Checking Rroducts man a a a a PA Sone 1 1 1 1 Checking Products on Delivery 0 0 00 eee 1 2 1 2 Nameplate and Model Designation 0 0 0 2 ee 1 2 1 3 Nameplate Location tae DN kanaba Nha DA Bana ee 1 3 Cidpicte2 sspeciicationScws oe ATG NEN NA NAKUNAN A ee ts 2 1 ZA ONE NEW sasra aan acts at atin de Hae ANA eels MAG La alee Hale shed e 2 2 2 2 Technical TOMAS o ss bye ge Sosa A eee 2 2 2 2 1 Data lypes aa da KAN Bg a A NG paan al ag Pe i kw Pe i ela ann De eee 2 2 2 2 2 Data UNITS agan aga Ta PT A es aed OR PO wy le Regia eee 2 2 2 3 Specifications of the Ethernet Powerlink Network Module 2 3 2 3 1 General Specifications AA tees 2 3 2 3 2 Communication Specifications 62 0 cee eens 2 4 2 4 Part Names of the Powerlink Network Module lt 2 5 2 5 LED INdICATOTS paanan aaa s eva AAA 2 6 Chapter 3 ERVORAGI installation lt eee eee 3 1 3 1 SERVOPACK Installation Environment and Applicable Standards 3 2 3 1 1 Installation Environment as ss
138. nits Baa a When Enabled a Application Function Select Switch 7 0000 to 005F 0000 Immediately UINT Ath 3rd 2nd 1st digit digit digit digit n Analog Monitor 2 Signal Selection 00 Motor speed 1 V 1000 min 01 Speed reference 1 V 1000 min 02 Torque reference 1 V 100 03 Position error 0 05 V 1 reference unit at 04 Position amplifier error after electronic gears 0 05 V 1 encoder pulse unit 05 Position reference speed 1 V 1000 min Pn007 06 Reserved Do not use 07 Motor load position error 0 01 V 1 reference unit I 08 Positioning completion positioning completed 5 V positioning not completed 0 V 09 Speed feedforward 1 V 1000 min OA Torque feedforward 1 V 100 OB Active gain 1st gain 1 V 2nd gain 2 V OC Completion of position reference completed 5 V not completed 0 V OD External encoder speed 1 V 1000 min Reserved Do not change Reserved Do not change 1 In the Powerlink Network Module the reference units of the SERVOPACK parameters are encoder pulses units inc Application Function Select Switch 8 0000 to 7121 4000 After restart UNIT 4th 3rd 2nd 1st digit digit digit digit n Lowered Battery Voltage Alarm Warning Selection 0 Outputs alarm A 830 for lowered battery voltage 1 Outputs warning A 930 for lowered battery voltage Pn008 Function Selection for Insufficient voltage 0 Disables detection of insufficient voltages 1 Detects warning and limits torqu
139. nterpolation time index 0x60C2 2 is 3 3 Supported values are 5 10 20 40 in case of Interpolation time index 0x60C2 2 is 4 10 2 10 2 SERVOPACK Parameters SERVOPACK Parameters The following table lists the SERVOPACK parameters All parameters can be accessed by SDO communication Notes e Use the object 1010h to write the parameters via SDO communication and store the setting values in the non volatile memory in the SERVOPACK e If the parameters are modified by the digital operator or SigmaWin the data will be directly stored in the non volatile memory e All SERVOPACK parameters have the following access attributes e Read Write enabled e PDO mapping disabled e Enabled to be stored in the EEPROM non volatile memory e In the Powerlink Network Module the reference units of the SERVOPACK parameters are encoder pulses units inc E Factory Data Pn No Name Setting Range Units 5 When Enabled 9 9 Setting Type Basic Function Select Switch 0 0000 to 00B3 0000 After restart UINT 4th 3rd 2nd 1st digit digit digit digit n Direction Selection 0 Forward reference for forward rotation Pn000 1 Forward reference for reverse rotation Reverse rotation mode 2 to 3 Reserved Do not use Reserved Do not change Reserved Do not change Reserved Do not change Application Function Select Switch 1 0000 to 1122 0000 After restart UINT 4th 3rd 2nd 1st digit
140. o 0 536870912 536870911 a 2 Max position limit DINT RW No 0 536870912 536870911 Pa 607Fh O Max Profile Velocity UDINT RW Yes Max Motor speed 0 Max motor Vel speed Unit 6081h 0 Profile Velocity UDINT RW Yes 0 0 Max profile Vel velocity Unit 6083h O Profile Acceleration UDINT RW Yes 0 0 Max acceler Acc ation Unit Max deceler Acc 6084h O Profile Deceleration UDINT RW Yes 0 0 ation Unit Deceleration taken from Max deceler Acc 6085h 0 Quick Stop Deceleration UDINT RW Yes the driver during initial 0 bi Unit ization anon n 6087h 0 Torque Slope UDINT RW Yes 0 0 2147483647 Q1 6098h O Homing Method SINT RW Yes 35 0 35 6099h Homing Speeds O Number of entries USINT RO No 2 1 Speed during search for UDINT RW Yes 0 0 Max profile Vel switch velocity Unit 2 Speed during search for zero UDINT RW Yes 0 0 Max profile Vel velocity Unit 609Ah 0 Homing Acceleration UDINT RW Yes 0 0 Max acceler Acc ation Unit 60B8h 0 Touch Probe Function UINT RW Yes 0 0 OxFFFF 60B9h 0 Touch Probe Status UINT RO Yes Touch Probe 1 position Pos 60BAh 0 Value DINT RO Yes o anit 60BCh 0 Touch Probe 2 position DINT RO Yes E Pos alue unit 60C1h Interpolation Data Record O Number of entries USINT RO No 1 1 Interpolation data record DINT RW Yes 0 2147483648 2147483647 a 1 Write Save into the object 1010h The current parameter d
141. oder cable FG potential varies because of influence of machines such as weld ers at the servomotor SERVOPACK pulse counting error due to noise interference Excessive vibration and shock to the encoder An encoder fault occurred Check the servomotor speed wave form Check if there are any loose mount ing screws Check if there is misalignment of couplings Check if there are unbalanced cou plings Check for noise and vibration around the bearings Check for any foreign matter dam age or deformations on the machin ery s movable parts The input output signal cables must be tinned annealed copper twisted pair or shielded twisted pair cables with a core of 0 12 mm min Check the length of the input output cable The encoder cable must be tinned annealed copper twisted pair or shielded twisted pair cables with a core of 0 12 mm min Check the length of the encoder cable Check if the encoder cable is dam aged or bent Check if the encoder cable is bun dled with high current line or near a high current line Check if the machines are correctly grounded Check if there is noise interference on the input output signal line from the encoder Check if vibration from the machine occurred or servomotor installation is incorrect mounting surface accu racy fixing alignment etc Correct the parameter setting Replace the SERVOPACK and lighten the load To
142. odes of Operation Display RO Yes SINT 6502h J Supported Drive Modes RO No UDINT Dynamic Mode Change The operation mode can be switched by writing the Object 6060h The master has the responsibility to update all operation mode specific process data objects together with the selection of the operation mode at the same time If the master selects a new operation mode the SGDV SERVOPACK changes to the new operation mode immediately The following table shows the behavior at the changing a new operation mode from the other mode New Operation Mode Profile Position mode Behavior at the Changing a New Operation Mode Controlword bit4 0 Operation mode is changed but motor will be stopped Controlword bit4 1 New positioning will be started immediately Homing mode Controlword bit4 0 Operation mode is changed but motor will be stopped Controlword bit4 1 Homing will be started immediately Interpolated Position mode Profile Velocity mode New operation mode will be started immediately Controlword bit4 0 Operation mode is changed but motor will be stopped Controlword bit4 1 New positioning will be started immediately Torque Profile mode New operation mode will be started immediately 7 3 The Profile Position mode is used to start positioning to the Target position with the Profile velocity and the Profile acceleration Profile Position Mode 7 3 Profile P
143. of bits for the current state of the drive and the operating state of the mode and man ufacturer specific options Index Sub Name Data Type Access Pi Value 6041h O Statusword UINT RO Yes 0 m Statusword Bits Bit Status Description 0 Ready to switch on 1 Switched on 2 Operation enabled 3 Fault i 7 Voltage enabled See lt Details on Bits 0 to 7 gt 5 Quick stop 6 Switch on disabled 7 Warning 8 Manufacturer specific No effect Always 0 9 Remote Controlword 6040h is processed Always 1 See lt Details on Bits 10 12 and 13 gt 10 Target reached Note Even if a fault occurs or main power is turned off or HWBB becomes active it complies with the description stated below 11 Internal limit active Torque limit active See lt Details on Bit 11 gt 12 to 13 Operation mode specific See lt Details on Bits 10 12 and 13 gt 14 HWBB Safety state STO 15 Manufacturer specific No effect Always 0 lt Details on Bits 0 to 7 gt lt Bit O to 7 for the current state of the drive Bit7 Bit6 Bits Bit4 Bits Bit2 Biti Bito Drive State 0 0 0 0 0 Not ready to switch on 1 0 0 0 0 Switch on disabled 0 1 0 0 0 1 Ready to switch on 0 1 0 0 1 1 Switched on 0 1 0 1 1 1 Operation enabled e 0 0 0 1 1 1 Quick stop active 0 1 1 1 1 Fault reaction active a 0 1 0 0 0 Fault 1 Main P
144. oming Default value required Homing on the 1 negative limit switch and index pulse pare Negative Limit aa E Homing on the positive 2 limit switch and index pulse Index Pulse E Positive Limit Switch 7 5 Homing Value Definitions Explanation i Homing on the positive lt O 3to4 home switch and index O 3 pulse 7 Index pusa l oo Home Swit Homing on the i 5to6 negative home switch and index pulse Index pulse ct Home Swit Other method Skipped 71016 description Not supported Homing on the negative limit switch 17 Same homing as Refer to method 1 method 1 without an indek pulse Homing on the positive limit switch 18 Same homing as Refer to method 2 method 2 without an index pulse Homing on the positive home switch 19 to 20 Same homing as method 3 and 4 without an index pulse 1 o Home swn 0 CiA402 Drive Profile 7 9 7 10 7 CiA402 Drive Profile Value Definitions Explanation Other method Skipped 21 to 32 description Not supported 33 to 34 Homing on index pulse O Index Pulse Homing on the current 35 position Supported 36 to 127 Reserved No effect Note The index pulse is recognized as the encoder zero signal phase C 7 6 Profile Velocity Mode 7 6 Profile Velocity Mode In the Profile Velocity mode the speed is output in accordance
145. on mode Bit Function Value Definition 0 Target position is an absolute value 6 Abs rel _ 1 Target position is a relative value 0 Positioning is executed or continued 8 Halt a 1 Stop axis according to halt option code 605Dh Bit 4 5 6 8 and 9 for the controlling of Homing mode Bit Function Value Definition Homing operation 0 Do not start homing procedure om 1 Start or continue homing procedure 0 Reserved 0 Reserved 8 Halt 0 Enable bit 4 1 Stop axis according to halt option code 605Dh 9 0 Reserved Bit 4 5 6 8 and 9 for the controlling of Interpolated position mode Bit Function Value Definition 4 Enable 0 1 Interpolated position mode start interpolation 130 Interpolated position mode stop 5 0 Reserved 6 0 Reserved 8 Hali 0 Execute instruction of bit 4 1 Stop axis according to halt option code 605Dh 9 0 Reserved je Object Dictionary 8 15 8 16 8 Object Dictionary lt Bit 4 5 6 8 and 9 for the controlling of Profile velocity torque mode Bit Function Value Definition 0 Reserved 0 Reserved 0 Reserved 0 The motion is executed or continued 8 nai 1 Stop axis according to halt option code 605Dh 9 0 Reserved 2 Statusword 6041h The Statusword indicates the current state of the drive No bits are latched The Statusword consists
146. on of DPM initial sequence is provided for both Option Card and Servo Unit This alarm is not allowed for an alarm reset and the sequence is stopped after the alarm is detected 0x0E02 Command Option IF Option Card Synchronization Error Servo Unit detects this alarm if the WDC of the cyclic data refreshed by Option Card is not updated properly After detecting the alarm the cyclic data except for the WDC is disabled and the data is enabled back again to be refreshed when the WDC comes back to a normal state WDC is defined as normal when it is successfully refreshed for 16 consecutive times Yes Ox0E03 Command Option IF Option Card Data Error Servo Unit detects this alarm if the checksum of the cyclic data refreshed by Option Card is inap propriate After detecting the alarm the cyclic data is dis abled and the data is enabled back again to be refreshed when the WDC comes back to a nor mal state WDC is defined as normal when it is successfully refreshed for 16 consecutive times Yes Ox0E70 Error of Command Option Card not Detected Upon power on Servo Unit confirms a Board ID signal output from Option Card This alarm is detected if Servo Unit determines that Option Card is not connected After the alarm detection the DPM data exchange will not be carried out 0x0E73 Error of Command Option Card not Supported Upon power on Servo Unit confirms a Board ID signal output from
147. or 0x0800 0020 0x0800 0022 Data can not be transferred or stored to the application Error cause a Wrong storage signature for Save Clear or Load operations Data can not be transferred or stored to the application because of the present device state Error cause a Attempt to implement mapping when the mapping is not enabled b Attempt to set Sigma V parameter value object 0x2101 in the CIA 402 FSA state OPERATION ENABLED c Wrong CIA 402 FSA state for setting User Unit Group Enable object 0x2300 It is only allowed in SWITCH ON DISABLED state d Attempt to set Software position limit in CIA 402 FSA state OPERATION ENABLED or QUICK STOP e Attempt to set Position range limit in CIA 402 FSA state OPERATION ENABLED or QUICK STOP f Attempt to set Switch On or Operation Enabled in case of main power is off or Safety state HWBB g Attempt to set pole detection mode in the states except Servo Off h Attempt to change operation mode from pole detection mode to other modes before pole detection completion Revision History The revision dates and numbers of the revised manuals are given on the bottom of the back cover MANUAL NO YEG SIEP C720829 21A Published in Germany September 2010 10 3 Date of Date of original publication publication draft edition Date of Rev March 2010 2010 Draft edition 0 OE edition a 2010 ee 8 amp 10 Description of object 1003h A 8 Update of the object lis
148. or Test without Motor 0 13 bits 1 20 bits Encoder Type for Test without Motor 00 Incremental encoder 01 Absolute encoder Reserved Do not change Application Function Select Switch D 0000 to 0001 0000 After restart UINT 4th 3rd 2nd 1st digit digit digit digit a Stand alone Mode Test Operation Selection Pn00D 0 Enables connection with the command option module 1 Disables connection with the command option module Reserved Do not change Reserved Do not change Reserved Do not change Axis Address Selection Pn010 BANG 0000 to 007F 0001 Aft tart UINT for UART USB communication EES f Appendix 10 13 10 Appendik Pn No Name Setting Range Units a L When Enabled ee Application Function Select Switch 80 0000 to 1111 0000 After restart UINT 4th 3rd 2nd 1st digit digit digit digit n 0 Enables selection 1 Disables selection phono Motor Phase Selection 0 Sets phase A lead as phase sequence of U V W 1 Sets phase B lead as phase sequence of U V W Reserved Do not change Calculation Method for Maximum Speed or Divided Output Pulses 0 Determines divided output pulses with fixed maximum speed 1 Determines maximum speed with fixed divided output pulses Pn100 Speed Loop Gain 10 to 20000 0 1 Hz 400 Immediately UINT Pn101 Speed Loop Integral Time Constant 15 to 51200 0 01 ms 2000 Immediately UINT Pn102 Position Loop Gain 10 to 20000 0 1 s 400 Immediatel
149. osition Mode The following figure shows the block diagram of the Profile Position mode Target Position 607Ah Position Pos unit Position unit inc Fe ree imi m multiplier Software Position Limit 607Dh limit function 3 607Dh 2301 1 2301 2 pata Demand Internal Profile Velocity 6081h E A Max Profil a it TR j yey O o MA posi a ax Profile Velocity limit function multiplier osition 60 Position Velocity Torque 4 2302 1 2302 2 trajectory e control gt control control Motor generator loop loop loop Profile Acceleration 6083h Profile Deceleration 6084h Acceleration Acc unit Acceleration unit 1041inc s2 4 4 i gt A Aa i mh multiplier Quick Stop Deceleration 6085h limit function 2303 1 2303 2 1 1 1 Controlword 6040h Al Quick Stop Option Code 605Ah gt H E i orgue Actual Value COCO a aa EK ba S Eee AAK PA a Pan OORS A RA Velocity Actual Value 606Ch Velocity unit po PAPA nn nn on nn en nn on oe oe ee multiplier e e 2302 2 2302 1 Position Actual Position Actual Value 6064h Position unit Internal Value 6063h AA MMMM 1 multiplier le 2a mamam maaa Kos a Output of position 2301 2 2301 1 Position Window 6067h limit function 1 1 Saget R
150. ower On 1 Warning is occurred 8 5 Device Control lt Details on Bit 115 If bit 11 internal limit active of the statusword is 1 this shall indicate that an internal limit is active The internal limits are manufacturer specific Explanation of DS402 The internal limit active in the following cases 1 Software position limit 2 N OT P OT limit switch lt Details on Bits 10 12 and 13 gt e Bit 10 12 and 13 for Profile position mode Bit No Description Value Definition 0 Halt Bit 8 in Controlword 0 Target position not reached Halt Bit 8 in Controlword 1 Axis decelerates 10 Target reached Mai 4 Halt Bit 8 in Controlword 0 Target position reached Halt Bit 8 in Controlword 1 Velocity of axis is 0 12 Set point 0 Previous set point already processed waiting for new set point acknowledge 1 Previous set point still in process set point overwriting shall be accepted 13 Reserved No effect lt Bit 10 12 and 13 for Homing mode Bit13 Bit12 Bit10 Homing Homing Target Definition error attained reached 0 0 0 Homing procedure is in progress 0 0 1 Homing procedure is interrupted or not started 0 1 0 Homing is attained but target is not reached 0 1 1 Homing procedure is completed successfully 1 0 0 Homing error occurred velocity is not 0 1 0 1 Homing error occurred velocity is 0 1 1 Reserved je Object Dictionar
151. p notch filter for torque reference EN Wh iiba Data Type Uses the smaller value between motor max speed and Pn408 parameter Pn407 as speed limit value After restart UINT Uses the smaller value between overspeed detection Ba ei and parameter Pn407 as Ba ei limit value 2nd Step Notch Filter Selection Enabled Data Type N A Immediately Uses 2nd step notch filter for torque reference EN F When riction Compensation Function Selection Enabled Data Type Disables use friction compesation function A Immediately UINT Enables friction compsation function Pn409 1st Notch Filter Frequency 50 to 5000 1 Hz 5000 Immediately UINT Pn40A 1st Notch Filter Q Value 50 to 1000 0 01 TO Immediately UINT Pn40B 1st Notch Filter Depth 0 to 1000 0 001 0 Immediately UINT Pn40C 2nd Notch Filter Frequency 50 to 5000 1 Hz 5000 Immediately UINT Pn40D 2nd Notch Filter Q Value 50 to 1000 0 01 70 Immediately UINT Pn40E 2nd Notch Filter Depth 0 to 1000 0 001 0 Immediately UINT Pn40F o Un a 100 to 5000 1 Hz 5000 Immediately UINT Frequency Pn410 ei 2nd Torgue Reference Filter Q 50 to 100 0 01 50 Immediately UINT Pn412 Ist Step 2nd Torgus Reference Hilter 0 to 65535 0 01 ms 100 Immediately UINT Time Constant Pn424 e Larit at Mar moat Voltage 0 to 100 1 50 Immediately UINT Release Time for Torque Limit at a Pn425 Main Circuit Voltags Drop 0 to 1000 1 ms 100 Immediately UINT Pn456 Sweep Torque Reference Amplitude 1 to 800 1 15 Immediately UINT
152. pair or replace the SERVOPACK 7 SERVOPACK 0A03h Node ID setting error Wrong settings of the Check the two rotary Set an appropriate Node Node address switches ID Turn the power supply 0A10h Device Error OFF and ON again and then reestablish commu nication a Troubleshooting 9 7 9 8 9 Troubleshooting 9 1 3 Troubleshooting of the Powerlink Network Module Alarms 9 2 Warning Displays When a warning is detected the SERVOPACK indicates the warning status as described below and continues operating the servomotor Status Display The warning code is displayed SERVOPACK Panel Display Example A gt 9 gt 1 gt 0 Digital Operator The warning code is displayed Statusword bit 7 Warning turns ON Slalusword Object 6041h Bit 7 is OFF when operation is normal Error Code Object 1003h The warning code for the current error is stored in object 1003h The controller is notified of the warning that occurred Emergency Message When Powerlink communication is not stable the controller may not be notified List of Warnings The following table provides a list of SERVOPACK warnings For details on causes of SERVOPACK warnings and countermeasures to take refer to 2 V series User s Man ual Design and Maintenance Rotational Motor Command Option Attachable Type SIEP S800000 60 Warning Code Warning Name Meaning Position error pulse exceeded the parameter settings
153. pply o AA E Three phase 200 VAC 6 3 filter Core Noise Core pam LIC absorber PE Powerlink controller Clamp CN11 Powerlink Two turn Network Module Brake Power iia 13 Supply SERVOPACK U V W To E y Brake 6 amp amp om O O m O Servomotor L2C One g o m 5 Encoder LE ja PE One turn Clamp Lo Host f controller Safety unit Symbol Cable Name Specification O VO signal cable Shield cable Safety signal cable Shield cable Motor main circuit cable Shield cable Encoder cable Shield cable Main circuit cable Shield cable Ethernet communication cable Shield cable 3 3 EMC Installation Conditions Hm Three phase 200 V SGDV OOOAE1A 000 120 SGDV OCBO2A Shield box Brake Power Supply SERVOPACK a a U V W o Power supply E Noise Jo 5 Three phase 200 VAC 6 o filter ISLAS 2 Servomotor Surge L1C L2C Onetum absorber a CN2 jem g E Encoder o lo 2 o o PE lt
154. rame is equal to configured size of object NMT_CycleTiming_REC PResActPayloadLimit_U16 The transmitted data correspond to the requirements defined by the PDO mapping The transition from NMT_CS_OPERATIONAL to NMT CS PRE OPERATIONAL 2 is triggered by the reception of NMT state command NMTEnterPreOperational2 The transition from NMT CS OPERATIONAL to NMT CS PRE OPERATIONAL is triggered if an error is detected The transition from NMT CS OPERATIONAL to NMT CS STOPPED is triggered by reception of NMT state command NMTStopNode Powerlink Communication 6 9 6 10 6 Powerlink Communication State Description NMT CS STOPPED In this state the node is largely passive NMT CS STOPPED is used for controlled shutdown of a selected CN while the system is still running The node does not participate in cyclic frame exchange but still observes SoA frames and does not respond via PRes when queried by the MN viaPReq The CN responds to AsyncInvite commands via SoA If not invited by the MN there is no standard Ethernet frame transmission in this state The transition from NMT_CS_STOPPED to NMT CS PRE OPERATIONAL 2 is triggered by the reception of NMT state command NMTEnterPreOperational2 The transition from NMT CS STOPPED to NMT CS PRE OPERATIONAL I is triggered if an error is detected NMT CS BASIC ETHERNET In the NMT CS BASIC ETHERNET state the node can perform only Legacy Ethernet communication
155. ration In some situations the precautions indicated could have serious consequences if not heeded Indicates prohibited actions that must not be performed For example S PROH B ITED this symbol would be used to indicate that fire is prohibited as follows ES Indicates compulsory actions that must be performed For example this Q MAN DATO RY symbol would be used as follows to indicate that grounding is compulsory vi Safety Precautions These safety precautions are very important Read them before performing any procedures such as checking products on delivery storage and transportation installation wiring operation and inspection or disposal Be sure to always observe these precautions thoroughly AN WARNING o Never touch any rotating motor parts while the motor is running Failure to observe this warning may result in injury Before starting operation with a machine connected make sure that an emergency stop can be applied at any time Failure to observe this warning may result in injury or damage to the product Never touch the inside of the SERVOPACKs Failure to observe this warning may result in electric shock Do not remove the cover of the power supply terminal block while the power is ON Failure to observe this warning may result in electric shock After the power is turned OFF or after a voltage resistance test do not touch terminals while the charge indicator is ON Residual
156. rk Mod Powerlink Network Mod ule ule Fault occurred in the SERVOPACK Repair or replace the SERVOPACK 9 1 Troubleshooting cont d Alarm Code Alarm Name Cause Investigative Action Corrective Action Command Option IF The synchronous timing Sync0 of the SERVO PACK and the Powerlink Network Module fluctu ated due to a fluctuation in the synchronous timing of Powerlink communi cation Turn the power supply OFF and ON again and then reestablish commu nication OEA2h Servo Synchronization Faulty connection Check the connection Error between the SERVO between the SERVO Reconnect the Powerlink PACK and the Powerlink PACK and the Powerlink Network Module Network Module Network Module Fault occurred in the Repair or replace the Powerlink Network Mod Powerlink Network Mod ule ule Fault occurred in the Repair or replace the SERVOPACK T SERVOPACK A communication error ge be wetan the Implement countermea SERVOPACK and the E Powerlink Network Mod ule due to noise Faulty connection Check the connection Command Option IF between the SERVO between the SERVO Reconnect the Powerlink OEA3h Servo Data Error PACK and the Powerlink PACK and the Powerlink Network Module Network Module Network Module Fault occurred in the Repair or replace the Powerlink Network Mod Powerlink Network Mod ule ule Fault occurred in the Re
157. robe2 x D E F x Always set to OFF 4 3 I O Signal Allocations 0 MPORTANT 2 When two or more signals are allocated to the same input circuit input signal level is 1 Inverting the polarity of Forward Run Prohibited and Reverse Run Prohibited signals i e positive logic will prevent the holding brake from working in case of its signal line disconnection If this setting is absolutely necessary check the operation and confirm that there are no safety problems valid for all allocated signals Wiring and Connection 4 7 4 8 4 Wiring and Connection 4 3 2 Output Signal Allocations 4 3 2 Output Signal Allocations Output signals are allocated as shown in the following table Refer to the Interpreting the Output Signal Allocation Tables and change the allocations accordingly lt Interpreting the Output Signal Allocation Tables gt The parameter set values to be used are shown Signals are allocated to CN1 pins according to the selected set values Values in cells in bold lines are the factory settings Output Signal Names and CN1 Pin Numbers Invalid Parameters Output Signal 23 24 not use Brake Pn50F 2 BK 0 i CN1 Pin Numbers i Output Aiya Names and Output Signal Invalid arameters 1 2 23 24 25 26 not use
158. s and Outputs ede NA KARLA LABANANG 7 12 7 9 Touch Probe Function 0000 cece eee 7 13 Chapters ObjectDictionarya paar aka NA AA e 8 1 8 1 Object Dictionary List E A PAG he eh iia 8 2 8 2 GeneralVOBDIGCls aasa Sete e a aa Ka ead Sets airis 8 4 8 3 PDO Mapping Objects c 202440 200424004 PLA a ea eee die a 8 7 8 4 Manufacturer Specific Objects 0 00 eee 8 9 8 5 DEVICE DOMO da a a decd tinh Sy Wee dears ee teas a ao oy SS 8 14 8 6 Profile Position Mode ccc cee ee 8 22 8 7 Homing Mod s nt KA NGA stn a Pig ee RE tae be NG GA eee ee 8 24 8 8 Position Control FUNCION and UA ete Maa A ARSS 8 26 8 9 Interpolated Position Mode 00 cece ee 8 27 8 10 Profile Velocity Mode avast espias PANGGA tee atone alan 8 28 8 11 Profile Torque Mode lt oe DSRS EE Se ORS 8 29 8 12 Touch Probe Function 0 0 aana gi KEN ag NE EA EA Ta RE 8 30 8 13 Digital Inputs Outputs et aes AAA ARA 8 32 xiii xiv Chapter o9iiroubleshooting m mk eee An re 9 1 9 1 Troubleshooting AA 9 2 9 1 1 Alarm List for SERVOPACKs with Command Option Attachable Type 9 2 9 1 2 List of the Powerlink Network Module Alarms 2 9 6 9 1 3 Troubleshooting of the Powerlink Network Module Alarms 0 0 9 6 9 2 Warning Displays cessan Bab ma hagad NG BA ve ae ee ELA am ad 9 8 9 3 Troubleshooting Malfunction Based on Operation and Conditions of
159. s between the SERVOPACK and the Grl N A Error encoder is not possible Encoder Communications Ka FE C91h Position Data Error An encoder position data calculation error occurred Gr 1 N A Encoder Communications An error occurs in the communications timer between the Gabi Timer Error encoder and the SERVOPACK kaa NA CAOh Encoder Parameter Error Encoder parameters are faulty Gr 1 N A Cb0h Encoder Echoback Error Contents of communications with encoder is incorrect Gr 1 N A ats Different multi turn limits have been set in the encoder and 2 CC0h Multi turn Limit Disagreement the SERVOPACK Gr 1 N A Feedback Option Module CF1h3 Communications Error Reception from the feedback option module is faulty Gr 1 N A Reception error Feedback Option Module nig i CF2h 2 Communications Error Timer Timer for communications with the feedback option module Grl N A is faulty stop d00h Position Error Pulse Overflow Position error pulses exceeded parameter Pn520 Gr 1 Available d01h Papal SEAT Overflow Position error pulses accumulated too much Gr 1 Available After a position error pulse has been input Pn529 limits the Position Error Pulse Overflow speed if the Servo ON command is received If Pn529 limits kaa the speed in such a state this alarm occurs when the position d02h Alarm by Speed Limit at Servo NG Gr 2 Available ON references are input and the number of position error pulses exceeds the value set for parameter Pn520 Excessive
160. s what action should be taken if the bit 8 halt in the Controlword is active Index Sub Name Data Type Access PDO Value Mapping 1t03 605Dh O Halt Option Code INT RW No Default 1 E Data Description Value Data Description Explanation 1 Slow down on slow down ramp Supported 2 Slow down on quick stop ramp Supported 3 Slow down on the current limit Supported je Object Dictionary 8 19 8 20 8 Object Dictionary 5 Modes of Operation 6060h The master writes to the modes of operation object in order to select the operation mode The drive device pro vides the modes of operation display object to indicate the actual activated operation mode PDO Index Sub Name Data Type Access Mapping Value 1to 7 6060h O Modes of Operation SINT RW Yes Default 0 Data Description Value Data Description Explanation 1 Pole detection mode Supported 0 No mode change No mode assigned No movement Usually after power on 1 Profile Position mode Supported 2 Velocity mode Not supported 3 Profile Velocity mode Supported 4 Profile Torque mode Supported 5 Reserved No effect 6 Homing mode Supported 7 Interpolated position mode Supported Note A read of modes of operation shows only the value of modes of operation The actual mode of the drive is reflected in the object modes of operation display It may be change
161. solute encoder is connected to the SERVOPACK the home offset is added to the encoder absolute position the position actual value in power up phase Home Zero position position home_offset l 2 Homing Method 6098h This object specifies the homing method For details refer to 7 5 Homing Index Sub Name Data Type Access Er g Value 6098h 0 Homing Method SINT RW Yes Be Ka Pana 23 m Data Description Value Method Data Description 0 No homing operation required 1 Homing on the negative limit switch and index pulse 2 Homing on the positive limit switch and index pulse 3 4 Homing on the positive home switch and index pulse 5 6 Homing on the negative home switch and index pulse 17 Homing on the negative limit switch Same homing as method 1 without an index pulse 18 Homing on the positive limit switch Same homing as method 2 without an index pulse 19 20 Homing on the positive home switch Same homing as method 3 4 without an index pulse 33 34 Homing on index pulse 35 Homing on the current position 8 24 3 Homing Speed 6099h This object entries define the speeds used during homing and is given in user velocity units 8 7 Homing Mode Index Sub Name Access bid Value O Number of entries RO No 2 6099h 1 Speed during search for switch RW Yes 0 to Max profile velocity 2 Speed during search for zero RW Yes 0
162. stall and wire the limit switch to prevent chattering malfunction and other problems 0 lt For safety when using the overtravel function monitor the Statusword object Operation 5 7 5 8 5 Operation 6 Powerlink Communication 6 1 Powerlink functional principle aaa 6 2 6 2 Powerlink cycle time time slot principle_ aa 6 3 6 3 Powerlink Device Architecture 0 00 6 4 6 4 Powerlink Slave Information eaaa 6 5 6 5 Powerlink Initialization NMT State Machine aa 6 5 6 6 NMT CN State Machine ADA ERA e e 6 7 o Powerlink Communication 6 2 6 Powerlink Communication 6 1 Powerlink functional principle Ethernet POWERLINK EPL is a communication profile for Real Time Ethernet RTE It extends Ethernet according to the IEEE 802 3 standard with mechanisms to transfer data with predictable timing and precise synchronization The communication profile meets timing demands typical for high performance automation and motion applications It does not change basic principles of the Fast Ethernet Standard IEEE 802 3 but extends it towards Real Time Ethernet Thus it is possible to leverage and continue to use any standard Ether net silicon infrastructure component or test and measurement equipment like a network analyzer Key features Ease of Use to be handled by typical automation engineers without in depth Ethernet network knowledge up to
163. t 8 in Controlword 1 Axis decelerates 10 Target reached 4 Halt Bit 8 in Controlword 0 Target torque reached Halt Bit 8 in Controlword 1 Velocity of axis is 0 12 Reserved No effect 13 Reserved No effect lt Bit 10 12 and 13 for Pole detection mode Bit13 Bit12 Bit10 Definition 0 0 None 0 1 Pole detection completed 1 0 Pole detection in process 1 1 Reserved 3 Quick Stop Option Code 605Ah 8 5 Device Control The parameter quick stop option code determines what action should be taken if the Quick Stop function is executed Index Sub Name Data Type Access DO Value Mapping 605Ah 0 Quick Stop Option Code INT RW No NET Default 2 E Data Description Value Data Description Explanation 32768 1 Manufacturer Specific No effect 0 Disable drive function Supported 1 Slow down on slow down ramp Supported 2 Slow down on quick stop ramp Supported 3 Slow down on the current limit Supported 4 Slow down on the voltage limit Not supported 5 Slow down on slow down ramp and stay in QUICK STOP Supported 6 Slow down on quick stop ramp and stay in QUICK STOP Supported TA Slow down on the current limit and stay in QUICK STOP Supported 8 Slow down on the voltage limit and stay in QUICK STOP Not supported 9 32767 Reserved No effect 4 Halt Option Code 605Dh The parameter halt option code determine
164. t and the SDO abort codes chapter 10 May 2010 Preface Data description of object 6041h modified chapter 7 page 7 3 Chapter 7 8 amp 10 Section title modified 7 3 chapter 7 page 7 5 Back cover Note added 7 4 chapter 7 page 7 7 Field description of object 1003h modified 8 2 chapter 8 page 8 4 Object description of 2100h and 2101h modified 8 4 chapter 8 page 8 8 Object description of 2211h added 8 4 chapter 8 page 8 8 Object description of 60C2h modified 8 9 chapter 8 8 26 Note added 8 13 chapter 8 page 8 32 Error codes added 10 3 chapter 10 page 10 28 Sompany name changed Preface Back cover Ci NAA Preface Warranty information added Chapter 5 Note in Section 5 7 added Chapter 9 Application hint added AC Servo Drives gt V Series USER S MANUAL Powerlink Network Module European headquarters YASKAWA EUROPE GmbH HauptstraBe 185 65760 Eschborn Germany Phone 49 0 6196 569 300 Fax 49 0 6196 569 398 YASKAWA ENGINEERING EUROPE GmbH HauptstraBe 185 65760 Eschborn Germany Phone 49 0 6196 569 520 Fax 49 0 6196 888 598 Manufacturing facility YASKAWA ELECTRIC UK LTD 1 Hunt Hill Orchardton Woods Cumbernauld G68 9LF United Kingdom Phone 44 0 1236 735000 Fax 44 0 1236 458182 Y YASKAWA In the event that the end user of this product is to be the military and said product is to be employed in any weapons systems or the manufacture thereof the export will fal
165. the WDC of the cyclic data refreshed by Servo Unit is not updated properly After detecting the alarm the cyclic data except for the WDC is disabled and the data is enabled back again to be refreshed when the WDC comes back to a normal state WDC is defined as normal when it is success fully refreshed for 16 consecutive times Yes Yes Ox0EA3 0 1 Command Option IF Servo Data Error Option Card detects this alarm if the checksum of the cyclic data refreshed by Servo Unit is inappropriate After detecting the alarm the cyclic data is disabled and the data is enabled back again to be refreshed when the WDC comes back to a nor mal state WDC is defined as normal when it is successfully refreshed for 16 consecutive times Yes Yes 0x0A03 O 1 NodelD setting error NodelD address is out of the allow able Yes Yes Ox0A10 0 1 Device Error No Yes 10 30 Error code chart 2 detected by Servo unit 10 3 Error code Faultcode Same as Display A Xxx Attribute Bit 16 Attribute Bit 17 Meaning Description Operate Alarm reset Ox00xx c ODxx Alarm Warning from Sigma 5 Same code of Sigma 5 Alarm Warning A xxx See Sigma 5 manual 0x0E00 Command Option IF Option Card Initial Error This alarm is detected when the initial sequence is not completed within 10 s The timeout period between the power on and the completi
166. the machine Each method uses the set minimum torque to limit the output Limiting Method Reference Objects Parameters 4 4 1 Internal Torque Limit in V series Torque limited by parameter setting User s Manual Design and Maintenance Pn402 only Rotational Motor Command Option Pn403 Attachable Type SIEP S800000 60 4 4 2 External Torque Limit in 2 V series Torque limit set by parameter enabled User s Manual Design and Maintenance Pn404 by I O input signal Rotational Motor Command Option Pn405 Attachable Type SIEP 5800000 60 T limit set b t bled Object 6040h PnB11 orque mit set by parameter enabted g 5 7 Controlword 6040h Pn404 by command from controller Pn405 Torque limit controlled from controller 6 11 Profile Torque Mode Object 6072h 5 5 Absolute Encoders For details on absolute encoder settings refer to 4 5 Absolute Encoders in 2 V series User s Manual Design and Maintenance Rotational Motor Command Option Attachable Type SIEP S800000 60 E Absolute Encoder Home Offset When an absolute encoder is used an offset can be set between the encoder position and the machine position Position actual value Object 6064h The offset value is set by the reference unit and is added to the Position actual value Object 6064h 5 5 Absolute Encoders Sub Data Default Index index Name Type Access Setting Range Value 536870912 to 607Ch 0 Home offset DINT RW 5368
167. tion 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 informa tion contained in this publication About this Manual This manual describes informations reguired for designing and maintaining the Powerlink Network Module for 2 V series SERVOPACKs Be sure to refer to this manual and perform design and maintenance to select devices correctly Keep this manual in a location where it can be accessed for reference whenever required Description of Technical Terms The following table shows the meanings of terms used in this manual Term Meaning Powerlink Network Module Powerlink Network Module for 2 V series SERVOPACKs Cursor A mark that indicates the input position of data displayed on the digital operator Sarvambtar 2 V Series SGMJV SGMAV SGMEV SGMGV SGMSV or SGMCS Direct Drive servomotor Linear Z Series SGLGW SGLFW SGLTW or SGLC servomotor SERVOPACK 2 V Series SGDV SERVOPACK Servo drive A set including a servomotor and SERVOPACK i e a servo amplifier Servo System A servo control system that includes the combination of a servo drive with a host controller and peripheral devices Servo ON When power is being supplied to the servomotor Servo OFF When power is not being supplied to the servomotor Base block Turning OFF the power by shutting OFF the base current of
168. to Max profile velocity 4 Homing Acceleration 609Ah This object specifies the acceleration and deceleration for homing in user defined acceleration reference units Index Sub Name Access PBO Value Mapping 609Ah 0 Homing Acceleration RW Yes 0 to Max acceleration je Object Dictionary 8 25 8 Object Dictionary Position Control Function Position Demand Value 6062h This object provides the demanded position value in user position units 8 8 Index Sub Name Data Type Access aba Value apping 6062h O Position Demand Value DINT RO TPDO Pos unit 2 Position Actual Internal Value 6063h This object provides the current feedback position in encoder pulse units inc Index Sub Name Data Type Access ee Value apping 6063h O Position Actual Internal Value DINT RO TPDO inc 3 Position Actual Value 6064h This object represents the actual value of the encoder position in defined user position units Index Sub Name Data Type Access Shae Value apping 6064h O Position Actual Value DINT RO TPDO Pos unit Position Demand Internal Value 60FCh This object provides the output of the trajectory generator in position mode This value is given in increments 4 of the position encoder PDO Index Sub Name Data Type Access Mapoi Value apping 60FCh O Position D
169. tomatic gain switching pattern 1 Changes automatically 1st gain to 2nd gain when the switching condition A is satisfied Changes automatically 2nd gain to 1st gain when the switching condition A is not satisfied Pn139 Gain Switching Condition A 0 Positioning completion signal COIN ON 1 Positioning completion signal COIN OFF 2 NEAR signal NEAR ON 3 NEAR signal NEAR OFF 4 Position reference filter output 0 and reference input OFF 5 Position reference input ON Reserved Do not change Reserved Do not change Pn13D Current Gain Level 100 to 2000 1 2000 Immediately UINT Model Followi trol Related Goe Following Control Relate 0000 to 1121 H 0100 Immediately UINT Switch 4th 3rd 2nd 1st digit digit digit digit n Model Following Control Selection 0 Does not use model following control 1 Uses model following control Vibration Suppression Selection Pn140 0 Does not perform vibration suppression 1 Performs vibration suppression over the specified frequency 2 Performs vibration suppression over two different kinds of frequencies Vibration Suppression Adjustment Selection 0 Does not adjust vibration suppression automatically using utility function 1 Adjusts vibration suppression automatically using utility function Selection of Speed Feedforward VFF Torque Feedforward TFF 0 Does not use model following control and speed torque feedforward together 1 Uses model following control and speed torque feedforward together Pn1
170. ts or setting changes of parameters Failure to observe this caution may result in injury or damage to the product due to unstable operation When an alarm occurs remove the cause reset the alarm after confirming safety and then resume operation Failure to observe this caution may result in damage to the product fire or injury lt Do not use the brake of the servomotor for braking Failure to observe this caution may result in malfunction lt An alarm or warning may be generated if communications are executed with the host controller dur ing operation using SigmaWin or the digital operator If an alarm or warning is generated the process currently being executed may be aborted and the system may stop NH Maintenance and Inspection N CAUTION Do not disassemble the SERVOPACK Failure to observe this caution may result in electric shock or injury lt Do not change wiring while the power is ON Failure to observe this caution may result in electric shock or injury lt When replacing the SERVOPACK resume operation only after copying the previous SERVOPACK parameters to the new SERVOPACK Failure to observe this caution may result in damage to the product m Disposal N CAUTION lt When disposing of the products treat them as ordinary industrial waste E General Precautions Observe the following general precautions to ensure safe application The products shown
171. tus Send Mode Profile Error specific Error Name Description Bit15 Git 14 Bits Bits E lex P13 MOST 0 1 3 0x192 0x5530 0x0002 8008 Read Write EEPROM error 0 1 3 0x002 0x8161 0x0000 0000 E_DLL_BAD_PHYS_MODE 0 1 3 0x002 0x8164 0x0000 0000 E_DLL_CRC_TH 0 1 3 0x002 0x8163 0x0000 0000 E DLL COLLISION TH 0 1 3 0x192 0x8200 0x0003 8006 Wrong value received via PDO 0 1 1 2 0x002 Ox8210 0x0000 0000 PDO not processed due to length error 0 1 1 2 0x002 Ox8211 0x0000 0000 Wrong mapping version 0 1 3 0x002 0x8235 0x0000 0000 E DLL JITTER TH 0 1 3 0x002 0x8242 0x0000 0000 E DLL LOSS PREQ TH 0 1 3 0x002 0x8244 0x0000 0000 E DLL LOSS SOA TH 0 1 3 0x002 0x8245 0x0000 0000 E DLL LOSS SOC TH 0 1 3 0x192 OxFF00 0x0000 0A03 kian Node ID Address is out of the allowable 0 1 3 0x192 OxFF00 0x0000 OA10 Device Error Error in setting DPM interrupt 0 1 3 0x192 JOKFFOO 0x0000 OEAO Command Option IF Servo Unit Initial Error 0 1 3 0x192 JOKFFOO 0x0000 OEAI Command Option IF Memory Check Error 0 1 3 0x192 OxFF0O 0x0000 OEA2 Command Option IF Servo Synchronization Error 0 1 3 0x192 JOKFFOO 0x0000 OEA3 Command Option IF Servo Data Error 0 1 3 0x192 OxFF00 0x0002 0007 Wrong Sync period The Sync messages arrival are not fit with interpolation time period 0x60C2 1 0 1 3 0x192 OxFF00 0x0002 0009 Abnormal control state 0 1 3 0x192 OxFF00 0x0002 8003 Reset Reset command had been s
172. ual Value RO Yes 0 1 INT 6072h Max Torque RW Yes 0 1 UINT The motor rated torque is 100 7 8 Digital Inputs and Outputs The Digital Inputs and Digital Outputs are used to control the I O signals of the SERVOPACK CN1 Index Sub Name Access Na Units Type 60FDh Digital Inputs RO Yes UDINT Digital Outputs 60FEh 1 Physical outputs RW Yes UDINT 2 Bit mask RW No UDINT 7 12 7 9 7 9 Touch Probe Function Touch Probe Function The feedback position can be latched with the following trigger events e Trigger with touch probe 1 input SERVOPACK CNI Probel S14 signal e Trigger with touch probe 2 input SERVOPACK CNI Probe2 SI5 signal e Trigger with encoder zero signal C phase The following two touch probe functions can be used at the same time lt Touch Probe 1 Latch function gt e Latch Control object 60B8h Bit 0 to 7 e Latch Status object 60B9h Bit 0 to 7 e Latch Position is always stored to the Touch Probel Position Value 60BAh e Trigger signal Encoder zero signal or Probe1 signal SI4 lt Touch Probe 2 Latch function gt e Latch Control object 60B8h Bit 8 to 15 e Latch Status object 60B9h Bit 8 to 15 e Latch Position is always stored to the Touch Probe2 Position Value 60BCh e Trigger signal Probe2 signal SI5 Connector pin allocations and positive negative logics of Probel SI4 and Probe2 SIS signals can be
173. umber of objects in this PDO USINT RW No Default 3 1 Mapping entry 1 Ki RW No Default 6040 0 2 Mapping entry 2 era IO No Default 607A 0 3 Mapping entry 3 E Na RW No Default 60FF 0 1600h 4 Mapping entry 4 PONG RW No Default 0 5 Mapping entry 5 Sa Naa RW No Default 0 6 Mapping entry 6 Kan Naa RW No Default 0 7 Mapping entry 7 aa aa RW No Default 0 8 Mapping entry 8 sah ae RW No Default 0 1 Transmit PDO Communication 1800h Index Sub Name Data Type Access PDO Value Mapping 2 O Number of entries USINT No Default 2 1800h NodelD_U8 USINT RO No 010255 2 MappingVersion U8 USINT RW No 0 to 255 2 Transmit PDO Mapping 1A00h Index Sub Name Data Type Access PDE Value Mapping y Oto 8 O Number of entries USINT RW No Default 3 1 Mapping entry 1 o RW No Default 6041 0 2 Mapping entry 2 baa N RW No Default 6064 0 3 Mapping entry 3 in RW No Default 606C 0 1A00h 4 Mapping entry 4 ka ae RW No Default 0 5 JMapping entry 5 y RW No Default 0 6 Mapping entry 6 UN AA RW No Default 0 7 Mapping entry 7 basbas an RW No Default 0 8 Mapping entry 8 kalan aa RW No Default 0 8 8 8 4 1 Manufacturer Specific Objects SERVOPACK Parameters Get Parameter 2100h Set Parameter 2101h For reading the values of the parameters 2100h must be used The wanted parameter must be written to 2100 1h and its value will be read from 2100 1h afterwards 8 4 Manuf
174. unctions 0 000 eee eee 5 2 5 2 Trial Operation mwaa KAAGAD AKA dow a A aaa 5 3 5 2 1 Inspection before Trial Operation a aa eaaa 5 3 5 2 2 Trial Operation via Powerlink Communication a 5 3 5 3 Test Without Motor Function ocooccocccocooo 5 4 5 4 Limiting Torque usara ia ADEN ANNA BA cea KANG KANAN 5 4 5 5 Absolute Encoders ARTAGG as a 5 5 5 6 Safety Function iria e KNA aaa Saas 5 6 5 7 Overtravel AA 5 7 on Operation 5 2 5 Operation 5 1 Settings for Common Basic Functions The following table lists basic parameters to be set up for motor operation Step Items Reference Objects Parameters 4 2 2 Servomotor Rotation Direction in 2 V 1 Servomotor Rotation series User s Manual Design and Mainte Pn000 Direction nance Rotational Motor Command Option Attachable Type SIEP S800000 60 Pn50A Pn50B 2 Overtravel 5 7 Overtravel Pn001 Pn406 8 4 Manufacturer Specific Objects Positi i Object 2301 01h osition Note The SERVOPACK electronic gear Object 2301 02h function is not used with the Powerlink 3 Unit Settings Network Module y E Object 2302 01h Velocity 8 4 Manufacturer Specific Objects Object 2302 02h Accelera 7 Pam Object 2303 01h Kon 8 4 Manufacturer Specific Objects Object 2303 02h 4 2 5 Encoder Output Pulses and 4 2 6 Encoder Output Pulse Setting in 2 V series 4 Encoder Output Pulses User s Manual Design and Maintenance Pn212 Rotat
175. value DINT RO No 0 2147483648 2147483627 2300h 0 User unit group enable USINT RW No 1 0 1 Position user unit 0 Number of entries RO No 2 2301h 1 Numerator UDINT RW No 1 0 4294967295 2 Denominator UDINT RW No 1 0 4294967295 Velocity user unit 0 Number of entries RO No 2 2302h 1 Numerator UDINT RW No 1 0 4294967295 2 Denominator UDINT RW No 1 0 4294967295 Acceleration user unit 0 Number of entries RO No 2 2303h 1 Numerator UDINT RW No 1 0 4294967295 2 Denominator UDINT RW No 1 0 4294967295 2400h 0 Position Range Limit Desig USINT RW No 0 0 3 E nation 2401h O Target Position in Range DINT RW TPDO 0 2147483648 2147483627 a 2402h 0 Actual Position in Range DINT RO TPDO 0 2147483648 2147483627 o 6040h 0 Controlword UINT RW Yes 0 0 OxFFFF 6041h 0 Statusword UINT RO Yes 605Ah 0 Quick Stop Option Code INT RW No 2 0 4 605Dh O Halt Option Code INT RW No 1 0 4 6060h 0 Modes of Operation SINT RW Yes 0 0 10 6061h O Modes of Operation Display SINT RO Yes 0 E Appendix 10 5 10 6 10 Appendik Sub Daia PDO E ARE Index lace Name Type Access Mapping Default Value Lower Limit Upper Limit Unit 6062h 0 Position Demand Value DINT RO TPDO Pos egesi o Position Actual Internal DINT RO TPDO s Inc Value 6064h O Position Actual Value DINT RO TPDO pos 6067h 0 Position W
176. vertravel signal is activated while the motor is moving to its target the motor stops rotating and the target reached bit in the statusword will be active Interpolated position mode e In the overtravel state positioning return operations will start only when a target posi tion is specified in the reverse direction of the present overtravel signal for Position actual value e g for P OT a command to move in the negative direction In the overtravel state the motor will start only when a speed is specified in the reverse Profile velocity mode direction of the overtravel signal e g for P OT a target velocity in the negative direc tion Erofile torgue mode reverse direction of the overtravel signal e g for P OT torque in the negative direction In the overtravel state torque will be generated only when torque is specified in the Note If the overtravel signal is activated the error bit in the status word will remain inactive as long as no error codes or alarms were detected 6041h or OT signal status in Digital Inputs at the host controller and use the Halt command Controlword bit 8 1 to stop the motor if overtravel occurs Do not output IMPORTANT any other commands until the motor stops After the motor stops perform a reset operation lt If the OT signal status changes within a short period the host controller may not monitor the change of the OT signal Be sure to correctly select in
177. w 606Dh This object indicates the configured velocity window When the time specified by the Velocity Window Time Object 606Eh has passed after the difference between the target velocity and the velocity actual value falls within the value of this object bit 10 Target reached of Statusword is set to 1 Index Sub Name Data Type Access chee Value apping R 0 to 65535 606Dh O Velocity Window UINT RW No Default 0 Vel unit 4 Velocity Window Time 606Eh When the time specified by the Velocity Window Time Object 606Eh has passed after the difference between the target velocity and the velocity actual value falls within the value of this object bit 10 Target reached of Statusword is set to 1 Index Sub Name Data Type Access ee Value apping 0 to 65535 606Eh 0 Velocity Window Time UINT RW No Default 0 ms 5 Target Velocity 60FFh 8 28 This object specifies the target velocity for Profile Velocity mode in user defined velocity reference units Index Sub Name Data Type Access Nin Value apping 2147483648 to 60FFh O Target Velocity DINT RW Yes 2147483647 Default 0 Vel unit 8 11 1 Profile Torque Mode Target Torque 6071h 8 11 Profile Torque Mode This object specifies the input value of torque reference value for Torque Control mode Set the value in units of 0 1 of the motor rated torque Index Sub Name Data Type Access tia Value app
178. ward or reverse run prohibited signal is input Check the external power supply 24 V voltage for the input signal Correct the external power supply 24 V voltage Check if the overtravel limit switch operates properly Correct the overtravel limit switch Check if the overtravel limit switch is wired correctly Correct the overtravel limit switch wiring Check the settings for Pn50A and Pn50B Set the parameters correctly Forward or reverse run prohibited signal malfunctioning Check the fluctuation of the input signal external power supply 24 V voltage Stabilize the external power supply 24 V voltage Check if the overtravel limit switch operates correctly Stabilize the operation of the over travel limit switch Check if the overtravel limit switch wiring is correct check for dam aged cables or loose screws Correct the overtravel limit switch wiring Incorrect forward or reverse run prohibited signal P OT N OT allocation parameters Pn50A 3 Pn50B 0 Check if the P OT signal is allo cated in Pn50A 3 If another signal is allocated in Pn50A 3 select P OT Check if the N OT signal is allo cated in Pn50B 0 If another signal is allocated in Pn50B 0 select N OT Incorrect servomotor stop method selection Check Pn001 0 and Pn001 1 when the servomotor power is OFF Select a servo mode stop method other than coast to stop
179. witched on Close 23 Reserved Hardwired base block signal input 1 24 TUBA 0 Open 1 Close Hardwired base block signal input 2 25 nee 0 Open 1 Close 26 to 31 Reserved Note 0 Signal state is Lo Close 1 Signal state is Hi Open SIO SI6 are defined by the user by setting Servo parameter They don t have to be fixed signal 8 13 Digital Inputs Outputs Digital Outputs 60FEh This object controls the digital outputs state of CNI of the SGDV SERVOPACK Sub index 1 is used to control the physical outputs state Sub index 2 determines which physical bits of Sub Index 1 are enabled If the SERVOPACK status output functions Pn50E Pn50F and Pn510 are assigned the status will be output using the set value of this object as well as OR logic Index Sub Name Data Type Access Aa Value apping 0 Number of entries USINT RO No 2 x 0 to OxFFFFFFFF 1 soren Physical outputs UDINI RW Ya Default 0 0 to OxXFFFFFFFF i 2 2 Bit mask OR NAA No Default 0x000C0000 1 Data description of Physical outputs Bit Signal Description 01015 Reserved 16 SO1 CN1 1 2 pin 0 Switch off 1 Switch on 17 SO2 CN1 23 24 pin 0 Switch off 1 Switch on 18 S03 CN1 25 26 pin 0 Switch off 1 Switch on 19to 31 Reserved 2 Data description of Output mask Bit Signal Description 01015 Reserved 16 SO1 CN1 1 2 pin 0 Disable
180. with the Profile acceleration and Profile decel eration until it reaches the target velocity The following figure shows the block diagram of the Profile Velocity mode Target Velocity 60FFh EA Velocity unit elocity Vel unit a inc s Max Profile Velocity 607Fh limit function id Bag cae Velocity Demand Value Profile Acceleration 6083h 4 Velocity 606Dh Velocity Torque Profile Deceleration 6084h Acceleration Acc unit lisa ac unit 104 inc s trajectory control gt control fuo Quick Stop Deceleration 6085h limit function paa gt generator oe ap Quick Stop Option Code 605Ah J Enc i 1 1 saiki a si win baa AA Ks jan a AAS SA AA win Gn GA ARA WA ca A ANG W K A AA AASA AA AAP AP Velocity Actual Value 606Ch Velocity unit Ad nr rn en eee n eee e eres multiplier em een nnn gt ad Output of velocity 2302 2 2302 1 imit function H Target Reached in Velocit hed if tatusword 6041h Velocity Wind locity reached TY maana ma Pok Position unit Position Actual ds a kaaa aan PA multiplier nternal Value 6063h 2301 2 2301 1 Em Related Objects PDO Index Sub Name Access Mapping Units Type 60FFh Target Velocity RW Yes Vel units DINT 607Fh Max Profile Velocity
181. y 8 17 8 Object Dictionary lt Bit 10 12 and 13 for Interpolated position mode Bit Status Value Definition Target position not yet reached if Halt bit in last controlword was 0 or axle 0 F tak decelerates if Halt bit in last controlword was 1 10 Target reached i 1 Target position reached if Halt bit in last controlword was 0 or axle has velocity 0 if halt bit in last controlword was 1 ip mode inactive 0 In case of one of the following condition 1 The Star IP in the control word bit 4 was not 1 in the previous Interpolation Cycle 19 lp mode 2 The motor stops after Halt or Quick Stop command active ip mode active 1 After all of the following condition are met 1 The Star IP in the control word bit 4 was 1 in the previous Interpolation Cycle 2 There is no Halt or Quick Stop command 13 Reserved No effect e Bit 10 12 and 13 for Profile velocity mode Bit Status Value Definition 0 Halt Bit 8 in Controlword 0 Target not reached Halt Bit 8 in Controlword 1 Axis decelerates 10 Target reached 4 Halt Bit 8 in Controlword 0 Target reached Halt Bit 8 in Controlword 1 Velocity of axis is 0 0 Speed is not equal 0 12 Speed Speed is equal 0 13 Reserved No effect e Bit 10 12 and 13 for Profile torque mode Bit Status Value Definition Halt Bit 8 in Controlword 0 Target torque not reached o Halt Bi
182. y UINT Pn103 Moment of Inertia Ratio 0 to 20000 1 100 Immediately UINT Pn104 2nd Speed Loop Gain 10 to 20000 0 1 Hz 400 Immediately UINT Pn105 2nd Speed Loop Integral Time Constant 15 to 51200 0 01 ms 2000 Immediately UINT Pn106 2nd Position Loop Gain 10 to 20000 0 1 s 400 Immediately UINT Pn109 Feedforward Gain 0 to 100 1 0 Immediately UINT 2 This parameter is exclusive for SERVOPACKs to be used with linear servomotors model SGDV OOOOES Pn10A Feedforward Filter Time Constant 0 to 6400 0 01 ms 0 Immediately UINT 10 14 10 2 SERVOPACK Parameters A Factory Data Pn No Name Setting Range Units Setting When Enabled Type Application Function for Gain Select Switch 0000 to 5334 0000 UINT 4th 3rd 2nd 1st digit digit digit digit n i i When Mode Switch Selection Data Type Uses internal torque reference as the condition Level setting Pn10C Immediately UINT Pros When Speed Loop Control Method Data Type I P control After restart UNIT 2 and 3 Reserved Do not change Reserved Do not change Reserved Do not change Pn10C Mode Switch torque reference 0 to 800 190 200 Immediately UINT Pn10D 3 Mode Switch speed reference 0 to 10000 1 min 0 Immediately UINT Pn10E3 Mode Switch acceleration 0 to 30000 1 min s 0 Immediately UINT Pn10F Mode Switch position error pulse 0 to 10000 1 reference unit
183. y command of the Controlword When the power is supplied to the motor the Statusword indicates Operation enabled state Set the Target position Profile velocity Profile acceleration and Profile acceleration and then set Controlword to start positioning 8 5 5 Modes of Operation 6060h Chapter 7 CiA402 Drive Profile 7 1 Device Control 8 5 1 Controlword 6040h 8 5 2 Statusword 6041h 8 5 1 Controlword 6040h 8 6 1 Target Position 607Ah 8 6 4 Profile Velocity 6081h 8 6 5 Profile Acceleration 6083h 6 6 6 Profile Deceleration 6084h Check the following points while performing in step 6 e Check whether the motor is moving to the reference direction If motor is moving to reverse direction to the reference then change the setting of servomotor direction rotation e Check to make sure that there is no abnormal vibration noise or heating If any abnormality is found refer to 9 3 Troubleshooting Malfunction Based on Operation and Conditions of the Servomo tor to clear the problem Operation Use PDO for objects that are PDO mapped For details on PDO mapping refer to 8 3 PDO Mapping Objects 5 3 5 4 5 Operation 5 3 Test Without Motor Function The test without motor function is used to check the operation of the host and peripheral devices by simulating the operation of the motor in the SERVOPACK i e without actually operating the motor This function enables chec

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