YASKAWA JAPMC-MC2300 manuals

Yaskawa JAPMC-MC2300 User Manual (373 pages)

Brand: Yaskawa | Category: Equipment | Size: 4.25 MB |

English

Table of contents

SVA-01 Motion Module

1

Using this Manual

3

 Related Manuals

4

 Copyrights

5

PROHIBITED

6

MANDATORY

6

Safety Precautions

7

 Storage and Transportation

8

 Installation

8

 Wiring

9

 Disposal Precautions

10

 General Precautions

10

( 1 ) Details of Warranty

11

Warranty Period

11

Warranty Scope

11

( 3 ) Suitability for Use

12

( 4 ) Specifications Change

12

Contents

13

Revision History

17

Overview

18

1.1.1 Overview

19

Servos for 2 axes

21

Specifications

23

Hardware Specifications

23

Item Specifications

23

Settings and Installation

27

2.1.1 External Appearance

28

2.1.2 LED Indicators

28

( 1 ) Preparation

32

( 3 ) Mounting SVA-01 Modules

33

( 2 ) Removing SVA-01 Modules

34

Round Knob

35

2.4.1 Connectors

36

SVA-01 Module Connections

38

( 1 ) Appearance

39

( 2 ) Specifications

40

( 3 ) Connections Diagram

41

SGDB SERVOPACK

43

V SERVOPACK

44

3.1 Setting Items

47

 Using an MPE720

48

 When Using MPE720 Version 6

49

 When Using MPE720 Version 5

49

<MP2300>

50

Item Description Modification

51

3.3 SVA Definition

52

Cn-03 (Speed Reference

54

SGDH/SGDS/SGDV SERVOPACK

57

Selection Functions

57

Blinks one

59

(UP) or (DOWN) Key

60

Operation Modes

61

( 1 ) DI Inputs

64

( 2 ) AI Inputs

65

( 3 ) Latch Detection

65

( 4 ) Absolute Read Request

65

( 5 ) OT Processing

65

4.4 General-purpose I/O Mode

66

( 1 ) Sign Mode

70

( 2 ) Up/Down Mode

70

( 3 ) Pulse A/B Mode

71

5.2.2 Selecting a Motor Type

76

Normal Operation Mode

78

Simulation Mode

78

General-purpose I/O Mode

78

( 1 ) Run Mode

89

( 2 ) Function Selection 1

90

Function Selection Flag 1

90

( 3 ) Function Selection 2

91

( 4 ) Reference Unit

91

Position

92

( 6 ) Software Limits

93

( 7 ) Backlash Compensation

93

( 8 ) Hardware Signal

94

( 9 ) Pulse Count

94

( 10 ) D/A Output

94

( 11 ) A/D Input

95

( 12 ) SERVOPACK Settings

95

( 13 ) Encoder Settings

96

( 1 ) RUN Commands

97

RUN Command Setting

97

RUN Command Setting (cont’d)

98

( 2 ) Mode 1

99

( 3 ) Function 1

99

( 4 ) Function 2

100

( 5 ) Function 3

100

( 6 ) Motion Commands

101

( 8 ) Motion Subcommands

102

Motion Subcommand

102

( 9 ) Torque Reference

103

( 10 ) Speed Reference

104

( 13 ) Speed Override

105

( 14 ) General-purpose AO

105

NEAR Signal Output Width

106

( 19 ) Position Compensation

107

( 21 ) Phase Compensation

107

( 22 ) Latch

108

( 23 ) Gain and Bias Settings

108

Motion Parameters

109

( 25 ) Filter

110

Filter Time Constant

110

( 26 ) Zero Point Return

111

( 27 ) Step Distance

112

( 30 ) Supplemental Setting

113

( 31 ) General-purpose DO

113

( 33 ) Various Data

114

( 34 ) Stop Distance

115

( 1 ) Drive Status

115

( 3 ) Warning

116

( 4 ) Alarm

117

( 6 ) Motion Command Status

118

( 10 ) Position Information 1

120

( 11 ) Speed Information

122

( 13 ) Position Information 2

122

( 18 ) Monitor Data

124

6.1.1 Reference Unit

126

6.1.2 Electronic Gear

126

Workpiece (Rotating table)

127

6.1.3 Axis Type Selection

128

6.1.4 Position Reference

129

<Example when n = 2>

130

( 1 ) Related Parameters

133

( 1 ) Setting Example 1

139

( 2 ) Setting Example 2

140

Motion Commands

141

7.1 Motion Commands

142

( 2 ) Holding

144

( 3 ) Aborting

144

( 4 ) Related Parameters

145

[ a ] Setting Parameters

145

[ b ] Monitoring Parameters

146

( 5 ) Timing Charts

146

[ a ] Normal Execution

146

[ b ] Execution when Aborted

147

[ d ] Command Hold

147

7.2 Motion Command Details

148

7.2.1 Positioning (POSING)

148

( 4 ) Holding

157

( 5 ) Aborting

157

( 6 ) Related Parameters

158

( 7 ) Timing Charts

159

 Parameters to be Set

162

 Related Parameters

176

( 2 ) Holding and Aborting

197

( 3 ) Related Parameters

198

( 4 ) Timing Charts

199

[ c ] Command Hold

216

( 2 ) Related Parameters

226

( 3 ) Timing Charts

227

[ a ] Normal End

227

[ b ] Error End

227

: Available

229

8.1.2 Switching from POSING

230

EX_POSING

235

Cancelled

236

EX_POSING operation

236

8.1.4 Switching from ZRET

238

A machine coordinate system

242

8.1.7 Switching from FEED

244

8.1.8 Switching from STEP

248

8.1.9 Switching from ZSET

251

8.1.10 Switching from VELO

252

8.1.11 Switching from TRQ

257

A machine coordinate

261

8.1.12 Switching from PHASE

263

Speed control mode

264

Control Block Diagram

269

Absolute Position Detection

272

10.1.2 Reading Absolute Data

273

 Terminology: Absolute Data

274

Fixed Parame

277

( 3 ) Encoder Resolution

279

Main Program

283

( 1 ) Overview

285

−1 (Set the value before

287

( 2 ) Encoder Resolution

289

 Terminology: Pulse Position

293

[ a ] Normal Operation

294

Utility Functions

301

( 2 ) Parameter Settings

303

2nd digit

304

Power supply

306

SGDA SERVOPACK

306

Servomotor with a brake

306

11.2 Overtravel Function

308

Connections to SGDB SERVOPACK

310

Connections to SGDA SERVOPACK

310

( 1 ) Monitoring Alarms

314

Troubleshooting

320

12.1 Troubleshooting

321

( 1 ) LED Indicators

323

( 2 ) LED Indicator Meanings

323

(cont’d)

324

 When the ERR LED Lights Up

329

 When the ALM LED Lights Up

329

( 1 ) System Status

330

( 2 ) System Error Status

331

( 6 ) System I/O Error Status

335

<Error Status Details>

339

( 8 ) Module Information

340

Name Register No. Description

341

Warning (IL02)

347

Alarm (IL04)

347

( 4 ) Bit 5: Servo OFF

349

( 6 ) Bit 8: Excessive Speed

349

: Alarm displayed

353

×: No alarm displayed

353

Appendices

355

( 1 ) Shared by All Drawings

356

( 2 ) DWG.H Only

356

( 3 ) DWG.L Only

357

Name Register No. Remarks

358

B.2 Σ-II Series SERVOPACK

360

B.3 Σ-I Series SERVOPACK

362

Axis Type

364

Appendix D Terminology

366

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