This manual is intended for both of Yaskawa Siemens 840DI and Yaskawa Siemens 830DI. In this manual, the functional differences of these two models are not taken into account in its description, thus please refer to the catalog (MANUAL No.: NCKAE-PS41-01) for
This manual is intended for both of Yaskawa Siemens 840DI and ... Yaskawa Siemens YS 840DI Programming Manual for Machining Center.
Yaskawa Siemens CNC Series
Maintenance Manual Serviceman Handbook
MANUAL No. NCSIE-SP02-19
Yaskawa Siemens Numerical Controls Corp. has been merged to Siemens K.K. and Siemens Japan K.K. as of August, 2010 respectively. "Yaskawa Siemens Numerical Controls Corp." in this manual should therefore be understood as "Siemens Japan K.K."
This manual is intended for both of Yaskawa Siemens 840DI and Yaskawa Siemens 830DI. In this manual, the functional differences of these two models are not taken into account in its description, thus please refer to the catalog (MANUAL No.: NCKAE-PS41-01) for available basic functions and possible optional functions of each model.
Safety-related symbol marks
Safety-related symbol marks
WARNING CAUTION
The following symbol marks are used in this manual to draw special attention to safety information. The information next to these symbol marks is important for safety and thus must always be followed.
Indicates activities that could result in a dangerous condition, including death and serious injury, if done wrongly.
Indicates activities that could result in a dangerous condition, including major and minor injury, or in damage to objects, if done wrongly.
It is noted that those activities as indicated by the CAUTION symbol mark could even result in death or serious injury if done wrongly in a worst-case situation.
PROHIBITED
Indicates what you must not do. For example, the not make or use a fire here.
mark means that you must
MANDATORY
Indicates what you must do unconditionally. For example, the ground mark means that you must always ground the object you are working with.
iii
Icons
Icons
The following icons are used as necessary throughout this manual to categorize description next to them:
IMPORTANT
Indicates what you must always keep in mind. If the instruction were not fully followed, an error could occur that might not damage a machine or other objects but would result in an alarm.
EXAMPLE
Indicates program examples or operation examples.
INFO
Indicates additional information or what you should keep in mind for better efficiency.
TERMS
Indicates unfamiliar technical terms or those not defined in the text. Description of such terms will follow.
Copyright (C) 2001 Yaskawa Siemens NC Co., Ltd. Part or the whole of this manual may not be reproduced or copied without written permission.
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Table of Contents
Table of Contents
Safety-related symbol marks.........................................................................iii Icons............................................................................................................. iv Table of Contents .......................................................................................... v Outline of this manual...................................................................................xii Related manuals ..........................................................................................xii How to use this manual ............................................................................... xiii Trademarks ................................................................................................. xiii Safety precautions.......................................................................................xiv Warning labels...........................................................................................xxiv
Part 1 Hardware
Chapter 1 System Configuration ....................................1-1
1.1 System configuration...................................................................1-2
1.1.1 General wiring drawing............................................................................... 1-2 1.1.2 List of system components ......................................................................... 1-4
1.2 Meanings of component designations.........................................1-8
1.2.1 SERVOPACK designations ........................................................................ 1-8 1.2.2 Servo motor designations.........................................................................1-10 1.2.3 Spindle motor designations ...................................................................... 1-11
Chapter 2 Installing the control panels...........................2-1
2.1 Designing the panels...................................................................2-2
2.1.1 Environmental conditions for installing the control panels and other sy stem components ....................................................................................... 2-2
2.1.2 Thermal design of the enclosures .............................................................. 2-3 2.1.3 Heat dissipation .......................................................................................... 2-6 2.1.4 Power consumption .................................................................................... 2-8
2.2 Protecting against electric noise..................................................2-9
2.2.1 Separation of cables................................................................................... 2-9 2.2.2 Noise-proof devices..................................................................................2-10 2.2.3 Grounding.................................................................................................2-12 2.2.4 Cable shield clamp ...................................................................................2-13
2.3 Installation precautions..............................................................2-14
2.3.1 Installing the CNC units ............................................................................2-14 2.3.2 Installing the feed/spindle SERVOPACK .................................................. 2-15 2.3.3 Orientation of and installation space for the SERVOPACK ...................... 2-16 2.3.4 Installation space for the I/O modules ......................................................2-17 2.3.5 Installing lightning-surge absorbers..........................................................2-18
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Table of Contents
Chapter 3 Installing the motors .....................................3-1
3.1 Servo motors .............................................................................. 3-2 3.2 Spindle motors ............................................................................ 3-3
Chapter 4 Connection method ......................................4-1
4.1 Arrangement of connectors and switches................................... 4-2
4.1.1 CNC unit ..................................................................................................... 4-2 4.1.2 Power supply module ................................................................................. 4-6 4.1.3 I/O module .................................................................................................. 4-6 4.1.4 Converter.................................................................................................... 4-9 4.1.5 Inverter ..................................................................................................... 4-10 4.1.6 Servo unit ................................................................................................. 4-11
4.2 Power on/off signals.................................................................. 4-14
4.2.1 Wiring for servo power-on and other signals ............................................ 4-14 4.2.2 UPS module timer setting......................................................................... 4-17 4.2.3 Time chart................................................................................................. 4-18
4.3 Wiring units and devices ........................................................... 4-19
4.3.1 PROFIBUS-DP address and termination setting...................................... 4-19 4.3.2 Setting the rotary switches on the inverters and servo units .................... 4-21
Chapter 5 Assembling and replacing .............................5-1
5.1 Installing the CNC unit ................................................................ 5-2 5.2 Replacing the servo unit fan ....................................................... 5-8
5.2.1 Procedure for replacing the 0.5-3.0 and 5.0 kW servo unit fans ................ 5-8 5.2.2 Procedure for replacing the 6.0 and 7.5 kW servo unit fans....................... 5-9
5.3 Installing the servo unit optional board ..................................... 5-10
5.3.1 Procedure for installing the board for the 0.5-3.0 and 5.0 kW servo units.................................................................................... 5-10
5.3.2 Procedure for installing the board for the 6.0 and 7.5 kW servo units.................................................................................... 5-11
Part 2 Software
Chapter 6 Software configuration ..................................6-1
6.1 System software components..................................................... 6-2 6.2 Data types................................................................................... 6-3 6.3 Service screen directories........................................................... 6-4
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Table of Contents
Chapter 7 Backup ..........................................................7-1
7.1 How to archive.............................................................................7-2 7.2 Network settings..........................................................................7-7
7.2.1 YS 840DI settings....................................................................................... 7-7 7.2.2 PC settings ............................................................................................... 7-14
Part 3 PLC
Chapter 8 General programming notes .........................8-1
8.1 LAD/FBD/STL compatibility.........................................................8-2 8.2 Program structure........................................................................8-3 8.3 Address structure ........................................................................8-4
8.3.1 Address symbols ........................................................................................ 8-4 8.3.2 Bit address.................................................................................................. 8-4 8.3.3 Addressing of input, output, bit memory, and data bits............................... 8-5 8.3.4 Addressing of timers and counters ............................................................. 8-5
8.4 Interface structure .......................................................................8-6
8.4.1 General....................................................................................................... 8-6 8.4.2 Signals through the PLC/NC interface........................................................ 8-6 8.4.3 Data blocks................................................................................................. 8-7 8.4.4 Program components ................................................................................. 8-8
Chapter 9 SIMATIC manager and hardware configuration .................................................9-1
9.1 Hardware configuration ...............................................................9-3 9.2 Defining the hardware .................................................................9-4
9.2.1 Creating a new project................................................................................ 9-4 9.2.2 Adding a station.......................................................................................... 9-5 9.2.3 Opening the hardware configuration .......................................................... 9-6 9.2.4 Adding a rack.............................................................................................. 9-7 9.2.5 S7-300 rack ................................................................................................ 9-8 9.2.6 Adding the power supply module ............................................................... 9-8 9.2.7 Adding the CPU module ...........................................................................9-10 9.2.8 CPU's DP port setting............................................................................... 9-11 9.2.9 Adding a PROFIBUS-DP node.................................................................9-13 9.2.10 DP slave (ET200) construction and addressing .....................................9-14 9.2.11 Adding the SM module ...........................................................................9-15 9.2.12 Connecting the racks (interface)............................................................. 9-16 9.2.13 Saving the hardware configuration .........................................................9-17 9.2.14 Downloading the hardware configuration ...............................................9-18
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Table of Contents
9.3 Uploading hardware configuration ............................................ 9-20
9.3.1 Uploading hardware configuration (1) ...................................................... 9-20 9.3.2 Uploading hardware configuration (2) ...................................................... 9-21 9.3.3 List of addresses ...................................................................................... 9-23
Part 4 Setting up and maintenance
Chapter 10 Overview of System ..................................10-1
10.1 Screen operation .................................................................... 10-2
10.1.1 Basic concept ......................................................................................... 10-2 10.1.2 Basic operation....................................................................................... 10-3
10.2 MD components...................................................................... 10-5
Chapter 11 Drive Parameter Screen............................11-1
11.1 Drive Parameter Screen Operation......................................... 11-2
11.1.1 Startup .................................................................................................... 11-2 11.1.2 Screen Configuration .............................................................................. 11-3 11.1.3 Operation method ................................................................................... 11-4 11.1.4 Conditions for the modified parameters to be effective .......................... 11-7 11.1.5 Protection level ....................................................................................... 11-7
11.2 Drive Diagnosis Function ........................................................ 11-8
11.2.1 Drive diagnosis screen initiation ............................................................. 11-8 11.2.2 Drive diagnosis screen configuration...................................................... 11-8
11.3 Mapping ACC file .................................................................. 11-10
11.3.1 ACC file................................................................................................. 11-10 11.3.2 Mapping ACC file.................................................................................. 11-10 11.3.3 Timing of mapping processing .............................................................. 11-10
11.4 Error screen display and troubleshooting...............................11-11
11.4.1 Error screen display.............................................................................. 11-11 11.4.2 Troubleshooting .................................................................................... 11-12 11.4.3 Indication of parameter whose value can not be read .......................... 11-12 11.4.4 Error message display .......................................................................... 11-12
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Table of Contents
Chapter 12 How to use Digital Operation ....................12-1
12.1 Basic operation........................................................................12-2
12.1.1 Connecting the digital operator...............................................................12-2 12.1.2 Function of digital operator .....................................................................12-3 12.1.3 Reset of servo alarm .............................................................................. 12-3 12.1.4 Switching the basic mode.......................................................................12-4 12.1.5 Axis selection mode................................................................................12-5 12.1.6 Status display mode ...............................................................................12-5 12.1.7 User Constant Setting Mode ..................................................................12-8 12.1.8 Operation on the monitor mode............................................................12-12
12.2 Application.............................................................................12-17
12.2.1 Alarm Trace Back Mode .......................................................................12-18 12.2.2 Clearing the alarm trace back data.......................................................12-19 12.2.3 Checking the motor type.......................................................................12-20 12.2.4 Checking the software version .............................................................12-22 12.2.5 Origin searching mode .........................................................................12-23 12.2.6 Initializing the user constant setting value ............................................12-24 12.2.7 Manual zero adjustment and gain adjustment for analogue
monitor output ......................................................................................12-25 12.2.8 Motor current detection signal offset adjustment..................................12-28 12.2.9 Setting the password (setting for write prohibit) ...................................12-30
Chapter 13 Drive system overview 1 ..........................13-1
13.1 System configuration...............................................................13-2 13.2 Specification of machine data and parameters .......................13-3
13.2.1 Structures of machine data and parameters ..........................................13-3 13.2.2 How to control machine data and parameters........................................13-4 13.2.3 Activation condition of machine data and parameters............................ 13-4 13.2.4 How to set machine data and parameters..............................................13-4
Chapter 14 Drive set-up procedure..............................14-1
14.1 Fundamental settings ..............................................................14-5
14.1.1 Control cycle...........................................................................................14-5 14.1.2 NCK processing capability......................................................................14-6 14.1.3 Servo control method and fundamental operation..................................14-6 14.1.4 Axis configuration ...................................................................................14-8 14.1.5 Motor encoder ......................................................................................14-14 14.1.6 External encoder .................................................................................. 14-20 14.1.7 Maximum number of motor revolutions ................................................ 14-30 14.1.8 Various mask settings...........................................................................14-31 14.1.9 Software version number check ........................................................... 14-32 14.1.10 Parameter initialization .......................................................................14-34 14.1.11 Alarm display ......................................................................................14-34
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Table of Contents
14.2 Servo control......................................................................... 14-36
14.2.1 Position control..................................................................................... 14-36 14.2.2 Speed control ....................................................................................... 14-38 14.2.3 Spindle servo mode.............................................................................. 14-39 14.2.4 Backlash compensation........................................................................ 14-40 14.2.5 Quadrant error compensation............................................................... 14-40 14.2.6 Torque reference notch filter................................................................. 14-43 14.2.7 Speed feedback compensation ............................................................ 14-44 14.2.8 Predictive control .................................................................................. 14-45 14.2.9 Model following control ......................................................................... 14-47 14.2.10 Stop vibration suppression ................................................................. 14-49 14.2.11 Vibration-damping control................................................................... 14-50 14.2.12 Gain switching .................................................................................... 14-52 14.2.13 Current offset adjustment ................................................................... 14-54 14.2.14 Analog monitor ................................................................................... 14-55
14.3 Motion Control ...................................................................... 14-57
14.3.1 Feed Rate............................................................................................. 14-57 14.3.2 Acceleration/Deceleration..................................................................... 14-59 14.3.3 Positioning ............................................................................................ 14-63 14.3.4 Emergency stop ................................................................................... 14-65 14.3.5 Return to reference point...................................................................... 14-68 14.3.6 Brake control ........................................................................................ 14-72 14.3.7 Speed feedforward ............................................................................... 14-73 14.3.8 Torque Control and Fixed Stop Function.............................................. 14-74 14.3.9 Absolute value detection ...................................................................... 14-78 14.3.10 Gantry control..................................................................................... 14-80 14.3.11 Collision detection............................................................................... 14-83 14.3.12 Spindle sequence I/O signals............................................................. 14-85 14.3.13 Spindle orientation.............................................................................. 14-87 14.3.14 Spindle winding changing................................................................... 14-90 14.3.15 Spindle gear changing and Spindle integrated with C axis control..... 14-92 14.3.16 Rigid tap ............................................................................................. 14-93 14.3.17 Threading ........................................................................................... 14-94 14.3.18 Spindle synchronization control.......................................................... 14-94 14.3.19 Skip Function...................................................................................... 14-96
14.4 High-speed High-accuracy Cutting ....................................... 14-97
14.4.1 Multi-block look-ahead.......................................................................... 14-97 14.4.2 Block compression ............................................................................... 14-98 14.4.3 Spline interpolation............................................................................. 14-100 14.4.4 Examples of machine data setting...................................................... 14-102
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Table of Contents
14.5 Relevant Machine Data and Parameters ............................14-103
14.5.1 CNC relevant machine data ............................................................... 14-103 14.5.2 Servo drive relevant parameter ..........................................................14-107 14.5.3 Spindle relevant parameter and Servo drive relevant parameter ....... 14-110
14.6 Trouble shooting.................................................................. 14-112
14.6.1 Table of causes/countermeasures for troubles................................... 14-112
Chapter 15 Error and Troubleshooting ........................15-1
15.1 Errors without Alarm Display and Troubleshooting .................15-2
Chapter 16 Maintenance and Check ...........................16-1
16.1 Checking Servo motor and SERVOPACK...............................16-2
16.1.1 Checking Servo motor ............................................................................16-2 16.1.2 Checking SERVOPACK .........................................................................16-3
16.2 Checking Spindle motors and Invertors ..................................16-4
16.2.1 Items to be checked daily .......................................................................16-4 16.2.2 Scheduled maintenance .........................................................................16-5 16.2.3 Megger test on Spindle motor ................................................................16-5 16.2.4 Periodical check .....................................................................................16-6
16.3 Absolute encoder ....................................................................16-8
16.3.1 Replacing a battery in the Absolute encoder..........................................16-8 16.3.2 Handling a battery ..................................................................................16-8 16.3.3 Setting up (Initializing) Absolute encoder ...............................................16-9
16.4 Analogue monitor .................................................................. 16-11
Appendix Drive data list ................................................ A-1
Appendix A Parameters .................................................................. A-2
A.1 Servo unit parameter list .............................................................................. A-2 A.2 List of Servo unit parameter switches .......................................................... A-8 A.3 List of Inverter parameter ........................................................................... A-13 A.4 List of parameters common to all drives .................................................... A-20
Appendix B Alarm/monitor data...................................................... A-23
B.1 List of Servo unit alarms............................................................................. A-23 B.2 List of Inverter alarms................................................................................. A-25 B.3 List of Servo unit monitor data ................................................................... A-27 B.4 List of Inverter monitor data ....................................................................... A-28
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Outline of this manual
Outline of this manual
This manual is a handy book for use by those who are familiar with the NC machine tool Yaskawa Siemens YS 840DI (hereafter called YS 840DI) and are responsible for its operation, maintenance or setup.
As a handy book, this manual may not contain basic information or technical details. For such basic or detailed information, refer to the related manuals as listed below.
Related manuals
Related manuals are listed below, which you should read as necessary along with this manual.
Read all related manuals to grasp the specifications and any usage constraints of the control/operation panels before attempting to operate them.
Manuals Yaskawa Siemens YS 840DI Operating Manual Yaskawa Siemens YS 840DI Maintenance Manual Yaskawa Siemens YS 840DI Maintenance Manual Serviceman Handbook (this manual) Yaskawa Siemens YS 840DI Programming Manual for Machining Center Yaskawa Siemens YS 840DI Programming Manual for Programming Lathe
Manual No. NCSIE-SP02-04 NCSIE-SP02-10 NCSIE-SP02-19 NCSIE-SP02-20 NCSIE-SP02-21
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How to use this manual
How to use this manual
Target group This manual is intended for those who are responsible for: · manufacturing, inspection, trial run and tuning, or servicing of YS 840DI control panels, operation panels, and other related units and devices.
Low-active signals In this manual, low-active signals are indicated by the slash symbol (/) followed by their name. For example: · /S-ON for a low-active signal of S-ON · /P-ON for a low-active signal of P-ON
Trademarks
· Windows and Windows NT are trademarks of Microsoft Corporation of the U.S.A. · Ethernet is a trademark of Xerox Corporation of the U.S.A.
xiii
Safety precautions
Safety precautions
Listed below are important safety precautions that you must always follow when using the product. Read and fully understand this manual and other related manuals before attempting to install, operate, maintain, or service the product. The safety precautions and the knowledge of the product are indispensable for the safety of yourself and the product. Handling
CAUTION
· When handling the product, do not hold it by the cables. Otherwise injury or damage could result.
· After installing the product on the machine, remove the eyebolts from the product, and attach ordinary bolts of the same size in place of them to close the eyebolt openings. Otherwise damage could result.
PROHIBITED
· Do not handle the product in such places where it could get wet from rain or water drops, or where harmful gas or liquid is present. Otherwise injury or damage could result.
Storing
PROHIBITED
· Do not store the product in such places where they could get wet from rain or water drops, or where harmful gas or liquid is present. Otherwise damage could result.
· Do not let the packaged product fall from heights more than 60 cm. Otherwise damage could result.
xiv
Safety precautions
MANDATORY
· Store the product in an indoor clean place satisfying the environmental requirements. Otherwise damage could result. The environmental requirements: · Ambient temperature: -20 to +60 ^ · Relative humidity: 10 to 90% · Altitude: 1000 m or lower
Installing
CAUTION
· Install the product such that its air intake or discharge opening is not blocked by a wall or other objects and that foreign matter would not get into the opening. Otherwise a fire or damage could result.
· When installing, take care not to subject the product to a strong shock. Otherwise damage could result.
· The electric power supplied to the product must be sufficient satisfying its power requirements. Otherwise malfunction could result.
· The power requirements of the 24 VDC external power supply unit supplying input/output contacts depend on the number of the contacts they supply. If necessary to provide enough power, install an additional external power supply unit.
· The motors have their flanges and shaft ends coated with rustproof agent. Remove the agent with a cloth before installing the motors.
· When coupling a motor with a machine, well align the motor with the machine. Failing to do so could cause vibration, resulting in injury or damage.
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Safety precautions
CAUTION
· Observe the following when designing or installing enclosures (a poorly designed or installed enclosure for a high-voltage unit could result in damage or malfunction): · The enclosures must be of hermetic seal type. · The average temperature rise of the product must be not more than 10 ^ . · Air stirring fans must be installed within the enclosures to improve cooling efficiency and prevent local heat buildup (fans should be UL certified). · Sealing to close cable inlet holes and doors must be effective. · Displays tend to collect airborne dust and thus malfunction. Therefore their enclosures must be so designed as to prevent dust intrusion. · CNC and other units as well as PC boards could malfunction due to accumulated dust. Therefore their enclosures must be so designed as to prevent dust intrusion. · Packing must be provided so that cable inlet holes, doors, and back plates are fully closed.
· Observe the following when installing the units (poorly installed units could result in damage or malfunction): · The servo units must be fixed upright using screws or bolts. · The servo units must be provided with enough space over and under them to allow them to effectively dissipate their heat. · Install a servo unit in an enclosure such that the heat sink fins of the unit come out of the enclosure to keep the unit's internal temperature lower. The exposed heat sink fins must be subjected to a 2.5 m/s air draft. · If an air stirring fan is installed inside an enclosure, the fan must be oriented such that the air does not directly hit a servo unit (to prevent the servo unit from collecting more dust). · Units must be installed such that inspection, replacement and other servicing activities are easy.
· Do not operate the system if any inverter or converter is physically broken or otherwise damaged. Otherwise injury could result.
· When handling the units, hold them by the mounting base, not by the front cover. If you hold them by the front cover, the main body could come off the front cover and might drop onto and injure your foot. Mount the units to a metal or other non-flammable structure. Otherwise, a fire could result.
· The maximum operating temperature of 55 ^ must not be exceeded. The air draft hitting the heat sink must be at not more than 45 ^ . Note that overheat could result in a burn or a fire.
· An external emergency stop circuit must be provided so that operation can be stopped and power shut off immediately. Be aware of a risk of injury.
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Safety precautions
Wiring
WARNING
· Shut off power to the product before attempting to work on it. Otherwise electric shock or a fire could result.
· Wiring work must be done only by qualified personnel. Otherwise electric shock or a fire could result.
· After wiring work for completing an emergency stop circuit, always check the circuit for functionality. The customer is responsible for the wiring work. Be aware of a risk of injury.
· The grounding terminals must be grounded properly.
Otherwise electric shock or a fire could result.
CAUTION
· Wiring work must be duly done by qualified personnel. Otherwise electric shock, a fire, or malfunction could result.
· Never apply an AC three-phase power to the U, V, and W output terminals on a SERVOPACK powering a servo motor. Otherwise the SERVOPACK would be damaged.
· The capacity and wiring size of customer's power supply must be so selected as to satisfy the specific operating conditions and required capacity. Note that the actual capacity of a cable decreases significantly if the ambient temperature exceeds 30 ^ . Determine a correct cable size according to applicable electrical installation regulations and the technical specifications issued by the cable manufacturer. Use of a cable of incorrect size could result in a fire.
· Signal cables must be of twist pair, twist-pair multi-strand, or shielded twist-pair multi-strand type. If a type is specified for signal cables in this manual, that type must always be used. Otherwise malfunction could result.
· Cables must be so routed as to be as short as possible. Otherwise malfunction could result.
· Input or output signal cables must not be bundled together with power cables or routed in the same wiring duct with power cables inside or outside the panels. Properly separating signal cables from power cables reduces the effect of electric noise from the power cables on the signal cables. If electric noise comes into the product along the power line, install a noise filter at the panel.
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Safety precautions
CAUTION
· For information on the required capacity and other specifications of a noise filter, see the General Documentation - Hardware. A properly selected noise filter can reduce conducted electric noise significantly.
· Provide the last SERVOPACK module with a terminating connector. Otherwise malfunction could result.
· Ensure that the voltage of the AC power supply to a converter is equal to the rated voltage of that converter. Otherwise injury or a fire could result.
· Do not subject the inverters or converters to a high-voltage withstanding test. Otherwise their semiconductor components would be damaged.
· Wiring to the inverters or converters must be done according to the relevant wiring drawing. Otherwise they could be damaged.
· The screws of a terminal block must be tightened to a specified torque. Otherwise a fire could result.
· Never connect an AC main power supply to the U/T1, V/T2, and W/T3 output terminals. Otherwise the inverter would be damaged.
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Safety precautions
MANDATORY
· The grounding wire from each unit must be connected to the enclosure or the grounding plate directly.
Example grounding wiring
200 VAC LF
Enclosure
Operation relay sequence
S.V U V W
CN CN E
M E
PG
LF
AVR
Single-point grounding (Ground resistance 100 or less)
· Wires for grounding must be in accordance with applicable electrical installation regulations and the internal wiring rules.
· The grounding terminal of a servo motor must be wired to the grounding terminal of the corresponding SERVOPACK.
· All wires to be grounded must be directly connected to a single point that is class-D or better grounded. Otherwise electric shock, a fire, or malfunction could result.
· The single grounding point for the product must not be used to also ground a power device. Otherwise malfunction could result.
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Safety precautions
Operating
WARNING
· Do not touch live units or terminals. Otherwise electric shock or malfunction could result.
· Do not touch any current-carrying parts even if you have shut off power to them, until at least 5 minutes have passed (to let any residual charge go out). Otherwise electric shock or malfunction could result.
· Take care not to damage, pull on, or pinch the cables. Otherwise electric shock could result.
· Do not touch any rotating parts before you shut off power to them. Otherwise injury could result.
· Never attempt to modify the product. Otherwise electric shock, a fire, or damage could result.
· Close the upper and lower covers before switching on the input power. Otherwise electric shock could result.
· Provide an additional emergency stop button outside the product. This is a necessary safety precaution.
CAUTION
· Ensure that the environmental requirements are fully met. A fire, electric shock, or malfunction could result if the product were operated in excessively hot, humid, dusty, corrosive, vibration-, or shock-ridden conditions. The environmental requirements are these: · The atmosphere must be free of corrosive gas or vapor. · There must be no risk of being splashed with machining oil or organic solvent. · The relative humidity must be between 10 and 90%RH with no dew. · The ambient temperature around the control panels must be between 5 and 30^. The control panels must be protected from freezing, direct sunlight, heat sources, or the elements. · Floor vibration must not be more than 4.9 m/s2.
· Take care so that no wire chips or other foreign matter would enter the product. Otherwise a fire, damage, or malfunction could result.
· When using the programming functions, always follow the instructions given in the relevant manuals. Otherwise injury or malfunction could result.
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Safety precautions
CAUTION
· Do not touch the heat sinks, as they can get very hot. Otherwise a burn could result.
· Confirm that the speed limits of the motors are compatible with the inverter settings before operation. Otherwise injury could result.
· Do not measure the signal voltages during operation. Otherwise damage could result.
· The inverters are already set at the factory. Do not change the settings unless you know exactly what you are doing. Otherwise damage could result.
MANDATORY
· When switching on the main power, ensure that at least 2 seconds have elapsed after the last switching-off operation. Otherwise malfunction could result.
PROHIBITED
· Never attempt to disassemble or modify the units or devices in the panels. Otherwise a fire, damage, or malfunction could result.
· Do not tamper with the settings of the rheostats or other devices of the control panels. Otherwise a fire, damage, or malfunction could result.
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Safety precautions
Maintaining
WARNING
· Do not touch the terminals of the inverters or converters, as some of them are at high voltage and very dangerous. Otherwise electric shock could result.
· Do not leave the upper or lower cover open when the panel is energized. Always turn off the circuit breaker before opening the covers. Otherwise electric shock could result.
· Confirm that the main power and the control power are switched off and the CHARGE lamp is not lit before starting maintenance work. Be aware that capacitors can have a high voltage charge for a while even after the circuit breaker is switched off.
· Only qualified personnel may perform maintenance or service work. Otherwise electric shock could result.
CAUTION
· When handling the control PC boards, take necessary measure to prevent their CMOS ICs from being damaged from electrostatic discharge. Do not touch the CMOS ICs. Otherwise they could be damaged.
· Never attempt to change wiring connections, or engage or disengage connectors while they are energized. Otherwise injury could result.
Others
WARNING
· Never attempt to modify the product. Otherwise electric shock or injury could result.
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Safety precautions
General notes
Notes on the usage of this manual
· Illustrations and drawings in this manual may show parts with their cover or safety shield removed so that inside details can be seen. Regardless of the drawings, the products must always be operated according to the manual with all the covers and shields installed in place.
· Illustrations and photos in this manual represent typical configurations, and may not exactly represent the products delivered.
· This manual is subject to change to reflect modification or specification change to the product or to make it easier to read. An updated document No. means a new version of this manual.
· If you need additional copies of this manual to replace damaged or lost ones or otherwise, please order from the nearest sales office indicated on the back cover referring to the document No. printed on the front cover of this manual.
· If the nameplate on the products is defaced or damaged, order a new one from your dealer or the nearest sales office indicated on the back cover of this manual.
· Yaskawa Siemens would not guarantee the quality of the product modified by the customer. Yaskawa Siemens is not responsible for any injury or damage due to the product modified by the customer.
xxiii
Warning labels
Warning labels
Warning labels are attached to the product to draw special attention. Always follow the instructions. The locations and meanings of the warning labels are as follows:
Warning label 1
WARNING
Risk of electric shock.
ü Read manual before installing. Wait 5 minutes for capacitor discharge after
disconnecting power supply.
Risk of electric shock · Read manual before installing. · Wait 5 minutes for capacitor discharge after disconnecting power
supply.
Warning label 2
Risk of electric shock
· Do not touch the terminals while the product is switched on or for 5 minutes after the product is switched off.
SERVOPACK
YASKAWA
SERVOPACK SGDK-75AEA 200V
200V
Position of warning label 1
CN5 A/B
CHARGE
SW1 RDY
CN1 CN6 CN2
Position of warning label 2
xxiv
Warning labels
Warning marking Ground the unit by connecting a grounding wire to this grounding terminal.
SERVOPACK
YASKAWA
SERVOPACK SGDK-75AEA 200V
200V
CN5 A/B
CHARGE
SW1 RDY
CN1 CN6 CN2
Position of warning marking 2
xxv
Part 1
Hardware
Chapter 1
System Configuration
1.1 System configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.1.1 General wiring drawing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2 1.1.2 List of system components - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4
1.2 Meanings of component designations - - - - - - - - - - - - - - - - - 1-8
1.2.1 SERVOPACK designations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-8 1.2.2 Servo motor designations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-10 1.2.3 Spindle motor designations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-11
1-1
System Configuration 1.1.1 General wiring drawing
1.1 System configuration
1.1.1 General wiring drawing
The following drawing shows how wiring is made between the components of the YS 840DI system:
Yaskawa Siemens 840DI
Operation panel unit (color LCD) OP10FS(Standard type) OP10FT(Touch-panel type)
USB
CNC Unit PCU50
Ethernet PS/2 MOUSE PS/2 Keyboard
USB VGA
IO-USB Cable
Display cable Keyboard cable
COM1(25pin) COM2(9pin) LPT1
NC keyboard Attached to OP10F
X121
RS232C(D-sub25pin)
Direct IN Braking circuit for the
5th and 6th axes
RS232C(D-sub9pin)
24 VDC
PC card drive
PC CARD
HNDLE PG
NC ready (output) Emergency stop (input)
X1(24 VDC IN)
X101 X111
24 VDC
PROFIBUS-DP MPI
Braking circuit for the 3rd and 4th axes
Terminating connector
CN7B CN5B
P N
CN28
CN22
Servo unit CN24 (2-axis servo)
SGDK-
CN18
CN1
CN12
CN14 P N
CN7A CN5A
POWER PG(Serial) PG(Pulse)
Separately mounted PG POWER PG(Serial) PG(Pulse)
Separately mounted PG
CN7B CN5B
P N
CN28
CN22
Servo unit CN24 (2-axis servo)
SGDK-
CN18
CN1
CN12
CN14 P N
CN7A CN5A
POWER PG(Serial) PG(Pulse)
Separately mounted PG POWER PG(Serial) PG(Pulse)
Separately mounted PG
6th motor 5th motor
4th motor 3rd motor
Machine operation panel
OP032S
X20
MPI
24 VDC X10
PROFIBUS-DP
Machine panel I/O module
X2 PP Module X1
X333 X222 X111
PROFIBUS-DP
24 VDC
Machine panel I/O module
X2 PP Module X1
X333 X222 X111
24 VDC
Machine operation panel input/output
24 VDC
PROFIBUS-DP
I/O module
* From external power supply
PS307
24 200 VAC VDC
PS307
I/O module
24 VDC Machine input/ output
* From external power supply
Digital I/O module (6ES7321/322/323)
I/O module power supply
24 VDC
24 VDC Machine input/ output
Interface module(ET200M)
PROFIBUS-DP
* From external power supply
PROFIBUS-DP
Emergency stop/start condition 200 VAC 200 VAC
CN7B CN5B P N Converter CIMRMRXN
CN9
CN1
A1,A2
L1,L2,L3 CN5A
Terminating connector Terminating connector
CN7B CN5B P N
Direct IN Braking circuit for
the 2nd axes
Braking circuit for the 1st axes
Servo unit (1-axis servo)
SGDK-
CN8
CN1
CN2
CN4 P N
CN7A CN5A
POWER PG(Serial) PG(Pulse)
Separately mounted PG
CN7B CN5B P N
Servo unit
(1-axis servo)
SGDK-
CN8
CN1
CN2
CN4 P N
CN7A CN5A
POWER PG(Serial) PG(Pulse)
Separately mounted PG
2nd motor 1st motor
Power backup battery
UPS BATTERY
200 VAC
Power module PS module 10
24 VDC
Power backup module
24 VDC
UPS module 10
Bat
Reactor
Bus bar
CN7B CN5B P N
Inverter CIMRMXN
U,V,W,E
CN1
CN4
CN2 P N
CN7A CN5A
POWER PG(Pulse or separately mounted)
PG(Serial)
Spindle motor
PROFIBUS-DP
Emergency stop/start condition 200 VAC 200 VAC
CN7B CN5B
P N Converter
Terminating connector
CIMR-
MRXN
CN9
CN1
A1,A2
L1,L2,L3 CN5A
Interface cable Control power cable
Terminating connector
* Machine input/output
24 VDC
External power 200 VAC supply
SVM
200 VAC
Line filter
Circuit breaker
200 VAC 50/60Hz
1-2
1.1 System configuration
INFO
Notes on the general wiring drawing · Number of axes of the YS 840DI system: The maximum number of axes of the system is seven (including the spindle) per converter. · External power supply: An external power supply of appropriate capacity must be provided by the customer. · Separately mounted encoder: Separately mounted encoders are optional for any servo unit or inverter. · Emergency stop/start circuit: An emergency stop/start circuit must be provided for each converter. Thus a system with two converters requires two separate emergency stop/start circuits. · Braking circuit: A braking circuit may be provided only for an axis that needs it. · Direct IN circuit: A direct IN circuit must be provided for each converter system. The direct IN circuit may be connected to any servo unit of the converter system.
1-3
System Configuration 1.1.2 List of system components
1.1.2 List of system components
The following table lists the components of the YS 840DI system:
Category YS 840DI
Machine control panel PC card drive I/O module
Function CNC unit Operation panel
NC keyboard Machine control panel PC card drive Machine control panel I/O Interface module I/O power supply module
Digital input module
Digital output module
PCU50 OP010FS OP010FT OP010F OP032S
Name
PCMCIA extension card slot from PCU50 parallel port
PP module
ET200M PS307(2A) PS307(5A) PS307(10A) SM321(DI32 24 VDC) SM321(DI16 24 VDC) SM321 (DI16 24 VDC source) SM321(DI16 120 VAC) SM321(DI8 120/230 VAC) SM322(DO32 24 VDC/0.5A) SM322(DO16 24 VDC/0.5A) SM322(DO8 24 VDC/2A) SM322(DO16 120VAC/1A) SM322(DO8 120/230VAC/2A)
Digital I/O module
SM323 (DI16/DO16 24VDC/0.5A)
SM323(DI8/DO8 24 VDC/0.5A)
Power supply module
SERVOPACK
Relay output module
Dummy module Power supply module Power supply backup module Power supply backup battery Converter
SM323 (DO16 120 VAC relay) SM323 (DO8 230 VAC relay) DM307 PS module 10 UPS module 10
UPS BATTERY
45 kW converter 37 kW converter 30 kW converter 22 kW converter
Designation/Catalog number
6FC5220-0AB00-1AA0 6FC5203-0AF10-0AA0 6FC5203-0AF11-0AA0 6FC5203-0AD10-1AA
6FC5235-0AA06-0AA0
6FC5611-0CA01-0AA0
6ES7153-1AA03-0XB0 6ES7307-1BA00-0AA0 6ES7307-1EA00-0AA0 6ES7307-1KA00-0AA0 6ES7321-1BL00-0AA0 6ES7321-1BH00-0AA0 6ES7321-1BH50-0AA0 6ES7321-1EH01-0AA0 6ES7321-1FF01-0AA0 6ES7322-1BL00-0AA0 6ES7322-1BH00-0AA0 6ES7322-1BF01-0AA0 6ES7322-1EH01-0AA0 6ES7322-1FF01-0AA0
6ES7323-1BL00-0AA0
6ES7323-1BH00-0AA0
6ES7322-1HH00-0AA0 6ES7322-1HF00-0AA0 6ES7370-0AA01-0AA0 6ES1334-2BA00 6EP1931-2EC01
6EP1935-6MD11
CIMR-MRXN20455A CIMR-MRXN20375A CIMR-MRXN20305A CIMR-MRXN20225A
Specifications/Remarks
Standard type Touch panel type Attached to operation panel Optional
Optional
72 inputs/48 outputs
2 A output at 24 VDC 5 A output at 24 VDC 10 A output at 24 VDC 32 inputs at 24 VDC 16 inputs at 24 VDC 16 inputs at 24 VDC source 16 inputs at 120 VAC 8 inputs at 120/230 VAC 32 outputs at 24 VDC/0.5 A 16 outputs at 24 VDC/0.5 A 8 outputs at 24 VDC/2 A 16 outputs at 120 VAC/1 A 8 outputs at 120/230 VAC/2 A 16 inputs at 24 VDC, 16 outputs at 24 VDC/0.5 A 8 inputs at 24 VDC, 8 outputs at 24 VDC/0.5 A 16 relay outputs at 120 VAC 16 relay outputs at 230 VAC Dummy module 24 VDC/10 A output 24 VDC/10 A output
3.2A/h
1-4
1.1 System configuration
Category
SERVOPACK (continued)
Function Converter
Inverter
1-axis servo unit
2-axis servo unit
Motor
Optional unit Spindle motor
Servo motor
Name
18.5 kW converter 15 kW converter 11 kW converter 7.5 kW converter 5.5 kW converter 3.7 kW converter 37 kW inverter 30 kW inverter 22 kW inverter 18.5 kW inverter 15 kW inverter 11 kW inverter 7.5 kW inverter 5.5 kW inverter 3.7 kW inverter 0.5 kW servo unit 1 kW servo unit 1.5 kW servo unit 2 kW servo unit 3 kW servo unit 5 kW servo unit 6 kW servo unit 7.5 kW servo unit 0.5 kW 2 servo units 1 kW 2 servo units 1.5 kW 2 servo units 2 kW 2 servo units 3 kW 2 servo units PC board for separately mounted PG 5.5kW 7.5kW 11kW 15kW 18.5kW 22kW 30kW 0.45 kW servo motor 0.85 kW servo motor 1.3 kW servo motor 1.8 kW servo motor 2.9 kW servo motor 4.4 kW servo motor 5.5 kW servo motor 7.5 kW servo motor
Designation/Catalog number
CIMR-MRXN20185A CIMR-MRXN20155A CIMR-MRXN20115A CIMR-MRXN27P55A CIMR-MRXN25P55A CIMR-MRXN23P75A CIMR-MXN20375A CIMR-MXN20305A CIMR-MXN20225A CIMR-MXN20185A CIMR-MXN20155A CIMR-MXN20115A CIMR-MXN27P55A CIMR-MXN25P55A CIMR-MXN23P75A SGDK-05AEA SGDK-10AEA SGDK-15AEA SGDK-20AEA SGDK-30AEA SGDK-50AEA SGDK-60AEA SGDK-75AEA SGDK-0505AEA SGDK-1010AEA SGDK-1515AEA SGDK-2020AEA SGDK-3030AEA SGDK-CF01A MX -06AS MX -08AS MX -11AS MX -15AS MX -19AS MX -22AS MX -30AS SGMKS-05A SGMKS-09A SGMKS-13A SGMKS-20A SGMKS-30A SGMKS-44A SGMKS-55A SGMKS-75A
Specifications/Remarks Per axis
1-5
System Configuration 1.1.2 List of system components
Category Bus bar
Function Bus bar
Local bus cable
Control power cable
AC reactor
Terminating connector Reactor
Name
Designation/Catalog number
JZSP-CGB02-1 JZSP-CGB02-2 JZSP-CGB02-4 JZSP-CGB02-3 JZSP-CGB02-5 JZSP-CGB02-6 JZSP-CGB02-7 JZSP-CGB02-8 JZSP-CGB02-9 JZSP-CNS90-1
JZSP-CNS90-2
JZSP-CNS90-4 JZSP-CNS90-5 JZSP-CNB00-1
JZSP-CNB00-2
JZSP-CNB00-3 JZSP-CNB00-4 JZSP-CNS90-9 UZBA-B150A 0.07mH
Specifications/Remarks
For connection inside a 250mm wide unit
Between 250- and 150-mm wide units
Between 250- and 75-mm wide units
Between 150- and 150-mm wide units
Between 150- and 75-mm wide units
Between 75- and 75-mm wide units
Between 150- and 250-mm wide units
Between 75- and 250-mm wide units
Between 75- and 150-mm wide units
Between 250- and 150-mm wide units, between 150- and 150-mm wide units, and between 75- and 150-mm wide units
Between 250- and 75-mm wide units, between 150- and 75-mm wide units, and between 75- and 75-mm wide units
1 m long between upper and lower units
Between 150- and 250-mm wide units, and between 75and 250-mm wide units
Between 250- and 150-mm wide units, between 150- and 150-mm wide units, and between 75- and 150-mm wide units
Between 250- and 75-mm wide units, between 150- and 75-mm wide units, and between 75- and 75-mm wide units
1 m long between upper and lower units
Between 150- and 250-mm wide units, and between 75and 250-mm wide units
For a 45 kW converter
For a 37 kW converter
For a 30 kW converter
For a 22 kW converter
For a 18 kW converter
1-6
1.1 System configuration
Category
AC reactor (continued)
Function Reactor
Name
Designation/Catalog number
PROFIBUS-DP related
PROFIBUS-DP connector
Vertical-connection type connector
6ES7972-0B 11-0XA0
PROFIBUS-DP connector
35-degree-connection type connector 6ES7972-0B 40-0XA0
Others
PROFIBUS-DP connector
PROFIBUS-DP cable
Manual pulse generator
Braking power supply unit
Horizontal-connection type connector
Stranded-wire cable Handle PG
BK unit
6GK1500-0EA0
6XV1830-3EH10 OSM-01-2GA-15
OPR-109A OPR-109F
Specifications/Remarks
For a 15 kW converter For a 11 kW converter For a 7.5 kW converter For a 5.5 kW converter For a 3.7 kW converter indicates whether a PG port is available. (A) means not available, and (B) means available. indicates whether a PG port is available. (A) means not available, and (B) means available. For a converter
For 200 VAC For 100 VAC
1-7
System Configuration 1.2.1 SERVOPACK designations
1.2 Meanings of component designations
1.2.1 SERVOPACK designations Converter
CIMR- MRX N 2 045 5 A
Series identifier
Specification N:For NC systems
Supply voltage 2:200 V
Revision symbol
Protection type 5:External cooling
Maximum output
045 45kW 037 37kW 030 30kW 022 22kW 018 18kW 015 15kW 011 11kW 7P5 7.5kW 5P5 5.5kW 3P7 3.7kW
Inverter
CIMR - MX N 2 030 5 A
Series identifier
Specification N:For NC systems
Supply voltage 2:200 V
Revision symbol
Protection type 5:External cooling
Maximum output
037 37kW 030 30kW 022 22kW 018 18kW 015 15kW 011 11kW 7P5 7.5kW 5P5 5.5kW 3P7 3.7kW
1-8
1.2 Meanings of component designations
Servo unit
SGDK - 75 - A E A
or
3030
Series identifier
Rated output (see the table below)
1-axis unit
Number Capacity
0.5
0.5kW
10
1kW
15
1.5kW
20
2kW
30
3kW
50
5kW
60
6kW
75
7.5kW
2-axis unit
Number Capacity
0505
0.5kW
1010
1kW
1515
1.5kW
2020
2kW
3030
3kW
1.5kW
1.5kW
1.5kW
Basic specification(A only)
Communication command (E only)
Supply voltage A:2000 V
1-9
System Configuration 1.2.2 Servo motor designations
1.2.2 Servo motor designations
SGMKS - 05 A 2 A 2 S
Servo motor capacity ( kW)
Symbol
05 09 13 20 30 44 55 75
SGMKS 1500min -1
0.45
0.85 1.3 1.8 2.9 4.4 5.5 7.5
Brake and oil seal specifications 1: No brake nor oil seal S: With oil seal B: With 90 VDC brake C: With 24 VDC brake D: With oil seal, with 90 VDC brake E: With oil seal, with 24 VDC brake
Shaft-end specification
Symbol
Specification
SGMKS
2 Straight, with no key
3 1/10 tapered, with a parallel key
6 Straight, with a key and a tap
Design category A: SGMKS (400% peak torque) B: SGMKS (standard peak torque)
Serial encoder specification
Symbol
Specification
2 17-bit, absolute
3 20-bit, absolute
C 17-bit incremental
SGMKS
Voltage A : 200 V
1-10
1.2 Meanings of component designations
1.2.3 Spindle motor designations
UA K A - 30 A Z 1
AC spindle motor
Cooling method K: Fully closed, forced air cooling
Winding type A: Single winding (standard)
50% ED output 30: 30 kW
Shaft-end specification N: No key Blank: With a key (standard)
Mounting method 1: By flange 3: With feet
Encoder specification Z: With an origin N: No encoder
Design category A: Standard
1-11
System Configuration 1.2.3 Spindle motor designations
1-12
Chapter 2
Installing the control panels
This chapter describes how to install the components of the YS 840DI system. 2.1 Designing the panels - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
2.1.1 Environmental conditions for installing the control panels and other system components - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
2.1.2 Thermal design of the enclosures- - - - - - - - - - - - - - - - - - - - - - - - - - - 2-3 2.1.3 Heat dissipation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6 2.1.4 Power consumption - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-8
2.2 Protecting against electric noise - - - - - - - - - - - - - - - - - - - - - 2-9
2.2.1 Separation of cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-9 2.2.2 Noise-proof devices - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-10 2.2.3 Grounding - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-12 2.2.4 Cable shield clamp - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-13
2.3 Installation precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-14
2.3.1 Installing the CNC units- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-14 2.3.2 Installing the feed/spindle SERVOPACK - - - - - - - - - - - - - - - - - - - - - 2-15 2.3.3 Orientation of and installation space for the SERVOPACK - - - - - - - - 2-16 2.3.4 Installation space for the I/O modules - - - - - - - - - - - - - - - - - - - - - - - 2-17 2.3.5 Installing lightning-surge absorbers - - - - - - - - - - - - - - - - - - - - - - - - 2-18
2-1
Installing the control panels 2.1.1 Environmental conditions for installing the control panels and other system components
2.1 Designing the panels
2.1.1 Environmental conditions for installing the control panels and other system components
The operating temperature requirements for the YS 840DI system components are as follows:
Function
CNC unit CNC operation panel (face) CNC operation panel (back) Machine control panel Power supply module Power supply backup module Power supply backup battery Machine control panel I/O I/O power supply module Interface module I/O module SERVOPACK
Name
PCU50 OP010F
OP032S PS module UPS module UPS battery PP module PS307 ET200M I/O module SERVOPACK
Reactor/winding changeover switch Braking power supply unit
Reactor BK unit
Allowable operating temperature range
5 - 45 ^
0 - 45 ^ (face), 0 - 55 ^ (back) 0 - 60 ^
5 - 40 ^ 0 - 55 ^ 0 - 60 ^ (horizontal mounting), 0 - 40 ^ (vertical mounting)
0 - 55 ^ , 0 - 45 ^ (heat sink) 0 - 60 ^ 0 - 60 ^
IMPORTANT
If the operating temperature requirements were not observed, the performance could not be guaranteed.
The environmental requirements for the control panels are as follows:
Table 2.1 Environmental requirements for the control panels and other system components
Environmental conditions
Items
Ambient temperature *1
Humidity Vibration and shock Atmosphere Power supply module, I/O power supply module Power supply Converter
Requirements
During storage or transportation
-20 to +60 ^
During operation
5-30 ^ *2
10-90% RH (with no dew)
4.9 and 73.5 m/s2 respectively
Without excessive airborne dust, machining oil mist, or organic solvent vapor 100 - 230 VAC 50/60Hz
Input supply voltage: 100/200 VAC; Frequency: 50/60 Hz Main power supply 200-230 VAC +10/-15%, 50/60 Hz 5%, three-phase Control power supply 200-230 VAC +10/-15%, 50/60 Hz 5%, single-phase
2-2
2.1 Designing the panels
IMPORTANT
· Even if the ambient temperature requirement is met, the system must not be installed in such places where it is exposed to direct sunlight, nearby heat sources, or the elements.
· The ambient temperature must be between 5 and 30^ taking into account UPS battery's operating temperature requirement of 5-40 ^ and the expected temperature rise of 10 ^ .
2.1.2 Thermal design of the enclosures
The enclosure of a panel must hermetically enclose a CNC or other unit and be so designed as to keep the internal average temperature rise 10 ^ or less.
Internal average temperature rise
The internal average temperature rise for a sheet metal enclosure can be calculated as follows:
· T · P · qe · k
· A
: Internal temperature rise : Internal heat produced : Enclosure's thermal transfer ratio : Sheet metal's thermal transfer constant
With an internal fan Without internal fan : Enclosure's effective surface area (m2)
(^) (W)
(W/ ^ ) (W/m2 ^ ) 6W m2 ^ 4W/ m2 ^
Note: Effective surface area means the area of an enclosure's surface that can dissipate heat (excluding such a surface as is in contact with another object).
2-3
Installing the control panels 2.1.2 Thermal design of the enclosures
EXAMPLE
Internal temperature rise of a panel with an internal fan
The size of the enclosure is assumed 450 (W) 790 (H) 150 (D) mm.
790mm
450mm
150mm
· Effective surface area
· Internal heat produced · Internal temperature rise
A = 1.0155 (m2) (the bottom surface is excluded as the panel is of stand-alone type) P = 60 (W)
°T
P qe
P kA
60 61.0155
9.8 ï^ð
The calculated internal temperature rise T = 9.8 ( ^ ), thus the temperature rise requirement of 10 ^ is satisfied. If the temperature rise requirement is not satisfied, additional measure must be taken to lower the temperature rise.
Capacity of heat exchangers
If an internal fan alone is not sufficient for satisfying the temperature rise requirement, a heat exchanger must be installed (see the table below).
Table 2.2 Heat exchanger
Type DE9404550-1
Designation Capacity
Outside dimensions (mm)
REX1600ESYE 110W/10 ^ 194 : (W) 800 : (H) 65 : (D)
Note: Capacity means the amount of heat that a heat exchanger can remove, on the ground that the temperature rise must be kept 10 ^ or less.
Maximum internal heat that can be safely produced in a panel equipped with a heat exchanger
EXAMPLE
Up to 359 W of internal heat can be safely produced in a panel if it is equipped with a heat exchanger of table 2.2, as shown below.
· P kA° T 110W/10 ^ 6 4.16 10 110 359W/10 ^
2-4
2.1 Designing the panels
Installing a heat exchanger
It is the responsibility of the customer to prepare and install together an enclosure and a heat exchanger. The internal fan must be mounted at an uppermost location so as to force the internal air down. The external fan must be mounted at a lowermost location so as to force the external air up.
MANDATORY
· Always install a heat exchanger. Otherwise damage could result. Fig. 2.1 shows an example installation of a heat exchanger.
(Up)
Flow of internal air
Flow of external air
Heat exchanger (Down)
Fig. 2.1 Example installation of a heat exchanger
Enclosure
2-5
Installing the control panels 2.1.3 Heat dissipation
2.1.3 Heat dissipation
The table below lists the heat each YS 840DI system unit dissipates.
Function
Name
CNC unit
PCU50
Operation panel NC keyboard
OP010F
Machine control panel OP032S
Power supply module PS module 10
Power supply backup module
UPS module
Power supply backup battery
UPS BATTERY
Machine control panel I/O
PP module
I/O power supply module PS307 (24 VDC/2A output)
PS307 (24 VDC/5A output)
PS307 (24 VDC/10A output)
Interface module
ET200M
Digital input module
SM321 (DI32 24 VDC)
SM321 (DI16 24 VDC)
SM321 (DI16 24 VDC source)
SM321 (DI16 120 VAC)
SM321 (DI8 120/230 VAC)
Digital output module
SM322 (DO32 24 VDC/0.5A)
SM322 (DO16 24 VDC/0.5A)
SM322 (DO8 24 VDC/2A)
SM322 (DO16 120 VAC/1A)
SM322 (DO8 120/230 VAC/2A)
Digital I/O module
SM323 (DI16/DO16 24 VDC/0.5A)
SM323 (DI8/DO8 24 VDC/0.5A)
Relay output module
SM322 (DO16 120 VAC REL)
SM322 (DO8 120/23O VAC REL)
Converter*
CIMR-MRXN20455A
CIMR-MRXN20375A
CIMR-MRXN20305A
CIMR-MRXN20225A
CIMR-MRXN20185A
CIMR-MRXN20155A
CIMR-MRXN20115A
CIMR-MRXN27P55A
CIMR-MRXN25P55A
Heat dissipation
Total heat dissipation
(W)
Heat dissipation inside panel
(W)
Heat dissipation outside panel (by heat sink) (W)
130
24
10.5 10
1
11
10
18
30
4.5
6.5
3.5
3.5
4.1
4.9
0.26
0.19
6.8
9
8.6
6.5
4.5
4.5
2.2
470
190
280
Minimum air flow rate
(m/s)
2.5
2-6
2.1 Designing the panels
Function Converter * Inverter *
1-axis servo unit *
2-axis servo unit * Reactor
Name
CIMR-MRXN23P75A CIMR-MXN20375A CIMR-MXN20305A CIMR-MXN20225A CIMR-MXN20185A CIMR-MXN20155A CIMR-MXN20115A CIMR-MXN27P55A CIMR-MXN25P55A CIMR-MXN23P75A SGDK-75AEA SGDK-60AEA SGDK-50AEA SGDK-30AEA SGDK-20AEA SGDK-15AEA SGDK-10AEA SGDK-05AEA SGDK-3030AEA SGDK-2020AEA SGDK-1515AEA SGDK-1010AEA SGDK-0505AEA UZBA-B150A 0.07mH
Heat dissipation
Total heat dissipation
(W)
Heat dissipation inside panel
(W)
Heat dissipation outside panel (by heat sink) (W)
687
213
474
Minimum air flow rate
(m/s)
2.5
2.5
270
90
180
2.5
180
70
110
290
120
170
2.5
230
100
130
* Heat dissipation of a converter, inverter or servo unit is at a 70% load.
2-7
Installing the control panels 2.1.4 Power consumption
2.1.4 Power consumption
The table below lists the power each YS 840DI system unit consumes. When designing a control panel, use this data.
Function
Name
Power supply module PS module 10
Machine control panel Machine control panel I/O I/O power supply module
Converter
OP032S PP module PS307(2A) PS307(5A) PS307(10A) CIMR-MRXN20455A CIMR-MRXN20375A CIMR-MRXN20305A CIMR-MRXN20225A CIMR-MRXN20185A CIMR-MRXN20155A CIMR-MRXN20115A CIMR-MRXN27P55A CIMR-MRXN25P55A CIMR-MRXN23P75A
Power consumption (supply voltage) 2.6A 270W
(200 VAC)
6W (24 VDC)
11W (24 VDC)
10W (200 VAC)
18W (200 VAC)
30W (200 VAC)
(200 VAC)
(200 VAC)
(200 VAC)
(200 VAC)
(200 VAC)
(200 VAC)
(200 VAC)
(200 VAC)
(200 VAC)
(200 VAC)
Other units powered by this unit
· Power supply backup module (UPS module 10)
· Power supply backup battery (UPS BATTERY)
· CNC unit (PCU50) · Operation panel/NC keyboard
(OP010F ) None
None
· Interface module (ET200M) · I/O module (SM321/322/323) · Power supply for I/O loads
· Inverter · Servo unit
2-8
2.2 Protecting against electric noise
2.2 Protecting against electric noise
2.2.1 Separation of cables
There are three types of cables used in the YS 840DI system: AC Power, DC power, and signal. These types of cables must be separated from each other as follows:
Type AC power (1)
DC power (2)
Signal (3)
Cable
AC power supply lines (primary/secondary)
Power cables to spindle and servo motors
AC lines to solenoids, contactors, and relays
24 VDC power supply lines to CNC, I/O, and power supply modules
24 VDC I/O lines between I/O and machine
24 VDC lines to solenoids and relays
PROFIBUS-DP cables between CNC and I/O module and between I/O module and converter
RS232C cables
Cables to manual pulse generator
Encoder cables between spindle inverter and spindle motor
Encoder cables between servo unit and servo motor
Cables to separately mounted PG
Battery cables
Other cables that need to be shielded
Separation requirements
These cables must not be bundled with DC power cables (2) or signal cables (3), or must be provided with an electromagnetic shield. Solenoids and relays must be provided with a surge absorber or a diode.
These cables must not be bundled with AC power cables (1), or must be provided with an electromagnetic shield. These cables must be separated far enough from signal cables (3). DC solenoids and DC relays must be provided with a diode.
These cables must not be bundled with AC power cables (1), or must be provided with an electromagnetic shield. These cables must be separated far enough from DC power cables (2). Cables that need to be shielded must always be shielded.
INFO
· Two cables are considered to be bundled with each other if they are less than 100 mm apart. · An electromagnetic shield is a grounded iron plate separating a type of cables from another.
2-9
Installing the control panels 2.2.2 Noise-proof devices
2.2.2 Noise-proof devices Installing CR-type surge absorbers
Provide AC-powered solenoids, contactors, relays, and induction motors with a CR-type surge absorber.
For solenoids, contactors, and relays:
AC Solenoid
Surge absorber Contactor or relay
Surg e absorber
Note: A surge absorber must be installed as close to a coil as possible.
For induction motors:
R Surge absorber
S
Surge absorber
Motor
Surge absorber T
Note: A surge absorber must be installed as close to a motor as possible.
INFO
Construction of a surge absorber
R
C
The recommended values of C and R are as follows:
· R = DC resistance of a coil ()
·
C
I2 10
to
I2 20
ïFð
Note: I = Steady-state current of a coil
2-10
2.2 Protecting against electric noise
Installing diodes
Provide DC-powered contactors and relays with a diode.
Contactor or relay
Coil
Diode
INFO
Note: A diode must be installed as close to a coil as possible.
The recommended voltage and current ratings of a diode are twice the voltage and current ratings of a coil respectively.
2-11
Installing the control panels 2.2.3 Grounding
2.2.3 Grounding
The grounding wire from each unit must be connected to the enclosure or the grounding plate directly.
Example grounding wiring
200 VAC LF
Enclosure
Operation relay sequence
S.V U V W
CN CN E
M E
PG
LF
AVR
Single-point grounding (Grouding resistance 100or less)
· Wires for grounding must be in accordance with applicable electrical installation regulations and the internal wiring rules.
· The grounding terminal of a servo motor must be wired to the grounding terminal of the corresponding SERVOPACK.
· All wires to be grounded must be directly connected to a single point whose grounding resistance 100or less. Otherwise electric shock, a fire, or malfunction could result.
· The single grounding point for this product must not be used to also ground a power device. Otherwise malfunction could result.
2-12
2.2 Protecting against electric noise
2.2.4 Cable shield clamp
A cable between a servo unit and a motor encoder must be shielded and grounded. To securely connect the shield of the cable to a grounding plate, use a cable clamp as illustrated below. Cable clamping is not only for mechanically supporting a cable but also for securely grounding its shield, and thus essential to the safe operation of the system. The recommended cable clamping method is that stripping off a length of the insulation of a cable to expose its shielding braid, placing a cable clamp over the shielding braid, and fixing the cable clamp to a grounding plate, as illustrated below.
Cable
Shielding braid Cable clamp
Type 1 DF8401485
19.5
Type 2 DF8404817
19.5
30 30
Minimum Minimum
19.5 19.5
Cable clamp
6.5
8
Grounding plate
Cable
Fig. 2.2 Cable clamp A grounding plate must be installed near a SERVOPACK as illustrated below.
SERVOPACK
Connector Cable
Grounding plate
Cable clamp Shielding braid
Fig. 2.3 Grounding plate position
2-13
Installing the control panels 2.3.1 Installing the CNC units
2.3 Installation precautions
When designing an enclosure to contain a CNC or other unit, observe the precautions below.
2.3.1 Installing the CNC units
When installing the CNC unit in an enclosure, observe the following precautions: · Install the CNC unit such that it is oriented as shown below.
(Up)
Air flow
Operation panel(OP10F )
10010m0mmmormore
FAN
CNC unit (PCU50)
CCNNCC unit (PCU50)
(PCU50)
16016m0mm omrmore
(Down)
Space for wiring and maintenance
INFO
Rear view (inside the panel)
Side view
Fig. 2.4 CNC unit installation
· The CNC unit has a cooling fan at the top on the rear side. Do not place any obstacle that could block the air flow. Otherwise damage could result.
· Provide a 100 mm or more space over and a 160 mm or more space under the CNC unit for air circulation as well as for wiring and maintenance work.
The CNC unit is normally provided with an NC keyboard under it. Thus a 160 mm or more space will be naturally provided under the CNC unit.
2-14
2.3 Installation precautions
2.3.2 Installing the feed/spindle SERVOPACK
When installing the feed or spindle SERVOPACK in an enclosure, observe the following precautions:
· Since the SERVOPACK is a wall-mounted type, it must be secured vertically to a wall of an enclosure with screws or bolts.
· The SERVOPACK must be installed such that checking, replacement or other maintenance work is easy.
· The SERVOPACK must be installed such that its heat sink fins are exposed to the outside cooling air to reduce the internal temperature rise. This way the panel can be airtight and the size of the heat sink can be designed smaller (see the figure below).
· The flow rate of the cooling air flowing through the heat sink fins must be at least 2.5 m/ s as measured near the fins.
· The outside cooling air must be applied to each heat sink at the specified flow rate. · The fan producing the cooling air should preferably be made of metal. A plastic fan
could be deteriorated by machining oil, causing the drive to be damaged.
Heat sink
Outside air Fig. 2.5 Heat sink as exposed to the outside
Feed/spindle SERVOPACK
2-15
Installing the control panels 2.3.3 Orientation of and installation space for the SERVOPACK
2.3.3 Orientation of and installation space for the SERVOPACK
The SERVOPACK must be installed vertically and sufficient space must be provided around them for better cooling efficiency, as shown below.
Converter Inverter Servo unit
Air flow
120 mm or more
Air flow
70 mm max.
FAN
Heat sink
Air duct within an outermost enclosure
5 mm or more
Left and right space
120 mm or more
Air flow
Upper and lower space
Sealing at screw
Fig. 2.6 SERVOPACK's orientation and space
· All SERVOPACKs are designed so as to have their heat sink exposed to the outside. · For the outside dimensions of and installation space for the SERVOPACKs, see the rele-
vant outline drawings given in the General Documentation - Hardware.
· The allowable temperature range of the air draft against the SERVOPACK is 0-45 ^ at the heat sink (outside) and 0-55 ^ inside.
· Apply sealing agent to the mounting screw areas of the SERVOPACK to prevent oil from entering inside.
· The SERVOPACK has a built-in fan as shown in Fig. 2.6. · To prevent the SERVOPACK from overheating, arrange other units and devices such
that the required space is provided over and under the SERVOPACK. · If an air stirring fan is installed in a panel, the fan must be oriented such that the air does
not directly hit the SERVOPACK (to prevent the SERVOPACK from collecting more dust).
A space must be provided to the right and left of each SERVOPACK as follows:
SERVOPACK width 74 mm
148 or 248 mm
Space width 0.5 mm (right and left) 1.0 mm (right and left)
2-16
2.3 Installation precautions
If two SERVOPACKs are installed side by side, the minimum space between them is a total of the right-side space required of the left SERVOPACK and the left-side space required of the right SERVOPACK, as illustrated below.
The space required
1.0
of SERVOPACK A
The space required
1.0
of SERVOPACK D
0.5 0.5
SERVOPACK A
SERVOPACK B
148 or 248
SERVO PACK
C
1.5
74
SERVOPACK D
2.3.4 Installation space for the I/O modules
The I/O modules must be installed as illustrated below.
Machine control panel I/O (PP72/48)
(Up) 100mm
5mm
120mm
5mm
(Down)
(Left)
40mm
(Right)
INFO
There must be a 120 mm or more space to the left of the machine control panel I/O to provide for PROFIBUS-DP and power supply connections.
2-17
Installing the control panels 2.3.5 Installing lightning-surge absorbers
I/O modules
(Up) 180 mm or more
DIN rail
20mm
PS module
40mm
I/O module
20mm
INFO
(Down)
(Left)
40mm
(Right)
The enclosure that houses the I/O module must be at least 180 mm deep so that the front cover can be opened safely.
2.3.5 Installing lightning-surge absorbers
Lightning-surge absorbers must be installed to prevent electric and electronic devices from malfunctioning even if the power, communication, or signal line is subjected to a highenergy disturbance such as switching or lightning surge. Normally the power line should be provided with surge absorbers as shown below.
· Normal-type surge absorber between phases · Common-type surge absorber between phases and ground
200/220/230 VAC 50/60Hz
Circuit breaker
Control panel
Circuit protector
Electronic devices
CNC
Conver ter
Inverter
SERVO PACK
Surge absorber between phases
and ground
Surge absorber between phases
Panel grounding plate
Grounding resistance 100or less
Motor
Fig. 2.7 Installing lightning-surge absorbers
2-18
2.3 Installation precautions
Recommended surge absorbers
Application
Normal-type surge absorber between phases
Common-type surge absorber between phases and ground
Designation RAV-781BYZ-2
RAV-781BXZ-4
Make Okatani Electric
Okatani Electric
IMPORTANT
If the surge absorber failed and got shorted due to repeated lightning or switching surge, the wiring and devices could burn. To prevent this, 5-A fuses or other circuit protectors must be provided in the protected line.
2-19
Installing the control panels 2.3.5 Installing lightning-surge absorbers
2-20
Chapter 3
Installing the motors
This chapter presents the precautions to be observed when installing the YS 840DI motors. 3.1 Servo motors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2 3.2 Spindle motors- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3
3-1
Installing the motors
3.1 Servo motors
The SGMKS-type servo motors must be used indoor. The environmental requirements for the motors are these:
· Indoor and free of corrosive or flammable gas · Well ventilated and free of excessive dust, dirt, or moisture · Ambient temperature: 0-40 ^ · Relative humidity: 20-80%RH with no dew · Can be easily cleaned and checked
3-2
3.2 Spindle motors
3.2 Spindle motors
· The spindle motor must be provided with enough space so that it is cooled effectively by its cooling fan. Especially, there must be a 100 mm or more space between the no-load side of the spindle motor and a nearest machine part. If the spindle motor were not cooled enough, a motor overheat protector could operate even if the spindle motor runs at the rated load.
· The bed, foundation or mount on which the spindle motor is installed must be rigid enough. Otherwise the bed could vibrate due to the weight of the motor and the dynamic load from the machine.
· The installation site must be free of excessive dust or iron particles. As the air forced by the built-in cooling fan passes along the motor core, it could be blocked by any accumulated dust in the way. If the spindle motor were not cooled enough, a motor overheat protector could operate even if the spindle motor runs at the rated load.
3-3
Installing the motors 3-4
Chapter 4
Connection method
This chapter describes how to wire units and devices together. 4.1 Arrangement of connectors and switches - - - - - - - - - - - - - - - 4-2
4.1.1 CNC unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-2 4.1.2 Power supply module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-6 4.1.3 I/O module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-6 4.1.4 Converter- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-9 4.1.5 Inverter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-10 4.1.6 Servo unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-11
4.2 Power on/off signals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-14
4.2.1 Wiring for servo power-on and other signals - - - - - - - - - - - - - - - - - - 4-14 4.2.2 UPS module timer setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-17 4.2.3 Time chart - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-18
4.3 Wiring units and devices - - - - - - - - - - - - - - - - - - - - - - - - - - 4-19
4.3.1 PROFIBUS-DP address and termination setting - - - - - - - - - - - - - - - 4-19 4.3.2 Setting the rotary switches on the inverters and servo units - - - - - - - 4-21
4-1
Connection method 4.1.1 CNC unit
4.1 Arrangement of connectors and switches
4.1.1 CNC unit
Definitions of the surfaces of combined CNC unit (PCU50) and operation panel (OP010F )
The YS 840DI system uses a combination of the CNC unit (PCU50) and the operation panel (OP010F ). The surfaces of the combined units are defined as follows:
Top surface
Operation panel OP010F
Top surface
CNC unit ïPCU50)
Rear surface
Left side surface
CNC unit (PCU50)
Right side surface
Bottom surface
(Left side view)
Bottom surface
(Rear view)
4-2
4.1 Arrangement of connectors and switches
Arrangement of connectors
The arrangement of connectors on each surface is as shown below.
UPS module
24 VDC input
Battery module
(PROFIBUS-DP) X101
(MPI) X111
PS/2 mouse
PS/2 Mouse
COM1
LPT1
PS/2 Keyborad
X1
COM2
VGA
USB
MPV/L2-DP Ethernet
X121 (Handle PG) Emergency stop
UPS I/F
PC card drive
Bottom surface
Connector for an external 3.5-inch floppy-disk drive
Cooling fan
RESET
Reset button
Top surface
IMPORTANT
Pressing the reset button causes the system to reboot. Do not touch the reset button unless this is what you exactly want.
4-3
Connection method 4.1.1 CNC unit
Connector for an external 3.5-inch floppy-disk drive
Mounting rail
Grounding terminal
Right side surface
INFO
Remove the mounting rail if you want to combine the CNC unit with the OP010F operation panel.
4-4
4.1 Arrangement of connectors and switches
Connector for an external 3.5-inch floppy-disk drive
Fixing latch Fixing screw
Hard disk drive unit
Bottom surface with connectors Rear surface
INFO
The left side surface is not shown because there is no connector on it.
4-5
Connection method 4.1.2 Power supply module
4.1.2 Power supply module Power supply backup module (UPS module 10)
Timersetting
o.k Bat Alarm
t +160s
+80s +40s +20s +10s
5s
UBat
UL+
15A
24ùûVpowersupply input 24ùûVpowersupply output
Batterymodule
L+ In
M OutL+
M +Bat -Bat
tmax
DC-USV-Modul 10 6EP1931-2EC01 1 234 5
n.c. Bat o.k Alarm On / Off
X2.1 2.2 2.3 2.4 2.5 2.6 2.7 2.8 2.9
X1.1 Ssuigpnpalylsofno/ropffosweeqruence
X1.2 X1.3 X1.4 X1.5 X1.6
4.1.3 I/O module Machine control panel I/O (PP72/48)
PROFIBUS-DP address setting switch
PROFIBUS-DP
X2
connector
24 VDC input
X1
connector
OVERTEMP RESET POWER S1
EXCHANGE READY
X333
X222
X111
I/O connector 3
I/O connector 2
I/O connector 1
4-6
4.1 Arrangement of connectors and switches
PS module for I/O (PS307(2A))
24VDC
230V
I
LED indicating that the 24 VDC output is available
Voltage selector
24 VDC ON/OFF switch
L1
System voltage and
N
grounding terminal
L+
24 VDC output terminal
M
L+
M
Cable clamp
Remote I/O interface module (ET200M)
With the panel closed
SF SIEMENS BF ON
Panel
With the panel open
SF BF ON
PROFIBUS-DP
Status/error indicator
PROFIBUS-DP interface (9-pin socket)
SIMATIC ET 200M
IM 153-1 Slot
X2 2 34
153-1AA02-OXB0
Version Catalog number
ON 64 32 16 8 4 2 1
M L +M
DC24V
Cable pit DP address setting
Jumper (removable) Power supply and grounding connector
4-7
Connection method 4.1.3 I/O module
Digital I/O module (SM321 (D132 24 VDC))
0
1
2
Byte 0
3
4
5
6
7
0
1
2
3
Byte 2
4
5
6
7
0
1
2
Byte 1
3
4
5
6
7
0
1
2
3
Byte 3
4
5
6
7
Channel number Status LED (green)
Dummy module (DM370)
NA A
Address switch
X2 34
Front view
Rear view
4-8
4.1 Arrangement of connectors and switches
4.1.4 Converter Converter (CIMR-MRXN20455A(45kW))
P/+ N/-
CHARGE Indicator (red) CN1 (I/O connector) CN6 (Analog monitor connector) CN3 (PG input connector) R/L1 S/L2 T/L1
DC power terminal block (8P) M6 CN7A (Control power connector)
CN7B (Control power connector) CN5A (I/O bus connector) CN5B (I/O bus connector) CN8 (Battery input)
CN9 (PROFIBUS)
SW1 (PROFIBUS address)
E
A2/t (Control power input) M4 A1/t (Control power input) M4 Grounding terminal M6 Main power input ( 3P) M10
4-9
Connection method 4.1.5 Inverter
4.1.5 Inverter Inverter (CIMR-MXN20305A(30kW))
P/+
DC power terminal block (4P) M6
N/-
CN7A (Control power connector)
CHARGE Indicator (red)
CN7B (Control power connector)
CN5A (I/O bus connector) CN5B (I/O bus connector) SW1 (Rotary switch) RDY (Indicator (green)) CN4 (Pulse PG input) CN1 (I/O connector) CN6 (Analog monitor connector)
U/T1 V/T2 W/T3 E
CN2 (Serial PG input connector)
Motor frame ground terminal : M6 Motor output terminal block (3P) M8 E (Grounding terminal) M6
4-10
4.1 Arrangement of connectors and switches
4.1.6 Servo unit 1-axis servo unit (SGDK-60AEA (6 kW), SGDK-75AEA (7.5 kW))
Indicator CHARGE : red
DC power terminal block(4P) M6 screw
Control power connector (CN7)
I/O bus connector (CN5)
Rotary switch (SW1) Indicator RDY : green
Connector for external PG (CN4) I/O connector (CN1) Analog monitor connector (CN6)
PG input connector (CN2)
Motor frame ground terminal M6 screw Motor output terminal block 3( P) M6 screw Grounding terminal M6 screw
4-11
Connection method 4.1.6 Servo unit
1-axis servo unit (SGDK-50AEA (5 kW))
Control power connector (CN8)
Indicator CHARGE : red
Motor output connector (CN8)
DC power terminal block (2P)
P+
M6 screw
N
ô
I/O bus connector (CN5)
Rotary switch (SW1)
Connector for external PG (CN4)
Indicator RDY : green
I/O connector (CN1)
Analog monitor connector (CN6)
PG input connector (CN2)
Grounding terminal M4 screw
4-12
4.1 Arrangement of connectors and switches
2-axis servo unit (SGDK-0505AEA (0.5 kW), SGDK-1010AEA (1 kW), SGDK-1515AEA (1.5 kW), SGDK-2020AEA (2 kW), SGDK-3030AEA (3 kW))
Indicator CHARGE : red
Motor output connector (CN18)
Motor output connector (CN28)
DC power terminal block(2P)
P+
M6 screw
N
ô
Control power connector
(CN7)
I/O bus connector (CN5)
Rotary switch (SW1)
Connector for external PG (CN14)
Indicator RDY,RDY2 : green
I/O connector (CN1)
Analog monitor connector (CN16,CN26)
PG input connector (CN12,CN22)
Connector for external PG (CN24)
Grounding terminal M4 screw
4-13
Connection method 4.2.1 Wiring for servo power-on and other signals
4.2 Power on/off signals
4.2.1 Wiring for servo power-on and other signals
The wiring for the servo power-on and brake release output signals must be done as follows:
Wiring between units Servo power-on output signal (SVMX)
Converter unit CIMR-MRXN
CN1 10220-52A2JL
UL20276AWG2810
10120-3000VE (10320-52A0-008)
Brake release output signal (BKX)
Servo power-on circuit
Servo unit SGDK-öSGDK-
CN1 10226-52A2JL
UL20276AWG2810
10126-3000VE (10326-52A0-008)
Motor brake control circuit
4-14
4.2 Power on/off signals
Detailed wiring drawing
200 VAC50/60Hz RSTE
Main circuit
breaker
SV
M
Circuit breaker or other circuit protector
X
U
Y Reactor V
Z
W
Power supply
L
òV ò24V
N
ôV 0V
E
PB
CR
X
SVM
SVMX Emergency stop switch
ESPX
1
Brake power
3
2 supply 1 4
5
6
ESP
X
To servo motor brake
1
Brake power
3
2 supply 2 4
5
6
BKX ESP
2
X
To servo motor brake
BKX1
ON
OFF
BKX2
NCM X
ON
PB X
NCRX
NCMX
SVM X PBX
Z1 To the
Z2 Z3
spindle motor fan
MCON /MCON
Converter S/L2 R/L1 T/L3 E A1 A2 CN1A -17 -18
ESP /ESP
CN1A -7
-8
CN1 Servo unit -14 1 -15
-16 1 -17
Bat o.k Alar
m On/ Off Fuse
NCM X
5 Shutdown sequence A DB10.DBX60.3 DB10.DBX57.3
Emergency stop sequence AN DB10.DBX60.2 AN DDBB1100..DDBBXX5566..11 DB10.DBX56.2
NC ready sequence SET DB10.DBX7.3 A DB10.DBX104.7 DB10.DBX6.3
PS module
UPS module
L1 NP JUMPEER 120VAC ONLY
L+ M M
2
ò24V 0V
In Lò M
Out
Lò M
òBat
ôBat
CNC unit
X1 PE
+24V 0V E
X121 24 VDC
ô20ó21
input
ô1
ô5
ô24
ô6
ô25
ô22
ô2
çò24V
0V
UPS Bat.On
0V
EMG.In
0V
Emergency switch
stop
NC Rdy.Outïò24Vð
0V
Battery module 4
ôò
3 ò24V 0V
NCRX
Fig. 4.1 Wiring for the SVMX and BKX output signals
4-15
Connection method 4.2.1 Wiring for servo power-on and other signals
IMPORTANT
*1. The brake release output signal as shown in Fig. 4.1 is for 2-axis servo units. For 1-axis servo units, use only pins 14 and 15. For 2-axis servo units, use pins 14 and 15 for the first axis, and
pins 16 and 17 for the second axis.
Servo unit 1-axis servo unit
2-axis servo unit
Axis
First axis
Second axis
Connector pins CN1 14 ( 24V) CN1 15 (0V) CN1 14 ( 24V) CN1 15 (0V) CN1 16 ( 24V) CN1 17 ( 0V)
*2. If the voltage of power input to the PS module is 100-120 VAC, short the JUMPER120 VAC ONLY terminals together.
*3. To use the UPS module, short the On/Off terminals together. Otherwise an alarm would result.
*4. To use the battery module, insert a 15-A fuse in its fuse holder. Otherwise an alarm would result. When inserting a fuse, a spark may occur (if the battery is in the charged state). Don't worry about the spark since it's quite safe to you and the module.
*5. To make the UPS, emergency, and NC-ready functions available, program the necessary sequences in the PLC. Once the shutdown sequence has been programmed, disconnecting or otherwise disabling the UPS module would cause a switched-on NC to shutdown soon. To make the NC powered up normally, always keep the UPS module functional.
4-16
4.2 Power on/off signals
INFO
· The brake release output signal to control the brake of a motor must come from the servo unit driving that motor.
· The UPS module must not be used to power other than those units shown in Fig. 4.1. · Wire between the Alarm terminals and an I/O module as necessary. · Interlock the BKX relay as necessary by externally adding an interlock signal to the brake release
output signal. · It is the responsibility for the customer to provide the emergency stop switch and its wiring. · It is the responsibility for the customer to provide the X121 connector (37-pin D-Sub female con-
nector) and related wiring. · The SVMX, ESPX, and BKX relays must be 24 VDC miniature relays (preferably LY-2 from
OMRON).
4.2.2 UPS module timer setting
The UPS module must have its timer set so that the 24 VDC power supply will be available for a certain period even after a blackout occurs (to earn time necessary for memory data to be transferred to a hard disk). The relationship between timer setting and covered period is shown below. The covered period should be at least 85 seconds.
X 400
On 2 3 4 5 6
Covered period 5 15 25 35 45 55 65 75 85 95 105 115 125 135 145 155 165 175 185 195 205 215 225 235 245 255 265 275 285 295 305 315 max 111111111111111111111111111111110 00000000000000001111111111111111x 00000000111111110000000011111111x 00001111000011110000111100001111x 00110011001100110011001100110011x 01001010101010101010101010101010x
Fig. 4.2 UPS module timer setting
Position of the timer switch elements
1 means ON, 0 means OFF, and x means any position (irrelevant). If switch element 1 is set to the OFF position, the UPS module supplies power as long as the supplied voltage is above the low battery level.
4-17
Connection method 4.2.3 Time chart
4.2.3 Time chart
The time chart below illustrates the typical timings of power-related signals.
4-18
Main circuit breaker
Converter's control power
ON SW (manual, NO contact)
OFF SW (manual, NC contact)
NCMX
PS module (24 VDC output)
UPS module (24 VDC output) UPS BAT ON (NC contact, UPS start signal) NC start PLC start
NCRX (NC ready)
Pulse enable (PLC) Controller enable (PLC)
Emergency stop SW (manual, NC-contact)
ESPX (forced braking ON) Alarm reset (manually from machine control panel)
SVMX (servo ready)
PBX (self-held ON)
SVM (servo power ON)
BKX1 BKX2 Brake power supply 1 Brake power supply 2
First stage : NC power on
Wait for PLC start
PLC start
Wait for NC ready sequence start
Emergency stop reset
Second stage : servo power on
Power-off input
UPS timer setting (in seconds) PLC stop
Automatic shutdown sequence PLC stop
Emergency stop activated (manually or by an alarm)
Combined MD36060 and MD3426 settings effective
Brake released
Brake activated
4.3 Wiring units and devices
4.3 Wiring units and devices
4.3.1 PROFIBUS-DP address and termination setting
Shown below are examples of PROFIBUS-DP address setting and termination setting.
Example wiring
CNC unit PCU50
X101 Termination ON
Address 2
Machine control panel I/O
X2
S1
Termination OFF 8
Machine control panel I/O
X2
S1
9
Termination OFF
IM module
DP address switch 3
Termination OFF
IM module
DP address switch 4
I/O module I/O module
Rotary switch
Rotary switch
Converter
Termination OFF CN9
ç6
Converter
Termination ON CN9
ç7
4-19
Connection method 4.3.1 PROFIBUS-DP address and termination setting
CNC unit address setting
The address of the CNC unit is fixed to 2 (no hardware setting).
Machine control panel I/O
Set the DIP switch S1 on the PC board to a value between 3 and 32 such that each unit has a unique value.
I/O module
Set the DP address switch (DIP switch) on the ET200M interface module to a value between 3 and 32 such that each unit has a unique value.
Converter
Set the DIP switch to a value between 3 and 32 such that each unit has a unique value.
Termination setting
Set the termination switch on each PROFIBUS-DP connector as given below.
Unit CNC unit Units in between End units
Setting ON OFF ON
INFO
· Any unit other than CNC must not have its address set to 0, 1, or 2. · Up to 32 PROFIBUS-DP addresses are available with the YS 840DI system. · For information on how to specify addresses in software, see Chapter 9, Hardware Configuration.
4-20
4.3 Wiring units and devices
4.3.2 Setting the rotary switches on the inverters and servo units
Each of the inverters and servo units has a rotary switch to specify a PROFIBUS-DP slot allocated to it. Set the rotary switch as follows:
· Each axis must have its rotary switch set to a unique number in sequence starting with 0. · 2-axis servo units have only one rotary switch but use two values because each axis
needs a unique value. Thus, if a 2-axis servo unit has its rotary switch set to 2, the values 2 and 3 are actually used by those two axes, and the next unit must have its rotary switch set to 4. A 2-axis servo unit should have its rotary switch set to an even number (0, 2, 4, ...). · The units connected to one converter may have their rotary switch set to a unique number between 0 and 6. The sequence in position of the units need not correspond to the sequence of the set values of their rotary switches.
INFO
If a unit has its rotary switch wrongly set, the corresponding LED above the PROFIBUS connector on the converter would go red (normally green).
4-21
Connection method 4.3.2 Setting the rotary switches on the inverters and servo units
4-22
Chapter 5
Assembling and replacing
5.1 Installing the CNC unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2 5.2 Replacing the servo unit fan - - - - - - - - - - - - - - - - - - - - - - - - 5-8
5.2.1 Procedure for replacing the 0.5-3.0 and 5.0 kW servo unit fans - - - - - 5-8 5.2.2 Procedure for replacing the 6.0 and 7.5 kW servo unit fans - - - - - - - - 5-9
5.3 Installing the servo unit optional board - - - - - - - - - - - - - - - 5-10
5.3.1 Procedure for installing the board for the 0.5-3.0 and 5.0 kW servo units - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-10
5.3.2 Procedure for installing the board for the 6.0 and 7.5 kW servo units - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-11
5-1
Assembling and replacing
5.1 Installing the CNC unit
This subsection describes how to install the CNC unit (PCU50).
Installation procedure
The CNC unit of the YS 840DI system is normally delivered with the operation panel attached to it. Make any necessary adjustment to the CNC unit or the operation panel separately, and then assemble them together using the following procedures: 1. Remove the screws in a vinyl bag and a cable fixing seal from the back of the operation
panel.
5-2
5.1 Installing the CNC unit
2. Remove the mounting rail from the CNC unit by unscrewing 4 M4 screws and 4 M3 screws. A Torx wrench or Torx screwdriver is required for this work.
3. Connect 2 flat cables from the operation panel to the CNC unit.
Ensure that the connectors are firmly inserted with their latches fully closed.
5-3
Assembling and replacing
4. Connect the CNC unit and the operation panel together using the supplied screws. There are four M4 screws and four M3 screws. Use a Phillips screwdriver.
5. Turn the hard disk operation switch on the back of the CNC unit to the operating position until it clicks.
6. Unscrew two M3 screws from the top cover of the CNC unit, and then remove the top cover. A Torx wrench or Torx screwdriver is required for this work.
5-4
5.1 Installing the CNC unit
7. Unscrew one M3 screw from the slot cover, and then remove the slot cover.
8. Open the MCI Extension Board selector lever (S1).
Closed
Open
Selector lever S1
Release this part
5-5
Assembling and replacing
9. Insert the MCI Extension Board into the optional board slot as far as it will go.
10.Connect the MCI Extension Board connector to the corresponding connector on the board above it using the supplied cable.
Ensure that the connectors are firmly inserted with their latches fully closed.
5-6
5.1 Installing the CNC unit
11.Fix the MCI Extension Board in position with the slot cover screw.
12.Reinstall the top cover and secure it with the screws. A Torx wrench or a Torx screwdriver is required for this operation.
This step concludes the installation procedure.
5-7
Assembling and replacing 5.2.1 Procedure for replacing the 0.5-3.0 and 5.0 kW servo unit fans
5.2 Replacing the servo unit fan
5.2.1 Procedure for replacing the 0.5-3.0 and 5.0 kW servo unit fans
Replace the servo unit fans as follows: 1. Open the PN cover. 2. Unscrew the screw that holds the fan unit. The screw will remain loosely attached to the
panel cover. 3. Remove the fan unit. 4. Disengage the connector. üõ Remove the fan from its fan cover, and install a new one.
Fanunit
PPNNcover
Connector
Payattention tothe orientation of
5
the fan (air flow direction)
Cthuet-foaunt lefoard routing
Fancover
Panel cover
5-8
5.2 Replacing the servo unit fan
5.2.2 Procedure for replacing the 6.0 and 7.5 kW servo unit fans
Replace the servo unit fans as follows:
1. Unscrew the screw that holds the fan cover. The screw will remain loosely attached to the fan cover.
2. Remove the fan. 3. Disengage the fan connector. 4. Replace the fan with a new one.
Fan cover
Pay attention to the orientation of the fan (air flow direction)
1
2
See detailed drawing A
Fan
3
5-9
Assembling and replacing 5.3.1 Procedure for installing the board for the 0.5-3.0 and 5.0 kW servo units
5.3 Installing the servo unit optional board
5.3.1 Procedure for installing the board for the 0.5-3.0 and 5.0 kW servo units
Install the optional board as follows: 1. Unscrew the screws that hold the optional board cover, and remove the cover. 2. Cut the blind plates off. 3. Install the NPs. 4. Install the optional board and secure it with the screws. üõ Reinstall the optional board cover, and secure it with the screws.
Optional board
Ocopvteiornalboard
5-10
5.3 Installing the servo unit optional board
5.3.2 Procedure for installing the board for the 6.0 and 7.5 kW servo units
Install the optional board as follows: 1. Unscrew the screws that hold the optional board cover, and remove the cover. 2. Remove the blind plate NP. 3. Install the NPs on the optional board cover. 4. Install the optional board and secure it with the four screws. 5. Reinstall the optional board cover, and secure it with the screws.
Optional board
X4
Optional board cover
5-11
Part 2
Software
Chapter 6
Software configuration
6.1 System software components- - - - - - - - - - - - - - - - - - - - - - - 6-2 6.2 Data types - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-3 6.3 Service screen directories - - - - - - - - - - - - - - - - - - - - - - - - - 6-4
6-1
Software configuration
6.1 System software components
The system software components are listed below.
Hardware HMI
NC PLC Servo unit Inverter Converter
Table 6.1 System software components
Software component Windows NT
YS 840DI Start up MMC 103 ShopMill
STEP 7
NC PLC F151 F026 00
Version 4.0 SP6 (Service Pack) V01.00.08 06.00.28 Version 05.03.07 PLC Version 05.02.03 Version 5.0 SP2 (Service Pack) YORK 9.0 4.20.21
System number Example: 00.02.00* Example: 00*
Example: A system number, as shown in the table above as an example, changes as the software is revised.
6-2
6.2 Data types
6.2 Data types
The YS 840DI system handles the following data types:
Table 6.2 Data types and locations
Archive type
MMC data (Part of the HMI)
Data type Display-Machine-data
MBDDE-alarm-text
Location Stored in the resident directory.
Stored in the resident directory.
Tool Managements
Definitions Standard Cycle
User's custom settings (for configuration)
yet to be loaded to NC.
USER Cycle Part-Program Sub-Program
Work pieces
NC data
Option data Machine data
Stored in the resident directory.
Setting data Tool offset
User's custom settings
Zero offset
User's custom settings
Global user data
Local user data Definitions Standard Cycle
Loaded to NC already
PLC data
USER Cycle Part-Program Sub-Program Work pieces PLC data Sequence data
Remarks Machine Data (display parameters) for operation panel
Alarm message tables for different languages
Default settings and other data for tool management System definition program
Mostly standard G-code definition cycles Special cycles for user customization
System program Mostly machining subprograms with the SPF extension
User data for machining main programs Machine data (optional parameters)
Machine data (general, series, axis, and collective) Setting data
Machine-specific setting data (defaults = 0) Machine-specific setting data (defaults = 0) GUD5, 6, 7 (controlling the cycle files)
SMAC and CST definition programs Mostly standard G-code definition cycles Special cycles for user customization System programs
Machining subprograms Machining main program Archive created in STEP7
6-3
Software configuration
6.3 Service screen directories
This subsection describes the service screen directories.
Use the data selection function to select folder contents to be displayed. Normally, folders not used are not displayed. The following directories are in the folder dh of the F drive, YS 840DI, as displayed by the NT's Explorer:
Data name
Data type
FDD data
DIR
MBDDE alarm list
DIR
MSD data
DIR
NC active data
DIR
Saved NC data
DIR
OEM data
DIR
TMP.DIR
DIR
WORK
DIR
(WORK PIECES)
Tool management
DIR
Diagnosis
DIR
Interactive programming DIR
Definition
DIR
Standard cycles
DIR
Continuous machining DIR
Clip board
CLP
Archive
DIR
Comment
DIR
Subprogram
DIR
System
DIR
Start-up
DIR
Template
DIR
Data management
DIR
Part programs
DIR
Machine data display DIR
Table 6.3 Directories
Description
Backup selection
by the MMC extension
Directory names in the folder dh of the F drive, YS 840DI, as displayed by the NT's Explorer
Not used (free space).
Storing alarm text and various language files.
MB
.mb,Cus.dir,
Not used (free space).
Storing the data which cannot be stored in a file format in the NC memory, such as machine data, origin offsets, corrections, and tool data.
_nc _act.dir
This folder is not displayed.
Storing various files.
OEM
.oem.dir
Temporary directory
Storing various machining programs (machine-specific data files).
WKS
.wks.dir
Storing configuration and tool list data.
WZV
.wzv.dir
Subdirectories are used. Data can be stored in diagnosis screens.
.dg.dir
Subdirectories are used. Interactive system data can be stored.
Storing global user data and SMAC system definition files.
.def.dir
Storing G-code cycles and program control cycles.
Not used (free space).
Not used (free space).
clip.clp
Storing NC and PLC archives.
arc.dir
Storing comments and messages.
.pda.dir
Storing machining subprograms.
SPF
.spf.dir
Not used (free space).
.syf.dir
Not used (free space).
Storing circularity and other test waveforms and image files.
.templ.dir
Storing data that is to be managed by the user.
Storing data that is to be managed by the user.
MPF
.mpf.dir
Storing display-related machine data.
BD
Bd..dir
6-4
Data name
Data type
Table 6.3 Directories Description
Manufacturer cycle User cycle
DIR Storing custom cycles created by the user. DIR Storing custom cycles created by the user.
6.3 Service screen directories
Backup selection
by the MMC extension
Directory names in the folder dh of the F drive, YS 840DI, as displayed by the NT's Explorer
CMA
Cma.dir
6-5
Software configuration 6-6
Chapter 7
Backup
7.1 How to archive - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2 7.2 Network settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-7
7.2.1 YS 840DI settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-7 7.2.2 PC settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-14
7-1
Backup
7.1 How to archive
To back up, or archive, programs or data individually, follow the procedure described below. Assuming to archive a machining program: 1. Click on Service, which is at the lower left corner of the screen.
2. Click on Data out, which is at the bottom of the screen.
7-2
3. Select the Workpieces folder.
7.1 How to archive
4. Click on Archive File, which is one of the right-side keys.
7-3
Backup
5. The target screen will appear. Enter an archive name (WKS0214 in this example) in the archive name field.
6. Click on Start, which is one of the right-side keys.
7-4
7.1 How to archive
7. The part program archive data will be written in the hard disk, as shown below. 8. After a while, an archive file named WKS0214 will be created in the archive folder.
7-5
Backup
9. All archive data is stored in F:\dh\ARC.dir. Use the Explorer to copy the created archive data to a PC as necessary.
10.To restore the archive data, click on Data Input, and then Archive File.
7-6
7.2 Network settings
7.2 Network settings
Perform necessary network settings so that data, as may be stored in the hard disk, can be transferred from the YS 840DI system to a PC, as described below.
7.2.1 YS 840DI settings
The procedure for the network settings on the YS 840DI is as follows: 1. Select Start > Settings > Control Panel. The control panel window will appear.
7-7
Backup 7.2.1 YS 840DI settings
2. Double-click on Network in the control panel window.
3. With the following window displayed, click on Change.
7-8
7.2 Network settings
4. Enter in the Workgroup field the name (YS 840DI3 in this example) of the workgroup of the destination PC. Click on OK.
5. With the following message displayed, click on OK.
7-9
Backup 7.2.1 YS 840DI settings
6. Click on the Protocols tag.
7. Select TCP/IP Protocol from Network Protocols, and click on Properties.
7-10
7.2 Network settings
8. Click on the radio button to the left of "Specify an IP address."
7-11
Backup 7.2.1 YS 840DI settings
9. Enter 1.1.1.1 in the IP Address field, and 255.255.255.0 in the Subnet Mask field. Click on OK.
INFO
The IP address 1.1.1.1 and the subnet mask 255.255.255.0 as used in this example are just examples. In practice, these values must be changed to correct ones, such that they are compatible with those for the target PC. The last part of the IP address of the YS 840DI system must be different from that of the target PC.
7-12
10. When returned to the Network window, click on OK.
7.2 Network settings
11.With the following message displayed, click on YES.
INFO
12.After a while, the YS 840DI system restarts and the Windows-NT gets ready for communication with the target PC.
If communication fails, restart the target PC.
7-13
Backup 7.2.2 PC settings
7.2.2 PC settings
The procedure for the network settings on a target PC (running Windows 98) is as follows: 1. Switch on the target PC and let it run Window 98. Select Start > Settings > Control
Panel to display Control Panel.
2. In the Control Panel window, double-click on Network.
7-14
7.2 Network settings
3. In the Network window, select Windows Logon as a preferred network to log on.
4. Select Client for Microsoft Networks from the following network components are installed, and click on Properties.
7-15
Backup 7.2.2 PC settings
5. Uncheck the square to the left of the line "log on to Windows NT domain." Click on OK.
6. Select TCP/IP (the actual display depends the LAN card used) from the following network components are installed, and click on Properties.
7-16
7.2 Network settings
7. In the IP Address tag, click on the radio button to the left of "Specify an IP address."
8. Enter 1.1.1.2 in the IP Address field, and 255.255.255.0 in the Subnet Mask field. Click on OK.
INFO
The IP address 1.1.1.2 and the subnet mask 255.255.255.0 as used in this example are just examples. In practice, these values must be changed to correct ones, such that they are compatible with those for the YS 840DI system. The last part of the IP address of the PC must be different from that of the YS 840DI system.
7-17
Backup 7.2.2 PC settings
9. Click on the identification tag, enter YS 840DI3 in the Workgroup field, and click on OK.
INFO
· The workgroup name YS 840DI3 as used in this example is just an example. The workgroup name entered here can be any name provided that the same name is also specified on the YS 840DI side.
· The computer name can be any name provided that it is in alphanumerics such that it can be displayed correctly on the YS 840DI side.
10.In the following message window, click on Yes.
After a while, the Windows restarts with the new settings in effect.
7-18
7.2 Network settings 7-19
Part 3
PLC
Chapter 8
General programming notes
This chapter provides information on the program (PLC ladder language), address, and interface structures of the STEP7. The STEP7 uses a program structure compatible with the IEC 1131-3 international standard. The program structure allows ladder diagram programming that supports various languages such as LAD, FBD, STL, and GRAPH. Thanks to the structured nature and advanced features, programs are not only easy to understand, but far more powerful than the conventional ladder logic. The PLC for the YS 840DI system is the S7-300, allowing the use of LAD, FBD, and STL in ladder logic design.
8.1 LAD/FBD/STL compatibility - - - - - - - - - - - - - - - - - - - - - - - - 8-2 8.2 Program structure - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-3 8.3 Address structure - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-4
8.3.1 Address symbols - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-4 8.3.2 Bit address - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-4 8.3.3 Addressing of input, output, bit memory, and data bits- - - - - - - - - - - - 8-5 8.3.4 Addressing of timers and counters - - - - - - - - - - - - - - - - - - - - - - - - - 8-5
8.4 Interface structure - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-6
8.4.1 General - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-6 8.4.2 Signals through the PLC/NC interface - - - - - - - - - - - - - - - - - - - - - - - 8-6 8.4.3 Data blocks - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-7 8.4.4 Program components- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-8
8-1
General programming notes
8.1 LAD/FBD/STL compatibility
Not all programs written in a certain language (e.g., STL) can be converted into those of another (e.g., LAD or FBD). Normally, all programs in LAD or FBD can be rewritten in STL, but not all programs in STL can be rewritten in LAD or FBD.
All programs convertible
STL
A( O I 0.0 O I 0.0 ) A I 0.2 = Q 1.0
All programs convertible
M o s t p r o g r a m s n o t c o n v e rtible
M o s t p r o g r a m s n o t c o n v e rtible
LAD
I 0.0 I 0.2
I 0.1
Q 1.0 ( )
Most programs convertible
FBD
I 0.0 I 0.1 I 0.2
& Q 1.0
8-2
8.2 Program structure
8.2 Program structure
A STEP7 structured program consists of blocks, each of which in turn consists of networks (see the figure below). Each network can be expressed either in LAD, FBD, or STL. Thus a block can consist of mixed LAD and STL networks, or mixed FBD and STL networks. LAD and FBD networks, however, cannot be mixed in a block. While most instructions can be written in any of LAD, FBD, and STL, the LOOP, variableaddress, and some other STEP7 instructions can be written only in STL. In such a case, LAD and STL networks need to be mixed.
Network 1 I 0.0
I 0.1
I 0.2
Network 2 OI OI =Q
Network 3 I 4.0
2.0 2.1 3.0
I 4.2
M5.1
Network 4
M5.0
I 6.2
Q 1.0
( )
M 5.0
( )
Q 5.0
( )
8-3
General programming notes 8.3.1 Address symbols
8.3 Address structure
8.3.1 Address symbols
Each STEP7 bit is represented by an address starting with a symbol that identifies the function of the bit (e.g., input or output). The symbol of the address of an output bit is letter Q, not letter O (to distinguish from number 0).
Symbol I Q M D T C P
Function Input Output Memory (internal relay) Data Timer Counter Peripheral (e.g., analog, direct I/O access)
Local stack
Examples I5.2 Q54.3 M12.7 DBX1.1 T24 C15 PIW128 PQW128 L1.2, LW2
In this manual, all bit addresses are expressed in accordance with the IEC international standard representation. Thus the function of each bit can be easily identified by looking at its symbol (for example, "I" means an input bit, and "Q" means an output bit).
8.3.2 Bit address
A bit address is expressed in the following format:
Addressforinput,output,memory,and data bits
I 1.2
Address symbol (I,Q,N,DBX)
Bit address (0,1,2,3,4,5,6,7,)
Byte address (0,1,2,3,4,5,6,7,8,9,10,11)
Address for timers and counters
T 1
Address symbol (T,C)
Number (0,1,2,3,4,5,6,7,8,9,10,11)
I 0.0 Q 0.0 M 0.0 DBX 0.0 T 0
C 0
I 0.1 Q 0.1 M 0.1 DBX 0.1 T 1
C 1
I 0.2 Q 0.2 M 0.2 DBX 0.2 T 2
C 2
I 0.3 Q 0.3 M 0.3 DBX 0.3 T 3
C 3
I 0.4 Q 0.4 M 0.4 DBX 0.4 T 4
C 4
I 0.5 Q 0.5 M 0.5 DBX 0.5 T 5
C 5
I 0.6 Q 0.6 M 0.6 DBX 0.6 T 6
C 6
I 0.7 Q 0.7 M 0.7 DBX 0.7 T 7
C 7
I 1.0 Q 1.0 M 1.0 DBX 1.0 T 8
C 8
I 1.1 Q 1.1 M 1.1 DBX 1.1 T 9
C 9
I 1.2 Q 1.2 M 1.2 DBX 1.2 T 10 C 10
I 1.3 Q 1.3 M 1.3 DBX 1.3 T 11 C 11
I 1.4 Q 1.4 M 1.4 DBX 1.4 T 12 C 12
I 1.5 Q 1.5 M 1.5 DBX 1.5 T 13 C 13
I 1.6 Q 1.6 M 1.6 DBX 1.6 T 14 C 14
I 1.7 Q 1.7 M 1.7 DBX 1.7 T 15 C 15
I 2.0 Q 2.0 M 2.0 DBX 2.0 T 16 C 16
:
:
:
:
:
:
8-4
8.3 Address structure
8.3.3 Addressing of input, output, bit memory, and data bits
Each bit is identified by the address of a byte to which it belongs and its own address relative to that byte (each byte consists of 8 bits). Thus a bit is expressed in the following format: [address symbol][byte address]. [bit address] (e.g., I1.2)
Address symbol
A bit address starts with a symbol such as I, Q, M, or DBX. The symbol for a data bit is DBX (e.g., DBX1.2).
Bit address
The bit address part of a bit address is the numerical part after the period (.). It is represented by a digit between 0 and 7 (the 8 bits make up a byte).
Byte address
The byte address part of a bit address is the numerical part after the address symbol and before the period (.). It is represented by an integer in the decimal notation (0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, ...). As a byte is expressed as a combination of an address symbol and a byte address, I1.2 and Q1.2 are two different bits.
8.3.4 Addressing of timers and counters
A timer or counter is expressed as a combination of an address symbol and a byte address (with no bit address). Thus a timer or counter is expressed in the following format: [address symbol][number] (e.g., T10) The number is any integer in the decimal notation (starting with 0). The maximum allowable value of the number depends on the CPU used.
8-5
General programming notes 8.4.1 General
8.4 Interface structure
8.4.1 General
The interface between PLC and NC is implemented by the exchange of data blocks (DB) and functions (FC) between them. The PLC sends external information to and receives status information from the NC. The following four groups of information are transferred through the interface:
· NC kernel (NCK) information · Mode group information · Channel information · Feed/spindle information
8.4.2 Signals through the PLC/NC interface
The flow of signals through the interface is illustrated below.
MMC NC
NKC
Mode group
MMC
NC channel
Feed/ spindle drive
Tool management
DB2 PLC messages
DB9 Standard NCK signals
DB10 PLC/NC signals
DB11 MMC, machine-side operation panel mode signals
DB19 MMC signals
DB21/22 M, G, and S code
DB3138 Feed/spindle drive signals
DB7173 Tool management signals
PLC user program
8-6
8.4 Interface structure
8.4.3 Data blocks
The functions of the data blocks are described below. For the function of each bit of a data block, refer to the separate input/out signal documentation.
· DB2: PLC messages (self-diagnosis information) · DB9: Signals sent in synchronization with the PLC scanning between PLC and NC · DB10: Signals sent between PLC and NC as shown below. The man-machine communi-
cation (MMC) selector signals and MMC status signals are included.
PLC/NC NC/PLC
· NC high-speed digital I/O signals
· Keyswitch and emergency stop signals
· NC digital and analog signals (representing current values)
· NC ready and other status signals.
· DB11: MMC or machine control panel mode signals sent from PLC to NC. NC return the signals indicating the current mode.
· DB19: Signals sent through the PLC/MMC interface as shown below · Control signals: MCS or WCS current position display and key disable · Machine operation: Input from the machine control panel · PLC messages · PLC status signals
· DB21/22: Signals as shown below · Control/status signals: Signals periodically sent from OB1 · Auxiliary/G functions: M code, G code, and S commands · Tool management functions · NCK functions: PLC function calls
· DB31-38: Servo feed/spindle signals as shown below · Signals between feed and spindle · Feed signals · Spindle signals · Drive signals
· DB71-73: Tool management signals
8-7
General programming notes 8.4.4 Program components
8.4.4 Program components
Modules
A program consists of the following levels of modules: · Modules that are executed at start up (OB100) · Modules that are called from OB1 and executed in synchronization with scanning · Modules that are executed in interrupt processes
The basic parts of a program are started by OB1, OB40, and OB100 as shown below.
OB100 restart process
OB1 cycle process (at each scanning)
FC start up process
User program FC cycle process
User program
The system and user data blocks (program) check parameters and other important data at the time of start up, and stops the PLC if any abnormality is found.
The following processes are done during normal scanning: Sending and receiving control status
signals Sending and receiving auxiliary and
G functions M decode (M00-99) M, S, and F code Communication between machine
control panel and NCK Logging of user errors and operating
messages
OB40 interrupt process
FC alarms
Interrupt process for a process alarm
User program
The illustration above shows only basic the parts of a program. An actual program may be more complicated including some other interrupt processes. For details on OB, FC and FB, see the System Software for S7-300/S7-400 (System and Standard Functions).
8-8
Chapter 9
SIMATIC manager and hardware configuration
This chapter describes how the modules are configured with the SIMATIC manager, a PLC ladder program development tool. The SIMATIC manager runs in the Windows NT environment, and is used to configure the PLC hardware, develop PLC ladder programs online/offline, debug through online monitoring, and do other important functions. The manager is capable of real time processing on the Windows NT, and can be used to edit a PLC ladder program during machining (some restrictions apply to saving).
9.1 Hardware configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-3 9.2 Defining the hardware - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-4
9.2.1 Creating a new project - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-4 9.2.2 Adding a station- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-5 9.2.3 Opening the hardware configuration - - - - - - - - - - - - - - - - - - - - - - - - 9-6 9.2.4 Adding a rack - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-7 9.2.5 S7-300 rack - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-8 9.2.6 Adding the power supply module- - - - - - - - - - - - - - - - - - - - - - - - - - - 9-8 9.2.7 Adding the CPU module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-10 9.2.8 CPU's DP port setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-11 9.2.9 Adding a PROFIBUS-DP node - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-13 9.2.10 DP slave (ET200) construction and addressing- - - - - - - - - - - - - - - 9-14 9.2.11 Adding the SM module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-15 9.2.12 Connecting the racks (interface) - - - - - - - - - - - - - - - - - - - - - - - - - 9-16 9.2.13 Saving the hardware configuration- - - - - - - - - - - - - - - - - - - - - - - - 9-17 9.2.14 Downloading the hardware configuration - - - - - - - - - - - - - - - - - - - 9-18
9-1
SIMATIC manager and hardware configuration
9.3 Uploading hardware configuration - - - - - - - - - - - - - - - - - - 9-20
9.3.1 Uploading hardware configuration (1) - - - - - - - - - - - - - - - - - - - - - - 9-20 9.3.2 Uploading hardware configuration (2) - - - - - - - - - - - - - - - - - - - - - - 9-21 9.3.3 List of addresses - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-23
9-2
Hardware catalog window
9.1 Hardware configuration
9.1 Hardware configuration
The hardware configuration function allows you to configure the PLC modules and set their parameters on screen. You can set or modify the CPU operating environments, not by setting various DIP switches but by simply downloading the configuration information to the CPU.
Hardwareconfigurationscreen
Station editing window
Rwiancdkodwetails
The following settings can be done with the hardware configuration function: · Configuration of the PLC modules · Configuration and addressing of the PROFIBUS-DP · Setting of the retention memory area, node address and other CPU properties · Addressing of the I/O modules · Setting of the range and addresses of the analog inputs
The hardware configuration screen consists of the following three windows: · Station editing window Shows how the PLC modules are configured. · Hardware catalog window Lists the components of the PLC modules available. The listed components include racks, modules, and DP slave nodes, and are grouped into the PROFIBUS-DP and S7300 components (the S7-400 components are not available with the YS 840DI system). · Rack details window Shows the configuration, designation, address and other details of each module for a rack or DP slave.
9-3
SIMATIC manager and hardware configuration 9.2.1 Creating a new project
9.2 Defining the hardware
9.2.1 Creating a new project
Create a new project as follows (using a wizard):
Nbeamcreeaotfeadproject to Existingprojects
Directory under which a project is to be created
1. Click on the New icon of the SIMATIC manager's tool bar 2. Enter the name of a project you want to create while checking existing projects as listed
below. You can select any directory under which the project will be by using the browse button. The default directory is SIEMENS\STEP7\S7_Proj. This is the recommended directory.
3. A project newly created on the SIMATIC manager is shown here. The project has no content yet.
4. An MPI network icon named MPI (1) is created in the right half of the window.
Now you are ready to add stations.
9-4
9.2 Defining the hardware
9.2.2 Adding a station
Add a station as follows (assuming a S7-300 station is to be added):
Select a project by left click, and display a
s ubmenubyright click. TIhnesnesretleNcteInwseOrt NbejewcOt bject SISMIMAATTIICC33000S0taStiotan.tion
INFO
1. Select a project by left click, and display a submenu by right click. In this submenu, select Insert New Object > SIMATIC 300 Station.
2. S7-300 station named SIMATIC 300 Station (1) is created under the project. The name can be changed freely.
Now you are ready for hardware configuration.
When adding a station, if you select Insert New Object > S7 program, a program container is created under the project. The container contains programs but no hardware configuration. If blocks created here are downloaded to the CPU, they are automatically transferred to the CPU whose MPI node address is 2.
9-5
SIMATIC manager and hardware configuration 9.2.3 Opening the hardware configuration
9.2.3 Opening the hardware configuration
For hardware environment settings, such as PLC module configuration, CPU environment setting, and module address setting, you will use the hardware configuration screen to open the hardware configuration.
Double-clickonHardware
Hardwareconfiguration screen
Hcaardtawloagre
Order number and other information
1. Click on a station (SIMATIC 300 Station (1) in this example) in the SIMATIC manager screen.
2. Double-click on the Hardware icon in the right frame. The hardware configuration function will start up. If the selected station has its hardware already configured, that hardware configuration is displayed. If not, a blank window results (see the figure above).
3. Click on the catalog icon of the hardware configuration screen's tool bar.
A hardware catalog is displayed listing the modules and other products for the SIMATIC300, SIMATIC400, and PROFIBUS-DP categories.
You can create a new hardware configuration in the hardware configuration window using these products. For example, click on the plus sign (+) before the SIMATIC300 category in the hardware catalog, and the following product groups will be displayed:
· CP-300 · CPU-300 · FM-300 · IM-300 · PS-300 · Rack-300 · SM-300
Communication processor CPU Function module Interface module Power supply module Rack Signal module (I/O)
9-6
9.2 Defining the hardware
INFO
Clicking on the plus sign (+) before a product group causes the products of that group to be displayed.
Clicking on a particular product causes its product designation and explanation to be displayed. Note that a product may have two or more versions, and selecting the right version by designation is essential to correct functioning of the CPU. If no correct version is listed, contact your Yaskawa Siemens representative.
9.2.4 Adding a rack
When you open the hardware configuration of a newly created station, a blank frame will show up in the hardware configuration window. You must first add a rack on which you are going to put modules.
Resizethe rack
SanedledctraRgaailnindtdhreophaitrdinwtahreebclaanta"klofrga,me "
1. Expand the SIMATIC300 category in the hardware catalog to display the S7-300 product groups. Then expand the rack-300 product group to display a rail. Select the rail, and drag and drop it in the blank frame on the left, or simply double-click on the rail. The S7-300 rack will be displayed.
2. Reposition or resize the rack as necessary.
Now you are ready for adding a module.
9-7
SIMATIC manager and hardware configuration 9.2.5 S7-300 rack
9.2.5 S7-300 rack
The S7-300 rack can have up to 11 slots numbered 1-11. Slots 1-3 can contain only a specific module: slot 1 can contain a power supply module (PS), slot 2 a CPU module (CPU), and slot 3 an interface module (IM). Thus, if no PS or IM module is used, the corresponding slot must be left empty. Slot 4 and later slots, however, may contain any of the SM module (digital or analog I/O), communication module (CP), and function module (FM). Slot 4 and later slots must not be left empty. A supplementary rack must have slots 1 and 2 left empty. It is recommended that the FM or CP module be inserted in the main rack, as it cannot always be inserted in a supplementary rack.
9.2.6 Adding the power supply module
Insert the power supply module first in slot 1.
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When adding the power supply module, CPU module, or I/O module to the rack, you can use one of the two methods: slot specification and drag-and-drop.
Slot specification method
Select a target slot and double-click on the module as follows: 1. Click on a slot of the rack to which you want to add a module of your choice. The
selected slot is indicated by blue background. 2. Click on the module in the hardware catalog. The selected module is indicated by blue
background. 3. Double-click on the same module. The module is automatically inserted in the selected
slot.
9-8
9.2 Defining the hardware
Drag-and-drop method
1. Select a module of your choice by clicking on it in the hardware catalog. If any preselected slot (as indicated by blue background) has no meaning.
2. Drag and drop the module into a target slot. The module is inserted in that slot. With this method, when you drag a module over a slot, the pointer changes its appearance as shown below to indicate whether the module can be inserted in that slot.
INFO
Can be inserted Cannot be inserted
Depending on the hardware configuration, when a module is inserted in a slot, a property screen may automatically appear for that module. The content of a property screen depends on the type of a module. The properties of each module are described later in this chapter. If no property screen automatically appears when a module is added, you can still display the property screen for that module by double-clicking on Module in the station editing window. The CP, FM or some other module requires special software for its setting. As such software does not come with the STEP7, it must be purchased and installed by the customer.
If wrong hardware configuration information were transferred to the CPU, the CPU could fail to start up.
9-9
SIMATIC manager and hardware configuration 9.2.7 Adding the CPU module
9.2.7 Adding the CPU module
Select and insert the CPU module as follows:
Select slot 22anddouble-clickonthe CCPPUUmodule,ordraganddropthe CPUmodule into slot 2.
With the S7-300, the CPU module must be inserted in slot 2 of the CPU rack. The STEP7 V5.x supports the following CPU module families:
A product designation is in the following format:
Version ID
INFO
Each CPU module has its designation displayed in the CPU module list in the hardware catalog. Note that a CPU module may have two or more versions, and selecting the right version by designation is essential to correct functioning of the CPU.
9-10
9.2 Defining the hardware
9.2.8 CPU's DP port setting
When a CPU provided with a DP port is inserted in a slot, the DP port properties screen automatically appears. To manually display the screen, double-click on the DP-Master line under a CPU with a DP port.
PROFIBUS node properties screen
Nodeaddress
Target network
Transmission rate selection
PPRROOFFIBIBUUSStype
1. Select a PROFIBUS network through which the selected CPU is connected. 2. To create a new network, click on the New button to display the network properties
screen. To check or modify the properties of an existing network, click on the Properties button. 3. Select a PROFIBUS type. 4. Select a transmission rate according to the total cable length for the network: · 3-12M bps : 100 m max. · 1.5M bps : 200 m max. · 500K bps : 400 m max. 5. Click on OK, and you will return to the DP port properties screen. 6. Specify a unique number between 1 and 126 as the CPU's PROFIBUS network address. 7. Click on OK.
9-11
SIMATIC manager and hardware configuration 9.2.8 CPU's DP port setting
8. The DP Master System line appears as extending from the CPU slot in the hardware configuration window. If the rack is hiding the line, move the rack aside. DP slaves can be added so as to connect to the line.
INFO
If a CPU with a DP port is used but that DP port is not used, the DP port should be set nonetheless. Otherwise the BUSF LED for the CPU would light up.
9-12
9.2 Defining the hardware
9.2.9 Adding a PROFIBUS-DP node
In the hardware configuration screen, you can also add DP slaves to the CPU module with a DP port.
PROFIBUS drag-and-drop
Specifying anodeaddress
1. Expand PROFIBUS-DP in the hardware catalog, and select a DP slave to add. 2. Drag and drop the DP slave onto the DP Master System line. Note that when the pointer
gets over the line, the pointer changes its appearance to that shown below.
The DP slave properties screen appears. 3. Specify a unique number between 1 and 125 as the node address. 4. Click on OK. A node is displayed for the selected DP slave in the hardware configura-
tion screen. Double-clicking on the icon of the registered DP slave causes its properties screen to be displayed. To change the node address of the DP slave, click on the PROFIBUS button in this screen. The hardware catalog shows a list of DP slaves from Yaskawa Siemens. If you want to use PROFIBUS-compatible DP slaves from other than Yaskawa Siemens, you must first install them in the catalog file.
9-13
SIMATIC manager and hardware configuration 9.2.10 DP slave (ET200) construction and addressing
9.2.10 DP slave (ET200) construction and addressing
The I/O details of a DP slave are shown in the rack details window at the bottom of the hardware configuration screen. Edit the I/O details as follows:
Click on a DP slave node
Rack details window
Select a targetslotand double-clickonamodule,or drag and drop a module into atargetslot.
1. Click on the icon of a DP slave node you want to edit.
2. The rack details window appears showing the rack configuration of the selected node.
3. For the ET200M and other nodes that require module configuration, select an I/O module from the hardware catalog and move it into the rack details window, as is the case for the CPU rack. With the ET200M rack, insert modules in slot 4 or later slots.
For ET200B and other slaves whose I/O configuration is automatically determined when they are selected, this step may be skipped.
4. Double-click on a slot in the rack details window to display the properties screen. Then specify a start address.
9-14
9.2.11 Adding the SM module
Insert the digital and analog modules as necessary.
9.2 Defining the hardware
Select a target slot and double-click on a module, or drag and drop a module into a target slot.
Double-click on a slot containing a module to display the properties screen for that module. Specify or confirm the start address of the module on the address sheet (no start address can be specified for some CPUs).
I/O address setting
9-15
SIMATIC manager and hardware configuration 9.2.12 Connecting the racks (interface)
9.2.12 Connecting the racks (interface)
Connect the racks as shown below.
For the S7-300 racks, this operation is not necessary because, when the interface module (IM) is installed in each of the racks, the interfaces are automatically connected together.
Rack's properties screen
Properties/Connection screen of the IM
CPonUthe CIMPUside /Connection
Rack number
List of racknumbers
9-16
9.2 Defining the hardware
9.2.13 Saving the hardware configuration
When the hardware configuration is done, save it in a project file by using tool bar icons as shown below.
Save
Save and compile
The hardware configuration is saved, but not compiled. It is saved even if it contains errors. Normally this icon is used to temporarily save a hardware configuration in progress.
The hardware configuration is compiled and saved. If an error is found during compilation, an error message as shown below is displayed and the configuration is not saved.
Normally the hardware configuration should be compiled and free of errors before downloaded. Otherwise the download process automatically initiates the compilation process. A compiled hardware configuration is saved in the system data block in the block container of the SIMATIC manager.
9-17
SIMATIC manager and hardware configuration 9.2.14 Downloading the hardware configuration
9.2.14 Downloading the hardware configuration
Transfer from file to CPU, or download, the finished hardware configuration as follows:
NdeosdteinaadtiodnreCCssPPoUUf
1. Set the CPU's mode switch to STOP or RUN-P.
2. Click on the Download icon of the tool bar to start the download process.
3. Select a module in the project, and click on OK.
4. Define a destination CPU by specifying its MPI address on the MPI network to which the PLC is connected and then clicking on OK. The MPI address to be specified must be that to which a PLC is actually connected and the hardware configuration can be downloaded. If only one PLC is connected, simply click on OK.
5. The program is transferred to the CPU. Then you are returned to the hardware configuration screen.
At the time of hardware configuration download, that is, at the restart following a memory reset, do not transfer the program to the CPU. If the SF LED on the CPU is lit after you have attempted to download the hardware configuration, it is meant that the downloading of the hardware configuration has failed. In this case, correct the hardware configuration and try to download it again.
9-18
9.2 Defining the hardware
INFO
The CPU must be stopped before the hardware configuration can be downloaded. If the downloading is started with the mode switch set to the RUN-P position, the following confirmation message will be displayed:
The CPU run state is to be switched from RUN to STOP. OK? The CPU run state is to be switched from STOP to RUN. OK?
9-19
SIMATIC manager and hardware configuration 9.3.1 Uploading hardware configuration (1)
9.3 Uploading hardware configuration
9.3.1 Uploading hardware configuration (1)
There are two methods by which you can upload the hardware configuration information to a project.
Create a new project,
or click onanexisting project.
Open thePPLLCCmenu and select Upload Station.
1. Open the SIMATIC manager screen, and create a new project or open an existing project and click on a project name.
2. Open the PLC menu and select Upload Station (Upload Station can be selected only when step 1 above is correctly done).
3. The following screen appears so that you can specify a source CPU:
9-20
9.3 Uploading hardware configuration
INFO
· Rack Specify the number (normally 0) of the rack in which a source CPU is contained.
· Slot Specify the number (2 for the S7-300) of the slot in which the source CPU is inserted.
· Address Specify the node address (normally 2) of the source CPU.
4. Click on the OK button, and the hardware configuration information of the source CPU will be uploaded.
For the network communication module and some FM modules, the information they have themselves is not uploaded.
9.3.2 Uploading hardware configuration (2)
The other method by which you can upload the hardware configuration information of a CPU to a project is this:
Hardware configurationscreen
Number of the rack in which a source
CPUiscontainedCPU NCPumUbiserinosfetrhteedslotCinPwUhicha source
NsooudreceadCdPrUess CofPaU
1. Click on the Upload icon of the hardware configuration screen.
2. As the open project screen appears, select a destination project to which the hardware configuration information is to be uploaded, and click on the OK button.
Note that this method is applicable only when a destination project already exists (a new project cannot be created by this method).
9-21
SIMATIC manager and hardware configuration 9.3.2 Uploading hardware configuration (2)
3. The node address selection screen appears. · Rack Specify the number (normally 0) of the rack in which a source CPU is contained. · Slot Specify the number (2 for the S7-300) of the slot in which the source CPU is inserted. · Address Specify the node address (normally 2) of the source CPU.
4. Click on the OK button, and the hardware configuration information of the source CPU will be uploaded. Then the following screen appears:
INFO
For the network communication module and some FM modules, the information they have themselves is not uploaded.
9-22
9.3 Uploading hardware configuration
9.3.3 List of addresses
You can display a list of addresses that are used in hardware configuration.
Address from
Filter
Type
Addr: From Addr: To Module DP R S IF
To bring up this screen, click on the address list icon of the hardware configuration screen. The content of the address list screen is as follows:
Select a module whose address list you want to display. Normally the names of available CPUs are shown. The name of CP is also shown if the CP is configured as a DP master.
Input
Input addresses are to be listed.
Output
Output addresses are to be listed.
Address gap
Address gaps are to be listed * (address gaps are the addresses currently not used).
I: Input address
I*: Input address of diagnosis byte
Q: Output address
Module's start byte address
Module's end byte address
Module type
For DP slaves, a DP address is shown in the parentheses ( ).
Number of a rack in which the module is contained
Number of a slot in which the module is inserted
Interface port number
9-23
Part 4
Setting up and maintenance
Chapter 10
Overview of System
10.1 Screen operation- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-2
10.1.1 Basis concept - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-2 10.1.2 Basic operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-3
10.2 MD components - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-5
10-1
Overview of System 10.1.1 Basic concept
10.1 Screen operation
This document explains the specification and operational procedure of YS 840DI screen operation. For the detailed information about each screen, see
· Yaskawa Siemens 840DI Operating Manual (NCSIE-SP02-04 ) or
· Yaskawa Siemens 840DI Maintenance Manual (NCSIE-SP02-10)
10.1.1 Basic concept
YS 840DI employs the screen system called ShopMill as the operation control basic screen, from which you can call the screens required for maintenance. Therefore, on this ShopMillbased screen, end users can easily maneuver the operation control and also switch over to the maintenance screen. Additionally, for the function key operation on each screen, the vertical and perpendicular function keys are used.
10-2
10.1 Screen operation
10.1.2 Basic operation
The following screen tree shows the transition of screen states.
II
10-3
Standard
Power ON
Initial screen (Wallpaper)
When power is supplied, ShopMill screen displays. ShopMill
M
You can return to the ShopMill screen from any screen.
HS1
HS2
Service *1
Diagnosis
HS3
Start-up
HS4
Setting
HS5
STEP7
HS6
Input Output
File management
Data selection
Alarm
Message
Alarm log
Service display
PLC status
Machine data
User display
NC
PLC
Drive servo
MMC
Setting data
User data
Interfac e
Remote diagnosi
s
Tool
indication setting
*1 If the exclusive customer screen is added, the alignment between HS1 and HS8 may be changed.
When the Process key is pressed down, there displays each screen sequently and subsequently the Function key display is changed to correspond each screen.
HS7
HS8
The level of each screen is changed from the lower to the upper.
V
V
V
HS1
Manual operation
HS2
Automatic operation
HS3
Program management
HS4
Program Edit
HS5
User message
HS6
Tool/Work coordinate
system
HS7
COMMON
T,S,M... ...
Zero offset origin setting
Work origin offset
Measur ing tool
MDA
Soft switch
Program control
Block searching
NC
* 2 PC CARD
Tool list
Tool abrasion
List of Compensati
on value
Magazine
Origin offset
Position batch
Running hour
Positioning
R parameter
Face milling
Setting
Program modificatio
n
By pressing this key, only the Function key display is changed from HS1 (Service) until HS8 (Auxiliary) but the screen is not changed.
Simulation
Program modificatio
n
*2 If the PC card driver is connected, this F key is displayed.
HS8
Overview of System 10.1.2 Basic operation
Here is the description about screen switching by using the following four keys;
· MENU [=] key This can switch the front/back top function key display to which the current screen belongs. However, the content of the screen remains unchanged
· MACHINE[M] key This allows you to change the screen level from the lower to the top layer of each function. For example, on the lower layer screen, press the [M] key to jump up to the ShopMill manual operation screen.
· [>] key This allows you to switch over the function front/back displays.
· [] key This allows you to go to the one-upper layer screen.
10-4
10.2 MD components
10.2 MD components
The following diagram shows the drive-related MD and the screen display types.
10-5
Converter(MRXN)
Spindle inverter (MXN)
<1-axis drive><1-axis drive><2-axis drive><1-axis drive>
Feed X axis(SGDK)
Feed Y axis Feed Z/B axis
Feed W axis
YS(840DI) PLC (MCI board) PLC application
PROFIBUS I/F
(MCI board)
NCK (PCU) NCK application CNC program analysis Interpolation, çAcceleration/Deceleration Position control
(CNC-side processing) Backlash, Pitch errors Tool replacement,
Data management
Machine data
General Channel
Axis
DISPLAY -MD
Drive parameter
Profibus setting is defined through the hard ware configuration.
Indication/Axis-specific setting/ Content forwarding
Type:JUSP-JOP02A
Digital operator
Local bus setting number
"dr-#" indication
Soft ware (0 0) No parameter
Data bus Battery supply
Local bus setting RSW
Main soft ware (F0**)
Monitor PRM -> (Un0**) Function PRM -> (Fn0**)
Parameter Cn000 1**,2**,4**,5**
Data bus
Data bus
Data bus
LatchSinal L atch signal Latch signal
Battery supply Battery supply Battery supply
Local bus setting RSW
Main soft ware (F***)
Monitor PRM -> (Un0**) Function PRM -> (Fn0**)
Parameter Pn000 1**,2**,3**, 4**,5**
Local bus setting RSW
Specified with even numbers
Main soft ware (F***)
Automatically set to the first address number + 1
Main soft ware (F0**)
Main soft ware (F0**)
Monitor PRM -> (Un0**) Function PRM -> (Fn0**)
The same as the left column
The same as the left column
Parameter Pn000 1**,2**, 3**,4**,5**
The same as the left column
The same as the left column
Main soft ware (F***)
Monitor PRM -> (Un0**) Function PRM -> (Fn0**)
Parameter Pn000 1**,2**,3** ,4**,5**
HMI (PCU) ShopMill screen Standard HMI (Maintenance screen) HMI application Customer HMI (Exclusive customer screenð HMI application
General
MD 10000
çç 19***
(Display screen is single)
Channel
MD 20000
ççç29***
(Display screen is single)
PRM number çMD numbers are changed in alignment The content of setting is also changed from decimal number (drive side) to hexadecimal number (NC side).
Axis
MD 30000
NC-side screen configuration
çççSP
Standard setting, Function Enabled/Disabled Mode setting, Compensation Value, Max/Min. Value setting, and Setting of Gain or Integral Time Constant for the specific function
çççX axis
ççç38000
(The display screen has a page(s) per *axis.)
Drive parameter
NC-side screen configuration
çççSP
ççY axis çççZ axis B axis W axis
(Spindle)
MD 6000 to 8999
(Servo drive)
MD 3000 to 5999
ççç
çççX axis ççY axis çççZ axis B axis W axis
"X axis" indication is defined with MD1000. The number in the " " is defined with MD20050.
Content of parameter Mode/Function setting Gain Integral time constant Adjustment of the axis
behavior Toque level
Schema of 840DI system
Overview of System 10.1.2 Basic operation
10-6
Chapter 11
Drive Parameter Screen
This chapter describes the indication of drive parameter and the overview and operation of editor function. 11.1 Drive Parameter Screen - - - - - - - - - - - - - - - - - - - - - - - - - 11-2 11.1.1 Startup - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-2 11.1.2 Screen Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-3 11.1.3 Operation method - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-4 11.1.4 Conditions for the modified parameters to be effective - - - - - - - - - - 11-7 11.1.5 Protection level - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-7 11.2 Drive Diagnosis Function - - - - - - - - - - - - - - - - - - - - - - - - 11-8 11.2.1 Drive diagnosis screen initiation - - - - - - - - - - - - - - - - - - - - - - - - - 11-8 11.2.2 Drive diagnosis screen configuration - - - - - - - - - - - - - - - - - - - - - - 11-8 11.3 Mapping ACC file - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-10 11.3.1 ACC file - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-10 11.3.2 Mapping ACC file - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-10 11.3.3 Timing of mapping processing - - - - - - - - - - - - - - - - - - - - - - - - - - 11-10 11.4 Error screen display and troubleshooting - - - - - - - - - - - - 11-11 11.4.1 Error screen display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -11-11 11.4.2 Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-12 11.4.3 Indication of parameter whose value can not be read - - - - - - - - - 11-12 11.4.4 Error message display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-12
11-1
Drive Parameter Screen 11.1.1 Startup
11.1 Drive Parameter Screen Operation
This function allows you to indicate and edit the parameters of the drive which is connected to YS 840DI via the drive parameter screen which is housed in YS 840DI standard HMI application.
11.1.1 Startup Startup
To display the drive parameter screen, use the following procedure; 1. Select the [MENU SELECT] key to go to the Top tree. 2. Press the [>] key and the [Start up] key displays. 3. Click the [Start up] key. 4. Select the [Machine data] key from the bar as shown below.
5. Click the [Drive Parameter] key to display the drive parameter screen.
11-2
11.1 Drive Parameter Screen Operation
11.1.2 Screen Configuration Screen Configuration
The configuration of drive parameters are displayed as follows.
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Parameter number
Drive diagnosis screen switching key
Name of parameter
Screen switching key
Selection display
Target axis switching key
Parameter setting value
Target axis switching key
Name of axis
Target axis directly-switching key
Drive number
Search key
Conditions of validity
Continuing search key
Unit
Update key
Description of selected parameter
11-3
Drive Parameter Screen 11.1.3 Operation method
11.1.3 Operation method
On the drive parameter screen, the following operations are available.
Basic operation
The basic operations are listed below; · Use the upward/downward arrow key for one-line scroll. · Use the right/left arrow key to transit the selected row by one. · Use the PAGE UP/PAGE DOWN key for one-page scroll. · Use [Drive + (F9)] key or [Drive - (F10)] key for switching the displayed target axes. · Use [Direct selection (F11)] key for the direct switching for the target axis displayed. · Use [Search . . . (F14)] key for searching. · Use [Continue search (F15)] key for continuing the search. · Use [Refresh (F16)] key to update the displayed data. · Use [Back (F1)] key to goes back to the last page. · Without connection to the drive, [Drive +] key, [Drive ] key, [Direct selection] key, [Search . . . ]key, and [Continuous search] key are not available.
Input of setting value
The input method of setting values are categorized into 3 types; decimal number, hexadecimal number and binary number.
Decimal number
Decimal number data can be input using only the numeric keys. However, if the parameter can accept minus data, [-] key input is permitted.
Hexadecimal number
Hexadecimal number data is displayed with "H" at the end of the value. The numeric keys from 0 to 9 and alphabetical letter keys from A to F input is available.
Binary number
Binary number data is displayed with "B" at the end of the value. Only [0] and [1] key input is accepted. Press the [INSERT] key to switch over to the inset mode. On this mode, you can goes to the bit position you want to modify by using [->] and [<-] keys. The input is limited to up to 16 digits. If there are already input up to 16 digits on the insert mode, you must delete any number using the [DEL] key.
11-4
11.1 Drive Parameter Screen Operation
IMPORTANT
On the drive parameter screen, press the [INPUT] key after having input the data in order to write the data into the drive. Take notice that the method of data input on the drive parameter screen is different from that on the other machine data setting screens.
Switching over the target axes
The axis-specific drive parameter can be displayed by switching over the target axes.
Use the following procedure;
· Press the [Drive + (F9)] key to display the drive parameter of the axis number that is the current axis number plus one. If you click the "final page", there displays the axis number on the top page.
· Press the [Drive (F10)] key to display the drive parameter with the axis number that is the current axis number minus one. If you click the "top page", there displays the axis number on the final page.
· Press the [Direct selection (F11)] key to display the dialog box for direct switching (see the figure below). Press the [INSERT] key to display the list of drives you can switch over. When selecting one from the list, there displays the screen of the selected drive number.
Searching
There are two types of searching methods; the parameter number method and the parameter name method. The searching procedure is as followings. 1. Press [Search . . . (F14)] key. 2. There displays the search dialog box .(See the figure below) 3. Input the parameter number or the parameter name. Alternatively, by pressing the
[INSERT] key a list of the latest key input history (up to eight) is displayed. You can select the search key from the list. 4. Press the [INPUT] key or [OK (F16)] key to execute the search. To cancel the search, press the [Abort (F15)] key. 5. When the search key is sought out, the screen jumps to display the result. When the search key is not found, the cursor remains standstill and the error message "7. Search term not found." is output.
11-5
Drive Parameter Screen 11.1.3 Operation method
6. In addition, if you want to continue searching with the same search key, you can use the [Continue search (F15)] key for the continuous searching. With every press on the [Continue search (F15)] key, searching is taken place from the current cursor position down to the bottom. When having reached the bottom line, searching is continued from the top line.
Updating the data display
The data display of drive parameter does not update automatically. To update the data display into the up-to-the-date value, press the [Refresh (F16)] key.
11-6
11.1 Drive Parameter Screen Operation
11.1.4 Conditions for the modified parameters to be effective
For the details about the conditions on which the modified parameters are enabled, see the Conditions to be Effective described on the section 11.1.2 Screen configuration. Below is shown the meanings of each symbol.
Symbol po
im
Meanings
Modification can not make the parameter effective. To enable the modified parameter, you must execute the NCK-Reset. Alternatively, cut off and then turn on the drive power supply.
The modified parameter becomes effective just after modification. You need not cut off and then turn on the drive power supply.
11.1.5 Protection level
Operational protection level on drive parameter screen
Protection level is divided into the eight-layer hierarchy as shown below. Only the user groups belonging to the protection levels between 0 to 4 can operate the drive parameter screen.
Drive parameter screen operation
permitted/ unpermitted
Operation permitted
Operation unpermitted
Protection level
Requirements
0
System password
1
MTB password
2
Maintenance password
3
User password
4
Key switch position 3
5
Key switch position 2
6
Key switch position 1
7
Key switch position 0
User group
YSNC Tool machine manufacturer Setup/Service person Privilege user Programmer Authorized operator Trained and experienced operator Operator with medium technique (NC Start/Stop, Panel operation)
Protection level and Parameter access level
The access level of drive parameter is divided into three levels; Read-Only, system parameter and user parameter. These levels are correspondent to the protection levels as shown below.
Parameter access level
Protection level
0 1 to 3
4
Parameter indication
System
User
parameter parameter
Indication Indication
No indication Indication
No indication Indication
Parameter rewrite
Read-Only System parameter
User parameter
Unrewritable Rewritable Rewritable
Unrewritable Unrewritable Rewritable
Unrewritable Unrewritable Unrewritable
11-7
Drive Parameter Screen 11.2.1 Drive diagnosis screen initiation
11.2 Drive Diagnosis Function
Drive diagnosis function takes part in diagnosing whether the parameter of the drive which is connected with YS 840DI is available for Read/Write.
11.2.1 Drive diagnosis screen initiation
To start up the drive diagnosis screen, activate the drive parameter screen and then press the [Drive Diagnosis (F2)] key (see the section 11.1.2 Screen configuration).
11.2.2 Drive diagnosis screen configuration
Here is the configuration of drive diagnosis screen.
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Drive number Name of axis Drive type (Spindle/Feed axis)
ACC file version Drive state (Writable/Unwritable)
Drive parameter screen switching key Screen switching key
11-8
11.2 Drive Diagnosis Function
Drive diagnosis
With the function Read/Write, you can diagnose the state of drive. The indication is shown "OK", "NG", or "No drive". Each sign is explained below.
Read/Write OK NG
No drive
Drive state The state of drive can Read/Write the parameter. The state of drive is not available to Read/Write. No drive has the specified number.
11-9
Drive Parameter Screen 11.3.1 ACC file
11.3 Mapping ACC file
11.3.1 ACC file
ACC file is a file which is composed of the information which is required for indication/ rewrite, such as attribute, unit, maximum/minimum value, name, etc. for each drive parameter. The data displayed on the drive parameter screen is created on the basis of the information of ACC file.
11.3.2 Mapping ACC file
To read/write the drive parameter, you must beforehand register the parameter by mapping. Just after initiating the drive parameter screen, mapping function is executed and the ongoing process is shown as followings.
Di splay ofthe on-goingprocess of mapping
11.3.3 Timing of mapping processing
Mapping of ACC file can only take place just after the drive parameter screen is initiated for the first time.
11-10
11.4 Error screen display and troubleshooting
11.4 Error screen display and troubleshooting
11.4.1 Error screen display
There occurs an error, for example the drive is not powered on, or the communication with the drive has failed, the screen will be shown as followings. On this screen conditions, "Drive +", "Drive -", "Direct selection", "Search . . .", "Continue search", and "Refresh" can not be enabled. When the normal communication with all the drives is recovered, the screen automatically comes back to the normal display.
IMPORTANT
The screen display remains unchanged until the communication with all the drives comes back to the normal state. However, by pressing the [Stop (F8)] key, you can forcedly terminate the communication waiting state. Then you can Read/Write the parameter only for the drive(s) which has normal communication.
11-11
Drive Parameter Screen 11.4.2 Troubleshooting
11.4.2 Troubleshooting
When the screen of abnormal state is displayed, use the following procedure. 1. Check if the drive power supply is powered on. 2. Press the [Back (F1)] key to go back to the last screen. 3. Activate NCK-Reset. 4. After NCK-Reset has completed, wait for the drive diagnosis screen to display OK
showing the Read/Write function is available. 5. The drive parameter screen displays.
11.4.3 Indication of parameter whose value can not be read
The parameter whose value can not be read or which is failed to read is displayed with "#" for the parameter setting value (see of the section 11.1.2 Screen configuration).
11.4.4 Error message display
This is a list of error messages in relation to this function.
Error message ACC-file Mapping failed ! No drive is available !
Please wait, until all drives are available.
Write Error ! Read-only: Parameter No.
Write Error ! Can not be changed in current access level: Parameter No. Write Error ! Range over Minimum =< value =< Maximum: Parameter No. Write Error: Parameter No Parameter Name Search term not found.
Content
Mapping of ACC file has failed.
The drive is not connected. Or the drive is not powered on.
This indication is displayed until all drives recover the normal communication. There exists one or more drives which is abnormal in communication. This message remains on the screen until all the drives recover the normal communication.
Rewrite operation is executed for an unrewitable parameter.
Rewrite operation is executed for a parameter which is unrewritable in the current protection level.
Setting value is below or above the range permitted for the parameter setting.
There occurs a Write Error other than those above.
The Search was executed but the target item has not been found.
11-12
Chapter 12
How to use Digital Operation
This chapter describes the basic and advanced operation of the digital operator. The digital operator allows you to set various constants and also to operate the motor in different ways. Control the digital operator according to the description of this chapter.
12.1 Basic operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-2
12.1.1 Connecting the digital operator - - - - - - - - - - - - - - - - - - - - - - - - - - 12-2 12.1.2 Function of digital operator - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-3 12.1.3 Reset of servo alarm - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-3 12.1.4 Switching the basic mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-4 12.1.5 Axis selection mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-5 12.1.6 Status display mode- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-5 12.1.7 User Constant Setting Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-8 12.1.8 Operation on the monitor mode - - - - - - - - - - - - - - - - - - - - - - - - - 12-12
12.2 Application - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-17
12.2.1 Alarm Trace Back Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-18 12.2.2 Clearing the alarm trace back data - - - - - - - - - - - - - - - - - - - - - - 12-19 12.2.3 Checking the motor type- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-20 12.2.4 Checking the software version - - - - - - - - - - - - - - - - - - - - - - - - - 12-22 12.2.5 Origin searching mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-23 12.2.6 Initializing the user constant setting value- - - - - - - - - - - - - - - - - - 12-24 12.2.7 Manual zero adjustment and gain adjustment for analogue
monitor output- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-25 12.2.8 Motor current detection signal offset adjustment - - - - - - - - - - - - - 12-28 12.2.9 Setting the password (setting for write prohibit)- - - - - - - - - - - - - - 12-30
12-1
How to use Digital Operation 12.1.1 Connecting the digital operator
12.1 Basic operation
Here explains the basic operation of digital operator to set the operational conditions.
12.1.1 Connecting the digital operator
The Digital Operator is a hand-held operator (JUSP-OP02A-2) which can be attached to the connector CN3 of converter. The following figure shows where to attach the digital operator to the converter. The digital operator connector can be attached/detached even if the converter is powered on.
Digital operator JUSP-OP02A-2
ConverterCIMR-MRXN
P/+ N/-
Digital operator is connected by the accessory cable.
CN3
R/L1 S/L2
Digital operator connector
T/L3
E
12-2
12.1 Basic operation
12.1.2 Function of digital operator
The digital operator allows you to set each user constant, to execute the operational command, and to view the state indication. The following table describes the names and functions of the keys of digital operator which displays the initial screen.
digital operator
SERVOPACK
ALARM RESET
DIGITAL OPERATOR JUSP-OP02A
DSPL SET
JOG SVON
DATA ENTER
YASKAWA
Key
ALARM RESET DSPL
SET
DATA ENTER
JOG SVON
Name RESET key
Function To reset the servo drive alarm, press this key.
DSPL/SET key
DATA/ENTER key
Value modi- UP key fication/JOG key
DOWN key
Digit
RIGHT key
selection key
LEFT key
SVON key
· To switch over the status display mode, the auxiliary function execute mode, the constant setting mode, and the monitor mode, press this key.
· This key can function as the data selection key on the constant setting mode.
· To display the setting and setting value of each user constant, press this key.
· To switch over the axis selection mode and the status display mode, press this key.
· To increase the setting value, press this key. This key can be used as the reverse start key on the JOG operation.
· On the axis selection mode, press this key in order to increase the axis number.
· To decrease the setting value, press this key. This key can be used as the reverse start key on the JOG operation.
· On the axis selection mode, press this key in order to decrease the axis number.
· To select the setting digit you want to modify, press this key. The flashing digit means to be available.
· By pressing the RIGHT key, the digit decreases by one (shifts toward right).
· By pressing the LEFT key, the digit increases by one (shifts toward left).
To enable the JOG operation with digital operator, press this key.
12.1.3 Reset of servo alarm
You can reset the servo drive alarm via the digital operator; press the [RESET] key on the status display mode.
IMPORTANT
When there occurs an alarm, first eliminate the cause of alarm and then reset the alarm.
12-3
How to use Digital Operation 12.1.4 Switching the basic mode
12.1.4 Switching the basic mode
The operation state display, user constant setting, operation instruction , and other operations can be available by switching over on the basic mode of digital operator. This basic mode includes the status display mode, auxiliary function execute mode, constant setting mode, and monitor mode. These modes can be switched over in the following order by pressing the key.
Power supply is ON. Press the [DSPL/SET] key to switch over o the basic mode.
Axis selection mode (See Section 12.1.5) Status display mode (See Section 12.1.6)
Auxiliary function execute mode (See Section 12.2) Constant setting mode (See Section 12.1.7) Monitor mode (See Section 12.1.8)
12-4
12.1 Basic operation
12.1.5 Axis selection mode
On the axis selection mode, select an axis you want to operate.
How to use the axis selection mode
Here is the procedure to select the second axis. 1. Turn on the power supply, the axis selection mode displays.
2. Select the axis number you want to operate.
Press the [UP] or [DOWN] key, and the axis number is changed. (In this case you select "dr2".)
3. Press the [DATA/ENTER] key. The status display mode for the axis you selected on Step 2 is displayed.
INFO
Now the second axis has selected. To return to the axis selection mode, press the [DATA/ENTER] key on the status display mode.
The first axis of the 1-axis drive and 2-axis drive is the rotary switch number of each drive plus one. The second axis number of the 2-axis drive is the rotary switch number plus two. On the mode other than the axis selection mode, the LED of the drive which is selected flashes.
12.1.6 Status display mode
In the status display mode, bit data and codes are used to indicate the status of the SERVOPACK.
Indication on the status display mode
The indication of status display mode is different between the speed control mode and the position control mode.
12-5
How to use Digital Operation 12.1.6 Status display mode
Speed control mode
Bit data Speed agreement
Base block Control power supply is ON
Speed reference is inputting
Code
TGON Power is ready
The indication of bit data and codes is shown in the following tables. Table 12.1 The bit data indication on the speed control mode
Bit data Control power supply ON Base block Speed Agreement
/TGON
Speed reference is inputting
Power is ready
Indication
Lights when the SERVOPACK control power supply is turned on.
Lights when the base block is enabled. Goes out when the servo drive is turned on.
Lights when the deviation between the reference speed and the actual speed of motor is equal or below the specified value. Specified value: Set with Pn503 (Standard value is 10 min-1.)
Lights when the motor speed is higher than the specified value. Goes out when the speed is lower than the specified value. Specified value: Set with Pn502 (Standard value is 20 min-1.)
Lights when the value which you are inputting is higher than the specified value. Goes out when the reference is lower than the specified value. Specified value: Set with Pn502 (Standard value is 20 min-1.)
Lights when the main circuit power supply is normal. Goes out when the main circuit power supply is off.
Table 12.2 Indication of code on speed control mode
Code
Indication Base block is enabled. Servo drive is turned off. (Motor is not supplied with power.)
In operation Servo drive is turned on. (Motor is supplied with power.)
Alarm states Displays the alarm number. .
:
12-6
12.1 Basic operation
Position Control Mode
Positioning completion
Bit data
Code
Base block
Control power supply is ON.
Reference pulse is inputting
TGON Power is ready Clear signal is inputting
The indication of bit data and codes is shown in the following tables. Table 12.3 The bit data indication on the position control mode
Bit data Control power supply ON Base block
Positioning completion
/TGON
Reference pulse is inputting Clear signal
Power ready
Indication
Lights when the SERVOPACK control power supply is turned on.
Lights when the base block is enabled. Goes out when the servo drive is turned on.
Lights when the deviation between the reference position and the actual motor position is equal or below the specified value. Goes out when the value is lower than the specified value. Specified value: Set with Pn500 (Standard value is 7 pulses.)
Lights when the motor speed is higher than the specified value. Goes out when the speed is lower than the specified value. Specified value: Set with Pn502 (Standard value is 20 min-1.)
Lights when the reference pulse is being inputting. Goes out when the reference pulse is not being inputting.
Lights when the clear signal is being inputting. Goes out when the clear signal is not being inputting.
Lights when the main circuit power supply is normal. Goes out when the main circuit power supply is off.
Table 12.4 Indication of code on position control mode
Code
Indication Base block is enabled. Servo drive is turned off. (Motor is not supplied with power.)
In operation Servo drive is turned on. (Motor is supplied with power.)
Alarm state Displays the alarm number.
:
12-7
How to use Digital Operation 12.1.7 User Constant Setting Mode
12.1.7 User Constant Setting Mode
Setting the user constants allows you to select and adjust the functions. For setting the user constant, you can select either from two types: constant setting and function selection. Each has different setting methods. The constant setting function can shift the data of constant you want to change within a certain range. The function selection can select the function which is assigned to each digit of the panel indicator (5-digit 7-segment LED). The user constants are listed in Appendix A.
Procedure for modifying the data of constant setting
On the constant setting mode, you can set the constant data that you want to adjust. Check the available range in Appendix A.1 "Servo unit parameter list". Here is the procedure for changing the content of the user constant Pn507 from 100 to 85. 1. On the axis selection mode, select the axis you want to operate. 2. Press the [DSPL/SET] key and select the constant setting mode.
3. Select the user constant number you want to set. (In this example, Pn507 is selected.) By pressing the [LEFT] or [RIGHT] key, the setting digit will flash and be selected. Press the [UP] or [DOWN] key until the value you want to set is displayed.
4. Press [DATA/ENTER] key. There displays the current data of the user constant you have selected on the step 2.
5. Modify the data to what you want to set. (In this case, 85 is set.) By pressing the [LEFT] or [RIGHT] key, the setting digit will flash and be selected. By pressing the [UP] or [DOWN] key, the value is changed. Keep on pressing the key until there displays 00085.
6. Press the [DATA/ENTER] key. The data flashes and be stored.
7. Press again the [DATA/ENTER] key. The screen returns to the user constant number display.
This completes the change of the user constant Pn507 from 100 to 85. To make another change, repeat Step 3 to Step 7.
12-8
12.1 Basic operation
INFO
The user constant numbers which is not defined will be skipped during the operation.
User constant for function selection
Type of function selection user constant
The following table lists the user constants used for selecting each function of SERVOPACK.
Type
Constant for function selection
Constant for servo gain
Constant for Position control Constant for toque Communication Constant for sequence Monitor Command supplement Control function selection
User constant number Pn000 Pn001 Pn002 Pn003 Pn004 Pn005 Pn006 Pn10B Pn110 Pn126 Pn127 Pn128 Pn131 Pn200 Pn207 Pn408 Pn800 Pn801 Pn802 Pn813 Pn816
Pn81B
Name
Function selection basic switch Function selection application switch 1 Function selection application switch 2 Function selection application switch 3 Function selection application switch 4 Function selection application switch 5 Function selection application switch 6 Gain application switch On-line automatic tuning switch Function switch 1 Function switch 2 Loop gain bank switch Predictive control parameter switch Position control instruction type selection switch Position control function switch Torque function switch Communication control Soft limit selection switch Command mask Option monitor Return to reference point direction
Model following control mask
Preset Remarks value
0070
0000
0000
0002
0000
0000
0000
0004
*
0012
*
0000
0000
*
0000
0000
0100
0000
0000
*
0000
0000
0000
0010
0000
0000
IMPORTANT
If you change the user constant that has a " " in the remark column, you must cut off and then turn on (or reclose) the power supply of both the main circuit and the control source in order to enable the function of which setting you have just changed.
Also, some of the user constants that have an asterisk (*), such as Pn10B.1, Pn10B.3, Pn110.0, Pn110.3, Pn127.0, and Pn408.2 requires the "reclosing the power supply" as shown above. On the contrary, Pn127.1 (Speed FF smoothing selection), Pn408.0 (1st stage notch filter selection) and Pn408.1 (2nd notch filter selection) can function on-line. Therefore they do not require the "recloseing the power supply".
12-9
How to use Digital Operation 12.1.7 User Constant Setting Mode
Here is the description about indication of setting value. There are two types of user constant display.
An example of the function selection user constant
An example of the constant setting user constant
Displayed with hexadecimal number per digit.
Displayed with 5-digit decimal number.
For the function selection user constant, since the value of each digit have individual meanings, you can only change the value on each digit respectively. In addition, each digit displays only the value available in the setting range.
Definition of display of function selection user constant
The function selection user constant has individual meanings for each digit. For example, the number on the right end of the user constant "Pn000" is indicated "Pn000.0".
IMPORTANT
The individual "digit" of function selection user constant setting value is defined as followings. The "example of display" shows the user constant display according to this "digit" definition of the setting value.
· Setting value
digit 0 digit 1 digit 2
digit 3
· Indication of user constant Pn000.0 ····· Shows the value which is indicated on the "0" digit of the setting value of the user constant "Pn000". Pn000.1 ····· Shows the value which is indicated on the "1" digit of the setting value of the user constant "Pn000". Pn000.2 ····· Shows the value which is indicated on the "2" digit of the setting value of the user constant "Pn000". Pn000.3 ····· Shows the value which is indicated on the "3" digit of the setting value of the user constant "Pn000".
12-10
12.1 Basic operation
Procedure for changing the function selection user constant
1. Select the axis you want to change on the axis selection mode. 2. Press the [DSPL/SET] key and select the constant setting mode.
3. Select the user constant number you want to specify. Press the [LEFT] or [RIGHT] key until the setting digit flashes. Select the value using the [UP] or [DOWN] key. (In this case, Pn003 is selected.)
4. Press the [DATA/ENTER] key to display the current data of the user constant that you just selected Step 3.
The setting digit flashes
5. Press the [LEFT] or [RIGHT] key to select the digit number you want to set.
The setting digit flashes
6. Press the [UP] or [DOWN] key to select the "value" of function setting which is defined by the setting digit number.
The setting digit flashes
To change the data, repeat the Step 5 and Step 6. 7. Press the [DATA/ENTER] key. The data is stored and flashes.
8. Press again the [DATA/ENTER] key to return to the user constant number display.
The one-digit setting of user constant Pn003 is already changed into 1.
12-11
How to use Digital Operation 12.1.8 Operation on the monitor mode
12.1.8 Operation on the monitor mode
On the monitor mode, you can observe the reference value input into the SERVOPACK, the state of input/output signals, and the interior state of SERVOPACK. The monitor mode can be changed even while the motor is running.
How to use the monitor mode
This is the procedure to view the monitor number Un000 data 1500 when the servo motor is running at the speed of 1500 min-1. 1. On the monitor mode, select the axis you want to operate. 2. Press the [DSPL/ENTER] key to select the monitor mode.
3. Press the [UP] or [DOWN] key to view the monitor number you want. 4. Press the [DATA/ENTER] key to display the data of the monitor number you just
selected Step 3.
Data
5. Press again the [DATA/ENTER] key to return to the monitor display.
This completes the view of the monitor number Un000 data 1500.
12-12
12.1 Basic operation
Indication of Monitor Mode
Indication of the monitor mode is listed below.
Monitor number Un000
Un001
Un002 Un003 Un004 Un005 Un006 Un007
Un008
Indication
Actual motor speed Speed reference input Interior torque reference Rotation angle 1 Rotation angle 2 Input signal monitor Output signal monitor Position command speed Value of deviation counter
Un009 Un00A Un00B
Percentage of cumulative load
Preserved constant (No accessing)
DB resistance power consumption
Un00C Position command counter
Un00D Un00E
Feedback pulse counter Full-closed pulse counter
Unit
min-1 min-1 % Pulse deg min-1 Command unit %
-
%
Command unit Pulse Pulse
Remarks
Value for the rated torque Number of pulses from the origin Angle from the origin (Electrical degree) *1 *1 *3 Position deviation*3
Value taking the rated torque as 100 %. Indication of 10-sec. cycle actual torque
Value taking the controllable electric power as 100 %. Indication of 10-sec. cycle DB power consumption. Indication with hexadecimal number*2, *3
Indication with hexadecimal number*2 Indication with hexadecimal number*2
1. See "Monitoring the input/output signal for sequence" on the next page.
2. See "Monitor display of the command pulse and feedback pulse counter"
3. Available only on the position control mode.
12-13
How to use Digital Operation 12.1.8 Operation on the monitor mode
Monitor display of input and output signal for sequence
The monitor display of the input/output signal for sequence is shown as following.
Input signal monitor display
EXAMPLE
87654321
Up: OFF ("H" level) Down: ON ("L" level)
Number
Display LED number
Name of terminal
Presetting
1
CN1-4
/EXT1
2
CN1-5
/EXT2
3
CN1-6
/EXT3
4
CN1-7
DEC
5
CN1-8
N-OT1
6
CN1-9
P-OT1
7
CN5-71
ESP0
8
CN5-73
SEQ0
The indication of input signal is arranged like above on the indicator of the SERVOPACK or digital operator. The upper or lower side of the corresponding segment LED of the seven
segments flashes. When the input signal is ON ("L" level) the lower half of the segment flashes and when the input signal is OFF ("H" level) the upper half of the segment flashes.
· When /EXIT1 signal is ON,
87654321
the lower half of the number 1 segment flashes.
· When /EXT1 signal is OFF,
87654321
the upper half of the segment number 1 flashes.
12-14
12.1 Basic operation
EXAMPLE
Output signal monitor display
7654321
Up: OFF ("H" level) Down: ON ("L" level)
Number
Display LED number
Name of output terminal
Presetting
1
CN153-38
/SKPOP1
2
CN5-17
/SKIP1
3
CN5-19
/SKIP2
4
CN5-97
ALM1
5
CN2-1
PGON
6
CN1-14,15
BK
7
CN1-17
RDY
The indication of output signal is, like the monitor display of input signal, arranged like above on the indicator of the panel or digital operator. When the output signal is ON ("L" level) the lower half of the segment flashes and when the output signal is OFF ("H" level)
the upper half of the segment flashes.
· When the ALM1 signal is enabled (in case of "L", an alarm is output);
7654321
the lower half of Number 4 segment flashes.
12-15
How to use Digital Operation 12.1.8 Operation on the monitor mode
Monitor display of reference pulse, feedback pulse counter, full-closed pulse counter
For the monitor display of the reference pulse, feedback pulse, and full-closed pulse counters, the 32-bit data is displayed with hexadecimal numbers. Here is the procedure to view. 1. On the axis selection mode, select the axis you want to operate. 2. Press the [DSPL/SET] key to select the monitor mode. 3. Press the [UP] or [DOWN] key to select one from "Un00C", "Un00D", and "Un00E". 4. Press the [DATA/ENTER] key to display the data of the monitor number you just
selected Step 3.
5. Press the [UP] or [DOWN] key to view the upper and lower 16-bit data alternately.
Upper 16-bit data
Lower 16-bit data
6. By pressing the [UP] and [DOWN] keys all together, you can clear the data on the 32-bit counter.
7. Press again the [DATA/ENTER] key to return to the monitor number display.
12-16
12.2 Application
12.2 Application
This section describes the application operation of digital operator in order to operate and adjust the motor. Read the section 12.1 "Basic operation" first.
You can set the user constant for application operation on the "Auxiliary function execution mode". The following table lists the user constants for auxiliary function execution mode.
User constant number Fn000 Fn001 Fn002 Fn003 Fn004 Fn005 Fn006 Fn007
Fn008
Fn009 Fn00A Fn00B Fn00C Fn00D Fn00E Fn00F Fn010 Fn011 Fn012 Fn013
Function
Display of alarm trace back data Rigid setting at the time of on-line auto-tuning Reserved constant (no accessing) Origin searching mode (reserved constant) Initiation of user constant setting value Clear of alarm trace back data Inertia ratio from the result of on-line auto-tuning action Write into EEPROM Multi return reset of absolute value encoder (setup operation) and Alarm reset of encoder Reserved constant (no accessing) Reserved constant (no accessing) Reserved constant (no accessing) Adjustment of analogue monitor output manual zero Adjustment of analogue monitor output manual gain Automatic adjustment of motor current detection signal offset Manual adjustment of motor current detection signal offset Password setting (User constant rewrite prohibit) Check of motor type Indication of SERVOPACK soft ware version Setting changing of multi-return limit value at the time of the alarm "Multireturn limit value mismatch (A.CC)" output
Note: The user constants with a " " mark and the user constants beginning with "Pn" which have been set a password by Fn 010 are displayed as followings. These user constants can not be changed.
Flashes a second.
Remarks
12-17
How to use Digital Operation 12.2.1 Alarm Trace Back Mode
12.2.1 Alarm Trace Back Mode
On the alarm trace back mode, you can view the latest alarms up to ten so that you may check what kind of alarms have occurred. The alarm trace back data can not be cleared when the alarm reset is initiated or even when the SERVOPACK power supply is cut off. This has no effect on the operation. You can delete these data using the clear on the alarm trace back mode of the special mode. See the section 12.2.2.
The number is larger, the older is the alarm data.
Content of alarm. See the list of alarm.
Check of alarm
To check the previous alarm, use the following procedure.
1. Select the axis you want to operate on the axis selection mode. 2. Press the [DSPL/SET] key and select "Indication of alarm trace back data (Fn000)" of
the auxiliary mode.
Alarm trace back display
3. Press the [DATA/ENTER] key to view the alarm trace back data. 4. Press the [UP] or [DOWN] key to scroll the alarm occurence number. The alarm history
information is displayed. The larger the number on the left-side digit is, the older the alarm is. For the details about the alarm number, see 15 "Error diagnosis and Troubleshooting". These are the digital operator relevant alarms. They are not stored in the trace back data.
Digital operator communication error 1
Digital operator communication error 2 If there occurs no alarm, the indication is displayed like following.
INFO
If there successively occurs the same alarm, that alarm trace back data is not updated. However, when a single alarm code has two or more causes, that alarm code may be written in the alarm trace back data in succession when the power supply is turned on or when an alarm is reset.
12-18
12.2 Application
12.2.2 Clearing the alarm trace back data
This function allows to clear the alarm history stored in the SERVOPACK. When the function is enabled, all the alarm generation history is set "A. - -" which does not mean an alarm. For the details, see the section 12.2.1 "Operation on the alarm trace back mode". To clear the alarm trace back data, use the following procedure. 1. On the axis selection mode, select the axis you want to operate. 2. Press the [DSPL/SET] key and select the auxiliary function execution mode.
3. Select the user constant Fn006. Press the [LEFT] or [RIGHT] key to select the setting digit. Press the [UP] or [DOWN] key until the value you want to set is displayed.
4. Press the [DATA/ENTER] key. The screen is displayed as below.
5. Press the [DSPL/SET] key. The following display flashes a second, the alarm trace back data is cleared and then the screen displays the indication as Step 4.
flashes a seconds
6. Press the [DATA/ENTER] key to return to the user constant number display.
This completes clearing the alarm trace back data.
12-19
How to use Digital Operation 12.2.3 Checking the motor type
12.2.3 Checking the motor type
This display mode is used for maintenance of the motor. When the user constant Fn011 is set, this mode becomes the motor type checking mode. In addition, when the SERVOPACK is a special specification item, you can check its specification number. To check the motor type, use the following procedure. 1. On the axis selection mode, select the axis you want to operate. 2. Press the [DSPL/SET] key and select the auxiliary function execution mode.
3. Select the user constant Fn011. Press the [LEFT] or [RIGHT] key to select the setting digit. Press the [UP] or [DOWN] key until the value you want to set is displayed.
4. Press the [DATA/ENTER] key to view the servo motor type and voltage identification data.
voltage
servo motor type
Voltage Data 00 01 02
Voltage 100 VAC or 140 VDC 200 VAC or 280 VDC Reserved
Servo motor type
Data
Servo motor type
00 SGMAH
01 SGMPH
02 SGMSH
03
SGMGH- A (1500 min-1)
04
SGMGH- B (1000 min-1)
05 SGMDH
06 SGMUH
07 SGMKS
5. Press the [DSPL/SET] key to view the capacity of servo motor.
The capacity is the indication multiplied by 10 [W]. The example on the left shows 100 W.
12-20
12.2 Application
6. Press the [DSPL/SET] key to view the encoder type and resolution identification data.
Encoder type
Encoder resolution
Encoder type
Data
Type
00
Incremental encoder
01
Absolute value encoder
Encoder resolution
Data
Resolution
13 13 bits
16 16 bits
17 17 bits
20 20 bits
7. DSPL/SET key to view the special specification number of SERVOPACK (Y specification number).
The example on the left shows the special specification "Y10". (Displayed with decimal number)
8. Press the [DATA/ENTER] key to return to the auxiliary function mode. You can also return to the auxiliary function mode by pressing the [DATA/ENTER] key after viewing the indication of Step 4 to Step 6.
This completes checking the motor type.
12-21
How to use Digital Operation 12.2.4 Checking the software version
12.2.4 Checking the software version
This mode is used for maintenance of the motor. When Fn012 is set, this mode becomes the software version checking mode. To check the software version, use the following procedure. 1. On the axis selection mode, select the axis you want to operate. 2. Set Fn012. 3. Press the [DATA/ENTER] key to view the SERVOPACK software version.
Display of software version
Software version
4. Press the [DSPL/SET] key to view the software version of encoder which is mounted on the motor.
Display of software version
Software version
5. Press the [DATA/ENTER] key to return to the user constant number display.
This completes checking the software version.
12-22
12.2 Application
12.2.5 Origin searching mode
The origin searching mode function enables to position and stop (cramp) at the origin pulse position of encoder. This function can be used when the alignment of motor axis and machine is required. Initiate the origin search without coupling. The motor speed for the origin search is 60 min-1.
The point where the motor axis and the machine side needs alignment.
Machine origin
To search the origin, use the following procedure. 1. On the axis selection mode, select the axis you want to operate. 2. Press the [DSPL/SET] key to select the auxiliary mode.
3. Select the user constant Fn003. Press the [LEFT] or [RIGHT] key to select the setting digit. Press [UP] or [DOWN] key until the value you want is displayed.
4. Press the [DATA/ENTER] key and the screen displays as below.
5. Press the [SVON] key. The indication will display as below to show that the origin search mode is ready.
6. Keep on pressing the [UP] or [DOWN] key to execute the origin search. If the user constant is Pn000.0 = 0 (standard setting), pressing the [UP] key enables the motor to rotate forward, while pressing the [DOWN] key to rotate reverse. If the user constant is Pn000.0 = 1, press the [DOWN] key to enable the motor to rotate forward and press the [UP] key to rotate reverse.
Increment: forward Decrement: reverse
Search is completed. Keeps on flashing.
12-23
How to use Digital Operation 12.2.6 Initializing the user constant setting value
7. Press the [DATA/ENTER] key to return to the auxiliary function execution mode display.
This completes the origin searching.
12.2.6 Initializing the user constant setting value
This function allows you to recover the standard setting (initial setting) even after changing the user constants many times.
IMPORTANT
You must turn off the servo drive when activating this user constant initialization function .
To initialize the user constant, use the following procedure. 1. On the axis selection mode, select the axis you want to operate. 2. Press the [DSPL/SET] key and select the auxiliary function execution mode.
3. Select the user constant Fn005. Press the [LEFT] or [RIGHT] key to select the setting digit. Press the [UP] or [DOWN] key until the value you want to set is displayed.
4. Press the [DATA/ENTER] key and the indication will display as below.
5. Press the [DSPL/SET] key. The new display like following initiates the user constant.
Keep on flashing while the initiation is executed.
Stops flashing.
Flashes one second.
6. Press the [DATA/ENTER] key to return to the auxiliary function execution mode display.
This completes the initialization of user constant.
12-24
12.2 Application
INFO
When the servo drive is powered on, pressing the [DSPL/SET] or [MODE/SET] key can not initialize the user constant. After initializing the user constant, you must turn off and then turn on the power supply.
12.2.7 Manual zero adjustment and gain adjustment for analogue monitor output
This analog monitor output can allows you to observe the motor speed, torque reference or position deviation. For the detailed information, see the section 16.4 "Analog Monitor". The analog monitor output manual zero adjustment function is used for compensating the output voltage deviation which is caused by drift, or the zero point deviation which is caused by noise interference with observation system. Also, the gain adjustment function can be modified to meet the sensitivity of observation system.
Monitor output voltage
Gain adjustment
Zero adjustment
Setting unit Zero adjustment range2Vççççççç24mV/LSB Gain adjustment range50 to 1500.4/LSB
INFO
The output voltage range of analog monitor is 8V (MAX). Even if the voltage exceeds this range, the indication shows only 8V.
12-25
How to use Digital Operation 12.2.7 Manual zero adjustment and gain adjustment for analogue monitor output
Analog monitor output manual zero adjustment
Use the following procedure for the manual zero adjustment of analog monitor output. 1. On the axis selection mode, select the axis you want to operate. 2. Press the [DSPL/SET] key and select the auxiliary function execution mode.
3. Select the user constant Fn00C. Press the [LEFT] or [RIGHT] key to select the setting digit. Press the [UP] or [DOWN] key until the value you want to set is displayed.
4. Press the [DATA/ENTER] key. The indication will display like below.
5. Press the [DSPL/SET] key to switch over the 2-channel monitor output.
[DSPL/SET] key
Data display
Changes alternately.
6. Press the [LEFT] or [RIGHT] key to view the analog monitor output data. Press the [LEFT] or [RIGHT] key again to return to the display of Step 4 or Step 5.
[LEFT] key ([RIGHT] key)
Data display
Changes alternately
7. Press the [UP] or [DOWN] key to enable the analog monitor output zero adjustment.
Data setting changed.
8. After the zero adjustment for the two output channels, press the [DATA/ENTER] key. The indication will return to the auxiliary function execution mode display.
This completes the analog monitor output manual zero adjustment.
12-26
12.2 Application
Analog monitor output manual gain adjustment
Use the following procedure for manual gain adjustment for analog monitor output. 1. On the axis selection mode, select the axis you want to operate. 2. Press the [DSPL/SET] key and select the auxiliary function execution mode.
3. Select the user constant Fn00D. Press the [LEFT] or [RIGHT] key to select the setting digit. Press the [UP] or [DOWN] key until the value you want to set is displayed.
4. Press the [DATA/ENTER] key. The indication will display like below.
5. Press the [DSPL/SET] key to switch over the 2-channel monitor output.
[DSPL/SET] key
Changes alternately.
6. Press the [LEFT] or [RIGHT] key to view the analog monitor gain factor. Press the [LEFT] or [RIGHT] key again to return to the display of Step 4 or Step 5.
[LEFT] key ([RIGHT] key)
Changes alternately
Data display
7. Press the [UP] or [DOWN] key to enable the analog monitor output gain adjustment.
Data setting changed.
8. After the gain adjustment for the two output channels, press the [DATA/ENTER] key. The indication will return to the auxiliary function execution mode display.
This completes the analog monitor output manual gain adjustment.
12-27
How to use Digital Operation 12.2.8 Motor current detection signal offset adjustment
12.2.8 Motor current detection signal offset adjustment
The offset adjustment for motor current detection signal does generally require no customer adjustment because the YSNC completed the adjustment before shipping. However, if you need more precise accuracy, for example, in case that you recognize the torque ripple based on the current offset is excessively large, or in case that you want to reduce the torque ripple furthermore, this function is available. This is the procedure for the automatic and manual adjustment for offset.
IMPORTANT
If you carelessly initiate this function, especially manual adjustment, that may deteriorate the feature. When you determine the torque ripple is obviously large in comparison to other SERVOPACK, you may execute the automatic adjustment for offset.
Motor current detection signal offset automatic adjustment
Use the following steps for the motor current detection signal offset automatic adjustment.
The automatic adjustment is available only when the main circuit power supply is turned on and simultaneously the servo drive is cut off.
1. On the axis selection mode, select the axis you want to operate. 2. Press the DSPL/SET key to select the auxiliary function execution mode.
3. Select the user constant Fn00E. Press the [LEFT] or [RIGHT] key to select the setting digit. Press the [UP] or [DOWN] key until the value you want to set is displayed.
4. Press the [DATA/ENTER] key. The indication displays as below.
5. Press the [DSPL/SET] key. The following indication displays and the offset automatic adjustment is executed.
Flashes for a second.
12-28
12.2 Application
6. Press the [DATA/ENTER] key to return to the auxiliary function execution mode display.
This completes the motor current detection signal offset automatic adjustment.
Motor current detection signal offset manual adjustment
Use the following procedure for the offset manual adjustment of motor current detection signal.
IMPORTANT
Before initiating the manual adjustment, run the motor at about 100 min-1 and adjust the ripple for the torque reference monitor (See the Section 16.4 "Analog monitor") becomes minimum. You must balance the U-phase and V-phase current offset when adjusting. For this purpose, you have to adjust alternately these phase current offsets several times.
1. On the axis selection mode, select the axis you want to operate. 2. Press the [DSPL/SET] key to select the auxiliary function execution mode.
3. Select the user constant Fn00F. Press the [LEFT] or [RIGHT] key to select the setting digit. Press the [UP] or [DOWN] key until the value you want to set is displayed.
4. Press the [DATA/ENTER] key. The indication will be displayed as below.
5. Press the [DSPL/SET] key to switch over the U-phase (Cu1_0) to and from V-phase (Cu2_0) current detection signal offset adjustment mode.
[DSPL/SET] key
Changes alternately.
6. Press the [LEFT] or [RIGHT] key to view the current detection data. Press the [LEFT] or [RIGHT] key again to return to the display of Step 4 or Step 5.
[LEFT] key ([RIGHT] key)
Data display
Changes alternately.
12-29
How to use Digital Operation 12.2.9 Setting the password (setting for write prohibit)
7. Press the [UP] or [DOWN] key to adjust the offset. You must observe the torque reference monitor signal carefully during the adjustment.
Data setting changed.
8. After completing the adjustment of U-phase (Cu1_0) and V-phase (Cu1_0) current offset, press the [DATA/ENTER] key to return to the auxiliary function execution mode display.
This completes the motor current detection signal offset manual adjustment.
12.2.9 Setting the password (setting for write prohibit)
This password setting is the function to prevent the user constant form being rewritten carelessly. When setting the password, the user constant which is prohibited to write is a part of the constants beginning with Pn or Fn . The setting value for passwords are followings.
· "0000" ····· Writable (cancel of write prohibit) · "0001" ····· Write prohibit
(The user constant can not be written when and after the power source is turned on next time.) To set the password, use the following procedure. 1. On the axis selection mode, select the axis you want to operate. 2. Press the [DSPL/SET] key and select the auxiliary function execution mode.
3. Select the user constant Fn010. Press the [LEFT] or [RIGHT] key to select the setting digit. Press the [UP] or [DOWN] key until the value you want to set is displayed.
4. Press the [DATA/SET] key and the indication will display as below.
12-30
12.2 Application
5. Write the password value "0001" and then press the [DSPL/SET] key. The display like following appears and the password is written.
Flashes one second.
6. Press the [DATA/ENTER] key to return to the auxiliary function execution mode display. This completes the password setting. This password setting will be enabled when the power supply is turned on the next time.
12-31
How to use Digital Operation 12.2.9 Setting the password (setting for write prohibit)
12-32
Chapter 13
Drive system overview 1
This chapter and next chapter deal with procedures to set up axis controlrelated functions, which are necessary to use the functions and capabilities of CNC and each drive in order to control feed axes and spindle of YS 840DI system. Since most of the axis-related functions consist of both CNC and drive functions, this document explains how to set up machine data and parameters for both CNC and drives for your smooth set-up operation. If you want to know how to use CNC, refer to manuals for the YS 840DI system (see Related manual in the preface). If you want to know how to use each drive, refer to the other chapters in this manual for each drive.
13.1 System configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-2 13.2 Specification of machine data and parameters - - - - - - - - - 13-3
13.2.1 Structures of machine data and parameters - - - - - - - - - - - - - - - - - 13-3 13.2.2 How to control machine data and parameters - - - - - - - - - - - - - - - - 13-4 13.2.3 Activation condition of machine data and parameters - - - - - - - - - - 13-4 13.2.4 How to set machine data and parameters - - - - - - - - - - - - - - - - - - 13-4
1Feed axis and Spindle Regardless of applications, feed axis or Spindle refers to a control axis driven by a drive directly connected to PROFIBUS, excluding those auxiliary machine axes connected to I/O units and driven by contact signals. This document deals with the following systems: - CNC system: 00.02.02 or later versions - Converter system: 0002 or later versions - Servo drive system: 0003 or later versions - Spindle drive system: 018 or later versions
13-1
Drive system overview 1
13.1 System configuration
The following figure shows 840DI drive system configuration overview.
Converter Battery
Via PROFIBUS
I/O
840DI
Emergency stop
Hardware timer
ON/OFF
200 VAC Contactor
PLC (MMC board)
PLC application
PROFIBUS i/F
(MMC board)
PROFIBUS
PROFIBUS i/F
Drive #1
Drive #2
DC power
Drive #n(Up to seven axis)
Encoder
Data bus Battery
Data bus Latch signal
Battery
Analogue monitor (2 ch)
Data bus Latch signal
Battery
Analogue monitor (2 ch)
Analogue monitor (2 ch)
Latch signal (2 ch)
Motor power
Brake
Motor power
Encoder Brake
Motor power
Encoder Brake
NCK (PCU) NCK application CNC program analysis Interpolation, acceleration/
deceleration Position control
(Processing at CNC) Backlash and pitch error
correction
HMI (PCU)
HMI application
Converter or i/O
(OP)
Converter or i/O
(OP)
Digital operator
Motor#1
Motor#2
Motor#n
Main features of the system are:
· Multi-axis drive system consisting of MRX-type converter unit (Converter), SGDK-type drive unit (Servo drive), and MX-type spindle drive unit (Spindle drive).
· Each Converter can accommodate up to 7 units of Servo drives and Spindle drives. For multi-axis configuration, more than 1 Converter can be connected.
· "PROFIBUS" network (PROFIBUS) is used as an interface with CNC. The Converter performs network processing for all axes.
· In order to reduce wiring to CNC, absolute encoder battery is embedded; and emergency stop signal input/output, brake signal output, and latch signal input are input/output to Drive system.
· Digital operator, connected to a Converter, can be used for both a Servo drive and a Spindle drive in common.
13-2
13.2 Specification of machine data and parameters
13.2 Specification of machine data and parameters
13.2.1 Structures of machine data and parameters
In 840DI system, machine data (CNC data) and parameters (Drive data) have the following structures:
INFO
MD numbers MD0 - 2999
Display screen Drive parameters
MD3000 - 5999
MD6000 - 8999
MD9000 - 9999
MD display
MD10000 - 19 General MD
MD20000 - 28 Channel MD
MD30000 - 38 Axis MD
MD40000 - 4 MD60000 - 65536
Setting data
To be added to each MD screen
Application
Parameters common to Servo drives and spindle drives. (Data, such as Load and Alarm, are included.)
Parameters to control Servo drives
Parameters to control spindle drives
HMI-related machine data
General machine data for CNC
Channel specific machine data
Axis-related machine data for CNC
Setting data for CNC
OEM data for CNC
Remark Read-only (No data can be set.)CNC reads as necessary.
Correspond to Pn numbers.To be set for each axis. Correspond to Cn numbers.To be set for each axis.
To be set for each axis and spindle.
· Parameters MD3000-MD8999 for Servo drives and spindle drives can also be set from the Operator panels for drives.
· For correspondence between Pn and Cn, refer to Appendix A "Parameters". · For how to use Operator for drive and precautions in setting data from the Operator for drive, refer
to Chapter 12. "How to use Digital Operation".
13-3
Drive system overview 1 13.2.2 How to control machine data and parameters
13.2.2 How to control machine data and parameters
In YS840DI system, each drive controls parameters that the drive uses. Since the parameters are stored in the nonvolatile memory in the drive, the drive parameters MD3000-MD8999 in previous table can be set either from the CNC screen or from the Digital operator for the drive. However, the values are stored inside the drive and CNC only displays the values. Parameters MD0-MD2999 can be displayed on the drive parameter screen, but can't be set from the screen. CNC machine data are controlled in the memory inside CNC.
13.2.3 Activation condition of machine data and parameters
For each machine data or parameter to be changed from the CNC display, some of the following conditions are also displayed to indicate how to activate the parameter.
· po: Parameter becomes active either when CNC power is turned on/off or [NCK Reset] is entered.
· cf: Parameter becomes active when [Set MD Active] is entered. · re: Parameter becomes active when CNC panel reset key is pressed. · im: Parameter becomes active imidiately when a value is entered. Especially for drive-control parameters MD3000-MD8999, "po" or "im" is indicated.
13.2.4 How to set machine data and parameters
Previously, a number is assigned to each parameter; however, in this YS 840DI system, each of the numbers to be assigned is constructed differently according to applications. Especially, machine data and parameters for each axis are constructed as following :
Drive parameters (MD0-MD8999) and axis MD (MD30000-MD38 )
Each axis has its own parameter screen. With the same number, the same parameters are assigned. You can change over parameter screens by using function keys.
EXAMPLE
· MD918 PROFIBUS_NODE_ADDRESS (for each axis)
Other machine data section
As to machine data associated with each axis, one number represents an array for 1st axis to n-th axis ([n] is displayed). The order of axis number (n-th axis) corresponding to [0] and [1] are defined in MD10000 and MD10002.
13-4
13.2 Specification of machine data and parameters
EXAMPLE
MD10000 AXCONF_MACHAX_NAME_TAB [0] (1st axis) MD10000 AXCONF_MACHAX_NAME_TAB [1] (2nd axis)
INFO
The array structure is used not only for the axis setting but also for differentiating items that are of the same type but are used for different applications--for example, differentiating between motor encoder and external encoder, and representing gear numbers and parameter set numbers.
About "digit" setting
Especially, some Servo drive parameters (MD3000 or greater) are set in hexadecimal digits. As shown in the following example, a digit is either of the 4 hexadecimal digits of a parameter. Each parameter digit is to be set to a value from 0 to 15 (0-FH in hexadecimal notation). The digits are numbered from 0 to 3.
MD3000= 0 F 1 0 (Hex)
Digit0 (0-F) Digit1 (0-F) Digit2 (0-F) Digit3 (0-F)
If it is specified to set parameters in digits, set the digit one by one as shown in the example, paying attention not to confuse the digits.
About unit data
If different machine data units are used for linear axis and rotary axis in 840DI, take care that setting values may be displayed in different units. In 840DI system, generally, machine data having fractional portion can be displayed or entered without the frictional portion removed off.
INFO
MD10230 [9] SCALING_FACTOR_USER_DEF [9] (Common to all axes) Meaning: Setting unit of position loop gain Setting value: 1.0 [1/S]
13-5
Drive system overview 1 13.2.4 How to set machine data and parameters
INFO
For drive parameters MD3000-MD8999, data are to be displayed or entered with fractional portion removed off so that they can be set also from the Digital Operator in the same way. In this case, the unit displayed together indicates whether or not the data has frictional portion.
MD3008 (Pn101) KVI (For each axis) Meaning: Speed loop integration time constant setting Setting value: [0.01 ms]
13-6
Chapter 14
Drive set-up procedure
This chapter deals with procedures to set up machine data and parameters relating to axis control for YS 840DI. Since this manual includes only minimum amount of information required, refer to other manuals on functions and appendix pages for more information on machine data and parameters. Notice that machine data and parameters of specific importance are marked with "##". If they are not set, machines may fail to start up or malfunctions.
14.1 Fundamental settings - - - - - - - - - - - - - - - - - - - - - - - - - - 14-5
14.1.1 Control cycle - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-5 14.1.2 NCK processing capability - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-6 14.1.3 Servo control method and fundamental operation - - - - - - - - - - - - - 14-6 14.1.4 Axis configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-8 14.1.5 Motor encoder - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-14 14.1.6 External encoder - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-20 14.1.7 Maximum number of motor revolutions - - - - - - - - - - - - - - - - - - - 14-30 14.1.8 Various mask settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-31 14.1.9 Software version number check - - - - - - - - - - - - - - - - - - - - - - - - 14-32 14.1.10 Parameter initialization - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-34 14.1.11 Alarm display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-34
14.2 Servo control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-36
14.2.1 Position control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-36 14.2.2 Speed control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-38 14.2.3 Spindle servo mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-39 14.2.4 Backlash compensation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-40 14.2.5 Quadrant error compensation - - - - - - - - - - - - - - - - - - - - - - - - - - 14-40 14.2.6 Torque reference notch filter - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-43 14.2.7 Speed feedback compensation - - - - - - - - - - - - - - - - - - - - - - - - - 14-44 14.2.8 Predictive control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-45 14.2.9 Model following control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-47
14-1
Drive set-up procedure
14.2.10 Stop vibration suppression - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-49 14.2.11 Vibration-damping control - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-50 14.2.12 Gain switching - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-52 14.2.13 Current offset adjustment - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-54 14.2.14 Analog monitor- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-55
14.3 Motion Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-57
14.3.1 Feed Rate - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-57 14.3.2 Acceleration/Deceleration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-59 14.3.3 Positioning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-63 14.3.4 Emergency stop- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-65 14.3.5 Return to reference point - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-68 14.3.6 Brake control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-72 14.3.7 Speed feedforward- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-73 14.3.8 Torque Control and Fixed Stop Function- - - - - - - - - - - - - - - - - - - 14-74 14.3.9 Absolute value detection- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-78 14.3.10 Gantry control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-80 14.3.11 Collision detection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-83 14.3.12 Spindle sequence I/O signals - - - - - - - - - - - - - - - - - - - - - - - - - 14-85 14.3.13 Spindle orientation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-87 14.3.14 Spindle winding changing - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-90 14.3.15 Spindle gear changing and Spindle integrated with
C axis control- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-92 14.3.16 Rigid tap - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-93 14.3.17 Threading - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-94 14.3.18 Spindle synchronization control - - - - - - - - - - - - - - - - - - - - - - - - 14-94 14.3.19 Skip Function- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-96
14.4 High-speed High-accuracy Cutting - - - - - - - - - - - - - - - - 14-97
14.4.1 Multi-block look-ahead - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-97 14.4.2 Block compression - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-98 14.4.3 Spline interpolation- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-100 14.4.4 Examples of machine data setting - - - - - - - - - - - - - - - - - - - - - - 14-102
14.5 Relevant Machine Data and Parameters- - - - - - - - - - - 14-103
14.5.1 CNC relevant machine data - - - - - - - - - - - - - - - - - - - - - - - - - - 14-103 14.5.2 Servo drive relevant parameter - - - - - - - - - - - - - - - - - - - - - - - - 14-107 14.5.3 Spindle relevant parameter and Servo drive relevant parameter - 14-110
14.6 Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - -14-112
14.6.1 Table of causes/countermeasures for troubles - - - - - - - - - - - - - 14-112
14-2
The following functions are introduced in this manual.
Item Fundamental function
Servo control
Motion control
Table 14.1 List of related functions
Function Control cycle NCK processing capability Servo control method and fundamental operation Axis configuration Motor encoder External encoder Maximum number of motor revolutions Various mask settings Software version number check Initializing parameters Position control Speed control Spindle servo mode Backlash compensation Quadrant error compensation Torque reference notch filter Speed feedback compensation Predictive control Model following control Stop vibration suppression Vibration-damping control Gain switching Current offset adjustment Analog monitor Feed speed Acceleration/deceleration Positioning Emergency stop Return to reference point Brake control Speed feedforward Torque restriction and Fixed Stop function Absolute value detection Gantry control Collision detection Spindle sequence I/O signal Spindle orientation Spindle winding changeover Spindle changeover and Spindle-embedded C axis control
Feed axis
Spindle
Related section 14.1.1 14.1.2 17.1.3 14.1.4 14.1.5 14.1.6 14.1.7 14.1.8 14.1.9 14.1.10 14.2.1 14.2.2 14.2.3 14.2.4 14.2.5 14.2.6 14.2.7 14.2.8 14.2.9 14.2.10 14.2.11 14.2.12 14.2.13 14.2.14 14.3.1 14.3.2 14.3.3 14.3.4 14.3.5 14.3.6 14.3.7 14.3.8 14.3.9 14.3.10 14.3.11 14.3.12 14.3.13 14.3.14 14.3.15
14-3
Drive set-up procedure
Item Motion control
High-speed and high-precision cutting
Function Rigid tapping Thread cutting Spindle synchronous control Skip Multi-block look-ahead Block compression Spline interpolation
Feed axis
Spindle
Related section 14.3.16 14.3.17 14.3.18 14.3.19 14.4.1 14.4.2 14.4.3
Note: The mark " " indicates that the function relates with each feed axis and Spindle.
14-4
14.1 Fundamental settings
14.1 Fundamental settings
At first, fundamental settings to operate each axis are shown as follows.
14.1.1 Control cycle
The following 2 settings specify the control cycle of YS 840DI system.
· DP cycle: Interpolation cycle of CNC and data transmission cycle between CNC and a drive.
· IPO cycle: Program block analysis cycle of CNC. IPO cycle must be an integral multiple ( 1, 2, ...) of a DP cycle.
DP cycle setting
Currently, you can select 2 ms or 4 ms as a DP cycle. In YS 840DI system, the following standard values are set.
· Machining center : 0.002 sec (2 ms)
· Turning
: 0.004 sec (4 ms)
The DP cycle is set through a hardware configuration using a PLC set-up tool "STEP7". Refer to STEP7 instruction for more information.
You can check the DP cycle, having been set by the hardware configuration, by using the following machine data (read-only data).
· MD10050 SYSCLOCK_CYCLE_TIME Meaning: DP cycle time Displayed value: [sec]
IPO cycle setting
IPO cycle is to be set to an integral multiple of the DP cycle. You can set IPO cycle using the following machine data.
· MD10070 IPO_SYSCLOCK_TIME_RAITIO ## Meaning: IPO cycle time Setting value: Integral multiple of DP cycle Standard setting value: 2 to 4
· MD19296 ON_PERFORMANCE_INDEX ## Meaning: Limitation to IPO cycle Standard setting value: 4
14-5
Drive set-up procedure 14.1.2 NCK processing capability
14.1.2 NCK processing capability
With this setting, it is specified that how much CPU power should be distributed from PCU unit to NCK (NC kernel) in YS 840DI system. 50-75% should be specified with the following machine data.
· MD10185 NCK_PCOS_TIME_RATIO Meaning: CPU power ratio to be distributed to NCK. Setting value: [%] Standard setting value: 65 [%]
Set the following machine data to make an adjustment between high NCK processing speed and high screen refreshing speed.
· MD10131 SUPPRESS_SCREEN_REFRESH Meaning: Suppression setting of HMI screen refreshing 0 --- Suppression for entire system 1 --- Suppression only for a partial system in which the processing must be done in a short time. 2 --- No suppression at all
Standard setting value: 0
14.1.3 Servo control method and fundamental operation
CNC setting
The servo control method of YS 840DI system is called "DSC" (Direct Servo Control). In this method, CNC and drives perform position control to attain high-speed response. To enable this control method, set the following parameters.
· MC32640 STIFFNESS_CONTROL_ENABLE [0] (for each axis) ## Setting value: 1
· MD13060 DRIVE_TELEEGRAM_TYPE [0] (for the 1st axis) ## MD13060 DRIVE_TELEEGRAM_TYPE [1] (for the 1st axis) ## : (Repeat for all remaining axes) Setting value: 201
For operation specification at NCK reset and system shutdown, set the following machine data.
· MD11250 PROFIBUS_SHUTDOWN_TYPE (Spindle) Meaning: Operation specification at NCK reset and shutdown Setting value: 0 --- Drive stops on an alarm without PROFIBUS cleared. 1 --- Drive stops after deceleration with PROFIBUS cleared. 2 --- Drive stops after deceleration without PROFIBUS cleared. Standard setting value: 2
INFO
This machine data was added to 01.00.00 system. For systems earlier than this version, the data should be set to 0.
14-6
14.1 Fundamental settings
As an initial setting of command unit system (mm/inch), set the following machine data. · MD20154 EXTERN_GCODE_RESET_VALUE [5] Meaning: Initial setting of command unit system (mm/inch) Setting value: 1 --- G20 2 --- G21
As a default Spindle status, set the following machine data. · MD35020 SPIND_DEFAULT_MODE (Spindle) Meaning: Spindle default mode Setting value: 0 --- Speed reference mode (Without position control) 1 --- Speed reference mode (With position control) 2 --- Positioning axis mode 3 --- C axis mode Standard setting value: 0 · MD35030 SPIND_DEFAULT_ACT_MASK (Spindle) Meaning: Spindle default mode timing Timing when the default mode, set by MD35020, becomes active. Setting value: 0 --- When power is turned on. 1 --- When power is turned on and NC starts. 2 --- When power is turned on and reset (M2 and M30). Standard setting value: 0 · MD35040 SPIND_ACTIVE_AFTER_RESET (Spindle) Meaning: Spindle operation after reset and M2/M30. Setting value: 0 --- Spindle stops on reset and M2/M30. 1 --- Spindle does not stop on reset and M2/M30. Standard setting value: 0
Drive setting
Fine interpolation
To apply fine interpolation to a speed reference (for interpolation so that the separation from DP cycle to drive control cycle may be carried out continuously), set the following data to "1".
· MD3069 digit 1 (Pn127 digit 1) SWITCH_FUNCTION_2 (For each Servo drive axis) ## Meaning: Fine interpolation of a speed reference. Setting value: 0 --- Fine interpolation disabled. 1 --- Fine interpolation enabled. The data must be set to "1".
14-7
Drive set-up procedure 14.1.4 Axis configuration
14.1.4 Axis configuration
Control axes (feed axis and Spindle) configuration set-up is carried out in the following 3 methods: 1. Switch settings at a drive 2. Hardware configuration using PLC set-up tool "STEP7" 3. Machine data settings To set up axis configuration, 1. Set switches at a drive so that a PROFIBUS station No. of the Converter and axis numbers
under the Converter can be set up. 2. Perform a hardware configuration using PLC set-up tool "STEP 7" so that all the hard-
ware (such as drives and I/O modules) can be physically set up and the PROFIBUS can be connected. 3. Set up machine data assuming that "Switch setting at drives" and "Hardware configuration" have been carried out correctly. If you have made a change to drive configuration, for example, by adding or deleting a drive, you need to perform again "1. Switch setting at drives", "2. Hardware configuration", and "3. Setting up machine data".
14-8
14.1 Fundamental settings
Setting switches and others at drives
Setting Converter station numbers
The station number of the Converter PROFIBUS is set to 6 by factory default. In case multiple Converters are to be connected, you need to assign a unique station number to each Converter. If you want to change the station numbers of the Converters, set the Converter switch (SW1)
as shown below.
Default value: 1st Converter --- 6
2nd Converter --- 7 :
ON OFF 12345678
ON OFF 12345678
You can check the Converter station numbers using the following parameters on the bottom of the drive parameter screen.
· MD918 PROFIBUS_NODE_ADDRESS (For each axis) Meaning: PROFIBUS station number A station number is displayed for a Converter to which the drive is connected.
Setting a rotary SW for each Servo/Spindle drive
A rotary switch, for setting slot information of the PROFIBUS, is associated with each Servo/Spindle drive. Set the switches in the following procedures:
· Assign an integer number, starting with 0, in succession to each of the rotary switches. (The numbers assigned must be sequential; otherwise, you need to take care in performing a hardware configuration.)
· In the case of a 2-axis-combined Servo drive, numbers for 2 axes must be assigned although only 1 rotary switch exists. In this case, if you assign "2" to the switch for example, both numbers "2" and "3" will actually be assigned. For this reason, you need to assign "4" to the next rotary switch. Note: You need to configure axes so that even numbers (0, 2, 4) may be assigned to rotary switches for 2-axis-combined drives. If an odd number is assigned to a rotary switch, the switch is treated as assigned with a predetermined number "-1".
· You can assign numbers 0-6 under 1 Converter. (If the end edge is a 2-axis-combined type, numbers 0-5 are to be assigned.) As far as no duplicated number is assigned, the drives need not be placed sequentially. Note: In case any incorrect setting is made, Converter communication module LED lights up in Red; otherwise, it lights up in green in normal case.
14-9
Drive set-up procedure 14.1.4 Axis configuration
Parking setting (GAP axis setting)
When a drive is not used, the parking axis setting (GAPaxis setting) is required. For example, in the case of that only one motor is connected to a 2-axis-combined drive.
· MD3004 digit 2 (Pn004 digit 2) FUNCTION_SWITCH_APPLIC4 (For each axis) ## Meaning: An axis is set as being a parking axis (GAP axis) Setting value: 0 --- Active axis 2 --- Parking axis Note: In case any setting error exists, the communication module LED of the Converter lights up in Red; otherwise, it lights up in Green. You cannot specify a Spindle as being a parking axis.
Hardware configuration using STEP7
This section summarizes precautions to be taken in performing a hardware configuration, especially when you are using an SGDK drive. For how to use STEP 7 in detail, refer to STEP7 manual. CNC, Converters, and drives connected to the Converters are to be set up. Up to 7 axes can be connected to one Converter. The following settings are to be made to the STEP7 for the GSD file of drive. As mentioned above, you can connect up to 7 axes to one Converter and you can select either 2 ms or 4 ms as a DP cycle.
· A portion that you need to set up: "Assigning Hexadecimal Parameters" of "DP Slave Properties".
· A GSD file to be used is "YASK04E7". · Setting descriptions: For a DP cycle of 2 ms or 4 ms, make the following settings:
00,00,00,1C,E1,00,00,E1,00,00,17,70,00,04,01,00,00,0B,B8,00,03,00,07,00,00,17,70,00,0A,00,00
To --- For 2 ms setting: 00,07(1750us) For 4 ms setting: 00,09(2250us)
Ti --- Always 00,03 (750us) Tbase_ioçôôôçAlways0B,B8 (250us) TdpçôôôçFor 2 ms setting: 00,04 (2ms)
For 4 ms setting: 00,08 (4ms) Tbase_dp --- Always 17,70 (500us)
In the case of 2 ms setting, the following setting (initial setting) can also be used. 00,00,00,1C,E1,00,00,E1,00,00,5D,C0,00,01,01,00,00,0B,B8,00,03,00,07,00,00,17,70,00, 0A,00,00
For a logical address to be set using STEP7, set a value that matches with the following machine data.
· MD1350 DRIVE_LOGIC_ADDRESS [n] (For each axis) Meaning: Logical address of PROFIBUS for each drive
14-10
14.1 Fundamental settings
Note: 1. When you set a value using STEP7, adjust it to this machine data setting.
2. This address is effective also for the following GAP axis. When you make a setting using STEP7, define an address of 1 axis length also for an axis that is to be set as an GAP axis.
INFO
Precautions in setting GAP axis
· The parking setting (GAP axis setting), which is made to a drive not to be used, is possible only when the drive is a Servo drive.
· Spindle drive cannot be set up as a parking drive. (In the case of a spindle drive, you need to mask alarms relating to a motor and encoder as active axis. Refer to 14.1.8.)
· With hardware configuration, you can set up a drive as being a parking drive (inactive drive although connected to a system) by selecting a GAP axis (G). However, if you want to specify an axis connected to a Converter end edge as being a GAP axis, do not set as such during the hardware configuration, but configure the whole system counting out the axis. (You can also use 7 axes, setting the 8th axis as a parking axis.)
· You need to assign a logical address of MD13050 even to a GAP axis. For this reason, in STEP7, assign an axis address even to an axis to be set as a GAP axis like an active axis.
Machine data setting
The following are machine data for setting up axis configuration.
· MD10000 AXCONF_MACHAX_NAME_TAB [0] (1st axis) MD10000 AXCONF_MACHAX_NAME_TAB [1] (2nd axis) : (Repeat for 20 axes) Meaning: Machine axis name Names of active axes, simulation axes, and inactive axes are defined irrespective of their group. The sequence in which each axis is defined here becomes an axis number displayed in the axis MD screen. Setting value: X1, X2, C1, and etc.
· MD10002 AXCONF_LOGIC_MACHAX_TAB [0] (1st axis) MD10002 AXCONF_LOGIC_MACHAX_TAB [1] (2nd axis) : (Repeat for 20 axes) Meaning: Machine axis number Defines an axis number defined by MD10000 Setting value: AX1, AX2, and AX3...
· MD20050 AXCONF_GEOAX_ASSIGN_TAB [0] (1st axis) MD20050 AXCONF_GEOAX_ASSIGN_TAB [1] (2nd axis) : (Repeat for all remaining axes) Meaning: Geometry axis number for each channel Setting value: 1, 2, and 3... Note: You cannot set up for the Spindle axis.
14-11
Drive set-up procedure 14.1.4 Axis configuration
· MD20060 AXCONF_GEOAX_NAME_TAB [0] (1st axis) MD20060 AXCONF_GEOAX_NAME_TAB [1] (2nd axis) : (Repeat for all remaining axes.) Meaning: Names of geometry for each channel Setting value: X, Y, C and etc. Note: You cannot set up for the Spindle axis.
· MD20070 AXCONF_MACHAX_USED [0] (1st axis) MD20070 AXCONF_MACHAX_USED [1] (2nd axis) : (Repeat for all remaining axes) Meaning: Axis number of active axis for each channel Axis numbers, defined with MD10000, used for channel. (Defines array number of [n] -1) Setting value: 1, 2, and 3... Note: Simulation axes are also to be defined. Inactive axis is not to be defined.
· MD20080 AXCONF_CHANAX_NAME_TAB [0] (1st axis) MD20080 AXCONF_CHANAX_NAME_TAB [1] (2nd axis) : (Repeat for all remaining axes) Meaning: Names of axes used in CNC program. Defines names of axes, in a channel, corresponding to MD20070. Setting value: X, Y, C and etc. Note: Also define a simulation axis, but you do not need to define inactive axis.
· MD30110 CTRLOUT_MODULE_NR (For each axis) Meaning: Drive number defined during hardware configuration Setting value: A number starting from 1 Note: 1. Assign a number also to each simulation axis sequentially. 2. Assign the same value as the machine data also to MD30220 [0] (or MD30220 [1] if a External encoder is used).
· MD30130 CTRLOUT_TYPE [0] (For each axis) Meaning: Active axis (with a drive) setting Setting value: 0 --- Simulation axis and inactive axis settings 1 --- Active axis setting
The next page summarizes relations among the machine data, drive settings, and hardware configuration discussed above.
14-12
Definitions of logical axis numbers and names in the whole system.
MD10000 MD10002
1st axis [0] SP1 AX1
2nd axis [1] SP2 AX2
3rd axis [2]
çX1 AX3
4th axis [3]
çY1 AX4
5th axis [4]
çZ1 AX5
6th axis [5]
çX2 AX6
7th axis [6]
çY2 AX7
8th axis [7]
çZ2 AX8
9th axis [8]
çA1 AX9
10th axis [9] çB1 AX10
11th axis [10] çA2 AX11
12th axis [11] çB2 AX12
Definitions of logical axis numbers and
names of the 1st group.
MD20070
MD20080
03
0X
14
1Y
25
2Z
39
3A
41
4SP
Definitions of logical axis numbers and
names of the 2nd group.
MD20070
MD20080
06
0X
17
1Y
28 311
2Z 3A
42
4SP
Relations between logical and physical axis numbers, and settings of active
and inactive axes in the whole system
Drive
Motor encoder External encoder Axis enable/disable
Logical axis name
Logical address
Logical address
Logical address
MD10000 MD30110 MD302200 MD302201 MD30130
SP1
1
1
1
1
SP2
6
6
6
1
X1
2
2
2
1
Y1
3
3
3
1
Z1
4
4
4
1
X2
7
7
7
1
Y2
8
8
8
1
Z2
9
9
9
1
A1
5
5
5
1
B1
Invalid setting Invalid setting
Invalid setting
0
A2
Invalid setting Invalid setting
Invalid setting
0
B2
Invalid setting Invalid setting
Invalid setting
0
A2 axis is to be defined although it is a simulation axis (without a drive).
Definitions of geometry axis numbers and names
of the 1st channel
MD20050
MD20060
01
0X
12
1Y
23
2Z
In the order of addresses during hardware configuration
To be set to 0 because A2 is a simulation axis (without a drive).
Physical axis configuration (Drive configuration)
Converter 1
PROFIBUS ID=6
Drive 1 SP1 SW No=0
Drive 2 X1 SW No=1
Drive 3 Y1 SW No=2
Drive 4 Z1 SW No=3
Drive 5 A1 SW No=4
14.1 Fundamental settings 14-13
Definition of the sequence of X, Y, and Z-axis defined with MD20070.
Definitions of geometry axis numbers and names
of the 2nd channel
MD20050
MD20060
01
0X
12
1Y
23
2Z
Hardware
272
292
312
332
352
configuration
first address (MD19050)
Converter 2
PROFIBUS ID=7
Drive 1 SP2 SW No=0
Drive 2 X2 SW No=1
Drive 3 Y2 SW No=2
Drive 4 Z2 SW No=3
Hardware
372
392
412
432
configuration
first address (MD19050)
Drive set-up procedure 14.1.5 Motor encoder
14.1.5 Motor encoder
The following shows machine data and parameter settings of motor encoders. Since a feed axis uses a serial encoder as a motor encoder, some parameter settings for a Servo drive encoder are omitted here because the encoder directly reads those setting values.
CNC setting
· MD30200 NUM_ENC (For each axis) Meaning: The number of encoders Setting value: 0 --- No encoder 1 --- Only motor encoders 2 --- Motor encoder + External encoders
· MD31000 ENC_LINEAR [0] (For each axis) Meaning: Motor encoder type (Rotary encoder/Linear scale) setting Setting value: 0 --- Rotary encoder
· MD30220 ENC_MODULE_NR (For each axis) Meaning: Encoder number determined during hardware configuration. Setting value: MD30110 The same value as CTRLOUT_MODULE_NR is to be set.
· MD30230 ENC_INPUT_NR [0] (For each axis) Meaning: Encoder input port number Standard setting value: 1
· MD30240 [0] ENC_TYPE [0] (For each axis) Meaning: Motor encoder type Setting value: 0 --- Simulation axis setting 1 --- Incremental encoder 4 --- Absolute encoder Note: If you use an absolute encoder as an incremental encoder, assign "1". If you use absolute value detection function of a External encoder, assign "4" irrespective of motor encoder types.
· MD30240 [1] ENC_TYPE [1] (For each axis) Meaning: External encoder type Setting value: 0 --- External encoder is not used. 1 --- Incremental encoder 4 --- Absolute encoder Note: If you use an absolute encoder as an incremental encoder, assign "1".
14-14
14.1 Fundamental settings
· MD30260 ABS_INC_RATIO [0] (For each axis)
Meaning:
Ratio of motor encoder absolute position data, from drive to CNC, to Motor encoder position data.
Standard setting value: 1
· MD30300 IS_ROT_AX (For each axis) ##
Meaning: Linear/Rotary axis setting Setting value: 0 --- Linear axis
1 --- Rotary axis
· MD31020 ENC_RESOL [0] (For each axis) ##
Meaning:
The number of motor encoder pulses The setting value is compared with a value read from a drive. If the values are different each other, an alarm is issued.
Setting value: The number of encoder pulses (4-multiplication value) /MD31025. Refer to Table 14.2.
· MD31025 ENC_PULCE_MULT [0] (For each axis) ##
Meaning: Motor encoder pulse scaling factor Setting value: See the following table.
Table 14.2 Motor encoder list
The number of pulses (4-multiplication value)
2048
3600
Serial/ pulse
Pulses
Pulses
4096 8192 8192 (13bit) 65536 (16 bit) 131072 (17 bit) 524288 (19 bit) 1048576 (20 bit)
Pulses Pulses Serial Serial Serial Serial Serial
Servo axis/ Spindle Spindle Spindle
Spindle Spindle Servo Servo Servo/Spindle Spindle (C axis) Servo
MD31020 MD31025
[0]
[0]
Remark
1
2048
900
4
This has been
used with J300L.
2
2048
4
2048
4
2048
32
2048
64
2048
256
2048
512
2048
· MD31030 LEADSCREW_PITCH (For each axis)
Meaning: Ball screw pitch Setting value: [mm/rev]
· MD31050 DRIVE_AX_RATIO_DENOM [0] (For each axis)
Meaning:
Load gear denominator (Amount of rotation at machine (The number of gear teeth at motor))
14-15
Drive set-up procedure 14.1.5 Motor encoder
· MD31060 DRIVE_AX_RATIO_NUMBER [0] (For each axis)
Meaning:
Load gear numerator (Amount of rotation at motor (The number of gear teeth at machine))
Setting value: MD31050 : MD30160 = Amount of rotation at machine : To be set to motor rotation amount.
= The number of gear teeth at motor : The number of gear teeth at machine
· MD31070 DRIVE_ENC_RATIO_DENOM [0] (For each axis) Meaning: Encoder/Motor gear ratio denominator (Amount of encoder rotation)
· MD31080 DRIVE_ENC_RATIO_NUMERA [0] (For each axis) Meaning: Encoder/Motor gear ratio numerator (Amount of motor rotation)
Setting value: MD31070:MD31080 = Amount of encoder rotation : To be set to motor rotation amount.
Standard setting value: 1 : 1
· MD32100 AX_MOTOR_DIR (For each axis) Meaning: Motor encoder rotation direction Setting value: 0 or 1 --- Forward rotation -1 --- Reverse rotation
· MD34200 ENC_REFP_MODE [0] (For each axis) Meaning: Return to reference point mode setting (Motor encoder) Setting value: For returning to encoder C-phase origin, be sure to assign "1". When absolute value detection function is enabled, be sure to assign "0".
· MD34220 ENC_ABS_TURNS_MODULO [0] (For each axis) Meaning: Multi-turn limit setting (1-100000) Setting value: To be set to Drive setting value MD3205 (Pn205) + 1 Standard setting value: 65536 (Because the standard setting value of MD3205 is 65535.)
Note: If you want to set multi-turn limit value in accordance with a value such as a gear ratio, set MD34220 to the gear ratio and set MD3205 to a value 1 less than MD34220.
14-16
14.1 Fundamental settings
Drive setting
Servo drive
· MD3000 digit 0 (Pn000 digit 0) FUNCTION_SWITCH_BASIC (For each axis) Meaning: Selection of rotation direction Setting value: 0 --- CCW rotation to be treated as forward rotation. (1 --- CW rotation to be treated as forward rotation.) Note: To set up reverse connection, use CNC machine data.
· MD3002 digit 2 (Pn002 digit 2) FUNCTION_SWITCH_APPLIC2 (For each axis) Meaning: Method for operating absolute encoder Setting value: 0 --- Uses an absolute encoder as an absolute encoder. 1 --- Uses an absolute encoder as an incremental encoder.
· MD3205 (Pn205) Multi_TURN_LIMIT Meaning: Multi-turn limit setting Setting value: Multi-turn limit setting of absolute encoder You need not change this parameter setting even if you want to detect rotation axis absolute value in YS 840DI system. (Excluding absolute value detection with a External encoder using MP scale. Refer to next section 14.1.6 for a setting when MP scale is used.) Standard setting value: 65535
INFO
When multi-turn limit value inconsistency happens If alarm 204 (A. CC) "Multi-turn limit value inconsistency" happens as a result of this parameter setting, release the alarm by using Digital operator as follows. 1. Connect the Digital operator to the Converter. Select a drive (dr1, dr2 ...: the drive number is a value, 1 more than the rotary switch setting value of each drive) to check by using [Up] and [Down] keys, and press [DATA ENTER] key. 2. Press [DSPL/SET] key to display "Fn ***", and then press [Up] key to display "Fn013". Press [DATA ENTER] key to display "PGSEt". 3. Press [DSPL/SET] key to display "done". The encoder is set to a value of Pn205. 4. Alarm is released when the power is turned on again. Since the 20-bit absolute encoder cannot be released with Fn013, set MD34220 to a multi-turn limit value + 1.
14-17
Drive set-up procedure 14.1.5 Motor encoder
INFO
· MD3214 (Pn20E) ELECTRIC_GEAR_NUMERATOR_LW (For each axis) Meaning: Electronic gear ratio numerator (Lower word) Setting value: [Pulse]
· MD3215 (Pn20F) ELECTRIC_GEAR_NUMERATOR_HW (For each axis) Meaning: Electronic gear ratio numerator (Upper word) Setting value: [Pulse]
Note: Electric gear functions at CNC side are to be used. Assign the factory setting value (1, 0) to MD3214 and MD3215.
· MD3216 (Pn210) ELECTRIC_GEAR_DENOMIN_LW (For each axis) Meaning: Electronic gear ratio denominator (Lower word) Setting value: [Pulse]
· MD3217 (Pn211) ELECTRIC_GEAR_DENOMIN_HW (For each axis) Meaning: Electronic gear ratio denominator (Upper word) Setting value: [Pulse]
Note: Electric gear functions at CNC side are to be used. Assign factory setting value (1, 0) to MD3216 and MD3217.
You do not need to set the number of motor encoder pulses because it is read from an encoder directly. You can check the number of encoder pulses with the following drive parameters.
· MD1005 ENC_RESOL_MOTOR (For each axis) Meaning: Motor encoder resolution
· MD1042 RESOLUTION_G1_XIST1 (For each axis) Meaning: Motor encoder resolution magnification 1 The number of motor encoder pulses = MD1005 2MD1042
14-18
14.1 Fundamental settings
Spindle drive
· MD6529 (Cn529) ENCODER_SPECIFICATION_0 (For each axis)
Meaning: Encoder specification Setting value: Bit 1, 0 0, 0 --- No encoder used.
0, 1 --- External encoder is used.
1, 0 --- Motor encoder is used.
Bit 2
0 --- CCW rotation to be treated as forward rotation.
(1 --- CW rotation to be treated as forward rotation.)
Bit 6
0 --- Incremental encoder
1 --- Absolute encoder
Bit 7
0 --- Pulse encoder
1 --- Serial encoder
Note: To set up reverse rotation connection, use CNC machine data. · MD6533 (Cn533) NUMBER_OF_ENCODER_PULSE_0 (For each axis)
Meaning: The number of motor encoder pulses (4-multiplication value) Setting value: 11 --- 2048 Pulse encoder
12 --- 4096 Pulse encoder 13 --- 8192 Pulse encoder 17 --- 17-bit Serial encoder 19 --- 19-bit Serial encoder
Note: If this parameter is set to a number ranging from 8 to 32, the parameter represents a value of n in "2 to the n-th power" pulse type encoder. If the parameter is set to "32" or larger number, the parameter represents the number of 4-multiplication pulses of a pulse encoder.
· MD6915 (Cn87F) FULL_CLOSED_PG_PULSE_L_1 (For each axis)
Meaning:
The number of PG pulses used for position control/Single revolution of motor (Lower word)
Setting value: [Pulse]
· MD6916 (Cn880) FULL_CLOSED_PG_PULSE_H_1 (For each axis)
Meaning:
The number of PG pulses used for position control/Single revolution of motor (Upper word)
Setting value: [Pulse]
Note: Set MD6915 and MD6916 to a 4-multiplication value.
14-19
Drive set-up procedure 14.1.6 External encoder
Resetting Absolute encoder
If an absolute encoder (motor encoder), used for a Servo drive, exhibits an alarm such as encoder alarm 129 (81H), reset the encoder in the following operation.
1. Connect the Digital operator to the Converter. Select a drive (dr1, dr2 ...: the drive number is a value, 1 more than the rotary switch setting value of each drive) to check by using [UP] and [DOWN] keys, and press [DATA ENTER] key.
2. Press [DSPL/SET] key to display "Fn ", and then press [UP] key to display "Fn008". Press [DATA ENTER] key.
3. "PGCL1" is displayed. Press [UP] key to display "PGCL5". 4. Press [DSPL/SET] key to display "done". 5. The alarm is released when the power is turned on again.
14.1.6 External encoder
The following explains how to set a External encoder. To use a External encoder, you need to set the following machine data and parameters in addition to above-mentioned motor encoder set-up.
INFO
To use a External encoder, you need to change the setting value from "1" to "2" of the "Position measuring system" for PLC->NCK signals DB3nDBX1.5-1.6.
· DBX1.5 = 1 & DBX1.6 = 0: External encoder inactive. · DBX1.5 = 1 & DBX1.6 = 1: External encoder active.
CNC setting
· MD30200 NUM_ENC (For each axis) Meaning: The number of encoders Setting value: 0 --- No encoder used. 1 --- Only motor encoders 2 --- Motor encoders + External encoders
· MD30230 ENC_INPUT_NR [1] (For each axis) Meaning: Encoder input port number Standard setting value: 1
· MD30240 [1] ENC_TYPE [1] (For each axis) Meaning: External encoder type Setting value: 0 --- No External encoder used. 1 --- Incremental encoder 4 --- Absolute encoder
Note: If you want to use an absolute encoder as an incremental encoder, assign "1".
14-20
14.1 Fundamental settings
· MD30260 ABS_INC_RATIO [1] (For each axis)
Meaning: Ratio to External encoder absolute position data from drive to CNC Standard setting value: 1
· MD31000 ENC_LINEAR [1] (For each axis)
Meaning: External encoder type (rotary encoder/linear scale) setting Setting value: 0 --- Rotary encoder
1 --- Linear scale
· MD31010 ENC_GRID_POINT_DIST [1] (For each axis)
Meaning: Linear scale resolution Setting value: [mm]
· MD31020 ENC_RESOL [1] (For each axis)
Meaning:
The number of separate rotary encoder pulses The setting value is compared with a value read from a drive. If the values are different each other, an alarm is issued.
Setting value: The number of separate rotary encoder pulses (4-multiplication values)/ MD31025 [1] Refer to Table 14.3.
· MD31025 ENC_PULSE_MULT [1] (For each axis)
Meaning: External encoder pulse magnification Setting value: Linear scale --- 1
Rotary encoder --- 4 (Refer to the table below)
· MD31040 ENC_IS_DIRECT [1] (For each axis)
Meaning: External encoder active/inactive Setting value: 0 --- Inactive
1 --- Active
Table 14.3 List of separate rotary encoders
Number of pulses (4-multiplication value)
Serial/ Pulse
Servo axis/ MD31020 MD31025
Spindle
[1]
[1]
Remarks
4096
Pulses
Spindle
1024
4
32768
Pulses
Servo
8192
4
360000
Pulses
Servo
90000
4
Spindle-embedded C
axis is excluded from
targets because 19-bit
encoders are used for
the time being.
· MD32110 ENC_FEEDBACK_POL [1] (For each axis)
Meaning: Separate rotary encoder rotation direction Setting value: 0 or 1 --- forward rotation
(-1 --- Reverse rotation)
Note: (Note) Set up External encoder reverse rotation connection at the drive side. Be sure to set this parameter to "0" or "1".
14-21
Drive set-up procedure 14.1.6 External encoder
· MD32642 STIFFNESS_CONTROL_CONFIG [0] (For each axis) Meaning: External encoder function selection Setting value: 0 --- Type 1 (Internal drive position feed-back is to be used as motor encoder pulse.) Setting value: 1 --- Type 2 (Internal drive position feed-back is to be used as External encoder pulse.) Standard setting value when a External encoder is used: 1 Note: Be sure to assign "0" if a External encoder is not used.
· MD34200 ENC_REFP_MODE [1] (For each axis) Meaning: Return to reference point mode setting (External encoder) Setting value: For returning to encoder C-phase origin, be sure to assign "1". When absolute value detection function is active, be sure to assign "0".
· MD34220 ENC_ABS_TURNS_MODULO [1] (For each axis) Meaning: Multi-turn limit setting (1-100000) Setting value: Linear scale --- No value needs to be set. Mitsubishi Heavy Industries MP scale --- 1 Futaba Corporation (Sony) or Yaskawa I/F rotary scale --- 1
· MD36300 ENC_FRQ_LIMIT [1] (For each axis) Meaning: External encoder frequency clamp Setting value: Maximum pulse rate [Hz] (Rotary encoder: pps/4; Linear scale: pps) Standard setting value: 1200000 [Hz] (120% of the hardware capability, 4 Mpps)
Drive setting Servo drive
· MD3002 digit 3 (Pn002 digit 3) FUNCTION_SWITCH_APPLIC2 (For each axis) Meaning: Method for using full-closed PG pulse Setting value: 0 --- Not to be used. (1 --- To be used without C-phase. (Incremental encoder)) 2 --- To be used with C-phase. (Incremental encoder) (3 --- To be used in reverse rotation mode without C-phase. (Incremental encoder)) 4 --- To be used in reverse rotation mode with C-phase (Incremental encoder) (5 --- To be used without C-phase (Absolute encoder)) 6 --- To be used with C-phase (Absolute encoder) (7 --- To be used in reverse rotation mode without C-phase. (Absolute encoder)) 8 --- To be used in reverse rotation mode with C-phase. (Absolute encoder)) Note: "Without C-phase" setting is applied when such an encoder is used that has no C-phase signal. In this case, "C-phase wire break detection" is not performed.
14-22
14.1 Fundamental settings
INFO
When a External encoder is connected for reverse rotation
MD32100 (Motor encoder rotation direction), MD32110 (External encoder rotation direction), and MD3002 digit 3 (External encoder rotation direction) are to be set as follows.
External encoder specification
Type 2 reverse rotation
connection
Motor encoder connection
Forward rotation Reverse rotation
Motor rotation direction MD32100
1 -1
External encoder rotation direction
MD32110
1 1
Motor rotation encoder
MD3000 digit 0
0 0
External encoder rotation
direction MD3002 digit 3
4 or 8
2 or 6
· MD3006 digit 2 (Pn006 digit 2) FUNCTION_SWITCH_APPLIC6 (For each axis)
Meaning: Full-closed specification
Setting value: 0 --- Type 2 (Internal drive position feed-back is used as External encoder pulse.)
1 --- Type 1 (Internal drive position feed-back is used as motor encoder pulse.)
Standard setting value: 0
· MD3205 (Pn205) MULTI_TURN_LIMIT
Meaning: Multi-turn limit setting
Setting value: Multi-turn limit setting of absolute motor encoder When Mitsubishi Heavy Industries MP scale is used, assign a number, 1 less than the gear ratio between motor encoder and MP scale.
Note: If Servo drive alarm "204 (A.CC)" is displayed as a result of this parameter setting, release it using Fn013 operation from the Digital
operator. (See INFO " When multi-turn limit value inconsistency happens" in 14.1.5.) Since the Fn013 operation cannot be made to a 20-bit absolute encoder, you cannot use a 20-bit absolute encoder in combination with the MP scale.
· MD3207 digit 3 (Pn207 digit 3) SWITCH_POSITION_REF (For each axis)
Meaning: External PG type selection Setting value: 0 --- Pulse encoder (Linear scale)
1 --- Pulse encoder (Rotary scale) 3 --- Mitsubishi Heavy Industries MP scale
Note: Be sure to assign "3" when an MP scale is used. · MD3210 (Pn20A) PG_PLS_MTRRND_LW_FULLCLOSED (For each axis)
Meaning:
The number of full-closed PG pulses/Single revolution of motor (Lower word)
Setting value: [Pulse]
14-23
Drive set-up procedure 14.1.6 External encoder
· MD3211 (Pn20B) PG_PLS_MTRRND_HW_FULLCLOSED (For each axis)
Meaning:
The number of full-closed PG pulses/Single revolution of motor (Upper word)
Setting value: [Pulse]
Note: Set MD3210 and MD3211 to a 1-multiplication value. · MD3212 (Pn20C) PG_PLS_ENCRND_LW_FULLCLOSED (For each axis)
Meaning:
The number of full-closed PG pulses/Single revolution of encoder (Lower word)
Setting value: [Pulse]
· MD3213 (Pn20D) PG_PLS_ENCRND_HW_FULLCLOSED (For each axis)
Meaning:
The number of full-closed PG pulses/Single revolution of encoder (Upper word)
Setting value: [Pulse]
Note: Set MD3212 and MD3213 to a 1-multiplication value. · MD3231 (Pn21F) PG_PLS_ENCRND_Z_PHASE (For each axis)
Meaning:
The number of Z-phase pulses/Single revolution of encoder. When Mitsubishi Heavy Industries MP scale is used, this value must be set.
Setting value: [Pulse]
· MD3508 (Pn808) ABS_PG_POINT_OFFS_LW (For each axis)
Meaning:
Absolute PG zero offset (Lower word) When Mitsubishi Heavy Industries MP scale is used, this value must be set to an offset amount from motor encoder.
Setting value: [Pulse]
· MD3509 (Pn809) ABS_PG_POINT_OFFS_HW (For each axis)
Meaning:
Absolute PG zero offset (Upper word) When Mitsubishi Heavy Industries MP scale is used, this value must be set to an offset amount from motor encoder.
Setting value: [Pulse]
14-24
14.1 Fundamental settings
INFO
When drive-related parameters are set to a value extending over upper and lower words, the following settings are required: To set MD3210 (Pn20A) and MD3211 (MD20B) to 90000, 1. Convert 90000 to a hexadecimal number.
Example: 90000 = 15F90H 2. Separate the hexadecimal number into upper and lower words.
Example: Upper word = 1H; Lower word = 5F90H 3. Convert the upper word to a decimal number again and set MD3211 to the decimal number.
Example: 1H = 1 MD3211 = 1
4. Convert the lower word to a decimal number again and set MD3210 to the decimal number. Example: 5F90H = 24464 MD3210 = 24464
Method for setting zero offset of Mitsubishi Heavy Industries MP scale
1. Initializing an offset
Set MD3508 (Pn808) and MD3509 (Pn809) to "0" and carry out NCK reset.
2. Initializing motor encoder
Select Fn008 and press [DATA ENTER] key. Display "PGCL5" by pressing [Up] and [Down] keys. Press [DSPL/SET] key to display "done". This completes the initialization. Carry out NCK reset.
3. Un00D: Checking motor encoder absolute position (2 words displayed in hexadecimal), rotate the motor until it comes to a position denoted by a lower word "00XX" (Upper byte is zero), near the motor encoder origin. Carry out NCK reset.
4. Enabling MP scale, check absolute positions of the motor encoder and MP scale immediately after drive control power is turned on. Installing a Digital operator, check the following data of an axis that is to be set up.
Un00D: Motor encoder absolute position (2 words displayed in hexadecimal)
Convert the hexadecimal number to a decimal number so that it can be used in the next step 5.
Un00E: MP scale absolute position (2 words displayed in hexadecimal)
Convert the hexadecimal number to a decimal number so that it can be used in the next step 5.
Note: For Un00D and Un00E, you can display both upper word (H. XXXX) and lower word (L. XXXX) by switching between the words using [Up] and [Down] keys. Be sure to check both of the words.
14-25
Drive set-up procedure 14.1.6 External encoder
EXAMPLE EXAMPLE
5. Calculating offset AA.
AA = Un00D (The number of MP scale pulses per motor rotation / (The number of motor encoder pulses)) - Un00E Where, The number of MP scale pulses per motor rotation: A setting value of MD3210 (Pn20A) and MD3211 (Pn20B). The number of motor encoder pulses: The number of pulses in the motor encoder list (See Table 4.2) / 4 Example: For 17-bit encoder, assign 32768. 6. Setting offset Set MD3508 (Pn808) and MD3509 (Pn809) to AA calculated in the step 5. AA may be a negative number. For how to set the values, refer to the following examples. Example: How to set MD3508 (Pn808) and MD3509 (Pn809) to 1000 a) Set MD3509
MD3509 = 0 b) Set MD3508
MD3508 = 1000
Example: How to set MD3508 (Pn808) and MD3509 (Pn809) to -1000 a) Convert -1000 to an 8-digit hexadecimal number.
Example: -1000 = FFFFFC18H b) Separate the hexadecimal number into upper and lower words.
Example: Upper word = FFFFH; Lower word = FC18H c) Convert the upper word to a decimal number again and assign it to MD3509.
Example: FFFFH = 65535 MD3509 = 65535
d) Convert the lower word to a decimal number again and assign it to MD3508. Example: FC18H = 64536 MD3508 = 64536 Note: After setting MD3508 and MD3509, carry out NCK reset.
14-26
14.1 Fundamental settings
Spindle drive
If a External encoder is to be used at a Spindle drive, the encoder at the Spindle motor must be a serial encoder. You cannot use pulse encoders both for motor encoder and for External encoder at the same time.
· MD6530 (Cn530) ENCODER_SPECIFICATION_1 (For each axis)
Meaning: External encoder specification
Setting value: Bit 1, 0 0, 0 --- No encoder used.
0, 1 --- External encoder used.
1, 0 --- Motor encoder used.
Bit 2
0 --- CCW rotation to be treated as forward rotation.
(1 --- CW rotation to be treated as forward rotation.)
Note: To set up reverse rotation connection, use CNC parameter.
Bit 6
0 --- Incremental encoder
1 --- Absolute encoder
Bit 7
0 --- Pulse encoder
1 --- Serial encoder
· MD6534 (Cn534) NUMBER_OF_ENCODER_PULSE_1 (For each axis)
Meaning: The number of motor encoder pulses (4-multiplication value) Setting value: 11 --- 2048 Pulse encoder
12 --- 4096 Pulse encoder 13 --- 8192 Pulse encoder 19 --- 19-bit Serial encoder
Note: If this parameter is set to a number ranging from 8 to 32, the parameter represents a value of n in "2 to the n-th power" pulse type encoder. If the parameter is set to "32" or larger number, the parameter represents the number of 4-multiplication pulses of a pulse encoder.
· MD6915 (Cn87F) FULL_CLOSED_PG_PULSE_L_1 (For each axis)
Meaning:
The number of PG pulses used for position control / Single revolution of motor (Lower word)
Setting value: [Pulse]
· MD6916 (Cn880) FULL_CLOSED_PG_PULSE_H_1 (For each axis)
Meaning:
The number of PG pulses used for position control / Single revolution of motor (Upper word)
Setting value: [Pulse]
Note: If a External encoder is used, set MD6915 and MD6916 to the number of pulses of the External encoder. Assign a 4-multiplication number to MD6915 and MD6916.
The next 2 pages show lists of machine data and parameters to be set in accordance with specifications of feed axis-related motor encoder and External encoder.
14-27
Drive set-up procedure 14.1.6 External encoder
A list of feed axisencoder-relatedServo driveparameters
Table 14.4 A list of feed axis encoder-related CNC parameters
14-28
External encodSer
Machine dataNo.õ
Machinedataname
Description
Absolute
RotaryzencSoder
Incremental
Linear axis
Rotary axis
Linear axis
Rotaryaxis
MD30200 NUM_ENCS
TheSnumber of encoders
ù
ù
ù
ù
MD30230 ENC_INPUT_NR[0]
EncSoderinput portNo. [0÷]
ø
ø
ø
ø
MD30230 ENC_INPUT_NR[1]
EncSoderinput portNo. [1ø]
ø
ø
ø
ø
MD30240 ENC_TYPE[0]
EncSodertype(Iïncremental/absðolute) se÷tting [0]
û
û
ø
ø
MD30240 ENC_TYPE[1]
EncSodertype(Iïncremental/absðolute) seøtting [1]
û
û
ø
ø
MD30260 ABS_INC_RATIO[0]
GG11__XIST/Gö1ø_XIST2ùratio÷[0]
ø
ø
ø
ø
MD30260 ABS_INC_RATIO[1]
GG11__XXISISTT/G/G1_1X_IXSITS2Tr2atio[1ø]
ø
ø
ø
ø
MD30300 IS_ROT_AX
Rotaryaxis/Linear axis
÷
ø
÷
ø
MD30310 ROT_IS_MODULO MD30320 DISPLAY_IS_MODULO
Rotaryaxis/Linear axis Rotaryaxis/Linear axis
÷
ø
÷
ø
÷
ø
÷
ø
MD31000 ENC_IS_LINEAR[0] MD31000 ENC_IS_LINEAR[1] MD31010 ENC_GRID_POINT_DIST[0] MD31010 ENC_GRID_POINT_DIST[1]
MD31020 ENC_RESOL[0]
MD31020 ENC_RESOL[1]
Lzinearscalesett÷ing [0] Lzinearscalesettøing [1] Lzinearscaleresolu÷tion [0] Lzinearscaleresoluøtion [1]
TheSnumberof enco÷der pulses 1 [0]
TheSnumberof encoøder pulses 1 [1]
÷
÷
÷
÷
(ïpuls/ere/ö2vù0÷4û8ÿ)ð
ö ï(pu/rlseev/ö4û)ð
ö
(ïpuls/ere/2övù0÷4û8ÿ)ð
ö (ïpu/rlseev/ö4û)ð
ö
÷
÷
ï(puls/ere/ö2vù0÷4û8ÿ)ð
ö ï(pu/rlseev/ö4û)ð
ö
÷
÷
(ïpuls/ere/2övù0÷4û8ÿ)ð
ö ï(pu/rlseev/ö4û)ð
ö
MD31025 ENC_PULSE_MULT[0]
TheSnumberof enco÷der pulses 2 [0]
ù÷ûÿ
ù÷ûÿ
ù÷ûÿ
ù÷ûÿ
MD31025 ENC_PULSE_MULT[1]
TheSnumberof encoøder pulses 2 [1]
û
û
û
û
MD31030 LEADSCREW
Ball screwpitch
ö
ö
MD31040 ENC_IS_DIRECT[0]
Load axiseSncoder sett÷ing [0]
÷
÷
÷
÷
MD31040 MD31050 MD31060 MD31070 MD31070 MD31080 MD31080
ENC_IS_DIRECT[1]
DRIVE_AX_RATIO_DENOM[0]
DRIVE_AX_RATIO_NUMERA[0] DDRRIIVVEE__EENNCC__RRAATTIIOO__DCENO÷M[0] DDRRIIVVEE__EENNCC__RRAATTIIOO__DCENOMø[1] DRIVCEC_ENC_RATIOC_NCEM÷ERA[0] DRIVE_ENC_RATIO_NEMERA[1]
Load axiseSncoder settøing [1] Load geardenominator Load gearnumerator Electronic gear de÷nominator [0] Electronic gear deønominator [1] Electronic gear nu÷merator [0] Electronic gear nuømerator [1]
ø
ø
Motor rotation
amount
Motor rotationamount
Mechanical rotation Mechanical rotation
amoYunt amouYnt
ø
ø
Motorrotation amount Motorrotation amount
Mechanical rotation Mechanical rotation
amouYnt
Y
ø
ø
ø
ø
ø
ø
ø
ø
ø
ø
ø
ø
ø
ø
ø
ø
MD32100 AX_MOTION_DIR MMDD332ù6ý4û2ù STIFcFcNCESS_CONTROL_CcONFIG
Forward/Reverserotation connection Full-closedtype
øöôø ø
øöôø ø
øöôø ø
øöôø ø
MD34200 ENC_REFP_MODE[0]
Returntoreference point mode
÷
÷
ø
ø
MD34200 ENC_REFP_MODE[1]
Returntoreferencøen point mode [1]
÷
÷
ø
ø
MD34220 ENC_ABS_TURNS_MODULO[0] RotaryaxiseSncodermulti-tzurnlimitv÷alue [0]
1 more than Pn205
valueù÷ü òø
MD34220 ENC_ABS_TURNS_MODULO[1] MMDD3366330000 ENCC__FFRREEQQ__LLIMIMIITT[[11]]
RotaryaxiseSncodermulti-tzurnlimitvøalue [0] EncSoderfrequencZyclump
øù÷÷÷÷÷
ø øù÷÷÷÷÷
øù÷÷÷÷÷
ø øù÷÷÷÷÷
Linezarscale
Absolute
Incremental
ù
ù
ø
ø
ø
ø
û
ø
û
ø
ø
ø
ø
ø
÷
÷
÷
÷
÷
÷
÷
÷
ø
ø
mmö/pulse ï(puls/ere/ö2vù0÷4û8ÿ)ð
ö
mmö/pulse (ïpuls/ere/ö2vù0÷4û8ÿ)ð
ö
MotorencSoder
RotaryezncoSder
Absolute
Incremental
Linear axis
Rotaryaxis
Linear axis
Rotary axis
ø
ø
ø
ø
ø
ø
ø
ø
û
û
ø
ø
ø
ø
ø
ø
ø
ø
ø
ø
÷
ø
÷
ø
÷
ø
÷
ø
÷
ø
÷
ø
÷
÷
÷
÷
ï(puls/ere/ö2vù0÷4û8ÿð)
ö
(ïpuls/ere/ö2vù0÷4û8ÿ)ð
ö
(ïpuls/ere/ö2vù0÷4û8ÿ)ð
ö
(ïpuls/ere/ö2vù0÷4û8ÿ)ð
ö
ù÷ûÿ ø ÷ ø ø ø ø ø ø ø
øöôø ø ÷ ÷
øù÷÷÷÷÷
ù÷ûÿ ø ÷ ø ø ø ø ø ø ø
øöôø ø ø ø
øù÷÷÷÷÷
ù÷ûÿ
ù÷ûÿ
ù÷ûÿ
ù÷ûÿ
ö
ö
÷
÷
÷
÷
Motorrotation amount
Mechanical rotation
Y
Motorrotation amount Motorrotation amount Motorrotation amount
Mechanical rotation
amouYnt
Mechanical rotation
amouYnt
Mechanical rotation
Y
ø
ø
ø
ø
ø
ø
ø
ø
øöôø
øöôø
øöôø
øöôø
÷
÷
÷
÷
÷
÷
ø
ø
1 more than Pn205
ù÷ü òø
14.1 Fundamental settings
Table 14.5 A list of feed axis encoder-related Servo drive parameters
14-29
Alist of feed axis encoder-relatedServodriveparameters
External encoder
ParamZYeter Noõ.
Parameter name
Description
Absolute
RotaryzencSoder
Incremental
Linear axis
Rotary axis
Linear axis
Rotary axis
MMDD33000000Digit÷3ï(Pn÷0÷0÷0dig÷itð0) FcUNCTION_SWITCH_BASIC
EnScoder forwöard/reverse rotation
÷
÷
÷
÷
MMDD33000202Digitù2ï(Pn÷0÷0ù2digùitð2) FcUNCTION_SWITCH_APPLùIC2
Absolute encSoder(Mïotor encSoder) ðdesignation
÷
÷
ø
ø
MMDD33000202Digitú3ï(Pn÷0÷0ù2digúitð3) FcUNCTION_SWITCH_APPLùIC2
ExternalenScoder setting
ý
ý
ù
ù
MMDD33000606Digitù2ï(Pn÷0÷0ý6digùitð2) FcUNCTION_SWITCH_APPLýIC6
Full-closedspecification
÷
÷
÷
÷
MD3205(Pn205)
MULTI_TURN_LIMIT
Multi-turznlim it
EvanlcuSoedersetting EvanlcuSoedersetting
Gearratiosetting Gear ratiosetting
when MP scale is when MP scale is
used. used.
MMDD33220707Digitú3ï(Pnù2÷0þ7digúitð3) SWITCH_POSITION_RCcEF
ExternalPGtypeselection
MD3210(Pn20A) MD3211(Pn20B)
PG_PRS_MTRRND_LW_FULLCLOSED The number of full-closed PG pulses / PG_PRS_MTRRND_HW_FULLCLOSED Singlerevolutionofmoötor
MD3212(Pn20C) MD3213(Pn20D)
PG_PRS_ENCRND_LW_FULLCLOSED The number of full-closed PG pulses / PG_PRS_ENCRND_HW_FULLCLOSED SinglerevolutionofencöodeSr
øççú ï(pu/rlseevö/4ûð)
ö ï(pulseö/4ûð)
/rev ö
øççú ï(pu/rlseev/ö4û)ð
ö ï(pu/rlseevö/û4ð)
ö
ø ï(pu/rlseevö/4û)ð
ö
ø ï(pu/rlseevö/4ûð)
ö ï(pu/rlseevö/4û)ð
ö
MD3214(Pn20E) MD3215(Pn20F)
EELLEECCTTRRICIC_G_GEAERA_RN_UNMUEMRAETROART_OLWR_ CELCECTRIC_GCEAR_NUCMERATOR_HW
Electronic gear ratiðo (Denominator)
ø
ø
ø
ø
MD3216(Pn210)
ELECTRIC_GEAR_DENOMIN_LW
Electronic gear ratio (Numerator)
ø
ø
ø
ø
MD3217(Pn211)
ELECTRIC_GEAR_DENOMIN_HW
MD3231(PN21F)
PG_PLS_ENCRND_Z_PHASE
The numbSerof Zø-phase pulses / revolution of External encoder.
Single
Gwheeanr MraPtioscsaeltetinigs used.
GwheeanrMraPtioscsaelettinigs used.
MD3508(Pn808) MD3509(Pn809)
ABS_PG_ZERO_POINT_OFFS_LW ABS_PG_ZERO_POINT_OFFS_LW
AbsolutePGzero position offset
Gear ratio setting Gear ratio setting
whenMPscaleis whenMPscaleis
used.
used.
Linzearscale
Absolute
Incremental
Motorencoder
RotaryzencSoder
Absolute
Incremental
Linear axis
Rotary axis
Linear axis
Rotary axis
÷
÷
÷
÷
÷
÷
÷
ø
÷
÷
ø
ø
ü
ø
÷
÷
÷
÷
÷
÷
÷
÷
÷
÷
Encoder setting Encoder setting
value
value
S S
÷ççú
÷
ï(pu/rlseev/ö4û)ð
ï(pu/rlseevö/4û)ð
ö
ö
ï(pu/rlseev/ö4û)ð
ö
ø
ø
ø
ø
ø
ø
ø
ø
ø
ø
ø
ø
Drive set-up procedure 14.1.7 Maximum number of motor revolutions
14.1.7 Maximum number of motor revolutions
CNC setting
· MD32250 RATED_OUTVAL [0] (For each axis) ## Meaning: Ratio of speed reference to maximum number of motor revolutions Standard setting value: 100 [%]
· MD32260 RATED_VELO [0] (For each axis) Meaning: Maximum number of motor revolutions
Setting value: To be set to maximum number of motor revolutions (the number of revolutions [min-1] under maximum command value) Assign the value of MD880.
Note: In the case of a Servo drive, the parameter is to be set to specified maximum number of motor revolutions 1.2 (Over-speed alarm detection speed).
Drive setting
Settings of Servo axis and Spindle drives in common
· MD880 NORMALIZATION_OVER_PROFIBUS (For each axis)
Meaning:
The number of motor revolutions under maximum speed reference (ox40000000) at PROFIBUS.
Setting value: Setting this parameter is prohibited because it is automatically set to internal drive data. CNC creates a value equivalent to MD32260 using this parameter if [min1] and MD32250 = 0.
Servo drive
No related parameter exists. Maximum number of motor revolutions is automatically read from a motor encoder and set. The setting value multiplied by 1.2 is displayed at MD880.
Spindle drive
· MD6500 (Cn500) RATED_SPEED_SETTING (For each axis) Meaning: Rated speed Setting value: [min-1] The value of this parameter is also displayed at MD880.
14-30
14.1 Fundamental settings
14.1.8 Various mask settings
Settings at CNC
At CNC, you can mask some processing to be done with each drive. Always set the parameter to "0" to disable the masks unless you specifically need to use the masks for temporary examination purpose or so.
· MD13070 DRIVE_FUNCTION_MASK [0] (1st axis) ## MD13070 DRIVE_FUNCTION_MASK [1] (2nd axis) ## : (Repeat for all remaining axes) Meaning: d0 --- Reading alarm from a drive d1 --- Reading ACC file (parameter definition file) from a drive d2 --- Reading encoder-related parameters from a drive d3 --- Reading drive control-related parameters from a drive Setting value: 0 --- Not to be masked 1 --- To be masked Standard setting value: 0
Settings at drive
Spindle drive
By setting this parameter, you can mask the following alarms. · MD7018 (Cn8E6) ALARM_MASK (For each axis) Meaning: Alarm mask Initial value: 0000 (Hex) The following shows alarms to be masked with bit wise settings: d0: ALM_OHL Motor thermistor wire break (A:79) d1: ALM_OHM Motor overheat 2 (A:79) d2: ALM_CUV Control circuit low voltage (A:43) d3: ALM_IFANERR Internal cooling fan error (A:75) d4: ALM_OHF Heat sink overheat 2 (A:7A) d5: ALM_UV Under voltage (A:41) d6: ALM_ADE850E CPU-embedded A/D error (A:B2) d7: ALM_WDC_ERR WDC error (A:E2) ALM_DPRAM DPRAM error (A:06) ALM_COMSYNC Network synchronization error (A:E5) d8: ALM_FPGBREAK1 FPG wire break (PA and PB) (A:C6) d9: ALM_FPGBREAK2 FPG wire break (PC) (A:C7) d10: ALM_DEV Speed deviation too large (A:53) Setting example: When Spindle motor is removed off --- 0303H (Set d0, d1, d8, and d9 to "1".) With this setting, Spindle servo can be turned on.
14-31
Drive set-up procedure 14.1.9 Software version number check
14.1.9 Software version number check CNC version number check
Check a CNC version number by pressing function keys "Diagnosis", "Service displays", and "Version" in this order.
Converter main version number
Connecting a Digital operator to a Converter, check the version number in the following procedures: 1. Select a Converter (con) by pressing [Up] or [Down] key and press [DATA ENTER]
key. 2. A lower word address "L0000" is displayed. Enter "L0002". 3. Press [DSPL/SET] key to display an upper word address "h0000". Enter "hA0001". 4. Press [DATA ENTER] key to display a Converter software version number.
14-32
14.1 Fundamental settings
Converter communication module version number
You can check a Converter communication module version number using the following machine data for each drive. (Those drives under the same Converter show the same version number.)
· MD1795 OPTMOD_FIRMWARE_VIRSION (For each axis) Meaning: Communication software version number (Read-only)
Servo drive unit version number
Connect a Digital operator to a Converter and check the version number in the following procedures:
1. Select a drive (dr1, dr2...: the drive number is a value, 1 more than the rotary switch setting value of each drive) to check by pressing [Up] or [Down] keys. Press [DATA ENTER] key.
2. Press [DSPL/SET] key to display "Fn , and then select "Fn012". 3. Press [DATA ENTER] key to display a drive software version number.
Spindle drive unit version number
Connect a Digital operator to a Converter and check the version number in the following procedures:
1. Select a drive (dr1, dr2...: the drive number is a value, 1 more than the rotary switch setting value of each drive) to check by pressing [Up] or [Down] keys. Press [DATA ENTER] key.
2. Press [DSPL/SET] key to display "Un , and then select "Un021". 3. Press [DATA ENTER] key to display a drive software version number.
Servo/Spindle drive ACC file version number
You can check a version number of a parameter format file (ACC file) using the following machine data for each drive.
· MD1799 FIRMWARE_VIRSION (For each axis) Meaning: ACC file version number (Read-only)
b15
b10
Converter ACC version
0-63
b9
b8
b7
b0
Axis type
Drive ACC version
Refer to the following types 0-255
Axis type
00: Servo drive 01: Spindle drive 10 and 11: Reserved
14-33
Drive set-up procedure 14.1.10 Parameter initialization
14.1.10 Parameter initialization
Initialize parameters of each drive to restore the factory default settings.
Servo drive
Initialize parameters using a Digital operator in the following procedures:
1. Connect a Digital operator to a Converter and select a drive (dr1, dr2...: the drive number is a value, 1 more than the rotary switch setting value of each drive) to check by pressing [Up] or [Down] keys. Press [DATA ENTER] key.
2. Press [DSPL SET] key to display "Fn ". Select "Fn005" and press [DATA ENTER] key.
3. "P. INIT" is displayed. 4. Press [DSPL SET] key. "done" is displayed and initialization completes.
Spindle drive
Initialize parameters by setting the following drive parameters.
· MD6988 (Cn8C8) RESERVED_FOR_USER_OF (Spindle) Meaning: Parameter initialization Setting value: 0 --- Initial value 1 --- Initialization start Note: Notice that carrying out the initialization changes parameter values that you have set to factory default values. Take a note of all the parameters you have changed before starting the initialization.
14.1.11 Alarm display
Display at CNC
If an alarm is issued in a drive, the following alarm is displayed. Since this alarm is transmitted from the drive to a CNC through a high-speed cyclic communication line, the alarm indication at CNC precisely shows the time when the alarm was issued.
EXAMPLE
Example: When an alarm is issued at X1 axis.
25201: X1 drive failure Detailed information on the alarm is displayed on CNC screen.
14-34
14.1 Fundamental settings
When alarm "41" is issued at X1 axis and then alarm "255" is issued at Y1 axis
380500: PROFIBUS DP: Drive X1, 380500: PROFIBUS DP: Drive Y1,
Code 41, Value 0, Code 255, Value 0,
Time 524112 Time 524112
Alarm time counter (in ms) Alarm group code
Alarm-issuing axis name CNC alarm code (Drive-related alarm load in common)
Since this information is transmitted from the drive to the CNC through a low-speed message line, the alarm indication at CNC has a few-minute delay from the alarm-issued time. However, the alarm time counter shows a precise time.
Drive Digital operator display
Alarm for an axis selected by the Digital operator is displayed as follows: Example: A.51 --- Alarm "51" (a "Drive code" in the Alarm list) is issued at a drive selected.
INFO
· Alarm code for a drive is displayed in decimal number on the CNC screen, while it is displayed in hexadecimal number on the Digital operator.
· For drive alarm codes, refer to Appendix B.1 "List of Servo unit alarms" and Appendix B.2 "List of Inverter alarms".
14-35
Drive set-up procedure 14.2.1 Position control
14.2 Servo control
14.2.1 Position control
In DSC, CNC and a drive share the position control, so that CNC also has the position control-related machine data. The following explains how to set fundamental machine data and parameters for position control.
CNC setting
· MD10230 SCALING FACTOR_USER_DEF [9] (For all axes in common) ## Meaning: Position loop gain setting unit Setting value: 1.0 [1/s] With this setting, the unit of position loop gain MD32200 becomes [1/s]. Note: If 16.66666667 has been assigned, the setting unit of MD32200 (position loop gain) is [m/min/mm].
· MD32200 POSCTRL_GAIN [0] (For each units) Meaning: Position loop gain Setting value: [1/s] (The unit defined by MD10230 becomes the unit of the position loop gain.)
· MD36400 CONTOR_TOL (For each axis) Meaning: Maximum deviation [Command unit (mm, deg, and others)] Setting value: To be set to the following value.
Maximum feed speed [Command unit (mm, deg, and others)] 1.2 Position loop gain [1/s] 60
Drive setting
Servo drive
· MD3000 digit 1 (Pn000 digit 1) FUNCTION_SWITCH_BASIC (For each axis) ## Meaning: Position control is enabled/disabled. Setting value: 0 --- Position control is disabled. 1 --- Position control is enabled. 7 --- Position control and speed control are switched over. Must be set to "7".
· MD3032 (Pn102) KP (For each axis) Meaning: Position loop gain Setting value: [0.1/s] This value is not used for DSC control, but used internally for calculating gain and others of the quadrant error compensation function. Set this parameter to a value of MD32200 at CNC, paying attention to the setting unit.
14-36
14.2 Servo control
· MD3069 digit 0 (Pn127 digit 0) SWITCH_FUNCTION_2 (For each axis) ## Meaning: Method for setting position loop gain Setting value: 0 --- Drive setting value is used. 1 --- The value set from CNC cyclic data is used. Note: Be sure to set this parameter to "1".
· MD3425 (Pn505) OVERFLOW_LEVEL (For each axis) ## Meaning: Excessive deviation area (Over flow level) Setting value: Values obtained from the following equations are to be set. (The number of encoder pulses is a 4-multiplication value.) · For motor encoder
The number of revolutions [min-1] at maximum feed speed The number of motor encoder pulses 1.2 Position loop gain [1/s] 256 60
· For External encoder The number of revolutions [min-1] at maximum feed speed (PPN) 1.2 Position loop gain [1/s] 256 60
Where, (PPN) = The number of External encoder pulses / Single revolution of motor.
Spindle drive
· MD6522 (Cn522) MULTI_FUNCTION_SEL_SSC ## Meaning: Multi-function selection SSC Setting value: 0 --- SSC is set to "Soft start cancelled." 1 --- SSC is set to "Servo mode." Note: Be sure to set the parameter to "1". When position control is carried out (for example, for orientation, tapping, or others), the operation mode must be "Full-time Servo mode."
· MD6837 (Cn831) GAIN_SWITCH ## Meaning: Method for setting position loop gain (Variable KP selection) Setting value: 0000 --- Drive setting value is used. 0100 --- A value obtained from CNC cyclic data is used. Note: Be sure to set the parameter to "0100".
· MD6965 (Cn8B1) OVERFLOW_LEVEL (For each axis) ## Meaning: Excessive deviation area (Over flow level) Setting value: Values obtained from the following equations are to be set. (The number of encoder pulses is a 4-multiplication value.) · For pulse encoder
The number of revolutions [min-1] at maximum feed speed The number of motor encoder pulses 1.2 Position loop gain [1/s] 60
· For serial encoder
The number of revolutions [min-1] at maximum feed speed The number of motor encoder pulses 1.2 Position loop gain [1/s] 256 60
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Drive set-up procedure 14.2.2 Speed control
14.2.2 Speed control
The following explains how to set fundamental drive parameters for speed control.
Servo drive
· MD3030 (Pn100) KV (For each axis) Meaning: Speed loop gain Setting value: [0.1 Hz] To express the setting value in previous unit [1/s], multiply the value by 2/10.
· MD3031 (Pn101) KVI (For each axis) Meaning: Speed loop integration time constant Setting value: [0.01 ms]
· MD3033 (Pn103) LOAD_INERTIA_RATIO Meaning: Load inertia ratio to motor inertia Setting value: [%]
· MD3041 digit 1 (Pn10B digit 1) GAIN_SWITCH (For each axis) ## Meaning: Switching between PI control and IP control Setting value: 0 --- PI control is applied to speed control. 1 --- IP control is applied to speed control. Standard setting value: 1
· MD3351 (Pn401) TIME_CONST_TRQ_REF_FILTER (For each axis) Meaning: 1st-stage torque reference filter time constant Setting value: [0.01 ms]
· MD3363 (Pn40D) TORQUE_FILTER_CONSTANT_2 (For each axis) Meaning: 2nd-stage torque reference filter time constant Setting value: [0.01 ms]
· MD3364 (Pn40E) TORQUE_FILTER_CONSTANT_3 (For each axis) Meaning: 3rd stage torque reference filter time constant Setting value: [0.001 ms]
Spindle drive
· MD6060 (Cn060) ASR_P_GAIN_H_I (For each axis) Meaning: Speed control proportional gain (H gear) Setting value: [0.1%/Hz]
· MD6061 (Cn061) ASR_I_TIME_H_I (For each axis) Meaning: Speed control integration time (H gear) Setting value: [0.1 ms]
· MD6062 (Cn062) ASR_P_GAIN_M_L_I (For each axis) Meaning: Speed control proportional gain (M and L gears) Setting value: [0.1%/Hz]
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14.2 Servo control
· MD6063 (Cn063) ASR_I_TIME_M_L_I (For each axis) Meaning: Speed control integration time (M and L gears) Setting value: [0.1 ms]
14.2.3 Spindle servo mode
In YS 840DI system, the Spindle speed control is to be set to servo mode. The following explains how to set fundamental Spindle drive parameters relating to servo mode.
· MD6522 (Cn522) MULTI_FUNCTION_SEL_SSC ## Meaning: Multi-function selection SSC Setting value: 0 --- SSC is set to "Soft start cancelled." 1 --- SSC is set to "Servo mode." Note: Be sure to set the parameter to "1".
· MD6064 (Cn064) ASR_P_GAIN_H_2 (For each axis) Meaning: Speed control proportional gain (H gear in servo mode) Setting value: [0.1%/Hz]
· MD6065 (Cn065) ASR_I_TIME_H_2 (For each axis) Meaning: Speed control integration time (H gear in servo mode) Setting value: [0.1 ms]
· MD6066 (Cn066) ASR_P_GAIN_M_L_2 (For each axis) Meaning: Speed control proportional gain (M and L gears in servo mode) Setting value: [0.1%/Hz]
· MD6067 (Cn067) ASR_I_TIME_M_L_2 (For each axis) Meaning: Speed control integration time (M and L gears in servo mode) Setting value: [0.1 ms]
· MD6201 (Cn201) SV_MODE_FLUX_LEVEL_H (For each axis) Meaning: Servo mode flux level (H gear) Setting value: [%]
· MD6202 (Cn202) SV_BASE_SPEED_RATIO_H (For each axis) Meaning: Servo mode base speed ratio (H gear) Setting value: [0.01 times]
· MD6203 (Cn203) SV_MODE_FLUX_LEVEL_M_L (For each axis) Meaning: Servo mode flux level (M and L gears) Setting value: [%]
· MD6204 (Cn204) SV_BASE_SPEED_RATIO_M_L (For each axis) Meaning: Servo mode base speed ratio (M and L gears) Setting value: [0.01 times]
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Drive set-up procedure 14.2.4 Backlash compensation
14.2.4 Backlash compensation
In YS 840DI system, backlash compensation is carried out at CNC. The following explains how to set backlash-related machine data.
· MD32450 BACKLASH [0] (For each axis) Meaning: Backlash compensation amount Setting value: [mm] Note: For variable-speed backlash compensation function, refer to separate specifications.
14.2.5 Quadrant error compensation
In YS 840DI system, functional quadrant error compensation function is used as a quadrant error compensation function for Servo axis. The quadrant error compensation is carried out at a drive. (The compensation function in the CNC cannot be used.) The following shows parameters relating to this function. For detailed procedures to adjust functional quadrant error compensation function, refer to a separate instruction manual.
· MD3068 digit 1 (Pn126 digit 1) SWITCH_FUNCTION_1 (For each axis) Meaning: Selection of functional quadrant error compensation function Setting value: 0 --- Disabled 1 --- Enabled (Without pulse suppression processing) 2 --- Enabled (With pulse suppression processing) Note: Be sure to set the parameter to "2".
· MD3101 (Pn147) 1ST_P_GAIN_QUAD_ERR_COMP (For each axis) Meaning: Quadrant error compensation 1st-stage gain (Negative -> Positive) Setting value: [0.00001/s3] Equivalent to the quadrant error compensation 1st-stage integration time constant for J300/J100 system. For relations with previous parameters, refer to the (INFO) mentioned later.
· MD3102 (Pn148) 1ST_P_LMT_OFS_QUAD_ERR_COM (For each axis) Meaning: Quadrant error compensation 1st-stage limit offset (Negative -> Positive) Setting value: [0.01%]
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14.2 Servo control
· MD3103 (Pn149) 2ND_P_GAIN_QUAD_ERR_COMP (For each axis) Meaning: Quadrant error compensation 2nd-stage gain (Negative -> Positive) Setting value: [0.00001/s3] Equivalent to the quadrant error compensation 2nd-stage integration time constant for J300/J100 system. For relations with previous parameters, refer to the (INFO) in the next page.
· MD3104 (Pn14A) 2ND_P_LMT_OFS_QUAD_ERR_COMP (For each axis) Meaning: Quadrant error compensation 2nd-stage limit (Negative -> Positive) Setting value: [0.01%]
· MD3105 (Pn14B) P_LMT_ADJ_QUAD_ERR_COMP (For each axis) Meaning: Quadrant error compensation limit increment value (Negative -> Positive) Setting value: [0.01%/ms]
· MD3106 (Pn14C) P_LMT_CLAMP_QUAD_ERR_COMP (For each axis) Meaning: Quadrant error compensation upper limit value (Negative -> Positive) Setting value: [0.01%/ms]
· MD3107 (Pn14D) 1ST_N_GAIN_QUAD_ERR_COMP (For each axis) Meaning: Quadrant error compensation 1st-stage gain (Positive -> Negative) Setting value: [0.00001/s3] Equivalent to the quadrant error compensation 1st-stage integration time constant for J300/J100 system. For relations with previous parameters, refer to the (INFO) mentioned later.
· MD3108 (Pn14E) 1ST_N_LMT_OFS_QUAD_ERR_COMP (For each axis) Meaning: Quadrant error compensation 1st-stage limit offset (Positive -> Negative) Setting value: [0.01%]
· MD3109 (Pn14F) 2ND_N_GAIN_QUAD_ERR_COMP (For each axis) Meaning: Quadrant error compensation 2nd-stage gain (Positive -> Negative) Setting value: [0.00001/s3] Equivalent to the quadrant error compensation 2nd-stage integration time constant for J300/J100 system. For relations with previous parameters, refer to the (INFO) mentioned later.
· MD3110 (Pn150) 2ND_N_LMT_QUAD_ERR_COMP (For each axis) Meaning: Quadrant error compensation 2nd-stage limit (Positive -> Negative) Setting value: [0.01%]
· MD3111 (Pn151) N_LMT_ADJ_QUAD_ERR_COMP (For each axis) Meaning: Quadrant error compensation limit increment value (Positive -> Negative) Setting value: [0.01%/ms]
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Drive set-up procedure 14.2.5 Quadrant error compensation
· MD3112 (Pn152) N_LMT_CLAMP_QUAD_ERR_COMP (For each axis)
Meaning: Quadrant error compensation upper limit value (Positive -> Negative) Setting value: [0.01%/ms]
· MD3113 (Pn153) TIMING_CONST_QUAD_ERR_COMP (For each axis)
Meaning: Quadrant error compensation timing constant Setting value: [0.1/s]
· MD3083 (Pn135) EQUIV_KP_ADJ_PREDICTED_I
Meaning:
1st predictive control equivalent Kp fine adjustment amount (Quadrant error compensation timing constant when predictive control is used.)
Setting value: [0.1/s]
The following figure shows relations between above-mentioned parameters and compensation amount waveform.
Compensation amount
Quadrant error compensation limit increment value
Quadrant error compensation 1ststage gain
Quadrant error compensation 2ndstage gain
Quadrant error compensation 2nd-stage limit
INFO
Quadrant error compensation limit offset value
Quadrant error compensation timing constant
Time
Fig. 14.1 Functional quadrant error compensation waveform
You can use quadrant error compensation 1st-stage gain and quadrant error compensation 2nd-stage gain as replacement parameters of quadrant error compensation 1st-stage integration time constant and quadrant error compensation 2nd-stage integration time constant of J300/J100 specification respectively. However, notice that their setting values are different.
By previous specification, the quadrant error compensation n-th stage gain "Kn" was expressed in (Tin [sec]), while by this specification, the "Kn" is expressed as follows:
Kn [0.00001/s3] = Kp x Kv/Tin/10000 Where, Kp: Position loop gain [1/s] Kv: Speed loop gain [1/s] (Pay attention that this is not the drive setting unit [Hz].) Tin: Quadrant error compensation n-th stage integration time constant [sec] (Pay attention
that previous parameter setting value is [0.01 ms].)
Example) When Kp = 40 [1/s], Kv = 300 [1/s], and Tim = 0.5 [ms], Kn [0.00001/s3] = 40 300/ 0.0005/100000 = 240 [0.00001/s3]
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14.2 Servo control
14.2.6 Torque reference notch filter
To suppress stationary vibrations such as sympathetic axis vibration, created by Servo axis, of 400 Hz or higher, use a torque reference notch filter. The following shows parameters relating to the torque reference notch filter. For further information on the torque reference notch filter, refer to a separate instruction manual.
· MD3358 digit 0 (Pn408 digit 0) SWITCH_NOTCH_FILTERS (For each axis) Meaning: 1st-stage notch filter selection Setting value: 0 --- Disabled 1 --- Enabled
· MD3358 digit 1 (Pn408 digit 1) SWITCH_NOTCH_FILTERS (For each axis) Meaning: 2nd-stage notch filter selection Setting value: 0 --- Disabled 1 --- Enabled
· MD3359 (Pn409) FREQUENCY_NOTCH_FILTERS_1 (For each axis) Meaning: 1st-stage notch filter frequency Setting value: [Hz]
· MD3360 (Pn40A) Q_VALUE_NOTCH_FILTERS_1 (For each axis) Meaning: 1st-stage notch filter Q-value Setting value: [0.01 times]
· MD3361 (Pn40B) FREQUENCY_NOTCH_FILTERS_2 (For each axis) Meaning: 2nd-stage notch filter frequency Setting value: [Hz]
· MD3362 (Pn40C) Q_VALUE_NOTCH_FILTERS_2 (For each axis) Meaning: 2nd-stage notch filter Q-value Setting value: [0.01 times]
Torque filters (3-stage) and notch filters (2-stage) can be used in any combinations. You can select torque filters for up to 3 stages. (Notice that this specification differs from that of J300/J100.)
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Drive set-up procedure 14.2.7 Speed feedback compensation
14.2.7 Speed feedback compensation
You can suppress vibration and increase speed loop gain by using speed feedback compensation. The following explains about parameters for speed feedback compensation.
· MD3046 digit 1 (Pn110 digit 1) SWITCH_ONLINE_AUTO_TUNING (For each axis)
Meaning: Selects speed feedback compensation function Setting value: 0 --- Enabled
1 --- Disabled
Note: Pay attention to the polarity of "Enabled" and "Disabled". · MD3047 (Pn111) SPEED_FEEDBACK_COMP_GAIN (For each axis)
Meaning: Speed feedback compensation gain Setting value: [%]
· MD3048 (Pn112) SPEED_FEEDBACK_DELAY_COMP (For each axis)
Meaning:
Speed feedback delay compensation (Speed feedback compensation inertia gain)
Setting value: [%]
Note: Previous parameter "Speed feedback compensation attenuation factor" is no longer used.
Adjustment procedures
1. Check an axis to which you want to make an adjustment to disable speed feedback function (MD3046 digit 1 (Pn110 digit 1) = 1) by watching its torque waveform or others on the analog monitor, and confirm that the axis vibrates.
2. Assign the following values to the parameters above for the axis you want to make an adjustment.
· MD3047 = 100 · MD3048 = Setting value of MD3033 (Load inertia ratio) + 100
3. Enable speed feedback function (MD3046 digit 1 (Pn110 digit 1) = 0)
4. Adjust only the 1st-stage torque filter time constant by assigning a large value to MD3351 (Pn401) as far as no vibration happens at any feed speed. If a vibration happens, decrease the value. The maximum value that can be assigned to the MD3351 (Pn401) is calculated from the speed loop gain MD3030 (Pn100) as follows. Notice that you should assign a smallest possible value to it.
· MD3351 = 600000/(MD3030 2) 5. If no vibration happens in the procedure 4, increase speed loop gain MD3030 (Pn100).
6. If vibration starts while you are increasing MD3030, increase MD3351 paying attention to the above-mentioned maximum value.
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14.2 Servo control
INFO
7. When the MD3030 value is determined, set the speed loop integration time constant MD3030 (Pn101) as follows: · MD3030 = 2000000/(MD3030 2)
· Be sure to set speed loop integration time constants to the same value among the interpolation axes; otherwise, processing accuracy is affected.
· If a low frequency vibration is produced when you use this function, use torque filters or torque reference notch filters instead.
14.2.8 Predictive control
To use predictive control for cutting feed and positioning, set the following machine data and parameters. Predictive control having been enabled with the following settings may become active/inactive in the following cases:
· Predictive control for cutting feed: Always active during programmed operation except during rigid tapping. (Predictive control becomes inactive during rigid tapping because the Spindle and servo gain are to be equal each other.)
· Predictive control for positioning: Always active for positioning during RAPID, JOG, and programmed operations excluding during handle or step feed operations. (During handle and step feed operations, predictive control becomes inactive.)
For procedures how to set predictive control, refer to a separate manual.
INFO
If model following control is used for positioning, disable predictive control.
CNC setting
For feed axis
· MD37610 PROFIBUS_CTRL_CONFIG (For each Servo axis) Meaning: CNC feed mode transmission to a drive Setting value: 0 --- Disabled 1 --- Enabled Assign "1" (Enabled) to this parameter if the predictive control is used. Note: Set this parameter to "Disabled" for Spindle; otherwise, you cannot change over Spindle drive parameters (DBX21.0-2) from PLC.
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Drive set-up procedure 14.2.8 Predictive control
Servo drive settings
For cutting feed
· MD3079 digit 0 (Pn131 digit 0) SWITCH_PREDICTED_1
Meaning: 1st predictive control switch Setting value: 0 --- Disabled
1 --- Enabled (Tp = 0.001) 2 --- Enabled (Tp = 0.002)
· MD3038 (Pn132) PARAM_C_PREDICTED_1
Meaning: 1st predictive control parameter C Setting value: [0.01]
· MD3081 (Pn133) PARAM_CD_PREDICTED_1
Meaning: 1st predictive control parameter Cd Setting value: [0.01]
· MD3082 (Pn132) PARAM_ALPHA_PREDICTED_1
Meaning: 1st predictive control parameter Setting value: [0.01]
· MD3083 (Pn135) EQUIV_KP_ADJ_PREDICTED_1
Meaning: 1st predictive control equivalent Kp fine adjustment amount Setting value: [0.1/s]
· MD3084 (Pn136) SPD_FF_GAIN_PREDICTED_1
Meaning:
1st predictive control speed FF gain (Added to predictive feed forward control.)
Setting value: [%]
· MD3085 (Pn137) TRQ_FF_GAIN_PREDICTED_1
Meaning:
1st predictive control torque FF gain (Added to predictive feed forward control.)
Setting value: [%]
· MD3086 (Pn138) TRQ_FF_FIL_T_CONST_PREDIC_1
Meaning:
1st predictive control torque FF filter time constant (Added to predictive feed forward control.)
Setting value: [0.01 ms]
For positioning
· MD3079 digit 1 (Pn131 digit 1) SWITCH_PREDICTED_1 Meaning: 2nd predictive control switch Setting value: 0 --- Disabled 1 --- Enabled (Tp = 0.001) 2 --- Enabled (Tp = 0.002)
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14.2 Servo control
· MD3087 (Pn139) PARAM_C_PREDICTED_2
Meaning: 2nd predictive control parameter C Setting value: [0.01]
· MD3088 (Pn13A) PARAM_CD_PREDICTED_2
Meaning: 2nd predictive control parameter Cd Setting value: [0.01]
· MD3089 (Pn13B) PARAM_ALPHA_PREDICTED_2
Meaning: 2nd predictive control parameter Setting value: [0.01]
· MD3090 (Pn13C) EQUIV_KP_ADJ_PREDICTED_2
Meaning: 2nd predictive control equivalent Kp fine adjustment amount Setting value: [0.1/s]
· MD3091 (Pn13D) SPD_FF_GAIN_PREDICTED_2
Meaning:
2nd predictive control speed FF gain (Added to predictive feed forward control.)
Setting value: [%]
· MAD3092 (Pn13E) TRQ_FF_GAIN_PREDICTED_2
Meaning:
2nd predictive control torque FF gain (Added to predictive feed forward control.)
Setting value: [%]
· MD3093 (Pn13F) TRQ_FF_FIL_T_CONST_PREDIC_2
Meaning:
2nd predictive control torque FF filter time constant (Added to predictive feed forward control.)
Setting value: [0.01 ms]
14.2.9 Model following control
To use model following control for positioning, set the following machine data and parameters. When model following control is enabled with the following machine data and parameters, each of the parameters becomes always active for positioning (during RAPID, JOG, and programmed operation excluding handle feed or step feed operation.) (For cutting feed, rigid tapping, and handle or step feed operation, the model following control becomes inactive.) For procedures how to adjust model following control, refer to a separate manual.
IMPORTANT
If you want to use predictive control for positioning, disable model following control.
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Drive set-up procedure 14.2.9 Model following control
CNC settings
For feed axis
· MD37610 PROFIBUS_CTRL_CONFIG (For each Servo axis) Meaning: CNC feed mode transmission to a drive Setting value: 0 --- Disabled 1 --- Enabled Assign "1" (Enabled) to this parameter when model following control is used. Note: Set this parameter to "Disabled" for Spindle; otherwise, you cannot change over Spindle drive parameters (DBX21.0-2) from PLC.
For Servo drive
· MD3046 digit 3 (Pn110 digit 3) SWITCH_ONLINE_AUTO_TUNING (For each axis) Meaning: Model following control (MFC) selection Setting value: 0 --- Model following control is disabled. 1 --- Rigid model following control is carried out. (2 --- 2-inertia model following control is carried out. You need to study separately whether or not to use 2-inertia model following control.)
· MD3527 digit 0 (Pn81B digit 0) MASK_MFC_BANKSEL_0_3 (For each axis) Meaning: Model Following Control (MFC) bank 0 mask Setting value: (0 --- Model following control is enabled.) 1 --- Model following control is disabled. Note: Since model following control is to be used only for positioning, disable the bank 0 by default.
· MD3527 digit 1 (Pn81B digit 1) MASK_MFC_BANKSEL_0_3 (For each axis) Meaning: Model Following Control (MFC) bank 1 mask Setting value: 0 --- Model following control is enabled. (1 --- Model following control is disabled.) Note: Since model following control is to be used only for positioning, enable the bank 1 (for positioning.)
· MD3527 digit 2 (Pn81B digit 2) MASK_MFC_BANKSEL_0_3 (For each axis) Meaning: Model Following Control (MFC) bank 2 mask Setting value: (0 --- Model following control is enabled.) 1 --- Model following control is disabled. Note: Since model following control is to be used only for positioning, disable the bank 2 (for cutting feed.)
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14.2 Servo control
· MD3527 digit 3 (Pn81B digit 3) MASK_MFC_BANKSEL_0_3 (For each axis) Meaning: Model Following Control (MFC) bank 3 mask Setting value: (0 --- Model following control is enabled.) 1 --- Model following control is disabled. Note: Since model following control is to be used only for positioning, disable the bank 3 (for handle feed.)
· MD3055 (Pn119) LOOP_GAIN_MFC (For each axis) Meaning: MFC gain (Model position loop gain) Setting value: [0.1/s]
· MD3056 (Pn11A) DUMP_FACTOR_MFC (For each axis) Meaning: MFC attenuation coefficient (Model loop gain correction) Setting value: [0-1000]
· MD3059 (Pn11D) SPD_FF_GAIN_MFC (For each axis) Meaning: MFC speed FF gain Setting value: [0-1000]
· MD3060 (Pn11E) TRQ_FF_GAIN_MFC (For each axis) Meaning: MFC torque FF gain Setting value: [0-1000]
14.2.10 Stop vibration suppression
The following shows parameters relating to stop vibration suppression used for Servo axis. If stop vibration is produced, decrease a setting value of the following parameter until the vibration stops. (Lowest limit value: 50%) Notice that stop vibration becomes decreased as the number of stages and the time constant of torque filter settings are decreased. If a vibration is still produced irrespective of this function, use the vibration-damping control shown in 14.2.11 "Vibration-damping control".
· MD3114 (Pn154) DAMP_RATIO_ANTIVIB_ON_STP (For each axis) Meaning: Stop vibration suppression attenuation ratio Setting value: [%] Initial value: 100% (Function disabled) Note: To eliminate stop axis Kv drop, set the parameter to 50% or higher. Be careful that parameter settings are different from that for J300. (Initial setting value is 0%.)
· MD3115 (Pn155) START_TIME_ANTIVIB_ON_STP (For each axis) Meaning: Stop vibration suppression start time Setting value: [ms] Standard setting value: 1024 ms
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Drive set-up procedure 14.2.11 Vibration-damping control
14.2.11 Vibration-damping control
Use this function in order to suppress stationary vibrations ranging from about 50 Hz to 400 Hz at a Servo axis. The following explains about parameters relating to vibration-damping control.
· MD3041 digit 3 (Pn10B digit 3) GAIN_SWITCH (For each axis) Meaning: Vibration-damping control selection Setting value: 0 --- Vibration-damping control disabled. 3 --- A-type vibration-damping control enabled. (1 and 2 --- M1-type and M2-type vibration-damping control enabled. You need to study separately whether or not to use those functions.)
· MD3050 (Pn114) SPD_DUMP_GAIN_ANTIVIBRATION (For each axis) Meaning: Vibration-damping speed damping gain Setting value: [%] Note: Set the parameter to "0" before adjustment.
· MD3051 (Pn115) LPF_CONST_ANTIVIBRATION (For each axis) Meaning: Vibration-damping low-pass filter time constant Setting value: [0.01 ms]
· MD3052 (Pn116) HPF_CONST_ANTIVIBRATION (For each axis) Meaning: Vibration-damping high-pass filter time constant Setting value: [0.01 ms] Standard setting value: The same value as MD3051 (Pn115)
· MD3071 (Pn129) OBSERVER_GAIN_ANTIVIBR (For each axis) Meaning: Vibration-damping observer gain Setting value: [Hz] Standard setting value: 1/2 of vibration frequency
· MD3072 (Pn12A) LOAD_INERTIA_ANTIVIBR (For each axis) Meaning: Vibration-damping observer inertia correction Setting value: [%] Standard setting value: 100
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14.2 Servo control
INFO
Adjustment procedures
1. Carry out analog monitor related setting. Such data that are monitored with measuring instruments, such as high coder, are to be treated as torque reference and vibration-damping signal. For this reason, set MD3003 (Pn003) digit 0 and digit 2 to "2" (or "E") and "E" (or "2") respectively.
2. Measure torque reference vibration waveform that was obtained with instruments such as a high coder.
3. Read out the frequency of the vibration waveform, and assign 1/2 of the frequency to MD3071 (Pn129).
4. Determine the values of MD3051 (Pn115) and MD3052 (Pn116) using the following equations so that the phase difference becomes 90 degrees between vibration-damping signal and torque reference.
· MD3051 = (2 1000/(2f)) 100 · MD3052 = Pn115 5. Set MD3051 (Pn115) and MD3052 (Pn116) to the values calculated in the procedure 4. 6. Turn off the Servo. (Enable vibration-damping function.) 7. After turning on the servo again, check if phase difference is 90 degrees between high coder torque reference and vibration-damping signal. 8. Increase the value of MD3050 (Pn114) gradually from 0. (The value starts to take effect when it becomes about 80.) 9. Amplitudes of both torque reference and vibration-damping signal become smaller if the vibration-damping function works.
If there is no change in the amplitudes even when the MD3050 (Pn114) is increased to about 200, the vibration-damping function may not work. If this is the case, set MD3050 (Pn114) to "0" to disable the vibration-damping function and use another vibration suppression function instead.
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Drive set-up procedure 14.2.12 Gain switching
14.2.12 Gain switching
You can automatically switch speed loop gain between KV and KVI in Cutting feed, Positioning, and handle feed modes. When gain switching is enabled with the following machine data and parameters, each of the parameters becomes active in the following cases.
· Cutting feed gain: Always active for cutting feed during programmed operation. · Positioning gain: Always active for positioning during RAPID, JOG, and programmed
operation excluding handle feed or step feed operation. · Handle feed gain: Always active for handle feed and step feed operation.
CNC setting For feed axis
· MD37610 PROFIBUS_CTRL_CONFIG (For each axis) Meaning: CNC feed mode transmission to a drive Setting value: 0 --- Disabled 1 --- Enabled Assign "1" (Enabled) to this parameter when gain switching is used. Note: Set this parameter to "Disabled" for Spindle; otherwise, you cannot change over Spindle drive parameters (DBX21.0-2) from PLC.
Servo drive setting For cutting feed
Standard setting value becomes the cutting feed gain. · MD3030 (Pn100) KV (For each axis) Meaning: Speed loop gain Setting value: [0.1 Hz] To express the setting value in previous unit [1/s], multiply the value by 2/10. · MD3031 (Pn101) KVI (For each axis) Meaning: Speed loop integration time constant Setting value: [0.01 ms]
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14.2 Servo control
For positioning
· MD3070 digit 0 (Pn128 digit 0) LOOP_GAIN_BANK_SWITCH (For each axis) Meaning: 2nd loop gain bank selection Setting value: 0 --- Disabled 1 --- Enabled If you want to use gain switching function for positioning, set the parameter to "1".
· MD3034 (Pn104) KV2 (For each axis) Meaning: 2nd speed loop gain Setting value: [0.1 Hz] To express the setting value in previous unit [1/s], multiply the value by 2/10.
· MD3035 (Pn105) KVI2 (For each axis) Meaning: 2nd speed loop integration time constant Setting value: [0.01 ms]
For handle feed
· MD3070 digit 1 (Pn128 digit 1) LOOP_GAIN_BANK_SWITCH (For each axis) Meaning: 3rd loop gain bank selection Setting value: 0 --- Disabled 1 --- Enabled If you want to use gain switching function for handle feed, set the parameter to "1".
· MD3073 (Pn12B) KV3 (For each axis) Meaning: 3rd speed loop gain Setting value: [0.1 Hz] To express the setting value in previous unit [1/s], multiply the value by 2/10.
· MD3074 (Pn12C) KVI3 (For each axis) Meaning: 3rd speed loop integration time constant Setting value: [0.01 ms]
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Drive set-up procedure 14.2.13 Current offset adjustment
14.2.13 Current offset adjustment
To adjust the current offset of a Servo drive, perform the following procedures using a Digital operator. 1. Stop to move a Servo drive that you want to make a current offset adjustment. Turn off
the servo with the main power turned on. In general, to turn off the servo as such, you need to prepare a sequence ladder that can turn off the servo by axis (DB3nDBX21.7 = 0) and use forced contact input.
Note: With the setting in section 14.3.6, the vertical axis will not fall down because the brake is applied at the same time when the servo is turned off; however, you need to pay attention to the vertical axis.
2. Select "Fn00E" using the Digital operator and press [DATA ENTER] key. 3. "Cur_o" is displayed. press [DSPL/DET] key. 4. "donE" blinks on the screen for about 1 second and the offset automatic adjustment
completes. 5. Press [DATA ENTER] key to exit from the mode.
14-54
14.2 Servo control
14.2.14 Analog monitor
Each of the Servo drives and Spindle drives has an analog monitor function. You can observe various waveforms using a measuring instrument, such as an oscilloscope, connected to a monitor cable from the CN16 (CN26 in the case of 2nd axis of the 2-axis-combined drive) of each unit.
Servo drive
· MD3003 (Pn003) FUNCTION_SWITCH_APPLIC3 (For each axis) Meaning: Function selection application switch 3 Initial value: 0002 (Monitor 1: Motor rotation speed; monitor 2: torque reference)
The following table shows a list of data that can be observed at a Servo drive and explains how to set the magnification and others.
User constant No.
Position
Name
MD3003 (Pn003)
Lower byte
Analog monitor 1
Function selection application
Upper byte
Analog monitor 2
Digit position
Setting
Description
Digit 0
0
Motor revolution speed: 1V/1000 min -1
Digit 2
1
Speed reference: 1V/1000 min -1
2
Torque reference: 1V/100%
3
Position deviation: 0.05 V/1 command unit
Signal descrip-
4
Position amplitude deviation: 0.05 V/1 command unit
tions
5
Position command speed [min-1 conversion]: 1V/1000 min -1
6
Observer speed: 1V/1000 min -1
7
Collision detection amount: 1V/100%
8
Quadrant error compensation amount: 1V/100%
9
Speed feed forward: 1V/1000 min -1
A
Torque feed forward: 1V/100%
B
Model torque reference: 1V/100%
C
Model position deviation: 0.05 V/1 position unit
D
Estimated disturbance torque: 1V/100%
E
Vibration-damping monitor: 1V/1000 min -1
F
System constant data output
Digit 1 Digit 3
0
Multiplied by 1
1
Multiplied by 10
Magnifi-
2
Multiplied by 100
cation
3
Multiplied by 1/10
4
Multiplied by 1/100
Factory default setting
0002
Monitor 2
Monitor 1
n0000
CN2 signal
CN2 signal
CN2 magnification CN2 magnification
14-55
Drive set-up procedure 14.2.14 Analog monitor
Spindle drive
· MD6472 (Cn472) MONITOR_1_OUTPUT (For each axis) Meaning: Monitor 1 output Initial value: 0 --- Motor revolution speed
· MD6475 (Cn475) MONITOR_2_OUTPUT (For each axis) Meaning: Monitor 2 output Initial value: 1 --- Torque reference
Both MD6472 (Cn472) and MD6475 (Cn475) can output the following signals in analog form.
0: Motor revolution speed: 5 V/Max. number of revolutions 1: Torque reference (Short-duration rated torque): 5V/100% 2: Zero speed signal (sp_ZSPD) 3: Speed agreement signal (sp_AGR) 4: Speed detection signal (sp_SDET) 5: Torque detection signal (sp_TDET) 6: Under torque limitation (sp_TLE) 7: Load axis origin signal (sp_ORGSIG) 8: Orientation completion signal (sp_OREND) 9: Winding changeover completion signal (sp_CHWEND) 10: Failure signal (sp_FLTSIG) 11: Error warning signal (sp_TALM)
Monitor cable
Servo drive and Spindle drive in common
· DE9404559 (SGDC drive and -II drive in common)
Servo drive and Spindle drive in common
White:
Analog monitor 1 (CH1) output
Red:
Analog monitor 2 (CH2) output
Black:
0 V
14-56
14.3 Motion Control
14.3 Motion Control
14.3.1 Feed Rate
Feed Axes/Spindles
· MD34990 ENC_ACTIVAL_SMOOTH_TIME [0] (For each axis)
Meaning:
Time constant of low pass filter inside CNC for encoder feedback Used as a smoothing filter for preventing cogging of CNC spindle speed or flickering data display when the resolution of spindle encoder is not high enough. (This machine data can also be set on feed axes.) This is valid for the speed and position display for G33, G34, G35, G95, G96, G97, FPRAON, and HMI.
Setting value: [sec] A value between 0 and 0.5 sec. can be specified. Standard setting value is 0.05 sec. Adjust this value to have no flickering display.
Note: Setting this filter does not decrease the position loop gain. · MD34990 ENC_ACTIVAL_SMOOTH_TIME [1] (For each axis)
Meaning:
Time constant of low pass filter inside CNC for feedback from the separately mounted encoder. Used like MD34990 [0].
Setting value: [sec]
Feed axes
· MD32000 MAX_AX_VERO (For each axis) Meaning: Maximum speed for memory operation (G00, G01, etc.) Setting value: [mm/min] or [deg/min]
· MD32010 JOG_VERO_RAPID (For each axis) Meaning: RAPID speed in JOB mode Setting value: [mm/min] or [deg/min]
· MD32020 JOG_VERO (For each axis) Meaning: JOG speed Setting value: [mm/min] or [deg/min]
· MD32060 POS_AX_VERO (For each axis) Meaning: Maximum speed for positioning command (POS command) maximum speed Setting value: [mm/min] or [deg/min]
14-57
Drive set-up procedure 14.3.1 Feed Rate
· MD36200 AX_VERO_LIMIT (For each axis)
Meaning:
Speed limit (the speed which triggers alarm output)
Setting value: [mm/min] or [min-1]
Note: If the speed exceeds this value, the alarm 25030 is output. For spindles, this is the speed limit in the positioning control mode.
· MD36210 CTRLOUT_LIMIT (For each axis)
Meaning:
Maximum speed reference percentage (the percentage of maximum speed reference taking the speed reference for maximum motor speed MD32260 (see, 14.1.7) as 100%).
Setting value: 110 [%]
Spindle
· MD35010 GEAR_STEP_CHANGE_ENABLE (For each axis)
Meaning:
Gear changing
Setting value: 0---No gear changing 1---Gear changing
· MD35100 SPIND_VERO_LIMIT (For each axis)
Meaning:
Maximum speed of spindle
Setting value: [min-1]
· MD35110 GEAR_STEP_MAX_VERO [n] (For each axis)
Meaning:
Maximum speed of the nth gear
Setting value: [min-1]
· MD35120 GEAR_STEP_MIN_VERO [n] (For each axis)
Meaning:
Minimum speed of the nth gear
Setting value: [min-1]
· MD35130 GEAR_STEP_MAX_VERO_LIMIT [n] (For each axis)
Meaning:
Maximum speed limit of the nth gear
Setting value: [min-1]
· MD35140 GEAR_STEP_MIN_VERO_LIMIT [n] (For each axis)
Meaning:
Minimum speed limit of the nth gear
Setting value: [min-1]
· MD35300 SPIND_POSCNTL_VERO (For each axis)
Meaning:
Maximum speed for spindle positioning control mode
Setting values: [min-1]
14-58
14.3 Motion Control
14.3.2 Acceleration/Deceleration
Feed axes
For acc./dec. of feed axes, the pre-interpolation acc./dec. typically used for rapid machining is always enabled. Acc./dec. control can achieve more effective acc./dec. by controlling both rate and jerk of acc./dec. (factor for S-shaped acc./dec.). However, for G00 feed, different rate and jerk of acc./dec. from those for maching can be set. For examples of machine data setting including those for rapid, precise machining, see section 14.4.4. Also, the post-interpolation acc./dec. (acc./dec. For each axis) can be performed in previous ways. For more information, see the setting method for post-interpolation acc./dec..
· MD20150 [20] GCODE_RESET_VALUES
Meaning: Default setting of acc./dec. jerk
Setting value: 1---BRISK (jerk is disabled) is set by default. 2---SOFT (jerk is enabled) is set by default.
Standard setting value: 2
· MD20600 MAX_PATH_JERK
Meaning: Acc./dec. jerk (acceleration rate) Setting value: [mm/sec3] or [deg/sec3]
Note: Applied for G00 and G01. To set acc./dec. jerk for each axis with MD32431 MAX_AX_JERK, use a larger value (ex. 1,000,000 for initial value) for this than the value with MD32431. If there occurs some kind of vibration, set the 20 to 50 % smaller value for this machine data than the maximum value with MD32431. Do not use MD32410 AX_JERK_TIME together with pre-interpolation acc./dec., because the machine data is post-interpolation acc./ dec. jerk and affects machining profile errors.
· MD20602 CURV_EFFECT_ON_PATH_ACCEL
Meaning:
Acceleration factor of curve section By setting this machine data, the sum of tangential component and centrifugal component in curve section can be calculated to meet the value with MD32300. Where,
· Tangential component: Decrease the acceleration speed in the curve section as shown with MD32300 (1.0 - MD20602).
· Centrifugal component: Decrease the speed at the corner of curve section as shown with MD32431 MD20603.
Setting value: 0 to 1.0 Standard setting value: 0.75
14-59
Drive set-up procedure 14.3.2 Acceleration/Deceleration
· MD32300 MAX_AX_ACCEL (For each axis)
Meaning:
Acc./dec. rate
Setting value: [mm/sec2] or [deg/sec2]
Note: Applied for G00 and G01. · MD32310 MAX_ACCEL_OVL_FACTOR (For each axis)
Meaning:
Corner speed change
Setting value:
[percentage] The speed differences of each axis according to changes of orientation of block boundary are controlled by the percentage for acc./dec. rate (MD32300). Generally set the value to "1.01". This value is equal to the conventional acceleration at the corner. For further reduction of shocks at the corner, output G642 command or decrease the value with MD32431.
Note: Applied for G00 and G01. Standard setting value: 0.01
· MD32431 MAX_AX_JERK (For each axis)
Meaning:
Axis-specific acc./dec. jerk (acceleration rate)
Setting value: [mm/sec3] or [deg/sec3]
Note: Applied for G00 and G01. Do not use MD32410 AX_JERK_TIME together with pre-interpolation acc./dec., because it is post-interpolation acc./dec. jerk and affects machining profile errors. Specify a larger value (ex. 1,000,000 for the initial value) with MD20600 MAX_AX_JERK than the value with MD32431.
· MD32432 PATH_TRANS_JERK_LIM (For each axis)
Meaning:
Jerk limit between blocks Jerk setting for controlling the acceleration rate differences which occur according to the change of radius of curvature on the boundary of blocks such as continuous arc blocks.
Setting value: [mm/sec3] or [deg/sec3]
Standard setting value: Identical to MD32431
· MD32434 G00_ACCEL_FACTOR (For each axis)
Meaning:
Acceleration factor for G00. Percentage of acceleration for MD32300.
Setting value: [percentage]
· MD32435 G00_JERK_FACTOR (For each axis)
Meaning:
Acc./dec. jerk for G00. Percentage of acc./dec. jerk for MD32431.
Setting value: [percentage]
14-60
14.3 Motion Control
The following figure shows an example of actual machining program to demonstarete the meaning of each machine data.
Y N140
Bend
10
N130
N90 F5000 SOFT G64
N100 G0 X0 Y0 Z0
N110 G1 X10
çlinear interpolation
N120 G3 CR=5 X15 Y5 Arc interpolation
N130 G3 CR=10 X5 Y15Arc interpolation tangent to N120
N140 G1 X-5 Y17.679 linear interpolation with 15: slope
m3
(no tangent to N130)
N110 N120
10
X
MAX_AX_ACCEL[X]*SOFT_ACCEL_FACTOR[X] MD32310MAX_ACCEL_OVL_FACTOR[X]
MD32431MAX_AX_JERK[X]
10
20
30
40
50
60
70
80
90 100 110 120 130 140 150
N110
N120
N130
MD32432PATH_TRANS_JERK_LIM[X]
N140
acceleration of X-axis
speed of X-axis
Fig. 14.2 Function of machine data related to acc./dec.
Spindle
· MD35200 GEAR_STEP_SPEEDCTRL_ACCEL [n] (For each axis)
Meaning: Acceleration under the nth gear speed control Setting value: [r/sec2]
Note: Set this value large enough for spindle load to saturate when the spindle is on acc./dec motion. (If the value is not large enough, when acc./ dec. function is enabled, the motor follows the command so that SAGR signal will be kept to standstill.
· MD35210 GEAR_STEP_POSCTRL_ACCEL [n] (For each axis)
Meaning: Acceleration under the nth gear position control Setting value: [re/sec2]
14-61
Drive set-up procedure 14.3.2 Acceleration/Deceleration
INFO
Usage of post-interpolation acc./dec. For pre-interpolation acc./dec., the acc./dec. per program block is enabled so frequently that accuracy of machining is better than ever, while the machining time at the same feed rate is longer. If you weight the machining time more than machining accuracy for the grinding feed, you can apply the post-interpolation acc./dec. employing post-interpolation jerk with the following setting. In this case, set the machine data related to the following post-interpolation acc./dec. after setting the value to be almost disabled . For details about machine data setting, see the examples in the following table. · MD32400 AX_JERK_ENABLE Meaning: post-interpolation jerk enabled Setting value: 0---disabled 1---enabled Specify the value 1 (one) when post-interpolation jerk is employed. · MD32402 AX_JERK_MODE Meaning: Post-interpolation jerk mode Setting value: 1---exponential acc./dec. filter 2---linear acc./dec. (average) filter Standard setting value: 2 (1: exponential acc./dec. filter affects machining profile errors because of the large delay of this filter.) · MD32410 AX_JERK_TIME Meaning: post-interpolation jerk time constant Setting value: [sec] The following table shows examples of machine data setting when post-interpolation acc./dec. is employed, compared to the setting when pre-interpolation acc./dec. employed.
CNC machine data
Pre-interpolation acc./dec. rate MD32300 MAX_AX_ACCEL
Pre-interpolation acc./dec.
3.3m/sec2
Pre-interpolation acc./dec. jerk MD32431 MAX_AX_JERK
Post-interpolation jerk enable MD32400 AX_JERK_ENABLE
Post-interpolation jerk mode MD32402 AX_JERK_MODE
Post-interpolation jerk time constant MD32410 AX_JERK_TIME
10000.0m/sec3
0: disabled
-
0.001sec (Almost disabled setting)
Pre-interpolation acc./dec.
(Linear acc./dec.) 100.0m/sec2 (Almost infinite setting) 10000.0m/sec3
1: enabled
2: linear acc./dec.
0.05sec
Remarks
Almost disabled setting
Note: Post-interpolation jerk MD32431 on the above example is shown as almost disabled, but it is possible to perform smoother acc./dec. by setting the values in the same way as pre-interpolation jerk.
14-62
14.3 Motion Control
14.3.3 Positioning
Positioning action and positioning completion is determined only in CNC. The positioning completion function and other relevant functions of the drive must not be used. Primary machine data in relation to positioning is listed below. For the details about the spindle orientation, see section 14.3.13.
· MD20154 EXTERN_GCODE_RESET_VALUE [14]
Meaning: G61/G64 designation when reset
Setting value: 0---G61 is selected 3---G64 is selected
Standard setting value: 3
· MD20732 EXTERN_G0_LINEAR_MODE
Meaning: G0 feed specification
Setting value: 0---Positioning axis feed is enabled 1---Interpolation feed is enabled
Standard setting value: 1
Note: When specifying this machine data for "0", the PLC processing related to G0 and the machine data must be modified to satisfy the specification of positioning.
· MD20734 EXTERN_FUNCTION_MASK
Meaning: G00 specification when G64 is specified
Setting value: 0---When specifying G64, Exact Stop is not enabled for G00. 1---When specifying G 64, Exact Stop is enabled for G00.
Standard setting value: 1
Note: This machine data is available for CNC system version 01.00.01 or higher.
· MD20522 EXACT_POS_MODE_G0_TO_G1
Meaning:
Motion of the axis when switching from G0 to G1 feed or from G1 to G0 feed, with MD20734.4 = 1.
Setting value: 0---Exact Stop is not enabled 1---Exact Stop is enabled according to G601 specification 2---Exact Stop is enabled according to G602 specification 3---Exact Stop is enabled according to G603 specification
Standard setting value: 1
Note: This machine data is available for CNC system version 01.00.01 or higher.
14-63
Drive set-up procedure 14.3.3 Positioning
· MD36000 STOP_LIMIT_COARSE (For each axis)
Meaning: Setting value:
Positioning completion range (coarse) [mm] or [deg]
Miscellanea:
When coming into this positioning completion range, DB3nDBX60.6 = 1. When Exact Stop is initiated, coming into this positioning completion range is interpreted as the positioning completion according to G602 command and the processing begins at the next block.
· MD36010 STOP_LIMIT_FINE (For each axis)
Meaning:
Positioning completion range (fine)
Setting value: [mm] or [deg]
Miscellanea:
When coming into this positioning completion range, DB3nDBX60.7 = 1. When Exact Stop is initiated, coming into this positioning completion range is interpreted as positioning completion according to G602 command and the processing begins at the next block.
· MD36020 POSITIONING_TIME (For each axis)
Meaning:
Positioning completion check starting time If the positioning completion has not been achieved within the positioning completion range with MD36000 when the this machine data setting time is over after the command delivery, alarm 25080 will be output. (This alarm check is permitted one time only.)
Setting value:[sec]
Note: Take notice that if this value of machine data is excessive large the alarm is late to be detected.
· MD36030 STANDSTILL_POS_TOL (For each axis)
Meaning: Setting value:
In-position stop tolerance [mm] or [deg]
· MD36040 STANDSTILL_DELAY_TIME (For each axis)
Meaning:
In-position stop tolerance check start time If the positioning completion has not been achieved within the positioning completion range with MD36000 when the this machine data setting time is over after the command delivery, alarm 25040 will be output. (This alarm check should be regularly permitted.)
Setting value: [sec]
Note: Take notice that if this value of machine data is excessive large the alarm is late to detected.
14-64
14.3 Motion Control
The following figure explains how to read major machine data.
Position
Actual position
Reference position
STANDSTILL DELAY_TIME
STANDSTILL_POS_TOL
STOP_LIMIT_COARSE STOP_LIMIT_FINE
Exact stop fine signal Exact stop course signal
POSTIONING_TIME
Fig. 14.3 Positioning timing
· MD30330 MODULO_RANGE (For each axis)
Meaning:
Rotation axis motion range Amount of motion until the position indicator has increased and be reset to zero (0). This command can be set to axis positioning control and also to rotation axis control.
Setting value: [deg] Standard setting value: 360 deg
14.3.4 Emergency stop
On YS 840DI the emergency stop is activated by the deceleration stop according to CNC command, as described on the following page. In this case, after emergency stop, CNC switches over to the speed reference mode for drive and outputs the deceleration command. When the speed has been fallen to or below MD36060, CNC outputs the emergency stop command to the drive to stop at the maximum torque and then to turn off the servo drive. The machine data and parameters related to the emergency stop are listed below.
14-65
Drive set-up procedure 14.3.4 Emergency stop
CNC setting
· MD36060 STANDSTILL_VERO_TOL (For each axis)
Meaning:
Zero speed Stops at the maximum torque (error cut) on the drive when the speed falls down to or below this speed.
Setting value: [mm/min] (linear axis) or [min-1] (rotation axis)
· MD36610 AX_EMERGENCY_STOP_TIME (For each axis)
Meaning:
Emergency stop standstill This is the duration of time to be required until the emergency stop from the maximum speed specified with MD36210 CTRLOUT_STOP_ TIME
Setting value: [sec]
· MD36620 SERVO_DISABLE_DELAY_TIME (For each axis)
Meaning:
Duration of time from the entry of emergency stop until the servo drive is turned off You must configure MD36620 > MD36610.
Setting value: [sec]
Drive setting
Servo drive
· MD3356 (Pn406) EMERGENCY_STOP_TORQUE (For each axis)
Meaning:
Emergency stop torque
Setting value: [%]
Standard setting value: 800 [%] (stop at the maximum torque)
· MD3442 (Pn516) EMERGENCY_STOP_WAIT_TIME (For each axis)
Meaning:
Emergency stop waiting time This specifies the wait time between the input of emergency stop (switch -> PLC -> CNC) and the emergency stop of drive (CNC -> drive). If there is no input of the emergency stop to the drive even after this duration of time has past, the feed axes automatically decelerate to stop. If you want the emergency stop to be the deceleration stop via drive, not via CNC, specify "0" for this parameter.
Setting value: [ms] Standard setting value: 500 [ms]
14-66
14.3 Motion Control
· MD3426 (Pn506) DELAY_FROM_BRK_SIG_TO_SVOFF (For each axis)
Meaning: Brake command - Servo drive cutoff delay time
Setting value: [10 ms]
· MD3528 (Pn81C) TACTOR_OFF_DELAY_TIME (For each axis)
Meaning:
Delay time of the main circuit cutoff after all axes servo drive have been turned off, including the event of emergency stop If there are two or more converters, configure this parameter to prevent this converter from cutting off the main circuit connector before the drive controlled by another converter has not been turned off. In setting values, consider the deceleration time of spindle (equivalent to MD6511).
Setting value: [ms]
Spindle drive
· MD6511 (Cn511) EMERGENCY_STOP_WAIT_TIME (For each axis)
Meaning:
Emergency stop waiting time This specifies the wait time between the emergency stop input (switch -> PLC -> CNC) and the drive emergency stop (CNC -> drive). If there is no input of the emergency stop to the drive even after this duration of time has passed, the spindle automatically free-runs to stop. If you want the emergency stop to be the free-run stop instead of the deceleration stop, specify "0" to this parameter.
Setting value: [ms] Standard setting value: 500 [ms]
· MD6819 (Cn819) TACTOR_OFF_DELAY_TIME (For each axis)
Meaning:
Delay time of the main circuit cutoff after all axes servo drives are turned off, including the event of emergency stop If there are two or more converters, configure this parameter to prevent this converter from cutting off the main circuit connector before the drive controlled by another converter has not been turned off. If the sum of the deceleration time of servo axis (equivalent to MD3426) and the delay time of brake (MD3426) is larger than the deceleration time (equivalent to MD6511), determine the setting value according to the difference.
Setting value: [ms]
14-67
Drive set-up procedure 14.3.5 Return to reference point
Emergency stop (switch -> PLC -> CNC)
Actual speed
Speed reference
or positioning reference
÷
Acceleration determined with MD36610
Speed reference
speed set with MD36060
/emergency stop (CNC -> drive)
Torque
÷
Brake (drive)
Servo-off Servo axis DB ON
Torque determined with MD3356 servo axis is less than 100 min-1 , servo-off delay (MD3426)
EMERGENCY_STOP_WAIT_TIME
Fig. 14.4 Emergency stop processing
TACTOR_OFF_DELAY_TIME
14.3.5 Return to reference point
For return to reference point, the typical motion is shown in the fig 14.5, being different from the conventional specification especially on the following points.
· After dog detection, motion pauses on the dog. (When the dog is not long enough, you must take some measures, for example retaining the signal of dog with a ladder.)
· Encoder C phase detection should be done by moving to the opposite direction to the dog. (However, if encoder C phase is preceding to the dog, it is possible to specify the direction with MD34050).
The primary machine data on return to reference point is as follows.
· MD34000 REFP_CAM_IS_ACTIVE (For each axis)
Meaning:
Return to reference point dog setting
Setting value: 0---No dog
1---Dog
Note: For spindles, specify "0" (no dog) for orientation.
14-68
14.3 Motion Control
· MD34010 REFP_CAM_DIR_IS_MINUS (For each axis)
Meaning: Return to reference point direction setting
Setting value: 0---positive direction
1---negative direction
· MD34020 REFP_VERO_SEARCH_CAM (For each axis)
Meaning:
Approach speed. Speed from the beginning of return to reference point until or during the dog searching
Setting value: [mm/min] or [min-1]
· MD34030 REFP_MAX_CAM_DIST (For each axis)
Meaning: Return to reference point dog searching maximum distance
Setting value: [mm] or [deg]
· MD34040 REFP_VERO_SEARCH_MARKER [0] (For each axis)
Meaning:
Creep speed (Speed from the dog detection until or during the C phase searching) (Motor encoder)
Setting value: [mm/min] or [min-1]
· MD34040 REFP_VERO_SEARCH_MARKER [1] (For each axis)
Meaning:
Creep speed (Speed from the dog detection until or during the C phase searching) (Separately mounted encoder)
Setting value: [mm/min] or [min-1]
· MD34050 REFP_SEARCH_MARKER_REVERSE [0] (For each axis)
Meaning: C-phase searching direction (motor encoder)
Setting value: 0---positive direction (when C-phase is not preceding to the dog (see Fig. 14.5.)
1---negative direction (when C-phase is preceding to the dog) If encoder C-phase is preceding the dog on the return to reference point way, specify "1".
· MD34050 REFP_SEARCH_MARKER_REVERSE [1] (For each axis)
Meaning: C-phase searching direction (separately mounted encoder)
Setting value: 0---positive direction (when C-phase is not preceding to the dog (see Fig.14.5.) 1---negative direction (when C-phase is preceding to the dog) If the encoder C-phase is following the dog on the return to reference point way, specify "1".
· MD34060 REFP_MAX_MARKER_DIST [0] (For each axis)
Meaning: C-phase searching maximum distance (motor encoder) Setting value: [mm] or [deg]
Note: For spindles, specify 1080 deg. minimum for orientation.
14-69
Drive set-up procedure 14.3.5 Return to reference point
· MD34060 REFP_MAX_MARKER_DIST [1] (For each axis)
Meaning:
C-phase searching maximum distance (separately mounted encoder)
Setting value: [mm] or [deg]
· MD34070 REFP_VERO_POS (For each axis)
Meaning:
Return to reference point speed (return speed from the C-phase to the origin)
Setting value: [mm/min] or [min-1]
· MD34080 REFP_MOVE_DIST [0] (For each axis)
Meaning:
Return to reference point distance (distance from C phase to the origin) (motor encoder)
Setting value: [mm] or [deg]
Note: Setting a negative value enables the motion to orient to the direction opposite to the setting with MD34050.
· MD34080 REFP_MOVE_DIST [1] (For each axis)
Meaning:
Return to reference point distance (distance from C phase to the origin) (separately mounted encoder)
Setting value: [mm] or [deg]
Note: Setting a negative value enables the motion to orient to the direction opposite to the setting with MD34050.
· MD34090 REFP_MOVE_DIST_CORR [0] (For each axis)
Meaning:
Return to reference point distance offset (motor encoder)
Setting value: [mm] or [deg]
Note: When the absolute value detection function is used, the origin setting value is written into this parameter.
· MD34090 REFP_MOVE_DIST_CORR [1] (For each axis)
Meaning:
Return to reference point distance offset (separately mounted encoder)
Setting value: [mm] or [deg]
Note: When the absolute value detection function is used, the origin setting value is written into this parameter.
· MD34092 REFP_CAM_SHIFT [0] (For each axis)
Meaning:
Origin dog range shift (motor encoder) When the origin dog is so close to C phase, the dog range is virtually expanded with this machine data to prevent from detecting C phase following the dog.
Setting value: [mm] or [deg]
· MD34092 REFP_CAM_SHIFT [1] (For each axis)
Meaning:
Origin dog range shift (separately mounted encoder) When the origin dog is so close to C phase, the dog range is virtually expanded with this machine data to prevent from detecting C phase following the dog.
Setting value: [mm] or [deg]
14-70
14.3 Motion Control
· MD34100 REFP_SET_POS [n] (For each axis)
Meaning: Origin position shift (n is a value set with DB3XDBX2. 4 to 7.) Setting value: [mm] or [deg]
· MD34200 ENC_REFP_MODE [0] (For each axis)
Meaning: Return to reference point mode setting (motor encoder)
Setting value: 0---No origin pulse 1---C phase return to reference point
Note: For the encoder C phase return to reference point, you must specify "1". When the absolute value detection function is enabled, you must specify "0".
· MD34200 ENC_REFP_MODE [1] (For each axis)
Meaning: Return to reference point mode setting (separately mounted encoder)
Setting value: 0---No origin pulse 1---C-phase return to reference point
Note: For the encoder C phase return to reference point, you must specify "1". When the absolute value detection function is enabled, you must specify "0".
Speed
MD34020
MD34070 MD34040
MD34010
Stop on the dog. Stopping on any other position than the dog will trigger the alarm.
Starting position
Origin
MD34080 +MD34090
MD34092
Distance Dog
C-phase
Fig. 14.5 Schema of return to reference point action
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Drive set-up procedure 14.3.6 Brake control
14.3.6 Brake control
Feed axes motor brakes are directly controlled with each servo drive, except for the special mechanical cramps. We will describe the methods for brake control under the following conditions.
When servo drives are powered on
When servo drives are powered on, after turning on each servo drive and then checking the servo drive for being locked, release the brakes. There are no special parameters about the timing.
When servo drives are powered off
When servo drives are specified to be turned off, including the events of emergency stop, turn off the drive brakes and then turn off the servo drives after the period specified with the following parameter.
· MD3426 (Pn506) DELAY_FROM_BRK_SIG_TO_SVOFF (For each axis)
Meaning:
Brake command - servo drive cutoff delay time
Setting value: [10ms]
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14.3 Motion Control
14.3.7 Speed feedforward
On YS 840DI system, speed feedforward is one of CNC functions. CNC specifies the speed feed forward directly to the drive. (The feed forward function housed in servo drives is not used.) On YS 840DI, the speed feedforward is also used for switching the speed reference mode to the positioning reference mode as well as for instructing the spindle orientation (SPOS command), you must specify the valid setting (MD32620 = 3) for every axis. For positioning control of feed axes, in order to activate the speed feedforward, specify Start/End code to CNC program as followings.
N1G91G01Y100.F2000 N2Y-100. FFWON (Feedforward starts) N3G01Y100. N4Y-100. FFWOF (Feedforward ends) M30
On YS 840DI, however, for compensation of the machining profile errors occurred during
the cutting feed, predictive control is generally used instead of the feedforward. For the
usage of the predictive control, see 14.2.8.
CNC machine data for the feedforward is listed below.
· MD32620 FFW_MODE (For each axis)
Meaning: Feedforward setting
Setting value: 0---Feedforward is disabled 3---Feedforward is defined as speed feedforward. You must specify "3".
Note: Setting value "1" is for compatibility with conventional systems and causes no serious problem.
· MD32630 FFW_ACTIVATION_MODE (For each axis)
Meaning: FFWON command with program
Setting value: 0---enabled 1---disabled
· MD32810 EQUIV_SPEEDCTRL_TIME (For each axis)
Meaning:
Speed feedforward time constant This adjusts the machine data and checks radius for shrinkage, or overshoot.
Setting value: [sec]
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Drive set-up procedure 14.3.8 Torque Control and Fixed Stop Function
· MD32610 VELO_FFW_WEIGHT (For each axis)
Meaning:
Speed feedforward weight
Setting value: [0.01]
Standard setting value: 1.0
14.3.8 Torque Control and Fixed Stop Function
Limiting with drive parameters
You can set the following parameters to control the torque for each axis continuously.
Servo drive
· MD3352 (Pn402) FORWARD_TORQUE_LIMIT (For each servo axis)
Meaning:
Forward torque limitingl value
Setting value: [%] (percentage for rated torque)
· MD3353 (Pn403) REVERSE_TORQUE_LIMIT (For each servo axis)
Meaning:
Reverse torque limiting value
Setting value: [%] (percentage for rated torque)
Spindle drive
· MD6421 (Cn421) TORQUE_LIMIT (For each servo axis)
Meaning:
Torque limiting level on motor side
Setting value: [%]
· MD6422 (Cn422) REGENERATION_TORQUE_LIMIT (For each servo axis)
Meaning:
Torque limiting level on regenerator side
Setting value: [%]
Control by CNC (Fixed Stop function)
On YS 840DI system, Fixed Stop function allows you to perform easy, continuous torque control with torque limiting for the servo axes or spindles via CNC program. For example, to activate Fixed Stop function for X axis, input the following programming command.
FXS [X1] =1 G90G00X100. : Positioning, after torque limiting is enabled for X1 axis
FXSX1=0 X0.
: Torque limit is released for X1 axis
Set the following machine data for Fixed Stop function.
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14.3 Motion Control
CNC setting
· MD37000 FIXED_STOP_MODE (For each axis)
Meaning: Fixed Stop function enabled/disabled
Setting value: 0---disabled 1---enabled
· MD37010 FIXED_STOP_TORQUE_DEF (For each axis)
Meaning:
Torque limiting value Percentage for maximum torque (adjustable during programming with FXST command)
Setting value: [%]
Note: The unit of this setting value is different from the setting value (percentage for rated torque) used for " Limiting with drive parameters."
· MD37030 FIXED_STOP_THRESHOLD (For each axis)
Meaning:
Position deviation detection level when Fixed Stop function enabled (adjustable during programming with FXST command) When the amount of position deviation exceeds this setting value while the Fixed Stop function is enabled, DB3nDBX62.5 = 1.
Setting value: [mm] or [deg]
Drive setting
Servo drive
· MD3358 digit 2 (Pn408 digit 2) SWITCH_NOTCH_FILTER (For each axis)
Meaning:
Variable torque limit selection Torque limit command from CNC is enabled.
Setting value: 0---disabled 1---enabled
Note: You must specify "1".
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Drive set-up procedure 14.3.8 Torque Control and Fixed Stop Function
Spindle drive
· MD6423 (Cn423) TORQUE_LIMIT_SELECT (For each axis)
Meaning:
Variable torque limit selection Torque limit command from CNC is enabled.
Setting value: 0---disabled 1---enabled
Note: You must specify "1".
For Fixed Stop function, the tail stock press control, for example, is processed on the following steps.
1. With CNC program command, the feed axes moves toward the object and simultaneously the torque control is enabled. · CNC programming: G01X100. FXS [X] = 1 · CNC sends the torque control value set with the machine data MD37010 or FXST command.
2. The feed axis contacts the object and then the torque and the amount of deviation increase.
3. Drive torque reference is cramped at the limiting value. The amount of deviation increases further.
4. When the increment of position deviation from steady state of Step 1 reaches the setting value with the machine data MD37030, · the drive is switched over to the speed control state and the torque is maintained with the torque control. (Speed reference is internally output. Position deviation = 0. · CNC program transfers to the nest block. In this way, the torque control state is enabled with the torque control.
5. When FXS[X] = 0 command is output, · the drive returns to the steady state. In this way, Fixed Stop function is disabled and the normal position control state is recovered. The pressing is released with the reverse procedure of Step 1.
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14.3 Motion Control
Position control state
Speed control state
FXST[x] or MD37010
Position control state
Torque reference
0
ïFXS[x]1 Xòññð
Position deviation
0
0
MD37030
ïFXS[x]0 Xòññð
Speed reference (command not required)
FXS[x]=1block IS"AxtivateFXS" IS"FXS reached"
To next block
Fig. 14.6 Schema of Fixed Stop function
14-77
Drive set-up procedure 14.3.9 Absolute value detection
14.3.9 Absolute value detection
For machine data setting for the absolute value encoder, see Section 14.1.5 Motor Encoder and Section 14.1.6 Separately Mounted Encoder. Other primary CNC data required for absolute value detection function are listed below.
· MD34090 ENC_MOVE_DIST_CORR [0] (For each axis)
Meaning:
Origin position offset (motor encoder)
Setting value: [mm] or [deg]
Note: When absolute value detection function is enabled, the origin setting value is written into this parameter.
· MD34090 ENC_MOVE_DIST_CORR [1] (For each axis)
Meaning:
Origin position offset (separately mounted encoder)
Setting value: [mm] or [deg]
Note: When absolute value detection function is enabled, the origin setting value is written into this parameter.
· MD34100 REFP_SET_POS [0] (For each axis)
Meaning:
After return to reference point, coordinate system offset (motor encoder)
Setting value: [mm] or [deg]
· MD34100 REFP_SET_POS [1] (For each axis)
Meaning:
After return to reference point, coordinate system offset (separately mounted encoder)
Setting value: [mm] or [deg]
· MD34200 ENC_REFP_MODE [0] (For each axis)
Meaning:
Return to reference point mode setting (motor encoder)
Setting value: 0---No origin pulse
1---C phase return to reference point
Note: When the absolute value detection function is enabled, you must specify "0".
· MD34200 ENC_REFP_MODE [1] (For each axis)
Meaning:
Return to reference point mode setting (separately mounted encoder)
Setting value: 0---No origin pulse 1---C phase return to reference point
Note: When the absolute value detection function is enabled, you must specify "0".
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14.3 Motion Control
· MD34210 ENC_REFP_STATE [0] (For each axis)
Meaning: Origin setting status (motor encoder)
Setting value: 0---incremental encoder 1---absolute value encoder origin setting mode 2---absolute value encoder origin setting completion
· MD34210 ENC_REFP_STATE [1] (For each axis)
Meaning:
Origin setting status (separately mounted encoder) Same as the motor encoder.
· MD30240 [0] ENC_TYPE [0] (For each axis)
Meaning: Motor encoder type
Setting value: Always specify "4", independently of the type of motor encoder, when separately mounted encoder absolute value detection function is enabled.
Below is the method for setting origin when the absolute value detection function is enabled. (For the method of origin setting for the gantry axis absolute value detection function, see section 14.3.10.)
Setup process of origin setting for the absolute value detection function
1. In JOB mode, position the axis on a proper position.
2. Initiate REF (return to reference point) mode.
Here, on NC screen, display START UP screen to show AXIS MD (machine data of axis) so that you can check the setting values with MD34210 : ENC_REEP_STATE (origin setting status). Specify "1" for the setting value with MD34210 : ENC_REEP_STATE (origin setting status) of the axis. When you want to position the axis origin at a certain coordinate position, follow the procedure for the setting of step 3 and then step 4. When you determine the current position as the origin, go on to step 4.
3. Input the coordinate value to specify with MD34100 : REEP_SET_POS (coordinate value after origin setting).
4. Set the axis feed (key) for the direction specified with MD34010 : REEP_CAM_DIR_IS_MINUS (return to reference point direction); "0" for positive direction and "1" for negative direction. (However, the axes does not move actually.)
5. When step 4 has completed, the status value of MD34210 : ENC_REEP_STATE automatically displays "2".
When a certain coordinate value is specified on step 3, the origin setting process has completed when NC screen (coordinate value display: MCS) displays the value equal to the value of MD34090 : REEP_MOVE_DIST_CORR.
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Drive set-up procedure 14.3.10 Gantry control
14.3.10 Gantry control
Apply gantry control for tandem axes. (YS 840DI master slave control is unavailable because this function is not enabled for the drive.) You need not adjust the setting on the drive side because CNC enables all the specific controls which are different from the single-axis controls related to the gantry control. With the absolute position detection function, after the origin setting is completed, the position deviation of the master axis and the slave axis is compensated at the same time when the servo drive is power on and then the synchronicity deviation during traveling is checked. With the incremental encoder, the position deviation of the master axis and the slave axis is compensated at the same time when return to reference point is completed, and then synchronicity deviation during traveling is checked. Primary machine data related to gantry control function is listed below.
· MD37100 GANTRY_AXIS_TYPE (For each axis)
Meaning: Setting value:
Gantry axis setting 1st digit: Gantry group setting (3 groups max.) 2nd digit: Master axis/slave axis 0---No gantry axis 1---Group 1 master axis 11---Group 1 slave axis 2---Group 2 master axis 12---Group 2 slave axis 3---Group 3 master axis 13---Group 3 slave axis
· MD37110 GANTRY_POS_TOL_WARNING (For each axis)
Meaning:
Synchronicity deviation warning output level position deviation
Setting value:
[mm] or [deg] The actual value of compensation for the position deviation of the master axis and the slave axis is below this setting value.
· MD37120 GANTRY_POS_TOL_ERROR (For each axis)
Meaning:
Synchronicity deviation alarm output level position deviation
Setting value: [mm] or [deg]
· MD37130 GANTRY_POS_TOL_REF (For each axis)
Meaning:
When return to reference point synchronicity deviation alarm output level position deviation
Setting value: [mm] or [deg]
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14.3 Motion Control
· MD37140 GANTRY_BREAK_UP (For each axis) Meaning: Gantry axis synchronization release Setting value: 0---Synchronization 1---Synchronization released Note: Never transfer the synchronization-released axes in the conditions that the gantry master axis and gantry slave axis are mechanically coupled. This may cause machinery damage.
Below is the setup process of origin setting for the gantry axis
Setup process for origin setting for the gantry axis absolute value detection function
1. The servo drive is not supplied with power. Specify "0" with MD34210 : ENC_REEP_STATE (origin setting status) for the both master and slave axes in order to disable the origin setting function mode.
2. Supply the servo drive with power. On JOG mode, position the axis at a proper position. 3. Enable REF (return to reference point) mode.
Here, on NC screen, display START UP screen to show AXIS MD (machine data of axis) so that you can check the setting values with MD34210 : ENC_REEP_STATE (origin setting status) for the both of master and slave axes. Specify "1" for the setting value with MD34210 : ENC_REEP_STATE (origin setting status) of the both of master and slave axes in order to enable the origin setting function mode. When you want to position the axis at a certain coordinate position, follow the procedure for the setting of step 4 and then step 5. Otherwise, go on to step 5. 4. Input the coordinate value to specify with MD34100 [0] : REEP_SET_POS (coordinate value after origin setting) for the master and slave axes. 5. Set the axis feed (key) for the direction specified with MD34010 : REEP_CAM_DIR_IS_MINUS (return to reference point direction); "0" for the positive direction and "1" for the negative direction. (However, the axes does not move actually.) 6. When step 5 has completed, there automatically displays "2" for the status value of the master and slave axes with MD34210 : ENC_REEP_STATE. When a certain coordinate value is specified on step 3, the origin setting process has completed when NC screen (coordinate value display: MCS) displays the value equal to the value with MD34090 : REEP_MOVE_DIST_CORR. 7. Check the gantry axis for synchronized motion. The process is completed.
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Drive set-up procedure 14.3.10 Gantry control
INFO
Setup process for the return to reference point for the gantry axis incremental encoder
1. Specify "0.001" with MD37110 : GANTRY POS TOL WARNING (synchronicity deviation warning output level position deviation). (This prevents the slave axis from being synchronized at the first return to reference point.)
2. After supplying power to the servo drives, initiate the return to reference point on REF mode. First the return to reference point for master axis is enabled and then that for slave axis is enabled.(Here you have an alarm output, but ignore the alarm and go on to the following process.)
3. On the diagnosis (service display) screen, check the master axis "measurement position for measurement system 1" (for motor encoder) or "measurement position for measurement system 2" (for separately mounted encoder) after the slave axis return to reference point is completed.
4. Reverse the sign of the value you just checked on Step 3 and enter the value with the reversed sign into the slave axis with MD34080 [0] or [1] : REEP_MOVE_DIST (return to reference point travel distance). ([0] for the motor encoder control, and [1] for the separately mounted encoder)
5. Check that the gantry axis moves synchronously. 6. Specify a proper value with MD37110. 7. Initiate NCK Reset. Check the return to reference point motion again and then complete
the process.
Supposing the C phase searching direction as the reverse setting (MD34050 = 1), set the return to reference point direction (MD34010) for slave axis and C phase searching direction (MD34050) for the opposite direction to the master axis when the position of encoder C phase is ahead of the origin dog in the return to reference point direction (direction setting for MD34010) for the master axis.
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14.3 Motion Control
14.3.11 Collision detection
Collision detection function detects the collision of feed axes with the disturbance observer and enables the pullback-stop of the torque reference. You can individually specify the torque disturbance detection level of collision detection for each of
· positioning feed · feed other than positioning feed, and · forced input signal.
Also, it is possible to disable the collision detection function by the external input . With this function, a series of events from the collision detection to the stop are processed with the servo drive. The machine data and parameters related to the collision detection function are listed below.
For the detailed information about adjustment procedure for the collision detection function, see the separate explanation.
IMPORTANT
Collision detection function is not available for spindles.
CNC setting
Feed axes
· MD37610 PROFIBUS_CTRL_CONFIG (For each axis)
Meaning:
CNC feed mode to the drive This machine data permits the switching over the disturbance detection level from the positioning feed to the other feed and vise versa.
Setting value: 0---disabled 1---enabled You must specify 1 (enabled) when the collision detection function is enabled.
Drive setting
· MD3063 (Pn121) GAIN_DISTURB_OBSERVER (For each servo axis) Meaning: Disturbance observer gain Setting value: [Hz]
· MD3064 (Pn122) HPF_CUT_FREQ_DISTURB_OBSRVR (For each servo axis) Meaning: Disturbance observer high pass filter cutoff frequency Setting value: [Hz]
· MD3066 (Pn124) LPF_CUT_FREQ_DISTURB_OBSRVR (For each servo axis) Meaning: Disturbance observer low pass filter cutoff frequency Setting value: [Hz]
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Drive set-up procedure 14.3.11 Collision detection
· MD3067 (Pn125) INERTIA_ADJ_DISTURB_OBSRVR (For each servo axis)
Meaning:
Disturbance observer inertia compensation
Setting value: [%]
· MD3368 (Pn412) DISTURB_TORQUE_LEVEL_1 (For each servo axis)
Meaning:
1st torque disturbance level Disturbance level for feed except for positioning feed
Setting value: [%]
· MD3369 (Pn413) DISTURB_TORQUE_LEVEL_2 (For each servo axis)
Meaning: Setting value:
2nd torque disturbance level Disturbance level for positioning feed [%]
· MD3370 (Pn414) DISTURB_TORQUE_LEVEL_3 (For each servo axis)
Meaning: Setting value:
3rd torque disturbance level Disturbance level for forced entry [%]
· MD3371 (Pn415) DISTURB_TORQUE_LEVEL_4 (For each servo axis)
Meaning: Setting value:
4th torque disturbance level When Collision Detection is disabled [%]
Note: Be sure to set the parameter to "0". · MD3372 (Pn416) COMPLIANCE_TORQUE (For each servo axis)
Meaning:
Compliance torque
Setting value: [%]
Relevant I/O
· DB3nDBX20. 2 (Torque limit 2) (For each servo axis)
Meaning: Setting value:
Collision detection function enabled/disabled By setting this signal to "1", the collision detection signal is enabled. 0---collision detection function disabled 1---collision detection function enabled
· DB3nDBX21. 2 (Drive parameter set selection d2) (For each servo axis)
Meaning: Setting value:
Collision detection function forced input selection 0---forced input disturbance level disabled 1---forced input disturbance level enabled
· DB3nDBX93. 2 (Active drive parameter set d2) (per servo axis)
Meaning: Setting value:
Collision detection function forced input selection state 0---forced input disturbance level not selected 1---forced input disturbance level selected
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14.3 Motion Control
14.3.12 Spindle sequence I/O signals
Comparison of spindle sequence signals
The following table shows comparison of the spindle sequence signals with the conventional spindle sequence signals.
Name of conventional signal
Emergency Stop (EMG)
Operation is Ready (RDY) Servo Drive ON and Forward (FOR) Servo Drive ON and Reverse (REV) P/Pi Control Switching (PPi)
Orientation (ORT) Orientation Completion (ORE) Soft Start (SSC)
Torque Limit (TLH, TLL) Torque Limit Enabled (TLE) Speed Agreement (SAGR)
Zero Speed detection (ZSPD)
YS 840DI signal
None
DBB2.1 (Controller enable) DBX21.7 (Pulse enable) None DBX21.6, DBX93.6 (controller integrator disable) None
None
None None DBX94.6 (nact=nset)
DBX94.4(|nact|<nmin)
Speed Detection (SDET)
DBX94.5(|nact|<nx)
Load axis origin (ORG) Torque Detection (TDET)
None DBX94.3(Md<Mdx)
Fault (FLT) Malfunction Warning Change Winding Request (CHW) Change Winding Completion (CHWE) Gear Changing (MGR,LGR)
C Axis Changing Request (CAX)
C Axis Changing Completion (CAXE)
-
-
-
None
None
DBX21.3-5(Motor selection)
DBX93.3-4(Active motor)
DBX21.0-2,DBX93.0-2 (Drive parametr set selection)
DBX21.0-2 (Drive parameter set selection)
DBX93.0-2 (Active drive parameter set)
DBX94.0 (Motor temperature prewarning)
DBX94.1 (Heat sink temperature prewarning)
DBX95.0 (UDC-link<alarm threshold)
Specification (relation to the conventional)
Main supply ON is common to the servo drive.
Same as RDY
Same as the servo drive
Reverse command is for CNC function
DBX21.6 is equal to PPi. DBX93.6 is added to the completion check.
CNC function is enabled.
Remarks
Also used for prevention of spindle fluctuation. See section 14.3.13. See 14.3.13.
Automatically enabled with spindle control system.
Limit value is specified from CNC.
Equal to SAGR. ("1" for Speed agreement)
Equal to ZSPD. ("1" for the speed equal or exceed setting value, "0" for the speed less or equal to setting value)
Equal to SDET. ("0" for the speed equal or exceed setting value, "1" for the speed less or equal to setting value)
See the parameters below. See the parameters below.
See the parameters below. Also see 14.3.14.
Equal to TDET. ("0" for the speed equal or exceed setting value, "1" for the speed less or equal to setting value)
CNC
See the parameters below.
Different specification
See 14.3.14
Different specification
See 14.3.15
Abnormal motor temperature alarm (Normal; "1", Alarm; "0")
Abnormal heat sink temperature alarm (Normal; 1, Alarm; 0)
Undervoltage alarm (Normal; "1" Alarm; "0")
YS 840DI only YS 840DI only (also servo axis) YS 840DI only (also servo axis)
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Drive set-up procedure 14.3.12 Spindle sequence I/O signals
Relevant Parameter
Parameters for the spindle drive related to the spindle sequence are listed below.
· MD6030 (Cn030) ZERO - SPEED_DET_LEVEL (Spindle)
Meaning:
Zero speed (ZSPD) detection level
Setting value: [0.1min-1]
· MD6031 (Cn031) ZERO - SPEED_DET_WIDTH (Spindle)
Meaning:
Zero speed (ZSPD) detection range
Setting value: [0.1min-1]
· MD6400 (Cn400) SPEED_AGREE_WIDTH (Spindle)
Meaning: Setting value:
Speed agreement signal (SAGR) range [%] Percentage for rated speed MD6500 (Cn500)
· MD6401 (Cn401) SPEED_DETECTION_LEVEL (Spindle)
Meaning: Setting value:
Speed detection signal (SDET) level [0.01%] Percentage for rated speed MD6500 (Cn500)
· MD6402 (Cn402) SPEED_DETECTION_WIDTH (For each axis)
Meaning: Setting value:
Speed detection signal (SDET) hysteresis [0.01%] Percentage for rated speed MD6500 (Cn500)
· MD6410 (Cn410) TORQUE_DETECTION_LEVEL (Spindle)
Meaning: Setting value:
Torque detection signal (TDET) level [0.1%] Percentage for 30-minute rated speed
· MD6411 (Cn411) TORQUE_DETECTION_WIDTH (For each axis)
Meaning: Setting value:
Torque detection signal (TDET) hysteresis [0.1%] Percentage for 30-minute rated speed
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14.3 Motion Control
14.3.13 Spindle orientation
Spindle orientation is conventionally permitted as the spindle drive function, but, on YS 840DI system, the speed and positioning references required for indexing are all created in CNC (equivalent to conventional NC indexing). Spindle drives permit positioning according to the speed and position references from CNC. YS 840DI system spindle orientation (positioning) is permitted according to CNC SPOS command. For the spindle orientation, even for the high-speed rotating spindle orientation, it is possible to permit orientation in a short time because of continuous switching over from the speed control mode to the position control mode. Also, since the spindle orientation need the speed feedforward, the speed feedforward should be enabled.
Relevant CNC machine data
Primary relevant machine data is as follows. (For parameters such as MD34080, MD34090, and MD34100 related to the orientation stop position, see section 14.3.5 Return to reference point.)
· MD32620 FFW_MODE (For each axis)
Meaning: Feedforward setting Setting value: 0---feedforward setting disabled
3---Feedforward used for speed feedforward Specify "3" for the spindle.
Note: The setting value "1" allows this system to be compatible with the conventional systems. There will occur no serious problems if this value is set.
· MD34060 REFP_MAX_MARKER_DIST [0] (For each axis)
Meaning: C phase searching maximum distance (motor encoder) Setting value: [mm] or [deg]
Note: For the spindle, specify the value equal or exceed 1080deg for orientation.
· MD35200 GEAR_STEP_SPEEDCTRL_ACCEL [n] (For each axis)
Meaning:
Acceleration under the nth gear speed control Setting value: [r/sec2]
· MD35210 GEAR_STEP_POSCTRL_ACCEL [n] (spindle)
Meaning:
Acceleration under the nth gear position control Initial setting is n = 1. However the value is between 1 and 5 depending on the going gear setting.
Setting value: [r/sec2]
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Drive set-up procedure 14.3.13 Spindle orientation
· MD35300 SPINDLE_POSCTRL_VELO (spindle)
Meaning:
Speed of switching over from speed control to position control
When this speed is permitted for the spindle orientation, the position
control mode is initiated for the spindle.
Setting value: [min-1]
The following diagram shows the relation between the speed during spindle orientation motion and each machine data.
Spindle speed
S command value
SPOS command Speed reference
Position command + Speed feedforward command
Acceleration MD35200 (torque saturation)
MD35300
Spindle encoder C phase pulse detection has been permitted at the primary
spindle rotation.
Acceleration MD35210 (No torque saturation)
Time
Fig. 14.7 Spindle orientation speed
INFO
Magnetic encoder
When magnetic encoders are used, if C phase range is not compensated, due to the range of about 20 pulse of C phase, the stop position is different, depending on the direction of orientation, positive or negative. In this case, the compensation for YS 840DI is enabled by the following procedure via PLC. When the traveling direction of spindle, positive or negative, is received with PLC, the value for CNC machine data Origin Position Shift (MD34100 REFP_SET_POS [n]) is changed to a different value depending on whether the direction is positive or negative.
For example;
Set the following machine data,
Positive direction origin position shift: REFP_SET_POS [0] = 0 Negative direction origin position shift: REFP_SET_POS [1] = * * * (C phase range angle). For the spindle orientation, specify "0" and "1" with this machine data selection DB (DB3xDBX2. 4-7) when the CNC forward/reverse request is sent. This allows CNC to initiate the selection of REFP_SET_POS [0] or REFP_SET_POS [1]. Thus compensation of the orientation position is permitted.
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14.3 Motion Control
CNC
Spindle control function
Forward Reverse
PLC
PLC program
CNC parameter
REFP_SET_POS0 REFP_SET_POS1
select0 (DB3xDBX2.4ô7=0)
select1 (DB3xDBX2.4ô7=1)
Fig. 14.8 Spindle orientation C phase range compensation
Fluctuation of spindle at the orientation stop
If the spindle fluctuates at the orientation stop, set one of the following spindle drive parameters and then follows the procedure for PLC program.
Setting the spindle drive parameter
· MD6525 (Cn525) MULTI_FUNCTION_SEL_PPI (For each axis)
Meaning:
Multi-function selection PPI
Setting value: 0---Fluctuation control at position control stop function is disabled
1---When PPI signal entered, fluctuation control at position control stop function is enabled
· MD6595 (Cn583) ORT_DB_GAIN_DEC_RATIO_H (For each axis)
Meaning:
Percentage of gain reduction at positioning completion (H gear)
Setting value: [%]
· MD6596 (Cn584) ORT_DB_GAIN_DEC_RATIO_L (For each axis)
Meaning:
Percentage of gain reduction at positioning completion (L gear)
Setting value: [%]
PLC program processing
· When orientation is enabled,
Enable Orientation, and then wait for the spindle Exact Stop DB3nDBX60. 7 = 1.
When DB3nDBX60. 7 = 1 is permitted, set DB3nDBX21.6 = 1 (PPI: n controller integrator disable). These parameters allows the servo drive gain to decrease.
· When activated (M3, Tapping, Re-indexing, etc.)
Simultaneously with the wake-up signal, set DB3nDBX21.6 = 0 (PPI: n controller integrator disable).
14-89
Drive set-up procedure 14.3.14 Spindle winding changing
14.3.14 Spindle winding changing
Spindle winding changing is allowed via the spindle drive by the command form PLC according to YS 840DI system specification.
Changing process
For example, the changing procedure with spindle speed detection signal (DBX94.5) is shown below.
1. Set the spindle speed detection speed (MD6401 (Cn401)) for the winding changing speed SCHW.
2. Set the spindle speed detection width (MD6402 (Cn402)) for the winding changing speed hysteresis rangeS. MD6401, MD6402: Set the value in the units of 0.01 % of the rated revolution.
3. PLC detects ON/OFF for the spindle speed winding signal with DBX94.5. 4. PLC instructs the low-speed winding selection (DBX21.3 = 0, DBX21.4 = 0), and the
high-speed winding selection (DBX21.3 = 1, DBX21.4=0). (Switching command is permitted with DBX21.5.) 5. PLC checks the winding selection status (DBX 93.3-4 agree with DBX 21.3.4) sent from CNC and completes the process.
An example of time chart in case that switching speed is 1250min-1 is shown below.
CNC program Spindle command speed
0
500min-1
SCHW(1250min-1)
Spindle real speed
0
500min-1
DBX94.5(SDET)
°S
2000min-1 2000min-1
500min-1
°S
500min-1
DBX21.3-4
00
01
00
DBX21.5
DBX93.3-4
00
01
00
Fig. 14.9 Time chart for winding changing time chart
14-90
14.3 Motion Control
Relevant parameters
Below are the parameters in relation to the spindle drive winding change. · MD6401 (Cn401) SPEED_DETECTION_LEVEL (spindle) Meaning: Speed detection signal level SCHW Setting value: [0.01 %] Sets the percentage for the rated speed MD6500 (Cn500). · MD6402 (Cn402) SPEED_DETECTION_WIDTH (spindle) Meaning: Speed detection signal hysteresis ° S Setting value: [0.01 %] Set the percentage for the rated speed MD6500 (Cn500) · MD6809 (Cn809) SELECTION_CODE1 (spindle) Meaning: Winding changing setting Setting value: 0001---No winding switching unit. High-speed winding fixed (initial value) 0000---Winding switching unit is used 0010---Winding switching unit and speed cramp function is used
At the time of acceleration with low-speed winding, if the rated speed operation is not activated with SDET signal detection speed SCHW on CNC, the low-speed winding overspeed alarm for spindle drive may be output before switching over to the high-speed winding. In this case, by specifying the setting for the speed cramp function, when the speed reaches SCHW, the spindle drive speed can be cramped to SCHW.
14-91
Drive set-up procedure 14.3.15 Spindle gear changing and Spindle integrated with C axis control
14.3.15 Spindle gear changing and Spindle integrated with C axis control
The spindle changing for the spindle gear changing or the spindle/C axis changing under the spindle integrated C axis control is permitted via the spindle drive by the command from PLC according to the spindle parameter changing specification of YS 840DI system specification. Parameter changing to H gear, M gear, L gear, or C axis is initiated by PLC when PLC verifys the request for the parameter selection status number (DBX21.0 - 2) sent from PLC to CNC and also the completion of changing the parameter selection status number (DBX93.0 - 2) from CNC to PLC. For the parameter changing, the parameter selection number in relation with each gear selection and C axis selection, and a skeleton time chart is shown below.
DBX21. 0 to 2 (PLC -> CNC) DBX93. 0 to 2 (CNC -> PLC)
0 1 2 3 4 - 6 7
Usage
C axis selection (CAX) L gear selection (LGR) M gear selection (MGR) H gear selection Reserved (currently H gear selection) H gear selection (default)
Note: If you do not use the gear changing or C axis control, select H gear.
Spindle parameter selection
PLC -> CNC DBX21.0-2
H gear
3
M gear
2
L gear
1
H gear
3
Parameter changing within spindle drive
3
2
1
3
Fig. 14.10 Spindle parameter selection time chart
14-92
14.3 Motion Control
14.3.16 Rigid tap
YS 840DI system tapping function "Rigid Tap" is permitted with the interpolation control of the spindle and the feed axis, which is different from the conventional system. In this case, to lessen the synchronicity errors, the position loop gain of feed axis (generally Z axis) and the position loop gain of spindle must be identical. Therefore, when the rigid tap is enabled, the position loop gain POSCTRL_GAIN [1], dedicated to the rigid tap, is used. Setting the same values for loop gain of the spindle and the feed axis (see below) can reduce the synchronicity errors during the rigid tapping. For the detailed information of Rigid pap function, see the Programing Manual for Machining Center (NCSIE-SP02-20).
MD32200 POSCTRL_GAIN [1] (For each axis)
Meaning: Position loop gain Setting value: [1/s] (Sets the position loop gain in the unit specified with MD10230)
Note: With each axis MD32900 DYN_MATCH_ENABLE = 1, it is possible to set each axis conventional position loop gain MD32200 [0] to be equal. In this case. however, since the function is enabled for the axis for which interpolation is enabled independently with Rigid Tap, you must specify the individual spindle and feed axis separately when setting the time constant for adjustment MD32910 DYN_MATCH_TIME.
INFO
The acc./dec. rate during Tapping motion is set to the lower value of acceleration setting values of either the conventional cutting feed or the spindle orientation.
Also it is possible to improve accuracy by enabling the feedforward control when rigid tap is enabled. See section 14.3.7.
14-93
Drive set-up procedure 14.3.17 Threading
14.3.17 Threading
For YS 840DI threading feed, you can select; no spindle position control (mm/rev control. SPCOF) or the spindle position control (SPCON). The following data shows the typical mm/rev control.
· MD20650 THREAD_START_IS_HARD
Meaning: Setting value:
Acc./dec. motion when threading 0---linear acc./dec. Jerk setting possible. 1---step acc./dec.
· MD35150 SPIND_DES_VELO_TOL (For each spindle)
Meaning:
Spindle speed tolerance. Tolerance for reference speed
Setting value: [percentage]
· MD35200 GEAR_STEP_SPEEDCTRL_ACCEL [n] (For each spindle)
Meaning:
Acceleration rate when spindle speed control enabled. Settable for each gear.
Setting value: [r/sec2]
· SD42010 THREAD_RAMP_DISP
Meaning:
Threading acc./dec. distance
Setting value: [mm] -1---MD20650 = 0 motion
0---MD20650 = 1 motion
0 > ---accelerates to reach the specified speed before passing through the distance of this machine data setting value
14.3.18 Spindle synchronization control
All special processing in relation to the spindle synchronicity control is permitted by CNC. Following is shown the primary CNC machine data related to the spindle synchronicity control.
· MD21300 COUPLE_AXIS_1 [0]
Meaning:
Number of slave axis
Setting value: Sets the axis number for the spindle to be a slave axis
· MD21300 COUPLE_AXIS_1 [1 ]
Meaning:
Number of master axis
Setting value: Sets the axis number for the spindle to be a master axis
14-94
14.3 Motion Control
· MD21310 COUPLING_MODE_1 Meaning: Spindle synchronicity mode Setting value: 0---actual value coupling: Slave axis synchronizes with the master axis position feedback value 1---setpoint coupling: The salve axis synchronizes with the master axis position reference value. 2---speed coupling: Speed synchronization control (normally not used since the position control is not executed in this mode)
· MD21320 COUPLING_BLOCK_CHANGE_CTRL_1 Meaning: Block changing mode during synchronicity Setting value: 0---immediately change 1---change when 'Fine synchronism' tolerance MD37210 is initiated 2---change when 'coarse synchronism' tolerance MD37200 is initiated
· MD21330 COUPLING_RESET_MODE_1 Meaning: Synchronicity setting when rest
· MD21340 COUPLING_IS_WRITE_PROT_1 Meaning: Synchronicity conditions modifying setting Setting value: 0---adjustable with CNC program 1---not adjustable with CNC program
· MD37200 COUPLE_POS_TOL_COARSE Meaning: 'Coarse synchronism' tolerance range Setting value: [mm] or [deg]
· MD37210 COUPLE_POS_TOL_FINE Meaning: 'Fine synchronism' tolerance range Setting value: [mm] or [deg]
· SD42300 COUPLE_RATIO [0] Meaning: Numerator for synchronicity speed ratio
· MD42300 COUPLE_RATIO [1] Meaning: Denominator for synchronicity speed ratio Setting value: Sets synchronicity speed ratio for spindle/following axis synchronizing with spindle Speed ratio = SD42300[0]/SD42300[1] Settable with CNC program.
14-95
Drive set-up procedure 14.3.19 Skip Function
14.3.19 Skip Function
To use the skip function for latching the sensor position by using external sensors, set the following machine data. SGDK servo drive has two low-active probe inputs.
CNC side setting
· MD13200 MEAS_PROBE_LOW_ACTIVE [0]
Meaning: Setting value:
Low/high-active of probe 1 0---high-active (positive) 1---low-active (negative) For SGDK servo drive, always set "1".
· MD13200 MEAS_PROBE_LOW_ACTIVE [1]
Meaning: Setting value:
Probe 2 detection polarity 0---positive 1---negative For SGDK servo drives, always set "1".
· MD13210 MEAS_TYPE
Meaning:
Skip mode selection
Setting value: When latching on SGDK servo drives, always specify "1".
Servo drive setting
For servo drives, there is no particular settings for the skip function. As described above, for servo drives, since the polarity of skip input/output signal is low active, be careful to set the machine data correctly. If the setting is incorrect, the polarity of the I/O signal shown below is reversely set.
I/O signal
· DB10DBX107. 0
Meaning: Setting value:
State of probe 1 0 -> 1 - Probe 1 ON 1 -> 0 - Probe 1 OFF
· DB10DBX107. 1
Meaning: Setting value:
State of probe 2 0 -> 1 - Probe 2 ON 1 -> 0 - Probe 2 OFF
14-96
14.4 High-speed High-accuracy Cutting
14.4 High-speed High-accuracy Cutting
YS 840DI system High-speed High-accuracy Cutting function does not have any special highspeed modes, such as conventional U-HSC function or G-HSC function, which are different from general cutting modes. This High-speed High-accuracy Cutting function enables the conventional cutting to provide machining as accurate as G-HSC function which employs the multi-block look-ahead. In addition, by adding the following functions to the conventional cutting feed, higher-speed, higher-accuracy cutting is provided for micro-block program machining such as die machining.
· Block compression: Two or more blocks having accuracy less than setting tolerance are compressed into a single linear or spline block. This allows high-speed processing for micro-length block for die machining.
· Spline interpolation: Using some spline interpolation algorithms, linear blocks are converted into spline curves so that smooth machining face can be permitted. There is no particular conditions for maneuverability, especially for G code, since conventional cutting feed function is used.
INFO
· Predictive control is always enabled with usual cutting feed. · For details about the acc./dec. control setting, see Section 14.3.2.
14.4.1 Multi-block look-ahead
To permit the feed speed control suitable for machining pattern, multi-block look-ahead is enabled. Parameters for the multi-block look-ahead are shown as followings.
· MD18360 EXT_PRG_BUFFER_SIZE Meaning: Definition for memory required for external memory operation Setting value: 100Kbyte
· MD28060 IPO_BUFFER_SIZE Meaning: IPO buffer size (Definition for the number of blocks inside interpolation buffer) Setting value: 2 to 300 blocks Standard setting value: 100 blocks
· MD28070 NUM_BLOCKS_IN_PREP Meaning: Number of reserved blocks (Definition for the number of blocks reserved) Setting value: 2 minimum, maximum value depends on memory capacity Standard setting value: 60 blocks
14-97
Drive set-up procedure 14.4.2 Block compression
· MD29000 LOOKAH_NUM_CHECKED_BLOCKS
Meaning:
Number of look-ahead blocks
Setting value: 10 to 500 blocks
Standard setting value: 100 blocks
Note: Block compression is available for the blocks compressed by the block compression described in the next section.
14.4.2 Block compression
By compressing with the spline function the blocks having less tolerance than the specified value (compressing two or more linear blocks into a single spline interpolation block), fine profile machining program for die machining can be effectively operated. The block compression is enabled by the following functions.
COMPCURV function
Compresses 10 blocks max. Does not compress the sections whose radius of curvature is not continuous even though they have tolerance below specified value.
· Compression start: Specify "COMPCURV" with CNC program. · Compression end: Specify "COMPOF" with CNC program.
COMPCAD function
Compresses 50 blocks max. This function can compress blocks having less tolerance than the specified value and their radius of curvature are not continuous into a single spline running through the midpoints of the blocks. This function can compress blocks more effectively than COMRCURV function.
· Start compression: Specify "COMPCAD" with CNC program. · End compression: Specify "COMPOF" with CNC program.
The conditions for compression are defined with the following machine data (common to COMPCURV and COMPCAD).
· MD33100 COMPRESS_POS_TOL
Meaning:
Block compression distance tolerance Compresses the blocks within the distance with specified tolerance
Setting value: [mm]
· MD20170 COMPRESS_BLOCK_PATH_LIMIT
Meaning: Setting value:
Block compression distance limit The limit of the length of block to compress [mm]
14-98
14.4 High-speed High-accuracy Cutting
· MD20172 COMPRESS_VEL_TOL
Meaning:
Block compression speed tolerance Block compression limitation based on feed rate. Block compression in the feed rate range within the specified tolerance.
Setting value: [mm/min]
14-99
Drive set-up procedure 14.4.3 Spline interpolation
14.4.3 Spline interpolation
General spline interpolation
Set the following machine data as the conditions for general spline interpolation to be enabled within CNC.
· MD28530 PATH_VELO_SEGMENTS
Meaning:
Number of polynomial spline per block Setting this value allows the feed speed to be controlled to have better waveform.
Standard setting value: 5
· MD28540 ARCLENGTH_SEGMENTS
Meaning:
Number of polynomial spline within a single spline curve Setting this value allows the deviation of feed speed to decrease on the curve sections.
Standard setting value: 10
Spline interpolation with NC program command
This allows the curve interpolation for linear blocks with the spline interpolation. There are 3 types of spline curve for interpolation:
· A spline (Akima spline): Spline interpolation which always goes through the instructed points. The radius of curvature does not vary continuously.
· B spline (B-spline): Smooth spline interpolation which goes by the instructed points. · C spline (Cubic spline): Spline interpolation which always goes through the instructed
points and whose radius of curvature varies continuously on the instructed points.
P6
P4
P7
P5 P3
P2
P1
A spline B spline C spline
14-100
14.4 High-speed High-accuracy Cutting
Fine interpolation
DP cycle period interpolation is enabled for the position interpolated by IPO cycle period, when the interpolation position command is transferred from IPO cycle to DP cycle (Section 14.1.1). There are two types of interpolation: difference interpolation (linear interpolation) and C spline interpolation (curvilinear interpolation). Typically employ the C spline interpolation.
· MD33000 FIPO_TYPE Meaning: Fine interpolation type Setting value: 1---Differential interpolation 2---C spline interpolation (setting value for compatibility with conventional versions) 3---C spline interpolation Standard setting value: 3
14-101
Drive set-up procedure 14.4.4 Examples of machine data setting
14.4.4 Examples of machine data setting
The table below shows an example of evaluation conditions when evaluating the die machining with COMPCAD function at the machining center. Program: Die machining for which Z axis reciprocates rapidly (In this case, the setting for
the acceleration rate and the jerk of Z axis seriously affects the machining time.)
Z axis counter weight Machining time
COMPCAD results
None
Used
15 min. 14 19 min. 04
sec.
sec.
CNC setting
Unit
MD32300 MAX_AX_ACCELX,Y
m/s2
MD32300 MAX_AX_ACCELZ
m/s2
MD32310 MAX_ACCEL_OVL_FACTOR
MD20600 MAX_PATH_JERK
m/s3
MD32431 MAX_AX_JERKX,Y
m/s3
MD32432 PATH_TRANS_JERK_LIMX,Y
m/s3
MD32431 MAX_AX_JERKZ
m/s3
MD32432 PATH_TRANS_JERK_LIMZ
m/s3
SD42470 CRIT_SPLINE_ANGLE
MD18360 MM_EXT_PROG_BUFFER_SIZE
MD28530 PATH_VELO_SEGMENTS
MD28540 ARCLENGTH_SEGMENTS
MD28070 NUM_BLOCKS_IN_PREP
MD28060 IPO_BUFFER_SIZE
MD29000 LOOKAH_NUM_CHECKED_BLOCKS
MD20170 COMPRESS_BLOCK_PATH_LIMIT
MD33100 COMPRESS_POS_TOL
MD32200 POSCTRL_GAIN0
1/s
Initial setting
2 2 1.2 10000 100 100 100 100 36 30 0 0 38 10 500 20 0.005 40
COMPCAD setting value
4
<-
4
2
1.01
1.2
<-
<-
<-
<-
<-
<-
<-
<-
<-
<-
<-
<-
100
<-
5
<-
10
<-
60
<-
100
<-
100
<-
100
<-
0.01
<-
<-
<-
14-102
14.5 Relevant Machine Data and Parameters
14-103
Relevant machine data and parameters described in Chapter 14 are listed below.
14.5.1 CNC relevant machine data
Main topic
Topic
Subtopic
Axis
Name of Machine Data
Standard setting
Cycle time
DP cycle time
-
SYSCLOCK_CYCLE_TIME
IPO cycle time
-
IPO_SYSCLOCK_TIME_RATIO
IPO cycle time limit
-
ON_PERFORMANCE_TIME_RATIO
CPU performance NCK percentage
-
NCK_PCOS_TIME_RATIO
HMI screen refresh suppress
-
SUPPRESS_SCREEN_REFRESH
Drive standard setting DSC mode
Feed axis/Spindle STIFFNESS_CONTROL_ENABLE[0]
Telegram type
Feed axis/Spindle DRIVE_TELEGRAM_TYPE[0]
NCK reset/shutdown motion specificationFeed axis/Spindle Feed axis/Spindle PROFIBUS_SHUTDOWN_TYPE
Command unit system (inch/mm)
Feed
EXTERN_GCODE_RESET_VALUE[5]
Spindle standard setting
Spindle default mode Spindle default mode mask
Spindle Spindle
SPIND_DEFAULT_MODE SPIND_DEFAULT_ACT_MASK
Spindle motion after reset and M3/M30
Spindle SPIND_ACTIVE_AFTER_RESET
Axis component
Name of machine axis
Feed axis/Spindle AXCONF_MACHAX_NAME_TAB[0]
Number of geometry axis per group
Feed
AXCONF_GEOAX_ASSIGN_TAB[0]
Name of geometry axis per group
Feed
AXCONF_GEOAX_NAME_TAB[0]
Number of enabled axis per group
Feed axis/Spindle AXCONF_MACHAX_USED[0]
Name of program axis
Feed axis/Spindle AXCONF_CHANAX_NAME_TAB[0]
Number of drive for hard ware configuration
Feed axis/Spindle CTRLOUT_MODULE_NR
Enabled axis/simulation axis
Feed axis/Spindle CTRLOUT_TYPE[0]
Motor encoder
Number of encoder
Feed axis/Spindle NUM_ENC
Rotary encoder/linear scale (motor encoder)
Feed axis/Spindle ENC_LINEAR[0]
Number of encoder for hard ware configuration
Feed axis/Spindle ENC_MODULE_NR
Type of motor encoder
Feed axis/Spindle ENC_TYPE[0]
Absolute position data percentage
Feed axis/Spindle ABS_INC_RATIO[0]
Linear axis/rotation axis
Feed axis/Spindle IS_ROT_AX
Number of motor encoder pulse
Feed axis/Spindle ENC_RESOL[0]
Motor encoder pulse factor
Feed axis/Spindle ENC_PULSE_MULT[0]
Ball screw pitch
Feed axis/Spindle LEADSCREW_PITCH
Denominator of load-side gear ratio
Feed axis/Spindle DRIVE_AX_RATIO_DEMON[0]
Numerator of load-side gear ratio
Feed axis/Spindle DRIVE_AX_RATIO_NUMERA[0]
Denominator of encoder/motor gear ratio
Feed axis/Spindle DRIVE_ENC_RATIO_DEMON[0]
Numerator of encoder/motor gear ratio
Feed axis/Spindle DRIVE_ENC_RATIO_NUMERA[0]
Motor encoder rotation direction
Feed axis/Spindle AX_MOTOR_DIR[0]
Multi-turn limit setting value
Feed axis/Spindle ENC_ABS_TURNS_MODULO[0]
Separately mounted Type of separately mounted encoder
encoder
Absolute position data percentage
Feed axis/Spindle ENC_TYPE[1] Feed axis/Spindle ABS_INC_RATIO[1]
Rotary encoder/linear scale (separately mounted encoder) Feed axis/Spindle ENC_LINEAR[1]
Number of pulse of separately mounted encoder
Feed axis/Spindle ENC_RESOL[1]
No. of Machine data
MD10050
MD10070 MD19296 MD10185 MD10131 MD32640 MD13060 MD11250 MD20154 MD35020 MD35030 MD35040 MD10000 MD20050 MD20060 MD20070 MD20080 MD30110 MD30130 MD30200 MD31000 MD30220 MD30240 MD30260 MD30300 MD31020 MD31025 MD31030 MD31050 MD31060 MD31070 MD31080 MD32100 MD34220 MD30240 MD30260 MD31000 MD31020
Typical Setting Value 2 to 4 4 65 0 1 201 2 2 0 0 0 X11X1X11 11 1 1 65536 1 -
UNIT
sec % pulse mm/rev rev pulse
General setting and others
Read only. Results of hard ware configuration are displayed.
Range between 50 and 75 %. 0: Whole group suppressed 1: Part of the group suppressed 2: No suppression 1: DSC mode. Always specify "1". Always specify "201". Specify the number of axes into the brackets ([ ]). 0: Alarm stop 1: With bus clear, deceleration stop 2: Without bus clear, deceleration stop 1: G20/2: G21 0: Speed reference mode (speed control) 1: Speed reference mode (position control) Effective timing with MD35020. 0: When powered on Motion (Reset, M2, and M30) 0: Stop 1: Not stop Enabled axes, disabled axes and simulation axes defined independently of group Not permitted for Spindles. Not permitted for Spindles. Axes for MD10000 are defined within group. Disabled axes are not defined. Axes manes are defined for MD270070. Disabled axes are not defined. Same order as row of hard ware configuration 1: Enabled axes 0: Simulation and disabled axes 1: Motor encoder only2: Including separately mounted encoder 0: Rotary encoder 1: Linear scale Same order as row of hard ware configuration 0: Simulation axes 1: Incremental encoder 4: Absolute encoder
0: Linear axes 1: Rotation axes
0: Excluding separately mounted encoder 1: Incremental encoder4: Absolute encoder
0: Rotary encoder 1: Linear scale
14-104
Main topic
Standard setting (Cont'd)
Topic
Separately mounted encoder (Cont'd)
Motor maximum speed
Mask Servo control Position control
Backlash compensation Each control
Motion control Feed rate
Acceleration/ deceleration
Subtopic
Separately mounted encoder enabled/disabled Separately mounted encoder pulse multiplication Separately mounted encoder rotation direction Separately mounted encoder function Multi-turn limit setting value Percentage of motor maximum speed for speed reference Motor maximum speed Drive function mask Setting unit for position loop gain Position loop gain Maximum tolerance Backlash compensation
CNC feed mode to the drive CNC feed mode to the drive Feedback low pass filter (motor encoder) Feedback low pass filter (separately mounted encoder) Memory operation maximum speed RAPID speed in JOG mode JOG speed Positioning command maximum speed Speed limiting value Percentage of maximum speed reference Gear enabled/disabled Spindle maximum speed The nth gear maximum speed The nth gear minimum speed The nth gear maximum speed limiting value The nth gear minimum speed limiting value Spindle position control mode maximum speed Acc./dec. jerk default setting Acc./dec. jerk Acceleration factor in curve section Acceleration rate Corner speed difference factor Acc./dec. jerk Jerk limit between blocks Acceleration factor for G00 Acc./dec. jerk factor for G00 Acceleration under the nth gear speed contro Acceleration under the nth gear position control
Axis
Name of Machine Data
Feed axis/Spindle ENC_IS_DIRECT[1]
Feed axis/Spindle ENC_PULSE_MULT[1] Feed axis/Spindle ENC_FEEDBACK_POL[1] Feed axis/Spindle STIFFNESS_CONTROL_CONFIG Feed axis/Spindle ENC_ABS_TURNS_MODULO[1] Feed axis/Spindle RATED_OUTVAL[0] Feed axis/Spindle RATED_VELO[0]
Feed axis/Spindle DRIVE_FUNCTION_MASK[0] Feed axis/Spindle SCALING_FACTOR_USER_DEF[9] Feed axis/Spindle POSCTRL_GAIN[0] Feed axis/Spindle CONTOR_TOL Feed axis/Spindle BACKLASH[0]
Feed
PROFIBUS_CTRL_CONFIG
Spindle PROFIBUS_CTRL_CONFIG
Feed axis/Spindle ENC_ACTVAL_SMOOTHTIME[0]
Feed axis/Spindle ENC_ACTVAL_SMOOTHTIME[1]
Feed
MAX_AX_VERO
Feed
JOG_VELO_RAPID
Feed
JOG_VELO
Feed
POS_AX_VELO
Feed
AX_VELO_LIMIT
Feed Spindle Spindle
CTRLOUT_LIMIT GEAR_STEP_CHANGE_ENABLE SPIND_VERO_LIMIT
Spindle GEAR_STEP_MAX_VERO[n]
Spindle GEAR_STEP_MIN_VERO[n]
Spindle GEAR_STEP_MAX_VERO_LIMIT[n]
Spindle GEAR_STEP_MIN_VERO_LIMIT[n]
Spindle SPIND_POSCTRL_VERO
Feed
GCODE_RESET_VALUES[20]
Feed
MAX_PATH_JERK
Feed
CURV_EFFECT_ON_PATH_ACCEL
Feed
MAX_AX_ACCEL
Feed
MAX_ACCEL_OVL_FACTOR
Feed
MAX_AX_JERK
Feed
PATH_TRANS_JERK_LIM
Feed Feed Spindle
G00_ACCEL_FACTOR G00_JERK_FACTOR GEAR_STEP_SPEEDCTRL_ACCEL[n]
Spindle GEAR_STEP_POSCTRL_ACCEL[n]
No. of Machine data
MD31040 MD31025 MD32110 MD32642 MD34220 MD32250 MD32260
MD13070 MD10230 MD32200 MD36400 MD32450
Typical Setting Value 1 1 100 -
0 1.0 -
UNIT
rev % min-1 1/s 1/s mm,deg mm,deg
0: Disabled 1: Enabled
General setting and others
0 or 1: Forward -1: Reverse 0: Type 1 1: Type 2 Specify "0" when not using separately mounted encoders. When linear scale is enabled, this setting is not required.
Specify value for MD880.
Common to whole axes Unit depends on setting value with MD10230[9].
MD37610 MD37610 MD34990 MD34990 MD32000 MD32010 MD32020 MD32060 MD36200 MD36210 MD35010 MD35100 MD35110 MD35120 MD35130 MD35140 MD35300 MD20150[20] MD20600 MD20602 MD32300 MD32310 MD32431 MD32432 MD32434 MD32435 MD35200 MD35210
1 0 110 1 2 0.75 -
sec sec mm/min,deg/min
Used for prediction control, model following control, gain changing, and collision detection. Unavailable for Spindles. Mainly used when Spindle encoder resolution is not high enough. Mainly used when Spindle encoder resolution is not high enough. Maximum speed for G0, G1, etc.
mm/min,deg/min
mm/min,deg/min
mm/min,deg/min POS command maximum speed
min-1
The peed which triggers alarm.
%
min-1
min-1
min-1
min-1
min-1
min-1
-
1: BRISK 2: SOFT
mm/sec3,deg/sec3 Generally set a larger value than MD32431.
-
mm/sec2,deg/sec2 Common to G0 and G1.
mm/sec3,deg/sec3 Common to G0 and G1.
mm/sec3,deg/sec3
-
-
r/sec2
r/sec2
14-105
Main topic
Moter control (Cont'd)
Topic Positioning
Emergency stop Return to reference point
Speed feedforward Fixed Stop Absolute value detection
Subtopic
Axis
Name of Machine Data
G60/G64 designation when reset
Feed
EXTERN_GCODE_RESET_VALUES[14]
G0 feed specification
Feed
EXTERN_G0_LINEAR_MODE
G00 specification when G64 command enabled
Feed
EXTERN_FUNCTION_MASK.4
Motion during travel from G0 to G1, or G1 to G0
Feed
EXACT_POS_MODE_G0_TO_G1
Positioning completion range (coarse) Positioning completion range (fine)
Feed axis/Spindle STOP_LIMIT_COARSE Feed axis/Spindle STOP_LIMIT_FINE
Positioning completion check starting time Positioning stop tolerance Positioning stop tolerance check starting time Rotation axes moving range Zero speed
Feed axis/Spindle POSITIONING_TIME Feed axis/Spindle STANDSTILL_POS_TOL Feed axis/Spindle STANDSTILL_DELAY_TIME Feed axis/Spindle MODULO_RANGE Feed axis/Spindle STANDSTILL_VELO_TOL
Emergency stop standstill period Period from emergency stop until servo drive cutoff Return to reference point dog setting
Feed axis/Spindle AX_EMERGENCY_STOP_TIME
Feed axis/Spindle SERVO_DISABLE_DELAY_TIME
Feed
REFP_CAM_IS_ACTIVE
Return to reference point dog setting
Spindle REFP_CAM_IS_ACTIVE
Return to reference point direction
Feed
REFP_CAM_DIR_IS_MINUS
Approach speed
Feed
REFP_VERO_SEARCH_CAM
Return to reference point dog search maximum distance
Feed
REFP_MAX_CAM_DIST
Creep speed (motor encoder)
Feed
REFP_VERO_SEARCH_MAKER[0]
Creep speed (separately mounted encoder)
Feed
REFP_VERO_SEARCH_MAKER[1]
C-phase search direction (motor encoder)
Feed
REFP_SEARCH_MARKER_REVERSE[0]
C-phase search direction (separately mounted encoder)
Feed
REFP_SEARCH_MARKER_REVERSE[1]
C-phase search maximum distance (motor encoder)
Feed
REFP_MAX_MARKER_DIST[0]
C-phase search maximum distance (motor encoder)
Spindle REFP_MAX_MARKER_DIST[0]
C-phase search maximum distance (separately mounted encoder)
Feed
REFP_MAX_MARKER_DIST[1]
Return to reference point speed
Feed
REFP_VERO_POS
Return to reference point travelling distance (motor encoder)
Feed
REFP_MOVE_DIST[0]
Return to reference point travelling distance (separately mounted encoder)
Feed
REFP_MOVE_DIST[1]
Return to reference point travelling distance offset (motor encoder)
Feed
REFP_MOVE_DIST_CORR[0]
Return to reference point travelling distance offset (separately mounted encoder)
Return to reference point dog shift range (motor encoder)
Feed
REFP_MOVE_DIST_CORR[1]
Feed
REFP_CAM_SHIFT[0]
Return to reference point dog shift range (separately mounted encoder)
Feed
REFP_CAM_SHIFT[1]
Reference position shift Return to reference point mode (motor encoder)
Feed
REFP_SET_POS[n]
Feed
ENC_REFP_MODE[0]
Return to reference point mode (separately mounted encoder)
Feed
ENC_REFP_MODE[1]
Feedforward mode FFWON command for program Speed feedforward time constant Speed feedforward weight Fixed Stop mode Torque limiting value Position deviation detection level Reference position offset (motor encoder)
Feed axis/Spindle FFW_MODE
Feed axis/Spindle FFW_ACTIVATION_MODE
Feed axis/Spindle EQUIV_SPEEDCTRL_TIME
Feed axis/Spindle VELO_FFW_WEIGHT
Feed axis/Spindle FIXED_STOP_MODE
Feed axis/Spindle FIXED_STOP_TORQUE_DEF
Feed axis/Spindle FIXED_STOP_THRESHOLD
Feed
REFP_MOCE_DIST_CORR[0]
Reference position offset (separately mounted encoder)
Feed
REFP_MOCE_DIST_CORR[1]
Return to reference point mode (motor encoder)
Feed
ENC_REFP_MODE[0]
Return to reference point mode (separately mounted encoder)
Feed
ENC_REFP_MODE[1]
No. of Machine data
MD20154[14] MD20732 MD20734.4 MD20522 MD36000 MD36010 MD36020 MD36030 MD36040 MD30330 MD36060 MD36610 MD36620 MD34000 MD34000 MD34010 MD34020 MD34030 MD34040 MD34040 MD34050 MD34050 MD34060 MD34060 MD34060 MD34070 MD34080 MD34080 MD34090 MD34090
Typical Setting Value 3 1 1 1 0 1080 -
MD34092
-
MD34092
-
MD34100
-
MD34200
-
MD34200
-
MD32620
3
MD32630
-
MD32810
-
MD32610
1.0
MD37000
-
MD37010
-
MD37030
-
MD34090
-
MD34090
-
MD34200
-
MD34200
-
UNIT
General setting and others
mm,deg mm,deg sec mm,deg sec deg mm/min,min-1 sec sec mm/min,min-1 mm mm/min,min-1 mm/min,min-1 mm,deg mm,deg mm,deg mm/min,min-1 mm,deg mm,deg mm,deg mm,deg
0: G61 3: G64 0: Positioning axis feed is enabled 1: Interpolation feed is enabled. 0: Exact stop disabled 1: Exact stop enabled 0: Exact stop disabled 1: G601 motion 2: G602 motion 3: G603 motion
MD36620 > MD36610 0: No dog 1: Dog Spindle orientation is set to "0" (No dog). 0: Positive 1: Negative
0: Positive (Not ahead of dog) 1: Negative (ahead of dog) 0: Positive (Not ahead of dog) 1: Negative (ahead of dog) Specify "1080deg" for spindle orientation.
mm,deg mm,deg mm,deg
% mm,deg mm,deg mm,deg -
Specify n with DB3xDBX2.4-7 0: No origin pulse 1: C-phase Return to reference point 0: No origin pulse 1: C-phase Return to reference point 0: Disabled 3: Speed feedforward enabled 0: Disabled 1: Enabled
0: Disabled 1: Enabled Ratio for maximum torque
"0" (to the position specified with MD34100) for the time when absolute value is detected "0" (to the position specified with MD34100) for the time when absolute value is detected
14-106
Main topic
Moter control (Cont'd)
Topic
Subtopic
Absolute value detection (Cont'd)
Return to reference point status (motor encoder) Return to reference point status (separately mounted encoder) Motor encoder type
Gantry control
Gantry axis setting
Synchronicity warning output level position deviation
Synchronicity alarm output level position deviation
Return to reference point synchronicity deviation alarm output level position deviation
Gantry axis synchronization release
Spindle orientation Feedforward mode
Acceleration when the nth gear speed controlled
Acceleration when the nth gear position controlled
Rigid tap Threading
Positioning control switching speed Position loop gain when tap enabled The nth gear spindle position loop gain Acc./dec. motion when threading enabled Spindle speed tolerance
Spindle synchronicity control
Skip
High-speed high-accuracy
machining
Multi-block look-ahead
Block compression
Spline compensation
Acceleration when spindle speed controlled Threading acc./dec. distance Number of slave axis Number of master axis Spindle synchronicity mode Block changing mode during synchronicity Synchronicity setting when reset Synchronicity conditions adjustment setting Tolerance range for "Coarse synchronism" Tolerance range for "Fine synchronism" Numerator for synchronous speed ratio Denominator for synchronous speed ratio Detection polarity for probe 1 Detection polarity for prove 2 Skip mode selection Number of look-ahead blocks
Compression position tolerance Block compression distance limiting value Compression speed tolerance Number of polynomial spline per block Number of polynomial within a single spline curve Type of fine interpolation
Axis
Feed Feed Feed Feed Feed Feed Feed
Feed Spindle Spindle Spindle Spindle
Feed Spindle
ô Spindle
Spindle ô
Spindle Spindle
ô ô ô ô ô ô ô ô Feed Feed Feed ô
ô ô ô ô ô ô
Name of Machine Data
ENC_REFP_STATE[0] ENC_REFP_STATE[1] ENC_TYPE[0] GANTRY_AXIS_TYPE GANTRY_POS_TOL_WARNING GANTRY_POS_TOL_ERROR GANTRY_POS_TOL_REF
GANTRY_BREAK_UP FFW_MODE GEAR_STEP_SPEEDCTRL_ACCEL[n] GEAR_STEP_POSCTRL_ACCEL[n] SPINDLE_POSCTRL_VELO POSCTRL_GAIN[1] POSCTRL_GAIN[n] THREAD_START_IS_HARD SPIND_DES_VELO_TOL
GEAR_STEP_SPEEDCTRL_ACCEL[n] THREAD_RAMP_DISP COUPLE_AXIS_1[0] COUPLE_AXIS_1[1] COUPLING_MODE_1 COUPLING_BLOCK_CHANGE_CTRL_1 COUPLING_RESET_MODE_1 COUPLING_IS_WRITE_PROT_1 COUPLE_POS_TOL_COARSE COUPLE_POS_TOL_FINE COUPLE_RATIO[0] COUPLE_RATIO[1] MEAS_PROBE_LOW_ACTIVE[0] MEAS_PROBE_LOW_ACTIVE[1] MEAS_TYPE LOOKAH_NUM_CHECKED_BLOCKS
COMPRESS_POS_TOL COMPRESS_BLOCK_PATH_LIMIT COMPRESS_VERO_TOL PATH_VELO_SEGMENTS ARCLENGTH_SEGMENTS FIPO_TYPE
No. of Machine data
MD34210 MD34210 MD30240 MD37100 MD37110 MD37120 MD37130
Typical Setting Value -
MD37140
-
MD32620
1
MD35200
-
MD35200
-
MD35300
-
MD32200
-
MD32200
-
MD20650
-
MD35150
-
MD35200
-
SD42010
-
MD21300
-
MD21300
-
MD21310
-
MD21320
-
MD21330
-
MD21340
-
MD37200
-
MD37200
-
SD42300
-
SD42300
-
MD13200
1
MD13200
1
MD13210
1
MD29000
100
MD33100
-
MD20170
-
MD20172
-
MD28530
5
MD28540
10
MD33000
2
UNIT
mm,deg mm,deg mm,deg
r/sec2 r/sec2 min-1 1/s 1/s -
r/sec2 mm
mm,deg mm,deg -
mm mm mm/min
-
General setting and others
"2" at the reference setting completion "2" at the reference setting completion "4" at the separately mounted encoder absolute value detection
0: Disabled 1:Synchlonization release Take notice when using this function. 0: Disabled 1: Speed feedforward enabled Specify "1" for spindles.
n = 1 to 5 0: linear acc./dec. 1: Step acc./dec. Tolerance for speed reference Specify acc./dec. distance when the value is less than zero (0)
0: Feedback synchronicity 1: Position command synchronicity 2: Speed synchronicity 0: Immediate changing 1: Changing is enabled (Fine) 2:Changing is enabled (Coarse) 0: Program change available 1: Program change not available
0: Positive 1: Negative 0: Positive 1: Negative Specify "1" for drive latching Number of blocks used for look-ahead acc./dec. Use on G64 mode.
1: Differential interpolation2: C spline interpolation
14-107
14.5.2 Servo drive relevant parameter
Main topic
Topic
Standard setting Axes configuration Motor encoder
Separately mounted encoder
Servo drive control
Position control
Speed control
Quadrant jerk compensation
Subtopic
Parking axis setting Rotation direction selection Usage for absolute value encoder Multi return limit Electronic gear ratio (numerator) (lower word) Electronic gear ratio (numerator) (upper word) Electronic gear ratio (denominator) (lower word) Electronic gear ratio (denominator) (upper word) Usage for full-closed PC pulse Full-closed specification Number of full-closed PC pulse/rotation of motor (lower word) Number of full-closed PC pulse/rotation of motor (upper word) Number of full-closed PC pulse/rotation of encoder (lower word) Number of full-closed PC pulse/rotation of encoder (upper word) Number of Z-phase pulse per rotation of encoder Absolute PG reference position offset (lower word) Absolute PG reference position offset (upper word) Position control enabled/disabled
Position loop gain Position loop gain setting method Excessive deviation range Speed loop gain Speed loop gain integral time constant Load inertia ratio for motor inertia PI control/ IP control switching 1st stage torque reference filter time constant 2nd stage torque reference filter time constant 3rd stage torque reference filter time constant Functional quadrant jerk compensation function selection Jerk compensation 11th stage gain (negative to positive)
Jerk compensation 11th stage limit offset (negative to positive) Jerk compensation 12th stage gain (negative to positive)
Jerk compensation 12th stage limit (negative to positive) Jerk compensation limit increment value (negative to positive) Jerk compensation limit max. value (negative to positive) Jerk compensation 11th stage gain (positive to negative)
Jerk compensation 11th stage limit offset (positive to negative) Jerk compensation 12th stage gain (positive to negative)
Jerk compensation 12th stage limit (positive to negative) Jerk compensation limit increment value (positive to negative) Jerk compensation limit max. value (positive to negative) Quadrant compensation timing constant
Name of Parameter
No. of Parameter
FUNCTION_SWITCH_APPLIC4 FUNCTION_SWITCH_BASIC FUNCTION_SWITCH_APPLIC2 MULT_TURN_LIMIT ELECTRIC_GEAR_NUMERATOR_LW ELECTRIC_GEAR_NUMERATOR_HW ELECTRIC_GEAR_DENOMIN_LW ELECTRIC_GEAR_DENOMIN_HW FUNCTION_SWITCH_APPLIC2 FUNCTION_SWITCH_APPLIC6 PG_PLS_MTRRND_LW_FULLCLOSED PG_PLS_MTRRND_HW_FULLCLOSED PG_PLS_ENCRND_LW_FULLCLOSED PG_PLS_ENCRND_HW_FULLCLOSED PG_PLS_ENCRND_Z_PHASE ABS_PG_POINT_OFFS_LW ABS_PG_POINT_OFFS_HW FUNCTION_SWITCH_BASIC
MD3004 digit 2(Pn004 digit 2) MD3000 digit 0(Pn000 digit 0) MD3002 digit 2(Pn002 digit 2) MD3205(Pn205) MD3214(Pn20E) MD3215(Pn20F) MD3216(Pn210) MD3217(Pn211) MD3002 digit 3(Pn002 digit 3) MD3006 digit 2(Pn002 digit 2) MD3210(Pn20A) MD3211(Pn20B) MD3212(Pn20C) MD3213(Pn20D) MD3231(Pn21F) MD3508(Pn808) MD3509(Pn809) MD3000 digit 1(Pn000 digit 1)
Typical Setting Value 0 65535 1 0 1 0 7
KP
MD3032(Pn102)
-
SWITCH_FUNCTION_2
MD3069 digit 0(Pn127 digit 0)
1
OVERFLOW_LEVEL
MD3425(Pn505)
-
KV
MD3030(Pn100)
-
KVI
MD3031(Pn101)
-
LOAD_INERTIA_RATIO
MD3033(Pn103)
-
GAIN/SWITCH
MD3041 digit 1(Pn10B digit 1)
1
TORQUE_FILTER_CONSTANT_1
MD3351(Pn401)
-
TORQUE_FILTER_CONSTANT_2
MD3363(Pn40D)
-
TORQUE_FILTER_CONSTANT_3
MD3364(Pn40E)
-
SWITCH_FUNCTION_1
MD3068 digit 1(Pn126 digit 1)
-
1ST_P_GAIN_QUAD_ERR_COMP
MD3101(Pn147)
-
1ST_P_LMT_OFS_QUAD_ERR_COMP MD3102(Pn148)
-
2ND_P_GAIN_QUAD_ERR_COMP
MD3103(Pn149)
-
2ND_P_LMT_QUAD_ERR_COMP
MD3104(Pn14A)
-
P_LMT_ADJ_QUAD_ERR_COMP
MD3105(Pn14B)
-
P_LMT_CLAMP_QUAD_ERR_COMP MD3106(Pn14C)
-
1ST_N_GAIN_QUAD_ERR_COMP
MD3107(Pn14D)
-
1ST_N_LMT_OFS_QUAD_ERR_COMP MD3108(Pn14E)
-
2ND_N_GAIN_QUAD_ERR_COMP
MD3109(Pn14F)
-
2ND_N_LMT_QUAD_ERR_COMP
MD3110(Pn150)
-
N_LMT_ADJ_QUAD_ERR_COMP
MD3111(Pn151)
-
N_LMT_CLAMP_QUAD_ERR_COMP MD3112(Pn152)
-
TIMING_CONST_QUAD_ERR_COMP MD3113(Pn153)
-
UNIT
rev -
General setting and others
0: Enabled axis 2: Parking axis 0: Forward 1: ReverseReverse connection is set with CNC. 0: Used as absolute value encoder 1: Used as incremental encoder
Use CNC-side setting for electronic gear.
-
Use CNC-side setting for electronic gear.
pulse/rev
2: Forward rotation with C phase 4: Reverse rotation with C phase Set multiplication-by-one value.
pulse/rev
Set multiplication-by-one value.
pulse pulse pulse
-
0.1/s -
pulse 0.1Hz 0.01ms
% 0.01ms 0.01ms 0.01ms 0.00001/s3 0.01% 0.00001/s3 0.01% 0.01%/ms 0.01%/ms 0.00001/s3 0.01% 0.00001/s3 0.01% 0.01%/ms 0.01%/ms 0.01/s
Setting is not required when MP scale is used. Setting is not required when MP scale is used. Setting is not required when MP scale is used. 0: Position control is disabled 1: Position control is enabled 7:Position/speed changing is enabled Specify the same value as MD32200. Take notice of unit. 0: Setting value for drive is used 1: Cyclic data for CNC is used.
0: PI control1: IP control
0: Disabled2: Enabled
14-108
Main topic
Servo drive control (Cont'd)
Topic Torque reference notch filter Speed feedback compensation Predictive control
Model following control
Subtopic
1st stage notch filter selection 2nd stage notch filter selection 1st stage notch filter frequency 1st stage notch filter Q value 2nd stage notch filter frequency 2nd stage notch filter Q value Speed feedback compensation function selection Speed feedback compensation gain Speed feedback delay compensation 1st predictive control switch 1st predictive control parameter C 1st predictive control parameter Cd 1st predictive control parameter 1st predictive control equivalent Kp fine adjustment 1st predictive control speed FF gain 1st predictive control torque FF gain 1st predictive control torque FF filter time constant 2nd predictive control switch 1st predictive control parameter C 2nd predictive control parameter Cd 2nd predictive control parameter 2nd predictive control equivalent Kp fine adjustment 2nd predictive control speed FF gain 2nd predictive control torque FF gain 2nd predictive control torque FF filter time constant Model following control (MFC) selection Model following control (MFC) bank 0 mask
Model following control (MFC) bank 1 mask
Model following control (MFC) bank 2 mask
Model following control (MFC) bank 3 mask
Vibration control at a stop Vibration control
Gain switching
Analog monitor
MFC gain MAC attenuation factor MFC speed FF gain MFC torque FF gain Attenuation ratio for vibration control at a stop Starting time for vibration control at a stop Vibration control selection Vibration control damping gain Vibration control low pass filter time constant Vibration control high pass filter time constant Vibration control observer gain Vibration control observer gain inertia compensation 2nd speed loop gain 2nd speed loop integral time constant 3rd speed loop gain 3rd speed loop gain integral time constant Data selection
Name of Parameter
SWITCH_NOTCH_FILTERS SWITCH_NOTCH_FILTERS FREQUENCY_NOTCH_FILTER_1 Q_VALUE_NOTCH_FILTER_1 FREQUENCY_NOTCH_FILTER_2 Q_VALUE_NOTCH_FILTER_2 SWITCH_ONLINE_AUTO_TUNING SPEED_FEEDBACK_COMP_GAIN SPEED_FEEDBACK_DELAY_COMP SWITCH_PREDICTED_1 PARAM_C_PREDICTED_1 PARAM_CD_PREDICTED_1 PARAM_ALPHA_PREDICTED_1 EQUIV_KP_ADJ_PREDICTED_1 SPD_FF_GAIN_PREDICTED_1 TRQ_FF_GAIN_PREDICTED_1 TRQ_FF_FLT_T_CONST_PREDIC_1 SWITCH_PREDICTED_1 PARAM_C_PREDICTED_1 PARAM_CD_PREDICTED_1 PARAM_ALPHA_PREDICTED_1 EQUIV_KP_ADJ_PREDICTED_1 SPD_FF_GAIN_PREDICTED_1 TRQ_FF_GAIN_PREDICTED_1 TRQ_FF_FLT_T_CONST_PREDIC_1 SWITCH_ONLINE_AUTO_TUNING MASK_MFC_BNAKSEL_0_3
MASK_MFC_BNAKSEL_0_3
MASK_MFC_BNAKSEL_0_3
MASK_MFC_BNAKSEL_0_3
LOOP_GAIN_MFC DUMP_FACTOR_MFC SPD_FF_GAIN_MFC TRQ_FF_GAIN_MFC DAMP_RATIO_ANTIVIB_ON_STP START_TIME_ANTIVIB_ON_STP GAIN_SWITCH SPD_DUMP_GAIN_ANTIVIBRATION LPF_CONST_ ANTIVIBRATION HPF_CONST_ ANTIVIBRATION OBSERVER_GAIN_ANTIVIBR LOAD_INERTIA_ANTIVIBR KV2 KVI2 KV3 KVI3 FUNCTION_SWITCH_APPLIC3
No. of Parameter
MD3358 digit0(Pn408 digit0) MD3358 digit1(Pn408 digit1) MD3359(Pn409) MD3360(Pn40A) MD3361(Pn40B) MD3362(Pn40C) MD3046 digit 1(Pn110 digit1) MD3047(Pn111) MD3048(Pn112) MD3079 digit 0(Pn131 digit 0) MD3080(Pn132) MD3081(Pn133) MD3082(Pn134) MD3083(Pn135) MD3084(Pn136) MD3085(Pn137) MD3086(Pn138) MD3079 digit 1(Pn131 digit 1) MD3087(Pn139) MD3088(Pn13A) MD3089(Pn13B) MD3090(Pn13C) MD3091(Pn13D) MD3092(Pn13E) MD3093(Pn13F) MD3046 digit 3(Pn110 digit 3) MD3527 digit 0 (MD81B digit 0) MD3527 digit 1 (MD81B digit 1) MD3527 digit 2 (MD81B digit 2) MD3527 digit 3 (MD81B digit 3) MD3055(Pn119) MD3056(Pn11A) MD3059(Pn11D) MD3060(Pn11E) MD3114(Pn154) MD3115(Pn155) MD3041 digit 3(Pn10B digit 3) MD3050(Pn114) MD3051(Pn115) MD3052(Pn116) MD3071(Pn129) MD3072(Pn12A) MD3034(Pn104) MD3035(Pn105) MD3073(Pn12B) MD3074(Pn12C) MD3003(Pn003)
Typical Setting Value 1
0
1
1
1024 0002
UNIT
Hz 0.01 Hz 0.01 % % 0.01 0.01 0.01 0.1/s % % 0.01Hz 0.01 0.01 0.01 0.1/s % % 0.01Hz -
-
-
-
0.1/s 0-1000 0-1000 0-1000
% ms % 0.01ms 0.01ms Hz % 0.1Hz 0.01ms 0.1Hz 0.01ms -
General setting and others
0: Disabled 1: Enabled 0: Disabled 1: Enabled
0: Disabled 1: Enabled
Speed feedback compensation inertia gain For machining feed 0: Disabled 1: Enabled (Tp = 0.001) 2: Enabled (Tp = 0.002) For machining feed For machining feed For machining feed For machining feed For machining feed For machining feed For machining feed For positioning 0: Disabled 1: Enabled (Tp = 0.001) 2: Enabled (Tp = 0.002) For positioning For positioning For positioning For positioning For positioning For positioning For positioning 0: Disabled 1: Rigid model following control selection 0: Bank 0 enabled 1: Bank 0 disabled
0: Bank 0 enabled 1: Bank 0 disabled
0: Bank 0 enabled 1: Bank 0 disabled
0: Bank 0 enabled 1: Bank 0 disabled
Function is disabled when the initial value is set to 100% (initial value = 100%).
0: Disabled 3: A-type vibration control function enabled
14-109
Main topic Motion control
Topic Emergency stop
Torque control Collision detection
Subtopic
Emergency stop torque Emergency stop wait time Brake command - servo drive cutoff delay Delay between servo drive cutoff and connector cutoff Positive torque control Negative torque control Variable torque control selection Disturbance observer gain Disturbance observer high pass filter cutoff frequency Disturbance observer low pass filter cutoff frequency Disturbance observer inertia compensation 1st torque disturbance level 2nd torque disturbance level 3rd torque disturbance level 4th torque disturbance level Compliance torque
Name of Parameter
EMERGENCY_STOP_TORQUE EMERGENCY_STOP_WAIT_TIME DELAY_FROM_BRK_SIG_TO_SVOFF TACTOR_OFF_DELAY_TIME FORWARD_TORQUE_LIMIT REVERSE_TORQUE_LIMIT SWITCH_NOTCH_FILTER GAIN_DISTURB_OBSERVER HPF_CUT_FREQ_DISTURB_OBSRVR LPF_CUT_FREQ_DISTURB_OBSRVR INERTIA_ADJ_DISTURB_OBSRVR DISTURB_TORQUE_LEVEL_1 DISTURB_TORQUE_LEVEL_2 DISTURB_TORQUE_LEVEL_3 DISTURB_TORQUE_LEVEL_4 COMPLIANCE_TORQUE
No. of Parameter
MD3356(Pn406) MD3442(Pn516) MD3426(Pn506) MD3528(Pn81C) MD3352(Pn402) MD3352(Pn402) MD3358 digit 2(Pn408 digit 2) MD3063(Pn121) MD3064(Pn122) MD3066(Pn124) MD3067(Pn125) MD3368(Pn412) MD3369(Pn413) MD3370(Pn414) MD3371(Pn415) MD3372(Pn416)
Typical Setting Value 800 500 1 -
UNIT
% ms ms ms % % Hz Hz Hz % % % % % %
General setting and others
When "800" is specified, machine stops at the maximum torque.
0: Disabled 1: Enabled
14.5.3 Spindle relevant parameter and Servo drive relevant parameter
14-110
Main topic
Topic
Standard setting Motor encoder
Separately mounted encoder
Subtopic
Encoder specification Number of motor encoder pulse Number of PG pulse for position control/rotation of motor (lower word) Number of PG pulse for position control/rotation of motor (upper word) Separately mounted encoder specification Number of separately mounted encoder pulse
Servo drive control
Motion control
Motor maximum speed Mask setting Parameter initialization Position control Speed control
Servo drive mode
Analog monitor Spindle sequence relevant
Number of PG pulse for position control/rotation of motor (lower word) Number of PG pulse for position control/rotation of motor (upper word) Rated speed
Alarm mask Parameter initialization Multi-function selection SSC Setting method for position loop gain Excessive deviation range (over flow level) Speed control proportion gain (H gear) Speed control integral time (H gear) Speed control proportion gain (M, L gear) Speed control integral time (M, L gear) Speed control proportion gain (servo mode H gear) Speed control integral time (servo mode H gear) Speed control proportion gain (servo mode M, L gear) Speed control integral time (servo mode M, L gear) Servo mode magnetic flux level (H gear) Servo mode base speed ratio (H gear) Servo mode magnetic flux level (M, L gear) Servo mode base speed ratio (M, L gear) Monitor 1 output content Monitor 1 output content Zero speed detection level
Zero speed detection range
Speed coincidence signal range
Speed coincidence signal level
Speed coincidence signal hysteresis
Torque detection signal level
Torque detection signal hysteresis
Emergency stop
Emergency stop wait time Delay between servo cutoff and connector cutoff
Torque control
Torque control level on motor side
Torque control level on regenerator side
Variable torque control selection
Name of Parameter
ENCODER_SPECIFICATION_0 NUMBER_OF_ENCODER_PULSE_0 FULL_CLOSED_PG_PULSE_L_1 FULL_CLOSED_PG_PULSE_L_1 ENCODER_SPECIFICATION_1 NUMBER_OF_ENCODER_PULSE_1
FULL_CLOSED_PG_PULSE_L_1 FULL_CLOSED_PG_PULSE_L_1 RATED_SPEED_SETTING ALARM_MASK RESERVED_FOR_USER_OF MULTI_FUNCTION_SEL_SSC GAIN_SWITCH OVERFLOW_LEVEL ASR_P_GAIN_H_1 ASR_I_TIME_H_1 ASR_P_GAIN_M_L_1 ASR_I_TIME_M_L_1 ASR_P_GAIN_H_2 ASR_I_TIME_H_2 ASR_P_GAIN_M_L_2 ASR_I_TIME_M_L_2 SV_MODE_FLUX_LEVEL_H SV_BASE_SPEED_RATIO_H SV_MODE_FLUX_LEVEL_M_L SV_BASE_SPEED_RATIO_M_L MONITOR_1_OUTPUT MONITOR_1_OUTPUT ZERO-SPEED_DET_LEVEL
ZERO-SPEED_DET_WIDTH
SPEED_AGREE_WIDTH
SPEED_DETECTION_LEVEL
SPEED_DETECTION_WIDTH
TORQUE_DETECTION_LEVEL
TORQUE_DETECTION_WIDTH
EMERGENCY_STOP_WAIT_TIME
TACTOR_OFF_DELAY_TIME
TORQUE_LIMIT
REGENERATION_TORQUE_LIMIT
TORQU_LIMIT_SELECT
No. of Parameter
MD6529(Cn529) MD6533(Cn533) MD6915(Cn87F) MD6916(Cn880) MD6530(Cn530) MD6534(Cn534)
MD6915(Cn87F) MD6916(Cn880) MD6500(Cn500) MD7081(Cn8E6) MD6988(Cn8C8) MD6522(Cn522) MD6837(Cn831) MD6965(Cn8B1) MD6060(Cn060) MD6061(Cn061) MD6062(Cn062) MD6063(Cn063) MD6064(Cn064) MD6065(Cn065) MD6066(Cn066) MD6067(Cn067) MD6201(Cn201) MD6202(Cn202) MD6203(Cn203) MD6204(Cn204) MD6472(Cn472) MD6472(Cn472) MD6030(CN030)
MD6031(Cn031)
MD6400(Cn400)
MD6401(Cn401)
MD6402(Cn402)
MD6410(Cn410)
MD6411(Cn411)
MD6511(Cn511)
MD6819(Cn819)
MD6421(Cn421)
MD6422(Cn422)
MD6423(Cn423)
Typical Setting Value -
1 0 1 -
-
-
-
-
-
-
-
-
-
-
-
UNIT
bit pulse pulse -
pulse pulse min-1
pulse 0.1%/Hz 0.1ms 0.1%/Hz 0.1ms 0.1%/Hz 0.1ms 0.1%/Hz 0.1ms % 0.01 % 0.01 0.1min-1 0.1min-1
%
0.01%
0.01%
0.1%
0.1%
ms
ms
%
%
-
General setting and others
11:2048/12:4096/13:8192/19:19bit serial The number of pulse for motor encoder (multiplication-by-four value) is set. The number of pulse (multiplication-by-four value) for 11:2048/12:4096/13:8192/19:19bit serial/32 or higher The number of pulse for separately mounted encoder (multiplication-by-four value) is set.
0: Initial value 1: Initialization 0: Soft start with SSC disabled 1: Servo mode with SSC enabled
0: Motor speed 1: Torque reference
Ratio for MD6500 (Cn500) is set. Ratio for MD6500 (Cn500) is set. Ratio for MD6500 (Cn500) is set. Ratio for 30-minute rated torque is set. Ratio for 30-minute rated torque is set.
0: Disabled 1: Enabled
14-111
Main topic
Motion control (Cont'd)
Topic Orientation
Winding changing
Multi-function selection PPI
Subtopic
Positioning completion gain reduction percentage (H gear) Positioning completion gain reduction percentage (L gear) Winding changing selection
Name of Parameter
MULTI_FUNCTION_SEL_PPI
ORT_DB_GAIN_DEC_RATIO_H ORT_DB_GAIN_DEC_RATIO_L SELECTION_CODE_1
No. of Parameter
MD6525(Cn525)
MD6595(Cn583) MD6595(Cn583) MD6809(Cn809)
Typical Setting Value 0
50 50 -
UNIT
-
% % -
General setting and others
0:No fluctuation control at position control stop 1:Fluctuation control in PPI
0001: Winding changing unit is not used 0000: Winding changing unit is used 0010 : Speed cramp function as well as winding changing unit is used
14.6 Trouble shooting
14-112
14.6.1 Table of causes/countermeasures for troubles
Following list is the summary of causes and countermeasures for potential troubles occurring from the setting errors of machine data or parameters.
Category Controlled
source
Servo drive is powered on
Control
Symptom
Conditions
Candidate causes
There is one or more axis which can not be read by the digital operator of converter. When the control source is powered on. Or There occurs the drive alarm 183 (A. B7: Link setting error) or 225 (A. E1: Timeout error).
There may exist any mismatchings on the axis number rotary switch of the drive.
When powered on, the position becomes approximately fourfold the setting value. There occurs the drive alarm 4 (A.0.4: Parameter setting is abnormal). There occurs the drive alarm 2 (A.02: Flash memory is abnormal). There occurs CNC alarm 8044. There occurs CNC alarm 1019 Floating point arithmetic error. The feed axis behaves inching when the servo drive is powered on.
The feed axis coasts after the servo drive is powered on. There appears one or more runaway axes, when the servo drive is powered on.
Move command does not match the actual travel amount . There occurs CNC alarm 1019 Floating point arithmetic error. Vibration There occurs the drive alarm 81 (A.51: Undervoltage).
When the control source is powered on.
The multiplication factor for the absolute value data is incorrectly set.
When the control source is powered on.
The parameter setting value is out of the setting range.
When the control source is powered on. When CNC power supply is powered on.
The checksum for user parameter or system parameter is abnormal. Parameter ID check is abnormal.
Limitation for IPO cycle is not released.
When the control source is powered on.
The value MD32250[0] = 0 is set.
When restarting after an emergency stop.
The variable Kp setting is not enabled on the drive side.
Including an axis with enabled separately mounted encoder.
Especially the gravity axis
MD32642 is set to 1 for the axis with disabled separately mounted encoder. There is some mismatching between MD30110 and MD30220[0] or [1].
In PLC, the measuring system (DB3nDBX1.5-6) is incorrectly selected.
Including the separately mounted encoder
The direction of motor rotation is unmatched to that of encoder rotation.
The setting for separately mounted encoder is unmatched for CNC and the drive.
Including the separately mounted encoder.
The setting value for the separately mounted encoder is incorrect.
In 00.02.02 system, when the servo drive is powered on. MD32642 is set to 1 for the semi-closed controlled (motor encoder controlled) axis.
When the servo drive is powered on.
The unit for setting value for Kp is incorrect.
Multiple converters are connected.
Before the servo drive under one converter is powered off, another converter has blocked the main circuit connector.
It is impossible to power on the servo drive.
Whole axes are disabled.
A single axis is disabled.
Separately mounted encoder absolute value detection function is enabled.
The bus cable connector linking with drives is almost disconnected. In PLC, the measuring system (DB3nDBX1.5-6) is not selected. The motor encoder setting value is not set to the absolute value detection.
When servo drive is powered on, or when the first travel command is instructed, there occurs a servo drive alarm 113 (A.71: Overloading). There occurs a servo drive alarm 113 (A.71: Overloading).
Torque fluctuates in wave forms during deactivation.
Including separately mounted encoder.
When the servo drive is powered on. Including separately mounted encoder.
The direction setting for the separately mounted encoder is incorrect.
The motor cable is disconnected. The separately mounted encoder is set to Type 1 (MD32642 = 0).
Measures
Check if there are multiple switches specified for the same number under a single converter. Check if the switch setting is within the range between 0 and 6. Check if the switch indicates the target number properly. Set the value, MD 30260 = 1. Set the parameter value within the setting range. Re-enter the parameter file for drive.
Set the value, MD19296 = 4. Set the value MD32250[0] = 100. Set the value MD3069 digit 0 (Pn127 digit 0) = 0. Set 0 to MD32642 for the axis with disabled separately mounted encoder.
Specify the same value for MD30110 and MD30220[0] or [1]. Specify "1" for motor encoder only, and "2" for including separately mounted encoder. Correct the rotation directions. Specify the correct value. Correctly set the values for both the motor encoder and the separately mounted encoder. Set 0 to MD32642 for the semi-closed controlled axis. Use the same unit for MD102390[9] and MD32200. With MC3528(Pn81C) and MD6989(Cn8C9), specify the amount for the delay time for the axis for which the servo drive is last to be powered on (for example, longer than the deceleration time for the spindle). Check the connection of bus cable connector linking with the drives. Specify "1" for motor encoder only, and "2" for including separately mounted encoder. When the absolute value detection function is enabled on the separately mounted encoder, set the motor encoder type to the absolute value encoder (MD30340[0] = 4) independently with the motor encoder type. Check the orientation of separately mounted encoder and correct the relevant machine data and parameters. Connect the motor cable properly. Set the encoder to Type 2 (MD32642 = 1).
There occurs CNC alarm 21610 Channel ** axis** encoder frequency exceeded. Including separately mounted encoder.
There occurs the drive alarm 208 (A. D0 Position deviation is excessive). Emergency stop is not initiated but DB stop (spindle is free-running) is enabled.
During the rapid travelling. -
The position deviation is not match Kp.
Including separately mounted encoder.
There occurs low frequency vibration (about 20 Hz) during deactivation.
Quadrant jerk compensation is enabled.
Since the setting value with MD30600[1] is not high enough, the command frequency is abnormal. The setting value for excessive deviation range on the drive side is not high enough. The delay time between the emergency stop and the servo drive cut-off is too short.
The separately mounted encoder reverse connection is installed on the CNC side in case of the separately mounted encoder reverse connection along with the motor forward connection. The setting value for the functional quadrant jerk compensation function selection is wrong (current setting may be MD3068 digit 1 (Pn126 digit 1) = 1).
Set the setting value with MD30600[1] to equal or higher value than 4 or the separately mounted encoder pulse rate (pps) at the top speed. Specify the value appropriate for the encoder and Kp with MD3425 (Pn505).
With MD3442 (Pn516) and/or MD6511 (Cn511), specify the proper value (for example, the value which is equal or exceed the spindle deceleration time) for the time from the emergency stop until the servo drive is cutoff. In this case, the separately mounted encoder reverse connection should be done on the drive side.
Correct the setting with MD3068 digit 1 (Pn126 digit 1) = 2.
Remarks (relevant sections)
14.1.4
14.1.5 A.1, A2
14.1.1 14.1.7 14.2.1 14.1.6 14.1.5 14.1.5,14.1.6 14.1.6 14.1.6 14.1.5,14.1.6 14.1.6 14.2.1 14.3.4
14.1.6 14.1.5
14.1.6
Standard setting is Type 2. 14.1.6 14.1.6 14.2.1 14.3.4
14.1.6
14.2.5
14-113
Category Hard ware configuration Encoder
Spindle Hard ware
Symptom
Conditions
Candidate causes
Measures
There occurs CNC alarm 25202 Axis waiting for drive or the LED lamp of PROFI- The spindle is set as a parking axis. BUS flashes.
The digital operation mode was once used.
It is impossible for the spindle to be a parking axis. The stand alone mode (digital operation mode) is enabled.
Set the spindle as an enabled axis. If there is no spindle motor, mask the motor and encoder relevant alarm(s) with the spindle alarm mask.
Release the stand alone mode.
There are connected multiple converters. The parking axis was once enabled.
The station number of converter is wrong. The parking axis setting (servo axis) is enabled.
Check the station number of the converter. Specify the station number which is not identical to any other converter station number but suitable for the setting of hard ware configuration.
Release the parking setting for the servo drive.
There occurs CNC alarm 26002 Axis encoder N configuration error. There occurs a servo drive alarm 129 (A:81:PG backup errors).
When power turned on.
The setting for the pulse number and type of CNC motor or separately mounted encoder does not match that for the drive. (N = 1: Motor N = 2: Separately mounted encoder)
When power is turned on after the drive wiring is modi- The backup value for the absolute value encoder is collapsed. fied.
When power is turned on.
The battery of converter is empty. The voltage is not high enough.
Set the pulse number and type of CNC motor or separately mounted encoder to the setting value matching the actual encoder pulse.
Reset the encoder.Reset the encoder.
Attach a new normal battery.
There occurs a servo drive alarm 204 (A.CC: multi-return limit value unmatched).
There is no battery used since the absolute value encoder is used as the incremental encoder.
MD3205 (Pn205) has been modified.
Setting is not for the absolute value encoder to be used as the incremental encoder. The setting on the encoder side (Fn013) was not changed.
Set MD3002 digit 2 (Pn002 digit 2) = 1 in order to use the absolute value encoder as the incremental encoder.
Modify the setting on the encoder side.
The multi-return limit value can not be changed.
With separately mounted encoder, there occurs position deviation in positioning after the servo drive power is turned on/off. There occurs a servo drive alarm 203 (A.CB:PG echo back abnormal).
The rpm does not match the reference value.
A 20-bit encoder is used. MK scale is used. When control source is powered on. When the speed reference operation is enabled.
For the 20-bit encoder, the multi-turn limit value is unchangeable. The servo drive multi-return limit value setting error. The encoder cable is disconnected. The MD32260 setting value is wrong.
Set the setting value on the CNC-side multi-turn limit to the encoder value plus 1 (one) (= 65536). With 3205 (Pn205), set the value "-1" for the gear ratio of MP scale and motor encoder.
Properly connect the cable. When the absolute value detection function is enabled, re-establish the origin. With MD32260, set the value of MD880.
The orientation speed fluctuates. The spindle feedback signal display (rpm, speed waveform, etc.) flickers. There occurs CNC alarm 22051 at the orientation.
When the position control is started after the orientation deceleration. After the servo drive is powered on.
The first orientation after powered-on.
The speed feedforward for the spindle is not enabled.
Since the resolution of spindle encoder is not high enough, the display flickers in the range of encoder 1 pulse. MD34060 REEP_MAX_MAPKER_DIST setting value is not large enough.
Enable the spindle speed forward. Set the low pass filter MD34990 for the spindle feedback. Set the value which is equal or exceed 360 deg.
The LED lump of PROFIBUS lights, and there occurs the drive alarm 183 (B7: link The control source is powered on. setting errors) and/or 230 (E6: network communication abnormal).
The LED lump of the servo/spindle drive RDY fails to light.
The control source is powered
The termination at the PROFIBUS terminal connector is not enabled.
Properly enabled the termination.
The fuse of the control source is blown. This event often occurs when the connector of Replace the servo/spindle drive unit. control source is disconnected with the control source which is still powered on. on.Inaccessible under the digital operation.
Remarks (relevant sections)
14.1.4,14.1.8 14.1.3 14.1.4
14.1.4 14.1.5 14.1.6 14.1.5
14.1.5 14.1.5 14.1.5 14.1.6
14.1.7 14.3.7,14.3.13
14.2.2 14.3.5
Chapter 15
Error and Troubleshooting
This chapter describes the troubleshooting for the errors without alarm display. 15.1 Error without Alarm Display and Troubleshooting - - - - - - - 15-2
15-1
Error and Troubleshooting
15.1 Errors without Alarm Display and Troubleshooting
The table below shows the causes and their countermeasures for the malfunctions accompanied with no alarm generation.
Before you check or take a countermeasure for what is described in the half-tone meshing column, you must turn off the power supply of servo system.
If you cannot remedy the malfunction even with these measures, please contact our service group without delay.
Table 15.1
Malfunction Motor does not start.
Servo motor almost activates but comes back to and remains a standstill. Servo motor suddenly stops during operation and then wouldn't run. Servo motor rotates unstablly. Servo motor vibrates at the frequency around 200 to 400 Hz.
When the motor starts or stops, the speed overshoot is very large.
Cause The power supply is not turned on. Connection is loose.
External wiring of connector (CN2, CN5) is wrong. The servo motor and the encoder are unconnected. There generates overloading.
Speed/position reference is missed. The type of encoder to use is not the one which is set with the user constant. The servo motor and the encoder is improperly wired.
An emergency stop is activated.
The servo motor is cut off from the power source. There is a malfunction on the connection to the motor.
The speed loop gain is excessively high.
The wiring for speed/position reference input is excessively long.
The wiring for speed/position reference input is bundled with the power cable. The speed loop gain is excessively high.
Check point Check the voltage between the power source terminals. Check the connector (CN2, CN5) terminals. Check the external wiring for CN2 and/or CN5.
Try the no-load running.
Check the input pin.
Check the setting for whether an incremental encoder or an absolute value encoder.
Check the emergency stop signal. Check the power source.
Check the condition of connectors of the power cable (U-, V-, and W-phase) and encoder.
Countermeasure
Correct the power turn-on circuit.
Correct the loose connection.
Wire correctly according to the connection diagram.
Connect the cable properly.
Reduce the load, or replace with a servo drive which has larger capacity.
Input the speed/position reference properly.
Set the user constant Pn 002.2 to match the encoder type to be used.
Correct the wiring.
Turn off the emergency stop signal. Properly turn on the power.
Correct the loose connecting parts of processing terminal or connector.
Decrease the setting value for the user constant Pn100 (speed loop gain).
Arrange the command input wiring shortest. Reduce the impedance to be equal or less than 100 . Separate the wiring for reference input from the power cable at least 30 cm.
Decrease the setting value for user constant Pn100 (speed loop gain). Increase the setting value for user constant Pn101 (integral time constant).
15-2
15.1 Errors without Alarm Display and Troubleshooting
Malfunction Servo motor overheats.
Unusual noise generates.
Table 15.1
Cause The surrounding temperature is excessively high. The surface of servo motor is dirty. The servo motor is overloaded.
Mechanical installment is not good.
There is something abnormal on the bearing.
The coupled machine generates vibration.
Check point
Measure the temperature around the servo motor.
Visually check the surface.
Operate the servo motor without load. Check if the fixing screws of servo motor are not loosen.
Check if the alignment of coupling is deviate.
Check if the coupling is unbalanced.
Check the noise and vibration around the bearing.
Check if there is any foreign matters, failure and/or deformation on the movable parts of the machine.
Countermeasure Lower the surrounding temperature to 40 ^ or below. Remove the dust and oil from the motor surface. Reduce the load or use another motor with larger capacity. Fasten the fixing screw again.
Align the coupling.
Balance the coupling.
When you find something wrong about the bearing, contact our service group. When you find any, take advice from the maker of that machine.
15-3
Error and Troubleshooting 15-4
15.1 Errors without Alarm Display and Troubleshooting 15-5
Error and Troubleshooting 15-6
Chapter 16
Maintenance and Check
This chapter deals with how to conduct a basic check on the Servo motors and the SERVOPACKs, how to replace the Absolute encoder battery, and explanation about the Analogue monitor. 16.1 Checking Servo motor and SERVOPACK - - - - - - - - - - - - 16-2 16.1.1 Checking Servo motor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 16-2 16.1.2 Checking SERVOPACK - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 16-3 16.2 Checking Spindle motors and Invertors - - - - - - - - - - - - - - 16-4 16.2.1 Items to be checked daily - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 16-4 16.2.2 Scheduled maintenance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 16-5 16.2.3 Megger test on Spindle motor - - - - - - - - - - - - - - - - - - - - - - - - - - - 16-5 16.2.4 Periodical check - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 16-6 16.3 Absolute encoder - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 16-8 16.3.1 Replacing a battery in the Absolute encoder- - - - - - - - - - - - - - - - - 16-8 16.3.2 Handling a battery - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 16-8 16.3.3 Setting up (Initializing) Absolute encoder - - - - - - - - - - - - - - - - - - - 16-9 16.4 Analogue monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - 16-11
16-1
Maintenance and Check 16.1.1 Checking Servo motor
16.1 Checking Servo motor and SERVOPACK
16.1.1 Checking Servo motor
The following table shows how to conduct a daily check and maintenance of the Servo motor. Since AC servo motors are brushless, you need not conduct any other checks than a brief, daily check. The check timing in the table shows a guide line only; you need to define appropriate check timing according to the motor operating conditions.
IMPORTANT
Do not disassemble the servo motor for the purpose of maintenance and check. Be sure to contact our distributor or sales office nearest to you for dissassembly of motor.
Table 16.1 Servo motor check
Check item
Vibration and sound check Appearance check
Insulation resistance measurement
Oil seal replacement Overall check
Check timing Once per day
Check/maintenance method
Touching and hearing
According to the
Cleaning with a cloth or air
degree of contamina-
tion
Once per year at least
Isolating the motor from SERVOPACK, measure insulation resistance using a 500 V megger tester. Normal resistance is more than 10
M*
Once per 5,000 hours Replace the seal by remov-
at least
ing from a machine.
Once per 20,000 hours or 5 years at least
Contact our service group.
Remark
Shall not be larger than normal -
If the resistance is 10 M or less, contact our service group.
Only for a motor with an oil seal Do not disassemble or clean the servo motors.
To be measured between FG and either of the motor power line U, V, and W phases.
16-2
16.1 Checking Servo motor and SERVOPACK
16.1.2 Checking SERVOPACK
The following table summarizes how to check the SERVOPACK. You need not conduct a daily check; however, conduct a check once a year at least.
Table 16.2 SERVOPACK check
Check item
Cleaning of main unit and board
Loose screw
Check timing
Once per year at least
Once per year at least
Failed parts on main unit or boards
Once per year at least
Check method
Shall be free from adherents such as dirt, dust, and oil.
Fixing screws shall not be loose on terminal blocks and connectors etc.
Shall be free from discoloration, breakage, wire-break resulting from heat generation.
Corrective action Clean with a cloth or air. Retighten the screws.
Contact us.
A guide line of parts replacement timing
The following parts become worn or degraded over years. Conduct a periodical check.
As to the SERVOPACKs that we made an overall repair, we are returning them to users with resetting their user-defined constants to standard values. Be sure to check user-defined constants before starting operation.
Table 16.3 Periodical parts check
Part name
Cooling fan Smoothing capacitor Relays Fuse Aluminum electrolytic capacitor on printed board
Standard replacement
timing
4-5 years
7-8 years
-
10 years
5 years
Replacement method etc.
Replace with new one Replace with new one (after a check.) Determine after a check. Replace with new one Replace entire board with new one (after a check.)
Operating conditions
· Ambient temperature: 30 ^ on average · Load factor: 80% or less · Availability: 20 hours or less per day
16-3
Maintenance and Check 16.2.1 Items to be checked daily
16.2 Checking Spindle motors and Invertors
Carry out scheduled maintenance management so that the system may keep operating correctly in good conditions.
WARNING
· To check the MRX, you must turn off the power and wait for 5 minutes before accessing inside the unit. Be sure to wait until the "CHARGE" indicator turns off, showing the smoothing capacitor has been discharged completely; otherwise, you may receive an electric shock or may be injured.
16.2.1 Items to be checked daily
Conduct a daily check on the following items:
Table 16.4
Check object Environment
Power supply status Appearance
Operation status
Check procedure
Item
Method
Ambient temperature
Thermometer
Humidity Ventilation Voltage
hygrometer Viewing Voltmeter
Current
Contamination on Inverter, Motor, and frame axis hole due to dust and others
Vibration
Ammeter Viewing
Touching or vibration meter
Bad smell
Smelling
Abnormal sound
Hearing
Inverter motor tem- Viewing or thermome-
perature rise
ter.
Criteria
Inverter: 0-55 ^ (Non-congelation) Motor: 0-40 ^ 95%RH or less (Non-condensation) Intake/exhaust air shall flow smoothly Shall be within a range from -15% to +10% from rated voltage
Shall be within a rated current. Contamination shall not be excessive than normal.
Shall be free from abnormal vibration or increase in the amplitude. Smell of burning is not allowed.
Shall be free from abnormal sound or increase in noise level.
Shall be free from abnormal temperature rise.
Corrective action
Improve installation environment so that the values may become within normal ranges.
Remove any obstacles blocking smooth air flow. Adjust the voltage to correct value (by using different transformer tap or so) Adjust a load If contamination is excessive, clean them.
If allowable limit is exceeded, stop the system and remove any cause.
Stop the system and remove any cause. If normal operation becomes difficult, stop the system and remove any cause. Stop and cool the system to check if the cooling devices such as fan operates correctly, and make a repair if any cause is found.
16-4
16.2 Checking Spindle motors and Invertors
Table 16.4
Check object Around the bearing
Motor cooling fan
Check procedure
Item
Method
Sound from the bearing
Hearing or auscultation stick
Vibration
Touching or vibration meter
Bearing temperature Touching or thermometer
Grease
Viewing
Operation status
Viewing or hearing
Criteria
Shall be free from abnormal sound or increase in noise level. Shall be free from abnormal vibration Shall be free from abnormal temperature rise Grease leakage shall not exist Shall be operated normally
Corrective action Replace the bearing.
Remove any cause. Remove any cause or replace the fan if defective.
16.2.2 Scheduled maintenance
Clean the Inverters and motors in the following way periodically.
1. If air filters are used in the Control panel or other devices, clean the filters once a month at least.
2. If contaminated with dirt or dust, electronic parts may exhibit overheat or decrease in insulation characteristics; remove the dirt or dust periodically. Likewise, if the heat sink is contaminated with dust or oil at the rear surface of the inverter, it becomes unable to dissipate heat effectively, resulting in a failure. Clean the heat sink with an air blow or a cloth once per 6 months at least. (If it is contaminated considerably, cleaning shall be made more frequently.)
3. Checking vibration and sound levels by touching and hearing every day to verify that the levels do not become greater than normal.
4. Checking their appearance, clean them if necessary with an air blow or cloth according to the degree of contamination.
16.2.3 Megger test on Spindle motor
Test the insulation of Spindle motor using a Megger tester (500 VDC) as follows:
1. Isolate the Spindle motor from the Inverter by disconnecting connections. 2. Measure the resistance between either of the motor power lines U, V, and W phases and
the FG (Frame Ground). [If Spindle motor uses 6 wires: U (U1), V (V1), W (W1), X (U2), Y (V2), and Z (W2); measure the resistance between each of the U (U1), V (V1), and W (W1) and the FG.]
3. The resistance is correct if the Megger tester reading is 10 M or higher.
16-5
Maintenance and Check 16.2.4 Periodical check
16.2.4 Periodical check
Referring to the following table, establish a maintenance schedule and conduct a periodical check. Check timing is mentioned for some items in the table; however, it is for your reference as standard timing. Determin appropriate timing that best fits your machine considering
use status and environment by increasing or decreasing the standard value.
Table 16.5 Periodical check
Check object Daily check status
Check procedure
Item
Method
Review records
Viewing
Mounting status Grounding Coating
Bolts for mounting Inverter and Motor
Inverter and Motor grounding terminals
Paint removal or rust
Viewing Viewing Viewing
Connection and electric wire
Cooling fan
Looseness, break on wire Viewing insulation, terminal box
Vibration
Touching
Strange sound
Hearing
Electrolytic capacitor
Electrolyte leakage and expansion
(Measure capacitance)
Viewing (Capacitance meter)
Relay and contactor Strange sound during operation
Resistor
Crack in insulator
Hearing Viewing
Printed board
Break in wire Discoloration
Circuit analyzer and others
Viewing
Control circuit
Functional check
Operating inverter alone
Insulation resistance
Motor (Between stator and Ground)
See section 16.2.3
Criteria
Corrective action
Shall not become loose.
Use as reference for periodical check.
Retightening
Grounding shall be made securely.
Restoration and retightening
Paint damage, discoloration, removal, or rust shall not exist.
Rustproofing and repainting
Looseness, break, deterioration, or deformation shall not exist.
Restoration and retightening
Shall be free from abnormal vibration or increase in the amplitude.
Replacing a cooling fan
Shall be free from abnormal sound or increase in noise level.
Electrolyte leakage or expansion shall not exist.
Parts replacement
(Reading shall be within a standard value.)
Shall be free from strange sound such as rattle sound.
Parts replacement
Shall be free from abnormal- Parts replacement ity
Reading shall be within a standard value.
Abnormal or partial discol- Printed board replacement oration shall not exist.
Output voltage from each phase shall no be out of balance.
Readjust printed board or repair inverter.
Shall be 500 VDC 10M or Contact our service group if
higher.
the value is less than 10M
16-6
16.2 Checking Spindle motors and Invertors
Check object
Motor coupling status
1. Shaft coupling 2. V-belt
Motor
Table 16.5 Periodical check
Check procedure
Item
Method
Repetitive runout
-
Sunk key
Viewing
Shaft coupling without key Fastening reamer bolt Wear Bearing
Cooling fan
Oil seal
Hearing, vibration meter and others (Check timing: Once per 12000 hours or 2 years.)
Hearing, vibration meter and others (Check timing: Once per 15000 hours or 2 years.)
Viewing (Check timing: Once per 5000 hours)
Overall check
Contact our service group. (Check timing: Once per 20,000 hours or 5 years)
Criteria
Scratch or deformation shall not exist. Dowel marker shall not be fit loose. Shall not become loose. Wear shall be a little. Shall be free from abnormal sound, increase in noise level, or temperature rise.
Wear shall be a little.
-
Corrective action
Readjustment by direct-coupled centering Replacement
Restoration
Retightening Replacement Consumable parts replacement by disassembling and necessary care
Cooling fan replacement
Seal is to be replaced by being removed from a machine. Contact our service group. Do not disassemble and clean the machine.
Note that if you are leaving a machine unused for a long time, take care the following points:
· If you have installed an auxiliary Inverter that is not used normally, check if it operates correctly by energizing it every 6 month. Specifically, if you have not used the electrolytic capacitor for more than 1 year, re-transform it in the following method. · Open the emergency stop signal and turn on the power. ("CHARGE" indicator turns off.) · Close the emergency stop signal. ("CHARGE" indicator turns on.) · In this state, keep energizing it for 30 minutes.
· Slightly rotate the motor axis once a week so that it may be lubricated well.
16-7
Maintenance and Check 16.3.1 Replacing a battery in the Absolute encoder
16.3 Absolute encoder
16.3.1 Replacing a battery in the Absolute encoder
If the voltage of the Absolute encoder battery decreases to 2.7V or less, the SERVOPACK issues a "Battery warning (A.93)".
Replace the battery in the following procedure. For the recommended Absolute encoder batteries, refer to 16.3.2 "Handling a battery".
Procedure to replace a battery
1. Replace the battery with SERVOPACK control power turned on. 2. The "Battery warning (A.93)" will be released automatically after the battery has been
replaced. 3. Verify that the encoder works correctly. This completes the battery replacement.
IMPORTANT
If the battery is disconnected (the encoder cable is disconnected) with the SERVOPACK control power turned off, the Absolute encoder data is cleared and you will have to set up the Absolute encoder again. Refer to 16.3.3 "Setting up (Initializing) Absolute encoder".
16.3.2 Handling a battery
In order for the Absolute encoder to hold the position information even while the power is turned off, a back-up battery is required. We recommend the following battery for this purpose.
Type: ER6VC3 (Lithium battery) 3.6 V 2000 mAH Toshiba Battery
Converter
Battery compartment
Battery connecter
16-8
16.3 Absolute encoder
16.3.3 Setting up (Initializing) Absolute encoder
Set up Absolute encoder in the following cases: · When a machine is initialized for the first installation. · When "Encoder back-up" alarm is issued. · When the encoder cable is disconnected with the SERVOPACK power turned off. You can set up Absolute encoder using a Digital operator.
INFO
You can set up Absolute encoder only when the Servo is turned off. After completing the set-up process, be sure to turn on the power again.
Set-up operation using a Digital operator
1. In the "Axis selection" mode, select an axis that you want to set up. 2. Press [DSPL/SET] key and select "Auxiliary function execution" mode.
3. Select a user constant "Fn008". Select a digit to set by pressing [LEFT] or [RIGHT] keys. Change a value by pressing [UP] and [DOWN] keys.
4. Press [DATA/ENTER] key. The following characters appear.
5. Press [UP] key to change the display as follows. Press [LEFT] key for several times until PGCL5 appears. If you press the key incorrectly, "nO_OP" flashes for one second and characters appear indicating that you have entered into "Auxiliary function execution" mode. Now, repeat the procedure from step 3.
[LEFT] key
When key is pressed incorrectly
Flashes one second.
[LEFT] key
"Auxiliary function execution" mode display appears
16-9
Maintenance and Check 16.3.3 Setting up (Initializing) Absolute encoder
6. If PGCL5 appears, press [DSPL/SET] key. The display changes as follows and the Absolute encoder
7. Multi-turn data is cleared.
Flashes one second.
8. Press the [DATA/ENTER] key to return to "Auxiliary function execution" mode.
This completes Absolute encoder set-up procedure.
IMPORTANT
If the following Absolute encoder alarms are issued, you must release them by following the same procedure as the "Set-up" procedure; you cannot release the alarms using the SERVOPACK alarm reset (/ ARM-RST) input signal.
· Encoder back-up alarm (A.81) · Encoder sum check alarm (A.82)
If an alarm that monitors inside the encoder is issued, you need to release it by turning off the power.
16-10
16.4 Analogue monitor
16.4 Analogue monitor
You can monitor various signals by using analogue voltage. To monitor analogue monitor signals, use a dedicated monitor cable (DE9404559) connected to the connector shown below.
YASKAWA SERVOPACK SGDK-50AEA 200V
CN5
A/B
SW1 RDY CN1
CN6 CN2
3
4
CN8
1
2
Pin No. 2 1
3, 4
Cable color White Red
Black (2 pcs)
Signal name Analogue monitor 1 Analogue monitor 2
GND (0 V)
You can change analogue monitor signals by setting a user constant Pn003õ
Pn003.0 Pn003.1 Pn003.2 Pn003.3
Analogue monitor 1
Analogue monitor 1 magnification
Analogue monitor 2
Analogue monitor 2 magnification
Factory default setting: 2
Factory default setting: 0
Factory default setting: 0
Factory default setting: 0
16-11
Maintenance and Check 16.3.3 Setting up (Initializing) Absolute encoder
Socket DF11-4DS-2C (Hirose Electric Co.)
Contact DF11-2428SCF (Hirose Electric Co.)
4
3
2
1
Pin No. 1 2 3 4
Red White Black Black
Fig. 16.1 Dedicated analogue monitor cable
3
4
1
2
16-12
16.4 Analogue monitor
The following monitor signals can be monitored.
Pn003.0 and Pn003.2 settings
0 1 2 3 4
5
6 7 8 9 A B C D E F
Descriptions Monitor signal Motor rotation speed
Speed reference
Torque reference*1 Position deviation*2 Position amplitude deviation*2 (Position control compensator deviation) Position command speed [min-1 conversion] Observer speed
Collision detection amount Quadrant error compensation Speed feed forward
Torque feed forward Model torque reference Model position deviation Estimated disturbance torque Vibration-damping monitor
System constant data-setting output
Observation gain 1V/1000 min-1 1V/1000 min-1 1V/100% Rated torque 0.05V/a Command unit 0.05V/a Command unit
1V/1000 min-1
1V/1000 min-1 1V/100 1V/100 1V/1000 min-1 1V/100 1V/100 0.05V/a command unit 1V/100 1V/1000 min-1 -
1. Torque reference after gravity compensation (Pn411) 2. In the case of speed control, the monitor signal for position deviation
is indefinite.
Monitor magnification can be set as follows:
Pn003.1 and Pn003.3 settings
0 1 2 3 4
Descriptions
Monitor magnification: 1 Monitor magnification: 10 Monitor magnification: 100 Monitor magnification: 1/10 Monitor magnification: 1/100
INFO
Analogue monitor output voltage is 8 V max. Even if the voltage exceeds this range, it is displayed as 8 V.
16-13
Maintenance and Check 16.3.3 Setting up (Initializing) Absolute encoder
16-14
Appendix
Drive data list
Appendix A Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-2
A.1 Servo unit parameter list - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-2 A.2 List of Servo unit parameter switches - - - - - - - - - - - - - - - - - - - - - - - - A-8 A.3 List of Inverter parameter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-13 A.4 List of parameters common to all drives- - - - - - - - - - - - - - - - - - - - - - A-20
Appendix B Alarm/monitor data - - - - - - - - - - - - - - - - - - - - - - A-23
B.1 List of Servo unit alarms- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-23 B.2 List of Inverter alarms - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-25 B.3 List of Servo unit monitor data - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-27 B.4 List of Inverter monitor data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-28
A-1
Drive data list A.1 Servo unit parameter list
Appendix A Parameters
A.1 Servo unit parameter list
CNC parameter
number
3000
Drive parameter
number
Pn000
Initial value
0x0070
Lower limit
0x0000
Upper limit
0x0FA1
Unit None
3001 3002 3003 3004 3005 3006 3030 3031 3032 3033 3034 3035
Pn001 Pn002 Pn003 Pn004 Pn005 Pn006 Pn100 Pn101 Pn102 Pn103 Pn104 Pn105
0x0000 0x0000
0x0000 0x0000
0x0002 0x0000
0x0000 0x0000
0x0000 0x0000
0x0000 0x0000
400
10
2000
15
400
10
0
0
400
10
2000
15
0x0022 0x8100 0x4F4F 0x0312 0x0001 0x0172 20000 51200 20000 10000 20000 51200
None None None None None None 0.1Hz 0.01ms 0.1/s % 0.1Hz 0.01ms
Display name
Function switch Basic
Function switch Applic 1 Function switch Applic 2 Function switch Applic 3 Function switch Applic 4 Function switch Applic 5 Function switch Applic 6 Kv Kvi Kp Load Inertia Ratio Kv2 Kvi2
3036 3037 3038 3039 3040 3041 3042 3043 3044 3045 3046
3047
3048
Pn106 Pn107 Pn108 Pn109 Pn10A Pn10B Pn10C Pn10D Pn10E Pn10F Pn110
Pn111
Pn112
400
10
20000
0
0
450
7
0
0
0
0
0
0x0004 0x0000
200
0
0
0
250 100 6400 0x3014 800 10000
0
0
3000
0
0
10000
0x0012 0x0000 0x2212
100
1
500
100
1
1000
0.1/s min-1 None % 0.01ms None % min-1 10min-1/s None None
%
%
Kp2 Bias
Bias Addition Width Feedforward FF Filter Time Const Gain Switch Mode Switch Torque Mode Switch Speed
Mode Switch Accel
Mode Switch Error Pulse Switch Online Auto Tuning Speed Feedback Comp Gain Speed Feedback Delay Comp
3049 Pn113
0
3050 Pn114
0
3051 Pn115
0
0
1000 %
Trq Dump Gain AntiVibration
0
1000 %
Spd Dump Gain AntiVibration
0
65535 0.01ms LPF const AntiVibration
3052 Pn116 65535
0
65535 0.01ms HPF const AntiVibration
3053 Pn117 100
20
3054 Pn118 100
50
100 % 100 None
Curr Gain delayed Reserved
Description
Fundamental function switch Applied function switch 1 Applied function switch 2 Applied function switch 3 Applied function switch 4 Applied function switch 5 Applied function switch 6 Speed loop gain Speed loop integration time constant Position loop gain Load inertia 2nd speed loop gain 2nd speed loop integration time constant 2nd position loop gain Bias Bias addition width Feed forward Feed forward filter time constant Gain-related applied switch Mode switch (Torque reference) Mode switch (Speed reference) Mode switch (Acceleration) Mode switch (Deviation pulse) On-line auto tuning-related switch
Speed feedback compensation gain
Speed feedback delay compensation (Speed feedback compensation inertia gain) Anti-vibration torque damping gain
Anti-vibration speed damping gain
Anti-vibration low-pass filter time constant Anti-vibration high-pass filter time constant Current loop gain derating Reserved const (Do not use)
A-2
Appendix A Parameters
CNC parameter
number
3055
Drive parameter
number
Pn119
3056 3057
Pn11A Pn11B
Initial value
400
1000 500
Lower limit
10
500 10
Upper limit
20000
2000 1500
Unit
0.1/s 0-1000 0.1Hz
3058 Pn11C 700
10
1500 0.1Hz
3059 Pn11D 1000
0
1500 0-1000
3060 Pn11E 1000
0
1500 0-1000
3061 Pn11F
0
0
2000 ms
3062 Pn120
0
0
51200 0.01ms
3063 Pn121
50
1
1000 Hz
3064 Pn122
0
0
2000 Hz
3065 Pn123
0
0
100 %
3066 Pn124
0
0
2000 Hz
3067 3068 3069 3070 3071 3072
Pn125 Pn126 Pn127 Pn128 Pn129 Pn12A
100
1
0x0000 0x0000
0x0000 0x0000
0x0000 0x0000
100
1
100
1
1000 0x0110 0x0011 0x0111 1000 1000
% None None None Hz %
3073 Pn12B 400
10
20000 0.1Hz
3074 Pn12C 2000
15
51200 0.01ms
3075 Pn12D 400
10
20000 0.1/s
3076 Pn12E 400
10
20000 0.1Hz
3077 Pn12F 2000
15
51200 0.01ms
3078 3079 3080 3081 3082 3083
Pn130 Pn131 Pn132 Pn133 Pn134 Pn135
400
10
0x0000 0x0000
800
0
0
0
0
-90
0 -10000
20000 0x0222 1000 1000 1000 10000
0.1/s None 0.01 0.01 0.01 0.1/s
3084 Pn136
0
0
100 %
3085 Pn137
0
0
100 %
3086 Pn138
0
0
65535 0.01ms
3087 Pn139 800
0
1000 0.01
3088 Pn13A
0
0
1000 0.01
3089 Pn13B
0
-90
1000 0.01
Display name
Description
Loop Gain MFC Dump Factor MFC Mecha Resonance Freq MFC Resonance Freq MFC Spd FF Gain MFC Trq FF Gain MFC Ki Kd Gain Disturb Observer HPF cut Freq Disturb Obsrvr Est Disturb Trq Factor
LPF cut Freq Disturb Obsrvr Inertia Adj Disturb Obsrvr Switch Function 1 Switch Function 2 Loop Gain Bank Switch Observer Gain AntiVibr Load Inertia Adj AntiVibr
Kv3 KVi3
Kp3 Kv4 Kvi4
Kp4 Switch Predicted 1 Param C Predicted 1 Param Cd Predicted 1 Param Alpha Predicted 1 Equiv Kp Adj Predicted 1
Spd FF Gain Predicted 1
Trq FF Gain Predicted 1
Trq FF Fil T Const Predic 1 Param C Predicted 2 Param Cd Predicted 2 Param Alpha Predicted 2
MFC gain[0.ls-1] MFC damping coefficient MFC mechanical resonance frequency
MFC resonance frequency MFC speed FF gain MFC torque FF gain Position integration time constant Position differentiation time constant Disturbance observer gain Cut-off frequency disturbance observer high-pass filter Estimated disturbance torque coefficient Cut-off frequency disturbance observer low-pass filter Disturbance observer inertia correction Function switch 1 Function switch 2 Loop gain bank switch Anti-vibration observer gain Anti-vibration observer inertia correction 3rd speed loop gain 3rd speed loop integration time constant 3rd position loop gain 4th speed loop gain 4th speed loop integration time constant 4th position loop gain Predictive control switch 1 1st predictive control parameter C 1st predictive control parameter Cd
1st predictive control parameter 1st predictive control equivalent Kp fine adjustment amount 1st predictive control speed FF gain [%] 1st predictive control torque FF gain [%] 1st predictive control torque FF filter time constant
2nd predictive control parameter C 2nd predictive control parameter Cd
2nd predictive control parameter
A-3
Drive data list A.1 Servo unit parameter list
CNC parameter
number
3090
Drive parameter
number
Pn13C
Initial value
0
Lower limit
-10000
3091 Pn13D
0
0
3092 Pn13E
0
0
3093 Pn13F
0
0
3094 3095 3096 3097
Pn140 Pn141 Pn142 Pn143
800
0
0
0
0
-90
0 -10000
3098 Pn144
0
0
3099 Pn145
0
0
3100 Pn146
0
0
3101 Pn147 10000
0
3102 Pn148
0
0
3103 Pn149 1000
0
3104 Pn14A
0
0
3105 Pn14B
0 -30000
3106 Pn14C
0
0
3107 Pn14D 10000
0
3108 Pn14E
0
0
3109 Pn14F 1000
0
3110 Pn150
0
0
3111 Pn151
0 -30000
3112 Pn152
0
0
3113 Pn153
0
-350
3114 Pn154 100
10
3115 Pn155 1024
0
3116 Pn156
0
0
3200 Pn200 0x0100 0x0000
3201 Pn201 16384 16
Upper limit 10000
100 100 65535
1000 1000 1000 10000
100 100 65535
65535
30000
65535
30000
30000
30000
65535
30000
65535
30000
30000
30000
1600
100
32767 65535
0x0300
16384
Unit
Display name
Description
0.1/s
Equiv Kp Adj Predicted 2 2nd predictive control equivalent Kp
fine adjustment amount
%
Spd FF Gain Predicted 2 2nd predictive control speed FF gain
%
Trq FF Gain Predicted 2 2nd predictive control torque FF gain
0.01ms
Trq FF Fil T Const Predic 2
2nd predictive control torque FF filter time constant
0.01
Param C Predicted 3
3rd predictive control parameter C
0.01
Param Cd Predicted 3
3rd predictive control parameter Cd
0.01
Param Alpha Predicted 3 3rd predictive control parameter
0.1/s
Equiv Kp Adj Predicted 3 3rd predictive control equivalent Kp
fine adjustment amount
%
Spd FF Gain Predicted 3 3rd predictive control speed FF gain
%
Trq FF Gain Predicted 3 3rd predictive control torque FF gain
0.01ms
Trq FF Fil T Const Predic 3
3rd predictive control torque FF filter time constant
None
1st P Gain Quad Err Comp 1st-stage positive quadrant error compensation gain
0.01%
1st P Lmt Ofs Quad Err Comp
1st-stage positive quadrant error compensation limit offset
None
2nd P Gain Quad Err Comp
2nd-stage positive quadrant error compensation gain
0.01%
2nd P Lmt Ofs Quad Err 2nd-stage positive quadrant error
Comp
compensation limit
0.01%
P Lmt Adj Quad Err Comp Positive quadrant error compensation limit fluctuation
0.01%
P Lmt Clamp Quad Err Comp
Positive quadrant error compensation limit clamp value
None
1st N Gain Quad Err Comp
1st-stage negative quadrant error compensation gain
0.01%
1st N Lmt Ofs Quad Err Comp
1st-stage negative quadrant error compensation limit offset
None
2nd N Gain Quad Err Comp
2nd-stage negative quadrant error compensation gain
0.01%
2nd N Lmt Ofs Quad Err 2nd-stage negative quadrant error
Comp
compensation limit
0.01%/ms N Lmt Adj Quad Err Comp
Negative quadrant error compensation limit fluctuation
0.01%
N Lmt Clamp Quad Err Comp
Negative quadrant error compensation limit clamp value
0.1/s
Timing Const Quad Err Quadrant error compensation timing
Comp
constant
%
Damp Ratio AntiVib on Stop vibration suppression attenuation
STP
ratio
ms
Start Time AntiVib on STP Stop vibration suppression start time
0.01ms
Scale Ovrsht Ctrl Tim Const
Scale overshoot suppression time constant
None
Switch Position Control
Position control command type selection switch
pulse/rev PG Divider
PG dividing ratio
A-4
Appendix A Parameters
CNC parameter
number
3202
3203
3204
Drive parameter
number
Pn202
Pn203
Pn204
Initial value
4 1 0
Lower limit
1 1 0
Upper limit
65535 65535 6400
Unit
None None 0.01ms
3205 3206 3207 3208
Pn205 Pn206 Pn207 Pn208
65535
0
16384 513
0x0000 0x0000
0
0
65535 16384 0x3211 6400
rev None None 0.01ms
3209 Pn209
0
0
6400 0.01ms
3210 Pn20A 0x8000 0x0000 0xFFFF None
3211 Pn20B 0x0000 0x0000 0xFFFF None
3212 Pn20C 0x4000 0x0000 0xFFFF None
3213 Pn20D 0x0000 0x0000 0xFFFF None
3214 Pn20E 0x0001 0x0000 0xFFFF None
3215 Pn20F 0x0000 0x0000 0xFFFF None
3216 Pn210 0x0001 0x0000 0xFFFF None
3217 Pn211 0x0000 0x0000 0xFFFF None
3218 Pn212
0
0
65535 None
3219 Pn213
0
0
6400 0.01ms
3220 Pn214
0
0
65535 None
3221 3222 3223 3224
Pn215 Pn216 Pn217 Pn218
0
0
25000 0.01ms
0
0
25000 0.01ms
0 0x8000 0x7FFF None
0
0
65535 0.01ms
3225 3226
Pn219 Pn21A
0 0x8000 0x7FFF None
0
0
65535 0.01ms
3227 3228
Pn21B Pn21C
0 0x8000 0x7FFF None
0
0
65535 0.01ms
3229 3230
Pn21D Pn21E
0 0x8000 0x7FFF None
0
0
65535 0.01ms
Display name
Description
Reserved Reserved Tim Const Exp Accel Decel 1
Multi Turn Limit Reserved Switch Position Ref Averaging Time Pos Ref 1
Averaging Time Pos Ref 2
PG Pls MtrRnd LW FullClosed PG Pls MtrRnd HW FullClosed PG Pls EcdRnd LW FullClosed PG Pls EcdRnd HW FullClosed Electric Gear Numerator LW Electric Gear Numerator HW Electric Gear Denomin LW Electric Gear Denomin HW Bias Exp Accel Decel 1
Tim Const Exp Accel Decel 2 Bias Exp Accel Decel 2
Shape compensation Shape Comp MFC Backlash Comp 1 Time Const Backlash Comp 1 Backlash Comp 2 Time Const Backlash Comp 2 Backlash Comp 3 Time Const Backlash Comp 3 Backlash Comp 4 Time Const Backlash Comp 4
Reserved constant(Do not use)
Reserved constant(Do not use)
1st exponential acceleration/ deceleration time constant (Position command acceleration/deceleration time constant)
Multi-turn limit setting
Reserved constant (Do not use)
Position command function switch
1st position command moving average time
2nd position command moving average time
Full-closed PG pulse count/motor revolution (Lower word)
Full-closed PG pulse count/motor revolution (Upper word)
Full-closed PG pulse count/encoder revolution (Lower word)
Full-closed PG pulse count/encoder revolution (Upper word)
lectronic gear ratio numerator (Lower word)
Electronic gear ratio numerator (Upper word)
Electronic gear ratio denominator (Lower word)
Electronic gear ratio denominator (Upper word)
1st exponential acceleration/ deceleration bias
2nd exponential acceleration/ deceleration time constant
2nd exponential acceleration/ deceleration bias
Shape compensation constant
MFC shape compensation constant
1st backlash compensation amount
1st backlash compensation time constant
2nd backlash compensation amount
2nd backlash compensation time constant
3rd backlash compensation amount
3rd backlash compensation time constant
4th backlash compensation amount
4th backlash compensation time constant
A-5
Drive data list A.1 Servo unit parameter list
CNC parameter
number
3231
3300
3301
Drive parameter
number
Pn21F
Pn300
Pn301
Initial value
1 600 100
Lower limit
1 150 0
3302 Pn302 200
0
3303 Pn303 300
0
3304 Pn304 500
0
3305 Pn305
0
0
3306 Pn306
0
0
3307 Pn307
40
0
3308 Pn308
0
0
3309 Pn309 0x0000 0
Upper limit
65535 3000 10000
10000
10000
10000
10000 10000 65535 65535 65535
Unit
None None min-1 min-1 min-1 min-1 ms ms None 0.01ms 0.01ms
3350 Pn400
30
3351 Pn401 100
10
100 None
0
65535 0.01ms
3352 Pn402 800
0
3353 Pn403 800
0
3354 Pn404 100
0
800 % 800 % 800 %
3355 Pn405 100
0
800 %
3356 3357 3358 3359 3360 3361 3362 3363 3364 3365
Pn406 Pn407 Pn408 Pn409 Pn40A Pn40B Pn40C Pn40D Pn40E Pn40F
800
0
10000
0
0x0000 0x0000
2000
50
70
70
2000
50
70
70
0
0
50
0
100
0
800 10000 0x0111 2000
100 2000 100 65535 65535 800
% None None Hz 0.01 Hz 0.01 0.01ms 10us %
3366 Pn410 100
0
800 %
3367 3368 3369 3370 3371 3372 3420 3421
3422
3423
Pn411 Pn412 Pn413 Pn414 Pn415 Pn416 Pn500 Pn501
Pn502
Pn503
0 -20000 20000 0.01%
0
0
800 %
0
0
800 %
0
0
800 %
0
0
800 %
0
0
800 %
7
0
250 None
10
0
10000 min-1
20
1
10000 min-1
10
0
100 min-1
Display name
Description
PG Pls EcdRnd Z Phase Spd Ref Gain Internal Set Speed 1
Z-phase pulse count/encoder revolution Speed reference input gain Internal set speed 1
Internal Set Speed 2
Internal set speed 2
Internal Set Speed 3
Internal set speed 3
JOG Speed
JOG speed
Accel Time Soft Start Decel Time Soft Start Reserved Time Const Spd F B Filter Tim Const Spd RefnFF Filter Reserved Time Const Trq Ref Filter
Forward Torque Limit Reverse Torque Limit External Fwd Torque Limit 1 External Rev Torque Limit 1 Emergency Stop Torque Reserved Switch Notch Filters Frequency Notch Filter 1 Q Value Notch Filter 1 Frequency Notch Filter 2 Q Value Notch Filter 2 Torque Filter Constant 2 Torque Filter Constant 3 External Fwd Torque Limit 2 External Rev Torque Limit 2 Gravity Comp Torque Disturb Torque Level 1 Disturb Torque Level 2 Disturb Torque Level 3 Disturb Torque Level 4 Compliance Torque Pos Completion Range Zero Clamp Level
Soft start acceleration time Soft start deceleration time Reserved constant (Do not use) Speed F/B filter time constant (Speed reference & speed FF) filter time constant Reserved constant (Do not use) 1st-stage low-pass filter time constant (Torque reference filter time constant) Forward rotation torque limit Reverse rotation torque limit 1st forward rotation external torque limit 1st reverse rotation external torque limit Emergency stop torque Reserved constant (Do not use) Notch filter function switch 1st-stage notch filter frequency 1st-stage notch filter Q value 2nd-stage notch filter frequency 2nd-stage notch filter Q value 2nd-stage low-pass filter time constant 3rd-stage low-pass filter time constant 2nd forward rotation external torque limit 2nd reverse rotation external torque limit Gravity compensation torque 1st-torque disturbance level 2nd-torque disturbance level 3rd torque disturbance level 4th torque disturbance level Compliance torque Positioning completion width Zero-clamp level
Zero Speed Level
Zero-speed level
Speed Window
Speed matching signal output width
A-6
Appendix A Parameters
CNC parameter
number
3424
3425
3426
Drive parameter
number
Pn504
Pn505
Pn506
Initial value
7 1024
0
Lower limit
1 1 0
Upper limit
250 32767
50
Unit
None None 10ms
3427
3428 3429 3430 3431 3432 3433 3434 3435 3436 3437 3438 3439 3440 3441 3442
Pn507
Pn508 Pn509 Pn50A Pn50B Pn50C Pn50D Pn50E Pn50F Pn510 Pn511 Pn512 Pn513 Pn514 Pn515 Pn516
100
0
50
10
20
20
0x8880 0x7000
0x8888 0x7000
0x8888 0x0000
0x8888 0x0000
0x0000 0x0000
0x0000 0x0000
0x0000 0x0000
0x8888 0x0000
0x0000 0x0000
7
0
7
0
7
0
500
0
10000
100 1000 0x8FFF 0x8FFF 0xFFFF 0xFFFF 0xFFFF 0xFFFF 0xFFFF 0xFFFF 0xFFFF 250 250 250 10000
min-1 10ms None None None None None None None None None None None None None ms
3470 3471 3472
Pn600 Pn601 Pn602
0
0
0
0
0x0000 0x0000
65535 65535 0x0001
None None None
3508 Pn808 0x0000 0x0000 0xFFFF None
3509 Pn809 0x0000 0x0000 0xFFFF None
3510 3527
Pn80A 100
1
65535 None
Pn81B 0x0000 0x0000 0x1111 None
3528 Pn81C 500
0
30000 ms
Display name
Description
Near Window
Overflow Level
Delay from BrkSig to SvOff
Spd on Brake Sig Out
NEAR signal width
Overflow level
Brake command-to-Servo off delay time
Brake command output speed level
Sv Off Brk Sig Wait Time Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Position Window 1 Position Window 2 Position Window 3 Emergency Stop Wait Time Reserved Reserved Ext PG Power Switch
Abs PG Zero Point Offs LW Abs PG Zero Point Offs HW Const Linear Accel 1 Mask MFC BankSel 0 3
Tactor Off Delay Time
Servo off-to-Brake command wait time Reserved constant (Do not use) Reserved constant (Do not use) Reserved constant (Do not use) Reserved constant (Do not use) Reserved constant (Do not use) Reserved constant (Do not use) Reserved constant (Do not use) Reserved constant (Do not use) Reserved constant (Do not use) Reserved constant (Do not use) 1st positioning completion width 2nd positioning completion width 3rd positioning completion width Emergency stop wait time
Reserved constant (Do not use) Reserved constant (Do not use) External PG power high/low voltage switch Absolute PG zero point offset (Lower word) Absolute PG zero point offset (Upper word) 1st-stage linear acceleration constant Model following control mask when Loop gain bank 0-3 is selected. Time from tactor-off ready to actual tactor-off.
A-7
Drive data list A.2 List of Servo unit parameter switches
A.2 List of Servo unit parameter switches
User Constant
No.
MD3000 (Pn000) Fundamental function selection
MD3001 (Pn001) Applied function selection
MD3002 (Pn002) Applied function selection
MD3003 (Pn003) Applied function selection
Digit 0 1 2 3 0
1
2 3 0 1 2 3
0
Name
Setting
Description
Factory default setting
Rotation direction selection
0 Defines that CCW is forward rotation.
0
1 Defines that CW is forward rotation. (Reverse rotation mode)
Control method selection 1 Position control
7
2 - 6 Reserved
7 Position control Speed control
Reserved
0-F
0
Reserved
0
0
Stopping motor when
0 Stops a motor using dynamic brake (DB).
0
Servo is off and alarm is on
1 Stops a motor with DB and then release DB.
2 Brings a motor into free-run mode without using DB.
Stopping motor when
0 Stops a motor using DB or free-run. (The same stopping
0
over-travel (OT) happens
method as Pn001.0)
1 Stops a motor after deceleration with Pn406 as maximum torque, and puts it in Servo lock mode.
2 Stops a motor after deceleration with Pn406 as maximum torque, and puts it in free-run mode.
Reserved
0
0
Reserved
0
0
Reserved
0
0
Reserved
0
0
Use of Absolute encoder
0
Uses an Absolute encoder as an absolute encoder.
0
1 Uses an Absolute encoder as an incremental encoder.
Use of external PG pulse 0 Does not use.
0
1 Uses without C phase. (Incremental encoder)
2 Uses with C phase. (Incremental encoder)
3 Uses without C phase as reverse mode. (Incremental encoder)
4 Uses with C phase as reverse mode. (Incremental encoder)
5 Uses without C phase. (Absolute encoder)
6 Uses with C phase. (Absolute encoder)
7 Uses without C phase as reverse rotation mode. (Absolute encoder)
8 Uses with C phase as reverse rotation mode. (Absolute encoder)
Analog monitor 1 selection
0 Motor revolution speed
:1V 1000 min-1
2
1 Speed reference
:1V 1000 min-1
2 Torque reference
:1V 100
3 Position deviation
:0.05V 1 command unit
4 Position amplitude deviation :0.05V 1 command unit
5
Position command speed [min-1 conversion]
:1V 1000 min-1
6 Observer speed
:1V 1000 min-1
A-8
Appendix A Parameters
User Constant
No. MD3003 (Pn003) Applied function selection (Continued)
MD3004 (Pn004) Applied function selection
MD3005 (Pn005) Applied function selection
MD3006 (Pn006) Applied function selection
Digit 0
1
2 3 0
1 2
3 0 1 2 3 0
1 2 3
Name Analogue monitor 1 selection
Analog monitor 1 magnification
Analog monitor 2 selection Analogue monitor 2 magnification Optional board selection
Setting
Description
Factory default setting
7 Collision detection amount
:1V 100
2
8 Quadrant error compensation amount :1V 100
9 Speed feed forward
:1V 100 min-1
A Torque feed forward
:1V 100
B Model torque reference
:1V 100
C Model position deviation
:0.05V 1 command unit
D Estimated disturbance torque
:1V 100
E Anti-vibration monitor
:1V 1000 min-1
F System constant setting data output
0 1 time
0
1 10 times
2 100 times
3 1/10 times
4 1/100 times
0 - F The same as the descriptions for "Analog monitor 1
0
selection"
0 - 4 The same as the descriptions for "Analog monitor 1
0
magnification"
0 Without optional board
0
1 With analogue speed reference input option
2 With linear scale option
Reserved
0-1
0
Command mode
0 Network
0
1 Optional speed reference input mode
2 Parking
3 Reserved
Reserved
0
0
Brake control signal
0 Does not control a brake at local path.
0
selection
1 Controls a brake at local path.
Reserved
0
0
Reserved
0
0
Reserved
0
0
Tandem selection
0 Does not select tandem configuration
0
1 Master
2 Slave
The other tandem-axis
0 - 7 Sets the other tandem axis
0
number
Full-close
0 Type 2 specification
0
1 Type 1 specification
Reserved
0
0
A-9
Drive data list A.2 List of Servo unit parameter switches
User Constant
No. MD3041 (Pn10B) Gainrelated applied switch
MD3046 (Pn110) Auto tuning
MD3068 (Pn126) Function switch
MD3069 (Pn127) Function switch
MD3069 (Pn127) Function switch (Continued)
Digit 0
1 2 3
0
1 2 3
0 1
2 3 0 1 2 3
Name
Setting
Description
Mode switch selection
Speed loop control method Reserved Anti-vibration control selection
On-line auto tuning method
Speed feedback compensation function selection Viscous friction compensation function selection Model following control selection
Reserved Quadrant error compensation
Scale overshoot
Reserved Variable position loop gain selection Speed FF smoothing selection Reserved Reserved
0 Selects internal torque reference as a condition. (Level setting: Pn10C)
1 Selects speed reference as a condition. (Level setting: Pn10D)
2 Selects acceleration as a condition. (Level setting: Pn10E)
3 Selects deviation pulse as a condition. (Level setting: Pn10F)
4 Does not use mode select switch. 0 PI control 1 IP control 0 0 Anti-vibration control is not used. 1 M1 type anti-vibration control 2 M2 type anti-vibration control 3 A type anti-vibration control 0 Uses auto tuning only for initializing operation.
1 Always uses auto tuning. 2 Does not use auto tuning. 0 Uses the function. 1 Does not use.
0 Friction compensation: None 1 Friction compensation: Small 2 Friction compensation: Large 0 Does not use model following control. 1 Uses rigid model following control. 2 Uses 2-inertia model following. 0 0 Inactive 1 Active (without pulse suppression) 2 Active (with pulse suppression) 0 Inactive 1 Active 0 0 Inactive
1 Active 0 Inactive 1 Active 0 0
A-10
Factory default setting
4
0 0 0
0
0 0
0
0 0
0 0 0 0 0 0
Appendix A Parameters
User Constant
No. MD3070 (Pn128) Loop gain bank switch
MD3079 (Pn131) Predictive controlrelations
MD3200 (Pn200) Position control
MD3207 (Pn207) Position control function switch
Digit
Name
Setting
Description
0
2nd loop gain bank
selection
1
3rd loop gain bank
selection
2
4th loop gain bank
selection
3
Reserved
0
1st predictive control
switch
1
2nd predictive control
switch
2
3rd predictive control
switch
3
Reserved
0
Reserved
1
Reserved
2
Clearing operation
3
Reserved
0
Position command filter
selection
0 Inactive
1 Active 0 Inactive 1 Active 0 Inactive 1 Active 0 0 Inactive
1 ActiveTp = 0.001 2 ActiveTp = 0.002 0 Inactive 1 ActiveTp = 0.001 2 ActiveTp = 0.002 0 Inactive 1 ActiveTp = 0.001 2 ActiveTp = 0.002 0 0 0 0 Clears deviation counter on base-block. 1 Does not clear deviation counter.
(Only CLR signal can clear.) 2 Clears deviation counter on an alarm. 3 Does not clear deviation counter. 0 0 Uses position command acceleration/deceleration filter.
1 Uses position command moving average filter.
1
Position control speed FF 0 None
1 Uses V-REF for speed FF input.
2
Backlash compensation
selection
0 Inactive 1 Corrects toward forward rotation.
2 Corrects toward reverse rotation.
3
External PG type
selection
0 Pulse encoder (Linear scale) 1 Pulse encoder (Rotary)
2 Serial encoder
3 MP scale
Factory default setting
0 0 0 0 0
0
0
0 0 0 1
0 0
0 0
0
A-11
Drive data list A.2 List of Servo unit parameter switches
User Constant
No. MD3358 (Pn408) Torquerelated function switch
MD3527 (Pn81B) Model following control mask
Digit
Name
Setting
Description
0
1st-stage notch filter
selection
1
2nd-stage notch filter
selection
2
Variable-torque limit
selection
3
Reserved
1
Mask to select Model
following control when
loop gain bank 0 is
selected.
2
Mask to select Model
following control when
loop gain bank 1 is
selected.
3
Mask to select Model
following control when
loop gain bank 2 is
selected.
4
Mask to select Model
following control when
loop gain bank 3 is
selected.
0 None 1 Uses 1st-stage notch filter for torque reference. 0 None 1 Uses 2nd-stage notch filter for torque reference. 0 Inactive 1 Active 0 0 Enable model following control 1 Disable model following control
0 Enable model following control 1 Disable model following control
0 Enable model following control 1 Disable model following control
0 Enable model following control 1 Disable model following control
Factory default setting
0
0 0 0 0
0
0
0
A-12
Appendix A Parameters
A.3 List of Inverter parameter
EXAMPLE
Note: The values shown in this table are based on the values shown in the operator panel of the CNC. On the digital operator of the SERVOPACK, the decimal point is displayed. In other words, the unit for the value displayed on the operator panel is different from the unit for the value on the digital operator.
When the zero speed detection level is set to 30 min-1, the displayed value are as follows.
MD6030: 300[0.1 min-1] on the operator panel of the CNC
Cn030: 30.0[min-1] on the digital operator of the SERVOPACK
CNC paramete r number
6020
6030
Drive parameter
number
Cn020
Cn030
6031 Cn031
6032 6050 6060 6061 6062
Cn032 Cn050 Cn060 Cn061 Cn062
6063 6064
Cn063 Cn064
6065 Cn065
6066 Cn066
6067 Cn067
6071 6072 6073 6100 6101
Cn071 Cn072 Cn073 Cn100 Cn101
6110 6111
Cn110 Cn111
6112 6113
Cn112 Cn113
6120 Cn120
6121 Cn121
6130 6131
Cn130 Cn131
Initial value
0 300 20 0 1 300 6000 300
6000 400
1000
400
1000
50 0 0 100 20
10 200
200 0
0
0
1 100
Lower limit
0 30 0 0 1 10 1 10
1 10
1
10
1
0 0 0 0 0
0 0
0 0
0
0
0 0
Upper limit
2 600
300
100 60000 20000 10000 20000
Unit
None 0.1min-1 0.1min-1 0.1sec 0.1sec 0.1%/Hz 0.1msec 0.1%/Hz
10000 20000
0.1msec 0.1%/Hz
10000 0.1msec
20000 0.1%/Hz
10000 0.1msec
50 500 1 250 10000
0.1msec msec None 0.01 msec
25 10000
0.1 msec
250 %
1
None
2
None
2
None
1
None
250 0.01
Display name
Description
Reference Selection Zero-speed Det Level Zero-speed Det Width Zero-speed Braking Time Soft Start Time ASR P Gain H 1 ASR I Time H 1 ASR P Gain M L 1
ASR I Time M L 1 ASR P Gain H 2
ASR I Time H 2
ASR P Gain M L 2
ASR I Time M L 2
ASR Primary Delay Time ASR T Time ASR P Gain Select Torque Comp Gain Torque Comp Time Constant Slip Comp Gain Slip Comp Delay Time
Slip Comp Limit Slip Comp in Regeneration
Carrier Frequency 1
Carrier Frequency 2
Hunting Prevention Sel Hunting Prevention Gain
Operation command selection
Zero speed detection level
Zero speed detection width
Zero speed braking time
Soft start time
Speed control proportional gain (H)
Speed control integration time (H)
Speed control proportional gain (ML)
Speed control integration time (ML)
Speed control proportional gain (H Servo)
Speed control integration time (H Servo)
Speed control proportional gain (ML Servo)
Speed control integration time (ML Servo)
Torque reference filter time constant
Torque reference lead time
Speed proportional gain selection
Torque compensation gain
Torque compensation temporary delay time
Slip correction gain
Slip correction temporary delay time constant
Slip correction limit
Slip correction during regeneration operation
High-speed winding carrier frequency
Low-speed winding carrier frequency
Antihunting function selection
Antihunting gain
A-13
Drive data list A.3 List of Inverter parameter
CNC paramete r number
6132
6133
6150
Drive parameter
number
Cn132
Cn133
Cn150
Initial value
25 10 1900
Lower limit
0 0 0
Upper limit
500 100 4600
Unit
msec % v
6151 Cn151
100
0
10000 0.01
6152 Cn152
40
0
5000 sec
6153 Cn153
20
0
5000 sec
6154 Cn154
10
0
5000 sec
6155 Cn155
0
0
1
None
6156 Cn156
0
0
1
None
6200 Cn200
15
10
100 %
6201 Cn201
100
30
100 %
6202 Cn202
100
100
500 0.01
6203 Cn203
100
30
100 %
6204 Cn204
100
100
500 0.01
6259 Cn259
0
0
1
None
6263 6400 6401 6402 6403
Cn263 Cn400 Cn401 Cn402 Cn403
0 15 1000 100 0
0
3
None
10
50 %
0
10000 0.01%
0
10000 0.01%
0
1
None
6404 Cn404
0
0
3
None
6405 Cn405
0
6410 Cn410
100
6411 Cn411
10
6412 Cn412
0
6420 Cn420
10
0
1
None
50
2000 0.1%
0
100 0.1%
0
1
None
0
210 %
6421 Cn421
150
0
210 %
6422 Cn422
150
0
210 %
6423 6450 6472 6475 6495 6500
6504
Cn423 Cn450 Cn472 Cn475 Cn495 Cn500
Cn504
0 190
0 1 0xB 7000
0
0 150
0 0 0x0000 100
0
1 210 799 799 0x002F 60000
1
None v None None Hex min-1 None
Display name
Description
Hunting Time Hunting Limit Voltage Cntrl Volt
Voltage Cntrl P Gain
Voltage Cntrl I Time
Voltage Cntrl Fil Time
D Axis Torque Filter
Voltage Cntrl Sel Max Torque Sel
Motor Flux Lower Limit Sv Mode Flux Level H Sv Base Speed Ratio H Sv Mode Flux Level M L Sv Base Speed Ratio M L Load Ratio Output Ref
Load Ratio Meter Filter Speed-agree Width Speed Detection Level Speed Detection Width Excessive Speed Dev Sens
Excessive Speed Dev Time
Speed Agree Signal Sel Torqu Detection Level Torqu Detection Width Torque Detection Output Ext Torque Limit
Torque Limit
Regeneration Torque Limit
Torqu Limit Select Undervoltage Detect Level Monitor 1 Output Monitor 2 Output Inverter Capacity Sel Rated Speed Setting Torqu Limit Auto Judge
Antihunting time constant Antihunting limit Voltage limiting control setting voltage Voltage limiting control proportional gain Voltage limiting control integration time Voltage limiting control output filter time constant
d-axis current torque filter time constant
Voltage limiting control selection Max. torque coefficient control selection
Motor flux lower limit level Servo mode flux level (H) Servo mode base speed ratio (H) Servo mode flux level (ML) Servo mode base speed ratio (ML) Load ratio meter output reference selection Load ratio meter filter time constant Speed matching signal
Speed detection signal level Speed detection signal hysteresis Dynamic sensitivity selection of excessive speed deviation Delay time selection of excessive speed deviation protection
AGR output condition selection Torque detection signal level Torque detection signal hysteresis TDET output method at acceleration External steering torque limiting level Torque limiting level at electric operation side Torque limiting level at regeneration side Torque limiting selection Low voltage detection level Monitor 1 output description Monitor 2 output description Inverter capacity selection
Rated speed setting
Torque limit auto detect selection
A-14
Appendix A Parameters
CNC paramete r number
6510
Drive parameter
number
Cn510
6511 Cn511
6522 Cn522
6523 Cn523
6525 Cn525
6529 Cn529
6530 Cn530
6533 Cn533
6534 Cn534
6540 Cn540
6541 Cn541
6542
6543
6544 6545 6546 6547 6548 6549 6550 6551 6552 6553 6554 6555 6556 6568
Cn542
Cn543
Cn544 Cn545 Cn546 Cn547 Cn548 Cn549 Cn54a Cn54b Cn54c Cn54d Cn54e Cn54f Cn550 Cn568
6569 6595
Cn569 Cn583
6596 Cn584
6600 Cn600
6601 Cn601
6602 Cn602
6603 Cn603
6604 Cn604
Initial value
0 10000
1 0 0 0 0 12 0 10
10
100 100 0 0 0 0 0 0 100 20 10 0 0 0 0 5
10 50
50
1
300
30
5
450
Lower Upper limit limit
Unit
0 0 0 0 0 0x0000 0x0000 1 0 10
1 10000
1 1 1 0x00FF 0x00FF 65535 0 20000
None msec None None None Hex Hex None None %/Hz
10
10000 msec
1
255 0.1min-1
10
1000 min-1
0
100
0
8192 None
0
150 0.01KHz
0
250 Hz
0
150 0.01KHz
0
250 Hz
50
150 0.01
1
200 0.1
0
200 0.1msec
0
0xF Hex
0
0xF Hex
0
65535 None
0
65535 None
0
200 Pulse
0
200 Pulse
5
100 %
5
100 %
0
1
None
10
20000 None
1
10000 0.1msec
1
500 0.1%
0
3600 deg
Display name
Description
Twice Speed Selection Emergency Stop Time Multi Function Sel SSC Multi Function Sel MGX Multi Function Sel PPI Encoder Specifications 0 Encoder Specifications 1 Number of encoder Puls 0 Number of Encoder Puls 1 ASR P Gain C
ASR I Time C
Zero-speed Det Level C
n100 twice selection Emergency stop signal wait time Multi-function selecting SSC Multi-function selecting MGX Multi-function selecting PPI
Encoder specification0 Encoder specification1 Encoder pulse count (0) Encoder pulse count (1) C-axis speed control proportional gain (C) C-axis speed control integration time constant (C) C-axis zero speed level
Rated Speed Setting C
C-axis rated number of revolutions
Enc Phase C Puls Width
C-phase pulse width
Zero Point Comp
Zero point correction value
Notch Center Puls 1
Notch center frequency 1
Notch Band Width 1
Notch band width 1
Notch Center Puls 2
Notch center frequency 2
Notch Band Width 2
Notch band width 2
Motor Rated Current ratio C C-axis rated secondary current ratio
ACR P Gain A1 Cax
C-axis ACR gain
ACR I Time Cax Select Code C1 Select Code C2 Reserved S3 01 Reserved S3 02 Reserved S4 09
Reserved S4 10 Ort Db Gain Dec Ratio H
Ort Db Gain Dec Ratio L
Serch Pole Select
Serch Pole P Gain
Serch Pole I Time
Serch Pole Speed Ref
Serch Pole Angle
C-axis ACR integration time
C-axis selection code 1
C-axis selection code 2
Primary delay filter time constant 1
Primary delay filter time constant 2
Positioning completion detection width
Positioning completion release width
Gain reduction ratio (H) at positioning completion
Gain reduction ratio (L) at positioning completion
Initial magnetic pole detection selection
Speed control proportional gain for initial magnetic pole detection
Speed control integration gain for initial magnetic pole detection
Initial magnetic pole detection speed reference
Initial magnetic pole detection angle increment
A-15
Drive data list A.3 List of Inverter parameter
CNC paramete r number
6605
Drive parameter
number
Cn605
6606 Cn606
6607 Cn607
6608 6700 6701
Cn608 Cn700 Cn701
6702
6703
6704 6706 6707 6710 6711 6712 6713
Cn702
Cn703
Cn704 Cn706 Cn707 Cn710 Cn711 Cn712 Cn713
6714 6715
Cn714 Cn715
6716 Cn716
6717 6718
Cn717 Cn718
6719 6720 6721 6722 6723 6724 6729 6736 6737 6738 6739
Cn719 Cn720 Cn721 Cn722 Cn723 Cn724 Cn729 Cn736 Cn737 Cn738 Cn739
6740 6741 6742
Cn740 Cn741 Cn742
6743 Cn743
Initial value 3000
100
200
1 1500 3500
3500 3500 22 44 44 44 169 134 135
80 100
100
0 0
50 50 50 50 200 100 120 1000 500 500 0
1000 500 130
5
Lower limit
0
1
1
0 10 10
10 100
1 1 1 1 0 10 10
0 0
0
0 0
0 0 0 0 0 0 100 0 0 0 0
0 0 0
0
Upper limit 20000
20000
1000
1 60000 60000
60000 65000 750 1500 1500 1500 4000 4000 2000
500 250
250
200 200
600 600 600 600 1000 200 150 65000 60000 60000 250
10000 10000 5000
10000
Unit
0.1msec
0.1msec
0.1%
None min-1 min-1
min-1 min-1 0.1Kw 0.1Kw 0.1Kw 0.1Kw 0.01Hz 0.1A 0.1A
V 0.01
0.01
0.1% 0.1%
0.01 0.01 0.01 0.01 0.01msec % % 0.0001 0.001mH 0.001mH %
0.1Hz 0.1Hz 0.1V
0.1Hz
Display name
Description
Serch Pole Pre Count Serch Pole Level Serch Pole Torque Limit Serch Enc Phase C Select Base Speed 1
Initial magnetic pole detection estimated time
Initial magnetic pole detection control time
Initial magnetic pole detection torque limit
C-phase detection selection
H winding base speed
Max Output Decrease Start 1
Rated Speed 1
H winding max. output reduction starting point
H winding constant output speed
Maximum Speed 1
H winding motor max. speed
Continuous Rated Output 1 Max Output 1 Max Output Dec 1 Max Output Dec A1 Motor Rated Slip 1 Motor Rated Current 1 Motor No-load Current 1
Base Voltage 1 Motor Iron Sat Coeff A1
Motor Iron Sat Coeff B1
Base Iron Loss 1 Max Iron Loss 2
ACR P Gain A1
H winding continuous rated output
H winding max. output
H winding max. output reduction 1
H winding max. output reduction A1
H winding rated slip frequency
H winding motor secondary current
H winding rated exciting current reference
H winding motor no-load voltage
H winding exciting current correction coefficient A
H winding exciting current correction coefficient B
H winding base core-loss current
H winding max. number of revolutions core-loss current
H winding ACR gain A
ACR P Gain B1
H winding ACR gain B
ACR P Gain C1
H winding ACR gain C
ACR P Gain D1
H winding ACR gain D
ACR Time Constant 1 Mgnetiging Current Limit 1 Motor Accel Level 1 Term Resistance 1
H winding ACR time constant H winding exciting current limiter H winding motor overspeed level H winding motor line resistance
Leak Inductance d1 Leak Inductance q2 Magnetiging Current 1
Base Frequency Mid Output Frequency Mid Output Frequency Volt
Min Output Frequency
H winding d-axis inductance
H winding q-axis inductance
H winding weakening magnetic field current
V/F Base frequency
V/F intermediate frequency
V/F intermediate output frequency voltage
V/F min. output frequency
A-16
Appendix A Parameters
CNC paramete r number
6744
6745
6750
Drive parameter
number
Cn744
Cn745
Cn750
6751 Cn751
6752
6753
6754 6756 6757 6760 6761 6762 6763
Cn752
Cn753
Cn754 Cn756 Cn757 Cn760 Cn761 Cn762 Cn763
6764 6765
Cn764 Cn765
6766 Cn766
6767 6768
Cn767 Cn768
6769 6770 6771 6772 6773 6774
Cn769 Cn770 Cn771 Cn772 Cn773 Cn774
6779 6786 6787 6788 6789
Cn779 Cn786 Cn787 Cn788 Cn789
6800 Cn800
6801 6802 6803 6805 6806 6809 6819
Cn801 Cn802 Cn803 Cn805 Cn806 Cn809 Cn819
Initial value 100 2000 1500 3500
3500 3500 22 44 44 44 100 200 100
80 100
100
0 0
200 200 200 200 10 100
120 1000 500 500
0
0xB
3 4 107 0 90 0x0001 500
Lower limit
0 0 10
10
Upper limit
5000 5000 60000
60000
Unit
0.1V 0.1V min-1 min-1
10
60000 min-1
100
65000 min-1
1
750 0.1Kw
1
1500 0.1Kw
1
1500 0.1Kw
1
1500 0.1Kw
0
4000 0.01Hz
10
4000 0.1A
10
2000 0.1A
0
500 V
0
250 0.01
0
250 0.01
0
200 0.1%
0
200 0.1%
0
600 0.01
0
600 0.01
0
600 0.01
0
600 0.01
0
1000 0.01msec
0
200 %
100
5000 %
0
65000 0.0001
0
60000 0.001mH
0
60000 0.001mH
0
250 %
0x0000 0x002f None
0 2 50 0 10 0x0000 0
4 48 200 200 180 0xFFFF 30000
None None
^ 0.01 min None msec
Display name
Description
Min Output Frequency Volt Max Output Frequency Volt Base Speed 2
V/F min. output frequency voltage V/F max. output frequency voltage L winding base speed
Max Output Decrease Start 2
Rated Speed 2
L winding max. output reduction starting point
L winding constant output speed
Maximum Speed 2
L winding motor max. speed
Continuous Rated Output 2 Max Output 2 Max Output Dec 2 Max Output Dec A2 Motor Rated Slip 2 Motor Rated Current 2 Motor No-load Current 2
Base Voltage 2 Motor Iron Sat Coeff A2
Motor Iron Sat Coeff B2
Base Iron Loss 2 Max Iron Loss 2
ACR P Gain A2
L winding continuous rated output
L winding max. output L winding max. output reduction 2 L winding max. output reduction A2 L winding rated slip frequency L winding rated secondary current L winding rated exciting current command L winding motor no-load voltage L winding exciting current correction coefficient A L winding exciting current correction coefficient B L winding base core-loss current L winding max. number of revolutions core-loss current L winding ACR gain A
ACR P Gain B2
L winding ACR gain B
ACR P Gain C2
L winding ACR gain C
ACR P Gain D2
L winding ACR gain D
ACR Time Constant 2
Magnetiging Current Limit 2
Motor Accel Level 2
Term Resistance 2
L winding ACR time constant L winding exciting current limiter
L winding motor acceleration level L winding motor line resistance
Leak Inductance d2 Leak Inductance q2 Magnetiging Current 2
kVA Selection
Motor Selection Number of Motor Poles Motor OH Detection Rotor Thermal Gain Motor Thermal Time Const Selection Code1 Tactor off delay time
L winding d-axis inductance L winding q-axis inductance L winding weakening magnetic field current Applicable inverter capacity selection Motor selection Number of poles Motor overheat detection level Rotor thermal gain Motor thermal time constant Selection code 1 Tactor-off delay time
A-17
Drive data list A.3 List of Inverter parameter
CNC paramete r number
6820
Drive parameter
number
Cn820
Initial value
0x0000
Lower limit
0x0000
Upper limit
0xFFFF
Unit None
6821 Cn821 0x0000 0x0000 0xFFFF None
6824 Cn824 0x0000 0x0000 0xFFFF None
6828 6832 6837 6871 6874 6905
Cn828 Cn82C Cn831 Cn853 Cn856 Cn875
40 40 0x100 400 40 0x0000
1 1 0x0000 1 1 0x0000
2000 2000 0xFFFF 20000 2000 0xFFFF
None None None None None None
6906 Cn876 16384
16
16384 None
6907 Cn877
4
1
65535 None
6908 Cn878
1
1
65535 None
6909 Cn879
0
0
6400 None
6910 Cn87A 65535
0
65535 None
6911 Cn87B 16384 513 32768 None
6912 6913
Cn87C Cn87D
0x0000 0x0000 0xFFFF None
0
0
6400 None
6914 Cn87E
0
0
6400 None
6915 Cn87F 4096 0x0000 0xFFFF None
6916 Cn880 0x0000 0x0000 0xFFFF None
6919 Cn883 0x0001 0x0000 0xFFFF None
6920 Cn884 0x0000 0x0000 0xFFFF None
6921 Cn885 0x0001 0x0000 0xFFFF None
6922 Cn886 0x0000 0x0000 0xFFFF None
6923 Cn887
0
0
65535 None
6924 Cn888
0
0
6400 None
6925 Cn889
0
0
65535 None
6960 6964 6965
Cn8AC Cn8B0 Cn8B1
7 7 1024
0
250 None
1
250 None
1
32767 None
Display name
Description
Function basic switch
Fundamental function selection switch
Function appli switch1
Fundamental function selection switch 1
Function appli switch4
Fundamental function selection switch 4
Kp
Position loop gain
Kp2
2nd position loop gain
Gain switch
Gain-related applied switch
Kp3
3rd position loop gain
Kp4
4th position loop gain
Position control switch
Position control command type selection switch
PG divider
PG dividing ratio
Electric gear Numerator
Electronic gear ratio (numerator)
Electric gear Denominator Electronic gear ratio (denominator)
1st index accel Const
1st exponential acceleration/ deceleration time constant (Position command acceleration/deceleration time constant)
Multi turn limit
Multi-turn limit setting
Full closed PG pulse
Full-closed PG pulse count/encoder revolution
Position ref switch
Position command function switch
1st position moving avr
1st position command moving average time
2nd position moving avr
2nd position command moving average time
Full closed PG pulse L 1
Full-closed PG pulse count/motor revolution (Lower word)
Full closed PG pulse H 1
Full-closed PG pulse count/motor revolution (Upper word)
Numerator electric gear L 1 Electronic gear ratio numerator (Lower word)
Numerator electric gear L 2 Electronic gear ratio numerator (Upper word)
Denminator electric gearH 1 Electronic gear ratio denominator (Lower word)
Denminator electric gearH 2 Electronic gear ratio denominator (Upper word)
1st bias index vel
1st exponential acceleration/ deceleration bios
2nd bias index vel time
2nd exponential acceleration/ deceleration time constant
2nd bias index vel
2nd exponential acceleration/ deceleration bios
Positioning completed W Positioning completion width
Near window
NEAR signal width
Overflow level
Overflow level
A-18
Appendix A Parameters
CNC paramete r number
6979 6980 6981 6988 7018 7019 7046 7047
Drive parameter
number
Cn8BF Cn8C0 Cn8C1 Cn8C8 Cn8E6 Cn8E7 Cn902 Cn903
Initial Lower value limit
7
0
7
0
7
0
0x0000 0x0000
0x0000 0x0000
0x0000 0x0000
0
3000
(0 << 8) (0 << 8)
+ 0
+ 0
Upper limit
250 250 250 0xFFFF 0xFFFF 0xFFFF 15000 (255 << 8) + 30
Unit
None None None None None None None None
7050 7059
Cn906 Cn90F
0xACA3 0
0
-32768
65535 32767
None None
7060 Cn910
0
-32768 32767 None
7061 Cn911
0
-32768 32767 None
7068 Cn918 0x0000 0x0000 0x00FF None
7074 7075
Cn91E Cn91F
0
0 0xFFFF None
0x0000 0x0000 0xFFFF None
7076 7077
Cn920 Cn921
0x0000 0x0000 0xFFFF None
0
0
65535 None
Display name
Description
Position window 1
1st positioning completion width
Position window 2
2nd positioning completion width
Position window 3
3rd positioning completion width
Reserved for user 0F
Reserved for user 0F
Alarm Mask
Alarm mask
System Switch
System switch
PWN Frequency
PWM frequency
On Delay Time and Comp
Lower byte: On-delay time; upper byte: On-delay compensation constant
AD Parameter 1
A/D detection-setting parameter 1
Current Det Zero Adj U
Current detection zero adjustment (U-phase)
Current Det Zero Adj V
Current detection zero adjustment (V-phase)
Current Det Gain Adj UV
Current detection gain adjustment (U and V-phases)
PG Power Voltage Zero Adj Lower byte: PG power voltage adjustment
Upper byte: Not used
Standalone Flag
Stand-alone switch
MotorTyp PowerVolt EncTyp
Motor type (8-bit) Input voltage (4 bits) Encoder type (4 bits)
Encorder Soft Version
Encoder software version
Motor Size
Motor capacity
A-19
Drive data list A.4 List of parameters common to all drives
A.4 List of parameters common to all drives
The following parameters (MD0-2999), common to Servo unit and Inverter, are drive parameters displayed in a parameter screen for each drive.
· Each of the parameters is used as an interface through which a CNC receives data from a drive.
· They are read-only so that they can't be set through a drive parameter screen. · Their values to be displayed are automatically generated in each drive according to
changes in drive parameters (MD3000-8999) or changes in data (such as alarm data) of each drive. · They are not displayed in the digital operators of the drives. · Their values to be displayed in the drive parameter screen are read from each drive; the values are not updated automatically. If you want to update the parameters, use the [Update] key in the drive parameter screen. The following shows the contents of each parameter
CNC parame ter No.
Lower limit
604 -100000
Upper limit
100000
762 -8192
3
820
0
0xffffffff
821
0
0xffffffff
822
0
0xffffffff
823
0
0xffff
824
0
0xffff
825
0
0xffffffff
826
0
0x00ffffff
870
0
0xffff
871
0
0xffff
872
0
0xffff
873
0
0xffff
875
0
4
879
0
0xffff
880
0
100000
915
0
65535
916
0
65535
Unit %
ms ms ms
ms min-1
Name
Description
UTILIZATION_MOTOR Torque and Load data
FIRMWARE_DOWNLO AD_DP_SUBMOD
FAULT_END_TIME
TIMESTAMP_FAULT_S TAT_CHANGE
TIMESTAMP_WARN_S TAT_CHANGE
ACT_FAULT_NUMBER
ACT_FAULT_CODE
ACT_FAULT_TIME
ACT_FAULT_VALUE
MODULE_TYPE
MODULE_VERSION
OPTION_MODULE_TY PE
OPTION_MODULE_VE RSION
EXPECTED_OPTION_ MODULE_TYPE
ISOCHRON_PROFIBUS _CONFIG
NORMALIZATION_OV ER_PROFIBUS
Optional firmware-updating process status for 611u communication Fault end time Time stamp when alarm data changes Time stamp when warning data changes Fault number Fault code Fault time stamp Fault value Control module type Control module version Communication option type
Communication option version Necessary communication option type Cyclic configuration
Max. feed speed or Max. number of revolutions
SETPOINT_ASSIGN_PR Command value OFIBUS
ACTUAL_VALUE_ASSI Feedback value GN_PROFIBUS
Related MD and remark
Spindle load display value (Short-time rated torque) Not used
Not used Alarm information
Not used
Not used Alarm code Alarm time stamp Alarm time stamp Not used Not used DPC31 Synchronous mode
Not used
DPC31 Synchronous mode
Allowable number of abnormal life signs Max. number of motor revolutions Refer to 14.1.7. Not used
Not used
A-20
Appendix A Parameters
CNC parame ter No.
Lower limit
Upper limit
Unit
Name
Description
Related MD and remark
918
0
126
PROFIBS_NODE_ADD PROFIBUS station number See Section 14.1.4
RESS
945
0
0xffff
FAULT_CODE
Fault code history
Not used
947
0
0xffff
FAULT_NUMBER
948
0
0xffffffff ms FAULT_TIME
Fault number history Fault time stamp history
Not used Not used
949
0
0x00ffffff FAULT_VALUE
Fault value history
Not used
952
0
0xffff
NUM_FAULTS
The number of faults that happened
Not used
953
0
0xffff
WARNINGS800_TO_815 Occurrence status of warnings Not used
800-815
954
0
0xffff
WARNINGS_816_TO_83 Occurrence status of warnings Not used
1
816-831
955
0
0xffff
WARNINGS_832_TO_84 Occurrence status of warnings Not used
7
832-847
956
0
0xffff
WARNINGS_848_TO_86 Occurrence status of warnings Not used
3
848-863
957
0
0xffff
WARNINGS_864_TO_87 Occurrence status of warnings Not used
9
864-879
958
0
0xffff
WARNINGS_880_TO_89 Occurrence status of warnings Not used
5
880-895
959
0
0xffff
WARNINGS_896_TO_91 Occurrence status of warnings Not used
1
896-911
960
0
0xffff
WARNINGS_911_TO_92 Occurrence status of warnings Not used
7
912-927
967
0
0xffff
PROFIBUS_CONTROL_ Control word (STW1)
WORD
PROFIBUS-controlling CNC transmission data
968
0
0xffff
PROFIBUS_STATAS_W Status word (ZSW1)
ORD
PROFIBUS-controlling CNC reception data
969
0
0x00ffffff ms ACT_TIME_DIFF
Time elapsed after power-on Not used
1005
0
65535
ENC_RESOL_MOTOR Motor encoder resolution
MD31020[0]
1007
0
0X007ffff ENC_RESOL_DIRECT Direct encoder resolution
f
MD32020[1]
1012
0
0x1195
FUNC_SWITCH
Function switch
Fixed according to CNC specification
1022
0
999999
ENC_ABS_SINGLETUR Motor absolute encoder
N_MOTOR
resolution
Not used
1025
0
0xffff
ENC_MOTOR_SERIAL Motor encoder serial number Not used
NO_LOW
(LOW)
1026
0
0xffff
ENC_MOTOR_SERIAL Motor encoder serial number Not used
NO_HIGH
(HIGH)
1027
0
0x0178
ENC_CONFIG
Motor encoder type
bit3
0: Incremental 1: Absolute
bit4
0: Rotary 1: Linear
1032
0
0xffffffff ENC_ABS_RESOL_DIR Direct absolute encoder
ECT
resolution
Not used
A-21
Drive data list A.4 List of parameters common to all drives
CNC parame ter No.
1037
Lower limit
0
Upper limit
0xffff
Unit
Name
Description
ENC_CONFIG_DIRECT Direct encoder type
1038
0
1039
0
1042
0
1043
0
1044
0
1045
0
1102
0
0xffff 0xffff
11 11 11 11 0xffff
ENC_MOTOR_SERIAL Direct encoder serial number
NO_LOW
(LOW)
ENC_MOTOR_SERIAL Direct encoder serial number
NO_HIGH
(HIGH)
RESOLUTION_G1_XIS Motor encoder resolution
T1
magnification 1 (power of 2)
RESOLUTION_G1_XIS Motor encoder resolution
T2
magnification 2 (power of 2)
RESOLUTION_G2_XIS Direct encoder resolution
T1
magnification 1 (power of 2)
RESOLUTION_G2_XIS Direct encoder resolution
T2
magnification 2 (power of 2)
MOTOR_CODE
Motor type
1401 -100000 100000 U/min MOTOR_MAX_SPEED Max. motor speed
1405 1711 1783 1784 1785 1786 1787 1788 1789 1794 1795 1799 2401
100
110
-100000 100000
0
0xffff
0
0xffff
0
0xffff
0
0xffff
0
0xffff
0
0xffff
0
0xffff
0
999999
0
999999
0
999999
-100000 100000
% m/min
U/min
MOTOR_SPEED_LIMIT Allowable max. speed or number of revolutions
SPEED_LSB
Speed resolution
PARAM_DATA_RX_PR Parameter data OFIBUS
CONFIG_DATA_RX_PR Configuration data OFIBUS
LIFESIGN_DIAGNOSIS Life sign error counter _PROFIBUS
PKW_DATA_RX_PROFI PKW receiving data BUS
PKW_DATA_TX_PROFI PKW transmission data BUS
PZD_DATA_RX_PROFI Cyclically receiving data BUS
PZD_DATA_TX_PROFI Cyclic transmission data BUS
OPTMOD_BOOTCODE Loader version for optional
_VERSION
module
OPTMOD_FIRMWARE_ Optional module software
VERSION
version
FIRMWARE_VERSION ACC file version
MOTOR_MAX_SPEED_ 2nd motor max. speed 2ND_MOTOR
2405
100
110
% MOTOR_SPEED_LIMIT 2nd motor allowable max.
_2ND_MOTOR
speed
Note: Such values are invalid that are displayed for parameters not being used.
Related MD and remark
bit3 0: Incremental 1: Absolute
bit4 0: Rotally 1: Linear
Not used
Not used
Changes MD31025[0] to a power of 2 Changes MD31025[0] to a power of 2 Changes MD31025[1] to a power of 2 Changes MD31025[1] to a power of 2 Servo-axis=1, Spindle=1001 Max. number of rated motor revolutions Fixed to 120%
MD880/Ox40000000
Not used
Not used
See Section 14.1.9 To be used for controlling Spindle-combined C axis when motor speed is different. To be used for controlling Spindle-combined C axis when motor speed is different.
A-22
Appendix B Alarm/monitor data
Appendix B Alarm/monitor data
B.1 List of Servo unit alarms
CNC code
2 2 3
3
3 4 5 6
16
17 18 19 20 32 33 34 48 50 50 51 52 64 64 65 65 66
67 68
81 82 83 84 96 96
Drive code 0x02 0x02 0x03
0x03
0x03 0x04 0x05 0x06
0x10
0x11 0x12 0x13 0x14 0x20 0x21 Ox22 0x30 0x32 0x32 0x33 0x34 0x40 0x40 0x41 0x41 0x42
0x43 Ox44
0x51 0x52 0x53 0x54 0x60 0x60
Item
EEPROM data error Flash memory error Main circuit detecting element error
CNC code 97 98 99
CNV main circuit detecting element error 99
Main circuit detecting element error
99
Parameter setting error
100
Motor/Servo capacity unmatched
101
DPRAM error
101
Over current
102
(Short-circuit current)
Ground fault
103
Carrier frequency error
104
On-delay error
105
Motor over-current
106
Fuse blow-out
107
MC operation failure
113
Converter fuse blow-out
114
Regeneration error
115
Regeneration over-load
116
Regeneration over-load
117
Main power wiring error
117
Converter regeneration over-current
118
Over-voltage
119
CNV over-voltage
121
Low-voltage
121
CNV low-voltage
122
Initial charging error
122
Control circuit low-voltage
122
Control power low-voltage
123
Over-speed (at motor)
129
Over-speed (at machine)
130
Excessive speed deviation
131
Over-speed (at low-speed winding motor) 132
Tune-up incomplete when encoder is used 133
Tune-up incomplete when magnetmetric 134 sensor is used
Drive
0x61 0x62 0x63
0x63
0x63 0x64 0x65 0x65
0x66
0x67 0x68 0x69 0x6A 0x6B 0x71 0x72 0x73 0x74 0x75 0x75 0x76 0x77 0x79 0x79 0x7A 0x7A
0x7A 0x7B
0x81 0x82 0x83 0x84 0x85 0x86
Description
C-phase signal detection failure C-phase signal width failure Error with pulse count per rotation when encoder is used Error with pulse count per rotation when magnetmetric sensor is used Encoder pulse count error Position-detecting signal wire break INC signal error when encoder is used INC signal error when magnetmetric sensor is used Magnetmetric sensor signal detection error Magnetmetric sensor signal wire break. Orientation card unmatched Winding change-over failure Initial zero point loading error Emergency stop operation failure Over-load (Momentary max. load) Over-load (Max. continuous load) DB over-load Inrush current resistance over-load
Control panel temperature rise to 60 ^ Internal cooling fan error Load error Collision Motor overheat Motor thermistor wire break Heat sink over-heat Fin temperature rise for more than 1 minute Heat sink thermistor wire break Fin temperature rise for more than 1 minute PG back-up error PG sum check error PG battery error PG absolute error PG over-speed PG over-heat
A-23
Drive data list B.1 List of Servo unit alarms
CNC code 145 146 147 148 149 150 151 152 153 159 177 178 178 179 179 179 182 182 183 189 189 189 189 190 191 193 194 195
196
197
198
Drive code 0x91 0x92 0x93 0x94 0x95 0x96 0x97 0x98 0x99 0x9F 0xB1 0xB2 0xB2 0xB3 0xB3 0xB3 0xB6 0xB6 0xB7 0xBD 0xBD 0xBD 0xBD 0xBE 0xBF 0xC1 0xC2 0xC3
0xC4
0xC5
0xC6
Item
Over-load warning Regeneration over-load warning Battery warning Network data setting warning Network command warning Network communication warning Heat sink overheat (warning) Motor over-heat (warning) Normal Controller warning Speed reference A/D error Torque reference A/D error CPU-embedded A/D error Current detecting A/D error U-phase A/D converter error V-phase A/D converter error Communication gate array error Communication hardware error Link setting error Converter system error Converter ROM error Controller failure Converter watch-dog error 1: System error 0: System error Runaway detection Phase detection error Wire break in pulse encoder A and B phases Wire break in pulse encoder C-phase
Motor magnetic pole detection error
FPG wire break (PA and PB)
CNC code 199 200 201 202 203 204 205 206 208 211 224 225 226 227 228 229 230 230 231 234 234 234 235 236 237 241 242 244
Drive
0xC7 0xC8 0xC9 0xCA 0xCB 0xCC 0xCD 0xCE 0xD0 0xD3 0xE0 0xE1 0xE2 0xE3 0xE4 0xE5 0xE6 0xE6 0xE7 0xEA 0xEA 0xEA 0xEB 0xEC 0xED 0xF1 0xF2 OxF4
Description
FPG wire break (PC) PG clearing error PG communication error PG parameter error PG echo back error Multi-turn limit value inconsistency FPG F/B wire break FPG multi-turn error Excessive position deviation Position data over-flow Invalid optional board setting Time out error Converter WDC failure Optional board alarm Dummy optional warning Network WDT error Network communication error Link setting error Optional I/F error No SGDH No drive response Drive initial access error SGDH timeout Drive WDC error Incomplete command execution Missing power line phase detection Excessive power frequency deviation Low voltage power
Undisplay able
Undisplay able
CPF00 CPF01
Control circuit error 1 Control circuit error 2
A-24
Appendix B Alarm/monitor data
B.2 List of Inverter alarms
CNC code
2 2 3
3
4 5 6
16
17
18
19 20 32 33 48 50 50 51 52
64 64 65 65 66 67
81 82 83 84
85 96
96
Drive code 0x02 0x02 0x03
0x03
0x04 0x05 0x06
0x10
0x11
0x12
0x13 0x14 0x20 0x21 0x30 0x32 0x32 0x33 0x34
0x40 0x40 0x41 0x41 0x42 0x43
0x51 0x52 0x53 0x54
Ox55 0x60
0x60
Item
EEPROM data error Flash memory error Main circuit detecting element error CNV main circuit detecting element error Parameter setting error Motor/Servo capacity unmatched DPRAM error
CNC code 97 98 99
99
99 100 101
Over current
101
(Short-circuit current)
Ground fault
102
Carrier frequency error
103
On-delay error
104
Motor over current
105
Fuse blow-out
106
MC operation failure
107
Regeneration error
113
Regeneration over-load warning 114
Regeneration over-load warning 115
Main power wiring error
116
Converter regeneration over-
117
current
Over-voltage
117
CNV over-voltage
117
Low-voltage
121
CNV low-voltage
121
Initial charge error
122
Control circuit low-voltage
122
Over-speed (at motor)
122
Over-speed (at machine)
129
Excessive speed deviation
130
Over-speed (at low-speed
131
winding motor)
Over-speed (C-axis)
132
Tune-up incomplete when
133
encoder is used
Tune-up incomplete when
134
magnetmetric sensor is used
Drive 0x61 0x62 0x63
0x63
0x63 0x64 0x65
0x65
0x66
0x67
0x68 0x69 0x6A 0x6B 0x71 0x72 0x73 0x74 0x75
0x75 0x75 0x79 0x79 0x7A 0x7A
0x7A 0x81 0x82 0x83
Description
C-phase signal detection failure C-phase signal width failure Error with pulse count per rotation when encoder is used Error with pulse count per rotation when magnetmetric sensor is used Encoder pulse count error Position-detecting signal wire break INC signal error when encoder is used INC signal error when magnetmetric sensor is used Magnetmetric sensor signal detection error Magnetmetric sensor signal wire break. Orientation card unmatched Winding change-over failure Initial zero point loading error Emergency stop operation failure Over-load (Momentary max. load) Over-load (Max. continuous load) DB over-load Inrush current resistance over-load Control panel temperature rise to 60 ^ Internal cooling fan error Load error Motor over-heat Motor thermistor wire break Heat sink over-heat Fin temperature rise for more than 1 minute Heat sink thermistor wire break PG back-up error PG sum check error PG battery error
0x84 0x85
PG absolute error PG over-speed
0x86 PG over-heat
A-25
Drive data list B.2 List of Inverter alarms
CNC code 145 146 147 148 149 150 151 152 153 159 177 178 178 179 179 179 182 182 183 183
184 189 189 189 189 190 191 193
194
195
196
197
Drive code 0x91 0x92 0x93 0x94 0x95 0x96 0x97 0x98 0x99 0x9F 0xB1 0xB2 0xB2 0xB3 0xB3 0xB3 0xB6 0xB6 0xB7 OxB7
OxB8 0xBD 0xBD 0xBD 0xBD 0xBE 0xBF 0xC1
0xC2
0xC3
0xC4
0xC5
Item
Over-load warning Regeneration over-load warning Battery warning Network data setting warning Network command warning Network communication warning Heat sink overheat (warning) Motor over-heat (warning) Normal Controller warning Speed reference A/D error Torque reference A/D error CPU-embedded A/D error Current detecting A/D error U-phase A/D converter error V-phase A/D converter error Communication gate array error Communication hardware error Link setting error ASIC PWM comparison unmatched ASIC WDC1 error Converter system error Converter ROM error Controller failure Converter watch dog error 1: System error 0: System error Runaway detection
CNC code 198 199 200 201 202 203 204 205 206 208 211 224 225 226 227 228 229 230 230 231
234 234 234 235 236 237 241 242
Phase detection error
Wire break in pulse encoder A and B phases
Wire break in pulse encoder Cphase
Motor magnetic pole detection error
Undis playa
ble
Undis playa
ble
Undis playa
ble
Drive
0xC6 0xC7 0xC8 0xC9 0xCA 0xCB 0xCC 0xCD 0xCE 0xD0 0xD3 0xE0 0xE1 0xE2 0xE3 0xE4 0xE5 0xE6 0xE6 0xE7
0xEA 0xEA 0xEA 0xEB 0xEC 0xED 0xF1 0xF2
CPF00
CPF01
CPF01
Description
FPG wire break (PA and PB) FPG wire break (PC) PG clearing error PG communication error PG parameter error PG echo back error Multi-turn limit value inconsistency FPG F/B wire break FPG multi-turn error Excessive position deviation Position data over-flow Invalid optional board setting Time out error Converter WDC failure Optional board alarm Dummy optional warning Network WDT error Network communication error Link setting error Optional I/F error
Missing SGDH No drive response Drive initial access error SGDH timeout Drive WDC error Incomplete command execution Missing power line phase detection Excessive power frequency deviation Control circuit error 1
Control circuit error 2
Control circuit error 2
A-26
Appendix B Alarm/monitor data
B.3 List of Servo unit monitor data
The following monitor data have been confirmed with a digital operator for drives
UN number
Un000
Item Actual motor rotation speed
Un001 Speed reference currently input
Un002 Internal torque reference
Un003 Rotation angle 1
Un004 Rotation angle 2
Un005 Un006
Input signal monitor Output signal monitor
Un007 Input reference pulse speed
Un008 Deviation counter value
Un009 Cumulative load ratio
Un00A Regenerative load ratio
Un00B DB resistor power consumption
Un00C Un00D Un00D
Input reference pulse counter Feedback pulse counter External encoder absolute
Description
Unit
Percentage to a rated torque Pulse count from zero point Angle from zero point (Electrical angle)
min-1 min-1
% Pulse deg
min-1
Position deviation
Command Unit
A percentage of effective torque, measured every 10 seconds,
%
to a rated torque.
A percentage of regenerated power consumed, measured every
%
10 seconds, to total regenerated power that can be used.
A percentage of power consumed for dynamic brake,
%
measured every 10 seconds, to total power that can be used.
Displayed in hexadecimal
Displayed in hexadecimal
Displayed in hexadecimal
A-27
Drive data list B.4 List of Inverter monitor data
B.4 List of Inverter monitor data
The following monitor data have been confirmed with a digital operator for drivesõ
UN number
Item
Description
Un001 Speed feedback
Un002 Speed reference
Un003 Un004
Reserved Torque reference
Short-time duration rated torque
Un005 Reserved
Un006 Inverter output current
Un007 Output frequency
Un008 Un009
Un010
Internal status of the sequence
[4] [3] [2] [1]
[0]
RUN2 RUN1 RUN JOG1 ACCDECDY
ACCDEC IRDY ACC
External input signals
[4]
[3]
[2]
[1] [0]
RDY EMG FOR REV TLH
TLL SC
CHW PPI
ORT LGR MGR CAX
External output signals
[4]
[3]
[2]
[1]
[0]
ZSPD AGR
SDET
TDET TLE
ORGSIG OREND CHWEND FLTSIG TALM
CAXCMP
RUN2
/* At operation */
RUN1
/* Operation command */
RUN
/* Operation command */
JOG1
/* JOG command */
ACCDECDY /* At acceleration/deceleration */
ACCDEC /* At acceleration/deceleration */
IRDY /* Inverter ready */
ACC /* At acceleration */
RDY /* At operation preparation */ EMG /* Emergency stop */ FOR /* Forward rotation */ REV /* Reverse rotation */ TLH /* Torque limit H */ TLL /* Torque limit L */ SC /* Soft start cancelled */ CHW /* Winding switch-over ON: Low-
speed winding*/
PPI /* Speed controlling PP1 switch-over ON: PI*/
ORT /* Orientation */ LGR /* L gear selection */ MGR /* M gear selection */ CAX /* C-axis switch-over */
ZSPD AGR SDET TDET TLE ORGSIG OREND CHWEND
FLTSIG TALM CAXCMP
/* Zero speed */ /* Speed matching */ /* Speed detection */ /* Torque detection */ /* At torque limit */ /* Load-axis zero point */ /* Orientation completed */ /* Winding switch-over completed ON:
Low-speed winding*/ /* Failure */ /* Error warning */ /* C-axis switch-over completed */
Un011 Inverter capacity
Un012 Motor temperature
Un013 Un014
Heat sink temperature Direct-current voltage of the bus
Unit min-1 min-1
% A Hz
kW ^ ^ V
A-28
Appendix B Alarm/monitor data
UN number
Item
Un015 Reserved
Un016 Alarm being issued
Un017 U-phase current
Description Alarms being issued now (10 alarms at max.)
Un018 W-phase current
Un019 Un020 Un021
Reserved LED check PROM number
The numbers of Software versions
Note: As to the signals, described in 3 lines, in the Item column of Un008, Un009, and Un010; each of the signals corresponds to the 3 horizontal LED segments of the 7-segment LED's for the 5 digit display of the Digital Operator.
Unit
0x3FF: 10V
0x3FF: 10V
A-29
Yaskawa Siemens CNC Series
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Machine Tool OEM Sales Div. TGaaktaenCaiwtyaOPsaarkki TWoewset rT,o3w-2e0r-,114-,1H1-ig1,aOshsia-Gkio, Stahnindaag, aSwhian-akgua, wToak-kyuo,1T4o1k-y8o6414,1J-a8p6a4n4, Japan PPHHOONNEE++8811--33--53442933--77345191 FFAAXX++8811--33--53442933--77443282
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