IAI SCON-CA Instruction Manual

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Controller Applicable for MECHATROLINK-䜕

Instruction Manual Frist Edition

SCON-CA

Please Read Before Use

Thank you for purchasing our product.

This Instruction Manual explains the handling methods, structure and maintenance of this product, among others, providing the information you need to know to use the product safely.

Before using the product, be sure to read this manual and fully understand the contents explained herein to ensure safe use of the product. The DVD that comes with the product contains Instruction manuals for IAI products. When using the product, refer to the necessary portions of the applicable instruction manual by printing them out or displaying them on a PC.

After reading the Instruction Manual, keep it in a convenient place so that whoever is handling this product can reference it quickly when necessary.

[Important]

x This Instruction Manual is original. x This product is not to be used for any other purpose from what is noted in this Instruction

Manual. IAI shall not be liable whatsoever for any loss or damage arising from the result of using the product for any other purpose from what is noted in the manual.

x The information contained in this Instruction Manual is subject to change without notice for the

purpose of production improvement.

x If you have any question or finding regarding the information contained in this Instruction Manual,

contact our customer center or our sales office near you.

x Using or copying all or a part of this Instruction Manual without permission is prohibited. x MECHATROLINK is a registered trademark for MECHATROLINK Members Association. x The company names, names of products and trademarks of each company shown in the

sentences are registered trademarks.

Table of Contents

Safety Guide........................................................................................................... 1

1. Overview .......................................................................................................... 9

1.1 Interface Specifications ..................................................................................................... 10

2. SCON-CA........................................................................................................11

2.1 Operation Modes and Functions........................................................................................11

2.2 Operation Modes and Functions........................................................................................11

2.3 MECHATROLINK-䜕 Interface ......................................................................................... 12

2.3.1 Name of Each Part............................................................................................... 12

2.3.2 Status LED Indicators .......................................................................................... 12

2.4 Example of Wiring ............................................................................................................. 13

2.5 Setting ............................................................................................................................... 14

2.5.1 Node Address Setting .......................................................................................... 14

2.5.2 Data length Setting .............................................................................................. 14

2.5.3 Setting of Electronic Gear Ratio........................................................................... 14

2.5.4 Check for Direction of Pulse Count...................................................................... 14

3. Flow and Commands of Basic MECHATROLINK Communication ................. 15

3.1 State Transition.................................................................................................................. 15

3.2 Command Frame Construction and Number of Transmission Bytes................................ 16

3.3 Endian ............................................................................................................................... 16

3.4 System of Units ................................................................................................................. 16

4. Command Format........................................................................................... 17

4.1 Command / Response Frame........................................................................................... 18

4.1.1 Command Code / Command Code Response (CMD/RCMD)............................. 18

4.1.2 Watchdog Data (WDT/RWDT) ............................................................................. 19

4.1.3 Command Control / Command Status (CMD_CTRL/CMD_STAT)...................... 19

4.1.4 Command Data / Respons Data (CMD_DATA/RSP_DATA)................................ 21

4.1.5 Sub Command Code / Sub Command Code Response

(SUB_CMD/SUB_RCMD) .................................................................................. 22

4.1.6 Sub Command Control / Sub Command Status

(SUB_CTRL/SUB_STAT) ................................................................................... 23

4.1.7 Sub Command Data / Sub Response Data

(SUB_CMD_DATA/SUB_RSP_DATA) ............................................................... 24

5. Command....................................................................................................... 25

5.1 Main Command................................................................................................................. 25

5.1.1 Specifications of Common Commands................................................................ 25

5.1.1.1 Invalid (NOP Code: 00

) ......................................................................... 25

5.1.1.2 ID Reading (ID_RD Code: 03

).............................................................. 26

5.1.1.3 Device Setup Request (CONFIG Code: 04

) ......................................... 28

5.1.1.4 Alarm / Warning Readout (ALM_RD Code: 05

) .................................... 29

5.1.1.5 Alarm / Warning Clear (ALM_CLR Code: 06

) ....................................... 30

5.1.1.6 Synchronization Establishment Request (SYNC_SET Code: 0DH)........ 30

5.1.1.7 Connection Establishment Request (CONNECT Code: 0E

)................. 31

5.1.1.8 Connection Release Request (DISCONNECT Code: 0F

) .................... 32

5.1.2 Specifications of Standard Servo Profile Commands .......................................... 33

5.1.2.1 Servo Status Monitor (SMON Code: 30

)............................................... 33

5.1.2.2 Sensor-on Request (SENS_ON Code: 23H)........................................... 39

5.1.2.3 Sensor-off Request (SENS_OFF Code: 24

) ......................................... 40

5.1.2.4 Servo ON Request (SV_ON Code: 31

)................................................. 41

5.1.2.5 Servo ON Request (SV_OFF Code: 32

).............................................. 42

5.1.2.6 Interpolation Feeding (INTERPOLATE Code: 34

) ................................ 43

5.1.2.7 Positioning (POSING Code: 35H)............................................................ 44

5.1.2.8 Constant Speed Feeding (FEED Code: 36H)......................................... 46

5.1.2.9 Servo Parameter Reading (SVPRM_RD Code: 40

) ............................. 48

5.1.2.10 Servo Parameter Writing (SVPRM_WR Code: 41H)............................. 49

5.2 Sub Command .................................................................................................................. 50

5.2.1 Combination of Main Command and Sub Command .......................................... 50

5.2.2 Specifications of Sub Commands ........................................................................ 51

5.2.2.1 Invalid (NOP Code: 00

) ......................................................................... 51

5.2.2.2 Alarm / Warning Readout (ALM_RD Code: 05

) .................................... 52

5.2.2.3 Servo Status Monitor (SMON Code: 30H)............................................... 53

5.3 Common Parameters and Device Parameters ................................................................. 54

5.3.1 Overview .............................................................................................................. 54

5.3.2 Common Parameter List...................................................................................... 55

5.3.3 Device Parameter List.......................................................................................... 59

6. Example for Operation Sequence................................................................... 60

6.1 Cautions in Actuator Operation ......................................................................................... 61

6.1.1 Home Retern........................................................................................................ 61

6.1.2 Soft Limit .............................................................................................................. 62

6.1.3 Positioning Complete Band, Positioning Vicinity Band and Home Position

Detection Band..................................................................................................... 63

7. Parameters for Controller (SCON).................................................................. 64

7.1 Parameter List................................................................................................................... 65

7.2 Detail of Parameters Related to MECHATROLINK-Υ Settings....................................... 68

8. Troubleshooting .............................................................................................. 69

8.1 Action to Be Taken upon Occurrence of Problem............................................................. 69

8.2 Alarm Level ....................................................................................................................... 70

8.3 Alarm List .......................................................................................................................... 71

9. Change History............................................................................................... 80

Safety Guide

“Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage beforehand. Make sure to read it 1before the operation of this product.

Safety Precautions for Our Products

The common safety precautions for the use of any of our robots in each operation.

No.

Operation

Description

1 Model

Selection

Ɣ This product has not been planned and designed for the application

where high level of safety is required, so the guarantee of the protection of human life is impossible. Accordingly, do not use it in any of the following applications.

1) Medical equipment used to maintain, control or otherwise affect human life or physical health.

2) Mechanisms and machinery designed for the purpose of moving or transporting people (For vehicle, railway facility or air navigation facility)

3) Important safety parts of machinery (Safety device, etc.)

Ɣ Do not use the product outside the specifications. Failure to do so may

considerably shorten the life of the product.

Ɣ Do not use it in any of the following environments.

1) Location where there is any inflammable gas, inflammable object or explosive

2) Place with potential exposure to radiation

3) Location with the ambient temperature or relative humidity exceeding the specification range

4) Location where radiant heat is added from direct sunlight or other large heat source

5) Location where condensation occurs due to abrupt temperature changes

6) Location where there is any corrosive gas (sulfuric acid or hydrochloric acid)

7) Location exposed to significant amount of dust, salt or iron powder

8) Location subject to direct vibration or impact

Ɣ For an actuator used in vertical orientation, select a model which is

equipped with a brake. If selecting a model with no brake, the moving part may drop when the power is turned OFF and may cause an accident such as an injury or damage on the work piece.

No.

Operation

Description

2 Transportation Ɣ When carrying a heavy object, do the work with two or more persons or

utilize equipment such as crane.

Ɣ When the work is carried out with 2 or more persons, make it clear who is

to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.

Ɣ When in transportation, consider well about the positions to hold, weight

and weight balance and pay special attention to the carried object so it would not get hit or dropped.

Ɣ Transport it using an appropriate transportation measure.

The actuators available for transportation with a crane have eyebolts attached or there are tapped holes to attach bolts. Follow the instructions in the Instruction manual for each model.

Ɣ Do not step or sit on the package. Ɣ Do not put any heavy thing that can deform the package, on it. Ɣ When using a crane capable of 1t or more of weight, have an operator

who has qualifications for crane operation and sling work.

Ɣ When using a crane or equivalent equipments, make sure not to hang a

load that weighs more than the equipment’s capability limit.

Ɣ Use a hook that is suitable for the load. Consider the safety factor of the

hook in such factors as shear strength.

Ɣ Do not get on the load that is hung on a crane. Ɣ Do not leave a load hung up with a crane. Ɣ Do not stand under the load that is hung up with a crane.

3 Storage and

Preservation

Ɣ The storage and preservation environment conforms to the installation

environment. However, especially give consideration to the prevention of condensation.

Ɣ Store the products with a consideration not to fall them over or drop due

to an act of God such as earthquake.

4 Installation

and Start

(1) Installation of Robot Main Body and Controller, etc. Ɣ Make sure to securely hold and fix the product (including the work part). A

fall, drop or abnormal motion of the product may cause a damage or injury. Also, be equipped for a fall-over or drop due to an act of God such as earthquake.

Ɣ Do not get on or put anything on the product. Failure to do so may cause

an accidental fall, injury or damage to the product due to a drop of anything, malfunction of the product, performance degradation, or shortening of its life.

Ɣ When using the product in any of the places specified below, provide a

sufficient shield.

1) Location where electric noise is generated

2) Location where high electrical or magnetic field is present

3) Location with the mains or power lines passing nearby

4) Location where the product may come in contact with water, oil or chemical droplets

No.

Operation

Description

(2) Cable Wiring Ɣ Use our company’s genuine cables for connecting between the actuator

and controller, and for the teaching tool.

Ɣ Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not

coil it around. Do not insert it. Do not put any heavy thing on it. Failure to do so may cause a fire, electric shock or malfunction due to leakage or continuity error.

Ɣ Perform the wiring for the product, after turning OFF the power to the

unit, so that there is no wiring error.

Ɣ When the direct current power (+24V) is connected, take the great care

of the directions of positive and negative poles. If the connection direction is not correct, it might cause a fire, product breakdown or malfunction.

Ɣ Connect the cable connector securely so that there is no disconnection

or looseness. Failure to do so may cause a fire, electric shock or malfunction of the product.

Ɣ Never cut and/or reconnect the cables supplied with the product for the

purpose of extending or shortening the cable length. Failure to do so may cause the product to malfunction or cause fire.

4 Installation

and Start

(3) Grounding Ɣ The grounding operation should be performed to prevent an electric

shock or electrostatic charge, enhance the noise-resistance ability and control the unnecessary electromagnetic radiation.

Ɣ For the ground terminal on the AC power cable of the controller and the

grounding plate in the control panel, make sure to use a twisted pair cable with wire thickness 0.5mm

(AWG20 or equivalent) or more for grounding work. For security grounding, it is necessary to select an appropriate wire thickness suitable for the load. Perform wiring that satisfies the specifications (electrical equipment technical standards).

Ɣ Perform Class D Grounding (former Class 3 Grounding with ground

resistance 100: or below).

No.

Operation

Description

4 Installation

and Start

(4) Safety Measures Ɣ When the work is carried out with 2 or more persons, make it clear who is

to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.

Ɣ When the product is under operation or in the ready mode, take the

safety measures (such as the installation of safety and protection fence) so that nobody can enter the area within the robot’s movable range. When the robot under operation is touched, it may result in death or serious injury.

Ɣ Make sure to install the emergency stop circuit so that the unit can be

stopped immediately in an emergency during the unit operation.

Ɣ Take the safety measure not to start up the unit only with the power

turning ON. Failure to do so may start up the machine suddenly and cause an injury or damage to the product.

Ɣ Take the safety measure not to start up the machine only with the

emergency stop cancellation or recovery after the power failure. Failure to do so may result in an electric shock or injury due to unexpected power input.

Ɣ When the installation or adjustment operation is to be performed, give

clear warnings such as “Under Operation; Do not turn ON the power!” etc. Sudden power input may cause an electric shock or injury.

Ɣ Take the measure so that the work part is not dropped in power failure or

emergency stop.

Ɣ Wear protection gloves, goggle or safety shoes, as necessary, to secure

safety.

Ɣ Do not insert a finger or object in the openings in the product. Failure to

do so may cause an injury, electric shock, damage to the product or fire.

Ɣ When releasing the brake on a vertically oriented actuator, exercise

precaution not to pinch your hand or damage the work parts with the actuator dropped by gravity.

5 Teaching Ɣ When the work is carried out with 2 or more persons, make it clear who is

to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.

Ɣ Perform the teaching operation from outside the safety protection fence,

if possible. In the case that the operation is to be performed unavoidably inside the safety protection fence, prepare the “Stipulations for the Operation” and make sure that all the workers acknowledge and understand them well.

Ɣ When the operation is to be performed inside the safety protection fence,

the worker should have an emergency stop switch at hand with him so that the unit can be stopped any time in an emergency.

Ɣ When the operation is to be performed inside the safety protection fence,

in addition to the workers, arrange a watchman so that the machine can be stopped any time in an emergency. Also, keep watch on the operation so that any third person can not operate the switches carelessly.

Ɣ Place a sign “Under Operation” at the position easy to see. Ɣ When releasing the brake on a vertically oriented actuator, exercise

precaution not to pinch your hand or damage the work parts with the actuator dropped by gravity.

* Safety protection Fence : In the case that there is no safety protection fence,

the movable range should be indicated.

No.

Operation

Description

6 Trial Operation Ɣ When the work is carried out with 2 or more persons, make it clear who is

to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.

Ɣ After the teaching or programming operation, perform the check

operation one step by one step and then shift to the automatic operation.

Ɣ When the check operation is to be performed inside the safety protection

fence, perform the check operation using the previously specified work procedure like the teaching operation.

Ɣ Make sure to perform the programmed operation check at the safety

speed. Failure to do so may result in an accident due to unexpected motion caused by a program error, etc.

Ɣ Do not touch the terminal block or any of the various setting switches in

the power ON mode. Failure to do so may result in an electric shock or malfunction.

7 Automatic

Operation

Ɣ Check before starting the automatic operation or rebooting after

operation stop that there is nobody in the safety protection fence.

Ɣ Before starting automatic operation, make sure that all peripheral

equipment is in an automatic-operation-ready state and there is no alarm indication.

Ɣ Make sure to operate automatic operation start from outside of the safety

protection fence.

Ɣ In the case that there is any abnormal heating, smoke, offensive smell, or

abnormal noise in the product, immediately stop the machine and turn OFF the power switch. Failure to do so may result in a fire or damage to the product.

Ɣ When a power failure occurs, turn OFF the power switch. Failure to do so

may cause an injury or damage to the product, due to a sudden motion of the product in the recovery operation from the power failure.

No.

Operation

Description

8 Maintenance

and Inspection

Ɣ When the work is carried out with 2 or more persons, make it clear who is

to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.

Ɣ Perform the work out of the safety protection fence, if possible. In the

case that the operation is to be performed unavoidably inside the safety protection fence, prepare the “Stipulations for the Operation” and make sure that all the workers acknowledge and understand them well.

Ɣ When the work is to be performed inside the safety protection fence,

basically turn OFF the power switch.

Ɣ When the operation is to be performed inside the safety protection fence,

the worker should have an emergency stop switch at hand with him so that the unit can be stopped any time in an emergency.

Ɣ When the operation is to be performed inside the safety protection fence,

Ɣ Place a sign “Under Operation” at the position easy to see. Ɣ For the grease for the guide or ball screw, use appropriate grease

according to the Instruction Manual for each model.

Ɣ Do not perform the dielectric strength test. Failure to do so may result in

a damage to the product.

Ɣ When releasing the brake on a vertically oriented actuator, exercise

precaution not to pinch your hand or damage the work parts with the actuator dropped by gravity.

Ɣ The slider or rod may get misaligned OFF the stop position if the servo is

turned OFF. Be careful not to get injured or damaged due to an unnecessary operation.

Ɣ Pay attention not to lose the cover or untightened screws, and make sure

to put the product back to the original condition after maintenance and inspection works. Use in incomplete condition may cause damage to the product or an injury.

* Safety protection Fence : In the case that there is no safety protection

fence, the movable range should be indicated.

9 Modification

and Dismantle

Ɣ Do not modify, disassemble, assemble or use of maintenance parts not

specified based at your own discretion.

10 Disposal Ɣ When the product becomes no longer usable or necessary, dispose of it

properly as an industrial waste.

Ɣ When removing the actuator for disposal, pay attention to drop of

components when detaching screws.

Ɣ Do not put the product in a fire when disposing of it.

The product may burst or generate toxic gases.

11 Other Ɣ Do not come close to the product or the harnesses if you are a person

who requires a support of medical devices such as a pacemaker. Doing so may affect the performance of your medical device.

Ɣ See Overseas Specifications Compliance Manual to check whether

complies if necessary.

Ɣ For the handling of actuators and controllers, follow the dedicated

Instruction manual of each unit to ensure the safety.

Alert Indication

The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and described in the Instruction Manual for each model.

Level Degree of Danger and Damage Symbol

Danger

This indicates an imminently hazardous situation which, if the product is not handled correctly, will result in death or serious injury.

Danger

Warning

This indicates a potentially hazardous situation which, if the product is not handled correctly, could result in death or serious injury.

Warning

Caution

This indicates a potentially hazardous situation which, if the product is not handled correctly, may result in minor injury or property damage.

Caution

Notice

This indicates lower possibility for the injury, but should be kept to use this product properly.

Notice

1. Overview

MECHATROLINK is an open field network for communication of both control and data signals of the machine/line control level. A wire-saving system can be built by connecting SCON-CA controllers (hereinafter collectively and individually referred to as “Controller”) to a MECHATROLINK.

Supported servo profile is standard servo profile. It is not applied for the standard I/O profile.

* For details on MECHATROLINK and the command specifications of the servo profile, refer to the

operation manual for the programmable controller (hereinafter referred to as “PLC”) in which the master unit is installed and documents offered by MECHATROLINK Members Association. This instruction manual should be used in conjunction with the operation manual for each controller.

You should also assume that any usage not specifically permitted in this instruction manual is prohibited.

Example of a system configuration

PLC (MECHATROLINK-䜕 Master unit)

Slave unit Slave unit

SCON SCON

1. Overview

1.1 Interface Specifications

Item Specification

Physical Layer Ethernet

Transmission Speed 100Mbps

Maximum transmission speed (Between Stations)

100m

Minimum distance between stations 0.2m

Connection Format

Cascading form / Star form / Point-to-point form

Number of connectable stations (Max. Number of Slaves)

62 stations

Transmission cycle 0.5 to 32ms

Data length

32 (Sub commands unavailable to use), 48 bytes

Station address 03H to EF

Cable

Cable exclusively for MECHATROLINK-䜕

Connector Controller-side Industrial Mini I/O Connector

2. SCON-CA

2.1 Operation Modes and Functions

SCON-CA applicable for MECHATROLINK-䜕 is applied for the standard servo profile. (Note) It is not applied for the standard I/O profile.

2.2 Operation Modes and Functions

The model names of SCON-CA controller supporting MECHATROLINK-䜕 are indicated as follows, respectively.

z SCON-CA--ML3-

2. SCON-CA

2.3 MECHATROLINK-䜕 Interface

2.3.1 Name of Each Part

The name of each part relating to MECHATROLINK-䜕 is shown.䎃

2.3.2 Status LED Indicators

The operation condition of the communication board, as well as the network condition, can be checked using the two LEDs provided on the front side of the board.

LED Color

Indicator

condition

Description

Green Illuminating CONNECT received (Connected to the master)

CON

- OFF The board is not connected to the master unit

Orange Illuminating

Turns on when communication alarm or command alarm is generated (warning excepted) Turns off when alarm condition is cleard

ERR

- OFF In normal condition (alarm not generated)

LK1

(Link 1)

Green Illuminating

LK2

(Link 2)

Green OFF

Turns on when physically connected to another device applicable for MECHATROLINK-䜕 (for purpose of error check such as wire damage)

Status LED

Upstream Side Connector LK1 (Link 1) LED

Downstream Side Connector LK2 (Link 2) LED

CON

ERR

2. SCON-CA

2.4 Example of Wiring

PLC (MECHATROLINK-䜕 Master unit)

Slave unit

SCON-CA-ML3

Cable exclusively for

MECHATROLINK-䜕

SCON-CA-ML3

Cable exclusively for

MECHATROLINK-䜕

2. SCON-CA

2.5 Setting

2.5.1 Node Address Setting

Set the node address using a parameter. Set parameter No. 85, “NADR; Fieldbus node address” using the RC PC software. (Refer to “MECHATROLINK-䜕 Parameters.”)

Settable range: 3 to 239 (The factory setting is 3.) (Note) Pay attention to duplicate node address settings.

For more details, refer to the operation manual for the master unit or the PLC that is installed.

2.5.2 Data length Setting

Set a desired data length using a parameter. Establish the setting considering the data length which uses Parameter No. 86 “FBRS; Fieldbus Communication Speed” in the RC PC software. (Refer to “MECHATROLINK-䜕 Parameters.”)

Set value Data length Baud rate

0 32bytes 1

(factory setting)

48bytes

100Mbps

* If a greater value is entered, an parameter error will occur.

2.5.3 Setting of Electronic Gear Ratio

The electronic gear ratio is set with parameters. Set the values in Parameter No. 65 “CNUM; Electronic Gear Numerator” and No. 66 “CDEN; Electronic Gear Denominator” in the RC PC software. (Refer to “MECHATROLINK-䜕 Parameters.”) The value set in these parameters controls the actuator by doing multiplication to the command from the master. Therefore, it is necessary to establish the setting that matches to the unit of master commands. In case the unit of commands is unclear, change the value little by little from the initial. Also, it is recommended, if there is a function to convert the unit or set up the gear ratio on the master, to have the parameters set to 1/1 and make an adjustment on the master side.

Make sure the conditions stated below can be satisfied, and establish the setting.

Electronic gear

Stroke [mm] denominator

Ball screw lead length [mm] Electronic gear

numerator

2.5.4 Check for Direction of Pulse Count

The direction of pulse count can be set in parameters. Check that the setting value in Parameter No. 62 “FPIO; Pulse count direction” is the same as that in Parameter No. 5 “ORG; Home-return Direction” in the RC PC software, and make it the same in case the different setting is made. (Refer to “MECHATROLINK-䜕 Parameters.”)

Encoder pulse number [pulse] ×

2

3. Flow and Commands of Basic MECHATROLINK Communication

3.1 State Transition

Shown below is the state transition diagram.

Start

Power Supply

P1: Awaiting for connection establishment

P2: Non-synchronous communication condition

P3: Synchronous communication condition

* P1 to P3: Communication Phase * For details, refer to the operation manual for the MECHATROLINK master unit.

Master  Sending DISCONNECT Command from master to RC controller

Master  Sending CONNECT Command from master to RC controller (P2: Transition to non-synchronous communication condition)

Master  Sending DISCONNECT Command from master to RC controller

Communication error

Master  Sending SYNC_SET Command from master to RC controller (P3: Transition to synchronous communication condition)

3. Flow and Commands of Basic MECHATROLINK Communication

3.2 Command Frame Construction and Number of Transmission

Bytes

The command frame consists of the combination of the main command and the sub command. Match the number of the transmission bytes to the setting on the host (master) side. 32-byte Mode is available only in the main command. 48-byte Mode is available not only in the main command, but also in the sub command. Also, it is available not to have the sub command used with 48-byte Mode.

Byte 0 31 32 47

3.3 Endian

If there is the setting of endian on the master side, set to little endian on the master side.

3.4 System of Units

Shown below is the system of units for the data used in the standard servo profile command.

Data Available Unit

Speed Command unit/s × 10

Position Command unit × 10

Acceleration•Deceleration Command unit/s

× 10

Torque

Rated torque in % × 10

Main command (32 bytes) Sub command (16 bytes)

4. Command Format

The command frame consists of the combination of main command (32 bytes) and the sub command (16 bytes). The sub command is to be used when adding another command to the main command. When using the sub command, set to 48 bytes for the number of the transmission bytes on the master side.

Command byte Response byte

Command Code

(CMD)

Command Code Response

(RCMD)

Watchdog Data

(WDT)

Watchdog Status

(RWDT)

2 2

Command Control

(CMD_CTRL)

Command Status

(CMD_STAT)

3 4 4 5 5 6 6 7 7 8 8 9 9

1 0 1 0 11 11 1 2 1 2 1 3 1 3 1 4 1 4 1 5 1 5 1 6 1 6 1 7 1 7 1 8 1 8 1 9 1 9 2 0 2 0 2 1 2 1 2 2 2 2 2 3 2 3 2 4 2 4 2 5 2 5 2 6 2 6 2 7 2 7 2 8 2 8 2 9 2 9 3 0 3 0

Main

Command

Command Data

(CMD_DATA)

3 1

Response Data

(RSP_DATA)

3 1

Sub Command Code

(SUB_CMD)

3 2

Sub Command Code

Response

(SUB_RCMD)

3 2

3 3 3 3 3 4 3 4

Sub Command Control

(SUB_CTRL)

3 5

Sub Command Status

(SUB_STAT)

3 5 3 6 3 6 3 7 3 7 3 8 3 8 3 9 3 9 4 0 4 0 4 1 4 1 4 2 4 2 4 3 4 3 4 4 4 4 4 5 4 5 4 6 4 6

Sub

Command

Sub Command Data

(SUB_CMD_DATA)

4 7

Sub Response Data

(SUB_RSP_DATA)

4 7

4. Command Format

4.1 Command / Response Frame

4.1.1 Command Code / Command Code Response (CMD/RCMD)

Select a command available to conduct from the table below by following the communication flow.

Command Format 0th Byte

Command Response

1 byte = 8 bits 1 byte = 8 bits

7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0

CMD

Select and set a code from table

below

RCMD Same value as CMD is to be replied

Example) For SV_ON Code 31

ψ Set value 0011 0001

{: Available to conduct, U: Ignored, u: Unavailable to conduct

Communication Phase

Code Command Functions

P1 P2 P3

Common Commands

00H NOP Invalid

{ { {

03H ID_RD ID Reading

{ {

04H CONFIG Device Setup Request

{ {

05H ALM_RD Alarm / Warning Reading

{ {

06H ALM_CLR Alarm / Warning Cleared

{ {

0DH SYNC_SET Synchronization Establishment Request

{

0EH CONNECT Connection Establishment Request

{

U U

0FH DISCONNECT Connection Release Request

{ { {

Standard Servo Profile Commands

23H SENS_ON Sensor-on Request

{ {

24H SENS_OFF Sensor-off Request

{ {

30H SMON Servo Status Monitor

{ {

31H SV_ON Servo ON

{ {

32H SV_OFF Servo OFF

{ {

34H INTERPOLATE Interpolation Feeding

u u

{

35H POSING Positioning

{ {

36H FEED Constant Speed Feeding

{ {

40H SVPRM_RD Servo Parameter Reading

{ {

41H SVPRM_WR Servo Parameter Writing

{ {

*1 Communication Phase: this shows the current status of communication. There are three

types of status, P1 to P3. [Refer to 3.1, “State Transition”]

Note 1 The unit is not applicable for the commands except for those listed in the table above.

It will generate an alarm [CMD_ALM = 8] when a command other than those listed in the table above is received.

Note 2 Even a command listed in the table above may generate an alarm [CMD_ALM = C] if it

is received in a communication phase that the command cannot be used (where marked with “u”).

4. Command Format

4.1.2 Watchdog Data (WDT/RWDT)

Set the timer to monitor the communication is conducted periodically. Monitoring starts after the communication phase P3 is established.

Command Format 1st Byte

Command Response

1 byte = 8 bits 1 byte = 8 bits

7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0

WDT

Copy the values

in Bit 7 to 4 in

RWDT

Add 1 for every communication

frequency.

RWDT

1 is added for every

communication

frequency

Values in Bit 3 to

0 in WDT are to

be replied

4.1.3 Command Control / Command Status (CMD_CTRL/CMD_STAT)

Clearing of alarm / warning is commanded, and the current status of the controller is monitored.

(1) Command Control Command Format 2nd and 3rd Bytes

Command format 3rd byte

Command format 2nd byte

1 byte = 8 bits

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

CMD_CTRL Reserved

CMD

_ID

(Not

used)

Reserved

ALM

_CLR

Reserved

z ALM_CLR (Alarm and Warning Clear) : Generates an alarm when startup edge is detected, or clearing of warning is commanded. If the operation mode on the controller is set to AUTO, command to clear the alarm / warning occurred to the controller including the communication. For MANU, the command is subject to clear the alarm / warning related only to the communication.

4. Command Format

(2) Command Status Command Format 2nd and 3rd Bytes

Command format 3rd byte Command format 2nd byte

1 byte = 8 bits㩷 1 byte = 8 bits

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

CMD_STAT COMM_ALM CMD_ALM

CMD_ID

(Not

used)

Reserved

ALM

_CLR

CMP

CMD RDY D_WAR D_ALM

Bits Abbreviations Names Contents

0 D_ALM Device Alarm

It shows the controller is in alarm condition. The servo is off when this bit is 1.

1 D_WAR Device Warning

It shows the controller is in warning condition. The servo control is available even when this bit is 1.

2 CMDRDY

Command

Ready

When 0, it shows the command process is being executed. All the command inputs are ignored except for DISCONNECT Command. The master can issue a new command only after confirmed this bit is 1.

ALM

_CLR

_CMP

Alarm / Warning

Clearing

Completed

This shows the execution of ALM_CLR in CMD_CTRL is completed. It shows the process is completed when this bit is 1. However, it does not show if the alarm is actually cleard. Check in D_ALM (Bit 0), D_WAR (Bit 1) or COMM_ALM (Bit 12 to 15) to see if the alarm is actually cleared.

4, 5 - Reserved

6, 7 CMD_ID Not used

It shows an abnormality in a command. It is cleared automatically once a normal command is received.

Code

(bit 8 to

11)

Condition Contents Remarks

In normal

condition

In normal

condition

1H Warning

Out of data

range

Notifies a warning, and have an operation with the command value replaced to the maximum value that is available for operation.

Unsupported

command

received

Out of data

range

Command

execution

condition error

Sub command

combination

error

It notifies an alarm. No command is to be executed.

8 to 11

CMD

_ALM

Command

Alarm

Phase error

4. Command Format

Bits Abbreviations Names Contents

It shows an abnormality in communication. It can be cleared with ALM_CLR Bit or ALM_CLR Command in CMD_CTRL.

Code

(bit 8

to 11)

Condition Contents Remarks

In normal

condition

In normal

condition

1H FCS error

Command

data not

received

Warning

Synchronizing

frame not

received

It occurs when a communication error in spot is detected. Communication phase and servo status are continued.

8H FCS error

Command

data not

received

Synchronizing

frame not

received

Synchronizing

frequency

error

12 to

COMM

_ALM

Communication

Alarm

WDT error

It occurs when communication error is detected for the indicated times in a row. It will be transited to Communication Phase P2 if it is Communication Phase P3. An alarm is generated when the warning of 1 to 3 above is detected for two times in a row for Alarm Code 8 to A. An alarm is generated with one time of detection for Alarm Code B and C. When the controller is in AUTO Mode, the brake is activated with the servo being turned off.

4.1.4 Command Data / Respons Data (CMD_DATA/RSP_DATA)

Establish the necessary command settings considering the operation. [Refer to 5.1, “Main Command”]

(1) Command Data Command format 4th to 31st bytes

(2) Response Data Command format 4th to 31st bytes

4. Command Format

4.1.5 Sub Command Code / Sub Command Code Response (SUB_CMD/SUB_RCMD)

Select a sub command available to conduct from the table below by following the communication flow. At that time, check on the combination table of the main commands and sub commands that the selected sub command is available for combination with the main command.

Command format 32nd

Command Response

1 byte = 8 bits㩷

㩷㩷

1 byte = 8 bits

7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0

SUB_

CMD

Select and set a code from table

below

SUB_

RCMD

Same value as SUB_CMD is to be

replied

{: Available to conduct, u: Unavailable to conduct

Communication Phase

Code Command Functions

P1 P2 P3

Standard Servo Profile Sub Commands

00H NOP Ignored

{ {

05H ALM_RD Alarm / Warning Reading

{ {

30H SMON Servo Status Monitor

{ {

Note 1 The unit is not applicable for the sub commands except for those listed in the table

above. An alarm [SUBCMD_ALM = 8] is generated when combination is not available with the sub command or main command listed in the table above.

Note 2 When receiving is conducted on the communication phase (P1), the sub command

cannot be accepted. There will be no alarm generated in that case.

z Combination of Main Command and Sub Command

{: Combination available, u: Combination Unavailable

Sub Command

Main Command

NOP(00

) ALM_RD(05H) SMON(30H)

NOP(00H)

{ { {

ID_RD(03H)

{ { {

CONFIG(04H)

{ { {

ALM_RD(05H)

{ { {

ALM_CLR(06H)

{ { {

SYNC_SET(0DH)

{ { {

CONNECT(0EH)

{

u u

DISCONNECT(0FH)

{

u u

SENS_ON(23H)

{ { {

SENS_OFF(24H)

{ { {

SMON(30H)

{ { {

SV_ON(31H)

{ { {

SV_OFF(32H)

{ { {

INTERPOLATE(34H)

{ { {

POSING(35H)

{ { {

FEED(36H)

{ { {

SVPRM_RD(40H)

{ { {

SVPRM_WR(41H)

{ { {

4. Command Format

4.1.6 Sub Command Control / Sub Command Status (SUB_CTRL/SUB_STAT)

Select the monitor data to have the readout from the monitor information and select a code.

(1) Sub Command Control Command Format 33rd to 35th Bytes

Command format 34th byte Command format 33rd byte

1 byte = 8 bits㩷 1 byte = 8 bits㩷

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

SUB_CTRL SEL_MON4 Reserved Reserved

Command format 35th byte

1 byte = 8 bits㩷

23 22 21 20 19 18 17 16

SUB_CTRL SEL_MON6 SEL_MON5

Monitor Information

Code Monitor Name Contents Remarks

0H APOS Feedback position

1H CPOS Command position

2H PERR Position deviation

3, 4H - Reserved

5H FSPD Feedback speed

6H CSPD Command speed

7H TRQ Command torque (Thrust)

ALARM

Detailed information for alarm

currently generated

It shows the warning on controller or alarm code

MPOS Command position

It should be the same value as CPOS (Code 1)

A, BH - Reserved

CMN1 Common monitor 1

It is to be indicated in Common Parameter No. 89

CMN2 Common monitor 2

It is to be indicated in Common Parameter No. 8A

E, FH - Reserved

4. Command Format

(2) Sub Command Status Command Format 33rd to 35th Bytes

Command format 34th byte Command format 33rd byte

1 byte = 8 bits 1 byte = 8 bits

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

SUB_STAT SEL_MON4 SUBCMD_ALM Reserved

SUB

CMD

RDY

Reserved

Command format 35th byte

1 byte = 8 bits㩷

23 22 21 20 19 18 17 16

SUB_STAT SEL_MON6 SEL_MON5

Bits Abbreviations Names Contents 0, 1 - Reserved

2 SUBCMDRDY

Sub Command

Ready

It shows this bit is 1 and the sub command can be accepted. In 48-Byte Mode, this is always one no matter if the sub command is valid or invalid after the connection is established with CONNECT Command.

3 to 7 - Reserved

8 to 11 SUBCMD_ALM

Sub Command

Alarm

It shows an abnormality in a command. It is cleared automatically once a normal command is received. [Refer to section 4.1.3(2) for detail of the alarm code]

12 to 15 SEL_MON4 Monitor Select 4

The value set in SEL_MON4 in SUB_CTRL is to be replied.

16 to 19 SEL_MON5 Monitor Select 5

The value set in SEL_MON5 in SUB_CTRL is to be replied.

20 to 23 SEL_MON6 Monitor Select 6

The value set in SEL_MON6 in SUB_CTRL is to be replied.

4.1.7 Sub Command Data / Sub Response Data

(SUB_CMD_DATA/SUB_RSP_DATA)

Establish the necessary sub command settings considering the operation. [Refer to section

5.2, “Sub Command”]

(1) Sub Command Data Command Format 36th to 47th Bytes

(2) Sub Response Data Command Format 36th to 47th Bytes

5. Command

5.1 Main Command

5.1.1 Specifications of Common Commands

5.1.1.1 Invalid (NOP Code: 00H)

It is an invalid command. Current condition is replied as a response. The response from the power turned on till the completion of the initializing process is NOP, and no command but DISCONNECT can be received.

ƔNOP

Bytes of

Command

Format

Command Response Remarks

0 00

1 WDT RWDT

[Refer to section

4.1.2.] 2 3

CMD_CTRL CMD_STAT

[Refer to section

4.1.3.]

4 to 31 Reserved Reserved

5. Command

5.1.1.2 ID Reading (ID_RD Code: 03 H)

Readout is held on each ID of the controller. Set the ID code to be read out in ID_CODE. An alarm will be generated and will not accept any command in the following cases:

1) Indicated value in ID_CODE is out of the range in ID Code Table. (It generates CMD_ALM = 9)

2) The range shown in OFFSET and SIZE exceeds the range of ID data for readout. (It generates CMD_ALM = 9)

3) SIZE exceeds 24 bytes. (It generates CMD_ALM = 9)

4) The range of OFFSET exceeds the range of ID data for readout. (It generates CMD_ALM = 9)



ƔID_RD

Bytes of

Command

Format

Command Response Remarks

0 03

1 WDT RWDT

[Refer to section

4.1.2.] 2 3

CMD_CTRL CMD_STAT

[Refer to section

4.1.3.] 4

ID_CODE ID_CODE

5 OFFSET OFFSET

If OFFSET is set, only the indicated size can be read out on the way

of ID data 6 7

SIZE SIZE

8 to 31 Reserved ID

Details of ID data

ID Code Description

Data Size

[bytes]

Data type Data

01H Vendor ID Code 4 Binary 000000CA

Device Code

(Model Code)

4 Binary 0000****

Device Version

(Version Code on Application)

4 Binary 0000****

Device Information File

Version

4 Binary 00001000

Extension Address Setting

(Number of Used Extension

Addresses)

4 Binary 00000001

06H Serial number 32

ASCII Code

(Delimiter = 00H)

Serial number on

controller

Profile Type 1

(Primary)

4 Binary

00000010

(Standard servo)

Profile Version 1

(Primary)

4 Binary

00000100

(V1.00)

12H Profile Type 2 4 Binary

000000FF

(Not applicable)

13H Profile Version 2 4 Binary 00000000

14H Profile Type 3 4 Binary

000000FF

(Not applicable)

5. Command

ID Code Description

Data Size

[bytes]

Data type Data

15H Profile Version 3 4 Binary 00000000

Min. Transmission Frequency

(0.01ȝs)

4 Binary

0000C350

(0.5ms)

Max. Transmission Frequency

(0.01ȝs)

4 Binary

00061A80

(4ms)

Transmission Frequency

Intervals

(GRANULARITY)

4 Binary

00000002

(0.5ms)

Min. Communication

Frequency (0.01ȝs)

4 Binary

0000C350

(0.5ms)

Max. Communication

Frequency (0.01ȝs)

4 Binary

0030D400

(4ms)

Number of Transmission

Bytes

(Applicable Bit Patterns)

4 Binary

0000000C

(32 or 48 bytes)

Number of Transmission

Bytes

(Current Settings)

4 Binary

Number of bytes set in

parameter

Profile Type

(Current Selections)

4 Binary

Communication Mode

Correspondence

4 Binary

00000003

(Cyclic communication

Event-driven

communication)

21H Reserved -

Main Command

Correspondence List

32 Array[32]

[0] = 79

[1] = E0

[2] = 00H [3] = 00

[4] = 18H [5] = 00

[6] = 77H [7] = 00

[8] = 03

[9] to [31] = 00

Sub Command

Correspondence List

32 Array[32]

[0] = 21

[1] = 00

[2] = 00H [3] = 00

[4] = 00H [5] = 00

[6] = 01

[7] to [31] =00

Common Parameter

Correspondence List

32 Array[32]

[0] = FE

[1] = 1F

[2] = 00H [3] = 00

[4] = 66H [5] = 01

[6] = 00H [7] = 00

[8] = FEH [9] = 03

[10] = 00H [11] = 00

[12] = C0H [13] = 00

[14] = 00H [15] = 00

[16] = 80H [17] = 4F

[18] = 0F

[19] to [31] = 00

Main Device Name

(Controller Product Name)

ASCII Code

(Delimiter = 00H)

“SCON-CA-ML3”

81H to Reserved -

5. Command

5.1.1.3 Device Setup Request (CONFIG Code: 04H)

It is the recalculation of common parameters and setup request command. CONFIG_MOD is applicable only for 0. It generates an alarm for others and command will not be accepted. (It generates CMD_ALM = 9)



ƔCONFIG

Bytes of

Command

Format

Command Response Remarks

0 04

1 WDT RWDT

[Refer to section

4.1.2.] 2 3

CMD_CTRL CMD_STAT

[Refer to section

4.1.3.] 4

CONFIG_MOD CONFIG_MOD

Applicable only for 0

5 to 31 Reserved Reserved

5. Command

5.1.1.4 Alarm / Warning Readout (ALM_RD Code: 05H)

It is the readout command for the alarms and warnings on the controller. If ALM_RD_MOD is set to 0, the readout of the alarm code currently generated is conducted. The read out alarm code is stored in Bytes 8 and 9 in the response. When the read out alarm data is 0, it shows that there is no alarm generated. When ALM_RD_MOD is set to 3, the alarm history in the number set in ALM_INDEX *1 is read out.

*1 The setting range for ALM_INDEX is 0 to 15. (0 is the latest alarm)

An alarm will be generated and will not accept any command in the following cases:

1) A number other than 0 or 3 is set in ALM_RD_MOD. (It generates CMD_ALM = 9)

2) 3 is set in ALM_RD_MOD and a number out of the range is set in ALM_INDEX. (It generates CMD_ALM = 9)



ƔALM_RD

Bytes of

Command

Format

Command Response Remarks

0 05

1 WDT RWDT

[Refer to section

4.1.2.] 2 3

CMD_CTRL CMD_STAT

[Refer to section

4.1.3.] 4 5

ALM_RD_MOD ALM_RD_MOD Refer to table below

6 7

ALM_INDEX ALM_INDEX 0 to 15 (0 = Latest)

8 to 31

Reserved ALM_DATA

Details of ALM_DATA (For ALM_RD_MOD=3)

Bytes Contents Remarks

Alarm Code

Refer to SCON-CA Instruction Manual provided separately for the details of alarm code

10, 11 Reserved

Alarm Occurrence

Address

The address is the resistor address inside the controller. (Address is invalid when FFFF

)

Alarm Detail Code The contents of the detail code differ for each alarm code.

Alarm Occurrence

Clock

If the time setting is activated by turning on the calendar function in Controller Parameter No. 111, it shows the year, month, day and time of the alarm occurrence. If the calendar function is set inactivated in Controller Parameter No. 111, or if the calendar function is set valid, but no clock setting is performed, the timing when the power is turned on to the controller is identified as 00/01/01 00:00:00.

5. Command

5.1.1.5 Alarm / Warning Clear (ALM_CLR Code: 06H)

It executes the alarm / warning clearing command. An alarm currently being generated is available to clear. (Applicable only for ALM_CLR_MOD = 0) When the operation mode of the controller is set to AUTO, a command is executed to clear alarm / warning being generated on the controller including the communication. When MANU, a command is executed to clear alarm / warning related the communication. ALM_CLR_MOD is applicable only to 0. It generates an alarm for others and command will not be accepted. (It generates CMD_ALM = 9)

ƔALM_CLR

Bytes of

Command

Format

Command Response Remarks

0 06

1 WDT RWDT

[Refer to section

4.1.2.] 2 3

CMD_CTRL CMD_STAT

[Refer to section

4.1.3.] 4 5

ALM_CLR_MOD ALM_CLR_MOD Applicable only for 0

6 to 31 Reserved Reserved

5.1.1.6 Synchronization Establishment Request (SYNC_SET Code: 0DH)

It is a command to start the synchronizing communication and request a transition to the communication phase P3. This command will be ignored if it is executed in a condition that it is already in the communication phase P3.(There is no alarm or warning to be generated.)



ƔSYNC_SET

Bytes of

Command

Format

Command Response Remarks

0 0D

1 WDT RWDT

[Refer to section

4.1.2.] 2 3

CMD_CTRL CMD_STAT

[Refer to section

4.1.3.]

4 to 31 Reserved Reserved

5. Command

5.1.1.7 Connection Establishment Request (CONNECT Code: 0EH)

It is a command to request the establishment of the communication (connection). This command will be ignored if it is executed in a condition of being in the communication phase P2 or P3. (There is no alarm or warning to be generated.) An alarm will be generated and will not accept any command in the following cases:

1) A value other than 30

is set to VER (It generates CMD_ALM = 9)

2) A value other than 0 is set to DTMODE in COM_MODE (It generates CMD_ALM = 9)

3) When in setting of 32-byte Mode, 1 is set to SUBCMD in COM _MODE (It generates CMD_ALM = 9)

4) A value out of the range of 0.5 to 32ms is set in the communication frequency (Transmission frequency x COM_TIME) (It generates CMD_ALM = 9)

5) A value other than 10

is set in PROFILE_TYPE (It generates CMD_ALM = 9)



ƔCONNECT

Bytes of

Command

Format

Command Response Remarks

0 0E

1 WDT RWDT

[Refer to section

4.1.2.] 2 3

CMD_CTRL CMD_STAT

[Refer to section

4.1.3.] 4 VER VER Fixed at 30

COM_MODE COM_MODE

Refer to table below

6 COM_TIME COM_TIME

Establish setting to determine how many times of transmission frequency is to be the communication frequency

PROFILE_TYPE PROFILE_TYPE

Fixed at 10

8 to 31 Reserved Reserved

Details of COM_MODE Field

Bits Abbreviations Names Contents

0 - Reserved

SYNC

MODE

Synchronizing

Setting

0: Non-synchronizing communication (Transited to

communication phase P2)

1: Synchronizing communication (Transited to

communication phase P3)

DTMODE

Communication

System

0: Single transmission communication 1: Continuous transmission communication (Not

supported)

4 to 6 - Reserved

7 SUBCMD

Sub Command

Setting

0: Sub command inactivated 1: Sub command activated

5. Command

5.1.1.8 Connection Release Request (DISCONNECT Code: 0FH)

It is a command to request the transition to the communication phase P1 by releasing the communication (connection). This command is available in any condition. When the operation mode of the controller is in AUTO, the brake is activated with the servo being turned off once this command is executed.



ƔDISCONNECT

Bytes of

Command

Format

Command Response Remarks

0 0F

1 WDT RWDT

[Refer to section

4.1.2.] 2 3

CMD_CTRL CMD_STAT

[Refer to section

4.1.3.]

4 to 31 Reserved Reserved

5. Command

5.1.2 Specifications of Standard Servo Profile Commands

5.1.2.1 Servo Status Monitor (SMON Code: 30H)

It is a command to read out the home-return command and monitor information.

ƔSMON

Bytes of

Command

Format

Command Response Remarks

0 30

1 WDT RWDT

[Refer to section

4.1.2.] 2 3

CMD_CTRL CMD_STAT

[Refer to section

4.1.3.] 4 5 6 7

SVCMD_CTRL

[Refer to Pg34, “Details

of SVCMD_CTRL

Field"]

SVCMD_STAT

[Refer to Pg35, “Details

of SVCMD_STAT

Field"]

㩷

8 9

10 11

SVCMD_IO

[Refer to Pg36, “Details

of SVCMD_IO

Command Field”]

SVCMD_IO

[Refer to Pg37, “Details

of SVCMD_IO

Response Field”]

㩷

12 13 14 15

CPRM_SEL_MON1

Selected in Common Parameter No. 87 [Refer to section 5.3.]

16 17 18 19

CPRM_SEL_MON2

Selected in Common Parameter No. 88 [Refer to section 5.3.]

20 21 22 23

MONITOR1

24 25 26 27

MONITOR2

28 29 30 31

Reserved

MONITOR3

Refer to Pg34, “Details of SVCMD_CTRL Field" and Pg38, “Monitor Information” 

5. Command

Details of SVCMD_CTRL Field

Bits Abbreviations Names Contents

0 CMD_PAUSE

Movement

Command Pause

0: None 1: Pause It is available only during POSING, FEED Command or home-return operation. The previous condition is continued in other cases. Because the target position is not changed, a pause during an operation does not complete the discharge (DEN =

1). [Refer to Pg37 “Details of SVCMD_IO Response Field”] When issued at the same time as CMD_CANCEL, CMD_CANCEL will be prioritized. It will be ignored when the operation mode of the controller is in MANU.

1 CMD_CANCEL

Movement

Command Cancel

0: None 1: Movement is cancelled It is available only during POSING, FEED Command or home-return operation. The previous condition is continued in other cases. Because the target position is changed, Completion of the movement cancel completes the discharge (DEN = 1). [Refer to Pg37 “Details of SVCMD_IO Response Field”] It will be ignored when the operation mode of the controller is in MANU.

2, 3 STOP_MODE

Stop Mode

Selection

0: Deceleration and stop (recommended) 1: Sudden stop This indicates the stop mode for CMD_PAUSE and CMD_CANCEL above. Do not attempt to set a number above 2. It will be ignored when the operation mode of the controller is in MANU.

Caution For sudden stop, the target position is replaced to the current command value to perform a stop. However, CMD_CANCEL during the home-return operation is a stop at the spot no matter what stop mode is selected.

4 to 15 - Reserved

16 to

SEL_MON1 Monitor Select 1

Monitor code to be set in MONITOR1 [Refer to Pg38, “Monitor Information”]

20 to

SEL_MON2 Monitor Select 2

Monitor code to be set in MONITOR2 [Refer to Pg38, “Monitor Information”]

24 to

SEL_MOM3 Monitor Select 3

Monitor code to be set in MONITOR3 [Refer to Pg38, “Monitor Information”]

28 to

- Reserved

5. Command

Details of SVCMD_STAT Field

Bits Abbreviations Names Contents

CMD_PAUSE_C

Movement

Command Pause

Complete

0: None 1: Pause Completed It shows the completion of pause commanded by CMD_PAUSE [Refer to Pg34, “Details of SVCMD_CTRL Field”] It turns to 1 when CMD_PAUSE = 1 and zero speed (ZSPD = 1) during POSING, FEED Command or the home-return operation. [Refer to Pg37, “Details of SVCMD_IO Response Field”]

CMD_CANCEL_C

Movement

Command Cancel

Complete

0: None 1: Movement cancel completed It shows the completion of movement cancel commanded by CMD_CANCEL [Refer to Pg34, “Details of SVCMD_CTRL Field”] It turns to 1 when CMD_PAUSE = 1 and the discharge is complete (DEN = 1) during POSING, FEED Command or the home-return operation. [Refer to Pg37, “Details of SVCMD_IO Response Field”]

2 to 9 - Reserved

10 POS_RDY

Position Information

Valid

z For Absolute Encoder Type 0: Home-return incomplete 1: Home-return completed It turns to 1 when absolute reset is complete (home-return is complete). z For Incremental Encoder Type 0: Condition of connection not being established 1: Condition of connection being established It turns to 1 when CONNECT Command process completes.

11 PON Main Power ON Always 1 is read out

12 M_RDY

Motor Conductivity

Ready

0: Driving source OFF 1: Driving source ON

13 SV_ON Servo ON

0: Servo OFF 1: Servo ON The torque control value is the current control value during movement of the controller parameter when the servo is off.

14ޔ15 - Reserved

16 to 19 SEL_MON1 Monitor Select 1

The value set in SEL_MON1 of SVCMD_CTRL is replied.

20 to 23 SEL_MON2 Monitor Select 2

The value set in SEL_MON2 of SVCMD_CTRL is replied.

24 to 27 SEL_MON3 Monitor Select 3

The value set in SEL_MON3 of SVCMD_CTRL is replied.

28 - Reserved

29 BALM Battery Alarm

0: ABS battery voltage in normal condition 1: ABS battery voltage low warning

30 DALM Driver Alarm

0: No alarm 1: Alarm being generated (warnings excluded)

31 - Reserved

5. Command

Details of SVCMD_IO Command Field (Master  Slave)

Bits Abbreviations Names Contents

0 to 7 - Reserved

8 to 11 G_SEL Gain Switchover

0 to 3: Servo gain set select Select the servo gain set 0 to 3 in the controller parameter. Do not attempt to set to 4 or higher. It is available only for INTERPOLATE, POSING and FEED Commands, and is reflected immediately if a command is being executed. Home-return operation activates with the setting of servo gain set 0. It will be ignored when the operation mode of the controller is in MANU.

12 to 15 - Reserved

16 BKRL

Brake Compulsory

Release

0: Not to have the brake compulsorily released

when the servo is off

1: To have the brake compulsorily released when

the servo is off It will be ignored when the operation mode of the controller is in MANU.

Caution This bit is accepted even when the servo is on. In case of the axis installed in vertical orientation, the transported object or fixture may drop once the servo is turned off in the condition of the brake release command.

17 HOME Home-Return

Home-return operation starts when the startup edge is detected. The current control value at home-return and the current control value at a movement after the home-return operation are the controller parameter value. It will be ignored when the operation mode of the controller is in MANU.

18 to 31 - Reserved

5. Command

Details of SVCMD_IO Response Field (Slave  Master)

Bits Abbreviations Names Contents 0, 1 - Reserved

2 P_OT

Input of Drive in

Positive Direction

Forbidden

3 N_OT

Input of Drive in

Negative Direction

Forbidden

Always 0 is read out.

4 to 6 - Reserved

7 ESTP Emergency Stop

0: Emergency stop released 1: In emergency stop condition

8 - Reserved

9 BRK_ON Brake Output

0: brake release 1: Brake lock It shows the condition of Brake Release/Lock Command. However, the condition of hardware switches (such as the brake release switch on the front of the controller) cannot be reflected.

10 P_SOT

Positive Side Soft

Limit

0: Current position is in positive side software limit 1: Current position exceeds positive side software

limit

11 N_SOT

Negative Side Soft

Limit

0: Current position is in negative side software limit 1: Current position exceeds negative side software

limit

12 DEN

Discharge Complete

(Position Control

Mode)

0: Position command output incomplete 1: Position command output completed

13 NEAR

Near Positioning (Position Control

Mode)

0: Current position out of near positioning band 1: Current position in near positioning band

* Near positioning band initial setting = positioning

band initial setting in parameter

14 PSET

Positioning Complete

(Position Control

Mode)

0: DEN = 0 (Bit 12) or current position out of

positioning complete band

1: DEN = 1 and current position in positioning

complete band

* Positioning complete band initial setting =

positioning band initial setting in parameter

15 ZPOINT Home Position

0: Home-return incomplete or current position out of

home position detection band

1: Home-return completed and current position in

home position detection band

* Home position detection band initial setting =

positioning band initial setting in parameter

16 to 18 - Reserved

19 ZSPD Zero Speed

0: Current speed out of zero speed detection band 1: Current speed in zero speed detection band

20 to 23 - Reserved

24 OVLW Overload Warning

0: Operation in normal condition 1: Driver overload warning generated

25 HEND

Home-return

Completed

0: Home-return incomplete 1: Home-return completed

26 ZONE1 Zone 1

0: Current position out of ZONE1 range 1: Current position in ZONE1 range

* Because ZONE1 updates the status in the control

frequency of the controller, it may not synchronize with the APOS of the monitor [Refer to Pg38, “Monitor Information”].

5. Command

Bits Abbreviations Names Contents

27 ZONE2 Zone 2

0: Current position out of ZONE2 range 1: Current position in ZONE2 range

* Because ZONE2 updates the status in the control

frequency of the controller, it may not synchronize with the APOS of the monitor [Refer to Pg38, “Monitor Information”].

28 RMDS Operation Mode

0:AUTO 1:MANU

29 to 31 - Reserved

Monitor Information

Code Monitor Name Contents Remarks

0H APOS Feedback Position 1H CPOS Command Position 2H PERR Position Deviation

3, 4H - Reserved

5H FSPD Feedback Speed 6H CSPD Command Speed 7H TRQ Command Torque (Thrust) 8

ALARM

Detailed Information for Alarm

Currently Generated

It shows the warning or alarm code

MPOS Command Position

It should be the same value as CPOS (Code 1)

A, BH - Reserved

CMN1

Common Monitor 1

[Refer to the next table]

It is to be indicated in Common Parameter No. 89

CMN2

Common Monitor 2

[Refer to the next table]

It is to be indicated in Common Parameter No. 8A

E, FH - Reserved

Common Monitor Data List

Code Names Contents Units Symbol Remarks

0 TPOS Target Position Command unit Exist

1 IPOS

Instruction

Position

Command unit Exist

It is the same value as CPOS

(Code 1 in Monitor Information) 2 - Reserved 3 TSPD Target Speed Command unit /s None 4 - Reserved 5 TRQ_LIM Torque Limit % None

6 SV_STAT

Servo Actual

Operational

Status

- None

[0]: Communication Phase

[1]: Current control mode (0:

fixed to position control) [2]: Reserve(fixed to 0) [3]: Extension input signal

monitor

(Always all bits 0)

7 to 9 - Reserved

5. Command

5.1.2.2 Sensor-on Request (SENS_ON Code: 23H)

It is the command to request the sensor (encoder) to turn ON. Since it is unable to turn on and off the encoder power with a command, this just replies a normal response. (The data except for Response Command (23

) is the same as section 5.1.2.1 SMON Command)

ƔSENS_ON

Bytes of

Command

Format

Command Response Remarks

0 23

1 WDT RWDT [Refer to section 4.1.2.] 2 3

CMD_CTRL CMD_STAT [Refer to section 4.1.3.]

4 5 6 7

SVCMD_CTRL

[Refer to section 5.1.2.1,

“Details of

SVCMD_CTRL Field”]

SVCMD_STAT

[Refer to section 5.1.2.1,

“Details of

SVCMD_STAT Field”]

㩷

9 10 11

SVCMD_IO

[Refer to section 5.1.2.1,

“Details of SVCMD_IO

Command Field”]

SVCMD_IO

[Refer to section 5.1.2.1,

“Details of SVCMD_IO

Response Field”]

㩷

12 13 14 15

CPRM_SEL_MON1

Selected in Common Parameter No. 87 [Refer to section 5.3.]

16 17 18 19

CPRM_SEL_MON2

Selected in Common Parameter No. 88 [Refer to section 5.3.]

20 21 22 23

MONITOR1

24 25 26 27

MONITOR2

28 29 30 31

Reserved

MONITOR3

Refer to section 5.1.2.1 “Details of SVCMD_CTRL Field” and “Monitor Information”

5. Command

5.1.2.3 Sensor-off Request (SENS_OFF Code: 24H)

It is the command to request the sensor (encoder) to turn OFF. Since it is unable to turn on and off the encoder power with a command, this just replies a normal response. (The data except for Response Command (24

) is the same as section 5.1.2.1 SMON Command)

ƔSENS_OFF

Bytes of

Command

Format

Command Response Remarks

0 24

1 WDT RWDT [Refer to section 4.1.2.]

CMD_CTRL CMD_STAT [Refer to section 4.1.3.]

SVCMD_CTRL

[Refer to section 5.1.2.1,

“Details of

SVCMD_CTRL Field”]

SVCMD_STAT

[Refer to section 5.1.2.1,

“Details of

SVCMD_STAT Field”]

㩷

9 10 11

SVCMD_IO

[Refer to section 5.1.2.1,

“Details of SVCMD_IO

Command Field”]

SVCMD_IO

[Refer to section 5.1.2.1,

“Details of SVCMD_IO

Response Field”]

㩷

12 13 14 15

CPRM_SEL_MON1

Selected in Common Parameter No. 87 [Refer to section 5.3.]

16 17 18 19

CPRM_SEL_MON2

Selected in Common Parameter No. 88 [Refer to section 5.3.]

20 21 22 23

MONITOR1

24 25 26 27

MONITOR2

28 29 30 31

Reserved

MONITOR3

Refer to section 5.1.2.1 “Details of SVCMD_CTRL Field” and “Monitor Information”

5. Command

5.1.2.4 Servo ON Request (SV_ON Code: 31H)

It is the command to request the servo to turn ON. For the servo status, check SV_ON in SVCMD_STAT (The data except for Response Command (31

) is the same as section 5.1.2.1 SMON Command)

An alarm will be generated and will not accept any command in the following cases:

1) Alarm is generated on the controller (It generates CMD_ALM = A)

2) In emergency stop condition (It generates CMD_ALM = A)

3) Communication alarm is generated (COMM_ALM  8) (It generates CMD_ALM = A)

4) The operation mode of the controller is MANU mode (It generates CMD_ALM = A)



ƔSV_ON

Bytes of

Command

Format

Command Response Remarks

0 31

1 WDT RWDT

[Refer to section

4.1.2.] 2 3

CMD_CTRL CMD_STAT

[Refer to section

4.1.3.] 4 5 6 7

SVCMD_CTRL

[Refer to section 5.1.2.1,

“Details of

SVCMD_CTRL Field”]

SVCMD_STAT

[Refer to section 5.1.2.1,

“Details of SVCMD_STAT

Field”]

㩷

8 9

10 11

SVCMD_IO

[Refer to section 5.1.2.1,

“Details of SVCMD_IO

Command Field”]

SVCMD_IO

[Refer to section 5.1.2.1,

“Details of SVCMD_IO

Response Field”]

㩷

12 13 14 15

CPRM_SEL_MON1

Selected in Common Parameter No. 87 [Refer to section 5.3.]

16 17 18 19

CPRM_SEL_MON2

Selected in Common Parameter No. 88 [Refer to section 5.3.]

20 21 22 23

MONITOR1

24 25 26 27

MONITOR2

28 29 30 31

Reserved

MONITOR3

Refer to section

5.1.2.1 “Details of SVCMD_CTRL Field” and “Monitor Information”

5. Command

5.1.2.5 Servo OFF Request (SV_OFF Code: 32H)

It is the command to request the servo to turn OFF. For the servo status, check SV_ON in SVCMD_STAT (The data except for Response Command (32

) is the same as section 5.1.2.1 SMON Command)

An alarm will be generated and will not accept any command in the following cases:

• The operation mode of the controller is MANU mode (It generates CMD_ALM = A)



ƔSV_OFF

Bytes of

Command

Format

Command Response Remarks

0 32

1 WDT RWDT

[Refer to section

4.1.2.] 2 3

CMD_CTRL CMD_STAT

[Refer to section

4.1.3.] 4 5 6 7

SVCMD_CTRL

[Refer to section 5.1.2.1,

“Details of

SVCMD_CTRL Field”]

SVCMD_STAT

[Refer to section 5.1.2.1,

“Details of SVCMD_STAT

Field”]

㩷

8 9

10 11

SVCMD_IO

[Refer to section 5.1.2.1,

“Details of SVCMD_IO

Command Field”]

SVCMD_IO

[Refer to section 5.1.2.1,

“Details of SVCMD_IO

Response Field”]

㩷

12 13 14 15

CPRM_SEL_MON1

Selected in Common Parameter No. 87 [Refer to section 5.3.]

16 17 18 19

CPRM_SEL_MON2

Selected in Common Parameter No. 88 [Refer to section 5.3.]

20 21 22 23

MONITOR1

24 25 26 27

MONITOR2

28 29 30 31

Reserved

MONITOR3

Refer to section

5.1.2.1 “Details of SVCMD_CTRL Field” and “Monitor Information”

5. Command

5.1.2.6 Interpolation Feeding (INTERPOLATE Code: 34H)

It is a command to request the interpolation feeding. For the output complete of the movement command data, check DEN = 1 in SVCMD_IO. For the positioning complete, check PSET = 1 in SVCMD_IO. When the target position (TPOS) is out of the soft limit range, the target position makes the soft limit. In the condition of the home-return operation incomplete, an operation is made with the position at the controller being booted as the datum point. An alarm will be generated and will not accept any command in the following cases:

1) The operation mode of the controller is MANU mode (It generates CMD_ALM = A)

2) The controller is in a condition of the servo being off (It generates CMD_ALM = A)

3) In home-return operation (It generates CMD_ALM = A)



ƔINTERPOLATE

Bytes of

Command

Format

Command Response Remarks

0 34

1 WDT RWDT

[Refer to section 4.1.2.] 2 3

CMD_CTRL CMD_STAT

[Refer to section 4.1.3.]

4 5 6 7

SVCMD_CTRL

[Refer to section 5.1.2.1,

“Details of

SVCMD_CTRL Field”]

SVCMD_STAT

[Refer to section 5.1.2.1,

“Details of SVCMD_STAT

Field”]

㩷

8 9

10 11

SVCMD_IO

[Refer to section 5.1.2.1,

“Details of SVCMD_IO

Command Field”]

SVCMD_IO

[Refer to section 5.1.2.1,

“Details of SVCMD_IO

Response Field”]

㩷

TPOS

(with symbol)

CPRM_SEL_MON1

• Set target position with symbol for TPOS

• CPRM_SEL_MON1 to be selected in Common Parameter No. 87 [Refer to section 5.3.]

16 17 18 19

VFF

(Not used: Specify 0)

CPRM_SEL_MON2

Selected in Common Parameter No. 88 [Refer to section 5.3.]

20 21 22 23

TFF

Not used: Specify 0)

MONITOR1

24 25 26 27

Reserved MONITOR2

TLIM

(with no symbol)

MONITOR3

• Torque limit [% x 100] to be set in TLIM (Operation made with max. torque when TLIM = FFFFFFFF

)

Alarm (CMD_ARM = 1)

to be generated and operation made with maximum value when the value exceeds the maximum value.

• For MONITOR*, refer to section 5.1.2.1 “Details of SVCMD_CTRL Field” and “Monitor Information”㩷

5. Command

5.1.2.7 Positioning (POSING Code: 35H)

It is a command to request positioning to the indicated point. It is a command to request the interpolation feeding. For the output complete of the movement command data, check DEN = 1 in SVCMD_IO. For the positioning complete, check PSET = 1 in SVCMD_IO. When the target position (TPOS) is out of the soft limit range, the target position makes the soft limit. In the condition of the home-return operation incomplete, an operation is made with the position at the controller being booted as the datum point. An alarm will be generated and will not accept any command in the following cases:

1) The operation mode of the controller is MANU mode (It generates CMD_ALM = A)

2) The controller is in a condition of the servo being off (It generates CMD_ALM = A)

3) In home-return operation (It generates CMD_ALM = A)

4) Either of ACCR or DECR is set 0 (It generates CMD_ALM = 9)



ƔPOSING

Bytes of

Command

Format

Command Response Remarks

0 35

1 WDT RWDT [Refer to section 4.1.2.] 2 3

CMD_CTRL CMD_STAT [Refer to section 4.1.3.]

4 5 6 7

SVCMD_CTRL

[Refer to section 5.1.2.1,

“Details of

SVCMD_CTRL Field”]

SVCMD_STAT

[Refer to section 5.1.2.1,

“Details of

SVCMD_STAT Field”]

SVCMD_IO

[Refer to section 5.1.2.1,

“Details of SVCMD_IO

Command Field”]

SVCMD_IO

[Refer to section 5.1.2.1,

“Details of SVCMD_IO

Response Field”]

TPOS

(with symbol)

CPRM_SEL_MON1

• Set target position with symbol for TPOS

• CPRM_SEL_MON1 to be selected in Common Parameter No. 87 [Refer to section 5.3.]

TSPD

(with no symbol)

CPRM_SEL_MON2

•

Target speed to be set

in TSPD (When exceeds max. value, operation made with max. value and warning to be issued)

• CPRM_SEL_MON2 to be selected in Common Parameter No. 88 [Refer to section 5.3.]

㩷

5. Command

Bytes of

Command

Format

Command Response Remarks

ACCR

(with no symbol)

MONITOR1

DECR

(with no symbol)

MONITOR2

TLIM

(with no symbol)

MONITOR3

•

ACCR (acceleration) and DECR (deceleration) to be set

(Operation made with max. torque when ACCR, DECR = FFFFFFFF

) Alarm (CMD_ARM = 1) to be generated and operation made with maximum value when the value exceeds the maximum value. (when ACCR and DECR = 0

, operation made with initial settings of acceleration/decelerati on in controller parameter)

• Torque limit [% x 10

] to be set in TLIM (Operation made with max. torque when TLIM = FFFFFFFF

) Alarm (CMD_ARM = 1) to be generated and operation made with maximum value when the value exceeds the maximum value.

• For MONITOR*, refer to section 5.1.2.1 “Details of SVCMD_CTRL Field” and “Monitor Information”

5. Command

5.1.2.8 Constant Speed Feeding (FEED Code: 36H)

It is a command to request the constant speed feeding with the indicated speed. For the output complete of the movement command data, check DEN = 1 in SVCMD_IO. When having the constant speed feeding cancelled, make CMD_CANCEL to 1 in SVCMD_CTRL. When having the constant speed feeding paused, make CMD_PAUSE to 1 in SVCMD_CTRL. For the positioning complete, check PSET = 1 in SVCMD_IO. For the direction of movement, when the value in the target speed (TSPD) is the positive number, it is the direction opposite the home position, while negative is towards the home position. In the condition of home-return being complete, the target position is made the soft limit. An alarm will be generated and will not accept any command in the following cases:

1) The operation mode of the controller is MANU mode (It generates CMD_ALM = A)

2) The controller is in a condition of the servo being off (It generates CMD_ALM = A)

3) In home-return operation (It generates CMD_ALM = A)

4) Either of ACCR or DECR is set 0 (It generates CMD_ALM = 9)



ƔFEED

Bytes of

Command

Format

Command Response Remarks

0 36

1 WDT RWDT [Refer to section 4.1.2.] 2 3

CMD_CTRL CMD_STAT [Refer to section 4.1.3.]

4 5 6 7

SVCMD_CTRL

[Refer to section 5.1.2.1,

“Details of

SVCMD_CTRL Field”]

SVCMD_STAT

[Refer to section 5.1.2.1,

“Details of

SVCMD_STAT Field”]

㩷

SVCMD_IO

[Refer to section 5.1.2.1,

“Details of SVCMD_IO

Command Field”]

SVCMD_IO

[Refer to section 5.1.2.1,

“Details of SVCMD_IO

Response Field”]

㩷

12 13 14 15

Reserved CPRM_SEL_MON1

• To be selected in Common Parameter No. 87 [Refer to section 5.3.]

TSPD

(with no symbol)

CPRM_SEL_MON2

• Set the target speed with sign to TSPD (When exceeds max. value, operation made with max. value and warning to be issued)

• CPRM_SEL_MON2 to be selected in Common Parameter No. 88 [Refer to section 5.3.]

5. Command

Bytes of

Command

Format

Command Response Remarks

ACCR

(with no symbol)

MONITOR1

DECR

(with no symbol)

MONITOR2

TLIM

(with no symbol)

MONITOR3

•

ACCR (acceleration) and DECR (deceleration) to be set

(Operation made with max. torque when ACCR, DECR = FFFFFFFF

) Alarm (CMD_ARM = 1) to be generated and operation made with maximum value when the value exceeds the maximum value. (when ACCR and DECR = 0

, operation made with initial settings of acceleration/decelerati on in controller parameter)

• Torque limit [% x 10

] to be set in TLIM (Operation made with max. torque when TLIM = FFFFFFFF

) Alarm (CMD_ARM = 1) to be generated and operation made with maximum value when the value exceeds the maximum value.

• For MONITOR*, refer to section 5.1.2.1 “Details of SVCMD_CTRL Field” and “Monitor Information”

5. Command

5.1.2.9 Servo Parameter Reading (SVPRM_RD Code: 40H)

It is a command to request the readout of the servo parameter. An alarm will be generated and will not accept any command in the following cases:

1) Readout Parameter No. (NO) indicates a value out of the range (It generates CMD_ALM = 9)

2) Readout Parameter No. does not match with the data size (SIZE) (It generates CMD_ALM = 9)

3) A value other than 00

or 10H is set in MODE (It generates CMD_ALM = 9)



ƔSVPRM_RD

Bytes of

Command

Format

Command Response Remarks

0 40

1 WDT RWDT

[Refer to section

4.1.2.] 2 3

CMD_CTRL CMD_STAT

[Refer to section

4.1.3.] 4 5 6 7

SVCMD_CTRL

[Refer to section 5.1.2.1,

“Details of

SVCMD_CTRL Field”]

SVCMD_STAT

[Refer to section 5.1.2.1,

“Details of SVCMD_STAT

Field”]

㩷

8 9

10 11

SVCMD_IO

[Refer to section 5.1.2.1,

“Details of SVCMD_IO

Command Field”]

SVCMD_IO

[Refer to section 5.1.2.1,

“Details of SVCMD_IO

Response Field”]

㩷

NO NO

Refer to Common Parameter List and Device Parameter List

14 SIZE SIZE 04H:All data 4 bytes

15 MODE MODE

Common

parameter domain

Device parameter

domain 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31

Reserved PARAMETER

PARAMETER is the common or device parameter that is read out.

5. Command

5.1.2.10 Servo Parameter Writing (SVPRM_WR Code: 41H)

It is a command to request the writing of the servo parameter. However, writing into the non-volatile memory is not available. An alarm will be generated and will not accept any command in the following cases:

1) Writing Parameter No. (NO) indicates a value out of the range (It generates CMD_ALM = 9)

2) Writing Parameter No. does not match with the data size (SIZE) (It generates CMD_ALM = 9)

3) A value other than 00

is set in MODE (It generates CMD_ALM = 9)



ƔSVPRM_WR

Bytes of

Command

Format

Command Response Remarks

0 41

1 WDT RWDT

[Refer to section

4.1.2.] 2 3

CMD_CTRL CMD_STAT

[Refer to section

4.1.3.] 4 5 6 7

SVCMD_CTRL

[Refer to section 5.1.2.1,

“Details of

SVCMD_CTRL Field”]

SVCMD_STAT

[Refer to section 5.1.2.1,

“Details of SVCMD_STAT

Field”]

㩷

8 9

10 11

SVCMD_IO

[Refer to section 5.1.2.1,

“Details of SVCMD_IO

Command Field”]

SVCMD_IO

[Refer to section 5.1.2.1,

“Details of SVCMD_IO

Response Field”]

㩷

NO NO

Refer to Common Parameter List [Refer to section 5.3.]

14 SIZE SIZE 04H: All data 4 bytes

15 MODE MODE

: Common

parameter domain 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31

PARAMETER PARAMETER

PARAMETER is the

common parameter

5. Command

5.2 Sub Command

5.2.1 Combination of Main Command and Sub Command

Refer to the table below to check the combinations of the sub commands.

Combination of Main Command and Sub Command

{: Combination available, u: Combination Unavailable

Sub Command

Main Command

NOP(00

) ALM_RD(05H) SMON(30H)

NOP(00H)

{ { {

ID_RD(03H)

{ { {

CONFIG(04H)

{ { {

ALM_RD(05H)

{ { {

ALM_CLR(06H)

{ { {

SYNC_SET(0DH)

{ { {

CONNECT(0EH)

{

u u

DISCONNECT(0FH)

{

u u

SENS_ON(23H)

{ { {

SENS_OFF(24H)

{ { {

SMON(30H)

{ { {

SV_ON(31H)

{ { {

SV_OFF(32H)

{ { {

INTERPOLATE(34H)

{ { {

POSING(35H)

{ { {

FEED(36H)

{ { {

SVPRM_RD(40H)

{ { {

SVPRM_WR(41H)

{ { {

5. Command

5.2.2 Specifications of Sub Commands

5.2.2.1 Invalid (NOP Code: 00H)

ƔNOP

Bytes of

Command

Format

Command Response Remarks

32 00

SUB_CTRL

[Refer to the table

“Details of

SUB_CTRL Field”

below]

SUB_STAT

[Refer to the table

“Details of

SUB_STAT Field”

below]

36 to 47 Reserved Reserved

Details of SUB_CTRL Field

Bits Abbreviations Names Contents

0 to 11 㧙 Reserved

12 to 15 SEL_MON4 Monitor Select 4

Monitor code set to MONITOR4 in SMON Command of sub command (Refer to section 5.1.2.1, Monitor Information)

16 to 19 SEL_MON5 Monitor Select 5

Monitor code set to MONITOR5 in SMON Command of sub command (Refer to section 5.1.2.1, Monitor Information)

20 to 23 SEL_MON6 Monitor Select 6

Monitor code set to MONITOR6 in SMON Command of sub command (Refer to section 5.1.2.1, Monitor Information)

Details of SUB_STAT Field

Bits Abbreviations Names Contents 0, 1 - Reserved

2 SUBCMDRDY

Sub Command

Ready

It shows the status that sub command reception is available. This always shows 1 no matter of sub command valid/invalid after the connection is established in the main command (CONNECT) during 48-byte Mode.

4 to 7 - Reserved

8 to 11 SUBCMD_ALM

Sub Command

Alarm

It shows an abnormality in a command. It is cleared automatically once a normal command is received. It uses the same alarm code as for CMD_ALM in CMD_STAT in the main command.

12 to 15 SEL_MON4 Monitor Select 4

The value set in SEL_MON4 in SUB_CTRL is to be replied.

16 to 19 SEL_MON5 Monitor Select 5

The value set in SEL_MON5 in SUB_CTRL is to be replied.

20 to 23 SEL_MON6 Monitor Select 6

The value set in SEL_MON6 in SUB_CTRL is to be replied.

5. Command

5.2.2.2 Alarm / Warning Readout (ALM_RD Code: 05H)

It is the readout command for the alarms and warnings on the controller. ALM_RD_MOD is applicable only to 0 that reads out the alarm code currently being generated. The read out alarm code is stored in Bytes 40 and 41 in the response. When the read out alarm data is 0, it shows that there is no alarm generated. An alarm will be generated and will not accept any command in the following cases:

• Set a number except for 0 in ALM_RD_MOD (It generates SUBCMD_ALM = 9)



ƔALM_RD

Bytes of

Command

Format

Command Response Remarks

32 05

SUB_CTRL

[Refer to section

5.2.2.1, “Details of SUB_CTRL Field”]

SUB_STAT

[Refer to section

5.2.2.1, “Details of

SUB_STAT Field”] 36 37

ALM_RD_MOD ALM_RD_MOD fixed to 0

38 39

Reserved Reserved

40-47

Reserved ALM_DATA

5. Command

5.2.2.3 Servo Status Monitor (SMON Code: 30H)

It is a command to read out the monitor information.

ƔSMON

Bytes of

Command

Format

Command Response Remarks

32 30

SUB_CTRL

[Refer to section

5.2.2.1, “Details of SUB_CTRL Field”]

SUB_STAT

[Refer to section

5.2.2.1, “Details of

SUB_STAT Field”] 36 37 38 39

MONITOR4

40 41 42 43

MONITOR5

44 45 46 47

Reserved

MONITOR6

Refer to section

5.2.2.1, “Details of SUB_ CTRL Field”

5. Command

5.3 Common Parameters and Device Parameters

5.3.1 Overview

Common Parameters

(Note 1)

are those of numbers in common defined by the standard servo profile of MECHATROLINK that is independent from the connected devices. The parameter dependent on the devices is treated as the device parameter

(Note 1)

, and another domain is secured for it. For setting and reference, select Common Parameter Domain or Device Parameter Domain in section 5.1.2.9 SVPRM_RD Command

(Note 2)

and section 5.1.2.10 SVPRM_WR Command.

Note 1 The items relying on the actuator are to be set by the initial values registered in an IAI

controller being ready out at the startup.

Note 2 Device parameter setting is not available.

5. Command

5.3.2 Common Parameter List

Common Parameter List

Effective Timing ٧: Effective Immediately, U: Effective by Executing CONFIG Command, -: Readout Only

Genre NO Item Unit Setting Range

Setting at

Delivery

Effective

Timing

selected from encoder type (for reference)

- 0H: Absolute 1

: Incremental

In accordance with actuator

Motor type (for reference)

- 0H: Rotary Motor 1

: Linear Motor

In accordance with actuator

Selection of Semiclosed/Full-closed (for reference)

: Semi-closed

: Full-closed

In accordance with actuator

Rated rotary speed (for reference)

Rotary: min

-1

Linear: mm/s

1 to FFFFFFFF

In accordance with actuator

Max. Output Available Speed (for reference)

Rotary: min

-1

Linear: mm/s

1 to FFFFFFFF

In accordance with actuator

Velocity Multiplier (for reference)

㧙

0 0 -

Rated torque (for reference)

Rotary: N•m

Linear: N

1 to FFFFFFFF

In accordance with actuator

Max. Output Available Torque (for reference)

Rotary: N•m

Linear: N

1 to FFFFFFFF

In accordance with actuator

Torque Multiplier (for reference)

- -3 -3 -

Resolution (Rotary) (for reference)

Pulse㧛rev

1 to FFFFFFFF

In accordance with actuator

Linear Scale Pitch (Linear)

nm 0 to FFFFFFFF

In accordance with actuator

Device Information Related

Number of Pulse per Scale Pitch (Linear) (for reference)

Pulse㧛pitch 0 to FFFFFFFF

In accordance with actuator

Electronic gear (numerator)

- 1 to 9999999 1 -

Electronic gear (denominator)

- 1 to 9999999 1 -

25H Limit Setting - 0 to FFH 30H -

Soft Limit on Positive Side

Command

unit

80000000 to 7FFFFFFF

In accordance with actuator

Mechanical Element

Soft Limit on Negative Side

Command

unit

80000000 to 7FFFFFFF

In accordance with actuator

41H Selection of Velocity Unit - 0 (Command unit /sec) 0

Selection of Basic Velocity Unit

0 (Set multiplier in Selection of Velocity Unit 41

)

0 U

Selection of Position Unit

Command

unit

0 0

Selection of Basic Position Unit

0 (Set multiplier in Selection of Position Unit 43

)

0 U

Selection of Acceleration Unit

- 0 (Command unit /sec

) 0

Selection of Basic Acceleration Unit

0 (Set multiplier in Selection of Acceleration Unit 45

)

0 U

47H Selection of Torque Unit - 1 (% to the rated torque) 1

Unit System Related

Selection of Basic Torque Unit

0 (Set multiplier in Selection of Torque Unit 47H)

0 U

5. Command

Genre NO Item Unit Setting Range

Setting at

Delivery

Effective

Timing

bits0 to 7 = 01

Unit of velocity: Command unit /s bits8 to 15 = 01

Unit of position: Command unit bits16 to 23 = 01

Unit of acceleration: /sec

Unit System Related

49H Applicable Unit System -

bits24 to 31 = 02H Unit of torque: Rated torque in %

02010101

Positioning Complete Band

Command

unit

0 to 7FFFFFFF

In accordance with actuator

Adjustment

67H Positioning Vicinity Band

Command

unit

0 to 7FFFFFFF

In accordance with actuator

Selection of Fixed Monitor 1

- 1

Selection of Fixed Monitor 2

[For more details, refer to section 5.1.2.1, “Monitor Information” ] 0000

: APOS

0001

: CPOS

0002

: PERR

0005

: FSPD

0006

: CSPD

0007

: TRQ

0008

: ALARM

0009

: MPOS

000C

: CMN1

000D

: CMN2

0 ٧

Monitor Select 1 in SEL_MON

- 0

Monitor Select 2 in SEL_MON

[For more details, refer to section 5.1.2.1, “Common Monitor Data List”] 0000

: TPOS

0001

: IPOS

0003

: TSPD

0005

: TRQ_LIM

0006

: SV_STAT

Home Position Detection Band

Command

unit

0 to 7FFFFFFF

In accordance with actuator

Zero Speed Detection Band

Rotary: 10

-3

min

-1

Linear: 10

-3

mm/s

0 to 7FFFFFFFH 0

[For more details, refer to section 5.1.2.1, “Details of SVCMD_CTRL Field”] Set whether to valid (set to

1) or invalid (set to 0) each function listed below bits0: CMD_PAUSE bits1: CMD_CANCEL bits2, 3: STOP_MODE bits4 to 15: fixed to 0 bits16 to 19 : SEL_MON1 bits20 to 23 : SEL_MON2 bits24 to 27 : SEL_MON3

Command Related

Selection of Valid/Invalid for Servo Command Control Field

bits28 to 31: fixed to 0

0FFF000F

5. Command

Genre NO Item Unit Setting Range

Setting at

Delivery

Effective

Timing

[For more details, refer to section 5.1.2.1,”Details of SVCMD_STAT Field”] Set whether to valid (set to 1) or invalid (set to 2) each function listed

below bits0: CMD_PAUSE_CMP bits1: CMD_CANCEL_CMP bits2 to 9: fixed to 0 bits10: POS_RDY bits11: PON bits12: M_RDY bits13: SV_ON bits14, 15: fixed to 0 bits16 to 19 : SEL_MON1 bits20 to 23 : SEL_MON2 bits24 to 27 : SEL_MON3 bits28: fixed to 0 bits29: BALM bits30: DALM

Selection of Valid/Invalid for Servo Status Field

bits31: fixed to 0

6FFF3C03

[For more details, refer to section 5.1.2.1, “Details of SVCMD_IO Command Field”] Set whether to valid (set to

1) or invalid (set to 0) each function listed below bits0 to 7: fixed to 0 bits8 to 11: G_SEL bits12 to 15: fixed to 0 bits16: BKRL bits17: HOME

Command Related

Selection of Valid/Invalid for I/O Bit Definition (on output side)

bits18 to 31: fixed to 0

00030F00

5. Command

Genre NO Item Unit Setting Range

Setting at

Delivery

Effective

Timing

[For more details, refer to section 5.1.2.1, Details of SVCMD_IO Status Field”] Set whether to valid (set to

1) or invalid (set to 0) each function listed below

bits0, 1: fixed to 0 bits2: P_OT bits3: N_OT bits4 to 6: fixed to 0 bits7: ESTP bits8: fixed to 0 bits9: BRK_ON bits10: P_SOT bits11: N_SOT bits12: DEN bits13: NEAR bits14: PSET bits15: ZPOINT bits16 to 18: fixed to 0 bits19: ZSPD bits20 to 23: fixed to 0 bits24: OVLW bits25: HEND bits26: ZONE1 bits27: ZONE2 bits28: RMDS

Command Related

Selection of Valid/Invalid for I/O Bit Definition (on input side)

bits29 to 31: fixed to 0

1F08FE8C

5. Command

5.3.3 Device Parameter List

Device Parameters

No. Symbol Names Unit

Size

[byte]

Symbol

0 LIMM

Soft limit 㧗

0.01mm 4

Exist

1 LIML

Soft limit 㧙

0.01mm 4

Exist

2 MAXV Max. velocity 0.01mm/s 4

None

3 MAXA Max. acceleration 0.01G 4

None

4 MAXD Max. deceleration 0.01G 4

None

5 LEAD Lead length 0.01mm 4

None

6 EPLS Encoder pluse number pulse 4

None

7 RACC Rated acceleration/deceleration 0.01G 4

None

8 CNUM Electronic gear numerator

㧙

None

9 CDEN Electronic gear denominator

㧙

None

6. Example for Operation Sequence

Operation is performed after the readout and writing of the common parameters are complete when the power is turned on.

Procedure Item Command to Use Contents

Communication

Phase

1 Power suppry NOP

Check on controller initialization

Release communication (disconnect)

DISCONNECT

Send this command for more than communication frequency

3 Establish connection CONNECT

Start establishing communication and counting up WDT

2 or 3

Check on such as device (SCON) ID

ID_RD/SVPRM_RD

Read out such as device ID 2 or 3

Establish device settings

SVPRM_WR

Transfer parameters necessary for device (SCON)

2 or 3

6 Servo ON SV_ON 2 or 3

7 Home-Retern

Indicate with HOME (bits17) in SVCMD_IO, and check with HEND (bits25)

Available only in incremental type (Note) ZRET Command

cannot be used

2 or 3

8 Operation

Each operation command

2 or 3

9 Servo OFF SV_OFF 2 or 3

Release communication (disconnect)

DISCONNECT

Release the communication 4

11 Power OFF 5

Restrictions in Operation Make sure to check the restrictions below and the cautions described in section 6.4 before creating the operation sequence.

1) Position number indication operation cannot be performed. (It performs the direct

position indicating operation by commands.)

2) Incremental operation cannot be performed. (It performs the direct position indicating

operation by commands.)

3) Pressing operation cannot be performed.

4) Acceleration/deceleration mode (primary filter acceleration/deceleration and S-shaped

acceleration/deceleration) cannot be used.

5) Automatic servo-off function cannot be used.

6) Anti-vibration control function cannot be used.

7) Individual zone (PZONE) function cannot be used. For zone function, use the zones

(ZONE 1 and ZONE 2) determined by the boundary setting in the parameter.

8) Index mode cannot be used on the rotary axis.

9) Switchover of the operation mode (AUTO  MANU) cannot be performed by the host

(master).

10) The settings of the electronic gear ratio and the feedback gear ratio cannot be

established separately.

11) Force control (loadcell interface) cannot be used.

6. Example for Operation Sequence

6.1 Cautions in Actuator Operation

6.1.1 Home Return

The home-return operation is a dedicated method. Therefore, Home-Return “ZRET” Command cannot be used. The home-return operation starts when SVCMD_IO.HOME bit is turned on (to 1) while the servo is turned on. SVCMD_IO.HEND bit turns on (to 1) once the home-return operation is completed. (Note 1) In some cases, depending on the actuator to use, the coordinate is not 0mm for the

home-return complete position. Therefore, confirm that SVCMD_IO.HEND bit is on when making a judgment of the home-return complete. Also, home-return operation is prior to executing any command of Interpolation feeding “INTERPOLATE”, positioning “POSING” or Constant Speed Feeding “FEED”.

(Note 2) When a command of INTERPOLATE or POSING is executed with the home-return

operation incomplete, the position where the power is turned on is identified as 0 point. Also, the soft limit function becomes invalid. FEED Command operates with the target position as the soft limit.

6. Example for Operation Sequence

6.1.2 Soft Limit

It activates once the home-return complete (SVCMD_IO.HEND) bit turns on (to 1). For the absolute type actuators, it is effective from the controller startup as long as the absolute reset is finished. The soft limit value in the common parameter at the controller startup is a value that the soft limit positive and negative in SCON User Parameter No. 3 and 4 are converted into the unit of command. (Note) The value in SCON User Parameter would not be changed even if the soft limit value in the

common parameter is changed. When the soft limit is activated, the target position “TPOS” is limited to the soft limit value in the common parameter, and the value gets replaced. The following things occur when the soft limit setting is exceeded.

Condition Alarm Output When setting in SCON User Parameter No.3 Soft Limit on Positive Side is exceeded

SVCMD_IO.P_SOT (Positive Side) = 1

Software stroke limit violation in device alarm to be issued

When setting in SCON User Parameter No.4 Soft Limit on Negative Side is exceeded

SVCMD_IO.N_SOT (Negative Side) = 1

Software stroke limit violation in device alarm to be issued

When setting in Common Parameter No.0 Soft Limit on Positive Side is exceeded

SVCMD_IO.P_SOT (Positive Side) = 1

When setting in Common Parameter No.0 Soft Limit on Negative Side is exceeded

SVCMD_IO.N_SOT (Negative Side) = 1

Positive direction of

coordinate ĸ

ψNegative direction of

coordinate

0.3mm

Stroke of Actuator

Stroke in User Parameter = Stroke in Common Parameter

• Device Alarm Positive Side Detecting Position

• SVCMD_IO.P_SOT Output Position

• Upper Limit for Command Issuance

• Device Alarm Negative Side Detecting Position

• SVCMD_IO.N_SOT Output Position

• Lower Limit for Command Issuance

6. Example for Operation Sequence

6.1.3 Positioning Complete Band, Positioning Vicinity Band and Home Position Detection Band

The positioning complete band, positioning vicinity band and home position detection band in the common parameters at the controller startup are a value that the initial value in SCON User Parameter No. 10 Positioning Band is converted into the unit of command. Each value in the common parameter above can be changed individually with the servo parameter writing “SVPRM_WR” command.

7. Parameters for Controller (SCON)

It is the data to make SCON that can be applied for MECHATROLINK-䜕available to operate. Set the parameters considering the system and applications. When a change is required to the parameters, make sure to back up the data before the change so the settings can be returned anytime. Backup in electronic data is available by using the PC software or teaching pendant (limited to some models). For the models not applicable for backup, it is necessary to keep data by writing on a memo. After an edit is made on the parameters, it is written in FeRAM. The content of edit can be activated after the software reset or reboot of the power. Note that the change will not be valid only by writing it in a teaching tool such as the PC software.

Warning: Establishment of parameter setting gives a great influence to operation.

Wrongly established setting could cause not only an operation error or malfunction, but also it is very dangerous. Settings at the delivery enable the product to operate standardly. Understand very well about the control logic of controller if making a change or performing a setting suitable to the system. Please contact us if you have anything unclear. Do not turn off the power to the controller during the parameter writing.

7. Parameters for Controller (SCON)

7.1 Parameter List

The categories in the table below indicate whether parameters should be set or not. There are five categories as follows: A : Check the settings before use. B : Use parameters of this category depending on their uses. C : Use parameters of this category with the settings at shipments leaving unchanged as a rule.

Normally they may not be set.

D : Parameters of the category are set at shipment in accordance with the specification of the

actuator. Normally they may not be set.

E : Parameters of the category are exclusively used by us for convenience of production.

Changing their settings may not only cause the actuator to operate improperly but also to be

damaged. So, never change the setting of the parameters. Category do not appear on the teaching tool. Also, the unused parameter numbers are not mentioned in the list.

No.

Category

Names Symbol

Unit

(Note 1)

Input Range Factory default

Relevant

sections

120 C Servo gain number 1 PLG1 - 0 to 31

In accordance with actuator

(Note 2)

121 C Feed forward gain 1 PLF1 - 0 to 100

In accordance with actuator

(Note 2)

122 C

Velocity loop proportional gain 1

VLG1 - 1 to 99999999

In accordance with actuator

(Note 2)

123 C Velocity loop integral gain 1 VLT1 - 1 to 99999999

In accordance with actuator

(Note 2)

124 C Torque filter time constant 1 TRF1 - 0 to 2500

In accordance with actuator

(Note 2)

125 C

Current control width number 1

CLP1 0 to 4

In accordance with actuator

(Note 2)

126 C

Servo gain number 2

PLG2 -

0 to 31 In accordance

with actuator

(Note 2)

127 C

Feed forward gain 2

PLF2 -

0 to 100 In accordance

with actuator

(Note 2)

128 C

Velocity loop proportional gain 2

VLG2 -

1 to 99999999 In accordance

with actuator

(Note 2)

129 C

Velocity loop integral gain 2

VLT2 -

1 to 99999999 In accordance

with actuator

(Note 2)

130 C

Torque filter time constant 2

TRF2 -

0 to 2500 In accordance

with actuator

(Note 2)

131 C

Current control width number 2

CLP2

0 to 4 In accordance

with actuator

(Note 2)

132 C

Servo gain number 3

PLG3 -

0 to 31 In accordance

with actuator

(Note 2)

133 C

Feed forward gain 3

PLF3 -

0 to 100 In accordance

with actuator

(Note 2)

134 C

Velocity loop proportional gain 3

VLG3 -

1 to 99999999 In accordance

with actuator

(Note 2)

135 C

Velocity loop integral gain 3

VLT3 -

1 to 99999999 In accordance

with actuator

(Note 2)

136 C

Torque filter time constant 3

TRF3 -

0 to 2500 In accordance

with actuator

(Note 2)

137 C

Current control width number 3

CLP3 -

0 to 4 In accordance

with actuator

(Note 2)

138 C

Servo gain switchover time constant

GCFT ms

10 to 2000 10

139 A

Home preset value

PRST mm

-9999.99 to

9999.99

In accordance with actuator

(Note 2)

143 B

Overload warning level ratio

OLWL %

50 to 100

100 (No output of overload warning)

147 B

Total movement count threshold

TMCT Time

0 to 999999999

0 (Invalid)

148 B

Total operated distance threshold

ODOT m

0 to 999999999

0 (Invalid)

150 A

Linear ABS home preset value

LAPS mm

-9999.99 to 9999.99 In accordance with actuator

(Note 2)

Refer to SCONCA Instruction Manual provided separately

Note 2 The setting values vary in accordance with the specification of the actuator. At shipment, the

parameters are set in accordance with the specification.

7. Parameters for Controller (SCON)

7.2 Detail of Parameters Related to MECHATROLINK-䜕 Settings

Caution: • For the parameters other than mentioned below, refer to SCON Instruction

Manual provided separately.

• If parameters are changed, provide software reset or reconnect the power to reflect the setting values.

The parameters related to MECHATROLINK-䜕 are from No. 85 to No. 87.

[1] Field bus node address (No.85 NADR)

Set the node address number.

Setting Range 3(03

) to 239(EFH) (It is set to 3 at delivery)

[2] Field bus baud rate (No.86 FBRS)

Set the data length.

Parametor No.86

Set value

Mode

0 32 byte mode 1

(factory setting)

48 byte mode

[3] Network Type (No.87 NTYP)

Set the network module type in Parameter No. 87. Do not change the setting from the initial setting (9).

8. Troubleshooting

8.1 Action to Be Taken upon Occurrence of Problem

Upon occurrence of a problem, take an appropriate action according to the procedure below in order to ensure quick recovery and prevent recurrence of the problem.

1) Upon occurrence of a problem, take an appropriate action according to the procedure below in

order to ensure quick recovery and prevent recurrence of the problem.

LED Color

Indicator

condition

Description

Green Turned ON CONNECT received (Connected to the master)

CON

- Turned OFF The board is not connected to the master unit

Orang

Turned ON

Turns on when communication alarm or command alarm is generated (warning excepted) Turns off when alarm condition is cleard

ERR

- Turned OFF In normal condition (alarm not generated)

LK1

(Link 1)

Green Turned ON

LK2

(Link 2)

Green Turned ON

Turns on when physically connected to another device applicable for MECHATROLINK-䜕 (for purpose of error check such as wire damage)

2) Check whether an alarm occurs on the host controller (PLC, etc.).

3) Check the voltage of the main power supply.

4) Check the voltage of the power supply for brake (For the actuator with the brake).

5) Alarm Check(Note1) Check the alarm code on the teaching tool such as PC software.

6) Check the connectors for disconnection or connection error.

7) Check the cables for connection error, disconnection or pinching. Before performing a continuity check, turn off the power (to prevent electric shocks) and disconnect the cables of measuring instruments (to prevent accidental power connection due to sneak current path).

8) Check the noise elimination measures (grounding, installation of surge killer, etc.).

9) Check the events leading to the occurrence of problem(Note 1), as well as the operating condition at the time of occurrence.

10) Analyze the cause.

11) Treatment

Note 1 If parameter No. 111 (Selection of using calendar function) is set to “1” (use), it is possible

to know the date and time at which the alarm occurred. Set the date and time from the teaching tool such as PC software at the first power-on of the controller. The date and time data set once is retained for about 10 days if the power supply of the controller is OFF. Unless the setting is conducted or the clock data is lost, the clock shows 00/01/01 00:00:00 when the power is turned ON. Even if the date and time data is lost, the generated error code is retained. Alarms subject to this function only include those in 8.3 Alarm but do not include errors in the teaching tool such as PC software.

Notice: In troubleshooting, exclude normal portions from suspicious targets to

narrow down the causes. Check 1) to 11) described above before contacting us.

8. Troubleshooting

8.2 Alarm Level

The alarms are classified to 3 types of levels by the content of the error.

Alarm level ALM lamp *ALM signal

Status when an error

occurred

Cancellation method

Message OFF No output No stop Alarm from teaching tool such as PC

software [Refer to Instruction Manual of each tool for details.]

Operation

release

ON Output Servo OFF after

deceleration to stop

Reset the alarm by the Fieldbus or teaching tool.

Cold start ON Output Servo OFF after

deceleration to stop

Software reset or power reconnection by teaching tool. Home return is required for any actuators of other than absolute specification.

Caution: Caution: Reset each alarm after identifying and removing the cause.

If the cause of the alarm cannot be removed or when the alarm cannot be reset after removing the cause, please contact IAI. If the same error occurs again after resetting the alarm, it means that the cause of the alarm has not been removed.

8. Troubleshooting

8.3 Alarm List

Alarm

Code

Alarm Level Alarm Name Cause/Treatment

048 Driver Overload Alarm Cause : The load current exceeded the value set in

Parameter No.143 “Overload Level Ratio”. This alarm is kept alarm condition until reset is made. This alarm turns ON when the load current exceeds the setting from a value below the setting.

Treatment : Lower the setting of acceleration/deceleration. Also,

increase the frequency of pause.

04E Exceeded movement

count threshold

Cause : The total number of the operation times exceeded

the value set in Parameter No.147 “Total Movement Count Threshold”.

04F Exceeded operated

distance threshold

Cause : The total number of the operation distance

exceeded the value set in Parameter No.148 “Total Operated Distance Threshold”.

068 SRAM access error Cause : Servo monitor is not operated in the normal

condition because of noise or malfunction of consisting parts.

Treatment : 1) Take proper measures against noise.

2) When the servo monitoring function is not used, set parameter No.112 “Monitoring mode” to “0”.

3) If the operation is not improved in use of the servo monitoring function in spite of measures against noise, Please contact IAI.

069 Detection of realtime

clock oscillation stop

Cause : The calendar function is stopped and the current

time data is lost.

Treatment : Set the time again.

[Refer to the Instruction Manual of RC PC software.] (Note) This error is not registered in the alarm list.

06A Realtime clock access

error

Cause : The calendar function is not working properly

because of noise or malfunction of consisting parts.

Treatment : 1) Take proper measures against noise.

2) When the calendar function is not used, set parameter No.111 “Calendar function” to “0”.

3) If the operation is not improved in use of the calendar function in spite of measures against noise, Please contact IAI.

06B

Message

Maintenance information data error

Cause : The maintenance information (total movement

count, total operated distance) is lost.

Treatment : Please contact IAI.

086 Move command while

pulse train input is effective

Cause : Actuator operation was commanded via serial

communication in pulse train mode.

Treatment : Stop the actuator operation command via serial

communication in pulse train mode.

090

Operation

release

Software reset during servo ON

Cause : A software reset command was issued when the

servo was ON.

Treatment : Issue a software reset command after confirming

that the servo is OFF (SV signal is 0).

0A1

Cold start

Parameter data error Cause : The data input range in the parameter area is not

appropriate.

This error occurs when the magnitude relationship is

apparently inappropriate such as when 300mm was incorrectly input as the value of the soft limit negative side while the value of the soft limit positive side was 200.3mm.

Treatment : Change the value to the appropriate one.

0A5

Operation

release

Electromagnetic brake unreleased error

Cause : The brake cannot be released. Treatment : Supplied the 24V power unit for the electromagnetic

brake.

8. Troubleshooting

Alarm

Code

Alarm Level Alarm Name Cause/Treatment

0A6

Cold start

Dynamic brake not released

Cause : The dynamic brake cannot be released when the

servo is ON due to noise and electrostatic, etc.

Treatment : Implement measures to eliminate noise or

electrostatic. There is a concern of circuit breakdown. Please contact IAI.

0A7

Operation

release

Command deceleration error

Cause : Because there is not enough deceleration distance

when the deceleration is changed to a lower setting during the operation, the actuator exceeded the soft limit when deceleration was made from the current position with the deceleration after the change.

Soft limit

Deceleration starting position not resulting in soft limit overshoot

If a command is issued here, soft limit overshoot will occur.

The cause is that the timing to make the next

movement command when the speed was changed during the operation was late.

Treatment : Make the timing earlier for the movement command

for the deceleration speed change.

0A8

Cold start

Unsupported motor/encoder types

Cause : The motor connected to the controller is not

applicable or the type of the encoder that the motor is connected is not applicable.

Treatment : Please contact us if the alarm is issued even with

the applicable actuator and the same problem happens again even after rebooting the power.

0AB

Operation

Cancel

Command Speed Error Cause : When INTERPOLATE Command is executed, the

command speed exceeds the maximum speed of the actuator.

Treatment : Have the command speed setting revised

considering the actuator specifications.

0B3 Linear ABS error Cause : Home-return operation was not performed properly.

1) Work is interfering with peripheral equipment in the middle of home return.

2) Encoder Error

Treatment : 1) Remove the interference.

2) Please contact IAI.

0B4

Cold start

Electric angling mismatching

Cause : This alarm indicates that the position deviation

counter has overflowed.

Treatment : The alarm occurs when the actuator cannot be

operated. Confirm about the load conditions, that the work does not interfere with any object nearby or the brake has been released, etc. If the error occurs even when the servo is ON, the cable breakage or disconnection is considered. Check the cable connection. Please contact IAI if there is no failure in the cable and connector connections.

0B5

Operation

release

Z-Phase position error The position where the Z-phase is detected before the home

return operation, is out of the specified range. Cause : Encoder Error Treatment : Please contact IAI.

8. Troubleshooting

Alarm

Code

Alarm Level Alarm Name Cause/Treatment

0B7

Cold start

Magnetic pole indeterminate

Cause : The controller detects the magnetic pole phase

when the servo is tuned ON for the first time after turning ON the power. This error indicates that the magnetic pole phase cannot be detected after the specified period.

1) Contact error or breakage at the connector of the motor relay cable.

2) Brake cannot be released on a controller equipped with a brake.

3) Detection of the motor is not performed properly because an external force is applied.

4) Large slide resistance of the actuator itself

Treatment : 1) Check the wiring condition of the motor relay

cable.

2) Check the wiring condition of the brake cable, and also turn on/off the brake release switch to see if the brake makes a “clicking” sound. If the brake is not making any noise, check if the power is supplied to the brake properly.

3) Check for abnormality in the assembly condition.

4) It the transportation weight is in the acceptable range, cut off the power to check the slide resistance manually by moving with hand.

If the actuator itself is suspected to be the cause,

please contact IAI.

0BA Home sensor non-

detection

Cause : This indicates that the home-return operation of the

actuator equipped with origin sensor (option except rotary actuator) is not completed in normal condition.

1) Work is interfering with peripheral equipment in the middle of home return.

2) Large slide resistance of the actuator itself

3) Installation failure, breakdown or disconnection of the home sensor

Treatment : In the case that the work does not interfere with

anything, the cause 2) or 3) is supposed. In such case, please contact IAI.

0BE Home return timeout Cause : Home return does not complete after elapse of a

certain period after the start of home return.

Treatment : This error does not occur in normal operation. The

combination of the controller and actuator may be incorrect. Please contact IAI.

0BF

Operation

release

Creep sensor not detected

Cause : This indicates the actuator detected the creep

sensor (option) before detecting the origin sensor (option except for rotary actuator), or the actuator reached the mechanical end (or the actuator cannot move anymore because the load is too large).

1) The position to apply the creep sensor is not appropriate.

2) The creep sensor is faulty.

3) The cable is disconnected or the connector is not plugged in properly.

4) The actuator cannot move due to heavy load caused by interference.

Treatment : 1) Readjust the sensor installation position.

2) Replace the creep sensor.

3) Perform continuity check to see if the connector is plugged in properly.

4) Check the interference and the transportable weight and make sure there is no external force applied.

8. Troubleshooting

Alarm

Code

Alarm Level Alarm Name Cause/Treatment

0C0 Actual speed excessive Cause : This indicates the number of motor rotation

exceeded the number of allowable rotation.

1) The slide resistance of the actuator is locally high.

2) The load is increased too much due to a external force.

With the reasons above, it can be considered a

sudden speed increase has occurred before detecting the servo error.

Treatment : Even though this would not occur in normal

operation, check if there is any abnormality in the parts assembly condition. Also check if there is a possibility that an external force may be applied in the direction of the actuator movement.

0C2

Operation

release

Overrun detected Cause : This indicates that a signal from the OT sensor

(option) installed at the mechanical end is detected.

1) The actuator was moved by hand or received external force while the servo was OFF (normal detection).

2) The actuator was jogged or operated by pulsetrain in a condition where the home coordinates were not yet established and thus the soft stroke limit did not function correctly (normal detection).

3) The home position achieved by home return is not correct, or in the case of an absolute type controller the coordinates have shifted due to an inappropriate absolute reset position.

4) There is a mismatch between the sensor characteristics and the setting in Parameter No.19 “Overrun sensor input polarity”, or the wiring layout is wrong.

5) There is a mistake in the mating of the controller and actuator, or the settings in Parameters No.3 and 4 “Soft limit value” and Parameter No.77 “Ball screw limit length” are not appropriate.

Treatment : If 1) or 2) is suspected, move the actuator in the

opposite direction by hand. If this error occurred inside the effective stroke range, 3), 4), or 5) is a likely cause. If 3) is suspected, check the home position. Conduct the absolute reset again if it is the absolute type. If 4) or 5) is suspected, please contact IAI.

8. Troubleshooting

Alarm

Code

Alarm Level Alarm Name Cause/Treatment

0C8 Overcurrent Cause : The output current in the power circuit section is

increased abnormally.

Treatment : This alarm will not be generated in normal operation.

If it occurs, insulation of the motor coil may have deteriorated. Check if there is deterioration in the insulation by measuring the phase resistance between the monitor connection lines U, V and W. The values for the phase resistance should be almost the same. There is a concern the insulation is deteriorated if the values are different in large amount. Please contact IAI.

0CA Overheat

Cause : This indicates overheat (95qC or more) of the

components inside the controller.

1) Operation is performed with the load condition exceeding the specified range.

2) High temperature around the controller.

3) Load to the motor is high due to external force.

4) A faulty part inside the controller.

Treatment : 1) Revise the operation condition such as

decreasing the acceleration/deceleration speed.

2) Lower the ambient temperature of the controller.

3) Confirm that there is no error in the mechanical part assembly condition.

(Note) This error would not normally occur. If it occurs, confirm

there is not (1) or (2) above. If the same error is issued again even after confirming (1) or (2) is not in the condition, it is considered to be a malfunction. Please contact IAI.

0CB Current sensor offset

adjustment error

Cause : An error was found to the sensor in the status check

of the current detection sensor conducted at the initializing process in the startup.

1) The current detection sensor or any of its surrounding parts is faulty.

2) Inappropriate offset adjustment

Treatment : A work (PC board) change or offset adjustment is

required. Please contact IAI.

0CD Emergency-stop relay Cause : A melt-down of the emergency stop relay inside the

controller.

Treatment : The relay or controller must be replaced.

Please contact IAI.

0CE Drop in control supply

voltage

Cause : 1) The AC power supply voltage is low.

2) Faulty part inside the controller

Treatment : Check the voltage of the input power supply.

In the case that the voltage is normal, please contact IAI.

0D2 Motor power source

voltage excessive

Cause : A breakdown of the part inside the controller is

considered.

Treatment : If this error occurs frequently, the controller may be

faulty at high probability. Please contact IAI.

0D3 Motor power supply

voltage low

Cause : 1) If the power source is shut off out of the

controller, servo-on command was made during the power is shut.

2) There is a concern of a malfunction of the controller internal components.

Treatment : 1) Check the controller external circuit.

2) If this error occurs often, there is a concern of a controller malfunction. Please contact us.

0D7

Cold start

Belt breaking sensor detected

Cause : The belt of the ultra-high thrust RCS2-RA13R is

broken.

Treatment : Belt must be replaced. Please contact IAI.

8. Troubleshooting

Alarm

Code

Alarm Level Alarm Name Cause/Treatment

0D8 Deviation overflow Cause : This alarm indicates that the position deviation

counter has overflowed.

1) The speed dropped or the actuator stopped due to the effect of external force or overload.

2) The excited-phase detection operation following the power-on is unstable.

3) The power supply voltage dropped.

4) Servo gain number is too small

Treatment : 1) This error occurs when the actuator cannot be

operated as it is commanded. Check the load conditions such as if the work is touching to the surrounding object, or brake is properly released, and remove the cause.

2) Overload can be concerned. Revise the transportable weight and redo the home-return operation.

3) Check for the source voltage.

0D9

Operation

release

Software stroke limit exceeded

Cause : The current position of the actuator exceeds the

software stroke limit.

Treatment : Return the actuator to be within the range of the

software stroke limit.

0E0

Cold start

Overload Cause : 1) The work weight exceeds the rated weight, or an

external force is applied and the load increased.

2) If the actuator is equipped with a brake, the brake is not released.

3) The slide resistance of the actuator is locally high.

Treatment : 1) Check the work and its surrounding area to

remove the cause.

2) Turn on the brake release switch to see if the brake is released. If the brake is not released, the brake itself may be faulty, cable may be disconnected, or the controller may be faulty. Please contact IAI.

3) In the case that the work can be moved by hand, move it. Then, check that there is no location where a sliding resistant is too large. Check if the installation face is distorted. When the error occurs in operation of the actuator only, Please contact IAI.

Caution

Restart the operation after making sure to remove the cause. If you cannot determine that the cause is removed completely, wait for at least 30 minutes before turning on the power to prevent the motor coil from burning.

0E4

Cold start

Encoder send error Cause : The data sending and receiving between the

controller and encoder is conducted by the serial communication. This error indicates that the data sent from the controller was not received properly at the encoder side.

1) Effect of noise

2) One or more communication ICs installed on the encoder board are faulty.

3) One or more communication ICs installed on the controller board are faulty.

Treatment : 1) Interrupt the power to the peripheral equipment

and activate only the actuator. If any error does not occur, it might be caused by noise. Take proper measures against noise.

If 2) or 3) is the case, the encoder or controller must

be replaced. If the cause cannot be specified, please contact IAI.

8. Troubleshooting

Alarm

Code

Alarm Level Alarm Name Cause/Treatment

0E5 Encoder receipt error Cause : This shows the data was not received in normal

condition from the encoder side to the controller.

1) Cable breakage of encoder cable or connector connection failure. (If the detail code in the error list of the teaching tool is 0002

2) Effect of noise. (If the detail code in the error list of the teaching tool is 0001

3) Malfunction of component (communication part) inside the actuator.

4) A faulty part inside the controller (communication part).

Treatment : 1) Check if any wire breakage on a connector and

the condition of wire connections.

2) Interrupt the power to the peripheral equipment and activate only the actuator. If any error does not occur, it might be caused by noise. Take proper measures against noise.

If 3) or 4) is the case, it is necessary to replace the

actuator (motor part) or controller. If the cause cannot be specified, please contact IAI.

0E6 Encoder count error Cause : This error code appears when the encoder cannot

detect the position information properly.

1) The encoder relay cable or supplied actuator cable is disconnected or its connector is not plugged in correctly.

2) Foreign matter is deposited on the code wheel.

3) The position relationship between the code wheel and photo sensor changed due to shaft center shift caused by application of excessive external force, etc.

4) Faulty encoder board component

Treatment : 1) Check if any wire breakage on a connector and

the condition of wire connections.

For the case of 2), 3) or 4), it is necessary either to

clean the code wheel, adjust the installation position, replace the motor unit or replace the actuator. In any case, please contact IAI.

0E7

Cold start

A-, B- and Z-phase wire breaking

Cause : Encoder signals cannot be detected correctly.

1) The encoder relay cable or supplied actuator cable is disconnected or its connector is not plugged in correctly.

2) The encoder itself is faulty.

Treatment : 1) Check if any wire breakage on a connector and

the condition of wire connections.

If the cables are normal, faulty encoder is

suspected. Please contact IAI.

8. Troubleshooting

Alarm

Code

Alarm Level Alarm Name Cause/Treatment

0EE Absolute encoder error

detection 2

Cause : This is the condition where the position information

can not be detected in the absolute encoder.

1) Voltage drop of absolute battery.

2) The encoder relay cable or supplied actuator cable is disconnected or its connector is not plugged in correctly.

Treatment : 1) Check the PIO battery alarm output (*BALM) and

when it is turned OFF, replace the absolute battery with new one.

2) Check if any wire breakage on a connector and the condition of wire connections.

Whichever action is taken under 1) or 2), an

absolute reset must be performed. If the cables are normal, faulty encoder is suspected. Please contact IAI.

0EF Absolute encoder error

detection 3

Absolute encoder is not detecting the position information properly. (ABS encoder overspeed error) Cause : This error occurs in such cases as the speed

exceeded the tracing acceleration speed limit in the drop by the brake release at the power cutoff of the absolute type vertical axis. (This condition should not occur in normal conditions of use. Take sufficient note on forced brake release.)

Treatment : If the error is occurred, it is necessary to absolute

reset.

0F0 Driver logic error Cause : Exceeded load, parameter (motor type) mismatched,

noise, malfunction of controller, etc.

Treatment : Please contact IAI.

0F2 Field bus module error Cause : A Field bus Module error was detected.

Treatment : Check the Field bus related parameters.

0F3 Field bus module not

detected

Cause : 1) Field bus module not detected.

2) Main CPU board is not applicable for MECHATROLINK-䜕

Treatment : If the error cannot be resolved even after putting the

power on again, please contact us.

0F4 Mismatched PCB error This controller uses a different print circuit board depending on

the motor capacity. The PCB is not applicable for the connected motor in the startup check. Cause : The actuator may not match the controller. Check

the model.

Treatment : Should this error occur, please contact IAI.

0F5 Nonvolatile memory

write verify error

It is verified at the data writing process to the non-volatile memory that the data inside the memory and the data to be written are matched. There was a mismatch detected in this process. Cause : Faulty nonvolatile memory. Treatment : When the error is caused even when the power is

re-input, please contact IAI.

0F6 Nonvolatile memory

write timeout

There is no response in the specified time duration during the data writing to the non-volatile memory. Cause : Faulty nonvolatile memory. Treatment : When the error is caused even when the power is

re-input, please contact IAI.

0F8

Cold start

Nonvolatile memory data destroyed

Abnormal data was detected during the nonvolatile memory check after starting. Cause : Faulty nonvolatile memory. Treatment : When the error is caused even when the power is

re-input, please contact IAI.

8. Troubleshooting

Alarm

Code

Alarm Level Alarm Name Cause/Treatment

0FA CPU error The CPU operation is not normal.

Cause : 1) Faulty CPU

2) Malfunction due to noise

Treatment : When the error is caused even when the power is

re-input, please contact IAI.

0FB

Cold start

FPGA error (Faulty component)

The FPGA is not operating properly. Cause : 1) Malfunction due to the effect of noise, etc.

2) Faulty FPGA

3) Faulty circuit component around the FPGA.

4) Inappropriate board installation in the controller.

Treatment : Turn the power off and reboot.

If the error occurs again, check for presence of noise. If a spare controller is available, replace the problem controller with the spare controller. A recurring error with the spare controller suggests presence of noise. If the cause cannot be identified, please contact IAI.

100

1FF

Message

Alarm on teaching tool [Refer to the Instruction Manual of teaching tool.]

200

2FF

Operation

release

Alarm on teaching tool [Refer to the Instruction Manual of teaching tool.]

300

3FF

Cold start

Alarm on teaching tool [Refer to the Instruction Manual of teaching tool.]

9. Change History

Revision Date Description of Revision

July 2013 First edition

Manual No.: ME0317-1A (July 2013)

13.07.000

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website: www.iai-robot.com

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IAI SCON-CA Instruction Manual

Specifications and Main Features

Frequently Asked Questions

User Manual