Omron SJDE-ANA-OY User Manual

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Manual No. TOEP-C71080603-01-OY

OMRON YASKAWA Motion Control B.V.

JUNMA SERIES SERVO DRIVE

Mechatrolink-II communications type Model: SJDE- ANA-OY

USER´ S MANUAL

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All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of Yaskawa. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because Yaskawa is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice. Every precaution has been taken in the preparation of this manual. Nevertheless, Yaskawa assumes no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in this publication.

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Introduction

This instruction manual describes the JUNMA series AC SERVOPACKs. To properly use the JUNMA series AC SERVOPACKs, read these instructions thoroughly and retain for easy reference for inspections, maintenance, and so on. Make sure that the end user receives this manual.

Related Manuals

Refer to the following manuals as required.

Manual Name Manual Number

JUNMA series AC SERVOMOTOR INSTRUCTIONS

TOMPC23026100 or TOEPC23026101

Safety Information

The following conventions are used to indicate precautions in this manual. Failure to heed these precautions can result in serious or possibly even fatal injury or damage to the products or to related equipment and systems.

WARNING

CAUTION

PROHIBITED

MANDATORY

Indicates precautions that, if not heeded, could possibly result in loss of life or serious injury.

Indicates precautions that, if not heeded, could result in relatively serious or minor injury, damage to the product, or faulty operation.

In some situations, the precautions indicated could have serious consequences if not heeded.

Indicates prohibited actions that must not be performed. For example, this symbol

would be used as follows to indicate that fire is prohibited: .

Indicates compulsory actions that must be performed. For example, this symbol

would be used as follows to indicate that grounding is compulsory: .

Visual Aids

The following aids are used to indicate certain types of information for easier reference.

• Indicates important information that should be memorized, including precautions

IMPORTANT

INFOINFO

such as alarm displays to avoid damaging the devices.

• Indicates supplemental information.

Trademarks

MECHATROLINK is a trademark of the MECHATROLINK Members Association.

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Notes for Safe Operation

Read these instructions thoroughly before checking products on delivery, storage and transportation, installation, wiring, operation and inspection, and disposal of the AC SERVOPACK.

WARNING

• Be sure to correctly connect the SERVOPACK connectors. Incorrect wiring may result in electric shock, fire, or damage to the equipment. For the wir-

ing method, refer to 3.4 Main Circuit Wiring.

• Use the emergency stop signal input E-STP to forcibly turn OFF the servo from an external

sequence, such as host controller, at occurrence of servo alarm or system emergency stop.

• Configure the circuit’s power supply to be automatically cut off if E-STP signal is OFF at

occurrence of emergency stop

The residual voltage rotates the servomotor for a few seconds after the power supply has been turned OFF, and may result in injury or damage to the equipment. Be sure to completely stop the motor by turning OFF the servo using the emergency stop. Position information is not stored in the SERVOPACK, so this information will be lost if the power supply is turned OFF. This information cannot be read again if the power supply is turned OFF.

• Never touch any rotating motor parts while the motor is running. Failure to observe this warning may result in injury.

• Before starting operation with a machine connected, make sure that an emergency stop can

be applied at any time. Also, configure the circuit’s power supply to be automatically cut off if E-STP signal is OFF at occurrence of emergency stop.

Failure to observe this warning may result in injury.

• Never touch the inside of the SERVOPACK. Failure to observe this warning may result in electric shock.

• Do not touch terminals for five minutes after the power is turned OFF. Residual voltage may cause electric shock.

• Follow the procedures and instructions for trial operation precisely as described in this man-

ual.

Malfunctions that occur after the servomotor is connected to the equipment not only damage the equipment, but may also cause an accident resulting in death or injury.

• Do not remove cables, connectors, or optional items while the power is ON. Failure to observe this warning may result in electric shock.

• Installation, wiring, advice on inspection and malfunction must be performed only by autho-

rized personnel.

Failure to observe this warning may result in fire, electric shock, or injury.

• Do not damage, press, exert excessive force or place heavy objects on the cables or the

cables between other objects where they might be pinched.

Failure to observe this warning may result in electric shock, stopping operation of the product, or burning.

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WARNING

• Provide an appropriate stopping device on the machine side to ensure safety. A holding brake for a servomotor with brake is not a stopping device for ensuring safety.

Failure to observe this warning may result in injury.

• Do not come close to the machine immediately after resetting momentary power loss to

avoid an unexpected restart.

Take appropriate measures to ensure safety against an unexpected restart. Failure to observe this warning may result in injury.

• Never modify the product. Failure to observe this warning may result in injury or damage to the product.

• Be sure to correctly ground the SERVOPACK and the servomotor.

• Connect the SERVOPACK’s ground terminal to electrical codes (ground resistance: 100 Ω

or less).

Improper grounding may result in electric shock.

 Checking on Delivery

CAUTION

• Always use the servomotor and SERVOPACK in one of the specified combinations. Failure to observe this caution may result in fire or malfunction.

 Storage and Transportation

CAUTION

• Do not store or install the product in the following places. Failure to observe this caution may result in damage to the product.

• Locations subject to direct sunlight.

• Locations subject to temperatures outside the range specified in the storage or installation temperature conditions.

• Locations subject to humidity outside the range specified in the storage or installation humidity conditions.

• Locations subject to condensation as the result of extreme changes in temperature.

• Locations subject to corrosive or flammable gases.

• Locations subject to dust, salts, or iron dust.

• Locations subject to exposure to water, oil, or chemicals.

• Locations subject to shock or vibration.

• Do not hold the product by the cables or motor shaft while transporting it. Failure to observe this caution may result in injury or malfunction.

• Do not place any load exceeding the limit specified on the packing box. Failure to observe this caution may result in injury or malfunction.

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 Installation

CAUTION

• Make sure to follow the conditions on 2.1 Installation Conditions. Failure to observe this caution may result in electric shock, fire, or SERVOPACK’s malfunc-

tion.

• Do not step on or place a heavy object on the product. Failure to observe this caution may result in injury.

• Do not cover the inlet or outlet parts of the SERVOPACK and prevent any foreign objects,

such as metallic fragment, or combustibles from entering the product.

Failure to observe this caution may cause internal elements to deteriorate resulting in malfunction or fire.

• Be sure to install the product in the correct direction. Failure to observe this caution may result in malfunction.

• Provide the specified clearances between the SERVOPACK and the control panel or with

other devices.

Failure to observe this caution may result in fire or malfunction.

• SERVOPACK and servomotor are precision equipment. Do not apply any strong impact. Failure to observe this caution may result in malfunction.

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 Wiring

WARNING

• Be sure to correctly ground the SERVOPACK and the servomotor.

• Wiring must be performed by an authorized person qualified in electrical work.

• When using the servomotor for a vertical axis, install safety devices to prevent workpieces from falling off because of alarms. Workpiece’s falling off may result in injury or malfunction.

• Configure the interlock circuit so that the system is interlocked to avoid injury whenever the protective cover on the machine is opened or closed.

• Use the emergency stop signal input E-STP to forcibly turn OFF the servo from an external sequence, such as host controller, at occurrence of servo alarm or system emergency stop.

• When executing the JOG operation and the home position search operation using CX-Drive, the E-STP signal will be ignored. Alternative measures must be taken in case an emergency stop is needed.

• Configure the circuit’s power supply to be automatically cut off if E-STP signal is OFF at occurrence of emergency stop.

The residual voltage rotates the servomotor for a few seconds after the power supply has been turned OFF, and may result in injury or damage to the equipment.

Position information is not stored in the SERVOPACK, so this information will be lost if the power supply is turned OFF. This information cannot be read again if the power supply is turned OFF.

• When executing JOG operation and the home position search operation using CX-Drive, the P-OT and N-OT signals will be ignored. Alternative measures must be taken in case of overtravel.

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CAUTION

• Do not connect a three-phase power supply to the U, V, or W output terminals. Failure to observe this caution may result in injury or fire.

• Securely connect the power supply terminals, regenerative unit connection terminal, and

motor main circuit cable terminals.

Failure to observe this caution may result in fire.

• Do not bundle or run power and signal lines together in the same duct. Keep power and sig-

nal lines separated by at least 300 mm. (11.81 in).

Failure to observe this caution may result in malfunction.

• Use twisted-pair shielded wires or multi-core twisted pair shielded wires for I/O signal cable

and encoder cable.

The maximum length is 3 m (118.11 in) for I/O signal cable and is 20 m (787.40 in) for encoder cable.

• Do not touch the power terminals for five minutes after turning the power supply LED (PWR)

are OFF because high voltage may still remain in the SERVOPACK.

• Avoid frequently turning power ON and OFF. Do not turn power ON or OFF more than once

per minute.

Since the SERVOPACK has a capacitor in the power supply, a high charging current flows when power is turned ON. Frequently turning power ON and OFF causes main power devices such as capacitors and fuses to deteriorate, resulting in unexpected problems.

• Observe the following precautions when wiring connector for power supply/regenerative

unit.

• Remove the connector for power supply/regenerative unit from the SERVOPACK prior to wiring.

• Insert only one wire per terminal on the connector for power supply/regenerative unit.

• Make sure that the core wire is not electrically shorted to adjacent core wires.

• Be sure to wire correctly and securely. Failure to observe this caution may result in motor overrun, injury, or malfunction.

• Always use the specified power supply voltage of single-phase 200 V to 230 V without con-

necting directly to the power supply of 400 V.

The SERVOPACK will be destroyed.

• Take appropriate measures to ensure that the input power supply is supplied within the

specified voltage fluctuation range.

An incorrect power supply may result in damage to the product.

• Install external breakers or other safety devices against short-circuit in external wiring. Failure to observe this caution may result in fire.

• Take appropriate and sufficient countermeasures for each when installing systems in the fol-

lowing locations.

Failure to observe this caution may result in damage to the product.

• Locations subject to static electricity or other forms of noise.

• Locations subject to strong electromagnetic fields and magnetic fields.

• Locations subject to possible exposure to radioactivity.

• Locations close to power supplies, including power supply lines.

• Do not reverse the polarity of the battery when wiring with regenerative unit. Failure to observe this caution may result in damage to the product.

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 Operation

CAUTION

• Conduct trial operation on the servomotor alone with the motor shaft disconnected from machine to avoid any unexpected accidents.

Failure to observe this caution may result in injury.

• During the JOG operation and the home position search operation using CX-Drive, the forward run prohibited (P-OT), reverse run prohibited (N-OT), and emergency stop (E-STP) signals will be ignored. Alternative measures must be taken in case of overtravel and emergency stop.

• When using the servomotor for a vertical axis, install safety devices to prevent workpieces from falling off because of alarms.

Workpiece’s falling off may result in injury or malfunction.

• Do not touch the SERVOPACK heat sinks, regenerative unit, or servomotor while power is ON or soon after the power is turned OFF.

Failure to observe this caution may result in burns due to high temperatures.

• When an alarm occurs, remove the cause, turn OFF the power and ON again after confirming safety, and then resume operation.

Failure to observe this caution may result in injury.

• Do not use the holding brake of the servomotor for ordinary braking.

Failure to observe this caution may result in malfunction.

 Maintenance and Inspection

CAUTION

• Do not open the SERVOPACK case for 5 minutes after the power supply indicator (PWR LED) goes out. High voltage may remain in the SERVOPACK after the power supply has been turned OFF.

• After turning OFF the power supply, wait 15 minutes before replacing the cooling fan.

Failure to observe this caution may result in burns because the heat sink is hot.

• Mount the cooling fan in the correct way explained in 9.3 Replacement of Cooling Fan.

Improper mounting may result in the breakdown of the SERVOPACK.

• Do not attempt to change wiring while the power is ON.

Failure to observe this caution may result in electric shock or injury.

• Do not touch the SERVOPACK heat sinks, regenerative unit, or servomotor while power is ON or soon after the power is turned OFF.

 Disposal

CAUTION

• When disposing of the products, treat them as general industrial waste.

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 General Precautions

Note the following to ensure safe application.

• The drawings presented in this manual are sometimes shown without covers or protective guards. Always replace the cover or protective guard as specified first, and then operate the products in accordance with the manual.

• The drawings presented in this manual are typical examples and may not match the product you received.

• This manual is subject to change due to product improvement, specification modification, and manual improvement. When this manual is revised, the manual code is updated and the new manual is published as a next edition.

• If the manual must be ordered due to loss or damage, inform your nearest Omron Yaskawa representative or one of the offices listed on the back of this manual.

• Omron Yaskawa will not take responsibility for the results of unauthorized modifications of this product. Omron Yaskawa shall not be liable for any damages or troubles resulting from unauthorized modification.

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Introduction - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1 Related Manuals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1 Safety Information - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1 Visual Aids- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1 Trademarks - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1 Notes for Safe Operation- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2

1 Before Use- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13

1.1 Checking Products - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13

1.2 Warning Label- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13

1.3 Model Designation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14

1.4 SERVOPACKs and Applicable Servomotors- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14

1.5 Part Names and Functions- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 15

1.6 Applicable Standards- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 16

1.6.1 North American Safety Standards (UL, CSA) - - - - - - - - - - - - - - - - - - - - - - - - - - - 16

1.6.2 European Directives - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 16

2 Installation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -17

2.1 Installation Conditions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 17

2.2 Installation Method - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 18

3 Wiring - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 19

3.1 System Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 19

3.2 Standard Connection- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 20

3.3 Precautions on Wiring - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 21

3.3.1 Protection for Power Supply Line - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 21

3.3.2 Caution for Grounding - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 21

3.3.3 Caution for Cable - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 22

3.3.4 Power Loss- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 22

3.3.5 SERVOPACKs and Applicable Peripheral Devices - - - - - - - - - - - - - - - - - - - - - - - 22

3.3.6 Noise Prevention- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 23

3.3.7 Installation and Wiring Conditions on CE Marking - - - - - - - - - - - - - - - - - - - - - - - 26

3.3.8 Other Precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 27

3.4 Main Circuit Wiring - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 27

3.4.1 SERVOPACK Main Circuit Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 27

3.4.2 Wiring Connector for the Power Supply/Regenerative Unit (CNA) - - - - - - - - - - - - 32

3.4.3 Wiring Connector for the Servomotor Main Circuit Cable (CNB)- - - - - - - - - - - - - - 34

3.4.4 Wiring the Encoder Connector (CN2) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 38

3.4.5 Wiring the I/O Signal Connector (CN1) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 39

3.4.6 Wiring the MECHATROLINK-II Communication Connectors (CN6A and CN6B) - - 41

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3.4.7 Wiring the Personal Computer Connector (CN9)- - - - - - - - - - - - - - - - - - - - - - - - - 43

3.5 Connection Examples of Input Signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 44

3.6 Connection Example of Output Signal- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 45

3.7 I/O Signals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 46

3.7.1 Homing Deceleration Signal Input - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 46

3.7.2 External Latch Signal Input - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 46

3.7.3 Emergency Stop Signal Input - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 47

3.7.4 Forward/Reverse Run Prohibited Inputs (Overtravel Inputs) - - - - - - - - - - - - - - - - - 49

3.7.5 Servo Alarm Output - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 50

3.7.6 Brake Interlock Output - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 50

3.8 Setting MECHATROLINK-II Communications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 52

3.8.1 MECHATROLINK-II Communications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 52

3.8.2 Wiring Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 52

3.8.3 Setting Communications Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 53

3.8.4 Transmission Cycle and Number of Stations- - - - - - - - - - - - - - - - - - - - - - - - - - - - 54

3.8.5 MECHATROLINK-II Communications Status Indicator COM LED- - - - - - - - - - - - - 54

4 MECHATROLINK-II Commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - 55

4.1 Lists of Commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 55

4.1.1 Main Commands List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 55

4.1.2 Subcommands List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 57

4.2 Main Commands- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 58

4.2.1 Communication Phases- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 58

4.2.2 No Operation (NOP: 00H)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 60

4.2.3 Read Parameter (PRM_RD: 01H) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 61

4.2.4 Write Parameter (PRM_WR: 02H) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 62

4.2.5 Read ID (ID_RD: 03H)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 63

4.2.6 Setup Device (CONFIG: 04H) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 64

4.2.7 Read Alarm or Warning (ALM_RD: 05H) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 65

4.2.8 Clear Alarm or Warning (ALM_CLR: 06H) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 66

4.2.9 Start Synchronous Communication (SYNC_SET: 0DH) - - - - - - - - - - - - - - - - - - - 67

4.2.10 Establish Connection (CONNECT: 0EH) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 68

4.2.11 Release Connection (DISCONNECT: 0FH) - - - - - - - - - - - - - - - - - - - - - - - - - - - 69

4.2.12 Write Stored Parameter (PPRM_WR: 1CH) - - - - - - - - - - - - - - - - - - - - - - - - - - - 69

4.2.13 Set Coordinates (POS_SET: 20H) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 70

4.2.14 Apply Brake (BRK_ON: 21H) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 70

4.2.15 Release Brake (BRK_OFF: 22H) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 72

4.2.16 Turn Sensor ON (SENS_ON: 23H) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 73

4.2.17 Turn Sensor OFF (SENS_OFF: 24H) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 73

4.2.18 Stop Motion (HOLD: 25H) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 74

4.2.19 Request Latch Mode (LTMOD_ON: 28H) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 75

4.2.20 Release Latch Mode (LTMOD_OFF: 29H) - - - - - - - - - - - - - - - - - - - - - - - - - - - - 76

4.2.21 Status Monitoring (SMON: 30H) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 77

4.2.22 Servo ON (SV_ON: 31H) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 78

4.2.23 Servo OFF (SV_OFF: 32H)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 79

4.2.24 Interpolation Feed (INTERPOLATE: 34H)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 80

4.2.25 Positioning (POSING: 35H)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 81

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4.2.26 Constant Speed Feed (FEED: 36H) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 82

4.2.27 Interpolation Feeding with Position Detection (LATCH: 38H)- - - - - - - - - - - - - - - - 83

4.2.28 External Input Positioning (EX_POSING: 39H) - - - - - - - - - - - - - - - - - - - - - - - - - 84

4.2.29 Homing (ZRET: 3AH) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 85

4.2.30 Adjusting (ADJ: 3EH) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 87

4.3 Subcommands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 90

4.3.1 No Operation (NOP: 00H) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 90

4.3.2 Read Parameter (PRM_RD: 01H) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 90

4.3.3 Write Parameter (PRM_WR: 02H) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 91

4.3.4 Read Alarm or Warning (ALM_RD: 05H) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 91

4.3.5 Write Stored Parameter (PPRM_WR: 1CH) - - - - - - - - - - - - - - - - - - - - - - - - - - - - 92

4.3.6 Request Latch Mode (LTMOD_ON: 28H) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 92

4.3.7 Release Latch Mode (LTMOD_OFF: 29H) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 93

4.3.8 Status Monitoring (SMON: 30H) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 93

4.4 Combination of MECHATROLINK-II Main Commands and Subcommands - - - - - - - - - 94

4.5 Command Data Field- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 95

4.5.1 Latch Signal Field Specifications: LT_SGN - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 95

4.5.2 Option Field Specifications: OPTION - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 95

4.5.3 Status Field Specifications: STATUS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 96

4.5.4 Monitor Selection and Monitor Information Field Specifications: SEL_MON1/2/3/4, MONITOR1/2/3/4- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 101

4.5.5 IO Monitor Field Specifications: IO_MON - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 103

4.5.6 Substatus Field Specifications: SUBSTATUS - - - - - - - - - - - - - - - - - - - - - - - - - - 104

4.5.7 Alarm/Warning Field Specifications: ALARM- - - - - - - - - - - - - - - - - - - - - - - - - - - 105

4.6 Command and Response Timing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 108

4.6.1 Command Data Execution Timing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 108

4.6.2 Monitor Data Input Timing- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 108

4.7 Operation Sequence - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 109

4.7.1 Operation Sequence for Managing Parameters Using a Controller - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 109

4.7.2 Operation Sequence for Managing Parameters Using SERVOPACK- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 110

4.7.3 Operation Sequence to Turn the Servo ON- - - - - - - - - - - - - - - - - - - - - - - - - - - - 111

4.7.4 Operation Sequence When OT (Overtravel Limit Switch) Signal is Input - - - - - - - 111

4.7.5 Operation Sequence When E-STP Signal is Input - - - - - - - - - - - - - - - - - - - - - - - 111

5 Trial Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 113

6 Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 118

6.1 Filter Setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 118

6.2 Switching Servomotor Rotation Direction - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 119

6.3 Electronic Gear - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 120

6.3.1 Setting the Electronic Gear - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 120

6.4 Position Management - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 123

6.5 Motion Commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 124

Page 14

6.5.1 INTERPOLATE Related Commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -124

6.5.2 POSING Related Commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -124

6.6 Software Limit Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -125

6.6.1 Conditions Needed to Enable the Software Limit Function - - - - - - - - - - - - - - - - - -125

6.6.2 Parameters Related Software Limit Function - - - - - - - - - - - - - - - - - - - - - - - - - - -125

6.6.3 Monitoring Software Limit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -126

6.7 Latching Area - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -127

7 Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 128

7.1 Parameter Editor- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -128

7.2 List of Parameters- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -129

8 Troubleshooting- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 134

8.1 Alarm Displays - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -136

8.2 Warning Displays - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -138

8.3 Alarm/Warning Display and Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -139

8.3.1 Alarm Display and Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -139

8.3.2 Warning Display and Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -149

8.4 Troubleshooting for Malfunction without Alarm Display - - - - - - - - - - - - - - - - - - - - - - -151

9 Inspections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 156

9.1 Regular Inspections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -156

9.2 Part’s Life Expectancy - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -156

9.3 Replacement of Cooling Fan - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -157

10 Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 163

10.1 Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -163

10.2 Allowable Moment of Inertia - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -165

10.3 Overload Characteristics - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -166

Revision History

Page 15

1.1 Checking Products

1 Before Use

1.1 Checking Products

Confirm that the following items have been delivered together with the SERVOPACK. Verify that the ordered product as received by the model number marked on the nameplate on the SERVOPACK.

If you find any irregularities such as incorrect SERVOPACK model, damages, and missing parts or items, contact your Omron Yaskawa representative or the dealer from whom you purchased the products.

SJDE

SERVOPACK

Nameplate

Applicable power supply

Order number Serial number

One copy of this Instruction Manual 1 Connector Part Number JZSP-CHG9-1

SERVOPACK model

Applicable motor capacity

1.2 Warning Label

A warning label is located on the side of the SERVOPACK.

SJDE

SERVOPACK

SERVOPACK's Warning Label

Page 16

1.3 Model Designation

SJDE—02 A N A - OY

JUNMA series SJDE SERVOPACK

Applicable servomotor capacity

Code

Output (W)

100

200

400

750

Power supply voltage A: 200 VAC

Interface specification N: MECHATROLINK-II

Design revision order A

Sold by OMRON YASKAWA Motion Control B.V.

1.4 SERVOPACKs and Applicable Servomotors

Rated

Output

100 W SJME-01AM41-OY SJME-01AM4C-OY SJDE-01ANA-OY 200 W SJME-02AM41-OY SJME-02AM4C-OY SJDE-02ANA-OY 400 W SJME-04AM41-OY SJME-04AM4C-OY SJDE-04ANA-OY 750 W SJME-08AM41-OY SJME-08AM4C-OY SJDE-08ANA-OY

Without Brakes With Brakes

Servomotors SERVOPACKs

Page 17

1.5 Part Names and Functions

Rotary switch for reference filter setting(FIL) Refer to 6.1 Filter Setting.

I/O signal connector (CN1) Refer to 3.4 Main Circuit Wiring.

FIL

CN6

A/B

CN1

1.5 Part Names and Functions

Input voltage

Model

COM

ALM

RDY

Connector for MECHATROLINK-II communications (CN6) Refer to 3.4.6 Wiring the MECHATROLINK-

II Communication Connectors (CN6A and CN6B).

Power supply indicator (PWR)

Connector for power supply/ regenerative unit (CNA) Refer to 3.4.2 Wiring Connector for the

Power Supply/Regenerative Unit (CNA).

CN2

PWR

L1 L2

U V

CNBCNA

Encoder connector (CN2) Refer to 3.4.4 Wiring the Encoder Connec-

tor (CN2).

Connector for servomotor main circuit cable (CNB) Refer to 3.4.3 Wiring Connector for the Ser- vomotor Main Circuit Cable (CNB).

Ground terminal

 MECHATROLINK-II Communications Settings

The SW1 and the SW2 switches set the MECHATROLINK-II communications settings. Settings that have been changed are enabled when the power is turned OFF and then ON again.

DIP switch for MECHATROLINK-II

Rotary switch for MECHATROLINK-II station address setting (SW1) Refer to 3.8 Setting for MECHATROLINK-II Communications.

Connector for personal computer (CN9)

communications setting (SW2) Refer to 3.8 Setting MECHATROLINK-II Communications.

Servo status indicator (RDY) Alarm indicator (ALM)

Refer to 8 Troubleshooting.

Indicator for MECHATROLINK-II communications status (COM) Refer to 3.8.5 MECHATROLINK-II

Communications Status Indicator COM LED and 8 Troubleshooting.

Page 18

1.6 Applicable Standards

JUNMA series SERVOPACKs comply with the following standards.

1.6.1 North American Safety Standards (UL, CSA)

Model

SERVOPACK SJDE Servomotor SJME

* 1. Underwriters Laboratories Inc. * 2. Canadian Standards Association.

UL∗1 Standards (UL File No.) CSA∗2 Standards

UL508C (E147823) CSA C22.2 No.14 UL UL1004 (E165827) CSA C22.2 No.100 UL

1.6.2 European Directives

Model Low Voltage

SERVOPACK

Servomotor

* TÜV Product Services GmbH Note: 1. Because SERVOPACKs and servomotors are built-in type, reconfirmation is

required after being installed in the final product.

SJDE EN50178 EN55011

SJME IEC60034-1

Directive

IEC60034-5 IEC60034-8 IEC60034-9

class A, group 1

EMC Directive Certification

EMI EMS

EN61000-6-2 TUV PS*

EN55011

EN61000-6-2 TUV PS*

Certification

Page 19

2 Installation

The following shows the installation location and method of the SERVOPACK.

2.1 Installation Conditions

Item Specifications

Operating temperature 0 ° C to +55 °C

Operating humidity 90% RH or less (with no condensation)

Storage temperature -20 ° C to +70 °C

Storage humidity 90% RH or less (with no condensation)

Installation site Free of corrosive gases

Altitude 1000 m or below

Vibration resistance

Shock resistance

Operating conditions Installation category (overvoltage category): II

Installation in a control panel

Installation near a

Installation Site

heating unit

Installation near a source of vibration

Installation at a site exposed to corrosive gas

Free of dust and iron powder Not subjected to moisture or lubrication oil such as cutting oil.

4.9m/s

19.6m/s

Pollution degree: 2 Protection class: IP1X (EN50178)

Design the control panel size, unit layout, and cooling method so that the temperature around the SERVOPACK does not exceed 55 °C.

Note: To extend product life and maintain reli-

ability, keep the temperature inside the control panel under 45 ° C.

Minimize the heat radiating from the heating unit as well as any temperature rise caused by natural convection so that the temperature around the SERVOPACK does not exceed 55 ° C.

Install a vibration isolator beneath the SERVOPACK to avoid subjecting it to vibration.

Corrosive gas does not have an immediate effect on the SERVOPACK but will eventually cause the electronic components and contactor-

related devices to malfunction. Take appropriate action to avoid corrosive gas.

2.1 Installation Conditions

Page 20

2.2 Installation Method

 Installation Method and Direction

• Install the SERVOPACK perpendicular to the wall.

• Connect the mounting holes securely to the mounting surface with M4 screws.

SJDE-08ANA-OY: Three mounting holes SJDE-01 to 04ANA-OY: Two mounting holes

SERVOPACK installation plate

M4 screw

SERVOPACK installation plate

M4 screw

 Space between SERVOPACK Units

• Be sure to keep a space between adjacent SERVOPACK units as shown the following figure if they are mounted inside the control panel. This allows the units to cool.

CAUTION

• Do not cover the inlet or outlet parts of the SERVOPACK and prevent any foreign objects, such as metallic fragment, or combustibles from entering the product.

Failure to observe this caution may cause internal elements to deteriorate resulting in malfunction or fire.

50 mm min.

Air outlet direction

30 mm min.

10 mm min.

50 mm min.

Air inlet direction

Page 21

3 Wiring

3.1 System Configuration

Power supply

Single-phase 200 VAC

L1 L2

Molded-case circuit breaker

To protect the equipment and wiring, always connect a molded-case circuit breaker.

Noise filter

Used to eliminate suppress noise from power lines.

Surge protector

Protects the system from lightening surge.

AC reactor

Used for a power supply harmonic suppression.

Fuse

To protect the equipment, always install fuses.

WARNING

Correctly connect the connectors CNA and CNB. Incorrect wiring may result in electric shock, injury, or damage to the equipment. After wiring, install the connectors as explained in

3.8 Wiring the Power Supply/Regenerative Unit

Connector (CNA) and 3.9 Wiring the Servomotor Main Circuit Cable Connector (CNB).

Used for a regenerative unit.

Regenerative unit

Used if regenerative energy is high.

Magnetic contactor

Used to turn OFF the servo power supply when using a regenerative unit or a emergency stop.

Used for a servomotor with a brake.

24-VDC power supply

Brake relay

SJDE SERVOPACKs

Servomotor main circuit cable (for relay)

Connectors for servomotor main circuit cable (CNB

Connectors for power supply/regenerative unit (

)

CNA

Personal computer software: CX-One

)

SJME Servomotors

3.1 System Configuration

CJ-series PLC

CJ1 series

Position control unit CJ1W-NCF71

MECHATROLINK-II connection

I/O Signal cable Connects to CJ-Series PLC

To the control circuits of magnetic contactor

* 1. Prepare a 24-VDC power supply for the brake separately from the sequence power supply.

Page 22

3.2 Standard Connection

Power supply Single-phase 200 VAC to 230 VAC 50/60Hz

L1 L2

Molded-case circuit breaker

Surge protector

AVR 2 24 VDC power supply

Noise

filter

200 VAC to 230 VAC

+24V 0V

MC1

SW1 SW2

MC1

Regenerative unit

Controller

130Ω

MC1

Spark killer

C1 C2

JUSP-

RG08D

MECHATROLINK-II cable

Shielded wire

MC1

Ry1

Flywheel diode

Shielded wire

AVR 1* 24 VDC power supply

200 VAC to 230 VAC

CNA CNB

Fuse

Reactor

Fuse

/TXD

/RXD

GND

Ter m i nator

130Ω

24VIN

/EXT1

/DEC

N-OT

P-OT

E-STP

ALM

/BK

SG_COM

CN9

1 2

3,4

CN6A

Shell

CN6B

B2 B3

CN1

Y4 Y5

24V

SERVOPACK

3.3kΩ

Ry1

CN2

Shell

Varistor

PG5V

PG0V

Shielded wire

A+

A-

B+

B-

Shielded wire

Brake

Servomotor

Encoder

Note: 1. AVR1:24 VDC

power supply for

brake AVR2:24 VDC power supply for sequence PB1:Power OFF switch PB2:Power ON switch MC1:Magnetic contactor Ry1:Brake relay

• Parts example Spark killer Okaya Electric Industries

Flywheel diode

Co., Ltd. Toshiba Corporation 1NH42

CRE-50500

Brake relay OMRON Corporation MY series Varistor NIPPON CHEMI-CON

CORPORATION

TNR7V121K

Page 23

3.3 Precautions on Wiring

2. The ground protection circuit is designed for ground fault inside the motor windings while the motor is running. Therefore, it may not protect the system under the following conditions.

• A low-resistance ground fault occurs between the main circuit cable and connector for the servomotor.

• The power supply is turned ON during a ground fault.

To configure a safer system, install an earth leakage breaker for protection against overloads and short-circuit, or install an earth leakage breaker for ground protection combined with a wiring circuit breaker.

3. Position information is not stored in the SERVOPACK, so this information will be lost if the power supply is turned OFF. If this information is required for the operation of the host controller, make sure that the system has an emergency stop signal (E-STP) that will stop operations without turning OFF the power supply.

* 1. Prepare a 24 VDC power supply for sequence separately from the 24 VDC power supply for brake.

3.3 Precautions on Wiring

WARNING

• Be sure to correctly ground the SERVOPACK and the servomotor.

• Wiring must be performed by an authorized person qualified in electrical work.

• Configure the circuit’s power supply to be automatically cut off if E-STP signal is OFF at occurrence of emergency stop. (Refer to 3.7.3 Emergency Stop Signal Input.)

• When using the servomotor for a vertical axis, install safety devices to prevent workpieces from falling off because of alarms. Workpiece’s falling off may result in injury or malfunction.

• Configure the interlock circuit so that the system is interlocked to avoid injury whenever the protective cover on the machine is opened or closed.

3.3.1 Protection for Power Supply Line

• Use a molded-case circuit breaker and fuse to protect the power supply line. The SERVOPACK connects directly to a commercial power supply without a transformer, so always use a circuit breaker and fuse to protect the servo system from accidental high voltage.

3.3.2 Caution for Grounding

Consider the following conditions when grounding the SERVOPACK.

• For a ground wire, use as thick a cable as possible (2.0 mm2 or thicker).

• A ground resistance of 100 (Ω) or less is recommended.

• Ground to one point only.

Page 24

3.3 Precautions on Wiring

3.3.3 Caution for Cable

• For wiring, use the specified cables. Use cables that are as short as possible.

• Do not bend or apply tension to cables. The conductor of a signal cable is thin (0.08 to 0.12 mm so handle the cables carefully.

3.3.4 Power Loss

Power Loss with SERVOPACK Rated Output

Main Circuit Powe r

Supply

Single-

phase

200 V

Note: Values obtained with the servomotor rated output.

SERVOPACK Output Current

Model Capacity

SJDE-01ANA-OY 100 W 0.84 6 9 15

SJDE-02ANA-OY 200 W 1.1 8 17

SJDE-04ANA-OY 400 W 2.0 16 25

SJDE-08ANA-OY 750 W 3.7 27 36

(Effective

Val ue)

Main Circuit Power Loss

Control Circuit

Power Loss

Tot a l Powe r

Loss

3.3.5 SERVOPACKs and Applicable Peripheral Devices

SERVOPACK Power Ty pe Capa-

SJDE01ANA-OY

SJDE02ANA-OY

SJDE04ANA-OY

SJDE08ANA-OY

Manufacturer

Note: It is recommended to use a general-purpose circuit breaker of the sensed current 200 mA or more, or a cir-

* 1. Nominal value at the rated load. The specified derating is required to select the appropriate molded-case

circuit breaker.

* 2. Cut-off characteristics (25 °C): 200 % two seconds min. and 700 % 0.01 seconds min.

100 W

200 W

400 W

750 W

cuit breaker for inverters (for high-frequency).

city

Supply

Capacity

SERVO-

PAC K

Power sup-

ply

Capacity of

per

kVA

0.40 4 0KLK

0.75 X5053

1.2 8 X5054

2.2 16 0KLK

Molded-

case

Circuit

Breaker

Arms

--Littelfuse

*1 *2

Power supply

Capacity

and

Model of

External

Fuse

015.T

(15 Arms)

030.T

(30 Arms)

Inc.

Inrus

Mag-

netic

Cur-

Contac-

rent

A0-p

tor

30 HI-11J R7A-

60 HI-15J R7A-

-Yaskawa Controls Co., Ltd.

Noise

Filter

FIZN105

-BE

FIZN109

-BE Block Elek-

tronik

Surge

Protector

xCxM-

601BQZ-4

Okaya

Electric

Industries

Co., Ltd.

Reactor

X5052

X5056

Yaskawa Controls Co., Ltd.

IMPORTANT

Ground Fault The ground protection circuit is designed for ground fault inside the motor windings while the motor is running. Therefore, it may not protect the system under the following conditions.

• A ground fault occurs between the main circuit cable and connector for the servomotor.

• The power supply is turned ON during a ground fault.

To configure a safer system, install an ground fault detector for protection against overloads

Page 25

and short-circuit, or install an ground fault detector combined with a wiring circuit breaker for ground protection.

3.3.6 Noise Prevention

 Example of Wiring for Noise Prevention

3.3 Precautions on Wiring

Noise filter

Min. wire size : 3.5 mm

2LF

Casing

Operation relay sequence User signal generating circuit

1LF

Casing

Min. wire size: 3.5 mm

*2.

*1.

AVR

(Grounding)

Casing

2 mm2 or larger

Min. wire size:

3.5 mm

Casing

200 VAC

* 1. For the wires connected to the casings for installation purposes, use wires with a diameter of 3.5 mm2 or

larger. Flat braided copper wires are recommended.

* 2. Use twisted pair wires for section P.

SJDE SERVOPACK

*1.

Grounding plate

Groudning: Ground to one point only. Min. grounding resistance: 100 Ω

CN1

CN2

U V W

Min. wire size : 3.5 mm

Servomotor

(FG)

 Correct Grounding

• Servomotor frame grounding: Be sure to connect the FG grounding terminal on the frame of the servomotor to the grounding terminal on the SERVOPACK.

• Be sure to ground the grounding terminal of the SERVOPACK.

• If the wires of the servomotor’s main circuit are laid in a metal conduit, ground the conduit and the grounding box.

One-point grounding must be used.

Page 26

3.3 Precautions on Wiring

 Noise Filters

Use a block type noise filters to prevent any noise interference from the power-supply line. The following table lists the recommended noise filters for several SERVOPACK models.

Application of Noise Filters

Power-Supply

Voltage

Single-

phase

230 V +10%

50-60 Hz

Filter dimensions for model R7A-FIZN105-BE

SERVOPACK

Model

SJDE-01ANA-OY SJDE-02ANA-OY

SJDE-04ANA-OY SJDE-08ANA-OY

Recommended Noise Filters

Model Specifications Manufacturer

R7A-FIZN105-BE Single-phase 250 VAC, 5A

R7A-FIZN109-BE Single-phase 250 VAC, 9A

Block

Transformatoren

Elektronik

GmbH & Co. KG.

Page 27

Filter dimensions for model R7A-FIZN109-BE

3.3 Precautions on Wiring

Page 28

3.3 Precautions on Wiring

3.3.7 Installation and Wiring Conditions on CE Marking

 Installation Conditions of EMC Directives

To adapt a combination of a SJME servomotor and a SJDE SERVOPACK to EMC Directives (EN55011, group 1, class A and EN61000-6-2), the following conditions must be satisfied.

Because SERVOPACKs are built-in type, reconfirmation is required after being installed in the final product.

IMPORTANT

Power supply Single-phase 200 VAC

The actual EMC level may differ depending on the actual system’s configuration, wiring, and other conditions.

Ground Plate

Brake power

supply

SERVOPACK

Noise

Surge

protector

filter

Regenerative

unit

Clamp

U, V, W

L1, L2

CN2

+,–

CN1CN6

core

Ferrite

Host controller

Clamp

core

Ferrite

core

Ferrite

Cable joint

core

Ferrite

core

Ferrite

Cable joint

Servomotor

Encoder

Symbol Cable Name Specifications

A I/O Signals cable Shielded wire B MECHATROLINK-II Communication cable Shielded wire C Servomotor Main circuit cable Shielded wire D Encoder cable Shielded wire E AC Line cable Shielded wire

 Attaching the Ferrite Core

Coil the servomotor main circuit cable (as a connection) around the ferrite core with two turns, then attach them by the SERVOPACK. Refer to the diagram in the previous page.

Cable (two turns)

Brake

Ferrite core

Note: Recommended Ferrite-core

Model: ESD-SR-25 (Tokin. Corp.)

Page 29

 Fixing the Cable

Fix and ground the cable shield using a piece of conductive metal (cable clamp).

• Example of Cable Clamp

3.4 Main Circuit Wiring

Host controller side

Ground plate

Cable

Cable clamp

Shield (cable sheath stripped)

Fix and ground the cable shield using a piece of conductive metal.

Remove paint on mounting surface.

 Shield Box

A shield box, which is a closed metallic enclosure, should be used for shielding magnetic interference (EMI). The structure of the box should allow the main body, door, and cooling unit to be attached to the ground. The box opening should be as small as possible.

3.3.8 Other Precautions

• Whether the electricity is served or not to the motor, do not use the motor being rotated from the outside.

• When restarting the power supply soon after turning OFF, alarm may occur to the SERVOPACK. Refer to the power supply holding time in the following table to restart the power supply correctly.

SERVOPACK Min. Waiting Time

Model Capacity

SJDE-01ANA-OY 100 W SJDE-02ANA-OY 200 W SJDE-04ANA-OY 400 W SJDE-08ANA-OY 750 W

before Restarting

(s)

3.4 Main Circuit Wiring

• SJDE SERVOPACKs are suitable where the power supply is less than 5000 Arms (230 V max.).

• SERVOPACKs must be used with UL-listed fuses or molded-case circuit breakers, in accordance with the National Electrical Code (NEC).

•Use 75 ° C heat-resistant copper wires or an equivalent.

3.4.1 SERVOPACK Main Circuit Cables

 Cable Types

Symbol Name Allowable Conductor Temperature

PVC Normal vinyl cable

IV 600 V vinyl cable

HIV Temperature-resistant vinyl cable

• Wire sizes are selected for three cables per bundle at 40 ° C ambient temperature with the rated current.

• Use cables with a minimum withstand voltage of 600 V for main circuits.

• If cables are bundled in PVC or metal ducts, consider the reduction ratio of the allowable current.

• Use heat-resistant cables under high ambient or panel temperatures where normal vinyl cables will rapidly deteriorate and will not be able to use in a short period of time.

• Do not use cables under continuous regenerative state.

−

60 ° C 75 ° C

Page 30

3.4 Main Circuit Wiring

 Wire Size and Allowable Current

The following table shows the wire size and allowable current for three cables. Use a cable whose specifications meet or are less than allowable current in the table.

• 600 V Heat-resistant Vinyl Cables (HIV)

AWG

Note: The values in the table are only for reference.

Nominal Cross

Size

Section Diameter

20 0.5 19/0.18 39.5 6.6 5.6 4.5

- 0.75 30/0.18 26.0 8.8 7.0 5.5 18 0.9 37/0.18 24.4 9.0 7.7 6.0 16 1.25 50/0.18 15.6 12.0 11.0 8.5 14 2.0 7/0.6 9.53 23 20 16

Configuration

Number of

wires/mm

Conductive Resistance

Ω/mm

Allowable Current at Ambient Temperature

30 ° C 40 ° C 50 ° C

 Power Supply Input Terminals (L1, L2), Motor Connection Terminals (U, V,

W), and Regenerative Unit Connection Terminals (+, -)

CapacityWSERVOPACK Type Terminal Symbol

L1, L2 U, V, W +, 100 200 400 750

Note: Connectors are used for all wiring.

SJDE-01ANA-OY SJDE-02ANA-OY SJDE-04ANA-OY SJDE-08ANA-OY

HIV1.25 mm

HIV2.0 mm

HIV1.25mm

Wiring length:

20 m max.

HIV1.25mm

Wiring length:

0.5 m max.

 Ground Terminal ( )

Wire Size Terminal Screw Size Tightening Torque

HIV 2.0 mm

min.

M4 1.2 to 1.4 Nxm

Page 31

 Peripheral Devices List

3.4 Main Circuit Wiring

Name Specifications Ty p e Length Appearance Manufac-

Powe r cable for Junma servomotors without brake SJME0@AMB41OY

Powe r cable for Junma

servomotors with brake SJME0@AMB4COY

Connector Kit for Servomotor Main Circuit Cable

Flexible cables (standard) UL/CSA listed Shielded cable Bending radius (dynamic) > 10x diameter Cycles > 10 million

Flexible cables (standard)

UL/CSA listed Shielded cable Bending radius (dynamic) > 10x diameter

Cycles > 10 million

Motor end crimp type

(Common for servomotors with or without brakes)

SERVOPACK end (CNB)

JZSP-CHM000-01-5E JZSP-CHM000-03-E JZSP-CHM000-05-E JZSP-CHM000-10-E JZSP-CHM000-15-E JZSP-CHM000-20-E

JZSP-CHM030-01-5E JZSP-CHM030-03-E JZSP-CHM030-05-E JZSP-CHM030-10-E JZSP-CHM030-15-E JZSP-CHM030-20-E

JZSP-CHM9-1

JZSP-CHM9-2

∗2

∗3

1.5 m 3 m 5 m

10 m 15 m 20 m

1.5 m 3 m 5 m

10 m 15 m

20m

—

spring type (Common for servomotors

with or without brakes)

SERVOPACK end (CNB) crimp type

Refer to Page 35.

—

(Common for servomotors with or without brakes)

Connector Kit for Power Supply/ Regenera-

tive Unit*

SERVOPACK end (CNA) spring type

(Common for servomotors with or without brakes)

JZSP-CHG9-1

∗3

—

turer

Omron Ya s k aw a Motion Control,

* 4

BV.

J.S.T. Mfg Co.,Ltd.

Omron Ya s k aw a

Motion Control,

BV.

Page 32

3.4 Main Circuit Wiring

Name Specifications Ty pe Length Appearance Manufac-

Encoder Cable for Junma servomotors SMJE0@AMB4@OY

Flexible cables (standard) UL/CSA listed Shielded cable Bending radius (dynamic) > 10x diameter Cycles > 10 million

Non flexible cables

JZSP-CHP800-01-5E JZSP-CHP800-03-E JZSP-CHP800-05-E JZSP-CHP800-10-E JZSP-CHP800-15-E JZSP-CHP800-20-E

R7A-CRZ003C R7A-CRZ005C R7A-CRZ0010C

Connector Kit for Encoder

Cable*

Motor end crimp type

SERVOPACK end (CN2) soldered type

JZSP-CHP9-1

JZSP-CHP9-2

∗2

(black) SERVOPACK

end (CN2) soldered type (gray)

JZSP-CHP9-3

I/O Signal Cable JZSP-CHI003-01

JZSP-CHI003-02 JZSP-CHI003-03 R7A-CPZ001S R7A-CPZ001S

Connector Kit for I/O Signal Cable

(CN1)*

SERVOPACK end soldered type

JZSP-CHI9-1

1.5 m 3 m 5 m

10 m 15 m 20 m

3 m 5 m

10 m

—

1 m 2 m 3 m 1m 2m

—

(cont’d)

turer

Omron Yaskawa Motion Control, BV. *4

Page 33

3.4 Main Circuit Wiring

Name Specifications Ty p e Length Appearance Manufac-

-E

—

∗7

—

— —

2 m

(6.56 ft)

MECATROLINK-II Communication Cable

Cable for Personal Computer

Cable with connectors at both

ends* (Without ferrite core)

Cable with connectors at both

ends (With ferrite

core)

JEPMC-W6002-



JEPMC-W6002(Compliant with RoHS

Directive)

JEPMC-W6003-

JEPMC-W6003(Compliant with RoHS Directive)

Terminators JEPMC-W6022

JEPMC-W6022-E (Compliant with RoHS

Directive

Cables JZSP-CPS00-02

∗7



(cont’d)

turer

Omron Ya s k aw a Motion Control BV. *4

To ol J -F AT-O T

Cooling Fan JZSP-CHF08-01 for

SJDE-04ANA-OY SER-

—

VOPACKs JZSP-CHF08-02 for

SJDE-08ANA-OY SER-

—

VOPACKs

Note: Contact the manufacturer for more detailed information such as external diameter. * 1. Connectors for CNB, CN1, and CN2 are not provided with the SERVOPACK. The servomotor-end

connectors are not provided with the servomotor. These connector kits must be purchased.

* 2. Refer to pages that provide details for the applicable crimping tool type. The crimping tool must be ordered

separately. * 3. With an opening tool (lever for wire) * 4. Omron Yaskawa Motion Control BV. URL: http://www.omronyaskawa.com * 5. J.S.t.Mfg co., Ltd. URL: http://www.jst-mfg.com * 6. The total cable length must be 50 m (164 ft) max. and the cable length between stations 0.5 m (1.64 ft) min. * 7. Specify the cable length in  when ordering as shown in the table below. .

 Cable Length m (ft) A5 0.5 (1.64) 01 1 (3.28) 03 3 (9.84) 05 5 (16.4) 07 7 (30.0)

 Cable Length m (ft) 10 10 (32.8) 20 20 (65.6) 30 30 (98.4) 40 40 (131) 50 50 (164)

Page 34

3.4 Main Circuit Wiring

3.4.2 Wiring Connector for the Power Supply/Regenerative Unit (CNA)

CAUTION

• Observe the following precautions when wiring main circuit connector.

• Remove the connector from the SERVOPACK prior to wiring.

• Insert only one wire per terminal opening on the connector.

• Make sure that the exposed wire is not electrically shorted to adjacent exposed wires.

Use the following procedure when connecting the SERVOPACK to the spring type connector for the power supply/regenerative unit.

1. Remove the connector from the SERVOPACK.

Be sure to remove the connector from the SERVOPACK when wiring.

2. Strip the outer coating.

Straighten the exposed wire with your fingers to prevent the wires from unwinding.

9 to 10 mm

3. Open the wire terminal on the power supply connector housing (plug) with the tool (lever for wiring)

using the procedure shown in Fig. A or B.

• Insert the connection hook end of the provided tool into the slot as shown in Fig. A. Tool must be purchased by the customer.

• Use a standard flat-blade screwdriver (blade width of 2.5 to 3.0 mm (0.09 to 0.12 in)). Put the blade into the slot, as shown in Fig. B, and press down firmly to open the wire terminal.

Either the procedure shown in Fig. A or B can be used to open the wire insert opening.

Fig. A Fig.B

Tool Type: J-FAT-OT (J.S.T. Mfg Co., Ltd.)

4. Insert the exposed wire into the opening. Insert the exposed wire into the opening and then close the opening by releasing the tool hook or

removing the screwdriver.

 Wire Size

Item Wire Size

Conductor

Size

Sheath Diameter

Twisted wire

Single wire

AWG14 to AWG22

φ1.6 mm to φ0.65 mm

φ3.8 mm to φ1.7 mm

Page 35

5. Attach the connector to the SERVOPACK. After wiring the connector, attach the connector to the SERVOPACK.

Single-phase, 200 VAC

Molded-case circuit breaker

Regenerative Unit

+(Y3)

— Y4 Y5 C1 C2

Power supply

L2 L1

Noise filter

Magnetic contactor

AC reactor

FuseFuse

4321

At the occurrence of alarms such as those for regenerative resistor disconnection, regenerative transistor (Tr) faults, and overvoltage, the contact between terminals C1 and C2 will be open. Use this contact signal to turn OFF the SERVOPACK power supply.

YASKAWA

COM

FIL

CN6

A/B

CN1

CN2

PWR

L1 L2

Power supply/Regenerative Unit connector JZSP-CHG9-1

(Is supplied with the Servopack)

200V

SERVOPACK

SJDE

- 04ANA

ALM

RDY

U V

CNBCNA

CNA connector

3.4 Main Circuit Wiring

Note: 1. Pull lightly on the wires to confirm that they are securely connected.

2. Make sure that none of the insulating sheaths of the wires are caught in the springs.

 Connector for Power Supply/Regenerative Unit (CNA)

Pin No. Symbol Signal Name

1L1 2L2 3+ 4 −

Power supply input terminals

Regenerative unit connection terminals

Page 36

3.4 Main Circuit Wiring

3.4.3 Wiring Connector for the Servomotor Main Circuit Cable (CNB)

Wire the connector for the servomotor main circuit cable (CNB) in the same way as the connector for the power supply/regenerative unit (CNA). Refer to 3.4.2 Wiring Connector for the Power Supply/ Regenerative Unit (CNA) for details and the procedure.

Controller

Separate by 300 mm or more

Power Supply

IMPORTANT

• The distance between the servomotor main circuit and the encoder cable as well as the I/ O cable and MECHATROLINK-II cable is 300 mm or more.

• Do not bundle or run the servomotor main circuit cable in the same duct with other cables.

• Be sure that the maximum wiring length of the servomotor main circuit cable is 20 m.

Page 37

3.4 Main Circuit Wiring

 Servomotors without Brakes

Connector for servomotor main circuit cable JZSP-CHG9-1 (Is supplied with the servopack.)

Connector provided with servomotor main circuit cable

Motor

Red

White

Blue

Green/Yellow

Phase U Phase V

Phase W

1 2

4 5 6

Servomotor main circuit cable

(for relay)

Green/Yellow

Note: Confirm pin numbers on the connector as well.

Connection Diagram for Standard Servomotor Main Circuit Cable

The connection diagram for the standard cable (JZSP-CHM000- cable with connectors on both ends) is shown below. If the servomotor main circuit cable is prepared by the customer, refer to the diagram below and wire the cable correctly.

Motor end

50 mm

3 4

SERVOPACK end

CNB connector

Connector (crimp type) Receptacle: 5557-06R-210 Terminal: 5556T (Chain) or 5556TL (Loose wires) (Molex Japan Co., Ltd.)

Servomotor End Connector

(Viewed from cable insertion side)

456 123

Phase U Phase V

— —

Lead ColorSignal Name

Red

White

Blue

Green/Yellow

— —

Pin No.

1 2

Phase W

4 5 6

Connect the FG pin to the grounding terminal of the SERVOPACK.

∗:

Shielded wire

M4 crimped terminal

Connector (crimp type) Receptacle: F32FSS-04V-KY Receptacle contact: SF3F-01GF-P2.0 or SF3F-41GF-P2.0 (JST. Mfg. Co., Ltd.)

SERVOPACK End Connector

(Viewed from cable insertion side)

Lead ColorSignal NamePin No.

Phase U

Phase V

Phase W

Crimped terminal

—

∗

Green/Yellow

Red

White

Blue

—

Page 38

3.4 Main Circuit Wiring

 Servomotors with Brakes

Connector for servomotor main circuit cable JZSP-CHG9-1 (Is supplied with the servopack.)

Connector provided with servomotor main circuit cable

Motor

Note: 1. A 24-VDC power supply must be prepared.

2. Connect the varistor in parallel with the 24-VDC power supply terminal and the GND terminal to suppress the surge voltage caused by turning the holding brake ON and OFF.

3. Confirm pin numbers on the connector as well.

4. If using the servomotor to drive a vertical axis, configure a circuit to turn the holding brake ON and OFF so that the movable section will not be pulled down by gravity when the power supply of the SERVOPACK is turned OFF.

5. Turn the holding brake on the secondary side ON and OFF as shown in the figure above. A varistor must be connected.

Red

White

Blue

Green/Yellow

Black

Phase U

Phase V

Phase W

Brake

Servomotor main circuit cable

(for relay)

Green/Yellow

Black

1234

Varistor

CNB connector

Relay

24 VDC

DC power

supply

Page 39

3.4 Main Circuit Wiring

Connection Diagram for Standard Servomotor Main Circuit Cable

The connection diagram for the standard cable (JZSP-CHM030- cable with connectors on both ends) is shown below. If the servomotor main circuit cable is prepared by the customer, refer to the diagram below and wire the cable correctly.

Motor end

Connector (crimp type) Receptacle: 5557-06R-210 Terminal: 5556T (Chain) or 5556TL (Loose wires) (Molex Japan Co., Ltd.)

Servomotor End Connector

(Viewed from cable insertion side)

456 123

Pin No.

1 2

4 5 6

Connect the FG pin to the grounding terminal of the SERVOPACK.

∗1:

2: No polarity for connection to the brake.

∗

Phase U

Phase V

Phase W

FG Brake Brake

Lead ColorSignal Name

Red

White

Blue

Green/Yellow

Black Black

L 50 mm

M4 crimped terminal

Connector (crimp type) Receptacle: F32FSS-04V-KY Receptacle contact: SF3F-01GF-P2.0 or SF3F-41GF-P2.0 (J.S.T. Mfg. Co., Ltd.)

Shielded wire

Crimped terminal Crimped terminal Crimped terminal

SERVOPACK end

SERVOPACK End Connector

(Viewed from cable insertion side)

Lead ColorSignal NamePin No.

—

∗1

∗2 ∗2

Red

White

Blue

—

Green/Yellow

Black Black

Phase U

Phase V

Phase W

FG Brake Brake

Page 40

3.4 Main Circuit Wiring

3.4.4 Wiring the Encoder Connector (CN2)

Controller

Separate by 300 mm or more

Power Supply

IMPORTANT

• Separate the encoder cable at least 300 mm from power lines (i.e., high-voltage lines such as the power supply line and servomotor main circuit cable).

• Do not bundle or run the encode cable in the same duct with power lines.

• Be sure that the maximum wiring length of the encoder cable is 20 m.

 Connection Diagram for Standard Encoder Cable

The connection diagram for the standard cable (JZSP-CHP800- cable with connectors on both ends) is shown below. If the encoder cable is prepared by the customer, refer to the diagram below and wire the cable correctly.

Applicable wires

SERVOPACK end

 Crimp type (Gray) Plug and Cable Cover Set: 54599-1005 Plug Housing: 51209-1001 Crimp Terminals: 59351-8087(Chain) or 59351-8187 (Loose wires) (Molex)

SERVOPACK End Connector T(Viewed from soldered side)

9 7531

Pin No. Signal Name

Shell

1 2 3 4 5 6 7 8

PG5V

PG0V(GND)

Phase A (+) Phase A (-) Phase B (+) Phase B (-)

Phase /Z

Phase U Phase V

Phase W

—

Yellow/White

 Soldered type (Black) Shell Kit: 36310-3200-008 Receptacle: 36210-0100FD (3M)

246810

Lead Color

Red

Black

Blue

Blue/White

Yellow

Purple

Gray

Green

Orange

Shield

Note: Confirm pin numbers on the connector as well.

Motor end

Shield wire

For encoder power supply: AWG22 (0.33 mm For other signal wires: AWG26 (0.12 mm Cable Finished Diameter: φ9 mm max.

Receptacle: 5557-12R-210 Terminals: 5556T2 (Chain) or

5556T2L(Loose wires)

(Molex)

Servomotor End Connector

(Viewed from cable insertion side)

12 11 10 8 79

654321

Lead ColorPin No. Signal Name 1 2 3 4 5 6 7 8

10 11 12

PG5V

PG0V(GND)

Phase A (+)

Phase A (-)

Phase B (+)

Phase B (-)

Phase /Z

Phase U Phase V

Phase W

—

Red

Black

Blue

Blue/White

Yellow

Yellow/White

Purple

Gray

Green

Orange

—

Shield

)

Page 41

3.4.5 Wiring the I/O Signal Connector (CN1)

Controller

Separate by 300 mm or more

Power supply

Note: Do not pull or apply excessive force on the cable. Damage to the cable or con-

nectors may cause the product to stop operating or malfunction.

3.4 Main Circuit Wiring

IMPORTANT

• Separate the I/O cable at least 300 mm from power lines (i.e., high-voltage lines, such as the power supply line and servomotor main circuit cable).

• Be sure that the maximum wiring length of the I/O cable is 3 m.

 Connection Diagram for Standard I/O Cable (Supplied by Yaskawa Electric )

The connection diagram connection diagram for the standard cable (JZSP-CHI003- cable with connector) is shown below. If the I/O signal cable is prepared by the customer, refer to the diagram below and wire the cable correctly.

Host controller endSERVOPACK end

Plug (14P): 10114-6000EL Shell Kit: 10314-52A0-008

Applicable Wires:

SERVOPACK Connector (Plug) (Viewed from soldered side)

8 9 10 11 13 1412

5432761

(φ5.6)

AWG24 (0.2 mm AWG26 (0.12 mm AWG28 (0.08 mm

I/O Code Signal Name Lead

No.

1 Input /EXT1 External_Latch Orange 1 Black

2 Input /DEC Homing Decelaration Red

3 Input N-OT Reverse run prohibit Light gray Black

4 Input P-OT1 Forward run prohibit Red

5 Input +24VIN External input power supply White Black

6 Input E-STP Emergency stop Red

7 Output SG-COM Output signal ground Yellow Black

8 Red

9 Pink Black

10 Red

11 Orange 2 Black

12 Output ALM Servo alarm Red

13 Output /BK Brake Light gray Black

14 Red

Shell −− FG −−

Color

)

2 2

) )

Number Color

Dot Mark

Page 42

3.4 Main Circuit Wiring

Note: Confirm pin numbers given on the connector as well.

 Connection Diagram and Description for the General-purpose control cables

(R7A-CPZ@@@S) supplied by OMRON Company.

A General-purpose Control Cable connects to the Servo Driver’s Control I/O Connector (CN1). There is no connector on the controller end. Wire a connector to match the controller if you are connecting to a Position Control Unit and a compatible cable is not available, or if the drive is connected to a controller manufactured by another company.

 Cable Models

Model Length (L) Outer Diameter of the

R7A-CPZ001S 1 m R7A-CPZ002S 2m

cable

5,6 mm Approx. 0.1 kg 5,6 mm Approx. 0.2 kg

Weight

 Connection Configuration and Dimensions

Controller end Servo Driver end

 Wiring

No. Wire Color/Mark Color Signal Name 1 Orange/Red (-) 2 Orange/Black (-) 3 Gray/Red (-) 4 Gray/Black (-) 5 White/Red (-) 6 Yellow/Black (-) 7 White/Black (-) 8 Pink/Red (-) 9 Pink/Black (-) 10 Orange/Red (--) 11 Orange/Black (--) 12 Gray/Red (--) 13 Gray/Black (--) 14 Yellow/Red (-)

Connector plug: 10114-3000VE (Sumitomo 3M) Connector case: 10314-52A0-008 (Sumitomo 3M) Wires with the same wire color and the same number of marks are twisted pairs

/EXT1 External Latch

/DEC Homing Deceleration N-OT Reverse run prohibited P-OT Forward run prohibited

+24VIN

RUN

OGND

/ALM BKIR

Page 43

 Connector Pin Arrangement

3.4 Main Circuit Wiring

2 4 6

1 3 5 7

9 11 13

10 12

3.4.6 Wiring the MECHATROLINK-II Communication Connectors (CN6A and CN6B)

 Number of Stations

A maximum of 30 slave stations can be connected when a repeater is connected. The maximum number of slave stations that can be connected is determined by the MECHATROLINK-II communications settings. Refer to 3.8 Setting MECHATROLINK-II Communications for details.

 Communication Cables

Use the cables specified in the table below.

Ty pe Model Length

MECHATROLINK Communication Cable (with connectors at both ends, without ferrite core)

MECHATROLINK Communication Cable (with connectors at both ends, with ferrite core)

 Cable Length

The total cable length must be 50 m max. The cable length between stations must be 0.5 m min.

 Terminator

Install a terminator on the SERVOPACK connected at the end of communication cable.

JEPMC-W6002- Specify the length in . JEPMC-W6002--E

(Compliant with RoHS Directive)

JEPMC-W6003- JEPMC-W6003--E

(Compliant with RoHS Directive)

Refer to Page 31 for details.

Ter m in a t or Ty p e Connector Type

MECHATROLINK-II Terminator JEMPC-W6022

JEMPC-W6022-E (Compliant with RoHS Directive)

Page 44

3.4 Main Circuit Wiring

L1+L2+···+Ln O 50 m Cable length between stations: 0.5 m min. Max. number of slaves: 30 (with repeaters connected)

CJ1 series Position control unit

CJ1W-NCF71

LnL1 L2

SERVOPACK SERVOPACK SERVOPACK

Terminator

IMPORTANT

Keep a distance 300 mm min. between power lines (high-voltage circuit such as power supply line and servomotor main circuit cable) and MECHATROLINK-II cable.

Page 45

3.4.7 Wiring the Personal Computer Connector (CN9)

Prepare the specified cable to connect the SERVOPACK to a personal computer.

 Communication Cable

Use the specified twisted-pare and shielded twisted cable.

Ty pe Model Length

Personal Computer Cable

JZSP-CPS00-02

 Applicable Wires (Tin coated annealed copper wires)

Conductor Size

(Configuration of

exposed wire) AWG24 (0.16 mm) AWG26 (0.16 mm) AWG28 (0.127 mm)

Sheath Outer Diameter

φ0.9 to φ1,45 mm

 Recommended Wires

UL1061 and UL1007

 Cable Configuration

Remove the sheath to 1.7 to 2.3 mm from the cable configuration.

 Cable Form

D-sub connector 17JE-13090-02 (D8A) Manufactured by DDK, Ltd.

Cable

2 m

Connector Socket: DF11-4DS-2C Terminals: DF11-2428SCF Manufactured by Hirose Electric Co., Ltd.

3.4 Main Circuit Wiring

2 × M2.6 screws

 Connector Specifications

SJDE SERVOPACK End

Signal Pin No. Pin No. Signal

/TXD 1 2 RXD /RXD 2 3 TXD

GND 3 5 GND GND 4 7 RTS

Label

Heat shrinkable tube

Shielded wire

DOS/V (PC/AT compatible)

Personal Computer End

(D-SUB 9pin)

8 CTS

Case FG

Page 46

3.5 Connection Examples of Input Signal

 Connection Examples

Input current is 7 mA per point.

AVR 2

24VDC

Powe r

Supply

+24V 0V

IMPORTANT

Host Controller SERVOPACK

24VIN

/EXT1

Emergency

Stop

Shield wire

E-STP

/DEC

N-OT

P-OT

CN1

Photocoupler

3.3kΩ

∗ Twisted-pair wires

Prepare an external 24-VDC power supply. The 24-VDC power supply is not built into the SERVOPACK.

• Specifications of the external power supply for sequence input signals: 24 VDC ± 1 V, 50 mA min.

The same power supply as that of the output circuit should be used.

Page 47

3.6 Connection Example of Output Signal

Set the load so that the output current will fall within 50 mA or less.

Photocoupler output (Per output signal)

 Max. voltage: 30 VDC  Max. current: 50 m ADC

24 VDC

Load

Power Supply

+24V 0V

SERVOPACK

CN1

ALM

/BK

SG-COM

Load

Page 48

3.7 I/O Signals

3.7.1 Homing Deceleration Signal Input

The usual connection for homing deceleration signal /DEC is shown below. A deceleration signal is input when the homing function (ZRET command) of MECHATROLINK-II communications specifications is used.

24-VDC

power supply

24V

+24VIN

/DEC

Signal Name Signal Function

Homing Deceleration Signal Input

/DEC ON (low level) The signal turns ON.

OFF (high level) The signal turns OFF.

3.7.2 External Latch Signal Input

The usual connection for external latch signal input /EXT1 is shown below. This input signal is used for the homing (ZRET command) and the external signal input positioning (EX_POSING) functions of MECHATROLINK-II communications specifications.

24-VDC

power supply

24V

+24VIN

CN1-5

CN1-2

CN1-5

SERVOPACK

3.3 kΩ

7 mA

SERVOPACK

Photocoupler

/EXT1

Signal Name Signal Function

External Latch Signal Input

/EXT1 ON (low level) The external signal is ON.

OFF (high level) The external signal is OFF.

CN1-1

3.3 kΩ

7 mA

Page 49

3.7 I/O Signals

3.7.3 Emergency Stop Signal Input

The usual connection for emergency stop signal input E-STP is shown below. When the signal turns OFF while the servomotor is rotating, the servomotor will be stopped by the dynamic brake.

WARNING

• Use the emergency stop signal input E-STP to forcibly turn OFF the servo from an external sequence, such as host controller, at occurrence of servo alarm or system emergency stop.

• When executing the JOG operation and the home position search operation using CX-Drive, the ESTP signal will be ignored. Alternative measures must be taken in case an emergency stop is needed.

Note: For the emergency stop signal, the SERVOPACK processing for stopping is exe-

cuted by the software. As the safety specifications of some applications may not satisfy local safety requirements, add external safety circuits as required.

24-VDC

power supply

24V

+24VIN

Emergency stop

E-STP

CN1-5

CN1-6

SERVOPACK

Photocoupler

3.3 kΩ

7 mA

Signal Name Signal Function

Emergency Stop Signal Input

• The command warning 1 (A.95A) will occur if a SV_ON command is sent while the SERVOPACK is in emergency stop status.

• The emergency stop alarm (A.280) will occur if the emergency stop signal turns ON while the power is being supplied to the servomotor.

E-STP ON (low level) Releases the emergency stop.

OFF (high level) Emergency stop (Forced servo OFF)

Page 50

3.7 I/O Signals

 Sequence at Occurrence of Emergency Stop

WARNING

• Configure the circuit’s power supply to be automatically cut off if E-STP signal is OFF at occurrence of emergency stop.

The residual voltage rotates the servomotor for a few seconds after the power supply has been turned OFF, and may result in injury or damage to the equipment. Position information is not stored in the SERVOPACK, so this information will be lost if the power supply is turned OFF. This information cannot be read again if the power supply is turned OFF.

IMPORTANT

• Do not frequently start or stop the servomotor by turning ON or OFF the power supply or by using the servo ON (SV-ON) or servo OFF (SV-OFF) signal. Failure to observe this warning will cause deterioration of the SERVOPACK internal element.

Power supply Single-phase 200 VAC to 230VAC 50/60 Hz

Noise Filter

24 VDC

Servo power ON

MC1

Servo power OFF

MC1

Emergency stop

CNA

1 (L1)

2 (L2)

CN1

5 (+24VIN)

6 (E-STP)

MC1

SUP

SERVOPACK

Set the following parameter to disable the emergency stop input signal if it is absolutely necessary.

Parameter Descriptions

Pn 515 n.4 Emergency stop when CN1-6 input signal is OFF (H-level) (factory set-

ting)

n.8 Always sets the input signal ON to disable the emergency stop.

Page 51

3.7 I/O Signals

3.7.4 Forward/Reverse Run Prohibited Inputs (Overtravel Inputs)

WARNING

• When executing JOG operation and the home position search operation using CX-Drive, the P-OT and N-OT signals will be ignored. Alternative measures must be taken in case of overtravel.

The usual connection for forward/reverse run prohibited inputs P-OT and N-OT is shown below. Connect these signals to limit switches to forcibly stop the servomotor when the machine movable part travels beyond the allowable motion range. The servomotor will decelerate to a stop, and then the zero clamp is performed. The maximum torque during deceleration to a stop will be the servomotor maximum torque.

Note: For forward/reverse run prohibited inputs, the SERVOPACK processing for stop-

ping is executed by the software. As the safety specifications of some applications may not satisfy local safety requirements, add external safety circuits as required.

24-VDC

power supply

24V

+24VIN

P-OT

N-OT

SERVOPACK

CN1-5

3.3 k

CN1-4

3.3 k

CN1-3

Photocoupler

7 mA

Photocoupler

7 mA

Signal Name Signal Function Forward Run

Prohibited Input

Reverse Run

Prohibited Input

P-OT

N-OT

ON at low (L) level Forward run allowed (normal status) OFF at high (H) level Forward run prohibited (reverse run is

ON at low (L) level Reverse run allowed (normal status) OFF at high (H) level Reverse run prohibited (forward run is

 Related Parameters

Parameter Descriptions

Pn.50A

Pn.50B

n.2 n.8 n.4 n.4

Forward run permitted when CN1-4 input signal is ON (L level) Always forward run allowed Reverse run permitted when CN1-3 input signal is ON (L level) Always reverse run allowed

allowed)

Page 52

3.7 I/O Signals

3.7.5 Servo Alarm Output

The usual connection for alarm related output signals is shown below. These signal is output when the SERVOPACK detects an error.

24-VDC power supply

+24V

Photocoupler output

Max. operating voltage: 30 VDC per output Max. output current: 50 mA DC per output

SERVOPACK

Photocoupler

CN1-12

50 mA max.

CN1-7

ALM

SG-COM

A 24-VDC power supply must be connected externally.

Signal Name Signal/Meaning Function

Servo Alarm Outputs ALM Servo alarm output Normal status when ON (close)

SG-COM Output signal ground

Note: Open collector outputs are used for output signals.

• At alarm occurrence, an alarm code is output to the host controller through MECHATROLINK-II transmission. Take care that the SERVOPACK power supply is not turned OFF when the alarm output signal turns ON.

• Configure the system so that the SERVOPACK power supply is turned OFF by the contact signal between C1 and C2 of the regenerative unit or the contact signal of the thermometal cut-out for the external resistor. The power supply must be turned OFF and the emergency stop input signal must be open when using the system emergency stop.

Alarm output when OFF (open)

3.7.6 Brake Interlock Output

The usual connection for brake interlock signal /BK is shown below. These signal turns ON when the servo turns ON, and OFF when the servo turns OFF. They are used to control the brake. The brake can also be released by sending a release brake (BRK_OFF) command using MECHATROLINK-II communications.

24-VDC power supply

+24V

Photocoupler output

Max. operating voltage: 30 VDC per output Max. output current: 50 mA DC

SERVOPACK

Photocoupler

CN1-13

50 mA max.

CN1-7

/BK

SG-COM

Signal Name Signal/Meaning Function

Brake Interlock Output

/BK Brake interlock output Releases the brake when ON (close) SG-COM Output signal ground

Applies the brake when OFF (open)

Page 53

 /BK Signal Timing

When the servo is turned OFF while the servomotor stops.

Servo OFF (SV_OFF) command

Brake (/BK)

Servo ON Servo OFF

Brake ONBrake OFF

3.7 I/O Signals

Motor power

Motor power ON

Motor power OFF

Approx. 130 ms

When the servo is turned OFF while the servomotor is running.

Servo OFF (SV_OFF) command

Motor speed

-1

)

(min

Approx. 100 min

Brake (/BK)

/BK Signal Output Conditions While the Servomotor is Rotating /BK signal turns ON when either of the following is satisfied.

· The servomotor speed decreases to a value 100 min

· 500 ms elapses after the servo has been turned OFF.

-1

Servo ON

Servo OFF

Brake ONBrake OFF

Approx. 500 ms

-1

or less after the servo has turned OFF.

Page 54

3.8 Setting MECHATROLINK-II Communications

3.8.1 MECHATROLINK-II Communications

 Outline

MECHATROLINK-II is a field network that makes it possible for one factory automation controller (C1 master station) to control decentralized multiple factory automation devices (slave stations) such as servo drives, inverters, and I/O modules.

 Configuration

• Bus connection with one C1 master station and a maximum of 30 slave stations

• Install terminators at both ends of the network cable to reduce signal reflection.

• Connect repeaters for a network with a total distance exceeding 30 m, regardless of whether the number of slaves is 17 or more or 16 or less.

C1 Master station

(FA controller)

Slave station

(FA device)

#1 #2 #30

Slave station

(FA device)

Slave station

(FA device)

3.8.2 Wiring Specifications

 Terminators

Install terminators at both ends of the network cable to reduce signal reflection, some Mechatrolink controllers already have a terminating resistor built-in.

Model External Appearance

JEPMC-W6022

JEPMC-W6022-E (Compliant with RoHS Directive)

 Repeaters

A repeater is needed in the network, when the total distance between stations exceeds 30 m, or when the number of slave stations is 17 or more.

Ty pe External Appearance

JEPMC-REP2000

Page 55

Repeater Connection Example

Master side network distance

3.8 Setting MECHATROLINK-II Communications

Total distance

Total extended distance

C1 Master station

Slave station

Master side network Extended network

Slave station#mRepeater Slave station

#m+1

Slave station

#n-1

Slave station

3.8.3 Setting Communications Specifications

 Setting Transmission Bytes

The SW2 bit 2 switch sets the MECHATROLINK-II transmission bytes, as shown below. Settings that have been changed are enabled when the power is turned OFF and ON.

SW1 (factory setting) SW2 (factory setting)

SW2 Name Setting Description Factory

Bit 1 Reserved

Bit 2 Transmission bytes

Bit 3 Station address

Bit 4 Selection of filter

setting method

OFF

1234

OFF

Do not set Fixed 17 bytes 32 bytes Station address = 40H+SW1 Station address = 50H+SW1 Sets by using the FIL rotary switch (invalid

setting by Pn00A). Sets by Pn00A (invalid setting by using the

FIL rotary switch).

Setting

OFF

 Setting Station Address

The SW1 and SW2 bit 3 switches set the MECHATROLINK-II station address.

SW2 Bit 3 Station Address

OFF 40H + SW1

ON 50H + SW1

Page 56

3.8 Setting MECHATROLINK-II Communications

3.8.4 Transmission Cycle and Number of Stations

The transmission cycle and number of stations that can be set with the SERVOPACK are shown below.

Transmission Bytes Transmission Cycle

1.0 ms 17 14 32 8

Note: 1. If connecting more than 16 stations, use the repeater.

2. The number of stations indicated in the above table is the maximum number of stations that can be connected through MECHATROLINK communications. The actual number of stations may differ depending on the Machine Controller. Refer to the relevant Machine Controller’s manual.

1.5 ms 2.0 ms 3.0 ms 4.0 ms 23 30 30 30 14 20 30 30

3.8.5 MECHATROLINK-II Communications Status Indicator COM LED

The LED indicator COM (green) on the front of SERVOPACK lights up when MECHATROLINK-II communications with the host controller is established.

Status Indicator LED SERVOPACK Operation Status

Standby for establishment of communications

COM ALM RDY

2 seconds after the power turns ON

COM ALM RDY

COM

COM ALM RDY

: Unlit

: Lit

: Blinking

MECHATROLINK-II communications are busy.

Servo ON status (Power is being supplied)

Page 57

4.1 Lists of Commands

4 MECHATROLINK-II Commands

4.1 Lists of Commands

4.1.1 Main Commands List

The MECHATROLINK-II main commands are classified into three types: Common commands, common motion commands, and servo standard commands.

Classifica-

tions

Common Commands

Common Motion Commands

Command Code

0DH SYNC_SET Start Synchro-

1CH PPRM_WR Write Stored

Command

Name

00H NOP No Operation N Asynchro-

01H PRM_RD Read Parameter D Asynchro-

02H PRM_WR Write Parameter D Asynchro-

03H ID_RD Read ID D Asynchro-

04H CONFIG Setup Device C Asynchro-

05H ALM_RD Read Alarm or

06H ALM_CLR Clear alarm or

0EH CONNECT Establish Con-

0FH DISCON-

NECT

20H POS_SET Set Coordinates D Asynchro-

21H BRK_ON Apply Brake C Asynchro-

22H BRK_OFF Release Brake C Asynchro-

23H SENS_ON Turn Sensor ON C Asynchro-

24H SENS_OFF Turn Sensor OFF C Asynchro-

25H HOLD Stop Motion M Asynchro-

Functions Process-

ing Classi-

Warning

warning

nous Communication

nection Release Discon-

nection

Parameter

Synchroni-

fications

D Asynchro-

C Asynchro-

N Asynchro-

D Asynchro-

zation Clas-

sifications

nous

Subcom-

mand

Can be used

Cannot be used

Can be used

Remarks

Page 58

4.1 Lists of Commands

Classifica-

tions

Common Motion Commands

Servo Standard Commands

<Processing Classifications> N: Network command D: Data communication command C: Control command M: Motion command X: Compound command

Command

Code

28H LTMOD_ON Request Latch

29H LTMOD_

30H SMON Status Monitoring D Asynchro-

31H SV_ON Servo ON C Asynchro-

32H SV_OFF Servo OFF C Asynchro-

34H INTERPO-

35H POSING Positioning M Asynchro-

36H FEED Constant Speed

38H LATCH Interpolation

39H EX_

3AH ZRET Homing M Asynchro-

3EH ADJ Adjustment D Asynchro-

Command

Name

OFF

LATE

POSING

Functions Process-

Mode Release Latch

Mode

Interpolation Feed

Feed

Feeding with Position Detection

External Input Positioning

ing Classi-

fications

C Asynchro-

M Synchro-

M Asynchro-

M Synchro-

Synchroni-

zation Clas-

sifications

nous

Subcom-

mand

Cannot be used

Can be used

Cannot be used

Remarks

IMPORTANT

If an unsupported command is received, the warning A.95b will occur, and the command will be ignored.

The servo is not OFF and the servomotor is not stopped if an unsupported command is received.

Page 59

4.1.2 Subcommands List

4.1 Lists of Commands

Command

Code 00H NOP No Operation 01H PRM_RD Read Parameter 02H PRM_WR Write Parameter 05H ALM_RD Read Alarm or Warning 1CH PPRM_WR Write Stored Parameter 28H LTMOD_ON Request Latch Mode 29H LTMOD_OFF Release Latch Mode 30H SMON Status Monitoring

Command

Name

Functions Remarks

Page 60

4.2 Main Commands

The following sections describe main command specific items that are unique to the SJDE-ANA- OY. The MECHATROLINK-II main commands use the first to the sixteenth bytes of the command and response data.

4.2.1 Communication Phases

The table below shows the relationship between communication phases and device-level operations in the MECHATROLINK-II during normal operations. The C1 master station phases described here indicate the communication state of the C1 master station in relation to the slave stations, but do not indicate the state of the C1 master station device.

Relationship between Communication Phase and Device level Operation

C1 Master Station Phase Transition between

Phase Device Operation Command Device Operation Phase

0 Power ON - Power ON 0

C1 Master and Slave Stations

Slave Station

1 Initialization state CONNECT Prepared for

2, 3 Normal operation

state

4 Operate

communication

5 Power OFF - Power OFF 5

Normal operation commands

DISCONNECT

CONNECT

Normal operation state

Stop communication

2, 3

Page 61

4.2 Main Commands

 Descriptions

The communication state of the C master station in each phase is explained.

Phase 0

When the C1 master and slave stations are turned ON, operation switches to phase 1.

Phase 1

The C1 master station completes the internal initialization including the communication system, and confirms the response state of all the connected slave stations that have no error. Then, the C1 master station sends a CONNECT command to all the connected slave stations to establish communication. The slave station completes the internal initialization including the communication system, and then awaits the CONNECT command.

The slave station establishes the communication with the C1 master station and then switches to the phase specified by command.

Phase 2 (Asynchronous Communication Phase)

The C1 master station uses only asynchronous commands supported by MECHATROLINK-II-compatible devices to exchange data needed for the operation and control of the devices. The timing for the execution of each command is controlled by the C1 master station.

The slave stations exchange data and the control of devices by the commands sent from the C1 master station. The transition to phase 3 or phase 4 is performed by commands from the C1 master station to the slave stations.

Phase 3 (Synchronous Communication Phase)

The C1 master station can use all commands supported by MECHATROLINK-II-compatible devices to exchange data needed for the operation and control of devices. Each command is updated in a constant cycle (communication cycle) and its timing for the execution is controlled by the C1 master station.

The slave stations exchange data and the control of devices by the commands sent from the C1 master station. If there are any errors in communication synchronization, the slave station automatically switches to phase 2. Synchronous communication is started again by sending SYNC_SET command from the C1 master station.

Phase 4

If the C1 master station is turned OFF, the C1 master station sends a DISCONNECT command to all slave stations. The DISCONNECT command is also sent to any slave stations involved if there is a need to change the system configuration.

When the slave station receives the DISCONNECT command from the C1 master station, they execute the reinitialization processing and then shift to connection wait state (phase 1).

Phase 5

When the C1 master and slave stations are turned OFF, they switch to phase 5. The following two state changes depend on which station is turned OFF first.

• C1 Master Station Turned OFF First The C1 master station sends the DISCONNECT command to all slave stations before turning OFF the power supply (Recommended Sequence). A slave station receiving this command executes the reinitialization processing and then switches to connection wait state (phase 1). When the DISCONNECT command has not been sent, or has not been received by the slave station, the slave station detects a communication error and shifts to an alarm state.

• Slave Station Turned OFF First After the C1 master station sends the DISCONNECT command to the slave station to be turned OFF, the power supply of the slave station is turned OFF (Recommended Sequence). The slave station receiving the command executes the necessary initialization processing and then switches to connection wait state (phase 1). If a slave station is turned OFF without using the above procedure, the C1 master station detects a communication error. The operations in alarm state and recovery from alarm state depend on the specifications of the device or application.

Page 62

4.2 Main Commands

4.2.2 No Operation (NOP: 00H)

Byte NOP Description

Command Response

1 00H 00H

2 − ALARM

3 STATUS • Returns the status of the ALM, WARNG, and CMDRDY in STATUS 4 5 − 6 7 8

9 10 11 12 13 14 15 16 WDT RWDT 17 For sub-

commands.

18 19 20 21 22 23 24 25 26 27 28 29

For subcommands.

Processing classifications

Processing time Within transmis-

bytes only. All other bits are not used. The response will be NOP when the power is turned ON until initialization has been completed, and during this time, the following status will be returned: CMDRDY: 0.

• Can be used during any phase.

Network command group

sion cycle

Synchronization classifications

Subcommand Can be used

Asynchronous

Page 63

4.2 Main Commands

4.2.3 Read Parameter (PRM_RD: 01H)

Byte PRM_RD Description

Command Response

101H 01H

2 − ALARM 3 STATUS • Reads current operating parameters. The latest set value, however, is 4 5NO NO 6 7 SIZE SIZE 8 − PA R AM E -

9 10 11 12 13 14 15 16 WDT RWDT

TER

Processing classifications

Processing time 100 ms Subcommand Cannot be used

read for offline parameters. (The set value is enabled with the Setup Device command (CONFIG).)

• A warning will occur and the command will be ignored in the following cases. If a warning occurs, PARAMETER will not be dependable.

-If NO is not within range: Data setting warning 1 (A.94A)

-If SIZE does not match: Data setting warning 4 (A.94D)

• For details on NO and SIZE, refer to 7.2 List of Parameters.

Data communications command group

Synchronization classifications

Asynchronous

Page 64

4.2 Main Commands

4.2.4 Write Parameter (PRM_WR: 02H)

Byte PRM_WR Description

Command Response

1 02H 02H

2 − ALARM 3 STATUS • Writes a parameter and does not store them in non-volatile memory. 4 5NO NO 6 7 SIZE SIZE 8 PARAME-

TER

9 10 11 12 13 14 15 16 WDT RWDT

PA R AM E -

TER

Processing classifications

Processing time 100 ms Subcommand Cannot be used

A written parameter is enabled with the Setup Device command (CONFIG) transmission after setting.

• Can be used during phases 2 and 3.

• A warning will occur and the command will be ignored in the following cases.

-If a parameter is changed mid-operation with CX-Drive: Command warning 1 (A.95A)

-If NO is not within range: Data setting warning 1 (A.94A)

-If SIZE does not match: Data setting warning 4 (A.94D)

-If PARAMETER is not within range: Data setting warning 2 (A.94B)

For details on NO, SIZE, and PARAMETER, refer to 7.2 List of Parame- ters.

Data communications command group

Synchronization classifications

Asynchronous

Page 65

4.2 Main Commands

4.2.5 Read ID (ID_RD: 03H)

Byte ID_RD Description

Command Response

103H 03H

2 − ALARM

3 STATUS • Reads the ID. The corresponding DEVICE_CODE is shown in the table 4 5 DEVICE_

CODE 6 OFFSET OFFSET 7 SIZE SIZE 8 − ID 9

10 11 12 13 14 15 16 WDT RWDT

DEVICE_

CODE

Processing classifications

Processing time Within commu-

below.

Data communications command group

nication cycle

Synchronization classifications

Subcommand Cannot be used

Asynchronous

 Details of DEVICE_CODE

Type/Name OFFSET

SERVOPACK Model

Software

Encoder Software Ver.

Motor Model

Reserved

Note: 1. Model numbers appear in ASCII code, with the last section as “00.”

2. Spaces indicate unspecified data.

3. The version number of the encoder software is set to 00 (binary) and cannot be changed.

* 1. Rated output. * 2. : Power supply voltage specifications.

DEVICE_ CODE

00H S J D E

02H Ver.

Ver .

12H Ver. 20H * * * * * 00 50H 52H

00 01 02 03 04 05 06 07 08 09 0A

∗1∗1∗

NA00

Page 66

4.2 Main Commands

4.2.6 Setup Device (CONFIG: 04H)

Byte CONFIG Description

Command Response

1 04H 04H

2 − ALARM

3 STATUS • Recalculates all currently set parameters and initializes positions, output 4 5 − 6 7 8

9 10 11 12 13 14 15 16 WDT RWDT

* +α is setting of the Brake reference-Servo off delay time.

 Status and Output Signal during CONFIG Command Execution

Status and

Output Signal ALM (status) Current status Current status Current status CMDRDY (status) 1 0 1 Other status Current status Not specified Current status ALARM (code) Alarms currently

ALM (CN1 output signal)

Other output signals Current status Not specified Current status

Processing classifications

Processing time

signals, etc.

• Can be used during phases 2 and 3.

• The SERVOPACK will change to Servo OFF if this command is received when the SERVOPACK is Servo ON.

• A warning will occur and the command will be ignored in the following cases.

-If parameters are changed mid-operation with CX-Drive: Command warning 1 (A.95A)

Before CONFIG During CONFIG After CONFIG

occurred Current status Current status Current status

Control command group

Within 4 s + α

Alarms currently occurred

∗

Synchronization classifications

Subcommand Cannot be used

Asynchronous

Alarms currently occurred

Page 67

4.2 Main Commands

4.2.7 Read Alarm or Warning (ALM_RD: 05H)

Byte ALM_RD Description

Command Response

1 05H 05H

2 − ALARM

3 STATUS • Reads the following alarm or warning status. 4 5 ALM_RD_

MOD 6 − ALM_DATA 7 8 9

10 11 12 13 14 15 16 WDT RWDT

* Alarm occurrence history is saved in non-volatile memory, and will not be lost if power goes OFF.

ALM_RD_

MOD

Processing classifications

Processing time Refer to

-Current alarm/warning status

-Alarm status history* (warning history is not preserved.)

• The ALM_RD_MOD specifications are shown in the following table.

• Alarm and warning codes are set in ALM_DATA from byte 6 in their order of detection, and 0 is set in the bytes that are blank in the table. Accordingly, the data in byte 6 is for the latest alarm or warning codes.

• A warning will occur and the command will be ignored in the following cases.

-If ALM_RD_MOD is not within range: Data setting warning 2 (A.94B)

 Details of ALM_RD_MOD

ALM_RD_MOD Description Processing Time

0 Read current alarm/warning status

1 Read alarm status history

2 Gets the detailed information of current alarm or warning one by one.

3 Gets the detailed information of alarm status history one by one.

10 items max. (sixth to fifteenth byte)

10 items max. (sixth to fifteenth byte) (Warning history is not preserved.)

Set the occurrence order from 0 (the latest) to 9 for the alarm index.

Byte

7-8

Set the occurrence order from 0 (the latest) to 9 for the alarm index.

Byte

7-8

Command

Alarm index

Command

Alarm index

Data communications command group

 Details of ALM_RD_MOD.

Response

Alarm index

Alarm code

Response

Alarm index

Alarm code

Synchronization classifications

Subcommand Cannot be used

Asynchronous

Within communication cycle

Within 60 ms

Within 12 ms

Page 68

4.2 Main Commands

Each alarm code of the JUNMA-series SERVOPACK is 2-byte long. The data format of alarm code is as follows.

D15-D12 D11-D4 D3-D0

Reserved (0) Alarm code Detailed information

Note: 1. When ALM_RD_MOD = 0 or 1, the alarm code (1-byte long) is returned.

2. When ALM_RD_MOD = 2 or 3, the alarm code (2-byte long) is returned.

4.2.8 Clear Alarm or Warning (ALM_CLR: 06H)

Byte ALM_CLR Description

Command Response

1 06H 06H

2 − ALARM

3 STATUS • Clears the following alarm or warning status. 4 5 ALM_CLR_

MOD 6 −− 7 8 9

10 11 12 13 14 15 16 WDT RWDT

* Alarm occurrence history is saved in non-volatile memory, and will not be lost if power goes OFF.

ALM_CLR_

MOD

 Details of ALM_CLR_MOD

ALM_CLR_MOD Description Processing Time

0 Clear current alarm/warning status Within 200 ms 1 Clear alarm status history Within 2 s

Processing classifications

Processing time Refer to

-Current alarm/warning status

-Alarm status history * (warning history is not preserved.)

• The ALM_CLR_MOD specifications are shown in the following table.

• A warning will occur and the command will be ignored in the following cases.

-If parameters are changed mid-operation with CX-Drive: Command warning 1 (A.95A)

-If ALM_CLR_MOD is not within range: Data setting warning 2 (A.94B)

Control command group

 Details of ALM_CLR_MO D

Synchronization classifications

Subcommand Cannot be used

Asynchronous

Page 69

4.2 Main Commands

4.2.9 Start Synchronous Communication (SYNC_SET: 0DH)

Byte SYNC_SET Description

Command Response

10DH 0DH

2 − ALARM

3 STATUS • Starts synchronous communications. Switches from phase 2 to phase 4 5 − 6 7 8

9 10 11 12 13 14 15 16 WDT RWDT

Processing classifications

Processing time Transmission

• Synchronization is established as values of each WDT in command and response is detected.

• During phase 3, the command will be ignored (without a warning).

• During Servo ON in phase 2, the SERVOPACK will change to Servo OFF if this command is received.

• At the occurrence of the following alarms, this command must be transmitted to restart synchronous communications.

-MECHATROLINK-II Synchronization Error (A.E50)

-MECHATROLINK-II Synchronization Failure (A.E51)

-MECHATROLINK-II Communications Error (A.E60)

-MECHATROLINK-II Transmission Cycle Error (A.E61)

• In the following case, a warning will occur and the command will be ignored.

-During operation using CX-Drive: Command warning 1 (A.95A)

Network command group

cycle or more

Synchronization classifications

Subcommand Cannot be used

Asynchronous

Page 70

4.2 Main Commands

4.2.10 Establish Connection (CONNECT: 0EH)

Byte CONNECT Description

Command Response

10EH 0EH

2 − ALARM

3 STATUS • Establishes a MECHATROLINK-II connection. Sets the communications 4 5 VER VER 6 COM_MOD COM_MOD 7COM_TIMCOM_TIM 8 −−

9 10 11 12 13 14 15 16 WDT RWDT

Processing classifications

Processing time Communica-

mode according to COM_MOD.

• VER: Version

• Set VER to 21H (Ver. 2.1).

• COM_MOD: Communications mode. Refer to the following table.

• COM_TIM: Communications cycle Set the multiple number of transmission cycle in the range of 1 to 32. 1 [ms] ≤ transmission cycle [ms] × COM_TIM ≤ 32 [ms]

• A warning will occur and the command will be ignored in the following cases.

-If COM_MOD is not within range: Data setting warning 2 (A.94B)

-If COM_TIM is not within range: Data setting warning 2 (A.94B)

-If the transmission bytes is 17, and SUBCMD is 1: Data setting warning 2 (A.94B)

-If VER is not equal to 21H in the MECHATROLINK communications mode: Data setting warning 2 (A.94B)

-During operation using CX-Drive: Command warning 1 (A.95A)

• The only commands that will be accepted are CONNECT, DISCONNECT, and NOP. If any other command is issued, NOP will be sent as a response.

Network command group

tions cycle or more

Synchronization classifications

Subcommand Cannot be used

Asynchronous

 Details of COM_MOD

D7 D6 D5 D4 D3 D2 D1 D0

SUBCMD −−− DTMOD SYNCMOD −

• SYNCMOD: 0: Asynchronous communication (Transition to phase 2) 1: Synchronous communication (Transition to phase 3)

• DTMOD: Data transfer method 00, 11: Single transfer 01: Consecutive transfer

• SUBCMD: 0: Subcommand not used 1: Subcommand used

• Set the 0 in the other bits.

Warning/alarm

Phase 1

Phase 2

SYNC_SET

Phase 3

SYNCMOD=0

SYNCMOD=1

Page 71

4.2 Main Commands

4.2.11 Release Connection (DISCONNECT: 0FH)

Byte DISCONNECT Description

Command Response

10FH 0FH

2 − ALARM

3 STATUS • Releases the MECHATROLINK-II connection. The SERVOPACK 4 5 − 6 7 8

9 10 11 12 13 14 15 16 WDT RWDT

Processing classifications

Processing time Communica-

changes communication to phase 1.

• Can be used during any phase.

• When this command is received, the following operations will be performed.

-The SERVOPACK changes communication to phase 1.

-The SERVOPACK changes to Servo OFF.

-The reference point setting will become invalid.

-The position data will be initialized.

Network command group

tions cycle or more

Synchronization classifications

Subcommand Cannot be used

Asynchronous

4.2.12 Write Stored Parameter (PPRM_WR: 1CH)

Byte PPRM_WR Description

Command Response

11CH 1CH

2 − ALARM 3 STATUS • Saves a parameter in non-volatile memory. If a parameter is online 4 5NO NO 6 7 SIZE SIZE 8 PARAME-

TER

9 10 11 12 13 14 15 16 WDT RWDT

PA RA M E -

TER

Processing classifications

Processing time Within 200 ms Subcommand Cannot be used

parameters, those parameters will become effective. Offline parameters are enabled with the Set Up Device command (CONFIG) transmission communication after setting.

• Can be used during phases 2 and 3.

• A warning will occur and the command will be ignored in the following cases.

-If parameters are changed mid-operation with CX-Drive: Command warning 1 (A.95A)

-If NO is not within range: Data setting warning1 (A.94A)

-If SIZE does not match:Data setting warning 4 (A.94D)

-If PARAMETER is not within range: Data setting warning 2 (A.94B)

• For details on NO, SIZE and PARAMETER, refer to 7.2 List of Parame- ters.

Data communications command group

Synchronization classifications

Asynchronous

Page 72

4.2 Main Commands

4.2.13 Set Coordinates (POS_SET: 20H)

Byte POS_SET Description

Command Response

1 20H 20H

2 − ALARM

3 STATUS • Sets coordinates. REFE can also enable home position (ZPOINT) and 4 5 PS_SUBCMDPS_SUBC

6 POS_DATA POS_DATA 7 8

9 10 −− 11 12 13 14 15 16 WDT RWDT

Processing classifications

Processing time Within commu-

software limits.

• Can be used during phases 2 and 3.

• PS_SUBCMD: Refer to the following table for coordinate setting modes.

• Set position in POS_DATA.

• A warning will occur and the command will be ignored in the following cases.

-If a number not within the range is set for PS_SUBCMD: Data setting warning 2 (A.94B)

Data communications command group

nication cycle

Synchronization classifications

Subcommand Cannot be used

Asynchronous

 Details of PS_SUBCMD

D7 D6 D5 D4 D3 D2 D1 D0

REFE −−− POS_SEL

• REFE: Sets reference point. 0: Does not set reference point. 1: Sets reference point. Decides the coordinates, and ZPOINT (home position) and software limits are enabled.

• POS_SEL: Selects coordinates.

3: Sets POS_DATA to the reference point and the coordinate system (POS, MPOS, APOS, IPOS, and TPOS) if APOS (machine coordinate system feedback position) is selected (The “3: APOS” can only be selected for POS_SEL.).

• Set all other bits to 0.

4.2.14 Apply Brake (BRK_ON: 21H)

Byte BRK_ON Description

Command Response

1 21H 21H

Processing classifications

Control command group

Synchronization classifications

Asynchronous

Page 73

4.2 Main Commands

Byte BRK_ON Description

Command Response

2 − ALARM Processing time Within commu-

3 STATUS • Turns OFF the brake signal and locks the brake. This command is 4 5 MONITOR 6 7 8

9 MONITOR 10 11 12 13 SEL_MON

14 − IO_MON 15 16 WDT RWDT

1/2

SEL_MON

1/2

enabled only while the servo is OFF.

• Can be used during phases 2 and 3.

• Brake signal output timing

nications cycle

BRK_ON received

Within 3 ms

Subcommand Cannot be used

Page 74

4.2 Main Commands

4.2.15 Release Brake (BRK_OFF: 22H)

Byte BRK_OFF Description

Command Response

1 22H 22H

2 − ALARM

3 STATUS • Turns ON the brake signal and releases the brake. 4 5 MONITOR 6 7 8

9 MONITOR 10 11 12 13 SEL_MON

14 − IO_MON 15 16 WDT RWDT

1/2

SEL_MON

1/2

Processing classifications

Processing time Within commu-

• Can be used during phases 2 and 3.

• Brake signal output timing

BRK_OFF received

Control command group

nications cycle

Within 3 ms

Synchronization classifications

Subcommand Cannot be used

Asynchronous

IMPORTANT

BRK_ON and BRK_OFF become always valid as commands unless a warning occurs. If a BRK_OFF command is sent while power is being supplied to the servomotor, the servomotor continues running. However, if a Servo OFF command is sent later, the brake will remain released because the BRK_OFF command is valid and may cause a critical situation. When using a BRK_ON or BRK_OFF command, always keep in mind the status of the command.

Page 75

4.2 Main Commands

4.2.16 Turn Sensor ON (SENS_ON: 23H)

Byte SENS_ON Description

Command Response

123H 23H

2 − ALARM 3 STATUS • Obtains the initial position data and creates the present position. 4 5 MONITOR 6 7 8

9 MONITOR 10 11 12 13 SEL_MON

14 − IO_MON 15 16 WDT RWDT

1/2

SEL_MON

1/2

Processing classifications

Processing time Within 1 s Subcommand Cannot be used

• Can be used during phases 2 and 3.

Control command group

Synchronization classifications

Asynchronous

4.2.17 Turn Sensor OFF (SENS_OFF: 24H)

Byte SENS_OFF Description

Command Response

124H 24H

2 − ALARM

3 STATUS • The reference point, home position (ZPOINT), and software limits will be

5 MONITOR

9 MONITOR 10 11 12 13 SEL_MON

14 − IO_MON 15 16 WDT RWDT

1/2

SEL_MON

1/2

Processing classifications

Processing time Within 1 s Subcommand Cannot be used

disabled.

• Can be used during phases 2 and 3.

• A warning will occur and the command will be ignored in the following

case.

-While the SERVOPACK is servo ON: Command warning 1 (A.95A)

Control command group

Synchronization classifications

Asynchronous

Page 76

4.2 Main Commands

4.2.18 Stop Motion (HOLD: 25H)

Byte HOLD Description

Command Response

1 25H 25H

2 − ALARM

3 OPTION STATUS • Stops the servomotor for positioning according to the stop method set in 4 5HOLD_

MOD 6 − 7 8 9 MONITOR2

10 11 12 13 SEL_MON

14 − IO_MON 15 16 WDT RWDT 17 For sub18 19 20 21 22 23 24 25 26 27 28 29

1/2

commands.

MONITOR1

SEL_MON

1/2

For subcommands.

Processing classifications

Processing time Within commu-

HOLD_MOD.

• From current motion status, performs a deceleration stop and positioning according to the deceleration speed set in the parameters.

• The stop method can be selected using HOLD_MOD. 0: Decelerate to a stop according to the deceleration parameter. 1: Stop immediately (output stop).

• Can be used during phases 2 and 3.

• OPTION field cannot be used. Set all bits to 0.

• Use DEN (output complete) to confirm position data output completion.

• Latch processing, which is dependent on LATCH, EX_POSING will be cancelled.

• ZRET latch processing and ZRET home position alignment will be cancelled.

• Upon completion of this command, the reference position (POS) must be read, and the controller coordinate system must be set up.

• The modal latch mode set by LTMOD_ON command stays effective.

Motion command group

nications cycle

Synchronization classifications

Subcommand Can be used

Asynchronous

 Related Parameters

Parameter No. Description

Pn80E Linear Deceleration Parameter

Page 77

4.2 Main Commands

4.2.19 Request Latch Mode (LTMOD_ON: 28H)

Byte LTM O D_ O N Description

Command Response

128H 28H

2LT_SGN ALARM

3 − STATUS • Sets the modal latch mode. If a latch signal is input during modal latch 4 5 MONITOR1 6 7 8

9 MONITOR2 10 11 12 13 SEL_MON

14 − IO_MON 15 16 WDT RWDT 17 For sub18 19 20 21 22 23 24 25 26 27 28 29

1/2

commands.

SEL_MON

1/2

For subcommands.

Processing classifications

Processing time Within commu-

mode, position latching will be performed.

• Can be used during phases 2 and 3.

• A latch signal can be selected using LT_SGN. Refer to Latch Signal Field Specifications (LT_SGN).

• Use CMDRDY = 1 to confirm that the Request Latch Mode command has been received.

• Confirm that L_CMP is 1 in STATUS at the completion of latching.

-When there is monitor data such as SMON or POSING appended to the command response, LPOS is forcefully returned to MONITOR2.

-When there is no monitor data such as PRM_RD or ALM_RD appended to the command response, confirm that L_CMP is 1 in STATUS, then use a command that has monitor data such as SMON in the response and select LPOS to confirm.

• Once the latch operation has been performed, it will not be performed again even if a latch signal is input. Send a LTMOD_OFF command and then send a new LTMOD_ON command.

• Interference with another latch mode command

-During the execution of a command such as LATCH, ZRET, or EX_POSING, the LTMOD_ON command cannot be used. If this command is used during the execution of these commands, the Command warning 4 (A.95D) will occur.

Control command group

nications cycle

Synchronization classifications

Subcommand Cannot be used

Asynchronous

 Related Parameters

Parameter No. Description Pn820 Latching Area Upper Limit Pn822 Latching Area Lower Limit

Page 78

4.2 Main Commands

4.2.20 Release Latch Mode (LTMOD_OFF: 29H)

Byte LTM OD _ OF F Description

Command Response

1 29H 29H

2 − ALARM

3 − STATUS • Releases the modal latch mode. 4 5 MONITOR1 6 7 8

9 MONITOR2 10 11 12 13 SEL_MON

14 − IO_MON 15 16 WDT RWDT 17 For sub18 19 20 21 22 23 24 25 26 27 28 29

1/2

commands.

SEL_MON

1/2

For subcommands.

Processing classifications

Processing time Within commu-

• Can be used during phases 2 and 3.

• Check that CMDRDY is 1 to confirm that the Release Latch Mode command has been received.

• Interference with another latch mode command

-During the execution of a command such as LATCH, ZRET, or EX_POSING, the LTMOD_OFF command cannot be used. If this command is used during the execution of these commands, the Command warning 4 (A.95D) will occur.

Control command group

nications cycle

Synchronization classifications

Subcommand Cannot be used

Asynchronous

Page 79

4.2.21 Status Monitoring (SMON: 30H)

Byte SMON Description

Command Response

130H 30H

2 − ALARM

3 STATUS • Reads the current status of the SERVOPACK. 4 5 MONITOR1 6 7 8

9 MONITOR2 10 11 12 13 SEL_MON

14 − IO_MON 15 16 WDT RWDT 17 For sub18 19 20 21 22 23 24 25 26 27 28 29

1/2

commands.

SEL_MON

1/2

For subcommands.

Processing classifications

Processing time Within commu-

• Can be used during phases 2 and 3.

Data communications command group

nications cycle

Synchronization classifications

Subcommand Can be used

4.2 Main Commands

Asynchronous

Page 80

4.2 Main Commands

4.2.22 Servo ON (SV_ON: 31H)

Byte SV_ON Description

Command Response

1 31H 31H

2 − ALARM 3 OPTION STATUS • Turns ON the power to the motor. 4 5 − MONITOR1 6 7 8

9 MONITOR2 10 11 12 13 SEL_MON

14 − IO_MON 15 16 WDT RWDT 17 For sub18 19 20 21 22 23 24 25 26 27 28 29

1/2

commands.

SEL_MON

1/2

For sub-

commands.

Processing classifications

Processing time Within 50 ms Subcommand Can be used

• Can be used during phases 2 and 3.

• A warning will occur and the command will be ignored in the following cases.

-During alarm occurrence (when ALM of STATUS is 1): Command warning 1 (A.95A)

-If the main power supply turns OFF (when PON of STATUS is 0): Command warning 1 (A.95A)

-If the emergency stop switch input turns ON (when E-STP of IO_MON is 1): Command warning 1 (A.95A)

• OPTION field cannot be used. Set all bits to 0.

• Upon completion of this command, the reference position (POS) must be read, and the controller coordinate system must be set up.

• If a SV_ON command is sent when the servo has been already turned ON from CX-Drive, the Servo ON Reference Invalid Alarm (A.0b0) will occur.

Control command group

Synchronization classifications

Asynchronous

Page 81

4.2.23 Servo OFF (SV_OFF: 32H)

Byte SV_OFF Description

Command Response

132H 32H

2 − ALARM 3 STATUS • Turns OFF the power to the motor. 4 5 MONITOR1 6 7 8

9 MONITOR2 10 11 12 13 SEL_MON

14 − IO_MON 15 16 WDT RWDT 17 For sub18 19 20 21 22 23 24 25 26 27 28 29

1/2

commands.

SEL_MON

1/2

For subcommands.

Processing classifications

Processing time Within 50 ms Subcommand Can be used

• Can be used during phases 2 and 3.

Control command group

4.2 Main Commands

Synchronization classifications

Asynchronous

Page 82

4.2 Main Commands

4.2.24 Interpolation Feed (INTERPOLATE: 34H)

Byte INTERPOLATE Description

Command Response

1 34H 34H

2 − ALARM

3 OPTION STATUS • Starts interpolation feeding every communications cycle. 4 5 TPOS MONITOR1 6 7 8

9 VFF MONITOR2 10 11 12 13 SEL_MON

14 − IO_MON 15 16 WDT RWDT 17 For sub18 19 20 21 22 23 24 25 26 27 28 29

1/2

commands.

SEL_MON

1/2

For sub-

commands.

Processing classifications

Processing time Within commu-

• Can be used during phase 3.

• A warning will occur and the command will be ignored in the following cases.

-During phase 2: Command warning 1 (A.95A)

-If the SERVOPACK is Servo OFF: Command warning 1 (A.95A)

-If the output speed [Target position (TPOS) - Current position (IPOS)] exceeds the maximum speed: Data setting warning 2 (A.94B)

• OPTION field cannot be used. Set all bits to 0.

• The target position (TPOS) is indicated by signed 4 bytes.

• Use DEN (output complete) to confirm the completion of position reference output.

• For details on interpolation, refer to 6.5.1 INTERPOLATE Related Com- mands.

• Speed Feed Forward (VFF) cannot be used. If a VFF is input, no compensation for speed feed forward will be applied.

Motion command group

nications cycle

Synchronization classifications

Subcommand Can be used

Synchronous

Page 83

4.2 Main Commands

4.2.25 Positioning (POSING: 35H)

Byte POSING Description

Command Response

135H 35H

2 − ALARM

3 OPTION STATUS • Performs positioning at the target position (TPOS) using the target 4 5 TPOS MONITOR1 6 7 8

9 TSPD MONITOR2 10 11 12 13 SEL_MON

14 − IO_MON 15 16 WDT RWDT 17 For sub18 19 20 21 22 23 24 25 26 27 28 29

1/2

commands.

SEL_MON

1/2

For subcommands.

Processing classifications

Processing time Within commu-

speed (TSPD).

• Can be used during phases 2 and 3.

• A warning will occur and the command will be ignored in the following cases.

-If the SERVOPACK is Servo OFF: Command warning 1 (A.95A)

-If the target speed (TSPD) exceeds the maximum speed: Data setting warning 2 (A.94B)

• OPTION field cannot be used. Set all bits to 0.

• The target position (TPOS) is a signed 4 bytes. It is sent by using an absolute position in the reference coordinate system.

• The target speed (TSPD) is an unsigned 4 bytes. It is sent in the range from 0 to the maximum speed [reference unit/s].

• Changes can be made to the target position and target speed during movement.

• Use DEN (output complete) to confirm the completion of position reference output.

• For details on posing commands, refer to 6.5.2 POSING Related Com- mands.

Motion command group

nications cycle

Synchronization classifications

Subcommand Can be used

Asynchronous

 Related Parameters

Parameter No. Description Pn80B Linear Acceleration Parameter Pn80E Linear Deceleration Parameter

Page 84

4.2 Main Commands

4.2.26 Constant Speed Feed (FEED: 36H)

Byte FEED Description

Command Response

1 36H 36H

2 − ALARM

3 OPTION STATUS • Performs constant speed feeding using the target speed (TSPD). The 4 5 − MONITOR1 6 7 8

9 TSPD MONITOR2 10 11 12 13 SEL_MON

14 − IO_MON 15 16 WDT RWDT 17 For sub18 19 20 21 22 23 24 25 26 27 28 29

1/2

commands.

SEL_MON

1/2

For sub-

commands.

Processing classifications

Processing time Within commu-

servo performs constant speed feeding by position control. Use the Stop Motion command (HOLD: 25H) to stop the constant speed feeding.

• Can be used during phases 2 and 3.

• A command warning will occur and the command will be ignored in the following cases.

-If the SERVOPACK is Servo OFF: Command warning 1 (A.95A)

-If the target speed (TSPD) exceeds the maximum speed: Data setting warning 2 (A.94B)

• OPTION field cannot be used. Set all bits to 0.

• The target speed (TSPD) is a signed 4 bytes. The direction is determined by the sign. The target speed is sent in the range from a negative maximum speed to a positive maximum speed [reference unit/s].

• Changes can be made to the target speed during movement.

• Use DEN (output complete) to confirm the completion of position reference output.

• For details on posing commands, refer to 6.5.2 POSING Related Com- mands for details on the operation.

Motion command group

nications cycle

Synchronization classifications

Subcommand Can be used

Asynchronous

 Related Parameters

Parameter No. Description

Pn80B Linear Acceleration Parameter

Page 85

4.2 Main Commands

4.2.27 Interpolation Feeding with Position Detection (LATCH: 38H)

Byte LATCH Description

Command Response

138H 38H

2LT_SGN ALARM

3 OPTION STATUS • Performs interpolation feeding and latches the position using the latch 4 5 TPOS MONITOR1 6 7 8

9 VFF MONITOR2 10 11 12 13 SEL_MON

14 − IO_MON 15 16 WDT RWDT 17 For sub18 19 20 21 22 23 24 25 26 27 28 29

1/2

commands.

SEL_MON

1/2

For sub-

commands.

Processing classifications

Processing time Within commu-

signal specified in LT-SGN.

• If the latch signal is input, the position when the signal is received is recorded as the feedback latch position (LPOS) of the machine coordinate system, and the LPOS will forcibly be indicated as the MONITOR2 for one communications cycle.

• Can be used during phase 3.

• A command warning will occur and the command will be ignored in the following cases.

-During phase 2: Command warning 1 (A.95A)

-If the SERVOPACK is Servo OFF: Command warning 1 (A.95A)

-If the output speed [the target position (TPOS) - the current position (IPOS)] exceeds the maximum speed: Data setting warning 2 (A.94B)

• LT_SGN can be used. Refer to 4.5.1 Latch Signal Field Specifications: LT _S G N (LT_SGN).

• OPTION field cannot be used. Set all bits to 0.

• Speed Feed Forward (VFF) cannot be used. If a VFF is input, no compensation for speed feed forward will be applied.

• Use DEN (output complete) to confirm the motion completion.

• For details on interpolation, refer to 6.5.1 INTERPOLATE Related Com- mands.

Motion command group

nications cycle

Synchronization classifications

Subcommand Can be used

Synchronous

 Related Parameters

Parameter No. Description Pn820 Latching Area Upper Limit Pn822 Latching Area Lower Limit

Page 86

4.2 Main Commands

4.2.28 External Input Positioning (EX_POSING: 39H)

Byte EX_POSING Description

Command Response

1 39H 39H

2LT_SGN ALARM

3 OPTION STATUS • Moves toward the target position (TPOS) at the target speed (TSPD). 4 5 TPOS MONITOR1 6 7 8

9 TSPD MONITOR2 10 11 12 13 SEL_MON

14 − I/O_MON 15 16 WDT RWDT 17 For sub18 19 20 21 22 23 24 25 26 27 28 29

1/2

commands.

SEL_MON

1/2

For subcommands.

Processing classifications

Processing time Within commu-

When a latch signal is input midway, positioning is performed according to the final travel distance for external position specified in the parameter from the latch signal input position. When no latch signal is input, positioning is performed for the target position (TPOS).

• Can be used during phases 2 and 3.

• A command warning will occur and the command will be ignored in the following cases.

-If the SERVOPACK is Servo OFF: Command warning 1 (A.95A)

-If the target speed (TSPD) exceeds the maximum speed : Data setting warning 2 (A.94B)

• OPTION field cannot be used. Set all bits to 0.

• The target position (TPOS) is a signed 4 bytes [reference unit]. It is sent by using an absolute position in the reference coordinate system.

• The target speed (TSPD) is an unsigned 4 bytes. It is sent in the range from 0 to the maximum speed [reference unit/s].

• After the latch is input, any changes to the target position during motion will be ignored.

• Use DEN (output complete) to confirm the completion of position reference output.

• For details on posing commands, refer to 6.5.2 POSING Related Com- mands.

Motion command group

nications cycle

Synchronization classifications

Subcommand Can be used

Asynchronous

Page 87

 Related Parameters

Parameter No. Description Pn80B Linear Acceleration Parameter Pn80E Linear Deceleration Parameter Pn814 Final Travel Distance for External Positioning Pn820 Latching Area Upper Limit Pn822 Latching Area Lower Limit

 Operation

If a latch signal is input, positioning is performed for the position calculated with the following equation: latch signal input position (LPOS) + final travel distance for external positioning specified in Pn814.

When no latch signal is input, positioning is performed for the target position (TPOS).

Latch signal

4.2.29 Homing (ZRET: 3AH)

Byte ZRET Description

Command Response

13AH 3AH

2LT_SGN ALARM

Processing classifications

Processing time Within commu-

Motion command group

nications cycle

4.2 Main Commands

Synchronization classifications

Subcommand Can be used

Asynchronous

Page 88

4.2 Main Commands

Byte ZRET Description

Command Response 3 OPTION STATUS • Perform a homing using the following sequence. 4 5 − MONITOR1 6 7 8 9 TSPD MONITOR2

10 11 12 13 SEL_MON

14 − IO_MON 15 16 WDT RWDT 17 For sub18 19 20 21 22 23 24 25 26 27 28 29

1/2

commands.

SEL_MON

1/2

For subcommands.

1. Accelerates to the target speed (TSPD) in the direction specified in the parameter (Pn816) and continues to move at the target speed.

2. Decelerates to homing approach speed 1 (Pn817) at the DEC = 1.

3. Latch operation will start at the DEC = 0.

4. When a latch signal is input, positioning is performed to define the target position at the homing approach speed 2 (Pn818). The target position is calculated by adding the homing final travel distance (Pn819). After the completion of positioning, the coordinate system is set so that the position reached is 0.

• Can be used during phases 2 and 3.

• A command warning will occur and the command will be ignored in the following cases.

-If the SERVOPACK is Servo OFF: Command warning 1 (A.95A)

-If the target speed (TSPD) exceeds the maximum speed: Data setting warning 2 (A.94B)

• OPTION field cannot be used. Set all bits to 0.

• The target speed (TSPD) is an unsigned 4 bytes. It is sent in the range from 0 to the maximum speed [reference unit/s].

• Before DEC is input, the target speed during motion can be changed.

• Use DEN (output complete) and ZPOINT (home position) to confirm the completion of position reference output.

Page 89

 Related Parameters

Parameter No. Description Pn80B Linear Acceleration Parameter Pn80E Linear Deceleration Parameter Pn816 Homing Direction Pn817 Homing Approach Speed 1 Pn818 Homing Approach Speed 2 Pn819 Final Travel Distance for Homing Pn820 Latching Area Upper Limit Pn822 Latching Area Lower Limit

 Operation

4.2 Main Commands

Reference speed

Homing Approach Speed 1 (Pn817)

Homing Approach Speed 2 (Pn818)

Final Travel Distance

DEC

for Homing (Pn819)

Latch signal

4.2.30 Adjusting (ADJ: 3EH)

Byte ADJ Description

Command Response

13EH 3EH

2 SUBCODE ALARM

Processing classifications

Processing time Depends on

Data communications command group

processing

Synchronization classifications

Subcommand Cannot be used

Asynchronous

Page 90

4.2 Main Commands

Byte ADJ Description

Command Response 3 − STATUS • This command is for maintenance. Parameter initialization can be done. 4 5CCMD CANS 6 7CAD-

DRESS

8 9 CSIZE CSIZE/

10 11 CDATA CDATA 12 13 14 15 16 WDT RWDT

CAD-

DRESS

ERRCODE

• Use as SUBCODE = 01H.

• Refer to the next page, for the way to use set this command.

• A command warning will occur and the command will be ignored in the following cases.

-If parameters are changed mid-operation with CX-Drive: Command warning 1 (A.95A)

-If CADDRESS is out of the range: Parameter setting warning (A.94A)

-If CSIZE does not match: Parameter setting warning (A.94D)

-If CCMD or CDATA is out of the range: Parameter setting warning (A.94B)

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4.2 Main Commands

 Setting Parameter Initialization Mode Using ADJ Commands

Use the following procedure to select an operation mode.

1. Set to “Parameter Initialization” mode.

Set the command fields to the following settings. SUBCODE = 01H (fixed) CCMD = 0004H (data setting: fixed) CADDRESS = 2000H (operation mode address = 2000H: fixed) CSIZE = 0002H (size = 2H: fixed) CDATA = 1005H (operation mode = 1005H: fixed) After sending the data, wait until CMDRDY of STATUS is equal to 1, and check ERRCODE to confirm that no error occurred.

2. Execute the parameter initialization.

Set the command fields to the following settings. SUBCODE = 01H (fixed) CCMD = 0004H (data setting: fixed) CADDRESS = 2001H (operation mode address = 2001H: fixed) CSIZE = 0002H (size = 2H: fixed) CDATA = 0001H (operation mode execution 0001H: fixed) After sending the data, wait until CMDRDY of STATUS is equal to 1, and check ERRCODE to confirm that no error occurred.

3. Set to “Normal mode” after execution.

Set the command fields to the following settings. SUBCODE = 01H (fixed) CCMD = 0004H (data setting: fixed) CADDRESS = 2000H (operation mode address = 2000H: fixed) CSIZE = 0002H (size = 2H: fixed) CDATA = 0000H (normal mode: fixed) When CMDRDY of STATUS changes to 1, the execution is completed.

Page 92

4.3 Subcommands

This section describes the MECHATROLINK-II subcommands applicable with SJDE-ANA-OY SERVOPACK. The MECHATROLINK-II subcommands can be used by specifying them with the CONNECT command when MECHATROLINK-II communications starts. They use the seventeenth to the twenty-ninth bytes of the command and response data.

4.3.1 No Operation (NOP: 00H)

Byte NOP Description

Command Response

17 00H 00H

18 − SUBSTATUS • Not operation command. 19 20 21 22 23 24 25 26 27 28 29

Processing classifications

Network command group

Processing time Within commu-

nications cycle

4.3.2 Read Parameter (PRM_RD: 01H)

Byte PRM_RD Description

Command Response

17 01H 01H

18 - SUBSTATUS • Reads a parameter. 19 NO NO 20 21 SIZE SIZE 22 - PARAME23 24 25 26 27 28 29

TER

Processing classifications

This command has the same function as the main command PRM_RD.

Data communications command group

Processing time Within 100 ms

Page 93

4.3.3 Write Parameter (PRM_WR: 02H)

Byte PRM_WR Description

Command Response

17 02H 02H

18 − SUBSTATUS • Writes a parameter. 19 NO NO 20 21 SIZE SIZE 22 PARAME23 24 25 26 27 28 29

TER

PA RA M E -

TER

Processing classifications

This command has the same function as the main command PRM_WR.

Data communications command group

4.3.4 Read Alarm or Warning (ALM_RD: 05H)

Byte ALM_RD Description

Command Response

17 05H 05H

18 - SUBSTATUS • Reads the alarm or warning. 19 ALM_RD_

20 - ALM_DATA 21 22 23 24 25 26 27 28 29

MOD

ALM_RD_

MOD

Processing classifications

This command has the same function as the main command ALM_RD.

Data communications command group

4.3 Subcommands

Processing time Within 100 ms

Processing time 6 ms to 2 s

Page 94

4.3 Subcommands

4.3.5 Write Stored Parameter (PPRM_WR: 1CH)

Byte PPRM_WR Description

Command Response

17 1CH 1CH

18 - SUBSTATUS • Writes a parameter. 19 NO NO 20 21 SIZE SIZE 22 PARAME23 24 25 26 27 28 29

TER

PA RA M E -

TER

Processing classifications

This command has the same function as the main command PPRM_WR.

Data communications command group

4.3.6 Request Latch Mode (LTMOD_ON: 28H)

Byte LT MO D _O N Description

Command Response

17 28H 28H

18 LT_SGN SUBSTATUS • Sets the modal latch mode. 19 SEL_MON

20 - MONITOR3 21 22 23 24 MONITOR4 25 26 27 28 - 29

3/4

SEL_MON

3/4

Processing classifications

This command has the same function as the main command LT MO D _O N .

Control command group

Processing time Within 200 ms

Processing time Within commu-

nications cycle

Page 95

4.3 Subcommands

4.3.7 Release Latch Mode (LTMOD_OFF: 29H)

Byte LT MO D_ O FF Description

Command Response

17 29H 29H

18 - SUBSTATUS • Releases the modal latch mode. 19 SEL_MON

3/4 20 - MONITOR3 21 22 23 24 MONITOR4 25 26 27 28 - 29

SEL_MON

3/4

Processing classifications

This command has the same function as the main command LT MO D _O FF.

Control command group

Processing time Within commu-

4.3.8 Status Monitoring (SMON: 30H)

Byte SMON Description

Command Response

17 30H 30H

18 - SUBSTATUS • Reads the monitoring information specified in SEL_MON3/4. 19 SEL_MON

20 - MONITOR3 21 22 23 24 MONITOR4 25 26 27 28 - 29

3/4

SEL_MON

3/4

Processing classifications

This command has the same function as the main command SMON.

Data communications command group

Processing time Within commu-

nications cycle

Page 96

4.4 Combination of MECHATROLINK-II Main Commands and Subcommands

MECHATROLINK-II subcommands can be used by combining as listed below.

Code Main

Command

00 NOP 01 PRM_RD 02 PRM_WR 03 ID_RD 04 CONFIG 05 ALM_RD 06 ALM_CLR 0D SYNC_SET 0E CONNECT 0F DISCON-

1C PPRM_WR 20 POS_SET 21 BRK_ON 22 BRK_OFF 23 SENS_ON 24 SENS_OFF 25 HOLD 28 LTMOD_ON 29 LTMOD_

30 SMON 31 SV_ON 32 SV_OFF 34 INTERPO-

35 POSING 36 FEED 38 LATCH 39 EX_POSING 3A ZRET

Note: 9: Can be combined.

NECT

OFF

LATE

× : Cannot be combined.

NOP PRM_RDPRM_ WRALM_ RDPPRM_WRLT MO D

99999999

99999

× × × × × × 9

Subcommand

LT MO D

_ON

_OFF

× × 9

SMON

IMPORTANT

If a command with a subcommand that cannot be combined is received, the warning A.95d or A.95E (see 8.3.2 Warning Display and Troubleshooting for details.) will occur, and the command will be ignored.

The servo is not OFF and the servomotor is not stopped if a command with a subcommand that cannot be combined is received during operation.

Page 97

4.5 Command Data Field

This section describes command data in main commands and subcommands.

4.5.1 Latch Signal Field Specifications: LT_SGN

The latch signal field specifications (LT_SGN) can be designated using the following commands: LATCH, EX_POSING, ZRET, LTMOD_ON

The latch signal field is used to select latch signals for position data, with the second byte of the above main commands, or the eighteenth byte reserved area of the subcommands.

Refer to the following table for details on bit allocation.

 Latch Signal Field

D7 D6 D5 D4 D3 D2 D1 D0

−−−−−− LT _ SG N

Latch Signal Selection

D1 D0 Latch Signal

0 0 Phase Z 01 /EXT1 10 Reserved 11 Reserved

INFOINFO

Set 0 for unused bits.

4.5.2 Option Field Specifications: OPTION

The option field cannot be used. Set 0 for all bits. Refer to the following table for details on bit allocation.

 Option Field

D7 D6 D5 D4 D3 D2 D1 D0

00000000

D15 D14 D13 D12 D11 D10 D9 D8

00000000

Page 98

4.5 Command Data Field

4.5.3 Status Field Specifications: STATUS

The status field is used to monitor the Servo status with the third to fourth byte reserved area of the main commands.

Refer to the following table for details on bit allocation.

 Status Field

D7 D6 D5 D4 D3 D2 D1 D0

PSET ZPOINT − PON SVON CMDRDY WARNG ALM

D15 D14 D13 D12 D11 D10 D9 D8

−−N_SOT P_SOT NEAR L_CMP T_LIM DEN

Alarm (ALM)

Indicates alarm occurrence.

D0 Status

No alarm (Normal)

Alarm occurred.

Warning (WARNG)

Indicates the warning occurrence.

D1 Status

No warning (Normal)

Warning occurred.

Command ready (CMDRDY)

Indicates whether the command can be received or not. No command can be received if the SERVOPACK is in busy status. The SERVOPACK will continue exe-

cuting the previously received command.

D2 Status

Command cannot be received (busy).

Command can be received (ready).

Servo ON (SVON)

Indicates the servo ON/OFF status.

D3 Status

Servo OFF

Servo ON

Page 99

Main power supply ON (PON)

Indicates the status of the main power supply.

D4 Status

Main power supply OFF

Main power supply ON

4.5 Command Data Field

INFOINFO

D4 will remain set to 0 and the main power supply will be turned OFF for a maximum of 300 ms.

Home position (ZPOINT)

Indicates if the feedback position (APOS) is within or outside the home position range.

Home position range

Machine coordinate system APOS

Home position (0)

D6 Status

The feedback position (APOS) is within the home position range.

The feedback position (APOS) is outside the home position range.

The home position range can be set in the following parameter. The setting will be immediately written in the SERVOPACK.

Parameter

No.

Pn803 Home posi-

INFOINFO

Name Data Size Min.

tion range

After completion of the following operations, a ZPOINT signal should be detected. If not, the operation was not successfully completed.

1. Homing (ZRET) operation

2. Coordinates setting by having set the reference point (REFE=1) by using POS_SET (coordinates setting)

2 bytes 0 250 Reference

Set Value

Within range.

Home position width (Pn803)

Max.

Set Value

Units Factory

unit

Setting

Page 100

4.5 Command Data Field

Positioning completion (PSET)

Indicates the completion of positioning.

Positioning complete range

Machine coordinate system APOS

Target position

D7 Status

Other than the status 1.

Output completion (DEN = 1) and the feedback position (APOS) are within the positioning complete range.

The positioning complete width can be set in the following parameter. The setting will be immediately written in the SERVOPACK.

Parameter

No.

Pn522 Positioning

Name Data Size Min.

complete

width

4 bytes 0 1073741824 Reference

Set Value

Positioning complete width (Pn522)

Max.

Set Value

Within range.

Units Factor y

unit

Setting

Omron SJDE-ANA-OY User Manual

CONTENTS

1.1 Checking Products

1 Before Use

1.2 Warning Label

1.3 Model Designation

1.4 SERVOPACKs and Applicable Servomotors

1.5 Part Names and Functions

1.6 Applicable Standards

1.6.1 North American Safety Standards (UL, CSA)

1.6.2 European Directives

2 Installation

2.1 Installation Conditions

2.2 Installation Method

3 Wiring

3.1 System Configuration

3.2 Standard Connection

3.3 Precautions on Wiring

3.3.1 Protection for Power Supply Line

3.3.2 Caution for Grounding

3.3.3 Caution for Cable

3.3.4 Power Loss

3.3.5 SERVOPACKs and Applicable Peripheral Devices

3.3.6 Noise Prevention

3.3.7 Installation and Wiring Conditions on CE Marking

3.4 Main Circuit Wiring

3.3.8 Other Precautions

3.4.1 SERVOPACK Main Circuit Cables

3.4.2 Wiring Connector for the Power Supply/Regenerative Unit (CNA)

3.4.3 Wiring Connector for the Servomotor Main Circuit Cable (CNB)

3.4.4 Wiring the Encoder Connector (CN2)

3.4.5 Wiring the I/O Signal Connector (CN1)

3.4.6 Wiring the MECHATROLINK-II Communication Connectors (CN6A and CN6B)

3.4.7 Wiring the Personal Computer Connector (CN9)

3.5 Connection Examples of Input Signal

3.6 Connection Example of Output Signal

3.7 I/O Signals

3.7.1 Homing Deceleration Signal Input

3.7.2 External Latch Signal Input

3.7.3 Emergency Stop Signal Input

3.7.4 Forward/Reverse Run Prohibited Inputs (Overtravel Inputs)

3.7.5 Servo Alarm Output

3.7.6 Brake Interlock Output

3.8 Setting MECHATROLINK-II Communications

3.8.1 MECHATROLINK-II Communications

3.8.2 Wiring Specifications

3.8.3 Setting Communications Specifications

3.8.4 Transmission Cycle and Number of Stations

3.8.5 MECHATROLINK-II Communications Status Indicator COM LED

4.1 Lists of Commands

4 MECHATROLINK-II Commands

4.1.1 Main Commands List

4.1.2 Subcommands List

4.2 Main Commands

4.2.1 Communication Phases

4.2.2 No Operation (NOP: 00H)

4.2.3 Read Parameter (PRM_RD: 01H)

4.2.4 Write Parameter (PRM_WR: 02H)

4.2.5 Read ID (ID_RD: 03H)

4.2.6 Setup Device (CONFIG: 04H)

4.2.7 Read Alarm or Warning (ALM_RD: 05H)

4.2.8 Clear Alarm or Warning (ALM_CLR: 06H)

4.2.9 Start Synchronous Communication (SYNC_SET: 0DH)

4.2.10 Establish Connection (CONNECT: 0EH)

4.2.11 Release Connection (DISCONNECT: 0FH)

4.2.12 Write Stored Parameter (PPRM_WR: 1CH)

4.2.13 Set Coordinates (POS_SET: 20H)

4.2.14 Apply Brake (BRK_ON: 21H)

4.2.15 Release Brake (BRK_OFF: 22H)

4.2.16 Turn Sensor ON (SENS_ON: 23H)

4.2.17 Turn Sensor OFF (SENS_OFF: 24H)

4.2.18 Stop Motion (HOLD: 25H)

4.2.19 Request Latch Mode (LTMOD_ON: 28H)

4.2.20 Release Latch Mode (LTMOD_OFF: 29H)

4.2.21 Status Monitoring (SMON: 30H)

4.2.22 Servo ON (SV_ON: 31H)

4.2.23 Servo OFF (SV_OFF: 32H)

4.2.24 Interpolation Feed (INTERPOLATE: 34H)

4.2.25 Positioning (POSING: 35H)

4.2.26 Constant Speed Feed (FEED: 36H)