OMRON SYSMAC-SE2 Operation Manual

Automation Software

Sysmac Studio
Version 1

Drive Functions Operation Manual

SYSMAC-SE2

I589-E1-06

NOTE

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 OMRON.

No patent liability is assumed with respect to the use of the information contained herein. Moreover, because
OMRON 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, OMRON 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.

Trademarks

• Sysmac and SYSMAC are trademarks or registered trademarks of OMRON Corporation in Japan and other
countries for OMRON factory automation products.

• Microsoft, Windows, Windows Vista, Excel, and Visual Basic are either registered trademarks or trademarks of
Microsoft Corporation in the United States and other countries.

• EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.

• ODVA, CIP, CompoNet, DeviceNet, and EtherNet/IP are trademarks of ODVA.

• The SD and SDHC logos are trademarks of SD-3C, LLC.

• NVIDIA, the NVIDIA logo, GeForce, and the GeForce logo are the trademarks or registered trademarks of NVIDIA
Corporation in the USA and other countries.

• ATITM, RadeonTM is a trademark of Advanced Micro Devices, Inc..

• Celeron, Intel and Intel Core are trademarks of Intel Corporation in the U.S. and / or other countries.

Other company names and product names in this document are the trademarks or registered trademarks of their
respective companies.

Copyrights

Microsoft product screen shots reprinted with permission from Microsoft Corporation.

Introduction

Thank you for purchasing Sysmac Studio Automation Software.

Sysmac Studio allows you to use a computer to program and set up Sysmac devices.

Introduction

This manual describes the operating procedures of Sysmac

Use this manual together with the Sysmac
user’s manuals of the devices that you use.

Intended Audience

This manual is intended for the following personnel, who must also have knowledge of electrical sys­tems (an electrical engineer or the equivalent).

• Personnel in charge of introducing FA systems.

• Personnel in charge of designing FA systems.

• Personnel in charge of installing and maintaining FA sy

• Personnel in charge of managing FA systems and facilities.

For

programming, this manual is intended for pers

specifications in international standard IEC 61131-3 or Japanese standard JIS B 3503.

Notice

This manual contains information that is necessary to use the Sysmac Studio. Please read and under­stand this manual before using the Sysmac S
available for reference during operation.

Studio mainly for drive functions.

Studio Version 1 Operation Manual (Cat. No. W504) and the

stems.

onnel who understand the programming language

tudio. Keep this manual in a safe place where it will be

Sysmac Studio Drive Functions Operation Manual (I589)

1

Manual Structure

4-9

4 Installation and Wiring

NJ-series CPU Unit Hardware User’s Manual (W500)

stinU gnitnuoM 3-4

4

stnenopmoC rellortnoC gnitcennoC 1-3-4

4-3 Mounting Units

The Units that make up an NJ-series Controller can be connected simply by pressing the Units together
and locki ng the slide rs by moving the m toward the back of the U nits. The End Cover is connect ed in the
same way to the Unit on the far right side of the Controller.

1 Join the Units so that the connectors fit exactly.

2 The yellow sliders at the top and bottom of each Unit lock the Units together. Move the sliders

toward the back of the Units as shown below until they click into place.

Precautions for Correct UsePrecautions for Correct Use

4-3-1 Connecting Controller Components

Connector

Hook

Hook holes

Slider

Lock

Release

Move the sliders toward the back
until they lock into place.

Level 1 heading
Level 2 heading
Level 3 heading

Level 2 heading

A step in a procedure

Manual name

Special information

Level 3 heading

Page tab

Gives the current
headings.

Indicates a procedure.

Icons indicate
precautions, additional
information, or reference
information.

Gives the number
of the main section.

The sliders on the tops and bottoms of the Power Supply Unit, CPU Unit, I/O Units, Special I/O
Units, and CPU Bus Units must be completely locked (until they click into place) after connecting
the adjacent Unit connectors.

Manual Structure

Page Structure

The following page structure is used in this manual.

This illustration is provided only as a sample.

It may not literally appear in this manual.

2

Sysmac Studio Drive Functions Operation Manual (I589)

Special Information

Manual Structure

Special information in this manual is classified as follows:

Precautions for Safe Use

Precautions on what to do and what not to do to ensure safe usage of the product.

Precautions for Correct Use

Precautions on what to do and what not to do to ensure proper operation and performance.

Additional Information

Additional information to read as required.
This information is provided to incre

Version Information

Information on differences in specifications and functionality for CPU Units
and for different versions of the Sysmac Studio is given.

Note References are provided to more detailed or related information.

Precaution on Terminology

• In this manual, “download” refers to transferring data from the Sysmac Studio to the physical Control­ler and “upload” refers to transferring data from the ph

For the Sysmac Studio, synchronization is used to both upload and download data. Here, “synchro­nize” means to automatically compare the data for th
in the physical Controller and transfer the data in the direction that is specified by the user.

• The Sysmac Studio supports the NJ/NX/NY-series Contro
specified, the operating procedures and screen captures used in the manual are examples for the
NJ-series Controllers.

a

se understanding or make operation easier.

with different unit versions

ysical Controller to the Sysmac Studio.

e Sysmac Studio on the computer with the data

llers. Unless another Controller series is

Terminology

For descriptions of the Controller terms that are used in this manual, refer to information on terminology
in the manuals that are listed in Related Manuals on

page 19.

Sysmac Studio Drive Functions Operation Manual (I589)

3

Manual Structure

4

Sysmac Studio Drive Functions Operation Manual (I589)

1

2

3

4

5

1

2

3

4

5

Sysmac Studio Drive Functions

Overview of the Operations

Basic Servo Drive Operations

Applied Servo Drive Operations

Other Servo Drive Operations

Sections in this Manual

Sections in this Manual

Sysmac Studio Drive Functions Operation Manual (I589)

5

CONTENTS

CONTENTS

Introduction ..............................................................................................................1

Intended Audience....................................................................................................................................... 1

Notice............................................................................................................................

Manual Structure ......................................................................................................2

Special Information...................................................................................................................................... 3

Sections in this Manual ...........................................................................................5

Terms and Conditions Agreement.......................................................................... 8

Safety Precautions ...................................................................................................9

Definition of Precautionary Information........................................................................................................ 9

Symbols..............................................................................................................................

Precaution for Safe Use......................................................................................... 12

............................... 1

......................... 9

Precautions for Correct Use.................................................................................. 14

Regulations and Standards...................................................................................15

Software Licenses and Copyrights ............................................................................................................ 15

Versions ..................................................................................................................16

Unit Versions ............................................................................................................................................. 16

Checking Versions..................................................................................................................................... 16

Unit Versions and Sysmac Studio Versions .............................................................................................. 18

Related Manuals .....................................................................................................19

Revision History .....................................................................................................20

Section 1 Sysmac Studio Drive Functions

1-1 Sysmac Studio Drive Functions........................................................................................... 1-2

1-2 System Configuration ...........................................................................................................

1-2-1 Connection to Drive.....................................................................................................................1-3

1-2-2 Applicable Drives and Communications Types..............

Section 2 Overview of the Operations

1-3

.............................................................1-5

2-1 Basic Operation Flow............................................................................................................ 2-2

2-1-1 1S Series.....................................................................................................................................2-2

2-1-2 G5 Series .......................................................................................................................

2-2 Installation and Uninstallation ............................................................................................. 2-8

2-3 Creating a Project................................................................................................................

2-3-1 Using a Drive with an OMRON NJ/NX/NY-series Controller.......................................................2-9

2-3-2 Using a Drive Independently.....................................................................................................

2-4 Areas of the Application Window ...................................................................................... 2-12

2-4-1 Overview of the Application Window .........................................................................................2-12

2-4-2 Multiview Explorer............................................................................................................

2-4-3 Toolbar........................................................................................................................

2-5 Project Data.......................................................................................................................... 2-17

6

Sysmac Studio Drive Functions Operation Manual (I589)

.............2-6

.. 2-9

2-10

......... 2-13

..............2-16

2-5-1 Project Management................................................................................................................. 2-17

2-5-2 Project Data..................................................................................................................

2-5-3 Import and Export ..................................................................................................................... 2-19

2-6 Functions, Use Cases, and Operation Procedures .......................................................... 2-20

2-6-1 1S Series .................................................................................................................................. 2-20

2-6-2 G5 Series.................................................................................................................................. 2-22

2-6-3 Function and Operation Procedures for Each Drive ................................................................. 2-23

2-7 Online Connection Procedure............................................................................................ 2-24

Section 3 Basic Servo Drive Operations

3-1 Displaying and Editing Parameters ..................................................................................... 3-2

3-1-1 Displaying and Editing Drive Parameters ................................................................................... 3-2

3-1-2 Displaying and Editing Multi-drive Parameters (Drive Setting Ta

3-2 Auto Tuning ......................................................................................................................... 3-11

3-2-1 Auto Tuning for 1S Series......................................................................................................... 3-11

3-2-2 Auto Tuning for G5 Series .....................................................................................................

3-3 Test Run ............................................................................................................................... 3-18

3-4 Status Monitor ..................................................................................................................

3-5 Troubleshooting ..................................................................................................................

CONTENTS

............ 2-18

ble) ......................................... 3-9

... 3-12

... 3-22

3-23

3-6 Data Tracing......................................................................................................................

3-7 Motors and Encoders..........................................................................................................3-

3-7-1 Motor Properties ....................................................................................................................... 3-34

3-7-2 Encoder Properties ................................................................................................................... 3-35

3-8 Setup and Tuning Wizard ................................................................................................... 3-36

3-8-1 Overview................................................................................................................................... 3-36

3-8-2 Quick Parameter Setup and I/O Monitor................................................................................... 3-37

3-8-3 Test Run and Function Status .................................................................................................. 3-45

4 Easy Tuning (Single Drive)....................................................................................................... 3-48

3-8-

3-8-5 Easy Tuning (Multiple Drives)................................................................................................... 3-59

Section 4 Applied Servo Drive Operations

4-1 Manual Tuning ....................................................................................................................... 4-2

4-1-1 1S Series Advanced Tuning ....................................................................................................... 4-2

4-1-2 1S Series Manual Tuning (Single Drive)................................................................................... 4-14

4-1-3 1S Series Manual Tuning (Multiple Drives) .............

4-1-4 G5 Series Manual Tuning .........................................................................................................

4-2 Other Tuning Functions...................................................................................................... 4-19

4-2-1 FFT ........................................................................................................................................... 4-19

4-2-2 Damping Control....................................................................................................................... 4-23

4-3 Motor Settings (only for Linear Motor Type of G5 Series)............................................... 4-27

................................................................. 4-17

... 3-24

34

4-18

Section 5 Other Servo Drive Operations

5-1 Initialization of the Drive ....................................................................................................... 5-2

5-2 Drive Properties................................................................................................................

Sysmac Studio Drive Functions Operation Manual (I589)

..... 5-3

7

Terms and Conditions Agreement

Terms and Conditions Agreement

 WARRANTY

• The warranty period for the Software is one year from the date of purchase, unless otherwise spe­cifically agreed.

• If the User discovers defect of the Software (substan
return it to OMRON within the above warranty period, OMRON will replace the Software without
charge by offering media or download from OMRON’s website. And if the User discovers defect of
media which is attributable to OMRON and return it to OMRON within the above warranty period,
OMRON will replace defective media without charge. If OMRON is unable to replace defective
media or correct the Software, the liability of OMRON and the User’s remedy shall be limited to
the refund of the license fee paid to OMRON for the Software.

 LIMITATION OF LIABILITY

• THE ABOVE WARRANTY SHALL CONSTITUTE THE USER’S SOLE AND EXCLUSIVE REME­DIES AGAINST OMRON AND THERE ARE NO OTHER WARRANTIES, EXPRE
IMPLIED, INCLUDING BUT NOT LIMITED TO, WARRANTY OF MERCHANTABILITY OR FIT­NESS FOR PARTICULAR PURPOSE. IN NO EVENT, OMRON W
LOST PROFITS OR OTHER INDIRECT, INCIDENTAL, SPECIAL OR CONSEQUENTIAL DAM­AGES ARISING OUT OF USE OF THE SOFTW

• OMRON SHALL HAVE NO LIABILITY FOR DEFECT
CATION OR ALTERNATION TO THE SOFTWARE BY THE

• OMRON SHALL HAVE NO LIABILITY FOR SOFTWARE DEVELOPED B
THIRD PARTY BASED ON THE SOFTWARE OR ANY CONSEQUENCE THEREOF.

tial non-conformity with the manual), and

ILL BE LIABLE FOR ANY

ARE.

OF THE SOFTWARE BASED ON MODIFI-

USER OR ANY THIRD PARTY.

SSED OR

Y THE USER OR ANY

 APPLICABLE CONDITIONS

USER SHALL NOT USE THE SOFTWARE FOR THE PURPOSE THAT IS NOT PROVIDED IN
THE ATTACHED USER MANUAL.

 CHANGE IN SPECIFICATION

The software specifications and accessories may be changed at any time based on improvements
and other reasons.

 ERRORS AND OMISSIONS

The information in this manual has been carefully checked and is believed to be accurate; however,
no responsibility is assumed for clerical, typographical, or proofreading errors, or omissions.

8

Sysmac Studio Drive Functions Operation Manual (I589)

Safety Precautions

Definition of Precautionary Information

The following notation is used in this manual to provide precautions required to ensure safe usage of
the drive functions of Sysmac Studio.

The safety precautions that are provided are extremely important to safety. Always read and heed the

ation provided in all safety precautions.

inform

The following notation is used.

Indicates a potentially hazardous situation which, if not avoided,

WARNING

could result in death or serious injury. Additionally, there may be
severe property damage.

Safety Precautions

Symbols

Indicates a potentially hazardous situation which, if not avoided,

Caution

may result in minor or moderate injury, or property damage.

Precautions for Safe Use

Indicates precautions on what to do and what not to do to ensure safe usage of the product.

Precautions for Correct Use

Indicates precautions on what to do and what no

The circle and slash symbol indicates operations that you must not do.

The specific operation is shown in the circle and explained in text.

This example indicates prohibiting disassembly.

t to do to ensure proper operation and performance.

The triangle symbol indicates precautions (including warnings).

The specific operation is shown in the

This example indicates a precaution for electric shock.

The triangle symbol indicates precautions (including warnings).

The specific operation is shown in the

This example indicates a general precaution.

Sysmac Studio Drive Functions Operation Manual (I589)

triangle and explained in text.

triangle and explained in text.

9

Safety Precautions

WARNING

Always confirm safety at the destination node before you transfer parameters
or data from Sysmac Studio to another node. Not doing so may result in
injury.

When you change the Drive’s mode to Test Run mode or RUN mode, the
motor opera
mac Studio. Ensure safety before changing the mode.

tion generator is switched between the host controller and Sys-

The filled circle symbol indicates operations that you must do.

The specific operation is shown in the

circle and explained in text.

This example shows a general precaution for something that you must do.

Sometimes you may be unable to stop the motor from your computer. Install
an

external emergency stop device so that you can stop the motor immedi-

ately if needed.

Confirm the axis number carefully before you perfo

rm an operation from Sys-

mac Studio.

Caution

Please check the safety of the machines during FFT analysis which requires
some drastic movements of motor.

To prevent the dangers please monitor the machine and be ready to make
the servo OFF any time.

Please do not use FFT analysis if there are any risks of damaging machine
by moving the motor in wide range.

Please do analysis under setting the gain as low as possible.
Check the parameters for proper execution before you use them for actual

operation

.

10

Don't turn OFF the power supply to the Drive while flash memory is being
written.

In the worst

If the absolute encoder setting function is executed, the mu

case, the flash memory may be damaged.

ltiturn counter
and encoder alarm are reset in the absolute serial encoder. When the multi­turn counter in the absolute serial encoder is reset to 0, the previously
de

ned machine system changes to a different coordinate system. After the

fi

encoder is set normally, reset the zero point of the mechanical system.

Sysmac Studio Drive Functions Operation Manual (I589)

Confirm that the machine will not be adversely affected before you enable
the function to automatically transfer the changed parameters to the Drive.

Safety Precautions

During autotuning or during automatic moto
motor operates and the workpiece moves greatly. Provide a means so that
you can turn OFF the Servo immediately during autotuning.

If you perform FFT analysis, the motor velocity may change drastically. Pro­vide a means so that you can turn OF
FFT analysis.

If you use the damping control function, the motor
drastically. Provide a means so that you can turn OFF the Servo Drive during
the damping control.

Conform that the related parameters have
performing the automatic motor setting for the Linear Motor in order to pre­vent unintended operation.

r setting for a Linear Motor, the

F the Servo immediately During the

response may change

been applied to the Drive before

Sysmac Studio Drive Functions Operation Manual (I589)

11

Precaution for Safe Use

Precaution for Safe Use

Displaying and Editing Parameters

• When you restart a Servo Drive, the ESM state of the Servo Drive will change in the following order:
Operational → Init → Operational.

• By the above state transition, the commands to the Serv
ning, make sure to stop the operation before executing the restart operation.

• When you use the NJ/NX/NY-series, the Controller will enter
state transition. Therefore, connect Sysmac Studio to the Controller and execute troubleshooting to
reset the error.

Auto Tuning

omotor will be stopped. If the device is run-

the minor fault state due to the ESM

• The motor operates during the adjustment. Confir

• If abnormal noise or vibration occurs, immediately turn OFF the power supply or the Servo.

• Gain adjustment is automatically performed by the Servo
adjustment. Follow the following safety precautions.

(1) Provide a means to perform an emergency stop (i

response may greatly change during the adjustment.

(2) Confirm safety around all moving par

movement range and directions of the motor and that the motor can operate safely. Provide
protective measures for unexpected motion.

(3) Before you start the adjustment, make sure that the device

of place. Before you start normal operation, make sure to perform homing to reset the posi­tion. If home is not reset before the adjustment is performed, the motor may run away, cre­ating a very hazardous condition. Co
Make sure that the object that is being adjusted does not fall when the Servo is turned OFF.

(4) If vibration or oscillation occurs when

until the system is stable.

• During auto tuning, the motor operates and the work
you can turn OFF the Servo immediately during auto tuning.

• Always confirm safety at the destination node before

m safety at the destination node.

Drive. The motor operates during the

.e., to turn OFF the power supply). The

ts. Always confirm that there are no obstacles in the

that is being adjusted is not out

nfirm

the safety of the system if you use a vertical axis.

auto tuning is performed, manually reduce the gain

piece moves greatly. Provide a means so that

you perform easy tuning on multiple Drives.

Manual Tuning

12

• The advanced tuning for 1S Series is made through a simulation of motor operations. The actual
oper

ation may be different from the simulated operations. Ensure safety before the actual operation

after the tuning.

• Always confirm safety at the destination node before

you perform manual tuning on multiple Drives.

Test Run

• Confirm the axis number carefully before you perform a test run.

• A test run operation involves motor operation. Refer
test run. 
Be particularly careful of the following points.

Confirm safety around all moving parts.

•

• When you click the start button, the motor begins actual oper
the motor operation only when you are absolutely sure there is no danger if you start the motor.

to the operation manual before you execute a

ation at the specified velocity. Begin

Sysmac Studio Drive Functions Operation Manual (I589)

Precaution for Safe Use

• Always have an external emergency stop device available.

• Sometimes you may be unable to stop the motor from your computer. Install an external emer­gency stop device so that you can stop the motor immediately if needed.

• Only operate the motor when you can clearly confirm the motor operation so that you can react

ickly in the case of any danger that may arise due to operation of the motor.

qu

• When you perform a test run via an NJ/NX/NY-series Con
after establishing EtherCAT communications.

• A communications error will occur if you attempt to begin operations w
cations. Always establish EtherCAT communications first.

• When operation is performed, such data as a travel distance and velocity
conversion settings for the axes assigned on the project file is displayed. Before performing opera­tion, carefully check safety by using units of drive

• Precautions during Test Run Operation

• During test run execution, only Sysmac Studio has an
from motion control instructions are ignored.

• Make sure that you are operating the correct axis.

measurement such as command units.

troller, perform the test run operations

ithout EtherCAT communi-

calculated from the unit

y control of the operation. Any commands

Motors and Encoders

If the absolute encoder setting function is executed, the mu
reset in the absolute serial encoder. When the multiturn counter in the absolute encoder is reset to
0, the previously defined machine system changes to a different coordinate system. After the
encoder is set normally, reset the zero point of the mechanical system.

ltiturn counter and encoder alarm are

Damping Control

Damping control is automatically performed by the
adjustment. Follow the following safety precautions.

• Provide a means to perform an emergency stop (i.e., to turn OFF the power supply). The

sponse may greatly change during the adjustment.

re

• Confirm safety around all moving
ment range and directions of the motor and that the motor
measures for unexpected motion.

• Before you start the adjustment, make sure that the device that is being adjusted is not out of

ace. Before you start normal operation, make sure to perform homing to reset the position. If

pl
home is not reset before the adjustment is performed, the motor may run away, creating a very
hazardous condition. Confirm the safety of the system if you use a vertical axis. Make sure that
the object that is being adjusted does not fall when the Servo is turned OFF.

parts. Always confirm that there are no obstacles in the move-

Servo Drive. The motor operates during the

can operate safely. Provide protective

Motor Setup (only for Linear Motor Type of

• After the completion of processing, the related parame
memory.

• Before moving to the next step, perform the following operations.

• Go offline with the Servo Drive.

• Cycle the power supply to the Servo Drive to apply the setti
valid at the startup.

• If an EtherCAT cable is connected to the Servo Drive, remove it.

• Go online with the Servo Drive.

Sysmac Studio Drive Functions Operation Manual (I589)

G5 Series)

te

rs are automatically saved to the non-volatile

ngs of the parameters that become

13

Precautions for Correct Use

Precautions for Correct Use

• Observe the following precautions while the Drive is in Test Run mode.

• Commands from Sysmac Studio are disabled when you restart the Controller, clear all memory,
backu

p and restore the Controller, or disconnect an EtherCAT slave. Confirm the safety of the

system before you perform the operations.

• If Sysmac Studio goes offline with the Controller or Dr
cally. In RUN mode, commands from Sysmac Studio are disa
troller are enabled. Confirm the safety of the system before you perform the operation.

• Do not perform following operations from other computers during a test run for the Drive:
restarting the Controller, clearing all memory, restoring the Controller, or disconnecting an Ether­CAT slave. Communications between Sysmac Studio and the Drive is disconnected and com­mands from Sysmac Studio are disabled.

• If you change more than one Drive to Test Run mode, command transmission time to each Drive

become

will

• Test Run mode may be cancelled if the personal computer
system requirements for Sysmac Studio because the sending time for each command for drive
may become longer than expected. As a result, the drive may detect a disconenction of the cable.
The system requirements for recommended environment can be seen at 'Applicable Computers',
section 1 'Introduction' in the 'Sysmac Studio Version 1 Operation Manual (W504)'.

• Be sure to set the value before applying electronic ge
when you perform the operation.

longer and the Test Run mode may be cancelled.

ive, the Drive enters RUN mode automati-

a

r ratio in the Drive as the step distance

bled, and commands from the Con-

does not satisfy the 'recommended'

• Do not perform go online to a Drive from more than one copy of Sysmac Studio in one personal com­puter via USB connection. Communication between Sysmac Studio and the Drive is stopped.

14

Sysmac Studio Drive Functions Operation Manual (I589)

Regulations and Standards

Software Licenses and Copyrights

• This product incorporates certain third party software. The license and copyright information associ­ated with this software is available at http://ww

• This software uses knowledge media technology that was
(VBL) of Hokkaido University.

w.fa.omron.co.jp/nj_info_e/.

Regulations and Standards

developed by the Meme Media Laboratory

Sysmac Studio Drive Functions Operation Manual (I589)

15

Versions

ID information indication

Lot number Serial number Unit version

MAC address Hardware revision

LOT No. DDMYY xxxx Ver.1.
PORT1 :  HW Rev. 
PORT2 : 

ID information indication

Unit model

Lot number Serial number MAC address

Unit version Hardware revision

NJ501

-



Ver.1.



PORT1 MAC ADDRESS:



PORT2 MAC ADDRESS:



Lot No. DDMYY



xxxx

HW Rev.



Versions

Unit Versions

Hardware revisions and unit versions are used to manage the hardware and software in NJ/NX-series
Units and EtherCAT slaves. The hardware revision or unit version is updated each time there is a
change in hardware or software specifications. Even when two Units or EtherCAT slaves have the
same model number, they will have functional or performance differences if they have different hard­ware revisions or unit versions.

This section describes NJ/NX-series CPU Un

Checking Versions

You can check versions on the ID information indications or with the Sysmac Studio.

its an

d EtherCAT slaves as examples.

Checking Unit Versions on ID Information Indications

The unit version is given on the ID information indication on the side of the product.

The ID information on an NX-series NX701- CPU

Note The hardware revision is not displayed for the Unit that the hardware revision is in blank.

The ID information on an NJ-series NJ501- CPU Unit is shown below.

Unit is shown below.

16

Note The hardware revision is not displayed for the Unit that the hardware revision is in blank.

Sysmac Studio Drive Functions Operation Manual (I589)

Versions

Checking Unit Versions with the Sysmac Studio

You can use the Production Information Dialog Box while the Sysmac Studio is online to check the unit
version of a Unit.

You can check the unit version of the following Units.

•CPU Units

• CJ-series Special I/O Units and CPU

• EtherCAT slaves

The unit versions of CJ-series Basic I/O

Refer to the Sysma
tion information displays.

c Studio Version 1 Operation Manual (Cat. No. W504) for details on the Unit produc-

Bus Units

Units cannot be checked from the Sysmac Studio.

 NX-series CPU Units

1 Right-click CPU Rack under Configurations and Setup  CPU/Expansion Racks in the Multi-

view Explorer and select Display Prod

The Production Information Dialog Box is displayed.

The unit version is displayed after Ver. to the r

uction Information.

ight of the Unit model number.

 NJ-series CPU Units and CJ-series Units

1 Double-click CPU/Expansion Racks under Configurations and Setup in the Multiview

Explorer. Or, right-click CPU/Expansion Racks under Configurations and Setup and select
Edit from the menu.

The Unit Editor is displayed.

2 Right-click any open space in the Unit Editor and select Production Information.

The Production Information Dialog Box is displayed.

The unit version is displayed after Ver. to the r

ight of the Unit model number.

 EtherCAT Slaves

1 Double-click EtherCAT under Configurations and Setup in the Multiview Explorer. Or,

right-click EtherCAT under Configurations and Setup and select Edit from the menu.

The EtherCAT Tab Page is displayed.

Sysmac Studio Drive Functions Operation Manual (I589)

17

Versions

Additional Information

2 Right-click the master on the EtherCAT Tab Page and select Display Production Information.

The Production Information Dialog Box is displayed.The unit version is display
the right of the Unit model number.

• Refer to the manual for the specific Unit for the unit versions of the CPU Units to which the
database connection service and other functions were added, as well as for the unit versions
of the Communications Coupler Units, NX Units, and Safety Control Units.

• This manual sometimes refers to the unit version of the CPU Unit as the unit version of the
Controller.

Unit Versions and Sysmac Studio Versions

The functions that are supported by a Unit depend on its unit version. The version of Sysmac Studio
that supports the functions that were added for an upgrade is required to use those functions. Refer to
the NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501) for the relationship between the
unit versions of the NJ/NX-series CPU Units and the Sysmac Studio versions, and for the functions that
are supported by each unit version. Refer to the relevant manuals for the Communications Coupler Unit
and NX Units for differences in the functional support provided by each unit version.

ed after Rev. to

18

Sysmac Studio Drive Functions Operation Manual (I589)

Related Manuals

Related Manuals

The following manuals are related. Use these manuals for reference.

Manual name Cat. No. Model numbers Application Description

Sysmac Studio Drive
Functions Operation
Manual (t

Sysmac Studio Version 1
Operation Manual

1S-ser
tors and Servo Drives
User’s Manual (with
Built-i
munications)

1S-Series AC Servomo­tors and Servo Drives
User’s Manual (with
Buil
munications and Safety
F

G5-series AC Servomo­tors and Servo Drives
User’s Manual (with
Buil
munications)

G5-series Linear
Motors/Servo Drives
User’s Manual (with
Buil
munications)

CJ1W-NC81/82
Position Control Unit
User's Manual

his manual)

ies AC Servomo-

n EtherCAT® Com-

t-i

n EtherCAT® Com-

unctionality)

n EtherCAT® Com-

t-i

n EtherCAT® Com-

t-i

I589 SYS-

MAC-SE2

W504 SY

I586 R88M-1,

I621 R88M-1

I576 R88M-K,

I577 R88L-EC-,

W487 CJ1W-NC81/82Learning about the

S-

MAC-SE2

1

SN-ECT

R88D-

AL/

1AM,

SAN-EC

R88D-1
T

K

N-ECT

R88D-

R88D-KN-ECT-L

Learning about the drive
functions of Sysm
dio.

Learning about the operat­ing procedures and func­tions of Sysmac Studio
besides the drive func­tio

Learning about the
1S-series AC Servomo­tors and Servo Drives with
built­nications

Learning about the
1S-series A
tors and Servo Drives with
built-i
nications and Safety Func­tionality.

Learning about the
G5-series AC Servomo­tors and Servo Drives with
built­nications.

Learning about the
G5-series Linear Motors
and Servo Drives with
built-in EtherCAT commu­nications.

CJ-series Position Control
Unit CJ1W-NC8.

ns.

i

n EtherCAT commu-

C

Servomo-

n EtherCAT commu-

i

n EtherCAT commu-

ac Stu-

Describes the operating procedures for the drive

s of Sysmac Studio.

function

Describes the operating procedures for other
functions of Sysmac Studio.

Describes the hardware, setting methods, and
functions of 1S­Servo Drives with built-in EtherCAT communica­tions.

Describes the hardware, setting methods, and

s of 1S-

function
Servo Drives with built-in EtherCAT communica­tions and Safety Functionality.

Describes the hardware, setting methods, and
functions of G5­Servo Drives with built-in EtherCAT communica­tions.

Describes the hardware, setting methods, and

s of G5-series Linear Motors and Servo

function
Drives with built-in EtherCAT communications.

Describes the hardware, setting methods, and
functions of CJ1W-NC8 Position Control
Unit.

series AC Servomotors and

series AC Servomotors and

series AC Servomotors and

Sysmac Studio Drive Functions Operation Manual (I589)

19

Revision History

I589-E1-06

Revision code

Cat. No.

Revision History

A manual revision code appears as a suffix to the catalog number on the front and back covers of the
manual.

Revision code Date Revised content

01 July 2016 Original production
02 April 2017 Revisions for an upgrade to Sysmac Studio version 1.18.
03 October 2017 Revisions for an upgrade to Sysmac Studio version 1.20.
04 April 2018 Revisions for an upgrade to Sysmac Studio version 1.22.
05 July 2019 Revisions for an upgrade to Sysmac Studio version 1.29.
06 April 2020 Revisions for an upgrade to Sysmac Studio version 1.40.

20

Sysmac Studio Drive Functions Operation Manual (I589)

Sysmac Studio Drive Functions

This section provides an overview of the Sysmac Studio drive functions and describes
its features, system configuration, and use cases.

1-1 Sysmac Studio Drive Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

1-2 System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3

1-2-1 Connection to Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3

1-2-2 Applicable Drives and Communications Types . . . . . . . . . . . . . . . . . . . . . . . 1-5

1

Sysmac Studio Drive Functions Operation Manual (I589)

1 - 1

1 Sysmac Studio Drive Functions

1-1 Sysmac Studio Drive Functions

Sysmac Studio Automation Software provides an integrated development environment to set up, pro­gram, debug, and maintain SYSMAC NJ/NX/NY-series Controllers and other Machine A
trollers, as well as EtherCAT slaves. Sysmac Studio offe
as EtherCAT slaves, for example, parameter settings, transfer, and comparison as well as test runs,
tuning, monitoring, and data tracing. These functions are collectively called “drive functions”.

This manual describes the operation procedur

es of Sysmac Stu

Support for OMRON Drives

rs various functions for specific Drives installed

dio drive functions.

utomation Con-

Easy and Secure Drive Parameter Settings

1S-series Servo Drives and G5-series Servo Drives are supported.

Parameters can be selected by specifying a category or filtering the list.

You can customize a category to make your own favorite category.

Efficient Drive Setup and Tuning Navigate

d by the Setup and Tuning

Wizard (1S Series Only)

For 1S-series Drives, the Setup and Tuning wizard is provided to perform a series of operations from

*1

basic parameter settings

and transfer, test run, and tuning to data tracing. With the wizard, you can

reduce the time required for drive settings and tuning.

*1. With the Setup and Tuning wizard for a 1S-series Drive, you can assign functions to external I/O signals (i.e.,

control I/O connectors) easily while checking the connector pin numbers and arrangement diagram.

Support of Various Tuning Methods (1S Series Only)

For 1S Series, three kinds of tuning methods are provided; easy tuning, advanced tuning, and manual
tuning.

In Easy tuning and Manual tuning, tuning can be simultaneo

• Easy tuning: Gains and filters are automatically adjusted by repeating motor operations. Use this
method when you want to perform the tuning easily.

• Advanced tuning: You can adjust gains and filters by minimum motor operations through a simulation. Gain
and filter settings can be adjusted individually.

• Manual tuning: You can adjust gains and filters at the same time by editing only one parameter.

usly performed on multiple Drives.

1 - 2

Sysmac Studio Drive Functions Operation Manual (I589)

1-2 System Configuration

R
U
N

E
R
R

IN

L
/
A

R
8
8D

-1SN

L

/
A

F
S

O

U
T

Et
her

CA

T

ID21

1

0
1

3

2

4
5

7

6

8
9

11

1
0

12
13
14
1

5

DC

2

4
V

7

mA

C
OM

MAC

H

N
o

.

AD

04
2

R

U

N
ERC
ERH

B
1

A
1

x
1
0

1

x1
0

0

0

9

8

7

6

5

4

3

2

1

0

9

8

7

6

5

4

3

2

1

0 1 234

5
6 7

8

9

10

111213 14 15

Commercially available USB
cable or Ethernet cable

NJ/NX-series
CPU Unit

Sysmac Studio

EtherCAT

Drive

This section describes the system configuration for the functions available when Drive is selected in a

1-2-1 Connection to Drive

Connection method Direct connection via USB

Drive 1S Series and G5 Series

Sysmac Studio project.

Sysmac Studio can be connected to a Drive by the following four methods.

• Direct connection to a Drive via USB

• Connection to a Drive on an EtherCAT network thro

ugh an NJ/NX-series CPU Unit connected via

USB or Ethernet

• Connection to a Drive on an EtherCAT network thro

ugh a Programmable Multi-Axis Controller con-

nected via Ethernet

• Connection to a Drive on an EtherCAT network thro

ugh a CJ-series CPU unit connected via USB or

Ethernet, equiped with a CJ1W-NC8 Position Control Unit

EtherCAT connection via an NJ/NX-series
CPU Unit

1 Sysmac Studio Drive Functions

1-2 System Configuration

1

1-2-1 Connection to Drive

Connection dia­gram

Sysmac Studio

Commercially available
USB cable *1

Et

R8

her

8

CA

D

T

­1
SN

L
/

R

A

U

L

N

/
A

E
R
R

IN

O
U
T

F
S

Drive

*1. Refer to the manuals of each Servo Drive

for the

USB

cable.

Sysmac Studio Drive Functions Operation Manual (I589)

1 - 3

1 Sysmac Studio Drive Functions

R
U

N

E
R

R
IN

L
/
A

R

8

8D

-1SN

L
/
A

F
S

O
U
T

Et
her

CA

T

Commercially available

Ethernet cable
Programmable
Multi-Axis
Controller

Sysmac Studio

EtherCAT

Drive

R
U
N

ER
R
IN

L
/A

R88

D-1S

N

L
/A

F
S

OU
T

E

th
e

r

C
A

T

Commercially available USB
cable or Ethernet cable

Sysmac Studio

EtherCAT

Drive

CJ-series
CPU Unit

CJ1W-NC8

Connection method

EtherCAT connection via a Programmable
Multi-Axis Controller

Drive 1S Series and G5 Series 1S Series

Connection dia­gram

EtherCAT connection via CJ1W-NC8
Position Controller

Refer to 2-7 Online Connection Procedure on page 2-24 for the online connection procedure with the
Drive.

1 - 4

Sysmac Studio Drive Functions Operation Manual (I589)

1 Sysmac Studio Drive Functions

1-2-2 Applicable Drives and Communications Types

Sysmac Studio supports the following Drives. Each Drive supports the communications given in the

Device

cate-

gory

Servo
Drive

table.

Drive

name

AC
Servo
Drive

Linear
Drive

Type Model

1S-series AC
Se

rvomotors and
Servo Drives with
Built-in EtherCAT
Communications

1S-Series AC
Se

rvomotors and
Servo Drives with
Built-in EtherCAT
Communications
and Safety Func­tionality

G5-series AC
Se

motors and

rvo
Servo Drives with
Built-in EtherCAT
Communications
G5-series Linear
Motors and

S

ervo
Drives with
Built-in EtherCAT
Communications

Communications with Sysmac Studio

EtherCAT

Refer-

ence

manual

Direct

connec-

tion via

tion via an
NJ/NX/NY-

USB

CPU Unit

R88D-1SN-ECT I586 Possible Possible Possible Possible

R88D-1SAN-ECTI621 Possible

R88D-KN-ECT I576 Not possi-

R88D-KN-ECT-L I577 Not possi-

connec-

series

EtherCAT

connec-

tion via

Program-

mable
Multi-Axis
Controller

EtherCAT

connec-

tion via

C

-NC

J1W

8 Posi-

tion Con-

troller

ble

ble

1-2 System Configuration

1

1-2-2 Applicable Drives and Communications Types

Sysmac Studio Drive Functions Operation Manual (I589)

1 - 5

1 Sysmac Studio Drive Functions

1 - 6

Sysmac Studio Drive Functions Operation Manual (I589)

Overview of the Operations

This section describes the basic drive operation flow and user interfaces of Sysmac
Studio.

2-1 Basic Operation Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

2-1-1 1S Series . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

2-1-2 G5 Series . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6

2-2 Installation and Uninstallation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8

2-3 Creating a Project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-9

2-3-1 Using a Drive with an OMRON NJ/NX/NY-series Controller . . . . . . . . . . . . . 2-9

2-3-2 Using a Drive Independently . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-10

2-4 Areas of the Application Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-12

2-4-1 Overview of the Application Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-12

2-4-2 Multiview Explorer . . . . . . . . . . . . . . . . .

2-4-3 Toolbar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-16

2-5 Project Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-17

2-5-1 Project Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-17

2-5-2 Project Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-18

2-5-3 Import and Export . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-19

2-6 Functions, Use Cases, and Operation Procedures . . . . . . . . . . . . . . . . . . 2-20

2-6-1 1S Series . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-20

2-6-2 G5 Series . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-22

2-6-3 Function and Operation Procedures for Each Drive . . . . . . . . . . . . . . . . . . . 2-23

2-7 Online Connection Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-24

. . . . . . . . . . . . . . . . . . . . . . . . . . . 2-13

2

Sysmac Studio Drive Functions Operation Manual (I589)

2 - 1

2 Overview of the Operations

2-1 Basic Operation Flow

This section describes the basic Sysmac Studio operation flows for the Drives.

2-1-1 1S Series

This section gives the basic operation flow for 1S Series.

Creating a Project

Procedure Online Offline Operation Reference

Starting Sysmac Stu­dio and creating a new
project o
page.

n the start

Possible Possible • Setup and Tuning for Independent

Drives:

Select New Pr
in the Category field and the applicable
model number in the Device field.
Then, click the Create button.

• Using the Drive with an OMRON
N

J/NX/NY-series Controller:

After creating a project for the Control­ler, register the applicable model to the
EtherCAT

Sysmac Studio Version 1 Operation
Manual (Cat. No. W504) for details.)

• Using the Drive with an OMRON Pro­grammable Multi-Axis Controller:

Select New Pr
in the Category field and the applicable
model number in the Device field.

Then, click the C

Once the drive project is created,
right-cli

ck on the drive and select Com-

munications Setup fro

Once opened, configure the Remote

connection via Programmable
Multi-Axis Controller (EtherCAT).

• Using the Drive with an OMRON
CJ-serie
CJ1W-NC8 Position Control Unit:

Select New Pr
in the Category field and the applicable
model number in the Device field.

Then, click the C

Once the drive project is created,
right-cli
munications Setup fro

Once opened, configure the Remote

connection via CJ1W-NC[]8[] Posi­tion Controller (EtherCAT).

s CPU Unit equiped with

ck on the drive and select Com-

oject, and sel

configuration. (Refer to the

, and select Drive

oject

eate button.

r

oject, and select Drive

eate button.

r

ect Drive

the menu.

m

the menu.

m

2-3 Creating a
Project on page

9

2-

2 - 2

Sysmac Studio Drive Functions Operation Manual (I589)

2 Overview of the Operations

Setup and Tuning through Troubleshooting

Procedure

Step

1: Going online/offline with the Drive Possible Possible Select Online or

Online

Offline

Operation Reference

2-7 Online

Offline.

Connection

2-1 Basic Operation Flow

Procedure on
page 2-24



Step

2: Startup --- --- Select Setup and

Tuning.

1. Setup of an absolute encoder Possible --- Select Quick

Par

2. Function assignment to external
I/O si

gnal

s

Possible Possible

ameter Setup

and I/O Monitor

in the Setup and
Tuning wizard.

3-8 Setup and
Tuning Wizard

on page 3-36

3-8-2 Quick
Parameter
Setup and I/O
Monitor on

page 3-37

2

2-1-1 1S Series

3. Test run Possible --- 3-8-3 Test Run

and Function
Status on

page

3-45

4. Tuning

Note Refer to Tuning Method

Possible --- Select Setu

Tuning.

p and

Selection Flow on page
2-5 below for how to
select a tuning method.

Easy Tuning Possible --- Select Easy Tun-

in

g in the Setup

an

d Tuning wiz-

ard.

Advance

d Tuning Possible --- Select Advanced

Tuning in the
Setup and Tuning

3-8-4 Easy
Tuning (Single
Drive) on

page

3-48

4-1 Manual
Tuning on

page

4-2

wizard.

Ma

nual Tuning Possible --- Select Manual

Tu

ng in the

ni

Setup and Tuning
wizard.



Step

3: Detailed Settings and Tuning

1. Editing the parameters (except

for the

function assignment to

external I/O signals)

Possible Possible Double-click

Par

ameters.

3-1 Displaying
and Editing
Parameters on

page 3-2

2. Test run Possible --- Select T

est Run. 3-3 T

est Run

on page 3-18

3. Data tracing Possible --- Right-click Data

Trace Settings
and select Add -

3-6 Data Trac­ing o

n page

3-24
Data Trace from
the menu. Then,
double-click the
data trace cre­ated.

4. FF

T (Fast Fourier Transform)

analysis

Possible --- Double-click FFT. 4-2-1 FFT on

page 4-19

Sysmac Studio Drive Functions Operation Manual (I589)

2 - 3

2 Overview of the Operations

Procedure

5. Damping control Possible --- Select Damping



Step

4: Status monitoring and trouble-

shooting

Online

Possible --- Select Status

Offline

Operation Reference

Control.

Monitor or Trou­bleshooting.

4-2-2 Damping
Control on

page 4-23

3-4 Status
Monitor on

p

age 3-22

3-5 Trouble­shooting on

p

age 3-23

2 - 4

Sysmac Studio Drive Functions Operation Manual (I589)

2 Overview of the Operations

Yes

Save to non-volatile memory

Auto tuning?

Operation OK?

Tuning through

simulation?

Operation OK?

Tuning start

Tuning complete

Easy tuning

Easy tuning

Manual tuning

Advanced tuning

Adjust each gain in the

Parameters tab page.

No

Manual tuning Fine tuning

Yes

No

Yes

No

Yes

No

Tuning Method Selection Flow

Follow this flow to select a tuning method.

2-1 Basic Operation Flow

2

2-1-1 1S Series

Sysmac Studio Drive Functions Operation Manual (I589)

2 - 5

2 Overview of the Operations

2-1-2 G5 Series

Creating a Project

Procedure Online Offline Operation Reference

This section gives the basic operation flow for G5 Series.

Starting Sysmac Stu­dio and creating a proj­ect on the start page.

Possible Possible • Setup and Tuning for Independent

Drives:

Select New Pr

oject, and sel

ect Drive
in the Category field and the applicable
model number in the Device field.
Then, click the Create button.

• Using the Drive with an OMRON
N

J

/NX/NY-series Controller:

After creating a project for the Control­ler, register the applicable model to the
EtherCAT

configuration. (Refer to the

Sysmac Studio Version 1 Operation
Manual (Cat. No. W504) for details.)

• Using the Drive with an OMRON Pro­grammable Multi-Axis Controller:
Select New Pr

oject, and select Drive
in the Category field and the applicable
model number in the Device field.
Then, click the C

reate button.
Once the drive project is created,
right-cli

ck on the drive and select Com-

munications Setup fro

the menu.

m

Once opened, configure the Remote

connection via Programmable
Multi-Axis Controller (EtherCAT).

2-3 Creating a
Project on page

2-

9

2 - 6

Sysmac Studio Drive Functions Operation Manual (I589)

2 Overview of the Operations

Setup and Tuning through Troubleshooting

2-1 Basic Operation Flow

Procedure Online Offline Operation Reference

Step 1: Going online/offline with the Drive

To be also executed in the subsequent
steps as

necessary.

Possible Possible

Select Online
Offline.

*1

or

2-7 Online
Connection
Procedure on

page 2-24

Step 2: Editing the parameters Possible Possible Double-click

Param

ters.

e

3-1 Displaying
and Editing
Parameters on

Step 3: Test run

Possible --- Select Test Run. 3-3 Test Run

(To be also executed in the subsequent
steps as

necessary)

Step 4: Setup of an absolute encoder Possible --- Select M

Encoder.

Step 5: Data tracing (To be also executed in the

subsequent steps as necessary)

Possible --- Right-click Data

Trace Settings
and select Add -

otor and

page 3-2

on page 3-18

tors and

3-7 Mo
Encoders on

pa

ge 3-34

3-6 Data Trac­ing o

n page

3-24

2

2-1-2 G5 Series

Data Trace from
the menu. Then,
double-click the
data trace created.

Step 6: Auto tu

ning

Easy tuning

Possible --- Select Auto Tun-

ing.

3-2-2 Auto Tun­ing for G5
Series on p

age

3-12

Step 7: FFT (Fast Fourier Transform) analysis

and d

amping control, as necessary

Possible --- Double-click FFT.

Select Damping

4-2-1 FFT on
page 4-19

Control.

Step 8: Status monitoring (To be also executed

in the earl

er steps as necessary) and

i

troubleshooting

Possible --- Select St

itor or Troubl
shooting.

atus Mon-

e-

3-4 Status
Monitor on

page 3-22

3-5 Trouble­shooting on

page 3-23

*1. In the EtherCAT connection via an NJ/NX/NY-series CPU Unit, when Sysmac Studio goes online with the CPU

Unit, the online status with each Drive is established automatically.

Sysmac Studio Drive Functions Operation Manual (I589)

2 - 7

2 Overview of the Operations

2-2 Installation and Uninstallation

Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504).

2 - 8

Sysmac Studio Drive Functions Operation Manual (I589)

2-3 Creating a Project

Precautions for Correct Use

This section describes how to create a project including Drives in Sysmac Studio.

Use the following two methods to register a Drive to a project in Sysmac Studio.

• Registering a Drive as an EtherCAT slave in a project

• Registering an independent Drive in a project

2 Overview of the Operations

2-3 Creating a Project

2-3-1 Using a Drive with an OMRON NJ/NX/NY-series Controller

When you use a Drive with an OMRON NJ/NX/NY-series Controller, you register the Drive as an Ether­CAT slave in a project. Register the applic
project.

able Drive to the EtherCAT configuration in the Controller

1 When creating a new project, select Controller in the Category field of the Select Device area.

Then, select an NJ/NX/NY-series CPU Unit in the Device field.
Or, add a Controller to an existing project and select

an NJ/NX/NY-series CPU Unit as Device.

2 Select the Controller that was registered in the previous step and register the applicable Drive in

the EtherCAT configuration tab page.

n

Refer to 2-5 Project Data o
project. Refer to EtherCAT Co
(Cat. No. W504) for details of the registration in the EtherCAT configuration tab page.

page 2-17 for positioning of the drive-related data in the Sysmac Studio

nfiguration and Setup of the Sysmac Studio Version 1 Operation Manual

Changing the Model of a Drive

You can change the model of a registered Drive.

1 Right-click a Drive on the EtherCAT Tab Page and select Change Model.

The Drives that you can change to are displayed in the Change Model dialog box.

2

2-3-1 Using a Drive with an OMRON NJ/NX/NY-series Controller

2 Select the Drive to change to and then click the OK button.

A dialog box that alerts you to the change o

3 Click the OK button.

The Drive is changed to the selected model and unit version.

• For G5-series unit version earlier than 2.0 (excluding Linear Servo Drives) and between dif­ferent types of Servo Drives, you ca

• Any settings in the Drive before the change that are not supp
change will be lost when you change the model.

Sysmac Studio Drive Functions Operation Manual (I589)

f the model is displayed.

nnot change the model.

orted by the Drive after the

2 - 9

2 Overview of the Operations

2-3-2 Using a Drive Independently

An independent Drive is registered to the Drive group in a project. Use the following two methods for
registration:

• Selecting Drive in the Category field of the Selec

• Adding the Driv

e to an existing project

t Device area when you create a new project

Refer to 2-5 Project Data on

page 2-17 for positioning of the drive-related data in the Sysmac Studio

project.

Refer to the Sysmac

Studio Version 1 Operation Manual (Cat. No. W504) for basic operations of Sys-

mac Studio.

Selecting a Drive as a Device when Creating a New Project

When creating a new project file, select a Drive as a device.

1 Click the New Project button in the project window.
2 In the Project Properties dialog box, enter values in the Project name, Author (optional) and

Comment (optional) fields and select the following in the Category and Device fields in the
Select Device area.

Field Item to select

Category Drive
Device Applicable Drive model

2 - 10

Note When the computer with Sysmac Studio running is directly connected to a Drive via USB, a new project

can be automatically created for the connected Drive. To do so, click the Connect to Device button
without opening a project in the above start page of Sysmac Studio. Refer to Going Online from the
Start Page of Sysmac Studio on pa
details.

ge 2-26 of 2-7 Online Connection Procedure on page 2-24 for

Sysmac Studio Drive Functions Operation Manual (I589)

2 Overview of the Operations

3 Click the Create button at the bottom right of the Select Device area.

A new project is created and the following window is

displayed.

2-3 Creating a Project

2

2-3-2 Using a Drive Independently

Adding a Drive to an Existing Project

1 Select Drive from the Insert menu in the main menu bar.

Or, right-click Devi

ce Group in the Multiview Explorer and select Add from the menu.

2 The following Add Device dialog box is displayed. Select the applicable model number.

3 Click the OK button. The selected Drive is registered.

Changing the Model of a Registered Drive

1 Right-click a registered Drive and select Change Device from the menu.
2 The drive selection dialog box is displayed. Change the Drive to the model that you want to set.
3 Click the OK button. If the following dialog box is displayed, confirm that no problem will occur,

and then click the Yes Button.

Sysmac Studio Drive Functions Operation Manual (I589)

2 - 11

2 Overview of the Operations

(a)
(b)

(c)

(f)

(d)

(e)

2-4 Areas of the Application Window

This section gives the names of the parts specific to Sysmac Studio.

2-4-1 Overview of the Application Window

When you open a project, the following application window is displayed.

No. Name Description

(a) Menu bar Menu names are displayed in this bar.
(b) Toolbar Buttons and icons are displayed in this bar.
(c) Multiview Explorer This pane is your access point
(d) Edit pane The edit pane is used to display and edit the data for any of the items.
(e) Output tab page Operation execution status and errors are displ
(f) Toolbox Not used.

Properties pane The data trace and FFT properties are displayed in this pane.

for all Sysmac

Studio data.

a

yed in this tab page.

2 - 12

Sysmac Studio Drive Functions Operation Manual (I589)

The following context
menu is displayed by
right-clicking a Drive.

2-4-2 Multiview Explorer

2 Overview of the Operations

2-4 Areas of the Application Window

Drive Display Position and Method

This pane is your access point for all Drive data.

 Drives Independently Registered in the Project

For each Drive, its model number is displayed under Configurations and Setup - Device Group.

 Drives Registered as EtherCAT Slaves in the Project

For each Drive, its node address, and model number followed by the Drive name in parentheses are
displayed under Configurations and Setup - EtherCAT.

2

2-4-2 Multiview Explorer

Operation Procedure for Each Function

The operation procedure of Sysmac Studio differs according to the functions.

Category

Functions exe­cuted from the
Multiview
Explore

r

Functions (item name/menu

name)

• Parameters

•FFT

• Data Trace Settings

Operation

Select an item from the tree structure in the Multiview
Expl

orer.

nctions exe-

Fu
cuted from the

context men

• Setup and Tuning (1S Series

*1

• Auto Tuning (G5 Series only

u

• Troubleshooting

• Status Monitor

• Motor and Encoder

•Test Run

• Damping Control

•Initialize

• Properties

only)

(both th
and linear motor type))

servomotor type

e AC

The following items
are displayed in the
Multiview Explorer.

· Parameters

· FFT

· Data Trace Settings

Right-click the Drive and select a command from the
menu.

Sysmac Studio Drive Functions Operation Manual (I589)

Refer to the following page for the differences between
Dri

v

e types.

2 - 13

2 Overview of the Operations

Drive type 1S Series

G5 Series (Except for linear

motor type)

G5 Series (Linear motor

type)

Registered as
an EtherCAT
slave in the
project

Registered
indepen­dently in the
project

*1. Context menu displayed by right-clicking each Drive type

The context menu displayed by right-clicking each Drive differs by the Drive types as shown below.

The displayed menu also differs according to how the Drive is registered in the project, i.e., whether the Drive
is registered as an EtherCAT slave or the Drive is independently registered in the project.

2 - 14

Sysmac Studio Drive Functions Operation Manual (I589)

2 Overview of the Operations

2-4 Areas of the Application Window

Right-click Menu Variation

Drive type

Item selected in

the Multiview

Explorer

Right-click menu Description

1S Series

Servo Drive Delete Deletes the Servo Drive. Available Available Available

Rename Changes the name of the

S

e

rvo Drive.

Available Available Available

Change Device Changes the device. Available Available Available
Setup and Tuning Performs the quick param-

Available Not avail­eter setup, I/O monitor­ing, and tuning easily.

Auto Tuning Invokes the auto tuning

fun

c

tion.

Motor Setup Sets the parameters

re

lated to the linear motor.

Troubleshooting Invokes the troubleshoot-

Not avail-

able

Not avail-

able

Available Available Available
ing function.

Status Monitor Invokes the status monitor

Available Available Available
function.

Motor and Encoder Sets up an absolute

Available Available Not avail­encoder.

Displa

ys the properties of

the Servomotor.

Test Run Starts a test run. Available Available Available
Damping Control Invokes the damping con-

Available Available Available
trol function.

Initialized Invokes the initialize func-

Available Available Available
tion.

Properties Displays the properties of

e Servo Drive.

th

Print Prints the Drive parame-

Available Available Available

Available Available Available
ter settings, FFT, and data
traces

.

Online/Offline Goes online with the con-

Available Available Available
nected Servo Drive.

Direct connection
(USB)

Directly connects to the
Drive th

rough a USB

Available Available Available

cable. This menu com­mand can be executed
when

the Drive is regis-

tered as an EtherCAT

Communications
Setup

sl

ave in the proj

Configures connection
type and settings. This

ect.

Available Available Available

menu command can be
executed when the Drive
is independently regis­tered in the project.

Parameters Edit Edits the parameters. Available Available Available
FFT Edit Invokes the FFT fu

nct

ion. Available Available Available

G5 Series

(Except for

linear

motor

type)

G5 Series

(Linear

motor

type)

Not avail-

able

able

Available Available

Not avail-

Available

able

able

2

2-4-2 Multiview Explorer

Sysmac Studio Drive Functions Operation Manual (I589)

2 - 15

2 Overview of the Operations

Item selected in

the Multiview

Explorer

Data
Trace
Settings

Data
Trace

Right-click menu Description

Add - Data Trace Adds a data trace. Available Available Available
Edit Edits a data trace.
Cut Cuts a data trace.
Copy Copies a data trace.
Delete Deletes a data trace.

2-4-3 Toolbar

Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for details.

1S Series

Drive type
G5 Series

(Except for

linear

motor

type)

G5 Series

(Linear

motor

type)

2 - 16

Sysmac Studio Drive Functions Operation Manual (I589)

2-5 Project Data

Project data

Data related to NJ/NX/NY

-series Controllers
(Controller group)

Data related to FH Sensor
Controllers
(Vision Sensor group)

Data related to Drives
(Drive group)

Data related to other devices
such as Slave Terminals

2 Overview of the Operations

This section describes project data related to Drives.

2-5-1 Project Management

Sysmac Studio manages configuration information of the devices such as Controllers, Drives, and
Vision Sensors on a project basis.

2-5 Project Data

2

2-5-1 Project Management

Sysmac Studio Drive Functions Operation Manual (I589)

2 - 17

2 Overview of the Operations

2-5-2 Project Data

Each Drive can be registered to the following two kinds of groups in project data.

• Drive group

• Controller group

Project data

Drive group

Drive A

Parameters

FFT

Data Trace
Settings

As project data, these groups' data is collective

Drive B

Parameters

FFT

Data Trace
Settings

Drive X

Parameters

FFT

Data Trace
Settings

ly managed with other groups' data.

Project data is saved in a specific area of the computer.

When you need a data file, export the project file. Refer to the Sysmac
ual (Cat. No. W504) for details.

Drive Group

Up to 128 Drives can be registered in a single project file.

The following data of all Drives is manage

• Parameters

• Trace settings and the latest data trace results

•

FFT settings and the latest FFT results

d as a Drive group in the Sysmac Studio project data.

Controller group

Vision Sensor group and
others

Studio Version 1 Operation Man-

2 - 18

Controller Group

Up to 512 Drives can be registered as EtherCAT slaves per EtherCAT network in a single project file.

The following data of each Drive is managed as an Ethe
mac Studio project data.

• Parameters

• Trace settings and the latest data trace results

FFT settings and the latest FFT results

•

rCAT slave for the Controller group in the Sys-

Sysmac Studio Drive Functions Operation Manual (I589)

2-5-3 Import and Export

For data exchange with external devices, each Drive data file and project file can be exported and
imported in a specific or general-purpose format.

 Exportable Files

2 Overview of the Operations

2-5 Project Data

File type Extension Contents Operation procedure

Drive

meter

para
file
Data trace
file

*.drvp Parameter data of each Drive in a

specific fo

rmat for Sysmac Studio

drive functions

*.csv Trace settings, latest data trace

results, an

Drive parameter data

d

Display the Parameters tab page and click
the Export bu

tton. Select Drive Parameters
(*.drvp) in the file type field.
Display the Data Trace tab page and click
the Export bu

tton in the Toolbar.

2

2-5-3 Import and Export

at the time of measurement

FFT file *.csv

*.drvfft

Project file *.smc2,

*.csm2,
*.smc

,

FFT settings, FFT measurement

*1

results, and drive parameter data
at the time of measurement

Same contents as the projects
saved by

Sysmac Studio

Display the FFT tab page and click the
Export bu

tton in the Toolbar.

Select Export from the File menu.

*.csm

*1. Drive FFT (*.drvfft) format is only supported for 1S-series Servo Drives.

 Importable Files

Sysmac Studio can export the following files.

Sysmac Studio can import the following files.

File type Extension Contents Operation procedure

Drive
para
file

meter

*.drvp Parameter data of each Drive in a

specific fo

rmat for Sysmac Studio

drive functions

.csv Parameter data of each Drive

Data trace
file

FFT file

*1

expo

*.csv Trace settings and trace opera-

tion results

*.drvfft FFT settings, FFT measurement

from CX-Drive

rted

results, and drive parameter data
at the time of measurement

Project file

*2

*.smc2,
*.csm2,

,

*.smc

Same contents as the projects
saved by

Sysmac Studio

*.csm

*1. Drive FFT (*.drvfft) format is only supported for 1S-series Servo Drives.

*2. When importing project file created with a higher Sysmac Studio version, the unsupported features will be

reported via Output window.

Display the Parameters tab page and click
the Imp

ort button. Select Drive Parameters
(*.drvp) in the file type field.
Display the Parameters tab page and click
the Import button. Select CX-Drive file
(*.csv) in the file type field.

Display the Data Trace tab page and click
the Impo

rt button in the Toolbar.

Display Advanced Tuning Step 2 Frequency
Re

sponse Simulation tab page and click the

Import button.
Select Import from the File menu.

Sysmac Studio Drive Functions Operation Manual (I589)

2 - 19

2 Overview of the Operations

2-6 Functions, Use Cases, and Operation

Procedures

This section describes operation procedures and reference sections in this manual for each function
and use case.

2-6-1 1S Series

Functional cat-

egory

Parameter edit­ing, transfer,
an

mparison

d co

Absolute
en

coder

Test run Perform a test run while setting

Description is provided separately fo

r 1S Ser

Use case Operation procedure Reference

Set only motor rotation direction and
funct

on assignment to external I/O

i

signals for startup.
T

ransfer motor rotation direction and

functi

on assignment to external I/O
signals to a Drive.
Set not only the basic parameters,
b

t also other parameters.

u
Transfer parameters to a Drive.
Compare parameters between Sys-

mac Studio and Drive.
Set up an absolute encoder includ­ing the usage setting.

Set up an absolute encoder again

cause an encoder cable was dis-

be
connected and an alarm was acti­vated while using the absolute
e

ncoder.
Just reset an error related to an

ab

lute encoder.

so

ba

sic parameters.

Check whether the motor can run
after startup.

heck the motor rotation direction

C
afte

r startup.

Perform jogging after startup.

ies and G5 Series.

Right-click the Drive and select

Se

tup and Tuning from the menu.

Select Quick Parameter Setup and
I/O Monitor.

Double-click Parameters in the Mul­tiview Explorer.

Right-click the Drive and select
Setup and Tuning from the menu.

Select Quick Parameter Setup and

I/O Monitor.

Right-click the Drive and select

Motor and Encoder. Then, select
Encoder Properties.

Right-click the Drive and select
Setup and Tuning from the menu.

Select Quick Parameter Setup and
I/O Monitor.

Right-click the Drive and select Test
Run from the menu.

3-8-2 Quick
Parameter
Setup and I/O
Monitor o

3-37

3-1 Displaying
and Editing
Parameters on

page 3-2

3-8-2 Quick
Parameter
Setup and I/O
Monitor o

3-37

3-7-2 Encoder
Properties on

pa

3-8-2 Quick
Parameter
Setup and I/O
Monitor o

3-37

3-8-3 Test Run
and Function
Status o

3-45

n page

n page

ge 3-35

n page

n page

2 - 20

Sysmac Studio Drive Functions Operation Manual (I589)

2 Overview of the Operations

2-6 Functions, Use Cases, and Operation

Functional cat-

egory

Tuning Automatically adjust the gains easily

by repeating motor operations.

Ch
Adjust damping control.

Make adjustments by the minimum
motor operation through a simula­tion. (Advanced tuning)

Ad

just the gains at the same time by
setting the machine rigidity parame­ter. (Manual tuning)

Data tracing Start a data trace and display the

wa

vefo
Drive. (Especially after advanced
tuning or manual tuning or after a
transfer of changed parameters)

FF

T (Fast Fou-

rier Transform)

Damping control Suppress vibration because work-

St

atus monitor Check online status parameters for

Troubleshooting Check the current alarms detected

Drive initializa­tion

Drive properties Check the model and version of the

Moto

r properties Check the model and version of the

Analyze the waveforms of machine
characteristic
because machine resonance occurs
in a specific place.

pieces are vibrated when the motor
is runn

Set the damping control based on
the vibration frequency detected by
Sysmac Studio.

the Drive.

for the Drive connected online.

Return all parameters of the Drive
connected on
tings.

Drive connected online.

motor connecte

Use case Operation procedure Reference

eck auto tuning results.

rm of trace data stored in the

elocity frequency

s for v

ing.

line to the factory set-

d online.

Right-click the
Drive and select

Setup and Tun­ing f

rom the

menu.

Right-click Da
the Multiview Explorer and select
Add - Data Trace from the menu.
Then, double-click the data trace.

Double-click FF
Explorer.

Right-click the Drive and select

D

ing Control from the menu.

amp

R

ight-click the Drive and select Sta-
tus Monitor from the me
Right-click the Drive and select
Troubleshooting from the menu.

Right-click the Drive and select In
tialize from th

Right-click the Drive and select
Properties from the menu.

Right-click the Drive and select
Motor and Encoder from the menu,
and then select Motor Properties.

Select Easy
Tuning.

Select

Ad

vanced Tun-

ing.
Select Manual

Tu

ning.

ta Trace Settings in

T in the Multiview

nu.

e menu.

i-

3-8-4 Easy Tun­ing (Single
Drive) on pa

3-48

4-1 Manual Tun­ing on

3-6 Data Trac­ing on

3-24

4-2-1 FFT on
page 4-19

4-2-2 Damping
Control on page

4-23

3-4 Status Moni­tor on page 3-22
3-5 Trouble­shooting on

page 3-23

5-1 Initialization
of the Drive on

page 5-2

5-2 Drive Prop­erties on page

5-3

3-7-1 Motor
Properties on

pag

e 3-34

ge

page 4-2

page

Procedures

2

2-6-1 1S Series

Sysmac Studio Drive Functions Operation Manual (I589)

2 - 21

2 Overview of the Operations

2-6-2 G5 Series

Functional cat-

egory

Parameter edit­ing and transfer

Absolute
encoder setti

Test run Check whether the motor can run. Right-click the Drive and select Test

Data tracing Start a data trace and display the

T

uning Perform auto tuning easily. Right-click the Drive and select

T (Fast Fou-

FF
rier Transform)
analysis

Damping control Suppress vibration because work-

Status mon

Troubleshooting Check the current alarms detected

Linear motor
settings

Drive

initializa-

tion

Drive properties Check the model and version of the

Motor prope

Set parameters. Double-click Parameter
Transfer parameters to a Drive.
Compare parameters between Tool

and Drive.
Set up an absolute encoder when

ngs

using it.
Set up an absolute encoder again

b

cause an encoder cable was dis-

e
connected and an alarm was acti­vated while using the absolute
e

ncoder.
Just reset an error related to an

absolute encoder.

Check the motor rotation direction.
Perform jogging.

a

veform of trace data stored in the

w
Drive.

An

alyze the waveforms of machine
characteristics for velo
because machine resonance occurs
in a specific place.

pieces are vibrated when the motor
is ru

ing.

nn

itor Check online status parameters for

the D

rive.

for the Drive connecte

Use a G5-series Linear Motor. Right-click the Drive and select

Return all parameters of the Drive
connected
tings.

D

r

ive connected online.

rties Check the model and version of the

motor conn

Use case Operation procedure Reference

s in the Mul-

tiview Explorer.

3-1 Displaying
and Editing
Parameters on

page 3-2

Right-click the Drive and select

Motor and Encoder. Then, select
Encoder Properties.

3-7-2 Encoder
Properties on

pa

ge 3-35

3-3 Test Run on

Run from the menu.

Right-click Da

ta Trace Settings in
the Multiview Explorer and select
Add - Data Trace from the menu.

page 3-18

3-6 Data Trac­ing o

n page

3-24

Then, double-click the data trace.

3-2-2 Auto Tun-

Au

ning from the menu.

to Tu

ing for G5
Series on

3-12

ty frequency

ci

Double-click FF
Explorer.

Right-click the Drive and select

Damping Contr

T in the Multiview

l from the menu.

o

4-2-1 FFT on
page 4-19

4-2-2 Damping
Control on page

4-23

d online.

Right-click the Drive and select Sta-
tus Monitor from

the menu.

Right-click the Drive and select
Troubleshooting from the menu.

3-4 Status Moni­tor on page 3-22

3-5 Trouble­shooting on

page 3-23

4-3 Motor Set-

Mot

or Setup from the menu.

tings (only for
Linear Motor
Type of G5
Series) on page

4-27

online to the factory set-

Right-click the Drive and select Ini-
tialize from the menu.

5-1 Initialization
of the Drive on

page 5-2

Right-click the Drive and select
Properties from the menu.

5-2 Drive Prop­erties on page

5-3

3-7-1 Motor
Properties on

pa

ge 3-34

ected online.

Right-click the Drive and select
Motor and Encoder from the menu,
and then select Motor Properties.

page

2 - 22

Sysmac Studio Drive Functions Operation Manual (I589)

2 Overview of the Operations

2-6-3 Function and Operation Procedures for Each Drive

2-6 Functions, Use Cases, and Operation

The following table gives the supported functions and their operation procedures for each Drive.

Operation procedure (Item name and menu name)

Drive

1S Series

Functional category
Parameter editing Setup and Tuning or

eters

Param

Parameter transfer and
comparison

Parameters (Some
parameters can be trans-

G5 Series (Except for

linear motor type)

Parameters

Parameters

G5 Series (Linear motor

type)

ferred to a Drive from the
Setu

p and

Tuning wiz-

ards.)

Absolute encoder settings Setup and Tuning or

otor and Encoder

M

Test run Setup and Tuning or Test

Motor and Encoder

Test Run

Run

Tuning Setup and Tuning - Easy

to Tuning

Au

Tuning, Advanced Tun­ing, or Ma

nual Tuning

Data tracing Data Trace Settings
Troubleshooting Troubleshooting
Status monitoring Status Monitor
FFT (Fast Fourier Trans-

FFT

form) analysis
Damping control Damping Control
Linear motor settings None None Motor Setup
Drive initialization Initialize
Drive properties Properties

Procedures

2

2-6-3 Function and Operation Procedures for Each Drive

Sysmac Studio Drive Functions Operation Manual (I589)

2 - 23

2 Overview of the Operations

2-7 Online Connection Procedure

This section describes how to go online with a Drive.

You can use the following four connection methods to

connect Sysmac Studio online with a Drive.

• Direct connection via USB

• EtherCAT connection via an NJ/NX/NY-series CPU Unit

• EtherCAT connection via a Programmable Multi-Axis Controller

• EtherCAT connection via CJ1W-NC8 Posi

You can perform the online connection after open

tion Controller

ing a project file or from the start page of Sysmac Stu-

dio.

The following table shows the availability of the c

Timing

After opening a proj­ect file
From the start page
of Sysmac Stu

io

d

Direct connection

via USB

Possible Possible Possible Possible

Possible Not possible Possible Possible

onnection methods in each case.

Connection method

EtherCAT connec-

tion via an

NJ/NX/NY-series

CPU Unit

EtherCAT connec-

tion via a Program-

mable Multi-Axis

Controller

EtherCAT connec-

tion via

CJ1W-NC8

Posi

tion Controller

2 - 24

Sysmac Studio Drive Functions Operation Manual (I589)

2 Overview of the Operations

Precautions for Correct Use

2-7 Online Connection Procedure

Going Online after Opening a Project File

 Direct Connection via USB

There is no need to make the communications settings.

1 Select a Drive while editing a project.
2 For a Drive that is independently registered in the project, right-click the Drive and select Online

from the menu.

For a Drive that is registered as an EtherCAT slave in the pro
Direct Connection (USB) - Online from the menu.

ject, right-click the Drive and select

2

Make sure that Sysmac Studio is offline when the USB cable is plugged in or out from the
Drive.

 EtherCAT Connection via an NJ/NX/NY-series CPU Unit

1 Register the NJ/NX/NY-series Controller as a device in the project.
2 Register the Drive in the EtherCAT network of the Controller.

Refer to the Sysmac

 EtherCAT Connection via a Programmable Multi-Axis Controller

Studio Version 1 Operation Manual (Cat. No. W504) for details.

1 Select a Drive while editing a project.
2 Right-click the Drive and select Communications Setup from the menu.
3 Set Connection type to Remote connection via Programmable Multi-Axis Controller (Ether-

CAT).

4 Configure Connection settings according to the Controller and Drive to go online with.
5 Press OK.
6 Right-click the Drive and select Online from the menu.

 EtherCAT connection via CJ1W-NC8 Position Controller

1 Select a Drive while editing a project.
2 Right-click the Drive and select Communications Setup from the menu.
3 Set Connection type to Remote connection via CJ1W-NC8 Position Controller (Ether-

CAT).

4 Configure Connection settings according to the Controller and Drive to go online with.
5 Press OK.
6 Right-click the Drive and select Online from the menu.

Sysmac Studio Drive Functions Operation Manual (I589)

2 - 25

2 Overview of the Operations

Additional Information

Going Online from the Start Page of Sysmac Studio

 Direct Connection via USB

1 Click the Connect to Device button without opening a project on the start page of Sysmac Stu-

dio.

2 Select Drive in the Device area and click the Connect button.

Sysmac Studio is automatically con
ated for the detected Drive.

You can also perform the direct connection via USB from the EtherCAT configuration tab page.

 EtherCAT Connection via a Programmable Multi-Axis Controller

nected to the Drive and a new project is automatically cre-

1 Click the Connect to Device button without opening a project on the start page of Sysmac Stu-

dio.

2 Select Drive in the Device area.
3 Select Remote connection via Programmable Multi-Axis Controller (EtherCAT) in the Con-

nection type area.

4 Configure the Connection settings according to the Controller and Drive to go online with.
5 Click the Connect button.

Sysmac Studio is automatically con
created for the detected Drive(s).

 EtherCAT connection via CJ1W-NC8 Position Controller

nected to the Drive(s) and a new project is automatically

1 Click the Connect to Device button without opening a project on the start page of Sysmac Stu-

dio.

2 Select Drive in the Device area.
3 Select Remote connection via CJ1W-NC8 Position Controller (EtherCAT) in the Con-

nection type area.

4 Configure the Connection settings according to the Controller and Drive to go online with.
5 Click the Connect button.

 EtherCAT Connection via an NJ/NX/NY-series CPU Unit

Connection is not possible.

2 - 26

Sysmac Studio is automatically con
created for the detected Drive(s).

nected to the Drive(s) and a new project is automatically

Sysmac Studio Drive Functions Operation Manual (I589)

Basic Servo Drive Operations

This section describes basic operations of Servo Drives such as parameter editing,
auto tuning, and troubleshooting.

3-1 Displaying and Editing Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2

3-1-1 Displaying and Editing Drive Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2

3-1-2 Displaying and Editing Multi-drive Parameters (Drive Setting Table) . . . . . . . 3-9

3-2 Auto Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-11

3-2-1 Auto Tuning for 1S Series . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-11

3-2-2 Auto Tuning for G5 Series . . . .

3-3 Test Run . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-18

3-4 Status Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-22

3-5 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-23

3-6 Data Tracing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-24

3-7 Motors and Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-34

3-7-1 Motor Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-34

3-7-2 Encoder Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-35

3-8 Setup and Tuning Wizard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-36

3-8-1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-36

3-8-2 Quick Parameter Setup and I/O Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-37

3-8-3 Test Run and Function Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-45

3-8-4 Easy Tuning (Single Drive) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-48

3-8-5 Easy Tuning (Multiple Drives) . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-12

.

. . . . . . . . . . . . . . . . . . . . . . . . 3-59

3

Sysmac Studio Drive Functions Operation Manual (I589)

3 - 1

3 Basic Servo Drive Operations

(a)

(b)

(c)

(d)

(e)

3-1 Displaying and Editing Parameters

This section describes how to display and edit drive parameters.

3-1-1 Displaying and Editing Drive Parameters

 Displaying Parameters

Right-click Parameters in the Multiview Explorer and select Edit from the menu. The following
parameter editor is displayed.

Parts of the editor

Column Description

(a) Upper toolbar Buttons to export/import parameter values to/from an individual drive

paramet

(b) Parameter category Select the parameters to display/edit by specifying a category, User

Selection category, or a control mode.

• The default selection is All parameters.

• You can register only the necessary parameters

(c) Parameter list OD

Description Parameter names (or object names).
Value Values of the parameters being edited in Sysmac Studio.
Drive Value Values of the parameters stored in the Drive conn
Default Default values of the parameters stored in the Drive connected online.
Range Valid ranges for the parameter values.
Units Units of the parameter values.
Data Attributes Symbols that show parameter attributes.

(d) Help Information on the currently displayed parameter.
(e) Lower toolbar Buttons to transfer all or selected pa

*1. Indicates object dictionaries (abbreviated as "OD") for the EtherCAT slave types of Drives. "Object dictio-

nary" refers to data specifications of the parameters and control information of EtherCAT slaves.

Index numbers ((Index).(Subindex)) of parameters

Refer to Attribute Symbols on pag

compare all parameters with the ones in the Drive.

er file.

tion category.

to the User Selec-

*1

in the Drive.

ected onl

e 3-3 described later for details.

rameters

to/from the Drive or

ine.

3 - 2

Sysmac Studio Drive Functions Operation Manual (I589)

3 Basic Servo Drive Operations

Additional Information

 Attribute Symbols

Refer to operational manual of each drive.

 Selecting Parameters to Display

Select the drive parameters to display according to your purpose.

1 Selecting the Category to Display

Select All Categories and th
eter list.

en a category from the drop-down list displayed above the param-

3-1 Displaying and Editing Parameters

3

3-1-1 Displaying and Editing Drive Parameters

The parameters can be selected and displayed accord

ing to the categories predefined for each

Drive series.

Category list for 1S Series

Category name Description

▼All parameters All parameters
User Selection Parameters registered in the User Selection category

Categories Parameters in all

▼All
Start-up Parameters related to bas
Sysmac Common Common parameters to Sysmac
▼Control Loop Adjustment Parameters related
TDF Position Control Gains under 2-degree-of-freedom mode Position Control
TDF Velocity Control Gains under 2-degree-of-freedom
ODF Position Control Gains under 1-degree-of-freedom mode Position Control
ODF Velocity Control Gains under 1-degree-of-freedom mode
Torque Control Gains under Torque Control, regardless of the control method

ntrol System Control-related parameters

▼Co
C

ontrol Mode Area Parameters in all control modes

Control Method Area Parameters related to control methods

and 2-degree-of-freedom)
Control Loop Area Parameters related to the Drive's gains
Torque Output Area Parameters related to torque compensation and filters
Homing Area Parameters related to homing
Applied Functions Area Parameters related to other applied functions

c

▼Interface obje
Warnings or Errors Area Parameters related to warnings and
Monitoring Area Parameters related to monitoring system for the
Display Area Parameters related to the 7-segment LED indicator
Power Device Area Parameters related to the power d

Encoder Area Parameters related to the encoder

ts Parameters related to the Drive's interfaces

supply and regeneration)

categories

ic setup

to the Servo Drive's gain adjustment

mode

Velocity Control

Velocity Control

(1-degree-of-freedom

errors

Servo Drive

evice (main circuit power

Sysmac Studio Drive Functions Operation Manual (I589)

3 - 3

3 Basic Servo Drive Operations

Category name Description

Analog Input and Output Area Parameters for the I/O interfaces
▼All Control Modes Para
Cyclic synchronous position mode Parameters related to cyclic synchronous position mode
Cyclic synchronous velocity mode Parameters related to cyclic synchronous veloci
Cyclic synchronous torque mode Parameters related to cyclic synchronous torque mode
Profile position mode Parameters related to profile position mode
Profile velocity mode Parameters related to profile velocity mode
Homing mode Parameters related to homing mode of the Servo Drive

meters in all control modes

ty mode

Category name Description

▼All parameters All parameters
User Selection Parameters registered in the User Selection category

l Categories Para

▼Al
CiA 402 Drive Profile Parameters related to CiA402
Pn0xx: Basic Parameters Basic parameters
Pn1xx: Gain Parameters Gain-related parameters.
Pn2xx: Vibration Suppression Parame-

ters
Pn3xx: Analog Control Parameters Analog-related parameters
Pn4xx: I/F Monitor Setting Parameters I/O-related parameters
Pn5xx: Extended Parameters Extended parameters
Pn6xx: Special Setting 1 Parameters Special-purpose parameters other than above
Pn7xx: Special Setting 2 Parameters Special-purpose parameters other than above
Pn8xx: Special Setting 3 Parameters Special-purpose parameters other than above
All Control Modes Parameters related to all control modes

meters in all categories

Parameters related to the filters that suppress vibration

2 Using the User Selection List to Select and Display only the Necessary Parameters.

Use the User Selection list to select and display the frequently used parameters only.

Category list for G5 Series

3 - 4

(1) Adding a parameter to the User Selection list.

ht-click the parameter in the parameter editor and select Add to

Rig

'User Selection' from

the menu. If there are multiple lists, select the list to which the selected parameter is added.

Use the Shift key or Ctrl ke

y to select and add more than one parameter at the same time.

(2) Deleting a parameter from the User Selection list.

After selecting the User Se

lection from the drop-down list, right-click the parameter and
select Remove from 'User Selection' from the menu. If there are multiple lists, select the
list from which the selected parameter is removed.

e

Use the Shift k

y or Ctrl key to select and delete more than one parameter at the same

time.

Sysmac Studio Drive Functions Operation Manual (I589)

3 Basic Servo Drive Operations

3 Using the Filtering Function to Select and Display only the Necessary Parameters.

(1) Filtering by specifying a search string

The parameters whose name contains the specified text string are displayed. Click
black down-pointing triangle (▼) symbol displayed in the header of the column and enter
the search string in the entry field displayed on the upper part.

3-1 Displaying and Editing Parameters

the

3

3-1-1 Displaying and Editing Drive Parameters

(2) Filtering by directly selecting the

The parameters selected from the list are displayed. Click the black down­(▼) symbol displayed in the header of the column and select the necessary parameters
from the list.

necessar

y parameters from the list

pointing triangle

Sysmac Studio Drive Functions Operation Manual (I589)

3 - 5

3 Basic Servo Drive Operations

 Displaying the Right-click Menu

The following table gives a list of menu commands displayed when a parameter is right-clicked and
functions of the menu commands.

Menu command Description

Add to 'User Selection' Registers the selected parameters to the User Selection category.
Remove from 'User Selection' Deletes the selected parameters from
Organize 'User Selection' User Selection lists can be customized

Select All Selects all the currently displayed parameters.
Reset Selection Initializes the selected parameters.
Selection to Drive Downloads the selected parameters from the compu

Selection from Drive Uploads the selected parameters from the D

Copy Copies the selected parameters.
Paste Pastes the selected parameters.

the User Selection category.

with following operations: cre­ation of new lists, renaming and deletion of existing lists,
ing/importing lists.

ter (i.e., Sysmac

Studio) to the Drive.

rive to the computer (i.e.,

Sysmac Studio).

and export-

 Editing Parameters

1 Entering a Parameter

• Entering a value directly in the parameter editor.

Click the Value colu

The changed values are indicated in purple. If a value is out of range or invalid, it is indicated in
red.

•

Copy & Paste

Copy and paste a parameter value in the parameter editor.

Note Parameters cannot be copied and pasted between an external editor and the parameter editor.

• Export & Import

You can export/import the paramete

• The parameters are exported to a .drvp file.

• The drive project can be imported only when its d
those of the exported file.

Execute each function by clicking the followi

Button Name Description

mn of the parameter and set a value.

r list to/from a file.

rive model and version are the same as

ng buttons in the upper toolbar.

Export Saves all parameter values to a drive parameter (drvp) file.

3 - 6

Import Loads all parameter values from a drive parameter (drvp) file.

Sysmac Studio Drive Functions Operation Manual (I589)

2 Checking the Parameter Status

3 Basic Servo Drive Operations

Check the present value status with the status icons displayed in the leftmost column of the
parame

ter editor.

3-1 Displaying and Editing Parameters

Status icons

Status icon Value status

The present value matches the default value.

The present value matches the default value, but does not match the value stored in
the Drive.

The present value does not match the default value.

The present value does not match the default val

The present value is invalid. (The value is out of range or the data type does not
match.)

The present value is invalid and does not match the

Read only. The status of the Drive is displayed.

ue nor the value stored in the Drive.

value stored in the Drive.

3

3-1-1 Displaying and Editing Drive Parameters

3 Returning the Parameters to their Default Values.

Parameters can be reset to their default values. Click
toolbar to perform a Reset operation:

Button Name Description

Reset Selection Returns the values of the selected parameters to their

default values.

Reset All Returns the values of all parameters to their default val-

ues.

one of the following buttons in the lower

Sysmac Studio Drive Functions Operation Manual (I589)

3 - 7

3 Basic Servo Drive Operations

Precautions for Safe Use

Additional Information

 Transferring Parameters to the Drive (Available Only While Online)

Parameters can be transferred to and from the Drive to refresh the parameter editor or display the
comparison results. Execute each function by clicking the following buttons in the lower toolbar.

Button Name Description

Transfer Selection to Drive Transfers the values of the selected parameters from Sysmac

Transfer Selection from Drive Transfers the values of the selected parameters from the con-

Transfer All to Drive Transfers the values of all parameters from Sysmac Studio to

Studio to the connected Drive. Use the Shift key or the Ctrl
key to select more than one parameter at the same time.

nected Drive to Sysmac Studio. Use the Shift key or
key to select more than one parameter at the same time.

the connected Drive.

the Ctrl

Transfer Al

Compare Compares the values of all parameters in Sysmac Studio with

Update Drive Settings with
Estimated Valu

l from Drive Transfers the values of all parameters from the connected

Dri

e to Sysmac Studio.

v

es

the val

dates the Drive settings with the inertia ratio, torque com-

Up
pensation, notch filter values estimated during the motor oper­ation. This operation can be executed only

ves.

Dri

red in the connected Drive.

ues sto

for 1S-series Servo

 Restarting the Drive (Available Only While Online)

The Servo Drive can be restarted from the parameter editor. This operation is available only for the
1S-series Servo Drives using any connection other than EtherCAT via CJ1W-NC8 Position Con­troller.

Click the Restart ( ) button in the upper toolbar to restart the drive.

• When you restart a Servo Drive, the ESM state of the Servo Drive will change in the following
order: Operational

• By the above state transition, the commands to the Servomotor
is running, make sure to stop the operation before executing the restart operation.

• When you use the NJ/NX/NY-series, the Controller will enter
ESM state transition. Therefore, connect Sysmac Studio to the Controller and execute trou­bleshooting to reset the error.

→ Init → Operational.

will be stopped. If the device

the minor fault state due to the

 Executing a Config Command for a Drive

The Config command can be executed for Servo Drives. The Servo parameters whose attribute is
“C” become valid. The command can be executed only when a G5-series Servo Drive is connected
online via EtherCAT.

After this command is executed, Error 27.7 Position Data Initialized occurs in the Servo Drive.

3 - 8

Sysmac Studio Drive Functions Operation Manual (I589)

3 Basic Servo Drive Operations

Precautions for Correct Use

Additional Information

 Copying the Settings

The parameter settings can be copied to other Drives. You can select more than one Drive as the
copy destination and transfer the parameter settings after copy. The settings can be copied only to
the same-series Servo Drives.

Confirm that the destination Drives and parameter settings are correct before transferring the
setting values.

3-1-2 Displaying and Editing Multi-drive Parameters (Drive Setting

Table)

 Starting Drive Setting Table

For a controller project, right-click EtherCAT on the tree in the Multiview Explorer and select Drive
Setting Table.

For a drive project, right-click Devi
Setting Table.

When a list of Drives registered in the relevant pr
button.

ce Group on the tree in the Multiview Explorer and select Drive

oject appears, select one Drive and click the OK

3-1 Displaying and Editing Parameters

3

3-1-2 Displaying and Editing Multi-drive Parameters (Drive Setting Table)

Drive Setting Table displays Drives with revision in the same series as and compatible with the
selected Drive. For a drive project, additionally, Drive Setting Table displays only Drives of the
same Connection type as the selected Drive.

In Drive Setting Table, the User Selection category of the selected Drive can be used.

When parameters for the selected Drive are edited, the
Drives displayed in Drive Setting Table.

Sysmac Studio Drive Functions Operation Manual (I589)

y can be automatically applied to other

3 - 9

3 Basic Servo Drive Operations

 Operating Drive Setting Table

In Drive Setting Table, you can display and edit parameters being edited by Sysmac Studio.

For details on parts of and how to operate Drive Setting Table, refer to 3-1-1 Displaying and Editing
Drive Parameters o

n page 3-2.

 Applying Parameters to Other Drives

You can automatically apply the results of editing performed on parameters of the Drive selected at
startup to other Drives. Select the Coupled check boxes for the Drives you want to apply the results
to.

3 - 10

Sysmac Studio Drive Functions Operation Manual (I589)

3-2 Auto Tuning

Precautions for Safe Use

To take full advantage of machine's performance, the motor should run exactly according to the given
commands without any time delay. Therefore, you need to adjust the Servo Drive according to the char­acteristics of the machine.

• The motor operates during the adjustment. Confirm safety at the destination node.

• If abnormal noise or vibration occurs, immediately turn OFF the power supply or the Servo.

• Gain adjustment is automatically performed by the Ser
the adjustment. Follow the following safety precautions.

1) Provide a means to perform an emergency stop (i.e., to turn OFF the power supply).
The

response may greatly change during the adjustment.

2) Confirm safety around all moving parts. Always confirm that there are no obstacles in

movement range and directions of the motor and that the motor can operate safely.

the
Provide protective measures for unexpected motion.

3 Basic Servo Drive Operations

3-2 Auto Tuning

vo Drive. The motor operates during

3

3-2-1 Auto Tuning for 1S Series

3) Before you start the adjustment, make sure that the
out of place. Before you start normal operation, make sure to perform homing to reset
the position. If home is not reset before the adjustment is performed, the motor may
run away, creating a very hazardous condition. Confirm the safety of the system if you
use a vertical axis. Make sure that the object that is being adjusted does not fall when
the Servo is turned OFF.

4) If vibration or oscillation oc
gain until the system is stable.

• During auto tuning, the motor operates and the workpiece moves greatly. Provide a means
at

you can turn OFF the Servo immediately during auto tuning.

so th

3-2-1 Auto Tuning for 1S Series

In the 1S Series, the auto tuning function is provided as part of the Setup and Tuning wizard function.
Refer to 3-8-4 Easy Tuning (Single Drive) on page

de

vice that is being adjusted is not

curs

when auto tuning is performed, manually reduce the

3-48 for details.

Sysmac Studio Drive Functions Operation Manual (I589)

3 - 11

3 Basic Servo Drive Operations

3-2-2 Auto Tuning for G5 Series

 Starting the Tuning Wizard

Right-click the tuning-target Drive and select Auto Tuning from the menu.

A wizard is started for tuning the G5-series Driv

 Executing the Tuning

Execute the tuning according to the wizard that consists of 6 steps below in consideration of device
startup process. When the tuning-related parameters are changed in each step, they are automati­cally transferred to the Drive.

Step Name Description

1 Mechanical System Selection Select your mechanical system.
2 Auto T
3 Behavior Configuration Set the parameters for tuning behavior.
4 Auto Tune Monitor Execute the auto tuning and monitor its progress.
5 Check Behavior Check the tuning effects by data tracing.
6 Finish Check the parameters changed by tuning.

une Parameter Configuration Set the default rigidity.

e. Click the Easy Tuning button.

Step 1: Mechanical System Selection

Select the closest mechanical configuration to your system. If nothing is applicable, select Other
Machines.

• Realtime Autotune Mode Selection

h

Select the realtime autotune mode only when t

(When any of the other mechanical systems is select
according to your mechanical system.

e mechanical system is set to Other Machines.

ed, it is set automatically.) Select the mode

3 - 12

• Realtime Autotuning Mach

ine Rigidity Setting

The default rigidity value for the selected

After making the settings, click the Next

mechanical system is displayed.

button to go to the next step.

Sysmac Studio Drive Functions Operation Manual (I589)

3 Basic Servo Drive Operations

Step 2: Auto Tune Parameter Configuration

Make the settings to be applied when auto tuning is started.

3-2 Auto Tuning

3

 Setting the Default Rigidity

• Based on the machine configuration selected in Step 1, the default value at tuning start is auto­matically set.

• Normally, you don't have to change it, but you can set the value within the range from 0 to 31

cording to the device characteristics.

ac

• The rigidity value is automatically increased during

the Auto Tuning process in Step 3.

3-2-2 Auto Tuning for G5 Series

 Setting the Adaptive Notch Filter

• Select whether the adaptive notch filter function is enabled or disabled by the Adaptive Filter
Selection check box.

Note Refer to the G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT® Com-

munications) (Cat

EtherCAT® Communications) (Cat. No. I577) for details of the relationship between rigidity value and

parameter values and the adaptive notch filters.

After making the settings, click the Next button to go to the next step.

. No. I576) and the G5-series Linear Motors/Servo Drives User’s Manual (with Built-in

Sysmac Studio Drive Functions Operation Manual (I589)

3 - 13

3 Basic Servo Drive Operations

Step 3: Behavior Configuration

Set the criteria for performing and finishing auto tuning.

 Setting Auto Tuning Conditions

In the Auto Tune Configuration area, set the number of tuning iterations and duration of a tuning
iteration.

 Selecting the Motion Profile Generator

You need to actually run the motor to execute auto tuning. Select whether the Motion Controller or
Sysmac Studio sends the operation commands to the motor.

• The Motion Controller will perform the motion profile

lect the tuning start trigger from

Se
the control mode of the device.

• Sysmac Studio (not the Motion Controller) w

Set the step distance, step jog speed, and accelera
tion status of the device.

With position instruction or With speed instruction according to

ill perform a Cyclic Step

tion/deceleration time according to the opera-

 Setting the Criteria for Finishing Auto Tuning

As the auto tuning completion criteria, set the stabilization time, overshoot level, torque vibration
level, and position window according to the operation status of the device.

xt

After making the settings, click the Ne

button to go to the next step.

3 - 14

Sysmac Studio Drive Functions Operation Manual (I589)

3 Basic Servo Drive Operations

Step 4: Auto Tune Monitor

Start execution of auto tuning.

3-2 Auto Tuning

3

 Starting the Tuning

Click the Start button to start auto tuning.

When the completion criteria are satisfied or motor vibr
auto tuning will be stopped.

• Message displayed when Auto Tuning is Complete

 Stopping the Tuning

3-2-2 Auto Tuning for G5 Series

ation is detected during the tuning process,

When you want to stop the tuning before completion, click the Stop button. The motor will be
stopped and the Drive will enter the Servo OFF state.

 Forcibly Stopping the Tuning

Click the Force Axis Stop button to forcibly stop the auto tuning. The motor will be stopped and the
Drive will enter the Servo OFF state.

After making the settings, click the Next

Sysmac Studio Drive Functions Operation Manual (I589)

button to

go to the next step.

3 - 15

3 Basic Servo Drive Operations

Step 5: Check Behavior

Check the tuning results of the previous step using the data trace function.

Refer to 3-6 Data Tracing on

page 3-24 for details of the data trace function.

 Data Trace Settings

By default the most frequently used parameters (actual speed, position instruction speed, torque
instruction, and encoder position following error) are registered to check the motor response. Like
the standard data trace function, you can add and delete the trace items as necessary.

 Starting Data Tracing

When you click the start button, data tracing will be started. When it is completed, the results will be
displayed in the graph area.

3 - 16

After confirmation, click the Next

button to go to the next step.

Sysmac Studio Drive Functions Operation Manual (I589)

3 Basic Servo Drive Operations

Step 6: Finish

The auto tuning results are displayed in the form of parameter list. The parameters changed by auto
tuning are highlighted in purple.

3-2 Auto Tuning

3

3-2-2 Auto Tuning for G5 Series

 Step 6-1: Copying the Settings

Click the Copy Settings button to copy the related parameters to other Drives. Refer to 3-1-1 Dis­playing and Editing Drive Parameters on

After confirmation, click the Finish b

utton to close the Auto Tuning wizard.

page 3-2 for details.

Sysmac Studio Drive Functions Operation Manual (I589)

3 - 17

3 Basic Servo Drive Operations

Precautions for Safe Use

Precautions for Correct Use

3-3 Test Run

This section describes how to perform jogging and other test run operations to check motor operations
such as its rotation direction.

• Confirm the axis number carefully before you perform a test run.

• A test run operation involves motor operation. Refer to the operation manual before you exe­cute a test run. Be particularly careful of the following points.

• Confirm safety around all moving parts.

• When you push the start button, the motor begins actual oper

Begin the motor operation only when you are absolutely sure there is no danger if you start
the motor.

• Always have an external emergen

• Sometimes you may be unable to stop the motor from your computer. Install an external

emer

gency stop device so that you can stop the motor immediately if needed.

• Only operate the motor when you can clearly conf

react quickly in the case of any danger that may arise due to operation of the motor.

• When you perform a test run via an NJ/NX/NY-series, Programmable Multi-Axis Controller

or CJ1W­EtherCAT communications.

• A communications error will occur if you at

communications. Always establish EtherCAT communications first.

• When operation is performed, such data as a travel di
unit conversion settings for the axes assigned on the project file is displayed. Before perform­ing operation, carefully check safety
units.

• Precautions during Test Run Operation

• During test run execution, only Sysmac Studio h

mands from motion control instructions are ignored.

• Make sure that you are operating the correct axis.

NC8 Position Controller, perform the test run op

ation at the specified velocity.

cy stop device available.

irm the motor operation so that you can

erations after establishing

tempt to begin operations without EtherCAT

stance and velocity calculated from the

by using units of drive measurement such as command

as any control of the operation. Any com-

• Before you start a test run, make sure that the operation parameters are set correctly.

• If you transfer the axis parameters or slave parameters to the slave during a test run from
another copy of Sysmac Studio, the test run will end and the axes will stop. This also applies
if the parameters are transferred from Sysmac Studio running on a different computer.

3 - 18

Sysmac Studio Drive Functions Operation Manual (I589)

 Starting a Test Run

Right-click the Drive and select Test Run from the menu.

3 Basic Servo Drive Operations

3-3 Test Run

3

Sysmac Studio Drive Functions Operation Manual (I589)

3 - 19

3 Basic Servo Drive Operations

 Test Run Operation Settings (only for 1S Series)

To execute the test run operation safely, preset the operating range limits for the motor.

• Enabling/Disabling the Operating Range Limits

Select Do not use or Use for

• Setting the Upper and Lower Limits of the Operating Range

To set the upper limit and lowe
Set maximum position, and Set minimum position buttons). You cannot directly enter values
in the fields.

• Operating Range Limit Settings

Item Description

Actual maximum position and Actual mini­mum position

Upper Limit and Lower Limit The upper and lower limits of the current

• How to Apply the Current Position to Upper or Lower Limit

Click the Set ac

tual position button to apply the actual current position displayed in the Test Run
area (enclosed in the green box) to the upper or lower limit. Then, the value is set for the upper or
lower limit as shown below.

the Operating Range Limit setting.

r limit values, click the setting buttons (i.e., Set actual position,

Actual maximum and minimum positions of
the currently running motor are displayed.

(Unit: Pulse)

ing range are displayed. (Unit: Pulse)

operat

• How to Apply the Maximum or Minimum Position to the Upper or Lower Limit

Click the Set maximum position or

Set minimum position bu

tton on the extreme right of the fig­ure to apply the maximum or minimum position during the operation to the upper or lower limit,
respectively.

3 - 20

Sysmac Studio Drive Functions Operation Manual (I589)

3 Basic Servo Drive Operations

Additional Information

 Executing a Test Run

•Servo ON

Click the Servo ON but

• Starting the Operation

In the test run, the following operations can be commanded.

Operation Description

Jogging Speed-specified commands are executed.
Step Positioning with trapezoidal acceleration/deceler

Z-Phase Search The Z-phase search is executed.

Select one of the operation patterns by clicking a tab in the Test Run area. Then, set the opera­tion parameters and click the Forward or Reverse button to execute the test run.

Tab Settings Operation

• Target Speed

Jogging

Step

Z-Phase
Search

• Acceleration/Deceleration Time

• Target Speed

• Acceleration/Deceleration Time

• Step Distance

• Cycle steps (Forward > Reverse, Reverse
> F

• Number of Cycles

• Dwell Time

• Target Speed The Z-phase search is started by clicking the

ton to enter the Servo ON status in order to start a test run.

ation is repeated for the specified

number of cycles.

The motor will run while the Forward ( )

button or Reverse ( ) button is held
down.

The step operation will be started by clicking

th

e

button.

orward, Forward, or Reverse)

button. The operation is automatically
stopped when Z-phase of the encoder is
detected.

3-3 Test Run

3

If the motor does not run, check the Motor Stop Cause status lamps.

 Checking the Operating Status of the Motor

The current position and current motor speed are displayed in the Drive Status of the Test Run
area.

 Checking the Motor Status

• Motor Stop Causes

Lamps are provided to show motor stop causes. A green lamp indicates an active cause.

• Current Alarms and How to Reset

The alarms listed here have been activated for the Drive
Reset Alarm button.

. The alarms can be reset by clicking the

Sysmac Studio Drive Functions Operation Manual (I589)

3 - 21

3 Basic Servo Drive Operations

3-4 Status Monitor

The Status Monitor displays a list of objects for monitoring the Drive. Check the present values of the
objects.

 Starting the Status Monitor

Right-click the Drive and select Status Monitor from the menu.

 Selecting the Target Objects to Monitor

Select the check boxes for the objects to be monitored. The latest values of the parameters for the
selected objects are transferred from the Drive and displayed in the monitor.

 Displaying the Present Values of the Objects

The latest values of the parameters in the Drive are displayed. When a value is updated, it is dis­played in purple for one second.

3 - 22

Sysmac Studio Drive Functions Operation Manual (I589)

3-5 Troubleshooting

Use the troubleshooting function to check the current errors related to the Drive and the event log
stored in the Drive.

3 Basic Servo Drive Operations

 Starting the Troubleshooting

Right-click the Drive and select Troubleshooting from the menu. The current error information on
the Drive will be displayed.

 Checking the Drive Errors

Click the Drive Errors ( ) button. The current errors related to the Drive are displayed. Check the
level, event name, event code, error code, and details of the event code.

• Click the Display Swit
Action and correction.

• Click the Reset All b

ch button to switch the view between Details/Attached information and

utton to reset the errors.

3-5 Troubleshooting

3

 Checking the Drive Event Log

Click the Drive Event Log ( ) button. The event log (i.e., history) of the Drive is displayed. Check
the entry (log number), date and time, level, ev

• Filter the displayed items by selecting the desired items in the Displayed Information and
areas.

Sysmac Studio Drive Functions Operation Manual (I589)

ent name, event code, and detailed error code.

Level

3 - 23

3 Basic Servo Drive Operations

Precautions for Correct Use

Additional Information

(a)

(b)

(c)

(d)

3-6 Data Tracing

Use data tracing function to sample and display specified drive parameters at a fixed interval.

 Executing a Data Trace

• Right-click the Data Trace Settings under the trace-target Drive in the Multiview Explorer and
select Add - Data Trace from the menu.

Sysmac Studio provides two data tracing functions, one is for Drives described in this section
and the other is for Controllers. Refer to the Sysmac Studio Version 1 Operation Manual (Cat.
No. W504) for the data tracing function for Controllers.

• Double-click DataTrace0 that was created by the above operation.

More than one data trace can be added for each Drive.

• The following Data Trace tab page is displayed.

(a) Toolbar Buttons to start and stop tracing and display various items are displayed.
(b) Trace setting area Set the trace conditions.
(c) Trace target area Specify the trace targets.
(d) Graph area Graphs of trace results are displayed. The

3 - 24

The tab page consists of the following areas.

Item Description

upper part displays the analog values

and the lower part displays the digital values.

Sysmac Studio Drive Functions Operation Manual (I589)

 Setting Data Trace Conditions

Additional Information

If an invalid value is set, the field is highlighted in red.
When the mouse cursor is placed over the field, the valid
setting range is displayed.

3 Basic Servo Drive Operations

Set the data trace conditions. ((b) Trace setting area)

Item Description Settings

Trace Type Select the trace type from the two

options on the right.

Sampling
Interval

Select the sampling interval from
the

two options on the right.

Interval Enter the sampling interval in µs. • Enter a multiple of the Drive's minimum cycle in the
Total Trace

Time

Enter the trace time from start to
end in ms.

• Single: Data tracing is executed only once.

• Cyclic: Data tracing is repeatedly executed according
to the same settings. After loading the trace data,
Sysmac Studio automatically waits for the next trigger
to restart the tracing.

• Drive cycle: The minimum operating cycle of the Drive
is applied. (Example: 0.25 ms for G5 Series and

0.125 ms for 1S Series)

• Time: The time that you enter in the Inter

val fie

ld is

set as the sampling interval.

Interval field.

Minim

um cycle of 1S-series Servo Drives: 125 µs

Minimum cycle of G5-series Servo Drives: 250 µs

• The value of To

Trace Time can be changed only

tal

for 1S Series. The total trace time varies by the total

data size of sampling

*1

.

3-6 Data Tracing

3

Post-trigger
Data Ratio

Enable Trig­ger Condition

t the ratio of data to be sampled

Se
be

fore and after the specified trig­ger conditions are satisfied in per­centage.

Set the trigger conditions for start­ing the sampling in the data trace.

• Enter the percentage of post-trigge

r data or move the

slider to set the desired value.

• None: Sampling is started at the same time as the
star

t of data tracing.

• Trigger 1: Sampling is started according to the condi­tion set as Trigger 1.

• Trigger 2: Sampling is started according to the condi­tion set as Trigger 2.

• Trigger 1 and Trigger 2

Sampling is started when the conditions set as Trig­ger 1 and Trigger 2 are satisfied at the same time.

• Trigger 1 or Trigger 2

Data tracing is started when either of the conditions
set a

Trigger 1 or Trigger 2 is satisfied.

s

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3 Basic Servo Drive Operations

Item Description Settings

Trigger 1/
Trigger 2

*1. Data size of each sampled data is displayed at the end of the data in the data trace setting area. (Example:

Position Command - Motor Velocity (16 bit))

Set a trigger condition for saving
the sampled data.

Set only the triggers that you
selected

as a trace condition.

• Entering a parameter

Enter the data to be used as a trigger. Candidates will
be

displayed by pressing the Ctrl key and space key

at the same time when the field is empty.

• Comparison operator

Select a comparison operator from the drop-down list.

G5 Series: =, ≠, <, >,

1S Series: =, ≠, ≤, ≥, <, >, Risin
including level), and Falling (Including level/Not
including level)

• Filter settings

When setting an analog value as a trigger condition,
you

can prevent wrong trigger detection caused by
chattering by calculating the moving average of the
present value and past values using the filtering func­tion.

(You can specify up to last 8 data items for G5 Series
an

16 data items for 1S Series.)

d last

sing, and Falling

Ri

g (Including level/Not

3 - 26

Sysmac Studio Drive Functions Operation Manual (I589)

3 Basic Servo Drive Operations

Additional Information

Additional Information

Precautions for Correct Use

 Setting the Data to Sample

Set the sampling target data of the data trace. ((c) Trace target area).

1 Adding/Deleting Data to Sample

• Add: Click the button. A row is added at the bottom of the table.

• Delete: Select the row to delete and click the button.

The four frequently used parameters are pre-registered by default.

2 Specifying Data to Sample

Enter the name of data to sample in

Candidates will be displayed by pressing the Ctrl key and space key at the same time in the
Name field when it is empty.

the Name field.

3-6 Data Tracing

3

As sampling data, up to six data items can be specified for 1S Series regardless of the data
size. For G5 series, up to four data items can be specified (i.e., up to 64 bits in total when only
16-bit data items are specified).

 Setting the Details of Data to Sample

The following items can be displayed and set in the trace target area (c) as details of each data item
to sample.

Column Description Edit

Visible Select whether to show or hide the item. Possible
Line Color Select a graph color. Possible
Device Name Select the device name of the EtherCAT slave. (only for 1S Series) Possible
Name The name of the data to sample is displayed. Select the name from the can-

didates.

layed

Units The unit of the data to sample is disp
X Offset The offset of the X axis in the graph is displayed. Set the offset. Possible
Y Offset The offset of the Y axis in the graph is displayed. Set the offset. Possible
Y Axis Min. The minimum value of the Y axis in the graph is displayed. Not possible
Y Axis Max. The maximum value of the Y axis in the graph is displayed. Not possible
Cursor The cursor values at the time the range cursors are enabled are displayed. Not possible
Minimum The minimum value of the sampled data is displayed. Not possible
Maximum The maximum value of the sampled data is displayed. Not possible
Average The average value of the sampled data is displayed. Not possible
Comment The index and subindex of the sampled data are displayed. Not possible

. Not possible

Possible

 Starting/Ending a Data Trace

• Starting a Data Trace

Click the button in the Toolbar.

• Ending a Data Trace

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3 Basic Servo Drive Operations

(a)

(b)

(c)

(d)

(e)

Data tracing automatically finishes when it is completed according to a specified condition. To fin­ish the tracing before completion, click the button.

 Checking Data Trace Results

• Checking the Trace Results with a Graph

The traced data are displayed in the graph area (d).

Item Description

A. X axis (ms) The time is displayed always in ms.
B. Y axis The values of each data trace target a
C. Graph tools Buttons to zoom in and out, fit to the pane width, d

and manage Y Axis scales are displayed.

D. Y axis setting area The data trace targets assigned to the Y axis are displayed. Specify the display

area of each scale for Y axis.

E. Graph The data trace results are displayed.

re displayed individually.

isplay the cursor on the graph,

• Registering Multiple Scales for Y Axis (Multi-scale Y Axis Setting)

The graph area consists of the following items.

More than one sampled data item can be displayed with diffe

rent scales by registering the data as

scales for Y axis.

• Registering a scale manually

Click the Click to add

Enter a data trace target. Candidates will be displayed by press

scale, or drag from table.

ing the Ctrl key and space

key in the entry field when it is empty.

3 - 28

• Dragging from the trace target data area.

Click and drag a row for the item that you want to trace and drop it

onto the Click to add scale,

or drag from table.

• Deregistering a scale.

To deregister a scale from the Y axis, click the button in the Y axis settings area.

• Selecting a display area.

To switch the side to disp

L button: Displays the scale on the left sid

R button: Displays the scale on the right side of the graph area

lay each scale, click the or button in the Y axis setting area.

e of the graph area (default)

Sysmac Studio Drive Functions Operation Manual (I589)

3 Basic Servo Drive Operations

Additional Information

• Using Graph Tools

• Zoom In and Zoom Out

To zoom in and zoom out the graph area, click the buttons or turn the scroll wheel of

the mouse.

• Zoom to Fit

All graphs are automatically adjusted to fit in the current graph area. Click

Only the sampled data with the scale for Y axis registered are subject to the auto adjustment.

• Displaying a Cursor

To display the cursor to show the present value, click the button.

• Managing Y Axis Scales

Click the button to operate with Y axis scales.

Open... : Restor

Save... : Saves current scale settings.

Ass

ign all signals: Reg

Unassign all signals: Deregisters all scales.

Group by

es previously saved scale settings.

isters all signals as scales.

unit: All sign

als with the same unit type are registered into the same scale.

the button.

3-6 Data Tracing

3

Sysmac Studio Drive Functions Operation Manual (I589)

3 - 29

3 Basic Servo Drive Operations

 Switching the View in the Graph Area

To select whether to show or hide each chart in the graph area, click the following buttons in the
Toolbar.

Icon Tooltip Description

Show Configuration Displays the trace settings.

Show Data Table Displays the trace targets.

Show Analog Chart Displays the analog chart in the graph area.

Show Digital Chart Displays the digital chart in the graph area.

Show Digital On Ana-

Displays the analog and digital charts in the same graph area.

log Chart

 Using the Convenient Functions for the Graph Area

Some other convenient functions are provided for the graph area. Use the functions by clicking the
following buttons in the Toolbar.

Icon Tooltip Description

Transfer Parameters
from Drive after Trace

Open Properties Displays the Poperties pane.

Switch Layout Changes the display position of the trace ta

Save as History Saves the displayed graph data as history.

Show History Displays the graph data saved as history.

Show Grid Displays a grid in the graph area.

Show Markers Highlights sampling points in the graph area.

Uploads the trace results and settings from the Drive. Normally,
this is automatically executed when the trace is completed. Also,
you can manually upload them by clicking this button.

to the left of the graphs.

table to above or

rget

3 - 30

Show Cursor Displays a cursor to check the value of the parameter selected in

the graph.

The cursor can be moved right and left with a mouse.

Show Range Cursors Displays cursors to see the difference between specified two

points.

Make

Range Cursor

Fixed Width

Fixes the distance between two cursors when the range cursors
are displaye

d.

Show Legends Displays legends in the graph area.

Independent Y Axis
Mode

Uses a common scale for Y axis in the graph area. When a data
item is selected in the trace data table, the item's scale is used as
the common scale for the Y axis.

When the independent Y axis mode is enabled, the current
multi-scale

settings for the Y axis are cleared.

Sysmac Studio Drive Functions Operation Manual (I589)

3 Basic Servo Drive Operations

Additional Information

 Using Data Trace Properties

In the Properties pane, check the configuration of the traced data, trace target drive, and parameters
at the time of data trace execution. Also, the parameters at the time of tracing can be applied to the

project. To open the Properties pane, click the in the Toolbar.

•Comment

Enter a comment for the data trace.

• Configuration

The interval and total trace time set for the data trace are displayed.

• Parameters

A list of the parameters set in the Servo Drive at the tim
Clicking the Update Project button transfers the current parameter values from the Drive to the
project.

When multi-drive data tracing is executed, parameters of up to four nodes are displayed.

e of data trace execution is displayed.

3-6 Data Tracing

3

 Saving Data Trace Results to the Project

After data tracing, you can save the data to a project. Data is saved on a data trace basis.

• Opening the saved trace data

Open a Sysmac Studio project and double
ing message is displayed. Click the Yes butt

-click a data trace in the Multiview Explorer. The follow­on.

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3 Basic Servo Drive Operations

Precautions for Correct Use

Precautions for Correct Use

 Exporting/Importing Data Trace Results

• Export

The settings and data of each data trace are exported into a c
Toolbar and specify a file.

•Import

The csv files that were previously exported are imp
according to your purpose.

(1) Superimposing a data trace graph

The trace settings and sampled data are superimposed on the current data trace. You can
display the data

1) Open the original data trace on which the data should be superimposed.

2) Click the button and specify the exported file.

• Only the files that were output by the above-mentioned export function can be imported.

• The trace conditions are not imported.

• The imported trace settings cannot be re-edited. They
shown below.

with the current data trace results.

orted. Use the following two procedures

sv file. Click the button in the

are grayed out in the edit pane as

(2) Reusing the Data Trace Settings

The trace conditions, trace settings, and sampled data of the exported data trace at the
time of data tracing are restored as is.

1) Delete all of the sampling target

2) Click the button and specify a file that was pr

• Only the files that were output by the above-mentioned export function can be imported.

• If one or more parameters are registered in the trace settings, the data is imported like the
superimposing function.

data in the trace settings.

eviously exported.

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Sysmac Studio Drive Functions Operation Manual (I589)

3 Basic Servo Drive Operations

Precautions for Correct Use

Precautions for Correct Use

 Executing Data Tracing by Multiple Drives (only for 1S Series via NJ/NX/NY

controller)

You can synchronize the sampling start timing across multiple Drives to execute data tracing at the
same time. Enter the trace target device name in the Device Name column in the trace data area (c)
and set the data to sample. Other settings and execution procedures are the same as single data
tracing.

• Execute the data tracing from the view for the Drive for which you set the triggers.

• Enter the node name on the ECAT editor in the Device Name column. (The default node
names are an E followed by a sequential number starting from 001 like E001 and E002.)

• Data tracing can be performed for up to four Drives
ger. If five or more Drives are
ing message will be displayed.

set for the trace targets and data tracing is started, the follow-

including the device that detects the trig-

3-6 Data Tracing

3

• The sampling data between the Drives is not synchroni
longer than EtherCAT PDO communication cycle.

• If you change any data settings when a graph is displayed after data tracing is completed
and then export the data, the results will not be consistent with the settings in the exported
data.

• The exported CSV file of trace results is encoded in UTF-8 character codes.

• When you import a CSV file, specify the CSV file to which the Drive trac
exported.

• If the CSV file is edited after it was export

ed, it may not be possible to import it.

zed if you set the sampling interval

e results were

Sysmac Studio Drive Functions Operation Manual (I589)

3 - 33

3 Basic Servo Drive Operations

3-7 Motors and Encoders

Set the motor's status display and encoders.

 Open the Motor and Encoder Properties tab page

3-7-1 Motor Properties

Confirm the motor properties.

 Displaying the Motor Properties

Click the Motor Properties ( ) button. When Sysmac Studio is online with the Drive, the follow-

Right-click the Drive and select Motor and Encoder from the menu.

ing properties of the connected motor are displayed.

Item Value

Motor ID Motor's model number
Serial Number Motor's serial number
Capacity Motor capacity
Speed Rated speed
Voltage Rated voltage
Encoder Encoder type

3 - 34

Sysmac Studio Drive Functions Operation Manual (I589)

Precautions for Correct Use

Precautions for Safe Use

3-7-2 Encoder Properties

This section describes how to monitor the encoder status and initialize the encoder.

3 Basic Servo Drive Operations

 Displaying the Encoder Properties

Click the Encoder Properties ( ) button. When Sysmac Studio is online with the Drive, the
encoder properties can be confirmed and the function

s for the properties can be executed.

 Confirming the Encoder Status

Encoder status information is displayed in the Monitor area of the Encoder Properties tab page.

 Setting up the Encoder

If an error occurred in the encoder when a motor with an absolute encoder was used, you need to
set up the encoder using the Operations function in the Encoder Properties tab page.

• Clearing the system.

Click the Clear s

• Resetting alarms

Click the Rese

A list of current alarms is displayed with their even

• Resetting the communications error count (only for 1S Series)

Click the Reset Communications Error Count bu
errors that occurred in the encoder.

• Resetting the motor replacement detection error (only for 1S Series)

Click the Rese
detection error.

ystem button to clear the multiple rotation data of the encoder.

t alarm button to clear the current alarms in the encoder.

t names and error codes.

tton to clear the number of communication

t Motor Replacement Detection error button to clear the motor replacement

3-7 Motors and Encoders

3

3-7-2 Encoder Properties

• For 1S Series, the following message is displayed when you execute the system clear oper­ation. Click the Yes butto
using the Troubleshooting function of the Controller.

• For G5 Series, after executing the system clear oper
Troubleshooting function of the Controller or cycle the power supply to the Drive.

If the absolute encoder setting function is executed, the multiturn counter and encoder alarm
are reset in the absolute serial encoder. When the multiturn counter in the absolute encoder is
reset to 0, the previously defined machine system changes to a different coordinate system.
After the encoder is set normally, reset the zero point of the mechanical system.

n to restart the Drive. After restarting the Drive, reset the errors

ation, you need to reset errors using the

Sysmac Studio Drive Functions Operation Manual (I589)

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3 Basic Servo Drive Operations

3-8 Setup and Tuning Wizard

3-8-1 Overview

The Setup and Tuning wizard enables quick parameter setup and monitoring, access to the Test Run
features and a choice of tuning functions.

up an

Click the Drive and select Set

d Tuning from the menu.

The portal page of the Setup and Tuning wizard has the following buttons.

Button Function Connection type

Quick Parameter Setup
and I/O Moni

Tuning (Single Drive) The following three kinds of tuning methods

Tuning (Multiple Drives) The following two kinds of tuning methods

tor

You can set and transfer basic parameters
(mainly for assigning functions to external
I/O signals), monitor the I/O signals, and
perform a test run.

are provi

• Easy tuning

• Advanced tuning

• Manual tuning

are provided for mu

• Easy tuning

• Manual tuning

ded for si

ngle Drive.

ltiple Drives.

Any

Any

• EtherCAT connection via an
NJ/NX/NY-series CPU Unit

• EtherCAT connection via a Pro­grammable Multi-Axis Controller

3 - 36

Sysmac Studio Drive Functions Operation Manual (I589)

(a)

(b)

3-8-2 Quick Parameter Setup and I/O Monitor

Click the Quick Parameter Setup and I/O Monitor button.

In the Quick Parameter Setup and I/O Monitor tab page, set and transfer the parameters that are

ired for startup, monitor the I/O signals, and perform a test run.

requ

Step 1: Motor and Encoder Setting

When you use an absolute encoder, set up the encoder.

3 Basic Servo Drive Operations

3-8 Setup and Tuning Wizard

3

3-8-2 Quick Parameter Setup and I/O Monitor

No. Item Description

(a) Setting area Set up the absolute encoder. Then, make the setti

output signals.

(b) Test Run tab page Perform a test run, monitor the I/O signals, and forcibly change

the status

of the signals.

ngs of input and

 Step 1-1: Selecting Whether or not an OMRON Controller is Connected

Select Use when you use an OMRON Controller. Otherwise, select Do not use.

When Use is selected

, recommended setting values for the OMRON Controller are applied.

 Step 1-2: Selecting Usage of the Absolute Encoder

Select the usage of the absolute encoder connected to the Servo Drive.

1 Select one of the following options in the How to Use Absolute Encoder area.

• Use as absolute encoder

• Use as incremental encoder

• Use as absolute encoder but ignore multi-rotation counter overflow

2 Click the Transfer To Drive button to transfer the selected settings to the Drive. The transferred

settings are applied after the Drive is restarted. Restart the Drive according to the specified pro­cedure.

Sysmac Studio Drive Functions Operation Manual (I589)

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3 Basic Servo Drive Operations

 Step 1-3: Setting up the Absolute Encoder

To set up the absolute encoder, click the Launch Motor and Encoder view button. Refer to 3-7
Motors and Encoders on

page 3-34 for details.

 Step 1-4: Selecting the Motor Rotation Direction and Transferring the Set-

tings

1 Select the motor's rotation direction for positive commands in the Motor Rotation area.

• CW (Clockwise)

• CCW (Counterclockwise)

2 When you transfer the selected settings to the Drive, click the Transfer To Drive button. The

transferred settings are applied after the Drive is restarted. Restart the Drive according to the
specified procedure.

 Step 1-5: Performing a Test Run

Perform a test run to confirm that the correct motor rotation direction is set. Refer to 3-8-3 Test Run
and Function Status on page 3

-45 for details.

When all the settings and the transfer operation are completed, click the Next button

.

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Sysmac Studio Drive Functions Operation Manual (I589)

3 Basic Servo Drive Operations

Step 2: Input Signals Setting

Set the function assignment and monitor the current status of external inputs to the Drive.

3-8 Setup and Tuning Wizard

3

3-8-2 Quick Parameter Setup and I/O Monitor

 Step 2-1: Setting the Function Assignment to External Inputs

In the Input Signals area, make the function assignment settings for external inputs.

1 Assign a function each to input terminals IN1 to IN8.
2 Set the signal active condition.

Low: Positive (NO), High: Negative (NC)

 Step 2-2: Monitoring the Current Status of each External Input

Monitor the current status of each physical signal by checking the Physical signal status or termi­nal display.

Also, monitor the status of the func

 Step 2-3: Returning to Factory Settings

Click the Return to Factory Setting button. Then, the input signals are reset to the factory settings.

 Step 2-4: Transferring the Settings to the Drive and Restarting the Drive

When you transfer the selected settings to the Drive, click the Transfer To Drive button. The trans­ferred settings are applied after restarting the Drive.
cedure.

 Step 2-5: Checking the Wiring and Settings of the Input Terminals

tions assigned to each terminal in the Function Status tab page.

Restart the Drive according to the specified pro-

In the Function Status tab page, you can perform a test run to see if the wiring to the input terminals
and functions and signal active conditions of the input terminals are correct. Refer to 3-8-3 Test Run
and Function Status on

When all the settings and the transfer o

Sysmac Studio Drive Functions Operation Manual (I589)

page 3-45 for details.

peration are completed, click the Next button.

3 - 39

3 Basic Servo Drive Operations

Step 3: Output Signals Setting

Set the function assignment and monitor the current status of external outputs from the Drive.

 Step 3-1: Setting the Function Assignment to External Outputs

In the Output Signals area, make the function assignment settings for external outputs.

1 Assign an object (i.e., function) each to output terminals OUT1 to OUT3.
2 Set the signal active condition.

Low: Positive (NO), High: Negative

 Step 3-2: Monitoring the Current Status of each External Output

Monitor the current status of each physical signal by checking the Physical signal status or termi­nal display.

Also, monitor the status of the functions assigned to

 Step 3-3: Returning to Factory Settings

Click the Return to Factory Setting button. Then, the output signals are reset to the factory set­tings.

 Step 3-4: Transferring the Settings to the Drive and Restarting the Drive

Click the Transfer To Drive button. Only the output signal settings are transferred to the Drive and
the Drive is restarted.

 Step 3-5: Performing a Test Run

(NC)

each terminal in the Function Status tab page.

3 - 40

You can perform a test run to see if the functions and signal active conditions of the output terminals
are correct.

Sysmac Studio Drive Functions Operation Manual (I589)

3 Basic Servo Drive Operations

 Step 3-6: Checking the Wiring and Settings of the Output Terminals

In the Function Status tab page, you can perform a test run to see if the wiring to the output termi­nals and functions and signal active conditions of the output
forcibly turn ON and OFF the output terminals from Sysmac Studio. Refer to 3-8-3 Test Run and
Function Status on

page 3-45 for details.

terminals are correct. Also, you can

3-8 Setup and Tuning Wizard

Step 4: Finish

A list of parameter values set as the result of changes in previous steps is displayed.

3

3-8-2 Quick Parameter Setup and I/O Monitor

 Step 4-1: Checking the Related Parameters

Check the setup results of the parameters.

 Step 4-2: Copying the Settings

Click the Copy Settings button to copy the related parameters to other Drives. Refer to 3-1-1 Dis­playing and Editing Drive Parameters on

When the settings are completed, click the Finish butto
wizard will be displayed.

page 3-2 for details.

n. The portal page of the Setup and Tuning

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3 Basic Servo Drive Operations

Objects Set by Quick Parameter Setup

The following parameters are set by the setup.

Index (hex)

3000 --- Basic Functions

4320 --- Main Circuit Power Supply

4510 --- Encoder

4630 --- Positive Drive Prohibition Input

4631 --- Negative Drive Prohibition Input

4632 --- External Latch Input 1

4633 --- External Latch Input 2

4634 --- Home Proximity Input

4635 --- Positive Torque Limit Input

4636 --- Negative Torque Limit Input

4637 --- Error Stop Input

4638 --- Monitor Input 1

4639 --- Monitor Input 2

463A --- Monitor Input 3

463B --- Monitor Input 4

463C --- Monitor Input 5

463D --- Monitor Input 6

Subindex

(hex)

Name

01 Motor Rotation Direction Selection

02 Phase Loss Detection Enable

01 Operation Selection when Using Absolute Encoder

01 Port Selection
02 Logic Selection

01 Port Selection
02 Logic Selection

01 Port Selection
02 Logic Selection

01 Port Selection
02 Logic Selection

01 Port Selection
02 Logic Selection

01 Port Selection
02 Logic Selection

01 Port Selection
02 Logic Selection

01 Port Selection
02 Logic Selection

01 Port Selection
02 Logic Selection

01 Port Selection
02 Logic Selection

01 Port Selection
02 Logic Selection

01 Port Selection
02 Logic Selection

01 Port Selection
02 Logic Selection

01 Port Selection
02 Logic Selection

3 - 42

Sysmac Studio Drive Functions Operation Manual (I589)

3 Basic Servo Drive Operations

Index (hex)

463E --- Monitor Input 7

463F --- Monitor Input 8

4650 --- Error Output

4651 --- Servo Ready Output

4652 --- Positioning Completion Output 1

4653 --- Positioning Completion Output 2

4654 --- Velocity Attainment Detection Output

4655 --- Torque Limit Output

4656 --- Zero Speed Detection Output

4657 --- Velocity Conformity Output

4658 --- Warning Output 1

4659 --- Warning Output 2

465A --- Velocity Limiting Output

465B --- Error Clear Attribute Output

465C --- Remote Output 1

465D --- Remote Output 2

465E --- Remote Output 3

Subindex

(hex)

01 Port Selection
02 Logic Selection

01 Port Selection
02 Logic Selection

01 Port Selection
02 Logic Selection

01 Port Selection
02 Logic Selection

01 Port Selection
02 Logic Selection

01 Port Selection
02 Logic Selection

01 Port Selection
02 Logic Selection

01 Port Selection
02 Logic Selection

01 Port Selection
02 Logic Selection

01 Port Selection
02 Logic Selection

01 Port Selection
02 Logic Selection

01 Port Selection
02 Logic Selection

01 Port Selection
02 Logic Selection

01 Port Selection
02 Logic Selection

01 Port Selection
02 Logic Selection

01 Port Selection
02 Logic Selection

01 Port Selection
02

Logic Selection

Name

3-8 Setup and Tuning Wizard

3

3-8-2 Quick Parameter Setup and I/O Monitor

Sysmac Studio Drive Functions Operation Manual (I589)

3 - 43

3 Basic Servo Drive Operations

Index (hex)

Subindex

(hex)

Name

465F --- Zone Notification Output 1

01 Port Selection
02 Logic Selection

4660 --- Zone Notification Output 2

01 Port Selection
02 Logic Selection

4661 --- Position Command Status Output

01 Port Selection
02 Logic Selection

4662 --- Distribution Completed Output

01 Port Selection
02 Logic Selection

4663 --- External Brake Interlock Relay Output

01

02

Port Selection

Logic Selection

*1

*1

*1. Revised in Servo Drive Unit Version 1.2 or later.

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Sysmac Studio Drive Functions Operation Manual (I589)

3-8-3 Test Run and Function Status

You can perform a test run, monitor I/O signals, and forcibly turn ON and OFF output signals. These
operations can be performed while the Drive is in Test Run mode.

Test Run

Perform a test run from the Test Run tab page.

1 Select Jogging or Step for Operation to set the operation pattern.
2 Run the motor while checking the values of Actual Current Position and Actual Current

Speed.

3 Basic Servo Drive Operations

3-8 Setup and Tuning Wizard

3

3-8-3 Test Run and Function Status

 Step 1: Turning ON the Servo Drive

Click the Servo ON button to turn ON the Servo Drive.

 Step 2: Jogging

1 Select Jogging for Operation.
2 Set the target speed and acceleration/deceleration time.
3 Click the Apply button.
4 Click and hold the button or the button. While you hold one of the buttons, jogging is per-

formed.

Sysmac Studio Drive Functions Operation Manual (I589)

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3 Basic Servo Drive Operations

 Step 2: Stepping

1 Select Step for Operation.
2 Select the rotation direction from Forward > Reverse, Reverse > Forward, Forward, or Reverse.
3 Set the target speed, acceleration/deceleration time, step distance, number of cycles, and dwell

time.

4 Click the Apply button.
5 Click the button. The step operation is started.

 Step 3: Checking the Current Operation

In the Motion area, the actual current position and actual current speed are displayed.

 Step 4: Stopping the Motor

When you want to stop the motor during the step operation, click the button.

3 - 46

Sysmac Studio Drive Functions Operation Manual (I589)