Yaskawa CP-9200SH Users Manual
YASKAWA
MACHINE
SERVO
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YASKAWA
MANUAL
SIE-C879-40.2C
NO.
Introduction
This
servo
which
is
Up
to
eleven
of
44
axes
This
manual
examples,
to
Refer
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CP-9200SH.
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to
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CP-9200SH
setting
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to
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speed,
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independently.
SVA
User's
module
Manual
the
switches,
Control
Pack
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explanation
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connectors,
CP-717
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Refer
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of
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examples
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control
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CP-9200SH)
the
differential
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explanation
for
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connections
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this
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CP-717).
the
manual.
module)
(SVA
module.
maximum
on
a
programming
of
the
hardware
drives)
Servo
These
are
Related
Manual
Manuals
No.
SIE-C873-16.4
SIE-C877-17.4
SIE-C877-17.5
TOE-C877-17.7
CHE-C879-40
KAE-C879-40
SIE-C879-40.1
SIE-C879-40.3
SIE-C879-40.4
FDS
System
Control
Control
Control
Pack
Pack
Pack
Ultra-high
Super
High-speed
Machine
Machine
Machine
User's
Manual
Installation
CP-
7
CP-717
CP-717
Speed
Machine
Contorller
Contorller
Controller
Manual
Name
Manual
Operation
17
Operation
Manual
Manual
Instructions
Controller
Machine
CP-9200SH
CP-9200SH
Controller
User's
Programming
CP-9200SH/PO-01
(Vol.l)
(Vol.2)
CP-9200SH
CP-9200SH
Manual
Manual
Motion
Controller
1
•
For
and
etc.)safety
Be
sure
correct
other
use,
attached
be
Also,
information,
keep
to
be
sure
the
to
sure
read
documents
use
all
the
of
to
and
documents
SAFETY
the
Instruction
thoroughly
equipment
precautions.
the
place
a
at
PRECAUTIONS
and
Maintenance
before
upon
where
use
acquiring
they
may
(installation,
thorough
a
readily
be
Manual,
operation,
knowledge
available
supplementary
this
maintenance,
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In
to
Symbols
this
manual,
DANGER
CAUTION
PROHIBITED
MANDATORY
this
manual,
by
the
user,
Usedinthis
the
following
matters,
are
indicated
Manual
symbols
Danger
O
Indicates
that
Caution
O
Indicates
that
damage.
Prohibited
O
Strong
results
Mandatory
O
Indicates
that
do
next
used
are
where
cases
accompanies
where
cases
accompanies
indication
depending
grounding
that
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relevant
to
according
erroneous
possibility
the
erroneous
possibility
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prohibited
of
a
the
on
being
to
items.
descriptions
the
to
handling
deathorserious
of.
handling
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of
matter
circumstances.
provided.
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!
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a
or
CAUTION
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lead
light
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manual.
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1-24
1-26
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Servo
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machine
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time
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RUN,
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STOP,
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5
4
MAINTENANCE
AND
DISPOSAL
DANGER
A
Connect
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short-circuit,
There
Treat
#
Do
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There
Be
•
The
BATTERY
lights
according
replacement.
danger
is
the
worn-out
disassemble
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BE
careful
battery
Replace
up.
to
the
0and
throw
or
explosion
of
parts
or
of
fire,
CAREFUL
lifetime
the
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consumed
ALARM
the
indicator
with
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sides
©
away
or
modify.
failure,
the
of
a
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of
battery
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inflammation.
or
A
devices
OF
when
for
as
PROHIBITED
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malfunction.
or
THE
battery.
the
lamp
battery
battery
battery
in
correctly.
fire.
CAUTION
industrial
wastes.
LIFETIME
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ALARM
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GENERAL
5
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PRECAUTIONS
The
CP-9200SH
cause
User
or
use
This
product
death
be
harmorrisk
who
intend
contact
product
is
situation
relating
has
be
to
systems
must
installedtominimize
PRECAUTIONS
is
net
designated
lives.
the
use
to
to
YASKAWA
been
installed
orina
product
transportation,
Electric
manufactured
location
any
in
facility
the
where
likelihood
ON
manufactured
or
describedinthis
medical,
Corporation
under
failure
of
in
any
space
strict
which
may
accident.
cause
APPLICATION
use
for
manual
aviation,
beforehand.
quality
failure
a
serious
a
in
for
atomic
control
the
of
devices
special
power
guidelines.
CP-9200SH
accident,
or
systems
purposes
control,
involves
safety
that
such
as
or
underwater
However,
a
device
may
devices
if
this
life
and
MUST
6
TABLE
OF
CONTENTS
1
OVERVIEW
System
1.1
Operating
1.2
1.2.1
1.2.2
1.2.3
1.2.4
Module
1.3
1.4
Pulse
•1.5
2
3
Overview
1.5.1
1.5.2
1.5.3
1.6
Module
Application
1.7
BASIC
EXPLANATIONOFFUNCTIONS
3.1
3.2
3.3
3.4
SPECIFICATIONS
Reversible
Interval
Frequency
Basic
3.4.1
3.4.2
3.4.3
3.4.4
3.4.5
3.4.6
3.4.7
3.5
Coincident
Monitoring
3.6
3.6.1
3.6.2
Structure
SVA
Setting
Setting
Setting
Monitoring
Module
Servo
Initial
Number
Counting
of
Functions
Overview
Motion
Types
Hot
Commands
of
Swapping
Precautions
Counter
Counter
Measurement
Counters
Speed
Control
Torque
Control
Position
Phase
Zero
Absolute
Latch
(Current
Control
Point
(DI
Output
Run
Pressure
Position
Motors
Indexing
3-87
Module
Operating
and
Method
1-17
Acceleration/Deceleration
3-4
3-8
Control
Return
Position
Latch
Position)
Status
Control
1-2
Number
Fixed
Values
Servo
3-2
3-8
3-12
3-63
Detection)
3-84
1-6
Parameters
of
Servo
Conditions
Parameter
and
Pulse
1-17
1-18
1-21
1-22
AND
3-6
3-16
3-72
Data
Read
3-81
(Control
Using
at
A/D
less
1-10
Parameters
Register
Multiplication
USER
PROGRAMMING
Out
with
External
Data)
Converter
One
than
1-11
(Control
1-18
from
Absolute
3-85
3-85
Revolution
Setting
for
Data)
Number
Function
Position
Signal
for
TABLE
1-12
1-13
1-14
1-15
EXAMPLES
Encoder
Pulse
Count
of
Unidirectional
OF
3-78
Value
Revolving
CONTENTS
1-1
2-1
3-1
-
4
CONTROL
SERVO
5
5.1
5.2
5.3
BLOCK
PARAMETERS
Servo
Parameter
5.1.1
Servo
of
List
5.1.2
5.1.3
Servo
5.2.1
5.2.2
5.2.3
Example
5.3.1
5.3.2
of
List
Parameter
Details
Details
Details
of
Setting
Setting
DIAGRAM
List
Fixed
Parameter
Servo
Servo
Details
of
Servo
of
Servo
of
Servo
Setting
Examples
Examples
5-2
Parameters
Parameters
5-21
Fixed
Parameters
Parameters
Parameters
Servo
Parameters
Servo
of
of
Servo
5-2
List
Settings
for
Monitor
for
for
for
Fixed
Parameters
5-7
5-16
5-21
Settings
Monitoring
5-50
Parameters
for
5-27
5-42
Setting
5-50
-
=
5-53
4-1
5-1
7
APPENDIX
A.
Initialization
A.1
A.2
Absolute
of
Initialization
Initialization
.......
:
Encoder
Procedures
Procedures
A-2
for
Absolute
for
Absolute
-
—
—
Encoder
Encoder
-
(15-bit
(12-bit
~
-
......
.....
—
Type)
Type)
A-2
A-3
—
A
-
—
B.
Differences
B.l
B.2
B.3
B.4
C.
Switching
C.l
C.2.
between
Equivalence
of
List
List
List
When
C.1.1
C.1.2
When
C.2.1
C.2.2
Difference
of
Difference
of
Difference
between
using
Settings
(1)
Servopack
(2)
Interface
(1)
.
(2)
(3)
using
Settings
(1)
Servopack
(2)
Interface
(1)
(2)
(3)
Other
CP-9200SH
Torque
Speed
Other
CP-9200SH
Torque
Speed
CP-9200SH
for
for
for
Torque
Torque
for
A-18
control
control
control
the
for
A-20
Control
Control
Control
for
Servo
Servo
Servo
Tables
Servopack
Servopack
Servo
Control
Series
2
Control
Series
2
SVA
mode
mode
modes
Series
2
Torque
Series
2
SVA
Mode
Mode
Modes
(SVA)
Parameters
Parameters
Parameters
Module
Module
and
Fixed
and
Speed
SGD
Mode
SGD
A-18
18
A-
A-18
DR1
Control
DR1
A-20
A-20
A-20
Parameters
A-17
A-17
Mode
A-19
A-19
CP-9200SH
and
Settings
for
Monitoring
for
Each
for
Control
A-17
A-17
A-19
Control
A-19
(HSC)
CP-9200SH
A-6
A-10
Mode
17
A-
A-4
Servo
A-
12
Controller
A-5
:
8
1.
OVERVIEW
1
OVERVIEW
methods
these
explains
items
This
chapter
operating
observe
and
for
the
system
overview
using
the
structural
the
of
SVA
module.
diagrams,
device.
Always
1-1
1.1
System
Structure
The
CP-9200SH
machine
suitable
A
The
CP-9200SH
Manual
Use's
—
Structure
•
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•
•
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is
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control.
machine
Power
Mounting
There
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CPU
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maximum
Motion
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this
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SVA
functions.
equipped
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functions,
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PO-01
interpolation,
with
mounted,
SVB
interpolation,
and
maximum
A
With
CP-216
Communications
Various
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to
a
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modules
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There
sequence
composed
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(SIE-C879-40.1)
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modules
kinds
manual),
for
modules
modules
A
so
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modules
maximum
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module
I/O
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types
interface
RS-232C
and
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modules
are
integrated
CP-9200SH
has
mounting
four
of
of
two
of
motion
pulse
or
motion
the
of
for
-
setting
mounting
can
modules
train
controller
following
the
details
for
use
bases
be
installed.
output
MECHATROLINK.
be
can
have
servo
a
with
be
can
mounted,
be
have
constant-speed
up
to
have
constant-speed
of16SVB
transmission,
mounted.
position
driver
of
with
reversible
used
position
four
64
axes
position
for
a
as
up
so
axes
can
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C480
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6
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1-14
1.
OVERVIEW
1.4
Pulse
There
Counting
are
counting,
differential
are
There
Sign
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can
type
12
method
•
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Pulse
Pulse
If
rotation
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5
Pulse
Pulse
Pulse
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rotation
Up/Down
A
Pulse
B
Pulse
•
type
A/B
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The
The
(During
The
The
Please
differential
5
V
three
pulse
input
three
be
selected
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pull
is
A
is
B
B
(negative
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differential
A
is
is
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B
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type
input
input
12
V
count
count
V
differential
5
count
count
that
note
Method
types
counting
C
in
and
12
methods
up
collector
adding
an
sign.
a
"Low",
is
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sign.
a
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is
is
the
addition
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subtraction
the
pull
up
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upped
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lead
input.
and
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of
pulses,
control.
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pull
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of
collector
independently
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pulse.
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axis.
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frequency)
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12
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frequency)
frequency)
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type.
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counter
Table
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at
and
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rising
rising
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may
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pulse
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and
relation
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selected.
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with
multiplication
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pulse
of
pulses
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multiplication
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A
and
(XI),
B.
function
double
are
1-15
Table
1.2
Counter
Up/Down
and
Pulse
Counting
Methods
counting
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A/B
type
(During
pull
up
collector
input)
A/B
type
(During
differential
input)
type
Sign
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pull
up
collector
input)
12
5
12
V
V
V
method
XI
X2
X4
XI
X2
X4
XI
X2
Up
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Pulse
Pulse
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Pulse
Pulse
Pulse
Pulse
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Pulse
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counter
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—
B
A
—
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A
—
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A
B
A
B
A
B
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B
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counter
A
B
A
B
A
B
A
—
B
-
A
—
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-
A
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A
B
A
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B
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and
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refer
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1-16
OVERVIEW
1.
Overview
Overview
The
SVA
and
basic
Function
Reversible
counter
Interval
counter
Frequency
measurement
Basic
counter
Functions
of
module
counter,
four
has
which
Counts
B.
While
Preset
possible
Counts
B.
When
and
the
Disabling
Counts
and
B.
Counts
Preset
counting
Counts
B.
Input
Disabling
functions,
can
pulses
pulse
of
count
pulses
pulse
counter
counting
pulses
frequency
of
count
impossible.
pulses
pulse
of
counting
be
selected
Overview
the
with
input,
C
is
value,
the
with
rises,
C
is
reset.
possible
basedonthe
of
value
with
the
C
uses
impossible.
reversible
independently
input
the
count
disabling
input
the
count
inputofpulses
'
input
the
preset,
zero
disabling
input
point
pulses
of
counting
pulses
of
value
pulse.
pulses
of
return
counter,
A
N°"
stops.
A
latched,
is
A
interval
for
and
4
and
and
mode.
each
A
counter,
axis.
Motion
control
Not
possible
Not
possible
Not
possible
Possible
Note
frequency
DI
1
Not
possible
Not
possible
Not
possible
Possible
latch
Note
measurement,
Coincident
output
2
Possible
Possible
Possible
Possible
Note
3
(Notes)
Table
Function
Reversible
Interval
Frequency
measurement
1.
motion
In
position
2.
TheDIlatchisthe
position)
external
3.
Coincident
the
preset
4.
For
the
during
not
parameter.
gives
Pulse
\
counter
the
counting
method
counter
1.3
control,
control,
through
signals.
output
coincident
version
C-pulse
relations
1.3
Table
Possible
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there
and
function
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the
modes
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function
of
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87921-9000D-S0200
No.
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with
between
Counter
Up/Down
XI
each
Functions
method
X2
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for
zero
by
set
latching
signal.
value
which
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outputs
and
reversible
function
and
Sign
XI
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point
servo
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DI
the
counter
later,
and
counter,
pulse
and
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method
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return,
parameters.
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the
signal
input
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a
value
whether
be
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counting
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speed
pulse
and
output
(current
the
selected
method.
Methods
XI
control,
count
pulse
signal
counting
by
A/B
method
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torque
value
C
value)
is
the
control,
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are
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coincide.
stopped
servo
X4
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as
when
or
fixed
Basic
counter
selecting
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counter
5.2.1
and
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mode,
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of
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5.1.1
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of
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1-17
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of
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the
to
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servo
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the
to
use
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parameter
parameter
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following
motion
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setting
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setting
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and
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point
Zero
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Interpolation
(POSING)
positioning
return
(INTERPOLATION)
Interpolation
position
function
Constant-speed
(FEED)
Constant-step
(STEP)
with
detection
(LATCH)
feeding
feeding
include
constant-speed
for
each
axis.
Table
Moves
specified
When
a
the
current
to
axis
Performs
distance
Four
zero
Interpolation
processed
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counter
reference
feeding
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a
with
By
NOP
Positioning
travel
deceleration
(FEED),
to
a
(POSING),
and
Motion
of
pre
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positioning
feeding
Function
1.4
axis
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acceleration/deceleration
signal
latch
position
position
the
positioning
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the
same
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units
specified
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to
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time
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Command
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speed
a
return
feeding
specified
a
at
_
input
is
the
latch
positioning
for
the
_
at
data
__
latch
the
direction
time
constant.
stop.
to
specified
by
a
(ZRET),
(STEP)
during
signal
travel
point
zero
each
_
the
position
at
_
travel
specified
interpolation
and
they
speed
feed
positioning,
and
moves
distance.
return
high-speed
current
calculated
a
specified
distance
acceleration/
can
with
the
travel
scan
position
in
speed
(STEP
be
a
1-18
OVERVIEW
1.
1.5.3
Types
of
Acceleration/Deceleration
Acceleration/deceleration
acceleration/deceleration,
exponential
For
Exponential
Type
acceleration/deceleration
of
acceleration/
deceleration
Linear
acceleration/
deceleration
S-curve
acceleration/
deceleration
(travel
average)
be
can
and
basically
exponential
acceleration/deceleration,
is
1
.5
for
for
Types
Table
Concerned
parameters
OWOD
OC
(servo
parameter
setting
acceleration")
OWOD
(servo
setting
"Linear
OD
parameter
"Linear
motion
deceleration")
OC
OWna
(servo
parameter
setting
acceleration")
OWno
(servo
setting
deceleration")
OWOD
(servo
setting
number
OBon
(servo
setting
selection")
"Linear
OD
parameter
"Linear
14
parameter
"Averaged
of
times"
to
214
parameter
"Filter
OBD0
type
for
for
for
217
for
into
classified
linear
acceleration/deceleration.
setting
possible
Set
time.
Speed
Set
of
only
of
Acceleration/Deceieration
Speei)
0
Linear
the
timetoreach
0
U
OWuO
14
Linear
(travel
"2"
bias
when
,
u
OWDDOC
acceleration
OWDOOC
acceleration
averaging
speed
the
Rated
the
rated
Rated
OWOD
acceleration/deceleration,
possible.
is
motion
commands
are
Contents
Rotation
time
motor
Rotation
Speed
Linear
speed
Speed
OWOD
OD
deceleration
for
acceleration/deceleration
\
SZ
14
time
filter)
OWm
14
Linear
for
OWODOD
"Filter
OWOD
deceleration
type
S-curve
available.
Time
time
Time
*1
14
\
Averaged
number
of
times
time
selection".
(Continued)
1-19
(Continued)
of
Type
acceleration/
deceleration
Concerned
parameters
OWooOC
(servo
setting
acceleration")
parameter
"Linear
OWDOOD
(servo
parameter
setting
deceleration")
"Linear
motion
for
for
Speed
Feed
Contents
speed
Exponential
acceleration/
deceleration
OWDO
(servo
setting
number
OBDD
(servo
setting
selection")
OWoo
(servo
setting
14
parameter
"Averaged
times")
of
to
214
parameter
"Filter
ID
parameter
"Bias
exponential
acceleration/
deceleration
OWDD
(servo
setting
acceleration")
OWDOOD
(servo
setting
deceleration")
OC
parameter
"Linear
parameter
"Linear
for
OBDD
for
type
speed
filter")
217
for
for
for
for
0
OWOD
•
"0"
Set
OWooOD)".
0C,
•
"1"
Set
type
selection".
"0"
Set
deceleration
Speed,
of
63.2%
speed
feed
14
"Linear
for
(exponential
"Bias
for
filter".
Feed
OWOO
14
of
number
times
acceleration/deceleration
acceleration/deceleration)
speed
speed
exponential
for
acceleration/
Time
time
(OWoo
"Filter
to
_
1-20
Exponential
acceleration/
deceleration
bias
with
OWDD
setting
14
parameter
"Averaged
times"
of
to
214
parameter
"Filter
ID
parameter
"Bias
OWDD
(servo
setting
number
OBDD
(servo
setting
selection")
(servo
exponential
acceleration/
deceleration
for
OBDD
for
type
for
speed
filter")
217
for
•
0
Set
OC,
Set
type
\
\
14
OWoo
63.2%
speed-Bias
"Linear
for
"0"
OWooOD)".
(exponential
"1"
selection".
OWDD
\
Feed
of
speed
14
Averaged
s.
times
acceleration/deceleration
acceleration/deceleration)
OWDD
(Bias
LT
time
(Continued)
ID
speed)
Time
number
(OWoo
"Filter
to
of
1.6
Module
Hot
Swapping
1.
OVERVIEW
SVA
When
hot
are
In
any
(Note)
Not
states
swapping
The
operation
•
•
•
modules
the
modules
swapped,
case,
only
in
and
reference
During
and
torque
During
During
During
If
after
At
the
During
•
When
arrives
•
positioning
If
step
with
should
the
recommendedtoinsert
we
CP-9200SH
operations
switch
value
continues
speed
not
other
following
OFF.
with
and
be
than
are
of
servo
torque
hot
but
occurred
this
commanded.
point
point,
control
position
the
control
with
position
returning,
at
approach
at
creep
of
the
a
servo
execution,
point-to-point,
is
each
reference
zero
operation
operation
detection
zero
position
positioning
at
by
step
the
swapped,
and
will
CP-317
in
only
SVA
or
CPU
states
also
parameter
reference
controlling,
following
the
speed,
speed,
point
zero
lock
state
reference
implemented
high-speed
value
since
modules,
resulted.
be
remove
during
before
value
operation
that
pulse,
will
following
the
that
value,
when
scan,
that
at
synchronous
a
such
Special
modules
system,
dual
the
data
module
as
follows.
is
occur.
will
operation
that
operation
zero
point
result.
will
positioning
servo
a
position
the
immediately
time.
error
as
LIO
care
power
after
when
copy
between
inserted
was
performed
will
will
continue.
return
occur.
operation
state
lock
reference
a
occur
will
modules,
should
turns
SVA
a
module
or
with
continue.
operation
is
will
result.
lock
servo
CPU
and
communication
be
taken.
OFF.
is
used,
CPUs
with
removed
reference
the
will
be
executed.
executed.
value
state
is
being
will
will
goes
the
module
CPU
remains.
speed
When
it
given
result,
down.
modules,
following
hot
And
the
•
During
•
If
•
During
around
phase
operating
operation
the
control
by
the
phase
execution,
electronic
by
the
electronic
correction
the
shaft,
value
following
operation
that
cam,
at
that
will
a
servo
point.
occur.
will
lock
continue.
state
will
immediately
result
1-21
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