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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

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Control

Point

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Output

Run

Pressure

Position

Motors

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3-87

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Operating

and

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3-4

3-8

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Return

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Position)

Status

Control

1-2

Number

Fixed

Values

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3-8

3-12

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3-84

1-6

Parameters

of

Servo

Conditions

Parameter

and

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1-17

1-18

1-21

1-22

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2-1

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5

5.1

5.2

5.3

BLOCK

PARAMETERS

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Parameter

5.1.1

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of

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5.1.2

5.1.3

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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

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of

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Parameters

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5-42

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=

5-53

4-1

5-1

7

APPENDIX

A.

Initialization

A.1

A.2

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of

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for

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for

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Type)
Type)

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B.

Differences

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B.2

B.3

B.4

C.

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between

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List

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C.1.2

When

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using

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Servopack

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(2)
(3)

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(2)
(3)

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Parameters

Parameters
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18

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CP-9200SH

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(HSC)

CP-9200SH

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A-4

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1.

OVERVIEW

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Monitoring

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module

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1

2

3

4

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5

9

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C800

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C880

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9

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1-14

1.

OVERVIEW

1.4

Pulse

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Counting

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counting,

differential

are

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can

type

12

method

•

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Pulse

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differential

5

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pulse

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type

input
input

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count

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count
count

that

note

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types

counting

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in

and

12

methods

up

collector

adding

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sign.

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is

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is

is

the

addition

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pull

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lead

input.

and

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pulses,

control.

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pull

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collector

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subtracting

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in

input)

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type,

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12

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reversed

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Up/Down

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in

counter

Table

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at

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pulse

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the

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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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type

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pull

up

collector

input)

A/B

type

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differential

input)

type

Sign
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pull

up

collector

input)

12

5

12

V

V

V

method

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X2

X4

XI

X2

X4

XI

X2

Up

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Pulse
Pulse

Pulse

Pulse

Pulse

Pulse

Pulse

Pulse
Pulse

Pulse
Pulse

Pulse

Pulse

Pulse

Pulse

counter

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—

B

A

—

B

A

—

B

A

B

A
B

A
B

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A
B

A

—

B

(forward

F

S

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5

f

f

jf

rotation)

l

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1L

LOW

LOW

Down

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Pulse

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Pulse
Pulse

Pulse
Pulse

Pulse
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Pulse

Pulse

counter

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B

A

B

A

B

A

—

B

-

A

—

B

-

A

—

B

A

B
A

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selecting

For

parameters,"

5

In

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the

pulse

5.1.1

XI

X

2

XI

X2

Up/Down

input

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of

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Pulse

Pulse

Pulse

Pulse
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type,

method

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B

A

B

A

B

A

B

pulses

if

and

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I

J

Fixed

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Fixed

pulse

Parameters,"

f

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LOW

on

LOW

on

and

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counting

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HIGH

or

HIGH

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or

simultaneously,

reach

method,

and

5.2.1

Pulse

Pulse
Pulse

Pulse
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,

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refer

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to

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A

B

A

B

A

B

of

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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

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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

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pulses

pulse

of

counting

be

selected

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the

with

input,

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is

value,

the

with

rises,

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reset.

possible

basedonthe

of

value

with

the

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reversible

independently

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the

count

disabling

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the

preset,

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value

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return

counter,

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stops.

A

latched,

is

A

interval

for

and

4

and

and

mode.

each

A

counter,

axis.

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control

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possible

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possible

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possible

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Note

frequency

DI

1

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possible

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possible

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possible

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latch

Note

measurement,

Coincident

output

2

Possible

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Possible

Note

3

(Notes)

Table

Function

Reversible

Interval

Frequency

measurement

1.

motion

In

position

2.

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position)

external

3.

Coincident

the

preset

4.

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the

during

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1.3

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function

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is

phase

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modes

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function

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between

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Up/Down

XI

each

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for

zero

by

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outputs

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servo

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the

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the

signal

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value

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speed

pulse

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the

selected

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count

pulse

signal

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torque

value

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value)

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servo

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of

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1-17

1.5.2

Motion

For

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command,

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the

to

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parameter

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settings

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setting

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and

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the

the

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motion

commands

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selected

independently

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(EX.POSING)

point

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(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

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zero

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processed

During

counter

reference

feeding

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with

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NOP

Positioning

travel

deceleration

(FEED),

to

a

(POSING),

and

Motion

of

pre

-determined

positioning

feeding

Function

1.4

axis

an

acceleration/deceleration

signal

latch

position

position

the

positioning

from

point

from

the

same

is

latched

units

specified

command,

to

distance)

time

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counter

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the

zero

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by

moving

point

methods

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distance

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feeding

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positioning

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available.

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position

the

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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

1.7

Application

Precautions

Head

(1)

the

The

Set

(A)

following

minimum

value

a

When

additional

When

CD

The

When

©

The

When

©

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When

©

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When

©

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When

©

The

precautions

values

than

more

"Selection

function")

used

minimum

used

minimum

used

minimum

used

minimum

used

minimum

used

minimum

when

high-speed

of

the

minimum

use

to

is

set

speed

in

value

in

torque

value

position

in

value

in

phase

value

zero

in

value

RUN

with

value

using

motion

to

control

high-speed

of

control

high-speed

of

control

high-speed

of

control

high-speed

of

point

of

high-speed

"OFF"

high-speed

of

a

scan

value.

command"

USE"

"NOT

mode

250

=

mode

250

=

mode

250

=

mode

250

=

return

250

=

(BitO

250

=

SVA

set

(BitO

mode

module.

time

("0")

scan

s

+

p

(Bitl

scan

s

+

p

(Bit2

scan

s

+

fi

(Bit3

scan

s

+

fi

(Bit4

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fi

OWDO

of

scan

s

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of

set

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of

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of

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of

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as

value

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value

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value

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fixed

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s

fi

00

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ft

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parameter

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of

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in

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use)

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of

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1)

2)

3)

4)

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When

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all

of

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all

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of

4

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of

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4

all

of

use

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used

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used

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axes

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value

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axes

are

value

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speed

value

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value

position

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phase

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of

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control

of

mode

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control

of

mode

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control

high-speed

of

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control

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parameter

of

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250

250

mode

250

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250

control

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scan

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control

scan

scan

of

scan

s

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70

p

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value

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250

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650

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250

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850

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setting

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s

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number

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mode

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OWOD

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number

(100

+

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+

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"Selection

14

00)

axes

of

of

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axes)

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p

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set

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in

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use)

4

axes)

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axes)

4

X

axes)

4

additional

of

to

"INVALID"

use)

use)

use)

)

ft

fi

//

is

1-22

OVERVIEW

1.

©

©

(Examples)

1)

2)

3)

4)

5)

(ii)

When

("1")

®

©

®

When

The

minimum

When

The

minimum

When

The

minimum

When

The

minimum

When

The

minimum

When
The

minimum

When

The

minimum

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When

The

minimum

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minimum

The

When

used

used

all

of

all

of

of

all

all

of

all

of

command

used

used

used

zero

in

value

with

value

4

axes

value

axes

4

value

axes

4

value

axes

4

value

axes

4

value

speed

in

value

in

torque

value

position

in

point

RUN

are

are

are

are

are

return

of

high-speed

"OFF"

high-speed

of

set

in

of

high-speed

set

in

high-speed

of

set

in

high-speed

of

set

in

high-speed

of

set

in

of

high-speed

(Bit8

code"

control

high-speed

of

control

high-speed

of

control

mode

250

=

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250

=

speed

torque

position

phase

point

zero

of

mode

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=

mode

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=

mode

(Bit4

set

scan

(220

s

p

+

of

OWon

scan

set

(200

s

p

+

control

set

scan

control

set

scan

control

set

scan

control

scan

set

return

set

scan

parameter

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p

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of

value

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value

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value

mode

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value

p

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value

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number

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number

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1250

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pc

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00

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7

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of

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function

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function

1-23

(Examples)

1)

2)

3)

b)

4)

When
The

5)

When

The

When

minimum

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a)

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all

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all

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value

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set

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ft

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)

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s

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+

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Do

(3)

Whenever

in

(4)

The

Table

Speed

Torque

point

Zero

Phase

Position

(Note)

change

not

batch),

units

1.6

Table

Control

control

control

return

control

control

Use

1=1

motion

(=valid).

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1=1

the

the

module

be

sure

different

are

shows

1.6

the

Units

Mode

When

motion

When
motion

reference

command

pulse

when

high-speed

configuration

to

turn

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depending

for

units

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using

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unit

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the

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%

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power

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mm/min,

deg/min,

position

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the

mode

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and

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or

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module

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references

references

Torque

%

setting

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than

thoseinTable

during

has

in

each

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code

travelling.

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been

each

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pulse

pulse

mm,

pulse

06)

when

valid/invalid

1.6.

(also

mode.

mode

Position

inch,

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loading

at

reference

deg,

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to

use

to

the

”1"

1-24

BASIC

2.

:

SPECIFICATIONS

BASIC

2

chapter,

This

module

explains

classified

SPECIFICATIONS

specifications

in

hardware

basic

and

software.

for

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SVA

2-1

SVA

module

include

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reversible

independently

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and

based

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axes

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Primary

control,

motion

axis

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features

functions

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number.

of

SVA

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other

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modules

motion

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functions

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control,

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module

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as

showninTable

functions

frequency

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on

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axis,

single

module

2.1,

up

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four

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measurement,

speed

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no

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of

Table

functions

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restriction

of

16

modules

2.2.

be

44

Category

Motion

Counter

Pulse

counting

methods

function

function

Table

Category

Table

2.2

Primary

2.1

Position

four

Reference:

Position

Hardware

Reversible

on

Reversible

Interval

Frequency

possible

A/B

Multipulication

available)

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control,

axes

detection

four

axes

counter:

method,

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Features

speed

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method:

pulse

latch

counter,

counter:

and

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Count

measurement:

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function

Specifications

of

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Specifications

control,

torque

Absolute

madebyYaskawa

function:

interval

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disabling

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method,

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SVA

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control,

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for

SVA

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axis

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phase

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frequencies

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or

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control

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2-2

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(Continued)

2.

BASIC

SPECIFICATIONS

Motion

functions

Reference

Position

Position
Position

Position

Speed

reference

Speed

reference

Speed

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reference

Negative

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limit

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included.

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the

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primary

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module.

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functions

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the

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Refer

3(1)

3.

to

4.

to

(6)

for

details.

3.

EXPLANATIONOFFUNCTIONS

AND

USER

PROGRAMMING

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0.0001

0.00001

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Table

3.4

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the

contents

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examples

of

parameters

the

in

Table

3.3.

3-17

Servo

fixed

parameter

No.

No.

19

Table

Travel

per

rotation

3.4

Contents

Name

amount

1

machine

and

Indicates

rotation.

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Set

reference

19

No.

•

Examples

Travel

machine

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rotation

Setting

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[mm]

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360

Examples

the

load

valueofthe

unit.

Load

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load

per

travel

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£

g

=3

oa

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]

Parameters

of

Contents

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load

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amount

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amount

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10000

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unit]

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19

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12

0.001

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1

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12

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(Continuted)

3-18

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Servo

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parameter

No.

No.

20

No.

21

Name

Motor

gear

side

ratio

Machine

gear

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•

Sets

In

when

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Setting
Setting

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3.

EXPLANATION

gear

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3

FUNCTIONS

OF

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7

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4

rotations

9

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1

m

1

#

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parameter

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19=

•

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example

above

6

0.001

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5

7

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3

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3-19

#

Setting

example

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•

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(3)

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Position

There

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3.

EXPLANATIONOFFUNCTIONS

setting

designation

12

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reference

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indirect

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method;

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the

set

PROGRAMMING

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EXAMPLES

set

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the

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parameters

Table

No.)

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Position

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Position

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3.6

Parameters

Name

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3-21

Table

3.7

Position

Reference

Value

Selection

Position
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10

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1

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If

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1000

2000

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parameter

Calculate

amount)

position

the

(OLon

travel

amount

value

12

Incremental

+

1000

=

1500

No.,

error

the

the

to

reference

reference

12)

OLno

of

and

store

occurs.

position

previous

(OLOO

(incremental

12.

travel

the

present

absolute

an

reference

position

12).

12)

(OLDO

is

What
The

By

equivalent

The

This

(Note)

The

Therefore,

Position

position

specifying

to

position

function

data

in

be

Preparation

Prepare

the

Name

Position

access

Position

written-in

Motion

control

(MCMDCTRL)

buffer

No.

buffer

data

command

flag

data

a

"buffer

the

buffer

is

the

sure

of

position

Buffer?

group

No."

operation

has

available

position

set

to

position

Table

(Bitl4

by

each

a

for

when

a

capacity

only

for

buffer

data

at

buffer

by

buffer

3.8

Register

OLOD

OLDD

OBDO21E

of

OW

axis

can

position

a

for

data

command

data

CP-9200SH

by

lost

are

turning

’

I

using

Parameters

the

the

No.

38

3A

21)

DD

be

of

turning

servo

Setting

stored

in

(OLDD

with

absolute

maximum

version

power

for

-231

ON

parameters

Preparation

Range

256

to

1

to

or

0

buffer

a

12),

No.

power

the

and

231-1

1

(position

position

the

position

256

points

87921-9000o

OFF

before

Table

in

of

Position

For

For

buffer

For

No

0:

Write

1:

buffer)

buffer

entered

is

X

axes.

4

-S0200

or

master-reset

using

3.8.

setting

setting

writing-in

processing

can

position

the

Buffer

Meanings

position

of

of

data

position

inside

perform

in

program.

and

later.

to

SVA

the

of

CPU

buffer.

buffer

write-in

buffer

module.

operation

module.

Nos.

position

3-22

Read-out

By

the

parameter

It

takes

read-out

a

position

of

servo

parameters

for

monitor.

high-speed

2

command.

buffer

Use

scans

data

in

the

to

3.

EXPLANATION

Table

parameter

the

set

3.9,

data

the

to

data

to

the

OF

in

confirm

servo

FUNCTIONS

position

the

data.

parameter

AND

buffer

for

USER

PROGRAMMING

be

can

monitor

read-out

(ILno28)

EXAMPLES

the

to

issuing

after

servo

Name

Position

access

Motion

control

buffer

No.

command

flag

(MCMDCTRL)

Position

read-out

buffer

data

Using

By

data

setting

reference

value.

Table

Name

Position

setting

(XREF)

RUN

reference

command

setting

(SVRUNCMD)

of

position

the

3.10

Table

Register

(Bitl5

servo

parameters

Parameters

Register

(Bit

3.9

Parameters

38

OLnn

21F

OBDD

OW0D21)

of

28

ILoo

buffer

OLOD

12

OBaoOlC

12

OWDD

of

No.

for

for

No.

position

Table

in

Using

01)

Reading-out

for

Setting

1

Oor

-

231

reference

3.10,

Data

Setting

1

to

to

the

of

to

1

Range

256

256

1

231-1

data

Position

Range

of

Data

For

For

No

0:

1:

Read-out

Read-out

of

position

Buffer

Set

reference.

Selection

0:

1:

Position

setting

reading-out

of

processing

data

buffer

as

Position

position

a

to

position

Use

XREF

Use

(OLnn

(OLnn

position

12)

Buffer

Meanings

position

position

position

of

can

Meanings

buffer

use

position

reference

12)

buffer

data

buffer

buffer

buffer

be

used

as

Reference

No.

for

buffer

value

data

No.

for

Nos.

position

a

position

a

for

XREF

Position

manipulator

The

current

mode

or

position

The

deceleration

to

target

the

-

Where

Deceleration

control

position,

having

after

change

position

Current

without

moves

target

the

point).

start

position

is

started

Speed

motion

in

position,

changed

position

is

executed

<

according

the

is

Target

following

the

commands

and

the

position

position

the

according

position

the

to

three

motion

deceleration

reference

where

to

deceleration

the

Current

AND

deceleration

Target

Deceleration

—

-

Travelling

to

patterns

position

start

position

the

in

deceleration

time

position

time

set

position

change

position

start

distance

position

target

according

is

started

set

value.

point

(T)

(£)

®

-

-

the

to

changing

when

so

mode

that

control

value.

Deceleration

Current

:

:
:

»Tlme

>

position

Target

position

Deceleration

Position

relation

(at

the

start

start

position

of

the

the

control

target

the

positioning

position

3-23

Where

Current

Deceleration

manipulator

position

is

started

reaches

Target

<

according

target

the

position

the

to

position.

Current

AND

deceleration

position

time

set

Deceleration

>

value

and

completed

is

start

position

when

tht

the

In

above

case,

the

over

and

Where

The

movesinreverse

deceleration

completed

is

Current

manipulator

Speed

deceleration

start

the

when

position

decelerates

target

the

to

Speed

should

point,

manipulator

Target

2?

to

position

Deceleration

-

Target

Travel

to

target

have

started

at

decelerationisstarted

reaches

the

target

position

i

a

stop

according

according

-Target

to

position

Travel

to

target

to

the

amount

position

H

start

position

change

position

amount

point

position

®.

from

point

:

Current

©

:

Target

©

:

Deceleration

®

Time

>

—

Position

>

—

Because

the

target

position

position

manipulator

the

position

position.

the

deceleration

time

acceleration/deceleration

change

point

©

<2)

:
:

Current

Target

4

Time

position

position

set

start

change

value.

time

position

set

passed

point

Then

value.

it

Because

and

then

the

moves

target

position

the

to

target

is

behind

position.

©

©

the

current

position,

the

:

manipulator

decelerates

stop,

to

a

3-24

3.

EXPLANATION

OF

FUNCTIONS

AND

USER

PROGRAMMING

EXAMPLES

Position

The

manipulator

position,

having

after

change

The

deceleration

the

to

•

Where

The

Where

-

or

Where

The

moves

control

the

target

changed

point).

target

position

Current

deceleration

Current

Current

manipulator

in

reverse

with

motion

moves

in

position,

the

start

position

executed

is

position

started

is

Speed

position

position

decelerates

the

to

commands

the

following

and

position

Target

<

according

Target

<

target

the

deceleration

command

the

is

according

Position

position

Target

a

to

position

two

position

to

the

to

i

©

position

according

stop

according

motion

in

patterns

start

the

where

the

deceleration

Current

AND

deceleration

Target

Deceleration

—

Travel

to

1

®

AND

Current

to

according

position

position

when

control

deceleration

time

position

time

position

change

position

start

amount

position

target

position

the

to

the

deceleration

acceleration/deceleration

to

changing

mode

started

is

set

<

value.

set

point

:

©

:

©

(3)

:

-

>

»

-

Deceleration

>

value.

Deceleration

Current

Target

Deceleration

Time

Position

the

time

relation

the

(at

the

that

so

position

position

set

control

target

the

start

start

value.

time

the

of

current

mode

position

positioning

start

position

position

position,

Then

set

value.

or

it

in

the

over

the

change

above

case,

deceleration

point,

and

Speed

deceleration

point,

start

then

moves

Speed

should

the

to

the

j

®

©

started

have

manipulator

position.

target

Target

Deceleration

j

Target

—

Travel

to

target

v

m

Wk

(gr¬

at

point

decelerates

position

change

Travel

amount

position

target

to

start

position

amount

position

d>.

ill

position

change

Because

a

to

point

©

©

®

—

stop

:

©

:

©

:
:

:

*

point

position

Current

Target

position

Deceleration

Time

Position

the

manipulator

from

position

Current

Target

position

Time

the

start

target

position

passed

position

Because

and

then

the

target

moves

position

the

to

target

behind

is

position.

Position

©

©

the

current

position,

manipulator

the

decelerates

to

a

stop,

3-25

(5)

Position

parameters

The

monitor

showninTable

3.11

are

used

for

position

monitor.

Servo

No.

(Register

ILDD

ILDD

ILDD

ILDD

Parameter

Monitor

for

02

08

18

2E

No.)

Table

Name

Target

position

monitor

(PTG)

Position

(PFG)

Machine

system

position

(MPOS)

monitor

reference

Not*

Reference

coordinate

calculated

Not*

(POS)

3.11

coordinate

system

position

Parameters

The

calculated

monitored

Normally,

becomes

Note:

When

the

1)

-

For

set,

amount)

and

reference).

Note

set

-1).

The

feedback

reported.

Note:

When

the

1)

-

position

The

reference

the

In

machine

machine

When

ILDD

parameter.

Note:

ILDO

02.

This

parameter

"Infinite

When

each

02.

the

length

"Infinite

scan

When

Position

for

by

SVA

the

the

target

the

range

is

reported.

position

add

the

newly

that

the

in

the

range

is

reported.

that

position

lock

status,

machine

for

"Finite

positions

module

position

position

axis

selection

from

reference

present

the

to

set

position

the

range

position

selection

axis

from

SVA

machine

of

status,

lock

no

lock

takes

axis".

length

position

the

length

Monitor

Contents

of

are

data

(Infinite

0

to

travel

previous

this

reference

(reset

0

to

machine

of

(Infinite

0

to

.

module

data

function

effect

axis"

is

axis"

machine

reported.

reported

every

scan.

is

set

length

when

"infinite

amount

position

value

value

is

set

length

outputs

coordinate

this

data

is

output

is

not

when

the

selected,

reference

selected,

is

coordinate

this

to

to

"infinite

axis

(incremental

reference

to

OLOD12

(OLOD12)

of

infinite

coordinate

"infinite

to

axis

externally

system

is

updated

not

externally).

it

used,

selection

axis

target

the

is

reported

it

parameter

length

reset

length

is

not

length

length

reset

are

is

the

is

the

system

axis",

position

axis"

travel

(OLoo

(position

always

system

axis",

position

reported.

(in

same

is

set

position

this

to

same

is

12)

axis

is

and

the

as

to

of

as

3-26

(Note)

Whatisthe

The

execution

motion

of

The

parameters

These

machine

of

command.

module

SVA

machine

coordinate

point

"zero

controls

valid

are

coordinate

isacoordinate

return

(ZRET)”

positions

for

CP-9200SH

system?

of

the

on

system

motion

machine

version

is

that

command

coordinate

No.

87921-9000n

by

set

execution

"zero

or

point

system.

-S0200

of

zero

setting

and

point

(ZSET)"

later.

return

operation

mode,

(6)

Speed

speed

The

in

reference

The

parameters

reference

reference

unit

such

or

in

the

concerned

3.

EXPLANATION

as

rapid

ratio

to

with

feed

the

speed

OP

speed,

rated

motor

reference

FUNCTIONS

approach

speed.

are

shown

AND

speed,

in

USER

and

Table

PROGRAMMING

speed

creep

3.12.

can

EXAMPLES

be

set

either

Type

Parameter

Servo

fixed

parameter

parameter

Servo

for

setting

(Notes)

Table

3.12

Parameters

of

Parameter

(Register

No.5

No.7

No.8

Bit3

ofOWOOOl

OWmOA

OWODOB

OWD015

No.

No.)

Name

Pulse

method

motor

Rated

setting

Number

feedback

motor

per

rotation

Speed

reference

value

selection

Note!

Approach

setting

speed

Creep

setting

Speed

setting

counting

speed

of

pulses

1

speed

reference

Set

Sign

0:

Sign

1:

2:

UP/DOWN

3:

UP/DOWN

4:

A/B
A/B

5:

6:

A/B

Set

(100%

Set

multiplication).

Specify

creep

0:

:

1

The

selection"

(1)

(2)

This

(Bitl3

Set

speed.

Note:

Rapid

OLOD

22

NDC,

feed

speed

2

This

(Bitl3

Setareference

1

=

(n:

According

In

In

In

In

OW0D2C

Override*""

1

The

Note:

However,

By

17

switched

speed

1.

This

parameter

Set

ratiotothe

a

This

parameter

than

2.

87921-90000

parameter

This

This

parameter

is

invalid

rated

is

available

-S0200,

is

invalid

is

available

when

motor

it

when

motion

speed

for

CP-9200SH

is

fixed

motion

CP-9200SH

for

command

(1

=

to

”1".

command

0.01%)

version

version

to

Speed

for

counting

pulse

the

method
method

method

method

number

number

setting

the

and

OLCD22

And

OWQD15

rapid

creep

_

differs

(Bitl3

"speed

reference

10"

number

of

of

of
of

"speed

speed.

0.01%

of

OWOO

to

This

parameter

(Single

(Double

(Quadruple

the

is

feed

speed

of

pulse:

mm:

deg:

inch:

the

method

method

method

the

speed).

the

speed

Use

speed.

(OWOGOB)

Use

the
and

0.01%).

unit

When

1

=

(n:

units

In

In

units

In

units

units

In

When

motor

1

=

parameter

ratio

a

selection"

parameter

of

OWOO

reference

10"

of

to

pulse:

of

of

mm:

deg:

of

inch:

of

value

digits

the

for

number

units

units

units

units

set

OVERRIDE

OVERRIDE

this

setting

Bit9

"motion

controller

valid

%

100

is

used.

is

not

OWooOA,

No.

is

not

No.

OWE

87921-9000Q-S0200

used.

87921-9000D

Reference

method

(Single

multiplication)

(Double

(Single

(Double

multiplication)

multiplication)

rotations

of

pulses

of

unit

register

the

(unit:

10"

unit

for

10"

1

=

(unit

%

=

speed.

(OWfflOB)

depending

of

OWED

reference

unit/min

digits

1

=

1=1

1=1

1

=

reference

is

valid

01)

is

set

rated

is

set

is

valid

01)

is

set

for

unit

unit/min

below

unit,

the

1

1000

=

1=1

mm/min

deg/min

1=1

1=1

inch/min

rapid

means

"override

function

invalid.

and

the

of

set

and

0B,

-S0200

Contents

and

the

multiplication)

multiplication)

multiplication)

multiplication)

when

the

motor

per

for

rapid

No.

feed

for

reference

approach

reference

to

And

on

01).

value

below

1000

mm/min

deg/min

1

inch/min

value

when

to

motor

is

to

0.

when

to

the

decimal

reference

pulses/min

feed

the

rated

the

unit

is

setting

the

selection"

decimal

pulses/min

selection"

"speed

1.

speed

invalid

"speed

0.

rapid

speed

speed

unit/min.

%

feed

point)

can

originally

indicates

valid/invalid"

selection

When

it

value.

15.

OWDO

later.

and

and

later.

multiplication

motor

1

rotation

speed,

feed

rapid

unit/min.)

(OWlOA)

motor

approach

for

the

rated

to

for

=

point)

=

reference

(1

0.01

=

"speed

when

reference

speed.

unit

are

changed

be

to

neutralize

change

to

of

servo

flag",

is

set

to

For

runs

approach

speed.

speed

"speed

0,

set

1,

set

%)

as

follows:

the

fixed

the

invalid,

the

factor.

at

the

(the

value

for

the

and

(1

0,001%))

=

speed

motor

reference

in

reference

in

%

to

value

for

the

reference

value

use.

to

the

value

set

parameter

override

the

version

speed

rated

before

speed,

rapid

speed

creep

(OWlOl)

speed

value

unit.

the

rated

selection

rapid

value

selection

action.

to

can

rapid

Nos.

and

feed

for

(1

=

feed

use.

No.

be

feed

older

"

”

3-27

Table

3.13

shows

the

parameter

setting

examples.

Type

Parameter

Servo

parameter

Servo

parameter

setting

for

fixed

Table

of

15

22

2C

No.

No.)

OWxOl

Pulse

method

Rated

speed

Number

feedback

per

motor

rotation

Speed

value

Approach

Creep

Speed

setting

Rapid

Override

I

of

Parameter

(Register

No.

5

No.

7

No.8

Bitl3

OWmOA

OWfflOB

OWQO

OLffl

OWD0

Parameter

3.13

Name

counting

motor

setting

of

pulses

1

reference

selection

speed

speed

reference

speed

feed

Setting

No.

A/B

5

=

7

No.

=

No.

2048

8

=

Therefore,

rated

the

(1)

When
When

©

fixed

speed
speed

•

OWfflOA

•

OWffl0B

•

OWDO

•

OLffl

OWCD

When

©

fixed

speed

creep

that

•

OWm0A=180

•

OWOO

•

OW0D15=

•

OLffl

•

OWCD

(2)

When

with

rapid

at

and

•

owmoA

•

OWfflOB=

•

OWffl

•

OLOO

•

OWl

(3)

reduce

To

settings

$p6B(l,

•

OLxffl

(=

Set

1

parameter

Examples

method

3000

rpm

ppr

speed

motor

"speed

reference

is

"pulse"

parameter

rpmi

1500
150

rpm,

300

=

2457

=

150

=

1228

=

15

=

—

1500

22

=

12288

=

20=10000(100%)

is

"mm"

parameter

900

mm/min,

speed

travels

the

creep

valid)

mm/min

90

10

OB=90

—

900

22=

2C=10000(100%)

"speed

reference

above

speed

speed

=

3000(rpm)

1000

=

3000

500

=

_

1500

15

3000

5000

=

22

—

=

2C=

10000

operation

the

speed

for

2C=

5000

for

No.

17.

Contents

(quadruple

3000

=

3000

=

=

24576000

selected

setting,

approach

(rpm)

(rpm)

(invalid)

(rpm)

selected

setting,

approach

mm

per

(invalid)

parameter

fixed

1500

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point

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direction

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of

servo

fixed

3-42

3.

EXPLANATION

OF

FUNCTIONS

AND

USER

PROGRAMMING

EXAMPLES

Movement

point

return

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©

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®

(D

Moves

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©

first

stops.

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reference

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(C-phase

when

operation

the

at

at

the

at

the

falling

the

point

zero

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LS)

point

the

dog

rapid

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at

rising

creep

edge

signal

this

position

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speed

feed

signal

pulse)

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edge

speed

edge

of

speed

to

dog

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for

the

as

directions

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speed

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speed

n

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forward

dog

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of

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to

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forward

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origin

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point

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3-43

(3)

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point

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pulse).

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and

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feed

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signal

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(d)

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direction

point

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point

zero

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at

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LOW

High

Low

High

Low

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signal

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of

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signal.

direction.

signal.

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travel

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coordinate

point

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axis

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distance

system.

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1

point

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final

return

travel

po6ition|

Time

|

distance

3

3-44

3.

EXPLANATION

OF

FUNCTIONS

AND

USER

PROGRAMMING

EXAMPLES

Movement

(D

Moves

(f)

Decelerates

(LMT_L).

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©

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©

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©

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©

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zero

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Speed

reference

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when

at

at

at

falling

point

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0

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rapid

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at

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rising

at

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edge

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axis

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rotation

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speed

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speed

edge

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edge

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speed

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dog

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zero

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point

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operation

point

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and

point

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Time

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when

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first

stops.

o

Zero

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the

at

at

zero

Take

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LS)

point

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i

creep

rising

creep

edge

point

rotation

signal

pulse)

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pulse)

axis

of

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is

in

speed

edge

speed

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dog

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position

direction

Creep

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Section

the

to

of

dog

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for

the

as

speed

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(c)

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forward

rotation

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origin

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point

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travel

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1

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point

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travel

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position

|

Time

distance

]

3-45

Movement

operation

when

the

axis

is

Section

in

(d)

and

(e)

at

the

start

of

zero

point

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(4)

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®

After

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zero

position

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reference

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feeding

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point

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point

Zero

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pulse

point

zero

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at

creep

edgeofdog

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the

rotation

signal

pulse)

linear

with

signal

rising

for

origin

speed

edge

speed

(deceleration

the

of

machine

direction

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of

the

to

zero

©

the

to

(deceleration

dog

forward

point

coordinate

spÿed

X

1

jl

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5

pulse)

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LS)

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direction

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i

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:

rotation

signal.

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detected,

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the

distance

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axis

travel

system.

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speed

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axis

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point

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1

1

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point

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for

3-46

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sure

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valid/invalid)

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parameters

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code

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3.

EXPLANATION

OF

FUNCTIONS

AND

USER

PROGRAMMING

EXAMPLES

(2)

(3)

Select

Set

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Set

the

the

the

position

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servo

acceleration/deceleration

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100,

point

the

pulse

return

"ON".

confirming

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servo

the

initial

the

the

servo

the

servo

the

motion

axis

movestoa

speed.

falling

rising

the

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point

zero

the

motion

dog

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return

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the

position

position

output

range,

the

operation,

that

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value

of

position

control

parameter

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ON

command

3

specified

deceleration

of

approach

deceleration

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creep

the

first

zero

distance

return

command

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3!

the

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completion

3

edge

edge

to

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the

travel

becomes

the

final

travel

offset

data

offset

completion

zero

the

the

zero

the

zero

servo

parameter

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mode

setting.

for

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to

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point

direction

LS

speed.

LS

speed.

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signal

signal

point

and

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origin

of

status

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axis

system.

value

100).

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value

point

zero

point

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signal,

signal,

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machine

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system.

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r

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from

distance

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can

be

can

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of

return

return

return

return

setting.

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the

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the

axis

the

axis

the

axis

point

zero

coordinate

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the

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also

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set

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completion

completion

setting

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reference

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this

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of

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direction

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point

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actions

the

system

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user

for

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short,

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the

axis

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3-48

:

3.

EXPLANATION

OF

FUNCTIONS

AND

USER

PROGRAMMING

EXAMPLES

Speed

reference

Dog

(deceleration

<Assumed

Set

the

initial

"Example

<Operation

Perform

In

When

1.3

For

example,

this

the

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details

the

Example

0

LS)

Zero

(C-phase

3.26

Fig.

conditions>

values

of

Servo

conditions>

point

zero

Zero

the

module

number

Number

of

register

the

of

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pulse)

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return

point

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axisofmodule

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program

speed

1

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Zero

fixed

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in

return

the

Parameter

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speed

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parameter

pattern

the

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number

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shown

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Register

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return)

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speed

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in

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is

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to

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point

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position

point

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travel

distance

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parameter

3.26.

pulse

return

final

signal

change

Chapter

5

"Servo

return

Time

setting

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the

Parameter".

pulse

signal

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IB00304

IFON

1-0000005000

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IB00310

1-00003

END

MCMDRCODE

(-1WC014

DBOOOOOO

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ZRNC

1BC0156

=00003

RUNMOD

=»

OWCOOO

RV

=»

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RUN

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MCMDCODE

OWC020

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IB00310:

Issue

When

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commandtodriver

Limit

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IB00304

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"ON",

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the

return

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signal

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with

as

motion

the

zero

completed,

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status

command

a

motion

command

point

return

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point

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NOP

(=

to

is

0).

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END

DEND

The

example

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in

Fig.

Fig.

3.27

3.27

MCMDCODE

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simplified.

OWC020

of

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Actually,

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interpolation

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to

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CPU

module.

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(5)

(6)

The

module

the

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Control

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3).

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servo

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Turn

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the

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interpolation

the

the

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interpolation

number

module

Parameter

servo

1.

number

Register

parameters

Mode/Interpolation"

Setting"

for

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parameters

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Bit7

function

of

servo

position

control

reference

the

ON

servo

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set

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at

servo

(INTERPOLATE=4)

interpolation

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specified

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of

each

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the

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used

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and

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and

to

you

machine.

(selection

selection"

parameter

(PCON)

mode

setting

parameters

(OLC12).

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at

"ON"

to

(INTERPOLATE)

parameter.

performed

axis

number

and

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of

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the

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setting

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motion

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at

Bit2

setting

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to

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for

is

set

follows.

as

different,

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change

for

are

which

Servo

the

marked

Parameters

values

the

counter

command)

(=1)

and

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of

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such

as

.

1

the

motion

for

the

The

register

data

of

servo

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Bit8

mode

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averaged

command

motion

register

refer

to

number

1.3

number.

with

valid"

is

parameters

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Monitor".

for

in

in

selection

of

(motion

servo

fixed

command

selection

numberoftimes

code

command

for

is

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the

5.1.2

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to

(OWOQOO)"

Number

column

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setting.

for

parameter

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the

code,

axis

1st

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of

Servo

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code

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to

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axis

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(=

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|

r

updating

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the

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Turn

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(D

Issue

(INTERPOLATE)

@

The

axis

5)

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(8)

Turn

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pulse

completion

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initial

position

die

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servo

the

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the

position

the

output

turned

para

lixecT

value

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control

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parameter

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(RUN)

ON

command

an

interpolation

4

position

the

l

ON.

_

reference

completion

range

"ON".

meter

of

servo

parameter

mode

setting.

for

"ON"

to

interpolation

reference

completion

_

(OLC012).

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(OWCOOE),

for!

(PCON).

movement

(OLC012).

signal

of

IWC015

the

POCK

SUN

Motion

7

is

positioning

command

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Speed

resaw

turned

(%)

o

"ON"),

completion

when

signal

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the

axis

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1

enters

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|

in

(BitD

(t)

the

range

3-50

the

boxes

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[

_

The

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boxes

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with
with

solid

dotted

lines

lines

are

are

actions

settings

Fig.

system

the

3.28

Interpolation

user

performs.

makes.

Block

Diagram

3.

EXPLANATION

OF

FUNCTIONS

AND

PROGRAMMING

USER

EXAMPLES

Speed

<Assumed

the

Set

"Example

•(Operation

The

In

When

1.3

For

initial

axis

High-speed

example,

this

the

"Module

details

of

stops

Constant

Acceleration/deceleration

module

Example

(pps)

6000

conditions>

Servo

conditions>

of

JBF-

0

150

Fig.

values

Parameter

in

the

feed

1st

the

number

Number

of

register

the

user

program

Constant

/

s-:

_

_

ms

3.29

Interpolation

of

servo

Setting".

pattern

scan

and

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set

value

speed

=

axisofmodule

and

Servo

(OW[HD)

(interpolation)

feed

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w

u<

parameter

fixed

in

5.0

=

pulses/sec

6000

time

number

the

axis

number

Parameter

be

to

speed

,§?

Pattern

Fig.

3.29.

ms

constant

Register

used,

\

sS,

*

150

ms

Example

and

(30

to

is

1

are

refer

Time

servo

pulses

reach
used

different,

per

the

in

Number".

Chapter

to

(t)

parameter

scan)

constant

this

example.

change

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5

setting

for

feed

register

the

Parameter".

speed

as

described

150

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number

ms

referring

in

5.3

to

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104

I—

RUNPB

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IFON

START

0305

IFON

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IB00305

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DBOOOOOO

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When

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DL00002

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position

the

command

IB00304

1B00305

rising

At

When

the

position

at

the

number

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edge

rising

the

current

of

is

is

deceleration

0).

RUN

commandtodriver

control

"ON".

turned

turned

of

IB00305

edge

reference

position

pulses

(DL00002)

mode

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IB00305

of

(OLC012)

(ILC002).

for

is

(RUN)

using

with

interpolation

the

interpolation

the

is

detected,

is

initialized

And,

acceleration/

also

initialized

the

the

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DL00002

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Issue

motion

(2)

When

The

deceleration

by

the

command.

IB00305

number

each

interpolation

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of

pulses

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scan.

(INTERPOLATE)

"ON".

for

is

incriminated

for

acceleration/

(+1)

3-51

(Continued)

INC.PUL

DL00002

IFON

1-00030

IEND

£00030

INC

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=>

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When
deceleration

speed

number

(=

30

pulses

of

(DL00002)

pulses),

it

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limited

is

for

acceleration/

the

constant

to

30

feed

pulses.

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!

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XREF

OLC012

=>

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=>

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position

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by

each

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When

When

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The

deceleration

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the

position

The

by

each

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When

reference

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IB00305

IB00305

to

number

by

each

decrement

reference

scan.

IB00304

updated

is

is

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turned

is

stop.

pulses

of

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and

scan

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is

is

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is

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for

is

when

updated

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the

axis

acceleration/

decremented

it

comes

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to

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is

booooo

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DEND

example

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program.

in

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Fig.

3.30

Example

3.30

simplified.

is

MCMDCODE

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of

Actually,

each

When

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register

IB00304

can

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is

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freely

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limit

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(constant

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speed

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deceleration

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parameter

the

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module

axis

number

number

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to

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stops

2000

Register

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step

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time

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and

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after

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are

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refer

feed)

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the

to

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parameter

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travel

change

5

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setting

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amount

register

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as

2000

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pulses.

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104

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=>

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position

the

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travel

pulses)

to

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control

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mode

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using

the

3-59

(Continued)

SB000004

SB000004

1-00008

END

|

MCMDRCOD

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DIRECTION

-

o

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command

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motion

When

feed

(positive)

|

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axis

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step

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for

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to

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driver

feed

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for

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for

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travel

signal

POSCOMP

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example

The

program.

DB

Fig.

in

oyooio

3.38

Fig.

3.38

is

MCMDCODE

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OWC020

Example

simplified.

of

Constant

Actually,

motion

next

Step

each

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Feed

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the

movement

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controlled

clear

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General-purpose
General-purpose

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reference

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ecceieration/deceleration

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acceleration

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pulse

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status

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latch

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position

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set

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15)

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14

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15)

3-62

3.4.4

Phase

Control

EXPLANATION

3.

OF

FUNCTIONS

AND

PROGRAMMING

USER

EXAMPLES

This

function

control

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(phase)

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realized.

servomotors.

with

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speed

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3.40

Electronic

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3-63

Fig.

3.41

number

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phase

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shows

the

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5.

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Normally,

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Time

(t)

3-64