Yaskawa JUSP-NS310 User Manual

L-nSERIES

SGDH

DeviceNet

USER1S'

MODEL:

JUSP-NS310

INTERFACE

MANUAL

UNIT

'

..

/

i

~i

/

YASKAWA

MANUAL NO; SIE-C718-7

/

"

Safety Information

The following conventions are used to indicate precautions in this manual. Failure to heed precau-

tions provided

ucts

or

to related equipment and systems.

&

WARNING

Safety

in

this

manual

Indicates precautions that, if not heeded, could possibly result in loss

serious injury.

can

result

in

serious

or

possibly even

fatal

injury

or

damage

Infonnation

to

the

prod-

of

life

or

&

Caution

Indicates precautions that, if not heeded, could result in relatively serious injury, damage to the product,

or

faulty operation.

or

minor

©Yaskawa,

by any means, mechanical, electronic, photocopying, recording, Yaskawa. No patent liability Yaskawa

/

change without notice. Every precaution has been taken sumes no responsibility for errors information contained in this publication.

2000

of

this publication may

is

assumed with respect to the use

is

constantly striving to improve its high-quality products, the information contained in this manual is subject to

or

omissions. Neither

be

reproduced, stored in a retrieval system, or transmitted,

or

otherwise, without the prior written permission

of

the information contained herein. Moreover, because

in

the preparation

is

any liability assumed for damages resulting from the use

iii

of

this manual. Nevertheless, Yaskawa as-

in

any form,

of

the

Visual Aids

The

following aids are used to indicate certain types of information

for

easier reference.

/

",EXAMPLE~

(.1

INFO

I>

I

IMPORTANT

II.

T.EI~s

Indicates application examples.

Indicates supplemental information.

I Indicates important information that should be memorized

1 • Explains difficult

to

understand terms and terms that have not been explained before.

/

..

/

iv

Visual

Aids

Overview

Using

This

OVERVIEW

..................••....•........••.............

....

, . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Manual

.......................•.......•.......

OVERVIEW

, . .

iv xi

xii

TABLE OF CONTENTS

Safety Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiii

1 Checking Products and Part Names

1.1

Checking Products on Delivery

1.2

Product Part Names

1.3

Mounijng the NS310

2

Installation....................................

2.1

Storage Conditions

2.2 Installation Site

2.3 Orientation . . . . . . . . . . . . . • . . . . . . . . . . . . . . . . . . . . . . . . . . . . . • . 2 - 3

2.4

Installation...............

3 Connectors

3.1

Connecting to Peripheral Devices

3.2

SERVOPACK Internal Block Diagrams. . . . . . . . . . . . . . . . . . . . . 3 - 5

3.3

VO

Signals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 6

3.4 Connections for DeviceNet Communications 3 -

4 Parameter Settings

4.1

Parameter Outline

.....................................

............

....................................

Unit................................

.....................................

............

__

.. " ___

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 - 2

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 - 4

...... _ .. .. .. ..

............

......................................

........

__

............

'.

. . . . . . . . . . . . . . 1 - 2

.. .. .. .. ..

. . . . . . . . . . . . . . . . . 3 - 2

........ _ .. ..

. 3 - 1

. 4 - 1

4.2 Parameters Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 - 5

4.3 Parameter Details

......................................

vii

1 - 1

1 - 4

1 - 5

2 - 1

2 - 2

11

4 - 2

4 -

11

5 DevlceNet Communications

5.1

Specifications and Configuration

5.2 DeviceNet Communications Setting Switches. . . . . . . . . . . . . . . 5 - 4

5.3 Command/Response

5.4 Commands from the Host

5.5 Program FUnction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 24

Changing Parameters and Command Blocks

5.6

6

SG

DH

Parameters

6.1

Parameters and Standard Settings for NS310

Settings According to Equipment Characteristics

6.2

6.3 Settings According to Host

6.4

Setting

Up

the SERVOPACK

/

6.5 Setting Stop Functions

6.6 Absolute Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 17

6.7

Digital Operator

v

Format.

........ _ .. . ..

.................................

........................................

....

___

........

..........................

. .

..

. . . . . . .

..

. .

Controller. . . . . . . . . . . . . . . . . . . . . . . 5 - 15

...............

.. .. ..

Units.........

Controller . . . . . . . . . . . . . . . . . . . . . . 6 - 6

.............................

..

. . . . .

..

.. .. ..

............

___

..

. . . . 5 - 7

. 6 - 1

.

5 - 1

5 - 3

5 - 34

6 - 2 6 - 4

6 - B

6

-12

6 -

21

7 Using the NSxxx Setup Tool

7.1

Connection and Installation

7.2

How

to

Use

......................................

..............................

.................

..

. 7 • 1

......

/

7 - 2 7-3

8 Ratings, Specifications, and

B.1

Ratings and Specifications

8.2 Dimensional Drawings

9

Troubleshooting...............................

9:

1 Troubleshooting Problems

9.2 Troubleshooting Problems Alann

9.3

9.4

A DevieeNet Object Model

Display Table

Waming

Displays

B DeviceNet Attributes C Alarm

and

Warning Codes

.................................

..............................

......................

..

.....

Dimensions.

.......

. . . . . . . . . . . . . . . . . . . . . . . . 8 - 2

with

Alarm Displays

with

No Alarm

...

.. .. .. ..

.'..............................

..............

. . . . . . . 8 • 1

, . 8 - 3

.............

~jsplay

..

...........

. . . . . . . 9 -

..

. .

..

. . . . .

..

. . . . 9 -

.. . .. ..

..

.. . ..

.. ..

. . . . . . . . . . . . . . . . . C - 1

9 • 1

9 - 2

9 - 19

21 24

A-I

B-1

/

vi

TABLE

OF CONlENTS

TABLE OF CONTENTS

Visual Aids

.....................................................

Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xi

Using This Manual

1 Checking Products and Part Names .

1.1

Checking Products

1.2 Product Part Names

1.3 Mounting the NS310

2 Installation .

2.1

Storage Conditions. . .

2.2 Installation Site

..............................................

...................

on

Delivery

.............................

........................................

Unit...................................

..........................................

.. . .. ..

............................................

. . . .

..

. . . . .

..

. . . . .

.. . ..

..

. . . . . . 2 - 2

2.3 Orientation

2.4 Installation

3 Connectors .

.........................................

iv

xii

1 - 1

1 - 2 1 - 4

1 - 5

2 - 1

2 - 2

2-3

2-4

3 - 1

3.1

Connecting to Peripheral Devices

3.1.1 Single·phase (100 V or 200

3.1.2 Three·phase 200 V Main Circuit Specifications. . . . . . . .

V)

Main

3.2 SERVOPACK Internal Block Diagrams

/

3.3 1/0 Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 6

3.3.1 Connection Example of

3.3.2

I/O Signals Connector

3.3.3 I/O Signal Names

3.3.4 Interface Circuits. . . . .

1/0

Signal Connector (CN1)

(CN

1)

...........................................

and

Functions. . . . . . .

..

. . .

..

. . . . . . . . . . . . .

3.4 Connections for DeviceNet Communications . .

3.4.1 DeviceNet Communications Connection Example

3.4.2 DeviceNet Communications Connectors (CN6)

3.4.3 Precautions for Wiring DeviceNet

3.4.4 Grounding

4 Parameter Settings

4.1

Parameter Outline

4.1.1

/

What Are Parameters?

4.1.2 Parameter Types

4.1.3 Editing Parameters. . .

4.1.4 Effective Timing

...........................................................

...................................

..........................................

...............................................

.....................................................

..

. . . . . . . . . . . . . . .

......................................................

...........................

Circui1

Specifications. . . .

.......................

..

. . . . . . .

..

. . . . .

...........................

Cables. . . . . . . .

..

. .

..

. .

.. ..

..

. . . . . . . . . . . . . . . . . . 3 • 4

.......................

..

. . . . .

..

. . . . .

..

. . . . . .

.. .. ..

,.

. .

...

....

.........................

..

. . . . . . . .

.. . .. ..

.. .. ..

. .

..

. . .

..

3 - 2

. . .

...

. .

3·3

3 - 5

3 • 6 3 • 7

. . . .

..

. .

3·8

. . .

..

. . . 3 • 9

..

. . 3 -

. . . . . . . . . 3 • 15

11

3 •

11

3 • 13

3 • 18

4 - 1

4 - 2

4·2

.

4 • 2

. . . . . . . . 4 • 3

4 • 4

vii

4.2 Parameters

4.2.1

Unit Parameters

4.2.2 Homing Parameters

4.2.3 Machine System and Peripheral Device Parameters

4.2.4 Speed, Acceleration, and Deceleration Parameters

4.2.5 Positioning Parameters

'Tables

.....................................................

..................................

.....................

:

...............

......................

.......................

'

...........................

4·5

/

4-5

.

4-5

.

4-7

.

4-8

.

4 -

10

.

4.3 Parameter Details

4.3.1

Unit Parameters

4.3.2 Homing

4.3.3 Machine System and Peripheral Device Parameters

4.3.4

Speed, Acceleration, Positioning Parameters

4.3.5

Parameters

5 DeviceNet Communications

5.1

Specifications

5.1.1

Specifications

5.1.2 Control Configuration

.........................................

.....................................................

... : ...............................................

and

Deceleration Parameters

.....................

:

1

..... ; .....................

and

Configuration

.......................................................

......................

.....

. '

:

5.2 DeviceNet Communications Setting Switches

5.2.1

Rotary Switch Settings for Setting' Node Address

5.2.2 Rotary Switch Settings for Setting Baud Rate

5.2.3 LED Indicators

5.3 Command/Response Format .

5.3.1

Command Format.

5.3.2 Command Data Specifications

5.3.3 Response Format

......................................................

.............................

........... .-.......................................

.........................

","

:

.......................

..........................

......................

............

'.'

............

...............

.........................

.'

.......................

:

................

..........................

..

.

4

·11

4 -

11

.

4

-14

.

4

-18

.

4

-24

.

4

-35

.

5 • 1

5·3

.

5-3

.

5-3

.

5·4

.

5-4

.

5-5

.

5-5

.

5·7

5-7

.

5-9

.

5 -

.

11

/

5.4 Commands from the Host Controller

5.4.1

Positioning

5.4.2 Continuous Rotary Operation

5.4.3 Homing

5.4.4 Hard

5.4.5 Deceleration and Stop Operation

5.4.6 Emergency Stop Operation

5.4.7 Hardware Limit Operation

5.4.8 Software Limit Operation

5.5 Program Function .

5.5.1

Outline

5.5.2 Command Blocks

5.5.3 Command Block Links

5.6 Changing Parameters

5.6.1

DeviceNet Data Management

5.6.2 Editing Parameters

5.6.3 Editing Command

5.6.4 Organizing Data

...........................................

..........................................

...............

Stop Operation

."

.............................................

...............

..................

.............

...................

:

.................................

............ : ..........................

'.'

...................

.............................................................

.....................................................

................................................

and

Command Blocks

.........................................

...................................................

Blocks

.....................................................

..................

viii

..

1

•••• ; •••••••••••••••••

,'

..............

:

..........................

..............................

:

..........................

:

.....................

................

."

..........................

. . . .

.

. . .

.

. . . .

. .

5

·15

5 -

15

5

-16 5 - 18 5

-20

5 -

21 21

5 5 -

22

5 - 23

5·24

5

-24

5 -

26

5 -

32

·34

5

5 -

34 5 - 35 5

-37 37

5 -

6

SGDH

6.1

Parameters and Standard Settings for NS310 Units

6.1.1

6.1.2 Standard Settings for

Parameters

....................................

..........................................................

CN1

I/O

Signals.

. . . . .

..

. . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 3

TABLE

...........

OF

CONTENTS

6 - 1

6 - 2

6.2 Settings According to Equipment Characteristics .

6.2.1

Switching Servomotor Rotation Direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 4

6.2.2 Stop Mode Selection

6.3 Settings According to Host Controller

6.4 Setting Up the SERVOPACK

6.4.1

Parameters

6.4.2 Input Circuit Signal Allocation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 8

Output Circuit Signal Allocation

6.4.3

..........................................................

6.5 Setting Stop Functions

6.5.1

Using the Dynamic Brake

6.5.2 Using the Holding Brake

6.6 Absolute Encoders

6.6.1

Selecting

6.6.2

Absolute Encoder Setup Multiturn Limit Setting

6.6.3

an

Absolute Encoder

6.7 Digital Operator

6.7.1

Connecting the Digital

6.7.2 Limitations

6.7.3 Panel Operator Indicators

in

Using a Hand-held Digital

at

Servo

OFF.

. . . . . . . .

..

. . . . . . .

.......................

................................

.........................................

.....................................

..............................................

....................................

.........................................

...............................................

.................................................

............................................

Operator.........................................

Operator........

..................................

__

..

. . . . . . . . .

..................

','

. . . . . . . . . 6 - 4

..

. . . . . . . 6 - 4

,..........

..

. . .

..

. . . 6 -

6 - 6

6 - 8

6 - 9

6 - 12

6 - 12 6 - 13

6 - 17

6 - 17 6 - 18 6 - 18

6 -

21

6 -

21

6 -

21 21

7 Using the NSxxx Setup

7.1

Connection and Installation.

7.1.1

Connecting the NS310 Unit

7.1.2 Software Installation. . . . . .

7.2 How to Use

7.2.1 Screen Configuration at Startup. . . . .

7.2.2 Functions Configuration. . . . . . . .

................................................

8 Ratings, Specifications,

8.1

Ratings and Specifications

8.2 Dimensional Drawings. .

8.2.1

NS310 Unit

9 Troubleshooting

9.1

Troubleshooting Problems with Alarm Displays

9.2 Troubleshooting Problems

..........................................................

...........

Tool

............................................

...

...........................

.. .. . ..

. . .

..

...

and

. . . . . . . .

.. ..

. . . . . . . .

..

. . . . . . . . . . . . . . . . . . . . . . . . . . . 7 - 2

. . .

..

. . .

..

. . . . . . . .

Dimensions

..

. .

. . . . . . . . . . . . . . . . . .

..

.................................

.. ..

. . . . .

..

. . . . .

.. .. ..

...........................

with

No Alarm

Display............

.. . ..

.. ..

..

. .

..

. . .

..

. . .

..

...............

. .

.. .. .. ..

..............

..

7 - 1

. . 7 - 2

7 - 2

7 - 3

..

. . 7 - 3

. . . 7 - 5

8 - 1

8 - 2

..

8 - 3

9 - 1

9 - 2

9

-19

/

9.3 Alarm Display Table

9.4 Warning Displays

........................................

..........................................

9 -

21

9 - 24

ix

A DeviceNet Object Model

............................

/

, A - 1

B DeviceNet Attributes

B.l

Identity Object (OxOl) B.2 Message Router Object B.3 DeviceNet Object B.4

Assembly Object B.5 Connection Object B.6 Position B.7 Position

B.8

Block

B.9 Command Block Object B.l0

Control Parameter Object

B.ll

SERVOPACK Parameter Object

Controller Supervisor Object Controller Object

Sequencer Object

(Ox03)

(Ox04)

(Ox05)

...•.....•..

.•..............

(Ox02)

..............

..........••........••..•.........•.

(Ox26)

(Ox27)

........

....•.... : ..

(Ox25)

...••............•..•.......•

............•.................

(Ox64)

(Ox66)·.....

, . . . . . . . . . . . . . . . . .

>

....•.........

:......................

.'......................

:.

. . . • .

..

(Ox24)

.....

-...

...........................

....

. . . . . . . . . • . • • . . . . . . . . B - 9

. . . . . . . • . . • .

..

B-1

,......

. • . • • . • . • . . . . . B - 6

, . • • . . . . . . . . . B - 8

•. . ..

B-2

B-3 B - 4 B - 5

B - 12 B - 13

B

-14

B - 18

/

C Alarm and Warning

C.l

Alarm Codes

.......•.•.......••.........•....•.••••......•

Codes.

. . . • . . .

..

. . . . • . . . . . . . . . .

..

C - 1

C - 2

x

Overview

• About this Manual

Overview

This manual provides the following information for the with a

Unit is an Option Unit.

Procedures for installing and wiring the NS3

• Specifications and methods for SERVOPACK DeviceNet communications

•

• Procedures

• Information on the NSxxx Setup Tool

• Troubleshooting

• Related Manuals

Refer to the following manuals as required. Read this manual carefully to ensure the proper use

in

a safe place so that it can be referred to whenever necessary.

al

I:-II Series

SGMDHlSGDH

Servodrives

JUSP-NS31O DeviceNet Interface Unit (hereinafter called NS3 10 Unit) mounted. The NS3 10

10

Unit

for

setting

parameters

procedures

ofI:-I1 Series Servodrives. Also, keep this manu-

Manual

L-II Series SGMOHlSGDH

User's

Manual

Servo

Selection

L-II Series SGMOHlSGDH SIE-S800-32.2

User's

Manual

Design

and

MP920

Machine

User's

Manual

Design

and

Name

and

Data

Maintenance

Controller

Maintenance

Sheets

Manual

SIE-S800-32.1

SIE-S887-2.1

Number

Describes

1;-11

Series

Provides

SERVOPACKs.

Explains tions.

as

a

host

detailed

in

and

controller.

Contents

the

procedure

Servodrives

information

detail

the

application

used

and

capacities.

functions,

methods

to

select

on

SGDH

specifica-

of

the

MP920

/

xi

Using This Manual

• Intended Audience

This manual is intended for the following users.

• Those designing Servodrive systems using DeviceNei.

• Those designing 1:-II Series Servodrive systems.

• Those instaIJing or wiring 1:-II Series Servodrives.

/

• Those Performing trial operation or adjustments

• Those maintaining or inspecting

• Description

of

Technical Terms

In

this manual, the following terms are defined as follows:

• NS310

•

Servomotor

•

SERVOPACK = 1:-11

•

Servodrive

Unit

• Servo System = A servo control system that includes the combination

computer and peripheral devices.

• Indication

of

Reverse Signals

In this manual, the names

(f) before the signal name, as shown in the following examples:

slash

• IS-ON

• /P-CON

• Registered Trademark

of

1:-11

Series Servodrives.

1:-11

Series Servodrives.

= JUSP-NS31O

= 1:-II Series

SGMAH,

Series

SGDH-DDDE

SGMPH, SGMGH, or SGMSH servomotor.

SERVOPACK.

= A set including a servomotor and Servo Amplifier.

of

reverse signals (ones that are valid when low) are written with a forward

of

a Servodrive with a host

DeviceNet

is a registered trademark

of

ODVA (Open DeviceNet Vender Association, Inc.).

xii

Safety Precautions

The following precautions are for checking products upon delivery, installation, wiring, operation,

maintenance

• Checking Products upon Delivery

and

inspections.

& CAUTION

Safety

Precautions

•

Installation

• Wiring

• Always use the servomotor and SERVOPACK in one

Not

doing

so

may

cause

fire

or

malfunction.

of

the specified combinations.

& CAUTION

• Never use the products in an environment subject to water, corrosive gases, inflammable gases, or combustibles.

Doing

so

may

result

in

electric

shock

or

fire.

& WARNING

• Connect the SERVOPACK ground terminal effectively to a system grounding conductor or

(100

II

grounding electrode

Improper

grounding

may

or less).

result

in

electric

shock

& CAUTION

or

fire.

•

Do

not connect a three-phase power supply to SERVOPACK U,

Doing

sO

may

result

in

injury

or

fire.

• Securely fasten the power supply terminal screws and motor output terminal screws.

Not

doing

so

may

result

in

fire.

V,

or W output terminals.

/

xiii

• Operation

/

& WARNING

• Maintenance

• Never touch any rotating

Doing so

may

result

in

motor

injury.

parts while the motor is running.

& CAUTION

• Conduct trial operation on to

avoid any unexpected accidents. .

Not

doing

so

may

result

• Before starting operation with a machine connected, change the settings

of the machine.

Starting

function.

• Before starting operation with a machine connected,

applied at any time.

Not

•

Do

Doing

and

operation

doing

so

may

not

touch

the

so

may

result

Inspection

without

result

heat

in

bums

the

servomotor alone with the motor shaft disconnected from machine

in

injury.

matching

in

injury.

sinks

during

due

the

operation.

to

high

proper

settings

temperatures

may

.

cause

",ake

the

machine

sure that

an

to

match

the

parameters

to

run

out

of

control

or

emergency stop can

mal-

be

& WARNING

• Never touch the inside of

Doing

so

may

result

• Do not remove the panel cover while the power is ON.

Doing

so

may

result

• Do not touch terminals for five minutes after the power is turned OFF.

Residual

voltage

may

in

electric

in

electric

cause

the

SERVOPACKs.

shock.

electric

shock.

& CAUTION

• Do not disassemble the servomotor.

Doing so

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

Doing

so

may

result

in

electric shock

in

ele~tric

shock

or

injury.

xiv

• General Precautions

Safety Precautions

Note

•

The

drawings

guards. Always replace the cover or protective guard as specified first, and then operate the

products

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

received.

• This manual is subject to change due to product improvement, specification modification, and manual improvement. When this manual is revised, the manual code is updated and the new manual is published as a next edition. The edition number appears on the front and back covers.

•

If

tive or one

• Yaskawa will not take responsibility for the results uct. Yaskawa shall not be liable for any damages or troubles resulting from unauthorized modifi-

cation.

in

accordance

the manual must

of

the offices listed on the back

the

following

presented

in

this

with

the

manual.

be

ordered due to loss or damage, inform your nearest Yaskawa representa·

manual

to

ensure

are

of

this manual.

safe

sometimes

of

unauthorized modifications

application.

shown

without

covers

or

protective

of

this prod-

/

xv

/

Checking Products and Part Names

This chapter describes the procedure for checking l:-II Series products and

NS3l

the

1.1

1.2

1.3

0 Unit upon delivery.

Checking Product Mounting

Products

Part

the

It

Names

NS310

also describes the names

on

Delivery

.........

..................

Unit

of

product parts.

.

1 - 2 1 - 4

1 - 5

/

I

·1

Checking Products and Part Names

1.1 Checking Products

The

following procedure is used to

products are delivered.

on

Delivery

check

products upon delivery.

Check

the following items when

/

Check Items

Are the delivered products the ones that were ordered?

Is

there any damage?

Can the the SERVOPACK used?

If

any

of

er

from

NS310

Unit

be

the

above

items

are

faulty

whom

you purchased the products.

installed on

or

incorrect,

Check

the

model numbers marked on the nameplates

NS310

of the

numbers on following pages)

Check the overall appearance, and or

scratches that may have occurred during shipping.

Check the

nameplate. The model number must contain

and

SGDH-DDDE-D

contact

model

"E"

~s

shown below to support

your Yaskawa

Comments

Unit.

(Refer to

number given

sales

• External Appearance and Nameplate Example

r--

pon

_

Opti~n

SERVOPACK

"OeviceNet

• MODEL

•

SIN

mmoenumer

Unit

name

I/F

JUSP-NS310

V81003·69

UNIT

the

descriptions of model

check

for damage

on

the

SERVOPACK

the

NS310

representative

VER.

00000

"SGDH"

Unit.

or

the

deal-

Figure

1.1

External Appearance

NS310

of the

Unit

1·2

"YASKAWA

111111111111111111111111111111111111

Senal

-

ELECTRIC

MADE

number

IN

JAPAN

Figure 1.2 Nameplate

I

Version

-

• Model Number

NS310 Unit

1.1

JUSP - NS31 0

Checking

Products

on

Delivery

SERVOPACK

Type NS31:

peripheral device

01

device:

DeviceNet

Interface

~

Unit

~

L

Design

Revision Order

/

1·3

Checking Products and Part Names

1.2 Product Part Names

The following diagram illustrates the part names of theNS310 Unit.

Ground

wire:

Conect

to

SERVOPACK.

the

terminal

ma'rked

"G~

on

the

~

SGDH

'L_-

Rotary switches

Used

to

Rotary Switch (SW3):

Used

to

set

(SWt,

the

DeviceNet

the

baud

SW2):

rate

node

for

DeviceNet.

address.

"6iMtl-l--- Connector for RS-232C communications (CN11):

Used

to

communicate

LEO

(MS):

Module

LED (NS): Network Status LED indicator

Connector

Micro

for

Connector

with

Status

DeyiceNet

for

DeviceNet

the

NSxxx

Setup

LED

indicator

communications

Communications.

Tool.

(eN6):

Figure 1.3 NS310 Unit

1-4

1.3 Mounting the NS310 Unit

1.3 Mounting the NS31 0 Unit

This section

Prepare the

describes

screws

Mounting Type SERVOPACK Models Screws Remarks

Base Mounted SGDH-A3

Rack

Mounted

Duct

Vent

how to mount an NS310 Unit on the

for connecting the ground wire as

to

02BE SGDH-A3 SGDH-15 SGDH-05

to to to

lOAE 50AE 30DE

SGDH-60mAE

M3 x 10

(Spring or flat washer)

M4 x 10

(Spring or flat washer) torner

M4

(Spring

SGDH-A3 SGDH-A3 SGDH-05

SGDH-60mAE-p

to

02BE-R

to

50AE-R

to

30DE-R

M4

(Spring

M4

SOOH

shown

in the following table:

round-head

x 8

round-head

or

flat

washer)

x 6

round-head

or

flat

washer)

x 8

round-head

SERVOPACK.

screws

Prepared by cus-

temer (see note)

screws Use

(Spring or flat washer)

Note:

Be

sure

to

use

spring

washers

or

flat

washers.

Failure

to

do

so

may

result

in

the

screws

for

By

mounting an

following

connecting

from

procedure

the

ground

wire

being

mounted.

NS310

Unit, the

SODH

to ensure NS310 Units are

protruding

behind

SERVOPACK can

the

flange. preventing

mounted

the

SERVOPACK

be

used in a DeviceNet network. Use the

correctly.

Prepared

by

ellS-

tomer

Prepared by cus-

Use

front

panel

fixer screws

front

panel

fixer

screws

1.

Remove

the connector cover from the

CNIO

connector on the SERVOPACK.

/

t

-5

Checking Products

a,nd

Part Names

2.

Mount the NS310 Unit on the SERVOPACK.

SERVO

.,.,--.

7

SGDH-

PACK

Connector

I

o.

/

-

3.

For grounding, connect a ground wire SERVOPACK.

~alBJaalal

~~~~

~

. .

""

'"

POM.'.

30 W to

-<3"

~_

Illi"lIIlD

l/JJ

...

For

SERVOPACK

./

·,.Y~~

•

__

~

-.

of

5.0

kW

"

\//

~

a

Cl!;l!;lCl1l

0

, '

the NS31 0 Unit to the point marked

"""\JIIiI,,/

'-"'"

~

,.",-

Ground

.

wire

-%

"G"

on the

For

SERVOPACK

1-6

6.0

kW

to

7.5

kW

1.3

Mounting

the

NS31 0 Unit

When the

in

NS31

the

following diagram.

0 Unit

has

been

mounted correctly. the SERVOPACK will appear

as

shown

/

1

-7

Installation

This chapter describes precautions for

The

SODH SERVOPACKs are base-mounted servo amplifiers. Incorrect installation will cause problems. Always observe the installation precautions shown in this chapter.

2.1

Storage

2.2

Installation

2.3

Orientation Installation

2.4

Conditions

Site

.......................

...........................

~I1

Series product installation.

...................

2-2

.

2-2

.

2-3

.

2-4

.

/

2

-I

Installation

2.1

Storage

Conditions

Store the SERVOPACK within the following temperature range when it is stored with the power

cable disconnected.

Temperature range:

l:-II Series SGDH SERVOPACK

with

-20

NS310

to 85°C

Unit

mounted

2.2 Installation Site

Take the following precautions at the installation site.

Situation

Installation In a Control Panel

Installation Near a Minimize heat radiated from the heating unit as well as any tempera- Heating Unit

Installation Near a Source

Installation at a Site Corrosive gas does not have an immediate effect Exposed Gas

Other Situations

of

Vibration jeeting

to

Corrosive

Installation Precaution

Design the control panel size. unit layout, and cooling method so that

the temperature around

ture

ris~

caused by natural convection so that the temperature around

the SERVOPACK does not exceed 55

Install a vibration isolator beneath the SERVOPACK to avoid sub-

it

to vibration.

PACK, but will eventually cause electronic components and contactor-related devices to malfunction. Take appropriate action to avoid corrosive gas.

Do not install the SERVOPACK in hot or humid locations,

tions subject to

the

SERVOPACK does not exceed 55°C.

excessiv~

dust

or

'C.

on

the SERVO·

iron powder in the air.

or

loca-

2-2

2.3 Orientation

2.3

Orientation

Install the SERVOPACK perpendicular to the wall as shown in the figure. must

be

oriented this way because it is designed to be cooled by natural convectiori

fan.

Secure the SERVOPACK using2 to 4 mounting holes. VOPACK

capacity.

The

number

of

holes depends

t t

Wall

Ventilation

The

SERVOPACK

on

or

cooling

the SER-

r

/

2 ·3

Installation

2.4 Installation

Follow the procedure below to install multiple SERVOPACKs side by side in a control panel.

50 mm (1.97 in) min.

30 mm (1.18 in) min. 10 mm (0.39 in) min.

50 mm (1.97 in) min.

• SERVOPACK Orientation

Install the SERVOPACK perpendicularto the wall so that the front panel (containing connectors)

faces outward.

• COOling

As shown in the figure above, provide sufficient

by

cooling

fans

or

natural

convection.

sp~ce

around each SERVOPACK for cooling

• Side-by-side Installation

When installing SERVOPACKs side by side as shown in the figure above, provide

(0.39 in) between and at least ing fans above the

perature inside the control panel.

SERVOPACKs to avoid excessive temperature rise and to maintain even tem-

• Environmental Conditions in the

50

mm

(1.97 in) above and below each SERVOPACK. Install cool-

CO!'!trol

Panel

at

least 10

mm

Oto

• Ambient Temperature:

Humidity:

•

• Vibration:

• Condensation and Freezing: None

• Ambient Temperature for Long-tenn Reliability;

2-4

55°C

90% or less

2

4.9mJs

max.

45°C

•

jM

fiii*5MMW

fipM;

#

""*EM

Connectors

This chapter describes the procedure used to connect I:-II Series products to peripheral devices when an amples

3.1

of

I/O signal connections.

Connecting to Peripheral Devices

3.1.1 Single-phase (100 V or 200 Main Circuit Specifications

3.1.2 Three-phase

3.2 SERVOPACK Internal Block Diagrams

3.3

110

Signals

3.3.1 Connection Example of I/O Signal Connector

I/O Signals Connector (CN1)

3.3.2

3.3.3

110

3.3.4 Interface Circuits

...........................

(CN1)

....................................

Signal

3.4 Connections for DeviceNet Communications

NS310 Unit

is

mounted and gives typical ex-

.......

V)

..................

200 V Main Circuit Specifications

.................

Names

and Functions

..........

. . . . . . . . . . . . . . . . . . 3 - 9

..............

..

.

..

.

. .

3-2

3-3

3-4

3-5

3-6

3-7

3 - 8

3 -

11

3.4.1 DeviceNet Communications Conneclion Example

3.4.2 DeviceNet Communications Connectors (CN6)

3.4.3 Precautions for Wiring DeviceNet Cables

3.4.4 Grounding

/

3 -I

.................................

......

..

3 -

11

3

-13

.

3 - 14

.

3 - 18

Connectors

·3.1

Connecting to Peripheral Devices

This section provides examples

It

also briefly explains how to connect each peripheral device.

of

standard

1:-11

Series product connections to peripheral devices.

3 -2

3.1

Connecting to Peripheral Devices

3.1.1

Molded-case Circuit

Breaker

00

Single-phase (100 V

(MCCB)

P<otect,

th,

line

by

overcurrent

detected.

pow·

shuttIng

OFF

er

o the circuit

When is

&1

Noise

Filter

Used

to eliminate external noise

Irom the power line.

or

Power

supply

Single-phase 200

R • T

""[I;IJ'IPIV

200

VAC

,

I

:

I

I I I I

V)

Main Circuit Specifications

Can

Host

be connected to

~mlffi

MEMOCON (Manufactured by

Digital Operator (See note.)

~~~;n

Personal Computer (See note.)

,

GL1201130,

Yaskawa)

DeviceNet

Master.

MP920

JUSP·QP02A·2 Allows

the

user

parameters

tion

display operation or alarm

Communication

possible al

computer.

or

references

status.

with a person-

to

opera-

and

is

set

to

also

~

Cable model:

Magnetic Contactor

HI

S'""

Turns

the

servo

ON

and

OFF.

fIj

Power Supply for Brake

Used brake.

/

Install a surge suppressor magnetic conlac-

tor.

lor a servomotor

on

tna

with

a

I I

,---

--- ---

Regenerative Resistor

Connect

-:

to capacity

:;~~:~::'~;:':t.:~".:,::;:::;::

terminals

81

and

is

insuflicienl.

---:----

---

Regenerative

- _ (option)

resistor

--

--- ---

---

Note Used for maintenance. Be sure to coordinate

operation from these devices with controls exerted

by the host controller.

JZSP-CMS01

Encoder

Cable

Encoder Connector

to 03

3 ·3

Connectors

3.1.2 Three-phase 200 V Main Circuit Specifications

Breaker (MCCB)

o the circuit

00

Circuit

P,otect, the

9f

line

by

when

overcurrent

is

detected.

pow-

shutting

OFF

r!J

Noise Filter

Used

to

eliminate external

from the power line.

Magnetic Contactor

noise

Noise

Power supply

Three-phase

filter

0

Host

: Controller

Can be connected

to

DeviceNet Master.

~el~o~ij~,U1

MEMOCON

,

200

VAC

T

,

..

I

I I

I

(Manufactured

Digital

Personal

Cable model: JZSP·CMS01

Gl1201130, MP920

by

Operator

JUSP·OP02A·2

Allows parameters or operation references and display operallon alarm status . Communication is posSible with al

computer.

Computer

Yaskawa)

(See note.)

the

user

(See

-s

to

03

to

set

to

or

a

~~::::

ON

;'";,'~ta;;It,-;;;;

IJ

Power Su'pply

Used for a

brake.

If

the

capacity the tive

For SERVQPACKs

eldemal

and

SERVOPACKs.)

of

wire

between

resistor

to

terminals 81 and

regenerative resistor between terminals

82. (There

is

to'

servomotor

the internal regenerative resistor

tanninsls

82

with

a capacity

no

terminal 83

seriO

and

OFF

~~

II,.

I

for

Brake

with a

II

1:_----_

is

kW

or

higher,

Bl

insufficient,

and

83

and connect an external regenera-

82.

of

6.0

on

these '

----

connect

remove

---

--

. Encoder

Cable

Encoder Connector

--

-- --

--

Note U sed for maintenance. Be sure to coordinate

--

---

operation from these devices with controls

by the host controller.

exerted

3-4

3.2 SERVOPACK Internal Block Diagrams

The

following sections show an internal block diagram for the SERVOPACK with an NS3 10 Unit.

30 to 400 W 200·V and 30 to 200 W 100·V Models

Single-phase

200

to

230

v:;:

(5ot60Hz)

~--

...,.,

'"

3.2 SERVOPACK Internal Block Diagrams

AC

servomotor

~r;~I~~~~~'~

L.. _ _ Open

(iII'l

D'

, ,

'"------------------------.

during

servo

alarm

Master node

24·V

communications

power

supply

'!'

0------------

,

.w

,

...

"N

,

ASIC (PWM control)

,

I

,

I

,

I

,

L

__

_

Analog

momlor

output

,..-_

,

I

,

I

,

I

,

I

,

L

! I

for

....!:e~sion

DeviceNet

communications

DC to DC

converter

____________________________

-c~~~:~:c::::::f=::::::::~;~:'~'-

::

Digital Operator!

su-

personal

_________

interface

computer

CPU

(position

calculations)

and

speed

--c===;:=====;;!;-

CPU

(position command arithmetic

etc.)

commands,

interpretation, processing,

~,

--'

51Mb"

...

Saud

...

No.

Sequence

va

!.

.

/

3

-S

Connectors

3.3.1

Connection Example of

3.3 1/0 Signals

110

Signal Connector (CN1)

This section describes 110 signals for the SERVOPACK with the NS3l 0 Unit.

3.3.1

Connection Example of

The following diagram shows a typical example

Backup

batte~

2.8

to

4.5

V·

+24

Not

used

Forward run prohibited

(Prohibited when OFF)

Reverse run prohibited

(Prohibited when OFF)

Not

used

Home position

Emergency

signal

stop signal

1/0

Signal Coimector (CN1)

of

110

signal connections.

SGDH

SERVOPACK

CNI

BAT

~'--'Tr:

::r

V"'l

~~

+

IP----,+'21

~BAT

-

+24VIN 47

~~-}---~~:::-~

__

~4~1~_~

40

22

3.3kQ

:+-~~1

__

:~t_:~\i

~~~P~-o~T!-,f4~2~_+-_-4:~t_:~{j

I-o~

ZERO

EMSTOP

'-<"";==:::"'F~----i":-!..

*

1.

:P

*

2.

When using an absolute encoder, connect a backup battery only battery connected to the eNS.

* .3. Make signal allocations using parameters. (Refer to 6.1.2 Standard

CNI/IO

45

~

46

represents twisted-pair wires.

Signals.)

-(";'Ji

:-t

.....

~:

____

'

r1

-::!:-

I

Connector

FG

Connect the shield wire to connector

~_..::c.

<-

.

rt---':~

,<-

.Jrt---':~,AL03

""--~...l..jI

,,'l-":')'~

~:'--'=::'f

It

....

~

i

"____

'r.-_-,2C(.7."

11-:';J:

,f~~i

"----!,i--~2~9."/BK-

:1~~·r.

!:--'£f/

~"!:-:.

_1,;'

__

:1-:~r.

~,--"-.L~ALM+

It-:~:

L_~_~'

__

shell

..

ALOI Alarm code output

37

38

39'

25

26

28

"-30".,,

31

,,"32".fALM-

}

AL02 voltage: 30 VDC

SG

ICOIN+

ICOIN- been completed)

IBK+

S-RDY

I5-RDY-

whcm

Maximum operating Maximum operating

current: 20

Positioning

(ON when positioning has

Brake output

(ON when brake released)

Servo ready output

+

(ON when ready)

Servo alarm output

(OFF for an alarm)

PhotocQupler output

Maximum

voltage: 30 VDC

Maximum operating

current: 50 rnA DC

shell.

there is

no

Setti~gsfor

rnA

DC

completed

'3

operating

Figure

3.1

110

Signal Connections

3-6

for

CN1

Connectors

3.3 1/0 Signals

2

4

6

8

10

12

14

16

18

20

22

24

3.3.2

SO

- -

SO

- -

-

BATH

-

1/0

Signals Connector (CN1)

The following diagram shows the layout

•

CN1

Terminal Layout

I SO

aND

3

5

aND

7

aND

-

9

II

13

15

17

-

19

-

BAT (+)

21

Battery H 47 +24VIN

23

-

25

ICOIN+

aND

- -

-

- -

Battery (+)

-

Positioning

complete

output

27

29 IS-RDY+

31

33 35

37 ALOI

-

39 AL03

41

-

43

45 ZERO

49

of

IBK+

(Note 3)

ALM+

- -

N-OT

-

eN I terminals.

Brake

inter-

lock

output

Servo

ready

output

Servo

alarm

output

Alarm code

output

(open-eollee-

tor output)

Reverse

prohibited

input

Home tion

External

power supply

input

run

pasi-

signal

-

Positioning

26 leDlN- complete

output

IBK-

28

(Note 3)

IS-RDY-

30

32 ALM-

34

36

38 AL02

40

Brake

lock output Servo

output

Servo

output

- -

Alann

output

inter-

ready

alann

code

Forward

P-OT

42

44

46

48

50

EMSTOP

prohibited

input

- -

Emergency

stop signal

- -

drive

Note

1.

Do

not use unused tenninals for relays.

2.

Connect

the

shield

of

the

110

signal

cable

to

the

3.

The

Make

shield

signal

is

connected

allocations

to

the

using

FG

(frame

parameters.

ground)

(Refer

connector

to

shell.

at

the

SERVOPACK-end

6.1.2 Standard Settings

connector.

for

CN1/IO

Signals.)

• CN1 Specifications

Specifications for Applicable

SERVOPACK

/

Connectors

1 0250·52A2J L 50·p Right

Angle

Plug

Soldered

10

I 50-3000VE

3

-7

10350-52AO-OO8

Receptacles

Case

Manufacturer

Sumitomo 3M Ltd.

Connectors

3.3.3 I/O Signal Names and Functions

3.3.3 1/0 Signal Names and Functions

The following section describes SERVOPACK 110 signal names and functions.

• Input Signals

Signal Name

Common

P·OT N·OT

ZERO

EMSTOP

+24VIN

BAT (+) BAT

Signal Name Pin

Common

ALM+

ALM-

IBK+

IBKIS·ROY+

IS·ROY-

AL01 AL02 AL03

FG

Position ICOIN+

ICOIN-

Note

1.

Pin numbers in parenthesis 0 indicate signal grounds.

2.

The functions allocated signals can be changed to feLT.

Pin No.

42

Forward run prohibited I Overtravel prohibited; Stops servomotor

43

Reverse run prohibited beyond the allowable range of motion.

45

External latch signals for home position

46

External signal for emergency stop connected.

47

Control

Allowable voltage fluctuation range:

21

Connecting pin

(-)

22

Connect to either eN8

• Output Signals

No.

31

Servo

32 27

Brake interlock: Output that controls the brake.

28 29

Servo ready: Turns

30 37

Alarm code output: Outputs 3-bit alarm codes.

38

Open-collector:

39

(I)

Shell

to

Connected to frame ground nector shell.

Positioning completed (output in Position Control Mode):

25 26

error pulses reaches the set value. The setting is units (input pulse units defined by the electronic' gear).

IBK. IS-ROY. and ICOIN can

NLT,

ffGON,IWARN, or INEAR signals.

Func!ion

when

movable part travels

connect~d.

power

supply input for sequence signals: Users must provide the +24-V power sup-

ply.

11

to 25 V :

for

alarm:

the absolute encoder backup

or

eNI.

Turns OFF

ply

30

when

an

ON

if

there is no servo alarm when the controVrnain circuit

is

turned

ON.

V and

20

rnA rating maximum

if

the shield wire

be

changed via parameters.

error is detected.

battery.

Function

I

The

brake is released when this signal is ON.

of

the 110 signal

~he

number

The~K./S-ROY.

cable

1ums

of

error

and ICOIN output

-

is connected to the con-

ON

when

pulses set

the

power

number in

reference

sup-

of

·8

3

3.3.4 Interface Circuits

The

following diagram shows an example

signal

for

a SERVOPACK.

• Sequence Input Circuit Interface

3.3 1/0 Signals

of

connections between a host controller and the 110

The sequence

input

circuit

interface

connects

through a re1ay

Select a low-current relay, otherwise a faulty contact will result.

SERVOPACK SERVOPACK

24VDC 24VDC

50 rnA min.

+ 0

.24VI.

IDEC,

etc.

3.3

kG

i -

li

-~;fl

___

~.

• Output Circuit Interfaces

Any

of

the following three types

circuit at the host controller that matches one

• Connecting to an Open-collector Output Circuit Alarm code signals are output from open-collector transistor output circuits.

Connect an open-collector output circuit through a photocoupler, relay, or line receiver cir-

cuit.

510

SERVOPACK

end

or----<~ri-_....J

r:I~

12VDC

Pholocoupler

of

SERVOPACK output circuits can be used. Form an input

of

these types .

SERVOPACK

end

so

mA

or

open-collector

min.

3.3kD:

51024

VDC

C~

transistor

Relay

circuit.

OV

5to12VOC

SERVOPACK

end

/

:

•....

3 -9

OV

Note

The

maximum

ties

for

·Voltage:

·Current:

allowable voltage

open-collector

30

VDC

max.

20

rnA

DC

output

max.

and

circuits

current are

as

capaci-

follows:

Connectors

3.3.4

Interface

Circuits

• Connecting to a Photocoupler Output Circuit

Photocoupler

output

circuits

are

used

for

servo

:alann,

servo

ready.

and

other

put signal circuits. Connect a "hotocoupler output circuit through a relay or line receiver circuit.

5

to

24

voe

SERVOPACK

end

Relay

C-~

.SERVOPACK

end

,'

.....

51012VDC

ov

Note

The

maximum

circuits

.

Voltage:

-Current:

allowable voltage

are

as

follows:

30

VDC

50

rnA

DC

max.

and

current

capacities

for

photocoupler

output

sequence

ov

out-

, .

3 -10

3.4

Connections

for

DeviceNet

3.4 Connections for DeviceNet Communications

Communications

This section describes the connection and wiring

of

connectors for

DeviceNet

3.4.1 DeviceNet Communications Connection Example

The following diagram shows an example NS3IO Unit (CN6) using DeviceNet communications cables.

T-Branch

(with

Adapter

terminator)

T

of

connections between a host controller

T

: :

T : T·Branch Adapter

communications.

Terminator

Trunk

line

Drop

line

and

an

Figure

3.2

Network

Connections

• Configuration Elements

The network is configured from the following elements.

Nodes

A node is either a slave that connects

ages the

110

of

the slaves. There are no restrictions on the location

node in Figure 3.2 can be the Master or a slave.

to

an NS31 0 Unit or similar Unit, or the Master that man-

of

the Master or slaves.

Any

Trunk Line and Drop Lines

A cable with a terminator on each end is a trunk line. Any cable branching from the trunk line is a drop line.

Connection Methods

A node is connected using the T-branch method

/

used to connect a node with the T-branch method. A node is directly connected to the trunk line or

a drop line with the multi-drop method. Both T·branch and multi·drop methods

together in the same network, as shown in

or

multi-drop method. A T-Branch Adapter is

Figure 3.2.

can

be used

3

·11

Connectors

3.4.1

DeviceNet

Communications

Terminator

Connection

Example

I

IMPORTANT

Both ends

and ensure stable network communications.

of

the trunk line must connect to terminating resistance to decrease signal reflection

Communications Power Supply

I

The communications connector

supply through the communications cable for DeviceNet communications.

1.

The

2.

3.

Both

Only

lightning

communications

ends

of

DeviceNet devices

arrester.

the

cable

trunk:

line

must

can

be a special

connect

be

connected

of

each node must

• Branching from the Trunk Line

There are three methods that can be used to branch from the trunk line.

Single Branching

Trunk

line

Trunk

line

DeviceNet

to a terminator.

to

the

network.

'be

provided with a communications power

cable.

Do

not

connect

any

other

devices,

such

as

a

T·Branch

Adapter

Branching to Three Drop Lines

Direct Node Connection

Trunk

line

-'-;1

Multi-drop

Trunk

line'

:;::~~~7~10~1

;;;.;;

methOd

• Branching from Drop Lines

There are three methods that can be used to branch

3

-12

~om

,

drop lines.

Single Branching

Drop

line

Drop

T-Branch Adapter

3.4 Connections for DeviceNet Communications

line

Branching

to

Three Drop Lines

Direct Node Connection

Drop line

Drop

line

3.4.2 DeviceNet Communications Connectors (CN6)

The terminal layout and specifications

of

the CN6 connectors are shown below.

• Connector Specifications

The

following table

a flange attached.

Unit side DeviceNet-compatible

Cable side DeviceNet-compatible

/

shows

the

connector

Name

Micro-style Connector

(male)

Micro-style Connector

(female)

3

-13

specifications.

These

connectors

Model Manufacturer

CM02-8DR5P

Not specified. Not specified.

are metal plated

DDK

with

Connectors

3.4.2

DeviceNet

Communications

• Connector Pin Arrangement

Connectors

The

connector

(eNS)

arrangement

is

as

shown

below.;

Pin No.

and

Code

I SHIELD

2

3

4

5

SHIELD

Symbol

24

V 24 V

0(24

V)

CANH

CANL

CANH

,

Connect

o V

CAN bus line dominant H

CAN

to

external

extem~

bus

line

CANL

'the

wire

mesh

communications

dominant

L

OV

Detail

around

power

the

power

cable.

supply

3 ·14

3.4

Connections

for

DeviceNet Communications

3.4.3 Precautions

Observe the following precautions when wiring DeviceNet cables.

• Maximum Network Length

The

maximum network length is either the line length between two nodes located farthest from

each other

longer.

IE

T·Branch Adapter (with

terminator)

for

Wiring DeviceNet Cables

or

the line length between the terminators on the ends

~

The longer of the two distances is the maximum network length .

• 0

T

of

the trunk line, whichever is

~

Terminator

: Trunk line

: Drop

line

T :

T-Branch

Adapter

Special DeviceNet cables can be either thick cables or thin cables. The characteristics

of

each

type are given in the following table.

Item

Thick

Signal

decay

Communications

distance

Characteristics

The

maximum network length is determined by the type

Baud

rate

(Kbps)

Slight

Long

distance Short distance

Rigid (difficult

Maximum

Thick

500 250 125

/

100 250 500

Cable

to

cable

Cable

bend)

network

Type

Thin

Cable

Considerable

Pliable (bends easily)

of

cable, as shown in the following table.

length (m)

Thin

cable

100

3

-15

Connectors

3.4.3

Precautions

(')INFO

for

Wiring

DeviceNet

The

I>

the

Baud Rate (Kbps) Maximum Network Length (m)

line

length

250

Note

Cables

connecting

of

each

500

125

LTHICK:

two

nodes

located

farthest

cable

satisfies

LTHICK + LTHIN LTHICK LTHICK + 5.0 X LTHIN S 500

Thick

the

conditions

+ 2.5 x

LTHIN

cable length

;;;

100

LTHIN:

• Drop Line Length

The

drop line length is the line lenglh between a branch point on the trunk line to iIle farthest node

Ihat is located on the drop line.

out

into

other

drop

lines.

The

maximum

from

each

othe~

in

the

following

;;;

250

Thin cable lenglh

drop

can

use

both

thick

table.

line lenglh is 6 m. A

and

drop

thin

cables

line

provided

can

be branched

that

• Total Drop Line Length

The

total drop line length is a total

of

all drop line lengths.

Length Limits

The total drop line length be 6 m or less.

The

allowable range

table.

Baud Rate (Kbps) Total Drop Line Length (m)

500 250 125

39

78

156

oftolal

max.

must

be within the allowable range and even Ihen,

drop

line lenglh varies with Ihe baud rate as

each

shown

drop

line must

in

Ihe following

3 -16

3.4

Connections

for

DeviceNet

Communications

TMBranch (with

terminator)

The following example is for a baud rate

Adapter

T

of

500

Kbps.

~f

·1

g~

The above example must satisfy the following conditions .

•

b~6m

.c~6m

T

~h

T :

:

Trunk

Drop

T-Branch

Terminator

line

Adapter

·d~6m

•

d+f ~ 6m

• d+e+g ~ 6m

• d+e+h ~ 6m

The total drop line length must satisfy the following condition.

• Total drop line length = a+b+c+d+e+f+g+h ~ 39 m

• Basic Precautions

Basic precautions

o

The

• The communications power supply must have a sufficient margin

o Connect the communications power supply to the trunk line. o

If

many nodes are provided with power from a single power supply, locate the

supply as close as possible to the middle

o

The

o

The

a drop line is, the of

/

the allowable current consumption following equation.

are

as follows:

communications power supply to the network must be

of

the trunk line. ali ow able current flow in a thick cable is 8 A and that in a thin cable is 3 A. power supply capacity for a drop line varies with the drop line length.

the thickness

lowerthe

of

the drop line. Obtain the aliowable current (I)

maximum current capacity

of

the drop line and devices connected to it) from the

24

VDC.

in

the capacity.

The

of

the drop line will be regardless

of

the

drop

power

longer

line (i.e.,

3

-17

Connectors

3.4.3

Precautions

for

Wiring

DeviceNet

Cables

•

The

1=4.S7/L

•

If

only the communications

errors

. - ,

Location

following two types

6f

may

occur

Power Supply

I:

Allowable current (A)

L:

Drop line length

power

supply is turned

in

the

nodes

that

are

communicating

of

configuration are possible for the location

Nodes on-Both Sides of the Power Supply

Nodes

Power Supply

T-Branch

Communications power

on

One Side of the Power Supply

Tap

Adapter

supply

or

,

(m)

OFF

while the network is operating,

at

that

time.

of

the

power

supply.

Note

Power

Supply

T·Branch

Communications power

supply

The

"Nodes

on

er

supply

is

connected

Tap

Adapter

Both

Sides

or

to

of the

many

Power

nodes.

Supply"

method

is

recommended

if a

single

pow-

3 -18

3.4.4 Grounding

3.4

Connections

for

DeviceNet

Communications

As shown below. connect the shield wire

of

the cable to the

power supply and ground the shield wire to a resistance

• Power Supply with Single-point Ground

T-Branch

Adapter

"\

-

'--

-=-

or

Power

Supply

Tap

CANH

v+

}

Shield

CANL

v-

FG

~ommunications

power

Ground

to a resistance

v+

supply

v

of

100 n

CommunicaUon

cable

or

less.

• Power Supply without Ground

Power Supply Tap

of

FG

terminal

100 n

or

of

the communications

less.

CANH . .

v+

}

Shield

Communications

CAN

L

cable

v-

n

FG

Communications power

- -

-=-

Ground

to a resistance

If

more than one communications power supply is used, ground only the power supply that is located closest to the middle supply through the shield wire at any is connected to the network, connect them using a

1.

Power Ground

Do

not

Do

not

supplies

ground

I IMPORTANT I

2.

3.

/

4.

the

network

ground

are

the

network

v-

v+

supply

not

counted

to a resistance

together

through

of

100 n or

of

the network through the shield wire. Do not ground the

less.

otherpoint.lfmore

than one communications power supply

Power Supply Tap each.

as

nodes.

of

100.0:

or

less.

with

the

shield

servodrivers

wire

at

or

.more

inverters.

than

one

point;

ground

at

a single

point

power

only.

3 -19

Parameter Settings

This chapter explains the outline and details

4.1

Parameter

4.1.1

4.1.2

4.1.3 Editing

4.1.4 Effective TIming

4.2

Parameters

4.2.1

4.2.2 Homing

4.2.3 Machine System and

4.2.4 Speed, Acceleration, and Deceleration Parameters

4.2.5 Positioning Parameters

4.3

Parameter

4.3.1

4.32

4.3.3 Machine System and

4.3.4 Speed, Acceleration, and Deceleration Parameters 4 - 24

Outline

What Are Parameters? Parameter Types

Parameters

Tables

Unit Parameters

Parameters

Peripheral Device Parameters

Details

Unit Parameters

Homing Parameters

Peripheral Device Parameters

....................

...........................

........................

............................

.....

...........................

........................

....................

........................

of

NS31 0 parameters.

......................

...............

.....................

:.

.

4-2

.

4-2 4-2

.

4-3 4-4

.

4-5

.

4-5

.

4-5

4-7

4-8

.

4 - 10

.

4 -

11

4 -11

.

4 -

14

4 - 18

4.3.5

Positioning Parameters

/

4 -I

......................

4 - 35

Parameter Settings

4.1.2

Parameter

Types

4.1

Parameter Outline

4.1.1 What Are Parameters?

Parameters

the NS3 10 Unit. You and the machine to which the

You can edit the or host controller.

For

SGDH

Maintenance (SIE-S800-32.2).

is

parameters, refer to Chapter 6 Parameters

4.1.2 Parameter Types

Parameters are classified depending

•

Unit

parameters

the

name

given

to

user

constants

must

set the

optimum

SGDH is mounted.

NS3 10 Unit parameters using the NSxxx Setup Tool,

For

the NXxxx Setup Tool. refer to Chapter 7 Using the NSxxx Setup Tool.

on

their purpose as follows:

th~t

are

required

valueSfor parameters according to the NS3 10 Unit

or

the SCDH User s Manual Design and

as

the

settings

DeviceNet

used

to

operate

Configurator,

• Homing parameters

• Machine system

• Speed, acceleration, and deceleration parameters

• Positioning

Parameters are further classified according to the priority

Table

4.1 Parameter

Type

A

S

C

and

peripheral

paramete~s

Types

Parameters

that

must

l,hat

must

whose

settings

device

be

set

be

set

parameters

even

when

using

hardly

ever

Meaning

using

the

need

of

the setting, as shown below.

the

NS310

Unit

in

standard

NS31 0 Unit

to

be

in

changed.

special

mode.

4-2

4.1.3 Editing Parameters

You can edit parameters using the following methods.

4.1

Parameter Outline

I

IMPORTANT

Table 4.2

Methods

Tools

NSxxx Setup Tool

Select

read

tef the parameters have been displayed, power is turned select the parameters you want to edit, and click the rameters.

Master Device

Configurator

If

parameters are changed via DeviceNet, they

I

Trajectory Command is executed. automatically written to the flash

or

You

(Sel_Attrihule_Sing/e)

Device.

Object

Ox25

of

Editing

Parameters

Methods

Remarks

Ust From the Parameter Menu to All changed parameters are stored in

all

the

NS310

Unit

parameters.

Af-

RAM, so they are erased when the

OFF. Use the Module

Reset Command to write the parameter

Edit

Button to edit the pa- data

can edit using Explicit Message All changed parameters are stored in

from

the Master

wi1J

be automatically written to the flash ROM after the Start

To

lengthen the service life

ROM ·when the following parameters are changed.

of

the flash ROM, however, parameters are not

Attribute

6

7 Target Speed

Target

in

RAM

to

the

flash

ROM.

RAM.

Set

the Start Trajectory Bit

to write the parameter data in RAM to

the

flash

ROM.

Name

Position

to

I

Use

one

of

the

following

8

9 Deceleration

methods

when

it

is

Acceleration

necessary

to

be

sure

written to flash ROM.

Execute the Module Reset Command from the NSxxx Setup Tool.

•

• Execute the Reset Service to the Identity Object via DeviceNet.

Starting

positioning

and

other

movement

operations

will

not

be

automatically written to flash ROM.

that

all

delayed

parameters

when

parameters

have

been

are

4 ·3

Parameter Settings

4.1.4 Effective Timing

Not

all parameters edited from the NSxxx Setup Tool or Master Device are effective immedi-

ately. Changed parameters are effective at one

of

the following two times .

. Table

4.3

. Effective Timing

TIming

Power-up

The 'values

1. When power is turned ON.

2.

When the Module Reset Command is executed from the

Immediate The values

Parameters changed using the

be

stored

1. When the Module Reset

2.

When the Reset Service to the Ide;ntity Object is executed

for

of

all parameters are

of

changed parameters

in

the Flash

ROM

Parameters

Control

or

Processing

ma~e

effective at the following times.

,

NSxxx

Setup Tool.

ar~

made effective immediately.

Explicit Message from a Master Device, however, will

at the following

Comma~d

ti~es.

is

executed from the NSxxx Setup Tool.

via

DeviceNet.

4-4

4.2 Parameters Tables

The

following tables list the parameters.

If

using the NSxxx Setup Tool, edit parameters using

Pn80A).

(e.g., object number uses the hexadecimal system (e.g., Ox64). The attribute number uses the decimal system. Refer to

Object Ox24 (Position Controller Supervisor Object), Object and Object Ox64 (Position Parameter Object) include multiple identical parameters. If you edit any

of

them, the others will be updated automatically.

one

If

editing via DeviceNet, edit using the object number and attribute number.

5.6 Changing Parameters and

PnDDD,

Command

4.2

Parameters

which uses the hexadecimal system

Blocks for details.

Ox25

(Position Controller Object),

Tables

The

Object

Ox64

4.2.1

Unit Parameters

The

unit parameter table is shown below.

Table 4.4 Unit Parameter (Object

Attribute No. Name Range

30

31

Pn810

Pn811

Electronic

(Numerator)

Electronic (Denominator)

Gear

Ratio

I

to

Ox7FFFFFFF

I

to

Ox7FFFFFFF

4.2.2 Homing Parameters

The homing parameter table is shown below.

Table 4.5 Homing Parameters (Objects

Ox64)

Units Effective Default Type

Timing Value

---

Ox24

and

Power-up

Ox25)

I B

Object

Ox24

Ox25

/

Attribute

II

253

254

255

No. Name Range Units

0,

4

0,1

I

-5

to

I

4,000,000

---

step/s

stepls

---

Home Home

Home

Active

Level

Direction

Fast Speed

Slow

Speed

Effective Default Type

Timing Value

Power-up Immediate

Immediate Immediate

0 B 0 B

10,000

5,000

B

Parameter Settings

4.2.2 Homing Parameters

Object

Ox64

Note:

I.

2.

"Step"

If

you

Attribute

11

13

14

15

17

means

"reference unit." For reference

set

the

reference unit

No.

Pn801 Homing Function

Pn803 Home Fast Speed for

Pn804 Home Slow Speed for 1 to 240.000

Pn805 Final

Pn809 Home Position Offset -99,999,999 to step

Table.4.6 Homing Parameters (Object

Name Range Units

... .

Selection

240.000

1 to

Homing

Horning

Travel

Distance o to 99,999,999

for Homing

99,999,999

unit

details, refer

to

0.001 nun, 1,000 step/min. becomes mm/min.

to

4.3.1

Unit

. I

Ox64)

..

1000

stepl

min

1000

slep!

min

step

Parameter~.

Effective Default

Timing Value

Immediate

Immediate 0

1

600 B

300 B

B

Immediate 0 B

Type

B

4.2.3 Machine System and Peripheral Device Parameters

4.2

Parameters

Tables

Object

Ox25

Attribute

24

26

27

49

52

54

55

231

232

The machine system

Table 4.7 Machine

No. Name Range

---

Reference Positive Negative Hardware Software Positive

Limit

Position

Negative Limit

Position Hardware Hardware

Logic

and

Direction

Torque

Limit

Enable

Software

Limit

peripheral device parameter table is shown below.

System

0,1

Limit

Action

Enable

Limit

Input

o

to

-800

0,

1,2

0,

I

-99,999,999 99,999,999

0,1

and

Peripheral Device Parameters (Object 0x25)

Default

Value

0 B

800 C

-800 0 B 0 B

99999999 B

-99999999 B

0 B 0 B

---

800 %

to

0

%

---

to

step

to

step

---

Units

rated rated

Effective

Timing

Power-up

Immediate Immediate Immediate Immediate Immediate

Immediate

Immediate Immediate

Type

C

241

242

243

---

Emergency

Action Emergency

Enable Emergency

Stop

Logic

0,1

---

Immediate

0 B

4-7

4.2

Parameters

Table 4.10 Speed, Acceleration, and Deceleration Parameters (Object Ox64)

Tables

Object

Ox64

Attribute No.

51

Pn821 Feed Speed for I

Name

Positioning

52 Pn822 AccellDecel

Constant

.

Positioning

53

Pn823

Deceleration Constant

Asymmetric

54 Pn824

Switch Speed

Second

55

Pn825 AccellDecel

Constant

Time

for

Time

for

of

AcceIfDecel

Time

of

Second

AccellDecel

56 Pn826 AccellDecel1'ype for

Positioning

58 Pn829

60 Pn831 Feed Speed for JOG

Filter

Selection

Range Units Effective Default

Timing Value

to

240.000 1000

Immediate

step/min

I

to

10,000

I to 10,000 ms

I

to

240.000 1000

I

to

10,000

0,1.2,3

0,1.2.3

I to

240,000

ms

step/min

ms

---

1000

Immediate

Immediate Immediate

step/min

24.000 B

100 B

100

24.000 C

100

C

0

24,000

B

Type

C

B

for

I to 10,000

1

to

240,000

I

to

10,000 ms

0,

1,2,3

2to

1,000 ms

I

to

240,000

ms

1000 Immediate

Immediate

step/min

Immediate

---

Immediate

1000

Immediate

100

24,000

100 C

0

2

24,000

B

C

B

C

61

62

63

64

65 Pn836

70

71

Pn832

Pn833

Pn834 Switch Speed

Pn835 AccellDecel

Pn840

Pn841 Bias Speed

AcceUDecel

Constant for JOG

Deceleration

Constant

Asymmetric for JOG

Second

for JOG

Time

of

AccellDecel

Time

Constant AccellDecel for JOG

AccellDecel

JOG

Time Exponential

of

Second

Type

Constant

Curve

for

step/min

/

4-9

Parameter Settings

4.2.5 Positioning Parameters

Object Attribute No. Name Range Units

Ox64 72

73

Pn842

Pn843

Time Constant Moving

Maximum

Average

Feed

of

Speed I to

4

to

4,000

240,000

ms

1000

step/min

Note:

I.

"Step" means "reference unit." For reference unit details. refer to 4.3.1

2.

If

you set the reference unit to 0.001 mm, 1,000 step/min. becomes mm/min.

Unit

Parameters',

4.2.5 Positioning Parameters

The Positioning parameter table is shown below.

Table 4.11 Positioning Parameters (Object Ox25)

Object

Ox25 30

Attribute No. Name Range Units

38

-'-

..

Kp

-

Position

Deadband

I to 2,000

o to 255 step

lis

Effective

Timing

Immediate

Default Type

Value

25

24,000

C

B

Effective Default Type

,

Timing Value

Immediate 40 B

Immediate 5

A

45

.. -

Ma~.

Dynamic

256

to

8388352

step .

Following Error

Table

4.12

Positioning Parameters (Object Ox64)

Object Attribute No. Name Range Units

Ox64

Note:

90

91 Pn851

1.

"Step"

means "reference unit." For reference

2.

If

you

set

Pn850

the reference unit to 0.001 mm, I

Positioning

Deadband

Timeout

unit

details, refer to 4.3.1 Unit Parameters.

,(xx)

step/min. becomes mmlmin.

o to 255 step

o

to

100,000

ms'

Immediate

262.144

Effective Default

Timing

Value

Immediate 5 A

Immediate 0 A

B

Type

4-10

4.3 Parameter Details

Object

Ox64

4.3.1

Attribute

30

31

Unit

Parameters

The unit for performing positioning using an NS310 Unit parameters.

Table 4.13 Unit

No.

Pn810

Pn811

The Electronic Gear Function can be used to set the position command units equal to the amount iar user-defined units such as millimeters

Electronic gear (numerator)

Electronic gear (denominator)

of

Name

encoder pulses. The host controller can generate position commands

Parameter

1

to

OxFFFFFFFF

1

to

OxFFFFFFFF

(Object Ox65)

Range

or

inches.

Units Effective Default

"-

---

is

determined by the following two

Timing

Power-up 1 B

Value

• Not Using the Electronic Gear

If

not using the electronic gear, set Pn81 0 and Pn811 to I (initial value). This will set the refer-

ence unit to 1 pulse, so you must calculate the scale position units using the host controller.

Type

in

more famil-

I

IMPORTANT

SGDH

1

-1-

Motor

Encoder =

2048 pulse/revolution x 4

Reference unit is the smallest increment

I

If

you are not using the electronic gear. the setting

• 1 (pulse) = 1 (step)

m

NS310

1 pulse

7 revolutions

5 revolutions

n

of

a position command. In this manual. thereferenceunit is called a step.

4 -II

1 pulse

Pitch of

ball

P = 6 mm/revolution

will

screw

be as follows:

Parameter

4.3.1

Unit

Parameters

Settings

• Electronic Gear Settings When Using a Ball Screw'

If

using a ball screw, first

check

the following specifications.

• Number

•

Gear

•

Ban

of

Encoder pulses

ratio

screw pitch

System Example

The

following system example shows the formulas ,when the reference unit is

NS310

mm

7

revolutions

5

revolutions

n

A

B

0.001

Pitch

of

P = 6

mm/revolution

mm

ball

screw

Encoder

2,048

pulse/revolution

=

Motor

SGDH

1

0.001

m

x 4

set

to

0.00

I mm.

REV = Travel distance

•

• A = (REV) x {Gear ratio (load rev.») =

•

B = (Encoder pulses) x (Encoder multiplier) x {Gear ratio (motor rev.») = 2048 x 4 x 7 =

of

load per revolution (mm) = 6

Reference unit (mm) . 0.001

6000

x 5 = 30000

mm

=

6000

57344

•

BfA

= 57344130000 =

Perform three checks (important limitations

l.

911

of

gear yalves) below.

• A ~ 2,147,483,647

• B ~ 2,147,483,647

• 100 ~ BfA

By

storing the value function. The reference unit is set tings. After you have changed the parameter, execute the Module Reset

~

of

om

A in

Pn8II

and the value

to 0.001 mm. Cycle the power to enable the parameter set-

ofB:in

Pn8IO, you can use the Electronic Gear

Command

or

the Reset

Service to the Identity Object.

The NS310 Unit uses an algorithm to ensure accurate conversion out any accumulated error.

The

value

of

BfA

may

be any real number between 100

of

position

commands

and

inclusive.

with-

0.01

4 -12

I IMPORTANT I

1.

Setting

BfA

outside

the

range

0.01

to

100

may

result

2.

this In

this

range.

manual,

Position: Speed: [ (mm/s)

when

O.OO[

the

reference

(mm) ~ [ (step)

~

[

(1,000

stepsls)

unit

in a misoperation.

is

set

to

0.001

mm,

the

Make

following

sure

formulas

to

• Electronic Gear Settings when Using a Rotary Table

If

using a rotary table, first check the following specifications.

4.3' Parameter

set B and A within

are

applied.

Details

• Number

•

Gear

of

Encoder pulses

ratio

System Example

The following system example shows the formulas when the reference unit

NS310

3

revolutions

1

revolution

n

B

A

0.001

Rotating

o

360

/revolution

0

load

Motor

Encoder =

2048

pulse/revolution

• REV = 360

SGDH

1 1

m

x 4

%

.001 ° = 36000

0.0010

is

set to 0.001

0.

II

A ~ REV x (Gear Ratio (load rev.)) = 36000 x

•

• B = (Encoder

pulses)

x (Encoder multiplier) x (Gear ratio (motor rev.)) = 2048 x 4 x 3

1=36000

= 24576

•

BI

A = 24576/36000 = 0.683

Perform

three checks (important limitations

of

gear valves) below.

• A ~ 2,147,483,647

• B ~ 2,147,483,647

• 100;;:; BfA;;:; 0.01

By storing the value function. The reference unit is set to 0.001

of A in

Pn811 and the value

0.

Cycle the power to enable the parameter settings.

ofB

in

Po81O, you can use the Electronic

After you have changed the parameter, execute the Module Reset vice to the Identity Object.

4-13

Gear

Command or the Reset Ser-

Parameter Settings

4.3.2 Homing Parameters

I

IMPORTANT

I

1.

Setting BfA outside.the range 0.01 to 100 may result in a misoperation. Make sure to set B and A within

this range.

2.

In-this manual, when the reference unit is set to 0.001°, the following formulas are applied .

• Position:

• Speed: 1

0.001 (o/s)

(0) = 1

= 1

(1.000

(step)

stepsls)

4.3.2

"'EXAMPLE~.

Homing

Parameters

• Homing Types

The

following three types

Type

This homing type returns of

00

the Encoder. The outline

1. The axis travels

2. When the home position signal changes. the axis decelerates. and travels in the opposite

direction at home slow speed.

3.

When the home position signal changes again. the axis continues·to travel rection

4. When the Final Travel Distance for Homing

Speed

as

before until the phase C is detected. ; phliSe C is

of

homing are supported.

to

the home position using the home position signal and the phase C

of

the operation is as follows:

in

the direction specified as

detected, that position becomes the home position.

= 0

Home fast speed

ho~e

Home

direction at home fast speed.

slow

speed

in

the same di-

Home

position

limit switch

Phase

C

Figure

4.1

Type

This homing type returns to the home position using the home position signal only. The outline of

Ox01

the operation

1. The axis travels

___

Type

00

is

as follows:

in

the direction specified as

I I I

~

__

"'~I--

__

Home position area

Homing

4-14

..Jl..JL

I

Machine

~

i,

system home position

ho~e

direction at home fast speed.

coordinate

4.3

Parameter

Details

2. When the home position signal changes, axis decelerates, and travels in the opposite direction at home slow speed.

3. The axis stops at the position where the home position signal changed, and that position

becomes the home position.

"'EXAMPLE~

Final Travel Distance for Homing = 0

Home

fast

speed

Home

slow

Speed

--L---------------~~~~_+_f----~

Home limit

position

switch

---------l

......-

.....

~

-V-

Home

position

area

Figure 4.2 Type

01

Homing

speed

Time

Machine system

home

Final Travel Distance for Homing> 0

Home

fast

speed

Home

slow

Speed

speed

Homing

final

I travel distance

coordinate

position

Time

Home

limit switch

Figure 4.3 Type

Type

Ox03

position

--------i

Home

position

01

Homing with Final Travel Distance

Machine coordinate

system

area

home

position

This homing type returns to the home position using the phase C of the Encoder only. The out-

line of the operation

1.

The axis travels in the direction specified

2. When the phase C is detected, axis decelerates, and travels

is

as

follows:

as

home direction at home fast speed.

in

the opposite direction at

home slow speed.

3. The axis stops at the position where the phase C is detected. and that position becomes the

home position.

4 ·15

Parameter Settings

4.3.2

Homing

Parameters

"EXAMPLE~

Final Travel Distance for Homing = 0

Home

fast

Speed

-L..-------.;-.l...."'T'"-i---+

PhaseC

Home

posmon

Figure 4.4

Final Travel Distance for Homing> 0

Speed

PhaseC

Figure 4.5

Type

03

Homing ,

Home

03

Homing with Final Travel Distance

speed

Machine

system

home

area

Home

slow

speed

Homing final

travel

distance

~--'-"TIme

Machine

system

position

area

TIme

coordinate

position

coordinate

home

position

The details

• Parameter Details (Objects

Home Active Level (Object:

Use the Home Active Level to set the activity level

Setting Description

Home Direction (Object:

of

parameters relating

Active

Low

High

0

I

to

homi~g

are given below,

Ox24

Ox24,

Ox25,

Attrib~te:

and

Ox25)

Attribute: 11)

of

the home position signal.

253)

Use the Home Direction to set the travel direction when homing starts. changed. the Homing Direction Setting (Object:

0~64.

Attribute: I I; Pn801: bit 0) will also

be changed automatically,

Setting Description

0

I Positive Direction

Negative

Direction

,

If

this parameter is

4 -16

4.3

Parameter

Details

Home Fast Speed (Object: Ox25, Attribute: 254)

Use the Home Fast Speed to set the home fast speed during homing. The setting unit is step/so If

this parameter is changed, the Home Fast Speed for Homing (Object:

Pn803) will also be changed automatically.

The conversion is performed using the following formula.

• Home Fast Speed (step/s) = Home Fast Speed for Homing (1000 step/min) X 1000 .,. 60

Ox64,

Attribute: 13;

Home Slow Speed (Object:

Use the Home Slow Speed to set the home slow speed during homing. The setting unit is step/so

If

this parameter is changed, the home slow speed for Homing (Object:

Pn804) will also be changed automatically. The conversion is performed using the following formula.

• Home Slow Speed (step/s) = Home Slow Speed for Homing (1000 step/min) X 1000 .,. 60

Ox25,

Attribute: 255)

Ox64,

Attribute: 14;

• Parameter Details (Object Ox64)

Homing Function Selection (Object: Ox64, Attribute:

The Homing Function Selection has the following bit settings.

Table 4.14 Homing Function Selection

Bit Name Description

00

01

to

15

Homing

Reserved

Direction

Setting*

0:

1 :

Do

Positive Negative

not

change

Direction

11;

0

Pn801)

Default

'"

Set

the

travel

direction

when

homing

starts.

Home Fast Speed for Homing (Object: Ox64, Attribute: 13; Pn803)

Use the Home Fast Speed for Homing to set the Home Fast Speed during the homing. The setting unit is

If

this parameter is changed, the Home Fast Speed (Object: Ox25, Attribute: 254) will also be

changed automatically. The conversion is performed using the following formula.

• Home Fast Speed (step/s) = Home Fast Speed for Homing (1,000 step/min) X 1000 .,. 60

1,000 step/min.

Home Slow Speed for Homing (Object: Ox64, Attribute: 14; Pn804)

Use the Home Slow Speed for Homing to set the home slow speed during the homing. The setting unit is

1,000 step/min.

4-17

Parameter Settings

4.3.3

Machine

System

and

Peripheral

Device

P~rameters

If

this parameter is changed, the Home Slow

changed automatically. The conversion is performed using the following formula .

Spe~d

(Object:

Ox25,

Attribute: 255) will also

be

• Home Slow Speed (step/s) 60

Final Travel D,istance for Homing (Object:

;"

Home Slow Speed for Homing (1.000 step/min) x 1000 +

Ox64,

Attribute:

Pn80S)

Use the Final Travel Distance for Homing to set the distance from the position where the phase C and is step.

home.po~ition

signal were detected to;the machine home position. The setting unit

4.3.3 Machine System and Peripheral Device Parameters

The

details

of

parameters relating to the machine system and peripheral devices are given be-

low.

• Parameter Details (Object

Reference Direction (Object:

Use the Reference Direction to set the rotation direction

Table 4.15 Reference DirectIon

Ox2S)

Ox2S,

Attribute: 24)

of

the motor.

1S;

Setting DescrIption

CW

(from

motor

shaft

sjde):

0

CCW

1

(from motor

Positive Torque Limit (Object:

Use the Positive Torque Limit to set the positive maximum output torque to protect the equip-

ment or workpiece.

The setting unit is % rated torque. Make the setting between 0 and 800. If

this parameter is changed, the Forward Torque Limit (Object:

will also be changed automatically.

Negative Torque Limit (Object:

Use

the Negative Torque Limit to set the negative maximum output torque to protect the equip-

ment or

The setting unit is % rated torque. Make setting If

will also be changed automaticall

workpiece.

this parameter is changed, the Reverse Torque Liinit (Object:

y.

shaft

Ox2S,:

Ox2S;

bet~een

Positive

side):

Attribute: 26)

Attribute: 27)

Positive

-800

Direction

Ox66,

to

O.

Ox66,

Attribute: 142; Pn402)

Attribute: 143; Pn403)

4 -18

4.3

Parameter

Details

Hardware Limit Action (Object:

Use the Hardware Limit Action to set the operation

is reached. If

this parameter is changed, the Hardware Limit Action (Object: Ox64, Attribute: 40;

will also be changed automatically.

The

operations supported by the NS31 0 Unit are given in the table below.

Table 4.16 Hardware LImIt ActIon

Setting Description

0

I

2

3

to

255

Servo

OFF

Hard

Stop

Smooth

Reserved

Stop

Software Limit Enable (Object:

Use the Software Limit Enable to set whether to use the software limit function. is used, when the motor position exceeds the limit that has been set, the motor will stop.

If

this parameter is changed, the Machine Function Selection (Object: Ox64, Attribute: 38;

Pn818) will also be changed automatically.

Ox25,

Attribute: 49)

of

the NS31 0 Unit when a hardware limit

Pn8IA)

Attribute: 52)

If

this function

Table 4.17 Software Limit Enable

Setting

0

I Enable

Disable

Positive Software Limit Position (Object: Ox25, Attribute:

Use the Positive Software Limit Position to set the position

setting unit is reference unit. Make the setting between -99,999,999 and 99,999,999.

If

this parameter is changed, the Positive Software Limit (Object:

be

will also

changed automatically.

Negative Software Limit Position (Object:

Use the Negative Software Limit Position to set the position setting unit is reference unit. Make the setting between -99,999,999 and 99,999,999.

If

this parameter is changed, the Negative Software Limit (Object: Ox64, Attribute: 37; Pn817)

will also be changed automatically.

Hardware Limit Enable (Object:

Description

Ox25,

Attribute: 231)

54)

of

the positive software limit.

Ox64,

Attribute: 36; Pn816)

Ox25,

of

Attribute: 55)

the negative software limit.

The

Use the Hardware Limit Enable to set whether to use the hardware limit function. tion is used, when a limit switch that has been connected changes its status, the motor will stop.

4

-19

If

this func-

Parameter Settings

4.3.3

Machine

System

and

Peripheral

Device

Param~ters

If

this parameter is changed,.the Hardware Limit Enable (Object: Ox64, Attribute: 39;

will also be changed automatically.

Table

4.18 Hardware Limit Enable

Pn819)

Setting

0

I Enable

,

Description

Disable

Hardware Limit Input Logic (Object: Ox25, Attribute:

Use

the Hardware Limit Input Logic to

limit

function.

Table

4.19 Hardware Limlt.lnput

Setting

0

I Active High

..

Active Low

. Emergency Stop Action (Object: Ox25, Attribute:

Use

the Emergency Stop Action to set the operation

If

this parameter is changed, the Emergency Stop Action (Object: Ox64, Attribute:

will also be changed automatically.

set

the input logic

Logic

Description

ofthe

external signal

of

the emergency stop.

241)

232)

for

the hardware

42;

Pn81

C)

Table

4.20 Emergency Stop

Setting

0

I

to

255

.

. Emergency Stop Enable (Object: Ox25, Attribute:

Use

the Emergency Stop

If

this parameter is changed, the Emergency Input Function Selection (Object: Ox64, Attribute:

41;

Pn8IB)

will also be changed automatically.

Table

4.21

Bit

0 Description

0

I

Enable

Emergency

Disable

Enable

Emergency Stop Logic (Object: Ox25, Attribute:

Use

the Emergency Stop Logic to set the input logic

Action

Description

Hard Stop and Servo OFF

Reserved

to set

Stop

whether

Enable

to use the Emergency

of

the

243)

Emergency

242)

Stop

Action.

signal.

4-20

4.3

Parameter

If

this parameter is changed, the Emergency Input Function Selection (Object: Ox64, Attribute:

41;

Pn8IB)

wiII also be changed automaticalIy.

Table

4.22

Emergency

Stop

Logic

Details

Setting

0 Active

I

Active

Low

High

Description

• Parameter Details (Object Ox64)

Coordinate Type (Object:

Use the Coordinate Type to set whether to use the

Table

4.23

Coordinate

Setting Description

0

I

Type

The The

Ox64,

linear

unit

of

rotary unit

of

Attribute: 32; Pn812)

NS3

I 0

Unit

axis

is

designated.

current

value

data:

mm,

etc.

axis

is

designated.

current

value

data:

degrees

as

a linear axis

Command Value per Machine Rotation (Object: Ox64, Attribute: 33; Pn813)

or

rotary axis.

Use the tion. This parameter is enabled only when the Coordinate Type is rameter is not set correctly, when the machine performs a wiII

The setting unit is reference unit. The initial value is

Command

not be reset to 0

Value per Machine Rotation to

0

so be careful.

,

set

the reference unit for one machine

set

to rotary axis.

3600 rotation, the current position

360,000.

If

this pa-

Backlash Compensation (Object: Ox64, Attribute: 34; Pn814)

Use the Backlash Compensation to set the amount

of

backlash compensation.

Backlash Compensation Direction (Object: Ox64, Attribute: 35; Pn815)

Use the Backlash Compensation Direction to set the direction NormalIy, set this parameter in the opposite direction to the

Table

4.24

Backlash

Setting

0

I

Compensation

Positive Negative

Direction

Description

of

the backlash compensation.

home

direction.

rota·

4 ·21

Parameter Settings

4.3.3 Machine System and Peripheral Device Parameters

Positive Software

Limit

(Object:

Ox64,

Attribute: 36; Pn816)

,

Use the Positive Software Limit to set the software limit in the positive direction. unit is reference unit. Make the setting between -99,999,999 and 99,999,999.

If

this parameter is changed, the Positive Software Limit Position (Object:

will also

Negative Software Limit (Object:

Use the Negative Software Limit to set the software limit in the negative direction. unit is reference unit. Make the setting between -99,999,999 and 99,999,999.

If

be

changed automatically.

Ox64,

this parameter is changed, the Negative Software Limit Position (Object:

Attribute: 37; Pn817)

Ox25,

55) will also be changed automatically.

Machine Function Selection (Object:

Use the Machine Function Selection to set whether to use the software limit functions and the

Backlash Compensation functions. If

this parameter is changed, Software Limit Enable (Object: Ox25, Attribute:

changed automatically.

Table 4.25 Machine Function

Selection

Ox64,

Attribute: 38; Pn818)

The

Attribute: 54)

The

Ox25,

Attribute:

52)

will

also be

setting

BIt Description

0

I

Hardware Limit

Use the Hardware Limit Action to set the operation of the NS310 Unit when a hardware limit is reached.

If

this parameter is changed, the Hardware Limit Action (Object:

be changed automatically.

Table 4.26. Hardware Limit Action

Setting

0

I .

Action

Software Limit Function Selection is disable.

0:

Software Limit Function Selection

I:

Backlash Compensation Function Selection is

0:

disable.

Backlash

I:

enable.

(Object:

Compens.ation

Ox64,

Function Selection is

Attribute: 40; Pn81A)

Ox25,

Description

Servo

Hard

OFF

Stop

,

is

enable.

Attribute: 49) will also

2

3

to

255

Smooth

Reserved

4-22

Stop

4.3

Parameter

Details

Emergency Input Function Selection (Object: Ox64, Attribute: 41;

Pn81

B)

Use the Emergency Input Function Selection to set whether to use the emergency stop function

of

and the input logic If

this parameter is changed. the Emergency Stop Enable (Object:

the Emergency

Table 4.27 Emergency Input Function Selection

Bit Description

emergency stop signal.

Stop Logic (Object:

Ox25.

Attribute: 243) will also

Ox25.

Attribute: 242) and

be

changed automatically.

0

1

0:

Emergency

1 :

Emergency

0:

Emergency

1 :

Emergency

stop

stop stop

function function

Input

is Active

Input

is

is disable.

is

enable.

Low.

Active

High.

Emergency Stop Action (Object: Ox64, Attribute: 42; Pn81 C)

Use the Emergency Stop Action to set the operation If

this parameter is changed. the Emergency Stop Action (Object:

also be changed automatically.

Table 4.28 Emergency Stop Action

Setting Description

0 Hard Stop and Servo

1 to 255

Reserved

of

the emergency stop.

OFF

Ox25.

Attribute: 241) will

4·23

Parameter Settings

4.3.4 Speed, Acceleration, and Deceleration Parameters

4.3.4

Speed,

Acceleration,

• Acceleration and Deceleration Patterns

The

following

eration/deceleration

Table

-

0:

None

-

Filter

Selection deceleration

(Pn829)

0:

None No acceleration and

1:

Exponent

4.

Exponential

Decel

2: Exponent with Bias

Constant

time*2

5.

Constant AccelJDecel

time*2

AccellDecel

Exponential AcceV

Decel with Bias

and

eight

acceleration and deceleration

types

and

filters.

4.29

Acceleration/Deceleration

1:

Single-step

1.

Single-step Linear

AccellDecel

Constant AccellDecel* I

AcceU

---

Deceleration

, . .

Type

. 2:

Linear

2.,

ConstantAcceVDecel'"

---

Parameters

patterns

Double-step Linear

AccellDecel AccellDecel

are

possible

(Pn826

Double-step

Linear

or

by

combining

Pn836)

3:

Asymmetric

3.

Asymmetric Linear

1 ConstantAccellDecel*

---

accel-

1

3: Moving

Average

'"

I. With Constant AcceVDecel. the time required for acceleration and deceleration changes

*

2.

With Constant AcceUDecel time, the time required for acceleration and deceleration does not change even

changes.

Note: Combinations other than those given above may result

6.

Single-step Linear

AccellDecel

Constant AccellDecel

time*2

7.

S-curve AccellDecel

ConstantAccellDecei * I

in

incorrect acceleration and deceleration.

---

wit.h

the feed speed changes.

Single-step Linear AccelerationlDeceleration with Constant Acceleration/Deceleration

Table

4.30

Object

Ox64

Parameters

PnOOO

56 Pn826

58 Pn829

51

52 Pn822

Pn821

Acceleration/Deceleration Type

Filter Selection (= 0)

Feed Speed

AccCIerationIDeceleration Time Constant

if

the feed speed

Name

8.

Asymmetric S-curve AccellDecel

ConstantAccel/Decel*1

(=

I)

73

Pn843 Maximum Feed Speed

4-24

Speed

4.3

Parameter

Details

/

\

Attribute

52

Figure 4.6 Single-step Linear AcceleratlonlDeceleration

u;

2

JO

"

."

~

Attribute

~

JO

."

~

52

Time

Double-step Linear Acceleration/Deceleration with Constant

Acceleration/Deceleration

Table

4.31

Related Parameters

Object

Ox64

Attribute

56

58 Pn829

51

52

PnDDD Name

Pn826

Pn821

Pn822

AccelerationIDeceleration Type

Filter Selection

Feed

Speed

AccelerationIDeceleration

(= 0)

Time

(=

2)

Constant

54 Pn824

55 Pn825

Pn843 Maximum Feed

Attribute

Sp

73

Attribute 5

eed

/

u;

~

JO

~

I

A ttribute

Figure 4.7 Double-step LInear AccelerationlDeceleration

5i1.

lie

"

Switch Second

speed

for

AccellDecel

Speed

....

'"

"

S

JO

."

~

l.JIttribute

second

Time

~

2

JO

"

."

<

"

52

AccellDecel

Constant

n me

4·25

Parameter Settings

. 4.3.4

Speed,

Acceleration,

and

Deceleration

Parameters

Asymmetric Linear Acceleration/Deceleration with Constant

Acceleration/Deceleration I

Tabl~

4.32 Related Parameters

Object Attribute

Ox64

Speed

Attribute

-

52

56 58 .

51

52 Pn822 AccelerationIDeceleration Time Constant

53

73

PnOOO

Pn826

Pn829 Filter (= 0)

Pn821

Pn823

Pn843

Profile Type

Feed

Ddceieration

Mwmum

Attribute

I

Speed

,

53

(= 3)

Tiine

Feed Speed

Figure 4.8 Asymmetric Linear Acceleration/Deceleration

Name

Constant

for

Asymmetric

Time

Exponential Acceleration/Deceleration with Constant Acceleration/Deceleration

Table 4.33 Related Parameters

Object Attribute

Ox64

56 Pn826

58 Pn829 Filter

51

70

PnOOO Name

Pn821 Feed Speed

Pn840

4-26

Profile Type

ExpOnential

(=

1)

Time

0)

Constant

Speed

4.3

Parameter

Details

1\

;;;

.s

.c

"

V

/

fj

1/

K

~

A

!tribute

7Q

Figure

Exponential Acceleration/Deceleration with Bias with Constant Acceleration/Deceleration Time

Object Attribute

·Ox64

Table

4.9

Exponential Acceleration/Deceleration

4.34

Related Parameters

PnDDD

56 Pn826

58 Pn829

51

Pn821 Feed Speed

Profile Type

Filter

Attribute

(= 2)

70

(= 0)

Time

Name

S

peed

70

71

Pn840

Pn841 Bias Speed

Exponential

Time

Constant

r

In

V

;::

s

"

.c

·co

li

Att

ribute

70

Figure 4.10 exponential Acceleration/Deceleration with Bias

~

.c

.~

li

Attribute

Time

70

4-27

Parameter Settings

4.3.4

Speed,

Acceleration,

and

Deceleration

Parameters

Single-step Linear Acceleration/Deceleration with Constant Acceleration/Deceleration Time

Table

4.35

72

4.11

Attribute

56 Pn826

58 Pn829

51

72

Single-step

Linear

PnDDD

Pr?file lYpe (= 0)

Filter (= 3)

Pn821 Feed Speed

Pn842

Attribute

AccelerationiDeceleration

Moving

72

Average

Object

0.64

Speed

L--i~---t----------------;-----~~Time

Attribute

Figure

Time

Name

Constant

S-curve AccelerationlDeceleration with Constant Acceleration/Deceleration

Table

4.36

Object

Ox64

Parameters

PnDDD

56 Pn826

58 Pn829 Filter

51

52

72 Pn842

73

Pn821 Feed Speed

.Pn822

Pn843 Maximum Feed

Profile

Acceleration/Deceleration

Moving

lYpe (= I)

(= 3)

,

Average

Time

Speed

Name

Constant

Time

Constant

4-28

Speed

4.3

Parameter

Details

....

'"

~

."

"'

~

Attribute 72

Time

A !tribute

Figure

~

5~

4.12

I Attribute

S-curve AccelerationIDeceleration

Attribute

72

5~

\

\\

~i

\

Asymmetric S-curve Acceleration/Deceleration with Constant Acceleration/Deceleration

Table

4.37

Related Parameters

Object Attribute

Ox64

56 Pn826 Profile Type

PnDDD

Name

Speed

Attribute

L-

58 Pn829

51

52

53 Pn823

72

73

__

~~~

52

Filter

Pn821 Feed Speed (mmlmin)

Pn822

Pn842

Pn843 Maximum Feed Speed

__________ ~ ______

AccelerationlDeceleration Deceleration

Moving

Attribute

~~~

53

Time

Average

Attribute

Constant

Time

__

~~

Time

for

Constant

TIme

72

Constant

Asymmetric

Figure

4.13

Asymmetric S-curve AccelerationIDeceleration

4·29

Parameter Settings

4.3.4

Speed,

Acceleration,

and

Deceleration

The details

Parameters

,

of

speed, acceleration, and deceleration parameters are given below.

• Parameter Details (Objec!

Target Speed (Object:

Use the Target Speed to set the feed speed tion. The setting unit is

If

this parameter is changed, the Peed Speed for Positioning (Object:

Pn821) will also

step/so

be

changed automatically. !

Ox25)

Ox25,

Attribute: 7)

of

the positioning and the continuous rotary opera-

The conversion is performed using the following formula .

• Target Speed (step/s) = Peed Speed (1,000 step/min) X 1,000 + 60

1

Acceleration (Object:

Use the Acceleration to set the acceleration

Ox25,

Attribute: 8)

of

the positioning, the continuous rotary operation,

and the homing. The setting unit is step/s2

If

this parameter is changed, the AccelerationlDeceleration Time Constant for Positioning

Ox64,

(Object:

Attribute: 52; Pn822) will also be changed automatically.

, The conversion is performed using the following formula.

Ox64,

Attribute: 51;

Acceleration

(step/s2)

Accel/Decel

Constant (ms)

Acceleration

Maximum

(1000 step/min)

Time

Feed

Speed

• Acceleration (step/s2) = Maximum Peed Speed '(1000 step/min) X ]06 + {AccellDecel

Time Constant (ms) x 60}

Deceleration (Object: 0x25, Attribute: 9)

Use the Deceleration to set the deceleration

and the homing. The setting unit

is

step/s2. This

tionlDeceleration Type for Positioning (Object: Ox64, Attribute: 56; Pn826) is set

value, 3 (Asymmetrical linear acceleration and deceleration).

If

this parameter is changed, the Deceleration Time Constant for Asymmetric (Object: Ox64,

Attribute: 53; Pn823) will also be changed automatically.

The conversion is performed using the following formula.

of

the positioning, the continuous rotary operation,

par~meter

is enabled only when the Accelera-

to

the initial

4 -30

Maximum

(1000

step/min)

Feed

Speed

Deceleration

(step/s2)

4.3

Parameter

Details

Deceleration Constant

Asymmetric

Deceleration

Time

for

(ms)

• Deceleration (step/s2) = Maximum Feed Speed (1.000 step/min) x ]06 + (Deceleration

Time Constant for Asymmetric (ms) x

Profile Type (Object:

Ox25,

60)

Attribute: 18)

Use the Profile Type to set the acceleration and deceleration type for positioning and continu-

ous

rotation

If

this parameter is changed. the AccelerationlDeceleration Type for Positioning (Object:

operation.

Ox64. Attribute:56; Pn826). the Filter Selection (Object: Ox64. Attribute: 58; Pn829). and the AccelerationlDeceleration Type for JOG (Object: Ox64. Attribute: 65; Pn836) will also be changed automatically,

Table 4.38 The Relationship between Profile Type, Pn826, Pn836, and Pn829

Selling

0

Asymmetric Constant

Acceleration/Deceleration Pn826 and Pn829

Pn836

Linear

AccelfDeceI

AcceVDecel*

3

I

0

...

.'

1

2

240

241

242

243

244

245

Asymmetric

Constant

S-curve

AcceVDecel

AcceVDecel*

3 3

I

Exponential AccellDecel 0 I

Constant

Single·step Linear AccellDecel

Constant Double-step

Constant Exponential

Constant

Single-step

Constant

S-curve Constant

No

AcceVDecel

AccelfDecel* I

Linear

AcceVDecel

AccellDecel

Linear

AccellDecel

AccellDecel * 1

Acceleration

4 ·31

time*2

1 0

AccellDecel 2 0

* I

with

Bias

0 2

time*2

AcceUDecel

0

time*2

I

and

Deceleration

0 0

.3

3

Parameter Settings

4.3.4 Speed,

Acceleration,

and

Deceleration

*

1.

*

2.

Parameters

With

Constant

with

the

feed

With

Constant

not

cbange even if

Accel!Decel.

speed

changes.

AcceVDecel

the

feed

the

time,

speed

time

required

the

time

changes.

for

required

acceleration

for

acceleration

and

deceleration

and

changes

deceleration

does

Profile Gain (Object: Ox25, Attribute: 19)

Use the Profile Gain to set the gain for the S-curve profile. The setting unit is ms. Make setting

between 4 and If

this parameter is changed, the Time Constant for Moving Average (Object: Ox64, Attribute:

72; Pn842) will also be changed automatically.

• Parameter Details (Object

Feed Speed for Positioning (Object:

Use the

1,000 step/min.

is

If

this parameter is changed, the Target Speed (Object: Ox25, Attribute: 7) will also

automatically.

1000.

Ox64)

Feed

Speed for Positioning to set the feed speed

Ox64,

Attribute: 51; Pn821)

of

the positioning.

The

setting unit

be

changed

Acceleration/Deceleration Time Constant for Positioning (Object: Ox64, Attribute: 52; Pn822)

Use

the AccelerationIDeceleration Time Constant for Positioning to set the time constant for

acc~leration

If

this parameter is changed, Acceleration (Object: Ox25, Attribute: 8) will also be changed

and deceleration for the positioning. 'The setting unit is ms.

automatically.

Deceleration Time Constant for Asymmetric (Object: Ox64,

Attribute:

Use the Deceleration Time Constant for Asymmetric to set the time constant for deceleration

when

using

This parameter is enabled only,when the AccelerationlDeceleration Type for Positioning (Ob-

ject: Ox64, Attribute: 56; Pn826) is set to the initial value, 3 (Asymmetrical linear acceleration

and deceleration).

Switch Speed

O~64,

Use the Switch Speed eration and deceleration celeration. The setting unit is

53; Pn823)

asymmetrical

~ttribute:

linear

of

Second AccelerationlDeceleration (Object:

54; Pn824)

of

Second AccelerationlDeceleration to set the switching speed to accelof

the second step when using double-step linear acceleration and de-

1,000 step/so

acceleration

and

deceleration.

,

The

setting

unit

is

ms.

This parameter is enabled only when the AccelerationlDeceleration Type for Positioning (Ob-

ject: Ox64, Attribute:

56;

Pn826) is set to 2

4-32

(Double~step

linear acceleration and deceleration).

4.3

Parameter

Time Constant of Second AccelerationlDeceleration (Object: Ox64, Attribute: 5; Pn825)

Details

Use the Time Constant eration and deceleration

of

Second AccelerationlDeceleration to set the time constant for accel-

of

the second step when using double-step linear acceleration and de-

celeration. The setting unit is ms. This parameter is enabled only when the AccelerationlDeceleration Type for Positioning (Ob-

Ox64,

ject:

Attribute: 56; Pn826)

Acceleration/Deceleration Type for Positioning (Object:

is

set to 2 (Double-step linear acceleration and deceleration).

Ox64,

Attribute: 56; Pn826)

Use the AccelerationlDeceleration Type for Positioning to set the type

celeration for the positioning.

You can set eight different acceleration and deceleration patterns using different combinations of

AccelerationlDeceleration Type for Positioning and Filter Selection (Object:

ute: 58;

Pn829).

Table 4.39 AccelerationlDeceleratlon Type for Positioning

Setting

0

I Single Step Linear

None

Description

of

acceleration and de-

Ox64,

Attrib-

2

3

Filter Selection (Object:

Double Step Linear

Asymmetric

Ox64,

Attribute: 58; Pn829)

Use the Filter Selection to set the acceleration and deceleration filter type. This parameter is used in common by the positioning, continuous rotary operation, and the homing.

Table 4.40 Filter Selection

with

Bias

Description

Setting

0

I

2

3

None Exponential Exponential Moving

Average

Feed Speed for JOG (Object: Ox64, Attribute: 60; Pn831)

Use the Feed Speed for JOG to set the feed speed when using the continuous rotary operation. The

setting unit

is

1,000 step/min.

4 ·33

Parameter Settings

4.3.4

Speed,

Acceleration,

and

Deceleration

Parameters

Acceleration/Deceleration Time Constant for JOG (Object: Ox64, Attribute: 61; Pn832)

Use the AccelerationlDeceleration Time Constant for JOG to set the acceleration and decelera-

tion

time

constant

when

using

the

continuous

rotary

operation.

The

setting unit is

ms.

Deceleration Time Constant for JOG (Object:

Pn833)

Use the Deceleration Time Constant for JOG to set the deceleration time constant when using

asymmetrical

unit

is

This parameter is enabled only when the AccelerationlDeceleration Type for JOG (Object: Ox64, Attribute: 65; Pn836) is set to the initial val,!e, 3 (Asymmetrical linear acceleration and deceleration).

accel~ration

ms.

and

deceleration

with

.

~e

continuous

Ox64,

rotary

Attribute: 62;

operation.

The

setting

Switch Speed for JOG (Object: Ox64, Attribute: 63; Pn834)

Use

the Switch Speed for JOG to set the switching

eration

operation. The setting unit is 1,000 step/min. This parameter is enabled only when the AccelerationlDeceleration Type for

Ox64, Attribute: 65; Pn836)

Time Constant (Object:

when

using double-step

Ox64,

linear

acceleration

is

set to 2 (Double-step linear acceleration and deceleration).

of

Second AccelerationlDeceleration

Attribute: 64; Pn835) .

speed

to double-step acceleration and decel-

and

deceleration

with

the

continuous

for

rotary

JOG (Object:

JOG

Use ihe Time Constant

for double-step acceleration and deceleration when using double-step linear acceleration and

dec~leration

This parameter is enabled only when the AccelerationlDeceleration Type for JOG (Object: Ox64, Attrib'ute: 65; Pn836) is set to 2 (Double-step linear acceleration and deceleration).

with

the

continuous

of

Second

AccelerationlDe~eleration

rotary

operation.

"The

setting

for JOG to

unit

is

ms.

set

the time constant

Acceleration/Deceleration Type for JOG (Object: Ox64, Attribute: 65; Pn836)

Use the AccelerationlDeceleration Type for JOG to' set the acceleration and deceleration type

when

using continuous

You can set eight different acceleration and deceleraetion patterns using different combinations of

AccelerationlDeceleration Type for JOG and Filter Selection (Object: Ox64, Attribute: 58;

Pn829).

rotary

operation.

4-34

Table 4.41 AccelerationiDeceleratlon Type for JOG

4.3

Parameter

Details

Setting

0

1

2

3

None

Single

Step

Double

Step

Asymmetric

Description

Linear

Time Constant for Exponential Curve (Object: Ox64, Attribute: 70;

Pn840)

Use the Time Constant for Exponential Curve to set the time constant when using exponential

acceleration and deceleration. This parameter is used in common by the positioning and the

continuous rotary operation. The setting unit is ms.

Bias Speed (Object:

Use the Bias Speed to set the bias speed setting unit is

1,000 step/min.

Time Constant of Moving Average (Object:

Ox64,

Attribute: 71; Pn841)

of

the exponential acceleration and deceleration. The

Ox64,

Attribute: 72;

Pn842)

4.3.5

Use the Time Constant of

the acceleration and deceleration. This parameter is used in common by the positioning and

the

continuous rotary operation. The setting unit is ms.

Maximum Feed Speed (Object:

Use the Maximum Feed Speed ous rotary operation, and the homing. The acceleration and deceleration data is calculated from

this data

Positioning

The details

and

the time constants. The setting unit is 1,000 step/min.

Parameters

of

parameters relating to positioning are given below.

of

Moving Average to set the time constant

Ox64,

to

set the maximum feed speed

Attribute: 73; Pn843)

of

the average travel speed

of

the positioning, the continu-

• Parameter Details (Object Ox25)

Kp

(Object:

Use the Kp to set the position loop gain

If

this parameter is changed, the Position Loop Gain (Object: Ox66, Attribute: 52; Pn I 02) will

also be changed automatically.

Ox25,

Attribute: 30)

of

the SGDH. The setting unit is lis.

Position Deadband (Object: Ox25, Attribute: 38)

Use the Position Deadband to set the positioning completed range for setting the On-Target

Position in a response message. The setting unit is step.

4 -35

Parameter· Settings

4.3.5

Positioning

Parameters

If

this parameter is changed, the Positioning Deadband (Object: Ox64, Attribute: 90; Pn850)

will also be changed automatically.

Max

Dynamic Following Error (Object:

Ox25,

Attribute: 45)

Use the Max Dynamic Following Error to set the error pulse level SGDH. Ox25, Attribute: 47) will be set.

If also be changed automatically.

If

the error pulses

this parameter

.

is

changed,

of

position·loop exceed this value, the Following Error Fault (Object:

The

setting unit

the

Overflow Level (Object: Ox66, Attribute: 165; Pn505) will

ActualPo~

..

is

step.

Max

Follow!ng

I

Dynamic

Error

of

the position loop in the

,

Commanded

• Parameter Details (Object

position

Ox65)

,

Target

position

Positioning Deadband (Object: Ox64, Attribute: 90; Pn850)

Use the Positioning Deadband to set the positioning completed range, i.e., to determine

The

axis is On-Target Position.

0, no On-Target Position check will be performed

Current

value

that

is

changing

setting unit

is

step. When the Positioning Deadband is set to

..

End

Point

I

Coordinate

axis

if

the

x

Positioning

When the following condition is satisfied in the above Figure, the axis is viewed as being OnTarget Position .

• X = (End point - Current value. that is ctiangingi :5 P

Positioning Timeout (Object:

Use the Positioning Timeout to set the time for performing On-Target Position check. The set-

ting unit is ms. If, after the

completed range is not entered within the time set, an A9A Positioning Completion Error warning will be sent.

If

this parameter is set to 0, the check time becomes infinite.

Deadband

Ox64,

move

command distribution has been completed, the positioning

4-36

Attribute: 91; Pn851)

M&'7

fi

'66&#*4*.#

6-'.$

;;WWa;*fM

&&&+*

DeviceNet Communications

5&1

This chapter explains commands

Unit

using DeviceNet

5.1

Specifications and Configuration

5.1.1 Specifications

5.1.2 Control Configuration

communications.

to

and editing parameters

..............................

.......................

........

5.2 DeviceNet Communications Setting Switches

5.2.1 Rotary Switch Settings for Setting Node Address

5.2.2 Rotary

5.2.3 LED Indicators

Switch Settings for Setting Baud Rate

5.3 Command/Response Format

5.3.1 Command Format

5.3.2 Command Data Specifications

5.3.3 Response Format

.....................

.............................

...........

..........................

...............

..........................

5.4 Commands from the Host Controller

5.4.1 Positioning

5.4.2 Continuous Rotary Operation

5.4.3 Homing

5.4.4 Hard

5.4.5 Deceleration and

5.4.6 Emergency

5.4.7 Hardware Limit Operation

5.4.8 Software Limit Operation

................................

...................................

Stop Operation

........................

Stop Operation

....................

................

.............

..................

...................

.....

..

in

.

. .

.

. .

.

. .

. . . . . .

an

NS310

5-4

5-7

5 - 15

5-3

5-4 5-5 5-5

5-7

5-9

5 -

11

5 - 15

5

-16

5 - 18

5

-20

5 -

21

5 -

21

5 - 22

5

-23

5.5 Program Function

5.5.1 Outline

5.5.2 Command Blocks

5.5.3 Command Block Links

....................................

5

·1

....................

..........................

......................

.

. . .

5 - 24

5

-24

5 - 26

5 - 32

DeviceNet Communications

5.6 Changing Parameters and Command

5.6.1

DeviceNet Data Management. . . . . . . . . . . . . . . . . 5 - 34

5.6.2 Editing Parameters

5.6.3 Editing Command Blocks. . . . . . . . . . . . . . . . . . . . . 5 - 37

5.6.4 Organizing Data

Blocks

...

.'.'

. . . . . . . . . . . . . .

...

I.

• • • • • • • • • • • • • • • •

..

5 - 34

..

• • • • 5 - 35

5

-37

5

-2

5.1

·Specifications

and

Configuration

5.1

Specifications and Configuration

5.1.1

Specifications

Refer to DeviceNet Specification Release 2.0 for details

5.1.2 Control Configuration

An outline

slave devices

PLC

or

of

personal

not

specified in this manual.

the control configuration is given below. A maximum

can

be

connected

computer

to

one DeviceNet

Master.

DeviceNet

Master

of

63 NS310 Units

Module

or

other

SERVOPACK

Inverter

63

nodes

max.

Machine

(Manufactured by OMRON

or

1/0

Signals

eqUivalent)

5

-3

DeviceNet Communications

5.2.1 Rotary Switch Settings for Setting Node Address

5.2 DeviceNet Communications Setting Switches

x10

0 0 0 0 0

I

2 2 2 2 2 2 2 2 2 2 3 3 3 3

This section explains

the

switch

settings

required

for

DeviceNet communications.

5.2.1 Rotary Switch Settings for Setting Node Address

x1

0

I

2

3 4

5

6

7 8 9 0

I

2 3

4 5 6 7 8 9

0

I

2 3 4 5 6 7 8 9 0

I

2 3

Use the rotary switches (x

cycle the communications power to enable the settings.

The

node address

error

will

occur.

can

Select the node address table.

Node Address x 10 x1 Node Address x10 x1

0 3 4 34 6 8

I 3 5

2

3 3 7 4 5 3 9 39 7 3 Setting error 6 4 0 40 7 4 7 4 I 8 9 4 3

3 6

3 8

4

to 4 4 44 7 8

II

12 13 14 4 15 16 17 18 19

20 5 4 54 8 8 Setting 21

22 23 24 5 25 26 6 0 60 9 4 27 28 6 2 62 9 6 Setting 29 6 3 30 6 4 Setting 31

32 6 6

33

4 5 45 7 9 Setting error 4 6 46 8 0 4 7 47 8 I Setting

'4

5 0

-

5 I

.5

5 3

5 5 55 8 9 Setting 5

5 7 57 9

5

6 I

6 5

6 7

I,

x I 0) to set the DeviceNet node address.

be set between 0 and 63.

of

the NS310 Unit using the switch settings as shown in the following

.35

2 42

8 9

2

.6

8

9 59

error

Setting

error

Setting

error

Setting

error

36

37

38

41

43

48 49 50 51 52 53

56

58

61

63

If

you

make a setting outside this range, a setting

6 9 Setting

7

7 I 7 2

,

7 5 7

7 7

4

8 2 8 3 Setting

,

8 4 8 5 Setting 8 6 8 7 Setting error

9

9 2 9

9 5

9 7 Setting 9 8 Setting 9 9 Setting

---

0 Setting error

6 Setting

0

I Setting error

3

---

--- ---

After

making

Node Address

Setting

Setting Setting

Setting

Setting Setting Setting

---

the settings,

error

error error

error

error error error

error

5-4

5.2

DeviceNet

5.2.2 Rotary Switch Settings for Setting Baud Rate

Communications

Setting

Switches

Use the

DR

rotary switches to set the DeviceNet baud rate. After making the settings, cycle

the communications power supply to enable the settings.

Table

5.1

DR

0

I

2 500

3

to

9

5.2.3 LED Indicators

NS310 Units are equipped with two LED indicators, the Module Status indicator to indicate

Unit status, and the Network Status indicator to indicate the DeviceNet communications

the status.

LED

The

• Module Status (MS) Indicator

indicator specifications conform to DeviceNet communications specifications.

DR Se"ings

125

Kbps

250

Kbps

A

setting

Baud Rate

error

will

Se"lng

occur.

The MS indicator shows the status

Status Indicator

Communications Unit

is

operating

Unit

is

warming

Minor Unit

Major

Unit

is

perfonning self-diagnosis.

up.

failure.

power

supply

normally.

is

turned

of

the NS3 10 Unit.

OFF.

Refer to the alarm codes in Appendix C for details

or

indicator is either flashing red

lit red.

• Network Status (NS) Indicator

The

NS

indicator shows the status

Power

supply

is

turned

Status Indicator

OFF

or

Unit

of

DeviceNet communications.

is

not

online.

Not

Lit

green.

Flashes

Lit

Red

and

green

alternately.

of

the malfunction

lit.

green.

red.

flash

Not

if

the the Module Status

lit.

Unit

is

online,

but

is

not

connected

Flashes

to

the

Master

device.

5

-5

green.

DeviceNet Communications

5.2.3 LED Indicators

Status Indicator

Unit is online.

Connection A

fatal

to

error

and

is connected to the Master device.

the

Master

device

has

timed

has

occurred

in

DeviceNet

:,

out.

communicati~ns.

,

Lit

green.

Flashes

Lit red.

red.

5 -6

5.3 Command/Response Format

This

section

explains

command/response

messages.

5.3 Command/Response Format

Byte

0

I

2

3

4

5.3.1

Command Format

This section explains command messages sent to the

The following table shows the data format the Master device.

Command messages consist

Bit 7

Enable

and byte in byte 2.

Valid

Axis

0 holds bit unit commands. Bytes 4 to 7 store data that depend on the command

Table S.2 Command Message Format

Bit 6

Data

Instance (001)

Instance

(001)

BitS

Hard

Stop

NS31 0 Unit from the Master device.

of

command messages sent to the NS31 0 Unit from

of

8 bytes. Bytes 0 to 3 have the same format for all commands,

Bit 4

Smooth

Stop

Block

Data

Bit3

Direction

(V

mode)

Number

Low Byte

Bit 2 Bit 1 BltO

Absolute! Start

Incremental

Command

Response

Code

Block

Start

Trajectory

code

Data

Low

High

Data

Middle Byte

High

Byte

5

6

7

Data

• Start Trajectory

Use the Start Trajectory command to start a move operation. below, start the move operation by changing the command bit from

• Positioning command (Code =

• Continuous Rotor Speed command (Code =

• Homing command (Code = Ox12) Alarm Clear command (Code = OxIE)

•

The NS31 0 Unit detecls the command using the rising edge from 0 to I,

if

continue even To

stop the move operation before it have been completed, set the Smooth Stop command bit

or Hard

Stop command bit to

the command bit

OxOI)

is

reset during travel.

I.

5

-7

Oxll)

For

the command codes given

0 to I.

so

the operation will

DeviceNet Communications

5.3.1 Comman.d Fonnal

• Start Block

Use the Start Block command to execute the command block slored in the NS310 Unit.

setting

this

command

that have been registered in advance.

Refer to 5.5.2 Command Blocks for command

bit

to

1,

you

~an

execute

commands

blo,ck

details.

acco,rding

to

the

command

• Absolute/Incremental

Use the AbsolutelIncremental command to specify. whether the value stored in bytes 4 to 7 Trajectory command

0: Absolute position

I: Incremental position

is

the absolute position or incremental. This data is enabled when the Start

is

set to

I.

of

the target position data

• Direction

Use

the

Direction

shaft when the rotary mand code (Command Code) is set to Continuous Rotary Operation (Code:

command

to

specify

is

running continuously. This command is only enabled when the com-

the

rotor

direction

as

viewed

from

the

motor

Oxll).

, ,

0: Reverse direction, negative direction, counterclockwise

I

1:

Forward

direction, positive direction, clockwise

side

By

blocks

of

the

• Smooth Stop

Set

this command bit to I to stop travel at the current deceleration setting. The Valid

not affect this command bit.

• Hard Stop

Set

this command bit

Data does not affect this command.

to

I to stop movement using the maximum deceleration speed.

• Valid Data

The NS310 Unit refreshes the command code,

ceived only when the

or Hard Stop) are refreshed regularly regardless

Stop,

0: Data disabled

I: Data enabled

When the message will be cleared.

Valid Data

Valid Data command has been set. Commands in byte 0 (Enable, Smooth

in

a command message is

Data

The

re~ponse

sei

code, and command data it has re-

of

the Valid Data command status.

to 0, the Command Error in the response

does

Valid

5

-8

• Enable

5.3

CommandIResponse

Format

The Enable command controls the servo ON and OFF. The status

is

constantly effective (i.e., rising edge detection er

the servo is to be ON.

0:

Servo OFF

I:

Servo

ON

not performed) and it must be set to I whenev-

• Block Number

Specify the block number from which the command blocks start.

• Axis Instance

Set

the

axis

number.

Always set

the

axis

instance

to

1,

or

• Command Code

The command code defines the command data

Command

Code

0.00

0.01

NOP

Target

0.02 Target

position

speed

in

bytes 4 to 7.

Definition

a command

---

DINT DINT

of

this command bit is

error

will

occur.

Data

Type

(4

bytes)

(4

bytes)

0.03

0.04

0.05

to

0.10

0.11

Oxl2

0.13

to

0.1D Reserved

O.IE

OxlF

Acceleration

Deceleration Reserved Continuous

Homing

Alann

clear

Reserved

• Response Code

The

response code specifies the current position, current speed, and other data included in the

response message. Refer to 5.3.3

Response

• Command Data

Set the data defined for the command code.

5.3.2 Command Data Specifications

rotor

type

speed

Format.

DINT DINT

---

DINT

USINT

---

BOOL

---

(4 (4

(4

(I

bytes) bytes)

bytes)

byte)

The command data specifications are given below.

5 -9

DeviceNet Communications

5.3.2

Command

Data

Specifications

•

NOP

This code has no meaning.

(Code =

OxOO)

• Target Position (Code =

Use the Target Position command to set the target position. The setting unit is step. This setting data is enabled when the Valid Data Flag is set to I. The positioning starts when the Start Trajectory command is set to 1 after the Target Position setting has been made (both are possible simultaneously).

How the Target Position is handled depends on the AbsolutelIncremental setting, as shown be-

low.

1.

AbsolutelIncremental = 0 (Absolute position),

If

the current position is +200 and the command data is +300, the target position will

+300.

2. AbsolutelIncremental = I (Relative position) ,

If

the current position is

+500.

• Target Speed (Code =

Use the Target Speed command to set the target sPeed

step/so This setting data is enabled when the Valid Data Flag is set to

always has a positive value.

Ox01)

,

.,

+200

and the command data is +300, the target position will

, .

Ox02)

of

the positioning.

The

1.

Make sure this data

setting unit is

be

• Acceleration (Code =

Use the Acceleration command to set the operation, and homing. The setting unit is step/s2. This setting data is enabled when the Valid

Data Flag is set to I. Make sure this data always has a positive value.

• Deceleration (Code =

Use the Deceleration command to set the deceleration

operation, and homing. The setting unit is step/s2. TIns setting data is enabled when the Valid Data

Flag is set to I. Make sure this data always has a positive value.

• Continuous Rotor Speed (Code =

Use the Continuous Rotor Speed command to set the target speed eration. This setting data is enabled when the Valid Data Flag always has a positive value. The direction

• Homing Type (Code =

Use the Homing Type command to set the homing iype. This setting data is enabled when the Valid Data Flag is set to

I.

Ox03)

Ox04)

Refer

Ox12)

to

5.4.3

acceler~tion

of

the positioning, continuous rotary

of

the positioning, continuous rotary

O~11)

of

the continuous rotary op-

is

set to

1.

Make sure this data

of

rotation is determined by the DIR signal.

Homing

for the homing types.

5 -10

5.3

Command/Response

Format

Byte

4

5

6

7

Byte

4

5

6

7

BI17

0

BI16

I

•

Alarm

Use the Alarm Clear command to clear the NS31 0 Unit and bit to Unit and

Clear (Code =

I,

the Valid Data Flag, and then the Start Trajectory command bit. Alarms in the NS3 10

SaDH

BI16

0

I

BI15

I

BI14

Ox1

will

be

cleared on the rising edge

Bil5

0 0 0

Bil4

1

Homing

OxOO

E)

OxOO

BI13

Type

BI13

Bil2

I

SaDH

of

the start trajectory bit.

I

alarms. Set the Alarm Clear

Bil2

0 0 Alarm Clear

BI11

I

BilO

Bil1 BilO

5.3.3 Response Format

This section explains the response messages from the NS31 0 Unit to the Master device.

The following table shows the data format the Master device.

Response messages consist

from the Master

data that depend

Table 5.3 Response Formal

Byte

0

I

2

3

Bil7

Enable State

Command

Error

Bil6

Valid

Block Fault

Axis

Instance (001) Response Code

Data

device.

on

the response

BilS

Home

Flag

Trajectory

Start Echo

of

response messages sent from the NS310 Unit to

of

8 bytes. Bytes 0 to 3 have the sarne format for all commands sent

Byte

0 and

byte 2 show

code

in byte 3.

Bil4

Emergency Alarm

Stop Input Position

Executing Block Number

Negative Software

Limit Limit

the

Unit

status using bits.

BI13

Positive CCW

Software

BI12

On

Target Block

Hardware

Limit Limit

Bytes

BI11

In

Execution

CW

Hardware

Trajectory In

Servo Ready

4 to 7 store

BIIO

Progress

4

5

Data Low Byte

Data Low Middle Byte

5

-11

DeviceNet Communications

5.3.3 Response Format

Byte BI17

6

7

•

I

BI16

I

Bit

5

I

Bil4

Data

High

Data

BI13

I

Middle Byte

High

Byte

I

Bil2

I

Bit

1

I

• Trajectory In Progress

This bit is set to 1 during a positioning, continuous rotary operation, Data Flag and Start Trajectory command bits are:received from the Master device, operation

1.

is started and this bit is set to

The bit is set to 0 :when the operation has been completed.

or

homing. When the Valid

• Block In Execution

This bit is set

is

set 10 0 when the block commands have been completed or

It

curs.

On

Target Position

This bit is set to 1 when the current position is

Deadband depends on the setting to

Chapter 4 Parameter Settings for details.

to'l

when executing block commands due to

ofthe

Position Deadband (Object:

Ii

Start Block command being sent.

it

~rthin

the Position Deadband.

block error (block fault) oc-

The

Ox25,

Attribute: 38). Refer

BIIO

Position

• Alarm

This bit is set to I Alarm Clear command.

if

an alarm occurs in the NS31 0 Unit

or

SGDH. To clear an alarm, use the

• Emergency Stop Input

This bit is used to monitor the emergency stop signal

•

HomeFlag

This bit is set to I when the home position signal o'f the SGDH is Active.

of

the SGDH.

• Valid Data

This bit is set to 1 after the Valid Data has been set to I, in a command message from the Master

device, to notify the Master device that the command has been received normally. When the

Valid Data sent from the Master device has been set, the NS310

if

there is no problem with the contents, the Valid Data bit is set to 1 in the response mes-

and

sage.

If

there is an error in the command data, the, Command Error is set to

Data is also set to 1

at

the same time.

Unit checks the command data,

I,

and the Valid

• Enable State

This bit is set to I when the SGDH servo is ON.

will ignore a Start Trajectory command even

bit is set to I before sending a Start Trajectory command.

5 -12

If

the SGDH servo is OFF, the NS310 Unit

if

one is received. Consequently, be sure that this

5.3

Command/Response

• Servo Ready

This bit is set to I when the SGDH servo can be turned ON.

• CW Hardware Limit

This bit is set to I when the current position reaches the hardware limit in the clockwise (CW)

direction.

• CCW Hardware Limit

This

bit

is

set

to

1 when

the

current

position reaches

(CCW) direction.

the

hardware

limit

in

the

counter-clockwise

• Positive Software Limit

This bit is set to I when the positive software limit is exceeded. Set the positive software limit position using the

Positive Software Limit Position (Object: Ox25, Attribute: 54).

Format

• Negative Software Limit

This bit is set to I when the negative software limit is exceeded. Set the negative software limit position using the Negative Software Limit

Position (Object: Ox25, Attribute 55).

• Trajectory Start Echo

This bit is set to I when a Start Trajectory command is received normally from the Master device. By checking this bit, the Master device can check from the

NS310 Unit.

if

a command was received normally

• Block Fault

This bit is set to I

tion will be stopped.

if

an error occurs during a block operation.

If

an error occurs, the block opera-

• Command Error

This bit is set to I command error, set the Valid Data Flag to

if

an error occurs

in

the command data in a command message. To clear the

0 in the command message.

• Response Code

The Response Code defines the response data in bytes 4 to

7.

Response

OxOO OxOl Ox02 Ox03

Code

NOP

Current Command Current

5

-13

DefinitIon

position

speed

---

DINT DINT

DINT

(4 (4

(4

Data

bytes) bytes)

bytes)

Type

DeviceNet Communications

5.3.3 Response Format

Response Code Definition Data

Ox04

"to

Ox11

Ox

10

to

OxlE

OxlF

OxOF

OxID

Reserved

Alarm

code

Reserved

,

---

DINT

(4

bytes)

,

---

-'

Type

5 -14

5.4 Commands from the Host Controller

5.4

Commands

from

the

Host

Controller

5.4.1

Positioning

Positioning can

• Using Commands

1. To change the current attribute settings, set the motion profile attributes, such as target speed, acceleration, and deceleration.

2. Use the AbsolutelIncrementai bit in the command message to specify whether the target

position

3.

Set the

4. Set the Valid

command to I at the

5. When the positioning starts, the Trajectory In Progress bit in the response message is set

to I. When the reference pulses to the target position have been distributed, this bit is set

O.

to

Example

be

perfonned to specified target positions.

setting

Command

is

an

absolute

Code

Data

Flag to I in the command message, and then set the Start Trajectory

to

I.

You can set both the Valid

same

time.

of

Positioning Command Messages

•

In this example, the settings are as follows: Absolute position with a target position

or

relative

(OxOI)

and the target position in the command message.

position.

Data

of

128,000 steps (=

Flag and the Start Trajectory command

OxOOOIF400).

Byte

0

I

2

3

4

5

6

7

BII7

I

Enable

The

NS310 Unit assumes that data, such as the target position,

Flag in the

command

message

is

set to

I.

Consequently, set bytes I

o.

Bit

001

Valid

Axis

6

I

Data

Instance

BI15

0 0 0 0 0 I

Hard

Stop

OxF4

OxOI

Oxoo

Target

Oxoo

Bil4

Smooth

Stop

Target

Position Low Middle Byte

Position

Target

5

-15

BI13

Direction

(V

Mode)

Oxoo

Position Low Byte

High

Middle Byte

Position

High

BI12

Absolute! Start

Incremental

0001

Command Code

0003 Response

Byte

is

valid when the Valid Data to

7 first, and then set byte

BI11

Block

Code

BilO

Start

Trajectory

DeviceNet Communications

5.4,2 Continuous Rotary Operation

I

IMPORTANT

5.4.2

,i

I I

A1'

Motor

Speed

Enable

Start Trajectory 0

Trajectory In 1

Progress 0 . ! . • . .

Command Code I

Command Data,

1.

If

an

I

2.

rotary

Be

sure

bit.

If

tory

alann

you

command

Continuous

t ! I

o

1

occurs,

operation,

that

theEnable

t~m

ON

Rotary

1

LI-_++-,

1-

r-:

-~l!---i,--i,--iI--1I--1i-'L-"f-L--

'I'

I

O~

V1

homing.

will

-t'",:",

" , -

i'

i I ! ' , ! I I I I

I I 03h I I

the

servo

etc.), positioning

State bit

theEnable

be

ignored.

!::

___

'I,'<-'

---+'+1

"-11-

,

''''

I i - , (,-+\ -,MI--+----i--t--+-'I+\-t I

~

A1

is

OFF,

or

in

the response message is

command

and

01

another

wiJI

the

I

operation

be

Start

Trajectory

Operation

!

;..

..

II

--11'--+) -

r:n-,'

i

~

em

~ommand

disab!ed.

set

to

1,

and

command

I

ii,"

,i

is

then

iV1

1

,P1

1

+1

--+--+---+'1'"

being

perfonned

set

the

at

the

01

I'

+-,+---1

'-,'I,'

'~

(e.g.,

continuous

StartTraject~ry

same

time, the

command

StartTrajec-

"Iii

This command perfonns the continuous rotary operation

• Using Commands

1. To change the current attribute settings,

tion

and

deceleration.

2.

Set

the Direction in the command message,

3.

Sellhe

4.

Set command to to I at the same lime,

5.

When

message

6. During

direction will change the speed and direction rotation speed mand

7. To stop the continuous rotary operation. stop

Command Code

the Valid Data Flag

1.

You can set both the Valid Data Flag and the Start Trajectory command

the continuous rotary operation starts, the TrajeCtory In Progress bit in the response

is

set to

the

continuous

or

to

1.

the continuous rotary operation by setting the continuous rotation speed to 0,

(Oxll)

and Continuous Rotation Speed in

10

I in the command message, and then

1.

rotary

operation,

direction, make sure to

changing

at

a fixed speed,

sellhe

motion profile altributes, such as accelera"

the

command message,

set

the Start Trajectory

the

continuous rotation speed

of

the motor, When changing the continuous

set

the Valid Data

set

Smooth Stop

Flag

and Start Trajectory com-

or

Hard

Stop

attribute, You can

or

rotation

• Example of Continuous Rotary Operation Command Messages

In this example. the settings are as follows: Clockwise rotation with a target speed

5,,16

of

8,000 reference units/s

(;"

OxOOOIF40),

Yaskawa JUSP-NS310 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual