Yaskawa Siemens CNC Series: Maintenance Manual Serviceman Handbook
Yaskawa Siemens CNC Series: Maintenance Manual Serviceman Handbook
Yaskawa Siemens CNC Series: Maintenance Manual Serviceman Handbook
Maintenance Manual
Serviceman Handbook
This manual is intended for both of Yaskawa Siemens 840DI and Yaskawa Siemens 830DI.
In this manual, the functional differences of these two models are not taken into account in
its description, thus please refer to the catalog (MANUAL No.: NCKAE-PS41-01) for
available basic functions and possible optional functions of each model.
Safety-related symbol marks
The following symbol marks are used in this manual to draw special attention to safety
information.
The information next to these symbol marks is important for safety and thus must always be
followed.
Indicates activities that could result in a dangerous condition, including death and
WARNING
serious injury, if done wrongly.
Indicates activities that could result in a dangerous condition, including major and
CAUTION minor injury, or in damage to objects, if done wrongly.
It is noted that those activities as indicated by the CAUTION symbol mark could even
result in death or serious injury if done wrongly in a worst-case situation.
Indicates what you must not do. For example, the mark means that you must
PROHIBITED
not make or use a fire here.
Indicates what you must do unconditionally. For example, the ground mark
MANDATORY
means that you must always ground the object you are working with.
iii
Icons
Icons
The following icons are used as necessary throughout this manual to categorize description
next to them:
Indicates what you must always keep in mind. If the instruction were not fully followed, an
IMPORTANT
error could occur that might not damage a machine or other objects but would result in an
alarm.
Indicates additional information or what you should keep in mind for better efficiency.
INFO
Indicates unfamiliar technical terms or those not defined in the text. Description of such
TERMS terms will follow.
iv
Table of Contents
Table of Contents
Safety-related symbol marks.........................................................................iii
Icons............................................................................................................. iv
Table of Contents .......................................................................................... v
Outline of this manual...................................................................................xii
Related manuals ..........................................................................................xii
How to use this manual ............................................................................... xiii
Trademarks ................................................................................................. xiii
Safety precautions.......................................................................................xiv
Warning labels...........................................................................................xxiv
Part 1 Hardware
Chapter 1 System Configuration ....................................1-1
1.1 System configuration...................................................................1-2
1.1.1 General wiring drawing............................................................................... 1-2
1.1.2 List of system components ......................................................................... 1-4
v
Table of Contents
Part 2 Software
Chapter 6 Software configuration ..................................6-1
6.1 System software components..................................................... 6-2
6.2 Data types................................................................................... 6-3
6.3 Service screen directories........................................................... 6-4
vi
Table of Contents
Part 3 PLC
Chapter 8 General programming notes .........................8-1
8.1 LAD/FBD/STL compatibility.........................................................8-2
8.2 Program structure........................................................................8-3
8.3 Address structure ........................................................................8-4
8.3.1 Address symbols ........................................................................................ 8-4
8.3.2 Bit address.................................................................................................. 8-4
8.3.3 Addressing of input, output, bit memory, and data bits............................... 8-5
8.3.4 Addressing of timers and counters ............................................................. 8-5
vii
Table of Contents
viii
Table of Contents
12.2 Application.............................................................................12-17
12.2.1 Alarm Trace Back Mode .......................................................................12-18
12.2.2 Clearing the alarm trace back data.......................................................12-19
12.2.3 Checking the motor type.......................................................................12-20
12.2.4 Checking the software version .............................................................12-22
12.2.5 Origin searching mode .........................................................................12-23
12.2.6 Initializing the user constant setting value ............................................12-24
12.2.7 Manual zero adjustment and gain adjustment for analogue
monitor output ......................................................................................12-25
12.2.8 Motor current detection signal offset adjustment..................................12-28
12.2.9 Setting the password (setting for write prohibit) ...................................12-30
ix
Table of Contents
x
Table of Contents
xi
Outline of this manual
■ This manual is a handy book for use by those who are familiar with the NC machine
tool Yaskawa Siemens YS 840DI (hereafter called YS 840DI) and are responsible
for its operation, maintenance or setup.
■ As a handy book, this manual may not contain basic information or technical details.
For such basic or detailed information, refer to the related manuals as listed below.
Related manuals
■ Related manuals are listed below, which you should read as necessary along with
this manual.
■ Read all related manuals to grasp the specifications and any usage constraints of
the control/operation panels before attempting to operate them.
xii
How to use this manual
■ Target group
This manual is intended for those who are responsible for:
• manufacturing, inspection, trial run and tuning, or servicing of YS 840DI control panels, operation
panels, and other related units and devices.
■ Low-active signals
In this manual, low-active signals are indicated by the slash symbol (/) followed by their
name. For example:
• /S-ON for a low-active signal of S-ON
• /P-ON for a low-active signal of P-ON
Trademarks
xiii
Safety precautions
Safety precautions
Listed below are important safety precautions that you must always follow when using the
product. Read and fully understand this manual and other related manuals before attempting
to install, operate, maintain, or service the product. The safety precautions and the
knowledge of the product are indispensable for the safety of yourself and the product.
■ Handling
CAUTION
PROHIBITED
• Do not handle the product in such places where it could get wet from rain
or water drops, or where harmful gas or liquid is present.
Otherwise injury or damage could result.
■ Storing
PROHIBITED
• Do not store the product in such places where they could get wet from rain
or water drops, or where harmful gas or liquid is present.
Otherwise damage could result.
• Do not let the packaged product fall from heights more than 60 cm.
Otherwise damage could result.
xiv
Safety precautions
MANDATORY
■ Installing
CAUTION
• Install the product such that its air intake or discharge opening is not
blocked by a wall or other objects and that foreign matter would not get
into the opening.
Otherwise a fire or damage could result.
• When installing, take care not to subject the product to a strong shock.
Otherwise damage could result.
• The electric power supplied to the product must be sufficient satisfying its
power requirements.
Otherwise malfunction could result.
• The power requirements of the 24 VDC external power supply unit supply-
ing input/output contacts depend on the number of the contacts they sup-
ply.
If necessary to provide enough power, install an additional external power supply
unit.
• The motors have their flanges and shaft ends coated with rustproof agent.
Remove the agent with a cloth before installing the motors.
• When coupling a motor with a machine, well align the motor with the
machine.
Failing to do so could cause vibration, resulting in injury or damage.
xv
Safety precautions
CAUTION
xvi
Safety precautions
■ Wiring
WARNING
CAUTION
xvii
Safety precautions
CAUTION
xviii
Safety precautions
MANDATORY
• The grounding wire from each unit must be connected to the enclosure or
the grounding plate directly.
S.V
200 VAC
U
LF V M
W
E
CN PG
CN
E
Enclosure
Operation relay
sequence
LF AVR
Single-point grounding
(Ground resistance 100 Ωor less)
xix
Safety precautions
■ Operating
WARNING
CAUTION
xx
Safety precautions
CAUTION
• Do not touch the heat sinks, as they can get very hot.
Otherwise a burn could result.
• Confirm that the speed limits of the motors are compatible with the
inverter settings before operation.
Otherwise injury could result.
• Do not measure the signal voltages during operation.
Otherwise damage could result.
• The inverters are already set at the factory. Do not change the settings
unless you know exactly what you are doing.
Otherwise damage could result.
MANDATORY
• When switching on the main power, ensure that at least 2 seconds have
elapsed after the last switching-off operation.
Otherwise malfunction could result.
PROHIBITED
xxi
Safety precautions
■ Maintaining
WARNING
CAUTION
■ Others
WARNING
xxii
Safety precautions
■ General notes
• Illustrations and drawings in this manual may show parts with their cover or
safety shield removed so that inside details can be seen. Regardless of the
drawings, the products must always be operated according to the manual with
all the covers and shields installed in place.
• Illustrations and photos in this manual represent typical configurations, and
may not exactly represent the products delivered.
• This manual is subject to change to reflect modification or specification change
to the product or to make it easier to read. An updated document No. means a
new version of this manual.
• If you need additional copies of this manual to replace damaged or lost ones or
otherwise, please order from the nearest sales office indicated on the back
cover referring to the document No. printed on the front cover of this manual.
• If the nameplate on the products is defaced or damaged, order a new one from
your dealer or the nearest sales office indicated on the back cover of this man-
ual.
• Yaskawa Siemens would not guarantee the quality of the product modified by
the customer. Yaskawa Siemens is not responsible for any injury or damage
due to the product modified by the customer.
xxiii
Warning labels
Warning labels
Warning labels are attached to the product to draw special attention. Always follow the
instructions. The locations and meanings of the warning labels are as follows:
■ Warning label 1
supply.
下さい。
・Read manual before installing.
・Wait 5 minutes for capacitor discharge after
disconnecting power supply.
■ Warning label 2
SERVOPACK
YASKAWA
200V
SERVOPACK
SGDK-75AEA
200V
CN5
A/B
SW1
CHARGE RDY
CN1
CN6
CN2
xxiv
Warning labels
■ Warning marking
SERVOPACK
YASKAWA
200V
SERVOPACK
SGDK-75AEA
200V
CN5
A/B
SW1
CHARGE RDY
CN1
CN6
CN2
xxv
Part 1
Hardware
Chapter 1
System Configuration
1-1
System Configuration
1.1.1 General wiring drawing
The following drawing shows how wiring is made between the components of the YS 840DI
system:
Terminating connector
Yaskawa Siemens 840DI
Operation panel unit (color LCD) CN7B CN5B
OP10FS(Standard type) CNC Unit PCU50 PN
CN28
POWER
OP10FT(Touch-panel type)
PG(Serial)
Ethernet CN22
PG(Pulse)
PS/2 MOUSE Servo unit CN24 6th motor
(2-axis servo)
USB PS/2 Keyboard
SGDK- Separately
USB POWER
mounted PG
CN18
VGA PG(Serial)
Direct IN CN1 CN12
Braking circuit for the PG(Pulse)
COM1(25pin) RS232C(D-sub25pin) 5th and 6th axes CN14 5th motor
PN
IO-USB Cable CN7A CN5A
COM2(9pin) RS232C(D-sub9pin) Separately
mounted PG
Display cable
LPT1 PC
Keyboard cable PC card drive
CARD CN7B CN5B
PN POWER
24 VDC CN28
X121 HNDLE PG
PG(Serial)
CN22
NC keyboard Servo unit CN24 PG(Pulse)
4th motor
Attached to OP10F□ NC ready (output)
(2-axis servo)
Emergency stop (input) SGDK- Separately
mounted PG
POWER
CN18
24 VDC Braking circuit for PG(Serial)
X1(24 VDC IN) the 3rd and 4th axes
CN1 CN12
PG(Pulse)
PROFIBUS-DP CN14 3rd motor
X101 PN
MPI CN7A CN5A
X111 Separately
mounted PG
CN7B CN5B
Machine operation panel PN
OP032S MPI
X20 Converter
CIMR-
24 VDC MRXN
PROFIBUS-DP
X10 CN9
Emergency stop/start
condition
CN1
200 VAC A1,A2
PROFIBUS-DP PROFIBUS-DP 200 VAC
L1,L2,L3 CN5A
Machine panel I/O module Machine panel I/O module
X2 PP Module X2 PP Module
Terminating connector
24 VDC Terminating connector
X1 X1
X333 X222 X111 X333 X222 X111
CN7B CN5B
PN
Machine operation panel
24 VDC input/output 24 VDC
Servo unit
PROFIBUS-DP (1-axis servo)
* From external power supply
I/O module SGDK-
PS307
POWER
Direct IN
CN8
Braking circuit for PG(Serial)
CN1 CN2
the 2nd axes PG(Pulse)
CN4 2nd motor
24 VDC Machine input/ PN
24
VDC output CN7A CN5A Separately
200 VAC mounted PG
* From external power supply
I/O module
PS307 CN7B CN5B
Digital I/O module PN
(6ES7321/322/323)
Servo unit
24 VDC Machine input/ (1-axis servo)
24
VDC output SGDK- CN8
POWER
Interface module(ET200M) Braking circuit for PG(Serial)
I/O module PROFIBUS-DP * From external power supply the 1st axes
CN1 CN2
power supply PG(Pulse)
CN4
PN 1st motor
CN7A CN5A Separately
mounted PG
CN7B CN5B
PN
Inverter
CIMR-
MXN
POWER
U,V,W,E
PG(Pulse or
separately mounted)
CN1 CN4
PG(Serial) Spindle motor
CN2
PN
CN7A CN5A
Bus bar
CN7B CN5B
PN Terminating Interface cable
connector
Converter Control power cable
Power backup
battery CIMR-
UPS BATTERY MRXN
PROFIBUS-DP
CN9
Emergency stop/start
condition
CN1
200 VAC
A1,A2
24 VDC
Power backup 24 VDC
200 VAC Power module 200 VAC
module L1,L2,L3 CN5A
PS module 10
UPS module 10
Bat Reactor Terminating connector
* Machine input/output
SVM
Circuit breaker
24 VDC External power 200 VAC 200 VAC 200 VAC
Line filter
supply 50/60Hz
1-2
1.1 System configuration
1-3
System Configuration
1.1.2 List of system components
Designation/Catalog
Category Function Name Specifications/Remarks
number
YS 840DI CNC unit PCU50 6FC5220-0AB00-1AA0
Operation panel OP010FS 6FC5203-0AF10-0AA0 Standard type
OP010FT 6FC5203-0AF11-0AA0 Touch panel type
NC keyboard OP010F □ − Attached to operation panel
Machine control Machine control panel OP032S 6FC5203-0AD10-1AA Optional
panel
PC card drive PC card drive PCMCIA extension card slot from 6FC5235-0AA06-0AA0 Optional
PCU50 parallel port
I/O module Machine control panel PP module 6FC5611-0CA01-0AA0 72 inputs/48 outputs
I/O
Interface module ET200M 6ES7153-1AA03-0XB0
I/O power supply PS307(2A) 6ES7307-1BA00-0AA0 2 A output at 24 VDC
module
PS307(5A) 6ES7307-1EA00-0AA0 5 A output at 24 VDC
PS307(10A) 6ES7307-1KA00-0AA0 10 A output at 24 VDC
Digital input module SM321(DI32 × 24 VDC) 6ES7321-1BL00-0AA0 32 inputs at 24 VDC
SM323 (DO8 × 230 VAC relay) 6ES7322-1HF00-0AA0 16 relay outputs at 230 VAC
Dummy module DM307 6ES7370-0AA01-0AA0 Dummy module
Power supply Power supply module PS module 10 6ES1334-2BA00 24 VDC/10 A output
module
Power supply backup UPS module 10 6EP1931-2EC01 24 VDC/10 A output
module
Power supply backup UPS BATTERY 6EP1935-6MD11 3.2A/h
battery
SERVOPACK Converter 45 kW converter CIMR-MRXN20455A
37 kW converter CIMR-MRXN20375A
30 kW converter CIMR-MRXN20305A
22 kW converter CIMR-MRXN20225A
1-4
1.1 System configuration
Designation/Catalog
Category Function Name Specifications/Remarks
number
SERVOPACK Converter 18.5 kW converter CIMR-MRXN20185A
(continued)
15 kW converter CIMR-MRXN20155A
11 kW converter CIMR-MRXN20115A
7.5 kW converter CIMR-MRXN27P55A
5.5 kW converter CIMR-MRXN25P55A
3.7 kW converter CIMR-MRXN23P75A
Inverter 37 kW inverter CIMR-MXN20375A
30 kW inverter CIMR-MXN20305A
22 kW inverter CIMR-MXN20225A
18.5 kW inverter CIMR-MXN20185A
15 kW inverter CIMR-MXN20155A
11 kW inverter CIMR-MXN20115A
7.5 kW inverter CIMR-MXN27P55A
5.5 kW inverter CIMR-MXN25P55A
3.7 kW inverter CIMR-MXN23P75A
1-axis servo unit 0.5 kW servo unit SGDK-05AEA
1 kW servo unit SGDK-10AEA
1.5 kW servo unit SGDK-15AEA
2 kW servo unit SGDK-20AEA
3 kW servo unit SGDK-30AEA
5 kW servo unit SGDK-50AEA
6 kW servo unit SGDK-60AEA
7.5 kW servo unit SGDK-75AEA
2-axis servo unit 0.5 kW × 2 servo units SGDK-0505AEA
1-5
System Configuration
1.1.2 List of system components
Designation/Catalog
Category Function Name Specifications/Remarks
number
Bus bar Bus bar JZSP-CGB02-1 For connection inside a 250-
mm wide unit
JZSP-CGB02-2 Between 250- and 150-mm
wide units
JZSP-CGB02-4 Between 250- and 75-mm
wide units
JZSP-CGB02-3 Between 150- and 150-mm
wide units
JZSP-CGB02-5 Between 150- and 75-mm
wide units
JZSP-CGB02-6 Between 75- and 75-mm
wide units
JZSP-CGB02-7 Between 150- and 250-mm
wide units
JZSP-CGB02-8 Between 75- and 250-mm
wide units
JZSP-CGB02-9 Between 75- and 150-mm
wide units
Local bus cable JZSP-CNS90-1 Between 250- and 150-mm
wide units, between 150- and
150-mm wide units, and
between 75- and 150-mm
wide units
JZSP-CNS90-2 Between 250- and 75-mm
wide units, between 150- and
75-mm wide units, and
between 75- and 75-mm
wide units
JZSP-CNS90-4 1 m long between upper and
lower units
JZSP-CNS90-5 Between 150- and 250-mm
wide units, and between 75-
and 250-mm wide units
Control power cable JZSP-CNB00-1 Between 250- and 150-mm
wide units, between 150- and
150-mm wide units, and
between 75- and 150-mm
wide units
JZSP-CNB00-2 Between 250- and 75-mm
wide units, between 150- and
75-mm wide units, and
between 75- and 75-mm
wide units
JZSP-CNB00-3 1 m long between upper and
lower units
JZSP-CNB00-4 Between 150- and 250-mm
wide units, and between 75-
and 250-mm wide units
Terminating connector JZSP-CNS90-9
AC reactor Reactor UZBA-B150A 0.07mH For a 45 kW converter
For a 37 kW converter
For a 30 kW converter
For a 22 kW converter
For a 18 kW converter
1-6
1.1 System configuration
Designation/Catalog
Category Function Name Specifications/Remarks
number
AC reactor Reactor For a 15 kW converter
(continued)
For a 11 kW converter
For a 7.5 kW converter
For a 5.5 kW converter
For a 3.7 kW converter
PROFIBUS-DP PROFIBUS-DP Vertical-connection type connector 6ES7972-0B □ 11-0XA0 □ indicates whether a PG
related connector port is available.
(A) means not available, and
(B) means available.
PROFIBUS-DP 35-degree-connection type connector 6ES7972-0B □ 40-0XA0 □ indicates whether a PG
connector port is available.
(A) means not available, and
(B) means available.
PROFIBUS-DP Horizontal-connection type connector 6GK1500-0EA0 For a converter
connector
PROFIBUS-DP cable Stranded-wire cable 6XV1830-3EH10
Others Manual pulse Handle PG OSM-01-2GA-15
generator
Braking power supply BK unit OPR-109A For 200 VAC
unit
OPR-109F For 100 VAC
1-7
System Configuration
1.2.1 SERVOPACK designations
Converter
Inverter
CIMR - MX N 2 030 5 A
Revision symbol
Series identifier
1-8
1.2 Meanings of component designations
Servo unit
SGDK - 75 - A E A
or
Basic specification(A only)
3030 Communication command
(E only)
Series identifier
Supply voltage
Rated output (see the table below) A:2000 V
1-9
System Configuration
1.2.2 Servo motor designations
SGMKS - 05 A 2 A 2 S
Servo motor capacity ( kW) Brake and oil seal specifications
1: No brake nor oil seal
Symbol SGMKS S: With oil seal
1500min -1
B: With 90 VDC brake
05 0.45 C: With 24 VDC brake
09 0.85 D: With oil seal, with 90 VDC brake
13 1.3 E: With oil seal, with 24 VDC brake
20 1.8
30 2.9 Shaft-end specification
44 4.4
Symbol Specification SGMKS
55 5.5
2 Straight, with no key ◎
75 7.5
3 1/10 tapered, with a parallel key ○
6 Straight, with a key and a tap ○
Design category
A: SGMKS (400% peak torque)
B: SGMKS (standard peak torque)
Voltage
A : 200 V
1-10
1.2 Meanings of component designations
UA K A - 30 A Z 1
Shaft-end specification
AC spindle motor
N: No key
Blank: With a key (standard)
Encoder specification
Winding type
Z: With an origin
A: Single winding (standard)
N: No encoder
Design category
50% ED output
A: Standard
30: 30 kW
1-11
System Configuration
1.2.3 Spindle motor designations
1-12
Chapter 2
Installing the control panels
This chapter describes how to install the components of the YS 840DI system.
2-1
Installing the control panels
2.1.1 Environmental conditions for installing the control panels and other system components
2.1.1 Environmental conditions for installing the control panels and other
system components
The operating temperature requirements for the YS 840DI system components are as fol-
lows:
IMPORTANT If the operating temperature requirements were not observed, the performance could not be guaran-
teed.
Table 2.1 Environmental requirements for the control panels and other system components
Items Requirements
Ambient During storage or transportation -20 to +60 ℃
Environmental conditions
temperature *1
During operation 5-30 ℃ *2
Humidity 10-90% RH (with no dew)
Vibration and 4.9 and 73.5 m/s2 respectively
shock
Atmosphere Without excessive airborne dust, machining oil mist, or organic solvent vapor
Power supply 100 - 230 VAC 50/60Hz
module, I/O power
supply module
Power supply Input supply voltage: 100/200 VAC; Frequency: 50/60 Hz
Converter Main power supply 200-230 VAC +10/-15%, 50/60 Hz ± 5%, three-phase
Control power supply 200-230 VAC +10/-15%, 50/60 Hz ± 5%, single-phase
2-2
2.1 Designing the panels
IMPORTANT • Even if the ambient temperature requirement is met, the system must not be installed in such
places where it is exposed to direct sunlight, nearby heat sources, or the elements.
• The ambient temperature must be between 5 and 30℃ taking into account UPS battery’s operating
temperature requirement of 5-40 ℃ and the expected temperature rise of 10 ℃ .
The enclosure of a panel must hermetically enclose a CNC or other unit and be so designed
as to keep the internal average temperature rise 10 ℃ or less.
Note: Effective surface area means the area of an enclosure’s surface that
can dissipate heat
(excluding such a surface as is in contact with another object).
2-3
Installing the control panels
2.1.2 Thermal design of the enclosures
EXAMPLE The size of the enclosure is assumed 450 (W) × 790 (H) × 150 (D) mm.
450mm 790mm
150mm
The calculated internal temperature rise ΔT = 9.8 ( ℃ ), thus the temperature rise require-
ment of 10 ℃ is satisfied.
If the temperature rise requirement is not satisfied, additional measure must be taken to
lower the temperature rise.
Note: Capacity means the amount of heat that a heat exchanger can remove,
on the ground that the temperature rise must be kept 10 ℃ or less.
EXAMPLE Up to 359 W of internal heat can be safely produced in a panel if it is equipped with a heat
exchanger of table 2.2, as shown below.
2-4
2.1 Designing the panels
MANDATORY
• Always install a heat exchanger.
Otherwise damage could result.
(Up)
Enclosure
Heat exchanger
(Down)
2-5
Installing the control panels
2.1.3 Heat dissipation
The table below lists the heat each YS 840DI system unit dissipates.
Heat dissipation
Heat Heat dissipation
Function Name Total heat Minimum
dissipation outside panel
dissipation air flow rate
inside panel (by heat sink)
(W) (m/s)
(W) (W)
CNC unit PCU50 130 − − −
Operation panel OP010F □ 24
NC keyboard
Machine control panel OP032S
Power supply module PS module 10 10.5
Power supply backup UPS module 10
module
Power supply backup UPS BATTERY 1
battery
Machine control panel PP module 11
I/O
I/O power supply module PS307 (24 VDC/2A output) 10
PS307 (24 VDC/5A output) 18
PS307 (24 VDC/10A output) 30
Interface module ET200M 4.5
Digital input module SM321 (DI32 × 24 VDC) 6.5
2-6
2.1 Designing the panels
Heat dissipation
Heat Heat dissipation
Function Name Total heat Minimum
dissipation outside panel
dissipation air flow rate
inside panel (by heat sink)
(W) (m/s)
(W) (W)
Converter * CIMR-MRXN23P75A 2.5
Inverter * CIMR-MXN20375A 2.5
CIMR-MXN20305A 687 213 474
CIMR-MXN20225A
CIMR-MXN20185A
CIMR-MXN20155A
CIMR-MXN20115A
CIMR-MXN27P55A
CIMR-MXN25P55A
CIMR-MXN23P75A
1-axis servo unit * SGDK-75AEA 270 90 180 2.5
SGDK-60AEA
SGDK-50AEA 180 70 110
SGDK-30AEA
SGDK-20AEA
SGDK-15AEA
SGDK-10AEA
SGDK-05AEA
2-axis servo unit * SGDK-3030AEA 290 120 170 2.5
SGDK-2020AEA 230 100 130
SGDK-1515AEA
SGDK-1010AEA
SGDK-0505AEA
Reactor UZBA-B150A 0.07mH − − −
2-7
Installing the control panels
2.1.4 Power consumption
The table below lists the power each YS 840DI system unit consumes. When designing a
control panel, use this data.
2-8
2.2 Protecting against electric noise
There are three types of cables used in the YS 840DI system: AC Power, DC power, and sig-
nal. These types of cables must be separated from each other as follows:
INFO • Two cables are considered to be bundled with each other if they are less than 100 mm apart.
• An electromagnetic shield is a grounded iron plate separating a type of cables from another.
2-9
Installing the control panels
2.2.2 Noise-proof devices
AC
Solenoid
電磁弁
Surge absorber
スパークキラー
Contactor
コンタクタ,リレー or relay
Surge absorber
スパークキラー
Surge
Surge absorber
absorber
S Motor
Surge absorber
R C
• C = I to I (μF)
10 20
Note: I = Steady-state current of a coil
2-10
2.2 Protecting against electric noise
Installing diodes
Provide DC-powered contactors and relays with a diode.
+ −
Contactor or relay
Coil
Diode
INFO The recommended voltage and current ratings of a diode are twice the voltage and current ratings of a
coil respectively.
2-11
Installing the control panels
2.2.3 Grounding
2.2.3 Grounding
The grounding wire from each unit must be connected to the enclosure or the grounding
plate directly.
S.V
200 VAC
U
LF V M
W
E
CN PG
CN
E
Enclosure
Operation relay
sequence
LF AVR
Single-point grounding
(Grouding resistance 100Ωor less)
• Wires for grounding must be in accordance with applicable electrical installation regula-
tions and the internal wiring rules.
• The grounding terminal of a servo motor must be wired to the grounding terminal of the
corresponding SERVOPACK.
• All wires to be grounded must be directly connected to a single point whose grounding
resistance 100Ωor less. Otherwise electric shock, a fire, or malfunction could result.
• The single grounding point for this product must not be used to also ground a power
device. Otherwise malfunction could result.
2-12
2.2 Protecting against electric noise
A cable between a servo unit and a motor encoder must be shielded and grounded. To
securely connect the shield of the cable to a grounding plate, use a cable clamp as illustrated
below.
Cable clamping is not only for mechanically supporting a cable but also for securely ground-
ing its shield, and thus essential to the safe operation of the system. The recommended cable
clamping method is that stripping off a length of the insulation of a cable to expose its
shielding braid, placing a cable clamp over the shielding braid, and fixing the cable clamp to
a grounding plate, as illustrated below.
Cable
Type 1 Type 2
DF8401485 DF8404817
19.5 19.5
Shielding braid
Cable clamp
30
30
Cable clamp 6.5 8
Minimum Minimum
Grounding plate
19.5 19.5
Cable
SERVOPACK
Connector
Cable
Grounding plate
Cable clamp
Shielding braid
2-13
Installing the control panels
2.3.1 Installing the CNC units
When designing an enclosure to contain a CNC or other unit, observe the precautions below.
When installing the CNC unit in an enclosure, observe the following precautions:
mm or more
Air flow
(Up)
100100mm以上
Operation panel(OP10F )
FAN
CNC
CNC unit
(PCU50)
ユニット
(PCU50)
mm or more
160160mm以上
(Down)
INFO The CNC unit is normally provided with an NC keyboard under it. Thus a 160 mm or more space will
be naturally provided under the CNC unit.
2-14
2.3 Installation precautions
When installing the feed or spindle SERVOPACK in an enclosure, observe the following
precautions:
Heat sink
Outside air
Feed/spindle
SERVOPACK
2-15
Installing the control panels
2.3.3 Orientation of and installation space for the SERVOPACK
The SERVOPACK must be installed vertically and sufficient space must be provided around
them for better cooling efficiency, as shown below.
Air flow
FAN
70 mm
max.
Heat
sink
Sealing at screw
120 mm or more
5 mm or more
Air flow
2-16
2.3 Installation precautions
If two SERVOPACKs are installed side by side, the minimum space between them is a total
of the right-side space required of the left SERVOPACK and the left-side space required of
the right SERVOPACK, as illustrated below.
SERVO
SERVOPACK SERVOPACK SERVOPACK
PACK
A B D
C
148 or 248 1.5 74
(Up)
100mm
5mm
5mm
120mm
40mm
(Left) (Right)
(Down)
INFO There must be a 120 mm or more space to the left of the machine control panel I/O to provide for
PROFIBUS-DP and power supply connections.
2-17
Installing the control panels
2.3.5 Installing lightning-surge absorbers
I/O modules
(Up)
20mm 20mm
I/O
PS module
module
40mm
(Left) (Right)
(Down)
INFO The enclosure that houses the I/O module must be at least 180 mm deep so that the front cover can be
opened safely.
Lightning-surge absorbers must be installed to prevent electric and electronic devices from
malfunctioning even if the power, communication, or signal line is subjected to a high-
energy disturbance such as switching or lightning surge. Normally the power line should be
provided with surge absorbers as shown below.
200/220/230 VAC
50/60Hz Control panel
Circuit breaker
Electronic devices
Circuit
Conver SERVO
protector CNC Inverter
ter PACK
Surge absorber
Surge absorber
between phases
between phases
and ground
Grounding resistance
100Ωor less
Motor
2-18
2.3 Installation precautions
IMPORTANT If the surge absorber failed and got shorted due to repeated lightning or switching surge, the wiring and
devices could burn. To prevent this, 5-A fuses or other circuit protectors must be provided in the pro-
tected line.
2-19
Installing the control panels
2.3.5 Installing lightning-surge absorbers
2-20
Chapter 3
Installing the motors
3-1
Installing the motors
The SGMKS-type servo motors must be used indoor. The environmental requirements for the
motors are these:
3-2
3.2 Spindle motors
• The spindle motor must be provided with enough space so that it is cooled effectively by
its cooling fan. Especially, there must be a 100 mm or more space between the no-load
side of the spindle motor and a nearest machine part. If the spindle motor were not
cooled enough, a motor overheat protector could operate even if the spindle motor runs
at the rated load.
• The bed, foundation or mount on which the spindle motor is installed must be rigid
enough. Otherwise the bed could vibrate due to the weight of the motor and the
dynamic load from the machine.
• The installation site must be free of excessive dust or iron particles. As the air forced by
the built-in cooling fan passes along the motor core, it could be blocked by any accumu-
lated dust in the way. If the spindle motor were not cooled enough, a motor overheat
protector could operate even if the spindle motor runs at the rated load.
3-3
Installing the motors
3-4
Chapter 4
Connection method
4-1
Connection method
4.1.1 CNC unit
Operation panel
(OP010F□)
CNC unit
(PCU50)
CNC unit
Rear Left side (PCU50) Right side
surface surface surface
Bottom Bottom
surface surface
4-2
4.1 Arrangement of connectors and switches
Arrangement of connectors
The arrangement of connectors on each surface is as shown below.
UPS module
(PROFIBUS-DP) (MPI)
24 VDC input Battery module X101 X111
PS/2 mouse
X1
PS/2 Mouse COM1 COM2
MPV/L2-DP Ethernet
LPT1 VGA
USB
PS/2 Keyborad
X121
(Handle PG)
Emergency stop
UPS I/F
PC card drive
Bottom surface
RESET
Top surface
IMPORTANT Pressing the reset button causes the system to reboot. Do not touch the reset button unless this is what
you exactly want.
4-3
Connection method
4.1.1 CNC unit
Mounting rail
Grounding terminal
INFO Remove the mounting rail if you want to combine the CNC unit with the OP010F □ operation panel.
4-4
4.1 Arrangement of connectors and switches
Rear surface
INFO The left side surface is not shown because there is no connector on it.
4-5
Connection method
4.1.2 Power supply module
o.k
Bat
Alarm
t tmax
+160s
+80s DC-USV-Modul 10
Timer setting +40s 6EP1931-2EC01
タイマ設定 +20s
+10s 1 2 3 4 5
5s
On / Off
Alarm
UBat
n.c.
Bat
o.k
UL+
15A
Signals for power
電源切入シーケンス
supply on/off sequence
L+ X1.1
用信号
2424V電源入力
V power supply input In
M X1.2
L+ X1.3
2424V電源出力
V power supply output Out
M X1.4
PROFIBUS-DP address
setting switch
POWER READY
PROFIBUS-DP X2
connector S1
24 VDC input X1
connector
4-6
4.1 Arrangement of connectors and switches
24VDC
24 VDC ON/OFF
I switch
Cable clamp
PROFI-
BUS-DP Status/error indicator
SF SIEMENS SF
BF BF
PROFIBUS-DP
ON ON interface
Panel
(9-pin socket)
Version
M
Power supply and
X2 L
M grounding connector
2 3 4 Catalog number +
153-1AA02-OXB0 DC24V
4-7
Connection method
4.1.3 I/O module
0 0
1 1
2 2
Byte 0 3 3 Byte 2
4 4
5 5
6 6
7 7
0 0
1 1
2 2
Byte 1 3 3 Byte 3
4 4
5 5
6 6
7 7
Channel number
Status LED (green)
NA
A
Address switch
X 2
3 4
4-8
4.1 Arrangement of connectors and switches
4.1.4 Converter
Converter (CIMR-MRXN20455A(45kW))
E
A2/t (Control power input) M4
A1/t (Control power input) M4
Grounding terminal M6
Main power input ( 3P) M10
4-9
Connection method
4.1.5 Inverter
4.1.5 Inverter
Inverter (CIMR-MXN20305A(30kW))
E (Grounding terminal) M6
4-10
4.1 Arrangement of connectors and switches
Rotary switch
(SW1)
Indicator
CHARGE : red Indicator
RDY : green
PG input connector
(CN2)
Grounding terminal
M6 screw
4-11
Connection method
4.1.6 Servo unit
Rotary switch
Indicator (SW1)
CHARGE : red
Connector for external PG
(CN4)
Indicator
RDY : green
I/O connector
(CN1)
Grounding terminal
M4 screw
4-12
4.1 Arrangement of connectors and switches
Rotary switch
(SW1)
Indicator
Connector for external PG
CHARGE : red
(CN14)
Indicator
Motor output connector RDY,RDY2 : green
(CN18)
I/O connector
(CN1)
Grounding terminal
M4 screw
4-13
Connection method
4.2.1 Wiring for servo power-on and other signals
The wiring for the servo power-on and brake release output signals must be done as follows:
Converter unit
CIMR-MRXN
10120-3000VE
(10320-52A0-008)
Servo unit
SGDK-□□/SGDK-□□□□
10126-3000VE
(10326-52A0-008)
4-14
4.2 Power on/off signals
200 VAC50/60Hz
R S T E
Circuit breaker or other circuit protector
Z1 To the
Z2 spindle
Z3 motor fan
Main circuit
breaker
SV Converter
M
X U S/L2
Y Reactor V R/L1
Z W T/L3
E
A1
A2
CN1A
+24V MCON -17
Power supply
L +V
0V SVMX /MCON -18
N -V
E Emergency stop switch CN1A
ESP -7
/ESP -8
CR
PB
X
SVM ESPX
Servo unit
CN1
*1
Brake -14
1 power 3 BKX1 -15
supply 1
2 4
5 6
ESP *1
-16
X
To servo
BKX2 -17
motor brake ON OFF
Brake
1 power 3 NCMX
supply 2
NCM
2 4 X
5 6
BKX ESP ON SVM
2 X
NCRX
To servo
X
motor brake PB PBX
X
Off
Fuse
m
Bat
o.k
*4
L1 -
N
P +
E
JUMPER L+ *3
120VAC In
M
ONLY
*2 L+
Out
L+ M
M
+24V
+Bat
NCM M -Bat 0V
X
+24V
0V
X1
CNC unit + +24V
*5
Shutdown sequence − 0V
A DB10.DBX60.3 PE E
= DB10.DBX57.3
X121
24 VDC -20,21 +24V
Emergency stop sequence
input
AN DB10.DBX60.2 -1 0V
DB10.DBX56.1
=
AN DB10.DBX56.1 -5 UPS Bat.On
DB10.DBX56.2 -24 0V
=
-6 EMG.In
NC ready sequence
SET Emergency stop
-25 0V switch
= DB10.DBX7.3
A DB10.DBX104.7 -22 NC Rdy.Out(+24V)
= DB10.DBX6.3
-2 0V NCRX
Fig. 4.1 Wiring for the SVMX and BKX output signals
4-15
Connection method
4.2.1 Wiring for servo power-on and other signals
IMPORTANT *1. The brake release output signal as shown in Fig. 4.1 is for 2-axis servo units. For 1-axis servo
units, use only pins 14 and 15. For 2-axis servo units, use pins 14 and 15 for the first axis, and
pins 16 and 17 for the second axis.
*2. If the voltage of power input to the PS module is 100-120 VAC, short the JUMPER120 VAC
ONLY terminals together.
*3. To use the UPS module, short the On/Off terminals together. Otherwise an alarm would result.
*4. To use the battery module, insert a 15-A fuse in its fuse holder. Otherwise an alarm would result.
When inserting a fuse, a spark may occur (if the battery is in the charged state). Don’t worry
about the spark since it’s quite safe to you and the module.
*5. To make the UPS, emergency, and NC-ready functions available, program the necessary
sequences in the PLC. Once the shutdown sequence has been programmed, disconnecting or oth-
erwise disabling the UPS module would cause a switched-on NC to shutdown soon. To make the
NC powered up normally, always keep the UPS module functional.
4-16
4.2 Power on/off signals
INFO • The brake release output signal to control the brake of a motor must come from the servo unit driv-
ing that motor.
• The UPS module must not be used to power other than those units shown in Fig. 4.1.
• Wire between the Alarm terminals and an I/O module as necessary.
• Interlock the BKX relay as necessary by externally adding an interlock signal to the brake release
output signal.
• It is the responsibility for the customer to provide the emergency stop switch and its wiring.
• It is the responsibility for the customer to provide the X121 connector (37-pin D-Sub female con-
nector) and related wiring.
• The SVMX, ESPX, and BKX relays must be 24 VDC miniature relays (preferably LY-2 from
OMRON).
The UPS module must have its timer set so that the 24 VDC power supply will be available
for a certain period even after a blackout occurs (to earn time necessary for memory data to
be transferred to a hard disk). The relationship between timer setting and covered period is
shown below. The covered period should be at least 85 seconds.
Covered period
5 15 25 35 45 55 65 75 85 95 105 115 125 135 145 155 165 175 185 195 205 215 225 235 245 255 265 275 285 295 305 315 max
X 400
1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0
On
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 x
2
0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 x
3
0 0 0 0 1 1 1 1 0 0 0 0 1 1 1 1 0 0 0 0 1 1 1 1 0 0 0 0 1 1 1 1 x
4
5 0 0 1 1 0 0 1 1 0 0 1 1 0 0 1 1 0 0 1 1 0 0 1 1 0 0 1 1 0 0 1 1 x
6 0 1 0 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 x
If switch element 1 is set to the OFF position, the UPS module supplies power as long as the
supplied voltage is above the low battery level.
4-17
4.2.3 Time chart
Connection method
Converter's
control power
First stage : NC power on Second stage : servo power on
ON SW
(manual, NO contact)
OFF SW
4.2.3 Time chart
Power-off input
(manual, NC contact)
NCMX
PS module
(24 VDC output)
UPS module
(24 VDC output)
UPS BAT ON UPS timer setting (in seconds)
(NC contact, UPS
start signal)
PLC stop
4-18
NC start Wait for PLC start Automatic shutdown
PLC start PLC start
sequence
Wait for NC ready sequence start
PLC stop
NCRX (NC ready)
ESPX
(forced braking ON)
Alarm reset
(manually from machine
control panel)
Combined MD36060 and MD3426 settings effective
SVMX (servo ready)
SVM
(servo power ON)
BKX1
BKX2
Brake power supply 1 Brake released
Brake power supply 2 Brake activated
4.3 Wiring units and devices
Shown below are examples of PROFIBUS-DP address setting and termination setting.
Example wiring
CNC unit
PCU50
Address 2
X101
Termination ON
X2 S1 X2 S1
Termination
OFF
8 9
Termination OFF
I/O module
IM module
DP address
switch 3
Termination OFF
I/O module
IM module
Converter
DP address
switch 4
Termination
OFF
CN9
Rotary switch ○ 6
Converter
Termination
ON
CN9
Rotary switch ○ 7
4-19
Connection method
4.3.1 PROFIBUS-DP address and termination setting
I/O module
Set the DP address switch (DIP switch) on the ET200M interface module to a value between
3 and 32 such that each unit has a unique value.
Converter
Set the DIP switch to a value between 3 and 32 such that each unit has a unique value.
Termination setting
Set the termination switch on each PROFIBUS-DP connector as given below.
Unit Setting
CNC unit ON
Units in between OFF
End units ON
INFO • Any unit other than CNC must not have its address set to 0, 1, or 2.
• Up to 32 PROFIBUS-DP addresses are available with the YS 840DI system.
• For information on how to specify addresses in software, see Chapter 9, Hardware Configuration.
4-20
4.3 Wiring units and devices
4.3.2 Setting the rotary switches on the inverters and servo units
Each of the inverters and servo units has a rotary switch to specify a PROFIBUS-DP slot
allocated to it. Set the rotary switch as follows:
• Each axis must have its rotary switch set to a unique number in sequence starting with 0.
• 2-axis servo units have only one rotary switch but use two values because each axis
needs a unique value. Thus, if a 2-axis servo unit has its rotary switch set to 2, the val-
ues 2 and 3 are actually used by those two axes, and the next unit must have its rotary
switch set to 4. A 2-axis servo unit should have its rotary switch set to an even number
(0, 2, 4, ...).
• The units connected to one converter may have their rotary switch set to a unique num-
ber between 0 and 6. The sequence in position of the units need not correspond to the
sequence of the set values of their rotary switches.
INFO If a unit has its rotary switch wrongly set, the corresponding LED above the PROFIBUS connector on
the converter would go red (normally green).
4-21
Connection method
4.3.2 Setting the rotary switches on the inverters and servo units
4-22
Chapter 5
Assembling and replacing
5-1
Assembling and replacing
Installation procedure
The CNC unit of the YS 840DI system is normally delivered with the operation panel
attached to it. Make any necessary adjustment to the CNC unit or the operation panel sepa-
rately, and then assemble them together using the following procedures:
1. Remove the screws in a vinyl bag and a cable fixing seal from the back of the operation
panel.
5-2
5.1 Installing the CNC unit
2. Remove the mounting rail from the CNC unit by unscrewing 4 M4 screws and 4 M3
screws. A Torx wrench or Torx screwdriver is required for this work.
3. Connect 2 flat cables from the operation panel to the CNC unit.
Ensure that the connectors are firmly inserted with their latches fully closed.
5-3
Assembling and replacing
4. Connect the CNC unit and the operation panel together using the supplied screws.
There are four M4 screws and four M3 screws. Use a Phillips screwdriver.
5. Turn the hard disk operation switch on the back of the CNC unit to the operating posi-
tion until it clicks.
6. Unscrew two M3 screws from the top cover of the CNC unit, and then remove the top
cover. A Torx wrench or Torx screwdriver is required for this work.
5-4
5.1 Installing the CNC unit
7. Unscrew one M3 screw from the slot cover, and then remove the slot cover.
Selector
lever S1
Closed Open
5-5
Assembling and replacing
9. Insert the MCI Extension Board into the optional board slot as far as it will go.
10.Connect the MCI Extension Board connector to the corresponding connector on the
board above it using the supplied cable.
Ensure that the connectors are firmly inserted with their latches fully closed.
5-6
5.1 Installing the CNC unit
11.Fix the MCI Extension Board in position with the slot cover screw.
5-7
Assembling and replacing
5.2.1 Procedure for replacing the 0.5-3.0 and 5.0 kW servo unit fans
5.2.1 Procedure for replacing the 0.5-3.0 and 5.0 kW servo unit fans
Fan unit
ファンユニット Pay attention to the orientation of
ファンの向きに注意
the fan (air flow direction)
(吐き出し方向)
4 Connector
コネクタ
5
3
PN cover
PNカバー
パネルカバー
Panel cover
5-8
5.2 Replacing the servo unit fan
5.2.2 Procedure for replacing the 6.0 and 7.5 kW servo unit fans
1. Unscrew the screw that holds the fan cover. The screw will remain loosely attached to
the fan cover.
2. Remove the fan.
3. Disengage the fan connector.
4. Replace the fan with a new one.
See detailed
drawing A
Fan
5-9
Assembling and replacing
5.3.1 Procedure for installing the board for the 0.5-3.0 and 5.0 kW servo units
5.3.1 Procedure for installing the board for the 0.5-3.0 and 5.0 kW servo
units
1. Unscrew the screws that hold the optional board cover, and remove the cover.
2. Cut the blind plates off.
3. Install the NPs.
4. Install the optional board and secure it with the screws.
5. Reinstall the optional board cover, and secure it with the screws.
Optional board
オプション基板
4 1
3
2
Optional
オプションカバー
board
cover
5-10
5.3 Installing the servo unit optional board
5.3.2 Procedure for installing the board for the 6.0 and 7.5 kW servo units
1. Unscrew the screws that hold the optional board cover, and remove the cover.
2. Remove the blind plate NP.
3. Install the NPs on the optional board cover.
4. Install the optional board and secure it with the four screws.
5. Reinstall the optional board cover, and secure it with the screws.
4 X4
Optional board
cover
オプションカバー
Optional board
オプション基板
1
5-11
Part 2
Software
Chapter 6
Software configuration
6-1
Software configuration
6-2
6.2 Data types
6-3
Software configuration
Use the data selection function to select folder contents to be displayed. Normally, folders
not used are not displayed.
The following directories are in the folder dh of the F drive, YS 840DI, as displayed by the
NT’s Explorer:
6-4
6.3 Service screen directories
6-5
Software configuration
6-6
Chapter 7
Backup
7-1
Backup
To back up, or archive, programs or data individually, follow the procedure described below.
7-2
7.1 How to archive
7-3
Backup
5. The target screen will appear. Enter an archive name (WKS0214 in this example) in the
archive name field.
7-4
7.1 How to archive
7. The part program archive data will be written in the hard disk, as shown below.
8. After a while, an archive file named WKS0214 will be created in the archive folder.
7-5
Backup
9. All archive data is stored in F:\dh\ARC.dir. Use the Explorer to copy the created
archive data to a PC as necessary.
10.To restore the archive data, click on Data Input, and then Archive File.
7-6
7.2 Network settings
Perform necessary network settings so that data, as may be stored in the hard disk, can be trans-
ferred from the YS 840DI system to a PC, as described below.
1. Select Start > Settings > Control Panel. The control panel window will appear.
7-7
Backup
7.2.1 YS 840DI settings
7-8
7.2 Network settings
4. Enter in the Workgroup field the name (YS 840DI3 in this example) of the workgroup
of the destination PC. Click on OK.
7-9
Backup
7.2.1 YS 840DI settings
7-10
7.2 Network settings
7-11
Backup
7.2.1 YS 840DI settings
9. Enter 1.1.1.1 in the IP Address field, and 255.255.255.0 in the Subnet Mask field.
Click on OK.
INFO The IP address 1.1.1.1 and the subnet mask 255.255.255.0 as used in this example are just examples.
In practice, these values must be changed to correct ones, such that they are compatible with those for
the target PC. The last part of the IP address of the YS 840DI system must be different from that of the
target PC.
7-12
7.2 Network settings
12.After a while, the YS 840DI system restarts and the Windows-NT gets ready for com-
munication with the target PC.
7-13
Backup
7.2.2 PC settings
7.2.2 PC settings
The procedure for the network settings on a target PC (running Windows 98) is as follows:
1. Switch on the target PC and let it run Window 98. Select Start > Settings > Control
Panel to display Control Panel.
7-14
7.2 Network settings
3. In the Network window, select Windows Logon as a preferred network to log on.
4. Select Client for Microsoft Networks from the following network components are
installed, and click on Properties.
7-15
Backup
7.2.2 PC settings
5. Uncheck the square to the left of the line "log on to Windows NT domain." Click on
OK.
6. Select TCP/IP (the actual display depends the LAN card used) from the following net-
work components are installed, and click on Properties.
7-16
7.2 Network settings
7. In the IP Address tag, click on the radio button to the left of "Specify an IP address."
8. Enter 1.1.1.2 in the IP Address field, and 255.255.255.0 in the Subnet Mask field. Click
on OK.
INFO The IP address 1.1.1.2 and the subnet mask 255.255.255.0 as used in this example are just examples.
In practice, these values must be changed to correct ones, such that they are compatible with those for
the YS 840DI system. The last part of the IP address of the PC must be different from that of the YS
840DI system.
7-17
Backup
7.2.2 PC settings
9. Click on the identification tag, enter YS 840DI3 in the Workgroup field, and click on
OK.
INFO • The workgroup name YS 840DI3 as used in this example is just an example. The workgroup name
entered here can be any name provided that the same name is also specified on the YS 840DI side.
• The computer name can be any name provided that it is in alphanumerics such that it can be dis-
played correctly on the YS 840DI side.
After a while, the Windows restarts with the new settings in effect.
7-18
7.2 Network settings
7-19
Part 3
PLC
Chapter 8
General programming notes
8-1
General programming notes
Not all programs written in a certain language (e.g., STL) can be converted into those of another
(e.g., LAD or FBD). Normally, all programs in LAD or FBD can be rewritten in STL, but not
all programs in STL can be rewritten in LAD or FBD.
STL
All programs convertible All programs convertible
A(
O I 0.0
O I 0.0
)
e
l A I 0.2
b
M
i
t
o
r
e = Q 1.0
s
t
v
n
p
o
r
c
o
g
t
r
o
a
n
m
s
s
m
n
a
o
r
t
g
o
c
r
o
p
n
v
t
s
e
r
o
t
i
M
b
l
e
LAD FBD
I 0.0 I 0.2 Q 1.0
I 0.0
( ) Most programs convertible
≧
I 0.1
I 0.1 &
I 0.2 Q 1.0
8-2
8.2 Program structure
A STEP7 structured program consists of blocks, each of which in turn consists of networks (see
the figure below). Each network can be expressed either in LAD, FBD, or STL. Thus a block
can consist of mixed LAD and STL networks, or mixed FBD and STL networks. LAD and
FBD networks, however, cannot be mixed in a block.
While most instructions can be written in any of LAD, FBD, and STL, the LOOP, variable-
address, and some other STEP7 instructions can be written only in STL. In such a case, LAD
and STL networks need to be mixed.
Network 1
I 0.0 I 0.2 Q 1.0
( )
I 0.1
Network 2
O I 2.0
O I 2.1
= Q 3.0
Network 3
I 4.0 I 4.2 M 5.0
( )
M5.1
Network 4
M5.0 I 6.2 Q 5.0
( )
8-3
General programming notes
8.3.1 Address symbols
Each STEP7 bit is represented by an address starting with a symbol that identifies the func-
tion of the bit (e.g., input or output). The symbol of the address of an output bit is letter Q,
not letter O (to distinguish from number 0).
In this manual, all bit addresses are expressed in accordance with the IEC international stan-
dard representation. Thus the function of each bit can be easily identified by looking at its
symbol (for example, "I" means an input bit, and "Q" means an output bit).
Address for input, output, memory, and data bits I 0.0 Q 0.0 M 0.0 DBX 0.0 T0 C0
入力、出力、ビットメモリ、データの表記
I 0.1 Q 0.1 M 0.1 DBX 0.1 T1 C1
I 1.2 I 0.2 Q 0.2 M 0.2 DBX 0.2 T2 C2
I 0.3 Q 0.3 M 0.3 DBX 0.3 T3 C3
I 0.4 Q 0.4 M 0.4 DBX 0.4 T4 C4
Address symbol Bit address
I 0.5 Q 0.5 M 0.5 DBX 0.5 T5 C5
(I,Q,N,DBX) (0,1,2,3,4,5,6,7,) I 0.6 Q 0.6 M 0.6 DBX 0.6 T6 C6
I 0.7 Q 0.7 M 0.7 DBX 0.7 T7 C7
Byte address
I 1.0 Q 1.0 M 1.0 DBX 1.0 T8 C8
(0,1,2,3,4,5,6,7,8,9,10,11)
I 1.1 Q 1.1 M 1.1 DBX 1.1 T9 C9
I 1.2 Q 1.2 M 1.2 DBX 1.2 T 10 C 10
Address for timers and counters I 1.3 Q 1.3 M 1.3 DBX 1.3 T 11 C 11
I 1.4 Q 1.4 M 1.4 DBX 1.4 T 12 C 12
T 1 I 1.5 Q 1.5 M 1.5 DBX 1.5 T 13 C 13
I 1.6 Q 1.6 M 1.6 DBX 1.6 T 14 C 14
I 1.7 Q 1.7 M 1.7 DBX 1.7 T 15 C 15
Address symbol Number I 2.0 Q 2.0 M 2.0 DBX 2.0 T 16 C 16
(T,C) (0,1,2,3,4,5,6,7,8,9,10,11) : : : : : :
8-4
8.3 Address structure
Each bit is identified by the address of a byte to which it belongs and its own address relative
to that byte (each byte consists of 8 bits). Thus a bit is expressed in the following format:
Address symbol
A bit address starts with a symbol such as I, Q, M, or DBX.
The symbol for a data bit is DBX (e.g., DBX1.2).
Bit address
The bit address part of a bit address is the numerical part after the period (.). It is repre-
sented by a digit between 0 and 7 (the 8 bits make up a byte).
Byte address
The byte address part of a bit address is the numerical part after the address symbol and
before the period (.). It is represented by an integer in the decimal notation (0, 1, 2, 3, 4, 5,
6, 7, 8, 9, 10, 11, ...). As a byte is expressed as a combination of an address symbol and a
byte address, I1.2 and Q1.2 are two different bits.
The number is any integer in the decimal notation (starting with 0). The maximum allow-
able value of the number depends on the CPU used.
8-5
General programming notes
8.4.1 General
8.4.1 General
The interface between PLC and NC is implemented by the exchange of data blocks (DB)
and functions (FC) between them. The PLC sends external information to and receives sta-
tus information from the NC.
The following four groups of information are transferred through the interface:
DB2
MMC
PLC messages
DB9
Standard NCK signals
NC
DB10
PLC/NC signals
DB11
MMC, machine-side
Mode group
operation panel mode
NKC signals PLC user
program
DB19
MMC
MMC signals
DB21/22
NC channel M, G, and S code
DB31∼38
Feed/
Feed/spindle drive
spindle drive
signals
DB71∼73
Tool
Tool management
management
signals
8-6
8.4 Interface structure
The functions of the data blocks are described below. For the function of each bit of a data
block, refer to the separate input/out signal documentation.
• DB11: MMC or machine control panel mode signals sent from PLC to NC. NC return
the signals indicating the current mode.
• DB19: Signals sent through the PLC/MMC interface as shown below
• Control signals: MCS or WCS current position display and key disable
• Machine operation: Input from the machine control panel
• PLC messages
• PLC status signals
• DB21/22: Signals as shown below
• Control/status signals: Signals periodically sent from OB1
• Auxiliary/G functions: M code, G code, and S commands
• Tool management functions
• NCK functions: PLC function calls
• DB31-38: Servo feed/spindle signals as shown below
• Signals between feed and spindle
• Feed signals
• Spindle signals
• Drive signals
• DB71-73: Tool management signals
8-7
General programming notes
8.4.4 Program components
Modules
A program consists of the following levels of modules:
The basic parts of a program are started by OB1, OB40, and OB100 as shown below.
User program
User program
User program
The illustration above shows only basic the parts of a program. An actual program may be
more complicated including some other interrupt processes. For details on OB, FC and FB,
see the System Software for S7-300/S7-400 (System and Standard Functions).
8-8
Chapter 9
SIMATIC manager and hardware
configuration
This chapter describes how the modules are configured with the SIMATIC
manager, a PLC ladder program development tool.
The SIMATIC manager runs in the Windows NT environment, and is used to
configure the PLC hardware, develop PLC ladder programs online/offline,
debug through online monitoring, and do other important functions. The man-
ager is capable of real time processing on the Windows NT, and can be used to
edit a PLC ladder program during machining (some restrictions apply to sav-
ing).
9-1
SIMATIC manager and hardware configuration
9-2
9.1 Hardware configuration
The hardware configuration function allows you to configure the PLC modules and set their
parameters on screen. You can set or modify the CPU operating environments, not by set-
ting various DIP switches but by simply downloading the configuration information to the
CPU.
Station editing
Rack details
ラック詳細
window
ウィンドウ
The following settings can be done with the hardware configuration function:
9-3
SIMATIC manager and hardware configuration
9.2.1 Creating a new project
③
① Name of a project to
作成するプロジェクト名
be created
既に存在する
Existing projects
プロジェクトリスト
9-4
9.2 Defining the hardware
④ ⑤
INFO When adding a station, if you select Insert New Object > S7 program, a program container is created
under the project. The container contains programs but no hardware configuration. If blocks created
here are downloaded to the CPU, they are automatically transferred to the CPU whose MPI node
address is 2.
9-5
SIMATIC manager and hardware configuration
9.2.3 Opening the hardware configuration
For hardware environment settings, such as PLC module configuration, CPU environment
setting, and module address setting, you will use the hardware configuration screen to open
the hardware configuration.
②
① Double-click on Hardware
ハードウェアをダブルクリック ③
Hardware
ハードウェア
catalog
カタログ
1. Click on a station (SIMATIC 300 Station (1) in this example) in the SIMATIC manager
screen.
2. Double-click on the Hardware icon in the right frame.
The hardware configuration function will start up.
If the selected station has its hardware already configured, that hardware configuration
is displayed. If not, a blank window results (see the figure above).
3. Click on the catalog icon of the hardware configuration screen’s tool bar.
A hardware catalog is displayed listing the modules and other products for the
SIMATIC300, SIMATIC400, and PROFIBUS-DP categories.
You can create a new hardware configuration in the hardware configuration window using
these products. For example, click on the plus sign (+) before the SIMATIC300 category in
the hardware catalog, and the following product groups will be displayed:
9-6
9.2 Defining the hardware
Clicking on the plus sign (+) before a product group causes the products of that group to be
displayed.
INFO Clicking on a particular product causes its product designation and explanation to be displayed. Note
that a product may have two or more versions, and selecting the right version by designation is essen-
tial to correct functioning of the CPU. If no correct version is listed, contact your Yaskawa Siemens
representative.
When you open the hardware configuration of a newly created station, a blank frame will
show up in the hardware configuration window.
You must first add a rack on which you are going to put modules.
1. Expand the SIMATIC300 category in the hardware catalog to display the S7-300 prod-
uct groups. Then expand the rack-300 product group to display a rail. Select the rail,
and drag and drop it in the blank frame on the left, or simply double-click on the rail.
The S7-300 rack will be displayed.
2. Reposition or resize the rack as necessary.
9-7
SIMATIC manager and hardware configuration
9.2.5 S7-300 rack
The S7-300 rack can have up to 11 slots numbered 1-11. Slots 1-3 can contain only a spe-
cific module: slot 1 can contain a power supply module (PS), slot 2 a CPU module (CPU),
and slot 3 an interface module (IM). Thus, if no PS or IM module is used, the corresponding
slot must be left empty.
Slot 4 and later slots, however, may contain any of the SM module (digital or analog I/O),
communication module (CP), and function module (FM). Slot 4 and later slots must not be
left empty. A supplementary rack must have slots 1 and 2 left empty. It is recommended
that the FM or CP module be inserted in the main rack, as it cannot always be inserted in a
supplementary rack.
When adding the power supply module, CPU module, or I/O module to the rack, you can
use one of the two methods: slot specification and drag-and-drop.
1. Click on a slot of the rack to which you want to add a module of your choice. The
selected slot is indicated by blue background.
2. Click on the module in the hardware catalog. The selected module is indicated by blue
background.
3. Double-click on the same module. The module is automatically inserted in the selected
slot.
9-8
9.2 Defining the hardware
Drag-and-drop method
1. Select a module of your choice by clicking on it in the hardware catalog.
If any preselected slot (as indicated by blue background) has no meaning.
2. Drag and drop the module into a target slot. The module is inserted in that slot. With
this method, when you drag a module over a slot, the pointer changes its appearance as
shown below to indicate whether the module can be inserted in that slot.
The CP, FM or some other module requires special software for its setting. As such software
does not come with the STEP7, it must be purchased and installed by the customer.
INFO If wrong hardware configuration information were transferred to the CPU, the CPU could fail to start
up.
9-9
SIMATIC manager and hardware configuration
9.2.7 Adding the CPU module
With the S7-300, the CPU module must be inserted in slot 2 of the CPU rack.
The STEP7 V5.x supports the following CPU module families:
Version ID
INFO Each CPU module has its designation displayed in the CPU module list in the hardware catalog. Note
that a CPU module may have two or more versions, and selecting the right version by designation is
essential to correct functioning of the CPU.
9-10
9.2 Defining the hardware
When a CPU provided with a DP port is inserted in a slot, the DP port properties screen
automatically appears.
To manually display the screen, double-click on the DP-Master line under a CPU with a DP
port.
PROFIBUS node
properties screen ⑤
Transmission rate
selection
④
⑥
Node address
ノードアドレス PROFIBUS type
PROFIBUSタイプ
③
① Target network
接続するネットワーク
②
9-11
SIMATIC manager and hardware configuration
9.2.8 CPU’s DP port setting
8. The DP Master System line appears as extending from the CPU slot in the hardware
configuration window. If the rack is hiding the line, move the rack aside. DP slaves can
be added so as to connect to the line.
INFO If a CPU with a DP port is used but that DP port is not used, the DP port should be set nonetheless.
Otherwise the BUSF LED for the CPU would light up.
9-12
9.2 Defining the hardware
In the hardware configuration screen, you can also add DP slaves to the CPU module with a
DP port.
② ①
PROFIBUS
drag-and-drop
④
1. Expand PROFIBUS-DP in the hardware catalog, and select a DP slave to add.
2. Drag and drop the DP slave onto the DP Master System line. Note that when the pointer
gets over the line, the pointer changes its appearance to that shown below.
Double-clicking on the icon of the registered DP slave causes its properties screen to be dis-
played. To change the node address of the DP slave, click on the PROFIBUS button in this
screen.
The hardware catalog shows a list of DP slaves from Yaskawa Siemens. If you want to use
PROFIBUS-compatible DP slaves from other than Yaskawa Siemens, you must first install
them in the catalog file.
9-13
SIMATIC manager and hardware configuration
9.2.10 DP slave (ET200) construction and addressing
The I/O details of a DP slave are shown in the rack details window at the bottom of the hard-
ware configuration screen. Edit the I/O details as follows:
①
Click on a DP slave node
9-14
9.2 Defining the hardware
Double-click on a slot containing a module to display the properties screen for that module.
Specify or confirm the start address of the module on the address sheet (no start address can
be specified for some CPUs).
9-15
SIMATIC manager and hardware configuration
9.2.12 Connecting the racks (interface)
For the S7-300 racks, this operation is not necessary because, when the interface module
(IM) is installed in each of the racks, the interfaces are automatically connected together.
Rack number
ラック番号
9-16
9.2 Defining the hardware
When the hardware configuration is done, save it in a project file by using tool bar icons as
shown below.
Normally the hardware configuration should be compiled and free of errors before down-
loaded. Otherwise the download process automatically initiates the compilation process. A
compiled hardware configuration is saved in the system data block in the block container of
the SIMATIC manager.
9-17
SIMATIC manager and hardware configuration
9.2.14 Downloading the hardware configuration
Transfer from file to CPU, or download, the finished hardware configuration as follows:
③
①
② Node address of
ダウンロードする CPU
destination CPU
のノードアドレス
At the time of hardware configuration download, that is, at the restart following a memory
reset, do not transfer the program to the CPU. If the SF LED on the CPU is lit after you have
attempted to download the hardware configuration, it is meant that the downloading of the
hardware configuration has failed. In this case, correct the hardware configuration and try to
download it again.
9-18
9.2 Defining the hardware
INFO The CPU must be stopped before the hardware configuration can be downloaded. If the
downloading is started with the mode switch set to the RUN-P position, the following con-
firmation message will be displayed:
9-19
SIMATIC manager and hardware configuration
9.3.1 Uploading hardware configuration (1)
There are two methods by which you can upload the hardware configuration information to
a project.
② Open thePLCから
PLC menu and select Upload
を Station.
①
Create a new project,
新規プロジェクトを作成します。
or click on an existing project.
またはプロジェクト名をクリックします。
1. Open the SIMATIC manager screen, and create a new project or open an existing project
and click on a project name.
2. Open the PLC menu and select Upload Station (Upload Station can be selected only
when step 1 above is correctly done).
3. The following screen appears so that you can specify a source CPU:
9-20
9.3 Uploading hardware configuration
• Rack
Specify the number (normally 0) of the rack in which a source CPU is contained.
• Slot
Specify the number (2 for the S7-300) of the slot in which the source CPU is inserted.
• Address
Specify the node address (normally 2) of the source CPU.
4. Click on the OK button, and the hardware configuration information of the source CPU
will be uploaded.
INFO For the network communication module and some FM modules, the information they have
themselves is not uploaded.
The other method by which you can upload the hardware configuration information of a
CPU to a project is this:
① ②
Number of the rack in which a source
CPU is contained
アップロードするCPUのラック番号
Number of the slot in which a source
アップロードするCPUのスロット番号
CPU is inserted
③
Node address of a
アップロードするCPU
source CPU
のノードアドレス
9-21
SIMATIC manager and hardware configuration
9.3.2 Uploading hardware configuration (2)
INFO For the network communication module and some FM modules, the information they have
themselves is not uploaded.
9-22
9.3 Uploading hardware configuration
You can display a list of addresses that are used in hardware configuration.
To bring up this screen, click on the address list icon of the hardware configuration screen.
Address from Select a module whose address list you want to display. Normally the names of avail-
able CPUs are shown. The name of CP is also shown if the CP is configured as a DP
master.
Filter Input Input addresses are to be listed.
Output Output addresses are to be listed.
Address gap Address gaps are to be listed
* (address gaps are the addresses currently not used).
Type I: Input address
I*: Input address of diagnosis byte
Q: Output address
Addr: From Module’s start byte address
Addr: To Module’s end byte address
Module Module type
DP For DP slaves, a DP address is shown in the parentheses ( ).
R Number of a rack in which the module is contained
S Number of a slot in which the module is inserted
IF Interface port number
9-23
Part 4
Setting up and maintenance
Chapter 10
Overview of System
10-1
Overview of System
10.1.1 Basic concept
This document explains the specification and operational procedure of YS 840DI screen opera-
tion.
YS 840DI employs the screen system called ShopMill as the operation control basic screen,
from which you can call the screens required for maintenance. Therefore, on this ShopMill-
based screen, end users can easily maneuver the operation control and also switch over to
the maintenance screen.
Additionally, for the function key operation on each screen, the vertical and perpendicular
function keys are used.
10-2
Power ON
M
Initial screen When power is supplied, ShopMill
(Wallpaper) screen displays.
ShopMill You can return to the ShopMill
Standard
screen from any screen.
10.1.2 Basic operation
HS1 HS2 HS3 HS4 HS5 HS6 HS7 HS8 HS1 HS2 HS3 HS4 HS5 HS6 HS7 HS8
V
Tool/Work
Manual Automatic Program Program User
Service *1 Diagnosis Start-up Setting STEP7 coordinate COMMON
operation operation management Edit message system
V T,S,M... Position
Machine NC Tool list
Input Alarm ... batch
data
10-3
Zero offset Soft *2 Tool Running
User origin abrasion hour
Output Message The level of setting switch PC CARD
display each screen
is changed
List of
from the Work origin Compensati
Alarm Setting lower to the offset on value
NC
log data upper.
II
Block
Origin
PLC Drive User MDA searching offset
status servo data
R
Positioning parameter
Data
selection MMC
Face
The following screen tree shows the transition of screen states.
Simulation
milling
Program Program
Remote Tool Setting modificatio modificatio
Interfac n n
diagnosi indication
V
e s setting
Here is the description about screen switching by using the following four keys;
10-4
Spindle inverter <1-axis drive><1-axis drive><2-axis drive><1-axis drive>
Converter(MRXN) Feed X axis(SGDK) Feed Y axis Feed Z/B axis Feed W axis
(MXN)
YS(840DI)
NCK (PCU) Battery supply Battery supply Battery supply Battery supply
・NCK application
・CNC program analysis Profibus setting is defined Local bus setting RSW Local bus setting RSW Local bus setting RSW
Specified with
・Interpolation, through the hard ware even numbers
Acceleration/Deceleration configuration.
Automatically set to the
・Position control Indication/Axis-specific setting/ first address number + 1
Main soft ware Main soft Main soft ware
(CNC-side processing) Content forwarding Main soft ware (F***)
・Backlash, Pitch errors (F0**) (F***) ware Main soft Main soft
Type:JUSP-JOP02A ware ware
・Tool replacement, (F***) (F0**) (F0**)
Data management
The same as The same as
Monitor PRM -> (Un0**) Monitor PRM -> (Un0**) Monitor PRM -> (Un0**) Monitor PRM -> (Un0**)
the left the left
10-5
Machine data Soft ware Function PRM -> (Fn0**) Function PRM -> (Fn0**)
Digital Function PRM -> (Fn0**) Function PRM -> (Fn0**) column column
operator
(0 0)
No parameter
General Channel Axis Parameter Parameter Parameter Parameter
Local bus Cn000 Pn000 Pn000 Pn000
The same as The same as
setting number 1**,2**,4**,5** 1**,2**,3**, the left the left 1**,2**,3**
1**,2**, column column
DISPLAY Drive parameter ↓
-MD "dr-#" indication
4**,5** 3**,4**,5** ,4**,5**
alignment B axis□
・The content of setting is
MD 3000 to 5999 ・Adjustment of the axis
also changed from decimal W axis□ behavior
number (drive side) to ・Toque level
hexadecimal number (NC "X axis" indication is defined with MD1000.
side). The number in the " " is defined with MD20050.
10-6
Chapter 11
Drive Parameter Screen
This chapter describes the indication of drive parameter and the overview and
operation of editor function.
11-1
Drive Parameter Screen
11.1.1 Startup
This function allows you to indicate and edit the parameters of the drive which is connected to
YS 840DI via the drive parameter screen which is housed in YS 840DI standard HMI applica-
tion.
11.1.1 Startup
Startup
To display the drive parameter screen, use the following procedure;
5. Click the [Drive Parameter] key to display the drive parameter screen.
11-2
11.1 Drive Parameter Screen Operation
Screen Configuration
The configuration of drive parameters are displayed as follows.
① ② ③ ④ ⑤ ⑥
⑫
(F9)
(F10)
(F11)
(F12)
(F13)
(F14)
(F15)
(F16)
⑪ ⑩ ⑨ ⑧ ⑦
11-3
Drive Parameter Screen
11.1.3 Operation method
Basic operation
The basic operations are listed below;
Decimal number
Decimal number data can be input using only the numeric keys. However, if the parameter
can accept minus data, [-] key input is permitted.
Hexadecimal number
Hexadecimal number data is displayed with "H" at the end of the value. The numeric keys
from 0 to 9 and alphabetical letter keys from A to F input is available.
Binary number
Binary number data is displayed with "B" at the end of the value. Only [0] and [1] key input
is accepted. Press the [INSERT] key to switch over to the inset mode. On this mode, you can
goes to the bit position you want to modify by using [->] and [<-] keys. The input is limited
to up to 16 digits. If there are already input up to 16 digits on the insert mode, you must
delete any number using the [DEL] key.
11-4
11.1 Drive Parameter Screen Operation
IMPORTANT On the drive parameter screen, press the [INPUT] key after having input the data in order to write the
data into the drive.
Take notice that the method of data input on the drive parameter screen is different from that on the
other machine data setting screens.
• Press the [Drive + (F9)] key to display the drive parameter of the axis number that is the
current axis number plus one. If you click the "final page", there displays the axis num-
ber on the top page.
• Press the [Drive − (F10)] key to display the drive parameter with the axis number that is
the current axis number minus one. If you click the "top page", there displays the axis
number on the final page.
• Press the [Direct selection (F11)] key to display the dialog box for direct switching (see
the figure below). Press the [INSERT] key to display the list of drives you can switch
over. When selecting one from the list, there displays the screen of the selected drive
number.
Searching
There are two types of searching methods; the parameter number method and the parameter
name method.
11-5
Drive Parameter Screen
11.1.3 Operation method
6. In addition, if you want to continue searching with the same search key, you can use the
[Continue search (F15)] key for the continuous searching. With every press on the [Con-
tinue search (F15)] key, searching is taken place from the current cursor position down
to the bottom. When having reached the bottom line, searching is continued from the top
line.
To update the data display into the up-to-the-date value, press the [Refresh (F16)] key.
11-6
11.1 Drive Parameter Screen Operation
For the details about the conditions on which the modified parameters are enabled, see the
⑦ Conditions to be Effective described on the section 11.1.2 Screen configuration. Below is
shown the meanings of each symbol.
Symbol Meanings
po Modification can not make the parameter effective. To enable the modified
parameter, you must execute the NCK-Reset. Alternatively, cut off and then turn
on the drive power supply.
im The modified parameter becomes effective just after modification. You need not
cut off and then turn on the drive power supply.
Only the user groups belonging to the protection levels between 0 to 4 can operate the drive
parameter screen.
11-7
Drive Parameter Screen
11.2.1 Drive diagnosis screen initiation
Drive diagnosis function takes part in diagnosing whether the parameter of the drive which is
connected with YS 840DI is available for Read/Write.
To start up the drive diagnosis screen, activate the drive parameter screen and then press the
[Drive Diagnosis (F2)] key (see the section 11.1.2 Screen configuration).
① ②
(F9)
(F10)
(F11)
(F12)
(F13)
(F14)
(F15)
(F16)
⑦ ⑥ ③ ④ ⑤
11-8
11.2 Drive Diagnosis Function
Drive diagnosis
With the function ⑤ Read/Write, you can diagnose the state of drive.
The indication is shown "OK", "NG", or "No drive". Each sign is explained below.
11-9
Drive Parameter Screen
11.3.1 ACC file
ACC file is a file which is composed of the information which is required for indication/
rewrite, such as attribute, unit, maximum/minimum value, name, etc. for each drive parame-
ter. The data displayed on the drive parameter screen is created on the basis of the informa-
tion of ACC file.
To read/write the drive parameter, you must beforehand register the parameter by mapping.
Just after initiating the drive parameter screen, mapping function is executed and the ongo-
ing process is shown as followings.
Mapping of ACC file can only take place just after the drive parameter screen is initiated for
the first time.
11-10
11.4 Error screen display and troubleshooting
There occurs an error, for example the drive is not powered on, or the communication with
the drive has failed, the screen will be shown as followings.
On this screen conditions, "Drive +", "Drive -", "Direct selection", "Search . . .", "Continue
search", and "Refresh" can not be enabled.
When the normal communication with all the drives is recovered, the screen automatically
comes back to the normal display.
IMPORTANT The screen display remains unchanged until the communication with all the drives comes back to the
normal state.
However, by pressing the [Stop (F8)] key, you can forcedly terminate the communication waiting state.
Then you can Read/Write the parameter only for the drive(s) which has normal communication.
11-11
Drive Parameter Screen
11.4.2 Troubleshooting
11.4.2 Troubleshooting
When the screen of abnormal state is displayed, use the following procedure.
The parameter whose value can not be read or which is failed to read is displayed with "#"
for the parameter setting value (see ④ of the section 11.1.2 Screen configuration).
11-12
Chapter 12
How to use Digital Operation
This chapter describes the basic and advanced operation of the digital operator.
The digital operator allows you to set various constants and also to operate the
motor in different ways. Control the digital operator according to the descrip-
tion of this chapter.
12-1
How to use Digital Operation
12.1.1 Connecting the digital operator
Here explains the basic operation of digital operator to set the operational conditions.
The Digital Operator is a hand-held operator (JUSP-OP02A-2) which can be attached to the
connector CN3 of converter.
The following figure shows where to attach the digital operator to the converter. The digital
operator connector can be attached/detached even if the converter is powered on.
Converter CIMR-MRXN
Digital operator
JUSP-OP02A-2 P/+
N/-
CN3
12-2
12.1 Basic operation
The digital operator allows you to set each user constant, to execute the operational com-
mand, and to view the state indication.
The following table describes the names and functions of the keys of digital operator which
displays the initial screen.
ALARM
RESET key To reset the servo drive alarm, press this key.
RESET
DSPL
DSPL/SET key • To switch over the status display mode, the
SET auxiliary function execute mode, the con-
stant setting mode, and the monitor mode,
DIGITAL
press this key.
SERVOPACK OPERATOR
JUSP-OP02A • This key can function as the data selection
ALARM
RESET
DSPL
SET
key on the constant setting mode.
JOG DATA DATA/ENTER key • To display the setting and setting value of
SVON DATA
ENTER
ENTER
each user constant, press this key.
• To switch over the axis selection mode and
the status display mode, press this key.
YASKAWA Value modi- UP key • To increase the setting value, press this key.
fication/JOG This key can be used as the reverse start key
key on the JOG operation.
• On the axis selection mode, press this key in
order to increase the axis number.
DOWN key • To decrease the setting value, press this key.
This key can be used as the reverse start key
on the JOG operation.
• On the axis selection mode, press this key in
order to decrease the axis number.
Digit RIGHT key • To select the setting digit you want to mod-
selection key ify, press this key. The flashing digit means
to be available.
LEFT key • By pressing the RIGHT key, the digit
decreases by one (shifts toward right).
• By pressing the LEFT key, the digit
increases by one (shifts toward left).
SVON key To enable the JOG operation with digital oper-
JOG
SVON ator, press this key.
You can reset the servo drive alarm via the digital operator; press the [RESET] key on the
status display mode.
IMPORTANT When there occurs an alarm, first eliminate the cause of alarm and then reset the alarm.
12-3
How to use Digital Operation
12.1.4 Switching the basic mode
The operation state display, user constant setting, operation instruction , and other operations
can be available by switching over on the basic mode of digital operator.
This basic mode includes the status display mode, auxiliary function execute mode, constant
setting mode, and monitor mode. These modes can be switched over in the following order
by pressing the key.
12-4
12.1 Basic operation
3. Press the [DATA/ENTER] key. The status display mode for the axis you selected on
Step 2 is displayed.
INFO The first axis of the 1-axis drive and 2-axis drive is the rotary switch number of each drive plus one.
The second axis number of the 2-axis drive is the rotary switch number plus two.
On the mode other than the axis selection mode, the LED of the drive which is selected flashes.
In the status display mode, bit data and codes are used to indicate the status of the SERVO-
PACK.
12-5
How to use Digital Operation
12.1.6 Status display mode
Speed agreement
Base block
The indication of bit data and codes is shown in the following tables.
Table 12.1 The bit data indication on the speed control mode
Code Indication
Base block is enabled.
Servo drive is turned off. (Motor is not supplied with power.)
In operation
Servo drive is turned on. (Motor is supplied with power.)
Alarm states
Displays the alarm number.
.
12-6
12.1 Basic operation
Base block
Control power
supply is ON. TGON
Reference pulse is Power is ready
Clear signal is
inputting
inputting
The indication of bit data and codes is shown in the following tables.
Table 12.3 The bit data indication on the position control mode
Code Indication
Base block is enabled.
Servo drive is turned off. (Motor is not supplied with power.)
In operation
Servo drive is turned on. (Motor is supplied with power.)
Alarm state
Displays the alarm number.
12-7
How to use Digital Operation
12.1.7 User Constant Setting Mode
Setting the user constants allows you to select and adjust the functions. For setting the user
constant, you can select either from two types: constant setting and function selection. Each
has different setting methods.
The constant setting function can shift the data of constant you want to change within a cer-
tain range. The function selection can select the function which is assigned to each digit of
the panel indicator (5-digit 7-segment LED). The user constants are listed in Appendix A.
1. On the axis selection mode, select the axis you want to operate.
2. Press the [DSPL/SET] key and select the constant setting mode.
3. Select the user constant number you want to set. (In this example, Pn507 is selected.)
By pressing the [LEFT] or [RIGHT] key, the setting digit will flash and be selected.
Press the [UP] or [DOWN] key until the value you want to set is displayed.
4. Press [DATA/ENTER] key.
There displays the current data of the user constant you have selected on the step 2.
5. Modify the data to what you want to set. (In this case, 85 is set.)
By pressing the [LEFT] or [RIGHT] key, the setting digit will flash and be selected.
By pressing the [UP] or [DOWN] key, the value is changed.
Keep on pressing the key until there displays 00085.
6. Press the [DATA/ENTER] key. The data flashes and be stored.
7. Press again the [DATA/ENTER] key. The screen returns to the user constant number
display.
This completes the change of the user constant Pn507 from 100 to 85.
To make another change, repeat Step 3 to Step 7.
12-8
12.1 Basic operation
INFO The user constant numbers which is not defined will be skipped during the operation.
IMPORTANT If you change the user constant that has a " ○ " in the remark column, you must cut off and then turn
on (or reclose) the power supply of both the main circuit and the control source in order to enable the
function of which setting you have just changed.
Also, some of the user constants that have an asterisk (*), such as Pn10B.1, Pn10B.3, Pn110.0,
Pn110.3, Pn127.0, and Pn408.2 requires the "reclosing the power supply" as shown above. On the con-
trary, Pn127.1 (Speed FF smoothing selection), Pn408.0 (1st stage notch filter selection) and Pn408.1
(2nd notch filter selection) can function on-line. Therefore they do not require the "recloseing the
power supply".
12-9
How to use Digital Operation
12.1.7 User Constant Setting Mode
Here is the description about indication of setting value. There are two types of user constant
display.
For the function selection user constant, since the value of each digit have individual mean-
ings, you can only change the value on each digit respectively. In addition, each digit dis-
plays only the value available in the setting range.
IMPORTANT The individual "digit" of function selection user constant setting value is defined as followings. The
"example of display" shows the user constant display according to this "digit" definition of the setting
value.
• Setting value
digit 0
digit 1
digit 2
digit 3
12-10
12.1 Basic operation
5. Press the [LEFT] or [RIGHT] key to select the digit number you want to set.
6. Press the [UP] or [DOWN] key to select the "value" of function setting which is defined
by the setting digit number.
8. Press again the [DATA/ENTER] key to return to the user constant number display.
12-11
How to use Digital Operation
12.1.8 Operation on the monitor mode
On the monitor mode, you can observe the reference value input into the SERVOPACK, the
state of input/output signals, and the interior state of SERVOPACK.
The monitor mode can be changed even while the motor is running.
3. Press the [UP] or [DOWN] key to view the monitor number you want.
4. Press the [DATA/ENTER] key to display the data of the monitor number you just
selected Step 3.
Data
This completes the view of the monitor number Un000 data 1500.
12-12
12.1 Basic operation
12-13
How to use Digital Operation
12.1.8 Operation on the monitor mode
The indication of input signal is arranged like above on the indicator of the SERVOPACK or
digital operator. The upper or lower side of the corresponding segment LED of the seven
segments flashes. When the input signal is ON ("L" level) the lower half of the segment
flashes and when the input signal is OFF ("H" level) the upper half of the segment flashes.
12-14
12.1 Basic operation
The indication of output signal is, like the monitor display of input signal, arranged like
above on the indicator of the panel or digital operator. When the output signal is ON ("L"
level) the lower half of the segment flashes and when the output signal is OFF ("H" level)
the upper half of the segment flashes.
EXAMPLE • When the ALM1 signal is enabled (in case of "L", an alarm is output);
7 654 321
12-15
How to use Digital Operation
12.1.8 Operation on the monitor mode
1. On the axis selection mode, select the axis you want to operate.
2. Press the [DSPL/SET] key to select the monitor mode.
3. Press the [UP] or [DOWN] key to select one from "Un00C", "Un00D", and "Un00E".
4. Press the [DATA/ENTER] key to display the data of the monitor number you just
selected Step 3.
5. Press the [UP] or [DOWN] key to view the upper and lower 16-bit data alternately.
6. By pressing the [UP] and [DOWN] keys all together, you can clear the data on the 32-bit
counter.
7. Press again the [DATA/ENTER] key to return to the monitor number display.
12-16
12.2 Application
12.2 Application
This section describes the application operation of digital operator in order to operate and adjust
the motor.
Read the section 12.1 "Basic operation" first.
You can set the user constant for application operation on the "Auxiliary function execution
mode". The following table lists the user constants for auxiliary function execution mode.
Note: The user constants with a " ○" mark and the user constants beginning
with "Pn" which have been set a password by Fn 010 are displayed as
followings. These user constants can not be changed.
Flashes a
second.
12-17
How to use Digital Operation
12.2.1 Alarm Trace Back Mode
On the alarm trace back mode, you can view the latest alarms up to ten so that you may
check what kind of alarms have occurred.
The alarm trace back data can not be cleared when the alarm reset is initiated or even when
the SERVOPACK power supply is cut off. This has no effect on the operation.
You can delete these data using the clear on the alarm trace back mode of the special mode.
See the section 12.2.2.
Check of alarm
To check the previous alarm, use the following procedure.
1. Select the axis you want to operate on the axis selection mode.
2. Press the [DSPL/SET] key and select "Indication of alarm trace back data (Fn000)" of
the auxiliary mode.
3. Press the [DATA/ENTER] key to view the alarm trace back data.
4. Press the [UP] or [DOWN] key to scroll the alarm occurence number. The alarm history
information is displayed.
The larger the number on the left-side digit is, the older the alarm is.
For the details about the alarm number, see 15 "Error diagnosis and Troubleshooting".
These are the digital operator relevant alarms. They are not stored in the trace back data.
INFO If there successively occurs the same alarm, that alarm trace back data is not updated. However, when
a single alarm code has two or more causes, that alarm code may be written in the alarm trace back
data in succession when the power supply is turned on or when an alarm is reset.
12-18
12.2 Application
This function allows to clear the alarm history stored in the SERVOPACK. When the func-
tion is enabled, all the alarm generation history is set "A. - -" which does not mean an alarm.
For the details, see the section 12.2.1 "Operation on the alarm trace back mode".
To clear the alarm trace back data, use the following procedure.
1. On the axis selection mode, select the axis you want to operate.
2. Press the [DSPL/SET] key and select the auxiliary function execution mode.
5. Press the [DSPL/SET] key. The following display flashes a second, the alarm trace back
data is cleared and then the screen displays the indication as Step 4.
flashes a seconds
6. Press the [DATA/ENTER] key to return to the user constant number display.
12-19
How to use Digital Operation
12.2.3 Checking the motor type
This display mode is used for maintenance of the motor. When the user constant Fn011 is
set, this mode becomes the motor type checking mode. In addition, when the SERVOPACK
is a special specification item, you can check its specification number.
1. On the axis selection mode, select the axis you want to operate.
2. Press the [DSPL/SET] key and select the auxiliary function execution mode.
3. Select the user constant Fn011. Press the [LEFT] or [RIGHT] key to select the setting
digit.
Press the [UP] or [DOWN] key until the value you want to set is displayed.
4. Press the [DATA/ENTER] key to view the servo motor type and voltage identification
data.
voltage
servo motor type
12-20
12.2 Application
6. Press the [DSPL/SET] key to view the encoder type and resolution identification data.
Encoder type
Encoder resolution
Encoder resolution
Encoder type Data Resolution
Data Type 13 13 bits
00 Incremental encoder 16 16 bits
01 Absolute value encoder 17 17 bits
20 20 bits
8. Press the [DATA/ENTER] key to return to the auxiliary function mode. You can also
return to the auxiliary function mode by pressing the [DATA/ENTER] key after viewing
the indication of Step 4 to Step 6.
12-21
How to use Digital Operation
12.2.4 Checking the software version
When Fn012 is set, this mode becomes the software version checking mode.
1. On the axis selection mode, select the axis you want to operate.
2. Set Fn012.
3. Press the [DATA/ENTER] key to view the SERVOPACK software version.
Software
version
4. Press the [DSPL/SET] key to view the software version of encoder which is mounted on
the motor.
Software version
5. Press the [DATA/ENTER] key to return to the user constant number display.
12-22
12.2 Application
The origin searching mode function enables to position and stop (cramp) at the origin pulse
position of encoder. This function can be used when the alignment of motor axis and
machine is required. Initiate the origin search without coupling.
The motor speed for the origin search is 60 min-1.
1. On the axis selection mode, select the axis you want to operate.
2. Press the [DSPL/SET] key to select the auxiliary mode.
3. Select the user constant Fn003. Press the [LEFT] or [RIGHT] key to select the setting
digit. Press [UP] or [DOWN] key until the value you want is displayed.
5. Press the [SVON] key. The indication will display as below to show that the origin
search mode is ready.
6. Keep on pressing the [UP] or [DOWN] key to execute the origin search.
If the user constant is Pn000.0 = 0 (standard setting), pressing the [UP] key enables the
motor to rotate forward, while pressing the [DOWN] key to rotate reverse. If the user
constant is Pn000.0 = 1, press the [DOWN] key to enable the motor to rotate forward
and press the [UP] key to rotate reverse.
12-23
How to use Digital Operation
12.2.6 Initializing the user constant setting value
7. Press the [DATA/ENTER] key to return to the auxiliary function execution mode dis-
play.
This function allows you to recover the standard setting (initial setting) even after changing
the user constants many times.
IMPORTANT You must turn off the servo drive when activating this user constant initialization function .
1. On the axis selection mode, select the axis you want to operate.
2. Press the [DSPL/SET] key and select the auxiliary function execution mode.
3. Select the user constant Fn005. Press the [LEFT] or [RIGHT] key to select the setting
digit. Press the [UP] or [DOWN] key until the value you want to set is displayed.
4. Press the [DATA/ENTER] key and the indication will display as below.
5. Press the [DSPL/SET] key. The new display like following initiates the user constant.
Flashes one
second.
Stops
Keep on flashing flashing.
while the initiation is
executed.
6. Press the [DATA/ENTER] key to return to the auxiliary function execution mode dis-
play.
12-24
12.2 Application
INFO When the servo drive is powered on, pressing the [DSPL/SET] or [MODE/SET] key can not initialize
the user constant.
After initializing the user constant, you must turn off and then turn on the power supply.
12.2.7 Manual zero adjustment and gain adjustment for analogue monitor
output
This analog monitor output can allows you to observe the motor speed, torque reference or
position deviation. For the detailed information, see the section 16.4 "Analog Monitor".
The analog monitor output manual zero adjustment function is used for compensating the
output voltage deviation which is caused by drift, or the zero point deviation which is caused
by noise interference with observation system. Also, the gain adjustment function can be
modified to meet the sensitivity of observation system.
Gain
adjustment
Zero adjustment
Setting unit
Zero adjustment range:±2V → 24mV/LSB
Gain adjustment range:50 to 150% → 0.4%/LSB
INFO The output voltage range of analog monitor is ± 8V (MAX). Even if the voltage exceeds this range,
the indication shows only ± 8V.
12-25
How to use Digital Operation
12.2.7 Manual zero adjustment and gain adjustment for analogue monitor output
1. On the axis selection mode, select the axis you want to operate.
2. Press the [DSPL/SET] key and select the auxiliary function execution mode.
3. Select the user constant Fn00C. Press the [LEFT] or [RIGHT] key to select the setting
digit. Press the [UP] or [DOWN] key until the value you want to set is displayed.
4. Press the [DATA/ENTER] key. The indication will display like below.
5. Press the [DSPL/SET] key to switch over the 2-channel monitor output.
Changes alternately.
6. Press the [LEFT] or [RIGHT] key to view the analog monitor output data. Press the
[LEFT] or [RIGHT] key again to return to the display of Step 4 or Step 5.
[LEFT] key
Data display
([RIGHT] key)
Changes alternately
7. Press the [UP] or [DOWN] key to enable the analog monitor output zero adjustment.
8. After the zero adjustment for the two output channels, press the [DATA/ENTER] key.
The indication will return to the auxiliary function execution mode display.
12-26
12.2 Application
1. On the axis selection mode, select the axis you want to operate.
2. Press the [DSPL/SET] key and select the auxiliary function execution mode.
3. Select the user constant Fn00D. Press the [LEFT] or [RIGHT] key to select the setting
digit. Press the [UP] or [DOWN] key until the value you want to set is displayed.
4. Press the [DATA/ENTER] key. The indication will display like below.
5. Press the [DSPL/SET] key to switch over the 2-channel monitor output.
[DSPL/SET] key
Changes alternately.
6. Press the [LEFT] or [RIGHT] key to view the analog monitor gain factor. Press the
[LEFT] or [RIGHT] key again to return to the display of Step 4 or Step 5.
[LEFT] key
([RIGHT] key) Data display
Changes alternately
7. Press the [UP] or [DOWN] key to enable the analog monitor output gain adjustment.
8. After the gain adjustment for the two output channels, press the [DATA/ENTER] key.
The indication will return to the auxiliary function execution mode display.
12-27
How to use Digital Operation
12.2.8 Motor current detection signal offset adjustment
The offset adjustment for motor current detection signal does generally require no customer
adjustment because the YSNC completed the adjustment before shipping. However, if you
need more precise accuracy, for example, in case that you recognize the torque ripple based
on the current offset is excessively large, or in case that you want to reduce the torque ripple
furthermore, this function is available.
This is the procedure for the automatic and manual adjustment for offset.
IMPORTANT If you carelessly initiate this function, especially manual adjustment, that may deteriorate the feature.
When you determine the torque ripple is obviously large in comparison to other SERVOPACK, you
may execute the automatic adjustment for offset.
The automatic adjustment is available only when the main circuit power supply is turned on and simul-
taneously the servo drive is cut off.
1. On the axis selection mode, select the axis you want to operate.
2. Press the DSPL/SET key to select the auxiliary function execution mode.
3. Select the user constant Fn00E. Press the [LEFT] or [RIGHT] key to select the setting
digit. Press the [UP] or [DOWN] key until the value you want to set is displayed.
5. Press the [DSPL/SET] key. The following indication displays and the offset automatic
adjustment is executed.
Flashes for
a second.
12-28
12.2 Application
6. Press the [DATA/ENTER] key to return to the auxiliary function execution mode dis-
play.
This completes the motor current detection signal offset automatic adjustment.
IMPORTANT Before initiating the manual adjustment, run the motor at about 100 min-1 and adjust the ripple for the
torque reference monitor (See the Section 16.4 "Analog monitor") becomes minimum. You must bal-
ance the U-phase and V-phase current offset when adjusting. For this purpose, you have to adjust alter-
nately these phase current offsets several times.
1. On the axis selection mode, select the axis you want to operate.
2. Press the [DSPL/SET] key to select the auxiliary function execution mode.
3. Select the user constant Fn00F. Press the [LEFT] or [RIGHT] key to select the setting
digit. Press the [UP] or [DOWN] key until the value you want to set is displayed.
5. Press the [DSPL/SET] key to switch over the U-phase (Cu1_0) to and from V-phase
(Cu2_0) current detection signal offset adjustment mode.
[DSPL/SET] key
Changes alternately.
6. Press the [LEFT] or [RIGHT] key to view the current detection data. Press the [LEFT]
or [RIGHT] key again to return to the display of Step 4 or Step 5.
[LEFT] key
([RIGHT] key) Data display
Changes alternately.
12-29
How to use Digital Operation
12.2.9 Setting the password (setting for write prohibit)
7. Press the [UP] or [DOWN] key to adjust the offset. You must observe the torque refer-
ence monitor signal carefully during the adjustment.
8. After completing the adjustment of U-phase (Cu1_0) and V-phase (Cu1_0) current off-
set, press the [DATA/ENTER] key to return to the auxiliary function execution mode
display.
This completes the motor current detection signal offset manual adjustment.
This password setting is the function to prevent the user constant form being rewritten care-
lessly.
When setting the password, the user constant which is prohibited to write is a part of the
constants beginning with Pn □□□ or Fn □□□ .
The setting value for passwords are followings.
1. On the axis selection mode, select the axis you want to operate.
2. Press the [DSPL/SET] key and select the auxiliary function execution mode.
3. Select the user constant Fn010. Press the [LEFT] or [RIGHT] key to select the setting
digit. Press the [UP] or [DOWN] key until the value you want to set is displayed.
4. Press the [DATA/SET] key and the indication will display as below.
12-30
12.2 Application
5. Write the password value "0001" and then press the [DSPL/SET] key. The display like
following appears and the password is written.
Flashes one
second.
6. Press the [DATA/ENTER] key to return to the auxiliary function execution mode dis-
play.
This completes the password setting. This password setting will be enabled when the
power supply is turned on the next time.
12-31
How to use Digital Operation
12.2.9 Setting the password (setting for write prohibit)
12-32
Chapter 13
Drive system overview 1
This chapter and next chapter deal with procedures to set up axis control-
related functions, which are necessary to use the functions and capabilities of
CNC and each drive in order to control feed axes and spindle of YS 840DI sys-
tem. Since most of the axis-related functions consist of both CNC and drive
functions, this document explains how to set up machine data and parameters
for both CNC and drives for your smooth set-up operation. If you want to
know how to use CNC, refer to manuals for the YS 840DI system (see Related
manual in the preface). If you want to know how to use each drive, refer to the
other chapters in this manual for each drive.
13-1
Drive system overview 1
Encoder
Battery
Emergency Hardware
stop timer Data bus Data bus
Data bus Latch signal Latch signal
Via Battery Battery
ON/OFF Battery
PROFIBUS
I/O 200 VAC
Contactor
840DI
Analogue Analogue Analogue
PLC (MMC board) monitor monitor monitor
PROFIBUS (2 ch) (2 ch) (2 ch)
・PLC application PROFIBUS
PROFIBUS
i/F
i/F Latch signal
(MMC board)
(2 ch)
power
power
Motor
Motor
power
Motor
NCK (PCU) Encoder
Encoder
・NCK application
Converter or i/O
・CNC program analysis
Brake
Brake
Brake
・Interpolation, acceleration/
deceleration (OP)
・Position control
(Processing at CNC)
・Backlash and pitch error Motor#1 Motor#2 Motor#n
correction
Converter or i/O Digital
operator
HMI (PCU)
・HMI application (OP)
13-2
13.2 Specification of machine data and parameters
In 840DI system, machine data (CNC data) and parameters (Drive data) have the following
structures:
INFO • Parameters MD3000-MD8999 for Servo drives and spindle drives can also be set from the Oper-
ator panels for drives.
• For correspondence between Pn and Cn, refer to Appendix A "Parameters".
• For how to use Operator for drive and precautions in setting data from the Operator for drive, refer
to Chapter 12. "How to use Digital Operation".
13-3
Drive system overview 1
13.2.2 How to control machine data and parameters
In YS840DI system, each drive controls parameters that the drive uses. Since the parameters
are stored in the nonvolatile memory in the drive, the drive parameters MD3000-MD8999 in
previous table can be set either from the CNC screen or from the Digital operator for the
drive. However, the values are stored inside the drive and CNC only displays the values.
Parameters MD0-MD2999 can be displayed on the drive parameter screen, but can’t be set
from the screen. CNC machine data are controlled in the memory inside CNC.
For each machine data or parameter to be changed from the CNC display, some of the fol-
lowing conditions are also displayed to indicate how to activate the parameter.
• po: Parameter becomes active either when CNC power is turned on/off or [NCK Reset]
is entered.
• cf: Parameter becomes active when [Set MD Active] is entered.
• re: Parameter becomes active when CNC panel reset key is pressed.
• im: Parameter becomes active imidiately when a value is entered.
Previously, a number is assigned to each parameter; however, in this YS 840DI system, each
of the numbers to be assigned is constructed differently according to applications. Espe-
cially, machine data and parameters for each axis are constructed as following ■ :
13-4
13.2 Specification of machine data and parameters
The array structure is used not only for the axis setting but also for differentiating items that are of the
INFO
same type but are used for different applications--for example, differentiating between motor encoder
and external encoder, and representing gear numbers and parameter set numbers.
MD3000= 0 F 1 0 (Hex)
Digit0 (0-F)
Digit1 (0-F)
Digit2 (0-F)
Digit3 (0-F)
If it is specified to set parameters in digits, set the digit one by one as shown in the example,
paying attention not to confuse the digits.
13-5
Drive system overview 1
13.2.4 How to set machine data and parameters
For drive parameters MD3000-MD8999, data are to be displayed or entered with fractional
portion removed off so that they can be set also from the Digital Operator in the same way.
In this case, the unit displayed together indicates whether or not the data has frictional por-
tion.
13-6
Chapter 14
Drive set-up procedure
This chapter deals with procedures to set up machine data and parameters
relating to axis control for YS 840DI. Since this manual includes only mini-
mum amount of information required, refer to other manuals on functions and
appendix pages for more information on machine data and parameters.
Notice that machine data and parameters of specific importance are marked
with "##". If they are not set, machines may fail to start up or malfunctions.
14-1
Drive set-up procedure
14-2
The following functions are introduced in this manual.
14-3
Drive set-up procedure
Note: The mark " ○ " indicates that the function relates with each feed axis
and Spindle.
14-4
14.1 Fundamental settings
• DP cycle: Interpolation cycle of CNC and data transmission cycle between CNC and a
drive.
• IPO cycle: Program block analysis cycle of CNC.
IPO cycle must be an integral multiple ( × 1, × 2, ...) of a DP cycle.
DP cycle setting
Currently, you can select 2 ms or 4 ms as a DP cycle.
In YS 840DI system, the following standard values are set.
The DP cycle is set through a hardware configuration using a PLC set-up tool "STEP7".
Refer to STEP7 instruction for more information.
You can check the DP cycle, having been set by the hardware configuration, by using the
following machine data (read-only data).
• MD10050 SYSCLOCK_CYCLE_TIME
Meaning: DP cycle time
Displayed value: [sec]
• MD10070 IPO_SYSCLOCK_TIME_RAITIO ##
Meaning: IPO cycle time
Setting value: Integral multiple of DP cycle
Standard setting value: 2 to 4
• MD19296 ON_PERFORMANCE_INDEX ##
Meaning: Limitation to IPO cycle
Standard setting value: 4
14-5
Drive set-up procedure
14.1.2 NCK processing capability
With this setting, it is specified that how much CPU power should be distributed from PCU
unit to NCK (NC kernel) in YS 840DI system.
50-75% should be specified with the following machine data.
• MD10185 NCK_PCOS_TIME_RATIO
Meaning: CPU power ratio to be distributed to NCK.
Setting value: [%]
Standard setting value: 65 [%]
Set the following machine data to make an adjustment between high NCK processing speed
and high screen refreshing speed.
• MD10131 SUPPRESS_SCREEN_REFRESH
Meaning: Suppression setting of HMI screen refreshing
0 --- Suppression for entire system
1 --- Suppression only for a partial system in which the processing must be
done in a short time.
2 --- No suppression at all
For operation specification at NCK reset and system shutdown, set the following machine
data.
This machine data was added to 01.00.00 system. For systems earlier than this version, the
INFO
data should be set to 0.
14-6
14.1 Fundamental settings
As an initial setting of command unit system (mm/inch), set the following machine data.
Drive setting
Fine interpolation
To apply fine interpolation to a speed reference (for interpolation so that the separation from
DP cycle to drive control cycle may be carried out continuously), set the following data to
"1".
• MD3069 digit 1 (Pn127 digit 1) SWITCH_FUNCTION_2 (For each Servo drive axis)
##
Meaning: Fine interpolation of a speed reference.
Setting value: 0 --- Fine interpolation disabled.
1 --- Fine interpolation enabled.
The data must be set to "1".
14-7
Drive set-up procedure
14.1.4 Axis configuration
Control axes (feed axis and Spindle) configuration set-up is carried out in the following 3
methods:
1. Set switches at a drive so that a PROFIBUS station No. of the Converter and axis numbers
under the Converter can be set up.
2. Perform a hardware configuration using PLC set-up tool "STEP 7" so that all the hard-
ware (such as drives and I/O modules) can be physically set up and the PROFIBUS can be
connected.
3. Set up machine data assuming that "Switch setting at drives" and "Hardware configura-
tion" have been carried out correctly.
If you have made a change to drive configuration, for example, by adding or deleting a
drive, you need to perform again "1. Switch setting at drives", "2. Hardware configuration",
and "3. Setting up machine data".
14-8
14.1 Fundamental settings
OFF
1 2 3 4 5 6 7 8
You can check the Converter station numbers using the following parameters on the bottom
of the drive parameter screen.
• Assign an integer number, starting with 0, in succession to each of the rotary switches.
(The numbers assigned must be sequential; otherwise, you need to take care in perform-
ing a hardware configuration.)
• In the case of a 2-axis-combined Servo drive, numbers for 2 axes must be assigned
although only 1 rotary switch exists. In this case, if you assign "2" to the switch for
example, both numbers "2" and "3" will actually be assigned. For this reason, you need
to assign "4" to the next rotary switch.
Note: You need to configure axes so that even numbers (0, 2, 4) may be
assigned to rotary switches for 2-axis-combined drives. If an odd
number is assigned to a rotary switch, the switch is treated as
assigned with a predetermined number "-1".
• You can assign numbers 0-6 under 1 Converter. (If the end edge is a 2-axis-combined
type, numbers 0-5 are to be assigned.)
As far as no duplicated number is assigned, the drives need not be placed sequentially.
Note: In case any incorrect setting is made, Converter communication mod-
ule LED lights up in Red; otherwise, it lights up in green in normal
case.
14-9
Drive set-up procedure
14.1.4 Axis configuration
• A portion that you need to set up: "Assigning Hexadecimal Parameters" of "DP Slave
Properties".
• A GSD file to be used is "YASK04E7".
• Setting descriptions: For a DP cycle of 2 ms or 4 ms, make the following settings:
00,00,00,1C,E1,00,00,E1,00,00,17,70,00,04,01,00,00,0B,B8,00,03,00,07,00,00,17,70,00,0A,00,00
In the case of 2 ms setting, the following setting (initial setting) can also be used.
00,00,00,1C,E1,00,00,E1,00,00,5D,C0,00,01,01,00,00,0B,B8,00,03,00,07,00,00,17,70,00,
0A,00,00
For a logical address to be set using STEP7, set a value that matches with the following
machine data.
14-10
14.1 Fundamental settings
Note: 1. When you set a value using STEP7, adjust it to this machine data
setting.
2. This address is effective also for the following GAP axis. When
you make a setting using STEP7, define an address of 1 axis length
also for an axis that is to be set as an GAP axis.
14-11
Drive set-up procedure
14.1.4 Axis configuration
The next page summarizes relations among the machine data, drive settings, and hardware
configuration discussed above.
14-12
Definitions of logical axis numbers and names in Definitions of logical axis numbers and Relations between logical and physical axis numbers, and settings of active
the whole system. names of the 1st group. and inactive axes in the whole system
MD10000 MD10002 MD20070 MD20080 Drive Motor encoder External encoder Axis enable/disable
Logical
1st axis [0] : SP1 AX1 [0]:3 [0]:X Logical address Logical address Logical address
axis name
2nd axis [1] : SP2 AX2 [1]:4 [1]:Y MD10000 MD30110 MD30220[0] MD30220[1] MD30130
3rd axis [2] : X1 AX3 [2]:5 [2]:Z SP1 1 1 1 1
4th axis [3] : Y1 AX4 [3]:9 [3]:A SP2 6 6 6 1
5th axis [4] : Z1 AX5 [4]:1 [4]:SP X1 2 2 2 1
6th axis [5] : X2 AX6 Y1 3 3 3 1
7th axis [6] : Y2 AX7 Definitions of logical axis numbers and Z1 4 4 4 1
names of the 2nd group.
8th axis [7] : Z2 AX8 X2 7 7 7 1
MD20070 MD20080
9th axis [8] : A1 AX9 Y2 8 8 8 1
[0]:6 [0]:X
10th axis [9] : B1 AX10 Z2 9 9 9 1
[1]:7 [1]:Y
11th axis [10] : A2 AX11 A1 5 5 5 1
[2]:8 [2]:Z
12th axis [11] : B2 AX12 B1 Invalid setting Invalid setting Invalid setting 0
[3]:11 [3]:A
A2 Invalid setting Invalid setting Invalid setting 0
[4]:2 [4]:SP
B2 Invalid setting Invalid setting Invalid setting 0
14-13
although it is a simulation axis addresses during simulation axis (without a
(without a drive). hardware configuration drive).
The following shows machine data and parameter settings of motor encoders.
Since a feed axis uses a serial encoder as a motor encoder, some parameter settings for a
Servo drive encoder are omitted here because the encoder directly reads those setting values.
CNC setting
• MD30200 NUM_ENC (For each axis)
Meaning: The number of encoders
Setting value: 0 --- No encoder
1 --- Only motor encoders
2 --- Motor encoder + External encoders
• MD31000 ENC_LINEAR [0] (For each axis)
Meaning: Motor encoder type (Rotary encoder/Linear scale) setting
Setting value: 0 --- Rotary encoder
• MD30220 ENC_MODULE_NR (For each axis)
Meaning: Encoder number determined during hardware configuration.
Setting value: MD30110 The same value as CTRLOUT_MODULE_NR is to be set.
• MD30230 ENC_INPUT_NR [0] (For each axis)
Meaning: Encoder input port number
Standard setting value: 1
• MD30240 [0] ENC_TYPE [0] (For each axis)
Meaning: Motor encoder type
Setting value: 0 --- Simulation axis setting
1 --- Incremental encoder
4 --- Absolute encoder
Note: If you use an absolute encoder as an incremental encoder, assign "1".
If you use absolute value detection function of a External encoder,
assign "4" irrespective of motor encoder types.
• MD30240 [1] ENC_TYPE [1] (For each axis)
Meaning: External encoder type
Setting value: 0 --- External encoder is not used.
1 --- Incremental encoder
4 --- Absolute encoder
Note: If you use an absolute encoder as an incremental encoder, assign "1".
14-14
14.1 Fundamental settings
14-15
Drive set-up procedure
14.1.5 Motor encoder
14-16
14.1 Fundamental settings
Drive setting
Servo drive
• MD3000 digit 0 (Pn000 digit 0) FUNCTION_SWITCH_BASIC (For each axis)
Meaning: Selection of rotation direction
Setting value: 0 --- CCW rotation to be treated as forward rotation.
(1 --- CW rotation to be treated as forward rotation.)
Note: To set up reverse connection, use CNC machine data.
• MD3002 digit 2 (Pn002 digit 2) FUNCTION_SWITCH_APPLIC2 (For each axis)
Meaning: Method for operating absolute encoder
Setting value: 0 --- Uses an absolute encoder as an absolute encoder.
1 --- Uses an absolute encoder as an incremental encoder.
• MD3205 (Pn205) Multi_TURN_LIMIT
Meaning: Multi-turn limit setting
Setting value: Multi-turn limit setting of absolute encoder
You need not change this parameter setting even if you want to detect
rotation axis absolute value in YS 840DI system. (Excluding absolute
value detection with a External encoder using MP scale. Refer to next
section 14.1.6 for a setting when MP scale is used.)
Standard setting value: 65535
14-17
Drive set-up procedure
14.1.5 Motor encoder
INFO You do not need to set the number of motor encoder pulses because it is read from an encoder directly.
You can check the number of encoder pulses with the following drive parameters.
• MD1005 ENC_RESOL_MOTOR (For each axis)
Meaning: Motor encoder resolution
• MD1042 RESOLUTION_G1_XIST1 (For each axis)
Meaning: Motor encoder resolution magnification 1
The number of motor encoder pulses = MD1005 × 2MD1042
14-18
14.1 Fundamental settings
Spindle drive
• MD6529 (Cn529) ENCODER_SPECIFICATION_0 (For each axis)
Meaning: Encoder specification
Setting value: Bit 1, 0 0, 0 --- No encoder used.
0, 1 --- External encoder is used.
1, 0 --- Motor encoder is used.
Bit 2 0 --- CCW rotation to be treated as forward rotation.
(1 --- CW rotation to be treated as forward rotation.)
Bit 6 0 --- Incremental encoder
1 --- Absolute encoder
Bit 7 0 --- Pulse encoder
1 --- Serial encoder
Note: To set up reverse rotation connection, use CNC machine data.
• MD6533 (Cn533) NUMBER_OF_ENCODER_PULSE_0 (For each axis)
Meaning: The number of motor encoder pulses (4-multiplication value)
Setting value: 11 --- 2048 Pulse encoder
12 --- 4096 Pulse encoder
13 --- 8192 Pulse encoder
17 --- 17-bit Serial encoder
19 --- 19-bit Serial encoder
Note: If this parameter is set to a number ranging from 8 to 32, the parame-
ter represents a value of n in "2 to the n-th power" pulse type
encoder. If the parameter is set to "32" or larger number, the parame-
ter represents the number of 4-multiplication pulses of a pulse
encoder.
• MD6915 (Cn87F) FULL_CLOSED_PG_PULSE_L_1 (For each axis)
Meaning: The number of PG pulses used for position control/Single revolution of
motor (Lower word)
Setting value: [Pulse]
• MD6916 (Cn880) FULL_CLOSED_PG_PULSE_H_1 (For each axis)
Meaning: The number of PG pulses used for position control/Single revolution of
motor (Upper word)
Setting value: [Pulse]
Note: Set MD6915 and MD6916 to a 4-multiplication value.
14-19
Drive set-up procedure
14.1.6 External encoder
1. Connect the Digital operator to the Converter. Select a drive (dr1, dr2 ...: the drive num-
ber is a value, 1 more than the rotary switch setting value of each drive) to check by
using [UP] and [DOWN] keys, and press [DATA ENTER] key.
2. Press [DSPL/SET] key to display "Fn □□□ ", and then press [UP] key to display
"Fn008". Press [DATA ENTER] key.
3. "PGCL1" is displayed. Press [UP] key to display "PGCL5".
4. Press [DSPL/SET] key to display "done".
5. The alarm is released when the power is turned on again.
INFO To use a External encoder, you need to change the setting value from "1" to "2" of the "Position mea-
suring system" for PLC->NCK signals DB3nDBX1.5-1.6.
• DBX1.5 = 1 & DBX1.6 = 0: External encoder inactive.
• DBX1.5 = 1 & DBX1.6 = 1: External encoder active.
CNC setting
• MD30200 NUM_ENC (For each axis)
Meaning: The number of encoders
Setting value: 0 --- No encoder used.
1 --- Only motor encoders
2 --- Motor encoders + External encoders
• MD30230 ENC_INPUT_NR [1] (For each axis)
Meaning: Encoder input port number
Standard setting value: 1
• MD30240 [1] ENC_TYPE [1] (For each axis)
Meaning: External encoder type
Setting value: 0 --- No External encoder used.
1 --- Incremental encoder
4 --- Absolute encoder
Note: If you want to use an absolute encoder as an incremental encoder,
assign "1".
14-20
14.1 Fundamental settings
14-21
Drive set-up procedure
14.1.6 External encoder
Drive setting
Servo drive
• MD3002 digit 3 (Pn002 digit 3) FUNCTION_SWITCH_APPLIC2 (For each axis)
Meaning: Method for using full-closed PG pulse
Setting value: 0 --- Not to be used.
(1 --- To be used without C-phase. (Incremental encoder))
2 --- To be used with C-phase. (Incremental encoder)
(3 --- To be used in reverse rotation mode without C-phase.
(Incremental encoder))
4 --- To be used in reverse rotation mode with C-phase
(Incremental encoder)
(5 --- To be used without C-phase (Absolute encoder))
6 --- To be used with C-phase (Absolute encoder)
(7 --- To be used in reverse rotation mode without C-phase.
(Absolute encoder))
8 --- To be used in reverse rotation mode with C-phase.
(Absolute encoder))
Note: "Without C-phase" setting is applied when such an encoder is used
that has no C-phase signal. In this case, "C-phase wire break detec-
tion" is not performed.
14-22
14.1 Fundamental settings
External encoder Motor encoder Motor rotation External encoder Motor rotation External
specification connection direction rotation direction encoder encoder rotation
MD32100 MD32110 MD3000 digit 0 direction
MD3002 digit 3
Type 2 reverse Forward rotation 1 1 0 4 or 8
rotation
Reverse rotation -1 1 0 2 or 6
connection
14-23
Drive set-up procedure
14.1.6 External encoder
14-24
14.1 Fundamental settings
INFO When drive-related parameters are set to a value extending over upper and lower words, the following
settings are required:
To set MD3210 (Pn20A) and MD3211 (MD20B) to 90000,
1. Convert 90000 to a hexadecimal number.
Example: 90000 = 15F90H
2. Separate the hexadecimal number into upper and lower words.
Example: Upper word = 1H; Lower word = 5F90H
3. Convert the upper word to a decimal number again and set MD3211 to the decimal number.
Example: 1H = 1
MD3211 = 1
4. Convert the lower word to a decimal number again and set MD3210 to the decimal number.
Example: 5F90H = 24464
MD3210 = 24464
14-25
Drive set-up procedure
14.1.6 External encoder
14-26
14.1 Fundamental settings
Spindle drive
If a External encoder is to be used at a Spindle drive, the encoder at the Spindle motor must
be a serial encoder. You cannot use pulse encoders both for motor encoder and for External
encoder at the same time.
The next 2 pages show lists of machine data and parameters to be set in accordance with
specifications of feed axis-related motor encoder and External encoder.
14-27
of feed axis encoder-related Servo drive parameters
A list送り軸エンコーダ関連CNCパラメータ一覧
External encoder
別置きエンコーダ Motor encoder
モータエンコーダ
Drive set-up procedure
マシンデータ
data No.No. マシンデータ名称
Machine data name 内容
Description Absolute
アブソ Incremental
インクレ Absolute
アブソ Incremental
インクレ Absolute
アブソ Incremental
インクレ
Linear
直線軸 axis Rotary
回転軸 axis Linear
直線軸 axis Rotary
回転軸 axis − − Linear
直線軸 axis Rotary
回転軸 axis Linear
直線軸 axis Rotary
回転軸 axis
14-28
MD31020 ENC_RESOL[0] The number of encoder pulses 1 [0]
エンコーダパルス数1[0] /rev /rev /rev /rev /rev /rev /rev /rev /rev /rev
/rev /rev /rev /rev /rev /rev /rev /rev /rev /rev
(pulse/4)
(pluse/4) (pulse/4)
(pluse/4) (pulse/4)
(pluse/4) (pulse/4)
(pluse/4)
MD31020 ENC_RESOL[1] The number of encoder pulses 1 [1]
エンコーダパルス数1[1] /rev /rev /rev /rev − − − − − −
/rev /rev /rev /rev
MD31025 ENC_PULSE_MULT[0] The number of encoder pulses 2 [0]
エンコーダパルス数2[0] 2048 2048 2048 2048 2048 2048 2048 2048 2048 2048
MD31025 ENC_PULSE_MULT[1] The number of encoder pulses 2 [1]
エンコーダパルス数2[1] 4 4 4 4 1 1 − − − −
MD31030 LEADSCREW_PITCH Ball screw pitch
ボールネジピッチ mm/rev − mm/rev − − − mm/rev − mm/rev −
MD31040 ENC_IS_DIRECT[0] Load axis encoder setting [0]
負荷軸エンコーダ設定[0] 0 0 0 0 0 0 0 0 0 0
MD31040 ENC_IS_DIRECT[1] Load axis encoder setting [1]
負荷軸エンコーダ設定[1] 1 1 1 1 1 1 − − − −
Motor rotation
Load gear denominator rotation amount Motor rotation amount Motor rotation amount Motor rotation amount Motor rotation amount Motor rotation amount Motor rotation amount
MD31050 DRIVE_AX_RATIO_DENOM[0] 負荷ギア分母 amount
モータ回転量 Motorモータ回転量 モータ回転量 モータ回転量 1 1 モータ回転量 モータ回転量 モータ回転量 モータ回転量
Mechanical rotation Mechanical rotation Mechanical rotation Mechanical rotation Mechanical rotation Mechanical rotation Mechanical rotation Mechanical rotation
MD31060 DRIVE_AX_RATIO_NUMERA[0] Load gear numerator
負荷ギア分子 amount
メカ回転量 amount
メカ回転量 メカ回転量
amount メカ回転量 1 1 メカ回転量 amount
メカ回転量 メカ回転量
amount メカ回転量
DRIVE_ENC_RATIO_ DENOM[0]
MD31070 DRIVE_ENC_RATIO_DENOM[0] Electronic
電子ギヤ分母[0] gear denominator [0] 1 1 1 1 1 1 1 1 1 1
MD31070 DRIVE_ENC_RATIO_ DENOM[1]
DRIVE_ENC_RATIO_DENOM[1] Electronic
電子ギヤ分母[1] gear denominator [1] 1 1 1 1 1 1 − − − −
MD31080 DRIVE_ENC_RATIO_NEMERA[0]
DRIVE_ENC_RATIO_NEMERA[0] Electronic
電子ギヤ分子[0] gear numerator [0] 1 1 1 1 1 1 1 1 1 1
MD31080 DRIVE_ENC_RATIO_NEMERA[1] Electronic
電子ギヤ分子[1] gear numerator [1] 1 1 1 1 1 1 − − − −
MD32100 AX_MOTION_DIR Forward/Reverse
正転/逆転接続rotation connection 1/-1 1/-1 1/-1 1/-1 1/-1 1/-1 1/-1 1/-1 1/-1 1/-1
MD32642
MD32642 STIFFNESS_CONTROL_CONFIG
STIFFNESS_CONTROL_CONFIG Full-closed type
フルクローズドタイプ 1 1 1 1 1 1 0 0 0 0
MD34200 ENC_REFP_MODE[0] Return to reference point mode
原点復帰モード 0 0 1 1 0 1 0 0 1 1
Table 14.4 A list of feed axis encoder-related CNC parameters
14-29
MD3006
MD3006Digit
桁 2(Pn006 digit
2 (Pn006 桁 2)2) FUNCTION_SWITCH_APPLIC6
FUNCTION_SWITCH_APPLIC6 Full-closed
フルクローズド仕様 specification 0 0 0 0 0 0 0 0 0 0
Encoder setting setting Encoder setting Encoder setting
エンコーダ設定値 Encoder
value
エンコーダ設定値
value
Multi-turn limit value value
MD3205(Pn205) MULTI_TURN_LIMIT マルチターンリミット Gear ratio setting Gear
MP スケール使用時 ratio setting
MP スケール使用時 − − − − エンコーダ設定値 エンコーダ設定値 − −
when MP scale is when MP scale is
used.
はギア比設定 used. はギア比設定
MD3207
MD3207Digit
桁 3(Pn207 digit
3 (Pn207 桁 3)3) SWITCH_POSITION_REF
SWITCH_POSITION_REF External
外付け PG type selection
PG種類選択 1 or 3 1 or 3 1 1 0 or 3 0 − − − −
MD3210(Pn20A) PG_PRS_MTRRND_LW_FULLCLOSED The number of full-closed PG pulses / (pulse/4)
(pluse/4) (pulse/4)
(pluse/4) (pulse/4)
(pluse/4) (pulse/4)
(pluse/4) (pulse/4)
(pluse/4)
(pulse/4)
(pluse/4)
フルクローズド PG パルス数/モータ1回転
Single revolution of motor /rev /rev /rev /rev /rev /rev − − − −
MD3211(Pn20B) PG_PRS_MTRRND_HW_FULLCLOSED /rev /rev /rev /rev /rev /rev
MD3212(Pn20C) PG_PRS_ENCRND_LW_FULLCLOSED The number of full-closed PG pulses / (pulse/4)
(pluse/4) (pulse/4)
(pluse/4) (pulse/4)
(pluse/4) (pulse/4)
(pluse/4)
Single revolution
フルクローズド of encoder
PG パルス数/エンコーダ1回転 /rev /rev − /rev /rev − − − − −
MD3213(Pn20D) PG_PRS_ENCRND_HW_FULLCLOSED /rev /rev /rev /rev
MD3214(Pn20E) ELECTRIC_GEAR_NUMERATOR_
ELECTRIC_GEAR_NUMERATOR_LW LW
Electronic gear ratio (Denominator)
電子ギア比(分子) 1 1 1 1 1 1 1 1 1 1
MD3215(Pn20F) ELECTRIC_GEAR_NUMERATOR_HW
ELECTRIC_GEAR_NUMERATOR_HW
MD3216(Pn210) ELECTRIC_GEAR_DENOMIN_LW Electronic gear ratio (Numerator)
電子ギア比(分母) 1 1 1 1 1 1 1 1 1 1
MD3217(Pn211) ELECTRIC_GEAR_DENOMIN_HW
The number of Z-phase Single Gear ratio setting Gear ratio setting
別置きエンコーダ 1 回転あたりのpulses / Z MP スケール使用時
相パ when MP スケール使用時
MP scale is when MP scale is
MD3231(PN21F) PG_PLS_ENCRND_Z_PHASE revolution of External encoder. used. used.
− − − − − − − −
ルス数 設定 設定
Gear ratio setting Gear ratio setting
MD3508(Pn808) ABS_PG_ZERO_POINT_OFFS_LW MP スケール使用時
when MP スケール使用時
MP scale is when MP scale is
Absolute
アブソ PG zero position offset
PG 原点位置オフセット − − − − − − − −
used. used.
MD3509(Pn809) ABS_PG_ZERO_POINT_OFFS_LW 設定 設定
Table 14.5 A list of feed axis encoder-related Servo drive parameters
14.1 Fundamental settings
Drive set-up procedure
14.1.7 Maximum number of motor revolutions
CNC setting
• MD32250 RATED_OUTVAL [0] (For each axis) ##
Meaning: Ratio of speed reference to maximum number of motor revolutions
Standard setting value: 100 [%]
• MD32260 RATED_VELO [0] (For each axis)
Meaning: Maximum number of motor revolutions
Setting value: To be set to maximum number of motor revolutions (the number of revo-
lutions [min-1] under maximum command value)
Assign the value of MD880.
Note: In the case of a Servo drive, the parameter is to be set to specified
maximum number of motor revolutions × 1.2 (Over-speed alarm
detection speed).
Drive setting
Servo drive
No related parameter exists. Maximum number of motor revolutions is automatically read
from a motor encoder and set. The setting value multiplied by 1.2 is displayed at MD880.
Spindle drive
• MD6500 (Cn500) RATED_SPEED_SETTING (For each axis)
Meaning: Rated speed
Setting value: [min-1]
The value of this parameter is also displayed at MD880.
14-30
14.1 Fundamental settings
Settings at CNC
At CNC, you can mask some processing to be done with each drive. Always set the parame-
ter to "0" to disable the masks unless you specifically need to use the masks for temporary
examination purpose or so.
Settings at drive
Spindle drive
By setting this parameter, you can mask the following alarms.
14-31
Drive set-up procedure
14.1.9 Software version number check
1. Select a Converter (con) by pressing [Up] or [Down] key and press [DATA ENTER]
key.
2. A lower word address "L0000" is displayed. Enter "L0002".
3. Press [DSPL/SET] key to display an upper word address "h0000". Enter "hA0001".
4. Press [DATA ENTER] key to display a Converter software version number.
14-32
14.1 Fundamental settings
1. Select a drive (dr1, dr2...: the drive number is a value, 1 more than the rotary switch set-
ting value of each drive) to check by pressing [Up] or [Down] keys. Press [DATA
ENTER] key.
2. Press [DSPL/SET] key to display "Fn □□□ , and then select "Fn012".
3. Press [DATA ENTER] key to display a drive software version number.
1. Select a drive (dr1, dr2...: the drive number is a value, 1 more than the rotary switch set-
ting value of each drive) to check by pressing [Up] or [Down] keys. Press [DATA
ENTER] key.
2. Press [DSPL/SET] key to display "Un □□□ , and then select "Un021".
3. Press [DATA ENTER] key to display a drive software version number.
b15 b10 b9 b8 b7 b0
Converter ACC version Axis type Drive ACC version
0-63 Refer to the following types 0-255
Axis type
00: Servo drive
01: Spindle drive
10 and 11: Reserved
14-33
Drive set-up procedure
14.1.10 Parameter initialization
Servo drive
Initialize parameters using a Digital operator in the following procedures:
1. Connect a Digital operator to a Converter and select a drive (dr1, dr2...: the drive num-
ber is a value, 1 more than the rotary switch setting value of each drive) to check by
pressing [Up] or [Down] keys. Press [DATA ENTER] key.
2. Press [DSPL SET] key to display "Fn □□□ ". Select "Fn005" and press [DATA
ENTER] key.
3. "P. INIT" is displayed.
4. Press [DSPL SET] key. "done" is displayed and initialization completes.
Spindle drive
Initialize parameters by setting the following drive parameters.
Display at CNC
If an alarm is issued in a drive, the following alarm is displayed. Since this alarm is transmit-
ted from the drive to a CNC through a high-speed cyclic communication line, the alarm indi-
cation at CNC precisely shows the time when the alarm was issued.
14-34
14.1 Fundamental settings
380500: PROFIBUS DP: Drive X1, Code 41, Value 0, Time 524112
380500: PROFIBUS DP: Drive Y1, Code 255, Value 0, Time 524112
Since this information is transmitted from the drive to the CNC through a low-speed mes-
sage line, the alarm indication at CNC has a few-minute delay from the alarm-issued time.
However, the alarm time counter shows a precise time.
Example: A.51 --- Alarm "51" (a "Drive code" in the Alarm list) is issued at a drive selected.
INFO • Alarm code for a drive is displayed in decimal number on the CNC screen, while it is displayed in
hexadecimal number on the Digital operator.
• For drive alarm codes, refer to Appendix B.1 "List of Servo unit alarms" and Appendix B.2 "List
of Inverter alarms".
14-35
Drive set-up procedure
14.2.1 Position control
In DSC, CNC and a drive share the position control, so that CNC also has the position con-
trol-related machine data. The following explains how to set fundamental machine data and
parameters for position control.
CNC setting
• MD10230 SCALING FACTOR_USER_DEF [9] (For all axes in common) ##
Meaning: Position loop gain setting unit
Setting value: 1.0 [1/s]
With this setting, the unit of position loop gain MD32200 becomes [1/s].
Note: If 16.66666667 has been assigned, the setting unit of MD32200
(position loop gain) is [m/min/mm].
• MD32200 POSCTRL_GAIN [0] (For each units)
Meaning: Position loop gain
Setting value: [1/s] (The unit defined by MD10230 becomes the unit of the position
loop gain.)
• MD36400 CONTOR_TOL (For each axis)
Meaning: Maximum deviation [Command unit (mm, deg, and others)]
Setting value: To be set to the following value.
Maximum feed speed [Command unit (mm, deg, and others)] × 1.2
Position loop gain [1/s] × 60
Drive setting
Servo drive
• MD3000 digit 1 (Pn000 digit 1) FUNCTION_SWITCH_BASIC (For each axis) ##
Meaning: Position control is enabled/disabled.
Setting value: 0 --- Position control is disabled.
1 --- Position control is enabled.
7 --- Position control and speed control are switched over.
Must be set to "7".
• MD3032 (Pn102) KP (For each axis)
Meaning: Position loop gain
Setting value: [0.1/s]
This value is not used for DSC control, but used internally for calculating
gain and others of the quadrant error compensation function. Set this
parameter to a value of MD32200 at CNC, paying attention to the setting
unit.
14-36
14.2 Servo control
Where, (PPN) = The number of External encoder pulses / Single revolution of motor.
Spindle drive
• MD6522 (Cn522) MULTI_FUNCTION_SEL_SSC ##
Meaning: Multi-function selection SSC
Setting value: 0 --- SSC is set to "Soft start cancelled."
1 --- SSC is set to "Servo mode."
Note: Be sure to set the parameter to "1". When position control is carried
out (for example, for orientation, tapping, or others), the operation
mode must be "Full-time Servo mode."
• MD6837 (Cn831) GAIN_SWITCH ##
Meaning: Method for setting position loop gain (Variable KP selection)
Setting value: 0000 --- Drive setting value is used.
0100 --- A value obtained from CNC cyclic data is used.
Note: Be sure to set the parameter to "0100".
• MD6965 (Cn8B1) OVERFLOW_LEVEL (For each axis) ##
Meaning: Excessive deviation area (Over flow level)
Setting value: Values obtained from the following equations are to be set. (The number
of encoder pulses is a 4-multiplication value.)
• For pulse encoder
The number of revolutions [min-1] at maximum feed speed × The number of motor encoder pulses × 1.2
Position loop gain [1/s] × 60
14-37
Drive set-up procedure
14.2.2 Speed control
The following explains how to set fundamental drive parameters for speed control.
Servo drive
• MD3030 (Pn100) KV (For each axis)
Meaning: Speed loop gain
Setting value: [0.1 Hz]
To express the setting value in previous unit [1/s], multiply the value by
2π/10.
• MD3031 (Pn101) KVI (For each axis)
Meaning: Speed loop integration time constant
Setting value: [0.01 ms]
• MD3033 (Pn103) LOAD_INERTIA_RATIO
Meaning: Load inertia ratio to motor inertia
Setting value: [%]
• MD3041 digit 1 (Pn10B digit 1) GAIN_SWITCH (For each axis) ##
Meaning: Switching between PI control and IP control
Setting value: 0 --- PI control is applied to speed control.
1 --- IP control is applied to speed control.
Standard setting value: 1
• MD3351 (Pn401) TIME_CONST_TRQ_REF_FILTER (For each axis)
Meaning: 1st-stage torque reference filter time constant
Setting value: [0.01 ms]
• MD3363 (Pn40D) TORQUE_FILTER_CONSTANT_2 (For each axis)
Meaning: 2nd-stage torque reference filter time constant
Setting value: [0.01 ms]
• MD3364 (Pn40E) TORQUE_FILTER_CONSTANT_3 (For each axis)
Meaning: 3rd stage torque reference filter time constant
Setting value: [0.001 ms]
Spindle drive
• MD6060 (Cn060) ASR_P_GAIN_H_I (For each axis)
Meaning: Speed control proportional gain (H gear)
Setting value: [0.1%/Hz]
• MD6061 (Cn061) ASR_I_TIME_H_I (For each axis)
Meaning: Speed control integration time (H gear)
Setting value: [0.1 ms]
• MD6062 (Cn062) ASR_P_GAIN_M_L_I (For each axis)
Meaning: Speed control proportional gain (M and L gears)
Setting value: [0.1%/Hz]
14-38
14.2 Servo control
In YS 840DI system, the Spindle speed control is to be set to servo mode. The following
explains how to set fundamental Spindle drive parameters relating to servo mode.
14-39
Drive set-up procedure
14.2.4 Backlash compensation
In YS 840DI system, backlash compensation is carried out at CNC. The following explains
how to set backlash-related machine data.
14-40
14.2 Servo control
14-41
Drive set-up procedure
14.2.5 Quadrant error compensation
The following figure shows relations between above-mentioned parameters and compensa-
tion amount waveform.
Compensation
amount Quadrant error
compensation 2nd-
stage gain
Quadrant error
compensation
limit offset value
Time
Quadrant error compensation timing
constant
INFO You can use quadrant error compensation 1st-stage gain and quadrant error compensation 2nd-stage
gain as replacement parameters of quadrant error compensation 1st-stage integration time constant
and quadrant error compensation 2nd-stage integration time constant of J300/J100 specification
respectively. However, notice that their setting values are different.
By previous specification, the quadrant error compensation n-th stage gain "Kn" was expressed in
(Tin [sec]), while by this specification, the "Kn" is expressed as follows:
Kn [0.00001/s3] = Kp x Kv/Tin/10000
Where,
Kp: Position loop gain [1/s]
Kv: Speed loop gain [1/s] (Pay attention that this is not the drive setting unit [Hz].)
Tin: Quadrant error compensation n-th stage integration time constant [sec] (Pay attention
that previous parameter setting value is [0.01 ms].)
Example) When Kp = 40 [1/s], Kv = 300 [1/s], and Tim = 0.5 [ms], Kn [0.00001/s3] = 40 × 300/
0.0005/100000 = 240 [0.00001/s3]
14-42
14.2 Servo control
To suppress stationary vibrations such as sympathetic axis vibration, created by Servo axis,
of 400 Hz or higher, use a torque reference notch filter. The following shows parameters
relating to the torque reference notch filter. For further information on the torque reference
notch filter, refer to a separate instruction manual.
Torque filters (3-stage) and notch filters (2-stage) can be used in any combinations. You can
select torque filters for up to 3 stages. (Notice that this specification differs from that of
J300/J100.)
14-43
Drive set-up procedure
14.2.7 Speed feedback compensation
You can suppress vibration and increase speed loop gain by using speed feedback compen-
sation.
The following explains about parameters for speed feedback compensation.
Adjustment procedures
1. Check an axis to which you want to make an adjustment to disable speed feedback func-
tion (MD3046 digit 1 (Pn110 digit 1) = 1) by watching its torque waveform or others on
the analog monitor, and confirm that the axis vibrates.
2. Assign the following values to the parameters above for the axis you want to make an
adjustment.
• MD3047 = 100
• MD3048 = Setting value of MD3033 (Load inertia ratio) + 100
3. Enable speed feedback function (MD3046 digit 1 (Pn110 digit 1) = 0)
4. Adjust only the 1st-stage torque filter time constant by assigning a large value to
MD3351 (Pn401) as far as no vibration happens at any feed speed. If a vibration hap-
pens, decrease the value.
The maximum value that can be assigned to the MD3351 (Pn401) is calculated from the
speed loop gain MD3030 (Pn100) as follows. Notice that you should assign a smallest
possible value to it.
• MD3351 = 600000/(MD3030 × 2π)
5. If no vibration happens in the procedure 4, increase speed loop gain MD3030 (Pn100).
6. If vibration starts while you are increasing MD3030, increase MD3351 paying attention
to the above-mentioned maximum value.
14-44
14.2 Servo control
7. When the MD3030 value is determined, set the speed loop integration time constant
MD3030 (Pn101) as follows:
• MD3030 = 2000000/(MD3030 × 2π)
INFO • Be sure to set speed loop integration time constants to the same value among the interpolation
axes; otherwise, processing accuracy is affected.
• If a low frequency vibration is produced when you use this function, use torque filters or torque
reference notch filters instead.
To use predictive control for cutting feed and positioning, set the following machine data
and parameters.
Predictive control having been enabled with the following settings may become active/inac-
tive in the following cases:
• Predictive control for cutting feed: Always active during programmed operation except
during rigid tapping.
(Predictive control becomes inactive during rigid tapping because the Spindle and servo
gain are to be equal each other.)
• Predictive control for positioning: Always active for positioning during RAPID, JOG,
and programmed operations excluding during handle or step feed operations.
(During handle and step feed operations, predictive control becomes inactive.)
INFO If model following control is used for positioning, disable predictive control.
CNC setting
14-45
Drive set-up procedure
14.2.8 Predictive control
For positioning
• MD3079 digit 1 (Pn131 digit 1) SWITCH_PREDICTED_1
Meaning: 2nd predictive control switch
Setting value: 0 --- Disabled
1 --- Enabled (Tp = 0.001)
2 --- Enabled (Tp = 0.002)
14-46
14.2 Servo control
To use model following control for positioning, set the following machine data and parame-
ters.
When model following control is enabled with the following machine data and parameters,
each of the parameters becomes always active for positioning (during RAPID, JOG, and pro-
grammed operation excluding handle feed or step feed operation.) (For cutting feed, rigid
tapping, and handle or step feed operation, the model following control becomes inactive.)
For procedures how to adjust model following control, refer to a separate manual.
IMPORTANT If you want to use predictive control for positioning, disable model following control.
14-47
Drive set-up procedure
14.2.9 Model following control
CNC settings
14-48
14.2 Servo control
The following shows parameters relating to stop vibration suppression used for Servo axis.
If stop vibration is produced, decrease a setting value of the following parameter until the
vibration stops. (Lowest limit value: 50%)
Notice that stop vibration becomes decreased as the number of stages and the time constant
of torque filter settings are decreased.
If a vibration is still produced irrespective of this function, use the vibration-damping con-
trol shown in 14.2.11 "Vibration-damping control".
14-49
Drive set-up procedure
14.2.11 Vibration-damping control
Use this function in order to suppress stationary vibrations ranging from about 50 Hz to 400
Hz at a Servo axis.
The following explains about parameters relating to vibration-damping control.
14-50
14.2 Servo control
Adjustment procedures
1. Carry out analog monitor related setting.
Such data that are monitored with measuring instruments, such as high coder, are to be
treated as torque reference and vibration-damping signal.
For this reason, set MD3003 (Pn003) digit 0 and digit 2 to "2" (or "E") and "E" (or "2")
respectively.
2. Measure torque reference vibration waveform that was obtained with instruments such
as a high coder.
3. Read out the frequency of the vibration waveform, and assign 1/2 of the frequency to
MD3071 (Pn129).
4. Determine the values of MD3051 (Pn115) and MD3052 (Pn116) using the following
equations so that the phase difference becomes 90 degrees between vibration-damping
signal and torque reference.
• MD3051 = (2 × 1000/(2πf)) × 100
• MD3052 = Pn115
5. Set MD3051 (Pn115) and MD3052 (Pn116) to the values calculated in the procedure 4.
6. Turn off the Servo. (Enable vibration-damping function.)
7. After turning on the servo again, check if phase difference is 90 degrees between high
coder torque reference and vibration-damping signal.
8. Increase the value of MD3050 (Pn114) gradually from 0. (The value starts to take effect
when it becomes about 80.)
9. Amplitudes of both torque reference and vibration-damping signal become smaller if
the vibration-damping function works.
INFO If there is no change in the amplitudes even when the MD3050 (Pn114) is increased to about 200, the
vibration-damping function may not work. If this is the case, set MD3050 (Pn114) to "0" to disable the
vibration-damping function and use another vibration suppression function instead.
14-51
Drive set-up procedure
14.2.12 Gain switching
You can automatically switch speed loop gain between KV and KVI in Cutting feed, Posi-
tioning, and handle feed modes.
When gain switching is enabled with the following machine data and parameters, each of the
parameters becomes active in the following cases.
• Cutting feed gain: Always active for cutting feed during programmed operation.
• Positioning gain: Always active for positioning during RAPID, JOG, and programmed
operation excluding handle feed or step feed operation.
• Handle feed gain: Always active for handle feed and step feed operation.
CNC setting
14-52
14.2 Servo control
For positioning
• MD3070 digit 0 (Pn128 digit 0) LOOP_GAIN_BANK_SWITCH (For each axis)
Meaning: 2nd loop gain bank selection
Setting value: 0 --- Disabled
1 --- Enabled
If you want to use gain switching function for positioning, set the param-
eter to "1".
• MD3034 (Pn104) KV2 (For each axis)
Meaning: 2nd speed loop gain
Setting value: [0.1 Hz]
To express the setting value in previous unit [1/s], multiply the value by
2π/10.
• MD3035 (Pn105) KVI2 (For each axis)
Meaning: 2nd speed loop integration time constant
Setting value: [0.01 ms]
14-53
Drive set-up procedure
14.2.13 Current offset adjustment
To adjust the current offset of a Servo drive, perform the following procedures using a Digi-
tal operator.
1. Stop to move a Servo drive that you want to make a current offset adjustment. Turn off
the servo with the main power turned on.
In general, to turn off the servo as such, you need to prepare a sequence ladder that can
turn off the servo by axis (DB3nDBX21.7 = 0) and use forced contact input.
Note: With the setting in section 14.3.6, the vertical axis will not fall down
because the brake is applied at the same time when the servo is turned
off; however, you need to pay attention to the vertical axis.
2. Select "Fn00E" using the Digital operator and press [DATA ENTER] key.
3. "Cur_o" is displayed. press [DSPL/DET] key.
4. "donE" blinks on the screen for about 1 second and the offset automatic adjustment
completes.
5. Press [DATA ENTER] key to exit from the mode.
14-54
14.2 Servo control
Each of the Servo drives and Spindle drives has an analog monitor function. You can
observe various waveforms using a measuring instrument, such as an oscilloscope, con-
nected to a monitor cable from the CN16 (CN26 in the case of 2nd axis of the 2-axis-com-
bined drive) of each unit.
Servo drive
• MD3003 (Pn003) FUNCTION_SWITCH_APPLIC3 (For each axis)
Meaning: Function selection application switch 3
Initial value: 0002 (Monitor 1: Motor rotation speed; monitor 2: torque reference)
The following table shows a list of data that can be observed at a Servo drive and explains
how to set the magnification and others.
Factory
User Digit
Position Name Setting Description default
constant No. position
setting
MD3003 Lower Analog monitor 1 Digit 0 0 Motor revolution speed: 1V/1000 min -1 0002
(Pn003) byte
1 Speed reference: 1V/1000 min -1
Upper Analog monitor 2 Digit 2
Function byte 2 Torque reference: 1V/100%
selection
application 3 Position deviation: 0.05 V/1 command unit
Signal
descrip- 4 Position amplitude deviation: 0.05 V/1 command unit
tions 5 Position command speed [min-1 conversion]: 1V/1000 min -1
6 Observer speed: 1V/1000 min -1
7 Collision detection amount: 1V/100%
8 Quadrant error compensation amount: 1V/100%
9 Speed feed forward: 1V/1000 min -1
A Torque feed forward: 1V/100%
B Model torque reference: 1V/100%
C Model position deviation: 0.05 V/1 position unit
D Estimated disturbance torque: 1V/100%
E Vibration-damping monitor: 1V/1000 min -1
F System constant data output
Digit 1 0 Multiplied by 1
Digit 3
1 Multiplied by 10
Magnifi- 2 Multiplied by 100
cation
3 Multiplied by 1/10
4 Multiplied by 1/100
Monitor 2 Monitor 1
n 0 0 0 0
14-55
Drive set-up procedure
14.2.14 Analog monitor
Spindle drive
• MD6472 (Cn472) MONITOR_1_OUTPUT (For each axis)
Meaning: Monitor 1 output
Initial value: 0 --- Motor revolution speed
• MD6475 (Cn475) MONITOR_2_OUTPUT (For each axis)
Meaning: Monitor 2 output
Initial value: 1 --- Torque reference
Both MD6472 (Cn472) and MD6475 (Cn475) can output the following signals in analog
form.
Monitor cable
Servo drive and Spindle drive in common
14-56
14.3 Motion Control
Feed Axes/Spindles
• MD34990 ENC_ACTIVAL_SMOOTH_TIME [0] (For each axis)
Meaning: Time constant of low pass filter inside CNC for encoder feedback
Used as a smoothing filter for preventing cogging of CNC spindle speed or
flickering data display when the resolution of spindle encoder is not high
enough.
(This machine data can also be set on feed axes.)
This is valid for the speed and position display for G33, G34, G35, G95,
G96, G97, FPRAON, and HMI.
Setting value: [sec]
A value between 0 and 0.5 sec. can be specified. Standard setting value is
0.05 sec. Adjust this value to have no flickering display.
Note: Setting this filter does not decrease the position loop gain.
• MD34990 ENC_ACTIVAL_SMOOTH_TIME [1] (For each axis)
Meaning: Time constant of low pass filter inside CNC for feedback from the sepa-
rately mounted encoder.
Used like MD34990 [0].
Setting value: [sec]
Feed axes
• MD32000 MAX_AX_VERO (For each axis)
Meaning: Maximum speed for memory operation (G00, G01, etc.)
Setting value: [mm/min] or [deg/min]
• MD32010 JOG_VERO_RAPID (For each axis)
Meaning: RAPID speed in JOB mode
Setting value: [mm/min] or [deg/min]
• MD32020 JOG_VERO (For each axis)
Meaning: JOG speed
Setting value: [mm/min] or [deg/min]
• MD32060 POS_AX_VERO (For each axis)
Meaning: Maximum speed for positioning command (POS command) maximum
speed
Setting value: [mm/min] or [deg/min]
14-57
Drive set-up procedure
14.3.1 Feed Rate
Spindle
• MD35010 GEAR_STEP_CHANGE_ENABLE (For each axis)
Meaning: Gear changing
Setting value: 0---No gear changing
1---Gear changing
• MD35100 SPIND_VERO_LIMIT (For each axis)
Meaning: Maximum speed of spindle
Setting value: [min-1]
• MD35110 GEAR_STEP_MAX_VERO [n] (For each axis)
Meaning: Maximum speed of the nth gear
Setting value: [min-1]
• MD35120 GEAR_STEP_MIN_VERO [n] (For each axis)
Meaning: Minimum speed of the nth gear
Setting value: [min-1]
• MD35130 GEAR_STEP_MAX_VERO_LIMIT [n] (For each axis)
Meaning: Maximum speed limit of the nth gear
Setting value: [min-1]
• MD35140 GEAR_STEP_MIN_VERO_LIMIT [n] (For each axis)
Meaning: Minimum speed limit of the nth gear
Setting value: [min-1]
• MD35300 SPIND_POSCNTL_VERO (For each axis)
Meaning: Maximum speed for spindle positioning control mode
Setting values: [min-1]
14-58
14.3 Motion Control
14.3.2 Acceleration/Deceleration
Feed axes
For acc./dec. of feed axes, the pre-interpolation acc./dec. typically used for rapid machining
is always enabled.
Acc./dec. control can achieve more effective acc./dec. by controlling both rate and jerk of
acc./dec. (factor for S-shaped acc./dec.).
However, for G00 feed, different rate and jerk of acc./dec. from those for maching can be
set.
For examples of machine data setting including those for rapid, precise machining, see sec-
tion 14.4.4.
Also, the post-interpolation acc./dec. (acc./dec. For each axis) can be performed in previous
ways.
For more information, see the setting method for post-interpolation acc./dec..
14-59
Drive set-up procedure
14.3.2 Acceleration/Deceleration
14-60
14.3 Motion Control
The following figure shows an example of actual machining program to demonstarete the
meaning of each machine data.
Y
N140 Bend N90 F5000 SOFT G64
N100 G0 X0 Y0 Z0
N110 G1 X10 :linear interpolation
N120 G3 CR=5 X15 Y5 :Arc interpolation
N130 N130 G3 CR=10 X5 Y15:Arc interpolation tangent to N120
10 N140 G1 X-5 Y17.679 :linear interpolation with 15: slope
m3 (no tangent to N130)
N110 N120
10 X
MAX_AX_ACCEL[X]*SOFT_ACCEL_FACTOR[X]
MD32310:MAX_ACCEL_OVL_FACTOR[X]
MD32431:MAX_AX_JERK[X]
MD32432:PATH_TRANS_JERK_LIM[X]
Spindle
• MD35200 GEAR_STEP_SPEEDCTRL_ACCEL [n] (For each axis)
Meaning: Acceleration under the nth gear speed control
Setting value: [r/sec2]
Note: Set this value large enough for spindle load to saturate when the spin-
dle is on acc./dec motion. (If the value is not large enough, when acc./
dec. function is enabled, the motor follows the command so that
SAGR signal will be kept to standstill.
• MD35210 GEAR_STEP_POSCTRL_ACCEL [n] (For each axis)
Meaning: Acceleration under the nth gear position control
Setting value: [re/sec2]
14-61
Drive set-up procedure
14.3.2 Acceleration/Deceleration
14-62
14.3 Motion Control
14.3.3 Positioning
Positioning action and positioning completion is determined only in CNC. The positioning
completion function and other relevant functions of the drive must not be used.
Primary machine data in relation to positioning is listed below.
For the details about the spindle orientation, see section 14.3.13.
14-63
Drive set-up procedure
14.3.3 Positioning
14-64
14.3 Motion Control
Position
Actual position
Reference position
STANDSTILL_POS_TOL
STOP_LIMIT_COARSE
STOP_LIMIT_FINE
POSTIONING_TIME
On YS 840DI the emergency stop is activated by the deceleration stop according to CNC
command, as described on the following page.
In this case, after emergency stop, CNC switches over to the speed reference mode for drive
and outputs the deceleration command. When the speed has been fallen to or below
MD36060, CNC outputs the emergency stop command to the drive to stop at the maximum
torque and then to turn off the servo drive. The machine data and parameters related to the
emergency stop are listed below.
14-65
Drive set-up procedure
14.3.4 Emergency stop
CNC setting
• MD36060 STANDSTILL_VERO_TOL (For each axis)
Meaning: Zero speed
Stops at the maximum torque (error cut) on the drive when the speed
falls down to or below this speed.
Drive setting
Servo drive
• MD3356 (Pn406) EMERGENCY_STOP_TORQUE (For each axis)
Meaning: Emergency stop torque
Setting value: [%]
Standard setting value: 800 [%] (stop at the maximum torque)
• MD3442 (Pn516) EMERGENCY_STOP_WAIT_TIME (For each axis)
Meaning: Emergency stop waiting time
This specifies the wait time between the input of emergency stop
(switch -> PLC -> CNC) and the emergency stop of drive (CNC ->
drive). If there is no input of the emergency stop to the drive even after
this duration of time has past, the feed axes automatically decelerate to
stop.
If you want the emergency stop to be the deceleration stop via drive,
not via CNC, specify "0" for this parameter.
Setting value: [ms]
Standard setting value: 500 [ms]
14-66
14.3 Motion Control
Spindle drive
• MD6511 (Cn511) EMERGENCY_STOP_WAIT_TIME (For each axis)
Meaning: Emergency stop waiting time
This specifies the wait time between the emergency stop input (switch ->
PLC -> CNC) and the drive emergency stop (CNC -> drive). If there is
no input of the emergency stop to the drive even after this duration of
time has passed, the spindle automatically free-runs to stop.
If you want the emergency stop to be the free-run stop instead of the
deceleration stop, specify "0" to this parameter.
Setting value: [ms]
Standard setting value: 500 [ms]
• MD6819 (Cn819) TACTOR_OFF_DELAY_TIME (For each axis)
Meaning: Delay time of the main circuit cutoff after all axes servo drives are turned
off, including the event of emergency stop
If there are two or more converters, configure this parameter to prevent
this converter from cutting off the main circuit connector before the drive
controlled by another converter has not been turned off.
If the sum of the deceleration time of servo axis (equivalent to MD3426)
and the delay time of brake (MD3426) is larger than the deceleration
time (equivalent to MD6511), determine the setting value according to
the difference.
Setting value: [ms]
14-67
Drive set-up procedure
14.3.5 Return to reference point
Emergency stop
(switch -> PLC -> CNC)
Speed
reference
speed set with MD36060
or
Actual speed
positioning Speed reference
reference
/emergency stop
(CNC -> drive)
Torque
Brake
(drive)
Servo-off
Servo axis DB ON
EMERGENCY_STOP_WAIT_TIME TACTOR_OFF_DELAY_TIME
For return to reference point, the typical motion is shown in the fig 14.5, being different
from the conventional specification especially on the following points.
• After dog detection, motion pauses on the dog. (When the dog is not long enough, you
must take some measures, for example retaining the signal of dog with a ladder.)
• Encoder C phase detection should be done by moving to the opposite direction to the
dog.
(However, if encoder C phase is preceding to the dog, it is possible to specify the direc-
tion with MD34050).
14-68
14.3 Motion Control
14-69
Drive set-up procedure
14.3.5 Return to reference point
14-70
14.3 Motion Control
MD34010
MD34020
MD34070
MD34040
MD34092
C-phase
14-71
Drive set-up procedure
14.3.6 Brake control
Feed axes motor brakes are directly controlled with each servo drive, except for the special
mechanical cramps.
We will describe the methods for brake control under the following conditions.
14-72
14.3 Motion Control
On YS 840DI system, speed feedforward is one of CNC functions. CNC specifies the speed
feed forward directly to the drive.
(The feed forward function housed in servo drives is not used.)
On YS 840DI, the speed feedforward is also used for switching the speed reference mode to
the positioning reference mode as well as for instructing the spindle orientation (SPOS com-
mand), you must specify the valid setting (MD32620 = 3) for every axis.
For positioning control of feed axes, in order to activate the speed feedforward, specify
Start/End code to CNC program as followings.
N1G91G01Y100.F2000
N2Y-100.
FFWON (Feedforward starts)
N3G01Y100.
N4Y-100.
FFWOF (Feedforward ends)
M30
On YS 840DI, however, for compensation of the machining profile errors occurred during
the cutting feed, predictive control is generally used instead of the feedforward. For the
usage of the predictive control, see 14.2.8.
14-73
Drive set-up procedure
14.3.8 Torque Control and Fixed Stop Function
Servo drive
• MD3352 (Pn402) FORWARD_TORQUE_LIMIT (For each servo axis)
Meaning: Forward torque limitingl value
Setting value: [%] (percentage for rated torque)
• MD3353 (Pn403) REVERSE_TORQUE_LIMIT (For each servo axis)
Meaning: Reverse torque limiting value
Setting value: [%] (percentage for rated torque)
Spindle drive
• MD6421 (Cn421) TORQUE_LIMIT (For each servo axis)
Meaning: Torque limiting level on motor side
Setting value: [%]
• MD6422 (Cn422) REGENERATION_TORQUE_LIMIT (For each servo axis)
Meaning: Torque limiting level on regenerator side
Setting value: [%]
FXS [X1] =1 G90G00X100. : Positioning, after torque limiting is enabled for X1 axis
FXS[X1]=0 X0. : Torque limit is released for X1 axis
14-74
14.3 Motion Control
CNC setting
• MD37000 FIXED_STOP_MODE (For each axis)
Meaning: Fixed Stop function enabled/disabled
Setting value: 0---disabled
1---enabled
• MD37010 FIXED_STOP_TORQUE_DEF (For each axis)
Meaning: Torque limiting value
Percentage for maximum torque (adjustable during programming with
FXST command)
Setting value: [%]
Note: The unit of this setting value is different from the setting value (per-
centage for rated torque) used for " ■ Limiting with drive parame-
ters."
• MD37030 FIXED_STOP_THRESHOLD (For each axis)
Meaning: Position deviation detection level when Fixed Stop function enabled
(adjustable during programming with FXST command)
When the amount of position deviation exceeds this setting value while
the Fixed Stop function is enabled, DB3nDBX62.5 = 1.
Setting value: [mm] or [deg]
Drive setting
Servo drive
• MD3358 digit 2 (Pn408 digit 2) SWITCH_NOTCH_FILTER (For each axis)
Meaning: Variable torque limit selection
Torque limit command from CNC is enabled.
Setting value: 0---disabled
1---enabled
Note: You must specify "1".
14-75
Drive set-up procedure
14.3.8 Torque Control and Fixed Stop Function
Spindle drive
• MD6423 (Cn423) TORQUE_LIMIT_SELECT (For each axis)
Meaning: Variable torque limit selection
Torque limit command from CNC is enabled.
Setting value: 0---disabled
1---enabled
Note: You must specify "1".
For Fixed Stop function, the tail stock press control, for example, is processed on the follow-
ing steps.
1. With CNC program command, the feed axes moves toward the object and simulta-
neously the torque control is enabled.
• CNC programming: G01X100. FXS [X] = 1
• CNC sends the torque control value set with the machine data MD37010 or FXST
command.
2. The feed axis contacts the object and then the torque and the amount of deviation
increase.
3. Drive torque reference is cramped at the limiting value. The amount of deviation
increases further.
4. When the increment of position deviation from steady state of Step 1 reaches the setting
value with the machine data MD37030,
• the drive is switched over to the speed control state and the torque is maintained with
the torque control. (Speed reference is internally output. Position deviation = 0.
• CNC program transfers to the nest block.
In this way, the torque control state is enabled with the torque control.
5. When FXS[X] = 0 command is output,
• the drive returns to the steady state.
In this way, Fixed Stop function is disabled and the normal position control state is
recovered. The pressing is released with the reverse procedure of Step 1.
14-76
14.3 Motion Control
Speed control
Position control state Position control state
state
FXST[x] or MD37010
Torque reference
0
(FXS[x]=1 (FXS[x]=0
① ② ③ ④ ⑤
X+**) X+**)
MD37030
Position deviation
Speed reference
(command not required)
FXS[x]=1block
IS"AxtivateFXS"
IS"FXS reached"
To next block
14-77
Drive set-up procedure
14.3.9 Absolute value detection
For machine data setting for the absolute value encoder, see Section 14.1.5 Motor Encoder
and Section 14.1.6 Separately Mounted Encoder.
Other primary CNC data required for absolute value detection function are listed below.
14-78
14.3 Motion Control
Below is the method for setting origin when the absolute value detection function is enabled.
(For the method of origin setting for the gantry axis absolute value detection function, see
section 14.3.10.)
14-79
Drive set-up procedure
14.3.10 Gantry control
Apply gantry control for tandem axes. (YS 840DI master slave control is unavailable
because this function is not enabled for the drive.)
You need not adjust the setting on the drive side because CNC enables all the specific con-
trols which are different from the single-axis controls related to the gantry control.
With the absolute position detection function, after the origin setting is completed, the posi-
tion deviation of the master axis and the slave axis is compensated at the same time when the
servo drive is power on and then the synchronicity deviation during traveling is checked.
With the incremental encoder, the position deviation of the master axis and the slave axis is
compensated at the same time when return to reference point is completed, and then syn-
chronicity deviation during traveling is checked.
Primary machine data related to gantry control function is listed below.
14-80
14.3 Motion Control
Below is the setup process of origin setting for the gantry axis
Setup process for origin setting for the gantry axis absolute value
detection function
1. The servo drive is not supplied with power. Specify "0" with MD34210 :
ENC_REEP_STATE (origin setting status) for the both master and slave axes in order to
disable the origin setting function mode.
2. Supply the servo drive with power. On JOG mode, position the axis at a proper position.
3. Enable REF (return to reference point) mode.
Here, on NC screen, display START UP screen to show AXIS MD (machine data of
axis) so that you can check the setting values with MD34210 : ENC_REEP_STATE
(origin setting status) for the both of master and slave axes.
Specify "1" for the setting value with MD34210 : ENC_REEP_STATE (origin setting
status) of the both of master and slave axes in order to enable the origin setting function
mode.
When you want to position the axis at a certain coordinate position, follow the proce-
dure for the setting of step 4 and then step 5. Otherwise, go on to step 5.
4. Input the coordinate value to specify with MD34100 [0] : REEP_SET_POS (coordinate
value after origin setting) for the master and slave axes.
5. Set the axis feed (key) for the direction specified with MD34010 :
REEP_CAM_DIR_IS_MINUS (return to reference point direction); "0" for the positive
direction and "1" for the negative direction. (However, the axes does not move actually.)
6. When step 5 has completed, there automatically displays "2" for the status value of the
master and slave axes with MD34210 : ENC_REEP_STATE.
When a certain coordinate value is specified on step 3, the origin setting process has
completed when NC screen (coordinate value display: MCS) displays the value equal to
the value with MD34090 : REEP_MOVE_DIST_CORR.
7. Check the gantry axis for synchronized motion. The process is completed.
14-81
Drive set-up procedure
14.3.10 Gantry control
Setup process for the return to reference point for the gantry axis
incremental encoder
1. Specify "0.001" with MD37110 : GANTRY POS TOL WARNING (synchronicity devi-
ation warning output level position deviation). (This prevents the slave axis from being
synchronized at the first return to reference point.)
2. After supplying power to the servo drives, initiate the return to reference point on REF
mode.
First the return to reference point for master axis is enabled and then that for slave axis
is enabled.(Here you have an alarm output, but ignore the alarm and go on to the follow-
ing process.)
3. On the diagnosis (service display) screen, check the master axis "measurement position
for measurement system 1" (for motor encoder) or "measurement position for measure-
ment system 2" (for separately mounted encoder) after the slave axis return to reference
point is completed.
4. Reverse the sign of the value you just checked on Step 3 and enter the value with the
reversed sign into the slave axis with MD34080 [0] or [1] : REEP_MOVE_DIST (return
to reference point travel distance). ([0] for the motor encoder control, and [1] for the
separately mounted encoder)
5. Check that the gantry axis moves synchronously.
6. Specify a proper value with MD37110.
7. Initiate NCK Reset. Check the return to reference point motion again and then complete
the process.
INFO Supposing the C phase searching direction as the reverse setting (MD34050 = 1), set the return to ref-
erence point direction (MD34010) for slave axis and C phase searching direction (MD34050) for the
opposite direction to the master axis when the position of encoder C phase is ahead of the origin dog in
the return to reference point direction (direction setting for MD34010) for the master axis.
14-82
14.3 Motion Control
Collision detection function detects the collision of feed axes with the disturbance observer
and enables the pullback-stop of the torque reference. You can individually specify the
torque disturbance detection level of collision detection for each of
• positioning feed
• feed other than positioning feed, and
• forced input signal.
Also, it is possible to disable the collision detection function by the external input . With this
function, a series of events from the collision detection to the stop are processed with the
servo drive. The machine data and parameters related to the collision detection function are
listed below.
For the detailed information about adjustment procedure for the collision detection function,
see the separate explanation.
CNC setting
Feed axes
• MD37610 PROFIBUS_CTRL_CONFIG (For each axis)
Meaning: CNC feed mode to the drive
This machine data permits the switching over the disturbance detection
level from the positioning feed to the other feed and vise versa.
Setting value: 0---disabled
1---enabled
You must specify 1 (enabled) when the collision detection function is
enabled.
Drive setting
• MD3063 (Pn121) GAIN_DISTURB_OBSERVER (For each servo axis)
Meaning: Disturbance observer gain
Setting value: [Hz]
• MD3064 (Pn122) HPF_CUT_FREQ_DISTURB_OBSRVR (For each servo axis)
Meaning: Disturbance observer high pass filter cutoff frequency
Setting value: [Hz]
• MD3066 (Pn124) LPF_CUT_FREQ_DISTURB_OBSRVR (For each servo axis)
Meaning: Disturbance observer low pass filter cutoff frequency
Setting value: [Hz]
14-83
Drive set-up procedure
14.3.11 Collision detection
Relevant I/O
• DB3nDBX20. 2 (Torque limit 2) (For each servo axis)
Meaning: Collision detection function enabled/disabled
By setting this signal to "1", the collision detection signal is enabled.
Setting value: 0---collision detection function disabled
1---collision detection function enabled
• DB3nDBX21. 2 (Drive parameter set selection d2) (For each servo axis)
Meaning: Collision detection function forced input selection
Setting value: 0---forced input disturbance level disabled
1---forced input disturbance level enabled
• DB3nDBX93. 2 (Active drive parameter set d2) (per servo axis)
Meaning: Collision detection function forced input selection state
Setting value: 0---forced input disturbance level not selected
1---forced input disturbance level selected
14-84
14.3 Motion Control
14-85
Drive set-up procedure
14.3.12 Spindle sequence I/O signals
Relevant Parameter
Parameters for the spindle drive related to the spindle sequence are listed below.
14-86
14.3 Motion Control
14-87
Drive set-up procedure
14.3.13 Spindle orientation
The following diagram shows the relation between the speed during spindle orientation
motion and each machine data.
SPOS command
Spindle speed Position command + Speed
Speed reference feedforward command
S command
value
Acceleration MD35200
(torque saturation)
MD35300
Acceleration MD35210
Spindle encoder C phase (No torque saturation)
pulse detection has been
permitted at the primary
spindle rotation.
Time
14-88
14.3 Motion Control
CNC PLC
PLC program
Spindle control function Forward
Reverse
14-89
Drive set-up procedure
14.3.14 Spindle winding changing
Spindle winding changing is allowed via the spindle drive by the command form PLC
according to YS 840DI system specification.
Changing process
For example, the changing procedure with spindle speed detection signal (DBX94.5) is
shown below.
1. Set the spindle speed detection speed (MD6401 (Cn401)) for the winding changing
speed SCHW.
2. Set the spindle speed detection width (MD6402 (Cn402)) for the winding changing
speed hysteresis rangeΔS.
MD6401, MD6402: Set the value in the units of 0.01 % of the rated revolution.
3. PLC detects ON/OFF for the spindle speed winding signal with DBX94.5.
4. PLC instructs the low-speed winding selection (DBX21.3 = 0, DBX21.4 = 0), and the
high-speed winding selection (DBX21.3 = 1, DBX21.4=0). (Switching command is per-
mitted with DBX21.5.)
5. PLC checks the winding selection status (DBX 93.3-4 agree with DBX 21.3.4) sent
from CNC and completes the process.
An example of time chart in case that switching speed is 1250min-1 is shown below.
2000min-1
CNC program
Spindle command speed 500min-1 500min-1
0
△S 2000min-1
△S
-1
SCHW(1250min )
500min-1 500min-1
Spindle real speed
0
DBX94.5(SDET)
DBX21.3-4 00 01 00
DBX21.5
DBX93.3-4 00 01 00
14-90
14.3 Motion Control
Relevant parameters
Below are the parameters in relation to the spindle drive winding change.
At the time of acceleration with low-speed winding, if the rated speed operation is not acti-
vated with SDET signal detection speed SCHW on CNC, the low-speed winding overspeed
alarm for spindle drive may be output before switching over to the high-speed winding. In
this case, by specifying the setting for the speed cramp function, when the speed reaches
SCHW, the spindle drive speed can be cramped to SCHW.
14-91
Drive set-up procedure
14.3.15 Spindle gear changing and Spindle integrated with C axis control
14.3.15 Spindle gear changing and Spindle integrated with C axis control
The spindle changing for the spindle gear changing or the spindle/C axis changing under the
spindle integrated C axis control is permitted via the spindle drive by the command from
PLC according to the spindle parameter changing specification of YS 840DI system specifi-
cation.
Parameter changing to H gear, M gear, L gear, or C axis is initiated by PLC when PLC veri-
fys the request for the parameter selection status number (DBX21.0 - 2) sent from PLC to
CNC and also the completion of changing the parameter selection status number (DBX93.0
- 2) from CNC to PLC. For the parameter changing, the parameter selection number in rela-
tion with each gear selection and C axis selection, and a skeleton time chart is shown below.
Note: If you do not use the gear changing or C axis control, select H gear.
3 2 1 3
14-92
14.3 Motion Control
YS 840DI system tapping function "Rigid Tap" is permitted with the interpolation control of
the spindle and the feed axis, which is different from the conventional system.
In this case, to lessen the synchronicity errors, the position loop gain of feed axis (generally
Z axis) and the position loop gain of spindle must be identical.
Therefore, when the rigid tap is enabled, the position loop gain POSCTRL_GAIN [1], dedi-
cated to the rigid tap, is used.
Setting the same values for loop gain of the spindle and the feed axis (see below) can reduce
the synchronicity errors during the rigid tapping.
For the detailed information of Rigid pap function, see the Programing Manual for Machin-
ing Center (NCSIE-SP02-20).
INFO The acc./dec. rate during Tapping motion is set to the lower value of acceleration setting values of
either the conventional cutting feed or the spindle orientation.
Also it is possible to improve accuracy by enabling the feedforward control when rigid tap is enabled.
See section 14.3.7.
14-93
Drive set-up procedure
14.3.17 Threading
14.3.17 Threading
For YS 840DI threading feed, you can select; no spindle position control (mm/rev control.
SPCOF) or the spindle position control (SPCON).
The following data shows the typical mm/rev control.
• MD20650 THREAD_START_IS_HARD
Meaning: Acc./dec. motion when threading
Setting value: 0---linear acc./dec. Jerk setting possible.
1---step acc./dec.
• MD35150 SPIND_DES_VELO_TOL (For each spindle)
Meaning: Spindle speed tolerance. Tolerance for reference speed
Setting value: [percentage]
• MD35200 GEAR_STEP_SPEEDCTRL_ACCEL [n] (For each spindle)
Meaning: Acceleration rate when spindle speed control enabled. Settable for
each gear.
All special processing in relation to the spindle synchronicity control is permitted by CNC.
Following is shown the primary CNC machine data related to the spindle synchronicity con-
trol.
14-94
14.3 Motion Control
• MD21310 COUPLING_MODE_1
Meaning: Spindle synchronicity mode
Setting value: 0---actual value coupling: Slave axis synchronizes with the master axis
position feedback value
1---setpoint coupling: The salve axis synchronizes with the master axis
position reference value.
2---speed coupling: Speed synchronization control
(normally not used since the position control is not executed in this
mode)
• MD21320 COUPLING_BLOCK_CHANGE_CTRL_1
Meaning: Block changing mode during synchronicity
Setting value: 0---immediately change
1---change when ’Fine synchronism’ tolerance MD37210 is initiated
2---change when ’coarse synchronism’ tolerance MD37200 is initiated
• MD21330 COUPLING_RESET_MODE_1
Meaning: Synchronicity setting when rest
• MD21340 COUPLING_IS_WRITE_PROT_1
Meaning: Synchronicity conditions modifying setting
Setting value: 0---adjustable with CNC program
1---not adjustable with CNC program
• MD37200 COUPLE_POS_TOL_COARSE
Meaning: ’Coarse synchronism’ tolerance range
Setting value: [mm] or [deg]
• MD37210 COUPLE_POS_TOL_FINE
Meaning: ’Fine synchronism’ tolerance range
Setting value: [mm] or [deg]
• SD42300 COUPLE_RATIO [0]
Meaning: Numerator for synchronicity speed ratio
• MD42300 COUPLE_RATIO [1]
Meaning: Denominator for synchronicity speed ratio
Setting value: Sets synchronicity speed ratio for spindle/following axis synchronizing
with spindle
Speed ratio = SD42300[0]/SD42300[1]
Settable with CNC program.
14-95
Drive set-up procedure
14.3.19 Skip Function
To use the skip function for latching the sensor position by using external sensors, set the
following machine data.
SGDK servo drive has two low-active probe inputs.
I/O signal
• DB10DBX107. 0
Meaning: State of probe 1
Setting value: 0 -> 1 - Probe 1 ON
1 -> 0 - Probe 1 OFF
• DB10DBX107. 1
Meaning: State of probe 2
Setting value: 0 -> 1 - Probe 2 ON
1 -> 0 - Probe 2 OFF
14-96
14.4 High-speed High-accuracy Cutting
YS 840DI system High-speed High-accuracy Cutting function does not have any special high-
speed modes, such as conventional U-HSC function or G-HSC function, which are different
from general cutting modes. This High-speed High-accuracy Cutting function enables the con-
ventional cutting to provide machining as accurate as G-HSC function which employs the
multi-block look-ahead.
In addition, by adding the following functions to the conventional cutting feed, higher-speed,
higher-accuracy cutting is provided for micro-block program machining such as die machining.
• Block compression: Two or more blocks having accuracy less than setting tolerance are
compressed into a single linear or spline block. This allows high-speed processing for
micro-length block for die machining.
• Spline interpolation: Using some spline interpolation algorithms, linear blocks are con-
verted into spline curves so that smooth machining face can be permitted.
There is no particular conditions for maneuverability, especially for G code, since con-
ventional cutting feed function is used.
To permit the feed speed control suitable for machining pattern, multi-block look-ahead is
enabled.
Parameters for the multi-block look-ahead are shown as followings.
• MD18360 EXT_PRG_BUFFER_SIZE
Meaning: Definition for memory required for external memory operation
Setting value: 100Kbyte
• MD28060 IPO_BUFFER_SIZE
Meaning: IPO buffer size
(Definition for the number of blocks inside interpolation buffer)
Setting value: 2 to 300 blocks
Standard setting value: 100 blocks
• MD28070 NUM_BLOCKS_IN_PREP
Meaning: Number of reserved blocks (Definition for the number of blocks
reserved)
Setting value: 2 minimum, maximum value depends on memory capacity
Standard setting value: 60 blocks
14-97
Drive set-up procedure
14.4.2 Block compression
• MD29000 LOOKAH_NUM_CHECKED_BLOCKS
Meaning: Number of look-ahead blocks
Setting value: 10 to 500 blocks
Standard setting value: 100 blocks
Note: Block compression is available for the blocks compressed by the
block compression described in the next section.
By compressing with the spline function the blocks having less tolerance than the specified
value (compressing two or more linear blocks into a single spline interpolation block), fine
profile machining program for die machining can be effectively operated.
The block compression is enabled by the following functions.
COMPCURV function
Compresses 10 blocks max. Does not compress the sections whose radius of curvature is not
continuous even though they have tolerance below specified value.
COMPCAD function
Compresses 50 blocks max. This function can compress blocks having less tolerance than
the specified value and their radius of curvature are not continuous into a single spline run-
ning through the midpoints of the blocks. This function can compress blocks more effec-
tively than COMRCURV function.
The conditions for compression are defined with the following machine data (common to
COMPCURV and COMPCAD).
• MD33100 COMPRESS_POS_TOL
Meaning: Block compression distance tolerance
Compresses the blocks within the distance with specified tolerance
Setting value: [mm]
• MD20170 COMPRESS_BLOCK_PATH_LIMIT
Meaning: Block compression distance limit
The limit of the length of block to compress
Setting value: [mm]
14-98
14.4 High-speed High-accuracy Cutting
• MD20172 COMPRESS_VEL_TOL
Meaning: Block compression speed tolerance
Block compression limitation based on feed rate. Block compression in
the feed rate range within the specified tolerance.
Setting value: [mm/min]
14-99
Drive set-up procedure
14.4.3 Spline interpolation
• MD28530 PATH_VELO_SEGMENTS
Meaning: Number of polynomial spline per block
Setting this value allows the feed speed to be controlled to have better
waveform.
Standard setting value: 5
• MD28540 ARCLENGTH_SEGMENTS
Meaning: Number of polynomial spline within a single spline curve
Setting this value allows the deviation of feed speed to decrease on the
curve sections.
Standard setting value: 10
• A spline (Akima spline): Spline interpolation which always goes through the instructed
points. The radius of curvature does not vary continuously.
• B spline (B-spline): Smooth spline interpolation which goes by the instructed points.
• C spline (Cubic spline): Spline interpolation which always goes through the instructed
points and whose radius of curvature varies continuously on the instructed points.
P6
P4
P7
P5
P3
P2
P1
A spline
B spline
C spline
14-100
14.4 High-speed High-accuracy Cutting
Fine interpolation
DP cycle period interpolation is enabled for the position interpolated by IPO cycle period,
when the interpolation position command is transferred from IPO cycle to DP cycle (Section
14.1.1).
There are two types of interpolation: difference interpolation (linear interpolation) and C
spline interpolation (curvilinear interpolation).
Typically employ the C spline interpolation.
• MD33000 FIPO_TYPE
Meaning: Fine interpolation type
Setting value: 1---Differential interpolation
2---C spline interpolation
(setting value for compatibility with conventional versions)
3---C spline interpolation
Standard setting value: 3
14-101
Drive set-up procedure
14.4.4 Examples of machine data setting
The table below shows an example of evaluation conditions when evaluating the die
machining with COMPCAD function at the machining center.
Program: Die machining for which Z axis reciprocates rapidly (In this case, the setting for
the acceleration rate and the jerk of Z axis seriously affects the machining time.)
COMPCAD results
Z axis counter weight None Used
Machining time 15 min. 14 19 min. 04
sec. sec.
14-102
14.5 Relevant Machine Data and Parameters
Relevant machine data and parameters described in Chapter 14 are listed below.
HMI screen refresh suppress - SUPPRESS_SCREEN_REFRESH MD10131 0 - 0: Whole group suppressed 1: Part of the group suppressed 2: No suppression
Drive standard setting DSC mode Feed axis/Spindle STIFFNESS_CONTROL_ENABLE[0] MD32640 1 - 1: DSC mode. Always specify "1".
Telegram type Feed axis/Spindle DRIVE_TELEGRAM_TYPE[0] MD13060 201 - Always specify "201". Specify the number of axes into the brackets ([ ]).
NCK reset/shutdown motion specificationFeed axis/Spindle Feed axis/Spindle PROFIBUS_SHUTDOWN_TYPE MD11250 2 - 0: Alarm stop 1: With bus clear, deceleration stop 2: Without bus clear, deceleration stop
Spindle standard Spindle default mode Spindle SPIND_DEFAULT_MODE MD35020 0 - 0: Speed reference mode (speed control) 1: Speed reference mode (position control)
setting Spindle default mode mask SPIND_DEFAULT_ACT_MASK Effective timing with MD35020. 0: When powered on
Spindle MD35030 0 -
Spindle motion after reset and M3/M30 Spindle SPIND_ACTIVE_AFTER_RESET MD35040 0 - Motion (Reset, M2, and M30) 0: Stop 1: Not stop
Axis component Name of machine axis Feed axis/Spindle AXCONF_MACHAX_NAME_TAB[0] MD10000 X1- - Enabled axes, disabled axes and simulation axes defined independently of group
14-103
Number of geometry axis per group Feed AXCONF_GEOAX_ASSIGN_TAB[0] MD20050 1- - Not permitted for Spindles.
Name of geometry axis per group Feed AXCONF_GEOAX_NAME_TAB[0] MD20060 X- - Not permitted for Spindles.
Number of enabled axis per group Feed axis/Spindle AXCONF_MACHAX_USED[0] MD20070 1- - Axes for MD10000 are defined within group. Disabled axes are not defined.
Name of program axis Feed axis/Spindle AXCONF_CHANAX_NAME_TAB[0] MD20080 X- - Axes manes are defined for MD270070. Disabled axes are not defined.
Number of drive for hard ware configuration Feed axis/Spindle CTRLOUT_MODULE_NR MD30110 1- - Same order as row of hard ware configuration
Enabled axis/simulation axis Feed axis/Spindle CTRLOUT_TYPE[0] MD30130 1 - 1: Enabled axes 0: Simulation and disabled axes
Motor encoder Number of encoder Feed axis/Spindle NUM_ENC MD30200 - - 1: Motor encoder only2: Including separately mounted encoder
Rotary encoder/linear scale (motor encoder) Feed axis/Spindle ENC_LINEAR[0] MD31000 - - 0: Rotary encoder 1: Linear scale
Number of encoder for hard ware configuration Feed axis/Spindle ENC_MODULE_NR MD30220 1- - Same order as row of hard ware configuration
Type of motor encoder Feed axis/Spindle ENC_TYPE[0] MD30240 - - 0: Simulation axes 1: Incremental encoder 4: Absolute encoder
Number of pulse of separately mounted encoder Feed axis/Spindle ENC_RESOL[1] MD31020 - pulse
No. of Machine Typical Setting
Main topic Topic Subtopic Axis Name of Machine Data UNIT General setting and others
data Value
Standard Separately Separately mounted encoder enabled/disabled Feed axis/Spindle ENC_IS_DIRECT[1] MD31040 - - 0: Disabled 1: Enabled
Maximum tolerance
Feed axis/Spindle CONTOR_TOL MD36400 - mm,deg
Backlash Backlash compensation
Feed axis/Spindle BACKLASH[0] MD32450 - mm,deg
compensation
Each control CNC feed mode to the drive Feed PROFIBUS_CTRL_CONFIG MD37610 1 - Used for prediction control, model following control, gain changing, and collision detection.
CNC feed mode to the drive Spindle PROFIBUS_CTRL_CONFIG MD37610 0 - Unavailable for Spindles.
Motion control Feed rate Feedback low pass filter (motor encoder)
Feed axis/Spindle ENC_ACTVAL_SMOOTHTIME[0] MD34990 - sec Mainly used when Spindle encoder resolution is not high enough.
Approach speed
Feed REFP_VERO_SEARCH_CAM MD34020 - mm/min,min-1
Return to reference point dog search maximum distance
Feed REFP_MAX_CAM_DIST MD34030 - mm
Creep speed (motor encoder)
Feed REFP_VERO_SEARCH_MAKER[0] MD34040 - mm/min,min-1
Creep speed (separately mounted encoder)
Feed REFP_VERO_SEARCH_MAKER[1] MD34040 - mm/min,min-1
C-phase search direction (motor encoder)
Feed REFP_SEARCH_MARKER_REVERSE[0] MD34050 - - 0: Positive (Not ahead of dog) 1: Negative (ahead of dog)
Spindle MD21300 - -
synchronicity Number of master axis
Spindle COUPLE_AXIS_1[1] MD21300 - -
control
Spindle synchronicity mode
- COUPLING_MODE_1 MD21310 - - 0: Feedback synchronicity 1: Position command synchronicity 2: Speed synchronicity
high-accuracy look-ahead
machining Block Compression position tolerance
- COMPRESS_POS_TOL MD33100 - mm
compression Block compression distance limiting value
- COMPRESS_BLOCK_PATH_LIMIT MD20170 - mm
Compression speed tolerance
- COMPRESS_VERO_TOL MD20172 - mm/min
Spline Number of polynomial spline per block
- PATH_VELO_SEGMENTS MD28530 5 -
compensation Number of polynomial within a single spline curve ARCLENGTH_SEGMENTS
- MD28540 10 -
Type of fine interpolation
- FIPO_TYPE MD33000 2 - 1: Differential interpolation2: C spline interpolation
14.5.2 Servo drive relevant parameter
Typical Setting
Main topic Topic Subtopic Name of Parameter No. of Parameter UNIT General setting and others
Value
Standard setting Axes configuration FUNCTION_SWITCH_APPLIC4 MD3004 digit 2(Pn004 digit 2) - -
Parking axis setting 0: Enabled axis 2: Parking axis
Motor encoder Rotation direction selection FUNCTION_SWITCH_BASIC MD3000 digit 0(Pn000 digit 0) 0 - 0: Forward 1: ReverseReverse connection is set with CNC.
Usage for absolute value encoder FUNCTION_SWITCH_APPLIC2 MD3002 digit 2(Pn002 digit 2) - - 0: Used as absolute value encoder 1: Used as incremental encoder
Multi return limit MULT_TURN_LIMIT MD3205(Pn205) 65535 rev
Electronic gear ratio (numerator) (lower word) ELECTRIC_GEAR_NUMERATOR_LW MD3214(Pn20E) 1 - Use CNC-side setting for electronic gear.
Electronic gear ratio (numerator) (upper word) ELECTRIC_GEAR_NUMERATOR_HW MD3215(Pn20F) 0
Electronic gear ratio (denominator) (lower word) ELECTRIC_GEAR_DENOMIN_LW MD3216(Pn210) 1 - Use CNC-side setting for electronic gear.
Electronic gear ratio (denominator) (upper word) ELECTRIC_GEAR_DENOMIN_HW MD3217(Pn211) 0
Separately mounted Usage for full-closed PC pulse FUNCTION_SWITCH_APPLIC2 MD3002 digit 3(Pn002 digit 3) - -
encoder Full-closed specification FUNCTION_SWITCH_APPLIC6 MD3006 digit 2(Pn002 digit 2) - 2: Forward rotation with C phase 4: Reverse rotation with C phase
Number of full-closed PC pulse/rotation of motor (lower word) PG_PLS_MTRRND_LW_FULLCLOSED MD3210(Pn20A) - pulse/rev Set multiplication-by-one value.
Number of full-closed PC pulse/rotation of motor (upper word) PG_PLS_MTRRND_HW_FULLCLOSED MD3211(Pn20B) -
Number of full-closed PC pulse/rotation of encoder (lower word) PG_PLS_ENCRND_LW_FULLCLOSED MD3212(Pn20C) - pulse/rev Set multiplication-by-one value.
Number of full-closed PC pulse/rotation of encoder (upper word) PG_PLS_ENCRND_HW_FULLCLOSED MD3213(Pn20D) -
Number of Z-phase pulse per rotation of encoder PG_PLS_ENCRND_Z_PHASE MD3231(Pn21F) - pulse Setting is not required when MP scale is used.
Absolute PG reference position offset (lower word) ABS_PG_POINT_OFFS_LW MD3508(Pn808) - pulse Setting is not required when MP scale is used.
Absolute PG reference position offset (upper word) ABS_PG_POINT_OFFS_HW MD3509(Pn809) - pulse Setting is not required when MP scale is used.
Servo drive Position control Position control enabled/disabled FUNCTION_SWITCH_BASIC MD3000 digit 1(Pn000 digit 1) 7 - 0: Position control is disabled 1: Position control is enabled 7:Position/speed changing is
enabled
control
Position loop gain KP MD3032(Pn102) - 0.1/s Specify the same value as MD32200. Take notice of unit.
Position loop gain setting method SWITCH_FUNCTION_2 MD3069 digit 0(Pn127 digit 0) 1 - 0: Setting value for drive is used 1: Cyclic data for CNC is used.
Excessive deviation range OVERFLOW_LEVEL MD3425(Pn505) - pulse
14-107
control filter 2nd stage notch filter selection SWITCH_NOTCH_FILTERS MD3358 digit1(Pn408 digit1) - - 0: Disabled 1: Enabled
(Cont’d) 1st stage notch filter frequency FREQUENCY_NOTCH_FILTER_1 MD3359(Pn409) - Hz
1st stage notch filter Q value Q_VALUE_NOTCH_FILTER_1 MD3360(Pn40A) - 0.01
2nd stage notch filter frequency FREQUENCY_NOTCH_FILTER_2 MD3361(Pn40B) - Hz
2nd stage notch filter Q value Q_VALUE_NOTCH_FILTER_2 MD3362(Pn40C) - 0.01
Speed feedback Speed feedback compensation function selection SWITCH_ONLINE_AUTO_TUNING MD3046 digit 1(Pn110 digit1) - - 0: Disabled 1: Enabled
compensation Speed feedback compensation gain SPEED_FEEDBACK_COMP_GAIN MD3047(Pn111) - %
Speed feedback delay compensation SPEED_FEEDBACK_DELAY_COMP MD3048(Pn112) - % Speed feedback compensation inertia gain
Predictive control 1st predictive control switch SWITCH_PREDICTED_1 MD3079 digit 0(Pn131 digit 0) - - For machining feed 0: Disabled 1: Enabled (Tp = 0.001) 2: Enabled (Tp = 0.002)
1st predictive control parameter C PARAM_C_PREDICTED_1 MD3080(Pn132) - 0.01 For machining feed
1st predictive control parameter Cd PARAM_CD_PREDICTED_1 MD3081(Pn133) - 0.01 For machining feed
1st predictive control parameterα PARAM_ALPHA_PREDICTED_1 MD3082(Pn134) - 0.01 For machining feed
1st predictive control equivalent Kp fine adjustment EQUIV_KP_ADJ_PREDICTED_1 MD3083(Pn135) - 0.1/s For machining feed
1st predictive control speed FF gain SPD_FF_GAIN_PREDICTED_1 MD3084(Pn136) - % For machining feed
1st predictive control torque FF gain TRQ_FF_GAIN_PREDICTED_1 MD3085(Pn137) - % For machining feed
1st predictive control torque FF filter time constant TRQ_FF_FLT_T_CONST_PREDIC_1 MD3086(Pn138) - 0.01Hz For machining feed
2nd predictive control switch SWITCH_PREDICTED_1 MD3079 digit 1(Pn131 digit 1) - - For positioning 0: Disabled 1: Enabled (Tp = 0.001) 2: Enabled (Tp = 0.002)
1st predictive control parameter C PARAM_C_PREDICTED_1 MD3087(Pn139) - 0.01 For positioning
2nd predictive control parameter Cd PARAM_CD_PREDICTED_1 MD3088(Pn13A) - 0.01 For positioning
2nd predictive control parameterα PARAM_ALPHA_PREDICTED_1 MD3089(Pn13B) - 0.01 For positioning
2nd predictive control equivalent Kp fine adjustment EQUIV_KP_ADJ_PREDICTED_1 MD3090(Pn13C) - 0.1/s For positioning
2nd predictive control speed FF gain SPD_FF_GAIN_PREDICTED_1 MD3091(Pn13D) - % For positioning
2nd predictive control torque FF gain TRQ_FF_GAIN_PREDICTED_1 MD3092(Pn13E) - % For positioning
2nd predictive control torque FF filter time constant TRQ_FF_FLT_T_CONST_PREDIC_1 MD3093(Pn13F) - 0.01Hz For positioning
14-108
Model following control Model following control (MFC) selection SWITCH_ONLINE_AUTO_TUNING MD3046 digit 3(Pn110 digit 3) - - 0: Disabled 1: Rigid model following control selection
Model following control (MFC) bank 0 mask MASK_MFC_BNAKSEL_0_3 MD3527 digit 0 1 - 0: Bank 0 enabled 1: Bank 0 disabled
(MD81B digit 0)
Model following control (MFC) bank 1 mask MASK_MFC_BNAKSEL_0_3 MD3527 digit 1 0 - 0: Bank 0 enabled 1: Bank 0 disabled
(MD81B digit 1)
Model following control (MFC) bank 2 mask MASK_MFC_BNAKSEL_0_3 MD3527 digit 2 1 - 0: Bank 0 enabled 1: Bank 0 disabled
(MD81B digit 2)
Model following control (MFC) bank 3 mask MASK_MFC_BNAKSEL_0_3 MD3527 digit 3 1 - 0: Bank 0 enabled 1: Bank 0 disabled
(MD81B digit 3)
MFC gain LOOP_GAIN_MFC MD3055(Pn119) - 0.1/s
MAC attenuation factor DUMP_FACTOR_MFC MD3056(Pn11A) - 0-1000
MFC speed FF gain SPD_FF_GAIN_MFC MD3059(Pn11D) - 0-1000
MFC torque FF gain TRQ_FF_GAIN_MFC MD3060(Pn11E) - 0-1000
Vibration control at a stop Attenuation ratio for vibration control at a stop DAMP_RATIO_ANTIVIB_ON_STP MD3114(Pn154) - % Function is disabled when the initial value is set to 100% (initial value = 100%).
Starting time for vibration control at a stop START_TIME_ANTIVIB_ON_STP MD3115(Pn155) 1024 ms
Vibration control Vibration control selection GAIN_SWITCH MD3041 digit 3(Pn10B digit 3) - - 0: Disabled 3: A-type vibration control function enabled
Vibration control damping gain SPD_DUMP_GAIN_ANTIVIBRATION MD3050(Pn114) - %
Vibration control low pass filter time constant LPF_CONST_ ANTIVIBRATION MD3051(Pn115) - 0.01ms
Vibration control high pass filter time constant HPF_CONST_ ANTIVIBRATION MD3052(Pn116) - 0.01ms
Vibration control observer gain OBSERVER_GAIN_ANTIVIBR MD3071(Pn129) - Hz
Vibration control observer gain inertia compensation LOAD_INERTIA_ANTIVIBR MD3072(Pn12A) - %
Gain switching 2nd speed loop gain KV2 MD3034(Pn104) - 0.1Hz
2nd speed loop integral time constant KVI2 MD3035(Pn105) - 0.01ms
3rd speed loop gain KV3 MD3073(Pn12B) - 0.1Hz
3rd speed loop gain integral time constant KVI3 MD3074(Pn12C) - 0.01ms
Analog monitor Data selection FUNCTION_SWITCH_APPLIC3 MD3003(Pn003) 0002 -
Typical Setting
Main topic Topic Subtopic Name of Parameter No. of Parameter UNIT General setting and others
Value
Motion control Emergency stop Emergency stop torque EMERGENCY_STOP_TORQUE MD3356(Pn406) 800 % When "800" is specified, machine stops at the maximum torque.
Emergency stop wait time EMERGENCY_STOP_WAIT_TIME MD3442(Pn516) 500 ms
Brake command - servo drive cutoff delay DELAY_FROM_BRK_SIG_TO_SVOFF MD3426(Pn506) - ms
Delay between servo drive cutoff and connector cutoff TACTOR_OFF_DELAY_TIME MD3528(Pn81C) - ms
Torque control Positive torque control FORWARD_TORQUE_LIMIT MD3352(Pn402) - %
Negative torque control REVERSE_TORQUE_LIMIT MD3352(Pn402) - %
Variable torque control selection SWITCH_NOTCH_FILTER MD3358 digit 2(Pn408 digit 2) 1 - 0: Disabled 1: Enabled
Collision detection Disturbance observer gain GAIN_DISTURB_OBSERVER MD3063(Pn121) - Hz
Disturbance observer high pass filter cutoff frequency HPF_CUT_FREQ_DISTURB_OBSRVR MD3064(Pn122) - Hz
Disturbance observer low pass filter cutoff frequency LPF_CUT_FREQ_DISTURB_OBSRVR MD3066(Pn124) - Hz
Disturbance observer inertia compensation INERTIA_ADJ_DISTURB_OBSRVR MD3067(Pn125) - %
1st torque disturbance level DISTURB_TORQUE_LEVEL_1 MD3368(Pn412) - %
2nd torque disturbance level DISTURB_TORQUE_LEVEL_2 MD3369(Pn413) - %
3rd torque disturbance level DISTURB_TORQUE_LEVEL_3 MD3370(Pn414) - %
4th torque disturbance level DISTURB_TORQUE_LEVEL_4 MD3371(Pn415) - %
Compliance torque COMPLIANCE_TORQUE MD3372(Pn416) - %
14-109
14.5.3 Spindle relevant parameter and Servo drive relevant parameter
Typical Setting
Main topic Topic Subtopic Name of Parameter No. of Parameter UNIT General setting and others
Value
Standard setting Motor encoder ENCODER_SPECIFICATION_0 MD6529(Cn529) - -
Encoder specification
Number of motor encoder pulse NUMBER_OF_ENCODER_PULSE_0 MD6533(Cn533) - bit 11:2048/12:4096/13:8192/19:19bit serial
Number of PG pulse for position control/rotation of motor (lower word) FULL_CLOSED_PG_PULSE_L_1 MD6915(Cn87F) - pulse The number of pulse for motor encoder (multiplication-by-four value) is set.
Number of PG pulse for position control/rotation of motor (upper word) FULL_CLOSED_PG_PULSE_L_1 MD6916(Cn880) - pulse
Separately mounted Separately mounted encoder specification ENCODER_SPECIFICATION_1 MD6530(Cn530) - -
encoder Number of separately mounted encoder pulse NUMBER_OF_ENCODER_PULSE_1 MD6534(Cn534) - - The number of pulse (multiplication-by-four value) for 11:2048/12:4096/13:8192/19:19bit
serial/32 or higher
Number of PG pulse for position control/rotation of motor (lower word) FULL_CLOSED_PG_PULSE_L_1 MD6915(Cn87F) - pulse The number of pulse for separately mounted encoder (multiplication-by-four value) is set.
Number of PG pulse for position control/rotation of motor (upper word) FULL_CLOSED_PG_PULSE_L_1 MD6916(Cn880) - pulse
Motor maximum speed Rated speed RATED_SPEED_SETTING MD6500(Cn500) - min-1
Mask setting Alarm mask ALARM_MASK MD7081(Cn8E6) - -
Parameter initialization Parameter initialization RESERVED_FOR_USER_OF MD6988(Cn8C8) - - 0: Initial value 1: Initialization
Servo drive Position control Multi-function selection SSC MULTI_FUNCTION_SEL_SSC MD6522(Cn522) 1 - 0: Soft start with SSC disabled 1: Servo mode with SSC enabled
Speed control integral time (servo mode M, L gear) ASR_I_TIME_M_L_2 MD6067(Cn067) - 0.1ms
Servo mode magnetic flux level (H gear) SV_MODE_FLUX_LEVEL_H MD6201(Cn201) - %
Servo mode base speed ratio (H gear) SV_BASE_SPEED_RATIO_H MD6202(Cn202) - 0.01
Servo mode magnetic flux level (M, L gear) SV_MODE_FLUX_LEVEL_M_L MD6203(Cn203) - %
Servo mode base speed ratio (M, L gear) SV_BASE_SPEED_RATIO_M_L MD6204(Cn204) - 0.01
Analog monitor Monitor 1 output content MONITOR_1_OUTPUT MD6472(Cn472) 0 - 0: Motor speed
Monitor 1 output content MONITOR_1_OUTPUT MD6472(Cn472) 1 - 1: Torque reference
Motion control Spindle sequence relevant Zero speed detection level ZERO-SPEED_DET_LEVEL MD6030(CN030) - 0.1min-1
Zero speed detection range ZERO-SPEED_DET_WIDTH MD6031(Cn031) - 0.1min-1
Speed coincidence signal range SPEED_AGREE_WIDTH MD6400(Cn400) - % Ratio for MD6500 (Cn500) is set.
Speed coincidence signal level SPEED_DETECTION_LEVEL MD6401(Cn401) - 0.01% Ratio for MD6500 (Cn500) is set.
Speed coincidence signal hysteresis SPEED_DETECTION_WIDTH MD6402(Cn402) - 0.01% Ratio for MD6500 (Cn500) is set.
Torque detection signal level TORQUE_DETECTION_LEVEL MD6410(Cn410) - 0.1% Ratio for 30-minute rated torque is set.
Torque detection signal hysteresis TORQUE_DETECTION_WIDTH MD6411(Cn411) - 0.1% Ratio for 30-minute rated torque is set.
Following list is the summary of causes and countermeasures for potential troubles occurring from the setting errors of machine data or parameters.。
Remarks
Category Symptom Conditions Candidate causes Measures
(relevant sections)
Controlled
There is one or more axis which can not be read by the digital operator of converter. When the control source is powered on. There may exist any mismatchings on the axis number rotary switch of the drive. Check if there are multiple switches specified for the same number under a single con- 14.1.4
Or There occurs the drive alarm 183 (A. B7: Link setting error) or 225 (A. E1: Tim- verter.
source eout error). Check if the switch setting is within the range between 0 and 6.
Check if the switch indicates the target number properly.
When powered on, the position becomes approximately fourfold the setting value. When the control source is powered on. The multiplication factor for the absolute value data is incorrectly set. Set the value, MD 30260 = 1. 14.1.5
There occurs the drive alarm 4 (A.0.4: Parameter setting is abnormal). When the control source is powered on. The parameter setting value is out of the setting range. Set the parameter value within the setting range. A.1, A2
There occurs the drive alarm 2 (A.02: Flash memory is abnormal). When the control source is powered on. The checksum for user parameter or system parameter is abnormal. Re-enter the parameter file for drive.
Parameter ID check is abnormal.
There occurs CNC alarm 8044. When CNC power supply is powered on. Limitation for IPO cycle is not released. Set the value, MD19296 = 4. 14.1.1
There occurs CNC alarm 1019 Floating point arithmetic error. When the control source is powered on. The value MD32250[0] = 0 is set. Set the value MD32250[0] = 100. 14.1.7
Servo drive is
The feed axis behaves inching when the servo drive is powered on. When restarting after an emergency stop. The variable Kp setting is not enabled on the drive side. Set the value MD3069 digit 0 (Pn127 digit 0) = 0. 14.2.1
powered on Including an axis with enabled separately mounted MD32642 is set to 1 for the axis with disabled separately mounted encoder. Set 0 to MD32642 for the axis with disabled separately mounted encoder. 14.1.6
encoder.
The feed axis coasts after the servo drive is powered on. Especially the gravity axis There is some mismatching between MD30110 and MD30220[0] or [1]. Specify the same value for MD30110 and MD30220[0] or [1]. 14.1.5
There appears one or more runaway axes, when the servo drive is powered on. In PLC, the measuring system (DB3nDBX1.5-6) is incorrectly selected. Specify "1" for motor encoder only, and "2" for including separately mounted encoder. 14.1.5,14.1.6
Including the separately mounted encoder The direction of motor rotation is unmatched to that of encoder rotation. Correct the rotation directions. 14.1.6
14-112
The setting for separately mounted encoder is unmatched for CNC and the drive. Specify the correct value. 14.1.6
Move command does not match the actual travel amount . Including the separately mounted encoder. The setting value for the separately mounted encoder is incorrect. Correctly set the values for both the motor encoder and the separately mounted encoder. 14.1.5,14.1.6
There occurs CNC alarm 1019 Floating point arithmetic error. In 00.02.02 system, when the servo drive is powered on. MD32642 is set to 1 for the semi-closed controlled (motor encoder controlled) axis. Set 0 to MD32642 for the semi-closed controlled axis. 14.1.6
Vibration When the servo drive is powered on. The unit for setting value for Kp is incorrect. Use the same unit for MD102390[9] and MD32200. 14.2.1
There occurs the drive alarm 81 (A.51: Undervoltage). Multiple converters are connected. Before the servo drive under one converter is powered off, another converter has With MC3528(Pn81C) and MD6989(Cn8C9), specify the amount for the delay time for 14.3.4
blocked the main circuit connector. the axis for which the servo drive is last to be powered on (for example, longer than the
deceleration time for the spindle).
It is impossible to power on the servo drive. Whole axes are disabled. The bus cable connector linking with drives is almost disconnected. Check the connection of bus cable connector linking with the drives.
A single axis is disabled. In PLC, the measuring system (DB3nDBX1.5-6) is not selected. Specify "1" for motor encoder only, and "2" for including separately mounted encoder. 14.1.6
Separately mounted encoder absolute value detection The motor encoder setting value is not set to the absolute value detection. When the absolute value detection function is enabled on the separately mounted encoder, 14.1.5
function is enabled. set the motor encoder type to the absolute value encoder (MD30340[0] = 4) independently
with the motor encoder type.
When servo drive is powered on, or when the first travel command is instructed, Including separately mounted encoder. The direction setting for the separately mounted encoder is incorrect. Check the orientation of separately mounted encoder and correct the relevant machine data 14.1.6
there occurs a servo drive alarm 113 (A.71: Overloading). and parameters.
There occurs a servo drive alarm 113 (A.71: Overloading). When the servo drive is powered on. The motor cable is disconnected. Connect the motor cable properly.
Control
Torque fluctuates in wave forms during deactivation. Including separately mounted encoder. The separately mounted encoder is set to Type 1 (MD32642 = 0). Set the encoder to Type 2 (MD32642 = 1). Standard setting is
Type 2.
14.1.6
There occurs CNC alarm 21610 Channel ** axis** encoder frequency exceeded. Including separately mounted encoder. Since the setting value with MD30600[1] is not high enough, the command frequency Set the setting value with MD30600[1] to equal or higher value than 4 or the separately 14.1.6
is abnormal. mounted encoder pulse rate (pps) at the top speed.
There occurs the drive alarm 208 (A. D0 Position deviation is excessive). During the rapid travelling. The setting value for excessive deviation range on the drive side is not high enough. Specify the value appropriate for the encoder and Kp with MD3425 (Pn505). 14.2.1
Emergency stop is not initiated but DB stop (spindle is free-running) is enabled. - The delay time between the emergency stop and the servo drive cut-off is too short. With MD3442 (Pn516) and/or MD6511 (Cn511), specify the proper value (for example, 14.3.4
the value which is equal or exceed the spindle deceleration time) for the time from the
emergency stop until the servo drive is cutoff.
The position deviation is not match Kp. Including separately mounted encoder. The separately mounted encoder reverse connection is installed on the CNC side in In this case, the separately mounted encoder reverse connection should be done on the 14.1.6
case of the separately mounted encoder reverse connection along with the motor for- drive side.
ward connection.
There occurs low frequency vibration (about 20 Hz) during deactivation. Quadrant jerk compensation is enabled. The setting value for the functional quadrant jerk compensation function selection is Correct the setting with MD3068 digit 1 (Pn126 digit 1) = 2. 14.2.5
wrong (current setting may be MD3068 digit 1 (Pn126 digit 1) = 1).
Remarks
Category Symptom Conditions Candidate causes Measures
(relevant sections)
Hard ware
There occurs CNC alarm 25202 Axis waiting for drive or the LED lamp of PROFI- The spindle is set as a parking axis. It is impossible for the spindle to be a parking axis. Set the spindle as an enabled axis. If there is no spindle motor, mask the motor and 14.1.4,14.1.8
BUS flashes. encoder relevant alarm(s) with the spindle alarm mask.
configuration
The digital operation mode was once used. The stand alone mode (digital operation mode) is enabled. Release the stand alone mode. 14.1.3
There are connected multiple converters. The station number of converter is wrong. Check the station number of the converter. 14.1.4
Specify the station number which is not identical to any other converter station number but
suitable for the setting of hard ware configuration.
The parking axis was once enabled. The parking axis setting (servo axis) is enabled. Release the parking setting for the servo drive. 14.1.4
Encoder
There occurs CNC alarm 26002 Axis encoder N configuration error. When power turned on. The setting for the pulse number and type of CNC motor or separately mounted Set the pulse number and type of CNC motor or separately mounted encoder to the setting 14.1.5
encoder does not match that for the drive. (N = 1: Motor N = 2: Separately mounted value matching the actual encoder pulse. 14.1.6
encoder)
There occurs a servo drive alarm 129 (A:81:PG backup errors). When power is turned on after the drive wiring is modi- The backup value for the absolute value encoder is collapsed. Reset the encoder.Reset the encoder. 14.1.5
fied.
When power is turned on. The battery of converter is empty. The voltage is not high enough. Attach a new normal battery.
There is no battery used since the absolute value Setting is not for the absolute value encoder to be used as the incremental encoder. Set MD3002 digit 2 (Pn002 digit 2) = 1 in order to use the absolute value encoder as the 14.1.5
encoder is used as the incremental encoder. incremental encoder.
There occurs a servo drive alarm 204 (A.CC: multi-return limit value unmatched). MD3205 (Pn205) has been modified. The setting on the encoder side (Fn013) was not changed. Modify the setting on the encoder side. 14.1.5
The multi-return limit value can not be changed. A 20-bit encoder is used. For the 20-bit encoder, the multi-turn limit value is unchangeable. Set the setting value on the CNC-side multi-turn limit to the encoder value plus 1 (one) (= 14.1.5
65536).
With separately mounted encoder, there occurs position deviation in positioning MK scale is used. The servo drive multi-return limit value setting error. With 3205 (Pn205), set the value "-1" for the gear ratio of MP scale and motor encoder. 14.1.6
after the servo drive power is turned on/off.
There occurs a servo drive alarm 203 (A.CB:PG echo back abnormal). When control source is powered on. The encoder cable is disconnected. Properly connect the cable.
When the absolute value detection function is enabled, re-establish the origin.
Spindle
The rpm does not match the reference value. When the speed reference operation is enabled. The MD32260 setting value is wrong. With MD32260, set the value of MD880. 14.1.7
The orientation speed fluctuates. When the position control is started after the orientation The speed feedforward for the spindle is not enabled. Enable the spindle speed forward. 14.3.7,14.3.13
deceleration.
The spindle feedback signal display (rpm, speed waveform, etc.) flickers. After the servo drive is powered on. Since the resolution of spindle encoder is not high enough, the display flickers in the Set the low pass filter MD34990 for the spindle feedback. 14.2.2
range of encoder 1 pulse.
There occurs CNC alarm 22051 at the orientation. The first orientation after powered-on. MD34060 REEP_MAX_MAPKER_DIST setting value is not large enough. Set the value which is equal or exceed 360 deg. 14.3.5
The LED lump of PROFIBUS lights, and there occurs the drive alarm 183 (B7: link The control source is powered on. The termination at the PROFIBUS terminal connector is not enabled. Properly enabled the termination.
Hard ware setting errors) and/or 230 (E6: network communication abnormal).
14-113
The LED lump of the servo/spindle drive RDY fails to light. The control source is powered The fuse of the control source is blown. This event often occurs when the connector of Replace the servo/spindle drive unit.
control source is disconnected with the control source which is still powered on.
on.Inaccessible under the digital operation.
Chapter 15
Error and Troubleshooting
This chapter describes the troubleshooting for the errors without alarm display.
15-1
Error and Troubleshooting
The table below shows the causes and their countermeasures for the malfunctions accompanied
with no alarm generation.
Before you check or take a countermeasure for what is described in the half-tone meshing col-
umn, you must turn off the power supply of servo system.
If you cannot remedy the malfunction even with these measures, please contact our service
group without delay.
Table 15.1
15-2
15.1 Errors without Alarm Display and Troubleshooting
Table 15.1
15-3
Error and Troubleshooting
15-4
15.1 Errors without Alarm Display and Troubleshooting
15-5
Error and Troubleshooting
15-6
Chapter 16
Maintenance and Check
This chapter deals with how to conduct a basic check on the Servo motors and
the SERVOPACKs, how to replace the Absolute encoder battery, and explana-
tion about the Analogue monitor.
16-1
Maintenance and Check
16.1.1 Checking Servo motor
The following table shows how to conduct a daily check and maintenance of the Servo motor.
Since AC servo motors are brushless, you need not conduct any other checks than a brief, daily
check. The check timing in the table shows a guide line only; you need to define appropriate
check timing according to the motor operating conditions.
IMPORTANT Do not disassemble the servo motor for the purpose of maintenance and check. Be sure to contact our
distributor or sales office nearest to you for dissassembly of motor.
16-2
16.1 Checking Servo motor and SERVOPACK
The following table summarizes how to check the SERVOPACK. You need not conduct a daily
check; however, conduct a check once a year at least.
As to the SERVOPACKs that we made an overall repair, we are returning them to users with
resetting their user-defined constants to standard values. Be sure to check user-defined con-
stants before starting operation.
Operating conditions
16-3
Maintenance and Check
16.2.1 Items to be checked daily
Carry out scheduled maintenance management so that the system may keep operating correctly
in good conditions.
WARNING
• To check the MRX, you must turn off the power and wait for 5 minutes before accessing inside
the unit. Be sure to wait until the "CHARGE" indicator turns off, showing the smoothing capaci-
tor has been discharged completely; otherwise, you may receive an electric shock or may be
injured.
Table 16.4
16-4
16.2 Checking Spindle motors and Invertors
Table 16.4
1. If air filters are used in the Control panel or other devices, clean the filters once a month
at least.
2. If contaminated with dirt or dust, electronic parts may exhibit overheat or decrease in
insulation characteristics; remove the dirt or dust periodically. Likewise, if the heat sink
is contaminated with dust or oil at the rear surface of the inverter, it becomes unable to
dissipate heat effectively, resulting in a failure. Clean the heat sink with an air blow or a
cloth once per 6 months at least. (If it is contaminated considerably, cleaning shall be
made more frequently.)
3. Checking vibration and sound levels by touching and hearing every day to verify that
the levels do not become greater than normal.
4. Checking their appearance, clean them if necessary with an air blow or cloth according
to the degree of contamination.
Test the insulation of Spindle motor using a Megger tester (500 VDC) as follows:
16-5
Maintenance and Check
16.2.4 Periodical check
Referring to the following table, establish a maintenance schedule and conduct a periodical
check. Check timing is mentioned for some items in the table; however, it is for your refer-
ence as standard timing. Determin appropriate timing that best fits your machine considering
use status and environment by increasing or decreasing the standard value.
16-6
16.2 Checking Spindle motors and Invertors
Note that if you are leaving a machine unused for a long time,
take care the following points:
• If you have installed an auxiliary Inverter that is not used normally, check if it operates correctly
by energizing it every 6 month.
Specifically, if you have not used the electrolytic capacitor for more than 1 year, re-transform it
in the following method.
• Open the emergency stop signal and turn on the power. ("CHARGE" indicator turns off.)
• Close the emergency stop signal. ("CHARGE" indicator turns on.)
• In this state, keep energizing it for 30 minutes.
• Slightly rotate the motor axis once a week so that it may be lubricated well.
16-7
Maintenance and Check
16.3.1 Replacing a battery in the Absolute encoder
Replace the battery in the following procedure. For the recommended Absolute encoder bat-
teries, refer to 16.3.2 "Handling a battery".
IMPORTANT If the battery is disconnected (the encoder cable is disconnected) with the SERVOPACK control power
turned off, the Absolute encoder data is cleared and you will have to set up the Absolute encoder again.
Refer to 16.3.3 "Setting up (Initializing) Absolute encoder".
Converter
Battery
compartment
Battery
connecter
16-8
16.3 Absolute encoder
INFO You can set up Absolute encoder only when the Servo is turned off. After completing the set-up pro-
cess, be sure to turn on the power again.
3. Select a user constant "Fn008". Select a digit to set by pressing [LEFT] or [RIGHT]
keys. Change a value by pressing [UP] and [DOWN] keys.
5. Press [UP] key to change the display as follows. Press [LEFT] key for several times
until PGCL5 appears. If you press the key incorrectly, "nO_OP" flashes for one second
and characters appear indicating that you have entered into "Auxiliary function execu-
tion" mode. Now, repeat the procedure from step 3.
[LEFT] key
"Auxiliary function
execution" mode
display appears
16-9
Maintenance and Check
16.3.3 Setting up (Initializing) Absolute encoder
6. If PGCL5 appears, press [DSPL/SET] key. The display changes as follows and the
Absolute encoder
7. Multi-turn data is cleared.
Flashes one
second.
IMPORTANT If the following Absolute encoder alarms are issued, you must release them by following the same pro-
cedure as the "Set-up" procedure; you cannot release the alarms using the SERVOPACK alarm reset (/
ARM-RST) input signal.
• Encoder back-up alarm (A.81)
• Encoder sum check alarm (A.82)
If an alarm that monitors inside the encoder is issued, you need to release it by turning off the power.
16-10
16.4 Analogue monitor
To monitor analogue monitor signals, use a dedicated monitor cable (DE9404559) connected to
the connector shown below.
YASKAWA
SERVOPACK
SGDK-50AEA
200V
CN5
A/B
SW1
RDY
CN1
CN6
CN2
CN8
3 4
1 2
You can change analogue monitor signals by setting a user constant Pn003.
16-11
Maintenance and Check
16.3.3 Setting up (Initializing) Absolute encoder
Socket DF11-4DS-2C
(Hirose Electric Co.)
Contact DF11-2428SCF
(Hirose Electric Co.)
4 3
3 4
1 2
2 1
Pin No.
Red
1
White
2
Black
3
Black
4
16-12
16.4 Analogue monitor
INFO Analogue monitor output voltage is ± 8 V max. Even if the voltage exceeds this range, it is displayed
as ± 8 V.
16-13
Maintenance and Check
16.3.3 Setting up (Initializing) Absolute encoder
16-14
Appendix
Drive data list
A-1
Drive data list
A.1 Servo unit parameter list
Appendix A Parameters
A.1 Servo unit parameter list
CNC Drive
Initial Lower Upper
parameter parameter Unit Display name Description
number number
value limit limit
3000 Pn000 0x0070 0x0000 0x0FA1 None Function switch Basic Fundamental function switch
3001 Pn001 0x0000 0x0000 0x0022 None Function switch Applic 1 Applied function switch 1
3002 Pn002 0x0000 0x0000 0x8100 None Function switch Applic 2 Applied function switch 2
3003 Pn003 0x0002 0x0000 0x4F4F None Function switch Applic 3 Applied function switch 3
3004 Pn004 0x0000 0x0000 0x0312 None Function switch Applic 4 Applied function switch 4
3005 Pn005 0x0000 0x0000 0x0001 None Function switch Applic 5 Applied function switch 5
3006 Pn006 0x0000 0x0000 0x0172 None Function switch Applic 6 Applied function switch 6
3030 Pn100 400 10 20000 0.1Hz Kv Speed loop gain
3031 Pn101 2000 15 51200 0.01ms Kvi Speed loop integration time constant
3032 Pn102 400 10 20000 0.1/s Kp Position loop gain
3033 Pn103 0 0 10000 % Load Inertia Ratio Load inertia
3034 Pn104 400 10 20000 0.1Hz Kv2 2nd speed loop gain
3035 Pn105 2000 15 51200 0.01ms Kvi2 2nd speed loop integration time
constant
3036 Pn106 400 10 20000 0.1/s Kp2 2nd position loop gain
3037 Pn107 0 0 450 min-1 Bias Bias
3038 Pn108 7 0 250 None Bias Addition Width Bias addition width
3039 Pn109 0 0 100 % Feedforward Feed forward
3040 Pn10A 0 0 6400 0.01ms FF Filter Time Const Feed forward filter time constant
3041 Pn10B 0x0004 0x0000 0x3014 None Gain Switch Gain-related applied switch
3042 Pn10C 200 0 800 % Mode Switch Torque Mode switch (Torque reference)
3043 Pn10D 0 0 10000 min-1 Mode Switch Speed Mode switch (Speed reference)
3044 Pn10E 0 0 3000 10min-1/s Mode Switch Accel Mode switch (Acceleration)
3045 Pn10F 0 0 10000 None Mode Switch Error Pulse Mode switch (Deviation pulse)
3046 Pn110 0x0012 0x0000 0x2212 None Switch Online Auto On-line auto tuning-related switch
Tuning
3047 Pn111 100 1 500 % Speed Feedback Comp Speed feedback compensation gain
Gain
3048 Pn112 100 1 1000 % Speed Feedback Delay Speed feedback delay compensation
Comp (Speed feedback compensation inertia
gain)
3049 Pn113 0 0 1000 % Trq Dump Gain Anti-vibration torque damping gain
AntiVibration
3050 Pn114 0 0 1000 % Spd Dump Gain Anti-vibration speed damping gain
AntiVibration
3051 Pn115 0 0 65535 0.01ms LPF const AntiVibration Anti-vibration low-pass filter time
constant
3052 Pn116 65535 0 65535 0.01ms HPF const AntiVibration Anti-vibration high-pass filter time
constant
3053 Pn117 100 20 100 % Curr Gain delayed Current loop gain derating
3054 Pn118 100 50 100 None Reserved Reserved const (Do not use)
A-2
Appendix A Parameters
CNC Drive
Initial Lower Upper
parameter parameter Unit Display name Description
number number
value limit limit
3055 Pn119 400 10 20000 0.1/s Loop Gain MFC MFC gain[0.ls-1]
3056 Pn11A 1000 500 2000 0-1000 Dump Factor MFC MFC damping coefficient
3057 Pn11B 500 10 1500 0.1Hz Mecha Resonance Freq MFC mechanical resonance frequency
MFC
3058 Pn11C 700 10 1500 0.1Hz Resonance Freq MFC MFC resonance frequency
3059 Pn11D 1000 0 1500 0-1000 Spd FF Gain MFC MFC speed FF gain
3060 Pn11E 1000 0 1500 0-1000 Trq FF Gain MFC MFC torque FF gain
3061 Pn11F 0 0 2000 ms Ki Position integration time constant
3062 Pn120 0 0 51200 0.01ms Kd Position differentiation time constant
3063 Pn121 50 1 1000 Hz Gain Disturb Observer Disturbance observer gain
3064 Pn122 0 0 2000 Hz HPF cut Freq Disturb Cut-off frequency disturbance observer
Obsrvr high-pass filter
3065 Pn123 0 0 100 % Est Disturb Trq Factor Estimated disturbance torque
coefficient
3066 Pn124 0 0 2000 Hz LPF cut Freq Disturb Cut-off frequency disturbance observer
Obsrvr low-pass filter
3067 Pn125 100 1 1000 % Inertia Adj Disturb Obsrvr Disturbance observer inertia correction
3068 Pn126 0x0000 0x0000 0x0110 None Switch Function 1 Function switch 1
3069 Pn127 0x0000 0x0000 0x0011 None Switch Function 2 Function switch 2
3070 Pn128 0x0000 0x0000 0x0111 None Loop Gain Bank Switch Loop gain bank switch
3071 Pn129 100 1 1000 Hz Observer Gain AntiVibr Anti-vibration observer gain
3072 Pn12A 100 1 1000 % Load Inertia Adj AntiVibr Anti-vibration observer inertia
correction
3073 Pn12B 400 10 20000 0.1Hz Kv3 3rd speed loop gain
3074 Pn12C 2000 15 51200 0.01ms KVi3 3rd speed loop integration time
constant
3075 Pn12D 400 10 20000 0.1/s Kp3 3rd position loop gain
3076 Pn12E 400 10 20000 0.1Hz Kv4 4th speed loop gain
3077 Pn12F 2000 15 51200 0.01ms Kvi4 4th speed loop integration time
constant
3078 Pn130 400 10 20000 0.1/s Kp4 4th position loop gain
3079 Pn131 0x0000 0x0000 0x0222 None Switch Predicted 1 Predictive control switch 1
3080 Pn132 800 0 1000 0.01 Param C Predicted 1 1st predictive control parameter C
3081 Pn133 0 0 1000 0.01 Param Cd Predicted 1 1st predictive control parameter Cd
3082 Pn134 0 -90 1000 0.01 Param Alpha Predicted 1 1st predictive control parameter α
3083 Pn135 0 -10000 10000 0.1/s Equiv Kp Adj Predicted 1 1st predictive control equivalent Kp
fine adjustment amount
3084 Pn136 0 0 100 % Spd FF Gain Predicted 1 1st predictive control speed FF gain
[%]
3085 Pn137 0 0 100 % Trq FF Gain Predicted 1 1st predictive control torque FF gain
[%]
3086 Pn138 0 0 65535 0.01ms Trq FF Fil T Const 1st predictive control torque FF filter
Predic 1 time constant
3087 Pn139 800 0 1000 0.01 Param C Predicted 2 2nd predictive control parameter C
3088 Pn13A 0 0 1000 0.01 Param Cd Predicted 2 2nd predictive control parameter Cd
3089 Pn13B 0 -90 1000 0.01 Param Alpha Predicted 2 2nd predictive control parameter α
A-3
Drive data list
A.1 Servo unit parameter list
CNC Drive
Initial Lower Upper
parameter parameter Unit Display name Description
number number
value limit limit
3090 Pn13C 0 -10000 10000 0.1/s Equiv Kp Adj Predicted 2 2nd predictive control equivalent Kp
fine adjustment amount
3091 Pn13D 0 0 100 % Spd FF Gain Predicted 2 2nd predictive control speed FF gain
3092 Pn13E 0 0 100 % Trq FF Gain Predicted 2 2nd predictive control torque FF gain
3093 Pn13F 0 0 65535 0.01ms Trq FF Fil T Const 2nd predictive control torque FF filter
Predic 2 time constant
3094 Pn140 800 0 1000 0.01 Param C Predicted 3 3rd predictive control parameter C
3095 Pn141 0 0 1000 0.01 Param Cd Predicted 3 3rd predictive control parameter Cd
3096 Pn142 0 -90 1000 0.01 Param Alpha Predicted 3 3rd predictive control parameter α
3097 Pn143 0 -10000 10000 0.1/s Equiv Kp Adj Predicted 3 3rd predictive control equivalent Kp
fine adjustment amount
3098 Pn144 0 0 100 % Spd FF Gain Predicted 3 3rd predictive control speed FF gain
3099 Pn145 0 0 100 % Trq FF Gain Predicted 3 3rd predictive control torque FF gain
3100 Pn146 0 0 65535 0.01ms Trq FF Fil T Const 3rd predictive control torque FF filter
Predic 3 time constant
3101 Pn147 10000 0 65535 None 1st P Gain Quad Err Comp 1st-stage positive quadrant error
compensation gain
3102 Pn148 0 0 30000 0.01% 1st P Lmt Ofs Quad Err 1st-stage positive quadrant error
Comp compensation limit offset
3103 Pn149 1000 0 65535 None 2nd P Gain Quad Err 2nd-stage positive quadrant error
Comp compensation gain
3104 Pn14A 0 0 30000 0.01% 2nd P Lmt Ofs Quad Err 2nd-stage positive quadrant error
Comp compensation limit
3105 Pn14B 0 -30000 30000 0.01% P Lmt Adj Quad Err Comp Positive quadrant error compensation
limit fluctuation
3106 Pn14C 0 0 30000 0.01% P Lmt Clamp Quad Err Positive quadrant error compensation
Comp limit clamp value
3107 Pn14D 10000 0 65535 None 1st N Gain Quad Err 1st-stage negative quadrant error
Comp compensation gain
3108 Pn14E 0 0 30000 0.01% 1st N Lmt Ofs Quad Err 1st-stage negative quadrant error
Comp compensation limit offset
3109 Pn14F 1000 0 65535 None 2nd N Gain Quad Err 2nd-stage negative quadrant error
Comp compensation gain
3110 Pn150 0 0 30000 0.01% 2nd N Lmt Ofs Quad Err 2nd-stage negative quadrant error
Comp compensation limit
3111 Pn151 0 -30000 30000 0.01%/ms N Lmt Adj Quad Err Negative quadrant error compensation
Comp limit fluctuation
3112 Pn152 0 0 30000 0.01% N Lmt Clamp Quad Err Negative quadrant error compensation
Comp limit clamp value
3113 Pn153 0 -350 1600 0.1/s Timing Const Quad Err Quadrant error compensation timing
Comp constant
3114 Pn154 100 10 100 % Damp Ratio AntiVib on Stop vibration suppression attenuation
STP ratio
3115 Pn155 1024 0 32767 ms Start Time AntiVib on STP Stop vibration suppression start time
3116 Pn156 0 0 65535 0.01ms Scale Ovrsht Ctrl Tim Scale overshoot suppression time
Const constant
3200 Pn200 0x0100 0x0000 0x0300 None Switch Position Control Position control command type
selection switch
3201 Pn201 16384 16 16384 pulse/rev PG Divider PG dividing ratio
A-4
Appendix A Parameters
CNC Drive
Initial Lower Upper
parameter parameter Unit Display name Description
number number
value limit limit
A-5
Drive data list
A.1 Servo unit parameter list
CNC Drive
Initial Lower Upper
parameter parameter Unit Display name Description
number number
value limit limit
3231 Pn21F 1 1 65535 None PG Pls EcdRnd Z Phase Z-phase pulse count/encoder revolution
3300 Pn300 600 150 3000 None Spd Ref Gain Speed reference input gain
3301 Pn301 100 0 10000 min-1 Internal Set Speed 1 Internal set speed 1
3302 Pn302 200 0 10000 min-1 Internal Set Speed 2 Internal set speed 2
3303 Pn303 300 0 10000 min-1 Internal Set Speed 3 Internal set speed 3
3304 Pn304 500 0 10000 min-1 JOG Speed JOG speed
3305 Pn305 0 0 10000 ms Accel Time Soft Start Soft start acceleration time
3306 Pn306 0 0 10000 ms Decel Time Soft Start Soft start deceleration time
3307 Pn307 40 0 65535 None Reserved Reserved constant (Do not use)
3308 Pn308 0 0 65535 0.01ms Time Const Spd F B Filter Speed F/B filter time constant
3309 Pn309 0x0000 0 65535 0.01ms Tim Const Spd RefnFF (Speed reference & speed FF) filter
Filter time constant
3350 Pn400 30 10 100 None Reserved Reserved constant (Do not use)
3351 Pn401 100 0 65535 0.01ms Time Const Trq Ref Filter 1st-stage low-pass filter time constant
(Torque reference filter time constant)
3352 Pn402 800 0 800 % Forward Torque Limit Forward rotation torque limit
3353 Pn403 800 0 800 % Reverse Torque Limit Reverse rotation torque limit
3354 Pn404 100 0 800 % External Fwd Torque 1st forward rotation external torque
Limit 1 limit
3355 Pn405 100 0 800 % External Rev Torque Limit 1st reverse rotation external torque
1 limit
3356 Pn406 800 0 800 % Emergency Stop Torque Emergency stop torque
3357 Pn407 10000 0 10000 None Reserved Reserved constant (Do not use)
3358 Pn408 0x0000 0x0000 0x0111 None Switch Notch Filters Notch filter function switch
3359 Pn409 2000 50 2000 Hz Frequency Notch Filter 1 1st-stage notch filter frequency
3360 Pn40A 70 70 100 0.01 Q Value Notch Filter 1 1st-stage notch filter Q value
3361 Pn40B 2000 50 2000 Hz Frequency Notch Filter 2 2nd-stage notch filter frequency
3362 Pn40C 70 70 100 0.01 Q Value Notch Filter 2 2nd-stage notch filter Q value
3363 Pn40D 0 0 65535 0.01ms Torque Filter Constant 2 2nd-stage low-pass filter time constant
3364 Pn40E 50 0 65535 10us Torque Filter Constant 3 3rd-stage low-pass filter time constant
3365 Pn40F 100 0 800 % External Fwd Torque 2nd forward rotation external torque
Limit 2 limit
3366 Pn410 100 0 800 % External Rev Torque Limit 2nd reverse rotation external torque
2 limit
3367 Pn411 0 -20000 20000 0.01% Gravity Comp Torque Gravity compensation torque
3368 Pn412 0 0 800 % Disturb Torque Level 1 1st-torque disturbance level
3369 Pn413 0 0 800 % Disturb Torque Level 2 2nd-torque disturbance level
3370 Pn414 0 0 800 % Disturb Torque Level 3 3rd torque disturbance level
3371 Pn415 0 0 800 % Disturb Torque Level 4 4th torque disturbance level
3372 Pn416 0 0 800 % Compliance Torque Compliance torque
3420 Pn500 7 0 250 None Pos Completion Range Positioning completion width
3421 Pn501 10 0 10000 min-1 Zero Clamp Level Zero-clamp level
3422 Pn502 20 1 10000 min-1 Zero Speed Level Zero-speed level
3423 Pn503 10 0 100 min-1 Speed Window Speed matching signal output width
A-6
Appendix A Parameters
CNC Drive
Initial Lower Upper
parameter parameter Unit Display name Description
number number
value limit limit
A-7
Drive data list
A.2 List of Servo unit parameter switches
User Factory
Constant Digit Name Setting Description default
No. setting
A-8
Appendix A Parameters
User Factory
Constant Digit Name Setting Description default
No. setting
A-9
Drive data list
A.2 List of Servo unit parameter switches
User Factory
Constant Digit Name Setting Description default
No. setting
A-10
Appendix A Parameters
User Factory
Constant Digit Name Setting Description default
No. setting
A-11
Drive data list
A.2 List of Servo unit parameter switches
User Factory
Constant Digit Name Setting Description default
No. setting
A-12
Appendix A Parameters
CNC Drive
Initial Lower Upper
paramete parameter Unit Display name Description
r number number
value limit limit
A-13
Drive data list
A.3 List of Inverter parameter
CNC Drive
Initial Lower Upper
paramete parameter Unit Display name Description
r number number
value limit limit
A-14
Appendix A Parameters
CNC Drive
Initial Lower Upper
paramete parameter Unit Display name Description
r number number
value limit limit
6544 Cn544 0 0 100 Enc Phase C Puls Width C-phase pulse width
6545 Cn545 0 0 8192 None Zero Point Comp Zero point correction value
6546 Cn546 0 0 150 0.01KHz Notch Center Puls 1 Notch center frequency 1
6547 Cn547 0 0 250 Hz Notch Band Width 1 Notch band width 1
6548 Cn548 0 0 150 0.01KHz Notch Center Puls 2 Notch center frequency 2
6549 Cn549 0 0 250 Hz Notch Band Width 2 Notch band width 2
6550 Cn54a 100 50 150 0.01 Motor Rated Current ratio C C-axis rated secondary current ratio
6551 Cn54b 20 1 200 0.1Ω ACR P Gain A1 Cax C-axis ACR gain
6552 Cn54c 10 0 200 0.1msec ACR I Time Cax C-axis ACR integration time
6553 Cn54d 0 0 0xF Hex Select Code C1 C-axis selection code 1
6554 Cn54e 0 0 0xF Hex Select Code C2 C-axis selection code 2
6555 Cn54f 0 0 65535 None Reserved S3 01 Primary delay filter time constant 1
6556 Cn550 0 0 65535 None Reserved S3 02 Primary delay filter time constant 2
6568 Cn568 5 0 200 Pulse Reserved S4 09 Positioning completion detection
width
6569 Cn569 10 0 200 Pulse Reserved S4 10 Positioning completion release width
6595 Cn583 50 5 100 % Ort Db Gain Dec Ratio H Gain reduction ratio (H) at
positioning completion
6596 Cn584 50 5 100 % Ort Db Gain Dec Ratio L Gain reduction ratio (L) at
positioning completion
6600 Cn600 1 0 1 None Serch Pole Select Initial magnetic pole detection
selection
6601 Cn601 300 10 20000 None Serch Pole P Gain Speed control proportional gain for
initial magnetic pole detection
6602 Cn602 30 1 10000 0.1msec Serch Pole I Time Speed control integration gain for
initial magnetic pole detection
6603 Cn603 5 1 500 0.1% Serch Pole Speed Ref Initial magnetic pole detection speed
reference
6604 Cn604 450 0 3600 deg Serch Pole Angle Initial magnetic pole detection angle
increment
A-15
Drive data list
A.3 List of Inverter parameter
CNC Drive
Initial Lower Upper
paramete parameter Unit Display name Description
r number number
value limit limit
6605 Cn605 3000 0 20000 0.1msec Serch Pole Pre Count Initial magnetic pole detection
estimated time
6606 Cn606 100 1 20000 0.1msec Serch Pole Level Initial magnetic pole detection
control time
6607 Cn607 200 1 1000 0.1% Serch Pole Torque Limit Initial magnetic pole detection torque
limit
6608 Cn608 1 0 1 None Serch Enc Phase C Select C-phase detection selection
6700 Cn700 1500 10 60000 min-1 Base Speed 1 H winding base speed
6701 Cn701 3500 10 60000 min-1 Max Output Decrease H winding max. output reduction
Start 1 starting point
6702 Cn702 3500 10 60000 min-1 Rated Speed 1 H winding constant output speed
6703 Cn703 3500 100 65000 min-1 Maximum Speed 1 H winding motor max. speed
6704 Cn704 22 1 750 0.1Kw Continuous Rated Output 1 H winding continuous rated output
6706 Cn706 44 1 1500 0.1Kw Max Output 1 H winding max. output
6707 Cn707 44 1 1500 0.1Kw Max Output Dec 1 H winding max. output reduction 1
6710 Cn710 44 1 1500 0.1Kw Max Output Dec A1 H winding max. output reduction A1
6711 Cn711 169 0 4000 0.01Hz Motor Rated Slip 1 H winding rated slip frequency
6712 Cn712 134 10 4000 0.1A Motor Rated Current 1 H winding motor secondary current
6713 Cn713 135 10 2000 0.1A Motor No-load Current 1 H winding rated exciting current
reference
6714 Cn714 80 0 500 V Base Voltage 1 H winding motor no-load voltage
6715 Cn715 100 0 250 0.01 Motor Iron Sat Coeff A1 H winding exciting current
correction coefficient A
6716 Cn716 100 0 250 0.01 Motor Iron Sat Coeff B1 H winding exciting current
correction coefficient B
6717 Cn717 0 0 200 0.1% Base Iron Loss 1 H winding base core-loss current
6718 Cn718 0 0 200 0.1% Max Iron Loss 2 H winding max. number of
revolutions core-loss current
6719 Cn719 50 0 600 0.01Ω ACR P Gain A1 H winding ACR gain A
6720 Cn720 50 0 600 0.01Ω ACR P Gain B1 H winding ACR gain B
6721 Cn721 50 0 600 0.01Ω ACR P Gain C1 H winding ACR gain C
6722 Cn722 50 0 600 0.01Ω ACR P Gain D1 H winding ACR gain D
6723 Cn723 200 0 1000 0.01msec ACR Time Constant 1 H winding ACR time constant
6724 Cn724 100 0 200 % Mgnetiging Current Limit 1 H winding exciting current limiter
6729 Cn729 120 100 150 % Motor Accel Level 1 H winding motor overspeed level
6736 Cn736 1000 0 65000 0.0001Ω Term Resistance 1 H winding motor line resistance
6737 Cn737 500 0 60000 0.001mH Leak Inductance d1 H winding d-axis inductance
6738 Cn738 500 0 60000 0.001mH Leak Inductance q2 H winding q-axis inductance
6739 Cn739 0 0 250 % Magnetiging Current 1 H winding weakening magnetic field
current
6740 Cn740 1000 0 10000 0.1Hz Base Frequency V/F Base frequency
6741 Cn741 500 0 10000 0.1Hz Mid Output Frequency V/F intermediate frequency
6742 Cn742 130 0 5000 0.1V Mid Output Frequency Volt V/F intermediate output frequency
voltage
6743 Cn743 5 0 10000 0.1Hz Min Output Frequency V/F min. output frequency
A-16
Appendix A Parameters
CNC Drive
Initial Lower Upper
paramete parameter Unit Display name Description
r number number
value limit limit
6744 Cn744 100 0 5000 0.1V Min Output Frequency Volt V/F min. output frequency voltage
6745 Cn745 2000 0 5000 0.1V Max Output Frequency Volt V/F max. output frequency voltage
6750 Cn750 1500 10 60000 min-1 Base Speed 2 L winding base speed
6751 Cn751 3500 10 60000 min-1 Max Output Decrease L winding max. output reduction
Start 2 starting point
6752 Cn752 3500 10 60000 min-1 Rated Speed 2 L winding constant output speed
6753 Cn753 3500 100 65000 min-1 Maximum Speed 2 L winding motor max. speed
6754 Cn754 22 1 750 0.1Kw Continuous Rated Output 2 L winding continuous rated output
6756 Cn756 44 1 1500 0.1Kw Max Output 2 L winding max. output
6757 Cn757 44 1 1500 0.1Kw Max Output Dec 2 L winding max. output reduction 2
6760 Cn760 44 1 1500 0.1Kw Max Output Dec A2 L winding max. output reduction A2
6761 Cn761 100 0 4000 0.01Hz Motor Rated Slip 2 L winding rated slip frequency
6762 Cn762 200 10 4000 0.1A Motor Rated Current 2 L winding rated secondary current
6763 Cn763 100 10 2000 0.1A Motor No-load Current 2 L winding rated exciting current
command
6764 Cn764 80 0 500 V Base Voltage 2 L winding motor no-load voltage
6765 Cn765 100 0 250 0.01 Motor Iron Sat Coeff A2 L winding exciting current correction
coefficient A
6766 Cn766 100 0 250 0.01 Motor Iron Sat Coeff B2 L winding exciting current correction
coefficient B
6767 Cn767 0 0 200 0.1% Base Iron Loss 2 L winding base core-loss current
6768 Cn768 0 0 200 0.1% Max Iron Loss 2 L winding max. number of
revolutions core-loss current
6769 Cn769 200 0 600 0.01Ω ACR P Gain A2 L winding ACR gain A
6770 Cn770 200 0 600 0.01Ω ACR P Gain B2 L winding ACR gain B
6771 Cn771 200 0 600 0.01Ω ACR P Gain C2 L winding ACR gain C
6772 Cn772 200 0 600 0.01Ω ACR P Gain D2 L winding ACR gain D
6773 Cn773 10 0 1000 0.01msec ACR Time Constant 2 L winding ACR time constant
6774 Cn774 100 0 200 % Magnetiging Current Limit L winding exciting current limiter
2
6779 Cn779 120 100 5000 % Motor Accel Level 2 L winding motor acceleration level
6786 Cn786 1000 0 65000 0.0001Ω Term Resistance 2 L winding motor line resistance
6787 Cn787 500 0 60000 0.001mH Leak Inductance d2 L winding d-axis inductance
6788 Cn788 500 0 60000 0.001mH Leak Inductance q2 L winding q-axis inductance
6789 Cn789 0 0 250 % Magnetiging Current 2 L winding weakening magnetic field
current
6800 Cn800 0xB 0x0000 0x002f None kVA Selection Applicable inverter capacity
selection
6801 Cn801 3 0 4 None Motor Selection Motor selection
6802 Cn802 4 2 48 None Number of Motor Poles Number of poles
6803 Cn803 107 50 200 ℃ Motor OH Detection Motor overheat detection level
6805 Cn805 0 0 200 0.01 Rotor Thermal Gain Rotor thermal gain
6806 Cn806 90 10 180 min Motor Thermal Time Const Motor thermal time constant
6809 Cn809 0x0001 0x0000 0xFFFF None Selection Code1 Selection code 1
6819 Cn819 500 0 30000 msec Tactor off delay time Tactor-off delay time
A-17
Drive data list
A.3 List of Inverter parameter
CNC Drive
Initial Lower Upper
paramete parameter Unit Display name Description
r number number
value limit limit
6820 Cn820 0x0000 0x0000 0xFFFF None Function basic switch Fundamental function selection
switch
6821 Cn821 0x0000 0x0000 0xFFFF None Function appli switch1 Fundamental function selection
switch 1
6824 Cn824 0x0000 0x0000 0xFFFF None Function appli switch4 Fundamental function selection
switch 4
6828 Cn828 40 1 2000 None Kp Position loop gain
6832 Cn82C 40 1 2000 None Kp2 2nd position loop gain
6837 Cn831 0x100 0x0000 0xFFFF None Gain switch Gain-related applied switch
6871 Cn853 400 1 20000 None Kp3 3rd position loop gain
6874 Cn856 40 1 2000 None Kp4 4th position loop gain
6905 Cn875 0x0000 0x0000 0xFFFF None Position control switch Position control command type
selection switch
6906 Cn876 16384 16 16384 None PG divider PG dividing ratio
6907 Cn877 4 1 65535 None Electric gear Numerator Electronic gear ratio (numerator)
6908 Cn878 1 1 65535 None Electric gear Denominator Electronic gear ratio (denominator)
6909 Cn879 0 0 6400 None 1st index accel Const 1st exponential acceleration/
deceleration time constant (Position
command acceleration/deceleration
time constant)
6910 Cn87A 65535 0 65535 None Multi turn limit Multi-turn limit setting
6911 Cn87B 16384 513 32768 None Full closed PG pulse Full-closed PG pulse count/encoder
revolution
6912 Cn87C 0x0000 0x0000 0xFFFF None Position ref switch Position command function switch
6913 Cn87D 0 0 6400 None 1st position moving avr 1st position command moving
average time
6914 Cn87E 0 0 6400 None 2nd position moving avr 2nd position command moving
average time
6915 Cn87F 4096 0x0000 0xFFFF None Full closed PG pulse L 1 Full-closed PG pulse count/motor
revolution (Lower word)
6916 Cn880 0x0000 0x0000 0xFFFF None Full closed PG pulse H 1 Full-closed PG pulse count/motor
revolution (Upper word)
6919 Cn883 0x0001 0x0000 0xFFFF None Numerator electric gear L 1 Electronic gear ratio numerator
(Lower word)
6920 Cn884 0x0000 0x0000 0xFFFF None Numerator electric gear L 2 Electronic gear ratio numerator
(Upper word)
6921 Cn885 0x0001 0x0000 0xFFFF None Denminator electric gearH 1 Electronic gear ratio denominator
(Lower word)
6922 Cn886 0x0000 0x0000 0xFFFF None Denminator electric gearH 2 Electronic gear ratio denominator
(Upper word)
6923 Cn887 0 0 65535 None 1st bias index vel 1st exponential acceleration/
deceleration bios
6924 Cn888 0 0 6400 None 2nd bias index vel time 2nd exponential acceleration/
deceleration time constant
6925 Cn889 0 0 65535 None 2nd bias index vel 2nd exponential acceleration/
deceleration bios
6960 Cn8AC 7 0 250 None Positioning completed W Positioning completion width
6964 Cn8B0 7 1 250 None Near window NEAR signal width
6965 Cn8B1 1024 1 32767 None Overflow level Overflow level
A-18
Appendix A Parameters
CNC Drive
Initial Lower Upper
paramete parameter Unit Display name Description
r number number
value limit limit
6979 Cn8BF 7 0 250 None Position window 1 1st positioning completion width
6980 Cn8C0 7 0 250 None Position window 2 2nd positioning completion width
6981 Cn8C1 7 0 250 None Position window 3 3rd positioning completion width
6988 Cn8C8 0x0000 0x0000 0xFFFF None Reserved for user 0F Reserved for user 0F
7018 Cn8E6 0x0000 0x0000 0xFFFF None Alarm Mask Alarm mask
7019 Cn8E7 0x0000 0x0000 0xFFFF None System Switch System switch
7046 Cn902 0 3000 15000 None PWN Frequency PWM frequency
7047 Cn903 (0 << 8) (0 << 8) (255 << None On Delay Time and Comp Lower byte: On-delay time; upper
+0 +0 8) + 30 byte: On-delay compensation
constant
7050 Cn906 0xACA3 0 65535 None AD Parameter 1 A/D detection-setting parameter 1
7059 Cn90F 0 -32768 32767 None Current Det Zero Adj U Current detection zero adjustment
(U-phase)
7060 Cn910 0 -32768 32767 None Current Det Zero Adj V Current detection zero adjustment
(V-phase)
7061 Cn911 0 -32768 32767 None Current Det Gain Adj UV Current detection gain adjustment
(U and V-phases)
7068 Cn918 0x0000 0x0000 0x00FF None PG Power Voltage Zero Adj Lower byte: PG power voltage
adjustment
Upper byte: Not used
7074 Cn91E 0 0 0xFFFF None Standalone Flag Stand-alone switch
7075 Cn91F 0x0000 0x0000 0xFFFF None MotorTyp PowerVolt Motor type (8-bit)
EncTyp Input voltage (4 bits)
Encoder type (4 bits)
7076 Cn920 0x0000 0x0000 0xFFFF None Encorder Soft Version Encoder software version
7077 Cn921 0 0 65535 None Motor Size Motor capacity
A-19
Drive data list
A.4 List of parameters common to all drives
CNC
Lower Upper
parame Unit Name Description Related MD and remark
limit limit
ter No.
604 -100000 100000 % UTILIZATION_MOTOR Torque and Load data Spindle load display value
(Short-time rated torque)
762 -8192 3 − FIRMWARE_DOWNLO Optional firmware-updating Not used
AD_DP_SUBMOD process status for 611u
communication
820 0 0xffffffff ms FAULT_END_TIME Fault end time Not used
821 0 0xffffffff ms TIMESTAMP_FAULT_S Time stamp when alarm data Alarm information
TAT_CHANGE changes
822 0 0xffffffff ms TIMESTAMP_WARN_S Time stamp when warning Not used
TAT_CHANGE data changes
823 0 0xffff − ACT_FAULT_NUMBER Fault number Not used
824 0 0xffff − ACT_FAULT_CODE Fault code Alarm code
825 0 0xffffffff ms ACT_FAULT_TIME Fault time stamp Alarm time stamp
826 0 0x00ffffff − ACT_FAULT_VALUE Fault value Alarm time stamp
870 0 0xffff − MODULE_TYPE Control module type Not used
871 0 0xffff − MODULE_VERSION Control module version Not used
872 0 0xffff − OPTION_MODULE_TY Communication option type DPC31 Synchronous mode
PE
873 0 0xffff − OPTION_MODULE_VE Communication option Not used
RSION version
875 0 4 − EXPECTED_OPTION_ Necessary communication DPC31 Synchronous mode
MODULE_TYPE option type
879 0 0xffff − ISOCHRON_PROFIBUS Cyclic configuration Allowable number of
_CONFIG abnormal life signs
880 0 100000 min-1 NORMALIZATION_OV Max. feed speed or Max. Max. number of motor
ER_PROFIBUS number of revolutions revolutions Refer to
14.1.7.
915 0 65535 − SETPOINT_ASSIGN_PR Command value Not used
OFIBUS
916 0 65535 − ACTUAL_VALUE_ASSI Feedback value Not used
GN_PROFIBUS
A-20
Appendix A Parameters
CNC
Lower Upper
parame Unit Name Description Related MD and remark
limit limit
ter No.
918 0 126 − PROFIBS_NODE_ADD PROFIBUS station number See Section 14.1.4
RESS
945 0 0xffff − FAULT_CODE Fault code history Not used
947 0 0xffff − FAULT_NUMBER Fault number history Not used
948 0 0xffffffff ms FAULT_TIME Fault time stamp history Not used
949 0 0x00ffffff − FAULT_VALUE Fault value history Not used
952 0 0xffff − NUM_FAULTS The number of faults that Not used
happened
953 0 0xffff − WARNINGS800_TO_815 Occurrence status of warnings Not used
800-815
954 0 0xffff − WARNINGS_816_TO_83 Occurrence status of warnings Not used
1 816-831
955 0 0xffff − WARNINGS_832_TO_84 Occurrence status of warnings Not used
7 832-847
956 0 0xffff − WARNINGS_848_TO_86 Occurrence status of warnings Not used
3 848-863
957 0 0xffff − WARNINGS_864_TO_87 Occurrence status of warnings Not used
9 864-879
958 0 0xffff − WARNINGS_880_TO_89 Occurrence status of warnings Not used
5 880-895
959 0 0xffff − WARNINGS_896_TO_91 Occurrence status of warnings Not used
1 896-911
960 0 0xffff − WARNINGS_911_TO_92 Occurrence status of warnings Not used
7 912-927
967 0 0xffff − PROFIBUS_CONTROL_ Control word (STW1) PROFIBUS-controlling
WORD CNC transmission data
968 0 0xffff − PROFIBUS_STATAS_W Status word (ZSW1) PROFIBUS-controlling
ORD CNC reception data
969 0 0x00ffffff ms ACT_TIME_DIFF Time elapsed after power-on Not used
1005 0 65535 − ENC_RESOL_MOTOR Motor encoder resolution MD31020[0]
1007 0 0X007ffff − ENC_RESOL_DIRECT Direct encoder resolution MD32020[1]
f
1012 0 0x1195 − FUNC_SWITCH Function switch Fixed according to CNC
specification
1022 0 999999 − ENC_ABS_SINGLETUR Motor absolute encoder Not used
N_MOTOR resolution
1025 0 0xffff − ENC_MOTOR_SERIAL Motor encoder serial number Not used
NO_LOW (LOW)
1026 0 0xffff − ENC_MOTOR_SERIAL Motor encoder serial number Not used
NO_HIGH (HIGH)
1027 0 0x0178 − ENC_CONFIG Motor encoder type bit3
0: Incremental
1: Absolute
bit4
0: Rotary
1: Linear
1032 0 0xffffffff − ENC_ABS_RESOL_DIR Direct absolute encoder Not used
ECT resolution
A-21
Drive data list
A.4 List of parameters common to all drives
CNC
Lower Upper
parame Unit Name Description Related MD and remark
limit limit
ter No.
1037 0 0xffff − ENC_CONFIG_DIRECT Direct encoder type bit3 0: Incremental
1: Absolute
bit4 0: Rotally
1: Linear
1038 0 0xffff − ENC_MOTOR_SERIAL Direct encoder serial number Not used
NO_LOW (LOW)
1039 0 0xffff − ENC_MOTOR_SERIAL Direct encoder serial number Not used
NO_HIGH (HIGH)
1042 0 11 − RESOLUTION_G1_XIS Motor encoder resolution Changes MD31025[0] to a
T1 magnification 1 (power of 2) power of 2
1043 0 11 − RESOLUTION_G1_XIS Motor encoder resolution Changes MD31025[0] to a
T2 magnification 2 (power of 2) power of 2
1044 0 11 − RESOLUTION_G2_XIS Direct encoder resolution Changes MD31025[1] to a
T1 magnification 1 (power of 2) power of 2
1045 0 11 − RESOLUTION_G2_XIS Direct encoder resolution Changes MD31025[1] to a
T2 magnification 2 (power of 2) power of 2
1102 0 0xffff − MOTOR_CODE Motor type Servo-axis=1,
Spindle=1001
1401 -100000 100000 U/min MOTOR_MAX_SPEED Max. motor speed Max. number of rated
motor revolutions
1405 100 110 % MOTOR_SPEED_LIMIT Allowable max. speed or Fixed to 120%
number of revolutions
1711 -100000 100000 m/min SPEED_LSB Speed resolution MD880/Ox40000000
1783 0 0xffff − PARAM_DATA_RX_PR Parameter data
OFIBUS
1784 0 0xffff − CONFIG_DATA_RX_PR Configuration data
OFIBUS
1785 0 0xffff − LIFESIGN_DIAGNOSIS Life sign error counter
_PROFIBUS
1786 0 0xffff − PKW_DATA_RX_PROFI PKW receiving data Not used
BUS
1787 0 0xffff − PKW_DATA_TX_PROFI PKW transmission data Not used
BUS
1788 0 0xffff − PZD_DATA_RX_PROFI Cyclically receiving data
BUS
1789 0 0xffff − PZD_DATA_TX_PROFI Cyclic transmission data
BUS
1794 0 999999 − OPTMOD_BOOTCODE Loader version for optional
_VERSION module
1795 0 999999 − OPTMOD_FIRMWARE_ Optional module software
VERSION version
1799 0 999999 − FIRMWARE_VERSION ACC file version See Section 14.1.9
2401 -100000 100000 U/min MOTOR_MAX_SPEED_ 2nd motor max. speed To be used for controlling
2ND_MOTOR Spindle-combined C axis
when motor speed is
different.
2405 100 110 % MOTOR_SPEED_LIMIT 2nd motor allowable max. To be used for controlling
_2ND_MOTOR speed Spindle-combined C axis
when motor speed is
different.
Note: Such values are invalid that are displayed for parameters not being used.
A-22
Appendix B Alarm/monitor data
A-23
Drive data list
B.1 List of Servo unit alarms
197 0xC5 Motor magnetic pole detection error Undisplay CPF01 Control circuit error 2
able
A-24
Appendix B Alarm/monitor data
A-25
Drive data list
B.2 List of Inverter alarms
A-26
Appendix B Alarm/monitor data
UN
Item Description Unit
number
Un000 Actual motor rotation speed min-1
Un001 Speed reference currently input min-1
Un002 Internal torque reference Percentage to a rated torque %
Un003 Rotation angle 1 Pulse count from zero point Pulse
Un004 Rotation angle 2 Angle from zero point (Electrical angle) deg
Un005 Input signal monitor −
Un006 Output signal monitor −
Un007 Input reference pulse speed min-1
Un008 Deviation counter value Position deviation Command
Unit
Un009 Cumulative load ratio A percentage of effective torque, measured every 10 seconds, %
to a rated torque.
Un00A Regenerative load ratio A percentage of regenerated power consumed, measured every %
10 seconds, to total regenerated power that can be used.
Un00B DB resistor power consumption A percentage of power consumed for dynamic brake, %
measured every 10 seconds, to total power that can be used.
Un00C Input reference pulse counter Displayed in hexadecimal −
Un00D Feedback pulse counter Displayed in hexadecimal −
Un00D External encoder absolute Displayed in hexadecimal −
A-27
Drive data list
B.4 List of Inverter monitor data
UN
Item Description Unit
number
Un001 Speed feedback min-1
Un002 Speed reference min-1
Un003 Reserved
Un004 Torque reference Short-time duration rated torque %
Un005 Reserved
Un006 Inverter output current A
Un007 Output frequency Hz
Un008 Internal status of the sequence RUN2 /* At operation */
[4] [3] [2] [1] [0] RUN1 /* Operation command */
RUN2 RUN1 RUN JOG1 ACCDECDY RUN /* Operation command */
ACCDEC IRDY ACC − − JOG1 /* JOG command */
− − − − − ACCDECDY /* At acceleration/deceleration */
ACCDEC /* At acceleration/deceleration */
IRDY /* Inverter ready */
ACC /* At acceleration */
Un009 External input signals RDY /* At operation preparation */
[4] [3] [2] [1] [0] EMG /* Emergency stop */
RDY EMG FOR REV TLH FOR /* Forward rotation */
TLL SC − CHW PPI REV /* Reverse rotation */
ORT LGR MGR CAX − TLH /* Torque limit H */
TLL /* Torque limit L */
SC /* Soft start cancelled */
CHW /* Winding switch-over ON: Low-
speed winding*/
PPI /* Speed controlling PP1 switch-over
ON: PI*/
ORT /* Orientation */
LGR /* L gear selection */
MGR /* M gear selection */
CAX /* C-axis switch-over */
Un010 External output signals ZSPD /* Zero speed */
[4] [3] [2] [1] [0] AGR /* Speed matching */
ZSPD AGR SDET TDET TLE SDET /* Speed detection */
ORGSIG OREND CHWEND FLTSIG TALM TDET /* Torque detection */
− − − − CAXCMP TLE /* At torque limit */
ORGSIG /* Load-axis zero point */
OREND /* Orientation completed */
CHWEND /* Winding switch-over completed ON:
Low-speed winding*/
FLTSIG /* Failure */
TALM /* Error warning */
CAXCMP /* C-axis switch-over completed */
Un011 Inverter capacity kW
Un012 Motor temperature ℃
Un013 Heat sink temperature ℃
Un014 Direct-current voltage of the bus V
A-28
Appendix B Alarm/monitor data
UN
Item Description Unit
number
Un015 Reserved
Un016 Alarm being issued Alarms being issued now (10 alarms at max.)
Un017 U-phase current 0x3FF:
10V
Un018 W-phase current 0x3FF:
10V
Un019 Reserved
Un020 LED check
Un021 PROM number The numbers of Software versions
Note: As to the signals, described in 3 lines, in the Item column of Un008, Un009, and Un010;
each of the signals corresponds to the 3 horizontal LED segments of the 7-segment LED’s
for the 5 digit display of the Digital Operator.
A-29
Yaskawa Siemens CNC Series
In the event that the end user of this product is to be the military and said product is to be employed in any
weapons systems or the manufacture thereof, the export will fall under the relevant regulations as stipulated
in the Foreign Exchange and Foreign Trade Regulations. Therefore, be sure to follow all procedures and
submit all relevant documentation according to any and all rules, regulations and laws that may apply.
Specifications are subject to change without notice for ongoing product modifications and improvements.
Published in Japan
NCSIE-ZZ02-06 Published in Japan February 2012 06-4 3
11-9-13
02- WSC02, 02-WSC09
© 2006-2012
© Siemens Japan K.K. All
Siemens rights
Japan K.K.reserved.
All rights reserved.