Panasonic PDF
Panasonic PDF
Panasonic PDF
SX-DSV02202
TECHNICAL REFERENCE
Functional Specification
MODEL
Issued on
May. 31th, 2011
Revised on
Apr. 1st, 2013
Checked
R2.2
Checked
Designed
No. SX-DSV02202
This English specification is made and published by Motor Business Division, Appliances
Company of Panasonic Corporation based on the original Japanese specification. Translation is
provided unofficially only for the sake of convenience of utilizing the original Japanese
specification as a measure of reference. It is not officially reviewed. Motor Business Division,
Appliances Company of Panasonic Corporation is not liable for any disadvantages caused by
utilizing only English specification. Only the Japanese specification is effective.
Motor Business Division, Appliances Company,
Panasonic Corporation
R2.2
No. SX-DSV02202
Revisions
Date
Page
1
1
Rev.
Description
Signed
49
106
133
98,105
135
96
97,100
133
19,132
"0-1000"->"-1-1000"
19,132
80,82,130
"0-63"->"0-1023"
130
133
134
135
136
16,17
Note: The page number (Page) is the current page number at the time of revision.
R2.2
No. SX-DSV02202
Revisions
Date
Page
Rev.
(Continuation)
97
12,15
19,132
22
Correction the description of "The table shown below" -> "next page"
22
54
99
102
106
109
bit12->bit13
109
bit13->bit14
110
123
123,131,132
133
135
132,133,136
137
102
All
55,66
93
(SO4)->(SO2)
2,43
118
15
All
70,83
32,67
Apr.1,2013
Signed
21
40,126
Mar.30,2012
Description
Note: The page number (Page) is the current page number at the time of revision.
R2.2
Contents
1. Introduction ............................................................................................................................................................... 1
1-1 Basic Specification................................................................................................................................................ 2
1-2 Function ................................................................................................................................................................ 3
2. Interface Specification .............................................................................................................................................. 4
2-1 I/O connector input signal..................................................................................................................................... 4
2-2 I/O connector output signal................................................................................................................................... 6
2-3 I/O connector other signal..................................................................................................................................... 8
2-3-1 Encoder output signal ...................................................................................................................................... 8
2-3-2 Others .............................................................................................................................................................. 8
2-4 I/O signal allocation function................................................................................................................................ 9
2-4-1 Input signal allocation...................................................................................................................................... 9
2-4-2 Assignment of output signal .......................................................................................................................... 13
2-5 Basic network setting .......................................................................................................................................... 16
3. Front panel display specification ........................................................................................................................... 18
3-1 Appearance of front panel................................................................................................................................... 18
3-2 7-segment LED ................................................................................................................................................... 19
3-3 Network status LED............................................................................................................................................ 21
3-4 Monitor signal output function............................................................................................................................ 22
4. Basic function .......................................................................................................................................................... 25
4-1 Rotational direction setup ................................................................................................................................... 25
4-2 Position control ................................................................................................................................................... 26
4-2-1 Process of command pulse input ................................................................................................................... 26
4-2-2 Electronic gear function................................................................................................................................. 27
4-2-3 Positional command filtering function........................................................................................................... 29
4-2-4 Positioning complete output (INP/INP2) function......................................................................................... 31
4-2-5 Pulse regeneration function [Under preparation]........................................................................................... 33
4-3 Velocity Control [Under preparation] ................................................................................................................. 36
4-3-1 Attained speed output (AT-SPEED).............................................................................................................. 36
4-3-2 Speed coincidence output (V-COIN)............................................................................................................. 37
4-3-3 Velocity command acceleration/deceleration setting function ...................................................................... 38
4-4 Torque control [Under preparation] .................................................................................................................... 40
4-4-1 Speed limit function....................................................................................................................................... 40
4-5 Full-closed control .............................................................................................................................................. 41
4-5-1 Selection of external scale type ..................................................................................................................... 42
4-5-2 Setup of external scale division ratio ............................................................................................................. 43
4-5-3 Setup of hybrid excessive deviation .............................................................................................................. 44
4-6 Setting regenerative resistor................................................................................................................................ 45
4-7 Absolute setup..................................................................................................................................................... 46
4-7-1 Absolute encoder ........................................................................................................................................... 46
4-7-1-1 Structure of absolute system....................................................................................................................... 46
4-7-1-2 Installing battery for absolute data ............................................................................................................. 47
4-7-1-3 Clearing of absolute data ............................................................................................................................ 47
4-7-2 External scale................................................................................................................................................. 48
4-7-2-1 Structure of absolute system....................................................................................................................... 48
4-8 External scale position information monitoring facility at the semi-closed control............................................ 49
5. Gain tuning/vibration suppressing function ......................................................................................................... 50
5-1 Automatic adjusting function.............................................................................................................................. 50
5-1-1 Real-Time Auto Tuning................................................................................................................................. 51
5-1-2 Adaptive filter................................................................................................................................................ 59
R2.2
No. SX-DSV02202
R2.2
No. SX-DSV02202 - 1
1. Introduction
This document describes the functions of the servo amplifier MINAS-A5N series.
<Software version>
This technical reference applies to the servo drivers compatible with software of the following version:
Ver.1.01 or later
*Please check the software version by setup support software PANATERM.
Ver1.00
First edition
Ver1.01
Additional capability
Reference
This document
semi-closed control
SX-DSV02203
6-7 , 6-7-3 ,
classification
6-7-4
This document
7-1 , 7-2 , 9-1
SX-DSV02203
8-1 , 8-1-8
This document
SX-DSV02203
This document
3-2 , 9-1
PANATERM
Operation manual
This document
9-1
SX-DSV02203
6-4-1
<IMPORTANT>
All rights reserved. No part of this publication may be reproduced or transmitted in any form without prior
permission.
Motor Business Division, Appliances Company, Panasonic Corp. reserves the right to make modifications
and improvements to its products and/or documentation, including specifications and software, without prior notice.
R2.2
No. SX-DSV02202 - 2
Control mode
1. Semi-closed control
Position control: Profile position control [PP], Cyclic position control [CP]
Velocity control: Cyclic velocity control [CV]
Torque control: Cyclic torque control [CT]
2.Full-closed control
Position control: Profile position control [PP], Cyclic position control [CP]
- Switch two modes (above-mentioned 1 and 2) according to the parameter.
- Switch PP/CP/CV/CT mode according to the RTEX communication command.
Encoder feedback
Input
Output
Analogue signal
Output
Pulse signal
Output
Line driver output for Encoder pulses or external scale pulses (A/B phase signal).
Communication
Realtime express
(Abbr. RTEX)
Communication for transmission of a real-time operation command, the parameter setting, or the
status monitoring.
Control signal
USB
R2.2
Description
USB interface to connect to computers (PANATERM) for parameter setting or status monitoring.
Safety terminal
Front panel
Regeneration
Size A,B,G, and H: Without built-in regenerative resistor (use external resistor)
Size CF: Built-in regenerative resistor (External regenerative resistor is also available)
Dynamic brake
For information on the built-in type, refer to the Reference specifications SX-DSV02201.
No. SX-DSV02202 - 3
1-2 Function
Item
Digital input
CW drive inhibit, CCW drive inhibit, latch signal, near home position, etc.
Position control
Digital output
Position
command
input
Smoothing Filter
Torque control
Velocity control
Full-closed control
Common
Available
Anti-vibration Control
Available
Control input
Positive direction drive inhibit, negative direction drive inhibit, latch signal, etc.
Control output
At speed etc.
Velocity
command
input
Input mode
Available
Control input
Positive direction drive inhibit, negative direction drive inhibit, latch signal, etc.
Control output
At speed etc.
Torque
command
input
Input mode
Control input
CW drive inhibit, CCW drive inhibit, latch signal, near home position, etc.
Control output
R2.2
Description
Position
command
input
Smoothing Filter
Anti-vibration Control
Available
Auto-tuning
Identifies the load inertia real-time and automatically sets up the gain that meets the stiffness
setting when the motor is running with upper and internal operation commands.
Protective function
No. SX-DSV02202 - 4
2. Interface Specification
2-1 I/O connector input signal
Symbol
Connector
pin No.
*2)
I-COM
E-STOP
Positive direction
over-travel inhibition
input
POT
7
(SI2)
Negative direction
over-travel inhibition
input
NOT
8
(SI3)
HOME
10
(SI5)
EXT1
EXT2
11
(SI6)
EXT3
Title of signal
General purpose
monitor input 1
General purpose
monitor input 2
General purpose
monitor input 3
General purpose
monitor input 4
General purpose
monitor input 5
R2.2
SI-MON
1
SI-MON
2
SI-MON
3
SI-MON
4
SI-MON
5
12
(SI7)
9
(SI4)
*
*
13
(SI8)
5
(SI1)
Position
Velocity
Torque
Fullclose
RTEX
communications
monitor
No. SX-DSV02202 - 5
Title of signal
External servo on
input
Symbol
EX-SON
Connector
pin No.
*2)
Position
Velocity
Torque
Fullclose
RTEX
communications
monitor
*1) The triangle in the table under [Control mode] indicates that the turning ON/OFF of the input signal does not affect
system operation but monitoring is possible through response in RTEX communications.
*2) Except for I-COM, input signal pin assignment can be changed. The pins in Connector pin No. column in the table
denote factory default settings. The signal with a pin that is marked with * is not assigned by default. For more
information, refer to 2-4-1 Input signal allocation.
R2.2
No. SX-DSV02202 - 6
Servo-Alarm
output
Servo-Ready
output
Symbol
*2)
ALM+
ALM
(Alarm)
S-RDY
(Servo_Ready)
BRK-OFF+
External brake
release signal
BRK-OFF
Positioning
complete
INP
(In_Position)
Speed arrival
output
AT-SPEED
Connector
pin No.
3
This signal shows that the driver is in alarm status.
(S03+)
Output transistor turns ON when the driver is at
4
normal status, and turns OFF at alarm status.
(S03)
This signal shows that the driver is ready to be
activated.
The servo becomes ready when all the following
conditions are satisfied, and the output transistor is
turned on.
*
(1) Control/Main power is established.
(2) Alarm does not occur.
(3) RTEX communication is established, and
synchronization between communication and
servo is achieved.
Feeds out the timing signal which activates the
1
electromagnetic brake of the motor.
(S01+)
Transistor is turned ON when electromagnetic brake is
released.
1
(S01) This output needs to be assigned to every control
mode.
Outputs the positioning complete signal/positioning
complete signal.
Turns on the output transistor when positioning is
*
completed.
For details, refer to 4-2-4.
Outputs the speed arrival signal.
Turns on the output transistor when a velocity is
*
reached.
For details, refer to 4-3-1.
TLC
(Torque_
Limited)
ZSP
V-COIN
INP2
Alarm output 1
WARN1
(Warning)
Alarm output 2
WARN2
(Warning)
Positional
command
ON/OFF output
P-CMD
Torque in-limit
signal output
Zero-speed
detection output
signal
Speed
coincidence
output
Positioning
complete 2
R2.2
Contents
Fullclose
RTEX
communications
monitor
*2)
*4)
*4)
No. SX-DSV02202 - 7
Symbol
*2)
Connector
pin No.
Speed in-limit
output
V-LIMIT
Alarm attribute
output
ALM-ATB
Velocity
command
ON/OFF output
V-CMD
Title of signal
EX-OUT1+
RTEX operation
output 1
EX-OUT1
RTEX operation
output 2
EX-OUT2
RTEX
communiRelated control mode *1) cations
monitor
*2)
Contents
Turns on output transistor when the speed is limited by
torque controlling function.
Turns on the output transistor when velocity is limited.
The signal is output if an alarm has occurred and if it
can be cleared.
Turns on the output transistor when an alarm occurs.
Turns on output transistor when the velocity command
is applied while the velocity is controlled.
Turns on the output transistor if the velocity command
(before filter) is not less than 30r/min (with velocity
command).
25
(S02+) Outputs signal according to the value of the control bit
(EX-OUT1) of RTEX communication.
For the state of the output transistor, refer to Note *5.
26
(S02)
*1) For the signal with - sign in the Related control mode column, the output transistor is always turned off in that
control mode.
*2) The sign [-] in [RTEX communication monitor] column in the table indicates that no allocation is made to the response
(status flag) of RTEX communication and therefore monitor is impossible. The designation in ( ) in [Sign] column in
the table shows the symbol used in RTEX communications. Notice that detection conditions of external output signal
and RTEX communication signal are not the same. For details, refer to Technical Reference, SX-DSV02203Section
6-9-5, RTEX communication.
*3) Output pin assignment can be changed. The pins in Connector pin No. column in the table denote factory default
settings. The signal with a pin that is marked with * is not assigned by default. For more information, refer to 2-4-2
Assignment of output signal.
*4) The sign [] in [RTEX communication monitor] column in the table indicates that the status flag [Warning] of RTEX
communication is turned ON whenever any warning is generated, regardless of setting value of Pr 4.40 or Pr 4.41.
*5) The following shows the output transistor state for the RETX operation output 1/2 when RETEX is established, when
RTEX communication after reset is not established, and when RTEX is shut down after established. Since operation by
the control bit through RTEX communication is not allowed except when RTEX is established, configure the system
avoiding problems with safety.
Title of signal
R2.2
Title of
signal
RTEX operation
output 1
EX-OUT1
RTEX operation
output 2
EX-OUT2
Pr.7.24 RTEX
function
enhancement
setting 3
bit0 = 0
(Held)
bit0 = 1
(Initialized)
bit1 = 0
(Held)
bit1 = 1
(Initialized)
Communication
established
OFF
ON
OFF
ON
OFF
ON
OFF
ON
Reset
Communication
shut down
OFF
Held
OFF
OFF
OFF
Held
OFF
OFF
No. SX-DSV02202 - 8
2-3 I/O connector other signal
2-3-1 Encoder output signal
Control mode
Title of signal
Symbol
Connector
pin No.
OA+
17
OA
18
OB+
20
OB
19
GND
16
Symbol
Connector
pin No.
A-phase output
B-phase output
Signal ground
Contents
Position
Velocity
Torque
Fullclose
RTEX
communications
monitor
Control mode
RTEX
communications
monitor
2-3-2 Others
Title of signal
Frame ground
FG
shell
BTP-I
14
BTN-I
15
Absolute encoder
battery input
To be used by the
manufacturer.
R2.2
Contents
Position
Velocity
Torque
Fullclose
21, 22
Keep these pins unconnected.
23, 24
No. SX-DSV02202 - 9
2-4 I/O signal allocation function
Default I/O signal allocation can be changed.
2-4-1 Input signal allocation
Desired input signal can be allocated to any input pin of I/O connector. The logic can be changed.
Some allocation limit is applied to specific signals. Refer to (2) Reallocation of input signal.
(1) Using with the default setting
The table below shows default signal allocation.
Note: Default settings of certain model will differ from those shown below. If the default settings shown in Reference
specification SX-DSV02201 are different from values shown below, the settings described in SX-DSV02201 are
valid standard default values.
Pin
name
Pin
No.
Applicable
parameter
Default
setting
(
):
decimal
notation
Default setup
Position/
Full-closed control
Velocity control
Torque control
Signal
Logic *1)
Signal
Logic *1)
Signal
Logic *1)
SI1
Pr 4.00
00323232h
(3289650)
SI-MON5
a-contact
SI-MON5
a-contact
SI-MON5
a-contact
SI2
Pr 4.01
00818181h
(8487297)
POT
b-contact
POT
b-contact
POT
b-contact
SI3
Pr 4.02
00828282h
(8553090)
NOT
b-contact
NOT
b-contact
NOT
b-contact
SI4
Pr 4.03
002E2E2Eh
(3026478)
SI-MON1
a-contact
SI-MON1
a-contact
SI-MON1
a-contact
SI5
10
Pr 4.04
00222222h
(2236962)
HOME
a-contact
HOME
a-contact
HOME
a-contact
SI6
11
Pr 4.05
00212121h
(2171169)
EXT2
a-contact
EXT2
a-contact
EXT2
a-contact
SI7
12
Pr 4.06
002B2B2Bh
(2829099)
EXT3
a-contact
EXT3
a-contact
EXT3
a-contact
SI8
13
Pr 4.07
00313131h
(3223857)
SI-MON4
a-contact
SI-MON4
a-contact
SI-MON4
a-contact
R2.2
No. SX-DSV02202 - 10
(2) Reallocation of input signal
To change the allocation of input signal, change the following parameters.
Class
No.
00
Attribute
*1)
Title
SI1 input
selection
Range
0
00FFFFFFh
Unit
Function
Assign functions to SI1 inputs.
These parameters are presented in hexadecimals.
Hexadecimal presentation is followed by a specific control mode
designation.
0 0 * * h: position/full-closed control
0 0 * * h: velocity control
0 0 * * h: torque control
Replace * * with the function number.
For the function number see the table below. Logical setup is also a
function number.
Example: To make this pin as SI-MON1_a-contact for position/full
closed control, and as SI-MON2_b-contact for velocity control, and
as disabled in torque control mode, set to 0000AF2Eh.
Position ... 2Eh Velocity ... AFh Torque ... 00h
01
SI2 input
selection
0
00FFFFFFh
02
SI3 input
selection
0
00FFFFFFh
03
SI4 input
selection
0
00FFFFFFh
04
SI5 input
selection
0
00FFFFFFh
05
SI6 input
selection
0
00FFFFFFh
06
SI7 input
selection
0
00FFFFFFh
07
SI8 input
selection
0
00FFFFFFh
R2.2
No. SX-DSV02202 - 11
R2.2
Setup value
Title
Symbol
Invalid
Positive direction over-travel
inhibition input
POT
a-contact
00h
01h
NOT
02h
EX-SON
E-STOP
EXT1
EXT2
HOME
03h
14h
20h
21h
22h
EXT3
SI-MON1
SI-MON2
SI-MON3
SI-MON4
SI-MON5
2Bh
2Eh
2Fh
30h
31h
32h
b-contact
Do not setup.
81h
(Setting is disabled when it serves as a
latch correction pin.)
82h
(Setting is disabled when it serves as a
latch correction pin.)
83h
94h
Do not setup.
Do not setup.
A2h
(Setting is disabled when it serves as a
latch correction pin.)
Do not setup.
AEh
AFh
B0h
B1h
B2h
No. SX-DSV02202 - 12
R2.2
No. SX-DSV02202 - 13
2-4-2 Assignment of output signal
For the output signals, any functions can be assigned to the output pins of the I/O connector.
Some assignments may be restricted. Refer to (2) [Reallocation of output signal].
(1) Using the default setting
The table below shows default signal allocation.
Note: Default settings of certain model will differ from those shown below. If the default settings shown in Reference
specification SX-DSV02201 are different from values shown below, the settings described in SX-DSV02201
become valid standard default values.
Pin
name
SO1
SO2
SO3
R2.2
Pin
No.
1
2
25
26
3
4
Applicable
parameter
Pr 4.10
Pr 4.11
Pr 4.12
Default setting
): decimal notation
00030303h
(197379)
00101010h
(1052688)
00010101h
(65793)
Default Setup
Position/
Full-closed control
Velocity control
Torque control
BRK-OFF
BRK-OFF
BRK-OFF
EX-OUT1
EX-OUT1
EX-OUT1
ALM
ALM
ALM
No. SX-DSV02202 - 14
(2) [Reallocation of output signal].
To change the allocation of output signal, change the following parameters.
Class
No.
Attribute *1)
10
11
12
Title
Range
SO1 output
selection
0
00FFFFFFh
SO2 output
selection
SO3 output
selection
0
00FFFFFFh
0
00FFFFFFh
Unit
Function
Assign functions to SO1 outputs.
These parameters are presented in hexadecimals.
Hexadecimal presentation is followed by a specific control mode
designation.
0 0 * * h: position/full-closed control
0 0 * * h: velocity control
0 0 * * h: torque control
Replace * * with the function number.
For the function number see the table below.
Assign functions to SO2 outputs.
Setup procedure is the same as described for Pr 4.10.
Assign functions to SO3 outputs.
Setup procedure is the same as described for Pr 4.10.
Symbol
External output
RTEX status
ALM
Alarm
S-RDY
Servo_Ready
BRK-OFF
INP
In_Position
AT-SPEED
TLC
Torque_Limited
Setup value
00h
01h
02h
03h
04h
05h
06h
ZSP
07h
V-COIN
WARN1
WARN2
In_Position
Warning *1)
Warning *1)
08h
09h
0Ah
P-CMD
0Bh
INP2
V-LIMIT
ALM-ATB
0Ch
0Dh
0Eh
V-CMD
0Fh
EX-OUT1
EX-OUT2
10h
11h
*1) The warning flag for RTEX status is set to 1 irrespective of Pr4.40 and Pr4.41 settings when an alarm occurs.
R2.2
No. SX-DSV02202 - 15
Precautions for output signal assignment
For output signals, the same function can be assigned to multiple pins. However, the output logic setting must be the
same. In addition, when using the same function for multiple control modes, the same output logic must be set. If
different output logic was set, the output signal state will become unstable.
For the output pins specified as disabled, output transistors are always turned off. However, RETEX communication
response is not affected.
Use only the values shown in the table above for setting.
When using external brake release signal (BRK-OFF), the signal should be set in all control modes. If not applied to all
control modes, Err 33.4 Output function number error 1 protection or Err 33.5 Output function number error 2
protection will occur.
The output transistor is turned off during a period from when the control power of a servo amplifier is turned on to
when initialization is completed, while control power is turned off, during a reset, and while the display on the front
face indicates as follows:
Design a system considering the above fact so that any problem does not occur.
R2.2
No. SX-DSV02202 - 16
2-5 Basic network setting
This section describes the basic setting of network interfaces.
For information on the specification details and other settings, refer to the Technical Document,SX-DSV02203
Section 2-5, RTEX communication specification.
1) Communication cycle/command update cycle
Name
Communication
cycle
Command
update cycle
Description
2) Mode correspondence
The MINAS-A5N series support the communication cycle/command update cycle, control mode, and data size listed
in the table below.
In the full- closed control mode, MINAS-A5N supports only position control (PP, CP). CV and CT cannot be selected.
(1) 16 byte mode
Compatible with both semi- and full- closed control; : Compatible only with semi-closed control;
-: Compatible with no control
Command update period (ms)
Communication period
0.1666
0.5
1.0
(ms)
PP CP CV CT PP CP CV CT PP CP CV CT
0.0833
0.1666
0.5
1.0
*When an external scale position information monitoring facility at the semi-closed control (bit4 of Pr7.22) is
validated, below 0.1666 [ms] or less communication period does not correspond. (except for NOP)
(2) 32 byte mode
Compatible with both semi- and full- closed control; : Compatible only with semi-closed control;
-: Compatible with no control
Command update period (ms)
Communication period
0.1666
0.5
1.0
(ms)
PP CP CV CT PP CP CV CT PP CP CV CT
0.0833
0.1666
0.5
1.0
R2.2
No. SX-DSV02202 - 17
3) Relevant parameter
Class
No.
01
Attribute
Title
Range
Unit
Control mode
setup
0-6
20
RTEX
communication
cycle
012
21
RTEX command
update cycle ratio
12
22
Extended RTEX
function 1
-32768
32767
Description
Select the control mode of the servo driver.
0: semi-closed control (position/velocity/torque control, selectable)
15: To be used by the manufacturer but not by the user.
Note:
Make sure to set the same cycle as the upper equipment for the RTEX communication cycle (Pr7.20) and RTEX
command updating cycle (Pr7.21).
Also, make sure to set the same setting as the upper equipment for the extended RTEX function (Pr7.22).
Otherwise, the operation cannot be guaranteed.
4) Mode setting example
Communication cycle: 0.5 [ms], command update cycle: 1.0 [ms], 16 byte mode, semi-synchronous mode between
axes:
Pr0.01 = 0 (semi-closed control)
Pr7.20 = 3 (communication cycle: 0.5 [ms])
Pr7.21 = 2 (command updating cycle: 1.0 [ms] = 0.5 [ms] 2)
Pr7.22 = 0 (16 byte mode, semi-synchronous mode between axes)
According to the setting above, it is possible to change to the CP/CV/CT control mode. Change to the CP/CV/CT
control mode by designating a command code.
Note:
If the combination condition of Pr7.20 (RTEX communication cycle) and Pr7.21 (RTEX command updating cycle) is
not supported, Err93.5 (Parameter setting error protection 4) occurs.
R2.2
No. SX-DSV02202 - 18
3. Front panel display specification
3-1 Appearance of front panel
LINK LED
COM LED
R2.2
Description
Analog monitor 1
Analog monitor 2
Signal ground
Reserved
(Do not use)
No. SX-DSV02202 - 19
3-2 7-segment LED
Node address value set with RSW will be displayed at power-UP, after that, the setting contents of Pr 7.00 (LED
display) will be displayed.
Upon occurrence of an alarm, set of alarm codes (main and sub, alternately) is displayed. Upon occurrence of warning,
the warning code will be displayed.
Relevant parameters
Class
No.
Attribute *1)
Title
Range
Unit
00
Information on
LED
032767
Address display
time upon power
up
01
-11000
100 ms
Function
Selects the information displayed on 7-SEG LED display.
Sets node address display time upon turning ON of control power.
When the setting value is 0 to 6, it is processed in 600ms.
When the setting value is -1, a node address is shown from control
power-on until the RTEX communication is established
(communication and servo synchronization).
Pr 7.00
0
Information on
display
Normal display
Mechanical angle
Remarks
When the incremental encoder is used, upon turning ON of the control power, [nF] (not Fixed) is
displayed until zero position of the encoder is detected.
Electrical angle
RTEX
3
Accumulated
communication
error counts
Encoder
5
Accumulated
communication
error counts
External scale
6
Other
R2.2
Accumulated
communication
error counts
Node address value
Displays the value set on rotary switch (node address) and read upon power-up, in decimal number.
After power-up, the value cannot be changed from the rotary switch.
Z phase counter
When the incremental external scale is used in full closed control, displays the value of Z
phase counter read from external scale: 0F hex.
To be used by the
manufacturer
but
not by the user.
* This displayed value is not affected by the value of Pr 3.26 Reversal of direction of external scale.
No. SX-DSV02202 - 20
The following figure shows the state flow of 7-segment LED.
Control power up
All off
All on
Servo-ON
Servo-OFF
[00] + right side dot is lit.
Alarm occured
Alarm cleared
Alarm display
R2.2
Warning display
Main code
Warning occured
Sub code
(with left dot)
Normal dsplay
(approx. 4 s)
No. SX-DSV02202 - 21
3-3 Network status LED
Status indication and description of RTEX network status LED (COM/LINK).
COM LED
Display status
Not lit
Blinking green
Lit green
Blinking red
Lit red
Description
Bit 4 of Pr 7.23 = 0
State of
RTEX
synchronization
communication MNM1221 status
between
status
*1)
communication
and servo
Not established INITIAL
Established
RING_CONFIG
Independent
In process
READY
Established
RUNNING
Bit 4 of Pr 7.23 = 1
State of
synchronization
MNM1221 status
between
*1)
communication and
servo
INITIAL
Not established
RING_CONFIG
READY
Not established
RUNNING
RUNNING
Established
Description
Not connected
(Transmission node is not powered on, or cable is broken etc.)
Connected normally
(TX of transmission node and RX of local node are correctly connected electrically.)
While an alarm (e.g. Err.16.0) other than RTEX communication-related occurs, if an alarm relating to RTEX
communication occurs, the COM LED blinks red or lights up red according to the above.
However, in this case, be aware that the 7-segment LED indicates the previous alarm, which is not relating to RTEX
communication.
The LINK LED lights up momentarily irrespective of cable connection when the power is turned on or a reset
command is issued. This occurs due to internal initialization of a servo amplifier, not due to an error.
The state of the bit 4 of Pr.7.23 (RTEX function enhancement setting 2) can change the condition for turning on COM
LED.
R2.2
No. SX-DSV02202 - 22
3-4 Monitor signal output function
2 types of analog signals can be output for monitoring from the connectors (X7) of the analog monitor on the front
panel. Types of monitor and scaling (output gain setting) can be set by the corresponding parameters.
Relevant parameters
Class
No.
Attribute *1)
Title
Range
16
Type of analog
monitor 1
024
17
Analog monitor
1 output gain
0214748364
18
Type of analog
monitor 2
024
19
Analog monitor
2 output gain
0214748364
21
Analog monitor
output setup
02
Unit
Function
10 V
5V
0V
-5000
5000
Motor
speed
[r/min]
-5000
0V
5000
Motor
speed
[r/min]
0V
2500
Motor
speed
[r/min]
-2500
-10 V
-10 V
-10 V
When monitor type is motor speed, and conversion gain is 500 (1 V = 500 r/min).
R2.2
No. SX-DSV02202 - 23
(2) The table below shows types of monitor set through Pr 4.16 Type of analog monitor 1 and Pr 4.18 Type of analog
monitor 2. Pr 4.17 Analog monitor 1 output gain and Pr 4.19 Analog monitor 2 output gain respectively set the
conversion gain in accordance with the unit suitable for the type. When the gain is set to 0, the gain shown at the right
end column of the table is automatically applied.
Pr 4.16/Pr 4.18
Type of monitor
Unit
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
Motor velocity
Positional command velocity *2
Internal positional command velocity *2
Velocity control command
Torque command
Command positional deviation *3
Encoder positional deviation *3
Full-closed deviation *3
Hybrid deviation
Voltage across PN
Regenerative load factor
Overload factor
Positive direction torque limit
Negative direction torque limit
Speed limit value
Inertia ratio
Reserved
Reserved
Reserved
Encoder temperature *4
Driver temperature
Encoder single-turn data *1
Reserved
Travel command status *5
Gain selection status *5
r/min
r/min
r/min
r/min
%
pulse (Command unit)
pulse (Encoder unit)
pulse (External scale unit)
pulse (Command unit)
V
%
%
%
%
r/min
%
C
C
pulse (Encoder unit)
10
10
110000
*1
The direction of monitor data is basically as defined in Pr 0.00 Rotational direction setup,
However, the direction of encoder rotational data is defined positive when it turns CCW. When the incremental encoder
is used, normal value will be output after passing 1st Z phase.
*2
For the command pulse input, the speed before the command filter (smoothing, FIR filter) is defined as positional
command velocity and speed after filter is defined as internal command velocity.
Positional command
speed [r/min]
Command
input
Electronic
gear
Positional
command
filter
Position
control
R2.2
No. SX-DSV02202 - 24
*3
Computation method (reference) of positional deviation (command unit) for RTEX communication type (MINAS-A5N
series) is different from that for general purpose type ((MINAS-A5 series). With the general purpose type, the deviation
is with respect to the command input before the positional command filter. With RTEX communication type, the
deviation is with respect to the instruction input after the positional command filter (encoder positional deviation/full
closed positional deviation, reverse converted to command unit).
The encoder positional deviation/full closed positional deviation is the deviation at the input section of positional
control.
The figure below shows details.
Positional deviation with RTEX
communication type (command unit)
Electronic gear
reverse
conversion
Command
input
Electronic gear
Positional
command
filter
+
Position control
Electronic gear
reverse
conversion
*4
Temperature information from the encoder includes value only when it is a 20-bit incremental encoder.
Otherwise, the value is always 0.
*5
For the monitor types No.23 and 24, digital signals are monitored using an analog monitor. So, set the Pr4.17 Analog
monitor 1 output gain and the Pr4.19 Analog monitor 2 output gain to 0 or 1, and set the Pr4.21 Analog monitor
output setting to 1. In this case, the output gain is as follows:
Analog output setting
Pr4.17, Pr4.19 = 0 or 1
Pr4.21 = 1
Pr4.16
/Pr4.18
23
24
R2.2
Monitor type
Travel
command
status
Output voltage
0 [V]
+5 [V]
In process of profiling
Velocity command 0
Velocity command = 0
Torque command 0
2nd gain
(Including 3rd gain)
Torque command = 0
1st gain
No. SX-DSV02202 - 25
4. Basic function
4-1 Rotational direction setup
When the positional command, velocity command or torque command is applied, rotating direction of the motor can be
changed.
Relevant parameters
Class
No.
00
Attribute *1)
C
Title
Range
Unit
Function
Rotational
direction setup
01
For the purpose of this specification, positive direction refers to CW and negative direction CCW as defined above. The
table below shows relationship between the positive direction drive inhibit input and negative direction drive inhibit
input and resulting motor rotation direction.
R2.2
Pr 0.00
Command
direction
Motor rotational
direction
Positive direction
drive inhibit input
Negative direction
drive inhibit input
Positive
direction
CW
Valid
Negative
direction
CCW
Valid
Positive
direction
CCW
Valid
Negative
direction
CW
Valid
No. SX-DSV02202 - 26
Host
controller
Servo driver
Position command
(RTEX communication)
RTEX
communication
processing
section
Position
command
generation &
process
section
Electronic
gear function
Positional command
filtering function
Position control
section
Feedback position
In_Position
Electronic
gear (reverse
conversion)
function
(RTEX communication)
INP/INP2
(External output signal)
INP/In_Position
INP2
output function
R2.2
No. SX-DSV02202 - 27
No.
Attribute *1)
Title
0
1048576
pulse
Range
Unit
08
Number of
command pulses
per motor
revolution
09
Numerator of
electronic gear
ratio
0
1073741824
10
Denominator of
electronic gear
ratio
1
1073741824
Function
Specifies the number of command pulses equivalent to one
revolution of a motor.
If this value is 0, Pn0.09 Numerator of electronic gear ratio and
Pn0.10 Denominator of electronic gear ratio are valid.
This setting is invalid during full-close control.
Set the numerator of electronic gear ratio *2)
Valid when Pn0.08 Number of command pulses per revolution of
motor is 0.
When the setup value is 0, the numerator is replaced by the encoder
resolution.
Electronic gear ratio is 1:1 if this setting value is 0 during full-close
control.
Set the denominator of electronic gear ratio *2)
Valid when Pn0.08 Number of command pulses per revolution of
motor is 0.
R2.2
Electronic gear
No. SX-DSV02202 - 28
Relation among Pr0.08, Pr0.09, and Pr0.10 during position control
Pr0.08
Pr0.09
Pr0.10
11048576
(No effect)
Encoder resolution
Position
command
(No effect)
Encoder resolution
Position
command
11073741824
Position
command input
Position
command
11073741824
11073741824
If Pr0.08 is 0 and Pr0.09 is not 0, the process in the above
figure is performed according to the Pr0.09 and 0.10 setting
values.
Pr0.09
Pr0.10
(No effect)
(No effect)
11073741824
Position
command
11073741824
Position
command
R2.2
No. SX-DSV02202 - 29
No.
Attribute *1)
22
23
Title
Positional
command
smoothing filter
Positional
command FIR
filter
Range
Unit
Function
010000
0.1 ms
Set up the time constant of the 1st delay filter in response to the
positional command.
010000
0.1 ms
Set up the time constant of the 1st delay filter in response to the
positional command
Positional
command before
filter
Positional command
after filter
Filter switching
waiting time *2
Vc
Vc 0.632
*1
Vc 0.368
*1
Time
*1
Actual filter time constant (setup value 0.1 ms) has the maximum absolute error of 0.4 ms for a time constant below
100 ms and the maximum relative error of 0.2% for a time constant 20 ms or more.
*2
Switching of Pr 2.22 Positional command smoothing filter is performed on the rising edge of the command with the
number of command pulses/0.166 ms is changed from 0 to a value other than 0 while the positioning complete is being
output.
Even if the control mode is changed to position control after Pr2.22 (Positional command smoothing filter) setting is
changed during velocity control or torque control, the setting is not changed.
If the filter time constant is decreased and positioning complete range is increased, and a many number of pulses are
accumulated in the filter (the area equivalent of value of positional command before filtervalue of positional
command after filter integrated over the time), at the time of switching, these pulses are discharged at a higher rate,
causing the motor to return to the previous positionthe motor runs at a speed higher than the command speed for a
short time.
*3
Even if setting of Pr2.22 (Positional command smoothing filter) is changed, it is not immediately applied to the internal
calculation. If the switching as described in *2 occurs during this delay time, the change of Pr2.22 will be suspended.
R2.2
No. SX-DSV02202 - 30
Positional
Positional
command before command after
filter
filter
Filter switching
waiting time *2
Vc
Time
*1
The actual average travel time (setup value 0.1 ms) has the maximum absolute error of 0.2 ms for a time constant
below 10 ms and the maximum relative error of 1.6% for a time constant 10 ms or more.
*2
When changing the setting of Pr2.23 (Positional command FIR filter), stop the command pulse and wait until the filter
switching wait time has elapsed. The filter switching wait time is the setup value 0.1 ms + 0.25 ms when the setup
time is 10 ms, and setup value 0.1 ms 1.05 when the setup time is 10 ms or more. If Pr 2.23 is changed while the
command pulse is being input, the change is not reflected until the command pulse-less state has continued for the filter
switching wait time.
*3
Even if setting of Pr2.23 (Positional command FIR filter) is changed, it is not immediately applied to the internal
calculation. If the switching as described in *2 occurs during this delay time, the change of Pr2.23 will be suspended.
When the positional command is trapezoidal wave, its waveform will be shaped to S at the output of the filter.
Speed
[r/min]
Positional command
before filter
Positional command
before filter
Vc
R2.2
No. SX-DSV02202 - 31
No.
31
Attribute *1)
Title
Positioning
complete
(In-position)
range
0262144
04
030000
32
Positioning
complete
(In-position)
output setup
33
INP hold
time
R2.2
Range
Unit
Function
No. SX-DSV02202 - 32
Class
No.
42
Attribute *1)
Title
Positioning
complete
(In-position)
range 2
Range
0262144
Unit
Function
R2.2
No. SX-DSV02202 - 33
4-2-5 Pulse regeneration function [Under preparation]
The information on the amount of movement can be sent to the host controller in the form of A- and B-phase pulses
from the servo driver. The resolution of information, B phase logic and output source (encoder and external scale) can
be set up by using parameters.
Z phase signal is not compatible with pulse regeneration.
Relevant parameters
Class
No.
11
12
33
22
Attribute *1)
Parameter
Number of
output pulses
per motor
revolution
Denominator of
pulse output
division
Pulse output
division
denominator
Pulse
regenerative
output limit
setup
A, B phase
external scale
pulse output
method
selection
Range
1262144
03
0262144
01
01
Unit
pulse/r
Function
Set the resolution of pulse output by the number of output pulses per
revolution of OA and OB, respectively. When the host counts pulses
after multiplying by 4, resulting count is as follows:
Pulse output resolution per revolution = Pr. 0.11 setting value 4.
You can set up the B-phase logic and the output source of the pulse
output. With this parameter, you can reverse the phase relation
between the A-phase pulse and the B-phase pulse by reversing the
B-phase logic. Encoder or external scale can be selected as the
output source for full-closed control. The encoder is selected as the
source if not for full-closed control.
For application where the number of output pulses is not an integer,
this parameter can be set to a value other than 0 and the dividing
ratio can be set by using Pr. 0.11 as numerator and Pr. 5.03 as
denominator. When the host counts pulses after multiplying by 4,
resulting count is as follows:
Pulse output resolution per revolution = (Pr. 0.11 setting value/Pr.
5.03 setting value) encoder resolution
Enable/disable detection of Err28.0 Pulse regenerative limit
protection.
0: Invalid 1: Valid
Select the pulse regeneration method of A, B and Z parallel external
scale.
0: Directly output the signals from A, B and Z parallel external
scales.
1: Output A and B phase signals recovered from A, B and Z parallel
external scales. Z-phase is output directly.
R2.2
No. SX-DSV02202 - 34
The table below shows combination of Pr0.11 (Output pulse counts per motor revolution) and Pr5.03 (Denominator of
pulse output division).
Pr 0.11
Pr 5.03
Encoder
feedback pulse
[pulse]
1262144
When Pr 5.03 = 0, the above process is made according to Pr 0.11 setup value. The
number of pulses of reproduced pulse output OA and OB are the number of pulses set in
Pr 0.11. The resolution of pulse output per one revolution is equal to or less the encoder
resolution.
[When the output source is external scale]
External
pulse
[pulse]
scale
1262144
1262144
If Pr 5.03 is not equal to 0, then the above process is performed based on setup value of
Pr 0.11 and Pr 5.03. This process enables the system to be compatible with application
where the number of pulses per motor revolution of reproduced pulse output OA and OB
are not an integral. However, the resolution of output pulse is equal to the resolution of
encoder pulse at the best.
Table below shows details of Pr. 0.12 Reversal of pulse output logic.
Pr 0.12
B-phase
logic
Output source
CW direction rotation
Encoder
A-phase
A-phase
External scale
B-phase
B-phase
Encoder
A-phase
A-phase
External scale
B-phase
B-phase
Nonreversal
2
1
Reversal
3
Setup value 2 and 3 are valid only for full-closed control. Setting must be 0 or 1 if not for fullclosed control
.
R2.2
No. SX-DSV02202 - 35
Command on pulse regeneration function
Maximum frequency of regenerated pulse output is 4 Mpps (after multiplied by 4), If the movement speed exceeds
this frequency, the regeneration will not function correctly. That is, correct pulse is not returned to the host controller,
causing positional deviation.
Phase A
Phase B
0.25 s or more
By enabling Pr5.33 (Pulse regenerative output limit setup), Err28.0 (Pulse regenerative limit protection) can be
generated upon reaching the pulse regeneration limit. Because this error is generated when the output limit of the
pulse regeneration is detected, it is not generated at the maximum frequency. However, detection error may occur if
the frequency instantaneously jumps up due to motor velocity change (irregular rotation).
R2.2
No. SX-DSV02202 - 36
4-3 Velocity Control [Under preparation]
This function controls the velocity according to the velocity command RTEX communication command sent from the
host controller. Below describes the basic set up of the velocity controls.
Available velocity control mode is the cyclic velocity control mode (CV control mode) which updates the command
velocity through RTEX communication command.
For details, refer to Technical Reference, SX-DSV02203Section 5-5, RTEX communication.
Host
controller
Servo driver
Speed command
(RTEX
communication)
RTEX
communication processing
section
Speed
command
generation &
processing
section
Speed command
acceleration/deceleration processing
section
Velocity
control
section
V-COIN/V_CMP
output function
V-COIN
(External
output signal)
ZSP/ZSPD
output function
ZSP
(External
output signal)
No.
Attribute *1)
Title
At-speed
(Speed arrival)
36
Range
1020000
Unit
Function
r/min
Motor velocity
Pr 4.36 + 10
Pr 4.36 - 10
Time
R2.2
OFF
ON
OFF
ON
No. SX-DSV02202 - 37
4-3-2 Speed coincidence output (V-COIN)
This signal is output when the motor speed is equal to the velocity specified by the velocity command. The motor speed
is judged to be coincident with the specified speed when the difference from the velocity command before/after
acceleration/deceleration is within the range specified by Pr 4.35 Speed coincident range
Relevant parameters
Class
No.
35
Attribute *1)
Title
Speed
coincidence
range
Range
1020000
Unit
Function
r/min
Speed [r/min]
Velocity
command
Pr 4.35 *1
(Speed coincidence range)
acceleration/deceleration process
Motor velocity
Pr 4.35 *1
[Speed coincidence
range]
Time
Pr 4.35 *1
(Speed coincidence range)
Speed coincidence
outputV-COIN
*1
ON
OFF
ON
OFF
Because the speed coincidence detection is associated with 10 r/min hysteresis, actual detection range is as shown
below.
Speed coincidence output OFF ON timing (Pr 4.35 10) r/min
Speed coincidence output ON OFF timing (Pr 4.35 + 10) r/min
R2.2
No. SX-DSV02202 - 38
4-3-3 Velocity command acceleration/deceleration setting function
This function controls the velocity by adding acceleration or deceleration command in the driver to the input velocity
command.
Using this function, you can use the soft start when inputting stepwise velocity command or when using internal
velocity setup. You can also use S shaped acceleration/deceleration function to minimize shock due to change in
velocity.
Relevant parameters
Class
No.
Attribute *1)
12
13
14
Title
Range
Acceleration time
setup
Deceleration time
setup
Sigmoid acceleration/
deceleration time
setup
010000
010000
01000
Unit
Function
ms/
(1000 r/min)
ms/
(1000 r/min)
ms
Time
Pr 3.12 1 ms
R2.2
Pr 3.13 1 ms
No. SX-DSV02202 - 39
Pr 3.14 Sigmoid acceleration/deceleration time setup
According to Pr 3.12 Acceleration time setup and Pr 3.13 Deceleration time setup, set up sigmoid time with time
width centering the inflection point of acceleration/deceleration.
Speed [r/min]
ts
ts
Velocity command after
acceleration/deceleration
process
Target speed
(Vc)
ta = Vc/1000 Pr 3.12 1 ms
td = Vc/1000 Pr 3.13 1 ms
ts = Pr 3.14 1 ms
Use with the setup of ta/2 > ts, td/2 > ts
ts
ts
Time
ta
R2.2
td
No. SX-DSV02202 - 40
4-4 Torque control [Under preparation]
This function performs torque control based on torque command of RTEX communication command sent from the host
controller. Below describes basic setting of torque control to be used. In addition to the torque command, the speed limit
command is required to maintain the motor at a speed below the limited value.
Available torque control mode is the cyclic torque control mode (CT control mode) which updates the command torque
during communication period. The mode is selected by RTEX communication command. For details, refer to Technical
Reference, SX-DSV02203Section 5-6, RTEX communication.
Servo driver
Host
controller
Torque
command
(RTEX
communication)
Torque
command
generation &
processing
section
RTEX
communication
processing
section
Torque
control
section
V-LIMIT/V_LIM
output function
V-LIMIT
(External output
signal)
No.
17
Attribute *1)
Title
Speed limit
select
Range
01
Unit
Function
Set up the selection method of the speed limit used for torque
controlling.
Setting value
SL_SW = 0
SL_SW = 1
0
Pr 3.21
1
Pr 3.21
Pr 3.22
21
Speed limit
value 1
020,000
r/min
22
Speed limit
value 2
020,000
r/min
R2.2
No. SX-DSV02202 - 41
4-5 Full-closed control
The full-closed control is intended to directly detect the position of a controlled machine by using an externally located
scale, and control its position by feeding it back the result of such detection. For example, it can be controlled without
any influence of ball screw errors or position changes due to temperature variation.
By configuring a full-closed control system, submicron precision positioning can be realized.
During full-closed controlling, do not select the cyclic velocity control mode (CV control mode) or cyclic torque control
mode (CT control mode).
In this section, the setting of the external scale ratio, the hybrid error and the hybrid control in the initial setting of the
full-closed control will be described.
Two types of full-closed positional control modes are available: profile position control (PP) mode in which positional
command is generated in the servo driver by specifying the target position, target speed and acceleration/deceleration
speed; and cyclic position control (CP) mode in which the position command is generated in the host controller and the
command position is updated every command update cycle; either mode is selected by RTEX communication command.
For details, refer to Technical Reference, SX-DSV02203Section 5-3,5-4, RTEX communication.
Precautions
(1) One command pulse (command unit) when electronic gear ratio is 1:1 corresponds to 1 pulse of external scale.
In full-closed control, velocity control is made through feedback of the encoder and position control is through
feedback of external scale.
(2) To prevent overrun or damage of equipment due to malfunction of external scale, disengagement of motor and
load, etc., correctly set up Pr 3.28 Hybrid deviation excess setup and Pr 3.29 Hybrid deviation clear setup.
If the hybrid deviation excess setup range is too wide, deviation detection error occurs. In contrast, if the range is
too narrow, twist of motor or equipment during normal operation may be detected as error.
(3) For normal operation of the external scale, recommended setting is 1/40 external scale ratio 160.
If the external scale ratio is set to a value smaller than 50/position loop gain (Hz), external scale cannot be
controlled in unit of pulse.
Larger external scale ratio will cause larger operation noise.
(4) If the division ratio of external scale is wrong, Err 25.0 Hybrid deviation excess error protection may be issued
even if the external scale and motor position match, if stroke is too long. If Err 25.0 is issued, adjust the external
scale division ratio and increase the range of the hybrid deviation excess setup.
R2.2
No. SX-DSV02202 - 42
4-5-1 Selection of external scale type
Select the type of external scale to be used.
Relevant parameters
Class
No.
Attribute *1)
Title
Range
Unit
23
External scale
selection
02
26
Reversal of
direction of
external scale
01
Function
Select the type of external scale.
Be sure to set the parameter to the type of external scale.
0: A, B phase output type
1: Serial communication type (incremental version)
2: Serial communication type (absolute version)
When the setup value is 1 or 2 while the A, B phase output type is
connected, Err 50.0 External scale wiring error protection occurs,
and if the setup value is 0 while the serial communication type is
connected, Err 55.0, 1 or 2 A phase, B phase or Z phase wiring
error protection will occur.
When the parameter is set to 1 and the serial communication type
scale of absolute version is used, or the parameter is set to 2 and the
serial communication type scale of incremental version is used,
Err. 93.3 External scale connection error protection will occur.
Reverse the direction of external scale, feedback counter., feedback
counter.
0: Not reverse 1: Reverse
*1
Compatible scale
External scale of A, B phase output type
400Mpps
Table below shows the count direction of drivers internal process for A, B phase output type external scale.
Countdown direction
t1
EXB
Countup direction
t1
EXA
EXA
EXB
t2
EEXB leads EXA by 90.
t1 > 0.25 s
t2 > 1.0 s
*2
Compatible speed*3
4Mpps
(after quadrupled)
400Mpps
t2
EXB lags EXA by 90
t1 > 0.25 s
t2 > 1.0 s
Connect the external scale so that it increments the count as the motor shaft turns CCW, and decrements as the shaft
turns CW. If this connection arrangement is impossible due to installation condition, etc., use the count reverse function
of Pr. 3.26 Reversal of direction of external scale.
To verify the connection arrangement, check the counting direction of total external scale feedback pulses and
total encoder feedback pulses through USB communication (PANATERM): when these are matched, the scale
is correctly connected. If not matched, reverse the setting of Pr.3.26 Reversal of direction of external scale (0
1 or 1 0).
R2.2
No. SX-DSV02202 - 43
*3
*4
Compatible speed is the feedback speed (pps) of external scale which can be processed by the driver.
For the speed range supported by the scale, refer to the scale specification.
For example, when using the serial communication type external scale having 0.01 m resolution, the max. speed is 4
m/s. To use the serial communication type at 5 m/s, use external scale having 0.0125 m or lower resolution.
Remember that the over-speed protection will occur when motor speed exceeds the maximum speed even if full-closed
control is activated.
Class
No.
Attribute *1)
24
25
Title
Numerator of
external scale
division
Denominator of
external scale
division
Range
Unit
0220
1220
Function
Set up the numerator of the external scale dividing setup.
When setup value = 0, encoder resolution is used as numerator of
the division.
Set up the Denominator of the external scale dividing setup.
Pr 3.24 1048576
Pr 3.25 100000
If this ratio is wrong, the difference between the position calculated based on the encoder pulses and the position
calculated based on the external scale pulses becomes large over a long travel distance and will activate the excess
hybrid deviation error protection.
With Pr 3.24 set at 0, the encoder resolution is automatically used as numerator.
R2.2
No. SX-DSV02202 - 44
4-5-3 Setup of hybrid excessive deviation
This function detects the positional difference between the motor (encoder) and load (external scale) and enables the
hybrid excessive deviation protection if the difference exceeds Pr 3.28 Hybrid excessive deviation setup. Hybrid
excessive deviation is mainly caused by external scale error, wrong connection and loose connection between the motor
and load.
Relevant parameters
Class
No.
Attribute *1)
Title
Range
28
Hybrid deviation
excess setup
1227
29
Hybrid deviation
clear setup
0100
Unit
Function
You can setup the permissible gap (hybrid deviation) between the
Command
present motor position and the present external scale position by
unit
command unit.
As the motor turns the number of revolutions set by this parameter,
Revolution the hybrid deviation is cleared to 0. No clearing is made with setup
value 0.
Pr3.28
(Hybrid deviation
excess setup)
Note: Revolution in the hybrid deviation clear setup is counted by using encoder feedback pulses.
To use the hybrid deviation clear, be sure to set Pr 3.29 Hybrid deviation clear setup to the appropriate value.
If the setup value is too small with respect to the value of Pr 3.28 Hybrid deviation excess setup, abnormal
operation due to e.g. external scale connection error cannot be protected.
Limit sensor should be used to assure safety.
R2.2
No. SX-DSV02202 - 45
4-6 Setting regenerative resistor
The table describes setup of regenerative resistor.
For details of regenerative resistor specification, refer to Technical Reference SX-DSV02201.
Relevant parameters
Class
No.
16
17
Attribute *1)
Title
Range
Unit
External
Regenerative
resistor setup
03
Selection of load
factor of external
regenerative
resistor
04
Function
With this parameter, you can select either to use the built-in
regenerative resistor of the driver, or to separate this built-in
regenerative resistor and externally install the regenerative resistor.
0: Use the built-in resistor and activate regenerative over-load
protection.
1: Use the external resistor and activate regenerative over-load
protection.
2: Use the external resistor but do not activate regenerative
over-load protection.
3: Do not use regenerative resistor. (Do not use over-load
protection.)
When selecting the external regenerative resistor (Pr 0.16 = 1, 2),
select the computing method of load factor of regenerative resistor.
0: Regenerative load factor is 100% when duty factor of external
regenerative resistor is 10%. (Compatible with A4N series)
14: For manufacturers use (do not setup)
R2.2
No. SX-DSV02202 - 46
4-7 Absolute setup
4-7-1 Absolute encoder
When using the motor with absolute encoder or absolute/incremental common encoder, you can compose an absolute
system, which does not require to execute a homing operation at power-ON. For that, it is necessary to set Pr 0.15
(Absolute encoder setup) to 0or 2 after connecting the battery for absolute encoder.
Relevant parameters
Class
No.
15
Attribute *1)
Title
Range
Absolute
encoder setup
02
Unit
Function
Servo driver
X2A
TX+
TX-
3
6
RX+
RX-
RX+
RX-
X2B
3
6
TX+
TX-
X6
X4
1
*1
Battery
Junction connector
Motor
Encoder
BTP-I
BTN-I
BTP-0
BTN-0
*1
Battery
*1. Connect to either X4 or the junction connector between X6 and the encoder, when you connect the battery.
Do not connect to both.
Note: During replacing the battery, the control power input must be held ON. If not so, the absolute data will be lost.
R2.2
No. SX-DSV02202 - 47
4-7-1-2 Installing battery for absolute data
Refer to Technical Reference SX-DSV02201.
4-7-1-3 Clearing of absolute data
Multi-turn data of the absolute data is hold by the battery.
Therefore, when you start up the machine for the first time, it is required to make the multi-turn data to 0 by encoder
clearing at the home position after installing the battery.
Clearing operation of absolute encoder is made through communications (USB (PANATERM) or RTEX).
After clearing the absolute data, turn off and on the power without fail.
R2.2
No. SX-DSV02202 - 48
4-7-2 External scale
With full-closed controlling, an absolute system which does not require the return to home position sequence upon
power up can be designed.
4-7-2-1 Structure of absolute system
Absolute system configuration using RTEX communication interface (example: with servo driver single-axis
connection)
In the RTEX communication response (driver host controller), the absolute data is transferred to the host controller
as the current position data.
Host controller
Servo driver
X2A
TX+
TX-
3
6
RX+
RX-
X2B
RX+
RX-
3
6
X6
Junction
Connector
Motor
encoder
TX+
TX-
X5
Junction
Connector
Head
R2.2
No. SX-DSV02202 - 49
4-8 External scale position information monitoring facility at the semi-closed control
Semi-closed control can also the position information on an external scale is monitored.
Reversal of direction of
external scale
Pr3.26
External scale
Relevant parameters
AttribClass No.
ute
*1)
22
Title
RTEX function
extended setup 1
Range
Unit
-32768
32767
Function
[bit4] A setup of the external scale position information monitoring
facility at the semi-closed control
0: Invalid
1: Valid
*Full-close control is not related to a setup of this bit,
external scale position information can be monitored.
R2.2
No. SX-DSV02202 - 50
5. Gain tuning/vibration suppressing function
5-1 Automatic adjusting function
The figure below shows outline of automatic adjusting function of MINAS-A5N series.
Position/
speed
instruction
Basic gain
automatic setting
Position/
speed
control
Friction torque
compensation
Adaptive
process
Notch filter
Torque
instruction
generation
Torque
instruction
Motor
current
Current
control
Motor
Load characteristic
estimation
Resonance freq.estimation.
Motor
speed
Encoder
Servo driver
R2.2
1)
2)
Adaptive filter
Estimates the resonance frequency based on the motor velocity and removes the frequency components from
torque command to prevent resonant oscillation.
No. SX-DSV02202 - 51
5-1-1 Real-Time Auto Tuning
The system estimates the load characteristics in real time, and automatically performs basic gain setting and friction
compensation by referring to stiffness parameter.
1) Applicable Range
This function operates under the following conditions.
Real-time auto-tuning condition
Specific real-time auto-tuning mode is selected according to the currently active control
Control Mode
mode. For details, refer to the description of Pr 0.02 Real time auto-tuning setup.
Should be in servo-on condition
Others
Parameters except for controls such as torque limit setup, are correctly set, assuring that
the motor can run smoothly.
2)
R2.2
Caution
Real-time auto-gain tuning may not be executed properly under the conditions described below. If not properly
executed, change the loading condition or operating pattern, or manually set up the related parameters by referring
to the manual adjustment function description.
Conditions which obstruct real-time auto-gain tuning action
The load inertia is too small or large compared to the rotor inertia. (less than 3 times or
more than 20 times).
Load inertia
The load inertia changes too quickly.
The machine stiffness is extremely low.
Nonlinear characteristics such as backlash exist.
The motor is running continuously at low speed of 100 [r/min] or lower.
Acceleration/deceleration is slow (2,000 [r/min] per 1 [s] or low).
When the speed condition of 100 [r/min] or more and acceleration/deceleration
Action pattern
condition of 2,000 [r/min] per 1 [s] are not maintained for 50 [ms].
Acceleration/deceleration torque is smaller than unbalanced weighted/viscous friction
torque.
No. SX-DSV02202 - 52
3)
Class
No.
02
03
Title
Range
Unit
Real-time
auto-gain tuning
setup
06
Setup of machine
stiffness at
real-time
auto-gain tuning
031
Function
You can set up the action mode of the real-time auto-gain tuning.
Setup
value
0
Mode
Description
Invalid
Standard
Positioning *1
Vertical axis *2
Friction
compensation *3
Load characteristic
measurement
Customize *4
(To be continued)
R2.2
No. SX-DSV02202 - 53
Class
No.
Attribute *1)
Title
Range
Unit
Function
Set up the load characteristics estimation speed with the real time auto
tuning being valid. A higher setup value assures faster response to a
change in load characteristics but increases variations in disturbance
estimation. Result of estimation is saved to EEPROM every 30
minutes.
31
03
Setup
value
0
1
Mode
Description
No change
Almost constant
Slower change
3
*
Faster change
32
64
32
-3276832767
Content
Load characteristics
estimation
*1,*2
Description
Enable/disable the load characteristics
estimation function.
Setup value=0: Disable
Setup value=1: Enable
Inertia ratio update Set up update to be made based on result
*3
of the load characteristics estimation of
Pr 0.04 Inertia ratio.
Setup value=0: Use current setup.
Setup value=1: Update by the estimated
value.
Torque compensation Set up the update to be made according
*4
to the results of load characteristics
estimation of Pr 6.07 Torque command
additional value, Pr 6.08 positive
direction torque compensation value
and Pr 6.09 negative direction torque
compensation value.
Setup value=0: Use current setup
Setup value=1: Disable torque
compensation
Clear the parameters shown above to
zero.
Setting value = 2: Vertical axis mode
Update Pr 6.07. Zero clear Pr 6.08 and
Pr 6.09
Setting value = 3: Friction compensation
(low)
Update Pr 6.07. Set low compensation
to Pr 6.08 and Pr 6.09.
Setting value = 4: Friction compensation
(middle)
Set middle compensation to Pr 6.08 and
Pr.6.09.
Setting value = 5: Friction compensation
(high)
Set high compensation to Pr 6.08 and
Pr 6.09.
(To be continued)
R2.2
No. SX-DSV02202 - 54
Class
No.
32
Attribute *1)
B
Title
Range
Unit
-3276832767
Function
Bit
7
Content
Stiffness
Setup
*5
Description
Enable/disable the basic gain setup to
be made according to Pr0.03
(Real-time auto-tuning machine
stiffness setup).
Setup value=0: Disable
Setup value=1: Enable
Fixed
parameter
setup
*5
109
Gain
switching
setup
*5
R2.2
No. SX-DSV02202 - 55
4)
Class No.
Title
Range
Unit
Inertia ratio
010000
-100100
-100100
-100100
04
07
08
09
Torque command
additional value
Positive direction
Torque
Compensation
Value
Negative direction
torque
compensation value
Function
Updates this parameter when the real-time auto-tuning inertia ratio
update is enabled.
Update this parameter when the vertical axis mode for real time
auto-tuning is valid.
Update this parameter when the friction compensation mode for real
time auto-tuning is valid.
Update this parameter when the friction compensation mode for real
time auto-tuning is valid.
The real-time auto-tuning function updates the following basic gain setup parameters according to Pr0.03
Real-time auto-tuning machine stiffness setup. For details, refer to 7) Basic gain parameter setup table.
Class No.
Attribute *1))
00
01
02
04
05
06
07
09
Title
1st gain of position
loop
1st gain of velocity
loop
1st time constant of
velocity loop
integration
1st time constant of
torque filter
2nd gain of position
loop
2nd gain of velocity
loop
2nd time constant
of velocity loop
integration
2nd time constant
of torque filter
Range
Unit
030000
0.1/s
132767
0.1 Hz
110000
0.1 ms
02500
0.01 ms
030000
0.1/s
132767
0.1 Hz
110000
0.1 ms
02500
0.01 ms
Function
When stiffness setup is valid, updates the parameter based on the
setup value.
When stiffness setup is valid, updates the parameter based on the
setup value.
When stiffness setup is valid, updates the parameter based on the
setup value.
When stiffness setup is valid, updates the parameter based on the
setup value.
When stiffness setup is valid, updates the parameter based on the
setup value.
When stiffness setup is valid, updates the parameter based on the
setup value.
When stiffness setup is valid, updates the parameter based on the
setup value.
When stiffness setup is valid, updates the parameter based on the
setup value.
Real-time auto-tuning function sets the following parameters to the fixed value.
Class No.
Attribute *1)
03
08
10
11
12
13
Title
1st filter of velocity
detection
2nd filter of
velocity detection
Velocity feed
forward gain
Velocity feed
forward filter
Torque feed
forward gain
Torque feed
forward filter
Range
Unit
05
05
01000
0.1%
16400
0.01 ms
01000
0.1%
06400
0.01 ms
Function
When fixed parameter setup is valid, set the parameter to 0.
When fixed parameter setup is valid, set the parameter to 0.
When fixed parameter setup is valid, set the parameter to 300
(30%).
When fixed parameter setup is valid, set the parameter to 50 (0.5
ms).
When fixed parameter setup is valid, set the parameter to 0.
When fixed parameter setup is valid, set the parameter to 0.
(To be continued)
R2.2
No. SX-DSV02202 - 56
The real-time auto-tuning function sets the following parameters as the gain is switched.
Class
No.
14
Attribute *1)
B
15
16
17
18
19
20
21
22
23
24
25
26
27
Title
Range
Unit
01
010
010000
0.1 ms
020000
020000
010000
0.1 ms
05
010000
0.1 ms
020000
020000
03
010000
0.1 ms
020000
020000
Level of velocity
control switching
Hysteresis at
velocity control
switching
Mode of torque
control switching
Delay time of
torque control
switching
Level of torque
control switching
Hysteresis at
torque control
switching
Function
Sets to 1 if the current setting is not maintained
Sets to 10 to enable the gain switching.
Sets to 0 to disable the gain switching.
Sets to 50 if the current setting is not maintained.
The following settings are always set to invalid when Pr 0.02 Real-time auto-tuning setup is not 0.
However, the parameter settings are not changed.
Class
No.
Attribute *1)
Title
Range
Unit
10
Function
expansion setup
01023
-100100
102500
0.01 ms
23
24
Disturbance
torque
compensating
gain
Disturbance
observer filter
Function
Instantaneous velocity observer function enable bit (bit 0),
disturbance observer function enable bit (bit 1) are internally
disabled.
Parameter setup can be changed, but disturbance observer is
disabled.
R2.2
No. SX-DSV02202 - 57
5)
How to Operate
When Pr 0.02 (Setup of real-time auto-gain tuning mode) is set to a value other than 0, control parameter is
automatically set according to Pr0.03 Real-time auto-tuning machine stiffness setup.
When the servo is ON, enter operation command. When the load characteristic is correctly estimated, Pr 0.04
Inertia ratio is updated. With certain mode settings, Pr 6.07 Torque command addition value, Pr 6.08 Positive
direction compensation value and Pr 6.09 Negative direction compensation value will be changed.
When value of Pr0.03 Real-time auto-tuning machine stiffness setup is increased, the motor responsiveness will
be improved. Determine the most appropriate stiffness in relation to the positioning setup time and vibration
condition.
6) Other cautions
[1] Immediately after the first servo-on upon start up; or after increasing Pr0.03 Real-time auto-tuning machine
stiffness setup, abnormal sound or oscillation may be generated until the load characteristics is stabilized. If
such abnormality lasts or repeats for 3 or more reciprocating operations, take the following countermeasures.
1) Lower the setting value of Pr0.03 Real-time auto-tuning machine stiffness setup.
2) Set Pr 0.02 Real-time auto-tuning setup to 0 to disable the real-time auto-tuning.
3) Set Pr 0.04 Inertial ratio to the calculational value of the equipment and set Pr 6.07 Torque command
addition value, Pr 6.08 Positive direction compensation value and Pr 6.09 Negative direction compensation
value to 0.
[2] When abnormal noise and oscillation occur, Pr 0.04 (Inertia ratio) or Pr 6.07 (Torque command additional value),
Pr 6.08 (Positive direction torque compensation value), Pr 6.09 (Negative direction torque compensation value)
might have changed to extreme values. Take the same measures as described in the setp 3) above in these cases.
[3] Among the results of real-time auto-gain tuning, Pr 0.04 (Inertia ratio) and Pr 6.07 (Torque command additional
value), Pr 6.08 (Positive direction torque compensation value), Pr 6.09 (Negative direction torque compensation
value) will be written to EEPROM every 30 minutes. When you turn on the power again, the auto-gain tuning
will be executed using the latest data as initial values. If power is turned off within 30 minutes after the end of
tuning process, the result of the real-time auto-tuning is not saved. If the result is not saved, manually write
parameters to EEPROM and then turn off power.
[4] The control gain is updated when the motor is stopped. Therefore, if motor is not stopped because gain is
excessively low or commands are given continually in one direction, the change in Pr0.03 Real-time
auto-tuning machine stiffness setup may not be reflected. In this case, abnormal sound or oscillation may be
generated depending on the stiffness setting that is reflected after the motor stops.
After the stiffness setting is changed, be sure to stop the motor and check that the stiffness setting is reflected
before performing next operation.
R2.2
No. SX-DSV02202 - 58
7)
Pr 1.01
Position
[0.1/s]
Velocity
[0.1 Hz]
20
25
30
40
45
55
75
95
115
140
175
320
390
480
630
720
900
1080
1350
1620
2060
2510
3050
3770
4490
5000
5600
6100
6600
7200
8100
9000
15
20
25
30
35
45
60
75
90
110
140
180
220
270
350
400
500
600
750
900
1150
1400
1700
2100
2500
2800
3100
3400
3700
4000
4500
5000
Stiffness
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
Pr 1.02
Velocity
loop
integration
[0.1 ms]
3700
2800
2200
1900
1600
1200
900
700
600
500
400
310
250
210
160
140
120
110
90
80
70
60
50
40
40
35
30
30
25
25
20
20
2nd gain
Pr 1.04
*2
Pr 1.05
Pr 1.06
Torque
[0.01 ms]
Position
[0.1/s]
Velocity
[0.1 Hz]
1500
1100
900
800
600
500
400
300
300
200
200
126
103
84
65
57
45
38
30
25
20
16
13
11
9
8
7
7
6
6
5
5
25
30
40
45
55
70
95
120
140
175
220
380
460
570
730
840
1050
1260
1570
1880
2410
2930
3560
4400
5240
5900
6500
7100
7700
8400
9400
10500
15
20
25
30
35
45
60
75
90
110
140
180
220
270
350
400
500
600
750
900
1150
1400
1700
2100
2500
2800
3100
3400
3700
4000
4500
5000
Pr 1.07
Velocity
loop
integration
[0.1 ms]
10000
10000
10000
10000
10000
10000
10000
10000
10000
10000
10000
10000
10000
10000
10000
10000
10000
10000
10000
10000
10000
10000
10000
10000
10000
10000
10000
10000
10000
10000
10000
10000
Pr 1.09
*2
Torque
[0.01 ms]
1500
1100
900
800
600
500
400
300
300
200
200
126
103
84
65
57
45
38
30
25
20
16
13
11
9
8
7
7
6
6
5
5
A4N
Series
stiffness
setup
(reference)
*1
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
*1
Stiffness setting of A4N series refers to the setup value (015) of A4N series parameter Pr 22 Real-time auto-tuning
machine stiffness selection.
*2
R2.2
No. SX-DSV02202 - 59
5-1-2 Adaptive filter
This function estimates the resonance frequency from the vibrating component which appears on the motor velocity,
and removes the resonance component from the torque command with adaptive filter, thus reduces the resonance
vibration.
1) Applicable Range
This function works under the following condition.
Conditions under which the Adaptive filter is activated
Control mode Applies to other control modes than torque control.
Should be servo-on status.
Others
Elements other than control parameters, such as deviation counter clear command inhibit
and torque limit are appropriately set, enabling the motor to run normally.
Class
2)
Caution
In the following condition, normal operation may not be expectedmanually set the notch filter to prevent
resonance.
Conditions which obstruct adaptive filter action
Resonance frequency is lower than the velocity response frequency 3 (Hz).
Resonance peak is low, or control gain is low where the motor velocity is not affected
Resonance point
by this.
Three or more resonance points exist.
Motor velocity variation with high harmonic component is generated due to non-linear
Load
factors such as backlash.
Command
Acceleration/deceleration is rapid such as 30000 [r/min] per 1 [s].
3)
Relevant parameters
Set the operation of the adaptive filter to the following parameter.
No.
Attribute *1)
Title
Range
Unit
Function
Select the operation mode of adaptive filter:
00
Adaptive filter
mode setup
04
(To be continued)
R2.2
No. SX-DSV02202 - 60
The adaptive filter automatically sets up the following parameters.
Class
No.
Attribute *1)
Title
3rd notch
frequency
07
08
09
10
11
12
Range
Unit
505000
Hz
020
099
505000
Hz
020
099
Function
Notch frequency is automatically set to the 1st resonance frequency
estimated by the adaptive filter. In no resonance point is found, the
frequency is set to 5000.
Automatically set when the adaptive filter is active.
Automatically set when the adaptive filter is active.
Notch frequency is automatically set to the 2nd resonance frequency
estimated by the adaptive filter. In no resonance point is found, the
frequency is set to 5000.
Automatically set when 2 adaptive filters are active.
Automatically set when 2 adaptive filters are active.
5)
R2.2
How to Operate
Enter the action command with Pr2.00 (Adaptive filter mode setup) set to a value other than 0.
If the resonance point affects the motor velocity, parameters of 3rd notch filter and/or 4th notch filters are
automatically set according to the number of adaptive filters.
Other cautions
(1) Immediately after the first servo-on at start up; or after increasing stiffness setting with the real-time
auto-tuning enabled, abnormal sound or oscillation may be generated until the adaptive filter stabilizes. If
such abnormality lasts or repeats for 3 or more reciprocating operations, take the following countermeasures.
1) Write the parameters which have given the normal operation into EEPROM.
2) Lower the setting value of Pr0.03 (Real-time auto-tuning machine stiffness setup).
3) Invalidate the adaptive filter by setting Pr2.00 (Adaptive filter mode setup) to 0.
4) Set up the notch filter manually.
(2) Abnormal sound or oscillation may excessively change the setup value of 3rd and 4th notch filters. If such
change occurs, disable the adaptive filter as described in step 3) above, change setup value of Pr 2.07 3rd
notch frequency and Pr 2.10 4th notch frequency to 5000 (disable), and then enable the adaptive filter
again.
(3) The 3rd filters (Pr 2.07) and 4th notch filters (Pr 2.10) are written to EEPROM every 30minutes. Upon power
up, these data are used as default values during adaptive process.
No. SX-DSV02202 - 61
5-2 Manual adjusting function
As explained previously, MINAS-A5N series features the automatic gain tuning function, however, there might be
some cases where this automatic gain tuning cannot be adjusted properly depending on the limitation on load conditions.
Or you might need to readjust the tuning to obtain the optimum response or stability corresponding to each load.
Here we explain this manual gain tuning method by each control mode and function.
1) Block diagram of position control mode (5-2-1)
2) Block diagram of velocity control mode (5-2-2)
3) Block diagram of torque control mode (5-2-3)
4) Block diagram of full-closed control mode (5-2-4)
5) Gain switching function (5-2-5)
6) Notch filter (5-2-6)
7) Damping control (5-2-7)
8) Feed forward function (5-2-8)
9) Instantaneous velocity observer (5-2-9)
10) Disturbance observer (5-2-10)
11) 3rd gain switching function (5-2-11)
12) Friction torque compensation (5-2-12)
13) Hybrid vibration damping function (5-2-13)
14) 2-stage torque filter (5-2-14)
R2.2
No. SX-DSV02202 - 62
5-2-1 Block diagram of position control mode
The diagram below shows position control block of MINAS-A5N series.
Profile position control mode (PP)
Cyclic position control mode (CP)
Command position
(Upstream of filter) CMD_POS
[Instruction unit]
Internal co mmand
position (before filter)
IPOS [Command unit]
Target position
Command speed
MSPD
[Command unit/s]
or [r/min]
Positional command
speed [r/min]
Switching selection
Smoothing
filter
Numerator
0.09
Denominator
0.10
FIR
Target speed
2.23
Primary
delay
PP
TSPD
[Comman d unit/s]
or [r/min]
Gain switching
Damping control
CP
TPOS
[Co mmand unit]
Electronic gear
reverse conversion
2.22
Latch position 1
Actual speed
LPOS1
[Command unit]
ASPD
[Command unit/s]
or [r/min]
Actual position
2.13
Frequency
Filter Depth
1st
2.14
2.15 6.41
2nd
2.16
2.17
3rd
2.18
2.19
4th
2.20
2.21
2nd setup
1.14
3rd setup
6.05
Mode
1.15
Scale factor
6.06
Del ay time
1.16
Level
1.17
Hysteresis
1.18
Switching
time
1.19
APOS
[Command unit]
Intern al command
position (after filter)
MPOS [Command unit]
Electronic gear
reverse conversion
Electronic gear
reverse
conversion
Torque FF unit
conversion
Velo city
feed forward
Torque feed
forward
Gain
1.10
Filter
1.11
+
+
Velocity FF unit
conversion
Gain
1.12
Filter
1.13
+
+
Frictio n compensation
Additional value
6.07
Positive direction
6.08
Negative direction
6.09
Velocity control
No tch filter
Proportion Integration
Position control
1st
2nd
1.00
1.05
1st
1.01
1.02
2nd
1.06
1.07
Inertia ratio
0.04
+
+
Frequency
+
+
Velocity detection
filter
Po sitional deviation
[Encoder pulse]
Velocity control
command [r/min]
1st
1.03
2nd
1.08
Instantaneous
speed
6.10
Depth
2.01
2.02
2.03
2nd
2.04
2.05
2.06
3rd
2.07
2.08
2.09
4th
2.10
2.11
2.12
Adaptive mode
2.00
Torq ue filter
At tenuation
term
Disturbance
observer
Sum of feedback pulses
[Encoder pulse]
Width
1st
Motor velocity
[r/min]
Gain
6.23
Filter
6.24
1st
1.04
2nd
1.09
2 stages
6.42 6.43
Velocity detection
Current control
Encoder
Motor
Response
setup
Torque limit
6.11
Main
Selection
5.21
1st
0.13
2nd
5.22
Torque in struction
TRQ
[0.1%]
power
External
load
supply
R2.2
No. SX-DSV02202 - 63
5-2-2 Block diagram of velocity control mode
The diagram below shows velocity control block of MINAS-A5N series.
Cyclic velocity control mode (CV)
Gain switching
Torque FF unit
conversio n
Torque feed
fo rward
Speed unit
conversion
Gain
1.14
Mode
1.20
Delay time
1.21
Level
1.22
Hysteresis
1.23
Friction
compensation
Additional
value
1.12
Filter
Instruction speed
(upstream of filter)
CSPD
[Command unit/s] or
[r/min]
2nd setup
6.07
1.13
Velocity control
Proportional
Acceleration/
Deceleration limit
Accelera tion
3.12
Decelera tion
3.13
Sigmoid
+
-
Notch filter
Integral
1st
1.01
1.02
2nd
1.06
1.07
Inertia ratio
0.04
3.14
+
+
Frequency
+
+
-
Actual speed
APOS
[Command unit]
1st
1.03
2nd
1.08
Instantaneous
speed
6.10
2.03
2nd
2.04
2.05
2.06
3rd
2.07
2.08
2.09
4th
2.10
2.11
2.12
2.00
Disturban ce
o bserver
Gain
6.23
Filter
6.24
Electronic gear
reverse conversion
Denominator
2.02
setup
Motor velocity
[r/min]
Numerator
Depth
2.01
Adaptive mode
Velocity detection
filter
Actual speed
ASPD
[Command unit/s] or
[r/min]
Width
1st
Torque filter
Attenuation
term
1st
1.04
2nd
1.09
2 stages
6.42 6.43
Velocity
detection
0.09
0.10
Latch position 1
LPOS 1
[Command unit]
Current control
Encoder
Motor
Response
setup
Torque limit
6.11
Main power
S election
5.21
1st
0.13
2nd
5.22
Torq ue comman d
TRQ
[0.1%]
supply
Load
R2.2
No. SX-DSV02202 - 64
5-2-3 Block diagram of torque control mode
The diagram below shows the torque control block of MINAS-A5N series.
Cyclic torque control mode (CT)
Gain switching
Command torque
CTRQ
[0.1 %]
Torque unit
conversion
1.14
Mode
1.24
Delay time
1.25
Level
1.26
Hysteresis
1.27
Absolute value
Sign
Internal speed
limit
Limit
Value 1
Limit
Value 2
2nd setup
3.21
Speed limit
[r/min]
3.22
Velocity control
Notch filter
Proportion Integration
Speed limit
selection
Command
selection
3.17
+
Absolute
value
Multiplication
Width
Depth
1st
1.01
1.02
1st
2.01
2.02
2.03
2nd
1.06
1.07
2nd
2.04
2.05
2.06
0.04
3rd
2.07
2.08
2.09
4th
2.10
2.11
2.12
Inertia ratio
Frequency
Velocity detection
filter
1st
1.03
2nd
1.08
Instantaneous
speed
6.10
Torque filter
Attenuatio n
term
Actual speed
ASPD
[Command unit/s] or
[r/min]
Motor speed
[r/min]
Electronic gear
reverse conversion
Numerator
Denominator
1st
1.04
2nd
1.09
2 stages
6.42 6.43
Command detection
0.09
0.10
Latch position 1
LPOS 1
[Command unit]
Current control
Encoder
Motor
Response
setup
Torque limit
6.11
Actual position
APOS
[Command unit]
Torque unit
conversion
Selection
5.21
1st
0.13
2nd
5.22
Main
Load
Power
supply
Torque co mmand
TRQ
[0.1 %]
R2.2
No. SX-DSV02202 - 65
5-2-4 Block diagram of full-closed control mode
The diagram below shows the full-closed control block of MINAS-A5N series.
Profile position control mode (PP)
Cyclic position control mode (CP)
reverse conversion
Positional command
Speed [r/min ]
TPOS
[Command unit]
Electronic gear
positive conversion
Position command
generation process
Numerator
0.09
Denominator
0.10
Smoothing filter
FIR
Actual speed
LPOS1
[ Command unit]
ASPD
[C ommand unit/s]
or [r/min]
Actual position
2.22
Filter Depth
Gain switching
1st
2.14
2.15 6.41
2nd setup
1.14
3rd setup
2nd
2.16
2.17
Mode
1.15
3rd
2.18
Delay
2.19
Scale
factor
Delay time
1.16
2.20
2.21
Level
1.17
Hysteresis
1.18
Switching
time
1.19
4th
Latch position 1
Target speed
2.13
Frequency
2.23
Primary
delay
PP
TSPD
[ Command unit/s]
or [r/min]
Damping control
Switching
selection
CP
Target position
Electronic gear
Instruction speed
MSPD
[Command unit/s]
or [r/min]
Internal command
position (before filter)
IPOS [Command unit]
Instruction position al
time
deviation
PERR
[Command unit]
APOS
[ Command unit]
Intern al command
position (after filter)
MPOS [Command unit]
Electronic gear
6.058
6.06
reverse conversion
reverse conversion
Torque FF unit
conversion
Gain
1.10
Filter
1.11
Torqu e feed
forward
Gain
1.12
Filter
1.13
Friction
compensation
Additional
value
Positive
direction
Negative
direction
6.07
6.08
6.09
Velocity FF
unit conversion
Velocity control
Velocity feed forward
VFF
[ Command unit/s]
or [r/min]
No tch filter
Proportion Integration
Position control
1st
2nd
1.00
1.05
Full-closed deviation
[External scale pulse]
Motor velocity
[r/min]
1st
1.01
1.02
2nd
1.06
1.07
Inertia ratio
0.04
External scale
reverse dividing
Numerator
3.25
Denominator
3.24
3.23
Reversal
3.26
-phase
invalid
3.27
+
+
1st
1.03
2nd
1.08
Instantaneous speed
2.02
2.03
2nd
2.04
2.05
2.06
3rd
2.07
2.08
2.09
4th
2.10
2.11
2.12
Disturbance
observer
Velocity detection
Gain
6.23
Filter
6.24
Encoder
Motor
Torque filter
Attenuat ion
term
1.04
2nd
1.09
2 stages
6.42 6.43
Torque limit
6.11
Main
2.00
1st
selection
5.21
1st
0.13
2nd
5.22
Response
setup
Depth
2.01
6.10
Width
1st
Current control
Input setup
Type
Velocity detection
filter
Hybrid deviation
[Command unit]
Electronic gear
reverse conversion
Frequency
Torque command
TRQ
[0.1%]
power
External scale
supply
R2.2
No. SX-DSV02202 - 66
5-2-5 Gain Switching Function
By selecting appropriate gain based on internal data or external signal, the following effects can be obtained.
Decrease the gain at the time of stoppage (servo lock) to reduce vibration.
Increase the gain at the time of stoppage (setting) to shorten the settling time.
Increase the gain during operation to improve command compliance.
Based on condition of the equipment, change the gain with external signal.
1)
Class
No.
14
Relevant parameters
Set the gain switching function using the following parameters.
Attribute *1)
Title
Range
01
Unit
Function
Arrange this parameter when performing optimum adjustment by
using the gain switching function.
0: Fix the parameter setting to 1st gain and toggle the velocity loop
operation between PI and P by using the control bit Gain_SW of
RTEX communication.
Gain_SW = 0 -> PI operation
Gain_SW = 1 -> P operation
1: Enable gain switching of 1st gain (Pr 1.00Pr 1.04) and 2nd
gain (Pr 1.05Pr 1.09).
Set up the triggering condition of gain switching for position
control.
15
Mode of position
control
switching
010000
010
16
Delay time of
position control
switching
17
Level of position
control
switching
020000
18
Hysteresis at
position control
switching
020000
19
Position gain
switching time
010000
Setup value
0
1
2
3
4
5
6
7
8
9
10
Switching condition
Fixed to 1st gain
Fixed to 2nd gain
RTEX communication gain switching command
Torque command
Invalid (Fixed to 1st gain)
Velocity command
Position deviation *2)
Position command exists
Not in positioning complete *2)
Actual speed
Position command exists + Actual speed
For position controlling: When shifting from the 2nd gain to the 1st
gain with Pr 1.15 Position control gain switching mode set at 3, 5, 6,
0.1 ms
7, 8, 9 or 10, set up the delay time from trigger detection to the
switching operation.
For position controlling: Set up triggering level when Pr 1.15
Mode Position control gain switching mode is set at 3, 5, 6, 9 or 10. Unit
dependent of setting varies with switching mode.
Note:Set the level equal to or higher than the hysteresis.
For position controlling: Set up triggering hysteresis when Pr 1.15
Position control gain switching mode is set at 3, 5, 6, 9 or 10.
Mode
Unit of setting varies with switching mode.
dependent
Note:When level < hysteresis, the hysteresis is internally adjusted so
that it is equal to level.
For position controlling: If the difference between Pr 1.00 1st gain
of position loop and Pr 1.05 2nd gain of poison loop is large, the
0.1 ms increasing rate of position loop gain can be limited by this
parameter.
The position loop gain will increase over the time set.
(To be continued)
R2.2
No. SX-DSV02202 - 67
Class
No.
Attribute
*1)
Title
Range
Unit
Function
For velocity controlling: Set the condition to trigger gain switching.
20
Mode of velocity
control switching
05
Setup value
0
1
2
3
4
5
21
Delay time of
velocity control
switching
010000
22
Level of velocity
control switching
020000
23
Hysteresis at
velocity control
switching
020000
Mode of torque
control switching
010000
24
03
25
Delay time of
torque control
switching
26
Level of torque
control switching
020000
27
Hysteresis at
torque control
switching
020000
Switching condition
Fixed to 1st gain
Fixed to 2nd gain
RTEX communication gain switching
command
Torque command
Velocity command variation is larger.
Velocity command
For velocity controlling: When shifting from the 2nd gain to the 1st
gain with Pr 1.20 Velocity control switching mode set at 3, 4 or 5,
set the delay time from trigger detection to the switching operation.
For velocity controlling: Set up triggering level when Pr 1.20
Mode Velocity control gain switching mode is set at 3, 4 or 5.
dependent Unit of setting varies with switching mode.
Note: Set the level equal to or higher than the hysteresis.
For velocity controlling: Set up triggering hysteresis when Pr 1.20
Velocity control gain switching mode is set at 3, 4 or 5.
Mode
Unit of setting varies with switching mode.
dependent
Note: When level < hysteresis, the hysteresis is internally adjusted so
that it is equal to level.
For torque controlling: Set the condition to trigger gain switching
0.1 ms
Setup value
0
1
2
3
Switching condition
Fixed to 1st gain
Fixed to 2nd gain
RTEX communication gain switching command
Torque command
For torque controlling: When shifting from the 2nd gain to the 1st
0.1 ms gain with Pr 1.24 Torque control switching mode set at 3, set up
the delay time from trigger detection to the switching operation.
For torque controlling: Set up triggering level when Pr 1.24 Torque
Mode control gain switching mode is set at 3.
dependent Unit varies depending on the setup of mode of control switching.
Note: Set the level equal to or higher than the hysteresis.
For torque controlling: Set up triggering hysteresis when Pr 1.24
Torque control gain switching mode is set at 3.
Mode
Unit of setting varies with switching mode.
dependent
Note: When level < hysteresis, the hysteresis is internally adjusted so
that it is equal to level.
R2.2
No. SX-DSV02202 - 68
2)
How to use
Set the gain switching mode for the control mode to be used, and enable the gain switching function through Pr
1.14 2nd gain setup (set Pr 1.14 to 1).
Setup value
0
Switching condition
Fixed to 1st gain
(To be continued)
R2.2
No. SX-DSV02202 - 69
Setup value
7
R2.2
Switching condition
Position command exists
10
No. SX-DSV02202 - 70
3)
How to set
Suppose the load travels from A to B position and the internal status of the drive changes as the fig. below shows.
Hereunder we explain how to set up the related parameters when you use the gain switching function.
1) Set up the conditions for gain switching with the following parameters.
Pr 1.15 Mode of position control switching
Pr 1.20 Mode of velocity control switching
Pr 1.24 Mode of torque control switching
M
A
B
Large
Set in Pr 1.15
Position control
Full-closed
control
Position
command
Positional
deviation
Positioning
complete
6
ON
OFF
ON
Velocity control
Motor velocity
Set in Pr 1.20
Velocity
command
Change in speed
control command
9, 10
Torque control
Set in Pr 1.24
R2.2
Torque
command
0, 4
No. SX-DSV02202 - 71
2)
Set up the switching level and Hysteresis depending on the switching conditions.
1st gain
2nd gain
1st gain
Hysterisis
Level
3)
Hysterisis
Level
1st gain
4)
2nd gain
1st gain
High gain
Low gain
High gain
Low gain
R2.2
166 s
No. SX-DSV02202 - 72
5-2-6 Notch filter
In case of a low machine stiffness, you cannot set up a higher gain because vibration and noise occur due to oscillation
caused by axis distortion or other causes. By suppressing the resonance peak at the notch filter, higher gain can be
obtained or the level of vibration can be lowered.
1) Relevant parameters
MINAS-A5N series feature 4 normal notch filters. You can adjust frequency and width and depth.
Class
No.
Attribute *1)
Title
1st notch
frequency
01
02
03
04
05
06
07
08
09
10
11
12
Range
Unit
505000
Hz
020
099
505000
Hz
020
099
505000
Hz
020
099
Function
Set the center frequency of the 1st notch filter.
The notch filter function will be invalidated by setting up this parameter
to 5000.
Set the width of notch at the center frequency of the 1st notch filter.
Set the depth of notch at the center frequency of the 1st notch filter.
Set the center frequency of the 2nd notch filter.
The notch filter function will be invalidated by setting up this parameter
to 5000.
Set the width of notch at the center frequency of the 2nd notch filter.
Set the depth of notch at the center frequency of the 2nd notch filter.
Set the center frequency of the 3rd notch filter.
The notch filter function will be invalidated by setting up this parameter
to 5000.
Set the width of notch at the center frequency of the 3rd notch filter.
Set the depth of notch at the center frequency of the 3rd notch filter.
505000
Hz
020
099
Set the depth of notch at the center frequency of the 4th notch filter.
R2.2
How to use
Determine the resonant frequency by using the frequency response measurement function of the setup support
software, resonant frequency monitor or waveform graphics function and set it to the notch frequency.
No. SX-DSV02202 - 73
3)
Notch width
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
Band width/center
frequency
MINAS-A4N
MINAS-A5N
(reference)
Series
0.41
0.50
0.56
0.59
0.71
0.71
0.86
0.84
1.01
1.00
1.19
1.41
1.68
2.00
2.38
2.83
3.36
4.00
4.76
5.66
6.73
8.00
9.51
11.31
13.45
16.00
Notch depth
I/O ratio
[dB]
0
1
2
3
4
5
6
7
8
9
10
15
20
25
30
35
40
45
50
60
70
80
90
100
0.00
0.01
0.02
0.03
0.04
0.05
0.06
0.07
0.08
0.09
0.10
0.15
0.20
0.25
0.30
0.35
0.40
0.45
0.50
0.60
0.70
0.80
0.90
1.00
-
-40.0
-34.0
-30.5
-28.0
-26.0
-24.4
-23.1
-21.9
-20.9
-20.0
-16.5
-14.0
-12.0
-10.5
-9.1
-8.0
-6.9
-6.0
-4.4
-3.1
-1.9
-0.9
0.0
Gain [dB]
Depth 0, width 4
Depth 50, width 4
Depth 0, width 8
Frequency [Hz]
R2.2
No. SX-DSV02202 - 74
5-2-7 Damping Control
This function reduces the vibration at the top or on whole of the equipment by removing the vibration frequency
components specified by the positional command. Up to 2 among 4 frequency settings can be used at the same time.
PLC
Position
command
Damping
filter
Torque
command
Position/
Velocity control
Current
control
Motor
current
Motor
position
Coupling
Motor
Ball screw
Work
Machine base
Load
Encoder
Servo driver
1)
Applicable Range
Damping control is activated under the following conditions.
Control mode
2)
Caution
This function does not work properly or no effect is obtained under the following conditions.
Load
R2.2
No. SX-DSV02202 - 75
3)
Class
Relevant parameters
Set up damping control operation using the parameters shown below.
AttribNo.
ute
*1)
Title
Range
Unit
Function
Among 4 filters select the filters to be used for damping control.
When setup value is 0: Up to 2 filters can be used simultaneously.
When setup value is 1 or 2: Maker use (Do not modify this parameter.)
With setup value 3: Select the filter with command direction.
13
Selection of damping
filter switching
03
Pr
2.13
3
Position
command
direction
Positive
direction
Negative
direction
1st
damping
2nd
damping
3rd
damping
4th
damping
valid
invalid
valid
invalid
invalid
valid
invalid
valid
You can set up the 1st damping frequency of the damping control which
suppresses vibration at the load edge.
The driver measures vibration at load edge. Setup unit is 0.1 [Hz]
The setup frequency is 1.0 to 200.0 [Hz]. Setup of 0 to 9 becomes
invalid.
If torque saturation occurs with damping frequency 1st enabled, decrease
the setup value, or if the operation is slow, increase it. Usually set it to 0.
Note: The maximum setup value is internally limited to the
corresponding damping frequency or 2000damping frequency,
whichever is smaller.
Specifies a depth corresponding to the 1st damping frequency.
The depth is maximum if the setting value is 0. As the setting value
increases, the depth decreases. As the depth increases, the damping effect
increases, but the delay also increases. As the depth decreases, the delay
decreases, but the damping effect also decreases.
Use the parameter to fine adjust the damping effect and delay.
You can set up the 2nd damping frequency of the damping control which
suppresses vibration at the load edge.
The driver measures vibration at load edge. Setup unit is 0.1 [Hz].
The setup frequency is 1.0 to 200.0 [Hz]. Setup of 0 to 9 becomes
invalid.
If torque saturation occurs with damping frequency 2nd enabled,
decrease the setup value, or if the operation is slow, increase it. Usually
set it to 0.
Note: The maximum setup value is internally limited to the
corresponding damping frequency or 2000damping frequency,
whichever is smaller.
14
1st damping
frequency
02000
0.1 Hz
15
01000
0.1 Hz
41
01000
16
2nd damping
frequency
02000
0.1 Hz
17
01000
0.1 Hz
*1
Switching between the damping frequency and damping filter setting is performed at the rising edge of the command
that causes the number of command pluses per command detection period (0.166 ms) (at upstream of position command
filter) changes from 0 to any other value while the positioning complete is being output.
Even if the control mode is changed to position control after changing the damping frequency and damping filter
settings during velocity control or torque control, the setting is not changed.
Especially, at higher damping frequency, or if it becomes disabled, and wider positioning complete range is set up, and
if large pulse (area is equivalent of time integration of the value of position command at upstream of the filter minus the
value of position command at downstream of filter) remains in the filter during switching, it is rapidly discharged upon
switching and returns to original position, and the motor will move at a speed higher than normal command velocity.
*2
There is delay from setting change of damping frequency or damping filter to internal computation and application of
new setting values. If the switching described in *1 occurs during this delay time, application of new value will be
suspended.
R2.2
No. SX-DSV02202 - 76
Class
No.
Attribute *1)
Title
02000
0.1 Hz
Range
Unit
18
3rd damping
frequency
19
3rd damping
filter setup
01000
0.1 Hz
20
4th damping
frequency
02000
0.1 Hz
21
4th damping
filter setup
01000
0.1 Hz
Function
You can set up the 3rd damping frequency of the damping control which
suppresses vibration at the load edge. The driver measures vibration at
load edge. Setup unit is 0.1 [Hz]
The setup frequency is 1.0 to 200.0 [Hz]. Setup of 0 to 9 becomes invalid.
If torque saturation occurs with damping frequency 3rd enabled, decrease
the setup value, or if the operation is slow, increase it. Usually set it to 0.
Note: The maximum setup value is internally limited to the corresponding
damping frequency or 2000damping frequency, whichever is smaller.
You can set up the 4th damping frequency of the damping control which
suppresses vibration at the load edge.
The driver measures vibration at load edge. Setup unit is 0.1 [Hz]
The setup frequency is 1.0 to 200.0 [Hz]. Setup of 0 to 9 becomes invalid.
If torque saturation occurs with damping frequency 4th enabled, decrease
the setup value, or if the operation is slow, increase it. Usually set it to 0.
Note: The maximum setup value is internally limited to the corresponding
damping frequency or 2000damping frequency, whichever is smaller.
velocity
Position
deviation
Computation of
damping
frequency
(2) Setup of damping filter (1st: Pr 2.15, 2nd: Pr 2.17, 3rd: Pr 2.19, 4th: Pr 2.21)
First, set to 0 and check the torque waveform during operation.
You can reduce the settling time by setting up larger value, however, the torque ripple increases at the command
changing point as the right fig. shows. Setup within the range where no torque saturation occurs under the actual
condition. If torque saturation occurs, damping control effect will be lost.
Damping filter setup is too large.
Torque command
R2.2
No. SX-DSV02202 - 77
5-2-8 Feed forward function
When position control or full closed control is used, positional deviation can be further reduced when compared with
deviation where control is made only by feedback, and response is also improved, by calculating the velocity control
command necessary for operation based on the internal positional command, and by adding velocity feed forward to the
velocity command calculated by comparison with position feedback. In certain command, velocity feed forward can be
set to the command argument and sent through RTEX communication.
The response time of the velocity control system is also improved by calculating torque command necessary for
operation based on the velocity control command and by adding torque feed forward calculated by comparison with
velocity feedback to the torque command. In certain command, torque feed forward can be set to the command
argument and sent through RTEX communication.
The feed forward given through RTEX communication is added to the feed forward value (internally calculated
according to the parameter setting).
1)
Relevant parameters
For MINAS-A5N series, the velocity feed forward and torque feed forward can be used.
AttribClass No.
ute
*1)
Title
Range
Unit
Function
Multiply the velocity control command calculated according to the
internal positional command by the ratio of this parameter and add the
result to the velocity command resulting from the positional control
process.
10
Velocity feed
forward gain
01000
11
Velocity feed
forward filter
06400
Set the time constant of 1st delay filter which affects the input of velocity
0.01 ms feed forward.
12
13
0.1%
0.1%
Set up the time constant of 1st delay filter which affects the input of torque
0.01 ms feed forward.
0 [%]
Command velocity
50 [%]
80 [%]
Time
Positional deviation within the constant speed range will reduce as the velocity forward gain is increased.
R2.2
No. SX-DSV02202 - 78
With the gain set at 100%, calculatory positional deviation is 0, but significant overshoot occurs during
acceleration/deceleration.
If the updating cycle of the positional command input is longer than the driver control cycle, or the pulse
frequency varies, the operating noise may increase while the velocity feed forward is active. If this is the case, use
positional command filter (1st delay or FIR smoothing), or increase the velocity forward filter setup value.
Note: Feed forward given through RTEX communication should be filtered at the host device.
3)
Positional deviation
Command speed
Positional deviation in the region where acceleration is constant can be reduced by torque feed forward.
R2.2
No. SX-DSV02202 - 79
5-2-9 Instantaneous Velocity Observer function
This function enables both realization of high response and reduction of vibration at stopping, by estimating the motor
velocity using a load model, hence improving the accuracy of the velocity detection.
Sp eed
co mman d
Torque
co mman d
Velocity
con trol
Estimate
v elocity value
Cu rrent
con trol
M otor
cu rren t
Motor
Load
In stantaneous
v elocity observer
Load model
Position
control
Encoder
Servo driver
Others
R2.2
Control mode to be either or both position control (semi-close control) or/and velocity control.
No. SX-DSV02202 - 80
(2) Cautions
This function does not work properly or no effect is obtained under the following conditions.
Load
Others
No.
Attribute *1)
Title
Range
Unit
10
Function
expansion setup
01023
Function
Velocity observer enable bit (bit 0) valid/invalid the function.
bit 0 0: Invalid 1: Valid
* bit 0 = LSB
R2.2
No. SX-DSV02202 - 81
5-2-10 Disturbance observer function
This function uses the disturbance torque determined by the disturbance observer to reduce effect of disturbance torque
and vibration.
Disturbance torque
Torque command +
Added in the
direction to cancel
the disturbance
Motor + load
Torque command
+
Motor velocity
Load model
Gain
Set in Pr 6.23
Filter
Set in Pr 6.24
Disturbance observer
Estimated
disturbance torque
Others
(2) Caution
Effect may not be expected in the following condition.
Load
R2.2
No. SX-DSV02202 - 82
(3) Relevant parameters
Class
No.
Attribute *1)
Title
Range
Unit
Function
Sets bits related to disturbance observer.
bit 1 0: Invalid
1: Valid
bit 2 0: Always valid
1: Valid only when 1st gain is selected.
* bit 0 = LSB
10
23
24
Function
expansion setup
Disturbance
torque
compensating
gain
Disturbance
observer filter
01023
Example:
To use the disturbance observer in the enabled mode only when 1st
gain is selected:
Setup value = 6
To use the disturbance observer always in the enabled mode:
Setup value = 2
Set up compensating gain against disturbance torque.
-100100
102500
0.01 ms
R2.2
No. SX-DSV02202 - 83
5-2-11 3rd gain switching function
In addition to the normal gain switching function described on 5-2-5, 3rd gain switching function can be set to increase
the gain just before stopping. The higher gain shortens positioning adjusting time.
(1) Applicable Range
This function can be applicable only when the following conditions are satisfied.
Control mode
Others
Class
No.
Attribute *1)
05
06
Title
Position 3rd gain
valid time
Position 3rd gain
scale factor
Range
Unit
Function
010000
0.1 ms
501000
Pr 6.05 0.1ms
2nd gain
Pr 1.051.09
3rd gain
1st gain
Pr 1.001.04
R2.2
No. SX-DSV02202 - 84
5-2-12 Friction torque compensation
To reduce effect of friction represented by mechanical system, 2 types of friction torque compensation can be applied:
offset load compensation that cancels constant offset torque and the dynamic friction compensation that varies direction
as the operating direction varies.
(1) Applicable Range
This function can be applicable only when the following conditions are satisfied.
Control mode
Others
No.
07
08
09
Attribute *1)
Title
Torque
command
additional value
Positive
direction torque
compensation
value
Negative
direction torque
compensation
value
Range
-100100
-100100
-100100
Unit
Function
Set up the offset load compensation value usually added to the
torque command in a control mode except for the torque control
mode.
Set up the dynamic friction compensation value to be added to the
torque command when forward positional command is fed.
R2.2
No. SX-DSV02202 - 85
(3) How to use
The friction torque compensation will be added in response to the entered positional command direction as shown
below.
Command velocity
[Positive direction]
Pr 6.08
[Positive direction torque
compensation value]
Pr 6.09
[Negative direction torque
compensation value]
Pr 6.07
[Torque command
additional value]
Time
{Negative direction}
Motor
de-energized
Motor
energized
Motor
de-energized
The friction compensation torque is the sum of the offset load compensation value which is set according to the torque instruction
additional value (always constant) and the dynamic friction compensation torque which is set according to positive/negative direction
torque compensation value.
The command velocity direction is reset upon power-up or when the motor is de-energized.
Pr 6.07 [Torque command additional value] reduces variations in positioning operation (performance is affected
by direction of movement). These variations occur when constant offset torque resulting from weight on vertical
axis is applied to the motor.
Certain loads such as belt driven shaft requires high dynamic friction torque, which lengthens positioning setting
time or varies positioning accuracy. These problems can be minimized by setting the friction torque of every
rotating direction into individual parameters. Pr 6.08 [Positive direction torque compensation value] and Pr 6.09
[Negative direction torque compensation value] can be used for this purpose.
The offset load compensation and dynamic friction compensation can be used individually or in combination.
However, some control modes impose limit on application.
For torque control: Offset load compensation and dynamic friction compensation are set at 0 regardless of
parameter setting.
For velocity control with servo-off: Offset load compensation per Pr 6.07 is enabled. Dynamic friction
compensation is set at 0 regardless of parameter setting.
For position control or full closed control with servo-on: Previous offset load compensation and dynamic friction
compensation values are maintained until the first positional command is applied where the offset load
compensation value is updated according to Pr 6.07. The dynamic friction compensation value is updated to
parameters Pr .6.08 and Pr 6.09 depending on command direction.
R2.2
No. SX-DSV02202 - 86
5-2-13 Hybrid vibration damping function
This function suppresses vibration due to amount of twist between the motor and load in the full closed control mode.
This function enables high gain setting.
(1) Applicable range
This function can be applicable only when the following conditions are satisfied.
Control mode
Others
(2) Caution
The effect of this function will be proportional to the amount of twist between the motor and load.
(3) Relevant parameters
Combine parameters below to set the hybrid vibration damping function.
Class
No.
Attribute *1)
Title
030000
0.1/s
06400
0.01 ms
34
Hybrid vibration
suppression gain
35
Hybrid vibration
suppression filter
Range
Unit
Function
Set up the hybrid vibration suppression gain for full-closed
controlling.
First set it to the value identical to that of poison loop gain, and then
fine tune as necessary.
Set up the time constant of the hybrid vibration suppression filter for
full-closed controlling.
R2.2
No. SX-DSV02202 - 87
5-2-14 2-stage torque filter
In addition to usual 1st and 2nd torque filters (Pr1.04 and Pr1.09), another torque filter can be set. High-frequency
vibration component can be suppressed by the use of the 2-stage torque filter.
When 2nd gain is
selected
Torque
command
(2) Precautions
If the setting value is increased excessively, the control may become unstable to produce vibration.
Specify proper setting value while checking the status of the device.
If Pr6.43 2-stage torque filter attenuation term is changed during operation, vibration may be generated.
Change the value while the motor is stopped.
(3) Relevant parameters
Class No.
Attribute *1)
Title
Range
Unit
42
2-stage torque
filter time
constant
02500
0.01ms
43
2-stage torque
filter attenuation
term
01000
Function
Sets 2-stage torque filter time constant.
The time constant is invalid if 0 is specified.
[When used for the secondary filter as Pr6.43 50]
The time constants that can be used are 5159 (0.051.59 ms).
(Equivalent to 1003000 Hz in frequency)
Setting values 14 works as 5 (3000 Hz), and 1592500 works as
159 (100 Hz).
Sets attenuation term of 2-stage torque filter.
The filter degree of the 2-stage torque filter is changed according to
the setting value.
049:
Operates as the 1st filter.
501000:
Operates as a 2nd filter and becomes a 2nd filter with = 1.0 if
setting value is 1000. As the setting value is decreased, the filter
becomes vibrational. Use with a setting value 1000 basically.
R2.2
No. SX-DSV02202 - 88
6. Application
6-1 Torque limit switching function
This function changes the torque limit value according to the operation direction or torque limit switching command
(TI_SW) of RTEX communication.
For details, refer to Technical Reference, SX-DSV02203Section 4-2-3-3, RTEX communication.
(1) Applicable range
This function can be applicable only when the following conditions are satisfied.
Control mode
Others
*1) During torque controlling, the switching function is disabled and only Pr. 0.13 1st torque limit is enabled.
Class No.
0
13
AttribTitle
ute *1)
B
1st torque limit
Range
Unit
0500
Function
You can set up the 1st limit value of the motor output torque.
You can set up the torque limiting method.
Setup
value
21
22
25
26
Selection of
torque limit
2nd torque
limit
Positive
direction
torque limit
Negative
direction
torque limit
1
2
3
4
TL_SW = 0
TL_SW = 1
Negative
Positive
Negative
Positive
direction
direction
direction
direction
Pr 0.13
Pr 5.22
Pr 0.13
Pr 5.22
Pr 0.13
Pr 0.13
Pr 5.22
Pr 5.22
Pr 0.13
Pr 5.26
Pr 5.25
14
0500
0500
0500
You can set up the 2nd limit value of the motor output torque.
R2.2
No. SX-DSV02202 - 89
6-2 Motor working range setup function
You can make an alarm stop of the motor with software limit protection (Err34.0) when the motor travels exceeding the
movable range which is set up with Pr 5.14 (Motor working range setup) against the position command input range.
You can prevent the work from colliding to the machine end caused by motor oscillation.
(1) Applicable range
This function can be applicable only when the following conditions are satisfied.
Control mode
Others
(2) Caution
This function is not a protection against the abnormal position command.
When this software limit protection is activated, the motor decelerates and stops according to Pr 5.10 (Sequence
at alarm).
The work (load) may collide to the machine end and be damaged depending on the load during this deceleration,
hence set up the range of Pr 5.14 including the deceleration movement.
This motor working range setup protection will be disabled during the frequency response functioning of the
communication.
When changing the control mode (for the purpose of only to control velocity or torque), do not use this function.
Instead, use software limit function or drive inhibit input.
(3) Relevant parameters
Class
No.
14
Attribute *1)
Title
Motor working
range setup
Range
01000
Unit
Function
You can set up the movable range of the motor against the
0.1
position command input range.
revolution When the motor movement exceeds the setup value,
software limit protection will be triggered.
R2.2
No. SX-DSV02202 - 90
(4) Example of movement
(1) When no position command is entered (Servo-ON status)
The motor movable range will be the travel range which is set at both sides of the motor with Pr5.14 since no
position command is entered. When the load enters to the Err34.0 occurrence range (oblique line range),
software limit protection will be activated.
Motor
Load
Pr 5.14 Pr 5.14
Motor movable
range
Motor
Load
Position command
Pr 5.14
input range
Pr 5.14
Load
Pr 5.14
P r5.14
R2.2
No. SX-DSV02202 - 91
6-3 Operating setting of various sequence
Desired sequence can be set under various operating conditions.
6-3-1 Sequence upon inputting of over-travel inhibition (POT, NOT) (under review)
Set up the operating sequence when the over-travel inhibition is input (POT, NOT).
(1) Relevant parameters
Class
Attribute *1)
No.
Title
Range
Unit
04
*2)
Over-travel
inhibit input
setup
02
05
*2)
Sequence at
over-travel
inhibit
02
11
0500
23
RTEX function
Expansion 2
-32768
32767
Function
Set up the operation of the run-inhibition (POT, NOT) inputs.
Set the parameter according to the specification of upper controller.
Normally it should be set to 1 (disabled) because the operation is controlled
by an upper controller.
0: POT inhibits CW drive, NOT inhibits CCW drive. When POT is
input during CW driving, stops the drive according to Pr 5.05 Sequence
at over-travel inhibit. The similar function NOT is applied in reverse
direction. Regardless of operating condition, torque in over-travel
inhibition direction is 0.
1: POT and NOT are disabled, having no effect on operation.
2: POT or NOT input activates Err 38.0 Run-inhibition input protection.
When Pr 5.04 Over-travel inhibition = 0, specify the status during
deceleration and stop after application of the over-travel inhibition (POT,
NOT).
Set up the torque limit at emergency stop.
When setup value is 0, the torque limit for normal operation is applied.
[bit 2] RTEX status response condition setting while POT/NOT function is
disabled (Pr 5.04 = 1).
0: RTEX status is enabled (system responses)
1: RTEX status is also disabled (does not response)
[bit 3] Arrangement set up of RTEX status bit of POT/NOT
0: POT is bit 1, NOT is bit 0
1: NOT is bit 1, POT is bit 0
[bit 6] RTEX status logical setting of POT/NOT
0: Without inversion (1: active)
1: Inversion (0: active)
Pr 5.05
R2.2
Clear *3)
Clear *3)
Clear *3)
Common
Deviation
Hold
Hold
Hold
No. SX-DSV02202 - 92
*1) During deceleration, the system is forced to perform position control, forcibly stopping the internal position command
generating process.
*2) Stop a command in over-travel inhibit direction with the over-travel inhibit input set to ON. If a command is issued in
over-travel inhibit direction, the command is neglected. If the bit 9 of the parameter for RTEX function enhancement
setting 2 (Pr7.23) is set to 1 at this time, a command error is returned.
*3) During deviation clearing, the process that lets the internal command position to follow the feedback position is
activated. At the instantaneous stopping and at the end of deceleration, position deviations/external scale deviations
accumulated during deceleration are cleared.
*4) When setting value of Pr 5.04 Over-travel inhibit input set up is 2, Err 38.0 Over-travel inhibit input protect occurs
when POT or NOT is turned on. Therefore, the system operates according to Pr 5.10 Sequence at alarm but not to this
setting. Pr 5.10 Sequence at alarm has always priority if any other error occurs.
*5) Emergency stop refers to a controlled immediate stop with servo-on.
The torque command value is limited during this process by Pr 5.11 Emergency stop torque setup.
*6) Deceleration period is the time required for the running motor to speed down to 30 r/min. Once the motor speed drops
below 30 r/min, it is treated as in stop state regardless of its speed.
6-3-2 Sequence at Servo-Off
Set up the servo-off sequence.
(1) Relevant parameters
Class
No.
Attribute *1)
Title
Range
Unit
06
Sequence at
Servo-Off
09
11
Torque setup
for emergency
stop
0500
Function
Specify the status during deceleration and after stop, after servo-off.
Set up the torque limit at emergency stop.
When setup value is 0, the torque limit for normal operation is applied.
Deviation
generation. *1)
Dynamic brake action
Clear *2)
Dynamic brake action
Clear *2)
Free run (DB OFF)
Clear *2)
Free run (DB OFF)
Clear *2)
Clear *2)
Clear *2)
Clear *2)
Clear *2)
Clear *2)
Clear *2)
Clear *2)
Clear *2)
*1) During deceleration sequence or at the stop (servo OFF), the system has to control the position and to stop the
generation of internal position command.
*2) During deviation clearing process, the system causes the internal command position to follow up the feedback position.
When executing the interpolation feed system command after servo ON, re-set the command coordinate of the host
controller. The motor may operate sharply.
*3) Emergency stop refers to a controlled immediate stop with servo-on. The torque command value is limited during this
process by Pr 5.11 Emergency stop torque setup.
*4) Deceleration period is the time required for the running motor to speed down to 30 r/min. Once the motor speed drops
below 30 r/min, it is treated as in stop state regardless of its speed.
*5) If an error occurs during servo-off, follow Pr 5.10 Sequence at alarm. If the main power is turned off during servo-off,
follow Pr 5.07 Sequence during main power interruption.
R2.2
No. SX-DSV02202 - 93
6-3-3 Sequence at main power OFF
Set up the main power OFF sequence.
(1) Relevant parameters
Class
No.
Attribute *1)
Title
Range
Unit
Function
07
Sequence at main
power OFF
09
Specify the status during deceleration after main power interrupt or after
stoppage.
08
0-3
09
Detection time of
main power off
70-2000
ms
11
0500
0,4
1,5
2,6
3,7
8
9
Deviation
Clear
*2)
Clear
*2)
Clear
*2)
Clear
*2)
Clear
*2)
Clear
*2)
generation. *1)
Clear
Dynamic brake action
*2)
Clear
Dynamic brake action
*2)
Clear
Free run (DB OFF)
*2)
Clear
Free run (DB OFF)
*2)
Clear
Dynamic brake action
*2)
Clear
Free run (DB OFF)
*2)
*1) During deceleration sequence or at the stop (main power OFF), the system must control the position and stop the
generation of internal position command.
*2) During deviation clearing process, the system causes the internal command position to follow up the feedback position.
When executing the interpolation feed system command after servo ON, re-set the command coordinate of the host
controller. The motor may operate sharply.
*3) Emergency stop refers to a controlled immediate stop with servo-on. The torque command value is limited during this
process by Pr 5.11 Emergency stop torque setup.
*4) Deceleration period is the time required for the running motor to speed down to 30 r/min. Once the motor speed drops
below 30 r/min, it is treated as in stop state regardless of its speed.
*5) If an error occurs with the main power supply turned off, Pr 5.10 Sequence at alarm is applied to the operation. When
the main power supply is turned off with servo-on state, Err13.1 Main power undervoltage error occurs if Pr 5.08 LV
trip selection with main power off = 1, and the operation follows Pr 5.10 Sequence at alarm.
R2.2
No. SX-DSV02202 - 94
6-3-4 Sequence at alarm
Set the operation sequence under alarm condition.
(1) Relevant parameters
Class No.
5
10
Attribute *1)
Title
Range
Unit
Sequence at alarm
07
Function
Specify the status during deceleration and after stop, after occurrence
of alarm.
Action A
*3)
Action B
*3)
Action A
*3)
Action B
*3)
Action A
*3)
Action B
*3)
Action A
*3)
Action B
*3)
Deviation
Clear
*2)
Clear
*2)
Clear
*2)
Clear
*2)
Clear
*2)
Clear
*2)
Clear
*2)
Clear
*2)
Clear
*2)
Clear
*2)
Clear
*2)
Clear
*2)
generation. *1)
Clear
Dynamic brake action
*2)
Clear
Dynamic brake action
*2)
Clear
Free run (DB OFF)
*2)
Clear
Free run (DB OFF)
*2)
Clear
*2)
Clear
*2)
Clear
*2)
Clear
*2)
*1) During deceleration sequence or at the stop (during alarm or servo OFF), the system must control the position and stop
the generation of internal position command.
*2) During deviation clearing process, the system causes the internal command position to follow up the feedback position.
When executing the interpolation feed system command after servo ON, first re-set the command coordinate of the host
controller. The motor may operate sharply.
*3) Action of A/B: When an alarm requiring emergency stop occurs, the action A is selected when the setup value in the
table is set within the range 4 to 7, causing emergency stop of operation. When an alarm not requiring emergency stop
occurs, it triggers dynamic braking (DB) specified by action B, or free-running. (Refer to Section 6-3-5.)
Hold the main circuit power until deceleration stop is completed.
For the alarm requiring emergency stop, refer to Section 7-1 Protective function list.
*4) Deceleration period is the time required for the running motor to speed down to 30 r/min. Once the motor speed drops
below 30 r/min, and changes its status after stoppage, it is treated as in stop state regardless of its speed.
R2.2
No. SX-DSV02202 - 95
6-3-5 Emergency stop upon occurrence of alarm
When an alarm requiring emergency stop occurs, the system controls and immediately stops the motor.
(1) Relevant parameters
Class No.
Attribute *1)
Title
Range
Unit
10
Sequence at alarm
07
11
0500
13
020000
14
01000
15
020000
Function
Specify the status during deceleration and after stop, after occurrence of
alarm.
Setting the parameter to one of 4 to 7, enables emergency stop.
Set up the torque limit at emergency stop.
When setup value is 0, the torque limit for normal operation is applied
Motor velocity
Velocity instruction
Stop
reference
speed
(30r/min)
Time
Alarm
No alarm
Torque limit
After occurrence of an alarm requiring emergency stop: when the speed has not dropped
down to 30 r/min after the elapse of time set by Pr 6.14 Emergency stop time at alarm, the
system generates the alarm. The system also enters the alarm state if an alarm that does not
require emergency stop occurs in the driver during the sequence of the emergency stop.
Note: To prevent overrun during emergency stop sequence, set allowable over-speed level to Pr 6.15 2nd over-speed
level setup. Because the 2nd over-speed protection is an error not compatible with emergency stop, this error
causes tripping. However, if the setting level is lower than that of Pr 5.13 Over-speed level setup, Err 26.1 2nd
over-speed protection occurs before Err 26.0 Over-speed protection and the system will not trigger emergency
stop.
If Err 26.0 and Err 26.1 are detected concurrently, Err 26.0 is displayed. No emergency stop occurs because Err
26.1 has occurred.
R2.2
No. SX-DSV02202 - 96
6-4 Torque saturation protection function
If torque saturated has continued for a fixed period, an alarm can be activated.
Relevant parameters
Class No.
16
Attribute *1)
Title
Range
Unit
Function
For the frequency, the count increases by one for every 0.1666ms.
For example if the frequency is set to 30000, Err16.1 will be activated if torque saturated has continued for about 5
seconds.
When torque is controlled, this function is disabled and Err 16.1 will not be activated.
If the immediate stop alarm is activated, this function is disabled and Err 16.1 will not be activated.
Torque
Torque limit
Torque command
Time
OFF
ON
Alarm output
OFF
ON
No alarm is
issued
(ALM)
Err16.1 is issued
Pr7.16 Setup value166.6s
OFF
R2.2
No. SX-DSV02202 - 97
7. Protective function/Alarm function
7-1 List of protective function
This servo driver incorporates various protective functions. When a protective function is enabled, the servo driver turns
OFF the alarm signal (ALM) and displays the error number on 7-segment LED of the panel section at front surface.
Error No.
Main
Sub
11
12
13
14
15
16
18
21
23
24
25
26
27
28
29
30
33
34
36
37
38
40
41
42
43
44
0
0
0
1
0
1
0
0
1
0
1
0
1
0
0
1
0
0
1
1
4
5
6
7
0
1
2
0
0
1
2
3
4
5
8
0
02
02
0
1
2
0
0
0
0
0
Alarm
History
Control power supply undervoltage protection
Over-voltage protection
Main power supply undervoltage protection (between P to N)
Main power supply undervoltage protection (AC interception
detection)
Over-current protection
IPM error protection
Over-heat protection
Over-load protection
Torque saturation error protection
Over-regeneration load protection
Over-regeneration Tr error protection
Encoder communication disconnect error protection
Encoder communication error protection
Encoder communication data error protection
Position deviation excess protection
Speed deviation excess protection
Hybrid deviation excess error protection
Over-speed protection
2nd over-speed protection
Absolute clear protection
Command error protection 1
Command generation error protection
Operation command contention protection
Position information initialization error protection
Limit of pulse replay error protection
Deviation counter overflow protection 1
Deviation counter overflow protection 2
Safety detection [Only special product supports this feature.]
Overlaps allocation error 1 protection
Overlaps allocation error 2 protection
Input function number error 1 protection
Input function number error 2 protection
Output function number error 1 protection
Output function number error 2 protection
Latch input allocation error protection
Software limit protection
EEPROM parameter error protection
EEPROM check code error protection
Over-travel inhibit input protection 1
Over-travel inhibit input protection 2
Over-travel inhibit input protection 3
Absolute system down error protection
Absolute counter over error protection
Absolute over-speed error protection
Incremental encoder initialization error protection
Absolute single turn counter error protection
/ Incremental signal turn counter error protection
Attribute
Can be
Emergency stop
cleared
*6
*1
*2
*2
(To be continued)
R2.2
No. SX-DSV02202 - 98
Error No
Main
Sub
45
47
48
49
50
51
55
82
83
84
86
87
90
91
92
93
94
95
98
0
0
0
0
0
1
0
1
2
3
4
5
0
1
2
0
0
1
0
3
5
0
1
2
0
2
1
0
1
0
2
3
5
2
04
1
2
3
Other
Alarm
History
Absolute multi-turn counter error protection
/ Incremental multi-turn counter error protection
Absolute status error protection
Incremental encoder Z-phase error protection
Incremental encoder CS signal error protection
External scale connection error protection
External scale communication error protection
External scale status 0 error protection
External scale status 1 error protection
External scale status 2 error protection
External scale status 3 error protection
External scale status 4 error protection
External scale status 5 error protection
A-phase connection error protection
B-phase connection error protection
Z-phase connection error protection
RTEX node addressing error protection
RTEX communication error protection 1
RTEX communication error protection 2
RTEX time out error protection
RTEX sync and initialization error protection
RTEX communication cycle error protection
RTEX cyclic data error protection 1
RTEX cyclic data error protection 2
RTEX update counter error protection
Compulsory alarm input protection
Multi-axis synchronization establishment error protection
RTEX command error protection
Encoder data recovery error protection
External scale data recovery error protection
Parameter setting error protection 1
Parameter setting error protection 2
External scale connection error protection
Parameter setting error protection 4
Home position return error protection
Motor automatic recognition error protection
RTEX hardware error protection 1
RTEX hardware error protection 2
RTEX hardware error protection 3
Other error
Attribute
Can be
Emergency stop
cleared
*6
*1: When Err 16.0 (overload protection) is triggered, you can clear it in 10 sec or longer after the error occurs.
Recognized as alarm clear command and used for clearing process as the condition becomes ready for process.
*2: When Err 40.0 (Absolute system down error protection) or Err 42.0 (Absolute over-speed error protection) occurs, the
alarm cannot be cleared until the absolute encoder is reset.
*3: If the alarm cannot be cleared, remove the alarm cause, turn OFF power to reset.
*4: If the alarm can be cleared, clear it through the RTEX or USB communication (PANATERM): Be sure to clear the
alarm during stop after removing the cause of the error and securing safety.
*5: If the servo driver internal control circuit malfunctions due to excessive noise etc., the display will show as follows:
. Immediately turn OFF power.
*6: Emergency stop is triggered if Pr 5.10 Sequence at alarm is set to one of 4 to 7 and corresponding alarm is detected. For
details, refer to 6-3-4 Sequence at alarm.
R2.2
No. SX-DSV02202 - 99
7-2 Details of Protective function
Error No.
Main Sub
11
12
13
14
Protective
function
Control power
supply
undervoltage
protection
Over-voltage
protection
Causes
Measures
(To be continued)
R2.2
15
Protective
function
Over-heat
protection
Over-load
protection
16
Causes
Measures
Over-regeneration
load protection
18
3) Active limit of the external regenerative resistor has
been limited to 10% duty.
Caution: Install an external protection such as thermal fuse without fail when you set up Pr 0.16 to 2. Otherwise,
regenerative resistor loses the protection and it may be heated up extremely and may burn out.
Regenerative
transistor error
protection
(To be continued)
R2.2
Error No.
Main
Sub
0
Protective
function
Encoder
communication
disconnection
error protection
21
23
Encoder
communication
error protection
Encoder
communication
data error
protection
Causes
Measures
Communication between the encoder and the driver has been Make a wiring connection of the encoder as per the wiring
interrupted in certain times, and disconnection detecting
diagram. Correct the miswiring of the connector pins.
function has been triggered.
Communication error has occurred in data from the encoder. Secure the power supply for the encoder of 5 VDC 5%
Mainly data error due to noise. Encoder cables are
(4.75 to 5.25 V)...pay an attention especially when the
connected, but communication data has some errors.
encoder cables are long.
Separate the encoder cable and the motor cable if they
are bound together.
Connect the shield to FG.
Data communication between the encoder is normal, but
contents of data are not correct.
Mainly data error due to noise. Encoder cables are
connected, but communication data has some errors.
Position deviation
excess protection
Speed deviation
excess protection
24
25
Hybrid deviation
excess error
protection
Over-speed
protection
2nd Overspeed
protection
26
The motor rotational speed has exceeded the setup value of
Pr 6.15.
(To be continued)
R2.2
Protective
function
Causes
Measures
Absolute clear
protection
27
5
28
29
30
2
33
3
Command
generation error
protection
Operation
commands
contention
protection
Position
information
initialization error
protection
FFT operated only by the driver: RTEX communication was FFT: check if RTEX was established during trial run.
established during trial run.
The output frequency of pulse regeneration has exceeded the Check the setup value of Pr0.11 (Output pulse counts per
limit.
motor revolution) and Pr5.03 (Denominator of pulse
Pulse regeneration
output division).
limit protection
To disable the detection, set Pr5.33 (Pulse regenerative
output limit setup) to 0.
After turning on of control power in absolute mode, after
Check the operation range at the position of absolute
execution of attribute C parameter validation mode, after
encoder (absolute scale) and electronic gear ratio.
Counter overflow FFT or after trial run: during position information
protection 1
initialization process, absolute encoder (absolute scale)
position (pulse unit)/electronic gear ratio exceeded 231
(2147483648).
Check that the motor runs as per the position command
Position deviation in unit of pulse has exceeded 229
(536870912).
pulses.
Or, position deviation in unit of command has exceeded 230 Check that the output toque has not saturated in torque
monitor.
Counter overflow (1073741824).
Make a gain adjustment.
protection 2
Set up maximum value to torque limit setting.
Make a wiring connection of the encoder as per the
wiring diagram.
Safety input
protection
[Only special
product supports
this feature.]
Input duplicated
allocation error 1
protection
Input signals (SI1, SI2, SI3, SI4) are assigned with two
functions.
Input duplicated Input signals (SI5, SI6, SI7, SI8) are assigned with two
allocation error 2 functions.
protection
Input function Input signals (SI1, SI2, SI3, SI4) are assigned with undefined
number error 1 number. Or, logical setup is not correct.
protection
Input function Input signals (SI5, SI6, SI7, SI8) are assigned with undefined
number error 2 number. Or, logical setup is not correct.
protection
Output function Output signals (SO1) are assigned with undefined number.
number error 1
protection
Output function Output signals (SO2) are assigned with undefined number.
number error 2
protection
(To be continued)
R2.2
Protective
function
33
Latch input
allocation error
protection
34
Software limit
protection
0
36
1
2
0
37
1
2
38
Over-travel inhibit
input protection 3
41
42
44
45
Measures
Over-travel inhibit
input protection 2
40
43
EEPROM
parameter error
protection
Causes
Absolute system
down error
protection
Absolute counter
Multi-turn counter of the 17-bit absolute encoder has
over error
exceeded the specified value.
protection
Absolute
overspeed error
protection
Incremental
encoder
initialization error
protection
Absolute single
turn counter error
protection
/ Incremental
signal turn counter
error protection
Absolute
multi-turn counter
error protection
/ Incremental
multi-turn counter
error protection
Check that there are not any errors in switches, wires or power
supply which are connected to positive direction/ negative
direction over-travel inhibit input. Check that the rising time
of the control power supply (12 to 24 VDC) is not slow.
Check that there are not any errors in switches, wires or power
supply which are connected to positive direction/ negative
direction over-travel inhibit input. Check that the rising time
of the control power supply (12 to 24 VDC) is not slow.
When POT is allocated to SI6 or NOT allocated to SI7,
make sure that Pr 5.04 over-travel inhibit input setup is set
to 1 (disabled).
After connecting the power supply for the battery, clear the
absolute encoder.
The alarm cannot be cleared until the absolute encoder is reset.
Set Pr 0.15 Absolute encoder setup to the appropriate value.
Limit the travel from the machine origin within 32767
revolutions.
Check the supply voltage at the encoder side (5 V 5%)
Check the connecting condition of the connector, CN X6.
The alarm cannot be cleared until the absolute encoder is
reset.
Replace the motor.
(To be continued)
R2.2
48
49
50
1
2
51
3
5
0
55
1
2
Protective
function
Absolute status
error protection
Causes
Measures
External
communication
data error
protection
External scale
status 0 error
protection
External scale
status 1 error
protection
External scale
status 2 error
protection
External scale
status 3 error
protection
External scale
status 4 error
protection
External scale
status 5 error
protection
A-phase wiring
error protection
B-phase wiring
error protection
Z-phase wiring
error protection
After removing the cause of the error, clear the external scale
error.
And then, shut off the power to reset.
(To be continued)
R2.2
Protective
function
Causes
Measures
RTEX continues
communication
error protection 1
RTEX continues
communication
error protection 2
RTEX
communication
timeout error
protection
83
84
RTEX
communication
cycle error
protection
RTEX_
Update_Counter
error protection
86
87
90
Make sure that the host device can transmit the signal at the
correct timing and speed.
The communication cycle set by Pr 7.20 RTEX
communication cycle setting must match the transmission
cycle of the host device.
If one or more requirements are not met, take the corrective
action by referring to description of Err 83.0.
A problem with the data (C/R and MAC-ID) in the cyclic Check the data in the cyclic command field (at location as
command area, or a problem with the Sub_Chk in 32-byte described on the left column).
mode continued for a specified period.
Check process performed on the host device.
A problem with cyclic command code continued for a
specified period.
The setup value for Pr 7.38 RTEX_Update_Counter
Check for any trouble in the process performed on the host
error protection setup has been exceeded and the
device.
Update_Counter has not been updated correctly.
Please check whether there is any problem in a periodic
setup of the host device, and a periodic setup of the driver.
Increase the setup value for Pr 7.38.
Please repeal this alarm when the ratio of the
communication cycle to the cycle which a command
updates is 1:1 and you do not use Update_Counter.
Forced alarm input (E-STOP) is applied.
Check the wiring of forced alarm input (E-STOP).
Forced alarm
input protection
RTEX multi-axis Communication error occurred or communication was
Take the same measure as done against Err83.0 or Err84.0.
synchronization lost during transition to synchronization establishment in
establishment full synchronization mode.
error protection
(To be continued)
R2.2
91
92
0
2
3
93
94
95
04
1
98
2
3
Other No.
R2.2
Protective
function
Causes
Measures
MSME 50 W
MSME 100 W (100 V)
MSME 100 W (200 V)
MSME 200 W
MSME 400 W
MSME 750 W
MSME 1.0 kW5.0 kW
MDME 1.0 kW5.0 kW
MGME 900 W3.0 kW
Notes:
R2.2
Use the motor so that actual torque stays in the continuous running range shown in S-T characteristic of the
motor.
For the S-T characteristics, see [REFERENCE SPECIFICATIONS] motor characteristics (S-T
characteristics).
Title
Range
Unit
40
Selection of alarm
output 1
014
41
Selection of alarm
output 2
014
27
03
38
Warning mask
setting
-32768
32767
14
02000
1 ms
RETEX continuous
communication
error warning
setting
032767
No. of
times
032767
No. of
times
032767
No. of
times
26
27
RETEX
accumulated
communication
error warning
setting
28
RTEX_Update_
Counter error
warning setting
Function
Select the type of alarm issued as the alarm output 1 (WARN1).
Setup value 0: ORed output of all alarms.
For 1 and subsequent see the table below.
Select the type of alarm issued as the alarm output 2.(WARN2)
Setup value 0: ORed output of all alarms.
For 1 and subsequent see the table below.
Set the latching state of warning.
General warning and extended warning can be specified.
bit 0: Extended warning
0: unlatch, 1: latch
bit 1: General warning
0: unlatch, 1: latch
Set the warning detection mask. To disable detection of a warning, place 1
to the corresponding bit.
Specifies a time to wait until a main power off warning is detected when
main power shut-off continues.
TREX communication status AC_OFF becomes 1 when main power off is
detected.
09, 2000: Warning detection is disabled.
101999: Unit is [ms] Setting resolution is 2 ms.
WngC0H (RTEX accumulated communication error warning) is generated
as the number of continuous communication errors reaches the parameter
setting.
When the setting is 0, the function is disabled and warning is not
generated.
WngC1H (RTEX accumulated communication error warning) is generated
as number of accumulated communication errors reaches the parameter
setting.
When the setting is 0, the function is disabled and warning is not
generated.
If Update_Counter is accumulated exceeding the setting value of this
parameter and correct update fails, WngC2h (RTEX_Update_Counter
error warning) is issued.
When the setting is 0 or 1, the function is disabled and warning is not
generated.
R2.2
Alarm
Content
Pr 6.27
*1)
Output setting
Pr 4.40/
Pr 4.41
*2)
Overload protection
Over-regeneration
alarm
Battery alarm
Fan alarm
Encoder
communication
alarm
Encoder overheat
alarm*4)
Oscillation
detection alarm
Lifetime detection
alarm
External scale error
alarm
External scale
communication
alarm
Waning mask
Pr 6.38
Corresponding
bit
*3)
bit 7
bit 5
Latch fixed
3
4
bit 0
bit 6
bit 4
bit 3
bit 13
Latch fixed
bit 2
bit 8
10
bit 14
Extended warning
Pr 6.27
*1)
Output
setting
Pr 4.40/
Pr 4.41
*2)
11
bit 9
Latch fixed
12
bit 10
Latch fixed
13
bit 11
Latch fixed
14
bit 12
Warning latch
Alarm
No.
(Hex.)
Alarm
C0
RETEX continuous
communication error
warning
C1
RETEX accumulated
communication error
warning
C2
RTEX_Update_Counter
error warning
C3
R2.2
Content
Waning mask
Pr 6.38
Corresponding
bit
*3)
R2.2
2)
3)
R2.2
5)
6)
R2.2
Safety
switch
24V
Servo driver
Contact
output
SF1+
Safety input
SF1-
M
SF2+
Safety input
SF2-
0V
EDM+
EDM
output
EDM-
When STO function operates, the servo driver turns off the servo ready output signal (S-RDY) and enters safety state.
This is an alarm condition and the 7-seg LED on the front panel displays the error code number.
PFH value of the safety function: 2.30 10-8
R2.2
Type
Signal
Symbol
SF1+
Safety input 1
SF1-
Pin No
Control mode
Contents
X3-4 Input 1 that triggers STO function. This input turns off
the upper arm drive signal of power transistor.
When using the function, connect this pin in a way so
that the photocoupler of this input circuit turns off to
activate STO function.
X3-3
X3-6 Input 2 that triggers STO function. This input turns off
the lower arm drive signal of power transistor.
When using the function, connect this pin in a way so
that the photocoupler of this input circuit turns off to
activate STO function.
X3-5
Fullclose
Input
SF2+
Safety input 2
SF2-
Safety input 1 or 2 enables STO to operate within 5 ms, causing motor output torque to turn off.
Caution: Safety equipment self-diagnosis L pulse
Safety output signal from the safety controller and safety sensor may include L pulse for self-diagnosis. To prevent the
L pulse from mis-triggering STO function, the safety input circuit has built-in filter that removes the self-diagnosis L
pulse.
Therefore, if the off period of safety input signal less than 1 ms, the safety input circuit does not detect this off event.
To validate this off period, turn off the input signal for more than 5 ms.
Safety input
signal
1 ms or shorter
Servo driver
operation
R2.2
5 ms or shorter
Usual operation
STO state
Signal
Out
put
EDM output
Symbol
EDM+
EDM-
Pin
No.
Control mode
Contents
Fullclose
The table below shows the logical relationship between safety input signal and EDM output signal.
When both safety input 1 and 2 are off, i.e. when STO function of 2 safety input channels are active, the photocoupler in
EDM output circuit turns on.
Signal
Symbol
Photocoupler logic
SF1
ON
ON
OFF
OFF
SF2
ON
OFF
ON
OFF
EDM
OFF
OFF
OFF
ON
Safety input
EDM output
By monitoring the logics (all 4 states) of photocoupler shown in the table above, the external device can determine the
status (normal or abnormal) of safety input circuit and EDM output circuit. That is, when error occurs, the EDM output
circuit does not turn ON the photocoupler even if both safety inputs 1 and 2 are OFF. Or, reversely, the EDM output
circuit turns ON the photocoupler if one of or both of safety inputs 1 and 2 are ON.
Maximum delay time from input of safety 1 and 2 signals to output of EDM signal is 6 ms.
8-2-3 Internal signal circuit block diagram
See the safety circuit block diagram at the end of This document.
R2.2
Servo-ON input
SRV-ON
Safety input 1
Safety input 2 *3
Photocoupler is OFF.
(Servo-OFF command)
Photocoupler is ON.
Max 5 ms
Moto r energization
Not-energized
En ergized
max 6 ms
EDM output
Photocoupler is ON.
0.55 ms
Dynamic brake *2
Servo-Ready output
(S-RDY)
Servo-Alarm output
(ALM)
External b rake
release output
(BRK-OFF)
engaged
Released
Photocoupler is OFF.
(Not ready)
Photocoupler is OFF.
(Alarm)
Ph otocoupler is ON.
(Not alarm)
Motor speed
Setup value of Pr 4.39
motor speed
Setup value of Pr 4.39
*1
t1 is the value set to Pr 4.38 Setup of mechanical brake action at running or the time at which the motor revolution
speed drops below the time set to Pr 4.39 Brake release speed setup, whichever comes first.
*2
*3
When safety input 1 or 2 turns off, the state changes to STO condition.
R2.2
S e rvo - O N inp ut
SRV -O N * 1
S a fety inp ut 1
S a fety inp ut 2
P h oto c ou pler is
O FF.
P ho tocou pler is O N .
(S e rvo- O N com m a n d)
O n ce t he se r v o o n
P h oto c o upler is O N .
in pu t, the
M o tor en ergization
N o t-energized
o per atio n
Ma x 6ms
E D M outpu t
c o mm a n d is
o u tp u t cou p ler
ON
p ro cee d s in
P ho toc ou pler is O F F.
sy nch r o no us w ith
no r m al ser vo
D yn am ic b rak e
M ax 2 m s
S er v o-O FF
S e rvo - Re ad y o utp ut
S- R D Y
( Ref er t o 9 -2
Ti min g Ch a rt )
Pho toc o up le r is
O N . ( R ead y )
P ho toc ou pler is O N .
P h oto c o up ler is O N .
( N ot ala rm )
*1
Photocouplers for safety input 1 and 2 should be turned on again with servo-on input turned off. Otherwise, alarm
occurs, and should be cleared.
Alarm clear should be performed after the safety input 1 and 2 have been turned back to on. Otherwise, alarm occurs.
*2
This is an alarm condition and the dynamic brake operates according to Pr 5.10 (Sequence at alarm).
*3
This is normal servo-off condition and the dynamic brake operates according to Pr 5.06 (Sequence at servo-off).
R2.2
24V
Safety
switch
Servo driver
Contact
output
SF1+
Safety input
SF1-
M
SF2+
Safety input
SF2-
0V
EDM+
EDM
output
EDM-
Safety output
(source)
Servo driver
Control output 1
SF1+
Safety input
SF1-
Control output 2
SF2+
0 V
SF2-
24 V
EDM+
EDM input
EDM-
EDM
output
R2.2
EDM input
Safety
controller
Servo driver
T31 T33
SF1+
Safety input 1
SF1G9SX-AD
PWR
FB
T1
T2
EI
ED
SF2+
ERR
SF2A2
EDM+
S14
S24
Safety
outoput
(source)
R2.2
EDM-
EDM
output
0V
Safety sensor
Safety output
(source)
Control output 1
Servo driver
Control output 2
SF1+
0 V
24 V
SF1-
M
SF2+
SF2-
EDM input
EDM+
EDM-
EDM output
Servo driver
SF1+
SF1-
M
SF2+
SF2-
EDM+
EDM-
EDM output
Servo driver
SF1+
SF1-
M
SF2+
SF2-
EDM+
EDM-
EDM output
Capacity requirement per safety output (source) channel: 50 No. of connected axes (mA)
24 VDC supply allowable voltage: 24 V15%
Maximum No. of connectable axes: 8
R2.2
R2.2
+5V
SF1+
CN8
4
Power
+5V
Control
Circuit
IL_EMG
5V
I_SF1
C
analog input
SF2+
SF1-
+5V
LPF (2ms)
5V
ASIC
IL_ERR1
+5V
+5V
I_SF2
PC
C
analog input
SF2-
5
+5V
EDM+
C port
3.3V
level
shifter
EDM-
+5V
N
5V
PC
5V
O_EDM
+5Vin
+5V PS
Voltage
Monitor
+5Vout
Motor
R2.2
No.
00
01
02
03
04
08
09
10
11
12
Related
control
mode
Reference
All
4-1
All
All
5-1-1
All
5-1-1
010000
All
pulse
0230
All
4-2-2
0230
All
4-2-2
1230
All
4-2-2
pulse
/r
1262144
All
4-2-5
03
All
4-2-5
0500
All
6-1
7-4
Position,
Full-close
7-4
Range
Size
[byte]
Rotational
direction setup
01
Control mode
setup
06
06
031
Real-time
auto-gain tuning
setup
Real-time
auto-tuning
machine stiffness
setup
Inertia ratio
Number of
command pulses
per motor
revolution
Numerator of
electronic gear
Denominator of
electronic gear
Number of output
pulses per motor
revolution
Reversal of pulse
output logic
Function / Contents
Setup the relationship between the
direction of command and direction of
motor rotation.
0: CW = positive, 1: CCW = positive
Select the control mode of the servo
driver.
0: semi-closed control
(position/velocity/torque control,
selectable)
15: To be used by the manufacturer but
not by the user.
6: Full-close control (only position
control)
13
14
Position deviation
excess setup
Command
unit
0227
15
Absolute encoder
setup
02
Position,
velocity,
torque
4-7-1
03
All
4-6
04
All
4-6
16
17
R2.2
Attribute
Unit
Title
External
regenerative
resistor setup
Selection of load
factor for external
regenerative
resistor
No.
00
01
02
03
04
05
06
07
08
09
10
11
Range
Size
[byte]
0.1/s
030000
0.1 Hz
132767
All
5-2
All
5-2
All
5-2
All
5-2
Function / Contents
Attribute
05
0.01
ms
02500
0.1/s
030000
Position,
Full-close
5-2
0.1 Hz
132767
All
5-2
0.1 ms
110000
All
5-2
05
All
5-2
0.01
ms
02500
All
5-2
0.1%
01000
0.01
ms
06400
01000
13
Torque feed
forward filter
0.01
ms
06400
14
01
010
0.1 ms
010000
020000
17
18
19
20
21
22
23
24
25
26
27
5-2
110000
0.1%
16
Reference
0.1 ms
Torque feed
forward gain
Mode of position
control switching
Delay time of
position control
switching
Level of position
control switching
Hysteresis at
position control
switching
Position gain
switching time
Mode of velocity
control switching
Delay time of
velocity control
switching
Level of velocity
control switching
Hysteresis at
velocity control
switching
Mode of torque
control switching
Delay time of
torque control
switching
Level of torque
control switching
Hysteresis at
torque control
switching
Related
control
mode
Position,
Full-close
Unit
12
15
R2.2
Title
Position,
Full-close
Position,
Full-close
Position,
Velocity
Full-close
Position,
Velocity
Full-close
5-2-8
5-2-8
5-2-8
5-2-8
All
5-2-5
Position,
Full-close
5-2-5
Position,
Full-close
5-2-5
Position,
Full-close
5-2-5
020000
Position,
Full-close
5-2-5
0.1 ms
010000
Position,
Full-close
5-2-5
05
Velocity
5-2-5
0.1 ms
010000
Velocity
5-2-5
020000
Velocity
5-2-5
020000
Velocity
5-2-5
03
Torque
5-2-5
0.1 ms
010000
Torque
5-2-5
020000
Torque
5-2-5
020000
Torque
5-2-5
No.
00
Title
Adaptive filter
mode setup
Unit
Range
Size
[byte]
04
Hz
505000
020
099
Hz
505000
020
099
Hz
505000
07
08
020
09
099
Hz
505000
11
020
12
099
03
Attribute
B
Related
Reference
control mode
Position,
5-1-2
Velocity
Full-close
All
5-2-6
All
5-2-6
All
5-2-6
All
5-2-6
All
5-2-6
All
5-2-6
All
5-2-6
5-1-2
All
5-2-6
5-1-2
All
5-2-6
5-1-2
All
5-2-6
5-1-2
All
5-2-6
5-1-2
All
5-2-6
5-1-2
Position,
Full-closed
5-2-7
Position,
Full-closed
5-2-7
Position,
Full-closed
5-2-7
Position,
Full-closed
5-2-7
Position,
Full-closed
5-2-7
Position,
Full-closed
5-2-7
Position,
Full-closed
5-2-7
Position,
Full-closed
5-2-7
Position,
Full-closed
5-2-7
13
Selection of
damping filter
switching
14
1st damping
frequency
0.1 Hz
02000
15
0.1 Hz
01000
16
2nd damping
frequency
0.1 Hz
02000
17
0.1 Hz
01000
18
3rd damping
frequency
0.1 Hz
02000
19
0.1 Hz
01000
20
4th damping
frequency
0.1 Hz
02000
21
0.1 Hz
01000
010000
Position,
Full-closed
4-2-3
010000
Position,
Full-closed
4-2-3
22
23
R2.2
Function / Contents
Positional
command
0.1 ms
smoothing filter
Positional
0.1 ms
command FIR filter
Class
No.
Title
Unit
Range
04
05
12
0
10000
0
10000
13
ms/
(1000 r/min)
ms/
(1000 r/min)
14
Sigmoid acceleration/
deceleration time setup
ms
01000
17
01
21
r/min
0
20000
22
r/min
0
20000
23
02
0220
1220
01
01
Instruction
unit
1227
Revolution
0100
24
25
26
27
28
29
R2.2
Numerator of external
scale division
Denominator of
external scale division
Reversal of direction of
external scale
External scale Z phase
disconnection detection
disable
Hybrid deviation excess
setup
Hybrid deviation clear
setup
2
2
Function / Contents
Attribute
Permanently set at 0.
Permanently set at 0.
Set up acceleration processing time in
response to the velocity instruction input.
Set up deceleration processing time in
response to the velocity instruction input.
Set S-curve time for
acceleration/deceleration process when
the velocity instruction is applied.
Set up the speed limit
Set up the speed limit
The internal value is limited by the
smallest setting speed of Pr 5.13
Over-speed level setup, Pr 6.15 2nd
over-speed level setup and motor
maximum speed 1.2.
Set the speed limit value when Pr 3.17
Selection of speed limit = 1 and SL_SW is
1.
The internal value is limited by the
smallest setting speed of Pr 5.13
Over-speed level setup, Pr 6.15 2nd
over-speed level setup and motor
maximum speed 1.2.
Select the type of external scale.
0: A,B phase output type
1: Serial communication type (incremental
version)
2: Serial communication type (absolute
version)
Set up the numerator of the external scale
dividing setup.
Set up the denominator of the external
scale dividing setup.
Set the polarity of external scale feedback
pulse.
Enable/disable Z phase open circuit
detection when using external scale of AB
phase output type.
0: Enable, 1: Disable
Set up the threshold of Err.25.0 Hybrid
deviation excess error protection.
Clear hybrid deviation of each revolution
setting to zero.
Related
control
mode
-
Velocity
4-3-3
Velocity
4-3-3
Velocity
4-3-3
Torque
4-4-1
Torque
4-4-1
Torque
4-4-1
Full-closed
4-5-1
Full-closed
4-5-2
Full-closed
4-5-2
Full-closed
4-5-1
Full-closed
Full-closed
4-5-3
7-4
Full-closed
4-5-3
Reference
-
Range
Size
[byte]
000FFFFFFh
000FFFFFFh
000FFFFFFh
000FFFFFFh
000FFFFFFh
000FFFFFFh
000FFFFFFh
000FFFFFFh
000FFFFFFh
000FFFFFFh
000FFFFFFh
4
4
4
4
4
4
4
4
4
4
4
16
024
17
0214748364
18
024
0214748364
02
2
2
2
Instruction
unit
0262144
04
ms
030000
Class
No.
00
01
02
03
04
05
06
07
10
11
12
19
21
22
23
24
R2.2
Title
31
Positioning complete
(In-position) range
32
Positioning complete
(In-position) output setup
33
34
Zero-speed
r/min
1020000
35
r/min
1020000
36
r/min
1020000
37
ms
010000
38
ms
010000
39
r/min
303000
40
014
41
014
42
Positioning complete
(In-position) range 2
Instruction
unit
0262144
Function / Contents
Attribute
C
C
C
C
C
C
C
C
C
C
C
Related
control
mode
All
All
All
All
All
All
All
All
All
All
All
All
3-4
All
3-4
All
3-4
All
3-4
All
3-4
Position,
Full-closed
4-2-4
A
A
Position,
Full-closed
Position,
Full-closed
Reference
2-4-1
2-4-1
2-4-1
2-4-1
2-4-1
2-4-1
2-4-1
2-4-1
2-4-1
2-4-1
2-4-1
4-2-4
4-2-4
All
2-4-2
Velocity,
Torque
4-3-2
Velocity,
Torque
4-3-1
All
9-2-2
All
9-2-2
All
9-2-2
All
7-3
All
7-3
Position
Full-closed
4-2-4
No.
03
04
05
06
07
R2.2
Title
Denominator of pulse
output division
Over-travel inhibit input
setup
Sequence at over-travel
inhibit
Sequence at Servo-Off
Sequence upon main power
off
Unit
Range
Size
[byte]
0
262144
02
02
09
09
08
03
09
1 ms
70
2000
10
Sequence at alarm
07
11
0500
12
0500
13
r/min
0
20000
14
0.1 rot
01000
15
03
20
01
21
14
22
0500
25
0500
26
0500
29
Function / Contents
Attribute
Related
control
mode
Reference
All
4-2-5
All
All
All
6-3-1
7-4
6-3-1
7-4
6-3-2
All
6-3-3
All
All
All
6-3-4
All
6-3-1
6-3-2
6-3-3
6-3-5
All
All
6-3-5
7-4
Position,
Full-closed
6-2
7-4
All
Position,
Full-closed
7-4
Position,
Velocity,
Full-closed
6-1
Position,
Velocity,
Full-closed
6-1
Position,
Velocity,
Full-closed
6-1
Position,
Velocity,
Full-closed
6-1
Unit
Range
Size
[byte]
0127
33
01
34
Class
No.
31
R2.2
Title
Function / Contents
Set up the axis number for USB communication.
Enable/disable detection of Err 28.0 (Pulse
regenerative limit protection).
0: Invalid 1: Valid
Fixed to 4.
Attribute
Related
control
mode
Reference
All
All
4-2-5
No.
02
05
06
07
08
09
Speed deviation
excess setup
Position 3rd gain
valid time
Position 3rd gain
scale factor
Torque command
additional value
Positive direction
torque compensation
value
Negative direction
torque compensation
value
Attribute
Related
control
mode
Reference
Position
Unit
Range
Size
[byte]
r/min
020000
0.1 ms
010000
501000
-100100
-100100
Position,
Full-closed
5-1-1
-100100
Position,
Full-closed
5-1-1
All
5-2-9
5-2-10
All
All
6-3-5
All
6-3-5
All
9-2-1
Function / Contents
Set threshold of Err 24.1 Speed over deviation
protection.
This protection is not detected when the setup
value is 0.
Set up 3rd gain valid time of 3 gain level
adjustment.
Set up the 3rd gain by a multiplying factor of the
1st gain
B
B
Position,
Full-closed
Position,
Full-closed
Position,
Velocity,
Full-closed
5-2-11
5-2-11
5-1-1
10
Function expansion
setup
0
1023
11
Current response
setup
50100
14
ms
01000
15
r/min
020000
18
0.1 s
0100
Fixed to 0.
Fixed to 0.
Fixed to 0.
Full-closed
4-2-5
19
20
21
22
R2.2
Title
For manufacturers
use
For manufacturers
use
For manufacturers
use
AB phase external
scale pulse outputting
method selection
01
Class
No.
23
24
27
31
32
34
35
Disturbance torque
compensating gain
Disturbance observer
filter
37
Oscillation detecting
level
38
39
40
R2.2
Title
For manufacturers
use
For manufacturers
use
Unit
Range
Size
[byte]
-100100
0.01
ms
102500
03
03
-3276832767
0.1/s
030000
0.01
ms
06400
0.1%
01000
-3276832767
41
01000
42
0.01
ms
02500
43
01000
Function / Contents
Set up the compensation gain against
disturbance torque.
Set up the filter time constant according to the
disturbance torque compensation.
Determine whether to latch warning state.
General warning and Extended warning can be
specified.
bit 0 Extended warning
0: unlatched 1: latched
bit 1 General warning
0: unlatched 1: latched
Set up the load characteristics estimation speed
with the real time auto tuning being valid.
Set up details of real time auto tuning
customize mode.
Set up the hybrid vibration suppression gain for
full-closed controlling.
Set up the time constant of the hybrid vibration
suppression filter for full-closed controlling.
Set up the oscillation detecting level.
Upon detection of a torque vibration whose
level is higher than this setup value, the
oscillation detection alarm will be issued.
Set up the alarm detection mask. Placing 1 to
the corresponding bit position disables
detection of the alarm condition.
Attribute
B
B
Related
control
mode
Position,
Velocity
Position,
Velocity
Reference
5-2-10
5-2-10
All
7-3
All
5-1-1
All
5-1-1
Full-closed
5-2-13
Full-closed
5-2-13
All
7-3
All
7-3
Fixed to 0.
Fixed to 0.
Position,
Full-closed
5-2-7
All
5-2-14
All
5-2-14
R2.2
All
3-2
Torque
To be fixed to 0.
To be fixed to 0.
To be fixed to 0.
To be fixed to 0.
To be fixed to 0.
To be fixed to 360.
Position
(PP)
Full-closed
RTEX
Position
(PP)
Full-closed
RTEX
Position
(PP)
Full-closed
RTEX
All
RTEX
All
RTEX
100 ms
-11000
01
03
09
3-2
01
08
All
032767
Display on LED
07
00
06
Reference
Size
[byte]
05
Related
control
mode
Range
No.
04
Attribute
Unit
Class
Title
For manufacturers
use
For manufacturers
use
For manufacturers
use
For manufacturers
use
For manufacturers
use
For manufacturers
use
10
Profile
Software limit
function
11
03
Profile
Positive side
software limit value
Command
unit
-1073741823
1073741823
12
Profile
Negative side
software limit value
Command
unit
-1073741823
1073741823
13
Absolute home
position offset
Command
unit
-1073741823
1073741823
14
1 ms
02000
Function / Contents
Select type of data displayed on front panel
7-seg LED.
Sets node address display time upon turning
ON of control power.
When the setting value is 0 to 6, it is
processed in 600ms.
When the setting value is -1, a node address
is shown from control power-on until the
RTEX communication is established
(communication and servo synchronization).
Set up judgment condition of output while
torque is limited by torque control.
0: Turn ON at torque limit including torque
command value
1: Turn ON at torque limit excluding torque
command value
[Under review]
Set up software limit on positive and negative
direction. When the limit is exceeded, RTEX
communication status PSL/NSL will be
turned ON (=1).
Note: Positive side software limit value must
be larger than negative side software limit
value.
R2.2
No.
Title
Unit
Range
Size
[byte]
15
Profile
Positioning adjacent
range
16
time
030000
20
RTEX communication
cycle setup
012
21
RTEX command
updating cycle ratio
setting
12
22
RTEX function
extended setup 1
-32768
32767
Command
01073741823
unit
Function / Contents
The NEAR of the RTEX
communication status becomes 1 when
the difference between the internal
target position and command position is
smaller than a specified value during
profile position control (PP).
If torque saturated is continued during a
preset frequency, Err 16.1 Torque
saturation protection will be activated.
If the setup value is 0, this function is
disabled and an alarm will not be
activated.
Set up the RTEX communication cycle.
0: 0.0833[ms]
1: 0.1666 [ms]
3: 0.5 [ms]
6: 1.0 [ms]
Other settings are used by the
manufacturer so that the user is not
allowed to set this parameter.
Set up the RTEX communication cycle
properly according to the
specifications of the host device. If the
parameter is not proper, the operation
is not be guaranteed.
Setup the ratio of RTEX communication
cycle and command update cycle.
1: 1 [time]
2: 2 [times] (can be set only when
communication cycle = 0.0833 [ms]
and 0.5 [ms])
Set up the RTEX communication cycle
properly according to the
specifications of the host device. If the
parameter is not proper, the operation
is not be guaranteed.
bit 0: Set up RTEX communication data
size
0: 16-byte mode, 1: 32-byte mode
bit 1: Specifies synchronization mode
among multiple axes using
TMG_CNT.
0: Semi-synchronization among
axes, 1: Full synchronization
among axes.
bit 2: For manufacturers use.
Always set to 0.
bit3: unused. Always set to 0.
bit4: A setup of the external scale position
information monitoring facility at the
semi-closed control
0: Invalid
1: Valid
*When communication period is
below 0.1666 [ms] or less, does
not correspond. (except for
NOP)
*Full-close control is not related to
a setup of this bit,
external scale position
information can be monitored.
Set up the RTEX communication cycle
properly according to the
specifications of the host device. If the
parameter is not proper, the operation
is not be guaranteed.
Attribute
Related
Reference
control mode
Position,
Full-closed
(PP)
Position,
Velocity
Full-closed
RTEX
6-4
All
2-5
RTEX
All
2-5
RTEX
All
2-5
4-8
RTEX
R2.2
No.
Title
Unit
Range
Size
[byte]
23
RTEX function
extended setup 2
-32768
32767
24
RTEX function
extended setup 3
-32768
32767
25
01
26
No. of
times
0
32767
27
RTEX accumulated
error warning setup
No. of
times
0
32767
Function / Contents
bit 0: Parameter writing through RTEX
communication:
0: Enable, 1: Disable
bit 1: Alarm code sub number setup
0: Fixed to 0, 1: Sub number
enabled
bit 2: RTEX status response condition
setup with function of P0T/N0T
disabled (Pr.5.04 = 1).
0: Status enabled, 1: Fixed to 0
bit 3: RTEX status bit arrangement setup
of P0T/N0T
0: P0T is bit 1, N0T is bit 0
1: N0T is bit 1, P0T is bit 0
bit 4: Set up [COM] LED display mode
0: Mode 1, 1: Mode 2
bit 5: Non-cyclic command start mode
setting
0: When standard command is
changed.
1: When command code and
command parameter are changed.
bit 6: Set up P0T/N0T RTEX status logic
0: No inversion, 1: Inversion
bit 7: PSL/NSL RTEX status logic setting
0: Without reversing 1: With
reversing
bit8: RTEX status selection between
In_Progress and AC_OFF
0: In_Progress, 1: AC_OFF
bit9: Selects whether to return a
command error in over-travel
inhibit direction when a command
is received after a deceleration stop
caused by over-travel inhibit input.
0: Command error is not returned.
1: Command error is returned.
bit10-13: unused. Always set to 0.
bit14: For manufacturers use.
Always set to 0.
bit 0: Specifies output status of
EX-OUT1 during communication
shut-down after RTEX
communication is established.
0: Held, 1: Initialized (Output when
EX-OUT1 is 0.)
bit 1: Specifies output status of EX-OUT2
during communication shut-down
after RTEX communication is
established.
0: Held, 1: Initialized (Output when
EX-OUT2 is 0.)
Set up the unit of speed data used in
RTEX communication.
Set up the unit both for both command
data such as command speed and for
response data such as actual speed.
0: r/min
1: Command unit/s
Generates WngC0h (RTEX continuous
communication error warning) when the
No. of continuous errors reaches the
setting of this parameter.
When the setting value is 0, this function
is disabled and no warning is issued.
Generates WngC1h (RTEX accumulated
communication error warning) when the
No. of accumulated errors reaches the
setting of this parameter.
When the setting value is 0, this function
is disabled and no warning is generated.
Related
control
mode
Reference
23
6-3-1
RTEX
All
2-2,
RTEX
All
RTEX
All
RTEX
All
RTEX
Attribute
R2.2
No.
Title
Unit
Range
Size
[byte]
28
RTEX_Update_Counter
error warning setup
No. of
times
0
32767
29
0
32767
30
0
32767
31
0
32767
32
032767
33
032767
34
032767
35
02
36
02
37
02
38
RTEX_Update_Counter
error protection setup
No. of
032767
39
times
Function / Contents
If Update_Counter is accumulated exceeding
the setting value of this parameter and correct
update fails, WngC2h (RTEX_Update_
Counter error warning) is issued.
When the setting value is 0 or 1, this function
is disabled and no warning is generated.
Select the monitor type of Response_data 1.
Please set up Type Code (8 bits) of a RTEX
monitor command.
If the setup value is 0, the actual position
(APOS) is monitored.
Select the monitor type of Response_data 2
when non-cyclic command = 0h.
Please set up Type Code (8 bits) of a RTEX
monitor command.
If the setup value is 0, the actual speed
(ASPD) is monitored.
[Under review]
Select the monitor type of Response_data 3
when non-cyclic command = 0h.
Please set up Type Code (8 bits) of a RTEX
monitor command.
If the setup value is 0, torque (TRQ) is
monitored.
Selects a monitor type of
Sub_Response_Data1 in 32-byte mode when
sub command is 0h.
Please set up Type Code (8 bits) of a RTEX
monitor command.
If the setup value is 0, 0 is returned.
Selects a monitor type of
Sub_Response_Data2 in 32-byte mode.
Please set up Type Code (8 bits) of a RTEX
monitor command.
If the setup value is 0, 0 is returned.
Selects a monitor type of
Sub_Response_Data3 in 32-byte mode.
Please set up Type Code (8 bits) of a RTEX
monitor command.
If the setup value is 0, 0 is returned.
Specifies the Command_Data3 of non-cyclic
command. However, this setting is invalid for
non-cyclic command using Command_Data3
area.
0: Invalid
1: Velocity feedforward
[Command unit/s] or [r/min]
2: Torque feedforward [0.1%]
Specifies Sub_Command_Data2 of sub
command.
0: Invalid
1: Velocity feedforward
[Command unit/s] or [r/min]
2: Torque feedforward [0.1%]
Specifies Sub_Command_Data3 of sub
command.
0: Invalid
1: Velocity feedforward
[Command unit/s] or [r/min]
2: Torque feedforward [0.1%]
If the Update_Counter exceeds the setup
value for this parameter and is not updated
correctly, Err 86.2 RTEX_Update_Counter
error protection will be activated.
If the setup value is 0 or 1, this function will
be disabled and an alarm will not be
activated.
Always set to 0.
Attribute
Related
control
mode
Reference
All
RTEX
All
RTEX
All
RTEX
All
RTEX
All
RTEX
All
RTEX
All
RTEX
All
RTEX
All
RTEX
All
RTEX
All
RTEX
No.
Title
00
For manufacturers
use
01
02
03
04
05
10
Profile linear
acceleration
constant
For manufacturers
use
For manufacturers
use
Profile linear
deceleration
constant
For manufacturers
use
Amount of travel
after profile
position latch
detection
Unit
Range
Size
[byte]
Related
control
mode
Reference
165535
Position
(PP),
Full-closed
RTEX
To be fixed to 0.
To be fixed to 0.
10000
Command
unit
/s2
165535
Position
(PP),
Full-closed
RTEX
To be fixed to 0.
Position
(PP),
Full-closed
RTEX
Position
(PP),
Full-closed
RTEX
Position
(PP),
Full-closed
RTEX
Position
(PP),
Full-closed
RTEX
Command -1073741823
unit
1073741823
Profile return to
home position
mode setup
01
13
Profile home
position return
velocity 1
Command
unit/s or
r/min
0
2147483647
Profile home
position return
velocity 2
Attribute
10000
Command
unit
/s2
12
14
Function / Contents
Command
unit/s or
r/min
0
2147483647
15
19
R2.2
For manufacturers
use
For manufacturers
use
To be fixed to 0.
To be fixed to 0.
ON
(L1C, L2C)
Approx.100 to 300 ms
Internal control power
OFF
supply
Established
Approx.2 s
Approx.1.5 s
Initialization *3
0 s or longer
Main power supply
OFF
Servo-Ready
ON
*2
10 ms or longer
OFF
Output Tr ON
10 ms or longer
*2
0 s or longer
Servo-ON command
Input c oupler ON
Approx.2 ms
Dynamic brake
Engaged
Released
Approx. 60 ms
Motor energization
Not-energized
Energized
Approx. 4 ms
Brake release output
Output Tr OFF
(brake released)
(BRK-OFF)
100 ms or longe r*1
Position/Speed/Torque instruction
No instruction entry
Ins truction
entry
The above chart shows the timing from AC power-ON to command input.
Input the servo-On command, position/velocity/torque commands according to the above timing chart.
*1. It is shown that an instruction input receptionist is not ready in this section.
Please input instructions after the completion of preparation.
*2. The servo ready is turned on when all the following conditions are satisfied: Initialization of microcomputer is
completed, Main power supply is established, No alarm is issued, and Synchronization (phase matching)
between RTEX communication and servo is completed and RTEX communication is established.
*3. After Internal control power supply, protective functions are active from approx. 1.5 sec after the start of
initializing microcomputer. Please set the signals, especially for protective function, for example over-travel
inhibit input (POT, NOT) or external scale input, so as to decide their logic until this term. The lapse time can be
changed with Pr 6.18 Wait time after power-up.
R2.2
ON
OFF
OFF
Approx.2 ms
Dynamic brake
*3
Engaged
Released
1 to 6 ms
*2
Engaged
t1 *1
M otor energizatio n
Not-energized
Approx. 60 ms
Output Tr OFF
(Brake engage)
Energized
Approx. 4 ms
Output Tr ON
(Brake release)
Not-energize
Output Tr OFF
(Brake en gage)
*1. t1 depends on the setup value of Pr 4.37 Setup of mechanical brake action at stalling.
*2. The operation of dynamic brake during servo off depends on the setup value of Pr 5.06 Sequence at servo off.
*3. Servo-ON will not be activated until the motor speed falls below approx. 30 r/min.
R2.2
ON
OFF
OFF
*4
Dynamic brake
M otor energization
Approx.1 to 5 ms
Engaged *3
Not-energized
Output Tr OFF
(Brake engage)
Approx. 4 ms
Output Tr ON
(Brake release)
Servo validated
Output Tr OFF
(Brake engage)
t1 *1
Approx.30 r/min
*3
Not-energized *5
Energized
Approx. 60 ms
Engaged
Release
Output Tr ON
(Brake release)
Output Tr OFF
(Brake engage)
t1 *1
*1. t1 will be a shorter time of either the setup value of Pr 4.38 Mechanical brake action at running setup or elapsing
time for the motor speed to fall below Pr 4.39 Brake release speed setup.
*2. Even when the servo-ON command is turned on again while the motor is decelerating, transition to servo-ON is
not performed until the motor stops.
*3. For the action of dynamic brake at alarm occurrence, refer to an explanation of Pr 5.06, Sequence at Servo-OFF
as well.
*4. Servo-ON will not be activated until the motor speed falls below approx. 30 r/min.
*5. For the motor energization during deceleration at Servo-OFF depends on the setup value of Pr .5.06, Sequence at
Servo-OFF.
R2.2
Alarm
Alarm
Normal
0.5 to 5 ms
*2
Dynamic brake
Released
Motor energization
Energized
Non-energized
Ready
Not ready
Servo-Ready
Servo-Alarm output
(ALM)
Not Alarm
Output Tr ON
(Brake release)
Engaged
Alarm
Value of Pr 4.38
Output Tr ON
(Brake release)
Motor rotational speed
value of Pr 4.39
*1. t1 will be a shorter time of either the setup value of Pr 4.38 [Mechanical brake action at running setup] or elapsing
time for the motor speed to fall below Pr 4.39 [Brake release speed setup].
*2. When an alarm is generated, the dynamic brake operates according to Pr 5.10 Sequence at alarm.
R2.2
16 ms o r lon ger
Alarm-c lear instruction
(RTEX, USB)
Dynamic brake
Mo to r energization
Clear
Engaged
Not-energized
Output Tr ON
(Brake en gage)
Approx. 2 ms Released
Approx. 60 ms
Energized
Output Tr OFF
(Brake release)
Approx. 4 ms
Servo-Ready
Not ready
Ready
Servo-Alarm output
(ALM)
Alarm
Not alarm
100 ms or longer
Position/Speed/
Torq ue instruction
R2.2
No input entry
Inpu t enabled