Document Outline

• Using this Manual
• Safety Information
• Safety Precautions
• Warranty
• Contents
• 1 Overview
  • 1.1 SVA-01 Module Overview and Features
    • 1.1.1 Overview
    • 1.1.2 Features
    • 1.1.3 System Configuration Example
  • 1.2 Specifications
    • 1.2.1 Hardware Specifications
    • 1.2.2 Functional Specifications
    • 1.2.3 Performance Specifications
    • 1.2.4 Applicable SERVOPACKs
• 2 Settings and Installation
  • 2.1 External Appearance and LED Indicators
    • 2.1.1 External Appearance
    • 2.1.2 LED Indicators
    • 2.1.3 SVA-01 Module Status Indication
  • 2.2 Applicable Machine Controllers for SVA-01 Modules
  • 2.3 Mounting/Removing SVA-01 Modules
    • 2.3.1 Mounting a SVA-01 Module
    • 2.3.2 Removing SVA-01 Modules for Replacement
  • 2.4 SVA-01 Module Connections
    • 2.4.1 Connectors
    • 2.4.2 Connection Procedure for 24-V Input Cable
    • 2.4.3 CN1 and CN2 Connector Pin Arrangement
  • 2.5 Cable Specifications and Connections
    • 2.5.1 Cables
    • 2.5.2 Cable Model JEPMC-W2040-** for Connecting a SERVOPACK
    • 2.5.3 Cable for Connecting a SGDA-***S SERVOPACK
    • 2.5.4 Cable for Connecting a SGDB-** SERVOPACK
  • 2.6 Restrictions for Feedback Pulse Inputs
    • 2.6.1 Restrictions for SERVOPACK Pulse Output Frequency
    • 2.6.2 Restrictions in SVA-01 Module Pulse Input Frequency
• 3 Setup
  • 3.1 Setting Items
  • 3.2 Module Configuration Definition of Machine Controller
    • 3.2.1 How to Execute Self-configuration
    • 3.2.2 Opening the Module Configuration Window
    • 3.2.3 Module Configuration Window
    • 3.2.4 Manually Allocating Modules
  • 3.3 SVA Definition
    • 3.3.1 Opening the SVA Definition Window
    • 3.3.2 Setting the SVA-01 Module Fixed Parameters
  • 3.4 SERVOPACK Parameter Settings
    • 3.4.1 SGDA SERVOPACK Parameter Settings
    • 3.4.2 SGDB SERVOPACK Parameter Settings
    • 3.4.3 SGDM, SGDH, SGDS, and SGDV SERVOPACK Parameter Settings
  • 3.5 SERVOPACK Reference Offset Adjustment
    • 3.5.1 Automatic Adjustment of the Analog Reference Offset
    • 3.5.2 Manual Servo Tuning of the Speed Reference Offset
• 4 Operation Modes
  • 4.1 SVA-01 Module Operation Mode Selection
  • 4.2 Normal Operation Mode
    • 4.2.1 Motion Parameters That Can be Used in Normal Operation Mode
    • 4.2.2 DI/DO Signals in Normal Operation Mode
  • 4.3 Simulation Mode
    • 4.3.1 Motion Parameters That Can be Used in Simulation Mode
    • 4.3.2 Position and Speed in Simulation Mode
    • 4.3.3 Torque in Simulation Mode
    • 4.3.4 Functions That Cannot be Simulated
    • 4.3.5 Output Signals in Simulation Mode
  • 4.4 General-purpose I/O Mode
    • 4.4.1 Motion Parameters That Can be Used in General-purpose I/O Mode
    • 4.4.2 Correspondence Between Motion Parameter and Connector Pin Number
    • 4.4.3 General-purpose I/O Signal Connection Example
    • 4.4.4 Pulse Input Modes
    • 4.4.5 Pulse Counter Connection Example
• 5 Motion Parameters
  • 5.1 Motion Parameters Register Numbers
    • 5.1.1 Motion Parameter Register Numbers for MP2000 Series Machine Controllers
  • 5.2 Motion Parameters Setting Window
    • 5.2.1 How to Open the Motion Parameter Setting Windows
    • 5.2.2 Selecting a Motor Type
  • 5.3 Motion Parameter Lists
    • 5.3.1 Fixed Parameter List
    • 5.3.2 Setting Parameter List
    • 5.3.3 Monitoring Parameter List
  • 5.4 MP2000 Series Machine Controller Parameter Details
    • 5.4.1 Motion Fixed Parameter Details
    • 5.4.2 Motion Setting Parameter Details
    • 5.4.3 Motion Monitoring Parameter Details
• 6 Motion Parameter Setting Examples
  • 6.1 Example Setting of Motion Parameters for the Machine
    • 6.1.1 Reference Unit
    • 6.1.2 Electronic Gear
    • 6.1.3 Axis Type Selection
    • 6.1.4 Position Reference
    • 6.1.5 Speed Reference
    • 6.1.6 Acceleration/Deceleration Settings
    • 6.1.7 Acceleration/Deceleration Filter Settings
    • 6.1.8 Linear Scale Pitch and Rated Motor Speed
• 7 Motion Commands
  • 7.1 Motion Commands
    • 7.1.1 Motion Command Table
  • 7.2 Motion Command Details
    • 7.2.1 Positioning (POSING)
    • 7.2.2 External Positioning (EX_POSING)
    • 7.2.3 Zero Point Return (ZRET)
    • 7.2.4 Interpolation (INTERPOLATE)
    • 7.2.5 Latch (LATCH)
    • 7.2.6 JOG Operation (FEED)
    • 7.2.7 STEP Operation (STEP)
    • 7.2.8 Zero Point Setting (ZSET)
    • 7.2.9 Speed Reference (VELO)
    • 7.2.10 Torque Reference (TRQ)
    • 7.2.11 Phase References (PHASE)
  • 7.3 Motion Subcommands
    • 7.3.1 No Command (NOP)
    • 7.3.2 Read Fixed Parameters (FIXPRM_RD)
• 8 Switching Commands during Execution
  • 8.1 Switchable Motion Commands
    • 8.1.1 Switching Between Motion Commands
    • 8.1.2 Switching from POSING
    • 8.1.3 Switching from EX_POSING
    • 8.1.4 Switching from ZRET
    • 8.1.5 Switching from INTERPOLATE
    • 8.1.6 Switching from ENDOF_INTERPOLATE or LATCH
    • 8.1.7 Switching from FEED
    • 8.1.8 Switching from STEP
    • 8.1.9 Switching from ZSET
    • 8.1.10 Switching from VELO
    • 8.1.11 Switching from TRQ
    • 8.1.12 Switching from PHASE
• 9 Control Block Diagram
  • 9.1 SVA-01 Module Control Block Diagram
• 10 Absolute Position Detection
  • 10.1 Absolute Position Detection Function
    • 10.1.1 Outline of the Function
    • 10.1.2 Reading Absolute Data
    • 10.1.3 Finite Length/Infinite Length Axes and Absolute Position Detection
  • 10.2 Setting Procedure of Absolute Position Detection Function
    • 10.2.1 System Startup Flowchart
    • 10.2.2 Initializing the Absolute Encoder
  • 10.3 Absolute Position Detection for Finite Length Axes
    • 10.3.1 Parameter Settings for Finite Length Axes
    • 10.3.2 Detailed Descriptions on Parameter Settings for Finite Length Axes
    • 10.3.3 Setting the Zero Point for a Finite Length Axis
      • Method 1: Saving the Zero Point Position in Machine Coordinate System Offset (OL**48) from the MPE720 Parameter Window
      • Method 2: Saving in an M Register with a Ladder Program
    • 10.3.4 Turning ON the Power after Setting the Zero Point of Machine Coordinate System
  • 10.4 Absolute Position Detection for Infinite Length Axes
    • 10.4.1 Simple Absolute Infinite Length Position Control
    • 10.4.2 Parameters Setting for Simple Absolute Infinite Length Position Control
    • 10.4.3 Detailed Descriptions on Parameter Settings for Simple Absolute Infinite Length Axes
    • 10.4.4 Setting the Zero Point and Turning ON Power as Simple Absolute Positions
    • 10.4.5 Turning ON the Power after Setting the Zero Point for Simple Absolute Infinite Length Axes
    • 10.4.6 Infinite Length Position Control without Simple Absolute Positions
• 11 Utility Functions
  • 11.1 Controlling Vertical Axes
    • 11.1.1 Holding Brake Function of the SERVOPACK
    • 11.1.2 Connections to Sigma-II/Sigma-III/SigmaS-V Series S GDM, SGDH, SGDS, or SGDV SERVOPACK
    • 11.1.3 Connections to Sigma-I Series SGDB SERVOPACK
    • 11.1.4 Connections to Sigma-I Series SGDA SERVOPACK
  • 11.2 Overtravel Function
    • 11.2.1 Connections to Sigma-II/Sigma-III/Sigma-V Series SGDH, SGDS, or SGDV SERVOPACK
    • 11.2.2 Connections to Sigma-I Series SGDB or SGDA SERVOPACK
    • 11.2.3 Rotation Direction Selection
  • 11.3 Software Limit Function
    • 11.3.1 Parameter Settings
    • 11.3.2 Software Limit Detection Function
    • 11.3.3 Axis Stopping Operation at Alarm Occurrence
    • 11.3.4 Processing after an Alarm Occurs
  • 11.4 Other Utility Functions
    • 11.4.1 Modal Latch Function
    • 11.4.2 Reading Absolute Data After Power is Turned ON
    • 11.4.3 Reading Absolute Data Online
    • 11.4.4 General-purpose DO_2 Signal Selection
      • SGDA SERVOPACK Parameter Settings
      • SGDB SERVOPACK Parameter Settings
      • SGDM, SGDH, SGDS, and SGDV SERVOPACK Parameter Settings
• 12 Troubleshooting
  • 12.1 Troubleshooting
    • 12.1.1 Basic Flow of Troubleshooting
    • 12.1.2 MP2000 Series Machine Controller Error Check Flowchart
    • 12.1.3 LED Indicators (MP2200/MP2300)
  • 12.2 Troubleshooting System Errors
    • 12.2.1 Outline of System Errors
    • 12.2.2 Troubleshooting Flowchart for System Errors
    • 12.2.3 Correcting User Program Errors
    • 12.2.4 System Register Configuration and Error Status
  • 12.3 Motion Program Alarms
    • 12.3.1 Motion Program Alarm Configuration
    • 12.3.2 Motion Program Alarm Code List
  • 12.4 Troubleshooting Motion Errors
    • 12.4.1 Overview of Motion Errors
    • 12.4.2 Axis Alarm Details and Corrections
    • 12.4.3 Analog Servo Alarm List
• Appendices
  • Appendix A System Registers Lists
    • A.1 System Service Registers
    • A.2 Scan Execution Status and Calendar
    • A.3 Program Software Numbers and Remaining Program Memory Capacity
  • Appendix B Initializing the Absolute Encoder
    • B.1 Sigma-III or Sigma-V Series SERVOPACK
    • B.2 Sigma-II Series SERVOPACK
    • B.3 Sigma-I Series SERVOPACK
  • Appendix C Fixed Parameter Setting According to Encoder Type and Axis Type
  • Appendix D Terminology
• INDEX
  • Numerics
  • A
  • B
  • C
  • D
  • E
  • F
  • G
  • H
  • I
  • J
  • L
  • M
  • N
  • O
  • P
  • R
  • S
  • T
  • U
  • V
  • W
  • Z
• Revision History
• Back Cover