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AUD4 Guide
User manual for AUD4
Here is the user manual for AUD4. You can read and download this user guide for free. User's manual, provided by the manufacturer, allows you to use properly your home appliances and electronics.
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Table of contents
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
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Revision History
Back Cover
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