Page 1 AC Servo Drives  Series/  Series for Large-Capacity Models USER’S MANUAL EtherCAT (CoE) Network Module Model: SGDV-OCA01A Checking Products Specifications SERVOPACK Installation Wiring and Connection Operation EtherCAT Communication CiA402 Drive Profile Object Dictionary Troubleshooting Appendix MANUAL NO. SIEP C720829 04E...
Page 2 Yaskawa. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because Yaskawa is con- stantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice.
Page 3 About this Manual This manual describes information required for designing, and maintaining the EtherCAT (CoE) Network Module for Σ-V Series and Large-Capacity Σ-V Series SERVOPACKs. Be sure to refer to this manual and perform design and maintenance to select devices correctly. Keep this manual in a location where it can be accessed for reference whenever required.
Page 4  IMPORTANT Explanations The following icon is displayed for explanations requiring special attention. • Indicates important information that should be memorized, as well as precautions, such as alarm displays, that do not involve potential damage to equipment.  Notation Used in this Manual •...
Page 5 (cont’d) Selecting Trial Maintenance Models and Ratings and Designing the Panels and Trial Operation Name Peripheral Specifications System Wiring Operation and Servo Inspection Devices Adjustment Σ-V Series User's Manual Design and Maintenance Rotational Motor     Command Option Attachable Type (SIEP S800000 60) Σ-V Series User's Manual...
Page 6  Safety Information The following conventions are used to indicate precautions in this manual. Failure to heed precautions pro- vided in this manual can result in serious or possibly even fatal injury or damage to the products or to related equipment and systems.
Page 7 Safety Precautions These safety precautions are very important. Read them before performing any procedures such as checking products on delivery, storage and transportation, installation, wiring, operation and inspection, or disposal. Be sure to always observe these precautions thoroughly. WARNING • Never touch any rotating motor parts while the motor is running. Failure to observe this warning may result in injury.
Page 8  Storage and Transportation CAUTION • Do not store or install the product in the following locations. Failure to observe this caution may result in fire, electric shock, or damage to the product. • Locations subject to direct sunlight • Locations subject to ambient operating temperatures outside the range specified in the storage/installation temperature conditions •...
Page 9  Wiring CAUTION • Be sure to wire correctly and securely. Failure to observe this caution may result in motor overrun, injury, or malfunction. • Do not connect a commercial power supply to the U, V, or W terminals for the servomotor connec- tion.
Page 10  Operation CAUTION • Always use the servomotor and SERVOPACK in one of the specified combinations. Failure to observe this caution so may result in fire or malfunction. • Conduct trial operation on the servomotor alone with the motor shaft disconnected from the machine to avoid accidents.
Page 11 • The drawings presented in this manual are typical examples and may not match the product you received. • If the manual must be ordered due to loss or damage, inform your nearest Yaskawa representative or one of the offices listed on the back of this manual.
Page 12 6. Events for which Yaskawa is not responsible, such as natural or human-made disasters (2) Limitations of Liability 1. Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer that arises due to failure of the delivered product.
Page 13 Harmonized Standards  North American Safety Standards (UL) UL Standards Model (UL File No.) SERVOPACK SGDV UL508C (E147823) Note: Applicable when the EtherCAT (CoE) Module is attached to the SERVOPACKs for use with the command option attachable type.  EU Directives Model EU Directives Harmonized Standards...
Page 14  Safety Standards Model Safety Standards Standards EN ISO13849-1: 2015 Safety of Machinery IEC 60204-1 IEC 61508 series SERVOPACK SGDV Functional Safety IEC 62061 IEC 61800-5-2 IEC 61326-3-1 Note: Applicable when the EtherCAT (CoE) Module is attached to the SERVOPACKs for use with the command option attachable type.
Page 15 CONTENTS About this Manual ............iii Safety Precautions.
Page 16 Chapter 5 Operation ......... .5-1 5.1 Settings for Common Basic Functions .
Page 17 Chapter 8 Object Dictionary ........8-1 8.1 Object Dictionary List .
Page 18 Checking Products This chapter describes how to check products upon delivery. 1.1 Checking Products on Delivery ....... . . 1-2 1.2 Nameplate and Model Designation .
Page 19 1 Checking Products Checking Products on Delivery (1) When the EtherCAT (CoE) Network Module is Not Connected to the SERVOPACK Mount the EtherCAT (CoE) Network Module to the SERVOPACK as described in the enclosed Σ Σ -V Series/ -V Series for Large-Capacity Models Command Option Module Installation Guide. For the location of the nameplate, refer to 1.3 Nameplate Location.
Page 20 1.3 Nameplate Location  Model Designation SGDV – OC A01 A 6th digit: Design Revision Order Series Σ-V Series SGDV 3rd + 4th + 5th digits: Interface Specifications Interface 1st + 2nd digits: Module Type Code Code Module EtherCAT (CoE) Command option module Nameplate Location Nameplate (Model no.)
Page 21 Specifications This chapter gives an overview and describes the specifications of the EtherCAT (CoE) Network Module. 2.1 Overview ..........2-2 2.2 CoE Technical Terms .
Page 22 2 Specifications Overview The EtherCAT (CoE) Network Module implements the CANopen drive profile (CiA402) in EtherCAT com- munication (real-time Ethernet communication). In addition to basic position, velocity, and torque control, synchronous position, velocity, and torque control can be performed. You can select the appropriate form of control for your system, from simple positioning to high-speed, high-precision locus control.
Page 23 2.2 CoE Technical Terms CoE Technical Terms 2.2.1 CoE Technical Terms This table lists the terms used in this manual for the EtherCAT and the CANopen. Abbreviation Description APRD Auto Increment Physical Read: a command of EtherCAT Data link layer APWR Auto Increment Physical Write: a command of EtherCAT Data link layer APRW...
Page 24 2 Specifications 2.2.2 Data Type 2.2.2 Data Type This table lists the data types and ranges used in this manual. Code Data Type Range SINT Signed 8 bit -128 to +127 Signed 16 bit -32768 to +32767 DINT Signed 32 bit -2147483648 to +2147483627 USINT Unsigned 8 bit...
Page 25 2.3 Specifications of the EtherCAT (CoE) Network Module Specifications of the EtherCAT (CoE) Network Module 2.3.1 General Specifications This table lists the general specifications of the EtherCAT (CoE) Network Module. Σ-V Series and Large-Capacity Σ-V Series SGDV-E1 SERVOPACK (For rota- tional servomotor) Applicable SERVOPACK Σ-V Series SGDV-E5...
Page 26 2 Specifications 2.3.2 Communication Specifications 2.3.2 Communication Specifications Applicable Communication IEC 61158 Type12, IEC 61800-7 CiA402 Drive Profile Standards Physical Layer 100BASE-TX (IEEE802.3) CN11A (RJ45): EtherCAT Signal IN Fieldbus Connection CN11B (RJ45): EtherCAT Signal OUT CAT5 STP 4 pair Cable Note: Cables are automatically recognized by the AUTO MDIX function.
Page 27 2.4 Part Names of the EtherCAT (CoE) Network Module Part Names of the EtherCAT (CoE) Network Module The following figure shows the part names of the EtherCAT (CoE) Network Module. With front cover open Reserved (Do not use.) Reserved (Do not use.) EtherCAT secondary address (Refer to 4.4.4 EtherCAT Secondary Address Settings.) LED Indicators (Refer to 2.5 LED Indicators.)
Page 28 2 Specifications LED Indicators This diagram shows details of the LED indicators. Link/Activity (CN11B) Link/Activity (CN11A)  RUN The RUN indicator shows the status of EtherCAT communication. LED Indicator Description Display Pattern The EtherCAT (CoE) Network Module Continuously OFF is in Init state. The EtherCAT (CoE) Network Module Blinking is in Pre-Operational state.
Page 29 2.5 LED Indicators  ERR The ERR indicator shows the error status of EtherCAT communication. LED Indicator Description Display Pattern The EtherCAT communication is in Continuously OFF working condition. 50 ms Flickering Booting Error was detected. State change commanded by master is Blinking impossible due to register or object set- 200 ms 200 ms...
Page 30 SERVOPACK Installation This chapter describes how to install the SERVOPACK. 3.1 SERVOPACK Installation Environment and Applicable Standards ..3-2 3.1.1 Installation Environment ..........3-2 3.1.2 Installation Conditions for Applicable Standards .
Page 31 3 SERVOPACK Installation 3.1.1 Installation Environment SERVOPACK Installation Environment and Applicable Standards SERVOPACK installation environment and applicable standards are as follows. 3.1.1 Installation Environment  Surrounding air temperature: 0 to 55°C  Ambient humidity: 90% RH or less (with no condensation) ...
Page 32 3.2 SERVOPACK Installation SERVOPACK Installation 3.2.1 Orientation The SERVOPACK is available in models that are base-mounted, models that are rack-mounted, and models that are duct-ventilated. In any case, mount the SERVOPACK with a vertical orientation. Firmly secure the SERVOPACK to the mounting surface, using either two or four mounting holes depending on the SERVOPACK capacity.
Page 33 3 SERVOPACK Installation 3.2.2 Installation Standards 3.2.2 Installation Standards Observe the standards for mounting SERVOPACKs in control panels, including those for the mounting SERVOPACKs side by side in one control panel as shown in the following illustration. • SERVOPACK Mounting Orientation Mount the SERVOPACK vertically to the wall, with the front panel (the side with the panel operator display) facing out.
Page 34 3.2 SERVOPACK Installation • Large-Capacity Σ-V Series 120 mm or more 100 mm or more 50 mm or more 5 mm 5 mm 120 mm or more Also install cooling fans above the SERVOPACKs and converters to disperse local pockets of warmer air around them.
Page 35 Refer to this section for other SERVOPACK models such as the rack-mounted types as well. This section describes the EMC installation conditions satisfied in test conditions prepared by Yaskawa. The actual EMC level may differ depending on the actual system’s configuration, wiring, and other condi- tions.
Page 36 3.3 EMC Installation Conditions  Three-phase 200 V • SGDV-AE1A ( = R70, R90, 1R6, 2R8, 3R8, 5R5, 7R6) + SGDV-OCA01A Shield box Brake Power Supply SERVOPACK Brake U, V, W Power supply: Noise L1, L2, L3 Three-phase 200 VAC filter Servomotor One turn...
Page 37 3 SERVOPACK Installation  Three-phase 200 V • SGDV-AE1A ( = 120) + SGDV-OCA01A Shield box Brake Power Supply SERVOPACK Brake U, V, W Noise Power supply: L1, L2, L3 filter Three-phase 200 VAC Servomotor One turn Surge L1C, L2C absorber Encoder EtherCAT...
Page 38 3.3 EMC Installation Conditions  Three-phase 200 V • SGDV-AE1A ( = 180, 200, 330) + SGDV-OCA01A Shield box Brake Power Supply SERVOPACK Brake U, V, W Noise Power supply: L1, L2, L3 filter Three-phase 200 VAC Servomotor One turn Surge L1C, L2C absorber...
Page 39 3 SERVOPACK Installation  Three-phase 200 V • SGDV-AE1A ( = 470, 550, 590, 780) + SGDV-OCA01A Shield box Brake Power Cooling fan Supply SERVOPACK Brake U, V, W Power supply: Noise L1, L2, L3 filter Three-phase 200 VAC Servomotor Surge L1C, L2C absorber...
Page 40 3.3 EMC Installation Conditions  Three-phase 200 V • SERVOPACK: SGDV-HE1A ( = 121, 161, 201) + SGDV-OCA01A • Converter: SGDV-COAAA ( = 2B, 3G) Shield box Power supply: Noise L1,L2,L3 Three-phase 200 VAC filter Surge Converter absorber Noise CN101 filter 200 VAC Regenerative...
Page 41 3 SERVOPACK Installation  Three-phase 400 V • SGDV-DE1A ( = 1R9, 3R5, 5R4, 8R4, 120, 170) + SGDV-OCA01A Shield box Power supply: Brake Power Noise Single-phase Supply filter* 200 VAC Surge SERVOPACK absorber Control Brake power U, V, W 24 V, 0 V supply 24 VDC*...
Page 42 3.3 EMC Installation Conditions  Three-phase 400 V • SGDV-DE1A ( = 210, 260, 280, 370) + SGDV-OCA01A Shield box Power supply: Brake Power Noise Single-phase Supply filter* 200 VAC Surge SERVOPACK absorber Control Brake power U, V, W 24 V, 0 V supply 24 VDC* Servomotor...
Page 43 3 SERVOPACK Installation  Three-phase 400 V • SERVOPACK: SGDV-JE1A ( = 750, 101, 131) + SGDV-OCA01A • Converter: SGDV-COADA ( = 3Z, 5E) Shield box 1T 1T Noise Power supply: L1,L2,L3 filter Three-phase 400 VAC Converter Surge Control absorber power supply Power supply:...
Page 44 3.3 EMC Installation Conditions  Attachment Methods of Ferrite Cores One turn Two turn Cable Cable Ferrite core Ferrite core  Recommended Ferrite Core • Σ-V Series Cable Name Ferrite Core Model Manufacturer Motor main circuit cable ESD-SR-250 NEC TOKIN Corp. •...
Page 45 3 SERVOPACK Installation  Fixing the Cable Fix and ground the cable shield using a piece of conductive metal. • Example of Cable Clamp Cable Shield (cable sheath stripped) Host controller side Fix and ground the cable shield using a piece of conductive metal. Ground plate Cable clamp...
Page 46 Wiring and Connection This chapter describes an example of how a system is configured using the EtherCAT (CoE) Network Module, how the I/O signals are connected, and how the cable for EtherCAT communication is connected. For details on the main circuit, encoders, safety devices, and regenerative resistors, refer to the User's Manual for your SERVOPACK.
Page 47 4 Wiring and Connection System Configuration Diagram  Connecting to SGDV-E1A SERVOPACK Power supply Three-phase 200 VAC R S T Molded-case circuit breaker (MCCB) Protects the power supply line by shutting the circuit OFF when overcurrent is Digital detected. SGDV- operator SERVOPACK Noise filter...
Page 48 4.2 I/O Signal Connections I/O Signal Connections This section describes the names and functions of I/O signals (CN1). Also terminal layout and connection examples by control method are shown. 4.2.1 I/O Signal (CN1) Names and Functions The following table shows the names and functions of I/O signals (CN1). The number of pins on the CN1 connector is different on a Large-Capacity Σ-V SERVO- PACK (50 pins) and a standard Σ-V SERVOPACK (26 pins).
Page 49 4 Wiring and Connection 4.2.2 I/O Signal Connector (CN1) Terminal Layout (2) Output Signals Pin No. Refer- Large- Signal Name Function ence Σ-V Capacity Section Σ-V ALM+ Servo alarm output − Turns OFF when an error is detected. signal ALM- /BK+ Controls the brake.
Page 50 4.2 I/O Signal Connections  Large-Capacity Σ-V Series Signal /BK- 1 SG Brake output (/SO1-) ground Signal General-purpose 2 SG 27 /SO2+ ground output General-purpose 28 /SO2- output General-purpose 29 /SO3+ output General-purpose /SO3- output Signal Servo alarm 6 SG 31 ALM+ ground output...
Page 51 4 Wiring and Connection 4.2.3 Example of I/O Signal Connections 4.2.3 Example of I/O Signal Connections The following diagram shows a typical connection example. (1) Σ-V Series Photocoupler output Max. operating voltage: 30 VDC SERVOPACK Max. operating current: 50 mA DC Control power supply 3.3kΩ...
Page 52 4.2 I/O Signal Connections (2) Large-Capacity Σ-V Series Photocoupler output Max. operating voltage: 30 VDC SGDV SERVOPACK Max. operating current: 50 mA DC Control power supply 3.3kΩ +24VIN +24V ∗ 3. ALM+ for sequence signal Servo alarm output (OFF for an alarm) ALM- P-OT /SI1...
Page 53 4 Wiring and Connection 4.3.1 Input Signal Allocations I/O Signal Allocations This section describes the I/O signal allocations. 4.3.1 Input Signal Allocations Input signals are allocated as shown in the following table. Refer to the Interpreting the Input Signal Allocation Tables and change the allocations accordingly. 1.
Page 54 4.3 I/O Signal Allocations (cont’d) Connection Not Required CN1 Pin Numbers (SERVOPACK Input Signal Names Validity Input judges the and Parameters Level Signal connection) Always Always Reserve External /N-CL Torque Limit N-CL Pn50B.3 /Probe1 Probe 1 Latch Signal – Pn511.1 Probe1 /Probe2 Probe 2 Latch Signal...
Page 55 4 Wiring and Connection 4.3.2 Output Signal Allocations 4.3.2 Output Signal Allocations Output signals are allocated as shown in the following table. Refer to the Interpreting the Output Signal Allocation Tables and change the allocations accordingly. • The signals not detected are considered as “Invalid.” •...
Page 56 4.3 I/O Signal Allocations (cont’d) CN1 Pin Numbers Output Signal Names and Invalid Output Signal Parameters (not use) 1 (2) 23 (24) 25 (26) Output signal polarity inversion Polarity inversion of CN1-1(2) Pn512.0=1 Output signal polarity inversion Polarity inversion of CN1-23(24) (Not invert at Pn512.1=1 factory setting)
Page 57 4 Wiring and Connection 4.4.1 Connection Example Connection Example of EtherCAT Communication 4.4.1 Connection Example The following figure shows an example of connections between a host controller and a SERVOPACK using the EtherCAT communication. Connect the connector of the EtherCAT communications cable to the connectors, CN11A and CN11B. Connect CN11A to the master and CN11B to the slave.
Page 58 4.4 Connection Example of EtherCAT Communication 4.4.3 Ethernet Cable Ethernet cables in CAT5e quality can be used as the connection cables. Also, requirements of a cable is follows. Shield type: S/STP or S/UTP Length: Max. 50 m (between the nodes) Recommended cables are shown below.
Page 59 Operation 5.1 Settings for Common Basic Functions ......5-2 5.2 Trial Operation ..........5-3 5.2.1 Inspection before Trial Operation .
Page 60 5 Operation Settings for Common Basic Functions The following table lists basic parameters to be set up for motor operation. Step Items Reference Objects (Parameters) Σ 4.2.2 Servomotor Rotation Direction in Σ Servomotor Rotation Series or Large-Capacity -V Series User’s Object 2000h (Pn000) Direction Manual Design and Maintenance Rotational...
Page 61 5.2 Trial Operation Trial Operation 5.2.1 Inspection before Trial Operation Check the following items. If any problems exist, take appropriate measures before trial operation. (1) Servomotors • Are all wiring and connections correct? • Are all nuts and bolts securely tightened? Note: If a motor with an oil seal is used, check whether the oil shield is not damaged and if there is an oil coat.
Page 62 5 Operation Test Without Motor Function The test without motor function is used to check the operation of the host and peripheral devices by simulating the operation of the motor in the SERVOPACK, i.e., without actually operating the motor. This function enables checking wiring and verifying the system and parameters when errors occur while debugging the sys- tem, thus shortening the time required for setup work and preventing damage to the equipment that may result from possible malfunctions.
Page 63 5.5 Absolute Encoders Absolute Encoders Σ Σ For details on absolute encoder settings, refer to 4.5 Absolute Encoders in -V Series or Large-Capacity Series User's Manual Design and Maintenance Rotational Motor/Command Option Attachable Type.  Absolute Encoder Home Offset When an absolute encoder is used, an offset can be set between the encoder position and the machine position (Position actual value: Object 6064h).
Page 64 5 Operation Safety Function The SERVOPACK provides the following four safety functions. These safety functions comply with func- tional safety standards. Safety Module’s Function SERVOPACK’s Function Description Active Mode Function Function   Safe BaseBlock Function This safety function is equivalent to the Safe (HWBB (SBB (HWBB function, SBB...
Page 65 5.6 Safety Function  Safety Status Monitor The status of safety function execution can be monitored using the following objects. Note: These objects can be used to monitor status with an EtherCAT (CoE) Network Module with a revision number (Object 1018h:03h) of 0x00030001 or higher. (1) Safety Module Monitor (2720h) Name Display Contents...
Page 66 5 Operation 5.6.1 Safe BaseBlock Function (HWBB Function, SBB Function) 5.6.1 Safe BaseBlock Function (HWBB Function, SBB Function) The Safe BaseBlock Function (the HWBB function for the SERVOPACK or the SBB function when a Safety Module is connected) operates based on Safe Torque Off (STO) function that is defined in IEC 61800-5-2. This function shuts OFF the power supply to the motor using hardwired circuits in response to the /HWBB signal or Safety Request Input Signal and stops the motor according to the setting of parameter Pn001.0.
Page 67 5.6 Safety Function  Procedure to Return to Normal Operation 1. Specify a Shutdown command in the Controlword (Object 6040h bits 0 to 3) to reset the drive state. 2. Specify a Switch on + Enable operation command in the Controlword (Object 6040h bits 0 to 3). Power will be supplied to the motor.
Page 68 5 Operation 5.6.3 Safe Position Monitor with Delay Function (SPM-D Function) 5.6.3 Safe Position Monitor with Delay Function (SPM-D Function) The Safe Position Monitor with Delay Function (SPM-D function) operates based on the Safe Stop 2 (SS2) function that is defined in IEC 61800-5-2. This function monitors the deceleration operation (deceleration monitoring) of the motor according to the safety request input state until the time period specified in the parameter elapses, and then switches to position monitoring and monitors the distance that the motor moved to make sure it is within the allowable range.
Page 69 5.6 Safety Function 5.6.4 Safely Limited Speed with Delay Function (SLS-D Function) The Safely Limited Speed with Delay Function (SLS-D function) operates based on Safely-Limited Speed (SLS) that is defined in IEC 61800-5-2. This function monitors the deceleration operation (deceleration moni- toring) of the motor according to the safety request input state until the time period specified in the parameter elapses, and then monitors the motor speed to make sure it is within the allowable range (within a constant speed range).
Page 70 5 Operation 5.6.5 Active Mode Function 5.6.5 Active Mode Function The Active Mode Function is used to stop the motor according to the internal deceleration reference of the SERVOPACK that is set in the parameters, if the Safety Request Input Signal turns OFF when using the SBB- D function or the SPM-D function.
Page 71 5.6 Safety Function  Using the SPM-D Function (Position or Speed Control) The system will stop at the set deceleration rate (Pn622 or Pn623) and the servo will then be locked (Operation enabled state). OFF (Safety Function Safety request Execution Request) input signal Velocity Actual Internal deceleration reference...
Page 72 5 Operation 5.6.5 Active Mode Function (2) Returning Method  Returning Conditions When the motor stops due to the operation of the Active Mode Function, the Active Mode Function can be canceled to return to the normal operation when all of the following conditions are met. •...
Page 73 5.7 Overtravel Overtravel The overtravel limit function forces movable machine parts to stop by turning on a limit switch if they exceed the allowable range of motion. Motor forward rotation direction SERVOPACK Servomotor Limit Limit N-OT Switch Switch P-OT <Note> •...
Page 74 EtherCAT Communication 6.1 CANopen over EtherCAT Device Architecture ..... 6-2 6.2 EtherCAT Slave Information ........6-3 6.3 EtherCAT State Machine .
Page 75 6 EtherCAT Communication CANopen over EtherCAT Device Architecture The following figure shows the device architecture of the SGDV CANopen over the EtherCAT (CoE) Net- work Module. SGDV application CANopen service (CoE) Object dictionary EtherCAT Application layer State (CANopen DS402) Service data objects Machine PDO mapping (SDO)
Page 76 6.2 EtherCAT Slave Information EtherCAT Slave Information The EtherCAT Slave Information file (XML file) is available for configuring the EtherCAT master. The XML-based file contains general information about EtherCAT communication settings when setting the SERVOPACK. The following two files are provided for the SERVOPACK. •...
Page 77 6 EtherCAT Communication EtherCAT State Machine The EtherCAT State Machine (ESM) is responsible for the coordination of master and slave applications at start up and during operation. State changes are typically initiated by requests of the master. The states of the EtherCAT State Machine are as follows. Power ON Init (PI)
Page 78 6.4 PDO Mapping PDO Mapping PDO mapping refers to the mapping of application objects (real time process data) from the object dictionary to the PDOs. The PDO mapping tables are allocated to index 1600h to 1603h for the RxPDOs and 1A00h to 1A03h for the TxPDOs in the object dictionary.
Page 79 6 EtherCAT Communication  Setup Procedure of PDO Mapping Disable the assignment of the Sync manager and PDO (Set subindex 0 of object 1C12h and 1C13h to 0). Set all the mapping entry in PDO mapping objects (Set object 1600h to 1603h/1A00h to 1A03h).
Page 80 6.5 Synchronization with Distributed Clocks Synchronization with Distributed Clocks The synchronization of EtherCAT communication is based on a mechanism called the Distributed Clock. With the Distributed Clock, all devices can be synchronized to each other by sharing the same reference clock (System Time).
Page 81 6 EtherCAT Communication  Example of PDO Data Exchange Timing with DC Mode • DC Cycle Time = 1ms, Input Shift Time = 500 μs Master application task Master application task Master application task Master Master User Shift time Network Frame Frame Frame...
Page 82 6.6 Emergency Messages Emergency Messages The emergency messages are triggered by the alarms and warnings detected within the SGDV servo drive. The transmission is executed via the mailbox interface. The Emergency Telegram consists of eight bytes with the data as shown in table below: Byte Manufacturer Specific Error Field Error...
Page 83 CiA402 Drive Profile 7.1 Device Control ..........7-2 7.2 Modes of Operation .
Page 84 7 CiA402 Drive Profile Device Control The device control of the SGDV SERVOPACK can be used to carry out all the motion functions in the corre- sponding modes. The state machine is controlled through the Controlword (Object 6040h). The status of the state machine can be revealed by using the Statusword (Object 6041h).
Page 85 7.1 Device Control (1) State Machine Controlling Command Bits of the Controlword (6040h) Command Bit7 Bit3 Bit2 Bit1 Bit0 Shutdown – Switch on Switch on + Enable operation Disable voltage – – – Quick stop – – Disable operation Enable operation 0 →...
Page 86 7 CiA402 Drive Profile Modes of Operation The SERVOPACK supports the following modes of operation: • Profile Position mode • Homing mode • Interpolated Position mode • Profile Velocity mode • Torque Profile mode • Cyclic Sync Position mode • Cyclic Sync Velocity mode •...
Page 87 7.3 Position Control Modes Position Control Modes 7.3.1 Profile Position Mode The Profile Position mode is used to start positioning to the Target position with the Profile velocity and the Profile acceleration. The following figure shows the block diagram of the Profile Position mode. Target Position (607Ah) Position unit [Pos unit]...
Page 88 7 CiA402 Drive Profile 7.3.1 Profile Position Mode In Profile Position mode, the following two methods can be used to start positioning. • Single Set-point (change set immediately bit of Controlword is 1) When a set-point is in progress and a new set-point is validated by the new set-point (bit 4) in the Control- word, the new set-point shall be processed immediately.
Page 89 7.3 Position Control Modes 7.3.2 Interpolated Position Mode The interpolated position modes are used to control multiple coordinated axes or a single axis with the need for time-interpolation of set-point data. There are the following two interpolated position modes. Use object 60C0h to change the mode. For details, refer to (1) Interpolation Sub Mode Select (60C0H) (Shared Mode 1/Mode 2 Object) in 8.10 Interpolated Position Mode.
Page 90 7 CiA402 Drive Profile 7.3.2 Interpolated Position Mode (cont’d) Index Name Access Units Type Mapping – Interpolation Time Period – – – – 60C2h Interpolation time period – USINT Interpolation time index – SINT – Software Position Limit – – –...
Page 91 7.3 Position Control Modes (cont’d) Index Name Access Units Type Mapping Interpolation data configuration for – – – – – profile Maximum buffer size – UDINT Actual buffer size – UDINT Buffer organization – USINT Buffer position – UINT 2730h Size of data record –...
Page 92 7 CiA402 Drive Profile 7.3.2 Interpolated Position Mode  Object Setting Procedure The recommended object setting procedure for using mode 2 is given in the following table. Step Item Setting Parameters Set the Interpolation Sub Mode Select. Object 60C0h Select the Interpolation Profile. Object 2732h Object 2730h Set the Manufacturer Interpolation Data Configuration.
Page 93 7.3 Position Control Modes 7.3.3 Cyclic Synchronous Position Mode The Cyclic Synchronous Position mode is used for the interpolated positioning in the same way as Interpo- lated Position mode. In this mode, additive velocity and torque values can be provided by the master to allow for velocity and torque feed forward.
Page 94 7 CiA402 Drive Profile Homing The following figure shows the defined input objects as well as the output objects. The user may specify the speeds, acceleration and the method of homing. There is a further object home offset, which allows the user to displace zero in the user's coordinate system from the home position.
Page 95 7.4 Homing (cont’d) Value Definitions Explanation Using the methods 7 to 10, the initial direction of movement shall be to the right except if the home switch is active at the start of the motion. In this case, the ini- tial direction of motion shall be dependent on the edge being sought.
Page 96 7 CiA402 Drive Profile (cont’d) Value Definitions Explanation This method is same as method 12 except that the home position does not depend on the index pulse but only depend on the relevant home or limit switch transi- tions. Homing on home switch -negative initial motion Home switch...
Page 97 7.5 Velocity Control Modes Velocity Control Modes 7.5.1 Profile Velocity Mode In the Profile Velocity mode, the speed is output in accordance with the Profile acceleration and Profile decel- eration, until it reaches the target velocity. The following figure shows the block diagram of the Profile Velocity mode. Target Velocity (60FFh) Velocity unit Velocity...
Page 98 7 CiA402 Drive Profile 7.5.2 Cyclic Synchronous Velocity Mode 7.5.2 Cyclic Synchronous Velocity Mode In Cyclic Synchronous Velocity mode, the master provides a target velocity to the drive device, which per- forms velocity control. In this mode, additive torque values can be provided by the master to allow for torque feed forward.
Page 99 7.6 Torque Control Modes Torque Control Modes 7.6.1 Profile Torque Mode In the Profile Torque mode, the torque is output to the target torque based on the torque slope setting. The following figure shows the block diagram of the Profile Torque mode. Torque Target Torque (6071h) Demand...
Page 100 7 CiA402 Drive Profile 7.6.2 Cyclic Sync Torque Mode 7.6.2 Cyclic Sync Torque Mode In Cyclic Synchronous Torque mode, the master provides a target torque to the drive device, which performs torque control. Torque Offset (60B2h) Torque Target Torque (6071h) Demand Value (6074h)
Page 101 7.7 Torque Limit Function Torque Limit Function The following figure shows the block diagram of the torque limit function. The torque is limited by the lowest limiting values. Torque limits Torque Torque offset 0x60E0h 0x60E1h 0x6072h Positive Torque Negative Torque Max.
Page 102 7 CiA402 Drive Profile Touch Probe Function The feedback position can be latched with the following trigger events: • Trigger with touch probe 1 input (SERVOPACK CN1 /Probe1 (SI4) signal) • Trigger with touch probe 2 input (SERVOPACK CN1 /Probe2 (SI5) signal) •...
Page 103 7.9 Touch Probe Function  Example of Handshaking Procedure for the Touch Probe Function • Single Trigger Mode (60B8h bit1 = 0, or bit9 = 0) 60B8h Bit 0 (Bit 8) 60B8h Bit 4 (Bit 12) Latch start Latch start 60B9h Bit 0 (Bit 8) 60B9h Bit 1...
Page 104 7 CiA402 Drive Profile 7.10 Fully-closed Control The following figure shows the block diagram of the fully-closed control. Option Module SERVOPACK FS - >S Unit Velocity offset or Multiplier Velocity demand value (Pn20A) FS - >S Unit Position Velocity Torque Position demand control control...
Page 105 Object Dictionary 8.1 Object Dictionary List ........8-2 8.2 General Objects .
Page 106 8 Object Dictionary Object Dictionary List The following table shows the object dictionaries. Object Dictionaries Refer to Device Type (1000h) Error Register (1001h) Manufacturer Device Name (1008h) General Objects Manufacturer Software Version (100Ah) Store Parameters (1010h) Restore Default Parameters (1011h) Identity Object (1018h) Receive PDO Mapping (1600h to 1603h) PDO Mapping Objects...
Page 107 8.1 Object Dictionary List (cont’d) Object Dictionaries Refer to Position Demand Value (6062h) Position Actual Internal Value (6063h) Position Actual Value (6064h) Position Demand Internal Value (60FCh) Position Control Function Following Error Window (6065h) Following Error Time Out (6066h) Following Error Actual Value (60F4h) Position Window (6067h) Position Window Time (6068h) Interpolation sub mode select (60C0h)
Page 108 8 Object Dictionary General Objects (1) Device Type (1000h) The object at index 1000h describes the type of device and its functionality. Index Name Data Type Access Value EEPROM Mapping 1000h Device Type UDINT 0x00020192  Data Description Bit 31 16 15 Additional information Device profile number...
Page 109 8.2 General Objects (5) Store Parameters (1010h) With this object, the setting value of parameters can be stored in the non-volatile memory. Index Name Data Type Access Value EEPROM Mapping Largest subindex supported USINT 0x00000000 to 0xFFFFFFFF Save all parameters UDINT (Default: 0x00000001)
Page 110 8 Object Dictionary (6) Restore Default Parameters (1011h) With this object, the default values of parameters can be restored. Index Name Data Type Access Value EEPROM Mapping Largest subindex supported USINT 0x00000000 to 0xFFFFFFFF Restore all default parameters UDINT (Default: 0x00000001) 0x00000000 to Restore communication default...
Page 111 8.2 General Objects (7) Identity Object (1018h) The object contains general information about the device. Index Name Data Type Access Value EEPROM Mapping Number of entries USINT Vendor ID UDINT 0x00000539 UDINT Product code * 0x0220000 1018h UDINT – Revision number * UDINT 0x00000000 Serial number *...
Page 112 8 Object Dictionary PDO Mapping Objects The CANopen over EtherCAT protocol allows the user to map objects into Process Data Objects (PDOs) to use these PDOs for real time data transfer. PDO Mapping configuration defines which objects in a PDO will include. Each Mapping entry (Sub-Index 1 to 8) is defined as follows.
Page 113 8.3 PDO Mapping Objects  2nd Receive PDO Mapping Index Name Data Type Access Value EEPROM Mapping 0 to 8 Number of objects in this PDO USINT (Default: 2) 0 to 0xFFFFFFFF Mapping entry 1 UDINT (Default: 0x60400010) 1601h 0 to 0xFFFFFFFF Mapping entry 2 UDINT (Default:...
Page 114 8 Object Dictionary (2) Transmit PDO Mapping (1A00h to 1A03h)  1st Transmit PDO Mapping Index Name Data Type Access Value EEPROM Mapping 0 to 8 Number of objects in this PDO USINT (Default: 8) 0 to 0xFFFFFFFF Mapping entry 1 UDINT (Default: 0x60410010)
Page 115 8.3 PDO Mapping Objects  3rd Transmit PDO Mapping Index Name Data Type Access Value EEPROM Mapping 0 to 8 Number of objects in this PDO USINT (Default: 2) 0 to 0xFFFFFFFF Mapping entry 1 UDINT (Default: 0x60410010) 1A02h 0 to 0xFFFFFFFF Mapping entry 2 UDINT (Default:...
Page 116 8 Object Dictionary Sync Manager Communication Objects (1) Sync Manager Communication Type (1C00h) Index Name Data Type Access Value EEPROM Mapping Number of USINT used Sync Manager channels 1: mailbox receive Communication type sync USINT manager 0 (Master to slave) Communication type sync 2: mailbox send 1C00h...
Page 117 8.4 Sync Manager Communication Objects (3) Sync Manager Synchronization (1C32h, 1C33h)  Sync Manager 2 (Process Data Output) Synchronization Index Name Data Type Access Value EEPROM Mapping Number of Synchronization USINT Parameters 0: Free-Run (DC unused) Synchronization type UINT 2: DC Sync0 (DC used) Time between Sync0 Cycle time UDINT...
Page 118 8 Object Dictionary  Sync Manager 3 (Process Data Input) Synchronization Index Name Data Type Access Value EEPROM Mapping Number of Synchronization USINT Parameters Synchronization type UINT same as 1C32:01 Cycle time UDINT same as 1C32:02 125000*n [ns] (n = 1, 2, 3...) Shift time UDINT Range: 0 to (Sync0 event...
Page 119 8.5 Manufacturer Specific Objects Manufacturer Specific Objects (1) SERVOPACK Parameters (2000h-26FFh) Object 2000h to 26FFh are mapped to SGDV SERVOPACK parameters (Pnxxx). An object index 2xxxh is corresponding to a Pnxxx in SGDV SERVOPACK parameter. (e.g., Object 2100h is same as Pn100) (2) User Parameter Configuration (2700h) This object enables all User parameter settings, and initializes the all position values.
Page 120 8 Object Dictionary (4) Velocity User Unit (2702h) This object sets the user-defined velocity reference unit [Vel unit]. The user-defined velocity reference unit is calculated by the following formula: 1 [Vel unit] = (Numerator/Denominator) [inc/sec] Index Name Data Type Access Value EEPROM Mapping...
Page 121 8.5 Manufacturer Specific Objects (6) Torque User Unit (2704h) This object sets the user-defined torque reference unit [Torque unit]. The user-defined torque reference unit is calculated with the following formula: 1 [Trq. unit] = (Numerator/Denominator) [%] Data Index Name Access Value EEPROM Type...
Page 122 8 Object Dictionary (7) Usage of User Units The setting methods of user-defined reference units are explained by using the following two cases as exam- ples. • Case 1: Linear mechanism system with ball screw • Case 2: Rotary mechanism system with rotary table ...
Page 123 8.5 Manufacturer Specific Objects  Case 2: Rotary Mechanism System with Rotary Table • User Requirements and Application Assumptions • User-defined position reference unit: 0.001 deg • User-defined velocity reference unit: 1 deg/s • User-defined acceleration reference unit: 1 deg/s •...
Page 124 8 Object Dictionary (8) SERVOPACK Adjusting Command (2710h) This object should be used for SERVOPACK adjusting services (e.g., Encoder setup, Multi-turn reset and so on). Writes the data into the Sub-Index 1 to start the command execution. Also, reads the Sub-Index 3 to accept the response.
Page 125 8.5 Manufacturer Specific Objects  Executable Adjustments Preparation Request Processing Adjustment Execution Conditions Code Time before execution When using an incremental encoder, impossible Absolute encoder reset 1008H Required 5 s max. to reset the encoder while the servo is ON. Adjustment is disabled: Automatic offset adjustment •...
Page 126 8 Object Dictionary (9) Safety Module Monitor (2720h) This object shows the operation status of the Safety Module. Note: This object can be used to monitor status with an EtherCAT (CoE) Network Module with a revision number (Object 1018h:03h) of 0x00030001 or higher. Data Index Name...
Page 127 8.6 Device Control Device Control (1) Error Code (603Fh) This provides the SGDV SERVOPACK’s alarm/warning code of the last error which occurred in device. Index Name Data Type Access Value EEPROM Mapping 603Fh Error Code UINT (2) Controlword (6040h) The Controlword consists of bits for the controlling of the drive state, the controlling of operating modes and manufacturer specific options.
Page 128 8 Object Dictionary <Details on Bits 4 to 9> • Bit 4, 5 and 9: for the controlling of Profile position mode Bit9 Bit5 Bit4 Definition 0 → 1 Start the next positioning after the current positioning completes (target reached) 0 →...
Page 129 8.6 Device Control • Bit 4, 5, 6, 8 and 9: for the controlling of Profile velocity/torque mode Function Value Definition – Reserved – Reserved – Reserved The motion is executed or continued. Halt Stop axis according to halt option code (605Dh) –...
Page 130 8 Object Dictionary <Details on Bit 11> • Bit11: Internal limit active The internal limit is active in the following cases: • Target position was limited with Software position limits • N-OT / P-OT signals were activated • Over Interpolation speed (only for Interpolated position and cyclic position mode) If the reference speed of interpolation exceeds the following speed range, the target position will be ignored.
Page 131 8.6 Device Control • Bit 10, 12 and 13: for Interpolated position mode Status Value Definition Halt (Bit 8 in Controlword) = 0: Target position not reached Halt (Bit 8 in Controlword) = 1: Axis decelerates Target reached Halt (Bit 8 in Controlword) = 0: Target position reached Halt (Bit 8 in Controlword) = 1: Velocity of axis is 0 Interpolation inactive Ip mode...
Page 132 8 Object Dictionary (5) Shutdown Option Code (605Bh) The parameter determines what action is performed if there is a transition from Operation Enable state to Ready to Switch On state. Index Name Data Type Access Value EEPROM Mapping 0 to 1 605Bh Shutdown Option Code (Default: 0)
Page 133 8.6 Device Control (7) Halt Option Code (605Dh) The parameter halt option code determines what action should be taken if the bit 8 (halt) in the Controlword is active. Index Name Data Type Access Value EEPROM Mapping 0 to 4 605Dh Halt Option Code (Default: 1)
Page 134 8 Object Dictionary (9) Modes of Operation (6060h) The master writes to the modes of operation object in order to select the operation mode. The drive device pro- vides the modes of operation display object to indicate the actual activated operation mode. Index Name Data Type...
Page 135 8.6 Device Control (11) Supported Drive Modes (6502h) This object gives an overview of the implemented operating modes in the device. Index Name Data Type Access Value EEPROM Mapping 6502h Supported Drive Modes UDINT 03EDh  Data Description Supported Modes Definition Pp (Profile Position mode) 1: Supported...
Page 136 8 Object Dictionary Profile Position Mode (1) Target Position (607Ah) This object is the target position in the Profile Position mode and Cyclic Synchronous Position mode. In Profile Position mode, the value of this object is interpreted as either an absolute or relative value depend- ing on the abs/rel flag of Controlword.
Page 137 8.7 Profile Position Mode (4) Profile Velocity (6081h) The profile velocity is the velocity normally attained at the end of the acceleration ramp during a profiled move and is valid for both directions of motion. Index Name Data Type Access Value EEPROM Mapping...
Page 138 8 Object Dictionary Homing Mode (1) Home Offset (607Ch) The home offset is the difference between the zero position for the application and the machine home position (found during homing). Index Name Data Type Access Value EEPROM Mapping -536870912 to 607Ch Home Offset DINT...
Page 139 8.8 Homing Mode (3) Homing Speeds (6099h) This object entries define the speeds used during homing and is given in user velocity units. Index Name Data Type Access Value EEPROM Mapping Number of entries USINT 0 to 4294967295 Speed during search for switch UDINT (Default: 500000) 6099h...
Page 140 8 Object Dictionary Position Control Function (1) Position Demand Value (6062h) This object provides the demanded position value in user position units. Index Name Data Type Access Value EEPROM Mapping 6062h Position Demand Value DINT – [Pos. unit] (2) Position Actual Internal Value (6063h) This object provides the current feedback position in encoder pulse units [inc].
Page 141 8.9 Position Control Function (7) Following Error Actual Value (60F4h) This object provides the actual value of the following error. Index Name Data Type Access Value EEPROM Mapping 60F4h Following Error Actual Value DINT – [Pos. unit] (8) Position Window (6067h) This object specifies the positioning completed width for the target position.
Page 142 8 Object Dictionary 8.10 Interpolated Position Mode (1) Interpolation Sub Mode Select (60C0H) (Shared Mode 1/Mode 2 Object) This object is used to select the interpolated position mode. To use an interpolated position mode, set this object first. Index Name Data Type Access Value...
Page 143 8.10 Interpolated Position Mode (4) Manufacturer Interpolation Data Configuration for 1 Profile (2730h) (Mode 2 Object) This object sets how the interpolation position reference in Interpolation Data Record for 1 Profile (object 27C0h) is used. Index Name Data Type Access Value EEPROM Mapping...
Page 144 8 Object Dictionary  2730h:8 Position Data Polarity Value (Method) Description The value in the reference input buffer is multiplied by 1. The value in the reference input buffer is multiplied by -1. This value is valid when Position Data Definition (object 2730h:7) is 1. To enable changing this value, set WritePointer (object 2741h:2) and ReadPointer (object 2741h:1) to the same value.
Page 145 8.10 Interpolated Position Mode  2731h:6 Buffer Clear Value (Method) Description Disables the reference input buffer. Enables the reference input buffer.  2731h:7 Position Data Definition Value (Method) Description The value in the reference input buffer is used as an absolute value. The value in the reference input buffer is used as a relative value.
Page 146 8 Object Dictionary (7) Interpolation Data Record for 1 Profile (27C0h) (Mode 2 Object) This object is used to set the interpolation position references for the 1 profile in Buffer Strategies for the Interpolated Position Mode. Set this object only after setting all of the items in Manufacturer Interpolation Data Configuration for 1 Pro- file (object 2730h).
Page 147 8.11 Cyclic Synchronous Position Mode 8.11 Cyclic Synchronous Position Mode (1) Velocity Offset (60B1h) In Cyclic Synchronous Position mode, this object sets the velocity feed forward value. In Cyclic Synchronous Velocity mode, this object sets the offset value to be added to the velocity reference. Index Name Data Type...
Page 148 8 Object Dictionary 8.12 Profile Velocity/Cyclic Synchronous Velocity Mode (1) Velocity Demand Value (606Bh) This object provides the output value of the velocity trajectory generator or the output value of the position control function. Index Name Data Type Access Value EEPROM Mapping 606Bh...
Page 149 8.13 Profile Torque/Cyclic Synchronous Torque Mode 8.13 Profile Torque/Cyclic Synchronous Torque Mode (1) Target Torque (6071h) This object specifies the input value of torque reference value for Torque Control mode. Set the value in units of 0.1% of the motor rated torque. Index Name Data Type...
Page 150 8 Object Dictionary 8.14 Torque Limit Function (1) Max. Torque (6072h) This object sets the maximum output torque to the motor. Set the value in units of 0.1% of the motor rated torque. The maximum motor torque is automatically set in this object when the power is turned ON. Index Name Data Type...
Page 151 8.15 Touch Probe Function 8.15 Touch Probe Function (1) Touch Probe Function (60B8h) This object indicates the configured function of the touch probe. Index Name Data Type Access Value EEPROM Mapping 0 to 0xFFFF 60B8h Touch Probe Function UINT (Default: 0) ...
Page 152 8 Object Dictionary (2) Touch Probe Status (60B9h) This object provides the status of the touch probe. Index Name Data Type Access Value EEPROM Mapping 60B8h Touch Probe Status UINT –  Data Description Value Definition Touch probe 1 is switched off Touch probe 1 is enabled Touch probe 1 no value stored Touch probe 1 value stored...
Page 153 8.16 Digital Inputs/Outputs 8.16 Digital Inputs/Outputs (1) Digital Inputs (60FDh) This object indicates the digital inputs state of CN1 of the SGDV SERVOPACK. Index Name Data Type Access Value EEPROM Mapping 60FDh Digital Inputs UDINT –  Data Description Signal Description N-OT: Negative limit switch 0: Switched off, 1: Switched on P-OT: Positive limit switch...
Page 154 8 Object Dictionary (2) Digital Outputs (60FEh) This object controls the digital outputs state of CN1 of the SGDV SERVOPACK. Sub-index 1 is used to control the physical outputs state. Sub-index 2 determines which physical bits of Sub- Index 1 are enabled. If the SERVOPACK status output functions in objects 250Eh, 250Fh, and 2510h (Pn50E, Pn50F, and Pn510) are assigned, the status will be output using the set value of this object as well as OR logic.
Page 155 Troubleshooting 9.1 Troubleshooting ..........9-2 9.1.1 Alarm List for SERVOPACKs with Command Option Attachable Type .
Page 156 9 Troubleshooting 9.1.1 Alarm List for SERVOPACKs with Command Option Attachable Type Troubleshooting The SERVOPACK stops the servomotor by one of the methods described below, and displays the alarm status.  Status Display The alarm code is displayed. SERVOPACK Panel Display Example: A.
Page 157 9.1 Troubleshooting (cont’d) Servomotor Alarm Alarm Alarm Name Meaning Stop Code Reset Method 320h Regenerative Overload Regenerative energy exceeds regenerative resistor capacity. Gr.2 Available • Setting of AC input/DC input is incorrect. Main Circuit Power 330h Gr.1 Available Supply Wiring Error •...
Page 158 9 Troubleshooting 9.1.1 Alarm List for SERVOPACKs with Command Option Attachable Type (cont’d) Servomotor Alarm Alarm Alarm Name Meaning Stop Code Reset Method External Encoder Overheated The overheat from the external encoder occurred. Gr.1 Available 8A6h Current Detection Error1 b31h The current detection circuit for phase-U is faulty.
Page 159 9.1 Troubleshooting (cont’d) Servomotor Alarm Alarm Alarm Name Meaning Stop Code Reset Method After a position error pulse has been input, Pn529 limits the speed if the Servo ON command is received. If Pn529 limits Position Error Pulse Overflow the speed in such a state, this alarm occurs when the position d02h Alarm by Speed Limit at Servo Gr.2...
Page 160 Troubleshooting of the EtherCAT (CoE) Network Module Alarms Refer to the following table to identify the cause of an alarm and the action to be taken. Contact your Yaskawa representa- tive if the problem cannot be solved by the described corrective action.
Page 161 9.1 Troubleshooting (cont’d) Alarm Alarm Name Cause Investigative Action Corrective Action Code The synchronous timing (Sync0) of the SERVO- PACK and the EtherCAT Turn the power supply (CoE) Network Module OFF and ON again and – fluctuated due to a fluctu- then reestablish commu- ation in the synchronous nication.
Page 162 9 Troubleshooting 9.1.3 Troubleshooting of the EtherCAT (CoE) Network Module Alarms (cont’d) Alarm Alarm Name Cause Investigative Action Corrective Action Code Check whether the setting is within the following range. The position unit is set Correct the setting of 1/4096 < Object out of range.
Page 163 9.1 Troubleshooting (cont’d) Alarm Alarm Name Cause Investigative Action Corrective Action Code Initialize the parameter The power supply was Check the timing of the set value (object 1011h), interrupted during param- power interruption. and then input the param- eter writing. eter again.
Page 164 9 Troubleshooting Warning Displays When a warning is detected, the SERVOPACK indicates the warning status as described below, and continues operating the servomotor.  Status Display The warning code is displayed. SERVOPACK Panel Display Example: A. → 9 → 1 → 0 Digital Operator The warning code is displayed.
Page 165 9.3 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor Troubleshooting for the malfunctions based on the operation and conditions of the servomotor is provided in this section. Be sure to turn OFF the servo system before troubleshooting items shown in bold lines in the table. Problem Probable Cause Investigative Actions...
Page 166 9 Troubleshooting (cont’d) Problem Probable Cause Investigative Actions Corrective Actions Check the setting of parameter Improper Pn001.0 setting Correct the parameter setting. Pn001.0. Check if excessive moment of iner- tia, motor overspeed, or DB fre- Replace the SERVOPACK, and Dynamic Brake quently activated occurred.
Page 167 9.3 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor (cont’d) Problem Probable Cause Investigative Actions Corrective Actions Check to see if the servo gains have Unbalanced servo gains Execute the advanced autotuning. been correctly adjusted. Check the speed loop gain value Speed loop gain value (Pn100) too Reduce the speed loop gain (Pn100).
Page 168 Appendix 10.1 Object List ..........10-2 10.2 SERVOPACK Parameters .
Page 169 10 Appendix 10.1 Object List Data Default EEPROM Index Name Access Lower Limit Upper Limit Unit Pn No. Index Type Mapping Value 1000h Device Type UDINT 0x00020192 – – – – 1001h Error Register USINT – – – – – 1008h Manufacturer Device Name STRING –...
Page 170 10.1 Object List (cont’d) Data Default EEPROM Index Name Access Lower Limit Upper Limit Unit Pn No. Index Type Mapping Value 1601h 2nd Receive PDO Mapping Number of objects in this USINT – PnCA1 Mapping entry 1 UDINT 0x60400010 0xFFFFFFFF –...
Page 171 10 Appendix (cont’d) Data Default EEPROM Index Name Access Lower Limit Upper Limit Unit Pn No. Index Type Mapping Value 1A01h 2nd Transmit PDO Mapping Number of objects in this USINT – PnCA5 Mapping entry 1 UDINT 0x60410010 0xFFFFFFFF – PnC70 Mapping entry 2 UDINT...
Page 172 10.1 Object List (cont’d) Data Default EEPROM Index Name Access Lower Limit Upper Limit Unit Pn No. Index Type Mapping Value 1C12h Sync Manager PDO Assignment2 Number of assigned PDOs USINT – PnCB5 Index of assigned RxPDO 1 UINT 0x1601 0x1600 0x1603 –...
Page 173 10 Appendix (cont’d) Data Default EEPROM Index Name Access Lower Limit Upper Limit Unit Pn No. Index Type Mapping Value 2701h Position User Unit Number of entries USINT – – – – Numerator UDINT 1073741823 – PnB02 Denominator UDINT 1073741823 –...
Page 174 10.1 Object List (cont’d) Data Default EEPROM Index Name Access Lower Limit Upper Limit Unit Pn No. Index Type Mapping Value Interpolation data read/write pointer Position Monitor Number of entries UINT – – – – Interpolation data read 2741h UINT –...
Page 175 10 Appendix (cont’d) Data Default EEPROM Index Name Access Lower Limit Upper Limit Unit Pn No. Index Type Mapping Value 606Eh Velocity Window Time UINT 65535 PnB34 Trq. 6071h Target Torque -32768 32767 PnB36 Unit Motor max. Trq. 6072h Max. Torque UINT 65535 PnB38...
Page 176 10.1 Object List (cont’d) Data Default EEPROM Index Name Access Lower Limit Upper Limit Unit Pn No. Index Type Mapping Value 60C1h Interpolation Data Record Number of entries USINT – – – – Pos. Interpolation data record DINT -2147483648 2147483647 PnB70 unit 60C2h Interpolation Time Period...
Page 177 10 Appendix 10.2 SERVOPACK Parameters The following table lists the SERVOPACK parameters. Note: Do not change the following parameters from the factory settings. • Reserved parameters • Parameters not described in this manual All parameters can be accessed by SDO communication. <Note>...
Page 178 10.2 SERVOPACK Parameters (cont’d) Object Factory Data Index Name Setting Range Units When Enabled Setting Type (Pn No.) Application Function Select Switch 1 0000 to 1122 – 0000 After restart UINT digit digit digit digit Servomotor power OFF or Alarm Gr.1 Stop Mode Stops the motor by applying DB (dynamic brake).
Page 179 10 Appendix (cont’d) Object Factory Data Index Name Setting Range Units When Enabled Setting Type (Pn No.) Application Function Select Switch 6 0000 to 005F – 0002 Immediately UINT digit digit digit digit Analog Monitor 1 Signal Selection Motor speed (1 V/1000 min Speed reference (1 V/1000 min Torque reference (1 V/100%) Position error (0.05 V/1 reference unit)
Page 180 10.2 SERVOPACK Parameters (cont’d) Object Factory Data Index Name Setting Range Units When Enabled Setting Type (Pn No.) Application Function Select Switch 7 0000 to 005F – 0000 Immediately UINT digit digit digit digit Analog Monitor 2 Signal Selection Motor speed (1 V/1000 min Speed reference (1 V/1000 min Torque reference (1 V/100%) Position error (0.05 V/1 reference unit)
Page 181 10 Appendix (cont’d) Object Factory Data Index Name Setting Range Units When Enabled Setting Type (Pn No.) Application Function Select Switch 9 0000 to 0111 – 0010 After restart UINT digit digit digit digit Reserved (Do not change.) Current Control Method Selection 2009h Current control method 1 (Pn009)
Page 182 10.2 SERVOPACK Parameters (cont’d) Object Factory Data Index Name Setting Range Units When Enabled Setting Type (Pn No.) Application Function Select Switch C 0000 to 0111 – 0000 After restart UINT digit digit digit digit Selection of Test without Motor Test without motor disabled Test without motor enabled 200Ch...
Page 183 10 Appendix (cont’d) Object Factory Data Index Name Setting Range Units When Enabled Setting Type (Pn No.) Σ-V Series Application Function Select Switch D 0000 to 0001 – 0000 After restart UINT digit digit digit digit Stand-alone Mode (Test Operation) Selection Enables connection with the command option module.
Page 184 10.2 SERVOPACK Parameters (cont’d) Object Factory Data Index Name Setting Range Units When Enabled Setting Type (Pn No.) − Application Function Select Switch 80 0000 to 1111 0000 After restart UINT digit digit digit digit Hall Sensor Selection Enables selection Disables selection 2080h Motor Phase Selection...
Page 185 10 Appendix (cont’d) Object Factory Data Index Name Setting Range Units When Enabled Setting Type (Pn No.) 210Ah Feedforward Filter Time Constant 0 to 6400 0.01 ms Immediately UINT (Pn10A) Application Function for Gain Select 0000 to 5334 – 0000 –...
Page 186 10.2 SERVOPACK Parameters (cont’d) Object Factory Data Index Name Setting Range Units When Enabled Setting Type (Pn No.) 2135h Gain Switching Waiting Time 1 0 to 65535 1 ms Immediately UINT (Pn135) 2136h Gain Switching Waiting Time 2 0 to 65535 1 ms Immediately UINT...
Page 187 10 Appendix (cont’d) Object Factory Data Index Name Setting Range Units When Enabled Setting Type (Pn No.) Model Following Control Related 0000 to 1121 – 0100 Immediately UINT Switch digit digit digit digit Model Following Control Selection Does not use model following control. Uses model following control.
Page 188 10.2 SERVOPACK Parameters (cont’d) Object Factory Data Index Name Setting Range Units When Enabled Setting Type (Pn No.) Anti-Resonance Control Related Switch 0000 to 0011 – 0010 After restart UINT digit digit digit digit Anti-Resonance Control Selection Does not use anti-resonance control. 2160h Uses anti-resonance control.
Page 189 10 Appendix (cont’d) Object Factory Data Index Name Setting Range Units When Enabled Setting Type (Pn No.) 2182h Mode Switch (Acceleration) 0 to 30000 Immediately UINT 1 mm/s (Pn182) 2205h Multiturn Limit 0 to 65535 1 rev 65535 After restart UINT (Pn205) Position Control Function Switch...
Page 190 10.2 SERVOPACK Parameters (cont’d) Object Factory Data Index Name Setting Range Units When Enabled Setting Type (Pn No.) 2282h 0.01 μm Linear Scale Pitch 0.00 to 65536.00 After restart UINT (Pn282) 2304h JOG Speed 0 to 10000 Immediately UINT 1 min (Pn304) 2305h Soft Start Acceleration Time...
Page 191 10 Appendix (cont’d) Object Factory Data Index Name Setting Range Units When Enabled Setting Type (Pn No.) Torque Related Function Switch 0000 to 1111 – 0000 – UNIT digit digit digit digit When 1st Step Notch Filter Selection Data Type Enabled Immediately UINT...
Page 192 10.2 SERVOPACK Parameters (cont’d) Object Factory Data Index Name Setting Range Units When Enabled Setting Type (Pn No.) Notch Filter Adjustment Switch 0000 to 0101 – 0101 Immediately UINT digit digit digit digit Notch Filter Adjustment Selection 1 1st step notch filter is not adjusted automatically with utility function. 2460h 1st step notch filter is adjusted automatically with utility function.
Page 193 10 Appendix (cont’d) Object Factory Data Index Name Setting Range Units When Enabled Setting Type (Pn No.) 2506h Brake Reference - Servo OFF Delay 0 to 50 10 ms Immediately UINT (Pn506) Time 2507h Brake Reference Output Speed Level 0 to 10000 Immediately UINT 1 min...
Page 194 10.2 SERVOPACK Parameters (cont’d) Object Factory Data Index Name Setting Range Units When Enabled Setting Type (Pn No.) Large-Capacity Σ-V Series Input Signal Selection 1 0000 to FFF1 – 2881 After restart UINT 2nd 1st digit digit digit digit n.     Reserved (Do not change.) Reserved (Do not change.) Reserved (Do not change.)
Page 195 10 Appendix (cont’d) Object Factory Data Index Name Setting Range Units When Enabled Setting Type (Pn No.) Σ-V Series Input Signal Selection 2 0000 to FFFF – 8882 After restart UINT digit digit digit digit (Refer to 4.2.3) N-OT Signal Mapping Reverse run allowed when CN1-13 input signal is ON (L-level).
Page 196 10.2 SERVOPACK Parameters (cont’d) Object Factory Data Index Name Setting Range Units When Enabled Setting Type (Pn No.) Large-Capacity Σ-V Series Input Signal Selection 2 0000 to FFFF – 8883 After restart UINT 2nd 1st digit digit digit digit n.     N-OT Signal Mapping (Reverse run prohibited when OFF (open)) Reverse run allowed when CN1-40 input signal is ON (closed).
Page 197 10 Appendix (cont’d) Object Factory Data Index Name Setting Range Units When Enabled Setting Type (Pn No.) Σ-V Series Output Signal Selection 1 0000 to 3333 – 0000 After restart UINT digit digit digit digit Positioning Completion Signal Mapping (/COIN) Disabled (the above signal is not used.) Outputs the signal from CN1-1, 2 output terminal.
Page 198 10.2 SERVOPACK Parameters (cont’d) Object Factory Data Index Name Setting Range Units When Enabled Setting Type (Pn No.) Σ-V Series Output Signal Selection 2 0000 to 3333 – 0100 After restart UINT digit digit digit digit Torque Limit Detection Signal Mapping (/CLT) Disabled (the above signal is not used.) Outputs the signal from CN1-1, 2 output terminal.
Page 199 10 Appendix (cont’d) Object Factory Data Index Name Setting Range Units When Enabled Setting Type (Pn No.) Σ-V Series Output Signal Selection 3 0000 to 0033 – 0000 After restart UINT digit digit digit digit Near Signal Mapping (/NEAR) Disabled (the above signal is not used.) Outputs the signal from CN1-1, -2 terminal.
Page 200 10.2 SERVOPACK Parameters (cont’d) Object Factory Data Index Name Setting Range Units When Enabled Setting Type (Pn No.) 6543 Input Signal Selection 5 0000 to FFFF – After restart UINT 6541 digit digit digit digit Reserved (Do not change.) Input Signal Mapping for /Probe1 (/SI4) Σ-V Series Inputs the signal from CN1-10 input terminal.
Page 201 10 Appendix (cont’d) Object Factory Data Index Name Setting Range Units When Enabled Setting Type (Pn No.) Σ-V Series Output Signal Inverse Setting 0000 to 0111 – 0000 After restart UINT digit digit digit digit Output Signal Inversion for CN1-1 or -2 Terminals Does not inverse outputs.
Page 202 10.2 SERVOPACK Parameters (cont’d) Object Factory Data Index Name Setting Range Units When Enabled Setting Type (Pn No.) − Input Signal Selection 6 0000 to FFFF 8888 After restart UINT 2nd 1st digit digit digit digit n.     Reserved (Do not change.) Reserved (Do not change.) Dynamic Brake Answer signal 1 Input Signal Mapping (/DBANS1)
Page 203 10 Appendix (cont’d) Object Factory Data Index Name Setting Range Units When Enabled Setting Type (Pn No.) Multiplier per One Fully-closed 252Ah 0 to 100 Immediately UINT Rotation (Pn52A) 252Bh Overload Warning Level 1 to 100 Immediately UINT (Pn52B) 252Ch Derating of Base Current at Detecting 10 to 100 After restart...
Page 204 10.2 SERVOPACK Parameters (cont’d) Object Factory Data Index Name Setting Range Units When Enabled Setting Type (Pn No.) 2561h Overshoot Detection Level 0 to 100 Immediately UINT (Pn561) Speed Coincidence Signal Output 2582h 0 to 100 1 mm/s Immediately UINT Width (Pn582) 2583h...
Page 205 10 Appendix 10.3 SDO Abort Code List The following table shows the SDO abort codes for SDO communication errors. Value Meaning 0x05 03 00 00 Toggle bit not changed 0x05 04 00 00 SDO protocol timeout 0x05 04 00 01 Client/Server command specifier not valid or unknown 0x05 04 00 05 Out of memory...
Page 206 Index Index data type - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4 data units - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4 DC mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-7, 6-8 deceleration monitoring - - - - - - - - - - - - - - - - - - - - - - - - 5-10, 5-11...
Page 207 Index Home Offset (607Ch) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-34 home switch input signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3 PAO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4 homing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-12 parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-10...
Page 208 Index Returning Method - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-11 torque limit detection - - - - - - - - - - - - - - - - - - - - - - 4-10, 4-11 safety function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6 torque limit function - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2 Safety Module Monitor (2720h) - - - - - - - - - - - - - - - - - - - - - - 8-22...
Page 209 Revision History The revision dates and numbers of the revised manuals are given on the bottom of the back cover. MANUAL NO. SIEP C720829 04B <1> Revision number Published in Japan December 2010 Date of publication Date of Rev. Section Revised Content Publication February 2018...
Page 210 Phone: +81-4-2962-5151 Fax: +81-4-2962-6138 http://www.yaskawa.co.jp YASKAWA AMERICA, INC. 2121, Norman Drive South, Waukegan, IL 60085, U.S.A. Phone: +1-800-YASKAWA (927-5292) or +1-847-887-7000 Fax: +1-847-887-7310 http://www.yaskawa.com YASKAWA ELÉTRICO DO BRASIL LTDA. 777, Avenida Piraporinha, Diadema, São Paulo, 09950-000, Brasil Phone: +55-11-3585-1100 Fax: +55-11-3585-1187 http://www.yaskawa.com.br...

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