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YASKAWA S-7 Series Manuals
Manuals and User Guides for YASKAWA S-7 Series. We have
2
YASKAWA S-7 Series manuals available for free PDF download: Command Manual, Manual
YASKAWA S-7 Series Command Manual (191 pages)
MECHATROLINK-III AC Servo Drive Communications Standard Servo Profile
Brand:
YASKAWA
| Category:
DC Drives
| Size: 1.36 MB
Table of Contents
Table of Contents
24
Communication Settings
24
Layers
29
Frame Structure
30
State Transition Diagram
31
Command and Response Timing
32
Command Data Execution Timing
32
Monitored Data Input Timing
32
Transmission Cycle and Communications Cycle (Support for 125 Μs)
33
List of Commands
34
Command Types
34
Main Commands
34
Subcommands
36
Combinations of Main Commands and Subcommands
36
Command Format
38
Common Command Format
40
Command Header Section of Main Command Area
42
Command Code (CMD/RCMD)
42
Watchdog Data (WDT/RWDT)
43
Command Control (CMD_CTRL)
43
Command Status (CMD_STAT)
47
Subcommand Control (SUB_CTRL)
48
Subcommand Status (SUB_STAT)
49
Servo Command Format
50
Command Header Section
51
Servo Command Status (SVCMD_STAT)
54
Supplementary Information on CMD_PAUSE and CMD_CANCEL
55
Supplementary Information on Latching Operation
58
Bit Allocation of Servo Command Output Signals
59
Bit Allocation of Servo Command I/O Signal Monitoring
60
Servo Command I/O Signal (SVCMD_IO)
61
2.6.2 Bit Allocation of Servo Command I/O Signal Monitoring
61
Command Data
64
Data Order
64
Specifying Units
64
Specifying Monitor Data
65
Position Data
66
Common Commands
69
No Operation Command (NOP: 00H)
69
Read ID Command (ID_RD: 03H)
70
Setup Device Command (CONFIG: 04H)
77
Read Alarm or Warning Command (ALM_RD: 05H)
79
Clear Alarm or Warning Command (ALM_CLR: 06H)
81
Start Synchronous Communication Command (SYNC_SET: 0Dh)
82
Establish Connection Command (CONNECT: 0Eh)
83
Disconnection Command (DISCONNECT: 0Fh)
85
Read Memory Command (MEM_RD: 1Dh)
86
Write Memory Command (MEM_WR: 1Eh)
87
Servo Commands
90
Set Coordinates Command (POS_SET: 20H)
90
Apply Brake Command (BRK_ON: 21H)
92
Release Brake Command (BRK_OFF: 22H)
93
Turn Sensor on Command (SENS_ON: 23H)
96
Turn Sensor off Command (SENS_OFF: 24H)
97
Servo Status Monitor Command (SMON: 30H)
98
Servo on Command (SV_ON: 31H)
99
Servo off Command (SV_OFF: 32H)
100
Interpolation Command (INTERPOLATE: 34H)
102
Positioning Command (POSING: 35H)
103
Feed Command (FEED: 36H)
105
External Input Feed Command (EX_FEED: 37H)
107
External Input Positioning Command (EX_POSING: 39H)
109
Zero Point Return Command (ZRET: 3Ah)
111
Velocity Control Command (VELCTRL: 3Ch)
114
Torque Control Command (TRQCTRL: 3Dh)
115
Read Servo Parameter Command (SVPRM_RD: 40H)
116
Write Servo Parameter Command (SVPRM_WR: 41H)
117
3.2.19 Motion Command Data Setting Method
118
3.2.20 Restrictions in Using Servo Commands
120
Subcommands
122
No Operation Subcommand (NOP: 00H)
124
Read Alarm or Warning Subcommand (ALM_RD: 05H)
125
Clear Alarm or Warning Subcommand (ALM_CLR: 06H)
126
Read Memory Subcommand (MEM_RD: 1Dh)
127
Write Memory Subcommand (MEM_WR: 1Eh)
128
Servo Status Monitor Subcommand (SMON: 30H)
129
Read Servo Parameter Subcommand (SVPRM_RD: 40H)
130
Write Servo Parameter Subcommand (SVPRM_WR: 41H)
131
Operation Sequence
132
Preparing for Operation
133
Setting MECHATROLINK-III Communications
133
Checking the Communications Status
135
Parameter Management and Operation Sequence
137
Operation Sequence for Managing Parameters Using a Controller
137
Mation
137
Operation Sequence for Managing Parameters Using a SERVOPACK
138
Mation
138
Setting the Zero Point before Starting Operation
139
Operation Sequence When Turning the Servo on
140
Operation Sequence When OT (Overtravel Limit Switch) Signal Is Input
141
Operation Sequence at Emergency Stop (Main Circuit OFF)
142
Operation Sequence When a Safety Signal Is Input
143
Operation Sequence at Occurrence of Alarm
145
Notes When the Positioning Completed State (PSET = 1) Is Established While Canceling a Motion Command
146
Notes When the Posi T Ioni N G Compl E Ted State (PSET = 1) Is Establi S Hed Whi L E Cancel I Ng a Moti O N Command
146
Function/Command Related Parameters
147
Position Control
148
Interpolation Command
148
Positioning Command
148
Torque Limiting Function
151
Torque Feedforward Function
153
Relationship between the Host Controller and SERVOPACK
153
Setting Parameters
154
Speed Feedforward Function
155
Relationship between the Host Controller and SERVOPACK
155
Setting Parameters
156
Software Limit Function
157
Latch Function
159
Continuous Latch by LT_REQ2 Bit
160
Setting the Latching Allowable Area
163
Acceleration/Deceleration Parameter High-Speed Switching Function
164
Detecting Alarms/Warnings Related to Communications or Commands
167
Communication Related Alarms
168
Warnings Related to Communication and Commands
171
Communication Errors (COMM_ALM)
171
Command Errors (CMD_ALM)
171
Monitoring Communication Data on Occurrence of an Alarm or Warning
172
Common Parameters
173
Overview
174
List of Common Parameters
175
Common Parameters and Corresponding Device Parameters
183
Virtual Memory Space
185
Virtual Memory Space
186
Information Allocated to Virtual Memory
187
ID Information Area
187
Common Parameter Area
188
Adjustment Operation Area
189
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YASKAWA S-7 Series Manual (71 pages)
Brand:
YASKAWA
| Category:
Servo Drives
| Size: 7.76 MB
Table of Contents
Safety Information
3
Warranty
16
Limitations of Liability
16
Suitability for Use
17
Product Confirmation
18
Installation
19
Installation in a Control Panel
20
Other Precautions
20
Derating Specifications
21
Wiring Precautions
23
Terminal Symbols and Terminal Names
23
Using an AC Power Supply
30
Using a DC Power Supply
32
Wire Types
47
Maintenance and Inspection
48
Guidelines for Part Replacement
48
SERVOPACK Overload Protection Characteristics
67
Revision History
70
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