AC Servo Drive
Engineering Tool SigmaWin+ Operation Manual
Copyright © 2015 YASKAWA ELECTRIC CORPORATION
All Rights Reserved Original instructions
Table of Contents
- About This Manual
- Outline of Manual
- Related Documents
- Information in This Manual
- Precautions for Computer Communications
- Regarding Software
- Regarding USB Driver
- Safety Precautions
- Warranty
- 1 Introduction to the SigmaWin+
- 1.1 Features and Specifications
- 1.2 Names of Window Parts
- 2 Starting the SigmaWin+
- 2.1 Introduction
- 2.2 Starting the SigmaWin+ Online
- 2.2.1 Introduction
- 2.2.2 Direct USB Connection to the SERVOPACK
- 2.2.3 Direct Ethernet Connection to the SERVOPACK
- 2.2.4 Connecting to the SERVOPACK through the Controller
- 2.2.5 Connecting to the SERVOPACK through a Board-type Controller Built into a Computer
- 2.2.6 Connecting to the SERVOPACK through a MECHATROLINK Relay Device
- 2.2.7 Connecting from a Remote Location to the SERVOPACK through a Board-type Controller Built into a Computer
- 2.2.8 Precautions on Starting Multiple Instances of the SigmaWin+
- 2.3 Starting the SigmaWin+ Offline
- 3 Creating Project Files for Servo Drives
- 3.1 Introduction
- 3.2 Save As
- 3.3 Save
- 3.4 Open a Project File
- 4 Setting Up Servo Drives
- 4.1 Introduction
- 4.2 Setting Parameters
- 4.2.1 Introduction
- 4.2.2 Setting Basic Parameters with a Wizard
- 4.2.3 Setting Individual Parameters
- 4.2.4 Setting Safety Module Parameters (Modules Other than the ASM-X)
- 4.2.5 Converting Parameters from a Previous Series to a New Series
- 4.2.6 Checking Parameters in Parameter Files
- 4.3 Connecting I/O Signals
- 4.3.1 Introduction
- 4.3.2 Changing Input Signal Allocations
- 4.3.3 Changing Output Signal Allocations
- 4.3.4 Checking I/O Signal Allocations
- 4.4 Setting Up an Absolute Encoder
- 4.4.1 Introduction
- 4.4.2 Initializing an Absolute Encoder
- 4.4.3 Setting the Upper Limit to the Multiturn Data for an Absolute Encoder
- 4.5 Setting Up a Linear Encoder
- 4.5.1 Introduction
- 4.5.2 Detecting the Polarity of a Linear Servomotor
- 4.5.3 Setting the Origin for an Absolute Linear Encoder
- 4.5.4 Writing the Motor Parameters to a Linear Encoder
- 4.6 Writing Motor Parameters to the SERVOPACK
- 4.7 Using Σ-LINK II (Σ-X)
- 4.7.1 Introduction
- 4.7.2 Performing Self Configuration
- 4.7.3 Allocating the Encoder
- 4.7.4 Allocating Σ-LINK II Data
- 4.7.5 Allocating SLI/SLO
- 4.7.6 Allocating I/O Signals
- 4.8 Setting SERVOPACK Axis Names
- 4.9 Setting an Offset
- 4.9.1 Introduction
- 4.9.2 Adjusting Minor Servomotor Rotation for a Zero Speed or Zero Torque Reference
- 4.9.3 Adjusting the Zero Point and Sensitivity of an Analog Monitor Output
- 4.9.4 Adjusting the Motor Current for a Large Torque Ripple
- 4.10 Positioning to the Origin within One Servomotor Rotation
- 4.11 Suppressing Vibration in the Tuning-Less Function
- 4.12 Adjusting the Detection Sensitivity of Vibration Detection Alarms
- 4.13 Prohibiting Parameter Changes from the Digital Operator
- 4.14 Resetting the SERVOPACK without Turning the Power OFF and ON Again
- 4.14.1 Introduction
- 4.14.2 Personal Computer Connected Directly to a SERVOPACK
- 4.14.3 SERVOPACK Connected through a Controller
- 4.15 Configuring a SERVOPACK with a Mounted Advanced Safety Module (ASM-X)
- 4.15.1 Introduction
- 4.15.2 Access Restrictions by User Login Authorization
- 4.15.3 Registering/Changing/Deleting a User
- 4.15.4 Logging In as a User
- 4.15.5 [Menu] Function Usage Restrictions
- 4.15.6 Establishing an Online Connection between the ASM-X and SigmaWin+
- 4.15.7 Setting the ASM-X Password
- 4.15.8 Initializing ASM-X Settings
- 4.15.9 Setting ASM-X Parameters
- 4.15.10 Setting/Changing the Password for the Encoder with Functional Safety
- 4.15.11 Initializing Encoder with Functional Safety Settings
- 4.15.12 Setting Encoder with Functional Safety Parameters
- 4.16 Setting a Program Table
- 4.16.1 Introduction
- 4.16.2 Editing a Program Table
- 4.16.3 Splitting a Program Table into Stations
- 4.16.4 Writing a Program Table to the SERVOPACK
- 4.16.5 Saving a Program Table Written to the SERVOPACK into Flash Memory in the SERVOPACK
- 4.16.6 Initializing a Program Table to the Default Settings
- 4.16.7 Reading a Program Table from the SERVOPACK
- 4.16.8 Reading a Program Table from a Program Table File
- 4.16.9 Saving a Program Table File on the Personal Computer
- 4.16.10 Creating a Program Table
- 4.16.11 Printing a Program Table
- 4.17 Setting a ZONE Table
- 4.17.1 Introduction
- 4.17.2 Editing a ZONE Table
- 4.17.3 Writing a ZONE Table to the SERVOPACK
- 4.17.4 Saving a ZONE Table Written to the SERVOPACK into Flash Memory in the SERVOPACK
- 4.17.5 Initializing a ZONE Table to the Default Settings
- 4.17.6 Reading a ZONE Table from the SERVOPACK
- 4.17.7 Reading a ZONE Table from a ZONE Table File
- 4.17.8 Saving a ZONE Table File on the Personal Computer
- 4.17.9 Creating a ZONE Table
- 4.17.10 Printing a ZONE Table
- 4.18 Setting a Jog Speed Table
- 4.18.1 Introduction
- 4.18.2 Editing a Jog Speed Table
- 4.18.3 Writing a Jog Speed Table to the SERVOPACK
- 4.18.4 Saving a Jog Speed Table Written to the SERVOPACK into Flash Memory in the SERVOPACK
- 4.18.5 Initializing a Jog Speed Table to the Default Settings
- 4.18.6 Reading a Jog Speed Table from the SERVOPACK
- 4.18.7 Reading a Jog Speed Table from a Jog Speed Table File
- 4.18.8 Saving a Jog Speed Table File on the Personal Computer
- 4.18.9 Creating a Jog Speed Table
- 4.18.10 Printing a Jog Speed Table
- 4.19 Setting Parameters for Editing Tables
- 4.19.1 Introduction
- 4.19.2 Editing Parameters
- 4.19.3 Reading All Parameters from the SERVOPACK
- 4.19.4 Writing Edited Parameters to the SERVOPACK
- 4.19.5 Writing All Parameters to the SERVOPACK
- 4.19.6 Saving Parameters Written to SERVOPACK to Flash Memory
- 4.19.7 Reading Parameters from a Parameter File (.swfm☐)
- 4.19.8 Writing Parameters to a Parameter File (.swfm☐)
- 4.19.9 Saving Parameter Settings in Project Files
- 4.19.10 Restoring Parameters to the Default Settings
- 5 Performing Trial Operation
- 5.1 Introduction
- 5.2 Jogging the Servomotor to Test Operation
- 5.3 Performing Trial Operation with a Program
- 6 Tuning
- 6.1 Introduction
- 6.2 Performing Basic Tuning (Σ-X)
- 6.2.1 Estimating the Real Time Load Moment of Inertia with Reference Inputs from the Host Controller
- 6.2.2 Estimating the Load Moment of Inertia
- 6.2.3 Autotuning Gains with Automatic SERVOPACK Operation
- 6.2.4 Autotuning Gains with Reference Inputs from the Host Controller
- 6.2.5 Autotuning Gains for Multiple Axes with Automatic SERVOPACK Operation
- 6.2.6 Autotuning Gains for Multiple Axes with Reference Inputs from the Host Controller
- 6.3 Performing Basic Tuning（Σ-7）
- 6.3.1 Estimating the Load Moment of Inertia
- 6.3.2 Autotuning Gains with Automatic SERVOPACK Operation
- 6.3.3 Autotuning Gains with Reference Inputs from the Host Controller
- 6.4 Detailed Tuning (Σ-X)
- 6.4.1 Manually Tuning Gains with Reference Inputs from the Host Controller
- 6.4.2 Suppressing Continuous Vibration during Operation
- 6.4.3 Suppressing Transient Machine Vibration during Positioning
- 6.4.4 Suppressing Vibration when Stopping the Motor
- 6.4.5 Reducing Ripple in the Motor Speed
- 6.4.6 Adjusting Individual Parameters during Operation
- 6.4.7 Displaying Machine Frequency Characteristics on a Graph
- 6.4.8 Detecting Machine Characteristics and Suppressing Vibration
- 6.5 Detailed Tuning（Σ-7）
- 6.5.1 Manually Tuning Gains with Reference Inputs from the Host Controller
- 6.5.2 Suppressing Continuous Vibration during Operation
- 6.5.3 Suppressing Transient Machine Vibration during Positioning
- 6.5.4 Suppressing Vibration when Stopping the Servomotor
- 6.5.5 Reducing Ripple in the Motor Speed
- 6.5.6 Adjusting Individual Parameters during Operation
- 6.5.7 Displaying Machine Frequency Characteristics on a Graph
- 6.5.8 Detecting Machine Characteristics and Suppressing Vibration
- 6.6 Simultaneously Adjusting Multiple Axes in a System
- 6.6.1 Introduction
- 6.6.2 Adjusting Axes Individually (Individual Adjustment)
- 6.6.3 Adjusting Axes Simultaneously (Equal Adjustment)
- 6.6.4 Changing the Adjusted Axes for Equal Adjustment
- 7 Monitoring
- 7.1 Introduction
- 7.2 Monitoring Product Information
- 7.3 Displaying the QR Code for a Product
- 7.4 Writing Product Information to a CSV File (.csv)
- 7.5 Monitoring SERVOPACK Operation and Status
- 7.5.1 Introduction
- 7.5.2 Monitoring SERVOPACK Operation
- 7.5.3 Monitoring SERVOPACK Status
- 7.5.4 Monitoring SERVOPACK I/O Signals
- 7.6 Monitoring SERVOPACK Wiring Status
- 7.7 Monitoring Command Communications for INDEXER Modules
- 7.7.1 Introduction
- 7.7.2 Monitoring Serial Command Communications
- 7.7.3 Saving Monitor Data on the Personal Computer
- 7.8 Monitoring SERVOPACK Installation Environment and Life Predictions
- 7.9 Monitoring SERVOPACK CDO List
- 7.9.1 Introduction
- 7.9.2 Specifying the CDO to Display
- 7.9.3 Specifying ON or OFF for Description Display for CDO in the [CDO] Window
- 7.9.4 Reading the CDO List from the SERVOPACK
- 7.9.5 Writing the CDO List to a CSV File (.csv)
- 7.9.6 Removing a SERVOPACK from the List
- 7.10 Viewing Detailed (Short-Term) Waveforms for Motor Operation
- 7.10.1 Introduction
- 7.10.2 Preparations for Tracing
- 7.10.3 Tracing Data
- 7.10.4 Viewing Trace Graphs
- 7.10.5 Opening a Trace Data File on the Personal Computer
- 7.10.6 Saving a Trace Data File on the Personal Computer
- 7.10.7 Viewing Trace Measurement Conditions
- 7.10.8 Viewing Parameter Setting Values for Trace Data
- 7.10.9 Copying a Trace Graph to the Clipboard
- 7.10.10 Saving Trace Graphs to CSV Files
- 7.11 Viewing Overall (Long-Term) Waveforms for Motor Operation
- 7.11.1 Introduction
- 7.11.2 Preparations for Real Time Tracing
- 7.11.3 Real Time Tracing
- 7.11.4 Viewing Real Time Trace Graphs
- 7.11.5 Opening a Real Time Trace File on the Personal Computer
- 7.11.6 Printing Real Time Trace Graphs
- 7.11.7 Viewing Real Time Trace Measurement Conditions
- 7.11.8 Copying a Real Time Trace Graph to the Clipboard
- 7.12 Performing Error Detection (Σ-X)
- 7.12.1 Introduction
- 7.12.2 Executing Error Detection
- 7.12.3 Saving Sample Data to CSV Files
- 7.12.4 Saving Error Detection Data to CSV Files
- 8 Troubleshooting
- 8.1 Introduction
- 8.2 Checking Alarms
- 8.2.1 Checking Current Alarms
- 8.2.2 Checking the Alarm History
- 8.3 Checking SERVOPACK Status When an Alarm Occurs
- 8.3.1 Introduction
- 8.3.2 Displaying Alarm Trace Graphs
- 8.3.3 Viewing Alarm Trace Graphs
- 8.3.4 Opening an Alarm Trace Data File on the Personal Computer
- 8.3.5 Saving an Alarm Trace Data File on the Personal Computer
- 8.3.6 Viewing Alarm Trace Measurement Conditions
- 8.3.7 Copying an Alarm Trace Graph to the Clipboard
- 8.3.8 Saving Alarm Trace Graphs to CSV Files
- 8.4 Clearing Alarms
- 8.4.1 Resetting Alarms
- 8.4.2 Resetting Motor Type Change Detected Alarms
- 9 Basic Settings for SigmaWin+
- 9.1 Changing the SigmaWin+ Language
- 9.2 Managing the Model Information Files of the SigmaWin+
- 9.2.1 Introduction
- 9.2.2 Adding Model Information Files
- 9.2.3 Checking the Model Information File Version
- 9.2.4 Setting the Model Language of the Model Information File
- 9.2.5 Saving the Log Data for Model Information File Management to the Personal Computer
- 9.3 Checking the SigmaWin+ Version
- 9.4 Displaying Help
- Revision History
- Technical Support
About This Manual
This manual provides detailed operating procedures for the SigmaWin+ engineering tool for AC servo drives.
Read and understand this manual to ensure correct usage of the SigmaWin+.
Outline of Manual
The contents of this manual are described in the following table.
Refer to contents of this manual as required.
| Title | Contents |
|---|---|
| Introduction to the SigmaWin+ | Provides information on the features and main functions of the SigmaWin+. |
| Starting the SigmaWin+ | Provides the procedure to place the personal computer online with a SERVOPACK and start the SigmaWin+ and the procedure to start the SigmaWin+ offline. |
| Creating Project Files for Servo Drives | Provides the procedures to create a project file that allows you to manage one or more SERVOPACKs and axes as a project. |
| Setting Up Servo Drives | Provides operating procedures to set up servo drives. |
| Performing Trial Operation | Provides operating procedures for trial operation. |
| Tuning | Provides basic tuning procedures along with detailed tuning procedures that use the various tuning functions. |
| Monitoring | Provides procedures to monitor servo drive product information, SERVOPACK operation and status, and motor operation waveforms. |
| Troubleshooting | Provides troubleshooting procedures using the SigmaWin+ for servo drives. |
| Basic Settings for SigmaWin+ | Provides procedures for the basic settings to use the SigmaWin+. |
Related Documents
Related manuals are listed in the following table. Refer to these manuals as required.
Be sure you understand product specifications and application restrictions before you attempt to use any product.
| Document Name | Document No. | Description |
|---|---|---|
| Σ-X-Series AC Servo Drive Σ-XS/Σ-XW SERVOPACK Safety Precautions | TOMP C710812 00 | Provides detailed information for the safe usage of Σ-X-series SERVOPACKs. |
| Σ-X-Series AC Servo Drive Σ-XT SERVOPACK Safety Precautions | TOMP C710812 16 | |
| Σ-X-Series AC Servo Drive Advanced Safety Module Safety Precautions | TOMP C710812 25 | Provides detailed information for the safe usage of the advanced safety module. |
| Σ-7-Series AC Servo Drive Σ-7S and Σ-7W SERVOPACK Safety Precautions | TOMP C710828 00 | Provides detailed information for the safe usage of Σ-7-series SERVOPACKs. |
| Σ-X-Series AC Servo Drive Σ-XS SERVOPACK with MECHATROLINK-4/III Communications References Product Manual | SIEP C710812 01 | Provides detailed information on selecting Σ-X-series, Σ-XS, Σ-XW and Σ-XT SERVOPACKs and information on installing, connecting, setting, performing trial operation, tuning, monitoring, and maintaining the servo drives. |
| Σ-X-Series AC Servo Drive Σ-XS SERVOPACK with Analog Voltage/Pulse Train References Product Manual | SIEP C710812 03 | |
| Σ-X-Series AC Servo Drive Σ-XW SERVOPACK with MECHATROLINK-4/III Communications References Product Manual | SIEP C710812 04 | |
| Σ-X-Series AC Servo Drive Σ-XS SERVOPACK with EtherCAT Communications References Product Manual | SIEP C710812 02 | |
| Σ-X-Series AC Servo Drive Σ-XW SERVOPACK with EtherCAT Communications References Product Manual | SIEP C710812 05 | |
| Σ-X-Series AC Servo Drive Σ-XT SERVOPACK with MECHATROLINK-4/III Communications References Product Manual | SIEP C710812 16 | |
| Σ-X-Series AC Servo Drive Σ-XT SERVOPACK with EtherCAT Communications References Product Manual | SIEP C710812 17 | |
| Σ-X-Series AC Servo Drive Advanced Safety Module with Safety over EtherCAT (FSoE) Communications References Product Manual | SIEP C710812 25 | Provides detailed information on selecting the advanced safety module and information on installing, connecting, setting, performing trial operation, tuning, monitoring, and maintaining the servo drives. |
| Σ-X-Series AC Servo Drive Advanced Safety Module Digital I/O Product Manual | SIEP C710812 26 | |
| Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with MECHATROLINK-4 Communications References Product Manual | SIEP S800002 31 | Provides detailed information on selecting Σ-7-series SERVOPACKs and information on installing, connecting, setting, performing trial operation, tuning, monitoring, and maintaining the servo drives. |
| Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with MECHATROLINK-III Communications References Product Manual | SIEP S800001 28 | |
| Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with MECHATROLINK-II Communications References Product Manual | SIEP S800001 27 | |
| Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with Analog Voltage/Pulse Train References Product Manual | SIEP S800001 26 | |
| Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with INDEXER Module Product Manual | SIEP S800001 64 | |
| Σ-7-Series AC Servo Drive Σ-7S SERVOPACK Command Option Attachable Type with DeviceNet Module Product Manual | SIEP S800001 70 | |
| Σ-7-Series AC Servo Drive Σ-7W SERVOPACK with MECHATROLINK-III Communications References Product Manual | SIEP S800001 29 | |
| AC Servo Drive Rotary Servomotor Safety Precautions | TOBP C230260 00 | Provides detailed information for the safe usage of rotary servomotors and direct drive servomotors. |
| AC Servomotor Linear Σ Series Safety Precautions | TOBP C230800 00 | Provides detailed information for the safe usage of linear servomotors. |
| Σ-X-Series AC Servo Drive Rotary Servomotor Product Manual | SIEP C230210 00 | Provides detailed information on selecting, installing, and connecting the Σ-X-series servomotors. |
| Σ-7-Series AC Servo Drive Rotary Servomotor Product Manual | SIEP S800001 36 | Provides detailed information on selecting, installing, and connecting the Σ-7-series servomotors. |
| Σ-7-Series AC Servo Drive Linear Servomotor Product Manual | SIEP S800001 37 | |
| Σ-7-Series AC Servo Drive Direct Drive Servomotor Product Manual | SIEP S800001 38 | |
| System Integrated Engineering Tool MPE720 Ver.7 User’s Manual | SIEP C880761 03 | Describes in detail how to operate MPE720 version 7. |
| Σ-7/Σ-X-Series AC Servo Drive Digital Operator Operating Manual | SIEP S800001 33 | Describes the operating procedures for a digital operator for a Σ-7-series Servo System. |
Information in This Manual
Technical Terms Used in This Manual
The following terms are used in this manual.
| Term | Meaning |
|---|---|
| servomotor | A generic name for rotary servomotors, direct drive servomotors, and linear servomotors. |
| rotary servomotor | A generic name for rotary servomotors and direct drive servomotors. The descriptions will specify when direct drive servomotors are excluded. |
| linear servomotor | A generic name for linear servomotors. |
| SERVOPACK | A servo amplifier. |
| servo drive | The combination of a servomotor and SERVOPACK. |
| servo system | A servo control system that includes the combination of a servo drive with a host controller and peripheral devices. |
| servo ON | Supplying power to the motor. |
| servo OFF | Not supplying power to the motor. |
| base block (BB) | Shutting OFF the power to the motor by shutting OFF the base current to the power transistor in the SERVOPACK. |
| servo lock | A state in which the motor is stopped and is in a position loop with a position reference of 0. |
| main circuit cable | One of the cables that connect to the main circuit terminals, including the main circuit power supply cable, control power supply cable, and servomotor main circuit cable. |
| Communication Data Object (CDO) | MECHATROLINK-4 communications parameters. |
Differences in Terms for Rotary Servomotors and Linear Servomotors
There are differences in the terms that are used for rotary servomotors and linear servomotors. This manual primarily describes rotary servomotors. If you are using a linear servomotor, you need to interpret the terms as given in the following table.
| Rotary Servomotor | Linear Servomotor |
|---|---|
| torque | force |
| moment of inertia | mass |
| rotation | movement |
| forward rotation and reverse rotation | forward movement and reverse movement |
| CW and CCW pulse trains | forward and reverse pulse trains |
| rotary encoder | linear encoder |
| absolute rotary encoder | absolute linear encoder |
| incremental rotary encoder | incremental linear encoder |
| unit: min-1 | unit: mm/s |
| unit: N·m | unit: N |
Information on the Screenshots in This Manual
A portion of the screenshots used in this manual show older versions of the software or software in development. These screenshots may differ from the actual software.
Trademarks
- Ethernet is a registered trademark of Xerox Corporation.
- Windows, Word, Excel, Microsoft Edge, and .NET Framework are trademarks or registered trademarks of Microsoft Corporation.
- Google Chrome is a registered trademark of Google Inc.
- MECHATROLINK is a trademark of the MECHATROLINK Members Association.
- QR code is a trademark of Denso Wave Incorporated.
- PCI and PCI Express are trademarks of PCI-SIG.
- Other product names and company names are the trademarks or registered trademarks of the respective company. “TM” and the ® mark do not appear with product or company names in this manual.
Visual Aids
The following aids are used to indicate certain types of information for easier reference.
Also indicates alarm displays and other precautions that will not result in machine damage.
Recommended Software
We recommend that you use the following software to view this manual.
| Operating System | Browser (to Display Help) |
|---|---|
| Windows 11 | Google Chrome, Microsoft Edge |
| Windows 10 | Google Chrome, Microsoft Edge |
Printing from this Manual
Use the following procedure to print from this manual.
This procedure uses screen captures from Google Chrome as examples.
- Click the
button for this manual.
- Click the [Select all] button to print all of the pages. To print only one or more parts of the manual, select the check boxes for the parts to print.
- Click the [Print] button.
- Select the [Background graphics] check box in the [More settings] area, and then click the [Print] button.
Printing will be started.
button for this manual.
Precautions for Computer Communications
SERVOPACKs that support MECHATROLINK-II/-III/-4 can communicate with the SigmaWin+ through a USB connection and with a host controller through a MECHATROLINK-II/-III/4 connection.
If the SERVOPACK is used to communicate with more than one of these devices at the same time, observe the following precautions.
- If a parameter is written by two or more connected devices at the same time, the data that is written last will take priority.
- When a utility function (Fn☐☐☐) is being executed through the SigmaWin+ or host computer, all other operations for communications will be disabled.
Regarding Software
Usage Precautions
- Copying of this software for purposes other than use as backup copies is strictly prohibited.
- Reverse compiling or assembly of this software is strictly prohibited.
- Use of this software in whole or in part by a third party through transfer, exchange, resale, and so forth, is strictly prohibited without the prior agreement of Yaskawa Electric Corporation.
- The copyrights and all other rights to the software belong to Yaskawa Electric Corporation.
Regarding USB Driver
Installing USB Driver
If the USB driver installation failed, use the following procedure to install the USB driver.For the SigmaWin+ version 7.42 or earlier, you must manually install the USB driver.
Use the following procedure to install the USB driver in the personal computer.
- Start the personal computer, then check that the SigmaWin+ is installed.
If the SigmaWin+ is not installed, install it. - Connect the personal computer and SERVOPACK with a USB cable, then turn ON the power to the SERVOPACK.
- If the following window is displayed, click the [Close] button.
- Select [Control Panel] - [System and Security] - [Device Manager] from the Windows Start Menu.
- Right-click [Other devices] - [YASKAWA SIGMA SERIES] on the tree, then select [Update Driver Software].
- Select [Browse my computer for driver software].
- Select the [Include subfolders] check box, specify the folder where you unzipped the download file, then click the [Next] button.
- If a security error is displayed, click the [Install] button.
The necessary files will be copied. - Click the [Close] button.
This concludes the procedure to install the USB driver in the personal computer.
Checking Installation Status
It is necessary to check that the SERVOPACK is correctly recognized as a USB device and that the driver is correctly installed.
Use the following procedure to check the installation status.
- Select [Control Panel] - [System and Security] - [Device Manager] from the Windows Start Menu.
- Double-click [Universal Serial Bus controllers] - [SIGMA Series USB Device].
- Check the device status and check that "This device is working properly" is displayed.
This concludes the procedure to check the installation status.
Safely Disconnecting USB Connection with the SERVOPACK
Changing the USB cable connection between the personal computer and the SERVOPACK could destroy data and affect the SERVOPACK.
Therefore, it is necessary to safely disconnect the USB connection beforehand.
Use the following procedure to safely disconnect the USB connection with the SERVOPACK.
- Right-click the [Safely Remove Hardware and Eject Media] icon on the taskbar.
- Click [Eject YASKAWA SIGMA SERIES].
When the disconnection processing concludes, the following pop-up will be displayed.
This concludes the procedure to safely disconnect the USB connection with the SERVOPACK.
Safety Precautions
Safety Information
To prevent personal injury and equipment damage in advance, the following signal words are used to indicate safety precautions in this document. The signal words are used to classify the hazards and damage or injury that may occur if a product is used incorrectly. Information marked as shown below is important for safety. Always read this information and heed the precautions that are provided.
- Indicates precautions that, if not heeded, are likely to result in loss of life, serious injury, or fire.
- Indicates precautions that, if not heeded, could result in loss of life, serious injury, or fire.
- Indicates precautions that, if not heeded, could result in relatively serious or minor injury, or in fire.
- Indicates precautions that, if not heeded, could result in property damage.
Safety Precautions That Must Always Be Observed
General Precautions
- Read and understand this document to ensure the safe usage of the product.
- Keep this document in a safe, convenient place so that it can be referred to whenever necessary. Make sure that it is delivered to the final user of the product.
- Do not remove covers, cables, connectors, or optional devices while power is being supplied to the SERVOPACK.
There is a risk of electric shock, operational failure of the product, or burning.
- Use a power supply with specifications (number of phases, voltage, frequency, and AC/DC type) that are appropriate for the product.
There is a risk of burning, electric shock, or fire. - Connect the ground terminals on the SERVOPACK and servomotor to ground poles according to local electrical codes (100 Ω or less for a SERVOPACK with a 100-VAC or 200-VAC power supply, and 10 Ω or less for a SERVOPACK with a 400-VAC power supply).
There is a risk of electric shock or fire. - Do not attempt to disassemble, repair, or modify the product.
There is a risk of fire or failure.
The warranty is void for the product if you disassemble, repair, or modify it.
- The SERVOPACK heat sinks, regenerative resistors, external dynamic brake resistors, servomotors, and other components can be very hot while power is ON or soon after the power is turned OFF. Implement safety measures, such as installing covers, so that hands and parts such as cables do not come into contact with hot components.
There is a risk of burn injury. - For a 24-VDC power supply, use a power supply device with double insulation or reinforced insulation.
There is a risk of electric shock. - Do not damage, pull on, apply excessive force to, place heavy objects on, or pinch cables.
There is a risk of failure, damage, or electric shock. - The person who designs the system that uses the hard wire base block safety function must have a complete knowledge of the related safety standards and a complete understanding of the instructions in this document.
There is a risk of injury, product damage, or machine damage. - Do not use the product in an environment that is subject to water, corrosive gases, or flammable gases, or near flammable materials.
There is a risk of electric shock or fire.
- Do not attempt to use a SERVOPACK or servomotor that is damaged or that has missing parts.
- Install external emergency stop circuits that shut OFF the power supply and stops operation immediately when an error occurs.
- In locations with poor power supply conditions, install the necessary protective devices (such as AC reactors) to ensure that the input power is supplied within the specified voltage range.
There is a risk of damage to the SERVOPACK. - Use a Noise Filter to minimize the effects of electromagnetic interference.
Electronic devices used near the SERVOPACK may experience electromagnetic interference. - Always use a servomotor and SERVOPACK in one of the specified combinations.
- Do not touch a SERVOPACK or servomotor with wet hands.
There is a risk of product failure.
Storage Precautions
- Do not place an excessive load on the product during storage. (Follow all instructions on the packages.)
There is a risk of injury or damage.
- Do not install or store the product in any of the following locations.
- Locations that are subject to direct sunlight
- Locations that are subject to ambient temperatures that exceed product specifications
- Locations that are subject to relative humidities that exceed product specifications
- Locations that are subject to condensation as the result of extreme changes in temperature
- Locations that are subject to corrosive or flammable gases
- Locations that are near flammable materials
- Locations that are subject to dust, salts, or iron powder
- Locations that are subject to water, oil, or chemicals
- Locations that are subject to vibration or shock that exceeds product specifications
- Locations that are subject to radiation
Transportation Precautions
- Transport the product in a way that is suitable to the mass of the product.
- Do not use the eyebolts on a SERVOPACK or servomotor to move the machine.
There is a risk of damage or injury. - When you handle a SERVOPACK or servomotor, be careful of sharp parts, such as the corners.
There is a risk of injury. - Do not place an excessive load on the product during transportation. (Follow all instructions on the packages.)
There is a risk of injury or damage.
- Do not hold onto the front cover or connectors when you move a SERVOPACK.
There is a risk of the SERVOPACK falling. - A SERVOPACK or servomotor is a precision device. Do not drop it or subject it to strong shock.
There is a risk of failure or damage. - Do not subject connectors to shock.
There is a risk of faulty connections or damage. - If disinfectants or insecticides must be used to treat packing materials such as wooden frames, plywood, or pallets, use a method other than fumigation.
Example: Heat treatment, where materials are kiln-dried to a core temperature of 56°C for 30 minutes or more.
Treat the packing materials before the product is packaged instead of using a method that treats the entire packaged product.
If the electronic products, which include stand-alone products and products installed in machines, are packed with fumigated wooden materials, the electrical components may be greatly damaged by the gases or fumes resulting from the fumigation process. In particular, disinfectants containing halogen, which includes chlorine, fluorine, bromine, or iodine can contribute to the erosion of the capacitors. - Do not overtighten the eyebolts on a SERVOPACK or servomotor.
If you use a tool to overtighten the eyebolts, the tapped holes may be damaged.
Installation Precautions
- Install the servomotor or SERVOPACK in a way that will support the mass given in technical documents.
- Install SERVOPACKs, servomotors, regenerative resistors, and external dynamic brake resistors on nonflammable materials.
Installation directly onto or near flammable materials may result in fire. - Provide the specified clearances between the SERVOPACK and the control panel as well as with other devices.
There is a risk of fire or failure. - Install the SERVOPACK in the specified orientation.
There is a risk of fire or failure. - Do not step on or place a heavy object on the product.
There is a risk of failure, damage, or injury. - Do not allow any foreign matter to enter the SERVOPACK or servomotor.
There is a risk of failure or fire.
- Do not install or store the product in any of the following locations.
- Locations that are subject to direct sunlight
- Locations that are subject to ambient temperatures that exceed product specifications
- Locations that are subject to relative humidities that exceed product specifications
- Locations that are subject to condensation as the result of extreme changes in temperature
- Locations that are subject to corrosive or flammable gases
- Locations that are near flammable materials
- Locations that are subject to dust, salts, or iron powder
- Locations that are subject to water, oil, or chemicals
- Locations that are subject to vibration or shock that exceeds product specifications
- Locations that are subject to radiation
- Use the product in an environment that is appropriate for the product specifications.
If you use the product in an environment that exceeds product specifications, the product may fail or be damaged. - A SERVOPACK or servomotor is a precision device. Do not drop it or subject it to strong shock.
There is a risk of failure or damage. - Always install a SERVOPACK in a control panel.
- Do not allow any foreign matter to enter a SERVOPACK or a servomotor with a cooling fan and do not cover the outlet from the servomotor’s cooling fan.
There is a risk of failure.
Wiring Precautions
- Do not change any wiring while power is being supplied.
There is a risk of electric shock or injury.
- Wiring and inspections must be performed only by qualified engineers.
There is a risk of electric shock or product failure. - Check all wiring and power supplies carefully.
Incorrect wiring or incorrect voltage application to the output circuits may cause short-circuit failures. If a short-circuit failure occurs as a result of any of these causes, the holding brake will not work. This could damage the machine or cause an accident that may result in death or injury. - Connect the AC or DC power supplies to the specified SERVOPACK terminals.
- Connect an AC power supply to the L1, L2, and L3 terminals and the L1C and L2C terminals on the SERVOPACK.
- Connect a DC power supply to the B1/
- If you use a SERVOPACK with the dynamic brake hardware option, connect an external dynamic brake resistor that is suitable for the machine and equipment specifications to the specified terminals.
There is a risk of unexpected operation, machine damage, burning, or injury when an emergency stop is performed.
and 
2 terminals and the L1C and L2C terminals on the SERVOPACK.- Wait for at least 6 minutes after turning OFF the power (with a SERVOPACK for a 100-VAC power supply input, wait for at least 9 minutes) and then make sure that the CHARGE indicator is not lit before starting wiring or inspection work. Do not touch the power supply terminals while the CHARGE lamp is lit after turning OFF the power because high voltage may still remain in the SERVOPACK.
There is a risk of electric shock. - Observe the precautions and instructions for wiring and trial operation precisely as described in this document.
Failures caused by incorrect wiring or incorrect voltage application in the brake circuit may cause the SERVOPACK to fail, damage the equipment, or cause an accident resulting in death or injury. - Check the wiring to be sure it has been performed correctly.
Connectors and pin layouts are sometimes different for different models. Always confirm the pin layouts in technical documents for your model before operation.
There is a risk of failure or malfunction. - Connect wires to power supply terminals and motor connection terminals securely with the specified methods and tightening torque.
Insufficient tightening may cause wires and terminal blocks to generate heat due to faulty contact, possibly resulting in fire. - Use shielded twisted-pair cables or screened unshielded multi-twisted-pair cables for I/O signal cables and encoder cables.
- The maximum wiring length is 3 m for I/O signal cables, and 50 m for encoder cables or servomotor main circuit cables.
- Observe the following precautions when wiring the SERVOPACK’s main circuit terminals.
- Turn ON the power supply to the SERVOPACK only after all wiring, including the main circuit terminals, has been completed.
- If a connector is used for the main circuit terminals, remove the main circuit connector from the SERVOPACK before you wire it.
- Insert only one wire per insertion hole in the main circuit terminals.
- When you insert a wire, make sure that the conductor wire (e.g., whiskers) does not come into contact with adjacent wires.
- Install molded-case circuit breakers and other safety measures to provide protection against short circuits in external wiring.
There is a risk of fire or failure.
- Whenever possible, use the Cables specified by Yaskawa. If you use any other cables, confirm the rated current and application environment of your model and use the wiring materials specified by Yaskawa or equivalent materials.
- Securely tighten connector screws and lock mechanisms.
Insufficient tightening may result in connectors falling off during operation. - Do not bundle power lines (e.g., the main circuit cable) and low-current lines (e.g., the I/O signal cables or encoder cables) together or run them through the same duct. If you do not place power lines and low-current lines in separate ducts, separate them by at least 30 cm.
If the cables are too close to each other, malfunctions may occur due to noise affecting the low-current lines. - Install a battery at either the host controller or on the encoder cable.
If you install batteries both at the host controller and on the encoder cable at the same time, you will create a loop circuit between the batteries, resulting in a risk of damage or burning. - When connecting a battery, connect the polarity correctly.
There is a risk of battery rupture or encoder failure. - Turn OFF the power to the product and computer before you connect or disconnect a communications cable.
There is a risk of failure or damage. - Do not change the communications cable connections while the SigmaWin+ is running.
There is a risk of failure or malfunction.
Operation Precautions
- Before starting operation with a machine connected, change the settings of the switches and parameters to match the machine.
Unexpected machine operation, failure, or personal injury may occur if operation is started before appropriate settings are made. - Do not radically change the settings of the parameters.
There is a risk of unstable operation, machine damage, or injury. - Install limit switches or stoppers at the ends of the moving parts of the machine to prevent unexpected accidents.
There is a risk of machine damage or injury. - For trial operation, securely mount the servomotor and disconnect it from the machine.
There is a risk of injury. - Forcing the motor to stop for overtravel is disabled when the Jog, Origin Search, or Easy FFT utility function is executed. Take necessary precautions.
There is a risk of machine damage or injury. - When an alarm occurs, the servomotor will coast to a stop or stop with the dynamic brake according to the SERVOPACK option and settings. The coasting distance will change with the moment of inertia of the load and the external dynamic brake resistance. Check the coasting distance during trial operation and implement suitable safety measures on the machine.
- Do not enter the machine’s range of motion during operation.
There is a risk of injury. - Do not touch the moving parts of the servomotor or machine during operation.
There is a risk of injury.
- Design the system to ensure safety even when problems, such as broken signal lines, occur.
For example, the P-OT and N-OT signals are set in the default settings to operate on the safe side if a signal line breaks. Do not change the polarity of this type of signal. - When overtravel occurs, the power to the motor is turned OFF and the brake is released. If you use the servomotor to drive a vertical load, set the servomotor to enter a zero-clamped state after the servomotor stops. Also, install safety devices (such as an external brake or counterweight) to prevent the moving parts of the machine from falling.
- Always turn OFF the servo before you turn OFF the power supply. If you turn OFF the main circuit power supply or control power supply during operation before you turn OFF the servo, the servomotor will stop as follows:
- If you turn OFF the main circuit power supply during operation without turning OFF the servo, the servomotor will stop abruptly with the dynamic brake.
- If you turn OFF the control power supply without turning OFF the servo, the stopping method that is used by the servomotor depends on the model of the SERVOPACK.
For details, refer to the manual for the SERVOPACK. - If you use a SERVOPACK with the dynamic brake hardware option, the servomotor stopping methods will be different from the stopping methods used without the Option or with other hardware options. For details, refer to the following manual.
Σ-7-Series Σ-7S/Σ-7W SERVOPACK with Hardware Option Specifications Dynamic Brake Product Manual (Manual No.: SIEP S800001 73)
- Do not use the dynamic brake for any application other than an emergency stop.
There is a risk of failure due to rapid deterioration of elements in the SERVOPACK and the risk of unexpected operation, machine damage, burning, or injury.
- When you adjust the gain during system commissioning, use a measuring instrument to monitor the torque waveform and speed waveform and confirm that there is no vibration.
If a high gain causes vibration, the servomotor will be damaged quickly. - Do not frequently turn the power supply ON and OFF. After you have started actual operation, allow at least one hour between turning the power supply ON and OFF (as a guideline).
Do not use the product in applications that require the power supply to be turned ON and OFF frequently.
The elements in the SERVOPACK will deteriorate quickly. - An alarm or warning may occur if communications are performed with the host controller while the SigmaWin+ or digital operator is operating.
If an alarm or warning occurs, it may interrupt the current process and stop the system. - After you complete trial operation of the machine and facilities, use the SigmaWin+ to back up the settings of the SERVOPACK parameters. You can use them to reset the parameters after SERVOPACK replacement.
If you do not copy backed up parameter settings, normal operation may not be possible after a faulty SERVOPACK is replaced, possibly resulting in machine or equipment damage. - Exit the SigmaWin+ before you turn the power to the SERVOPACK and controller ON or OFF.
There is a risk of failure or malfunction.
Maintenance and Inspection Precautions
- Do not change any wiring while power is being supplied.
There is a risk of electric shock or injury.
- Wiring and inspections must be performed only by qualified engineers.
There is a risk of electric shock or product failure.
- Wait for at least 6 minutes after turning OFF the power (with a SERVOPACK for a 100-VAC power supply input, wait for at least 9 minutes) and then make sure that the CHARGE indicator is not lit before starting wiring or inspection work. Do not touch the power supply terminals while the CHARGE lamp is lit after turning OFF the power because high voltage may still remain in the SERVOPACK.
There is a risk of electric shock. - Before you replace a SERVOPACK, back up the settings of the SERVOPACK parameters. Copy the backed up parameter settings to the new SERVOPACK and confirm that they were copied correctly.
If you do not copy backed up parameter settings or if the copy operation is not completed normally, normal operation may not be possible, possibly resulting in machine or equipment damage.
- Discharge all static electricity from your body before you operate any of the buttons or switches inside the front cover of the SERVOPACK.
There is a risk of equipment damage.
Troubleshooting Precautions
- If the safety device (molded-case circuit breaker or fuse) installed in the power supply line operates, remove the cause before you supply power to the SERVOPACK again. If necessary, repair or replace the SERVOPACK, check the wiring, and remove the factor that caused the safety device to operate.
There is a risk of fire, electric shock, or injury.
- The product may suddenly start to operate when the power supply is recovered after a momentary power interruption. Design the machine to ensure human safety when operation restarts.
There is a risk of injury.
- When an alarm occurs, remove the cause of the alarm and ensure safety. Then reset the alarm or turn the power OFF and ON again to restart operation.
There is a risk of injury or machine damage. - If the SERVO ON signal is input to the SERVOPACK and an alarm is reset, the servomotor may suddenly restart operation. Confirm that the system is in the SERVO OFF state and ensure safety before you reset an alarm.
There is a risk of injury or machine damage. - Always insert a magnetic contactor in the line between the main circuit power supply and the main circuit power supply terminals on the SERVOPACK so that the power supply can be shut OFF at the main circuit power supply.
If a magnetic contactor is not connected when the SERVOPACK fails, a large current may flow, possibly resulting in fire. - If an alarm occurs, shut OFF the main circuit power supply.
There is a risk of fire due to a regenerative resistor overheating as the result of regenerative transistor failure. - Install a ground fault detector against overloads and short-circuiting or install a molded-case circuit breaker combined with a ground fault detector.
There is a risk of SERVOPACK failure or fire if a ground fault occurs. - The holding brake on a servomotor will not ensure safety if there is the possibility that an external force (including gravity) may move the current position and create a hazardous situation when power is interrupted or an error occurs. If an external force may cause movement, install an external braking mechanism that ensures safety.
Disposal Precautions
- When disposing of the product, treat it as ordinary industrial waste. However, local ordinances and national laws must be observed. Implement all labeling and warnings as a final product as required.
General Precautions
- Figures provided in this document are typical examples or conceptual representations. There may be differences between them and actual wiring, circuits, and products.
- The products shown in illustrations in this document are sometimes shown without covers or protective guards. Always replace all covers and protective guards before you use the product.
- If you need a new copy of this document because it has been lost or damaged, contact your nearest Yaskawa representative or one of the offices listed in Technical Support.
- This document is subject to change without notice for product improvements, specifications changes, and improvements to the manual itself.
We will update the document number of the document and issue revisions when changes are made. - Any and all quality guarantees provided by Yaskawa are null and void if the customer modifies the product in any way. Yaskawa disavows any responsibility for damages or losses that are caused by modified products.
- In the event that the end user of this product is to be the military and said product is to be employed in any weapons systems or the manufacture thereof, the export will fall under the relevant regulations as stipulated in the Foreign Exchange and Foreign Trade Regulations.
- All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of Yaskawa. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because Yaskawa is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice. Every precaution has been taken in the preparation of this manual. Nevertheless, Yaskawa assumes no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in this publication.
Warranty
Details of Warranty
Warranty Period
The warranty period for a product that was purchased (hereinafter called the “delivered product”) is one year from the time of delivery to the location specified by the customer or 18 months from the time of shipment from the Yaskawa factory, whichever is sooner.
Warranty Scope
Yaskawa shall replace or repair a defective product free of charge if a defect attributable to Yaskawa occurs during the above warranty period.
This warranty does not cover defects caused by the delivered product reaching the end of its service life and replacement of parts that require replacement or that have a limited service life.
This warranty does not cover failures that result from any of the following causes.
- Improper handling, abuse, or use in unsuitable conditions or in environments not described in product catalogs or manuals, or in any separately agreed-upon specifications
- Causes not attributable to the delivered product itself
- Modifications or repairs not performed by Yaskawa
- Use of the delivered product in a manner in which it was not originally intended
- Causes that were not foreseeable with the scientific and technological understanding at the time of shipment from Yaskawa
- Events for which Yaskawa is not responsible, such as natural or human-made disasters
Limitations of Liability
- 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.
- Yaskawa shall not be responsible for any programs (including parameter settings) or the results of program execution of the programs provided by the user or by a third party for use with programmable Yaskawa products.
- The information described in product catalogs or manuals is provided for the purpose of the customer purchasing the appropriate product for the intended application. The use thereof does not guarantee that there are no infringements of intellectual property rights or other proprietary rights of Yaskawa or third parties, nor does it construe a license.
- Yaskawa shall not be responsible for any damage arising from infringements of intellectual property rights or other proprietary rights of third parties as a result of using the information described in catalogs or manuals.
Suitability for Use
- It is the customer’s responsibility to confirm conformity with any standards, codes, or regulations that apply if the Yaskawa product is used in combination with any other products.
- The customer must confirm that the Yaskawa product is suitable for the systems, machines, and equipment used by the customer.
- Consult with Yaskawa to determine whether use in the following applications is acceptable. If use in the application is acceptable, use the product with extra allowance in ratings and specifications, and provide safety measures to minimize hazards in the event of failure.
- Outdoor use, use involving potential chemical contamination or electrical interference, or use in conditions or environments not described in product catalogs or manuals
- Nuclear energy control systems, combustion systems, railroad systems, aviation systems, vehicle systems, medical equipment, amusement machines, and installations subject to separate industry or government regulations
- Systems, machines, and equipment that may present a risk to life or property
- Systems that require a high degree of reliability, such as systems that supply gas, water, or electricity, or systems that operate continuously 24 hours a day
- Other systems that require a similar high degree of safety
- Never use the product for an application involving serious risk to life or property without first ensuring that the system is designed to secure the required level of safety with risk warnings and redundancy, and that the Yaskawa product is properly rated and installed.
- The circuit examples and other application examples described in product catalogs and manuals are for reference. Check the functionality and safety of the actual devices and equipment to be used before using the product.
- Read and understand all use prohibitions and precautions, and operate the Yaskawa product correctly to prevent accidental harm to third parties.
Specification Changes
The names, specifications, appearance, and accessories of products in product catalogs and manuals may be changed at any time based on improvements and other reasons. The next editions of the revised catalogs or manuals will be published with updated code numbers. Consult with your Yaskawa representative to confirm the actual specifications before purchasing a product.
1 Introduction to the SigmaWin+
1.1 Features and Specifications
The SigmaWin+ engineering tool is used to set up and optimally tune AC servo drives.
You can use the SigmaWin+ for the following tasks.
- Make settings for servo drives, such as parameter settings and encoder settings.
- Perform trial operation.
- Tune servo drives.
- Monitor product information, SERVOPACK status, and other information.
- Perform troubleshooting, such as checking and clearing alarms.
Refer to Yaskawa’s product and technical information website (URL: http://www.e-mechatronics.com/) for a list of the SERVOPACKs that can be manipulated with SigmaWin+.
The system requirements for the SigmaWin+ are given in the following table.
| Supported Languages | English, Japanese, Chinese (Simplified Chinese) |
|---|---|
| Supported Operating Systems | 64-bit edition
|
| Software | Microsoft .NET Framework 4.6.2 |
| CPU Clock | 1 GHz or more (recommended) |
| Memory Capacity | 1 GB or more (recommended) |
| Available Hard Disk Space | 500 MB or more |
| Monitor | 1280 × 800 resolution or higher (recommended) |
1.2 Names of Window Parts
This section gives the names of the parts of the main SigmaWin+ window and describes the parts.
Main Window
The names of the parts of the main SigmaWin+ window are given below.
| No. | Item | Description |
|---|---|---|
| (1) | [Home] Button | Click the [Home] button to display the Home window. |
| (2) | Workspace | For the Home window, displays the online connection status and the offline servo drive status. You can display and hide the workspace by clicking the  button. |
| (3) | Function Display Area | Displays the operating window for SigmaWin+ functions. |
Workspace
The names of the parts of the workspace are given below.
| No. | Item | Description |
|---|---|---|
| (1) | [Save] button | Click the [Save] button to display the [Save As] window to enable saving the current project in a project file on the personal computer. |
| (2) | [Status Display ON] button | Click the [Status Display ON] button to display the servo drive status in the [Servo Information Displays] area. |
| (3) | [Status Display OFF] button | Click the [Status Display OFF] button to not display the servo drive status in the [Servo Information Displays] area and to display the servomotor model or servomotor type instead. |
| (4) | Alarm Display Area | If the [Status Display ON] button was clicked and an alarm occurs, [An alarm has occurred] is displayed as a caption. |
| (5) | Servo Information Displays | This area displays the servo drive model, connection method, status, and other information. The functions of the SigmaWin+ are performed for each servo drive by clicking the [Menu] button in a [Servo Information Displays] area. Refer to the following sections for details. ◆Servo Information Displays |
| (6) | Servo Information Displays Area | This area displays the servo drives that are online or were added offline. Refer to the following sections for details. ◆Servo Information Displays |
| (7) | Vertical Scroll Bar | The vertical scroll bar is enabled when the information displayed for a servo drive will not fit into the workspace. You can use the vertical scroll bar to scroll the display. |
| (8) | [Add Servo Drive] button | Click the  button to display the  button and  button.Click the  button to display the [Communications Settings] window so that you can select the connection method.Select the connection method in the window and then search for SERVOPACKs that are online to add online SERVOPACKs. Refer to Direct Connection to the SERVOPACK or Connecting to the SERVOPACK through the Controller for the operating procedure. Click the  button to display the window to select an offline SERVOPACK.You can select a servo drive in the window to add an offline SERVOPACK. Refer to Starting the SigmaWin+ Offline for the operating procedure. |
| (9) | [Delete] button | Select the servo drive to delete from the workspace and then click the  button to delete a servo drive. |
button immediately after the SigmaWin+ starts, the workspace will remain hidden after the connection is established with the SERVOPACK. If you click the 
button again, the workspace will be displayed.
Servo Information Displays
The names of the parts of the [Servo Information Displays] area are given below.
Status Display ON
Status Display OFF
| No. | Item | Description | ||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| (1) | SERVOPACK Model | A serial number and the SERVOPACK model are displayed. | ||||||||
| (2) | [Safety Functions Menu] Button | This button is displayed only when the following conditions are satisfied.
Click the [Safety Functions Menu] button to display the [Menu] window related to safety. You can configure the settings related to functional safety in the ASM-X. Refer to the following sections for details. →Introduction | ||||||||
| (3) | [Menu] Button | Click the [Menu] button to display the [Menu] window. You can perform functions for the selected servo drive. | ||||||||
| (4) | Status | The status of the servomotor is displayed. | ||||||||
| (5) | Servomotor Type | The servomotor type is displayed. The servomotor types that are displayed are given in the following table.
| ||||||||
| (6) | Servomotor Information Display | The servomotor model is displayed if the SERVOPACK is online. The servomotor type is displayed if the SERVOPACK is offline.
|
Home Window
The Home Window consists of six areas: [Start] area, [Save] area, [Options] area, [Supported Model] area, [Help] area, and [User Management] area.
When the SigmaWin+ is started, the [Start] area is expanded.
If you click an area name, the area will be expanded and the Home Window view will change.
Home Window with [Start] Area Expanded
Home Window with [Save] Area Expanded
Home Window with [Options] Area Expanded
Home Window with [Supported Model] Area Expanded
Home Window with [Help] Area Expanded
Home Window with [User Management] Area Expanded
Refer to the following sections for details.→Introduction
2 Starting the SigmaWin+
2.1 Introduction
There are two ways to start the SigmaWin+: with an online connection to a SERVOPACK and offline.
Starting the SigmaWin+ Online
With this method, the SigmaWin+ is started with an online connection to a SERVOPACK.
There are the following six topologies that can be used to go online with a SERVOPACK.
- Direct connection to the SERVOPACK with a USB cable
- Direct connection to the SERVOPACK with an Ethernet cable
- Connecting to the SERVOPACK through the controller
- Connecting to the SERVOPACK through a board-type controller built into a computer
- Connecting to the SERVOPACK through a MECHATROLINK relay device
- Connecting from a remote location to the SERVOPACK through a board-type controller built into a computer
Starting the SigmaWin+ Offline
With this method, you select the SERVOPACK to manipulate on the personal computer when you start the SigmaWin+.
There is no online connection to a SERVOPACK, so the functions that you can use are restricted. The functions that you cannot use will be grayed out in the [Menu] window.
2.2 Starting the SigmaWin+ Online
2.2.1 Introduction
This section describes the connection methods between the personal computer and SERVOPACK and the procedure to place the computer online with a SERVOPACK.
There are the following six methods to connect the computer and SERVOPACK.
Direct USB Connection to the SERVOPACK
The personal computer and SERVOPACK are connected with a USB cable.
This is the simplest connection method when you want to connect to a SERVOPACK quickly.
Direct Ethernet Connection to the SERVOPACK
The personal computer and SERVOPACK are connected with an Ethernet cable.
This method lets you easily connect to a SERVOPACK.
Connecting to the SERVOPACK through the Controller
The personal computer and SERVOPACK are connected through a controller.
This connection method is suitable to connect to more than one SERVOPACK in an existing system.
The controllers that can be connected to the SigmaWin+ depend on the type of MECHATROLINK communications. Make sure that your controller supports MECHATROLINK communications.
The controllers that support MECHATROLINK-II communications commands are listed below.
| Controller | MECHATROLINK Module | Version |
|---|---|---|
| MP2200 CPU-03 | SVB-01 | Ver. 1.33 or higher*1 |
| MP2200 CPU-04 | SVB-01 | Ver. 1.33 or higher*1 |
| MP2310 | SVB (contained in CPU module) | Ver. 2.89 or higher*2 |
| SVB-01 | Ver. 1.33 or higher*1 | |
| MP2300S | SVB (contained in CPU module) | Ver. 2.89 or higher*2 |
| SVB-01 | Ver. 1.33 or higher*1 | |
| MP2400 | SVB (contained in CPU module) | Ver. 2.89 or higher*2 |
| MP3200 | SVB-01 | Ver. 1.33 or higher*1 |
| MP3300 | SVB-01 | Ver. 1.33 or higher*1 |
| *1 | SVB-01 version 1.25 or higher is required to connect to a Σ-V-series SERVOPACK that supports SigmaWin+ version 7.11 or higher. |
| *2 | SVB (contained in CPU module) version 2.66 or higher is required to connect to a Σ-V-series SERVOPACK that supports SigmaWin+ version 7.11 or higher. |
The controllers that support MECHATROLINK-III communications commands are listed below.
| Controller | MECHATROLINK Module | Version |
|---|---|---|
| MP2200 CPU-03 | SVC-01 | Ver. 1.12 or higher |
| MP2200 CPU-04 | SVC-01 | Ver. 1.12 or higher |
| MP2310 | SVC-01 | Ver. 1.12 or higher |
| MP2300S | SVC-01 | Ver. 1.12 or higher |
| MP3200 | SVC (contained in CPU module) | Ver. 1.11 or higher |
| SVC-01 | Ver. 1.12 or higher | |
| MP3300 | SVC (contained in CPU module) | Ver. 1.10 or higher |
| SVC-01 | Ver. 1.12 or higher |
The controllers that support MECHATROLINK-4 communications commands are listed below.
| Controller | MECHATROLINK Module | Version |
|---|---|---|
| MP3200 | SVF-01 | Ver. 1.51 or higher |
| MP3300 | SVF-01 | Ver. 1.51 or higher |
| YRM-X | Motion | Ver. 1.00 or higher |
- Enable MECHATROLINK master message communications.
- Set the number of retry stations to 1 or higher.
- Set the number of retries to a higher value than the number of retry stations.
(Number of retry stations) − (Number of retries) > 1
Connecting to the SERVOPACK through a Board-type Controller Built into a Computer
Connect to the SERVOPACK through a board-type controller built into a computer.
This connection method is suitable to connect to more than one SERVOPACK in an existing system.
The controllers that can be connected to the SigmaWin+ depend on the type of MECHATROLINK communications.
Make sure that your controller supports MECHATROLINK communications.
The controllers that support MECHATROLINK-II communications commands are listed below.
| Controller | MECHATROLINK Module | Version |
|---|---|---|
| MP2100 | SVB (contained in CPU module) | Ver. 2.89 or higher*1 |
| SVB-01 | Ver. 1.33 or higher*2 | |
| MP2100M | SVB (contained in CPU module) | Ver. 2.89 or higher*1 |
| SVB-01 | Ver. 1.33 or higher*2 | |
| MP2101 | SVB (contained in CPU module) | Ver. 2.89 or higher*1 |
| MP2101M | SVB (contained in CPU module) | Ver. 2.89 or higher*1 |
| *1 | SVB (contained in CPU module) version 2.66 or higher is required to connect to a ΣV-series SERVOPACK that supports SigmaWin+ version 7.11 or higher. |
| *2 | SVB-01 version 1.25 or higher is required to connect to a Σ-V-series SERVOPACK that supports SigmaWin+ version 7.11 or higher. |
The controllers that support MECHATROLINK-III communications commands are listed below.
| Controller | MECHATROLINK Module | Version |
|---|---|---|
| MP2100M | SVC-01 | Ver. 1.12 or higher |
| MP2101M | SVC-01 | Ver. 1.12 or higher |
| MP2101T | SVC (contained in CPU module) | Ver. 2.88 or higher |
| MP2101TM | SVC (contained in CPU module) | Ver. 2.88 or higher |
| SVC-01 | Ver. 1.12 or higher | |
| MP3100 | SVC (contained in CPU module) | Ver. 1.29 or higher |
Connecting to the SERVOPACK through a MECHATROLINK Relay Device
Connect the computer and SERVOPACK through a MECHATROLINK-III relay device.
This method is used to connect to a SERVOPACK when a controller other than a Yaskawa controller is being used.
Connecting from a Remote Location to the SERVOPACK through a Board-type Controller Built into a Computer
Perform operation from a remotely located operation computer to remotely operate a relay computer containing a board-type controller to go online with a SERVOPACK through the board-type controller built into the relay computer.
This connection method is suitable for remote operation of an existing system.
2.2.2 Direct USB Connection to the SERVOPACK
The personal computer and SERVOPACK are connected directly with a USB cable.
Use the following procedure to connect the personal computer to the SERVOPACK directly.
- The personal computer and SERVOPACK are connected with a Yaskawa-specified USB cable.
To connect to more than one SERVOPACK, use a USB hub as required. - Select [Program] − [YE_Applications] − [SigmaWin+ Ver.7] from the Start Menu.
The SigmaWin+ will start.
When the SigmaWin+ starts, the Main Window will be displayed with the Home Menu open. - Click the [Connect the SERVOPACK] button.
- Select [USB connection] and click the [Search for SERVOPACKs] button.
The SigmaWin+ will search for SERVOPACKs that are connected with a USB cable.If you are missing a file necessary for the connection, an error message similar to the following will be displayed.
Refer to the following section on the model information file.
→Introduction
When you add a model information file, the version of the SigmaWin+ must support that model. Refer to the following section for the procedure to check the version of the SigmaWin+.
→Checking the SigmaWin+ Version
Refer to Yaskawa's product and technical information website (URL: http://www.e-mechatronics.com/) for the versions of the SigmaWin+ that support model information files. - Select the SERVOPACK to connect and click the [Connect] button.
The SigmaWin+ will go online with the selected SERVOPACK and the SERVOPACK will be displayed in the Main Window. - Click the
The [Menu] window will be displayed.
Click the function to use. A window will be displayed for the function.
button for the SERVOPACK to manipulate.
2.2.3 Direct Ethernet Connection to the SERVOPACK
The personal computer and SERVOPACK are connected directly with an Ethernet cable.
The procedure for connecting the personal computer directly to a SERVOPACK through Ethernet depends on the type of SERVOPACK.
The procedures to directly connect the personal computer to the different types of SERVOPACKs through Ethernet are given below.
Individual SERVOPACKs
Use the following procedure to directly connect to a separate SERVOPACK through Ethernet.
- The personal computer and individual SERVOPACK are connected with a commercially available Ethernet cable.
To connect to more than one SERVOPACK, use a hub as required. - Select [Program] − [YE_Applications] − [SigmaWin+ Ver.7] from the Start Menu.
The SigmaWin+ will start.
When the SigmaWin+ starts, the Main Window will be displayed with the Home Menu open. - Click the [Connect the SERVOPACK] button.
- Select [Ethernet Connection] and click the [Communications Settings] button.
- Make the computer network settings.
No. Item Description (1) Network adapter Select the network adapter to use. (2) Use the current IP address. The current personal computer network settings will be used.
Note: If automatically getting the IP address for the PC is set and you want to connect without changing the IP address, select [Use the current IP address].(3) Use the following IP address. The following network settings will be used for the IP address, subnet mask, and default gateway. (4) IP Address Enter the IP address.
Note: Enter an IP address that is not used by any other controller or other device.(5) Subnet Mask Enter the subnet mask. (6) Default Gateway It is not necessary to change this setting.
Note: Have the network administrator make this setting if necessary.If the [Back up the above information when the settings are made] check box is selected, the following window will be displayed when the SigmaWin+ is closed.
Select the [Restore the backup network settings before exiting the SigmaWin+] option and click the [OK] button to return the network settings to the settings that were backed up before they were changed and close the SigmaWin+.
Select the [Exit without restoring the backup network settings] option and click the [OK] button to keep the current network settings and close the SigmaWin+. - Click the [Set] button.
The personal computer’s communications settings will be made and the [Communications Settings] window will be displayed. - Select [Separate] from the [Type] and set the IP address search range for the SERVOPACK to go online with.If you set the IP address to “192.168.1.1 - 254”, a search will be made for SERVOPACKs with the IP address set to between 192.168.1.1 and 192.168.1.254.
- Click the [Search for SERVOPACKs] button.
The SERVOPACK search results will be displayed. - Select the SERVOPACK to connect and click the [Connect] button.
The SigmaWin+ will go online with the selected SERVOPACK and the SERVOPACK will be displayed in the Main Window. - Click the
The [Menu] window will be displayed.
Click the function to use. A window will be displayed for the function.
button for the SERVOPACK to manipulate.
SERVOPACKs with Built-in Controllers
Use the following procedure to directly connect the personal computer to a SERVOPACK with a built-in controller through Ethernet.
- The personal computer and SERVOPACK with a built-in controller are connected with a commercially available Ethernet cable.
To connect to more than one SERVOPACK, use a hub as required. - Select [Program] − [YE_Applications] − [SigmaWin+ Ver.7] from the Start Menu.
The SigmaWin+ will start.
When the SigmaWin+ starts, the Main Window will be displayed with the Home Menu open. - Click the [Connect the SERVOPACK] button.
- Select [Ethernet Connection] and click the [Communications Settings] button.
- Make the computer network settings.
No. Item Description (1) Network adapter Select the network adapter to use. (2) Use the current IP address. The current personal computer network settings will be used.
Note: If automatically getting the IP address for the PC is set and you want to connect without changing the IP address, select [Use the current IP address].(3) Use the following IP address. The following network settings will be used for the IP address, subnet mask, and default gateway. (4) IP Address Enter the IP address.
Note: Enter an IP address that is not used by any other controller or other device.(5) Subnet Mask Enter the subnet mask. (6) Default Gateway It is not necessary to change this setting.
Note: Have the network administrator make this setting if necessary.If the [Back up the above information when the settings are made] check box is selected, the following window will be displayed when the SigmaWin+ is closed.
Select the [Restore the backup network settings before exiting the SigmaWin+] option and click the [OK] button to return the network settings to the settings that were backed up before they were changed and close the SigmaWin+.
Select the [Exit without restoring the backup network settings] option and click the [OK] button to keep the current network settings and close the SigmaWin+. - Click the [Set] button.
The personal computer’s communications settings will be made and the [Communications Settings] window will be displayed. - Select [With Built-in Controller] from the [Type], and then click the [Search for Controllers] button.
The results of searching for controllers will be displayed. - Select the controller to connect and click the [Connect] button.
- Click the [Search for SERVOPACKs] button.
A search will be made for the SERVOPACKs that are connected to the selected SERVOPACK with a built-in controller and the results will be displayed. - Select the SERVOPACK to connect and click the [Connect] button.
The SigmaWin+ will go online with the selected SERVOPACK and the SERVOPACK will be displayed in the Main Window. - Click the
The [Menu] window will be displayed.
Click the function to use. A window will be displayed for the function.
button for the SERVOPACK to manipulate.
2.2.4 Connecting to the SERVOPACK through the Controller
Use the following procedure to place the personal computer online with a SERVOPACK that is connected to a controller with MECHATROLINK communications.
- Make sure that the controller has recognized the SERVOPACK.
Refer to the following manual for the procedures for the controller to recognize SERVOPACKs and confirmation methods.
System Integrated Engineering Tool MPE720 Ver.7 User’s Manual (Manual No.: SIEP C880761 03) - Connect the personal computer and controller with a commercially available Ethernet cable.
Use a hub if necessary. - Select [Program] − [YE_Applications] − [SigmaWin+ Ver.7] from the Start Menu.
The SigmaWin+ will start.
When the SigmaWin+ starts, the Main Window will be displayed with the Home Menu open. - Click the [Connect the SERVOPACK] button.
- Select [Controller Connection] and click the [Communications Settings] button.
- Make the computer network settings.
No. Item Description (1) Network adapter Select the network adapter to use. (2) Use the current IP address. The current personal computer network settings will be used.
Note: If automatically getting the IP address for the PC is set and you want to connect without changing the IP address, select [Use the current IP address].(3) Use the following IP address. The following network settings will be used for the IP address, subnet mask, and default gateway. (4) IP Address Enter the IP address.
Note: Enter an IP address that is not used by any other controller or other device.(5) Subnet Mask Enter the subnet mask. (4) Default Gateway It is not necessary to change this setting.
Note: Have the network administrator make this setting if necessary.If the [Back up the above information when the settings are made] check box is selected, the following window will be displayed when the SigmaWin+ is closed.
Select the [Restore the backup network settings before exiting the SigmaWin+] option and click the [OK] button to return the network settings to the settings that were backed up before they were changed and close the SigmaWin+.
Select the [Exit without restoring the backup network settings] option and click the [OK] button to keep the current network settings and close the SigmaWin+. - Click the [Set] button.
The personal computer’s communications settings will be made and the [Communications Settings] window will be displayed. - Click the [Search for Controllers] button.
The results of searching for controllers will be displayed. - Select the controller to connect and click the [Connect] button.
The IP address of the selected controller will be displayed. - Click the [Search for SERVOPACKs] button.
The SigmaWin+ will search for SERVOPACKs that are connected to the selected controller. - Select the SERVOPACK to connect and click the [Connect] button.
The SigmaWin+ will go online with the selected SERVOPACK and the SERVOPACK will be displayed in the Main Window. - Click the
The [Menu] window will be displayed.
Click the function to use. A window will be displayed for the function.
button for the SERVOPACK to manipulate.
2.2.5 Connecting to the SERVOPACK through a Board-type Controller Built into a Computer
Use the following procedure to place the personal computer online with a SERVOPACK that is connected to a board-type controller with MECHATROLINK communications that is built into a personal computer.
- Make sure that the controller has recognized the SERVOPACK.
Refer to the following manual for the procedures for the controller to recognize SERVOPACKs and confirmation methods.
System Integrated Engineering Tool MPE720 Ver.7 User’s Manual (Manual No.: SIEP C880761 03) - Select [Program] − [YE_Applications] − [SigmaWin+ Ver.7] from the Start Menu.
The SigmaWin+ will start.
When the SigmaWin+ starts, the Main Window will be displayed with the Home Menu open. - Click the [Connect the SERVOPACK] button.
- Select [PCI/PCIe Connection] and select the series of the controller in [Series].
- Select the CPU number of the controller in [CPU No.].
- Select the option CPU of the controller in [Option CPU].
- Click the [Search for SERVOPACKs] button.
The SigmaWin+ will search for SERVOPACKs that are connected to the selected controller. - Select the SERVOPACK to connect and click the [Connect] button.
The SigmaWin+ will go online with the selected SERVOPACK and the SERVOPACK will be displayed in the Main Window. - Click the
The [Menu] window will be displayed.
Click the function to use. A window will be displayed for the function.
button for the SERVOPACK to manipulate.
2.2.6 Connecting to the SERVOPACK through a MECHATROLINK Relay Device
Use the following procedure to place the personal computer online with a SERVOPACK that is connected to a MECHATROLINK relay device with MECHATROLINK communications.
- Make sure that the MECHATROLINK relay device has recognized the SERVOPACK.
- The personal computer and MECHATROLINK relay devices are connected with a commercially available Ethernet cable.
Use a hub if necessary. - Select [Program] − [YE_Applications] − [SigmaWin+ Ver.7] from the Start Menu.
The SigmaWin+ will start.
When the SigmaWin+ starts, the Main Window will be displayed with the Home Menu open. - Click the [Connect the SERVOPACK] button.
- Click the
- Select [MECHATROLINK Relay Device] and click the [Communications Settings] button.
- Make the computer network settings.
No. Item Description (1) Network adapter Select the network adapter to use. (2) Use the current IP address. The current personal computer network settings will be used.
Note: If automatically getting the IP address for the PC is set and you want to connect without changing the IP address, select [Use the current IP address].(3) Use the following IP address. The following network settings will be used for the IP address, subnet mask, and default gateway. (4) IP Address Enter the IP address in the form 192.168.1.☐☐☐.
Note: Enter an IP address that is not used by any other MECHATROLINK relay device or other device.(5) Subnet Mask Enter the subnet mask. (6) Default Gateway It is not necessary to change this setting.
Note: Have the network administrator make this setting if necessary.If the [Back up the above information when the settings are made] check box is selected, the following window will be displayed when the SigmaWin+ is closed.
Select the [Restore the backup network settings before exiting the SigmaWin+] option and click the [OK] button to return the network settings to the settings that were backed up before they were changed and close the SigmaWin+.
Select the [Exit without restoring the backup network settings] option and click the [OK] button to keep the current network settings and close the SigmaWin+. - Click the [Set] button.
The personal computer’s communications settings will be made and the [Communications Settings] window will be displayed. - Make the network settings for the MECHATROLINK relay device.
No. Item Description (1) IP Address Enter the IP address.
Note: Enter an IP address that is not used by any other personal computer or other device.(2) [Test (Ping)] Button Click this button to send a ping command to the specified IP address.
[Communications OK] or an error message will be displayed in a dialog box.(3) MECHATROLINK Select the type of MECHATROLINK communications to use from [MECHATROLINK].
・ MECHATROLINK-III (default setting)
・ MECHATROLINK-II(4) Circuit No. Enter the circuit number of the device to connect to in [Circuit No.].
・ Setting range: 0 to 255
・ Default setting: 1(5) Station Address Enter the station address range of the search range for the device to search for in [Station Address].
・ Setting range: 3 to EF for MECHATROLINK-III or 41 to 5F for MECHATROLINK-II
・ Default setting: 3 for MECHATROLINK-III or 41 for MECHATROLINK-II - Click the [Search for SERVOPACKs] button.
The SigmaWin+ will search for SERVOPACKs that are connected to MECHATROLINK relay devices. - Select the SERVOPACK to connect and click the [Connect] button.
The SigmaWin+ will go online with the selected SERVOPACK and the SERVOPACK will be displayed in the Main Window. - Click the
The [Menu] window will be displayed.
Click the function to use. A window will be displayed for the function.
button or 
button and display the [MECHATROLINK Relay Device].
button for the SERVOPACK to manipulate.
2.2.7 Connecting from a Remote Location to the SERVOPACK through a Board-type Controller Built into a Computer
Perform operation from a remotely located operation personal computer to remotely operate a relay personal computer containing a board-type controller to go online with a SERVOPACK through the board-type controller built into the relay personal computer.
- Make sure that the controller has recognized the SERVOPACK.
Refer to the following manual for the procedures for the controller to recognize SERVOPACKs and confirmation methods.
System Integrated Engineering Tool MPE720 Ver.7 User’s Manual (Manual No.: SIEP C880761 03) - Connect the remote operation personal computer to the relay personal computer containing a board-type controller to Ethernet.
- Select [Program] − [YE_Applications] − [SigmaWin+ Ver.7] from the Windows Start Menu of the operation personal computer.
The SigmaWin+ will start.
When the SigmaWin+ starts, the Main Window will be displayed with the Home Menu open. - Click the [Connect the SERVOPACK] button.
- Click the
- Select [Remote PCI/PCIe Connection] and click the [Communications Settings] button.
- Make the network settings for the operation personal computer.
No. Item Description (1) Network adapter Select the network adapter to use. (2) Use the current IP address. The current personal computer network settings will be used.
Note: If automatically getting the IP address for the PC is set and you want to connect without changing the IP address, select [Use the current IP address].(3) Use the following IP address. The following network settings will be used for the IP address, subnet mask, and default gateway. (4) IP Address Enter the IP address.
Note: Enter an IP address that is not used by any other controller or other device.(5) Subnet Mask Enter the subnet mask. (6) Default Gateway It is not necessary to change this setting.
Note: Have the network administrator make this setting if necessary.If the [Back up the above information when the settings are made] check box is selected, the following window will be displayed when the SigmaWin+ is closed.
Select the [Restore the backup network settings before exiting the SigmaWin+] option and click the [OK] button to return the network settings to the settings that were backed up before they were changed and close the SigmaWin+.
Select the [Exit without restoring the backup network settings] option and click the [OK] button to keep the current network settings and close the SigmaWin+. - Click the [Set] button.
The remote operation personal computer’s communications settings will be made and the [Communications Settings] window will be displayed. - Make the network settings for the relay personal computer.
No. Item Description (1) IP Address Enter the IP address.
Note: Enter an IP address that is not used by any other controller or other device.(2) [Test (Ping)] Button Click this button to send a ping command to the specified IP address.
[Communications OK] or an error message will be displayed in a dialog box.(3) Software Select the type of communications software to use from [Software].
・ Communication Manager (default setting)
・ Communication Platform(4) Port No. Enter the port number to use for communications in [Port No.].
・ Setting range: 256 to 65535
・ Default setting: 12000 for Communications Manager or 15000 for Communications Platform(5) Password [Password] is displayed only if [Communications Platform] is selected in [Software].
You can set a password for the communications platform. - Select the series of the controller in [Series].
- Select the CPU number of the controller in [CPU No.].
- Select the Option CPU in [Option CPU].
- Click the [Search for SERVOPACKs] button.
- Select the SERVOPACK to connect and click the [Connect] button.
The SigmaWin+ will go online with the selected SERVOPACK and the SERVOPACK will be displayed in the Main Window. - Click the
The [Menu] window will be displayed.
Click the function to use. A window will be displayed for the function.
button or 
button and display [Remote PCI/PCIe Connection].
button for the SERVOPACK to manipulate.
2.2.8 Precautions on Starting Multiple Instances of the SigmaWin+
You can start multiple instances of the SigmaWin+ on a single personal computer.
The following precautions apply if you start multiple instances of the SigmaWin+ on a single personal computer.
The following cases show examples of three connection topologies.
Case 1
The following figures show examples of one personal computer connected to two SERVOPACKs (1) and (2) with the same model number.Multiple instances of the SigmaWin+ are started on one personal computer. The SigmaWin+ (1) is used for the connection to SERVOPACK (1) and the SigmaWin+ (2) is used for the connection to SERVOPACK (2).
In this type of connection, there is a risk you will operate the wrong SERVOPACK because the SERVOPACKs in the SigmaWin+ workspace are displayed with the same model number.
You can prevent mistakes by naming the SERVOPACK axes in advance in order to identify the SERVOPACKs that are connected to the SigmaWin+.
Refer to Setting SERVOPACK Axis Names for the procedure to name the SERVOPACK axes.
After you name the axes, you can check the names of the connected SERVOPACKs on the [SERVOPACK Axis Name Setting] window.
Connection Example 1
Connection Example 2
Case 2
The following figure shows an example of one personal computer with multiple instances of the SigmaWin+ each connected to the same SERVOPACK over different connection paths.If you edit parameters or perform other functions using these instances of the SigmaWin+, there is a risk that the values displayed in the SigmaWin+ will not match the values in the SERVOPACK, and this may cause malfunctions.
Do not use this type of connection.
2.3 Starting the SigmaWin+ Offline
With this method, you select the SERVOPACK to manipulate on the personal computer when you start the SigmaWin+.
There is no online connection to a SERVOPACK, so the functions that you can use are restricted. The functions that you cannot use will be grayed out in the [Menu] window.
Use the following procedure to start the SigmaWin+ offline.
- Select [Program] − [YE_Applications] − [SigmaWin+ Ver.7] from the Start Menu.
The SigmaWin+ will start. - Click the [Start SigmaWin+ offline] button.
- Select and click a SERVOPACK.If the SERVOPACK you want to select is not displayed, you must add the model information file for that SERVOPACK. Refer to the following section for details on the model information file.
→Adding Model Information Files
The model of the selected SERVOPACK will be displayed after [Selected SERVOPACK Model]. - Click the [Voltage, Capacity, and Version] tab and specify the voltage, capacity, and version of the SERVOPACK.
No. Item Description (1) SERVOPACK voltages and capacities Select the SERVOPACK’s voltage and capacity in the SERVOPACK selection list. (2) Specifications Select the option specifications of the SERVOPACK from the list in [Specifications].
Select the option specifications code of the SERVOPACK from the list in [Code].(3) Version Enter the version of the SERVOPACK in [Version].
If you do not know the version, select the [Use Newest Version] check box. - Specify the servomotor to connect.For a multi-axis SERVOPACK, you can set the number of servomotors for each axis type, but you cannot set the axis type for an arbitrary axis.
Example: When you set a rotary servomotor and a linear servomotor to each axis of a SGD7W (two-axis) SERVOPACK:
The rotary servomotor is automatically set to axis A and the linear servomotor is automatically set to axis B.
You cannot reverse these settings.
The servomotors are set with the following priority order:
Rotary servomotors→Direct drive servomotor→Linear servomotor - Click and set [Command Option], [Safety Option], and [Feedback Option] as necessary.The following two conditions must be satisfied to set these options.
- You must select a SERVOPACK that supports the option.
- You must add the model information file for the option.
→Adding Model Information FilesNo. Item Description (1) Option Click these labels to expand and collapse the area for the option details. (2) Model Select the option to add from the list. (3) Software Version Enter the version of the SERVOPACK in [Version].
If you do not know the version, select the [Use Newest Version] check box.(4) Specifications These settings cannot be changed. When the advanced safety module (ASM-X) is selected as the safety option, the parameters version is also displayed. For details on the parameters version, refer to the manual for your ASM-X. - Click the [Add] button.
The selected SERVOPACK will be displayed in the workspace of the Main Window in an offline state. - Click the
The [Menu] window will be displayed.
Click the function to use. A window will be displayed for the function.
button for the SERVOPACK to manipulate.
3 Creating Project Files for Servo Drives
3.1 Introduction
The project file is a SigmaWin+ file that contains the following information.
- Servo drive information for the workspace
- Parameter information for the servo drives
You can open only one project file in each SigmaWin+ window. Also, you cannot open the same project in more than one SigmaWin+ window.
Save As
Use this command to enter a name for the project file and save it on the personal computer.
Save
Use this command to overwrite the project file to save changes that were made after opening a project file that was previously saved on the personal computer.
Open a Project File
Use this command to open a project file saved on the personal computer.
3.2 Save As
Use the following procedure to enter a name for the project file and save it on the personal computer.
- Click the [Home] button in the SigmaWin+ Main Window.
The Home Menu will be displayed. - Click the [Save] button.
- Click the [Save As] button.
- Enter the save location and file name for the project file and click the [Save] button.
This concludes the procedure to enter a name for the project file and save it on the personal computer.
3.3 Save
Use this command to overwrite the project file to save changes that were made after opening a project file that was previously saved on the personal computer.
Use the following procedure to overwrite a project file saved on the personal computer.
- Click the [Home] button in the SigmaWin+ Main Window.
The Home Menu will be displayed. - Click the [Save] button.
- Click the [Save] button.
This concludes the procedure to overwrite a project file saved on the personal computer.
3.4 Open a Project File
Use the following procedure to open a project file saved on the personal computer.
- Click the [Home] button in the SigmaWin+ Main Window.
The Home Menu will be displayed. - Select [Open a project file] button.
The [Open Project File] window will be displayed. - Select the project file to open and click the [Open] button.
The project file information will be displayed in the Main Window.
This concludes the procedure to open a project file saved on the personal computer.
4 Setting Up Servo Drives
4.1 Introduction
The procedures for the basic settings that are required to use a servo system are given.
For detailed information on your servo drive, refer to the product manual for your SERVOPACK.
Setting Parameters
You can use a wizard to interactively set the parameters according to displayed information, or you can display the parameter settings for more than one SERVOPACK side by side and make settings while comparing them.
Note: Refer to the following sections when using the ASM-X and when setting parameters in the ASM-X and encoder with functional safety.
→Setting ASM-X Parameters
→Setting Encoder with Functional Safety Parameters
Connecting I/O Signals
You can allocate the input signals and output signals of the SERVOPACK.
You can check the status of the I/O signals to monitor the wiring status.
Setting Up an Absolute Encoder
An absolute encoder must be set up the first time the power supply is turned ON to it or when the system is changed.
Setting Up a Linear Encoder
The setting procedure for the basic settings that must be made to use a linear servomotor are given.
Writing Motor Parameters to the SERVOPACK
To use a spindle motor, you must write the spindle motor parameters to the SERVOPACK.
Using Σ-LINK II (Σ-X)
You can collect data from encoders, sensors, and I/O devices connected to the SERVOPACK, monitor data from the host controller, and allocate signals to SERVOPACK functions.
Setting SERVOPACK Axis Names
You can set axis names that are easily recognized by the user to make it easy to identify SERVOPACKs.
Setting an Offset
The following procedures are given: the procedure to adjust the analog reference input offset when the SERVOPACK is used in Speed Control Mode or Torque Control Mode, the procedure to adjust the analog monitor output from the SERVOPACK, and the procedure to adjust the motor current detection signal offset to reduce torque ripple.
Positioning to the Origin within One Servomotor Rotation
You can use an origin search to position to the origin within one servomotor rotation. This is convenient when you need to align the servomotor’s origin with the machine origin.
The origin search operation positions the servomotor to the origin within one servomotor rotation and clamps it there.
Suppressing Vibration in the Tuning-Less Function
The tuning-less function performs autotuning to obtain a stable response regardless of the type of machine or changes in the load.
Autotuning is started when the servo is turned ON. You can set the tuning-less level for the tuning-less function to obtain the optimum response.
Adjusting the Detection Sensitivity of Vibration Detection Alarms
You can detect the machine vibration during operation and set the vibration detection levels for alarms and warnings.
Prohibiting Parameter Changes from the Digital Operator
You can prohibit unintentional parameter changes from the digital operator.
Resetting the SERVOPACK without Turning the Power OFF and ON Again
You can reset the SERVOPACK internally with the software. A software reset is used when resetting alarms and setting parameters that normally require turning the power to the SERVOPACK OFF and ON again. This can be used to change those parameters without turning the power to the SERVOPACK OFF and ON again.
Configuring a SERVOPACK with a Mounted Advanced Safety Module (ASM-X)
This section describes the setting procedures for using the ASM-X.
For detailed information on the ASM-X, refer to the product manual for your ASM-X.
Setting a Program Table
You can set a program table to use for program table operation.
Setting a ZONE Table
You can set a ZONE table to use for ZONE table operation.
Setting a Jog Speed Table
You can set a jog speed table to use for jog speed table operation.
Setting Parameters for Editing Tables
You can set parameters for editing tables specific to certain SERVOPACKs, such as special-application SERVOPACKs (FT specifications), in the same way as you can for editing parameters.
4.2 Setting Parameters
4.2.1 Introduction
The setting procedures for parameters that are used to operate a servo drive are given.
Note: Refer to the following sections when using the ASM-X and when setting parameters in the ASM-X and encoder with functional safety.
→Setting ASM-X Parameters
→Setting Encoder with Functional Safety Parameters
There are the following five ways to set parameters.
Setting Basic Parameters with a Wizard
You can use a wizard to interactively set parameters while checking the settings on displays.
This allows you to easily set the parameters that are necessary to operate a servo drive.
Setting Individual Parameters
You can display lists of the parameter settings from more than one SERVOPACK side by side and compare them while you set the parameters.
You can save parameter lists in parameter files on the personal computer, and you can save them as parameter sets in project files.
Setting Safety Module Parameters (Modules Other than the ASM-X)
Note: Refer to the following sections when using the ASM-X and when setting parameters in the ASM-X and encoder with functional safety.
→Setting ASM-X Parameters
→Setting Encoder with Functional Safety Parameters
If you go online with a SERVOPACK to which a safety module is mounted and edit parameters using the [Edit Parameters] window, you must change the safety module access mode to Edit Mode to perform any of the following operations.
- Write safety module parameters to the SERVOPACK.
- Write safety module parameters to a parameter file (.usrs).
- Write safety module parameters to a CSV file (.csv).
- Save safety module parameter settings to a project file.
- Restore safety module parameters to the default settings.
Converting Parameters from a Previous Series to a New Series
You can convert parameters from a previous series to a new series. Setting the converted parameters in a SERVOPACK from a new series allows you to easily replace SERVOPACKs and shortens the time required to do so.
Setting Parameters in Parameter Files
This function can be used to easily edit and set only the parameters in parameter files saved on the personal computer.
You can save the edited parameters on the personal computer and set them in a SERVOPACK that is connected online.
4.2.2 Setting Basic Parameters with a Wizard
Introduction
The setup wizard sets the parameters using an interactive interface. By following instructions on the screen to select the control mode and the I/O settings, those settings which are necessary for operation are automatically completed.
The setup wizard has the following features.
- Parameters can be set easily and quickly, even if you are using the SERVOPACK for the first time.
- You can calculate the electronic gear automatically using the mechanical characteristics and the desired reference units. (For position control).
The flow for using the setup wizard is given below.
| Step | Description | Reference |
|---|---|---|
| 1 | Selecting the Encoder The window that is displayed depends on the servomotor that you select. Select the encoder. | Selecting the Encoder |
| 2 | Selecting the Control Method Select the control method. | Selecting the Control Method |
| 3 | Setting the Reference Input Make the settings according to the reference input specifications, controlled machine, and host controller. | Setting the Reference Input |
| 4 | Setting the Motor Encoder Set the number of output pulses per servomotor rotation, the rotation (movement) direction, etc. | Setting the Motor Encoder |
| 5 | Setting the Servomotor Stopping Methods Set the servomotor stopping methods for when the servo is turned OFF, for overtravel, and for alarms. | Setting the Servomotor Stopping Methods |
| 6 | Saving the Parameters Save the parameters set with the setup wizard in a parameter file and write the parameters to the SERVOPACK. | Saving the Parameters |
Selecting the Encoder
If you are online, the procedure to select the encoder depends on the type of servomotor that is connected.
If you are offline, the procedure to select the encoder depends on the type of servomotor that was selected under Starting the SigmaWin+ Offline.
For Rotary Servomotors
Use the following procedure to select the encoder for a rotary servomotor.
- Select [Setup Wizard] in the [Menu] window.
The [Setup Wizard] window will be displayed. - Click the [Encoder Selection] button in the [Setup Wizard] window.
- Select the encoder specifications for the rotary servomotor.
No. Item Description (1) Serial Encoder Specifications Select the serial encoder specifications from the list in [Serial Encoder Specifications]. If you are using a special or new serial encoder, select [Unknown/No match].
The display depends on whether you are online or offline.Online: If the servomotor is connected, the serial encoder specifications are not displayed. Offline: The serial encoder specifications will always be displayed. (2) Serial Encoder Setting If you selected [Unknown/No match] from the list in [Serial Encoder Specifications], enter the resolution of the serial encoder in [Resolution] and select the encoder type from the list in [Encoder Type] in the [Serial Encoder Setting] area. (3) Fully-closed encoder If you will use a fully-closed encoder, select the [Use] check box and select the specifications of the serial converter unit from in [Serial converter unit].
If you will use a special or new serial converter unit, select [Unknown/No match], and then enter the resolution of the fully-closed encoder in [Resolution] and select the encoder type in [Encoder Type].
The display depends on whether you are online or offline.Online: The display appears only when a fully-closed encoder is not connected. If a fully-closed encoder is connected, only the [Use] check box is displayed. Offline: The display appears if a SERVOPACK model that supports fully-closed loop control was selected in the [Select Model Offline] window. - Click the [Apply] button.
The settings will be applied and the [Setup Wizard] window will be displayed again.
For Linear Servomotors
Use the following procedure to select the encoder for a linear servomotor.
- Select [Setup Wizard] in the [Menu] window.
The [Setup Wizard] window will be displayed. - Click the [Encoder Selection] button in the [Setup Wizard] window.
- Select the encoder specifications for the linear servomotor.
No. Item Description (1) Serial converter unit Select the serial converter unit specifications from the list in [Serial converter unit]. If you are using a special or new serial converter unit, select [Unknown/No match]. (2) Scale pitch divisions If you selected [Unknown/No match] from [Serial converter unit], enter the number of scale pitch divisions of the serial converter unit in [Scale pitch divisions] and select the encoder type from the list in [Encoder Type]. (3) Linear Scale Pitch Enter the linear scale pitch in [Linear Scale Pitch]. - Click the [Apply] button.
The settings will be applied and the [Setup Wizard] window will be displayed again.
Selecting the Control Method
The method (mode) to use to control the SERVOPACK must be selected.
Use the following procedure to select the control method.
- Click the [Control Mode Selection] button in the [Setup Wizard] window.
- Select the control method from the list.
The selections are described in the following table.Selected Item Description Speed control with analog references The speed is controlled with an analog voltage input reference. Position control with pulse train references The position is controlled with a pulse train input reference. Torque control with analog references The torque (force) is controlled with an analog voltage input reference. Internal set speed control with contact commands The /P-CON (/SPD-D), /P-CL (/SPD-A), and /N-CL (/SPD-B) input signals are used to control the speed by switching between three operation speeds that are preset in the SERVOPACK. Switching between internal set speed control with contact commands and speed control with analog references Speed is controlled while switching between contact commands and an analog voltage reference. When both the /P-CL (/SPD-A) and /N-CL (/SPD-B) signals are OFF (high), speed is controlled with the analog voltage reference. Switching between internal set speed control with contact commands and position control with pulse train references Operation is switched between speed control with contact commands and position control with a pulse train reference. When both the /P-CL (/SPD-A) and /N-CL (/SPD-B) signals are OFF (high), position control is performed with the pulse train reference. Switching between internal set speed control with contact commands and torque control with analog references Operation is switched between speed control with contact commands and torque (force) control with an analog voltage reference. When both the /P-CL (/SPD-A) and /N-CL (/SPD-B) signals are OFF (high), torque (force) control is performed with the analog voltage reference. Switching between position control with pulse train references and speed control with analog references Operation can be switched between position control and speed control. The /P-CON (/C-SEL) signal is used to select the type of control. Switching between position control with pulse train references and torque control with analog references Operation can be switched between position control and torque (force) control. The /P-CON (/C-SEL) signal is used to select the type of control. Switching between torque control with analog references and speed control with analog references Operation can be switched between torque (force) control and speed control. The /P-CON (/C-SEL) signal is used to select the type of control. Switching between speed control with analog references and zero clamping Speed is controlled, but zero clamping can be performed when the motor is stopped. Zero clamping is performed when the /P-CON (/ZCLAMP) signal is ON (low). Switching between position control with pulse train references and position control with inhibit Position is controlled, but the reference pulse input can be inhibited with the /P-CON (/INHIBIT) signal. - Click the [Apply] button.
The settings will be applied and the [Setup Wizard] window will be displayed again.
Setting the Reference Input
The windows that are displayed by the wizard for the reference input settings depend on the control method that was selected in Selecting the Control Method.
Use the links in the following table to jump to the relevant information.
| Control Method | Reference |
|---|---|
| Speed Control | Speed Control |
| Position Control | Position Control |
| Torque (Force) Control | Torque (Force) Control |
| Internal Set Speed Control | Internal Set Speed Control |
| Zero Clamping | Zero Clamping |
Speed Control
Use the following procedure to set the reference input when speed control is set as the control method.
- Click the [Reference Input Setting] button in the [Setup Wizard] window.
- Set the conditions for speed control.
No. Item Description (1) Motor Selection If you are online, the series and rated speed of the connected motor are set automatically.
If you are offline, select the motor series from [Motor Selection]. If you select [Unknown/No match], enter the rated speed in [Rated speed].(2) Reference voltage and speed reference ratio Enter the ratio by entering the reference voltage and speed reference and then clicking the [Calculate] button. The speed reference input gain will be automatically set according to the entered reference voltage-speed reference ratio. (3) Speed Coincidence Signal Detecting Width Enter the speed coincidence detection signal output width in [Speed Coincidence Signal Detecting Width]. - Click the [Next] button.
- Enter the soft start acceleration time in [Soft Start Acceleration Time] and enter the soft start deceleration time in [Soft Start Deceleration Time].
- Click the [Apply] button.
The settings will be applied and the [Setup Wizard] window will be displayed again.If you have not completed making all of the reference input settings for the selected control methods, click the [Next] button instead of the [Apply] button.
When you click the [Next] button, the [Reference Input Setting] window for the control methods for which settings have not been completed will be displayed. Make the reference input settings on the window.
Position Control
Use the following procedure to set the reference input when position control is set as the control method.
The information that is displayed by the wizard for the reference input settings depends on the ”SERVOPACK model ”and ”motor type”.
| SERVOPACK Model | Motor Type | Reference |
|---|---|---|
| Analog Voltage/Pulse Train Reference SERVOPACK | Rotary Servomotor | Analog Voltage/Pulse Train Reference SERVOPACK with Rotary Servomotor |
| Linear Servomotor | Analog Voltage/Pulse Train Reference SERVOPACK with Linear Servomotor | |
| SERVOPACK with MECHATROLINK Communications References | Rotary Servomotor | MECHATROLINK Communications Reference SERVOPACK with Rotary Servomotor |
| Linear Servomotor | MECHATROLINK Communications Reference SERVOPACK with Linear Servomotor |
Analog Voltage/Pulse Train Reference SERVOPACK with Rotary Servomotor
- Click the [Reference Input Setting] button in the [Setup Wizard] window.
- Select the pulse form of the SERVOPACK and click the [Next] button.
The window that is displayed will depend on the selected pulse form. - Select the pulse form logic type and the travel distance of the servomotor for a 1-pulse input reference, and then click the [Next] button.
Sign + Pulse
CW + CCW
phase A + phase B - Select the electronic gear setting method and click the [Next] button.
The window that is displayed depends on the selected electronic gear setting method and encoder type.
Use the links in the following table to jump to the relevant model.Electronic Gear Setting Method Encoder Type Reference Set the electronic gear details. Not a fully-closed encoder Detailed Electronic Gear Settings for Any Encoder Except for a Fully-Closed Encoder Fully-closed encoder Detailed Electronic Gear Settings for a Fully-Closed Encoder Enter the electronic gear ratio directly. Not a fully-closed encoder Directly Entering the Electronic Gear for a Linear Servomotor or for Any Encoder Except for a Fully-Closed Encoder Fully-closed encoder Directly Entering the Electronic Gear for a Fully-Closed Encoder
Analog Voltage/Pulse Train Reference SERVOPACK with Linear Servomotor
- Click the [Reference Input Setting] button in the [Setup Wizard] window.
- Select the pulse form of the SERVOPACK and click the [Next] button.
The window that is displayed will depend on the selected pulse form. - Select the pulse form logic type and the travel distance of the servomotor for a 1-pulse input reference, and then click the [Next] button.
Sign + Pulse
CW + CCW
phase A + phase B - Select the electronic gear setting method and click the [Next] button.
The window depends on the electronic gear setting method that you select.
Use the links in the following table to jump to the relevant model.Electronic Gear Setting Method Reference Set the electronic gear details. Detailed Electronic Gear Settings for a Linear Servomotor Enter the electronic gear ratio directly. Directly Entering the Electronic Gear for a Linear Servomotor or for Any Encoder Except for a Fully-Closed Encoder
MECHATROLINK Communications Reference SERVOPACK with Rotary Servomotor
- Click the [Reference Input Setting] button in the [Setup Wizard] window.
- Select the electronic gear setting method and click the [Next] button.
The window that is displayed depends on the selected electronic gear setting method and encoder type.
Use the links in the following table to jump to the relevant model.Electronic Gear Setting Method Encoder Type Reference Set the electronic gear details. Not a fully-closed encoder Detailed Electronic Gear Settings for Any Encoder Except for a Fully-Closed Encoder Fully-closed encoder Detailed Electronic Gear Settings for a Fully-Closed Encoder Enter the electronic gear ratio directly. Not a fully-closed encoder Directly Entering the Electronic Gear for a Linear Servomotor or for Any Encoder Except for a Fully-Closed Encoder Fully-closed encoder Directly Entering the Electronic Gear for a Fully-Closed Encoder Set the electronic gear at host controller. Not a fully-closed encoder Setting the Electronic Gear at the Host Controller for a Linear Servomotor or for Any Encoder Except for a Fully-Closed Encoder Fully-closed encoder Setting the Electronic Gear at the Host Controller for a Fully-Closed Encoder
MECHATROLINK Communications Reference SERVOPACK with Linear Servomotor
- Click the [Reference Input Setting] button in the [Setup Wizard] window.
- Select the electronic gear setting method and click the [Next] button.
The window depends on the electronic gear setting method that you select.
Use the links in the following table to jump to the relevant information.Electronic Gear Setting Method Reference Set the electronic gear details. Detailed Electronic Gear Settings for a Linear Servomotor Enter the electronic gear ratio directly. Directly Entering the Electronic Gear for a Linear Servomotor or for Any Encoder Except for a Fully-Closed Encoder Set the electronic gear at host controller. Setting the Electronic Gear at the Host Controller for a Linear Servomotor or for Any Encoder Except for a Fully-Closed Encoder
Detailed Electronic Gear Settings for Any Encoder Except for a Fully-Closed Encoder
- Select the mechanical structure of the electronic gear and click the [Next] button.
- Enter the ball screw pitch and gear ratio.
- Click the [Next] button.
- Set the reference unit or the number of reference units per one load axis rotation.
- Set the positioning completed width.
- Click the [Apply] button.
The settings will be applied and the [Setup Wizard] window will be displayed again.If you have not completed making all of the reference input settings for the selected control methods, click the [Next] button instead of the [Apply] button.
When you click the [Next] button, the [Reference Input Setting] window for the control methods for which settings have not been completed will be displayed. Make the reference input settings on the window.
Detailed Electronic Gear Settings for a Fully-Closed Encoder
- Select the mechanical structure of the electronic gear and click the [Next] button.
- Enter the ball screw pitch, gear ratio, and linear scale pitch.
- Click the [Next] button.
- Set the reference unit or the number of reference units per one load axis rotation.
- Set the positioning completed width.
- Click the [Apply] button.
The settings will be applied and the [Setup Wizard] window will be displayed again.If you have not completed making all of the reference input settings for the selected control methods, click the [Next] button instead of the [Apply] button.
When you click the [Next] button, the [Reference Input Setting] window for the control methods for which settings have not been completed will be displayed. Make the reference input settings on the window.
Detailed Electronic Gear Settings for a Linear Servomotor
- Set the reference unit or the number of reference units per one load axis rotation.
- Set the positioning completed width.
- Click the [Apply] button.
The settings will be applied and the [Setup Wizard] window will be displayed again.If you have not completed making all of the reference input settings for the selected control methods, click the [Next] button instead of the [Apply] button.
When you click the [Next] button, the [Reference Input Setting] window for the control methods for which settings have not been completed will be displayed. Make the reference input settings on the window.
Directly Entering the Electronic Gear for a Linear Servomotor or for Any Encoder Except for a Fully-Closed Encoder
- Set the electronic gear ratio and the positioning completed width.
- Click the [Apply] button.
The settings will be applied and the [Setup Wizard] window will be displayed again.If you have not completed making all of the reference input settings for the selected control methods, click the [Next] button instead of the [Apply] button.
When you click the [Next] button, the [Reference Input Setting] window for the control methods for which settings have not been completed will be displayed. Make the reference input settings on the window.
Directly Entering the Electronic Gear for a Fully-Closed Encoder
- Enter the electronic gear ratio, the number of sine wave pitches (cycles) per servomotor rotation, and the positioning completed width.
- Click the [Apply] button.
The settings will be applied and the [Setup Wizard] window will be displayed again.If you have not completed making all of the reference input settings for the selected control methods, click the [Next] button instead of the [Apply] button.
When you click the [Next] button, the [Reference Input Setting] window for the control methods for which settings have not been completed will be displayed. Make the reference input settings on the window.
Setting the Electronic Gear at the Host Controller for a Linear Servomotor or for Any Encoder Except for a Fully-Closed Encoder
- Set the positioning completed width.When a servomotor other than a linear servomotor or a servomotor with a fully-closed encoder is moved with a reference from the host controller, the electronic gear value is calculated with the following settings.
- Electronic gear settings on the host controller
- Electronic gear settings on the SERVOPACK (Pn20E and Pn210)
For example, if you will use a servomotor with a 26-bit encoder and the encoder resolution on the host controller is 20 bits, the resolutions output from the host controller and from the SERVOPACK will be different. To make the resolutions the same, set the electronic gear settings on the SEROVPACK as shown below.- Pn20E (Electronic Gear Ratio (Numerator)) = 64
- Pn210 (Electronic Gear Ratio (Denominator)) = 1
To change the electronic gear value, use the [Edit Parameters] window because the parameters cannot be changed on this window. Refer to the following section for details on the operation.
→◆Editing Parameters - Click the [Apply] button.
The settings will be applied and the [Setup Wizard] window will be displayed again.If you have not completed making all of the reference input settings for the selected control methods, click the [Next] button instead of the [Apply] button.
When you click the [Next] button, the [Reference Input Setting] window for the control methods for which settings have not been completed will be displayed. Make the reference input settings on the window.
The settings will be applied and the [Setup Wizard] window will be displayed again.
Setting the Electronic Gear at the Host Controller for a Fully-Closed Encoder
- Enter the number of sine wave pitches (cycles) per servomotor rotation and the positioning completed width.
- Click the [Apply] button.
The settings will be applied and the [Setup Wizard] window will be displayed again.If you have not completed making all of the reference input settings for the selected control methods, click the [Next] button instead of the [Apply] button.
When you click the [Next] button, the [Reference Input Setting] window for the control methods for which settings have not been completed will be displayed. Make the reference input settings on the window.
Torque (Force) Control
Use the following procedure to set the reference input when torque (force) control is set as the control method.
- Click the [Reference Input Setting] button in the [Setup Wizard] window.
- Enter the ratio by entering the reference voltage and torque (force) reference and then clicking the [Calculate] button.
The torque (force) reference input gain will be automatically set according to the entered reference voltage-torque reference ratio. - Click the [Apply] button.
The settings will be applied and the [Setup Wizard] window will be displayed again.If you have not completed making all of the reference input settings for the selected control methods, click the [Next] button instead of the [Apply] button.
When you click the [Next] button, the [Reference Input Setting] window for the control methods for which settings have not been completed will be displayed. Make the reference input settings on the window.
Internal Set Speed Control
Use the following procedure to set the reference input when internal set speed control is set as the control method.
- Click the [Reference Input Setting] button in the [Setup Wizard] window.
- Set the conditions for internal set speed control.
No. Item Description (1) Internal Set Speed 1 Enter internal set speed 1 in [Internal Set Speed 3]. (2) Internal Set Speed 2 Enter internal set speed 2 in [Internal Set Speed 3]. (3) Internal Set Speed 3 Enter internal set speed 3 in [Internal Set Speed 3]. (4) Speed Coincidence Signal Detecting Width Enter the speed coincidence signal detection width in the [Speed Coincidence Signal Detecting Width]. - Click the [Apply] button.
The settings will be applied and the [Setup Wizard] window will be displayed again.If you have not completed making all of the reference input settings for the selected control methods, click the [Next] button instead of the [Apply] button.
When you click the [Next] button, the [Reference Input Setting] window for the control methods for which settings have not been completed will be displayed. Make the reference input settings on the window.
Zero Clamping
Use the following procedure to set the reference input when zero clamping is set as the control method.
- Click the [Reference Input Setting] button in the [Setup Wizard] window.
- Enter the servomotor speed at which to start zero clamping.
- Click the [Apply] button.
The settings will be applied and the [Setup Wizard] window will be displayed again.If you have not completed making all of the reference input settings for the selected control methods, click the [Next] button instead of the [Apply] button.
When you click the [Next] button, the [Reference Input Setting] window for the control methods for which settings have not been completed will be displayed. Make the reference input settings on the window.
Setting the Motor Encoder
The settings for the encoder depend on the type of servomotor that was selected.
Use the following procedures to set the motor encoder for different servomotors.
For Rotary Servomotors
Use the following procedure to set the motor encoder for a rotary servomotor.
- Click the [Motor Encoder Setting] button in the [Setup Wizard] window.
- Select the [Use the dividing output] check and set the dividing output settings.Using a Fully-Closed EncoderIf you select either of the following and click the [Apply] button, the settings are made automatically.
- For position control: A dividing output that matches the reference unit that was set using the electronic gear ratio
- For a linear encoder: A dividing output that matches the travel distance per edge
- Select how to use the absolute encoder in the [Absolute Encoder Setting] area.
- Click the [Next] button.
- Select the relationship between the motor rotation direction and the fully-closed pulse direction.
- Click the [Next] button.
- Set the motor rotation direction.
- Click the [Apply] button.
The settings will be applied and the [Setup Wizard] window will be displayed again.
For Linear Servomotors
Use the following procedure to set the motor encoder for a linear servomotor.
- Click the [Motor Encoder Setting] button in the [Setup Wizard] window.
- Make the basic settings for the linear servomotor.
No. Item Description (1) Hall sensor selection Select the polarity sensor.
If there is no polarity sensor, select [No hall sensor] from the [Hall sensor selection (Pn080.0)] area.(2) Scale direction Set the relationship between the linear scale direction and the motor forward direction (i.e., the direction toward the end where the cable is connected). - Click the [Next] button.
- Select the [Use the dividing output] check box and set the number of output edges per linear the encoder scale pitch.If you select either of the following and click the [Apply] button, the settings are made automatically.
- For position control: A dividing output that matches the reference unit that was set using the electronic gear ratio
- For a linear encoder: A dividing output that matches the travel distance per edge
- Click the [Adjust Upper Limit] button and set the upper limit of the dividing output setting.
- Select how to use the absolute encoder in the [Absolute Encoder Setting] area.
- Click the [Next] button.
- Set the servomotor rotation (movement) direction.
- Click the [Apply] button.
The settings will be applied and the [Setup Wizard] window will be displayed again.
Setting the Servomotor Stopping Methods
You can set the servomotor stopping methods in the SERVOPACK for when the servo is turned OFF, when an alarm occurs, or when overtravel occurs.
Use the following procedure to set the servomotor stopping methods.
- Click the [Motor Stop Method Selection] button in the [Setup Wizard] window.
- You must set the motor stopping methods and the brake setting.
No. Item Description (1) Servo OFF, G1 alarm
(Pn001.0)Select the motor stopping method for servo OFF and G1 alarms.
For information on G1 alarms, refer to the product manual for your SERVOPACK.(2) Overtravel
(Pn001.1)Select the motor stopping method for overtravel. (3) G2 alarm
(Pn00B.1)Select the motor stopping method for G2 alarms.
For information on G2 alarms, refer to the product manual for your SERVOPACK.(4) Brake setting Select the check if you are using a holding brake (i.e., a servomotor with a brake). - Click the [Apply] button.
The settings will be applied and the [Setup Wizard] window will be displayed again.
Saving the Parameters
You can save the parameters that were set with the wizard on the personal computer. If you are online, you can write the parameters to the SERVOPACK.
The procedure to save the parameters depends on whether you are online or offline.
Use the following procedures.
Writing Parameters to the SERVOPACK Online
Use the following procedure to write the parameters that you set online with the wizard to the SERVOPACK.
- Click the [Save/Write] button in the [Setup Wizard] window.
- Select the method to use to write the parameters.
- If you select writing with a backup file, the current parameters in the SERVOPACK that is online will be saved on the personal computer before the parameters set with the wizard are written to the SERVOPACK.
- If you select writing without a backup file, the parameters set with the wizard will be written to the SERVOPACK without backing up the current parameters from the SERVOPACK that is online.
- Click the [Write] button.
- If you selected the [Write without backup file] option, go to step 5.
- If you selected the [Write with a backup file] option, the following dialog box will be displayed and then the [Save As] window will be displayed.
- Select the save location and file name for the parameter file and click the [Save] button.
- Click the [Yes] button.
Writing the parameters to the SERVOPACK will be started and the progress of transferring the data will be displayed. - Click the [OK] button.
- Click the [Finish] button.
- Click the [Yes] button.
This concludes the procedure to write the parameters set with the wizard to the SERVOPACK.
Saving Parameters on the Personal Computer Online
Use the following procedure to save the parameters that you set online with the wizard to the personal computer.
- Click the [Save/Write] button in the [Setup Wizard] window.
- Click the [Save] button.
The [Save As] window will be displayed. - Select the save location and file name for the parameter file and click the [Save] button.
- Click the [Finish] button.
- Click the [Yes] button.
This concludes the procedure to save the parameters set with the wizard to the personal computer.
Saving Parameters on the Personal Computer Offline
Use the following procedure to save the parameters that you set offline with the wizard to the computer.
- Click the [Save/Write] button in the [Setup Wizard] window.
- Click the [Save] button.
The [Save As] window will be displayed. - Select the save location and file name for the parameter file and click the [Save] button.
- Click the [Finish] button.
- Click the [Yes] button.
This concludes the procedure to save the parameters set with the wizard to the personal computer.
4.2.3 Setting Individual Parameters
Introduction
You can edit the parameters that are set in the SERVOPACK from the [Edit Parameters] window. You can save the edited parameters in a project file or you can write them to a CSV file.
Also, you can display the parameter settings from more than one SERVOPACK side by side on the [Edit Parameters] window so that you can compare them.
| No. | Item | Description | Reference |
|---|---|---|---|
| (1) | Category | You can select a parameter group from the [Category] area to specify the parameters to display in the [Edit Parameters] window. | Specifying the Parameters to Display |
| (2) | Display Settings | You can set whether to use hierarchy parameter displays and whether to display parameter descriptions in the [Edit Parameters] window. | Specifying the Parameter Display Items to Display |
| (3) | Read from Servo: Edited Parameters | The settings of the parameters that were edited in the [Edit Parameters] window are read from the SERVOPACK and applied to the displayed parameters. The parameters that are read are the edited parameters for the currently selected axis. | Reading Edited Parameters from the SERVOPACK |
| (4) | Read from Servo: All Parameters | The settings of all of the parameters are read from the SERVOPACK and applied to the displayed parameters. | Reading All Parameters from the SERVOPACK |
| (5) | Write to Servo: Edited Parameters | The settings of the parameters that were edited in the [Edit Parameters] window are written to the SERVOPACK. The parameters that are written are the edited parameters for the currently selected axis. | Writing Edited Parameters to the SERVOPACK |
| (6) | Write to Servo: All Parameters | All of the parameters for the selected axis are written to the SERVOPACK. | Writing All Parameters to the SERVOPACK |
| (7) | Write to Servo: Save to Flash Memory | If you are online with a SERVOPACK to which a DeviceNet module is mounted, the parameters written to the SERVOPACK are saved in flash memory. | Saving DeviceNet Module Parameters to Flash Memory in the SERVOPACK |
| (8) | File: Import | The parameters are read from a SERVOPACK parameter file (.usrs) or from an axis parameter file (.usr) and displayed in the [Edit Parameters] window. | Reading Parameters from a SERVOPACK Parameter File (.usrs) and Reading Parameters from an Axis Parameter File (.usr) |
| (9) | File: Export | The parameters in the [Edit Parameters] window are written to a parameter file (.usrs) or to a CSV file (.csv). All of the parameters for a SERVOPACK are saved in the parameter file (.usrs). The parameters for all of the axes displayed in the [Edit Parameters] window are written to a CSV file (.csv). Hidden parameters are excluded. | Writing Parameters to a Parameter File (.usrs) and Writing Parameters to a CSV File (.csv) |
| (10) | Project: Save to Project | The settings of the parameters displayed in the [Edit Parameters] window are saved as a parameter set in a project file. You can save up to ten parameter sets. | Saving Parameter Settings in Project Files |
| (11) | Project: Read from Project | If you click [Read from Project], the [Parameter List] window will be displayed. You can read a parameter set that was backed up in a project file from the [Parameter List] window. You can also delete parameter sets that are not required. | Reading Parameter Sets Backed Up in Project Files and Removing Parameter Sets Backed Up in Project Files |
| (12) | Function: Initialize | The parameters for the selected SERVOPACK are restored to the default settings. | Restoring Parameters to the Default Settings |
| (13) | Function: Compare and Apply | You can compare the settings of the parameters in the [Edit Parameters] window with the SERVOPACK parameter settings, the default parameter settings, the parameter settings in the parameter file (.usrs or .usr), or the parameter settings for other axis and display the results. You can apply parameter settings that are different in the comparison to the edited parameter settings. | Comparing Displayed Parameter Settings with SERVOPACK Parameter Settings and Applying Them, Comparing Displayed Parameter Settings with Default Parameter Settings and Applying Them, Comparing Displayed Parameter Settings with Parameter Settings in Parameter File (.usrs or .usr) and Applying Them, Comparing Displayed Parameter Settings with Parameter Settings for Other Axis and Applying Them |
| (14) | Function: Favorites | You can display only the desired parameters by registering those parameters as favorites. | Registering Favorite Parameters |
| (15) | Display: Remove Servo from List | A SERVOPACK is removed from the list in the [Edit Parameters] window. | Removing a SERVOPACK from the List |
| (16) | Parameter List | The parameter names are displayed along with the parameter settings for the SERVOPACKs. | Parameter List |
Parameter List
| No. | Item | Description |
|---|---|---|
| (1) | Parameter Number | The parameter numbers are displayed. |
| (2) | Parameter Name | The parameter names are displayed. |
| (3) | [Parameter Name Filter] Button | Click the [Parameter Name Filter] button to display the [Parameter Name Filter Menu]. |
| (4) | Unit | This is the minimum unit (setting increment) that you can set for the parameter. For parameters that do not have units, “-” is displayed. |
| (5) | Connection Icon | This icon displays the connection status of the SERVOPACK. The  icon is displayed when the SERVOPACK is online.The  icon is displayed when the SERVOPACK is offline. |
| (6) | SERVOPACK Name | The SERVOPACK name is displayed. |
| (7) | Axis Name | The axis name is displayed. |
Parameter Name Filter Menu
| No. | Item | Description |
|---|---|---|
| (1) | Filter Condition 1 | Set the filter condition for the parameters to display in the [Edit Parameters] window. Select the filter condition in [Show items where the value] and enter a value. You can select the following filter conditions.
|
| (2) | Logic Operator | Select the [And] or [Or] option to specify how to combine filter conditions 1 and 2. |
| (3) | Filter Condition 2 | Set this condition in the same way as for filter condition 1. |
| (4) | [Apply] Button | Click the [Apply] button to apply the set filter conditions to the [Edit Parameters] window. |
| (5) | [Clear] Button | The set parameter filter conditions are cleared. |
| (6) | [Cancel] Button | The set parameter filter conditions are not applied and the display returns to the [Edit Parameters] window. |
Editing Parameters
There are the following two types of SERVOPACK parameters that you can edit with the SigmaWin+.
- Parameters for numeric settings
- Parameters for selecting functions
Use the following procedure to edit the parameters.
- Select [Edit Parameters] in the [Menu] window.
The [Edit Parameters] window will be displayed. - Click the cell of the parameter to change.
Parameter information is displayed in a pop-up. - Edit the parameter.
For a parameter for a numeric setting, enter an in-range parameter setting in the cell.If the parameter requires selection of a function, select the function from the list of selections.The following notation is used to display hexadecimal parameter ranges. - Press the Enter key.
The background of the edited parameter cell will change to green.If you are editing common parameters for all of the axes of a multi-axis SERVOPACK, changes to the parameter settings are applied to all axes in the SERVOPACK.
After a parameter is edited, it will be in the edited state for the parameters for all of the axes.
This concludes the procedure to edit the parameters.
Use the following procedure to copy the parameters of axis A on the Σ-7S SERVOPACK (No.1) to axis A on the other Σ-7S SERVOPACK (No.2).
- Click the name for the SERVOPACK axis you want to copy.
- Right-click on the name of the axis, and click [Copy].
- Click the name of the SERVOPACK axes to paste the copied parameters.
- Right-click on the name of the axis, and click [Paste].
The parameters of axis A on the first SERVOPACK will be copied to axis A of the second SERVOPACK.
Specifying the Parameters to Display
You can select categories from the [Category] area in the [Edit Parameters] window to specify the parameters to display.
Use the following procedure to specify the parameters to display.
- Select [Edit Parameters] in the [Menu] window.
The [Edit Parameters] window will be displayed. - Select the category of the parameters to display from the [Category] area.
"All constant number" is selected by default.Select the categories from the [Category] area based on the following table.Category Description All constant number Displays all of the parameters. Function Selection (Pn0xx-) Displays only the parameters related to function selections (Pn0☐☐) for the SERVOPACK. Gain (Pn1xx-) Displays only the parameters related to gains (Pn1☐☐) for the SERVOPACK. Position (Pn2xx-) Displays only the parameters related to position control (Pn2☐☐) for the SERVOPACK. Speed (Pn3xx-) Displays only the parameters related to speed control (Pn3☐☐) for the SERVOPACK. Torque (Pn4xx-) Displays only the parameters related to torque control (Pn4☐☐) for a SERVOPACK with a rotary servomotor. Force (Pn4xx-) Displays only the parameters related to force control (Pn4☐☐) for a SERVOPACK with a linear servomotor. Sequence (Pn5xx-) Displays only the parameters related to the SERVOPACK I/O signals and internal sequences (Pn5☐☐) and the parameters related to the regenerative torque of the SERVOPACK (Pn6☐☐). I/O Sign Displays only the parameters related to I/O signals of the SERVOPACK. MECHATROLINK (Pn8xx-) Displays only the parameters related to MECHATROLINK communications commands (Pn8☐☐) for the SERVOPACK. Common Parameters (PnAxx-) Displays only the parameters that are used to make settings from the host controller via MECHATROLINK communications (PnA☐☐ and PnB☐☐).
This concludes the procedure to specify the parameters to display.
Specifying the Parameter Display Items to Display
You can set whether to use hierarchy parameters displays and whether to display parameter descriptions in the [Display Settings] area in the [Edit Parameters] window to specify the items that are displayed for parameters.
Use the following procedure to specify the items to display for parameters.
- Select [Edit Parameters] in the [Menu] window.
The [Edit Parameters] window will be displayed. - Set ON or OFF for hierarchy display in the [Display Settings] area.
Hierarchy display is set to OFF by default.
Hierarchy display set to OFF
Hierarchy display set to ON - Set ON or OFF for description display in the [Display Settings] area.
Hierarchy display is set to “ON” by default.
Description Display Set to ON
Description Display Set to OFF
This concludes the procedure to specify the items to display for parameters.
Reading Edited Parameters from the SERVOPACK
The settings of the parameters that were edited in the [Edit Parameters] window (i.e., those with green cells) are read from the SERVOPACK and applied to the displayed parameters. The applicable axis is the currently selected parameter axis (i.e., the one with the column title displayed in orange).
If there is more than one edited parameter for the selected axis, the settings are read from the SERVOPACK for all of the edited parameters.
Use the following procedure to read the edited parameters from the SERVOPACK.
- Display the [Edit Parameters] window and edit the parameters.
Refer to Editing Parameters for the procedures to edit parameters. - Select [Edited Parameters] in the [Read from Servo] group.The parameters that are read are the parameters for the currently selected parameter axis (i.e., the one with the column title displayed in orange).
- Click the [Yes] button.
The edited parameters are read from the SERVOPACK and the cells change to white.Use the following procedure to read individual edited parameters from the SERVOPACK.- Click the cell of the edited parameter (i.e., a green cell).
- Move the mouse cursor to the cell menu.
- Click the
- Click the [Yes] button.
The edited parameters are read from the SERVOPACK and the cells change to white.
button.
This concludes the procedure to read edited parameters from the SERVOPACK.
Reading All Parameters from the SERVOPACK
You can read all of the parameters from the SERVOPACK for the parameter axis that is currently selected (i.e., the one with the column title displayed in orange).
Use the following procedure to read all of the parameters from the SERVOPACK.
- Select [Edit Parameters] in the [Menu] window.
The [Edit Parameters] window will be displayed. - Select any parameter for the axis for which to read the parameters.
- Select [All Parameters] in the [Read from Servo] group.The parameters that are read are the parameters for the currently selected parameter axis (i.e., the one with the column title displayed in orange).
- Click the [Yes] button.
If there are any edited parameters (i.e., green cells), they are read from the SERVOPACK and the cells change to white.
This concludes the procedure to read all of the parameters from the SERVOPACK.
Writing Edited Parameters to the SERVOPACK
You can write the edited parameters (green cells) to the SERVOPACK for the axis that is currently selected (i.e., the one with the column title displayed in orange) or all axes.
If there is more than one edited parameter for the selected axis, the settings are written to the SERVOPACK for all of the edited parameters.
Use the following procedure to write the edited parameters to the SERVOPACK.
- Display the [Edit Parameters] window and edit the parameters.
Refer to Editing Parameters for the procedures to edit parameters. - Select [Selected Axis] or [All Axes] for [Edited Parameters] in the [Write to Servo] group.
The edited parameters are written to the SERVOPACK and the cells change to white. - Click the [OK] button and turn the power to the SERVOPACK OFF and ON again.Use the following procedure to write individual edited parameters to the SERVOPACK.
- Click the cell of the edited parameter (i.e., a green cell).
- Move the mouse cursor to the cell menu.
- Click the
The edited parameters are written to the SERVOPACK and the cells change to white. - Click the [OK] button and turn the power to the SERVOPACK OFF and ON again.
button.
This concludes the procedure to write edited parameters to the SERVOPACK.
Writing All Parameters to the SERVOPACK
You can write all of the parameters to the SERVOPACK for the axis that is currently selected (i.e., the one with the column title displayed in orange) or all axes.
Use the following procedure to write all of the parameters to the SERVOPACK.
- Display the [Edit Parameters] window and display the parameters to write to the SERVOPACK.
Refer to Editing Parameters for the procedures to edit parameters.
Refer to Reading Parameters from a SERVOPACK Parameter File (.usrs) or Reading Parameters from an Axis Parameter File (.usr) for the procedure to open a parameter file. - Select [Selected Axis] or [All Axes] for [All Parameters] in the [Write to Servo] group.
- Click the [OK] button and turn the power to the SERVOPACK OFF and ON again.
This concludes the procedure to write all of the parameters to the SERVOPACK.
Refer to the manual for your controller for details on the automatically updated parameters.
Use the following procedure to write the automatically updated parameters to the controller.
- In the [Function] group, click [Update Auto Reflection Parameters].
- Check the contents of the dialog box, and then click the [Yes] button.
The automatically updated parameters for the selected axis will be written to the controller. - Save the automatically updated parameters written to the controller in flash memory.
Saving DeviceNet Module Parameters to Flash Memory in the SERVOPACK
If you go online with a SERVOPACK to which a DeviceNet module is mounted and edit the DeviceNet module parameters, you must save the parameters to flash memory in the SERVOPACK.
Use the following procedure to save DeviceNet module parameters to flash memory in the SERVOPACK.
- Display the [Edit Parameters] window and display the parameters to write to the SERVOPACK.
Refer to Editing Parameters for the procedures to edit parameters.
Refer to Reading Parameters from a SERVOPACK Parameter File (.usrs) or Reading Parameters from an Axis Parameter File (.usr) for the procedure to open a parameter file. - The edited DeviceNet module parameters will be written to the SERVOPACK.
Refer to Writing Edited Parameters to the SERVOPACK for the procedure to write parameters that are being edited to the SERVOPACK.
Refer to Writing All Parameters to the SERVOPACK for the procedure to write all parameters to the SERVOPACK.
The edited parameters will be written to the SERVOPACK and the cells will change to orange. - Select [Save to Flash Memory] in the [Write to Servo] group.
The parameters that were written to the SERVOPACK will be saved to flash memory and the cells will change to white.The parameters that are written are the parameters for the currently selected parameter axis (i.e., the one with the column title displayed in orange). - Click the [OK] button.
- Click the [OK] button.
This concludes the procedure to save DeviceNet module parameters to the SERVOPACK.
Reading Parameters from a SERVOPACK Parameter File (.usrs)
The parameters are read from a SERVOPACK parameter file (.usrs) and displayed in the [Edit Parameters] window.
Use the following procedure to read the parameters from a SERVOPACK parameter file (.usrs).
- Select [Edit Parameters] in the [Menu] window.
The [Edit Parameters] window will be displayed. - Select any parameter for the SERVOPACK for which to read the parameters.
- Select [Import] in the [File] group.
- Click the [Usrs (SERVOPACK file)].
The [Import] window will be displayed. - Select the parameter file (.usrs) to read and click the [Open] button.
- Click the [Yes] button.
The parameters are read from the SERVOPACK parameter file (.usrs) and displayed in the [Edit Parameters] window.If read-only parameters were read and the values of those parameters were changed, the values of the changed parameters will be displayed in green. The values will be changed in the window, but the values of read-only parameters will not be written to the SERVOPACK.
This concludes the procedure to read the parameters from a SERVOPACK parameter file (.usrs).
Reading Parameters from an Axis Parameter File (.usr)
The parameters are read from an axis parameter file (.usr) and displayed in the [Edit Parameters] window.
Use the following procedure to read the parameters from an axis parameter file (.usr).
- Select [Edit Parameters] in the [Menu] window.
The [Edit Parameters] window will be displayed. - Select any parameter for the SERVOPACK for which to read the parameters.
- Select [Import] in the [File] group.
- Select [Usr (axis file)].
The [Import] window will be displayed. - Select the parameter file (.usr) to read and click the [Open] button.
- Click the [Yes] button.
The parameters are read from the axis parameter file (.usr) and displayed in the [Edit Parameters] window.If read-only parameters were read and the values of those parameters were changed, the values of the changed parameters will be displayed in green. The values will be changed in the window, but the values of read-only parameters will not be written to the SERVOPACK.
This concludes the procedure to read parameters from an axis parameter file (.usr).
Writing Parameters to a Parameter File (.usrs)
The parameters edited in the [Edit Parameters] window are written to a parameter file (.usrs). All of the parameters for a SERVOPACK are saved in the parameter file (.usrs).
Use the following procedure to write the parameters to a parameter file (.usrs).
- Display the [Edit Parameters] window and edit the parameters.
Refer to Editing Parameters for the procedures to edit parameters. - Select any parameter for the SERVOPACK for which to write the parameters to the parameter file (.usrs).
- Select [Export] in the [File] group.
- Click the [Usrs (SERVOPACK file)].
The [Export] window will be displayed. - Enter the save location and file name for the parameter file (.usrs) and click the [Save] button.
This concludes the procedure to write the parameters to a parameter file (.usrs).
Writing Parameters for All of the Axes to a CSV File (.csv)
The parameters edited in the [Edit Parameters] window are written to a CSV file (.csv). All of the parameters for a SERVOPACK are saved in the CSV parameter file (.csv). Hidden parameters are excluded.
Use the following procedure to write the parameters to a CSV file (.csv).
- Display the [Edit Parameters] window and edit the parameters.
Refer to Editing Parameters for the procedures to edit parameters. - Select [Export] in the [File] group.
- Click [CSV (data displayed in window)].
The [Export] window will be displayed. - Enter the save location and file name for the CSV file (.csv) and click the [Save] button.
This concludes the procedure to write the parameters to a CSV file (.csv).
Saving Parameter Settings in Project Files
The settings of the parameters in the [Edit Parameters] window are saved as a parameter set in a project file. You can save up to ten parameter sets.
All of the parameters for a SERVOPACK are saved in the parameter set.
Use the following procedure to save the parameter settings in a project file.
- Display the [Edit Parameters] window and edit the parameters.
Refer to Editing Parameters for the procedures to edit parameters. - Select any parameter for the SERVOPACK for which to save the parameter settings.
- Select [Save to Project] in the [Project] group.
- Click the [OK] button.
This concludes the procedure to save the parameter settings in a project file.
Reading Parameter Sets Backed Up in Project Files
You can read a parameter set that was backed up in a project file. Any parameters that change when the parameter set is read are displayed as edited parameters (i.e., green cells).
Use the following procedure to read a parameter set backed up in a project file.
- Select [Edit Parameters] in the [Menu] window.
The [Edit Parameters] window will be displayed. - Select any parameter for the axis for which to read the parameter set.
- Select [Read from Project] in the [Project] group.
The [Parameter List] window will be displayed. - Select [SERVOPACK] and click the parameter set in [List of Parameter Sets].
- Click the [Read] button.
- Click the [Yes] button.
You can read a parameter set that was backed up in a project file and display it in the [Edit Parameters] window.
Any parameters that change when the parameter set is read are displayed as edited parameters (i.e., green cells).
This concludes the procedure to read a parameter set backed up in a project file.
Removing Parameter Sets Backed Up in Project Files
You can remove an unnecessary parameter set backed up in a project file.
Use the following procedure to remove a parameter set backed up in a project file.
- Select [Edit Parameters] in the [Menu] window.
The [Edit Parameters] window will be displayed. - Select any parameter for the axis for which to remove a parameter set.
- Select [Read from Project] in the [Project] group.
The [Parameter List] window will be displayed. - Select [SERVOPACK] and click the parameter set in [List of Parameter Sets].
- Click the [Delete] button.
- Click the [Yes] button.
The parameter set that was backed up in the project file is removed.
This concludes the procedure to remove a parameter set backed up in a project file.
Restoring Parameters to the Default Settings
You can return the SERVOPACK parameters to the default settings. The parameters for the currently selected axis (i.e., the one with the column title displayed in orange) are initialized.
Use the following procedure to return the parameters to the default settings.
- Select [Edit Parameters] in the [Menu] window.
The [Edit Parameters] window will be displayed. - Select any parameter for the axis for which to return the parameters to the default settings.
- Select [Initialize] in the [Function] group.
- Select [Restore Defaults].
- Click the [OK] button.
Returning the SERVOPACK parameters to their default settings is started. - Click the [OK] button.
This concludes the procedure to return the parameters to their default settings.
Comparing Displayed Parameter Settings with SERVOPACK Parameter Settings and Applying Them
You can compare the settings of the parameters that were edited in the [Edit Parameters] window with the settings in the SERVOPACK.
You can apply parameter settings that are different in the comparison to the edited parameter settings.
Use the following procedure to compare the displayed parameter settings with the SERVOPACK parameter settings and to apply them.
- Display the [Edit Parameters] window and edit the parameters.
Refer to Editing Parameters for the procedures to edit parameters. - Select any parameter for the SERVOPACK for which to compare the parameter settings.
- Select [Compare and Apply] in the [Function] group.
- Select [Compare with Servo].
- Click the [Yes] button.
The displayed parameter settings are compared with the SERVOPACK parameter settings and the comparison results are displayed in the [Edit Parameters] window.If all of the parameter settings are the same, the following dialog box is displayed. Click the [OK] button.Which parameters are displayed in the comparison results is set with ON or OFF for [Only difference] in the [Comparison Display Settings] area.
[Only difference] is set to “ON” by default.
[Only difference] Set to ON
[Only difference] Set to OFF - Select the parameters to be applied to the applicable axis.
- Select [Apply Settings with Differences] in the [Apply] group.You can also edit individual parameter settings in the [Edit Parameters] window, in which the comparison results are displayed.
- Click the [OK] button.
The values of the base axis are applied in the parameter settings for the applicable axis.The parameter settings compared and applied in the [Edit Parameters] window are not written to the SERVOPACK, so they are not applied to the SERVOPACK parameter settings.
To write the compared and applied parameter settings to the SERVOPACK, select [End Compare and Apply] in the [Close] group, then in the [Edit Parameters] window, select [Edited Parameters] in the [Write to Servo] group.
This concludes the procedure to compare the displayed parameter settings with the SERVOPACK parameter settings and to apply them.
Comparing Displayed Parameter Settings with Default Parameter Settings and Applying Them
You can compare the settings of the parameters that were edited in the [Edit Parameters] window with the default parameter settings.
You can apply parameter settings that are different in the comparison to the edited parameter settings.
Use the following procedure to compare the displayed parameter settings with the default parameter settings and to apply them.
- Select [Edit Parameters] in the [Menu] window.
The [Edit Parameters] window will be displayed. - Select any parameter for the SERVOPACK for which to compare the parameter settings.
- Select [Compare and Apply] in the [Function] group.
- Select [Compare with Defaults].
The displayed parameter settings are compared with the default parameter settings and the comparison results are displayed in the [Edit Parameters] window.If all of the parameter settings are the same as the defaults, the following dialog box is displayed. Click the [OK] button.Which parameters are displayed in the comparison results is set with ON or OFF for [Only difference] in the [Comparison Display Settings] area.
[Only difference] is set to “ON” by default.
[Only difference] Set to ON
[Only difference] Set to OFF - Select the parameters to be applied to the applicable axis.
- Select [Apply Settings with Differences] in the [Apply] group.You can also edit individual parameter settings in the [Edit Parameters] window, in which the comparison results are displayed.
- Click the [OK] button.
The values of the base axis are applied in the parameter settings for the applicable axis.The parameter settings compared and applied in the [Edit Parameters] window are not written to the SERVOPACK, so they are not applied to the SERVOPACK parameter settings.
To write the compared and applied parameter settings to the SERVOPACK, select [End Compare and Apply] in the [Close] group, then in the [Edit Parameters] window, select [Edited Parameters] in the [Write to Servo] group.
This concludes the procedure to compare the displayed parameter settings with the default parameter settings and to apply them.
Comparing Displayed Parameter Settings with Parameter Settings in Parameter File (.usrs or .usr) and Applying Them
You can compare the settings of the parameters that were edited in the [Edit Parameters] window with the parameter settings in the parameter file (.usrs or .usr).
You can apply parameter settings that are different in the comparison to the parameters settings for the applicable axis.
Use the following procedure to compare the displayed parameter settings with the parameter settings in the parameter file (.usrs or .usr) and to apply them.
- Select [Edit Parameters] in the [Menu] window.
The [Edit Parameters] window will be displayed. - Select any parameter for the SERVOPACK for which to compare the parameter settings.
- Select [Compare and Apply] in the [Function] group.
- Select [Compare with Parameter File].
The [Open Parameter File] window will be displayed. - Select the parameter file (.usrs or .usr) to compare with and click the [Open] button.If there is information for multiple axes in the selected parameter file (.usrs or .usr) , the following window will be displayed. Select the axis to compare, then click the [OK] button.The displayed parameter settings are compared with the parameter settings in the parameter file (.usrs or .usr) and the comparison results are displayed in the [Edit Parameters] window.If there are multiple axes to apply the comparison results to, the following window will be displayed.
Select the applicable axis or axes, then click the [OK] button.If all of the parameter settings are the same as the settings in the parameter file, the following dialog box is displayed. Click the [OK] button.Which parameters are displayed in the comparison results is set with ON or OFF for [Only difference] in the [Comparison Display Settings] area.
[Only difference] is set to “ON” by default.
[Only difference] Set to ON
[Only difference] Set to OFF - Select the parameters to be applied to the applicable axis.
- Select [Apply Settings with Differences] in the [Apply] group.You can also edit individual parameter settings in the [Edit Parameters] window, in which the comparison results are displayed.
- Click the [OK] button.
The values of the base axis are applied in the parameter settings for the applicable axis.The parameter settings compared and applied in the [Edit Parameters] window are not written to the SERVOPACK, so they are not applied to the SERVOPACK parameter settings.
To write the compared and applied parameter settings to the SERVOPACK, select [End Compare and Apply] in the [Close] group, then in the [Edit Parameters] window, select [Edited Parameters] in the [Write to Servo] group.
This concludes the procedure to compare the displayed parameter settings with the parameter settings in the parameter file (.usrs or .usr) and to apply them.
Comparing Displayed Parameter Settings with Parameter Settings for Other Axis and Applying Them
You can compare the settings of the parameters that were edited in the [Edit Parameters] window with the parameter settings for other axis.
You can apply parameter settings that are different in the comparison to the parameters settings for the applicable axis.
Use the following procedure to compare the displayed parameter settings with the parameter settings for the other axis and to apply them.
- Select [Edit Parameters] in the [Menu] window.
The [Edit Parameters] window will be displayed. - Select any parameter for the SERVOPACK (base axis) for which to compare the parameter settings.
- Select [Compare and Apply] in the [Function] group.
- Select [Compare with Other Axis].
- Select the applicable axis to compare with, then click the [OK] button.The displayed parameter settings are compared with the parameter settings for the other axis and the comparison results are displayed in the [Edit Parameters] window.You can select multiple applicable axes to compare with. When there are multiple applicable axes to compare with, select them, then click the [OK] button.If all of the parameter settings are the same as the other axis, the following dialog box is displayed. Click the [OK] button.Which parameters are displayed in the comparison results is set with ON or OFF for [Only difference] in the [Comparison Display Settings] area.
[Only difference] is set to “ON” by default.
[Only difference] Set to ON
[Only difference] Set to OFF - Select the parameters to be applied to the applicable axis.
- Select [Apply Settings with Differences] in the [Apply] group.You can also edit individual parameter settings in the [Edit Parameters] window, in which the comparison results are displayed.
- Click the [OK] button.
The values of the base axis are applied in the parameter settings for the applicable axis.The parameter settings compared and applied in the [Edit Parameters] window are not written to the SERVOPACK, so they are not applied to the SERVOPACK parameter settings.
To write the compared and applied parameter settings to the SERVOPACK, select [End Compare and Apply] in the [Close] group, then in the [Edit Parameters] window, select [Edited Parameters] in the [Write to Servo] group.
This concludes the procedure to compare the displayed parameter settings with the parameter settings for other axis and to apply them.
Registering Favorite Parameters
You can register the desired parameters as favorites.
Use the following procedure.
- Select [Edit Parameters] in the [Menu] window.
The [Edit Parameters] window will be displayed. - Select [Favorites] in the [Function] group.
- Enter a name for your group of favorite parameters.
- Select the parameters to register in the list of parameters to the left and click the [Add >] button.
- Click the [OK] button.
The name of your group of favorite parameters will be displayed in the [Category] area.
Removing a SERVOPACK from the List
You can remove a SERVOPACK from the [Edit Parameters] window.
Use the following procedure to remove a SERVOPACK from the list.
- Select [Edit Parameters] in the [Menu] window.
The [Edit Parameters] window will be displayed. - Select any parameter for the SERVOPACK to remove from the list.
- Select [Remove Servo from List] in the [Display] group.
- Click the [Yes] button.
The selected SERVOPACK will be removed from the list.
This concludes the procedure to remove a SERVOPACK from the list.
4.2.4 Setting Safety Module Parameters (Modules Other than the ASM-X)
Introduction
If you go online with a SERVOPACK to which a safety module is mounted and edit parameters using the [Edit Parameters] window, you must change the safety module access mode to Edit Mode to perform any of the following operations.
- Write safety module parameters to the SERVOPACK.
- Write safety module parameters to a parameter file (.usrs).
- Write safety module parameters to a CSV file (.csv).
- Save safety module parameter settings to a project file.
- Restore safety module parameters to the default settings.
Operations other than those listed above are the same as the operations in the [Edit Parameters] window. Refer to Setting Individual Parameters for the operating procedures.
Note: Refer to the following sections when using the ASM-X and when setting parameters in the ASM-X and encoder with functional safety.
→Introduction
→Setting/Changing the Password for the Encoder with Functional Safety
| No. | Item | Description | Reference |
|---|---|---|---|
| (1) | Write to Servo: Edited Parameters | The settings of the parameters that were edited (including safety module parameters) in the [Edit Parameters] window are written to the SERVOPACK. The parameters that are written are the edited parameters (including safety module parameters) for the currently selected axis. | Writing Edited Parameters (Including Safety Module Parameters) to the SERVOPACK |
| (2) | Write to Servo: All Parameters | All of the parameters (including safety module parameters) for the selected axis are written to the SERVOPACK. | Writing All Parameters (Including Safety Module Parameters) to the SERVOPACK |
| (3) | File: Export | The parameters in the [Edit Parameters] window (including safety module parameters) are written to a parameter file (.usrs) or to a CSV file (.csv). The parameters that are written are all of the parameters for the currently selected SERVOPACK. | Writing Parameters (Including Safety Module Parameters) to a Parameter File (.usrs) and Writing Parameters to a CSV File (.csv) |
| (4) | Project: Save to Project | The settings of the parameters (including safety module parameters) displayed in the [Edit Parameters] window are saved as a parameter set in a project file. You can save up to ten parameter sets. | Saving Parameter Settings (Including Safety Module Parameters) in Project Files |
| (5) | Function: Initialize | The parameters (including safety module parameters) for the selected SERVOPACK are restored to the default settings. | Restoring Parameters (Including Safety Module Parameters) to the Default Settings |
| (6) | Parameter List | The parameter names are displayed along with the parameter settings for the SERVOPACKs. | Parameter List |
Parameter List
| No. | Item | Description |
|---|---|---|
| (1) | Safety Parameter Icon | The  icon is displayed for safety module parameters. |
| (2) | Parameter Number | The parameter numbers are displayed. |
| (3) | Parameter Name | The parameter names are displayed. |
| (4) | [Parameter Name Filter] button | Click the [Parameter Name Filter] button to display the [Parameter Name Filter Menu]. |
| (5) | Unit | This is the minimum unit (setting increment) that you can set for the parameter. For parameters that do not have units, “-” is displayed. |
| (6) | Connection Icon | This icon displays the connection status of the SERVOPACK. The  icon is displayed when the SERVOPACK is online.The  icon is displayed when the SERVOPACK is offline. |
| (7) | SERVOPACK Name | The SERVOPACK name is displayed. |
| (8) | Axis Name | The axis name is displayed. |
Parameter Name Filter Menu
| No. | Item | Description |
|---|---|---|
| (1) | Filter Condition 1 | Set the filter condition for the parameters to display in the [Edit Parameters] window. Select the filter condition in [Show items where the value] and enter a value. You can select the following filter conditions.
|
| (2) | Logic Operator | Click the [And] or [Or] option to specify how to combine filter conditions 1 and 2. |
| (3) | Filter Condition 2 | Set this condition in the same way as for filter condition 1. |
| (4) | [Apply] Button | Click the [Apply] button to apply the set filter conditions to the [Edit Parameters] window. |
| (5) | [Clear] Button | The set parameter filter conditions are cleared. |
| (6) | [Cancel] Button | The set parameter filter conditions are not applied and the display returns to the [Edit Parameters] window. |
Writing Edited Parameters (Including Safety Module Parameters) to the SERVOPACK
The settings of the parameters that were edited (green cells, including safety module parameters) in the [Edit Parameters] window are written to the SERVOPACK. The applicable axis is the currently selected axis (i.e., the one with the column title displayed in orange).
If there is more than one edited parameter for the selected axis, the settings are written to the SERVOPACK for all of the edited parameters (including safety module parameters).
Use the following procedure to write edited parameters (including safety module parameters) to the SERVOPACK.
- Display the [Edit Parameters] window and edit the parameters.
Refer to Editing Parameters for the procedures to edit parameters. - Select [Edited Parameters] in the [Write to Servo] group.
The edited parameters are written to the SERVOPACK and the cells change to white.Use the following procedure to write individual edited parameters to the SERVOPACK.- Click the cell of the edited parameter (i.e., a green cell).
- Move the mouse cursor to the cell menu.
- Click the
The edited parameters are written to the SERVOPACK and the cells change to white.
- Click the [Write safety module parameters] check box, then enter “0000” into the code input box.
- Click the [Yes] button.
The [Rechecking Safety Module Parameters] window will be displayed. - Select the [There are no errors in the values of the edited parameters. Continue writing?] check box, and then click the [Write] button.
- Select the [It was confirmed that all parameters were written correctly] check box, and then click the [OK] button.
- Click the [OK] button and turn the power to the SERVOPACK OFF and ON again.
button.
This concludes the procedure to write edited parameters to the SERVOPACK.
Writing All Parameters (Including Safety Module Parameters) to the SERVOPACK
You can write all of the parameters (including safety module parameters) to the SERVOPACK for the axis that is currently selected (i.e., the one with the column title displayed in orange).
Use the following procedure to write all of the parameters (including safety module parameters) to the SERVOPACK.
- Display the [Edit Parameters] window and display the parameters to write to the SERVOPACK.
Refer to Editing Parameters for the procedures to edit parameters.
Refer to Reading Parameters from a SERVOPACK Parameter File (.usrs) or Reading Parameters from an Axis Parameter File (.usr) for the procedure to open a parameter file. - Select [All Parameters] in the [Write to Servo] group.
All of the parameters are written to the SERVOPACK and the cells change to white. - Click the [Write safety module parameters] check box, then enter “0000” into the code input box.
- Click the [Yes] button.
The [Rechecking Safety Module Parameters] window will be displayed. - Select the [There are no errors in the values of the edited parameters. Continue writing?] check box, and then click the [Write] button.
- Select the [It was confirmed that all parameters were written correctly] check box, and then click the [OK] button.
- Click the [OK] button and turn the power to the SERVOPACK OFF and ON again.
This concludes the procedure to write all of the parameters (including safety module parameters) to the SERVOPACK.
Writing Parameters (Including Safety Module Parameters) to a Parameter File (.usrs)
The parameters (including safety module parameters) edited in the [Edit Parameters] window are written to a parameter file (.usrs). All of the parameters (including safety module parameters) for a SERVOPACK are saved in the parameter file (.usrs).
Use the following procedure to write the parameters (including safety module parameters) to a parameter file (.usrs).
- Display the [Edit Parameters] window and edit the parameters.
Refer to Editing Parameters for the procedures to edit parameters. - Select any parameter for the SERVOPACK for which to write the parameters to the parameter file (.usrs).
- Select [Export] in the [File] group.
- Click the [Usrs (SERVOPACK file)].
- Click the [Write safety module parameters] check box, then enter “0000” into the code input box.
- Click the [Yes] button.
The [Export] window will be displayed. - Enter the save location and file name for the parameter file (.usrs) and click the [Save] button.
This concludes the procedure to write parameters (including safety module parameters) to a parameter file (.usrs).
Saving Parameter Settings (Including Safety Module Parameters) in Project Files
The settings of the parameters (including safety module parameters) edited in the [Edit Parameters] window are saved as a parameter set in a project file. You can save up to ten parameter sets.
All of the parameters for a SERVOPACK are saved in the parameter set.
Use the following procedure to save the parameter settings (including safety module parameters) in a project file.
- Display the [Edit Parameters] window and edit the parameters.
Refer to Editing Parameters for the procedures to edit parameters. - Select any parameter for the SERVOPACK for which to save the parameter settings.
- Select [Save to Project] in the [Project] group.
- Click the [Write safety module parameters] check box, then enter “0000” into the code input box.
- Click the [Yes] button.
- Click the [OK] button.
This concludes the procedure to save parameter settings (including safety module parameters) in a project file.
Restoring Parameters (Including Safety Module Parameters) to the Default Settings
The parameters (including safety module parameters) for the SERVOPACK are returned to the default settings. The parameters for the currently selected axis (i.e., the one with the column title displayed in orange) are initialized.
Use the following procedure to return parameters (including safety module parameters) to the default settings.
- Select [Edit Parameters] in the [Menu] window.
The [Edit Parameters] window will be displayed. - Select any parameter for the axis for which to return the parameters to the default settings.
- Select [Initialize] in the [Function] group.
- Select [Restore Defaults].
- Click the [Write safety module parameters] check box, then enter “0000” into the code input box.
- Click the [Yes] button.
Returning the SERVOPACK parameters to their default settings is started. - Click the [OK] button.
This concludes the procedure to return parameters (including safety module parameters) to the default settings.
4.2.5 Converting Parameters from a Previous Series to a New Series
The Parameter Converter converts the parameter data for a previous series SERVOPACK to the parameter data for a new series SERVOPACK. Specify a previous series SERVOPACK parameter file and it will be automatically converted to new series SERVOPACK parameters and saved in a file.
However, converting parameters is supported for only the following two types of series combinations.
| No. | Old Series SERVOPACK | New Series SERVOPACK |
|---|---|---|
| (1) | Σ, Σ-II, Σ-III, and Σ-V | Σ-7 |
| (2) | Σ-7 | Σ-X |
Use the following procedure to convert parameters from a previous series to a new series.
- On the [Menu] window, in the [Others] area, click [Parameter Converter].
The [Parameter Converter] window will be displayed. - Click the [Browse] button.
The [Open] window will be displayed. - Select the parameter file for the previous series SERVOPACK to convert.
- Click the [Open] button.
The data will be loaded from the selected file, and the file name, SERVOPACK model, and comments will be displayed on the conversion source side of the [Parameter Converter] window.
The conversion destination SERVOPACK model will be displayed automatically.If you select a file that cannot be converted, the following dialog box will be displayed.
Click the [OK] button and select a parameter file for a supported series. - Click the [Save] button.
The [Save As] window will be displayed. - Select the location in which to save the converted parameter file.
- Set the file name and click the [Save] button.
The settings will be displayed in the [Parameter Converter] window. - If necessary, select the SERVOPACK model from the [Servopack model] box.
The automatically set model will have the same or closest capacity to the conversion source SERVOPACK. - Click the [Convert] button.
The parameter data for the previous series SERVOPACK (conversion source) will be automatically converted to parameter data for the new series SERVOPACK (conversion destination) and saved in the new parameter file.
When conversion has been completed, the conversion results will be displayed.If you select the [Save the log file (csv) at the same time] check box before you click the [Convert] button, a CSV log file with the same name as the parameter file will be created when the parameter data is converted.
The log file will be saved in the same location as the parameter file.
The contents of the log file are shown below.
*○ in the [To be checked] column indicates one of the following.*1 Parameters for which the converted values are different from the default values of the Σ-7-series SERVOPACK. *2 Parameters for which the converted values were out of range for the Σ-7-series SERVOPACK.
(These parameters are automatically set to the default values for the Σ-7-series SERVOPACK.)*3 Parameters for which performance is different for a previous Σ-series SERVOPACK and a Σ-7-series SERVOPACK. - Adjust the converted values as required.
The following colors are used to indicate conversion results.Blue text: Parameters for which the converted values are different from the default values of the previous series SERVOPACK (conversion source). Red text: Parameters for which the converted values are out of range for the previous series SERVOPACK (conversion source).
(These parameters are automatically set to the default values for the new series SERVOPACK after conversion.)Yellow backgrounds: Parameters for which performance differs between the previous series SERVOPACK (conversion source) and the new series SERVOPACK (conversion destination). - Click the [Finish] button.
This concludes the procedure to convert parameters from a previous series to a new series.
- Refer to Editing Parameters for the procedures to adjust the converted values.
- After you have checked and adjusted the converted values, read the parameters from the SERVOPACK.
Refer to Reading All Parameters from the SERVOPACK for the procedure to read the parameters.
4.2.6 Checking Parameters in Parameter Files
There are the following two types of SERVOPACK parameters that you can edit with the SigmaWin+.
- Parameters for numeric settings
- Parameters for selecting functions
Use the following procedure to check the parameters in a parameter file.
- Click the [Home] button in the SigmaWin+ Main Window.
The Home window will be displayed. - Select [Open a parameter file].
The [Open] window will be displayed. - Select the parameter file to open and click the [Open] button.
The [Edit Parameters] window will be displayed.
You can use the following operations to check parameters in the [Edit Parameters] window.
Use the links in the following table to jump to the relevant information for the various operations.Operation Description Reference Editing parameters The parameters are edited in the [Edit Parameters] window. Editing Parameters Reading parameters from a SERVOPACK parameter file (.usrs) The parameters are read from a SERVOPACK parameter file (.usrs) and displayed in the [Edit Parameters] window. Reading Parameters from a SERVOPACK Parameter File (.usrs) Reading parameters from an axis parameter file (.usr) The parameters are read from an axis parameter file (.usr) and displayed in the [Edit Parameters] window. Reading Parameters from an Axis Parameter File (.usr) Writing parameters to a parameter file (.usrs) The parameters in the [Edit Parameters] window are written to a parameter file (.usrs). Writing Parameters to a Parameter File (.usrs) Writing parameters to a CSV file (.csv) The parameters in the [Edit Parameters] window are written to a CSV file (.csv). Writing Parameters to a CSV File (.csv) Comparing displayed parameter settings with the default parameter settings The settings of the parameters in the [Edit Parameters] window are compared with the default parameter settings. Comparing Displayed Parameter Settings with the Default Parameter Settings
4.3 Connecting I/O Signals
4.3.1 Introduction
You can use the [I/O Signal Allocation] window to allocate the input signals and output signals of the SERVOPACK.
You can check the status of the I/O signals of the SERVOPACK to monitor the wiring status.
Refer to Monitoring SERVOPACK Wiring Status for the method to monitor the wiring status of I/O signals.
| No. | Item | Description | Reference |
|---|---|---|---|
| (1) | Allocate Signals: Write | Applies the allocations that have been changed on the [Input Signal] tab page and [Output Signal] tab page. | Changing Input Signal Allocations and Changing Output Signal Allocations |
| (2) | Allocate Signals: Change Method | Sets the allocation method for the I/O signals of the SERVOPACK. The methods that you can select are determined by the model of SERVOPACK that is selected. | Changing Input Signal Allocations and Changing Output Signal Allocations |
| (3) | Allocate Signals: Display List | Lets you check the allocation status of the I/O signals of the SERVOPACK. | Checking I/O Signal Allocations |
| (4) | [Input Signal] tab page, [Output Signal] tab page, and [Additional Info] tab page | Displays the status of the input signals or output signals. You can change the signal applications on both of these tab pages. You check the reference input on the [Additional Info] tab page that is displayed for a SERVOPACK with analog voltage/pulse train references. | Changing Input Signal Allocations, Changing Output Signal Allocations, and Monitoring SERVOPACK Wiring Status |
4.3.2 Changing Input Signal Allocations
Functions are allocated to the pins on the I/O signal connector (CN1) of the SERVOPACK in advance. You can change the allocations and the polarity for some of the connector pins.
Use the following procedure to change input signal allocations.
- Select [I/O Signal Allocation] in the [Menu] window.
The [I/O Signal Allocation] window will be displayed. - Select [Change Method] in the [Allocate Signals] group.
The [Change Signal Allocation Method] window will be displayed. - Select the allocation methods from the [Allocation Method].The allocation methods that you can select are determined by the SERVOPACK that is connected online. For details, refer to the user’s manual for your SERVOPACK.
- Click the [Change/Software Reset] button.
The software will be reset and the [I/O Signal Allocation] window will return. - Click the [Input Signal] tab, and click the cell for the [Pin Number] of the signal you need to change.
- Select the pin number, and then press the Enter key.
The background of the cell for the signal to change will change to green. - Click the [Polarity] cell of the signal to change.
- Select the polarity, and then press the Enter key.
The background of the cell for the signal to change will change to green. - Select [Write] in the [Allocate Signals] group.
The [Write Signal Allocation Information] window will be displayed. - Click the [Change/Software Reset] button.
The software will be reset, the changes to the input signal allocations will be applied, and the backgrounds of the cell will return to white.
This concludes the procedure to change input signal allocations.
4.3.3 Changing Output Signal Allocations
Functions are allocated to the pins on the I/O signal connector (CN1) of the SERVOPACK in advance. You can change the allocations and the polarity for some of the connector pins.
Use the following procedure to change output signal allocations.
- Select [I/O Signal Allocation] in the [Menu] window.
The [I/O Signal Allocation] window will be displayed. - Select [Change Method] in the [Allocate Signals] group.
The [Change Signal Allocation Method] window will be displayed. - Select the allocation methods from the [Allocation Method].The allocation methods that you can select are determined by the SERVOPACK that is connected online. For details, refer to the user’s manual for your SERVOPACK.
- Click the [Change/Software Reset] button.
The software will be reset and the [I/O Signal Allocation] window will return. - Click the [Output Signal] tab to display the [Output Signal] tab page.
- Click the cell for the [Pin Number] of the signal you need to change.
- Select the pin number, and then press the Enter key.
The background of the cell for the signal to change will change to green. - Click the [Polarity] cell of the signal to change.
- Select the polarity, and then press the Enter key.
The background of the cell for the signal to change will change to green. - Select [Write] in the [Allocate Signals] group.
The [Write Signal Allocation Information] window will be displayed. - Click the [Change/Software Reset] button.
The software will be reset, the changes to the output signal allocations will be applied, and the backgrounds of the cell will return to white.
This concludes the procedure to change output signal allocations.
4.3.4 Checking I/O Signal Allocations
You can check all of the allocations of the SERVOPACK’s I/O signal connector (CN1) in one window.
Use the following procedure to check the current I/O signal allocations of the SERVOPACK.
- Select [I/O Signal Allocation] in the [Menu] window.
The [I/O Signal Allocation] window will be displayed. - Click [Display List] in the [Allocate Signals] group.
The current allocation status of the SERVOPACK will be displayed. - Check the I/O signal allocations.
- Click the [OK] button.
This concludes the procedure to check the I/O signal allocations.
4.4 Setting Up an Absolute Encoder
4.4.1 Introduction
The following two operations are required to use an absolute encoder.
This section describes these operations in detail.
Initializing an Absolute Encoder
In a system that uses an absolute encoder, the multiturn data must be initialized at startup. An alarm related to the absolute encoder (A.810 or A.820) will occur when the absolute encoder must be initialized, such as when the power is turned ON for the first time. When you initialize the absolute encoder, the multiturn data is initialized and any alarms related to the absolute encoder are cleared.
Setting the Upper Limit to the Multiturn Data for an Absolute Encoder
A multiturn limit must be set if you are performing position control for a rotating object, such as a turntable, or if an A.CC0 alarm (Multiturn Limit Disagreement) occurs.
4.4.2 Initializing an Absolute Encoder
In a system that uses an absolute encoder, the multiturn data must be initialized at startup. An alarm related to the absolute encoder (A.810 or A.820) will occur when the absolute encoder must be initialized, such as when the power is turned ON for the first time. When you initialize the absolute encoder, the multiturn data is initialized and any alarms related to the absolute encoder are cleared.
Initialize the absolute encoder in the following cases.
- When an A.810 alarm (Encoder Backup Alarm) occurs
- When an A.820 alarm (Encoder Checksum Alarm) occurs
- When starting the system for the first time
- When you want to initialize the multiturn data in the absolute encoder
- When the servomotor has been replaced
- The multiturn data will be initialized to a value between -2 and +2 rotations when the absolute encoder is initialized. The reference position of the machine system will change. Adjust the reference position in the host controller to the position that results from initializing the absolute encoder.
If the machine is started without adjusting the position in the host controller, unexpected operation may cause personal injury or damage to the machine.
- The multiturn data will always be zero in the following cases. It is never necessary to reset the absolute encoder in these cases. An alarm related to the absolute encoder (A.810 or A.820) will not occur.
- When you use a single-turn absolute encoder
- When the encoder is set to be used as a single-turn absolute encoder (Pn002 = n.□2□□)
- If a batteryless absolute encoder is used, an A.810 alarm (Encoder Backup Alarm) will occur the first time the power is turned ON. After you reset the absolute encoder, the A.810 alarm will no longer occur.
Use the following procedure to initialize an absolute encoder.
- Confirm that the servo is OFF.
- Select [Absolute Encoder Reset] in the [Menu] window.
- Click the [Continue] button.
Click the [Cancel] button to cancel initializing the absolute encoder. The Main Window will return. - Click the [Execute setting] button.
The current alarm code and name will be displayed in the [Alarm name] box. - Click the [Continue] button.
Click the [Cancel] button to cancel resetting the absolute encoder. The previous window will be displayed again. - Click the [OK] button.
The absolute encoder will be reset.
<When Initializing Fails>
If you attempted to initialize the absolute encoder when the servo was ON in the SERVOPACK, the following dialog box will be displayed and processing will be canceled.
Click the [OK] button. The Main Window will return. Turn OFF the servo and repeat the procedure from step 1.
<When Initializing Is Successful>
The following dialog box will be displayed when the absolute encoder has been initialized.
The [Absolute encoder - Setup] window will be displayed. - To enable changes to the settings, turn the power to the SERVOPACK OFF and ON again.
This concludes the procedure to initialize the absolute encoder.
4.4.3 Setting the Upper Limit to the Multiturn Data for an Absolute Encoder
The multiturn limit (upper limit to the multiturn data) is used in position control for a turntable or other rotating body.
For example, consider a machine that moves the turntable shown in the following diagram in only one direction.
Because the turntable moves in only one direction, the upper limit to the number of revolutions that can be counted by an absolute encoder will eventually be exceeded.
The multiturn limit is used in cases like this to prevent fractions from being produced by the integral ratio of the number of servomotor revolutions and the number of turntable revolutions.
For a machine with a ratio of m:n between the number of servomotor rotations and the number of turntable rotations, as shown above, the value of m minus 1 will be the setting for the multiturn limit setting (Pn205).
Pn205 (Multiturn limit) = m – 1
If m = 100 and n = 3 (i.e., the turntable rotates three times for each 100 servomotor rotations), the relationship between the number of servomotor rotations and the number of turntable rotations would be as shown below.
Set Pn205 to 99.
Pn205 = 100 － 1 = 99
The data will change as shown below when this parameter is set to anything other than the default setting.
- If the servomotor operates in the reverse direction when the multiturn data is 0, the multiturn data will change to the value set in Pn205.
- If the motor operates in the forward direction when the multiturn data is at the value set in Pn205, the multiturn data will change to 0.
Set Pn205 to one less than the desired multiturn data.
Use the following procedure to set the upper limit to the multiturn data for an absolute encoder.
- Select [Multi-turn Limit Setting] in the [Menu] window.
The [Multi-turn Limit Setting] window will be displayed. - Click the [Continue] button.
Click the [Cancel] button to cancel setting the multiturn limit. The Main Window will return. - Change the setting and click the [Writing into the Servopack] button.
- Click the [OK] button.
- Turn the power to the SERVOPACK OFF and ON again.
An A.CC0 alarm (Multiturn Limit Disagreement) will occur because setting the multiturn limit in the servomotor is not yet completed even though the setting has been changed in the SERVOPACK. - Select [Multi-turn Limit Setting] in the [Menu] window.
- Click the [Continue] button.
- Click the [Writing into the servomotor] button.
Click the [Re-change] button to change the setting. - Click the [OK] button.
This concludes the procedure to set the Upper limit to the multiturn data for an absolute encoder.
4.5 Setting Up a Linear Encoder
4.5.1 Introduction
The following three operations are required to use a linear servomotor.
This section describes these operations in detail.
Detecting the Polarity of a Linear Servomotor
If you use a linear servomotor that does not have a polarity sensor, then you must detect the polarity. Detecting the polarity means that the position of the electrical phase angle on the electrical angle coordinates of the servomotor is detected. The SERVOPACK cannot control the servomotor correctly unless it accurately knows the position of the electrical angle coordinate of the servomotor.
Setting the Origin for an Absolute Linear Encoder
If you will use an absolute linear encoder, you must set the origin of the linear encoder.
The current position is set as the origin in the connected absolute encoder.
Writing the Motor Parameters to a Linear Encoder
If you connect a linear encoder to the SERVOPACK without going through a serial converter unit, you must use the SigmaWin+ to write the motor parameters to the linear encoder. The motor parameters contain the information that is required by the SERVOPACK to operate the linear servomotor.
4.5.2 Detecting the Polarity of a Linear Servomotor
- Power is supplied to the servomotor during this operation. Be careful not to get an electric shock.
Also, the moving coil of the linear servomotor may greatly move during execution. Do not approach the moving parts of the servomotor .
If you use a linear servomotor that does not have a polarity sensor, then you must detect the polarity after you turn ON the power.
In this operation, the polarity is detected and the phase information is recorded in the SERVOPACK and linear encoder.
Use the following procedure to detect the polarity for a linear servomotor.
- Select [Edit Parameters] in the [Menu] window.
The [Polarity Detection] window will be displayed. - Click the [Continue] button.
Click the [Cancel] button to cancel polarity detection. The Main Window will return. - Click the [Start] button.
Polarity detection will be executed.
This concludes the procedure to detect the polarity for a linear servomotor.
4.5.3 Setting the Origin for an Absolute Linear Encoder
- To set the origin of an absolute linear encoder, the current position of the connected absolute encoder is set as the origin. Before you execute this operation, check the information provided in this manual.
Observe the following precautions.- After you set the origin, reset the machine system.
The absolute position of the connected absolute linear encoder will be cleared to 0, so the position data of the machine system will be different from the previous position data.
It would be extremely dangerous to move the machine in this condition. There is a risk of personal injury or machine damage. - Make sure that the following conditions are met before you set the origin of an absolute linear encoder.
- The servo is OFF.
- Polarity detection has been completed.
- After you set the origin of an absolute linear encoder, always turn the power to the SERVOPACK OFF and ON again.
The origin setting of the absolute linear encoder is valid only after the power is turned OFF and ON again.
- After you set the origin, reset the machine system.
Use the following procedure to set the origin of an absolute linear encoder.
- Select [Zero Point Position Setting] in the [Menu] window.
The [Zero point position setting] window will be displayed. - Click the [Continue] button.
Click the [Cancel] button to cancel setting the origin of the absolute linear encoder.
The Main Window will return. - Click the [Execute] button.
- Click the [Continue] button.
Click the [Cancel] button to cancel setting the origin of the absolute linear encoder.
The previous window will be displayed again. - Click the [OK] button.
The Main Window will return. - To enable changes to the settings, turn the power to the SERVOPACK OFF and ON again.
This concludes the procedure to set the origin of the absolute linear encoder.
4.5.4 Writing the Motor Parameters to a Linear Encoder
- Check the servomotor and linear encoder information before you write the motor parameters.
If you do not write the correct motor parameters, the servomotor may run out of control or burning may occur, possibly resulting in equipment damage or fire.
Use the following procedure to write the motor parameters for your linear encoder to the linear encoder.
- You can download the motor parameter file to write to the linear encoder from our web site (http://www.e-mechatronics.com/).
- Select [Motor parameter scale write] in the [Menu] window.
The [Motor parameter scale write] window will be displayed. - Click the [OK] button.
Click the [Cancel] button to cancel writing the motor parameters. The Main Window will return.
The following window is displayed after reading the parameters is started.
If the write is completed normally, the [Motor parameter scale write - File Select] window will be displayed. - Click the [Browse] button.
The [Open] window will be displayed. - Select the motor parameter file that you downloaded and click the [Open] button.
- Confirm that the motor parameter file information that is displayed is suitable for your servomotor , and then click the [Next] button.
Click the [Cancel] button to cancel writing the motor parameters. The Main Window will return. - Click the [Write] button.
- Click the [Yes] button.
The following window is displayed after writing the parameters is started.
If the write is completed normally, the [Motor parameter scale write - Scale write] window will be displayed. - Click the [Finish] button.
- Click the [OK] button.
The Main Window will return. - To enable changes to the settings, turn the power to the SERVOPACK OFF and ON again.
This concludes the procedure to write the motor parameters.
4.6 Writing Motor Parameters to the SERVOPACK
- Check the spindle motor information before writing parameters.
If you do not write the correct motor parameter file, the spindle motor may run out of control or burning may occur, possibly resulting in equipment damage or fire.
To use a spindle motor, you must write the spindle motor parameters to the SERVOPACK.
Refer to Yaskawa’s product and technical information website (URL: http://www.e-mechatronics.com/) for a list of the spindle motors for which the motor parameters must be written.
Use the following procedure to write the motor parameter for a spindle motor to the SERVOPACK.
- Download the motor parameter file to write to the SERVOPACK from Yaskawa’s product and technical information website (http://www.e-mechatronics.com/).
- Select [Motor parameter servopack write] in the [Menu] window.
The [Motor parameter servopack write] window will be displayed. - Click the [OK] button.
Click the [Cancel] button to cancel writing the motor parameters. The Main Window will return.
The following window is displayed after reading the parameters is started.
If the reading is completed normally, the [Motor parameter servopack write - File Select] window will be displayed. - Click the [Ref.] button.
The [Open] window will be displayed. - Select the motor parameter file that you downloaded and click the [Open] button.
- Confirm that the motor parameter file information that is displayed is suitable for the servomotor, and then click the [Next] button.
Click the [Cancel] button to cancel writing the motor parameters. The Main Window will return. - Click the [Write] button.
- Click the [Yes] button.
The following window is displayed after writing the parameters is started.
If writing is completed normally, the [Motor parameter servopack Write - Servopack Write] window will be displayed. - Click the [Complete] button.
- Click the [OK] button.
The Main Window will return. - To enable changes to the settings, turn the power to the SERVOPACK OFF and ON again.
This concludes the procedure to write the motor parameters.
4.7 Using Σ-LINK II (Σ-X)
4.7.1 Introduction
You can collect data from encoders, sensors, and I/O devices connected to the SERVOPACK, monitor data from the host controller, and allocate signals to SERVOPACK functions.
The necessary settings depend on the intended application. Configure the Σ-LINK II settings according to the following flowchart.
If you change the configuration of devices connected over Σ-LINK II after the self configuration results are saved, execute self configuration again or discard the data saved to flash memory.
Refer to Discarding the Data Saved to Flash Memory for details on discarding the data saved to flash memory.
| No. | Description | Meaning | Reference |
|---|---|---|---|
| (1) | Self Configuration | Identify the devices connected over Σ-LINK II. | Executing Self Configuration and Save to Flash Memory |
| (2) | Encoder Allocations | Specify the servomotor (semi-closed encoder) to drive. | Allocating the Encoder |
| (3) | Σ-LINK II Data Allocations | Necessary settings for configuring the settings in (4) to (6) to monitor connected devices with SigmaWin+ operation monitor and trace data. | Allocating Σ-LINK II Data |
| (4) | Set Option Monitors and CPRM_SEL_MON | Configure the settings for monitoring connected devices on the host controller. Configure these settings on the [Edit Parameters] window. The settings will depend on the model. For details, refer to the product manual for your SERVOPACK. | Editing Parameters |
| (5) | SLI/SLO Allocations | Allocate the Σ-LINK II data set in (3) to SLI/SLO. You can allocate SLI/SLO only when a digital I/O type sensor hub is connected. | Allocating SLI/SLO |
| (6) | I/O Signal Allocations | Allocate the I/O device signals made available through Σ-LINK II. | Allocating I/O Signals |
| (7) | Set Output Signal Reference Method Selections 1 | Set the output signal reference method selections. Configure these settings on the [Edit Parameters] window. The settings will depend on the model. For details, refer to the product manual for your SERVOPACK. | Editing Parameters |
The numbers in the above table show the menus on the [SigmaLINK II Settings] window.
4.7.2 Performing Self Configuration
Executing Self Configuration and Save to Flash Memory
Execute "self configuration" and "save to flash memory" to identify the devices connected over Σ-LINK II. Use the SigmaWin+ to execute self configuration and save to flash memory. When you execute self configuration, the connected devices will be automatically identified. Save those results to the SERVOPACK by executing save to flash memory.
If you use a direct connection between the SERVOPACK and servomotor, self configuration is not required. However, if you switch to a direct connection between the SERVOPACK and servomotor after the self configuration results are saved, execute self configuration again or discard the data saved to flash memory.
Refer to Discarding the Data Saved to Flash Memory for details on discarding the data saved to flash memory.
- Open the [Menu] window for the SERVOPACK on which to enable Σ-LINK II, and then click [SigmaLINK II Settings]. The [SigmaLINK II Settings] window will be displayed.
The Σ-LINK II settings are configured for each SERVOPACK.
To configure Σ-LINK II settings for multiple SERVOPACKs, click [SigmaLINK II Settings] from the [Menu] window for each SERVOPACK. The tab for the relevant SERVOPACK will be added to the [SigmaLINK II Settings] window. - In the [Self Configuration] area, click the [Execute] button.
- Click the [Yes] button.
Self configuration will be executed. - Click the [OK] button.
The connected devices will be identified, and the [SigmaLINK II Product Information] area will be updated. - If there are no problems with identified product information, next save the self configuration results to the SERVOPACK.
In the [Self Configuration] area, click the [Save to Flash Memory] button. - Click the [Yes] button.
The product information will be saved to flash memory. - Click the [OK] button.
Save to flash memory will be completed, and the results will be displayed in [Status].
This concludes executing self configuration and save to flash memory.
Discarding the Data Saved to Flash Memory
- In the [Network Reset] area, click the [Discard Settings] button.
- Read the precaution and then click the [OK] button.
The settings will be discarded. - Click the [OK] button.
The [SigmaLINK II Product Information] area will be updated.
This concludes discarding the data saved to flash memory.
4.7.3 Allocating the Encoder
Set the node address of the servomotor to be driven by the SERVOPACK.
- In the menu area, click [Encoder Allocation].
The [Encoder Allocation] area will be displayed. - Select the [Node Address] of the semi-closed encoder, and then click the [Write/Software Reset] button.If there are multiple masters, the node addresses will be displayed as "{Master No.}-{Node Address}" in the [Node Address] list box.
- Click the [Yes] button.
The parameter writing and software reset will be started. - Click the [OK] button.
This concludes allocating the encoder.
4.7.4 Allocating Σ-LINK II Data
Set the allocations to monitor signals input from devices connected over Σ-LINK II with the SigmaWin+ operation monitor and trace data.
- In the menu area, click [SigmaLINK II Data Allocation].
The [SigmaLINK II Data Allocation] area will be displayed. - Set [Node] and [Parameter Number] under [Input: Response data] and [Output: Command data] according to the specifications of the connected devices.
No. Item Description Setting (1) Node Select the node address for each device connected over Σ-LINK II that was allocated with self configuration.
If there are multiple masters, the node will be displayed as "{Master No.}-{Node Address}" in the list.
You cannot set [Output: Command Data] for an analog input type sensor hub.- Not set
- Node address: {Node address}
- No available nodes.
(2) Parameter Number Select the input signal of the connected device. - Not set
- {Parameter number}: Parameter name
- {Parameter number}: -
(3) Parameter Number Select the output signal of the connected device. - Not set
- {Parameter number}: Parameter name
- {Parameter number}: -
- Click the [Write] button.
- Click the [Yes] button.
The parameter writing and software reset will be started. - Click the [OK] button.
This concludes allocating Σ-LINK II data.
4.7.5 Allocating SLI/SLO
Allocate the Σ-LINK II data that was set in Allocating Σ-LINK II Data to SLI/SLO.
- In the menu area, click [SLI/SLO Allocation].
The [SLI/SLO Allocation] area will be displayed. - Configure the settings in the [Sequence Input] area and the [Sequence Output] area.
No. Item Description Setting (1) Sequence Input: Settings Select the response data that set in Allocating Σ-LINK II Data. - Not set
- Response data: Set response data 1 to 8. The response data that was allocated with a parameter number associated with an input signal in [SigmaLINK II Data Allocation] is displayed.
<Parameter Number Example>
0x8120: DI status - No available data. : Displayed when no response data was allocated with a parameter number associated with an input signal in [SigmaLINK II Data Allocation].
(2) Sequence Output: Settings Select the command data that set in Allocating Σ-LINK II Data. - Not set
- Command data: Set command data 1 to 4. The command data that was allocated with a parameter number associated with an output signal in [SigmaLINK II Data Allocation] is displayed.
<Parameter Number Example>
0x8122: DO command - No available data. : Displayed when no command data was allocated with a parameter number associated with an output signal in [SigmaLINK II Data Allocation].
- Click the [Write] button.
- Click the [Yes] button.
The parameter writing and software reset will be started. - Click the [OK] button.
This concludes allocating the SLI/SLO.
4.7.6 Allocating I/O Signals
Set the SERVOPACK input and output signal allocations and check the status of signals.
- In the menu area, click [I/O Signal Allocation].
The [I/O Signal Allocation] area will be displayed. - Click the [Start I/O Signal Allocation] button.
The [Select Axes] window will be displayed, depending on your SERVOPACK model. - Check the message, and then click the [Execute] button.
The [I/O Signal Allocation] window will be displayed.
Refer to Connecting I/O Signals for details on allocating I/O signals.
This concludes allocating the I/O signals.
4.8 Setting SERVOPACK Axis Names
You can set names for SERVOPACK axes. The set axis names are displayed in the search results for connection displays. Setting axis names will make it easier to identify SERVOPACKs.
Use the following procedure to set an axis name.
- Select [Servopack Axis Name Setting] in the [Menu] window.
The [Servopack Axis Name Setting] window will be displayed. - Select the check boxes for the axis for which to change the names and enter the axis names in the [Servo axis name] column.
- Click the [Write] button.
This concludes the procedure to set SERVOPACK axis names.
4.9 Setting an Offset
4.9.1 Introduction
The following procedures are given: the procedure to adjust the analog reference input offset when the SERVOPACK is used in speed control mode or torque control mode, the procedure to adjust the analog monitor output from the SERVOPACK, and the procedure to adjust the motor current detection signal offset to reduce torque ripple.
Adjusting Minor Servomotor Rotation for a Zero Speed or Zero Torque Reference
If you use a SERVOPACK in speed or torque control mode, you can set an offset to correct the zero point of the analog reference input to a reference value.
Automatically Adjusting the Speed/Torque Reference Zero Point
Manually Adjusting the Speed/Torque Reference Zero Point
Adjusting the Zero Point and Sensitivity of an Analog Monitor Output
You can manually adjust the offset and gain for the analog monitor outputs for the torque reference monitor and motor speed monitor. Use the following procedures.
Manually Adjusting the Zero Point of an Analog Monitor Output
Manually Adjusting the Sensitivity of an Analog Monitor Output
Adjusting the Motor Current for a Large Torque Ripple
Perform this procedure only if highly accurate adjustment is required to reduce the torque ripple component of the motor current detection signal. It is normally not necessary.
There are the following two procedures that you can use to adjust the motor current detection signal offset: automatically or manually.
4.9.2 Adjusting Minor Servomotor Rotation for a Zero Speed or Zero Torque Reference
Automatically Adjusting the Speed/Torque Reference Zero Point
In speed or torque control mode, the servomotor may turn slightly even if the analog reference voltage is set to 0 V. This occurs when there is a slight (in order of mV) offset in the reference voltage of the host controller or external circuits.
You can measure this offset and automatically adjust the reference voltage. You can adjust both the speed and torque references.
Use the following procedure to automatically adjust the offset when a voltage reference offset exists in either the host controller or external circuits.
After the offset is automatically adjusted, the offset is recorded in the SERVOPACK.
Use the following procedure to automatically adjust the speed/torque reference zero point.
- Confirm that the servo is OFF in the SERVOPACK.
- Input the reference voltage that should be 0 V from the host controller or an external circuit.
- Select [Adjust the Speed and Torque Reference Offset] in the [Menu] window.
The [Adjust the Speed and Torque Reference Offset] window will be displayed. - Click the [Automatic Adjustment] tab. The [Automatic Adjustment] tab page will be displayed.
- Click the [Adjust] button.
The value that results from automatic adjustment will be displayed in the [New] box.
This concludes the procedure to automatically adjust the speed/torque reference zero point.
Manually Adjusting the Speed/Torque Reference Zero Point
Manual adjustment of the speed or torque reference offset can be used in the speed or torque control mode. Adjust the zero point under the following conditions.
- To set the number of deviation pulses to zero when the motor is stopped by a servo lock and a position loop is formed in the host controller.
- To intentionally set an offset
This function can also be used to check the offset data that was automatically adjusted.
Although the basic function is the same as for the reference offset automatic adjustment mode, the adjustment must be made while directly inputting an offset. You can set offsets for both the speed reference and the torque reference.
The offset adjustment ranges and setting units are given in the following figure.
Use the following procedure to manually adjust the speed/torque reference zero point.
- Input the reference voltage that should be 0 V from the host controller or an external circuit.
- Select [Adjust the Speed and Torque Reference Offset] in the [Menu] window.
The [Adjust the Speed and Torque Reference Offset] window will be displayed. - To adjust the speed reference input offset, click the [Speed Reference] tab. The [Speed Reference] tab page will be displayed.
To adjust the torque reference input offset, click the [Torque Reference] tab. The [Torque Reference] tab page will be displayed. - Click the [+1] or [-1] buttons to adjust the value in the [Speed Reference] box to 0.
Adjust the torque reference in the same way.
This concludes the procedure to manually adjust the speed/torque reference zero point.
4.9.3 Adjusting the Zero Point and Sensitivity of an Analog Monitor Output
Manually Adjusting the Zero Point of an Analog Monitor Output
You can manually adjust the zero point of an analog monitor output from the SERVOPACK.
Use the following procedure to manually adjust the zero point of an analog monitor output.
- Select [Adjust the Analog Monitor Output] in the [Menu] window.
The [Adjust the Analog Monitor Output] window will be displayed. - Click the [Zero Adjustment] tab. The [Zero Adjustment] tab page will be displayed.
- To adjust the output for analog monitor 1, select [CH1] in the [Channel] box in the [Analog Monitor Output Offset] area.
To adjust the output for analog monitor 2, select [CH2] in the [Channel] box in the [Analog Monitor Output Offset] area. - Click the [+1] or [-1] buttons to adjust the analog monitor output value to 0.
- Click the [Close] button.
The SigmaWin+ Main Window will return.
This concludes the procedure to manually adjust the zero point of an analog monitor output.
Manually Adjusting the Sensitivity of an Analog Monitor Output
You can manually adjust the sensitivity of an analog monitor output from the SERVOPACK.
Use the following procedure to manually adjust the sensitivity of an analog monitor output.
- Select [Adjust the Analog Monitor Output] in the [Menu] window.
The [Adjust the Analog Monitor Output] window will be displayed. - Click the [Gain Adjustment] tab. The [Gain Adjustment] tab page will be displayed.
- To adjust the output for analog monitor 1, select [CH1] in the [Channel] box in the [Analog Monitor Output Gain] area.
To adjust the output for analog monitor 2, select [CH2] in the [Channel] box in the [Analog Monitor Output Gain] area. - Click the [+1] or [-1] buttons to adjust the analog monitor output value to 0.
- Click the [Close] button.
The SigmaWin+ Main Window will return.
This concludes the procedure to manually adjust the sensitivity of an analog monitor output.
4.9.4 Adjusting the Motor Current for a Large Torque Ripple
Automatically Adjusting the Motor Current
You can adjust the motor current to reduce ripple in the torque.
Use the following procedure to automatically adjust the motor current.
- Select [Adjust the Motor Current Detection Offset] in the [Menu] window.
The [Adjust the Motor Current Detection Offset] window will be displayed. - Check the precaution and then click the [Continue] button.
The [Adjust the Motor Current Detection Offset] window will be displayed. - Click the [Automatic Adjustment] tab. The [Automatic Adjustment] tab page will be displayed.
- Click the [Adjust] button.
The value that results from automatic adjustment will be displayed in the [New] box.
This concludes the procedure to automatically adjust the motor current.
Manually Adjusting the Motor Current
You can adjust the motor current to reduce ripple in the torque.
If you automatically adjust the motor current and the torque ripple is still too large, you can adjust the motor current manually.
Use the following procedure to manually adjust the motor current.
- Operate the servomotor at approximately 100 min-1.
- Select [Adjust the Motor Current Detection Offset] in the [Menu] window.
The [Adjust the Motor Current Detection Offset] window will be displayed. - Check the precaution and then click the [Continue] button.
The [Adjust the Motor Current Detection Offset] window will be displayed. - Click the [Manual Adjustment] tab. The [Manual Adjustment] tab page will be displayed.
- To adjust phase U of the motor current, select [U-phase] in the [Channel] Box in the [Motor Current Detection Offset] area.
To adjust phase V of the motor current, select [V-phase] in the [Channel] Box in the [Motor Current Detection Offset] Area. - Use the [+1] or [-1] buttons to adjust the offset.
Change the offset by about 10 in the direction that reduces the torque ripple.
Adjustment range: -512 to +511 - Repeat steps 4 to 6 until the torque ripple cannot be decreased any further regardless of whether you increase or decrease the offsets.
- Reduce the amount by which you change the offsets each time and repeat steps 4 to 6.
This concludes the procedure to manually adjust the motor current.
4.10 Positioning to the Origin within One Servomotor Rotation
You can use an origin search to position to the origin within one servomotor rotation. This is convenient when you need to align the servomotor’s origin with the machine origin.
The origin search operation positions the servomotor to the origin within one servomotor rotation and clamps it there.
- Make sure that the load is not coupled when you execute an origin search.
The Forward Drive Prohibit (P-OT) signal and Reverse Drive Prohibit (N-OT) signal are disabled during an origin search.
The following speeds are used for origin searches.
- Rotary Servomotors: 60 min-1
- Direct Drive Servomotors: 6 min-1
- Linear Servomotors: 15 min/s
Use the following procedure to position the servomotor to the origin within one servomotor rotation.
- Select [Search Origin] in the [Menu] window.
The [Origin Search] window will be displayed. - Read the precautions and then click the [OK] button.If the Write Prohibited Setting is ON, the following dialog box will be displayed.
Click the [OK] button to release write prohibition.
Refer to Prohibiting Parameter Changes from the Digital Operator for the procedure to release parameter write prohibition. - Click the [Servo ON] button.
- Click the [Forward] button or the [Reverse] button.
An origin search will be performed only while you hold down the mouse button.
Motor rotation will stop when the origin search has been completed. - Click the [Close] button.
The SigmaWin+ Main Window will return.
This concludes the procedure to position the servomotor to the origin within one servomotor rotation.
4.11 Suppressing Vibration in the Tuning-Less Function
The tuning-less function performs autotuning to obtain a stable response regardless of the type of machine or changes in the load.
Autotuning is started when the servo is turned ON. You can set the tuning-less level for the tuning-less function to obtain the optimum response.
You can set the response of the tuning-less function to any level between level 0 and level 7.
Increase the response level setting to increase the response. Decrease the response level setting to suppress vibration.
Use the following procedure to suppress vibration in the tuning-less function.
- Select [Response Level Setting] in the [Menu] window .
The [Tuning-less Level Setting-Adj] window will be displayed. - Use the [▲] and [▼] buttons to adjust the tuning-less level until the machine no longer vibrates.
- Click the [Completed] button.
The adjustment results will be saved in the SERVOPACK and the SigmaWin+ Main Window will be displayed again.
This concludes the procedure to suppress vibration in the tuning-less function.
4.12 Adjusting the Detection Sensitivity of Vibration Detection Alarms
You can set the vibration detection level to more accurately detect A.520 alarms (Vibration Alarm) and A.911 warnings (Vibration Warning) when vibration is detected during machine operation.
- Vibration may not be detected because of unsuitable servo gains. Also, not all kinds of vibrations can be detected.
- Set a suitable moment of inertia ratio (Pn103). An unsuitable setting may result in falsely detecting or not detecting vibration alarms or vibration warnings.
- To use this function, you must operate the machine by inputting the actual references that will be used in your system.
- Execute this function under the operating conditions for which you want to set the vibration detection level.
- Execute this function while the servomotor is operating at 10% of its maximum speed or faster.
Use the following procedure to adjust the detection sensitivity of vibration detection alarms.
- Select [Initialize Vibration Detection Level] in the [Menu] window.
The [Initialize Vibration Detection Level] window will be displayed. - Set the conditions for vibration detection.
No. Item Description (1) Pn311: Vibration Detection Sensibility (Sensitivity) Enter the vibration detection sensitivity in the [Vibration Detection Sensibility]. (2) Pn310: Vibration Detection Switch
nibble (digit) 0 Vibration Detection SelectionSelect the vibration detection switch in the [Vibration Detection Switch]. - Click the [Detection Start] button.
- Click the [Execute] button.
The newly set vibration detection level will be displayed and the vibration detection level will be saved in the SERVOPACK.
This concludes the procedure to adjust the detection sensitivity of vibration detection alarms.
4.13 Prohibiting Parameter Changes from the Digital Operator
You can prohibit unintentional parameter changes from the digital operator.
Use the following procedure to prohibit parameter changes from the digital operator.
- Select [Write Prohibited Setting] in the [Menu] window.
The [Write Prohibition Setting] window will be displayed. - Click the [▲] button for the rightmost digit, set the value to 0001, and then click the [Setting] button.
If the write prohibited setting is ON, the following window will be displayed.If write prohibition is set, the following window will be displayed.
To enable writing the parameters, set the value to 0000, and then click the [Setting] button. - Click the [OK] button and turn the power to the SERVOPACK OFF and ON again.
This concludes the procedure to prohibit parameter changes from the digital operator.
4.14 Resetting the SERVOPACK without Turning the Power OFF and ON Again
4.14.1 Introduction
You can reset the SERVOPACK internally with the software. A software reset is used when resetting alarms and setting parameters that normally require turning the power to the SERVOPACK OFF and ON again. This can be used to change those parameters without turning the power to the SERVOPACK OFF and ON again.
- Always confirm that the servo is OFF and that the servomotor is stopped before you start this operation.
- This operation resets the SERVOPACK independently of the host controller. The SERVOPACK carries out the same processing as when the power is turned ON and outputs the ALM (Servo Alarm) signal. The status of other output signals may be forcibly changed.
- When you execute this operation, the SERVOPACK will not respond for approximately five seconds.
Before you execute this operation, check the status of the SERVOPACK and servomotor and make sure that no problems will occur.
The procedure to reset the SERVOPACK without turning the power OFF and ON again depends on the connection method.
Refer to the following links for the connection methods.
Personal Computer Connected Directly to a SERVOPACK
SERVOPACK Connected through a Controller
4.14.2 Personal Computer Connected Directly to a SERVOPACK
Use the following procedure to reset the SERVOPACK when it is connected directly to the computer.
- Select [Software Reset] in the [Menu] window.
The [Software Reset] window will be displayed. - Click the [Execute] button.
Click the [Cancel] button to cancel the software reset. The Main Window will return. - Click the [Execute] button.
A software reset will be started. - Click the [OK] button.
All settings including parameters will have been re-calculated. When you finish this operation, disconnect the SigmaWin+ from the SERVOPACK, and then connect it again.
This concludes the procedure to reset the SERVOPACK when it is connected directly to the personal computer.
4.14.3 SERVOPACK Connected through a Controller
Use the following procedure to reset the SERVOPACK when the personal computer is connected to the SERVOPACK through a controller.
- Select [Software Reset] in the [Menu] window.
The [Software Reset] window will be displayed. - Click the [Execute] button.
Click the [Cancel] button to cancel the software reset. The Main Window will return. - Select the [Reset MECHATROLINK communication] check box.
- Click the [Execute] button.
A software reset will be started.If you perform a software reset without resetting MECHATROLINK communications, a communications error will occur between the controller and SERVOPACK, and communications will no longer be possible.
Always select the [Reset MECHATROLINK communication] check box and reset MECHATROLINK communications as well. - Click the [OK] button.
All settings including parameters will have been re-calculated. When you finish this operation, disconnect the SigmaWin+ from the SERVOPACK, and then connect it again.
This concludes the procedure to reset the SERVOPACK when the personal computer is connected to the SERVOPACK through a controller.
4.15 Configuring a SERVOPACK with a Mounted Advanced Safety Module (ASM-X)
4.15.1 Introduction
The configuration flow for a SERVOPACK with a mounted advanced safety module (abbreviated in this manual as "ASM-X") depends on the how that ASM-X will be used. (Example: When the ASM-X is first used and when the ASM-X used on a SERVOPACK is moved to different SERVOPACK)
For details, refer to the basic setup before operation in your ASM-X product manual.
This section describes the details of the procedures.
4.15.2 Access Restrictions by User Login Authorization
In order to prevent the malfunction of a safety function due to an unintentional operation, the use of functions on the [Safety Functions Menu] in the SigmaWin+ and writing parameters to the ASM-X/encoder with functional safety (i.e., safety parameters) are protected by access restrictions.
The administrator must first set the following three items.
| Setting Item | Description | Reference |
|---|---|---|
| Set a user (administrator authorization) | A user must log in to set the safety-related functions using the functions on the [Safety Functions Menu] in the SigmaWin+. Set the ID and password for this user. | Registering a User |
| ASM-X write password | A password is required to write parameters to the ASM-X. | Setting the ASM-X Password |
| Write password for encoder with functional safety | A password is required to write parameters to the encoder with functional safety. | Setting/Changing the Password for the Encoder with Functional Safety |
Next, the administrator creates user IDs with developer authorization as necessary and notifies workers of the necessary information according their education, training, and experience. The administrator must also manage accounts and passwords so that the account information is not leaked.
The following table shows the restrictions on using functions on [Safety Functions Menu] due to access restrictions (login authorization and password).
→[Menu] Function Usage Restrictions
| Item | Access Restrictions | [Safety Functions Menu] Function Usage Restrictions | |||
|---|---|---|---|---|---|
| Login Authorization | Authorization to Set Password for ASM-X/Encoder with Functional Safety | Display Menu | Safety Parameters | ||
| Read | Write | ||||
| Administrator | Administrator authorization | Yes (= set by administrator) | Yes | Yes | Yes |
| Worker A | Developer authorization | No | Yes | Yes | No*1 |
| Worker B | No login authorization*2 | – | No | No | No |
| *1 | Parameters can also be written with developer authorization if the administrator shares the password for the ASM-X/encoder with functional safety. |
| *2 | You cannot use safety-related operations if you do not log in. Operations related to the SERVOPACK are also restricted (e.g., if not logged in, SERVOPACK parameters can be read, but they cannot be written). |
4.15.3 Registering/Changing/Deleting a User
Registering a User
To set up a SERVOPACK with a mounted ASM-X, you must first register a user in the SigmaWin+.
Use the following procedure to register a user.
To register a user with administrator authorization, refer to this section.
Refer to the following section to log in as a user with administrator authorization.
→Logging In as a User
- Click the [Home] button in the SigmaWin+ Main Window.
- Click [User Management].
- Click [User Settings].
The [User Settings] window will be displayed. - Click the [Add] button.
The [Add User] window will be displayed. - Enter the [User ID] and [Password].
The characters that can be entered are listed below.- Single-byte alphanumeric characters: A - Z, a - z, 0 - 9
- Symbol characters: ! " # $ % & ' ( ) * + , - . / : ; ‹ = › ? @ [ \ ] ^ _ ` { | } ~
- Single-byte space character
When you first register a user, always register that user with administrator authorization. When you then register subsequent users, always give those users developer authorization.
When you first register a user, you cannot do so from a user with developer authorization. After you register a user with administrator authorization, then register a user with developer authorization. - Click the [Create] button.
- Click the [OK] button.
The [User Settings] window will return.
This concludes the procedure.
Deleting User Settings: Only Developer Authorization
Use the following procedure to delete the settings for a user registered with developer authorization.
→Deleting User Settings: Administrator Authorization and Developer Authorization
- Log in with a user that has administrator authorization.
Refer to the following section for details.
→Logging In as a User - Click [User Management].
- Click [User Settings].
The [User Settings] window will be displayed. - Select the user to delete and click the [Delete] button.
The message dialog box will be displayed. - Click the [OK] button.
This concludes the procedure.
Deleting User Settings: Administrator Authorization and Developer Authorization
Use the following procedure to delete the settings for a registered user.
→Deleting User Settings: Only Developer Authorization
- Confirm that you have the latest version of the SigmaWin+ installer.You must uninstall the SigmaWin+ to delete the settings for the user with administrator authorization. This means you will need to reinstall the SigmaWin+. And the installer is required to accomplish this.
- When you run the SigmaWin+ uninstaller, a window regarding SigmaWin+ [Select Options] will appear. For details on the uninstallation procedure, refer to the manual for your personal computer.
- Select the [User management information] check box and click the [Uninstall] button.
The user management information will start being uninstalled.
For the rest of the uninstallation procedure, follow the on-screen instructions. - Install the SigmaWin+.
For details on the procedure, refer to "ReadMe_ENG.txt" included with the installer.
This concludes the procedure.
Changing User Settings
The settings for users registered to set up a SERVOPACK with a mounted ASM-X cannot be changed (e.g., you cannot change only the password for a user ID).
To change the settings, delete the existing settings, and register the user again.
To delete user settings, refer to the following sections.
→Deleting User Settings: Only Developer Authorization
→Deleting User Settings: Administrator Authorization and Developer Authorization
4.15.4 Logging In as a User
To set up a SERVOPACK with a mounted ASM-X, you must log in as a user.
Certain functions on [Menu] also cannot be used. Refer to the following section for details.
→[Menu] Function Usage Restrictions
Use the following procedure to log in as a user.
- Confirm that the following conditions have been satisfied.
- You are not logged in (i.e., you have not logged in with [User Management])
- The SERVOPACK and the SigmaWin+ are not connected online*1
- You are not using the SigmaWin+ in offline mode (i.e., no project file is open)*2
- Multiple instances of the SigmaWin+ are not running
- One or more users are registered
*1 To establish an online connection between the SigmaWin+ and the SERVOPACK, first log in as a user, and then establish the online connection. *2 To use the SigmaWin+ offline, first log in as a user, and then use [Start SigmaWin+ offline] or open a file. - Click the [Home] button in the SigmaWin+ Main Window.
- Click [User Management].
- Click [Log In].
The [Log In] window will be displayed. - Enter [User ID] and [Password] and click the [Log In] button.
- Confirm that you are logged in.
If you are logged in, the login user ID will be displayed in the SigmaWin+ title bar.
This concludes the procedure.
4.15.5 [Menu] Function Usage Restrictions
Restrictions are implemented on the use of functions on [Menu] when the following conditions are all satisfied.
- You are not logged in (i.e., you have not logged in with [User Management])
- The ASM-X is connected
The following table gives details about the restrictions on using functions on [Menu].
| Category | Function | Usage Restrictions | |
|---|---|---|---|
| When Online | When Offline | ||
| Basic Functions | Edit Parameters | Restrictions*1 | No restrictions |
| Software Reset | Cannot be started | Cannot be started | |
| Setup Wizard | Cannot be started | Cannot be started | |
| SigmaLINK II Settings | Cannot be started | Cannot be started | |
| I/O Signal Allocation | Cannot be started | Cannot be started | |
| Product Information | No restrictions | No restrictions | |
| Encoder Setting | Reset Absolute Encoder | Cannot be started | Cannot be started |
| Multi-turn Limit Setup | Cannot be started | Cannot be started | |
| Search Origin | Cannot be started | Cannot be started | |
| Zero Point Position Setting | Cannot be started | Cannot be started | |
| Polarity Detection | Cannot be started | Cannot be started | |
| Motor Parameter Scale Write | Cannot be started | Cannot be started | |
| Table Program | Edit Program Table | Cannot be started | Cannot be started |
| Edit Zone Table | Cannot be started | Cannot be started | |
| Edit Jog Speed Table | Cannot be started | Cannot be started | |
| Troubleshooting | Display Alarm | No restrictions | Cannot be started |
| Alarm Trace | No restrictions | No restrictions | |
| Reset Motor Type Alarm | No restrictions | Cannot be started | |
| Operation | Jog | Cannot be started | Cannot be started |
| Program JOG Operation | Cannot be started | Cannot be started | |
| Monitor | Trace | No restrictions | No restrictions |
| Real Time Trace | No restrictions | No restrictions | |
| Monitor | No restrictions | Cannot be started | |
| Life Monitor | No restrictions | Cannot be started | |
| CDO | No restrictions | Cannot be started | |
| Tuning | Tuning | Cannot be started | Cannot be started |
| Multi-Axis Simultaneous Tuning | Cannot be started | Cannot be started | |
| System Tuning | Cannot be started | Cannot be started | |
| Response Level Setting | Cannot be started | Cannot be started | |
| Edit Online Parameters | Cannot be started | Cannot be started | |
| Diagnostic | Mechanical Analysis | Cannot be started | Cannot be started |
| Error Detection | Cannot be started | Cannot be started | |
| Easy FFT | Cannot be started | Cannot be started | |
| Ripple Compensation | Cannot be started | Cannot be started | |
| Online Vibration Monitor | Cannot be started | Cannot be started | |
| Others | Adjust the Speed and Torque Reference Offset | Cannot be started | Cannot be started |
| Adjust the Analog Monitor Output | Cannot be started | Cannot be started | |
| Adjust the Motor Current Detection Offset | Cannot be started | Cannot be started | |
| Initialize Vibration Detection Level | Cannot be started | Cannot be started | |
| Parameter Converter | Cannot be started | Cannot be started | |
| SERVOPACK Axis Name Setting | Cannot be started | Cannot be started | |
| Write Prohibited Setting | Cannot be started | Cannot be started | |
| Serial Command Monitor | Cannot be started | Cannot be started | |
| Motor Parameter SERVOPACK Write | Cannot be started | Cannot be started | |
| *1 | Servo parameters (parameter number: Pn□□□) can be read but not written. Safety parameters (parameter number: Pc□□□) cannot be read or written. |
4.15.6 Establishing an Online Connection between the ASM-X and SigmaWin+
Connection Procedure
To establish an online connection between the ASM-X and the SigmaWin+, first log in as a user, and then establish the online connection.
Refer to the following section for details on logging in as a user.
→Logging In as a User
Refer to the following section for details on establishing an online connection.
→Starting the SigmaWin+ Online
Precautions When Establishing an Online Connection between the ASM-X and SigmaWin+
To connect the SigmaWin+ to the SERVOPACK using the ASM-X, the version of the ASM-X model information file*1 must support the ASM-X parameters version.
| *1 | Refer to the following section for details on the model information file. →Adding Model Information Files |
If the version of the ASM-X model information file does not support the ASM-X parameters version, add the latest ASM-X model information file, and then establish the connection.
The following table shows examples of whether a connection can be established.
| Connectable | ASM-X Parameters Version Supported by ASM-X Model Information File Version*1 | ASM-X Parameters Version*2 |
|---|---|---|
| Yes | 1 | 1 |
| No*3 | 1 | 2 |
| Yes | 3 | 2 |
| No*3 | 3 | 4 |
| *1 | Check the version of the model information file in [Supported Model] - [Model Information File Management]. Refer to the following section for details. →Checking the Model Information File Version Refer to Yaskawa's product and technical information website for ASM-X parameters versions supported by model information file versions. |
| *2 | Refer to the following section for the procedure to check the ASM-X parameters version. →Monitoring Product Information |
| *3 | A connection cannot be established because the ASM-X Parameters Version is greater than the ASM-X Parameters Version Supported by ASM-X Model Information File Version. |
Note: When there is an online connection, the ASM-X parameters version in the above table is the parameters version of the ASM-X to which an online connection is established.
When there is an offline connection, the parameters version is that of the ASM-X selected on the offline connection window.
For details on the revision history of the parameters version, refer to the manual for your ASM-X.
4.15.7 Setting the ASM-X Password
Use the following procedure to set the ASM-X password.
- Log in with a user that has administrator authorization.
Refer to the following section for details on the operation procedure.
→Logging In as a User - Click the [Safety Functions Menu] icon.
The [Menu] window will be displayed. - Under [ASM-X], click [Set Password].
The [Set Password] window will be displayed. - Enter a numeric value to set as the password for the ASM-X (setting range: 1 to 9999) and click the [OK] button.The password set here will be required when changing the ASM-X settings later. If you forget the password, initialize the ASM-X settings and set the password again."0" cannot be set for the beginning of the password. For example, if you enter "0001", the password will be set as "1".
The message dialog box will be displayed. - Click the [Yes] button.
The set password starts being written to the ASM-X.
If the password is successfully written, a separate message dialog box will be displayed. - Click the [OK] button.
- Turn the power to the SERVOPACK OFF and ON again.
This concludes the procedure.
4.15.8 Initializing ASM-X Settings
When you initialize the ASM-X, the ASM-X password and parameter settings will be initialized. Initialize the ASM-X in cases such as when alarm A.EC0 is displayed after the ASM-X used on a SERVOPACK is moved to different SERVOPACK.
Use the following procedure to initialize the ASM-X settings.
- Log in with a user that has administrator authorization.
Refer to the following section for details on the operation procedure.
→Logging In as a User - Click the [Safety Functions Menu] icon.
The [Menu] window will be displayed. - Under [ASM-X], click [Initialize].
The [Initialization] window will be displayed. - Click the [OK] button.
The initialization process will be executed. When it is complete, a message dialog box will be displayed. - Click the [OK] button.
- Turn the power to the SERVOPACK OFF and ON again.
This concludes the procedure.
4.15.9 Setting ASM-X Parameters
Displaying the [Edit Parameters] Window for the ASM-X
Configure the ASM-X parameter settings on the [Edit Parameters] window. Use the following procedure to display the [Edit Parameters] window for the ASM-X.
- Log in as a user.
Refer to the following section for details on the operation procedure.
→Logging In as a User - Connect the SigmaWin+ to the ASM-X.
There are the following two types of connection methods.- Online connection
- Offline connection (i.e., creating a project file)
→Introduction - Confirm that the Safety Request Input Signals (SRIS) for the safety functions of the SERVOPACK are OFF.
- Click the [Safety Functions Menu] icon.
The [Menu] window will be displayed. - Under [ASM-X], click [Edit Parameters].
The [Edit Parameters] window will be displayed.
This concludes the procedure.
[Edit Parameters] Window for the ASM-X
Configure the ASM-X parameter settings on the [Edit Parameters] window. The section shows the configuration of the [Edit Parameters] window for the ASM-X.
→Displaying the [Edit Parameters] Window for the ASM-X
| No. | Item | Description |
|---|---|---|
| (1) | [Read Parameters] | Displays the parameter settings for the connected ASM-X on this window. Refer to the following section for details. →Reading ASM-X Parameters |
| (2) | [Write Parameters] | Writes a container file exported with [Export] to the ASM-X. Refer to the following section for details. →Writing ASM-X Parameters |
| (3) | [Import] | Displays the parameter settings from the specified file on this window. Refer to the following section for details. →Importing ASM-X Parameters |
| (4) | [Export] | Creates the parameter settings edited on this window in the specified file. Refer to the following section for details. →Exporting ASM-X Parameters |
| (5) | [Compare] | This function can compare a variety of parameter values, including the values of parameters being edited on this window, the values of parameters in the ASM-X, and the default ASM-X parameter values. It can also detect the values of parameters set outside the parameter setting guidelines. Refer to the following section for details. →Comparing ASM-X Parameters |
| (6) | [Parameter Groups] area | Use this area to change the parameter group displayed on the right side of this window. |
| (7) | Edit parameters area | Use this area to edit parameters and to commit or cancel committing the edited parameters. Refer to the following section for details. →Setting ASM-X Parameters |
| (8) | [Commit] button [Cancel Commit] button |
ASM-X Parameter Types
For the types of ASM-X parameters, refer to the manual for your ASM-X.
Reading ASM-X Parameters
Use the following procedure to read ASM-X parameters.
- Click [Read Parameters].
- This operation can be performed only when the SigmaWin+ and the ASM-X are connected.
- Perform this operation on the [Edit Parameters] window for the ASM-X. Refer to the following section for the procedure to display the [Edit Parameters] window.
→Displaying the [Edit Parameters] Window for the ASM-X - Even if the [Edit Parameters] window is in the committed status before reading parameters, those commits will be entirely canceled after the parameters are read. Commit the changes again as necessary after reading the parameters.
The message dialog box will be displayed. - Click the [Yes] button.
The ASM-X parameters will start being read. If the parameters are successfully read, a message dialog box will be displayed. - Click the [OK] button.
The [File Information] window will be displayed. - Click the [OK] button.The version is incremented by 1 each time the container file is imported and then exported.
Note that for data created without being imported (i.e., data set entirely by hand), the version is 1 when that data is exported as a container file. [Version of Source Container File] will be 0 and [Name of Source Container File] will be blank at that time.
The [File Information] window will close and the ASM-X parameters will be displayed in the [Edit Parameters] window.
The cells of parameters with values that changed after being read will be displayed in green.When the following message dialog box is displayed, reading the parameters from the ASM-X failed. Turn the power to the SERVOPACK OFF and ON again, and then perform the operation again.
This concludes the procedure.
Setting ASM-X Parameters
Use the following procedure to set ASM-X parameters.
- Open the [Edit Parameters] window.
Refer to the following section for details on the operation procedure.
→Displaying the [Edit Parameters] Window for the ASM-X - Check the parameter data to edit and perform the necessary operation if required.
Parameter Data to Edit Necessary Operation Reference New parameter data (i.e., setting parameters based on the default parameter values) None – Parameters in the connected ASM-X [Read Parameters] Reading ASM-X Parameters Parameter data that was previously exported [Import] Importing ASM-X Parameters - Click the group of the parameter to edit.
- Select or enter values for the parameter settings.Depending on the safety functions to use, there are guidelines and restrictions on the parameter settings. If the parameters are set without following the guidelines and restrictions, the following conditions will occur.
- A mismatch error will occur when the parameters are committed.
- SERVOPACK alarm A.EC1 (Safety-Related Servo Parameter Mismatch) will occur when the parameters are written.
- Refer to the following section for details on the operations to select and enter values for parameter settings.
→◆Editing Parameters - The cell of an edited parameter will change to green.
- To edit a committed parameter, click the [Cancel Commit] button, follow the instructions to cancel the commit, and then edit the parameter.
- Confirm that all settings for the parameter group are complete, and then click the [Commit] button.
The [Confirm Details to Commit] window will be displayed.- When the following message dialog box is displayed, the internal data for committing the parameters is corrupt. Open the [Edit Parameters] window and edit the parameters again.
- If a message dialog box about a mismatch error is displayed, refer to the section on the safety function being used in the product manual for your ASM-X and confirm that appropriate values are set for the parameters.
- When the following message dialog box is displayed, the internal data for committing the parameters is corrupt. Open the [Edit Parameters] window and edit the parameters again.
- Confirm that the values of the parameter settings are correct, select the check box, and then click the [OK] button.If there is a scrollbar in the parameter display area, make sure to move the scrollbar all the way to the bottom of the list to check all parameters. The check box cannot be selected unless the scrollbar is moved to the bottom of the list.
The edited values will be saved and the parameter group will change to green.
This concludes the procedure.
→Writing ASM-X Parameters
→Exporting ASM-X Parameters
Writing ASM-X Parameters
When the ASM-X and an encoder with functional safety set with a password is connected and the parameters are written to the ASM-X, the parameters are first automatically written to the encoder with functional safety. This is because the ASM-X and the encoder with functional safety have some of the same parameter values. Doing this eliminates some of the causes of SERVOPACK alarm A.EC1 (Safety-Related Servo Parameter Mismatch).
Use the following procedure to write the parameter settings to the ASM-X.
- Export the parameters to write as a container file.
Refer to the following section for details on the operation procedure.
→Exporting ASM-X Parameters - Click [Read Parameters].
- This operation can be performed only when the SigmaWin+ and the ASM-X are connected.
- Perform this operation on the [Edit Parameters] window for the ASM-X. Refer to the following section for the procedure to display the [Edit Parameters] window.
→Displaying the [Edit Parameters] Window for the ASM-X
The [Open Container File] window will be displayed. - Select the container file to write and click the [Open] button.If the parameters version of the selected file differs from the parameters version of the connected ASM-X, the parameters cannot be written.
When the ASM-X and an encoder with functional safety set with a password are connected, a message dialog box will be displayed. Proceed to the next step.
When an encoder with functional safety is not connected to the ASM-X, or when an encoder with functional safety is connected to the ASM-X but does not have a set password, the [Write] window will be displayed. Proceed to the step 7. - Click the [Yes] button.
The [Encoder with Functional Safety: Enter Password] window will be displayed. - Enter the current password and click the [OK] button.
The parameters will start to be written to the encoder with functional safety.
If the parameters are successfully written, a message dialog box will be displayed. - Click the [OK] button.
The [Write] window will be displayed. - Click the [Write to RAM] button.The [ASM-X: Enter Password] window will be displayed.You can check the values set for the parameters in the container file to write by clicking the top [Check Parameter Settings] button.
- Enter the ASM-X password and click the [OK] button.
The ASM-X parameters will start being written to the RAM area in the ASM-X. If the parameters are successfully written, the [Write to Non-Volatile Memory] button will be enabled.When the following message dialog box is displayed, writing the parameters to the RAM area in the ASM-X failed. Turn the power to the SERVOPACK OFF and ON again, and then perform the operation again. - Click the [Write to Non-Volatile Memory] button.The message dialog box will be displayed.You can check the values set for the parameters written to the RAM area by clicking the bottom [Check Parameter Settings] button.
- Click the [Yes] button.
The parameters will start being written from the RAM area to the non-volatile memory area in the ASM-X. If the parameters are successfully written, the [Write] window will be closed and a message dialog box will be displayed.When the following message dialog box is displayed, writing the parameters to the NVS area in the ASM-X failed. Turn the power to the SERVOPACK OFF and ON again, and then perform the operation again. - Click the [OK] button.
The [Output Log] window will be displayed. - To output the log data, set [Log File Destination Folder] and [Comment], and then click the [Save] button. A message dialog box will be displayed. Click the [OK] button.
If the log data is not needed, click the [Cancel] button. Follow the on-screen instructions.No. Item Description (1) [Log File Destination Folder] When outputting the log data, click the [...] button. The [Specify Folder] window will be displayed. Use this window to set the destination folder and file name. When a file name is not set, the file is automatically given a name with the date and time.
Refer to the following section for how to interpret the log data that was output.
→■ Interpreting the Log Data(2) [Comment] When outputting the log data, set a comment if necessary.
This can remain blank if a comment is not necessary.(3) [Save] button When outputting the log data, first set (1) and (2), and then click this button. (4) [Cancel] button If the log data is not needed, click this button.
Even if you set (1) and (2), that content will be discarded. - When the log data is output, check in the specified destination folder and confirm that the log data was actually output.
- Turn the power to the SERVOPACK OFF and ON again.If alarm A.EC1 occurred, perform [Safety-Related Servo Parameter Mismatch Check] to resolve the cause of the alarm. Refer to the following section for details on the [Safety-Related Servo Parameter Mismatch Check].
→Comparing ASM-X Parameters
This concludes the procedure.
Interpreting the Log Data
This section describes how to interpret the log data when the ASM-X parameters are written.
| No. | Item | Description |
|---|---|---|
| (1) | [Date and time of writing] | Displays the date and time the parameters were written. |
| (2) | [User ID] | Displays the user ID of the user who wrote the parameters. |
| (3) | [Parameter Version] | Displays the parameter version of the written container file. |
| (4) | [Engineering Information] | Displays the following four pieces of information.
|
| (5) | [Comment] | Displays the comment entered on the [Output Log] window. |
| (6) | [Model] | Displays the model of the ASM-X to which the parameters were written. |
| (7) | [Serial Number] | Displays the serial number of the ASM-X to which the parameters were written. |
| (8) | [SW Ver] | Displays the software version of the ASM-X to which the parameters were written. |
| (9) | [Writing resolution mode parameters] | Displays the result of writing the parameters to the encoder with functional safety before writing the parameters to the ASM-X and that content. |
The content displayed in [State] and its meaning are listed below.
| ||
The content displayed in [Safety Function Application Selection] and its meaning are listed below.
| ||
| (10) | [Information of Parameter Data] | Displays information about the parameters in the written container file. |
Importing/Exporting ASM-X Parameters
Import/Export File Types
This section describes the file types that can be imported and exported.
| File Type | Extension | Description |
|---|---|---|
| Parameter Information File | .sprm | A file that saves the parameter values being edited and the commit statuses. You can restore the [Edit Parameters] window when it is being edited by importing this file. Select a parameter information file when editing and comparing parameters. |
| Container File | .bin | A file that saves the parameter values after editing is finished. Select this file with the parameter writing function to write the parameters to the ASM-X. You can export the parameters when all parameter groups are committed. However, if that file is imported, the parameter values are restored with all commit statuses canceled. |
Importing ASM-X Parameters
Use the following procedure to import ASM-X parameters.
- Select the type of file to import from the selections under [Import].
- Refer to the following section for details on the file types.
→Import/Export File Types - Perform this operation on the [Edit Parameters] window for the ASM-X. Refer to the following section for the procedure to display the [Edit Parameters] window.
→Displaying the [Edit Parameters] Window for the ASM-X
The [Import] window will be displayed. - Refer to the following section for details on the file types.
- Select the file to import and click the [OK] button.If the parameters version of the selected file is greater than the parameters version of the connected ASM-X, the parameters cannot be imported.The file to import can be created by using the export function. Refer to the following section for details.
→Exporting ASM-X Parameters
The file will start being imported. If the file is successfully imported, a message dialog box will be displayed. - Click the [OK] button.
The [File Information] window will be displayed. - Click the [OK] button.The version is incremented by 1 each time the container file is imported and then exported.
Note that for data created without being imported (i.e., data set entirely by hand), the version is 1 when that data is exported as a container file. [Version of Source Container File] will be 0 and [Name of Source Container File] will be blank at that time.
The [File Information] window will close. - Check if the imported data is displayed on the [Edit Parameters] window.
The cells of parameters with values that changed after being read will be displayed in green.
This concludes the procedure.
Exporting ASM-X Parameters
Use the following procedure to export ASM-X parameters.
- Display the parameters to export on the [Edit Parameters] window.
Refer to the following section for the procedure to display the [Edit Parameters] window.
→Displaying the [Edit Parameters] Window for the ASM-X - Identify the type of file to export.
Decide on the type of file according to the purpose of the exported data. Refer to the following section for details.
→Import/Export File Types - When you export a container file only: Confirm that values set for parameters in all parameter groups are committed.
- When exporting a parameter information file, the parameters can be exported even when they are not committed.
- Committed parameter groups are shaded in green.
- If a message dialog box about a mismatch error is displayed, refer to the section on the safety function being used in the product manual for your ASM-X and confirm that appropriate values are set for the parameters.
However, if a safety function is not used*1, the parameters can be exported when the relevant groups from Parameter Groups: Safety Function Slot 1 to Safety Function Slot 10 are not committed.*1 For example, if Pc300.0 and .1 (Safety Function Selection) are set to 00 (None) in Parameter Group: Safety Function Slot 1, that safety function is judged as not being used. The parameter numbers depend on the safety function slot numbers. Check the parameter numbers for Safety Function Slots 2 to 9 on the SigmaWin+ window. - Select the type of file to export from the selections under [Export].
The [Export] window will be displayed.The following dialog box will be displayed when the safety functions are not used and the Parameter Groups: Safety Function Slots are uncommitted. Click the [Yes] button. - Set the save location and name of the file to export and click the [Save] button.
The following restrictions apply to the file name.- Length: 4 characters to 31 characters
- Valid characters
- Single-byte alphanumeric characters: A - Z, a - z, 0 - 9
- Symbol characters: ! " # $ % & ' ( ) * + , - . / : ; ‹ = › ? @ [ \ ] ^ _ ` { | } ~
- Single-byte space character
The file will start being exported. When the export is complete, a message dialog box will be displayed. - Click the [OK] button.
The [File Information] window will be displayed. - Click the [OK] button.The version is incremented by 1 each time the container file is imported and then exported.
Note that for data created without being imported (i.e., data set entirely by hand), the version is 1 when that data is exported as a container file. [Version of Source Container File] will be 0 and [Name of Source Container File] will be blank at that time.
The [File Information] window will close. - Confirm that the data was exported to the specified location.
This concludes the procedure.
Comparing ASM-X Parameters
Function Details
This function can compare a variety of parameter values, including the values of parameters being edited, the values of parameters in the ASM-X, and the default ASM-X parameter values. It can also detect the values of parameters set outside the parameter setting guidelines.
Using this function allows you to understand the differences in parameter values and to learn the recommend settings for parameters that cause a parameter unmatch alarm.
Parameters That Can Be Compared
The following table lists the parameters that can be compared.
| Selection Under [Compare] | Compared Data | |
|---|---|---|
| [Compare Parameters: Parameter Information File] | Values of parameters displayed on the [Edit Parameters] window. | Values of parameters set in a parameter information file (exported data) |
| [Compare Parameters: ASM-X Default Values] | Values of ASM-X parameters set by default | |
| [Compare Parameters: Connected ASM-X Parameter Values]*1 | Values of parameters in the connected ASM-X | |
| [Safety-Related Servo Parameter Mismatch Check]*1 | Values of parameters in the connected ASM-X (Pc□□□) | Values of parameters in the connected SERVOPACK (Pn□□□) |
| Values of parameters in the connected encoder with functional safety (with set password) | ||
| *1 | Can be compared only when an online connection is established |
Comparison Procedure
Use the following procedure to compare the values of parameters.
- If you will use a parameter information file for the comparison, prepare that data in advance.
You can create a parameter information file by exporting the parameters. Refer to the following section for details.
→Exporting ASM-X Parameters - Select the parameters to compare from the options under [Compare].
- Refer to the following section for details on the parameters to compare.
→Parameters That Can Be Compared - Perform this operation on the [Edit Parameters] window for the ASM-X. Refer to the following section for the procedure to display the [Edit Parameters] window.
→Displaying the [Edit Parameters] Window for the ASM-X
If you selected [Compare Parameters: Parameter Information File], go to step 3.
If you selected any other option, go to step 4. - Refer to the following section for details on the parameters to compare.
- Select the file to compare and click the [Open] button.
- Check the comparison results and click the [OK] button.If the following message dialog box is displayed instead of the comparison results, the parameters in the connected ASM-X and encoder with functional safety are mismatched. After you click the [OK] button, write the ASM-X parameters again while the encoder with functional safety with set password is connected to correct this mismatch. Refer to the following sections for details on the operation procedure.
→4.15.10 Setting/Changing the Password for the Encoder with Functional Safety
→◆Writing ASM-X Parameters- Example of the window when there are no parameter comparison results or mismatch
- Example of the window with parameter comparison results
- Example of the window with mismatch check results
- Example of the window when there are no parameter comparison results or mismatch
This concludes the procedure.
4.15.10 Setting/Changing the Password for the Encoder with Functional Safety
Use the following procedure to set and change the password for the encoder with functional safety.
- Log in with a user that has administrator authorization.
Refer to the following section for details on the operation procedure.
→Logging In as a User - Click the [Safety Functions Menu] icon.
The [Menu] window will be displayed. - Under [Encoder with Functional Safety], click [Set Password].
The [Encoder with Functional Safety: Set Password] window will be displayed. - Enter a numeric value to set as the password for the encoder with functional safety (setting range: 1 to 65535) and click the [Write] button.The password set here will be required when changing the password and the settings of the encoder with functional safety later. If you forget the password, initialize the encoder with functional safety settings and set the password again."0" cannot be set for the beginning of the password. For example, if you enter "00001", the password will be set as "1".
- The [Encoder with Functional Safety: Enter Password] window will be displayed only when you change the password.
Enter the current password and click the [OK] button.
To register a new password, go to the next step. - Click the [Yes] button.
The password will be written to the RAM area in the encoder with functional safety, and the written value will be displayed in [CRC].The value displayed [CRC] is a value for internal write processing. This means the displayed value is different from the entered password. - Click the [Apply] button.
The password will be written to the non-volatile memory area in the encoder with functional safety. When writing is complete, a message dialog box will be displayed. - Click the [Yes] button.
Another message dialog box will be displayed. - Click the [OK] button.
This concludes the procedure.
4.15.11 Initializing Encoder with Functional Safety Settings
When you initialize the encoder with functional safety, the encoder with functional safety password and parameter settings will be initialized. Initialize the encoder with functional safety in cases such as when you forget its password.
Use the following procedure to initialize the encoder with functional safety settings.
- Log in with a user that has administrator authorization.
Refer to the following section for details on the operation procedure.
→Logging In as a User - Click the [Safety Functions Menu] icon.
The [Menu] window will be displayed. - Under [Encoder with Functional Safety], click [Initialize].
The [Encoder with Functional Safety: Initialization] window will be displayed. - Click the [OK] button.
The initialization process will be executed. When it is complete, a message dialog box will be displayed. - Click the [OK] button.
- Turn the power to the SERVOPACK OFF and ON again.
This concludes the procedure.
4.15.12 Setting Encoder with Functional Safety Parameters
When the parameters are set (i.e., written) in the encoder with functional safety, the settings on the [Edit Parameters] window are first written to the encoder with functional safety. Next, the parameters related to the setting of Pc170 = n.□□□X in the ASM-X are written to the encoder with functional safety. This is because the ASM-X and the encoder with functional safety have some of the same parameter values. Doing this eliminates some of the causes of SERVOPACK alarm A.EC1 (Safety-Related Servo Parameter Mismatch).
Use the following procedure to set encoder with functional safety parameters.
- Log in as a user.
Refer to the following section for details on the operation procedure.
→Logging In as a User - Click the [Safety Functions Menu] icon.
The [Menu] window will be displayed. - Under [Encoder with Functional Safety], click [Edit Parameters].
The [Encoder with Functional Safety: Edit Parameters] window will be displayed. - Enter a value in [Input Value]. Enter a numeric value between [Min. Value] and [Max. Value].Click the [Show Current Settings] button to display the currently set parameter value for the encoder with functional safety in [Input Value].
- Click the [Write] button.
The [Encoder with Functional Safety: Enter Password] window will be displayed. - Enter the current password and click the [OK] button.
The set parameter value will be written to the RAM area in the encoder with functional safety, and the written value will be displayed in [CRC] on the [Encoder with Functional Safety: Edit Parameters] window.The value displayed [CRC] is a value for internal write processing. This means the displayed value is different from the entered parameter value. - Click the [Apply] button.
The message dialog box will be displayed. - Click the [Yes] button.
First, the settings on the [Edit Parameters] window are written to the encoder with functional safety. Next, the parameters related to the setting of Pc170 = n.□□□X are written to the encoder with functional safety. Doing this eliminates some of the causes of SERVOPACK alarm A.EC1 (Safety-Related Servo Parameter Mismatch).
The written content depends on the connection status of the ASM-X.- When the ASM-X is connected: Parameters related to setting of Pc170 = n.□□□X (n.□□□0 or n.□□□1) in the connected ASM-X
- When the ASM-X is not connected: Parameters related to Pc170 = n.□□□1 (The parameter settings are values decided in advance in the SigmaWin+.)
- Click the [OK] button.
The [Output Log] window will be displayed. - To output the log data, set [Log File Destination Folder] and [Comment], and then click the [Save] button. A message dialog box will be displayed. Click the [OK] button.
If the log data is not needed, click the [Cancel] button. Follow the on-screen instructions.No. Item Description (1) [Log File Destination Folder] When outputting the log data, click the [...] button. The [Specify Folder] window will be displayed. Use this window to set the destination folder and file name. When a file name is not set, the file is automatically given a name with the date and time.
Refer to the following section for how to interpret the log data that was output.
→■ Interpreting the Log Data(2) [Comment] When outputting the log data, set a comment if necessary.
This can remain blank if a comment is not necessary.(3) [Save] button When outputting the log data, first set (1) and (2), and then click this button. (4) [Cancel] button If the log data is not needed, click this button.
Even if you set (1) and (2), that content will be discarded. - When the log data is output, check in the specified destination folder and confirm that the log data was actually output.
- Turn the power to the SERVOPACK OFF and ON again.
This concludes the procedure.
Interpreting the Log Data
This section describes how to interpret the log data when the encoder with functional safety parameters are set.
| No. | Item | Description |
|---|---|---|
| (1) | [Date and time of writing] | Displays the date and time the parameters were written. |
| (2) | [User ID] | Displays the user ID of the user who wrote the parameters. |
| (3) | [Non-safety Address] | Displays the non-safety address of the setting target. |
| (4) | [Comment] | Displays the comment entered on the [Output Log] window. |
| (5) | [Motor] | Displays the model and serial number of the motor to which the parameters were written. |
| (6) | [Encoder] | Displays the model, serial number, SoftVer, and software version of the encoder with functional safety to which the parameters were written. |
| (7) | [Information of Parameter Data] | Displays information about the parameters in the written container file. |
| (8) | [Writing mode parameters to SafetyEncoder] | Displays the result of writing the parameters to the encoder with functional safety and that content. |
The content displayed in [State] and its meaning are listed below.
| ||
The content displayed in [Safety Function Application Selection] and its meaning are listed below.
|
4.16 Setting a Program Table
4.16.1 Introduction
You can edit program tables to set in the SERVOPACK in the [Program Table Editing] window. You create the program by editing the steps in the program table. (One row of the editing cells is one step.) The program in the program table is executed according to commands from a host computer. You can save the edited program tables in flash memory in the personal computer or SERVOPACK.
| No. | Item | Description | Reference |
|---|---|---|---|
| (1) | Toolbar | The toolbar provides buttons such as the [Save] button, which saves the program table to a file, and the [Print] button, which allows you to print the program table. | [Program Table Editing] Window Toolbar |
| (2) | [Station split] Button | This button splits the valid coordinate range (i.e., the range defined by PnB23 to PnB21) into equal intervals and sets the resulting positions in the program table. | Splitting a Program Table into Stations |
| (3) | Program Table Editing Cells | Edit these cells to edit the program table. The colors of the cells will change as follows: White: The value in SERVOPACK RAM is the same as the value in the [Program Table Editing] window. Green: If any changes are made, the rows that include the changes change to green. When you write the changes, the cells change to white. Red: If there is a setting error, the row is displayed in red. The [Write] button will be disabled. | Editing a Program Table |
| (4) | [Comment] Button | This button lets you enter a comment for the program table. The comment is also saved when you click the [Save] button. | Saving a Program Table File on the Personal Computer |
| (5) | [Import] Button | This button imports a program table from a program table file on the personal computer. | Reading a Program Table from a Program Table File |
| (6) | Vertical Scroll Bar | You can scroll the program table in the [Program Table Editing] window to show hidden rows. | − |
| (7) | [Initialize] Button | This button initializes the program table that was saved in flash memory in the SERVOPACK to the default settings. | Initializing a Program Table to the Default Settings |
| (8) | [Save] Button | This button saves the program table in RAM in the SERVOPACK to flash memory. If you save the program table to flash memory, it will not be lost even if you turn OFF the power. The next time you turn ON the power, the program table will be written to RAM. | Saving a Program Table Written to the SERVOPACK into Flash Memory in the SERVOPACK |
| (9) | [Read] Button | This button reads the program table in RAM in the SERVOPACK. | Reading a Program Table from the SERVOPACK |
| (10) | [Write] Button | This button writes the program table to RAM in the SERVOPACK. | Writing a Program Table to the SERVOPACK |
[Program Table Editing] Window Toolbar
The buttons in the [Program Table Editing] window toolbar are shown in the following table.
| Toolbar Button | Description | Reference |
|---|---|---|
 [New] | Creates a program table. | Creating a Program Table |
 [Save] | Saves the currently displayed program table to a file. | Saving a Program Table File on the Personal Computer |
 [Print] | Prints the program table that is currently displayed. | Printing a Program Table |
4.16.2 Editing a Program Table
The following two ways are used to edit the program table.
Note: The method that is used depends on the item.
- Items That Are Entered Directly
Click the cell to edit the item. Enter the setting directly. - Items with Dialog Boxes
Double-click the cell to display the dialog box for editing. Make the settings in the dialog box.
The current settings are displayed in the dialog box.
Use the following procedure to edit the program table.
- Select [Edit Program Table] in the [Menu] window.
The [Program Table Editing] window will be displayed. - Edit the program table step by step.
Use the following steps to edit the program table.
| Step | Description | Reference |
|---|---|---|
| 1 | Set the target position. | Editing Target Positions (POS) |
| 2 | Set the target speed for positioning. | Editing Positioning Speeds (SPD) |
| 3 | Set the registration relative distance. | Editing Registration Relative Distances (RDST) |
| 4 | Set the registration speed. | Editing Registration Speeds (RSPD) |
| 5 | Set the acceleration rate (ACC) and deceleration rate (DEC) for movement. | Editing Accelerations (ACC) and Decelerations (DEC) |
| 6 | Set the signals to output immediately after program step execution is started. | Editing Programmable Output Signals (POUT) |
| 7 | Set the condition to complete execution of the program step. | Editing End Criteria (EVENT) |
| 8 | Set the number of times to execute the step. | Editing the Number of Loops (LOOP) |
| 9 | Set the operation to perform after execution of the current program step is completed. | Editing the Next Step to Execute (NEXT) |
Editing Target Positions (POS)
Use the following procedure to set target positions.
- Double-click the cell to edit.
The [Target Position Reservation] window will be displayed. - Set [Target position] and [Position/Distance].The [Position/Distance] setting is enabled when you set the target position to an [Absolute position] or [Relative distance].
- Target Position
Selected Item Meaning Program Table Notation Absolute position Use this setting to specify the target position directly. A ± Position Relative distance Use this setting to specify the relative position (travel distance) from the previous step. I ± Distance Infinity (Positive direction)*1 Constant-speed operation is performed in the forward direction. +INFINITE Infinity (Negative direction)*1 Constant-speed operation is performed in the reverse direction. -INFINITE Stop (default setting) The axis is not moved. Use this setting to stop constant-speed operation when the target position is set to infinite. STOP Consecutive stop*2 Specify the absolute target position within the rotational coordinates to perform positioning after constant-speed operation. S + Position Without reference The axis is not moved. This setting can be used only when POUT is specified. – *1 You can use the INFINITE settings for the target positions only for rotational coordinates (PnB20 = 0001 hex, 0002 hex, or 0003 hex) or when the software limits are not used (PnB21 and PnB23 = 0). An error will occur if you use an INFINITE setting for linear coordinates and when the software limits are enabled. *2 You can use consecutive stop settings for the target positions for rotational coordinates (PnB20 = 0001 hex, 0002 hex, or 0003 hex) and when the target position in the previous step is set to INFINITE. A consecutive stop setting will result in an error if linear coordinates are being used or if the target position for the previous step is not INFINITE.
Also, you cannot use the consecutive stop setting in combination with a speed change for an infinite target position setting. - Position/Distance
Unit Setting Range Default Setting 1 reference unit - PnB54 = 0 (Disable Expansion Mode): -99,999,999 to +99,999,999
- PnB54 = 1 (Enable Expansion Mode): -1,073,741,823 to +1,073,741,823
STOP
- Target Position
- Click the [OK] button.
The settings will be applied and the [Program Table Editing] window will be displayed again.
Editing Positioning Speeds (SPD)
Use the following procedure to specify the target speeds for positioning.
Select the cell to edit and set the value directly.
| Unit | Setting Range | Default Setting |
|---|---|---|
| 1,000 reference units/min |
| 1000 |
Editing Registration Relative Distances (RDST)
Use the following procedure to set the registration relative distance.
- You cannot use registration in combination with a speed change for an infinite target position setting.
- You cannot use registration in combination with consecutive stopping.
Using Registration
- Double-click the cell to edit.
The [Registration Relative Position] window will be displayed. - Clear the selection of the [No registration] check box and enter the [Registration Relative Distance].
Unit Setting Range Default Setting 1,000 reference units/min - PnB54 = 0 (Disable Expansion Mode): 1 to 99999999
- PnB54 = 1 (Enable Expansion Mode): 1 to 199999999
1000 - Click the [OK] button.
The settings will be applied and the [Program Table Editing] window will be displayed again.
Not Using Registration
- Double-click the cell to edit.
The [Registration Relative Position] window will be displayed. - Select the [No registration] check box.
- Click the [OK] button.
The settings will be applied and the [Program Table Editing] window will be displayed again.
Editing Registration Speeds (RSPD)
Use the following procedure to set the registration speed.
Select the cell to edit and set the value directly.
| Unit | Setting Range | Default Setting |
|---|---|---|
| 1,000 reference units/min |
| 1000 |
Editing Accelerations (ACC) and Decelerations (DEC)
Use the following procedure to set the acceleration rates and deceleration rates to use for movement.
- Double-click a cell under ACC or DEC.
The [Acceleration/Deceleration] window will be displayed. - Set the [Acceleration] and [Deceleration] rates.
The [Same as previous step] check box is selected by default.
To use different values from the previous step, clear the selection of the [Same as previous step] check box and enter the value directly.Unit Setting Range Default Setting 1,000 reference units/min - PnB54 = 0 (Disable Expansion Mode): 1 to 99999999
- PnB54 = 1 (Enable Expansion Mode): 1 to 199999999
： - Click the [OK] button.
The settings will be applied and the [Program Table Editing] window will be displayed again.
Editing Programmable Output Signals (POUT)
Use the following procedure to set the signals to output immediately after program step execution is started.
- To output the signal after a step, set POS to “-” in the next step and specify POUT there.
- You can set the ZONE signals for /POUT5 to /POUT7, but the outputs will always be OFF.
- Double-click the cell to edit.
The [Output Signal] window will be displayed. - Select the settings for output signals 0 to 7 in the boxes.
The corresponding terminals are given below.
Output signal 0: /POUT0 terminal
Output signal 1: /POUT1 terminal
Output signal 2: /POUT2 terminal
Output signal 3: /POUT3 terminal
Output signal 4: /POUT4 terminal
Output signal 5: /POUT5 terminal
Output signal 6: /POUT6 terminal
Output signal 7: /POUT7 terminalSelected Item Meaning Program Table Notation Active Always ON A Non-active Always OFF N Same as previous step The status from the previous step is inherited. : ZONE Sets the ZONE signal (/Z0 to /Z4) that corresponds to that digit. Z - Click the [OK] button.
The settings will be applied and the [Program Table Editing] window will be displayed again.
Editing End Criteria (EVENT)
Use the following procedure to set the conditions to complete execution of the program steps.
When the end condition is met and the number of executions specified for LOOP is completed, execution jumps to the program step specified by NEXT. If the number of executions specified for LOOP has not been completed, the step will be executed again.
- Double-click the cell to edit.
The [Event] window will be displayed. - Set the [Condition] and the [Wait time].
- Condition
Selected Item Meaning Program Table Notation Positioning complete (default setting) The step ends when the /INPOSITION (Positioning Completed Output) signal turns ON (closes). * I NEAR The step ends when the /NEAR signal width is entered. * N Command Issuance Completion The step ends when position reference distribution is completed (DEN). * D SEL0, SEL1, etc. The step ends when the /SEL□ input signal turns ON (closes). *
□ = 0 to 7SEL□ Wait Time Execution waits for n milliseconds after the /INPOSITION (Positioning Completion Output) signal turns ON (closes). ITn Execution waits for n milliseconds after the /NEAR (Near Output) signal turns ON (closes). NTn Execution waits for n milliseconds after position reference distribution is completed (DEN). DTn Execution waits for n milliseconds after the SEL□ input signal turns ON (closes). SEL□Tn Same as previous step The condition from the previous program step is used. ： * The edge is not detected, the level is detected. - Wait Time
Unit for “n” Setting Range of “n” Default Setting ms 0 to 99,999 IT0
- Condition
- Click the [OK] button.
The settings will be applied and the [Program Table Editing] window will be displayed again.
Editing the Number of Loops (LOOP)
Set the number of times to execute the step.
Note: NEXT is accessed after the number of executions specified with LOOP has been completed. You cannot specify LOOP across more than one program step.
Select the cell to edit and set the value directly.
| Unit | Setting Range | Default Setting |
|---|---|---|
| Times | 1 to 99,999 | 1 |
Editing the Next Step to Execute (NEXT)
Use the following procedure to set the operation to perform after execution of the current program step is completed.
Executing a Next Step
- Double-click the cell to edit.
The [Next Step] window will be displayed. - Clear the selection of the [Complete] check box and set a value between 0 to 255 for the [Next step number].
Unit Setting Range Default Setting – 0 to 255 END* * Program table operation is ended and canceled. - Click the [OK] button.
The settings will be applied and the [Program Table Editing] window will be displayed again.
Ending Program Execution at the Current Step
- Double-click the cell to edit.
The [Next Step] window will be displayed. - Select the [Complete] check box.
When execution of the current program step is completed, program execution will be canceled. - Click the [OK] button.
The settings will be applied and the [Program Table Editing] window will be displayed again.
4.16.3 Splitting a Program Table into Stations
The specified position range will be evenly split into the specified number of stations and the resulting station positions will be set in the program table.
The procedure for station splitting depends on the load movement method (PnB20).
Linear Load Movement
- Select [Edit Program Table] in the [Menu] window.
The [Program Table Editing] window will be displayed. - Click the [Station split] button.
- Click the [Next] button.
- Set the items for the station split.
No. Item Description (1) Condition setting Select the condition for setting the range. (2) Start position Enter the start position. (3) End position Enter the end position. (4) Station number (number of stations) Enter the number of stations. (5) Positioning speed Set the positioning speed. - Click the [OK] button.
The settings will be applied and the [Program Table Editing] window will be displayed again.
This concludes the procedure to split a program table.
Rotary Load Movement
- Select [Edit Program Table] in the [Menu] window.
The [Program Table Editing] window will be displayed. - Click the [Station split] button.
- Click the [Next] button.
- Set the items for the station split.
No. Item Description (1) Condition setting Select the condition for setting the range. (2) Start position Enter the start position. (3) Station number (number of stations) Enter the number of stations. (4) Positioning speed Set the positioning speed. - Click the [OK] button.
The settings will be applied and the [Program Table Editing] window will be displayed again.
This concludes the procedure to split a program table.
4.16.4 Writing a Program Table to the SERVOPACK
You can write the program table that you edited in the [Program Table Editing] window to the SERVOPACK.
Use the following procedure to write the program table to the SERVOPACK.
- Display the [Program Table Editing] window and edit the program table.
Refer to Editing a Program Table for the procedures to edit a program table. - Click the [Write] button.
The [Write] dialog box will be displayed. - Click the [OK] button.
The edited program table is written to the SERVOPACK and the cells change to white.
This concludes the procedure to write a program table to the SERVOPACK.
4.16.5 Saving a Program Table Written to the SERVOPACK into Flash Memory in the SERVOPACK
The program table in RAM in the SERVOPACK will be deleted when the power to the SERVOPACK is turned OFF. To prevent the program table from being deleted when the power is turned OFF, you must save the program table to flash memory in the SERVOPACK.
We recommend that you save the program table that is normally used for operation in this flash memory.
Use the following procedure to save a program table written to the SERVOPACK into flash memory in the SERVOPACK.
- Write the edited program table to the SERVOPACK.
Refer to Editing a Program Table for the procedures to edit a program table.
Refer to Writing a Program Table to the SERVOPACK for the procedure to write a program table to the SERVOPACK. - Click the [Save] button.
- Click the [OK] button.
This concludes the procedure to save a program table written to the SERVOPACK into flash memory in the SERVOPACK.
4.16.6 Initializing a Program Table to the Default Settings
You can return the program table that was saved in flash memory in the SERVOPACK to the default settings.
Use the following procedure to return the program table to the default settings.
- Select [Edit Program Table] in the [Menu] window.
The [Program Table Editing] window will be displayed. - Click the [Initialize] button.
- Click the [Initialize] button.
This concludes the procedure to return the program table to its default settings.
4.16.7 Reading a Program Table from the SERVOPACK
You can read the program table in the SERVOPACK and display it in the [Program Table Editing] window.
Use the following procedure to read the program table from the SERVOPACK.
- Select [Edit Program Table] in the [Menu] window.
The [Program Table Editing] window will be displayed. - Click the [Read] button.
- Click the [OK] button.
The program table in RAM in the SERVOPACK will be read and displayed in the [Program Table Editing] window.
This concludes the procedure to read the program table from the SERVOPACK.
4.16.8 Reading a Program Table from a Program Table File
You can read a program table that was saved in a program table file on the personal computer and display it in the [Program Table Editing] window.
Use the following procedure to read a program table from a program table file.
- Select [Edit Program Table] in the [Menu] window.
The [Program Table Editing] window will be displayed. - Click the [Import] button.
- Select the program table file to read and click the [Open] button.
The program table in the program table file will be read and displayed in the [Program Table Editing] window.
This concludes the procedure to read a program table from a program table file.
4.16.9 Saving a Program Table File on the Personal Computer
You can save the program table that you edited in the [Program Table Editing] window to a file on the personal computer.
Use the following procedure to save the program table to a program table file on the personal computer.
- Display the [Program Table Editing] window and edit the program table.
Refer to Editing a Program Table for the procedures to edit a program table. - Click the [Save] button.
The [Save As] window will be displayed. - Specify the save location and file name.You can also set a comment.
- Click the [Save] button.
This concludes the procedure to save a program table to a program table file on the personal computer.
4.16.10 Creating a Program Table
You can discard the program table that you edited in the [Program Table Editing] window and create a new program table.
Use the following procedure to create a program table.
- Display the [Program Table Editing] window and edit the program table.
Refer to Editing a Program Table for the procedures to edit a program table. - Click the [New] button.
This concludes the procedure to create a program table.
4.16.11 Printing a Program Table
You can print a program table that was edited in the [Program Table Editing] window. You can also print a cover sheet that contains information such as the company name and address of the submitter and the company name or department name of the recipient.
Use the following procedure to print a program table.
- Display the [Program Table Editing] window and edit the program table.
Refer to Editing a Program Table for the procedures to edit a program table. - Click the [Print] button.
The [Printing Item Setting] window will be displayed. - To attach a cover sheet, select the [Attaching the Cover] check box and click the [Cover Editing] button.
To not attach a cover sheet, clear the [Attaching the Cover] check box and proceed to step 7. - As required, click the [Submitter], [Where to Submit (No.1)], [Where to Submit (No.2)], [Where to Submit (No.3)], and [Greeting Sentences] tabs and enter the required text.
- Click the [OK] button.
- Select the appropriate [Where to Submit] option to use when printing.
The contents for the selected ‘Where to Submit’ option is displayed in the [Printing Item Setting] window. - Click the [Header & Footer] tab and select the check boxes for the information to place in the header and footer.
If you select the [Title] check box, enter the title in the box. - Click the [Printing Items] tab and specify the range and contents of the program table to print.
- To print in black and white, select the [Black and White] option.
To print in color, select the [Color] option. - Click the [OK] button.
The [Print Preview] window will be displayed. - Click the [Print] button.
Printing will be started.
Click the [Editing of the Printing Items] button to change the items that are printed. The [Printing Item Setting] window will return.
This concludes the procedure to print a program table.
4.17 Setting a ZONE Table
4.17.1 Introduction
You can edit ZONE tables to set in the SERVOPACK in the [Zone Table Editing] window. The ZONE signals that correspond to the zone of the current position will be output according to the edited ZONE table. A zone is registered in the ZONE table by setting the starting position (ZONEN) and ending position (ZONEP) of the zone. You can save the edited ZONE tables in flash memory in the personal computer or SERVOPACK.
| No. | Item | Description | Reference |
|---|---|---|---|
| (1) | Toolbar | The toolbar provides buttons such as the [Save] button, which saves the ZONE table to a file, and the [Print] button, which allows you to print the ZONE table. | [ZONE Table Editing] Window Toolbar |
| (2) | ZONE Table Editing Cells | Edit these cells to edit the ZONE table. Directly enter the starting position (ZONEN) and ending position (ZONEP) of the zone in the cells that correspond to five ZONE signals (Z0 to Z4). Setting range: -99,999,999 to +99,999,999 [1 reference unit] The colors of the cells will change as follows: White: The value in SERVOPACK RAM is the same as the value in the [Zone Table Editing] window. Green: If any changes are made, the rows that include the changes change to green. When you write the changes, the cells change to white. Red: If there is a setting error, the row is displayed in red. The [Write] button will be disabled. | Editing a ZONE Table |
| (3) | Vertical Scroll Bar | You can scroll the ZONE table in the [Zone Table Editing] window to show hidden rows. | − |
| (4) | [Comment] Button | This button lets you enter a comment for the ZONE table. The comment is also saved when you click the [Save] button. | Saving a ZONE Table File on the Personal Computer |
| (5) | [Import] Button | This button imports a ZONE table from a ZONE table file on the personal computer. | Reading a ZONE Table from a ZONE Table File |
| (6) | [Initialize] Button | This button initializes the ZONE table that was saved in flash memory in the SERVOPACK to the default settings. | Initializing a ZONE Table to the Default Settings |
| (7) | [Save] Button | This button saves the ZONE table in RAM in the SERVOPACK to flash memory. If you save the ZONE table to flash memory, it will not be lost even if you turn OFF the power. The next time you turn ON the power, the ZONE table will be written to RAM. | Saving a ZONE Table Written to the SERVOPACK into Flash Memory in the SERVOPACK |
| (8) | [Read] Button | This button reads the ZONE table in RAM in the SERVOPACK. | Reading a ZONE Table from the SERVOPACK |
| (9) | [Write] Button | This button writes the ZONE table to RAM in the SERVOPACK. | Writing a ZONE Table to the SERVOPACK |
[ZONE Table Editing] Window Toolbar
The buttons in the [Program Table Editing] window toolbar are shown in the following table.
| Toolbar Button | Description | Reference |
|---|---|---|
 [New] | Creates a ZONE table. | Creating a ZONE Table |
 [Save] | Saves the currently displayed ZONE table to a file. | Saving a ZONE Table File on the Personal Computer |
 [Print] | Prints the ZONE table that is currently displayed. | Printing a ZONE Table |
4.17.2 Editing a ZONE Table
In a ZONE table, you can set up to 32 zones (ID0 to ID31) that correspond to five ZONE signals (Z0 to Z4).
Use the following procedure to edit a ZONE table.
- Select [Edit Zone Table] in the [Menu] window.
The [Zone Table Editing] window will be displayed. - Double-click the ZONEN cell for the zone to edit and enter the starting position.
Setting range: -99,999,999 to +99,999,999 [1 reference unit] - Double-click the ZONEP cell for the zone to edit and enter the ending position.
Setting range: -99,999,999 to +99,999,999 [1 reference unit]
This concludes the procedure to edit a ZONE table.
4.17.3 Writing a ZONE Table to the SERVOPACK
You can write the ZONE table that you edited in the [Zone Table Editing] window to the SERVOPACK.
Use the following procedure to write the ZONE table to the SERVOPACK.
- Display the [Zone Table Editing] window and edit the ZONE table.
Refer to Editing a ZONE Table for the procedures to edit a ZONE table. - Click the [Write] button.
The [Write] dialog box will be displayed. - Click the [OK] button.
The edited ZONE table will be written to the SERVOPACK.
This concludes the procedure to write a ZONE table to the SERVOPACK.
4.17.4 Saving a ZONE Table Written to the SERVOPACK into Flash Memory in the SERVOPACK
The ZONE table in RAM in the SERVOPACK will be deleted when the power to the SERVOPACK is turned OFF. To prevent the ZONE table from being deleted when the power is turned OFF, you must save the ZONE table to flash memory in the SERVOPACK.
We recommend that you save the ZONE table that is normally used for operation in this flash memory.
Use the following procedure to save a ZONE table written to the SERVOPACK into flash memory in the SERVOPACK.
- Write the edited ZONE table to the SERVOPACK.
Refer to Editing a ZONE Table for the procedures to edit a ZONE table.
Refer to Writing a ZONE Table to the SERVOPACK for the procedure to write a ZONE table to the SERVOPACK. - Click the [Save] button.
- Click the [OK] button.
This concludes the procedure to save a ZONE table written to the SERVOPACK into flash memory in the SERVOPACK.
4.17.5 Initializing a ZONE Table to the Default Settings
You can return the ZONE table that was saved in flash memory in the SERVOPACK to the default settings.
Use the following procedure to return the ZONE table to the default settings.
- Select [Edit Program Table] in the [Menu] window.
The [Zone Table Editing] window will be displayed. - Click the [Initialize] button.
- Click the [Initialize] button.
This concludes the procedure to return the ZONE table to its default settings.
4.17.6 Reading a ZONE Table from the SERVOPACK
You can read the ZONE table in the SERVOPACK and display it in the [Zone Table Editing] window.
Use the following procedure to read the ZONE table from the SERVOPACK.
- Select [Edit Zone Table] in the [Menu] window.
The [Zone Table Editing] window will be displayed. - Click the [Read] button.
- Click the [OK] button.
The ZONE table in RAM in the SERVOPACK will be read and displayed in the [Zone Table Editing] window.
This concludes the procedure to read the ZONE table from the SERVOPACK.
4.17.7 Reading a ZONE Table from a ZONE Table File
You can read a ZONE table that was saved in a ZONE table file on the personal computer and display it in the [Zone Table Editing] window.
Use the following procedure to read a ZONE table from a ZONE table file.
- Select [Edit Program Table] in the [Menu] window.
The [Zone Table Editing] window will be displayed. - Click the [Import] button.
- Select the ZONE table file to read and click the [Open] button.
The ZONE table in the ZONE table file will be read and displayed in the [Zone Table Editing] window.
This concludes the procedure to read a ZONE table from a ZONE table file.
4.17.8 Saving a ZONE Table File on the Personal Computer
You can save the ZONE table that you edited in the [Zone Table Editing] window to a file on the personal computer.
Use the following procedure to save the ZONE table to a ZONE table file on the personal computer.
- Display the [Zone Table Editing] window and edit the ZONE table.
Refer to Editing a ZONE Table for the procedures to edit a ZONE table. - Click the [Save] button.
The [Save As] window will be displayed. - Specify the save location and file name.You can also set a comment.
- Click the [Save] button.
This concludes the procedure to save a ZONE table to a ZONE table file on the personal computer.
4.17.9 Creating a ZONE Table
You can discard the ZONE table that you edited in the [Zone Table Editing] window and create a new ZONE table.
Use the following procedure to create a ZONE table.
- Display the [Zone Table Editing] window and edit the ZONE table.
Refer to Editing a ZONE Table for the procedures to edit a ZONE table. - Click the [New] button.
This concludes the procedure to create a ZONE table.
4.17.10 Printing a ZONE Table
You can print the ZONE table that you edited in the [Zone Table Editing] window. You can also print a cover sheet that contains information such as the company name and address of the submitter and the company name or department name of the recipient.
Use the following procedure to print a ZONE table.
- Display the [Zone Table Editing] window and edit the ZONE table.
Refer to Editing a ZONE Table for the procedures to edit a ZONE table. - Click the [Print] button.
The [Printing Item Setting] window will be displayed. - To attach a cover sheet, select the [Attaching the Cover] check box and click the [Cover Editing] button.
To not attach a cover sheet, clear the [Attaching the Cover] check box and proceed to step 7. - As required, click the [Submitter], [Where to Submit (No.1)], [Where to Submit (No.2)], [Where to Submit (No.3)], and [Greeting Sentences] tabs and enter the required text.
- Click the [OK] button.
- Select the appropriate [Where to Submit] option to use when printing.
The contents for the selected ‘Where to Submit’ option is displayed in the [Printing Item Setting] window. - Click the [Header & Footer] tab and select the check boxes for the information to place in the header and footer.
If you select the [Title] check box, enter the title in the box. - Click the [Printing Items] tab and specify the range and contents of the ZONE table to print.
- To print in black and white, select the [Black and White] option.
To print in color, select the [Color] option. - Click the [OK] button.
The [Print Preview] window will be displayed. - Click the [Print] button.
Printing will be started.
Click the [Editing of the Printing Items] button to change the items that are printed. The [Printing Item Setting] window will return.
This concludes the procedure to print a ZONE table.
4.18 Setting a Jog Speed Table
4.18.1 Introduction
You can edit jog speed tables to set in the SERVOPACK in the [Jog Speed Table Editing] window. In a jog speed table, you can set the jog speeds that correspond to the jog speed selection signals (J0 to J3). The speed will be changed to the jog speed that corresponds to the jog speed selection signals according to the jog speed table. You can save the edited jog speed tables in flash memory in the personal computer or SERVOPACK.
| No. | Item | Description | Reference |
|---|---|---|---|
| (1) | Toolbar | The toolbar provides buttons such as the [Save] button, which saves the jog speed table to a file, and the [Print] button, which allows you to print the jog speed table. | [Jog Speed Table Editing] Window Toolbar |
| (2) | Jog Speed Table Editing Cells | Edit these cells to edit the jog speed table. Directly enter the jog speeds in the cells that correspond to four jog speed selection signals (J0 to J3). Setting range: 1 to99,999,999 [1,000 reference units/min] The colors of the cells will change as follows: White: The value in SERVOPACK RAM is the same as the value in the [Jog Speed Table Editing] window. Green: If any changes are made, the rows that include the changes change to green. When you write the changes, the cells change to white. Red: If there is a setting error, the row is displayed in red. The [Write] button will be disabled. | Editing a Jog Speed Table |
| (3) | [Comment] Button | This button lets you enter a comment for the jog speed table. The comment is also saved when you click the [Save] button. | Saving a Jog Speed Table File on the Personal Computer |
| (4) | [Import] Button | This button imports a jog speed table from a jog speed table file on the personal computer. | Reading a Jog Speed Table from a Jog Speed Table File |
| (5) | [Initialize] Button | This button initializes the jog speed table that was saved in flash memory in the SERVOPACK to the default settings. | Initializing a Jog Speed Table to the Default Settings |
| (6) | [Save] Button | This button saves the jog speed table in RAM in the SERVOPACK to flash memory. If you save the jog speed table to flash memory, it will not be lost even if you turn OFF the power. The next time you turn ON the power supply, the jog speed table will be written to RAM. | Saving a Jog Speed Table Written to the SERVOPACK into Flash Memory in the SERVOPACK |
| (7) | [Read] Button | This button reads the jog speed table in RAM in the SERVOPACK. | Reading a Jog Speed Table from the SERVOPACK |
| (8) | [Write] Button | This button writes the jog speed table to RAM in the SERVOPACK. | Writing a Jog Speed Table to the SERVOPACK |
[Jog Speed Table Editing] Window Toolbar
The buttons in the [Jog Speed Table Editing] window toolbar are shown in the following table.
| Toolbar Button | Description | Reference |
|---|---|---|
 [New] | Creates a jog speed table. | Creating a Jog Speed Table |
 [Save] | Saves the currently displayed jog speed table to a file. | Saving a Jog Speed Table File on the Personal Computer |
 [Print] | Prints the jog speed table that is currently displayed. | Printing a Jog Speed Table |
4.18.2 Editing a Jog Speed Table
In a jog speed table, you can set up to 16 jog speeds (ID0 to ID15) that correspond to four jog speed selection signals (J0 to J3).
Use the following procedure to edit a jog speed table.
- Select [Edit Jog Speed Table] in the [Menu] window.
The [Jog Speed Table Editing] window will be displayed. - Double-click the JSPD cell for the jog speed to edit and enter the jog speed.
Setting range: 1 to 99,999,999 [1,000 reference units/min]
This concludes the procedure to edit a jog speed table.
4.18.3 Writing a Jog Speed Table to the SERVOPACK
You can write the jog speed table that you edited in the [Jog Speed Table Editing] window to the SERVOPACK.
Use the following procedure to write the jog speed table to the SERVOPACK.
- Display the [Jog Speed Table Editing] window and edit the jog speed table.
Refer to Editing a Jog Speed Table for the procedures to edit a jog speed table. - Click the [Write] button.
The [Write] dialog box will be displayed. - Click the [OK] button.
The edited jog speed table will be written to the SERVOPACK.
This concludes the procedure to write a jog speed table to the SERVOPACK.
4.18.4 Saving a Jog Speed Table Written to the SERVOPACK into Flash Memory in the SERVOPACK
The jog speed table in RAM in the SERVOPACK will be deleted when the power to the SERVOPACK is turned OFF. To prevent the jog speed table from being deleted when the power is turned OFF, you must save the jog speed table to flash memory in the SERVOPACK.
We recommend that you save the jog speed table that is normally used for operation in this flash memory.
Use the following procedure to save a jog speed table written to the SERVOPACK into flash memory in the SERVOPACK.
- Write the edited jog speed table to the SERVOPACK.
Refer to Editing a Jog Speed Table for the procedures to edit a jog speed table.
Refer to Writing a Jog Speed Table to the SERVOPACK for the procedure to write a jog speed table to the SERVOPACK. - Click the [Save] button.
The [Save] dialog box will be displayed. - Click the [OK] button.
This concludes the procedure to save a jog speed table written to the SERVOPACK into flash memory in the SERVOPACK.
4.18.5 Initializing a Jog Speed Table to the Default Settings
You can return the jog speed table that was saved in flash memory in the SERVOPACK to the default settings.
Use the following procedure to return the jog speed table to the default settings.
- Select [Edit Jog Speed Table] in the [Menu] window.
The [Jog Speed Table Editing] window will be displayed. - Click the [Initialize] button.
The [Initialize] window will be displayed. - Click the [Initialize] button.
This concludes the procedure to return the jog speed table to its default settings.
4.18.6 Reading a Jog Speed Table from the SERVOPACK
You can read the jog speed table in the SERVOPACK and display it in the [Jog Speed Table Editing] window.
Use the following procedure to read the jog speed table from the SERVOPACK.
- Select [Edit Jog Speed Table] in the [Menu] window.
The [Jog Speed Table Editing] window will be displayed. - Click the [Read] button.
The [Read] dialog box will be displayed. - Click the [OK] button.
The jog speed table in RAM in the SERVOPACK will be read and displayed in the [Jog Speed Table Editing] window.
This concludes the procedure to read the jog speed table from the SERVOPACK.
4.18.7 Reading a Jog Speed Table from a Jog Speed Table File
You can read a jog speed table that was saved in a jog speed table file on the personal computer and display it in the [Jog Speed Table Editing] window.
Use the following procedure to read a jog speed table from a jog speed table file.
- Select [Edit Jog Speed Table] in the [Menu] window.
The [Jog Speed Table Editing] window will be displayed. - Click the [Import] button.
- Select the jog speed table file to read and click the [Open] button.
The jog speed table in the jog speed table file will be read and displayed in the [Jog Speed Table Editing] window.
This concludes the procedure to read a jog speed table from a jog speed table file.
4.18.8 Saving a Jog Speed Table File on the Personal Computer
You can save the jog speed table that you edited in the [Jog Speed Table Editing] window to a file on the personal computer.
Use the following procedure to save the jog speed table to a jog speed table file on the personal computer.
- Display the [Jog Speed Table Editing] window and edit the jog speed table.
Refer to Editing a Jog Speed Table for the procedures to edit a jog speed table. - Click the [Save] button.
The [Save As] window will be displayed. - Specify the save location and file name.You can also set a comment.
- Click the [Save] button.
This concludes the procedure to save a jog speed table to a jog speed table file on the personal computer.
4.18.9 Creating a Jog Speed Table
You can discard the jog speed table that you edited in the [Jog Speed Table Editing] window and create a new jog speed table.
Use the following procedure to create a jog speed table.
- Display the [Jog Speed Table Editing] window and edit the jog speed table.
Refer to Editing a Jog Speed Table for the procedures to edit a jog speed table. - Click the [New] button.
This concludes the procedure to create a jog speed table.
4.18.10 Printing a Jog Speed Table
You can print the jog speed table that you edited in the [Jog Speed Table Editing] window. You can also print a cover sheet that contains information such as the company name and address of the submitter and the company name or department name of the recipient.
Use the following procedure to print a jog speed table.
- Display the [Jog Speed Table Editing] window and edit the jog speed table.
Refer to Editing a Jog Speed Table for the procedures to edit a jog speed table. - Click the [Print] button.
The [Printing Item Setting] window will be displayed. - To attach a cover sheet, select the [Attaching the Cover] check box and click the [Cover Editing] button.
To not attach a cover sheet, clear the [Attaching the Cover] check box and proceed to step 7. - As required, click the [Submitter], [Where to Submit (No.1)], [Where to Submit (No.2)], [Where to Submit (No.3)], and [Greeting Sentences] tabs and enter the required text.
- Click the [OK] button.
- Select the appropriate [Where to Submit] option to use when printing.
The contents for the selected ‘Where to Submit’ option is displayed in the [Printing Item Setting] window. - Click the [Header & Footer] tab and select the check boxes for the information to place in the header and footer.
If you select the [Title] check box, enter the title in the box. - Click the [Printing Items] tab and specify the range and contents of the jog speed table to print.
- To print in black and white, select the [Black and White] option.
To print in color, select the [Color] option. - Click the [OK] button.
The [Print Preview] window will be displayed. - Click the [Print] button.
Printing will be started.
Click the [Editing of the Printing Items] button to change the items that are printed. The [Printing Item Setting] window will return.
This concludes the procedure to print a jog speed table.
4.19 Setting Parameters for Editing Tables
4.19.1 Introduction
You can set parameters for editing tables specific to certain SERVOPACKs, such as special-application SERVOPACKs (FT specifications), in the same way as you can for editing parameters.
For details on setting items, refer to the product manual for your SERVOPACK.
The function names and table editing interfaces for editing tables in the [Menu] window depend on the SERVOPACK that is currently online.
Here, this function is described using the Σ-7S FT62 (SERVOPACK for Transfer and Alignment Application) as an example.
The Σ-7S FT62 edits tables to manage triggers at preset positions. For this reason, the name of the window is the [Set Triggers at Preset Positions] window.
The name of this window depends on the functions of the SERVOPACK that you are using.
Be aware that the "[Set Triggers at Preset Positions] window" name is used in the descriptions and images in this manual because the procedure is described using the Σ-7S FT62 as an example.
Locations that may be confusing use the "table program edit window" name.
| SERVOPACK | Table Editing Window Name | |
|---|---|---|
| Series | FT Specification | |
| Σ-X | None (standard) | Set Triggers at Preset Positions |
| FT40 | ||
| FT55 | ||
| FT56 | ||
| FT63 | ||
| FT70 | Position Correction Table Setting | |
| Output at Preset Position Settings | ||
| FT79 | ||
| FT86 | ||
| Σ-7 | FT62 | Output at Preset Position Settings |
| FT64 | ZONE Table Editing (FT64) | |
| FT70 | Position Correction Table Setting | |
| FT84 | Output at Preset Position Settings | |
| FT91 | ZONE Table Editing (FT91) | |
The items related to parameter settings in the table program edit window are listed below.
Use the links in the following table to jump to the relevant information for the various operations.
| No. | Item | Description | Reference |
|---|---|---|---|
| − | Edit Parameters | The parameters are edited in the table program edit window. | Editing Parameters |
| (1) | Read All Parameters from the SERVOPACK | All of the parameters are read from the SERVOPACK and displayed in the table program edit window. | Reading All Parameters from the SERVOPACK |
| (2) | Write Edited Parameters to the SERVOPACK | The settings of the parameters that were edited (i.e., green cells) in the table program edit window are written to the SERVOPACK. | Writing Edited Parameters to the SERVOPACK |
| (3) | Write All Parameters to the SERVOPACK | The settings of all parameters in the table program edit window are written to the SERVOPACK. | Writing All Parameters to the SERVOPACK |
| (4) | Save Parameters Written to SERVOPACK to Flash Memory | The settings of the parameters that were edited (i.e., green cells) in the table program edit window are saved to flash memory in the SERVOPACK. | Saving Parameters Written to SERVOPACK to Flash Memory |
| (5) | Read Parameters from a Parameter File (.swfm☐) | The parameters are read from a parameter file (.swfm☐) and displayed in the table program edit window. | Reading Parameters from a Parameter File (.swfm☐) |
| (6) | Write Parameters to a Parameter File (.swfm☐) | The parameters edited in the table program edit window are written to a parameter file (.swfm☐). | Writing Parameters to a Parameter File (.swfm☐) |
| (7) | Save Parameter Settings in Project Files | The settings of the parameters in the table program edit window are saved as a parameter set in a project file. | Saving Parameter Settings in Project Files |
| (8) | Restore Parameters to the Default Settings | The SERVOPACK parameters are returned to the default settings. | Restoring Parameters to the Default Settings |
| (9) | Axis Selection Tab | This tab page is used to select the servomotor axis for which to set parameters in the table program edit window. The displayed tab labels and table program edit window depend on the SERVOPACK with table editing. | − |
| (10) | Table Tabs | These tabs are used to select the table to set in the table program edit window. The displayed tab labels and table program edit window depend on the SERVOPACK with table editing. | − |
4.19.2 Editing Parameters
There are the following two types of SERVOPACK parameters that you can edit with the SigmaWin+.
- Parameters for numeric settings
- Parameters for selecting functions
Use the following procedure to edit the parameters.
- From [Table Program] in the [Menu] window, click the table editing item to use.
The table program edit window will be displayed. - Click the cell of the parameter to change.
Parameter information is displayed in a pop-up. - Edit the parameter.
For a parameter for a numeric setting, enter an in-range parameter setting in the cell.
For a parameter for a selecting functions, select the function from the list of selections. - Press the Enter key.
The background of the edited parameter cell will change to green.
This concludes the procedure to edit the parameters.
4.19.3 Reading All Parameters from the SERVOPACK
All of the parameters are read from the SERVOPACK and displayed in the table program edit window.
Use the following procedure to read all of the parameters from the SERVOPACK.
- From [Table Program] in the [Menu] window, click the table editing item to use.
The table program edit window will be displayed. - Select any parameter for the axis for which to read the parameters in the table program edit window.
- Select [All Parameters] in the [Read from Servo] group.The parameters that are read are the parameters for the currently selected parameter axis (i.e., the one with the column title displayed in orange).
- Click the [Yes] button.
If there are any edited parameters (i.e., green cells), they are read from the SERVOPACK and the cells change to white.
This concludes the procedure to read all of the parameters from the SERVOPACK.
4.19.4 Writing Edited Parameters to the SERVOPACK
The settings of the parameters that were edited (i.e., green cells) in the table program edit window are written to the SERVOPACK.
All of the parameters that have been edited will be written to the SERVOPACK.
Use the following procedure to write the edited parameters to the SERVOPACK.
- From [Table Program] in the [Menu] window, click the table editing item to use.
The table program edit window will be displayed. - Edit the parameter.
Refer to Editing Parameters for the procedures to edit parameters. - Select [Edited Parameters] in the [Write to Servo] group.
The edited parameters will be written to the SERVOPACK and the cells will change to orange. - Click the [OK] button and turn the power to the SERVOPACK OFF and ON again.Use the following procedure to write individual edited parameters to the SERVOPACK.
- Click the cell of the edited parameter (i.e., a green cell).
- Move the mouse cursor to the cell menu.
- Click the
The edited parameters will be written to the SERVOPACK and the cells will change to orange. - Click the [OK] button and turn the power to the SERVOPACK OFF and ON again.
button.
This concludes the procedure to write edited parameters to the SERVOPACK.
4.19.5 Writing All Parameters to the SERVOPACK
You can write all parameters to the SERVOPACK.
Use the following procedure to write all of the parameters to the SERVOPACK.
- From [Table Program] in the [Menu] window, click the table editing item to use.
The table program edit window will be displayed. - Display the parameters to write to the SERVOPACK.
Refer to Editing Parameters for the procedures to edit parameters.
Refer to Reading Parameters from a Parameter File (.swfm□) for the procedure to open a parameter file. - Select [All Parameters] in the [Write to Servo] group.
All of the parameters are written to the SERVOPACK.
The cells of the edited parameters (green cells) will change to orange. The cells that are not edited will remain white. - Click the [OK] button and turn the power to the SERVOPACK OFF and ON again.
This concludes the procedure to write all of the parameters to the SERVOPACK.
4.19.6 Saving Parameters Written to SERVOPACK to Flash Memory
You must save the parameters that you edit in the table program edit window to flash memory in the SERVOPACK.
Use the following procedure to save the parameters edited in the table program edit window to flash memory in the SERVOPACK.
- From [Table Program] in the [Menu] window, click the table editing item to use.
The table program edit window will be displayed. - Display the parameters to write to the SERVOPACK.
Refer to Editing Parameters for the procedures to edit parameters.
Refer to Reading Parameters from a Parameter File (.swfm□) for the procedure to open a parameter file. - The edited parameters will be written to the SERVOPACK.
Refer to Writing Edited Parameters to the SERVOPACK for the procedure to write parameters that are being edited to the SERVOPACK.
Refer to Writing All Parameters to the SERVOPACK for the procedure to write all parameters to the SERVOPACK.
The edited parameters will be written to the SERVOPACK and the cells will change to orange. - Select [Save to Flash Memory] in the [Write to Servo] group.
The parameters that were written to the SERVOPACK will be saved to flash memory and the cells will change to white.The parameters that are written are the parameters for the currently selected parameter axis (i.e., the one with the column title displayed in orange). - Click the [Yes] button.
- Click the [OK] button.
This concludes the procedure to save the parameters edited in tables to flash memory in the SERVOPACK.
4.19.7 Reading Parameters from a Parameter File (.swfm☐)
The parameters are read from a parameter file (.swfm☐) and displayed in the table program edit window.
Use the following procedure to read the parameters from a parameter file (.swfm☐).
- From [Table Program] in the [Menu] window, click the table editing item to use.
The table program edit window will be displayed. - Select [Import] in the [File] group.
The [Import] window will be displayed. - Select the parameter file (.swfm☐) to read and click the [Open] button.
- Click the [Yes] button.
The parameters are read from the parameter file (.swfm☐) and displayed in the table program edit window.
This concludes the procedure to read the parameters from a parameter file (.swfm☐).
4.19.8 Writing Parameters to a Parameter File (.swfm☐)
The parameters edited in the table program edit window are written to a parameter file (.swfm☐). All of the parameters in the table program edit window are saved to the parameter file (.swfm☐).
Use the following procedure to write the parameters to a parameter file (.swfm☐).
- From [Table Program] in the [Menu] window, click the table editing item to use.
The table program edit window will be displayed. - Edit the parameter.
Refer to Editing Parameters for the procedures to edit parameters. - Select any parameter for the SERVOPACK for which to write the parameters to the parameter file (.swfm☐).
- Select [Export] in the [File] group.
The [Export] window will be displayed. - Enter the save location and file name for the parameter file (.swfm☐) and click the [Save] button.
This concludes the procedure to write the parameters to a parameter file (.swfm☐).
4.19.9 Saving Parameter Settings in Project Files
The settings of the parameters in the table program edit window are saved as a parameter set in a project file.
Use the following procedure to save the parameter settings in a project file.
- From [Table Program] in the [Menu] window, click the table editing item to use.
The table program edit window will be displayed. - Edit the parameter.
Refer to Editing Parameters for the procedures to edit parameters. - Select [Save to Project] in the [Project] group.
- Click the [OK] button.
This concludes the procedure to save the parameter settings in a project file.
4.19.10 Restoring Parameters to the Default Settings
You can return the SERVOPACK parameters to the default settings.
Use the following procedure to return the parameters to the default settings.
- From [Table Program] in the [Menu] window, click the table editing item to use.
The table program edit window will be displayed. - Select [Initialize] in the [Function] group.
- Click the [OK] button.
Returning the SERVOPACK parameters to their default settings is started. - Click the [OK] button.
This concludes the procedure to return the parameters to their default settings.
5 Performing Trial Operation
5.1 Introduction
You can perform trial operation by jogging the servomotor by itself or by operating the servomotor with a program that is set in advance. This section describes these two trial operation methods.
Jogging the Servomotor to Test Operation
This method is suitable to check the operation of the servomotor by itself.
The servomotor will operate only while a button is clicked on the SigmaWin+.
Performing Trial Operation with a Program
This method for trial operation is suitable to check operation with a program that is set for the operation pattern of your machine.
The procedure for trial operation with a program is given.
5.2 Jogging the Servomotor to Test Operation
You can jog the servomotor by itself to perform trial operation. The servomotor will operate only while a button is clicked on the SigmaWin+.
Use the following procedure to jog the servomotor .
- Select [Jog] in the [Menu] window.
The [Jog Operation] window will be displayed. - Read the precautions and then click the [OK] button.
Click the [Cancel] button to cancel jogging. The Main Window will return.If the write prohibited setting is ON, the following dialog box will be displayed.
Click the [OK] button to release write prohibition.
Refer to Prohibiting Parameter Changes from the Digital Operator for the procedure to release parameter write prohibition. - Check the jogging speed and then click the [Servo ON] button.
The display in the [Operation] area will change to [Servo ON].To change the jogging speed, click the [Edit] button and enter the new speed. - Click the [Forward] button or the [Reverse] button.
The servomotor will operate only while you hold down the mouse button.
This concludes the procedure to jog the servomotor .
5.3 Performing Trial Operation with a Program
You can perform continuous operation using a programmed operation pattern that is set in advance.
Use the following procedure to perform trial operation with a program.
- Select [Program JOG Operation] in the [Menu] window.
The [Program Jog Operation] Dialog Box will be displayed. - Read the precautions and then click the [OK] button.
Click the [Cancel] button to cancel programmed jog operation. The Main Window will return.If the write prohibited setting is ON, the following dialog box will be displayed.
Click the [OK] button to release write prohibition.
Refer to Prohibiting Parameter Changes from the Digital Operator for the procedure to release parameter write prohibition. - Set the running conditions and click the [Apply] button.
A graph of the operation pattern will be displayed.No. Item Description (1) Pn531: Program Jogging Movement Distance Inputs the program jogging travel distance. (2) Pn533: Program Jogging Movement Speed Inputs the program jogging movement speed. (3) Pn534: Program Jogging Acceleration/Deceleration Time Inputs the program jogging acceleration/deceleration time. (4) Pn535: Program Jogging Waiting Time Inputs the program jogging waiting time. (5) Pn536: Program Jogging Number of Movements Inputs the program jogging number of movements. (6) Pn530.0: Program Jogging Operation Related Switch Selects the program jogging operation pattern. You can select any of the following six program jogging operation patterns.
(Here, it is assumed that the servomotor direction is set to Pn000 = n.□□□0 (Use CCW as the forward direction).)Program JOG Operation Pattern Pn530 = n.□□□0: (Waiting time in Pn535 → Forward by travel distance in Pn531) × Number of movements in Pn536 Pn530 = n.□□□1: (Waiting time in Pn535 → Reverse by travel distance in Pn531) × Number of movements in Pn536 Pn530 = n.□□□2: (Waiting time in Pn535 → Forward by travel distance in Pn531) × Number of movements in Pn536 → (Waiting time in Pn535 → Reserve by travel distance in Pn531) × Number of movements in Pn536 Pn530 = n.□□□3: (Waiting time in Pn535 → Reverse by travel distance in Pn531) × Number of movements in Pn536 → (Waiting time in Pn535 → Forward by travel distance in Pn531) × Number of movements in Pn536 Pn530 = n.□□□4: (Waiting time in Pn535 → Forward by travel distance in Pn531 → Waiting time in Pn535 → Reserve by travel distance in Pn531) × Number of movements in Pn536 Pn530 = n.□□□5: (Waiting time in Pn535 → Forward by travel distance in Pn531 → Waiting time in Pn535 → Reserve by travel distance in Pn531) × Number of movements in Pn536 If Pn530 is set to n.□□□0, n.□□□1, n.□□□4, or n.□□□5, you can set Pn536 (Program Jogging Number of Movements) to 0 to perform infinite time operation.
You cannot use infinite time operation if Pn530 is set to n.□□□2 or n.□□□3. - Click the [Run] button.
- Click the [Servo ON] button and then the [Execute] button.
The program jogging operation will be executed, and the operating status will be displayed.
This concludes trial operation with a program.
6 Tuning
6.1 Introduction
You can perform tuning to optimize the SERVOPACK response characteristics. The response characteristics are determined by the servo gains that are set in the SERVOPACK. The servo gains are set using a combination of parameters, such as parameters for the speed loop gain, position loop gain, filters, and moment of inertia ratio. These parameters influence each other. Therefore, you must consider the balance between the parameters when you set them.
The servo gains are set to stable settings by default. Use the tuning functions to increase the response characteristics even further for the conditions of your machine based on the information provided below in Performing Basic Tuning.
If the tuning results obtained in Performing Basic Tuning are not satisfactory, perform tuning according to the information in Detailed Tuning to achieve detailed tuning for your machine.
Performing Basic Tuning
Basic tuning is performed according to the conditions of your machine to optimize response.
Estimating the Real Time Load Moment of Inertia with Reference Inputs from the Host Controller (Σ-X)
This function estimates the load moment of inertia from operation by reference from the host controller.
The moment of inertia ratio (i.e., the ratio of the load moment of inertia to the motor moment of inertia) is a basic parameter for adjusting gains. It must be set as accurately as possible. Although the load moment of inertia can be calculated from the weight and structure of the mechanisms, doing so is very troublesome and calculating it accurately can be very difficult with the complex mechanical structures that are used these days. With this function, you can obtain a load moment of inertia with good accuracy.
Estimating the Load Moment of Inertia (Σ-X)
Estimating the Load Moment of Inertia (Σ-7 and Earlier)
The moment of inertia during operation is automatically calculated by the SERVOPACK for round-trip (forward and reverse) operation. A reference from the host controller is not used.
The moment of inertia ratio (i.e., the ratio of the load moment of inertia to the motor moment of inertia) is a basic parameter for adjusting gains. It must be set as accurately as possible.
Although the load moment of inertia can be calculated from the weight and structure of the mechanisms, doing so is very troublesome and calculating it accurately can be very difficult with the complex mechanical structures that are used these days. With moment of inertia estimation, you can get an accurate load moment of inertia simply by operating the motor in the actual system in forward and reverse a few times.
Autotuning Gains with Automatic SERVOPACK Operation (Σ-X)
Autotuning Gains with Automatic SERVOPACK Operation (Σ-7 and Earlier)
Operation is automatically performed by the SERVOPACK for round-trip (forward and reverse) operation to automatically tune the machine characteristics during operation. A reference from the host controller is not used.
The following items are adjusted automatically.
- Moment of inertia ratio
- Gains (e.g., speed loop gain and position loop gain)
- Filters (torque reference filter and notch filters)
- Friction compensation
- Anti-resonance control
- Vibration suppression (only for mode 2 or 3)
Autotuning Gains with Reference Inputs from the Host Controller (Σ-X)
Autotuning Gains with Reference Inputs from the Host Controller (Σ-7 and Earlier)
Optimum adjustments are made automatically for operation references from the host controller.
The following items are adjusted automatically.
- Gains (e.g., speed loop gain and position loop gain)
- Filters (torque reference filter and notch filters)
- Friction compensation
- Anti-resonance control
- Vibration suppression
Autotuning Gains for Multiple Axes with Automatic SERVOPACK Operation (Σ-X)
Operation is automatically performed on multiple axes by the SERVOPACK for round-trip (forward and reverse) operation to automatically tune the machine characteristics during operation. A reference from the host controller is not used.
The following items are adjusted automatically.
- Moment of inertia ratio
- Gains (e.g., speed loop gain and position loop gain)
- Filters (torque reference filter and notch filters)
- Friction compensation
- Anti-resonance control
- Vibration suppression (only for mode 2 or 3)
Autotuning Gains for Multiple Axes with Reference Inputs from the Host Controller (Σ-X)
Optimum adjustments are made automatically on multiple axes for operation references from the host controller.
The following items are adjusted automatically.
- Gains (e.g., speed loop gain and position loop gain)
- Filters (torque reference filter and notch filters)
- Friction compensation
- Anti-resonance control
- Vibration suppression
Detailed Tuning
If basic tuning does not achieve satisfactory results, perform detailed tuning according to the conditions of your machine.
Manually Tuning Gains with Reference Inputs from the Host Controller (Σ-X)
Manually Tuning Gains with Reference Inputs from the Host Controller (Σ-7 and Earlier)
This tuning method is used to manually adjust the servo during operation using a speed or position reference input from the host controller. You can use it to fine-tune adjustments that were made with autotuning.
The following items are adjusted automatically.
- Gains (e.g., speed loop gain and position loop gain)
- Filters (torque reference filter and notch filters)
- Friction compensation
- Anti-resonance control
Suppressing Continuous Vibration during Operation (Σ-X)
Suppressing Continuous Vibration during Operation (Σ-7 and Earlier)
Anti-resonance control increases the effectiveness of vibration suppression after custom tuning.
Anti-resonance control is effective for suppression of continuous vibration frequencies from 100 Hz to 1,000 Hz that occur when the control gain is increased. Vibration can be eliminated by setting vibration frequencies through automatic detection or by manually setting them to adjust the damping gain. Input an operation reference and execute this anti-resonance control adjustment when there is vibration.
Anti-resonance control is automatically set by autotuning without a host reference or autotuning with a host reference. Use anti-resonance control adjustment only if fine-tuning is required or readjustment is required as a result of a failure to detect vibration.
Suppressing Transient Machine Vibration during Positioning (Σ-X)
Suppressing Transient Machine Vibration during Positioning (Σ-7 and Earlier)
You can use vibration suppression to suppress transient vibration at a low frequency from 1 Hz to 100 Hz, which is generated mainly when the machine vibrates during positioning. This is effective for vibration frequencies for which notch filters and anti-resonance control adjustment are not effective.
Vibration suppression is automatically set by autotuning without a host reference or autotuning with a host reference. Use vibration suppression only if fine-tuning is required or readjustment is required as a result of a failure to detect vibration. To execute vibration suppression, input an operation reference and execute the function when there is vibration.
Suppressing Vibration when Stopping the Servomotor (Σ-X)
Suppressing Vibration when Stopping the Servomotor (Σ-7 and Earlier)
You can use gain switching to shorten the positioning time by increasing the gains during positioning and suppressing vibration by decreasing the gains while stopping. Gain switching conditions are set.
Reducing Ripple in the Motor Speed (Σ-X)
Reducing Ripple in the Motor Speed (Σ-7 and Earlier)
There will be minor ripple (fluctuation) in the servomotor speed. You can use ripple compensation to suppress the ripple in the servomotor speed.
Adjusting Individual Parameters during Operation (Σ-X)
Adjusting Individual Parameters during Operation (Σ-7 and Earlier)
You can tune the parameters of an online SERVOPACK during operation. There are hazards in operating the servomotor . Check the information in this manual before you execute this operation.
Displaying Machine Frequency Characteristics on a Graph (Σ-X)
Displaying Machine Frequency Characteristics on a Graph (Σ-7 and Earlier)
You can connect the SERVOPACK to a personal computer to measure the frequency characteristics of the machine. This allows you to measure the frequency characteristics of the machine without using an oscilloscope or other measuring instrument.
Detecting Machine Characteristics and Suppressing Vibration (Σ-X)
Detecting Machine Characteristics and Suppressing Vibration (Σ-7 and Earlier)
The machine is made to vibrate and a resonance frequency is detected from the generated vibration to set notch filters according to the detected resonance frequencies. This is used to eliminate high-frequency vibration and noise.
During execution of this operation, a frequency waveform reference is sent from the SERVOPACK to the servomotor to automatically cause the shaft to rotate multiple times within 1/4th of a rotation, thus causing the machine to vibrate.
Simultaneously Adjusting Multiple Axes in a System
You can simultaneously adjust more than one axis in the same system.
You can adjust each axis individually or simultaneously adjust multiple axes by setting the same adjustment value for them with one base axis and up to three applicable axes.
Adjusting Axes Individually (Individual Adjustment)
You can adjust multiple axes used in the same system individually.
Adjusting Axes Simultaneously (Equal Adjustment)
You can simultaneously adjust multiple axes in the same system with one base axis and up to three applicable axes.
Changing the Adjusted Axes for Equal Adjustment
You can change the axes used in equal adjustment (one base axis and up to three applicable axes).
6.2 Performing Basic Tuning (Σ-X)
6.2.1 Estimating the Real Time Load Moment of Inertia with Reference Inputs from the Host Controller
Real time moment of inertia estimation is a function that estimates the load moment of inertia from operation by reference from the host controller.
The moment of inertia ratio (i.e., the ratio of the load moment of inertia to the motor moment of inertia) is a basic parameter for adjusting gains. It must be set as accurately as possible.
Although the load moment of inertia can be calculated from the weight and structure of the mechanisms, doing so is very troublesome and calculating it accurately can be very difficult with the complex mechanical structures that are used these days. With this function, you can obtain a load moment of inertia with good accuracy.
Note: Execute moment of inertia estimation after jogging to a position that ensures a suitable range of motion.
- Estimating the moment of inertia requires operating the servomotor and therefore presents hazards. Observe the following precautions.
- Confirm safety around moving parts.
This function involves automatic operation with vibration. Make sure that you can perform an emergency stop (to turn OFF the power) at any time. There will be movement in both directions within the set range of movement. Check the range of movement and the directions and implement protective controls for safety, such as the overtravel functions.
- Confirm safety around moving parts.
- Be aware of the following points if you cancel the moment of inertia estimation while the motor is operating.
- If you cancel operation with the [Servo OFF] button, the servomotor will stop according to setting of the Servo OFF stopping method (Pn001 = n.□□□X).
- If you cancel operation with the [Cancel] button, the servomotor will decelerate to a stop and then enter a zero-clamped state.
Use the following procedure to estimate the load moment of inertia.
- Select [Tuning] in the [Menu] window.
The [Tuning] window will be displayed. - Read the precautions and then click the [Execute] button.
Click the [Cancel] button to cancel estimating the moment of inertia. The Main Window will return. - Under [Reference input from host controller], select [Position Reference Input], and then click the [Execute] button.
The [Moment of inertia (mass) ratio identification] window will be displayed. - Click the [Apply Estimation] button to apply the real time moment of inertia estimation to the setting area.
Click the [Edit] button to display the [Edit] window. You can manually enter the value on this window.
Set the value and then click the [OK] button. - Click the [OK] button.
This concludes the procedure to estimate the real time load moment of inertia.
6.2.2 Estimating the Load Moment of Inertia
The moment of inertia during operation is automatically calculated by the SERVOPACK for round-trip operation. A reference from the host controller is not used.
The moment of inertia ratio (i.e., the ratio of the load moment of inertia to the motor moment of inertia) is a basic parameter for adjusting gains. It must be set as accurately as possible.
Although the load moment of inertia can be calculated from the weight and structure of the mechanisms, doing so is very troublesome and calculating it accurately can be very difficult with the complex mechanical structures that are used these days. With this function, you can estimate load moment of inertia with good accuracy.
The servomotor is operated with the following specifications.
- Maximum speed: ±1,000 min-1 (can be changed)
- Acceleration rate: ±20,000 min-1/s (can be changed)
- Travel distance: ±2.5 rotations max. (can be changed)
Note: Execute moment of inertia estimation after jogging to a position that ensures a suitable range of motion.
- Estimating the moment of inertia requires operating the servomotor and therefore presents hazards. Observe the following precautions.
- Confirm safety around moving parts.
This function involves automatic operation with vibration. Make sure that you can perform an emergency stop (to turn OFF the power) at any time. There will be movement in both directions within the set range of movement. Check the range of movement and the directions and implement protective controls for safety, such as the overtravel functions.
- Confirm safety around moving parts.
- Be aware of the following points if you cancel the moment of inertia estimation while the motor is operating.
- If you cancel operation with the [Servo OFF] button, the servomotor will stop according to setting of the Servo OFF stopping method (Pn001 = n.□□□X).
- If you cancel operation with the [Cancel] button, the servomotor will decelerate to a stop and then enter a zero-clamped state.
Use the following procedure to estimate the load moment of inertia.
- Select [Tuning] in the [Menu] window.
The [Tuning] window will be displayed. - Read the precautions and then click the [Execute] button.
Click the [Cancel] button to cancel estimating the moment of inertia. The Main Window will return. - Under [Reference input from host controller], select [No Reference Input], and then click the [Execute] button.
The [Condition Setting] window will be displayed. - Set the conditions for estimating the moment of inertia.
No. Item Description (1) Speed Loop Setting Make the speed loop settings in this area.
If the speed loop response is too bad, it will not be possible to measure the moment of inertia ratio accurately.
The values for the speed loop response that are required for moment of inertia estimation are set for the default settings. It is normally not necessary to change these settings.
If the default speed loop gain is too high for the machine (i.e., if vibration occurs), lower the setting. It is not necessary to increase the setting any further.(2) Identification Start Level This is the setting of the moment of inertia calculation starting level.
If the load is large or the machine has low rigidity, the torque limit may be applied, causing moment of inertia estimation to fail.
If that occurs, estimation may be possible if you double the setting of the start level.(3) [Edit] Button Click the button to display a dialog box to change the settings related to the speed loop or estimation start level. (4) [Help] Button Click this button to display Guidelines for Setting the Reference Conditions in help. Make the following settings as required. - Operate the servomotor to measure the load moment of inertia of the machine in comparison with the rotor moment of inertia.
- Set the operation mode, reference pattern (maximum acceleration rate, maximum speed, and maximum travel distance), and speed loop-related parameters.
- Correct measurement of the moment of inertia ratio may not be possible depending on the settings. Set suitable settings using the measurement results as reference. For details, refer to Guidelines for Setting the Reference Conditions.
(5) Reference Selection Either select the reference pattern for estimation processing from the reference selection list, or set the values in the [Detailed Setting] area. Generally speaking, the larger the maximum acceleration rate is, the more accurate the moment of inertia estimation will be.
Set the maximum acceleration range within the possible range of movement considering the gear ratio, e.g., the pulley diameters or ball screw pitch.(6) [Confirm] Button Click this button to display the [Reference Confirmation] window. (7) Detailed Setting You can change the settings by moving the bars or directly inputting the settings to create the required reference pattern.
If the SERVOPACK software version is 0005 or later, the window that is displayed after step 5 will depend on the setting of [Moving distance].
Use the links in the following table to jump to the operating procedure.(8) [Next] Button Click this button to display the [Reference Transmission] window. (9) [Cancel] Button Click this button to return to the [Tuning] window. - The travel distance is the distance for one operation in the forward or reverse direction. During multiple operations, the operation starting position may move in one direction or the other. Confirm the possible operating range for each measurement or operation.
- Depending on the parameter settings and the moment of inertia of the machine, overshooting may occur and may cause the maximum speed setting to be exceeded temporarily. Allow sufficient leeway in the settings.
If the measured value is not correct:
Estimating the moment of inertia ratio cannot be performed correctly if the torque limit is activated. Adjust the limits or reduce the acceleration rate in the [Reference Selection] area so that the torque limit is not activated. - Click the [Next] button.
The displayed window will depend on the setting of [Moving distance].
Use the links in the following table to jump to the relevant information.Motor Type Setting of Moving Distance Reference Rotary Servomotor Greater than or equal to 0.25 rotations When the Travel Distance Is Greater than or Equal to 0.25 Rotations (Rotary), 0.04 Rotations (DD), or 2.5 mm (Linear) Less than 0.25 rotations When the Travel Distance Is Less than 0.25 Rotations (Rotary), 0.04 Rotations (DD), or 2.5 mm (Linear) Direct Drive (DD) Servomotor Greater than or equal to 0.04 rotations When the Travel Distance Is Greater than or Equal to 0.25 Rotations (Rotary), 0.04 Rotations (DD), or 2.5 mm (Linear) Less than 0.04 rotations When the Travel Distance Is Less than 0.25 Rotations (Rotary), 0.04 Rotations (DD), or 2.5 mm (Linear) Linear Servomotor Greater than or equal to 2.5 mm When the Travel Distance Is Greater than or Equal to 0.25 Rotations (Rotary), 0.04 Rotations (DD), or 2.5 mm (Linear) Less than 2.5 mm When the Travel Distance Is Less than 0.25 Rotations (Rotary), 0.04 Rotations (DD), or 2.5 mm (Linear) When the Travel Distance Is Greater than or Equal to 0.25 Rotations (Rotary), 0.04 Rotations (DD), or 2.5 mm (Linear)
- Click the [Start] button.
Transferring the reference conditions to the SERVOPACK will be started and the progress of transferring the data will be displayed.No. Item Description (1) [Start] Button The reference conditions will be transferred to the SERVOPACK. A progress bar will show the progress of the transfer. (2) [Cancel] Button The [Cancel] button is enabled only while data is being transferred to the SERVOPACK. You cannot use it after the transfer has been completed. (3) [Back] Button This button returns you to the [Condition Setting] window. It is disabled while data is being transferred. (4) [Next] Button This button is enabled only when the data has been transferred correctly. You cannot use it if an error occurs or if you cancel the transfer before it is completed.
Click the [Next] button to display the [Operation/Measurement] window.(5) [Cancel] Button This button cancels processing and returns you to the [Tuning] window. - After the data has been transferred, click the [Next] button.
- Click the [Servo On] button.
- Click the [Forward] button.
The servomotor shaft will rotate in the forward direction and the measurement will start. After the measurement and data transfer have been completed, the [Reverse] button will be displayed in color. - Click the [Reverse] button.
The servomotor shaft will rotate in the reverse direction and the measurement will start. After the measurement and data transfer have been completed, the [Forward] button will be displayed in color. - Repeat step 4 and step 5 until the [Next] button is enabled.
Measurements are performed from 2 to 7 times and then verified. The number of measurements is displayed in upper left corner of the window. A progress bar at the bottom of the window will show the progress of the transfer each time. - When the measurements have been completed, click the [Servo On] button to turn OFF the servo.
- Click the [Next] button.
The estimated moment of inertia will be displayed in the [Write Results] window.The following dialog box will be displayed if you click the [Next] button before you turn OFF the servo. Turn OFF the servo by clicking the [OK] button. - Click the [Writing Results] button.
The value in [Identified Moment of Inertia Ratio] will be set in the SERVOPACK and displayed in [Pn103: Moment of Inertia Ratio].No. Item Description (1) Identified Moment of Inertia Ratio The moment of inertia ratio that was found with operation and measurements is displayed here. (2) [Writing Results] Button If you click this button, Pn103 (Moment of Inertia Ratio) in the SERVOPACK is set to the value that is displayed for the identified moment of inertia ratio. (3) Pn103: Moment of Inertia Ratio The value that is set for the parameter is displayed here.
After you click the [Writing Results] button, the value that was found with operation and measurements will be displayed as the new setting.(4) [Back] Button This button is disabled. (5) [Cancel] Button The [Tuning ] window will return. - Confirm that [Identified Moment of Inertia Ratio] and [Pn103: Moment of Inertia Ratio] show the same value and then click the [Finish] button.
- Click the [OK] button.
This concludes the procedure to estimate the load moment of inertia when the travel distance is greater than or equal to 0.25 rotations (rotary servomotor) or 2.5 mm (linear servomotor).
When the Travel Distance Is Less than 0.25 Rotations (Rotary), 0.04 Rotations (DD), or 2.5 mm (Linear)
This example uses a rotary servomotor.
For a linear servomotor, a portion of the displayed windows will be different.- Click the [Yes] button.
- Click the [Servo On] button.
- Click the [High Frequency] button.
The servomotor shaft will rotate and measurements will start. After the measurement and data transfer have been completed, the [Low Frequency] button will be enabled.The servomotor shaft will rotate only a maximum of ±0.25 rotations at one time. And, noise may occur during operation. - Click the [Low Frequency] button.
The servomotor shaft will rotate and measurements will start. After the measurement and data transfer have been completed, the [Next] button will be enabled.The servomotor shaft will rotate only a maximum of ±0.25 rotations at one time. And, noise may occur during operation. - When the measurements have been completed, click the [Servo On] button to turn OFF the servo.
- Click the [Next] button.
The estimated moment of inertia will be displayed in the [Write Results] window.The following dialog box will be displayed if you click the [Next] button before you turn OFF the servo. Turn OFF the servo by clicking the [OK] button. - Click the [Writing Results] button.
The value in [Identified Moment of Inertia Ratio] will be set in the SERVOPACK and displayed in [Pn103: Moment of Inertia Ratio].No. Item Description (1) Identified Moment of Inertia Ratio The moment of inertia ratio that was found with operation and measurements is displayed here. (2) [Writing Results] Button If you click this button, Pn103 (Moment of Inertia Ratio) in the SERVOPACK is set to the value that is displayed for the identified moment of inertia ratio. (3) Pn103: Moment of Inertia Ratio The value that is set for the parameter is displayed here.
After you click the [Writing Results] button, the value that was found with operation and measurements will be displayed as the new setting.(4) [Back] Button This button is disabled. (5) [Cancel] Button The [Tuning ] window will return. - Confirm that [Identified Moment of Inertia Ratio] and [Pn103: Moment of Inertia Ratio] show the same value and then click the [Finish] button.
- Click the [OK] button.
A software reset will be started. - Click the [OK] button.
All settings including parameters will have been re-calculated. When you finish this operation, disconnect the SigmaWin+ from the SERVOPACK, and then connect it again.
This concludes the procedure to estimate the load moment of inertia when the travel distance is less than 0.25 rotations (rotary servomotor) or 2.5 mm (linear servomotor).
- Click the [Start] button.
Guidelines for Setting the Reference Conditions
- The servomotor will cause the machine to vibrate and measure the frequency characteristics.
- Set the operating mode, sampling time, excitation amplitude, and the number of measurements.
- Correct measurement of the frequency characteristics may not be possible depending on the settings. Set suitable settings using the measurement results as reference. Refer to the following Setting Guideline Details for more information.
Setting Guideline Details
Reference Selection
The servomotor is operated in forward and reverse with references such as those shown below. (The references shown below are for forward operation.) To set the reference pattern, select the reference from the combo box in the [Reference Selection] area (recommended), or enter the detailed settings.
Generally speaking, the larger the maximum acceleration rate is, the more accurate the moment of inertia (mass) estimation will be.
Set the maximum acceleration rate within the possible range of movement considering the gear ratio, e.g., the pulley diameters or ball screw pitch.
- The travel distance is the distance for one operation in the forward or reverse direction. During multiple operations, the operation starting position may move in one direction or the other. Confirm the possible operating range for each measurement or operation.
- Depending on the parameter settings and the moment of inertia of the machine, overshooting may occur and may cause the maximum speed setting to be exceeded temporarily. Allow sufficient leeway in the settings.
Speed Loop Setting
If the speed loop response is too bad, it will not be possible to measure the moment of inertia ratio accurately.
The values for the speed loop response that are required for moment of inertia estimation are set for the default settings. It is normally not necessary to change these settings.
If the default speed loop gain is too high for the machine (i.e., if vibration occurs), lower the setting. It is not necessary to increase the setting any further.
Identification Start Level
If the load is large or the machine has low rigidity, the torque limit may be applied, causing moment of inertia estimation to fail.
If that occurs, estimation may be possible if you double the setting of the start level.
Estimating the moment of inertia ratio cannot be performed correctly if the torque limit is activated. Adjust the limits or reduce the acceleration rate in the [Reference Selection] area so that the torque limit is not activated.
6.2.3 Autotuning Gains with Automatic SERVOPACK Operation
For autotuning without a host reference, operation is automatically performed by the SERVOPACK for round-trip (forward and reverse) operation to adjust for machine characteristics during operation. A reference from the host controller is not used.
The following items are adjusted automatically.
- Moment of inertia ratio
- Gains (e.g., speed loop gain and position loop gain)
- Filters (torque reference filter and notch filters)
- Friction compensation
- Anti-resonance control
- Vibration suppression (only for mode 2 or 3)
The servomotor is operated with the following specifications.
| Maximum Motor Speed | Rated motor speed × 2/3 | |
|---|---|---|
| Acceleration Torque | Rated motor torque: Approx. 100% Note: The acceleration torque depends on the setting of Pn103 (Moment of Inertia Ratio), and the influences of machine friction and external disturbance. | |
| Distance | Rotary Servomotors | You can set the desired travel distance. The default setting is for a value equivalent to 3 servomotor shaft rotations. |
| Direct Drive Servomotors | You can set the desired travel distance. The default setting is for a value equivalent to 0.3 rotations. | |
| Linear Servomotors | You can set the desired travel distance in increments of 1000 reference units. The default setting is for 90 mm. | |
Note: Execute this function after jogging to a position that ensures a suitable range of motion.
Autotuning without a host reference requires operating the servomotor and therefore presents hazards.
Observe the following precautions.
- Confirm safety around moving parts.
This function involves automatic operation with vibration. Make sure that you can perform an emergency stop (to turn OFF the power) at any time. There will be movement in both directions within the set range of movement. Check the range of movement and the directions and implement protective controls for safety, such as the overtravel functions.
- Be aware of the following points if you cancel autotuning without a host reference while the motor is operating.
- If you cancel operation with the [Servo OFF] button, the servomotor will stop according to setting of the Servo OFF stopping method parameter.
- If you cancel operation with the [Cancel] button, the servomotor will decelerate to a stop and then enter a zero-clamped state. (It is not possible to cancel operation with the [Cancel] button for some SERVOPACKs.)
- If you set the Switching the Load Moment of Inertia (Load Mass) Identification parameter to 1 (a moment of inertia is not presumed), set the moment of inertia ratio (Pn103) correctly.
If the moment of inertia ratio is not set correctly, normal control of the machine may not be possible, and vibration may result.
Use the following procedure to autotune the gains with automatic SERVOPACK operation.
- Confirm that the value of Pn103 (Moment of Inertia Ratio) is set correctly.
- Select [Tuning] in the [Menu] window.
The [Tuning] window will be displayed. - Read the precautions and then click the [Execute] button.
Click the [Cancel] button to cancel tuning. The Main Window will return. - Select the [No reference input] option in the [Autotuning] area and then click the [Autotuning] button.
- Set the conditions for automatic tuning.
No. Item Description (1) Switching the load moment of inertia (load mass) identification Specify whether to estimate the moment of inertia. (2) Mode Selection Select the model from [Mode selection].
Select the mode according to the following guidelines.Mode Selection Meaning 1: Standard Standard gain adjustment is performed. In addition to gain adjustment, notch filters and anti-resonance control are automatically adjusted. 2: For positioning Tuning is performed for positioning applications. In addition to gain adjustment, model following control, notch filters, anti-resonance control, and vibration suppression are automatically adjusted. 3: For positioning
especially to prevent overshootingTuning is performed for positioning applications with emphasis on eliminating overshooting. In addition to gain adjustment, notch filters, anti-resonance control, and vibration suppression are automatically adjusted. (3) Mechanism Selection Select the type according to the machine element to drive in [Mechanism selection].
If there is noise or if the gain does not increase, better results may be obtained by changing the mechanism selection.
Select the mechanism according to the following guidelines.Mechanism Selection Meaning 1: Belt mechanism Tuning is performed for a mechanism with relatively low rigidity, e.g., a belt. 2: Ball screw mechanism or linear motor Tuning is performed for a mechanism with relatively high rigidity, e.g., a ball screw or linear servomotor. Use this setting if there is no other appropriate setting. 3: Rigid model Tuning is performed for a mechanism with high rigidity, e.g., a rigid body system. (4) Tuning parameters Specify the parameters to use for tuning.
If you select [Start tuning using the default settings], the tuning parameters will be returned to the default settings before tuning is started.(5) Detailed Setting Click this button to display the [Advanced Setting] window on which you can set the details of tuning conditions. Configure detailed tuning conditions in the following cases: - To tune a higher response than the tuning results
- When tuning fails with a large amount of overshoot
- To tune with speed I-P control
(6) Distance Enter the distance to travel during tuning in [Distance].
Movement range:- Σ-X-Series SERVOPACKs with software versions 0011 or higher: -1073741000 to +1073741000 [reference units]
- Others: -99990000 to +99990000 [reference units]
Negative values are for reverse operation and positive values are for forward operation from the current position.
Default settings:- Rotary servomotors: Approx. 3 rotations
- Direct drive servomotors: Approx. 0.3 rotations
- Linear servomotors: Approx. 90 mm
- Rotary servomotors: 0.5 rotations
- Direct drive servomotor: 0.05 rotations
- Linear servomotors: 5 mm
To set the advanced settings, click the [Advanced Setting] button.
Enter the settings and click the [Setting] button.No. Item Description (1) Gain Upper Limit (Pn540) Set the upper limit value of speed loop gain to search. (2) Adjustment margin to Maximum Search Gain (Pn562) Set the value to set for speed loop gain as a percentage in relation to the upper limit value of speed loop gain that was searched. For example, when 80[%] is set and the upper limit value of speed loop gain that was searched is 300 [Hz], the speed loop gain is automatically set to 240 [Hz].
The default setting is 80[%]. The response characteristics of the servo improve by increasing this setting value, but vibration may occur depending on the condition of the machine.
The response characteristics of the servo weaken by decreasing this setting value, and vibration may occur less when the condition of the machine changes.(3) Overshoot Allowable Width (Pn561) Set the amount of overshoot to allow during tuning. (4) Speed I-P Control For high-speed positioning and high-speed, high-precision processing applications, you can use a lower loop gain than for PI control to reduce the positioning time and reduce arc radius reduction. - Click the [Next] button.
- Click the [Servo ON] button.
- Click the [Start tuning] button.
- Confirm safety around moving parts and click the [Yes] button.
The servomotor shaft will rotate and tuning will start.
Vibration that occurs during tuning will be detected automatically and suitable settings will be made for that vibration. The content to set will be displayed on the right side of the window. When the settings have been completed, the indicators for the functions that were used will light at the lower left of the window.
Details on the content to set are shown below.Item Description Settling time Displays the settling time by the tuning results. Overshoot Displays the maximum overshoot by the tuning results. Feedback level (maximum tuning gain) Displays the maximum value of Pn100 (Speed Loop Gain) during tuning. Feedback level (current value) Displays the value of Pn100 (Speed Loop Gain) after tuning. The number in parentheses is the percentage of adjusting maximum gain. Feedforward level Displays the value of Pn141 (Model Following Control Gain) after tuning. Notch filter 1
Notch filter 2Displays the frequencies set by the notch filters. "----" is displayed if not set. A type vibration control Displays the frequency set by anti-resonance control. "----" is displayed if not set. Vibration suppression function A
Vibration suppression function BDisplays the frequencies set by vibration suppression. "----" is displayed if not set. - When tuning has been completed, click the [Finish] button.
When the following window is displayed, click the [OK] button to execute a software reset to enable the parameters.
The software will be reset, the results of tuning will be set in the parameters, and you will return to the [Tuning] window.
This concludes the procedure to perform autotuning without a host reference.
6.2.4 Autotuning Gains with Reference Inputs from the Host Controller
Optimum adjustments are made automatically for operation references from the host controller.
The following items are adjusted automatically.
- Gains (e.g., speed loop gain and position loop gain)
- Filters (torque reference filter and notch filters)
- Friction compensation
- Anti-resonance control
- Vibration suppression
- Because autotuning with a host reference adjusts the SERVOPACK during automatic operation, vibration or overshooting may occur. To ensure safety, make sure that you can perform an emergency stop at any time.
- If you are using an MP3000-series controller for phase control, set [Mode selection] to "1". If [Mode selection] is set to a mode other than "1", correct phase control may not be possible.
Use the following procedure to autotune the gains with reference inputs from the host controller.
- Confirm that the value of Pn103 (Moment of Inertia Ratio) is set correctly.
- Confirm that the values of Pn20E (Electronic Gear Ratio (Numerator)) and Pn210 (Electronic Gear Ratio (Denominator)) are set correctly.When a servomotor other than a linear servomotor or a servomotor with a fully-closed encoder is moved with a reference from the host controller, the electronic gear value is calculated with the following settings.
- Electronic gear settings on the host controller
- Electronic gear settings on the SERVOPACK (Pn20E and Pn210)
For example, if you will use a servomotor with a 26-bit encoder and the encoder resolution on the host controller is 20 bits, the resolutions output from the host controller and from the SERVOPACK will be different. To make the resolutions the same, set the electronic gear settings on the SEROVPACK as shown below.- Pn20E (Electronic Gear Ratio (Numerator)) = 64
- Pn210 (Electronic Gear Ratio (Denominator)) = 1
To change the electronic gear value, change the parameters on the [Edit Parameters] window. Refer to the following section for details on the operation.
→◆Editing Parameters - Select [Tuning] in the [Menu] window.
The [Tuning] window will be displayed. - Read the precautions and then click the [Execute] button.
Click the [Cancel] button to cancel tuning. The Main Window will return. - Select the [Position reference input] option in the [Autotuning] area and then click the [Autotuning] button.When the following window is displayed, click the [OK] button and then confirm that the correct moment of inertia ratio is set in Pn103 (moment of inertia ratio).
- Set the conditions for automatic tuning.
No. Item Description (1) Mode selection Select the model from [Mode selection].
Select the mode according to the following guidelines.Mode Selection Meaning 1: Standard Standard gain adjustment is performed. In addition to gain adjustment, notch filters and anti-resonance control are automatically adjusted. 2: For positioning Tuning is performed for positioning applications. In addition to gain adjustment, model following control, notch filters, anti-resonance control, and vibration suppression are automatically adjusted. 3: For positioning
especially to prevent overshootingTuning is performed for positioning applications with emphasis on eliminating overshooting. In addition to gain adjustment, notch filters, anti-resonance control, and vibration suppression are automatically adjusted. (2) Mechanism selection Select the type according to the machine element to drive in [Mechanism selection].
If there is noise or if the gain does not increase, better results may be obtained by changing the rigidity type. Select the type according to the following guidelines.Mechanism Selection Meaning 1: Belt mechanism Tuning is performed for a mechanism with relatively low rigidity, e.g., a belt. 2: Ball screw mechanism or linear motor Tuning is performed for a mechanism with relatively high rigidity, e.g., a ball screw, or a linear servomotor. Use this setting if there is no other appropriate setting. 3: Rigid model Tuning is performed for a mechanism with high rigidity, e.g., a rigid body system. (3) Tuning parameters Specify the parameters to use for tuning.
If you select [Start tuning using the default settings], the tuning parameters will be returned to the default settings before tuning is started.(4) [Advanced Setting] button Click this button to display the [Advanced Setting] window on which you can set the details of tuning conditions. Configure detailed tuning conditions in the following cases: - To tune a higher response than the tuning results
- When tuning fails with a large amount of overshoot
- To tune with speed I-P control
(5) Moment of Inertia Ratio Change the settings as required. To set the advanced settings, click the [Advanced Setting] button.
Enter the settings and click the [Setting] button.No. Item Description (1) Gain Upper Limit (Pn540) Set the upper limit value of speed loop gain to search. (2) Adjustment margin to Maximum Search Gain (Pn562) Set the value to set for speed loop gain as a percentage in relation to the upper limit value of speed loop gain that was searched. For example, when 80[%] is set and the upper limit value of speed loop gain that was searched is 300 [Hz], the speed loop gain is automatically set to 240 [Hz].
The default setting is 80[%]. The response characteristics of the servo improve by increasing this setting value, but vibration may occur depending on the condition of the machine.
The response characteristics of the servo weaken by decreasing this setting value, and vibration may occur less when the condition of the machine changes.(3) Overshoot Allowable Width (Pn561) Set the amount of overshoot to allow during tuning. (4) Speed I-P Control For high-speed positioning and high-speed, high-precision processing applications, you can use a lower loop gain than for PI control to reduce the positioning time and reduce arc radius reduction. - Click the [Next] button.
Click the [Cancel] button to cancel autotuning with a host reference. The [Tuning] window will return. - Turn ON the servo, enter a reference from the host controller, and then click the [Start tuning] button.
- Confirm safety around moving parts and click the [Yes] button.
The servomotor shaft will rotate and tuning will start.
Vibration that occurs during tuning will be detected automatically and suitable settings will be made for that vibration. The content to set will be displayed on the right side of the window. When the settings have been completed, the indicators for the functions that were used will light at the lower left of the window.
Details on the settings are shown below.Item Description Settling time Displays the settling time by the tuning results. Overshoot Displays the maximum overshoot by the tuning results. Feedback level (maximum tuning gain) Displays the maximum value of Pn100 (Speed Loop Gain) during tuning. Feedback level (current value) Displays the value of Pn100 (Speed Loop Gain) after tuning. The number in parentheses is the percentage of adjusting maximum gain. Feedforward level Displays the value of Pn141 (Model Following Control Gain) after tuning. Notch filter 1
Notch filter 2Displays the frequencies set by the notch filters. "----" is displayed if not set. A type vibration control Displays the frequency set by anti-resonance control. "----" is displayed if not set. Vibration suppression function A
Vibration suppression function BDisplays the frequencies set by vibration suppression. "----" is displayed if not set. - When tuning has been completed, click the [Finish] button.
The results of tuning will be set in the parameters and you will return to the [Tuning] window.
This concludes the procedure to perform autotuning with a host reference.
6.2.5 Autotuning Gains for Multiple Axes with Automatic SERVOPACK Operation
For multi-axis simultaneous tuning without a host reference, operation is automatically performed on multiple axes by the SERVOPACK for round-trip (forward and reverse) operation to adjust for machine characteristics during operation. A reference from the host controller is not used.
The following items are adjusted automatically.
- Moment of inertia ratio
- Gains (e.g., speed loop gain and position loop gain)
- Filters (torque reference filter and notch filters)
- Friction compensation
- Anti-resonance control
- Vibration suppression (only for mode 2 or 3)
The servomotor is operated with the following specifications.
| Maximum Motor Speed | Rated motor speed × 2/3 | |
|---|---|---|
| Acceleration Torque | Rated motor torque: Approx. 100% Note: The acceleration torque depends on the setting of Pn103 (Moment of Inertia Ratio), and the influences of machine friction and external disturbance. | |
| Distance | Rotary Servomotors | You can set the desired travel distance. The default setting is for a value equivalent to 3 servomotor shaft rotations. |
| Direct Drive Servomotors | You can set the desired travel distance. The default setting is for a value equivalent to 0.3 rotations. | |
| Linear Servomotors | You can set the desired travel distance in increments of 1000 reference units. The default setting is for 90 mm. | |
Note: Execute this function after jogging to a position that ensures a suitable range of motion.
Autotuning without a host reference requires operating the servomotor and therefore presents hazards.
Observe the following precautions.
- Confirm safety around moving parts.
This function involves automatic operation with vibration. Make sure that you can perform an emergency stop (to turn OFF the power) at any time. There will be movement in both directions within the set range of movement. Check the range of movement and the directions and implement protective controls for safety, such as the overtravel functions.
- Be aware of the following points if you cancel autotuning without a host reference while the motor is operating.
- If you cancel operation with the [Servo OFF] button, the servomotor will stop according to setting of the Servo OFF stopping method parameter.
- If you cancel operation with the [Cancel] button, the servomotor will decelerate to a stop and then enter a zero-clamped state. (It is not possible to cancel operation with the [Cancel] button for some SERVOPACKs.)
- If you set the Switching the Load Moment of Inertia (Load Mass) Identification parameter to 1 (a moment of inertia is not presumed), set the moment of inertia ratio (Pn103) correctly.
If the moment of inertia ratio is not set correctly, normal control of the machine may not be possible, and vibration may result.
- Communications with the SERVOPACK cannot be disconnected during multi-axis simultaneous tuning.
- If you attempt to delete the SERVOPACK with the [Delete] button in the workspace during multi-axis simultaneous tuning, the following dialog box will be displayed.
Use the following procedure to autotune the gains with automatic SERVOPACK operation on multiple axes.
- Confirm that the value of Pn103 (Moment of Inertia Ratio) is set correctly.
- Select [Multi-Axis Simultaneous Tuning] in the [Menu] window.
The [Multi-Axis Simultaneous Tuning] window will be displayed.Multi-axis simultaneous tuning cannot be executed if there is only one online SERVOPACK axis displayed in the workspace.
If that occurs, the following message dialog box will be displayed. - Read the precautions and then click the [Execute] button.
Click the [Cancel] button to cancel multi-axis simultaneous tuning. The Main Window will return. - Configure the following three settings, and then click the [Next] button.
- Select the adjustment mode for the mechanism.
- Select whether to use references from the host controller to the SERVOPACK during tuning.
Select the "No reference input" option because the procedure described here is for multi-axis simultaneous tuning with automatic SERVOPACK operation.
Refer to Autotuning Gains for Multiple Axes with Reference Inputs from the Host Controller for the procedure to perform multi-axis simultaneous tuning with reference inputs from the host controller. - Select the axes to adjust.
No. Item Description (1) Select Adjustment Mode Select the adjustment mode for the mechanism. Select Adjustment Mode Meaning Gantry mechanism The gain setting is the same for both axes during adjustment and after adjustment is completed. XYZ mechanism Both axes operate with independent gain settings during adjustment, but the gain setting is the same after adjustment is completed. SCARA robot mechanism The gain setting is independent for both axes during adjustment and after adjustment is completed. "Gantry mechanism" and "XYZ mechanism" are supported on the following SERVOPACKs:- Standard Σ-XS/Σ-XW SERVOPACK models (software version: 000C or later)
- Σ-XS/Σ-XW FT70 SERVOPACKs (for gantry applications) (version 1 or later)
If you are performing tuning using the FT70, add the model information file (Y_SGDX_F070_07440200.swd).(2) Reference Input from Host Controller Select whether there is a reference from the host controller to the SERVOPACK during adjustment (i.e., whether the SERVOPACK performs automatic operation).
Note: If you selected "Gantry mechanism" for [Select Adjustment Mode], you cannot select "No reference input". (Adjustments will be made with "Refernce input".)(3) Select Axes Select the [Target] check box for the axes on which to perform simultaneous tuning. Select Axes Meaning SERVOPACK Model Displays the online SERVOPACK models on which you can perform multi-axis simultaneous tuning. Axis No. Displays the axes of the SERVOPACKs displayed in the [SERVOPACK Model] column.
Note: If you selected "Gantry mechanism" for [Select Adjustment Mode], you cannot select three or more axes.Target Select the check boxes of the axes on which to perform multi-axis simultaneous tuning.
Notes: You cannot select axes displayed in gray because these axes are not supported in the selected adjustment mode.Motor Type Displays the types of motors connected to the SERVOPACKs. The axes that can be adjusted and the number of axes will depend on the connected SERVOPACKs and the selected adjustment mode.
- Make the adjustment settings in this area.
To batch set the conditions of all axes, click the [Setting] button in the [Batch Settings] area.
To set the conditions of individual axes, click the [Setting] button in the [Individual Settings] area.
The [Basic Settings] window will be displayed. - Set the conditions for automatic adjustment.
For batch settings, the settings for the first axis in the adjustment settings list will be displayed.The following window will be displayed if the adjustment mode is "XYZ mechanism" and a button in the [Individual Settings] area was clicked. Only [Travel Distance] on the [Basic Settings] window can be set.You cannot set the travel distance if you attempt to set it for multiple axes with different motor types in batch. Set the travel distance for each axis in the individual settings.No. Item Description (1) Switching the load moment of inertia (load mass) identification Specify whether to estimate the moment of inertia. (2) Mode Selection Select the model from [Mode selection].
Select the mode according to the following guidelines.Mode Selection Meaning 1: Standard Standard gain adjustment is performed. In addition to gain adjustment, notch filters and anti-resonance control are automatically adjusted. 2: For positioning Tuning is performed for positioning applications. In addition to gain adjustment, model following control, notch filters, anti-resonance control, and vibration suppression are automatically adjusted. 3: For positioning
especially to prevent overshootingTuning is performed for positioning applications with emphasis on eliminating overshooting. In addition to gain adjustment, notch filters, anti-resonance control, and vibration suppression are automatically adjusted. (3) Mechanism Selection Select the type according to the machine element to drive in [Mechanism selection].
If there is noise or if the gain does not increase, better results may be obtained by changing the mechanism selection.
Select the mechanism according to the following guidelines.Mechanism Selection Meaning 1: Belt mechanism Tuning is performed for a mechanism with relatively low rigidity, e.g., a belt. 2: Ball screw mechanism or linear motor Tuning is performed for a mechanism with relatively high rigidity, e.g., a ball screw or linear servomotor. Use this setting if there is no other appropriate setting. 3: Rigid model Tuning is performed for a mechanism with high rigidity, e.g., a rigid body system. (4) Tuning Parameters Specify the parameters to use for tuning.
If you select [Start tuning using the default settings], the tuning parameters will be returned to the default settings before tuning is started.(5) Detailed Setting Click this button to display the [Advanced Setting] window on which you can set the details of tuning conditions. Configure detailed tuning conditions in the following cases: - To tune a higher response than the tuning results
- When tuning fails with a large amount of overshoot
- To tune with speed I-P control
(6) Distance Enter the distance to travel during tuning in [Distance].
Movement range:- Σ-X-Series SERVOPACKs with software versions 0011 or higher: -1073741000 to +1073741000 [reference units]
- Others: -99990000 to +99990000 [reference units]
Negative values are for reverse operation and positive values are for forward operation from the current position.
Default settings:- Rotary servomotors: Approx. 3 rotations
- Direct drive servomotors: Approx. 0.3 rotations
- Linear servomotors: Approx. 90 mm
- Rotary servomotors: 0.5 rotations
- Direct drive servomotor: 0.05 rotations
- Linear servomotors: 5 mm
To set the advanced settings, click the [Advanced Setting] button.
Enter the settings and click the [Setting] button.
For batch settings, the settings for the first axis in the adjustment settings list will be displayed.No. Item Description (1) Gain Upper Limit (Pn540) Set the upper limit value of speed loop gain to search. (2) Setting Gain Ratio (Pn562) Set the value to set for speed loop gain as a percentage in relation to the upper limit value of speed loop gain that was searched. For example, when 80[%] is set and the upper limit value of speed loop gain that was searched is 300 [Hz], the speed loop gain is automatically set to 240 [Hz].
The default setting is 80[%]. The response characteristics of the servo improve by increasing this setting value, but vibration may occur depending on the condition of the machine.
The response characteristics of the servo weaken by decreasing this setting value, and vibration may occur less when the condition of the machine changes.(3) Overshoot Allowable Width (Pn561) Set the amount of overshoot to allow during tuning. (4) Speed I-P Control For high-speed positioning and high-speed, high-precision processing applications, you can use a lower loop gain than for PI control to reduce the positioning time and reduce arc radius reduction. - Click the [Setting] button.
The [Multi-Axis Simultaneous Tuning] window will return. - Confirm that [Set Status] for all axes has changed to “Set”, and then click the [Next] button.An axis for which the settings have not been completed will display “Not set” for [Set Status].
If you click the [Next] button when an axis is “Not set”, the following dialog box will be displayed.
Make the settings for all axes. - Click the [Servo ON] button.
Of the axes to adjust, the servo will be turned ON for those that are OFF. - Click the [Start tuning] button.
- Confirm safety around moving parts and click the [Yes] button.
The servomotor shaft will rotate and adjustment will start.
Vibration that occurs during adjustment will be detected automatically and suitable settings will be made for that vibration. The content to set will be displayed in the window.
If adjustment is completed normally, "Tuning completed" will be displayed in the [Adjustment Status] area.
Confirm that the adjustment of all axes has been completed.Details on the settings are shown below.To change the axis of the adjustment results that are displayed in the window, select the check box under [Show] for the axis to display.Item Description Settling time Displays the settling time by the tuning results. Overshoot Displays the maximum overshoot by the tuning results. Feedback level (maximum tuning gain) Displays the maximum value of Pn100 (Speed Loop Gain) during tuning. Feedback level (current value) Displays the value of Pn100 (Speed Loop Gain) after tuning. The number in parentheses is the percentage of adjusting maximum gain. Feedforward level Displays the value of Pn141 (Model Following Control Gain) after tuning. Notch filter 1
Notch filter 2Displays the frequencies set by the notch filters. "----" is displayed if not set. A type vibration control Displays the frequency set by anti-resonance control. "----" is displayed if not set. Vibration suppression function A
Vibration suppression function BDisplays the frequencies set by vibration suppression. "----" is displayed if not set. - Write the adjustment results.
Click the [Batch Write Results] button.
Confirm that "Writing Completed" is displayed under [Write Status] for all axes.For a SCARA robot mechanism, you can individually write the adjustment results to any selected axes.
Select the [Show] check box for the axes with adjustment results to write, and then click [Write Results] button.
Confirm that “Writing Completed” is displayed under [Write Status] for the axes that were written.If you click the [Cancel] button when the adjustment results of an axis have not been written, the following dialog box will be displayed.
Click the [OK] button to discard the adjustment results and close the [Multi-Axis Simultaneous Tuning] window. To write the results, click the [Cancel] button to return to the [Multi-Axis Simultaneous Tuning] window. - Click the [Finish] button.
The results of adjustment will be set in the SERVOPACK parameters and the [Multi-Axis Simultaneous Tuning] window will close.When the following window is displayed, click the [OK] button to execute a software reset to enable the parameters.
The software will be reset, the results of tuning will be set in the parameters, and you will return to the [Multi-Axis Simultaneous Tuning] window.
This concludes the procedure to perform multi-axis autotuning without a host reference.
6.2.6 Autotuning Gains for Multiple Axes with Reference Inputs from the Host Controller
Multi-axis simultaneous tuning is a function that automatically makes optimum adjustments on multiple axes for operation references from the host controller.
The following items are adjusted automatically.
- Gains (e.g., speed loop gain and position loop gain)
- Filters (torque reference filter and notch filters)
- Friction compensation
- Anti-resonance control
- Vibration suppression
- Because autotuning with a host reference adjusts the SERVOPACK during automatic operation, vibration or overshooting may occur. To ensure safety, make sure that you can perform an emergency stop at any time.
- If you are using an MP3000-series controller for phase control, set [Mode selection] to "1". If [Mode selection] is set to a mode other than "1", correct phase control may not be possible.
- Communications with the SERVOPACK cannot be disconnected during multi-axis simultaneous tuning.
- If you attempt to delete the SERVOPACK with the [Delete] button in the workspace during multi-axis simultaneous tuning, the following dialog box will be displayed.
Use the following procedure to autotune the gains for multiple axes with reference inputs from the host controller.
- Confirm that the value of Pn103 (Moment of Inertia Ratio) is set correctly.
- Confirm that the values of Pn20E (Electronic Gear Ratio (Numerator)) and Pn210 (Electronic Gear Ratio (Denominator)) are set correctly.When a servomotor other than a linear servomotor or a servomotor with a fully-closed encoder is moved with a reference from the host controller, the electronic gear value is calculated with the following settings.
- Electronic gear settings on the host controller
- Electronic gear settings on the SERVOPACK (Pn20E and Pn210)
For example, if you will use a servomotor with a 26-bit encoder and the encoder resolution on the host controller is 20 bits, the resolutions output from the host controller and from the SERVOPACK will be different. To make the resolutions the same, set the electronic gear settings on the SEROVPACK as shown below.- Pn20E (Electronic Gear Ratio (Numerator)) = 64
- Pn210 (Electronic Gear Ratio (Denominator)) = 1
To change the electronic gear value, change the parameters on the [Edit Parameters] window. Refer to the following section for details on the operation.
→◆Editing Parameters - Select [Multi-Axis Simultaneous Tuning] in the [Menu] window.
The [Multi-Axis Simultaneous Tuning] window will be displayed.Multi-axis simultaneous tuning cannot be executed if there is only one online SERVOPACK axis displayed in the workspace.
If that occurs, the following message dialog box will be displayed. - Read the precautions and then click the [Execute] button.
Click the [Cancel] button to cancel multi-axis simultaneous tuning. The Main Window will return. - Configure the following three settings, and then click the [Next] button.
- Select the adjustment mode for the mechanism.
- Select whether to use a reference from the host controller to the SERVOPACK during tuning.
Select the "Reference input" option because the procedure described here is for multi-axis simultaneous tuning with references from the host controller.
Refer to Autotuning Gains for Multiple Axes with Automatic SERVOPACK Operation for the procedure to perform multi-axis simultaneous tuning with automatic SERVOPACK operation. - Select the axes to adjust.
No. Item Description (1) Select Adjustment Mode Select the adjustment mode for the mechanism. Select Adjustment Mode Meaning Gantry mechanism The gain setting is the same for both axes during adjustment and after adjustment is completed. XYZ mechanism Both axes operate with independent gain settings during adjustment, but the gain setting is the same after adjustment is completed. SCARA robot mechanism The gain setting is independent for both axes during adjustment and after adjustment is completed. "Gantry mechanism" and "XYZ mechanism" are supported on the following SERVOPACKs:- Standard Σ-XS/Σ-XW SERVOPACKs models (software version: 000C or later)
- Σ-XS/Σ-XW FT70 SERVOPACKs (for gantry applications) (version 1 or later)
If you are performing tuning using the FT70, add the model information file (Y_SGDX_F070_07440200.swd).(2) Reference Input from Host Controller Select whether there is a reference from the host controller to the SERVOPACK during adjustment (i.e., whether the SERVOPACK performs automatic operation).
Note: If you selected "Gantry mechanism" for [Select Adjustment Mode], you cannot select "No reference input". (Adjustments will be made with "Reference input".)(3) Select Axes Select the [Target] check box for the axes on which to perform simultaneous tuning. Select Axes Meaning SERVOPACK Model Displays the online SERVOPACK models on which you can perform multi-axis simultaneous tuning. Axis No. Displays the axes of the SERVOPACKs displayed in the [SERVOPACK Model] column.
Note: If you selected "Gantry mechanism" for [Select Adjustment Mode], you cannot select three or more axes.Target Select the check boxes of the axes on which to perform multi-axis simultaneous tuning.
Notes: You cannot select axes displayed in gray because these axes are not supported in the selected adjustment mode.Motor Type Displays the types of motors connected to the SERVOPACKs. The axes that can be adjusted and the number of axes will depend on the connected SERVOPACKs and the selected adjustment mode.
- Make the adjustment settings in this area.
<For a gantry mechanism>
Decide on the axis to which the reference will be input and select the check box in the [Reference Input Axis] column. Next, click the [Setting] button in the [Batch Settings] column.
Note: The individual settings cannot be used.
<For an XYZ mechanism>
Click the [Setting] button in the [Batch Settings] column.
Note: The individual settings cannot be used.
<For a SCARA robot mechanism>
To batch set the conditions of all axes, click the [Setting] button in the [Batch Settings] column.
To set the conditions of individual axes, click the [Setting] button in the [Individual Settings] area.
The [Basic Settings] window will be displayed. - Set the conditions for automatic adjustment.
For batch settings, the settings for the first axis in the adjustment settings list will be displayed.No. Item Description (1) Mode selection Select the model from [Mode selection].
Select the mode according to the following guidelines.Mode Selection Meaning 1: Standard Standard gain adjustment is performed. In addition to gain adjustment, notch filters and anti-resonance control are automatically adjusted. 2: For positioning Tuning is performed for positioning applications. In addition to gain adjustment, model following control, notch filters, anti-resonance control, and vibration suppression are automatically adjusted. 3: For positioning
especially to prevent overshootingTuning is performed for positioning applications with emphasis on eliminating overshooting. In addition to gain adjustment, notch filters, anti-resonance control, and vibration suppression are automatically adjusted. (2) Mechanism selection Select the type according to the machine element to drive in [Mechanism selection].
If there is noise or if the gain does not increase, better results may be obtained by changing the rigidity type. Select the type according to the following guidelines.Mechanism Selection Meaning 1: Belt mechanism Tuning is performed for a mechanism with relatively low rigidity, e.g., a belt. 2: Ball screw mechanism or linear motor Tuning is performed for a mechanism with relatively high rigidity, e.g., a ball screw, or a linear servomotor. Use this setting if there is no other appropriate setting. 3: Rigid model Tuning is performed for a mechanism with high rigidity, e.g., a rigid body system. (3) Tuning parameters Specify the parameters to use for tuning.
If you select [Start tuning using the default settings], the tuning parameters will be returned to the default settings before tuning is started.(4) [Advanced Setting] button Click this button to display the [Advanced Setting] window on which you can set the details of tuning conditions. Configure detailed tuning conditions in the following cases: - To tune a higher response than the tuning results
- When tuning fails with a large amount of overshoot
- To tune with speed I-P control
(5) Moment of Inertia Ratio Change the settings as required. For batch settings, the moment of inertia ratio cannot be set here because the setting of each axis will be used. Confirm that the value of Pn103 (Moment of Inertia Ratio) is correct, and then execute tuning.To set the advanced settings, click the [Advanced Setting] button.
Enter the settings and click the [Setting] button.
For batch settings, the settings for the first axis in the adjustment settings list will be displayed.No. Item Description (1) Gain Upper Limit (Pn540) Set the upper limit value of speed loop gain to search. (2) Setting Gain Ratio (Pn562) Set the value to set for speed loop gain as a percentage in relation to the upper limit value of speed loop gain that was searched. For example, when 80[%] is set and the upper limit value of speed loop gain that was searched is 300 [Hz], the speed loop gain is automatically set to 240 [Hz].
The default setting is 80[%]. The response characteristics of the servo improve by increasing this setting value, but vibration may occur depending on the condition of the machine.
The response characteristics of the servo weaken by decreasing this setting value, and vibration may occur less when the condition of the machine changes.(3) Overshoot Allowable Width (Pn561) Set the amount of overshoot to allow during tuning. (4) Speed I-P Control For high-speed positioning and high-speed, high-precision processing applications, you can use a lower loop gain than for PI control to reduce the positioning time and reduce arc radius reduction. - Click the [Setting] button.
The [Multi-Axis Simultaneous Tuning] window will return. - Confirm that [Set Status] for all axes has changed to “Set”, and then click the [Next] button.An axis for which the settings have not been completed will display “Not set” for [Set Status].
If you click the [Next] button when an axis is “Not set”, the following dialog box will be displayed.
Make the settings for all axes. - Turn ON the servo, enter a reference from the host controller, and then click the [Start tuning] button.For "Gantry mechanism", input the same host reference to both axes.
- Confirm safety around moving parts and click the [Yes] button.
The servomotor shaft will rotate and adjustment will start.
Vibration that occurs during adjustment will be detected automatically and suitable settings will be made for that vibration. The content to set will be displayed in the window.
If adjustment is completed normally, "Tuning completed" will be displayed in the [Adjustment Status] area.
Confirm that the adjustment of all axes has been completed.Details on the settings are shown below.To change the axis of the adjustment results that are displayed in the window, select the check box under [Show] for the axis to display.Item Description Settling time Displays the settling time by the tuning results. Overshoot Displays the maximum overshoot by the tuning results. Feedback level (maximum tuning gain) Displays the maximum value of Pn100 (Speed Loop Gain) during tuning. Feedback level (current value) Displays the value of Pn100 (Speed Loop Gain) after tuning. The number in parentheses is the percentage of adjusting maximum gain. Feedforward level Displays the value of Pn141 (Model Following Control Gain) after tuning. Notch filter 1
Notch filter 2Displays the frequencies set by the notch filters. "----" is displayed if not set. A type vibration control Displays the frequency set by anti-resonance control. "----" is displayed if not set. Vibration suppression function A
Vibration suppression function BDisplays the frequencies set by vibration suppression. "----" is displayed if not set. - Write the adjustment results.
Click the [Batch Write Results] button.
Confirm that "Writing Completed" is displayed under [Write Status] for all axes.For a SCARA robot mechanism, you can individually write the adjustment results to any selected axes.
Select the [Show] check box for the axes with adjustment results to write, and then click [Write Results] button.
Confirm that “Writing Completed” is displayed under [Write Status] for the axes that were written.If you click the [Cancel] button when the adjustment results of an axis have not been written, the following dialog box will be displayed.
Click the [OK] button to discard the adjustment results and close the [Multi-Axis Simultaneous Tuning] window. To write the results, click the [Cancel] button to return to the [Multi-Axis Simultaneous Tuning] window. - Click the [Finish] button.
- Confirm the contents of the message and click the [OK] button.
The results of adjustment will be set in the controller parameters and the [Multi-Axis Simultaneous Tuning] window will close. - Save the parameters written to the controller to flash memory with the MPE720.
This concludes the procedure to perform multi-axis autotuning with a host reference.
6.3 Performing Basic Tuning（Σ-7）
6.3.1 Estimating the Load Moment of Inertia
The moment of inertia during operation is automatically calculated by the SERVOPACK for round-trip (forward and reverse) operation. A reference from the host controller is not used.
The moment of inertia ratio (i.e., the ratio of the load moment of inertia to the motor moment of inertia) is a basic parameter for adjusting gains. It must be set as accurately as possible.
Although the load moment of inertia can be calculated from the weight and structure of the mechanisms, doing so is very troublesome and calculating it accurately can be very difficult with the complex mechanical structures that are used these days. With moment of inertia estimation, you can get an accurate load moment of inertia simply by operating the motor in the actual system in forward and reverse a few times.
The servomotor is operated with the following specifications.
- Maximum speed: ±1,000 min-1 (can be changed)
- Acceleration rate: ±20,000 min-1/s (can be changed)
- Travel distance: ±2.5 rotations max. (can be changed)
Note: Execute moment of inertia estimation after jogging to a position that ensures a suitable range of motion.
- Estimating the moment of inertia requires operating the servomotor and therefore presents hazards. Observe the following precautions.
- Confirm safety around moving parts.
This function involves automatic operation with vibration. Make sure that you can perform an emergency stop (to turn OFF the power) at any time. There will be movement in both directions within the set range of movement. Check the range of movement and the directions and implement protective controls for safety, such as the overtravel functions.
- Confirm safety around moving parts.
- Be aware of the following points if you cancel the moment of inertia estimation while the motor is operating.
- If you cancel operation with the [Servo OFF] button, the servomotor will stop according to setting of the Servo OFF stopping method (Pn001 = n.□□□X).
- If you cancel operation with the [Cancel] button, the servomotor will decelerate to a stop and then enter a zero-clamped state.
Use the following procedure to estimate the load moment of inertia.
- Select [Tuning] in the [Menu] window.
The [Tuning] window will be displayed. - Read the precautions and then click the [Execute] button.
Click the [Cancel] button to cancel estimating the moment of inertia. The Main Window will return. - Click the [Execute] button.
The [Condition Setting] window will be displayed. - Set the conditions for estimating the moment of inertia.
No. Item Description (1) Speed Loop Setting Make the speed loop settings in this area.
If the speed loop response is too bad, it will not be possible to measure the moment of inertia ratio accurately.
The values for the speed loop response that are required for moment of inertia estimation are set for the default settings. It is normally not necessary to change these settings.
If the default speed loop gain is too high for the machine (i.e., if vibration occurs), lower the setting. It is not necessary to increase the setting any further.(2) Identification Start Level This is the setting of the moment of inertia calculation starting level.
If the load is large or the machine has low rigidity, the torque limit may be applied, causing moment of inertia estimation to fail.
If that occurs, estimation may be possible if you double the setting of the start level.(3) [Edit] button Click the button to display a dialog box to change the settings related to the speed loop or estimation start level. (4) [Help] button Click this button to display Guidelines for Setting the Reference Conditions in help. Make the following settings as required. - Operate the servomotor to measure the load moment of inertia of the machine in comparison with the rotor moment of inertia.
- Set the operation mode, reference pattern (maximum acceleration rate, maximum speed, and maximum travel distance), and speed loop-related parameters.
- Correct measurement of the moment of inertia ratio may not be possible depending on the settings. Set suitable settings using the measurement results as reference. For details, refer to Guidelines for Setting the Reference Conditions.
(5) Reference Selection Either select the reference pattern for estimation processing from the reference selection list, or set the values in the [Detailed Setting] area. Generally speaking, the larger the maximum acceleration rate is, the more accurate the moment of inertia estimation will be.
Set the maximum acceleration range within the possible range of movement considering the gear ratio, e.g., the pulley diameters or ball screw pitch.(6) [Confirm] button Click this button to display the [Reference Confirmation] window. (7) Detailed Setting You can change the settings by moving the bars or directly inputting the settings to create the required reference pattern. - The travel distance is the distance for one operation in the forward or reverse direction. During multiple operations, the operation starting position may move in one direction or the other. Confirm the possible operating range for each measurement or operation.
- Depending on the parameter settings and the moment of inertia of the machine, overshooting may occur and may cause the maximum speed setting to be exceeded temporarily. Allow sufficient leeway in the settings.
If the measured value is not correct:
Estimating the moment of inertia ratio cannot be performed correctly if the torque limit is activated. Adjust the limits or reduce the acceleration rate in the [Reference Selection] area so that the torque limit is not activated. - Click the [Next] button.
Click the [Cancel] button to cancel estimating the moment of inertia. The [Tuning ] window will return. - Click the [Start] button.
Transferring the reference conditions to the SERVOPACK will be started and the progress of transferring the data will be displayed.
Click the [Back] button to return to the previous window.
Click this [Cancel] button to cancel estimating the moment of inertia and return to the [Tuning] window. - After the data has been transferred, click the [Next] button.
- Click the [Servo On] button.
- Click the [Forward] button.
The servomotor shaft will rotate in the forward direction and the measurement will start. After the measurement and data transfer have been completed, the [Reverse] button will be displayed in color. - Click the [Reverse] button.
The servomotor shaft will rotate in the reverse direction and the measurement will start. After the measurement and data transfer have been completed, the [Forward] button will be displayed in color. - Repeat step 9 and step 10 until the [Next] button is enabled.
Measurements are performed from 2 to 7 times and then verified. The number of measurements is displayed in upper left corner of the window. A progress bar at the bottom of the window will show the progress of the transfer each time. - When the measurements have been completed, click the [Servo On] button to turn OFF the servo.
- Click the [Next] button.
The estimated moment of inertia will be displayed in the [Write Results] window.The following dialog box will be displayed if you click the [Next] button before you turn OFF the servo. Turn OFF the servo by clicking the [OK] button. - Click the [Writing Results] button.
The value in [Identified Moment of Inertia Ratio] will be set in the SERVOPACK and displayed in [Pn103: Moment of Inertia Ratio]. - Confirm that [Identified Moment of Inertia Ratio] and [Pn103: Moment of Inertia Ratio] show the same value and then click the [Finish] button.
- Click the [OK] button.
The [Software Reset] window will be displayed. - Click the [Execute] button.
This concludes the procedure to estimate the load moment of inertia.
Guidelines for Setting the Reference Conditions
- The servomotor will cause the machine to vibrate and measure the frequency characteristics.
- Set the operating mode, sampling time, excitation amplitude, and the number of measurements.
- Correct measurement of the frequency characteristics may not be possible depending on the settings. Set suitable settings using the measurement results as reference. Refer to the following Setting Guideline Details for more information.
Setting Guideline Details
Reference Selection
The servomotor is operated in forward and reverse with references such as those shown below. (The references shown below are for forward operation.) To set the reference pattern, select the reference from the combo box in the [Reference Selection] area (recommended), or enter the detailed settings.
Generally speaking, the larger the maximum acceleration rate is, the more accurate the moment of inertia (mass) estimation will be.
Set the maximum acceleration rate within the possible range of movement considering the gear ratio, e.g., the pulley diameters or ball screw pitch.
- The travel distance is the distance for one operation in the forward or reverse direction. During multiple operations, the operation starting position may move in one direction or the other. Confirm the possible operating range for each measurement or operation.
- Depending on the parameter settings and the moment of inertia of the machine, overshooting may occur and may cause the maximum speed setting to be exceeded temporarily. Allow sufficient leeway in the settings.
Speed Loop Setting
If the speed loop response is too bad, it will not be possible to measure the moment of inertia ratio accurately.
The values for the speed loop response that are required for moment of inertia estimation are set for the default settings. It is normally not necessary to change these settings.
If the default speed loop gain is too high for the machine (i.e., if vibration occurs), lower the setting. It is not necessary to increase the setting any further.
Identification Start Level
If the load is large or the machine has low rigidity, the torque limit may be applied, causing moment of inertia estimation to fail.
If that occurs, estimation may be possible if you double the setting of the start level.
Estimating the moment of inertia ratio cannot be performed correctly if the torque limit is activated. Adjust the limits or reduce the acceleration rate in the [Reference Selection] area so that the torque limit is not activated.
6.3.2 Autotuning Gains with Automatic SERVOPACK Operation
The servomotor is automatically operated within the specified range (round-trip operation, i.e., forward and reverse). During operation, tuning is performed automatically according to machine characteristics.
Autotuning without a host reference requires operating the servomotor and therefore presents hazards.
Observe the following precautions.
- Confirm safety around moving parts.
This function involves automatic operation with vibration. Make sure that you can perform an emergency stop (to turn OFF the power) at any time. There will be movement in both directions within the set range of movement. Check the range of movement and the directions and implement protective controls for safety, such as the overtravel functions.
- Be aware of the following points if you cancel autotuning without a host reference while the motor is operating.
- If you cancel operation with the [Servo OFF] button, the servomotor will stop according to setting of the Servo OFF stopping method parameter.
- If you cancel operation with the [Cancel] button, the servomotor will decelerate to a stop and then enter a zero-clamped state. (It is not possible to cancel operation with the [Cancel] button for some SERVOPACKs.)
- If you set the Switching the Load Moment of Inertia (Load Mass) Identification parameter to 1 (a moment of inertia is not presumed), set the moment of inertia ratio (Pn103) correctly.
If the moment of inertia ratio is not set correctly, normal control of the machine may not be possible, and vibration may result.
Use the following procedure to autotune the gains with automatic SERVOPACK operation.
- Select [Tuning] in the [Menu] window.
The [Tuning] window will be displayed. - Read the precautions and then click the [Execute] button.
Click the [Cancel] button to cancel tuning. The Main Window will return. - Select the [No reference input] option in the [Autotuning] area and then click the [Autotuning] button.
- Set the conditions for automatic tuning.
No. Item Description (1) Switching the load moment of inertia (load mass) identification* Select whether to estimate the load moment of inertia (load mass).
Normally select “0: A moment of inertia is presumed”.- 0: A moment of inertia is presumed.
- 1: A moment of inertia is not presumed.
(2) Mode Selection Select the model from [Mode selection].
Select the mode according to the following guidelines.Mode Selection Meaning 1: Standard Standard gain adjustment is performed. In addition to gain adjustment, notch filters and anti-resonance control are automatically adjusted. 2: For positioning Tuning is performed for positioning applications. In addition to gain adjustment, model following control, notch filters, anti-resonance control, and vibration suppression are automatically adjusted. 3: For positioning
especially to prevent overshootingTuning is performed for positioning applications with emphasis on eliminating overshooting. In addition to gain adjustment, notch filters, anti-resonance control, and vibration suppression are automatically adjusted. (3) Mechanism Selection Select the type according to the machine element to drive in [Mechanism selection].
If there is noise or if the gain does not increase, better results may be obtained by changing the mechanism selection.
Select the mechanism according to the following guidelines.Mechanism Selection Meaning 1: Belt mechanism Tuning is performed for a mechanism with relatively low rigidity, e.g., a belt. 2: Ball screw mechanism or linear motor Tuning is performed for a mechanism with relatively high rigidity, e.g., a ball screw or linear servomotor. Use this setting if there is no other appropriate setting. 3: Rigid model Tuning is performed for a mechanism with high rigidity, e.g., a rigid body system. (4) Distance Enter the distance to travel during tuning in [Distance].
Movement range: −99,990,000 to +99,990,000 [reference units]
Minimum setting increment for travel distance: 1,000 [reference units]
Negative values are for reverse operation and positive values are for forward operation from the current position.
Default settings:- Rotary servomotors: Approx. 3 rotations
- Direct drive servomotors: Approx. 0.3 rotations
- Linear servomotors: Approx. 90 mm
- Rotary servomotors: 0.5 rotations
- Direct drive servomotor: 0.05 rotations
- Linear servomotors: 5 mm
(5) Tuning parameters Specify the parameters to use for tuning.
If you select the [Start tuning using the default settings] check box and execute autotuning with a host reference, the tuning parameters will be returned to the default settings before autotuning with a host reference is started.* If the moment of inertia ratio is already known from the machine specifications, set the value in Pn103 (Moment of Inertia Ratio) and select “1: A moment of inertia is not presumed”. - Click the [Next] button.
- Click the [Servo ON] button.
- Click the [Start tuning] button.
- Confirm safety around moving parts and click the [Yes] button.
Autotuning will start and the servomotor will rotate. - Click the [Finish] button.
The tuning results will be set in the parameters.
This concludes the procedure to perform autotuning without a host reference.
6.3.3 Autotuning Gains with Reference Inputs from the Host Controller
Optimum adjustments are made automatically for operation references from the host controller.
The following items are adjusted automatically.
- Gains (e.g., speed loop gain and position loop gain)
- Filters (torque reference filter and notch filters)
- Friction compensation
- Anti-resonance control
- Vibration suppression
- Because autotuning with a host reference adjusts the SERVOPACK during automatic operation, vibration or overshooting may occur. To ensure safety, make sure that you can perform an emergency stop at any time.
- If you are using an MP3000-series controller for phase control, set [Mode selection] to "1". If [Mode selection] is set to a mode other than "1", correct phase control may not be possible.
Use the following procedure to autotune the gains with reference inputs from the host controller.
- Confirm that the value of Pn103 (Moment of Inertia Ratio) is set correctly.
- Confirm that the values of Pn20E (Electronic Gear Ratio (Numerator)) and Pn210 (Electronic Gear Ratio (Denominator)) are set correctly.When a servomotor other than a linear servomotor or a servomotor with a fully-closed encoder is moved with a reference from the host controller, the electronic gear value is calculated with the following settings.
- Electronic gear settings on the host controller
- Electronic gear settings on the SERVOPACK (Pn20E and Pn210)
For example, if you will use a servomotor with a 26-bit encoder and the encoder resolution on the host controller is 20 bits, the resolutions output from the host controller and from the SERVOPACK will be different. To make the resolutions the same, set the electronic gear settings on the SEROVPACK as shown below.- Pn20E (Electronic Gear Ratio (Numerator)) = 64
- Pn210 (Electronic Gear Ratio (Denominator)) = 1
To change the electronic gear value, change the parameters on the [Edit Parameters] window. Refer to the following section for details on the operation.
→◆Editing Parameters - Select [Tuning] in the [Menu] window.
The [Tuning] window will be displayed. - Read the precautions and then click the [Execute] button.
Click the [Cancel] button to cancel tuning. The Main Window will return.When the following window is displayed, click the [OK] button and then confirm that the correct moment of inertia ratio is set in Pn103 (moment of inertia ratio). - Select the [Position reference input] option in the [Autotuning] area and then click the [Autotuning] button.
- Set the conditions for automatic tuning.
No. Item Description (1) Mode selection Select the model from [Mode selection].
Select the mode according to the following guidelines.Mode Selection Meaning 1: Standard Standard gain adjustment is performed. In addition to gain adjustment, notch filters and anti-resonance control are automatically adjusted. 2: For positioning Tuning is performed for positioning applications. In addition to gain adjustment, model following control, notch filters, anti-resonance control, and vibration suppression are automatically adjusted. 3: For positioning
especially to prevent overshootingTuning is performed for positioning applications with emphasis on eliminating overshooting. In addition to gain adjustment, notch filters, anti-resonance control, and vibration suppression are automatically adjusted. (2) Mechanism selection Select the type according to the machine element to drive in [Mechanism selection].
If there is noise or if the gain does not increase, better results may be obtained by changing the rigidity type. Select the type according to the following guidelines.Mechanism Selection Meaning 1: Belt mechanism Tuning is performed for a mechanism with relatively low rigidity, e.g., a belt. 2: Ball screw mechanism or linear motor Tuning is performed for a mechanism with relatively high rigidity, e.g., a ball screw, or a linear servomotor. Use this setting if there is no other appropriate setting. 3: Rigid model Tuning is performed for a mechanism with high rigidity, e.g., a rigid body system. (3) Tuning parameters Specify the parameters to use for tuning.
If you select the [Start tuning using the default settings] check box and execute autotuning with a host reference, the tuning parameters will be returned to the default settings before autotuning with a host reference is started. - Click the [Next] button.
Click the [Cancel] button to cancel autotuning with a host reference. The [Tuning] window will return. - Click the [Yes] button.
- Input the correct moment of inertia ratio and click the [Next] button.
- Turn ON the servo, enter a reference from the host controller, and then click the [Start tuning] button.
- Confirm safety around moving parts and click the [Yes] button.
The servomotor shaft will rotate and tuning will start.
Vibration that occurs during tuning will be detected automatically and suitable settings will be made for that vibration. When the settings have been completed, the indicators for the functions that were used will light at the lower left of the window. - When tuning has been completed, click the [Finish] button.
The results of tuning will be set in the parameters and you will return to the [Tuning] window.
This concludes the procedure to perform autotuning with a host reference.
6.4 Detailed Tuning (Σ-X)
6.4.1 Manually Tuning Gains with Reference Inputs from the Host Controller
This tuning method is used to manually adjust the servo during operation using a speed or position reference input from the host controller. You can use it to fine-tune adjustments that were made with autotuning.
The following items are adjusted automatically.
- Gains (e.g., speed loop gain and position loop gain)
- Filters (torque reference filter and notch filters)
- Friction compensation
- Anti-resonance control
There are two adjustment methods that you can use for tuning.
Tuning Mode: 0, 1, 5, or 6
These modes allow you to set stable control conditions for multiple servo gains by manipulating only one tuning level. If vibration is detected, notch filters and anti-resonance control are automatically adjusted. Manual anti-resonance control adjustment is also possible during tuning.
Tuning Mode: 2 or 3
Two tuning levels are manipulated to reduce positioning time even further and set multiple servo gains. Model following control is used to reduce the positioning time. If vibration is detected, notch filters and anti-resonance control are automatically adjusted, and friction compensation is automatically set. Manual anti-resonance control adjustment and vibration suppression are also possible during custom tuning.
- Before you execute this operation, check the information provided in this manual. Observe the following precautions.
- Make sure that you can perform an emergency stop at any time.
When tuning is started with this operation, several parameters will be overwritten with the recommended settings, which may greatly affect the response before and after execution. Make sure that you can perform an emergency stop at any time. - Set the moment of inertia correctly before you execute this operation.
If the setting greatly differs from the actual moment of inertia, vibration may occur. - If you change the feedforward level, the new setting will not be used immediately. It will be used after positioning is completed.
- Make sure that you can perform an emergency stop at any time.
- Vibration or overshooting may occur during tuning. To ensure safety, make sure that you can perform an emergency stop at any time.
- If you are using an MP3000-series controller for phase control, set [Tuning mode] to "0" or "1". If [Tuning mode] is set to a mode other than "0" or "1", correct phase control may not be possible.
Use the following procedure to manually adjust the gains with reference inputs from the host controller.
- Confirm that the value of Pn103 (Moment of Inertia Ratio) is set correctly.
- Confirm that the values of Pn20E (Electronic Gear Ratio (Numerator)) and Pn210 (Electronic Gear Ratio (Denominator)) are set correctly.When a servomotor other than a linear servomotor or a servomotor with a fully-closed encoder is moved with a reference from the host controller, the electronic gear value is calculated with the following settings.
- Electronic gear settings on the host controller
- Electronic gear settings on the SERVOPACK (Pn20E and Pn210)
For example, if you will use a servomotor with a 26-bit encoder and the encoder resolution on the host controller is 20 bits, the resolutions output from the host controller and from the SERVOPACK will be different. To make the resolutions the same, set the electronic gear settings on the SEROVPACK as shown below.- Pn20E (Electronic Gear Ratio (Numerator)) = 64
- Pn210 (Electronic Gear Ratio (Denominator)) = 1
To change the electronic gear value, change the parameters on the [Edit Parameters] window. Refer to the following section for details on the operation.
→◆Editing Parameters - Select [Tuning] in the [Menu] window.
The [Tuning] window will be displayed. - Read the precautions and then click the [Execute] button.
Click the [Cancel] button to cancel tuning. The Main Window will return. - Click the [Advanced adjustment] button.When the following window is displayed, click the [OK] button and then confirm that the correct moment of inertia ratio is set in Pn103 (moment of inertia ratio).
- Click the [Custom tuning] button.
- Click the [Execute] button.
- Set the conditions for tuning.
No. Item Description (1) Tuning mode Set the tuning mode.
Select the mode according to the following guidelines.Mode Selection Meaning 0: Set servo gains with priority given to stability. This setting gives priority to stability and preventing overshooting. In addition to gain adjustment, notch filters and anti-resonance control (except during torque control) are automatically adjusted. 1: Set servo gains with priority given to response. Overshooting may occur because priority is given to response. In addition to gain adjustment, notch filters and anti-resonance control (except during torque control) are automatically adjusted. 2: Set servo gains for positioning application. Tuning is performed for positioning applications. In addition to gain adjustment, notch filters, anti-resonance control, and vibration suppression are adjusted. 3: Set servo gains especially to prevent overshooting during positioning application. Tuning is performed for positioning applications with emphasis on eliminating overshooting. In addition to gain adjustment, notch filters, anti-resonance control, and vibration suppression are adjusted. 5: Set servo gains appropriate for less-deviation control. Tuning is performed that is appropriate for control to reduce deviation during movement and improve tracking ability (i.e., less-deviation control). In addition to the gains, notch filters and anti-resonance control are adjusted. 6: Set servo gains for application with large load fluctuations. Load fluctuation compensation control is performed to suppress the variations in settling time that occur when the load fluctuates. In addition to gain adjustment, automatic setting of notch filters and anti-resonance control is provided. (2) Mechanism selection Select the type according to the machine element to drive in [Mechanism selection].
If there is noise or if the gain does not increase, better results may be obtained by changing the rigidity type. Select the type according to the following guidelines.Mechanism Selection Meaning 1: Belt mechanism Tuning is performed for a mechanism with relatively low rigidity, e.g., a belt. 2: Ball screw mechanism or linear motor Tuning is performed for a mechanism with relatively high rigidity, e.g., a ball screw, or a linear servomotor. Use this setting if there is no other appropriate setting. 3: Rigid model Tuning is performed for a mechanism with high rigidity, e.g., a rigid body system. The tuning modes that you can select depend on the SERVOPACK setting. - Click the [Next] button.
Click the [Cancel] button to cancel custom tuning. The [Tuning] window will return.
The window depends on the tuning mode that you select.
Use the links in the following table to jump to the relevant information.
| Tuning Mode | Description |
|---|---|
| 0: Set servo gains with priority given to stability, or 1: Set servo gains with priority given to response, or 5: Set servo gains appropriate for less-deviation control, or 6: Set servo gains for application with large load fluctuations | Tuning Mode 0, 1, 5, or 6 |
| 2: Set servo gains for positioning application, or 3: Set servo gains especially to prevent overshooting during positioning application | Tuning Mode 2 or 3 |
Tuning Mode 0, 1, 5, or 6
- Confirm that the values of Pn20E (Electronic Gear Ratio (Numerator)) and Pn210 (Electronic Gear Ratio (Denominator)) are set correctly.When a servomotor other than a linear servomotor or a servomotor with a fully-closed encoder is moved with a reference from the host controller, the electronic gear value is calculated with the following settings.
- Electronic gear settings on the host controller
- Electronic gear settings on the SERVOPACK (Pn20E and Pn210)
For example, if you will use a servomotor with a 26-bit encoder and the encoder resolution on the host controller is 20 bits, the resolutions output from the host controller and from the SERVOPACK will be different. To make the resolutions the same, set the electronic gear settings on the SEROVPACK as shown below.- Pn20E (Electronic Gear Ratio (Numerator)) = 64
- Pn210 (Electronic Gear Ratio (Denominator)) = 1
To change the electronic gear value, change the parameters on the [Edit Parameters] window. Refer to the following section for details on the operation.
→◆Editing Parameters - If the moment of inertia ratio is not set correctly, correct the setting and then click the [Next] button.
- Turn ON the servo, enter a reference from the host controller, and then click the [Start tuning] button.
- Use the [▲] and [▼] buttons to change the tuning level.
Increase the tuning level until overshooting occurs.
Click the [Back] button in the [Tuning level] area during adjustment to restore the setting to its original value. The tuning level will return to the value from before when tuning was started. - You can set the functions to suppress vibration (notch filters, automatic anti-resonance control setting, anti-resonance control adjustment, and autotuning with a host reference) as required.
Refer to Suppressing Continuous Vibration during Operation and Autotuning Gains with Reference Inputs from the Host Controller for details. - When tuning has been completed, click the [Completed.] button.
The results of tuning will be set in the parameters and you will return to the [Tuning] window.
This concludes the procedure to manually tune gains with reference inputs from the host controller.
Tuning Mode 2 or 3
- Confirm that the values of Pn20E (Electronic Gear Ratio (Numerator)) and Pn210 (Electronic Gear Ratio (Denominator)) are set correctly.When a servomotor other than a linear servomotor or a servomotor with a fully-closed encoder is moved with a reference from the host controller, the electronic gear value is calculated with the following settings.
- Electronic gear settings on the host controller
- Electronic gear settings on the SERVOPACK (Pn20E and Pn210)
For example, if you will use a servomotor with a 26-bit encoder and the encoder resolution on the host controller is 20 bits, the resolutions output from the host controller and from the SERVOPACK will be different. To make the resolutions the same, set the electronic gear settings on the SEROVPACK as shown below.- Pn20E (Electronic Gear Ratio (Numerator)) = 64
- Pn210 (Electronic Gear Ratio (Denominator)) = 1
To change the electronic gear value, change the parameters on the [Edit Parameters] window. Refer to the following section for details on the operation.
→◆Editing Parameters - If the moment of inertia ratio is not set correctly, correct the setting and then click the [Next] button.
- Turn ON the servo, enter a reference from the host controller, and then click the [Start tuning] button.
- Use the [▲] and [▼] buttons to change the tuning level.
Increase the feedforward level until overshooting occurs and then increase the feedback level until overshooting is eliminated. Repeat these changes to make the adjustment.
The new feedforward level will not be used until the positioning completed signal is output.
Click the [Back] button in the [Tuning level] area during adjustment to restore the setting to its original value. The tuning level will return to the value from before when tuning was started. - You can set the functions to suppress vibration (notch filters, automatic anti-resonance control setting, anti-resonance control adjustment, and autotuning with a host reference) as required.
Refer to Suppressing Continuous Vibration during Operation and Autotuning Gains with Reference Inputs from the Host Controller for details. - When tuning has been completed, click the [Completed.] button.
The results of tuning will be set in the parameters and you will return to the [Tuning] window.
This concludes the procedure to manually tune gains with reference inputs from the host controller.
6.4.2 Suppressing Continuous Vibration during Operation
Anti-resonance control increases the effectiveness of vibration suppression after custom tuning.
Anti-resonance control is effective for suppression of continuous vibration frequencies from 100 Hz to 1,000 Hz that occur when the control gain is increased. Vibration can be eliminated by setting vibration frequencies through automatic detection or by manually setting them to adjust the damping gain. Input an operation reference and execute this anti-resonance control adjustment when there is vibration.
Anti-resonance control is automatically set by autotuning without a host reference or autotuning with a host reference. Use anti-resonance control adjustment only if fine-tuning is required or readjustment is required as a result of a failure to detect vibration.
Perform custom tuning if required to increase the response after performing anti-resonance control adjustment. If the control gain is increased, e.g., when custom tuning is performed, vibration may occur again. If that occurs, perform anti-resonance control adjustment again to fine-tune the parameters.
- Before you execute this operation, check the information provided in this manual. Observe the following precautions.
- Make sure that you can perform an emergency stop at any time.
When tuning is started with this operation, several parameters will be overwritten with the recommended settings, which may greatly affect the response before and after execution. Make sure that you can perform an emergency stop at any time. - Set the moment of inertia correctly before you execute this operation.
If the setting greatly differs from the actual moment of inertia, vibration may occur.
- Make sure that you can perform an emergency stop at any time.
- Vibration or overshooting may occur during tuning. To ensure safety, make sure that you can perform an emergency stop at any time.
- If you have already performed anti-resonance control adjustment and then you change the frequency, the current anti-resonance control effect may be lost. Caution is particularly required when automatically detecting the vibration frequency.
- If effective vibration reduction is not achieved even after you execute anti-resonance control adjustment, cancel the function and lower the control gain by using a different method, such as custom tuning.
- Perform custom tuning if required to increase the response after performing anti-resonance control adjustment.
If the servo gain is increased, e.g., when custom tuning is performed, vibration may occur again. If that occurs, perform anti-resonance control adjustment again to fine-tune the parameters.
- If you are using an MP3000-series controller for phase control, set [Tuning mode] to "0" or "1". If [Tuning mode] is set to a mode other than "0" or "1", correct phase control may not be possible.
Use the following procedure to suppress continuous vibration during operation.
- Confirm that the value of Pn103 (Moment of Inertia Ratio) is set correctly.
- Select [Tuning] in the [Menu] window.
The [Tuning] window will be displayed. - Read the precautions and then click the [Execute] button.
Click the [Cancel] button to cancel tuning. The Main Window will return. - Click the [Advanced adjustment] button.When the following window is displayed, click the [OK] button and then confirm that the correct moment of inertia ratio is set in Pn103 (moment of inertia ratio).
- Click the [Custom tuning] button.
- Click the [Execute] button.
- Set the conditions for tuning.
No. Item Description (1) Tuning mode Set the tuning mode.
Select the mode according to the following guidelines.Mode Selection Meaning 0: Set servo gains with priority given to stability. This setting gives priority to stability and preventing overshooting. In addition to gain adjustment, notch filters and anti-resonance control (except during torque control) are automatically adjusted. 1: Set servo gains with priority given to response. Overshooting may occur because priority is given to response. In addition to gain adjustment, notch filters and anti-resonance control (except during torque control) are automatically adjusted. 2: Set servo gains for positioning application. Tuning is performed for positioning applications. In addition to gain adjustment, notch filters, anti-resonance control, and vibration suppression are adjusted. 3: Set servo gains especially to prevent overshooting during positioning application. Tuning is performed for positioning applications with emphasis on eliminating overshooting. In addition to gain adjustment, notch filters, anti-resonance control, and vibration suppression are adjusted. 5: Set servo gains appropriate for less-deviation control. Tuning is performed that is appropriate for control to reduce deviation during movement and improve tracking ability (i.e., less-deviation control). In addition to the gains, notch filters and anti-resonance control are adjusted. 6: Set servo gains for application with large load fluctuations. Load fluctuation compensation control is performed to suppress the variations in settling time that occur when the load fluctuates. In addition to gain adjustment, automatic setting of notch filters and anti-resonance control is provided. (2) Mechanism selection Select the type according to the machine element to drive in [Mechanism selection].
If there is noise or if the gain does not increase, better results may be obtained by changing the rigidity type. Select the type according to the following guidelines.Mechanism Selection Meaning 1: Belt mechanism Tuning is performed for a mechanism with relatively low rigidity, e.g., a belt. 2: Ball screw mechanism or linear motor Tuning is performed for a mechanism with relatively high rigidity, e.g., a ball screw, or a linear servomotor. Use this setting if there is no other appropriate setting. 3: Rigid model Tuning is performed for a mechanism with high rigidity, e.g., a rigid body system. The tuning modes that you can select depend on the SERVOPACK setting. - Click the [Next] button.
Click the [Cancel] button to cancel anti-resonance control. The [Tuning] window will return. - If the moment of inertia ratio is not set correctly, correct the setting and then click the [Next] button.
- Click the [Anti-res Ctrl Adj] button.
Tuning Mode 0, 1, 5, or 6
Tuning Mode 2 or 3
The rest of the procedure depends on whether you know the vibration frequency.
If you do not know the vibration frequency, click the [Auto Detect] button. If you know the vibration frequency, click the [Manual Set] button.
Use the links in the following table to jump to the relevant information.Setting Method for Vibration Frequencies Description Automatic detection To Automatically Detect the Vibration Frequency Manual setting/resetting To Manually Set the Vibration Frequency
To Automatically Detect the Vibration Frequency
- Click the [Auto Detect] button, and then click the [Start adjustment] button.
- Use the [▲] and [▼] buttons to adjust the setting of the damping gain.
- When tuning has been completed, click the [Finish] button.
The results of tuning will be set in the parameters and you will return to the [Custom Tuning] window.
This concludes the procedure to suppress continuous vibration during operation.
To Manually Set the Vibration Frequency
- Click the [Manual Set] button, and then click the [Start adjustment] button.
- Use the [▲] and [▼] buttons to adjust the settings of the frequency and the damping gain.
- When tuning has been completed, click the [Finish] button.
The results of tuning will be set in the parameters and you will return to the [Tuning] window.
This concludes the procedure to suppress continuous vibration during operation.
6.4.3 Suppressing Transient Machine Vibration during Positioning
You can use vibration suppression to suppress transient vibration at a low frequency from 1 Hz to 100 Hz, which is generated mainly when the machine vibrates during positioning. This is effective for vibration frequencies for which notch filters and anti-resonance control adjustment are not effective.
Vibration suppression is automatically set by autotuning without a host reference or autotuning with a host reference. Use vibration suppression only if fine-tuning is required or readjustment is required as a result of a failure to detect vibration. To execute vibration suppression, input an operation reference and execute the function when there is vibration.
Perform custom tuning if required to increase the response after performing vibration suppression.
- Before you execute this operation, check the information provided in this manual. Observe the following precautions.
- Make sure that you can perform an emergency stop at any time.
When tuning is started with this operation, several parameters will be overwritten with the recommended settings, which may greatly affect the response before and after execution. Make sure that you can perform an emergency stop at any time. - Set the moment of inertia correctly before you execute this operation.
If the setting greatly differs from the actual moment of inertia, vibration may occur.
- Make sure that you can perform an emergency stop at any time.
- Vibration or overshooting may occur during tuning. To ensure safety, make sure that you can perform an emergency stop at any time.
- If you execute this operation when you are using an MP3000-series controller for phase control, correct phase control may not be possible.
Use the following procedure to suppress transient machine vibration during positioning.
- Confirm that the value of Pn103 (Moment of Inertia Ratio) is set correctly.
- Select [Tuning] in the [Menu] window.
The [Tuning] window will be displayed. - Read the precautions and then click the [Execute] button.
Click the [Cancel] button to cancel the operation. The Main Window will return. - Click the [Advanced adjustment] button.When the following window is displayed, click the [OK] button and then confirm that the correct moment of inertia ratio is set in Pn103 (moment of inertia ratio).
- Click the [Custom tuning] button.
- Click the [Execute] button.
- Set the conditions for tuning.
No. Item Description (1) Tuning mode Select 2 or 3 for the tuning mode in [Tuning mode]. Mode Selection Meaning 2: Set servo gains for positioning application. Tuning is performed for positioning applications. In addition to gain adjustment, notch filters, anti-resonance control, and vibration suppression are adjusted. 3: Set servo gains especially to prevent overshooting during positioning application. Tuning is performed for positioning applications with emphasis on eliminating overshooting. In addition to gain adjustment, notch filters, anti-resonance control, and vibration suppression are adjusted. (2) Mechanism selection Select the type according to the machine element to drive in [Mechanism selection].
If there is noise or if the gain does not increase, better results may be obtained by changing the rigidity type. Select the type according to the following guidelines.Mechanism Selection Meaning 1: Belt mechanism Tuning is performed for a mechanism with relatively low rigidity, e.g., a belt. 2: Ball screw mechanism or linear motor Tuning is performed for a mechanism with relatively high rigidity, e.g., a ball screw, or a linear servomotor. Use this setting if there is no other appropriate setting. 3: Rigid model Tuning is performed for a mechanism with high rigidity, e.g., a rigid body system. The tuning modes that you can select depend on the SERVOPACK setting. - Click the [Next] button.
Click the [Cancel] button to cancel vibration suppression. The [Tuning] window will return. - Input the correct moment of inertia ratio and click the [Next] button.
- Click the [Vib Suppress] button.
- Click the [Import] button or the click [▲] and [▼] buttons to manually adjust the set frequency.
When you click the [Import] button, the residual vibration frequency in the servomotor is read as the set frequency. (The frequency can be read only when the residual vibration frequency is between 1.0 and 100.0.)Frequency detection will not be performed if there is no vibration or if the vibration frequency is outside the range of detectable frequencies. If a vibration frequency is not detected, provide a means of measuring the vibration frequency. - Click the [Set] button.
If the vibration is not eliminated, use the [▲] and [▼] buttons for the set frequency to fine-tune the value and click the [Set] button again.
Click the [Reset] button during adjustment to restore the setting to its original value. The tuning level will return to the value from before when tuning was started.No settings related to vibration suppression are changed during operation.
If the servomotor does not stop within approximately 10 seconds after changing the setting, an update timeout will occur. The setting will be automatically returned to the previous value. - When the vibration has been eliminated, click the [Finish] button.
The results of tuning will be set in the parameters and you will return to the [Custom Tuning] window.Vibration suppression will be enabled in step 12. The servomotor response, however, will change when the servomotor comes to a stop with no reference input.
This concludes the procedure to suppress transient machine vibration during positioning.
6.4.4 Suppressing Vibration when Stopping the Motor
If you tune the servo gains too high, the servomotor or machine may vibrate when stopped even though there is no vibration during operation. This operation automatically lowers the internal servo gains while the servomotor is being stopped to suppress vibration in the servomotor and machine while the servomotor is being stopped. When servomotor and machine movement is started, the original servo gain settings are restored automatically.
Use the following procedure to suppress vibration while the servomotor is stopping.
- Confirm that the Pn103 (moment of inertia ratio) is set correctly.
- Select [Tuning] in the [Menu] window.
The [Tuning] window will be displayed. - Read the precautions and then click the [Execute] button.
Click the [Cancel] button to cancel the operation. The Main Window will return. - Click the [Advanced adjustment] button.When the following window is displayed, click the [OK] button and then confirm that the correct moment of inertia ratio is set in Pn103 (moment of inertia ratio).
- Click the [Gain switching] button.
- Click the [Execute] button.
When Manual Gain Switching Is Set
When Automatic Gain Switching Is Set - Set the conditions for gain switching.
No. Item Description (1) Waiting time Enter the time from a position command of zero to when to start gain switching in [Waiting time]. (2) Switching time Enter the time required to switch from the gain for operation to the gain for stopping in [Switching time]. (3) Gain when stopped (2nd Speed Loop Gain) Set between 50% and 100% of the value displayed in the [Gain while running (Speed Loop Gain)] box in [Gain when stopped (2nd Speed Loop Gain)]. Click the [Set in %] button to display the following window.
You can use this window to set [Gain when stopped (2nd Speed Loop Gain)] to a percentage of the value displayed in [Gain while running (Speed Loop Gain)].
Enter a percentage and click the [OK] button to display the automatically calculated value in [Gain when stopped (2nd Speed Loop Gain)]. - After you complete the settings, click the [Set] button.
The tuning results will be set in the parameters.
This concludes the procedure to suppress servomotor vibration while stopping.
6.4.5 Reducing Ripple in the Motor Speed
Introduction
There will be minor ripple (fluctuation) in the servomotor speed. You can use ripple compensation to suppress the ripple in the servomotor speed.
A simplified flowchart for ripple compensation is given below.
The flow will depend on the type of servomotor.
The displayed window will depend on whether a rotary servomotor or linear servomotor is connected.
Use the links in the following table to jump to the operating procedure.
| Servomotor Type | Reference |
|---|---|
| Rotary Servomotor | When a Rotary Servomotor Is Connected |
| Linear Servomotor | When a Linear Servomotor Is Connected |
When a Rotary Servomotor Is Connected
Use the following procedure to reduce ripple in the motor speed of a rotary servomotor.
- Select [Ripple Compensation] in the [Menu] window.
The [Ripple Compensation] window will be displayed. - Read the precautions and then click the [OK] button.
Click the [Cancel] button to cancel ripple compensation. The Main Window will return.If the write prohibited setting is ON, the following dialog box will be displayed.
Click the [OK] button to release write prohibition.
Refer to Prohibiting Parameter Changes from the Digital Operator for the procedure to release parameter write prohibition. - A [Jogging Speed] for the speed ripple measurement will be automatically displayed. If the [Jogging Speed] that was set is OK, proceed to step 5. To change the settings, click the [Edit] button.
- Enter the jogging speed in [Set Value] and click the [OK] button.
The Main Window will return. - Confirm safety around moving parts and click the [Servo ON] button.
The [Measurement/Verification] area will change and the [Forward] and [Reverse] buttons will be enabled. - Click the [Forward] button or the [Reverse] button.
The servomotor shaft will rotate at the preset jogging speed while you hold down the [Forward] or [Reverse] button and the speed ripple will be measured.
After the speed ripple measurement has completed, the feedback speed and torque reference waveform during jogging will be displayed in the graph area.If you release the [Forward] or [Reverse] button before the measurement has completed during jogging, the following message dialog box will be displayed.
Click the [OK] button and repeat the measurement.If the ripple measurement time was short or there is insufficient trace data necessary for the measurement calculations, the following message dialog box will be displayed.
Click the [OK] button and repeat the measurement by following the instructions in the message. - After speed ripple measurement has been completed, click the [Servo OFF] button.
- Click the [Write] button.
The ripple compensation value will be written to the SERVOPACK. - After writing has been completed, click the [OK] button.
Next perform verification operation. - Click the [Servo ON] button.
The [Measurement/Verification] area will change and the [Forward] and [Reverse] buttons will be enabled. - Click the [Forward] button or the [Reverse] button.
The servomotor shaft will rotate at the preset jogging speed while you hold down the [Forward] or [Reverse] button and the speed ripple will be measured.
The waveform during verification operation with speed ripple compensation applied to it will be displayed overlapping in the graph area.You can change the display in the tracing area with the zero point movement button and scale interval list boxes shown below.- Vertical Axis Scale Interval List Box
You can set the scale interval for the feedback speed and torque reference. Select the scale interval from the list box. You cannot enter values directly.
If you select [AUTO], the scale interval will be automatically adjusted to display all of the data in the display area. - Horizontal Axis (Time Axis) Scale Interval List Box
Select the scale interval from the list in the box. The unit is ms. You cannot enter values directly.
If you select [FULL], the range will be automatically adjusted to display all of the data on the horizontal axis. - [Before Adjustment] Check Box
Select this check box to display the graph before ripple compensation.
Clear this check box to not display the graph before ripple compensation. - [After Adjustment] Check Box
Select this check box to display the graph before ripple compensation.
Clear this check box to not display the graph after ripple compensation. - [Cursor] Button
If you click - [Zoom In] Button / [Display All] Button
After you click
Click
- Vertical Axis Scale Interval List Box
- If the results of speed ripple compensation verifications are suitable, first click the [Servo OFF] button, and then click the [Completed] button.
The results of tuning will be set in the parameters and the [Ripple Compensation] window will close.To increase the effect of the speed ripple compensation, click the [Advanced adjustment] button.
You can change the speed ripple compensation gain.
We recommend setting the speed ripple compensation gain to 100% or less because speed ripple may grow larger if the gain setting is too high.If the results of ripple compensation verification are not suitable, click the [Reset] button to restore the ripple compensation written in the SERVOPACK to the original setting.
If ripple compensation is necessary, repeat the measurements from step 3.
, the [Cursor] window will be displayed. If you select [Vertical] or [Horizontal] for [specifies axes], cursors will be displayed in the graph area. You can move the cursors to check the width between graphs.
, you can enlarge the area that you specify with the mouse.
to restore the original display.
This concludes the procedure to reduce ripple in the motor speed of a rotary servomotor.
When a Linear Servomotor Is Connected
When a linear servomotor is connected to the SERVOPACK, you must complete the setup procedure in the SigmaWin+ to enable speed ripple compensation.
Use the following procedure to reduce ripple in the motor speed of a linear servomotor.
- Select [Ripple Compensation] in the [Menu] window.
The [Ripple Compensation] window will be displayed. - Read the precautions and then click the [OK] button.
Click the [Cancel] button to cancel ripple compensation. The Main Window will return.If the write prohibited setting is ON, the following dialog box will be displayed.
Click the [OK] button to release write prohibition.
Refer to Prohibiting Parameter Changes from the Digital Operator for the procedure to release parameter write prohibition. - Set the range of motion during speed ripple measurements.
To set the range of motion with a reference from the host controller, click the [With Host Reference] button.
To set the range of motion by jogging, click the [Without Host Reference] button.
The [Set Range of Motion] window will be displayed.
The window that is displayed in steps 4 to 8 will depend on the method you selected in step 3. - First confirm safety around moving parts, and then turn ON the servo.
<With a Host Reference>
Turn ON the servo with a reference from the host controller.
The [Set End] and [Set Start] buttons will be enabled.
<Without a Host Reference>
Click the [Servo ON] button to turn ON the servo.
The [Forward] and [Reverse] buttons will be enabled. - Move the linear servomotor in the forward direction.<With a Host Reference>Set the end point at a sufficient distance from the limit switch to prevent overtravel for occurring.
Move the linear servomotor in the forward direction with a reference from the host controller.
Click the [Set End] button when the linear servomotor has moved to the position to set as the end of the range of motion in the forward direction.
<Without a Host Reference>
Click the [Forward] button to move the linear servomotor in the forward direction.
Click the [Set End] button when the linear servomotor has moved to the position to set as the end of the range of motion in the forward direction. - Move the linear servomotor in the reverse direction.<With a Host Reference>Set the start point at a sufficient distance from the limit switch to prevent overtravel for occurring.
Move the linear servomotor in the reverse direction with a reference from the host controller.
Click the [Set Start] button when the linear servomotor has moved to the position to set as the end of the range of motion in the reverse direction.
<Without a Host Reference>
Click the [Reverse] button to move the linear servomotor in the reverse direction.
Click the [Set Start] button when the linear servomotor has moved to the position to set as the end of the range of motion in the reverse direction. - When you complete setting the range of motion, Turn OFF the servo.
<With a Host Reference>
Turn OFF the servo with a reference from the host controller.
<Without a Host Reference>
Click the [Servo OFF] button to turn OFF the servo. - Click the [Next] button.
<With a Host Reference>
<Without a Host Reference>
The [Check Operation] area will be displayed. - Perform trial operation to confirm that there are no problems in the range of motion that was set.
Confirm safety around moving parts and click the [Servo ON] button.
The [Move to Start] button will be enabled. - Click the [Move to Start] button.
The message dialog box will be displayed. - Confirm the contents of the message and click the [OK] button.
Confirm that the linear servomotor moves to the start point that was set in step 6.
When the linear servomotor has completed moving to the start point, the [Start Round-Trip Operation] button will be enabled. - Click the [Start Round-Trip Operation] button.
The message dialog box will be displayed. - Confirm the contents of the message and click the [OK] button.
Confirm that the linear servomotor returns to the start point after it has moved to the end point that was set in step 5. - Click the [Servo OFF] button.
- Click the [Setting completed] button.
The [Ripple Compensation] window will return.
To set the range of motion again, click the [Back] button.When using an incremental encoder, the following message dialog box may be displayed after you click the [Setting completed] button.
When this message is displayed, you will perform the subsequent speed ripple measurement using jogging.
The operating procedure to measure speed ripple using jogging is the same as starting from step 3 of "When a Rotary Servomotor Is Connected".
Click here for the operating procedure. - Check the settings for [Measurement Speed] and [Acceleration/Deceleration Time].
An operating condition for the speed ripple measurement will be automatically set.
If [Movement Speed] and [Acceleration/Deceleration Time] that were set are OK, proceed to step 18. To change the settings, click the [Edit] button. - Enter the operating conditions in [Movement Speed (A)] and [Acceleration/Deceleration Time (B)], and then click the [OK] button.
The Main Window will return. - Click the [Servo ON] button.
The [Measurement/Verification] area will change and the [Move to Start] button will be enabled. - Click the [Move to Start] button.
The message dialog box will be displayed. - Confirm the contents of the message and click the [OK] button.
The linear servomotor will move to the start point that was set in step 6.
When the linear servomotor has completed moving, the [Start Meas./Ver. Operation] button will be enabled. - Click the [Start Meas./Ver. Operation] button.
The message dialog box will be displayed. - Confirm the contents of the message and click the [OK] button.
Measurement operation will begin.
The linear servomotor will move to the end point that was set in step 5 and speed ripple will be measured.
After the speed ripple measurement has completed, the feedback speed and torque reference waveform during measurement operation will be displayed in the graph area.If the ripple measurement time was short or there is insufficient trace data necessary for the measurement calculations, the following message dialog box will be displayed.
Click the [OK] button and repeat the measurement by following the instructions in the message. - After speed ripple measurement has been completed, click the [Servo OFF] button.
- Click the [Write] button.
The ripple compensation value will be written to the SERVOPACK. - After writing has been completed, click the [OK] button.
Next perform verification operation. - Click the [Servo ON] button.
The [Measurement/Verification] area will change and the [Move to Start] button will be enabled. - Click the [Move to Start] button.
The message dialog box will be displayed. - Confirm the contents of the message and click the [OK] button.
The linear servomotor will move to the start point that was set in step 6.
When the linear servomotor has completed moving, the [Start Meas./Ver. Operation] button will be enabled. - Click the [Start Meas./Ver. Operation] button.
The message dialog box will be displayed. - Confirm the contents of the message and click the [OK] button.
Verification operation will begin.
The linear servomotor will move to the end point that was set in step 5.
The waveform during verification operation with speed ripple compensation applied to it will be displayed overlapping in the graph area.You can change the display in the tracing area with the zero point movement button and scale interval list boxes shown below.- Vertical Axis Scale Interval List Box
You can set the scale interval for the feedback speed and torque reference. Select the scale interval from the list box. You cannot enter values directly.
If you select [AUTO], the scale interval will be automatically adjusted to display all of the data in the display area. - Horizontal Axis (Time Axis) Scale Interval List Box
Select the scale interval from the list in the box. The unit is ms. You cannot enter values directly.
If you select [FULL], the range will be automatically adjusted to display all of the data on the horizontal axis. - [Before Adjustment] Check Box
Select this check box to display the graph before ripple compensation.
Clear this check box to not display the graph before ripple compensation. - [After Adjustment] Check Box
Select this check box to display the graph before ripple compensation.
Clear this check box to not display the graph after ripple compensation. - [Cursor] Button
If you click - [Zoom In] Button / [Display All] Button
After you click
Click
- Vertical Axis Scale Interval List Box
- If the results of speed ripple compensation verifications are suitable, first click the [Servo OFF] button, and then click the [Completed] button.
The results of tuning will be set in the parameters and the [Ripple Compensation] window will close.To increase the effect of the speed ripple compensation, click the [Advanced adjustment] button.
You can change the speed ripple compensation gain.
We recommend setting the speed ripple compensation gain to 100% or less because speed ripple may grow larger if the gain setting is too high.If the results of ripple compensation verification are not suitable, click the [Reset] button to restore the ripple compensation written in the SERVOPACK to the original setting.
If ripple compensation is necessary, repeat the measurements from step 3.
, the [Cursor] window will be displayed. If you select [Vertical] or [Horizontal] for [specifies axes], cursors will be displayed in the graph area. You can move the cursors to check the width between graphs.
, you can enlarge the area that you specify with the mouse.
to restore the original display.
This concludes the procedure to reduce ripple in the motor speed of a linear servomotor.
6.4.6 Adjusting Individual Parameters during Operation
You can use this operation to edit SERVOPACK parameters and write them to the SERVOPACK at the same time.
This operation is convenient for adjusting gains and other parameters during motor operation.
- If you change the more-significant digits in parameter settings, the parameter settings will change drastically. Be cautious when you change parameter settings.
- The values that are set in the [Online Parameter Editing] window are written directly to the SERVOPACK.
- If the power to the SERVOPACK is turned OFF or the communications are disconnected while you are editing parameters online, any parameter settings that were changed will not be saved in the SERVOPACK.
Use the following procedure to adjust individual parameters during operation.
- Select [Edit Parameters Online] in the [Menu] window.
The [Online Parameter Editing] window will be displayed. - Click the [Setup] button.
- The parameters that are displayed in the [Online Parameter Editing] window will be set.
Click the [Set] button to the right of the parameter you want to change. - Select the parameters to display in the list of parameters to display and click the [OK] button.
- If there are other parameters for which to change the display, set them using step 3 and step 4.
To delete parameters from the display, click the [Del] button to the right of the parameters to delete. After the displayed parameters are deleted, click the [Set] button. - Click the [OK] button.
The [Online Parameter Editing] window will be displayed. - Click the [▲] and [▼] buttons for the parameters to change in order to change the parameter settings.
The new settings will be applied to the SERVOPACK that is online. - When the adjustments have been completed, click the [Close] button.
This concludes the procedure to adjust individual parameters during operation.
6.4.7 Displaying Machine Frequency Characteristics on a Graph
Introduction
You can connect the SERVOPACK to a personal computer to measure the frequency characteristics of the machine. This allows you to measure the frequency characteristics of the machine without using a measuring instrument.
The servomotor is used to cause machine vibration and then the speed frequency characteristics for the motor torque are measured. The measured frequency characteristics can be used to determine the machine resonance.
You determine the machine resonance for use in servo tuning and as reference for considering changes to the machine. The performance of the servo cannot be completely utilized depending on the rigidity of the machine. You may need to consider making changes to the machine. The information can also be used as reference for servo tuning to help you adjust parameters, such as the servo rigidity and torque filter time constant.
You can also use the information to set parameters, such as the notch filters.
- Confirm safety around moving parts.
During this operation, excitation will be performed once for each measurement and the servomotor will rotate (or move for a linear servomotor) for up to two seconds.
Sufficiently confirm that no hazard will occur due to servomotor operation before you perform this operation. - Set a suitable value for the allowable rotations/movement setting.
If a suitable value is not set, the machine may run out of control and be damaged.
The allowable rotations/movement setting is the limit for each excitation/measurement. If excitation is performed more than once, the starting position for vibration may be offset. Always check safety before excitation/measurements. - If you perform this operation for a vertical axis, check system safety.
If you use this operation for a vertical axis, select the “vertical axis mode” and confirm that the system will not allow the load to fall when the servo is turned OFF. - When you finish performing this operation, always reset the position.
This operation controls the motor with internal references. Before you perform normal operation, perform an origin return to reset the position of the system. If you operate the motor without resetting the position, the motor may run out of control or another very hazardous condition may result.
| No. | Item | Description | Reference |
|---|---|---|---|
| (1) | Toolbar | The toolbar provides buttons such as the [Open] button, which allows you to load a trace data file, and the [Print] button, which allows you to print. | [Mechanical Analysis] Window Toolbar |
| (2) | [START] button | When you click the [START] button, the [Mechanical Analysis (Reference Conditions Setting)] window is displayed and analysis is started. | Preparations for Measurements |
| (3) | Measurement and Notch Filter Setting tab pages | [Measurement] tab page: Displays detailed information on the results of analysis. [Notch Filter Setting] tab page: Displays the notch filter frequencies. You can set these values in the parameters. | Viewing Measurement Graphs |
| (4) | Gain Graph Display Area and Vertical Scroll Bar | The gain graph is displayed in this area. If the gain graph does not fit in the display area, the vertical scroll bar is enabled so that you can scroll. | Viewing Measurement Graphs |
| (5) | Gain Graph Vertical Axis Range Box | You can change the range for the vertical axis of the gain graph. The unit is dB. | Viewing Measurement Graphs |
| (6) | Gain Graph/Phase Graph Horizontal Axis Range Box | You can change the range for the horizontal axes of the gain graph and phase graph. The unit is Hz for both the gain graph and phase graph. | Viewing Measurement Graphs |
| (7) | Phase Graph Display Area and Vertical Scroll Bar | The phase graph is displayed in this area. If the phase graph does not fit in the display area, the vertical scroll bar is enabled so that you can scroll. | Viewing Measurement Graphs |
| (8) | Phase Graph Vertical Axis Range Box | You can change the range for the vertical axis of the phase graph. The unit is deg. | Viewing Measurement Graphs |
[Mechanical Analysis] Window Toolbar
The buttons in the [Mechanical Analysis] window toolbar are described in the following table.
| Toolbar Button | Description | Reference |
|---|---|---|
 [Open] | Loads a mechanical analysis data file. | Opening Mechanical Analysis Data Files (Measurement Results Files) on the Personal Computer |
 [Save] | Saves the displayed gain graph or phase graph to a file. | Saving Mechanical Analysis Data Files (Measurement Results Files) on the Personal Computer |
 [Print] | Prints measurement results from mechanical analysis. | Printing Measurement Results from Mechanical Analysis |
 [Measurement Conditions] | Displays the measurement conditions that were used for mechanical analysis. | Confirming Measurement Conditions for Mechanical Analysis |
 [Cursor] | Displays the data from the location of the cursor. | Viewing Measurement Graphs |
 [Zoom] | Lets you enlarge the display of the area you specify with the mouse. | Viewing Measurement Graphs |
 [Restore] | Restores the original display zoom. | Viewing Measurement Graphs |
 [Copy to Clipboard] | Copies the displayed graphs or the entire window to the clipboard. | Copying Mechanical Analysis Data to the Clipboard |
 | Displays the [History] window. | Viewing Measurement Graphs |
 | Displays the [Overlapping] window. This button cannot be clicked if there is no mechanical analysis historical data. | Viewing Measurement Graphs |
Preparations for Measurements
You must make preparations for measuring the frequency characteristics before you perform mechanical analysis.
Use the following procedure to prepare for measurements.
- Select [Mechanical Analysis] in the [Menu] window.
The [Mechanical Analysis] window will be displayed. - Read the precautions and then click the [Execute] button.
Click the [Cancel] button to cancel performing mechanical analysis. The Main Window will return. - Click the [START] button.
The [Mechanical Analysis (Reference Conditions Setting)] window will be displayed. - Set the conditions for the measurements.
No. Item Description (1) Driving Mode Selection Select either the [Horizontal mode] or [Vertical mode] option for the driving mode.
Horizontal Mode
The servomotor is excited with torque control.
Do not use this mode for a system with a vertical axis. There is a risk of the load falling.
Vertical Mode*1
The servomotor is excited with position control.
The servo will remain ON during operation and measurements. (The servo is not turned OFF automatically.)
Always use the [Vertical mode] for a system with a vertical axis.
Notch filters and other controls are used in this mode, so the resulting characteristics will be different from those measured in horizontal mode.(2) Sampling Time Select the sampling time from the list in the box. If you set a short sampling time, measurements are possible up to high frequencies and the excitation time is shortened. However, the frequency resolution will be lower, and the measurement accuracy will be low for particularly low frequencies.
The measured frequencies and excitation time are determined by the sampling time.
First, set a short sampling time and use the measurement results to determine a suitable sampling time. You cannot enter values directly.(3) Excitation Signal A “Cycle wave” is the only type of excitation signal that is supported. (4) Excitation Amplitude Set the size of the reference amplitude to excite the servomotor as a percentage of the rated torque (force). The setting range is 1% to 300%.
Increasing the excitation amplitude tends to produce more correct measurements, but if the excitation amplitude is too large, balance will be lost with the load moment of inertia (or mass for a linear servomotor). This will cause an A.510 alarm (Overspeed) or A.100 alarm (Overcurrent Detected) and prevent correct measurements.
The excitation amplitude must be no larger than the torque (force) limit.
If the torque (force) is restricted during excitation, correct measurements will not be possible.
For information on the torque (force) limits, refer to the product manual for your SERVOPACK.(5) Allowable Rotations
(Allowable Travel Distance for a Linear Servomotor)*2, *3Enter the limit for the number of motor rotations (travel distance) during the measurements. The setting range is ±1 to 1,000 rotations (±1 mm to 1,000 mm for a linear servomotor).
If the number of servomotor rotations (travel distance) exceeds the allowable rotations (travel distance) during measurements, the servomotor will stop and will be zero clamped, and the measurements will stop.
Set the motor rotations (travel distance) within the possible range of movement considering the gear ratio, e.g., the pulley diameters or ball screw pitch.
If you set a small number of motor rotations (travel distance), reduce the excitation width and the sampling time.(6) No. of Measurements Set the number of measurements for mean processing of the measurement data. The setting range is 1 to 5 sets.
One set consists of a round-trip operation that starts vibration or measurements from the forward side and then performs vibration and measurements from the reverse side. The larger the number of measurements, the more correct the measurement results will tend to be, but more time will be required for the measurements.(7) Line color Select the colors of the lines to use in the graph of the measurement results. (8) Help button Click this button to display Guidelines for Setting the Reference Conditions in help.
You can check the guidelines for setting the reference conditions.(9) Save button The [Save As] window will be displayed.
You can set the file name and click the [Save] button to save the current reference conditions in a reference condition setting file (*.myc).(10) Open button The [Open] window will be displayed.
You can select a reference condition setting file (*.myc) and click the [Open] button to apply the reference condition settings to the [Mechanical Analysis (Reference Condition Setting)] window.*1 Confirm that the gain settings are stable before execution. Operation is performed with position control, so vibration may occur depending on the settings. *2 This is the limit to the number of rotations (travel distance) per excitation. During multiple excitations, the excitation starting position may move in one direction or the other. Confirm the possible operating range for each excitation. *3 There may be a delay of up to 2 ms in detecting the allowable rotations (travel distance) in the SERVOPACK. Also, depending on the size of the moment of inertia (mass) or speed, operation may occur that exceeds the setting. When you set the allowable rotations (travel distance), allow some leeway. - Click the [Next] button.
Click the [Back] button or [Cancel] button to cancel mechanical analysis. The [Mechanical Analysis] window will return. - Click the [Start] button.
Transferring the reference conditions to the SERVOPACK will be started. A progress bar will show the progress of the transfer. - Click the [Next] button.
The [Mechanical Analysis (Excitation/Measurement)] window will be displayed.
This concludes the preparations for measurements.
Guidelines for Setting the Reference Conditions
- The servomotor will cause the machine to vibrate and measure the frequency characteristics.
- Set the operating mode, sampling time, excitation amplitude, and the number of measurements.
- Correct measurement of the frequency characteristics may not be possible depending on the settings. Set suitable settings using the measurement results as reference. Refer to the following Setting Guideline Details for more information.
- An allowable number of rotations or travel distance must be set to ensure safe measurements. Set the allowable number of rotations or travel distance range.
Driving Mode Selection
The servomotor is operated with torque control in Horizontal Mode or with position control in Vertical Mode.
Always use the Vertical Mode for a system with a vertical axis to prevent the load from dropping (slipping).
Notch filters and other controls are used in Vertical Mode, so the resulting characteristics will be different from those measured in Horizontal Mode.
Sampling Time [μs] (Measurement Frequency [Hz] and Excitation Time/Interaction [ms])
If you set a short sampling time, measurements are possible up to high frequencies and the excitation time is shortened. However, the frequency resolution will be lower, and the measurement accuracy will be low for particularly low frequencies.
The measured frequencies and excitation time are determined by the sampling time.
First, set a short sampling time and use the measurement results to determine a suitable sampling time.
Excitation Signal: Frequency (Fixed)
A frequency is used to cause vibration in the machine.
Excitation Amplitude [± Percentage of Rated Torque (Force)]
Set the size of the reference amplitude to excite the servomotor as a percentage of the rated torque (force). The setting range is 1% to 300%.
Increasing the excitation amplitude tends to produce more correct measurements, but if the excitation amplitude is too large, balance will be lost with the load moment of inertia (mass). This will cause an A.510 alarm (Overspeed) or A.100 alarm (Overcurrent Detected) and prevent correct measurements.
The excitation amplitude must be no larger than the torque (force) limit. If the torque (force) is restricted during excitation, correct measurements will not be possible. Caution is required.
For information on the torque (force) limits, refer to the product manual for your SERVOPACK.
Reference Selection Allowable Rotations [Rotations] (Allowable Travel Distance [mm] for a Linear Servomotor)
Enter the limit for the number of motor rotations (travel distance) during the measurements. The setting range is ±1 to 1,000 rotations (±1 mm to 1,000 mm for a linear servomotor).
If the number of servomotor rotations (travel distance) exceeds the allowable rotations (travel distance) during measurements, the servomotor will stop and will be zero clamped, and the measurements will stop.
Set the motor rotations (travel distance) within the possible range of movement considering the gear ratio, e.g., the pulley diameters or ball screw pitch.
To reduce the number of motor rotations (travel distance), reduce the excitation width and the sampling time.
- This is the limit to the number of rotations (travel distance) per excitation. During multiple excitations, the excitation starting position may move in one direction or the other. Confirm the possible operating range for each excitation.
- There may be a delay of up to 2 ms in detecting the allowable rotations (travel distance) in the SERVOPACK. Also, depending on the size of the moment of inertia (mass) or speed, operation may occur that exceeds the setting. When you set the allowable rotations (travel distance), allow some leeway.
No. of Measurements [Sets]
Set the number of measurements for processing the average of the measurement data. The setting range is 1 to 5 sets.
One set consists of a round-trip operation that starts vibration or measurements from the forward side and then performs vibration and measurements from the reverse side. The larger the number of measurements, the more correct the measurement results will tend to be, but more time will be required for the measurements.
Line Color
Select the colors of the line to use in the graph of the measurement results.
Measuring the Frequency Characteristics
The servomotor is actually operated to measure the frequency characteristics.
The window depends on the operating mode that you select.
Use the links in the following table to jump to the relevant information.
| Driving Mode | Description |
|---|---|
| Horizontal Mode | Using Horizontal Mode |
| Vertical Mode | Using Vertical Mode |
Using Horizontal Mode
Use the following procedure to take measurements when the operating mode is set to the horizontal mode.
- Click the [Servo On] button.
- Click the [Forward] button.
The servomotor will operate in the forward direction and measurements will be taken.The following dialog box will be displayed if a limit is reached and the servomotor stops during excitation and measurements. Click the [OK] button to cancel processing and return to the [Mechanical Analysis] window. - Click the [Servo On] button.
- Click the [Reverse] button.
The servomotor will operate in the reverse direction and measurements will be taken.
The following window is displayed after the measurements have been completed. - Repeat steps 1 to 4 of the operation for the number of times set for the number of measurements in the [Mechanical Analysis (Reference Conditions Setting)] window.
- When the measurements have been completed, click the [Finish] button.
The gain and phase graphs will be displayed in the [Mechanical Analysis] window.
This concludes the measurements in the horizontal mode.
Using Vertical Mode
Use the following procedure to take measurements when the operating mode is set to the vertical mode.
- Click the [Servo On] button.
- Click the [Forward] button.
The servomotor will operate in the forward direction and measurements will be taken.The following dialog box will be displayed if a limit is reached and the servomotor stops during excitation and measurements. Click the [OK] button to cancel processing and return to the [Mechanical Analysis] window. - Click the [Reverse] button.
The servomotor will operate in the reverse direction and measurements will be taken. - Repeat steps 2 to 3 of the operation for the number of times set in the [No. of Measurements] box in the [Mechanical Analysis (Reference Conditions Setting)] window.
- When the measurements have been completed, click the [Servo On] button and then click the [Finish] button.
The gain and phase graphs will be displayed in the [Mechanical Analysis] window.The following dialog box will be displayed if you click the [Finish] button before you turn OFF the servo. Turn OFF the servo by clicking the [OK] button.
This concludes the measurements in the vertical mode.
Viewing Measurement Graphs
The measurement results are displayed in the graph display area of the [Mechanical Analysis] window.
You can use the cursors to check values on the graphs.
You can use the [Notch Filter Setting] tab page to set the values that were automatically calculated from the measurement results in the SERVOPACK.
Changing the Graph Displays
You can change the zoom or display positions of the graphs so that they are easier to check.
| No. | Item | Description |
|---|---|---|
| (1) | Estimated Anti-Resonance Frequency | A cursor is displayed at the location of the estimated anti-resonance frequency. The frequency is displayed in the [Estimated Anti-Resonance Frequency] on the [Measurement] tab page. Click the [Clear] button on the [Measurement] tab page to remove the cursor display. |
| (2) | Estimated Resonance Frequency | A cursor is displayed at the location of the estimated resonance frequency. The frequency is displayed in the [Estimated Resonance Frequency] on the [Measurement] tab Page. Click the [Clear] button on the [Measurement] tab page to remove the cursor display. |
| (3) | 2nd Estimated Resonance Frequency Candidate and 3rd Estimated Resonance Frequency Candidate | A cursor is displayed at the location of the 2nd and 3rd estimated resonance frequencies. Different line types are used to indicate the 2nd and 3rd candidates. 2nd estimated resonance frequency candidate: Long chain line 3rd estimated resonance frequency candidate: Dotted line Click the [Clear] button on the [Measurement] tab page to remove the cursor display. |
| (4) | Vertical Scroll Bar | The vertical scroll bar can be used when all of the data does not fit in the display area due to the vertical axis range setting. You can scroll the display position of the graph. |
| (5) | Vertical Axis Range Box | You can set the vertical axis ranges for both the gain and phase graphs. Select the ranges from the lists in the boxes. The unit for the gain graph is dB and the unit for the phase graph is deg. You cannot enter values directly. If you select “AUTO”, the optimum value to display all of the data in the graph display area will be selected and the range width will be adjusted. |
| (6) | Horizontal Axis Range Box | You can set the range for the horizontal axis of the gain and phase graphs. The same setting is used for both graphs. The unit is Hz for both the gain graph and phase graph. If you select “FULL”, the optimum value will be set to display all of the data in the display area. |
| (7) | Horizontal Scroll Bar | The horizontal scroll bar can used when all of the data does not fit in the display area due to the horizontal axis range setting. You can scroll the display position of the graph. |
Zooming the Graph Displays
After you click the 
Click the 
Graph Displays before Zooming
Graph Displays after Zooming
Displaying Graph Values with Cursors
Click the 
Each time you click the A or B cursor, the other cursor is selected.
| No. | Item | Description |
|---|---|---|
| (1) | Cursor Button | Displays the A cursor and B cursor. |
| (2) | A Cursor | It is displayed when you click the [Cursor] button. If you click the B cursor, the A cursor is selected and you can move the A cursor. |
| (3) | B Cursor | The B cursor is displayed after the A cursor is displayed and its position is set. If you click the A cursor, the B cursor is selected and you can move the B cursor. |
| (4) | Estimated Resonance Frequency Line Color Selection Box | You can select the color of the line to use for the estimated resonance frequency cursor. |
| (5) | Estimated Anti-Resonance Frequency Line Color Selection Box | You can select the color of the line to use for the estimated anti-resonance frequency cursor. |
| (6) | Clear Button | If you click the [Clear] button, the displays of the estimated resonance frequency and estimated anti-resonance frequency are cleared. |
| (7) | A Cursor Line Color Selection Box | You can select the color of the A cursor line. |
| (8) | B Cursor Line Color Selection Box | You can select the color of the B cursor line. |
| (9) | Measurement Values at the Position of the A Cursor | The values of the gain [dB], phase [deg], and frequency [Hz] at the position of the A cursor are displayed. |
| (10) | Measurement Values at the Position of the B Cursor | The values of the gain [dB], phase [deg], and frequency [Hz] at the position of the B cursor are displayed. |
| (11) | Measurement Values at Mouse Cursor Position | The values of the gain [dB], phase [deg], and frequency [Hz] at the position of the mouse cursor are displayed. |
Displaying Graph Historical Data
Click the 
Select a row of historical data to display in the graph area. You can select a maximum of one item of historical data.
Up to 10 items of historical data can be displayed. If 10 items of historical data are exceeded, the data will be discarded starting from the oldest data, and the executed data will be added to the 10th row.
button to clear all of the displayed historical data including the selected historical data.
button to display the [Overlapping] window on which the historical data can be displayed overlapping.Overlapping Specified Graph Historical Data
Click the
The historical data that was selected will be displayed in the graph area. You can display and compare two or more graphs at the same time.
button to clear all of the displayed historical data including the selected historical data. button to display the [History] window on which you can check historical data one item at a time.The graphs of the historical data that was selected will be displayed overlapping.
Setting Notch Filter Frequencies
Click the [Notch Filter Setting] tab. The [Notch Filter Setting] tab page will be displayed.
Values that were automatically calculated from the measures are displayed for the notch filter frequencies. Click the [Setting] button to set the parameters in the SERVOPACK. The value that was set in Pn409 (1st Notch Filter Frequency) will be displayed.
Opening Mechanical Analysis Data Files (Measurement Results Files) on the Personal Computer
You can read mechanical analysis data files (measurement results files) saved on the personal computer and display the data.
Use the following procedure to open a mechanical analysis data file (measurement results file) on the personal computer.
- Select [Mechanical Analysis] in the [Menu] window.
The [Mechanical Analysis] window will be displayed. - Click the [Open] button.
The [Open] window will be displayed. - Select the file to read and click the [Open] button.
The data is read from the measurement results file and displayed in the [Mechanical Analysis] window.
This concludes the procedure to open a mechanical analysis data file (measurement results file) on the personal computer.
Saving Mechanical Analysis Data Files (Measurement Results Files) on the Personal Computer
You can save the results from mechanical analysis on the personal computer. You can compare measured graph data and save histories in file data.
Use the following procedure to save mechanical analysis data files (measurement results files) on the personal computer.
- Use mechanical analysis to measure the machine’s frequency characteristics.
Refer to Preparations for Measurements and Measuring the Frequency Characteristics for detailed measurement procedures. - Click the [Save] button.
The [Save As] window will be displayed. - Select the location in which to save the file.
- Enter the file name.
The default file name is the current time and date (yyyymmddhhmmss). - Click the [Save] button.
The data will be saved in a file in the specified location and the [Mechanical Analysis] window will return.If a file with the same name already exists or after you have read an existing file, the following dialog box will be displayed to confirm overwriting the file.
Click the [Yes] button to overwrite the existing file. Click the [No] button to not save the data and return to the [Save As] window.
This concludes the procedure to save mechanical analysis data files (measurement results files) on the personal computer.
Printing Measurement Results from Mechanical Analysis
You can print the measurement results of mechanical analysis. You can also print a cover sheet that contains information such as the company name and address of the submitter and the company name or department name of the recipient.
Use the following procedure to print the results of measurements made during mechanical analysis.
- Use mechanical analysis to measure the machine’s frequency characteristics.
Refer to Preparations for Measurements and Measuring the Frequency Characteristics for detailed measurement procedures. - Click the [Print] button.
The [Printing Item Setting] window will be displayed. - To attach a cover sheet, select the [Attaching the Cover] check box and click the [Cover Editing] button.
To not attach a cover sheet, clear the [Attaching the Cover] check box and proceed to step 7. - As required, click the [Submitter], [Where to Submit (No.1)], [Where to Submit (No.2)], [Where to Submit (No.3)], and [Greeting Sentences] tabs and enter the required text.
- Click the [OK] button.
- Select the appropriate [Where to Submit] option to use when printing.
The contents for the selected [Where to Submit] option is displayed in the [Printing Item Setting] window. - Click the [Header & Footer] tab and select the check boxes for the information to place in the header and footer.
If you select the [Title] check box, enter the title in the box. - Click the [Printing Items] tab and select the check boxes related to the graphs and comments as required.
- To print in black and white, select the [Black and White] option.
To print in color, select the [Color] option. - Click the [OK] button.
The [Print Preview] window will be displayed. - Click the [Print] button.
Printing will be started.
Click the [Editing of the Printing Items] button to change the items that are printed. The [Printing Item Setting] window will return.
This concludes the procedure to print measurement results from mechanical analysis.
Confirming Measurement Conditions for Mechanical Analysis
You can check measurement conditions from mechanical analysis.
Use the following procedure to check the measurement conditions from mechanical analysis.
- Use mechanical analysis to measure the machine’s frequency characteristics.
Refer to Preparations for Measurements and Measuring the Frequency Characteristics for detailed measurement procedures. - Click the [Measurement Conditions] button.
The [Measurement Conditions] window will be displayed. - Click the [Measurement Data] tab and check the measurement conditions.To leave comments with the measurement conditions, click the [Comment] tab and enter the comments in the box.
- Click the [OK] button.
The [Mechanical Analysis] window will return.
This concludes the procedure to check the measurement results from mechanical analysis.
Copying Mechanical Analysis Data to the Clipboard
You can copy the measurement results from mechanical analysis to the clipboard. This will allow you to use it in an MS Word or Excel file.
Use the following procedure to copy mechanical analysis data to the clipboard.
- Use mechanical analysis to measure the machine’s frequency characteristics.
Refer to Preparations for Measurements and Measuring the Frequency Characteristics for detailed measurement procedures. - Click the [Copy to Clipboard] button.
The [Clipboard Copy] window will be displayed. - Specify the area to copy and click the [OK] button.
This concludes the procedure to copy mechanical analysis measurement results to the clipboard.
6.4.8 Detecting Machine Characteristics and Suppressing Vibration
This operation resembles mechanical analysis, but detailed measurements are not performed. It is suitable to perform simple checks of the frequency characteristics.
The machine is made to vibrate and a resonance frequency is detected from the generated vibration to set notch filters according to the detected resonance frequencies. This is used to eliminate high-frequency vibration and noise.
During execution of this operation, a frequency waveform reference is sent from the SERVOPACK to the servomotor to automatically cause the shaft to rotate multiple times within 1/4th of a rotation, thus causing the machine to vibrate.
- Never touch the servomotor or machine during execution of Easy FFT. There is a risk of injury.
- Use Easy FFT when the servo gain is low, such as in the initial stage of servo tuning. If you execute Easy FFT after you increase the gain, the machine may vibrate depending on the machine characteristics or gain balance.
Use the following procedure to detect machine characteristics and suppress vibration.
- Select [EasyFFT] in the [Menu] window.
The [EasyFFT] dialog box will be displayed. - Read the precautions and then click the [OK] button.
Click the [Cancel] button to cancel Easy FFT. The Main Window will return. - Click the [Servo ON] button.
- In the [Measurement condition] area, enter the reference amplitude in [Instruction amplitude] and select the rotation direction from the list in [Rotation direction].
- Click the [Start] button.
The servomotor shaft will start and measurements will be taken. When measurements have been completed, the measurement results will be displayed. - Click the [Measurement complete] button.
- Click the [Result Writing] button if you want to set the measurement results in the parameters.
Click the [Close] button if you do not want to set the measurement results in the parameters.
The Main Window will return.
This concludes the procedure to detect machine characteristics and suppress vibration.
6.5 Detailed Tuning（Σ-7）
6.5.1 Manually Tuning Gains with Reference Inputs from the Host Controller
This tuning method is used to manually adjust the servo during operation using a speed or position reference input from the host controller. You can use it to fine-tune adjustments that were made with autotuning.
The following items are adjusted automatically.
- Gains (e.g., speed loop gain and position loop gain)
- Filters (torque reference filter and notch filters)
- Friction compensation
- Anti-resonance control
There are two adjustment methods that you can use for tuning.
Tuning Mode: 0 or 1
These modes allow you to set stable control conditions for multiple servo gains by manipulating only one tuning level. If vibration is detected, notch filters and anti-resonance control are automatically adjusted. Manual anti-resonance control adjustment is also possible during tuning.
Tuning Mode: 2 or 3
Two tuning levels are manipulated to reduce positioning time even further and set multiple servo gains. Model following control is used to reduce the positioning time. If vibration is detected, notch filters and anti-resonance control are automatically adjusted, and friction compensation is automatically set. Manual anti-resonance control adjustment and vibration suppression are also possible during custom tuning.
- Before you execute this operation, check the information provided in this manual. Observe the following precautions.
- Make sure that you can perform an emergency stop at any time.
When tuning is started with this operation, several parameters will be overwritten with the recommended settings, which may greatly affect the response before and after execution. Make sure that you can perform an emergency stop at any time. - Set the moment of inertia correctly before you execute this operation.
If the setting greatly differs from the actual moment of inertia, vibration may occur. - If you change the feedforward level, the new setting will not be used immediately. It will be used after positioning is completed.
- Make sure that you can perform an emergency stop at any time.
- Vibration or overshooting may occur during tuning. To ensure safety, make sure that you can perform an emergency stop at any time.
- If you are using an MP3000-series controller for phase control, set [Tuning mode] to "0" or "1". If [Tuning mode] is set to a mode other than "0" or "1", correct phase control may not be possible.
Use the following procedure to manually adjust the gains with reference inputs from the host controller.
- Confirm that the value of Pn103 (Moment of Inertia Ratio) is set correctly.
- Confirm that the values of Pn20E (Electronic Gear Ratio (Numerator)) and Pn210 (Electronic Gear Ratio (Denominator)) are set correctly.When a servomotor other than a linear servomotor or a servomotor with a fully-closed encoder is moved with a reference from the host controller, the electronic gear value is calculated with the following settings.
- Electronic gear settings on the host controller
- Electronic gear settings on the SERVOPACK (Pn20E and Pn210)
For example, if you will use a servomotor with a 26-bit encoder and the encoder resolution on the host controller is 20 bits, the resolutions output from the host controller and from the SERVOPACK will be different. To make the resolutions the same, set the electronic gear settings on the SEROVPACK as shown below.- Pn20E (Electronic Gear Ratio (Numerator)) = 64
- Pn210 (Electronic Gear Ratio (Denominator)) = 1
To change the electronic gear value, change the parameters on the [Edit Parameters] window. Refer to the following section for details on the operation.
→◆Editing Parameters - Select [Tuning] in the [Menu] window.
The [Tuning] window will be displayed. - Read the precautions and then click the [Execute] button.
Click the [Cancel] button to cancel tuning. The Main Window will return.When the following window is displayed, click the [OK] button and then confirm that the correct moment of inertia ratio is set in Pn103 (moment of inertia ratio). - Click the [Advanced adjustment] button.
- Click the [Custom tuning] button.
- Set the conditions for tuning.
No. Item Description (1) Tuning mode Set the tuning mode.
Select the mode according to the following guidelines.Mode Selection Meaning 0: Set servo gains with priority given to stability. This setting gives priority to stability and preventing overshooting. In addition to gain adjustment, notch filters and anti-resonance control (except during torque control) are automatically adjusted. 1: Set servo gains with priority given to response. Overshooting may occur because priority is given to response. In addition to gain adjustment, notch filters and anti-resonance control (except during torque control) are automatically adjusted. 2: Set servo gains for positioning application. Tuning is performed for positioning applications. In addition to gain adjustment, notch filters, anti-resonance control, and vibration suppression are adjusted. 3: Set servo gains especially to prevent overshooting during positioning application. Tuning is performed for positioning applications with emphasis on eliminating overshooting. In addition to gain adjustment, notch filters, anti-resonance control, and vibration suppression are adjusted. (2) Mechanism selection Select the type according to the machine element to drive in [Mechanism selection].
If there is noise or if the gain does not increase, better results may be obtained by changing the rigidity type. Select the type according to the following guidelines.Mechanism Selection Meaning 1: Belt mechanism Tuning is performed for a mechanism with relatively low rigidity, e.g., a belt. 2: Ball screw mechanism or linear motor Tuning is performed for a mechanism with relatively high rigidity, e.g., a ball screw, or a linear servomotor. Use this setting if there is no other appropriate setting. 3: Rigid model Tuning is performed for a mechanism with high rigidity, e.g., a rigid body system. The tuning modes that you can select depend on the SERVOPACK setting. - Click the [Next] button.
Click the [Cancel] button to cancel custom tuning. The [Tuning] window will return.
The window depends on the tuning mode that you select.
Use the links in the following table to jump to the relevant information.
| Tuning Mode | Description |
|---|---|
| 0: Setting servo gains giving priority to stability, or 1: Setting servo gains giving priority to good response | Tuning Mode 0 or 1 |
| 2: Setting servo gains giving priority to position control applications, or 3: Setting servo gains giving priority to preventing overshooting in position control applications | Tuning Mode 2 or 3 |
Tuning Mode 0 or 1
- Confirm that the values of Pn20E (Electronic Gear Ratio (Numerator)) and Pn210 (Electronic Gear Ratio (Denominator)) are set correctly.When a servomotor other than a linear servomotor or a servomotor with a fully-closed encoder is moved with a reference from the host controller, the electronic gear value is calculated with the following settings.
- Electronic gear settings on the host controller
- Electronic gear settings on the SERVOPACK (Pn20E and Pn210)
For example, if you will use a servomotor with a 26-bit encoder and the encoder resolution on the host controller is 20 bits, the resolutions output from the host controller and from the SERVOPACK will be different. To make the resolutions the same, set the electronic gear settings on the SEROVPACK as shown below.- Pn20E (Electronic Gear Ratio (Numerator)) = 64
- Pn210 (Electronic Gear Ratio (Denominator)) = 1
To change the electronic gear value, change the parameters on the [Edit Parameters] window. Refer to the following section for details on the operation.
→◆Editing Parameters - Input the correct moment of inertia ratio and click the [Next] button.
- Click the [Start tuning] button.
- Use the [▲] and [▼] buttons to change the tuning level.
Increase the tuning level until overshooting occurs.
Click the [Back] button in the [Tuning level] area during adjustment to restore the setting to its original value. The tuning level will return to the value from before when tuning was started. - When the adjustment has been completed, click the [Completed] button.
The results of tuning will be set in the parameters and you will return to the [Tuning] window.
This concludes the procedure to manually tune gains with reference inputs from the host controller.
Tuning Mode 2 or 3
- Confirm that the values of Pn20E (Electronic Gear Ratio (Numerator)) and Pn210 (Electronic Gear Ratio (Denominator)) are set correctly.When a servomotor other than a linear servomotor or a servomotor with a fully-closed encoder is moved with a reference from the host controller, the electronic gear value is calculated with the following settings.
- Electronic gear settings on the host controller
- Electronic gear settings on the SERVOPACK (Pn20E and Pn210)
For example, if you will use a servomotor with a 26-bit encoder and the encoder resolution on the host controller is 20 bits, the resolutions output from the host controller and from the SERVOPACK will be different. To make the resolutions the same, set the electronic gear settings on the SEROVPACK as shown below.- Pn20E (Electronic Gear Ratio (Numerator)) = 64
- Pn210 (Electronic Gear Ratio (Denominator)) = 1
To change the electronic gear value, change the parameters on the [Edit Parameters] window. Refer to the following section for details on the operation.
→◆Editing Parameters - Input the correct moment of inertia ratio and click the [Next] button.
- Click the [Start tuning] button.
- Use the [▲] and [▼] buttons to change the tuning level.
Increase the feedforward level until overshooting occurs and then increase the feedback level until overshooting is eliminated. Repeat these changes to make the adjustment.
Click the [Reset] button during adjustment to restore the setting to its original value. The tuning level will return to the value from before when tuning was started.The new feedforward level will not be used until the positioning completed signal is output. - When the adjustment has been completed, click the [Completed] button.
The results of tuning will be set in the parameters and you will return to the [Tuning] window.
This concludes the procedure to manually tune gains with reference inputs from the host controller.
6.5.2 Suppressing Continuous Vibration during Operation
Anti-resonance control increases the effectiveness of vibration suppression after custom tuning.
Anti-resonance control is effective for suppression of continuous vibration frequencies from 100 Hz to 1,000 Hz that occur when the control gain is increased. Vibration can be eliminated by setting vibration frequencies through automatic detection or by manually setting them to adjust the damping gain. Input an operation reference and execute this anti-resonance control adjustment when there is vibration.
Anti-resonance control is automatically set by autotuning without a host reference or autotuning with a host reference. Use anti-resonance control adjustment only if fine-tuning is required or readjustment is required as a result of a failure to detect vibration.
Perform custom tuning if required to increase the response after performing anti-resonance control adjustment. If the control gain is increased, e.g., when custom tuning is performed, vibration may occur again. If that occurs, perform anti-resonance control adjustment again to fine-tune the parameters.
- Before you execute this operation, check the information provided in this manual. Observe the following precautions.
- Make sure that you can perform an emergency stop at any time.
When tuning is started with this operation, several parameters will be overwritten with the recommended settings, which may greatly affect the response before and after execution. Make sure that you can perform an emergency stop at any time. - Set the moment of inertia correctly before you execute this operation.
If the setting greatly differs from the actual moment of inertia, vibration may occur.
- Make sure that you can perform an emergency stop at any time.
- Vibration or overshooting may occur during tuning. To ensure safety, make sure that you can perform an emergency stop at any time.
- If you have already performed anti-resonance control adjustment and then you change the frequency, the current anti-resonance control effect may be lost. Caution is particularly required when automatically detecting the vibration frequency.
- If effective vibration reduction is not achieved even after you execute anti-resonance control adjustment, cancel the function and lower the control gain by using a different method, such as custom tuning.
- Perform custom tuning if required to increase the response after performing anti-resonance control adjustment.
If the servo gain is increased, e.g., when custom tuning is performed, vibration may occur again. If that occurs, perform anti-resonance control adjustment again to fine-tune the parameters.
- If you are using an MP3000-series controller for phase control, set [Tuning mode] to "1". If [Tuning mode] is set to a mode other than "1", correct phase control may not be possible.
Use the following procedure to suppress continuous vibration during operation.
- Confirm that the value of Pn103 (Moment of Inertia Ratio) is set correctly.
- Select [Tuning] in the [Menu] window.
The [Tuning] window will be displayed. - Read the precautions and then click the [Execute] button.
Click the [Cancel] button to cancel tuning. The Main Window will return.When the following window is displayed, click the [OK] button and then confirm that the correct moment of inertia ratio is set in Pn103 (moment of inertia ratio). - Click the [Advanced adjustment] button.
- Click the [Custom tuning] button.
- Set the conditions for tuning.
No. Item Description (1) Tuning mode Set the tuning mode.
Select the mode according to the following guidelines.Mode Selection Meaning 0: Set servo gains with priority given to stability. This setting gives priority to stability and preventing overshooting. In addition to gain adjustment, notch filters and anti-resonance control (except during torque control) are automatically adjusted. 1: Set servo gains with priority given to response. Overshooting may occur because priority is given to response. In addition to gain adjustment, notch filters and anti-resonance control (except during torque control) are automatically adjusted. 2: Set servo gains for positioning application. Tuning is performed for positioning applications. In addition to gain adjustment, notch filters, anti-resonance control, and vibration suppression are adjusted. 3: Set servo gains especially to prevent overshooting during positioning application. Tuning is performed for positioning applications with emphasis on eliminating overshooting. In addition to gain adjustment, notch filters, anti-resonance control, and vibration suppression are adjusted. (2) Mechanism selection Select the type according to the machine element to drive in [Mechanism selection].
If there is noise or if the gain does not increase, better results may be obtained by changing the rigidity type. Select the type according to the following guidelines.Mechanism Selection Meaning 1: Belt mechanism Tuning is performed for a mechanism with relatively low rigidity, e.g., a belt. 2: Ball screw mechanism or linear motor Tuning is performed for a mechanism with relatively high rigidity, e.g., a ball screw, or a linear servomotor. Use this setting if there is no other appropriate setting. 3: Rigid model Tuning is performed for a mechanism with high rigidity, e.g., a rigid body system. The tuning modes that you can select depend on the SERVOPACK setting. - Click the [Next] button.
Click the [Cancel] button to cancel anti-resonance control. The [Tuning] window will return. - Input the correct moment of inertia ratio and click the [Next] button.
- Click the [Anti-res Ctrl Adj] button.
Tuning Mode 0 or 1
Tuning Mode 2 or 3
The operating procedure is different when you automatically detect vibration frequencies and when you set them manually.
Use the links in the following table to jump to the relevant information.Setting Method for Vibration Frequencies Description Automatic detection To Automatically Detect the Vibration Frequency Manual setting/resetting To Manually Set the Vibration Frequency
To Automatically Detect the Vibration Frequency
- Click the [Auto Detect] button, and then click the [Start adjustment] button.
- Use the [▲] and [▼] buttons to adjust the setting of the damping gain.
- When tuning has been completed, click the [Finish] button.
The results of tuning will be set in the parameters and you will return to the [Custom Tuning] window.
This concludes the procedure to suppress continuous vibration during operation.
To Manually Set the Vibration Frequency
- Click the [Manual Set] button, and then click the [Start adjustment] button.
- Use the [▲] and [▼] buttons to adjust the settings of the frequency and the damping gain.
- When tuning has been completed, click the [Finish] button.
The results of tuning will be set in the parameters and you will return to the [Tuning] window.
This concludes the procedure to suppress continuous vibration during operation.
6.5.3 Suppressing Transient Machine Vibration during Positioning
You can use vibration suppression to suppress transient vibration at a low frequency from 1 Hz to 100 Hz, which is generated mainly when the machine vibrates during positioning. This is effective for vibration frequencies for which notch filters and anti-resonance control adjustment are not effective.
Vibration suppression is automatically set by autotuning without a host reference or autotuning with a host reference. Use vibration suppression only if fine-tuning is required or readjustment is required as a result of a failure to detect vibration. To execute vibration suppression, input an operation reference and execute the function when there is vibration.
Perform custom tuning if required to increase the response after performing vibration suppression.
- Before you execute this operation, check the information provided in this manual. Observe the following precautions.
- Make sure that you can perform an emergency stop at any time.
When tuning is started with this operation, several parameters will be overwritten with the recommended settings, which may greatly affect the response before and after execution. Make sure that you can perform an emergency stop at any time. - Set the moment of inertia correctly before you execute this operation.
If the setting greatly differs from the actual moment of inertia, vibration may occur.
- Make sure that you can perform an emergency stop at any time.
- Vibration or overshooting may occur during tuning. To ensure safety, make sure that you can perform an emergency stop at any time.
- If you execute this operation when you are using an MP3000-series controller for phase control, correct phase control may not be possible.
Use the following procedure to suppress transient machine vibration during positioning.
- Confirm that the value of Pn103 (Moment of Inertia Ratio) is set correctly.
- Select [Tuning] in the [Menu] window.
The [Tuning] window will be displayed. - Read the precautions and then click the [Execute] button.
Click the [Cancel] button to cancel the operation. The Main Window will return.When the following window is displayed, click the [OK] button and then confirm that the correct moment of inertia ratio is set in Pn103 (moment of inertia ratio). - Click the [Advanced adjustment] button.
- Click the [Custom tuning] button.
- Set the conditions for tuning.
No. Item Description (1) Tuning mode Select 2 or 3 for the tuning mode in [Tuning mode]. Mode Selection Meaning 2: Set servo gains for positioning application. Tuning is performed for positioning applications. In addition to gain adjustment, notch filters, anti-resonance control, and vibration suppression are adjusted. 3: Set servo gains especially to prevent overshooting during positioning application. Tuning is performed for positioning applications with emphasis on eliminating overshooting. In addition to gain adjustment, notch filters, anti-resonance control, and vibration suppression are adjusted. (2) Mechanism selection Select the type according to the machine element to drive in [Mechanism selection].
If there is noise or if the gain does not increase, better results may be obtained by changing the rigidity type. Select the type according to the following guidelines.Mechanism Selection Meaning 1: Belt mechanism Tuning is performed for a mechanism with relatively low rigidity, e.g., a belt. 2: Ball screw mechanism or linear motor Tuning is performed for a mechanism with relatively high rigidity, e.g., a ball screw, or a linear servomotor. Use this setting if there is no other appropriate setting. 3: Rigid model Tuning is performed for a mechanism with high rigidity, e.g., a rigid body system. The tuning modes that you can select depend on the SERVOPACK setting. - Click the [Next] button.
Click the [Cancel] button to cancel vibration suppression. The [Tuning] window will return. - Input the correct moment of inertia ratio and click the [Next] button.
- Click the [Vib Suppress] button.
- Click the [Import] button or the click [▲] and [▼] buttons to manually adjust the set frequency.
When you click the [Import] button, the residual vibration frequency in the servomotor is read as the set frequency. (The frequency can be read only when the residual vibration frequency is between 1.0 and 100.0.)Frequency detection will not be performed if there is no vibration or if the vibration frequency is outside the range of detectable frequencies. If a vibration frequency is not detected, provide a means of measuring the vibration frequency. - Click the [Set] button.
If the vibration is not eliminated, use the [▲] and [▼] buttons for the set frequency to fine-tune the value and click the [Set] button again.
Click the [Reset] button during adjustment to restore the setting to its original value. The tuning level will return to the value from before when tuning was started.Frequency detection will not be performed if there is no vibration or if the vibration frequency is outside the range of detectable frequencies. If a vibration frequency is not detected, provide a means of measuring the vibration frequency. - When the vibration has been eliminated, click the [Finish] button.
The results of tuning will be set in the parameters and you will return to the [Custom Tuning] window.Vibration suppression will be enabled in step 11. The servomotor response, however, will change when the servomotor comes to a stop with no reference input.
This concludes the procedure to suppress transient machine vibration during positioning.
6.5.4 Suppressing Vibration when Stopping the Servomotor
If you tune the servo gains too high, the servomotor or machine may vibrate when stopped even though there is no vibration during operation. This operation automatically lowers the internal servo gains while the servomotor is being stopped to suppress vibration in the servomotor and machine while the servomotor is being stopped. When servomotor and machine movement is started, the original servo gain settings are restored automatically.
Use the following procedure to suppress vibration while the servomotor is stopping.
- Confirm that the Pn103 (moment of inertia ratio) is set correctly.
- Select [Tuning] in the [Menu] window.
The [Tuning] window will be displayed. - Read the precautions and then click the [Execute] button.
Click the [Cancel] button to cancel the operation. The Main Window will return.When the following window is displayed, click the [OK] button and then confirm that the correct moment of inertia ratio is set in Pn103 (moment of inertia ratio). - Click the [Advanced adjustment] button.
- Click the [Gain switching] button.
- Click the [Execute] button.
When Manual Gain Switching Is Set
When Automatic Gain Switching Is Set - Set the conditions for gain switching.
No. Item Description (1) Waiting time Enter the time from a position command of zero to when to start gain switching in [Waiting time]. (2) Switching time Enter the time required to switch from the gain for operation to the gain for stopping in [Switching time]. (3) Gain when stopped (2nd Speed Loop Gain) Set between 50% and 100% of the value displayed in the [Gain while running (Speed Loop Gain)] box in [Gain when stopped (2nd Speed Loop Gain)]. Click the [Set in %] button to display the following window.
You can use this window to set [Gain when stopped (2nd Speed Loop Gain)] to a percentage of the value displayed in [Gain while running (Speed Loop Gain)].
Enter a percentage and click the [OK] button to display the automatically calculated value in [Gain when stopped (2nd Speed Loop Gain)]. - After you complete the settings, click the [Set] button.
The tuning results will be set in the parameters.
This concludes the procedure to suppress servomotor vibration while stopping.
6.5.5 Reducing Ripple in the Motor Speed
There will be minor ripple (fluctuation) in the servomotor speed. You can use ripple compensation to suppress the ripple in the servomotor speed.
A simplified flowchart for ripple compensation is given below.
Use the following procedure to reduce ripple in the motor speed.
- Select [Ripple Compensation] in the [Menu] window.
The [Ripple Compensation] window will be displayed. - Read the precautions and then click the [OK] button.
Click the [Cancel] button to cancel ripple compensation. The Main Window will return.If the write prohibited setting is ON, the following dialog box will be displayed.
Click the [OK] button to release write prohibition.
Refer to Prohibiting Parameter Changes from the Digital Operator for the procedure to release parameter write prohibition. - Click the [Edit] button.
- Enter the jogging speed in [Input value].
- Click the [OK] button.
The [Ripple Compensation] window will return. - Click the [Servo ON] button.
The [Measurement] area will change and the [Forward] and [Reverse] buttons will be enabled. - Click the [Forward] button or the [Reverse] button.
The servomotor will rotate at the jogging speed while you hold down the button.
The feedback speed and torque reference graph will be displayed in the tracing area during jogging.If the measurement time (i.e., the jogging time) for the ripple is too short, ripple measurement will not be completed.
If that occurs, the following message dialog box will be displayed.
Click the [OK] button and repeat the measurement. - Click the [Write] button.
- Click the [OK] button.
- Click the [Forward] button or the [Reverse] button.
The servomotor will rotate at the jogging speed while you hold down the button.
The feedback speed and torque reference graph will be displayed in the tracing area during jogging.You can change the display in the tracing area with the zero point movement button and range boxes shown below.- Vertical Axis Range
You can set the scale units for the feedback speed and torque reference. Select the ranges from the lists in the boxes. You cannot enter values directly.
If you select “AUTO”, the optimum value to display all of the data in the graph display area will be selected and the range width will be adjusted.
Vertical Axis Range Selection Box - Horizontal Axis (Time Axis) Range
Select the horizontal axis range from the list in the box. The unit is ms. You cannot enter values directly.
If you select “FULL”, the range will be automatically adjusted to display all of the data on the horizontal axis.
Horizontal Axis Range Selection Box - [Before Adjustment] check box
Select this check box to display the graph before ripple compensation.
Clear this check box to not display the graph before ripple compensation. - [After Adjustment] check box
Select this check box to display the graph before ripple compensation.
Clear this check box to not display the graph after ripple compensation.
After you click the
Click the
- Vertical Axis Range
- If the results of ripple compensation verifications are suitable, click the [Completed] button.
The adjustment results will be set in the parameters and the Main Window will be displayed again.If the results of ripple compensation verification are not suitable, click the [Reset] button to restore the ripple compensation written in the SERVOPACK to the original setting.
If ripple compensation is necessary, repeat the measurements from step 7.
Zoom buttons
button, you can specify the area to enlarge with the mouse.
button to restore the previous display.This concludes the procedure to reduce ripple in the motor speed.
6.5.6 Adjusting Individual Parameters during Operation
You can use this operation to edit SERVOPACK parameters and write them to the SERVOPACK at the same time.
This operation is convenient for adjusting gains and other parameters during motor operation.
- If you change the more-significant digits in parameter settings, the parameter settings will change drastically. Be cautious when you change parameter settings.
- The values that are set in the [Online Parameter Editing] window are written directly to the SERVOPACK.
- If the power to the SERVOPACK is turned OFF or the communications are disconnected while you are editing parameters online, any parameter settings that were changed will not be saved in the SERVOPACK.
Use the following procedure to adjust individual parameters during operation.
- Select [Edit Parameters Online] in the [Menu] window.
The [Online Parameter Editing] window will be displayed. - Click the [Setup] button.
- The parameters that are displayed in the [Online Parameter Editing] window will be set.
Click the [Set] button to the right of the parameter you want to change. - Select the parameters to display in the list of parameters to display and click the [OK] button.
- If there are other parameters for which to change the display, set them using step 3 and step 4.
To delete parameters from the display, click the [Del] button to the right of the parameters to delete. After the displayed parameters are deleted, click the [Set] button. - Click the [OK] button.
The [Online Parameter Editing] window will be displayed. - Click the [▲] and [▼] buttons for the parameters to change in order to change the parameter settings.
The new settings will be applied to the SERVOPACK that is online. - When the adjustments have been completed, click the [Close] button.
This concludes the procedure to adjust individual parameters during operation.
6.5.7 Displaying Machine Frequency Characteristics on a Graph
Introduction
You can connect the SERVOPACK to a personal computer to measure the frequency characteristics of the machine. This allows you to measure the frequency characteristics of the machine without using a measuring instrument.
The servomotor is used to cause machine vibration and then the speed frequency characteristics for the motor torque are measured. The measured frequency characteristics can be used to determine the machine resonance.
You determine the machine resonance for use in servo tuning and as reference for considering changes to the machine. The performance of the servo cannot be completely utilized depending on the rigidity of the machine. You may need to consider making changes to the machine. The information can also be used as reference for servo tuning to help you adjust parameters, such as the servo rigidity and torque filter time constant.
You can also use the information to set parameters, such as the notch filters.
- Confirm safety around moving parts.
During this operation, excitation will be performed once for each measurement and the servomotor will rotate (or move for a linear servomotor) for up to two seconds.
Sufficiently confirm that no hazard will occur due to servomotor operation before you perform this operation. - Set a suitable value for the allowable rotations/movement setting.
If a suitable value is not set, the machine may run out of control and be damaged.
The allowable rotations/movement setting is the limit for each excitation/measurement. If excitation is performed more than once, the starting position for vibration may be offset. Always check safety before excitation/measurements. - If you perform this operation for a vertical axis, check system safety.
If you use this operation for a vertical axis, select the “vertical axis mode” and confirm that the system will not allow the load to fall when the servo is turned OFF. - When you finish performing this operation, always reset the position.
This operation controls the motor with internal references. Before you perform normal operation, perform an origin return to reset the position of the system. If you operate the motor without resetting the position, the motor may run out of control or another very hazardous condition may result.
| No. | Item | Description | Reference |
|---|---|---|---|
| (1) | Toolbar | The toolbar provides buttons such as the [Open] button, which allows you to load a trace data file, and the [Print] button, which allows you to print. | [Mechanical Analysis] Window Toolbar |
| (2) | [START] button | When you click the [START] button, the [Mechanical Analysis (Reference Conditions Setting)] window is displayed and analysis is started. | Preparations for Measurements |
| (3) | Measurement and Notch Filter Setting tab pages | [Measurement] tab page: Displays detailed information on the results of analysis. [Notch Filter Setting] tab page: Displays the notch filter frequencies. You can set these values in the parameters. | Viewing Measurement Graphs |
| (4) | Gain Graph Display Area and Vertical Scroll Bar | The gain graph is displayed in this area. If the gain graph does not fit in the display area, the vertical scroll bar is enabled so that you can scroll. | Viewing Measurement Graphs |
| (5) | Gain Graph Vertical Axis Range Box | You can change the range for the vertical axis of the gain graph. The unit is dB. | Viewing Measurement Graphs |
| (6) | Gain Graph/Phase Graph Horizontal Axis Range Box | You can change the range for the horizontal axes of the gain graph and phase graph. The unit is Hz for both the gain graph and phase graph. | Viewing Measurement Graphs |
| (7) | Phase Graph Display Area and Vertical Scroll Bar | The phase graph is displayed in this area. If the phase graph does not fit in the display area, the vertical scroll bar is enabled so that you can scroll. | Viewing Measurement Graphs |
| (8) | Phase Graph Vertical Axis Range Box | You can change the range for the vertical axis of the phase graph. The unit is deg. | Viewing Measurement Graphs |
[Mechanical Analysis] Window Toolbar
The buttons in the [Mechanical Analysis] window toolbar are described in the following table.
| Toolbar Button | Description | Reference |
|---|---|---|
[Open] | Loads a mechanical analysis data file. | Opening Mechanical Analysis Data Files (Measurement Results Files) on the Personal Computer |
[Save] | Saves the displayed gain graph or phase graph to a file. | Saving Mechanical Analysis Data Files (Measurement Results Files) on the Personal Computer |
[Print] | Prints measurement results from mechanical analysis. | Printing Measurement Results from Mechanical Analysis |
[Measurement Conditions] | Displays the measurement conditions that were used for mechanical analysis. | Confirming Measurement Conditions for Mechanical Analysis |
[Cursor] | Displays the data from the location of the cursor. | Viewing Measurement Graphs |
[Zoom] | Lets you enlarge the display of the area you specify with the mouse. | Viewing Measurement Graphs |
[Restore] | Restores the original display zoom. | Viewing Measurement Graphs |
[Copy to Clipboard] | Copies the displayed graphs or the entire window to the clipboard. | Copying Mechanical Analysis Data to the Clipboard |
| Displays the [History] window. | Viewing Measurement Graphs |
| Displays the [Overlapping] window. Displays the [Overlapping] window. | Viewing Measurement Graphs |
Preparations for Measurements
You must make preparations for measuring the frequency characteristics before you perform mechanical analysis.
Use the following procedure to prepare for measurements.
- Select [Mechanical Analysis] in the [Menu] window.
The [Mechanical Analysis] window will be displayed. - Read the precautions and then click the [Execute] button.
Click the [Cancel] button to cancel performing mechanical analysis. The Main Window will return. - Click the [START] button.
The [Mechanical Analysis (Reference Conditions Setting)] window will be displayed. - Set the conditions for the measurements.
No. Item Description (1) Driving Mode Selection Select either the [Horizontal mode] or [Vertical mode] option for the driving mode.
Horizontal Mode
The servomotor is excited with torque control.
Do not use this mode for a system with a vertical axis. There is a risk of the load falling.
Vertical Mode*1
The servomotor is excited with position control.
The servo will remain ON during operation and measurements. (The servo is not turned OFF automatically.)
Always use the [Vertical mode] for a system with a vertical axis.
Notch filters and other controls are used in this mode, so the resulting characteristics will be different from those measured in horizontal mode.(2) Sampling Time Select the sampling time from the list in the box. If you set a short sampling time, measurements are possible up to high frequencies and the excitation time is shortened. However, the frequency resolution will be lower, and the measurement accuracy will be low for particularly low frequencies.
The measured frequencies and excitation time are determined by the sampling time.
First, set a short sampling time and use the measurement results to determine a suitable sampling time. You cannot enter values directly.(3) Excitation Signal A “Cycle wave” is the only type of excitation signal that is supported. (4) Excitation Amplitude Set the size of the reference amplitude to excite the servomotor as a percentage of the rated torque (force). The setting range is 1% to 300%.
Increasing the excitation amplitude tends to produce more correct measurements, but if the excitation amplitude is too large, balance will be lost with the load moment of inertia (or mass for a linear servomotor). This will cause an A.510 alarm (Overspeed) or A.100 alarm (Overcurrent Detected) and prevent correct measurements.
The excitation amplitude must be no larger than the torque (force) limit.
If the torque (force) is restricted during excitation, correct measurements will not be possible.
For information on the torque (force) limits, refer to the product manual for your SERVOPACK.(5) Allowable Rotations
(Allowable Travel Distance for a Linear Servomotor)*2, *3Enter the limit for the number of motor rotations (travel distance) during the measurements. The setting range is ±1 to 1,000 rotations (±1 mm to 1,000 mm for a linear servomotor).
If the number of servomotor rotations (travel distance) exceeds the allowable rotations (travel distance) during measurements, the servomotor will stop and will be zero clamped, and the measurements will stop.
Set the motor rotations (travel distance) within the possible range of movement considering the gear ratio, e.g., the pulley diameters or ball screw pitch.
If you set a small number of motor rotations (travel distance), reduce the excitation width and the sampling time.(6) No. of Measurements Set the number of measurements for mean processing of the measurement data. The setting range is 1 to 5 sets.
One set consists of a round-trip operation that starts vibration or measurements from the forward side and then performs vibration and measurements from the reverse side. The larger the number of measurements, the more correct the measurement results will tend to be, but more time will be required for the measurements.(7) Line color Select the colors of the lines to use in the graph of the measurement results. (8) Help button Click this button to display Guidelines for Setting the Reference Conditions in help.
You can check the guidelines for setting the reference conditions.(9) Save button The [Save As] window will be displayed.
You can set the file name and click the [Save] button to save the current reference conditions in a reference condition setting file (*.myc).(10) Open button The [Open] window will be displayed.
You can select a reference condition setting file (*.myc) and click the [Open] button to apply the reference condition settings to the [Mechanical Analysis (Reference Condition Setting)] window.*1 Confirm that the gain settings are stable before execution. Operation is performed with position control, so vibration may occur depending on the settings. *2 This is the limit to the number of rotations (travel distance) per excitation. During multiple excitations, the excitation starting position may move in one direction or the other. Confirm the possible operating range for each excitation. *3 There may be a delay of up to 2 ms in detecting the allowable rotations (travel distance) in the SERVOPACK. Also, depending on the size of the moment of inertia (mass) or speed, operation may occur that exceeds the setting. When you set the allowable rotations (travel distance), allow some leeway. - Click the [Next] button.
Click the [Back] button or [Cancel] button to cancel mechanical analysis. The [Mechanical Analysis] window will return. - Click the [Start] button.
Transferring the reference conditions to the SERVOPACK will be started. A progress bar will show the progress of the transfer. - Click the [Next] button.
The [Mechanical Analysis (Excitation/Measurement)] window will be displayed.
This concludes the preparations for measurements.
Guidelines for Setting the Reference Conditions
- The servomotor will cause the machine to vibrate and measure the frequency characteristics.
- Set the operating mode, sampling time, excitation amplitude, and the number of measurements.
- Correct measurement of the frequency characteristics may not be possible depending on the settings. Set suitable settings using the measurement results as reference. Refer to the following Setting Guideline Details for more information.
- An allowable number of rotations or travel distance must be set to ensure safe measurements. Set the allowable number of rotations or travel distance range.
Driving Mode Selection
The servomotor is operated with torque control in Horizontal Mode or with position control in Vertical Mode.
Always use the Vertical Mode for a system with a vertical axis to prevent the load from dropping (slipping).
Notch filters and other controls are used in Vertical Mode, so the resulting characteristics will be different from those measured in Horizontal Mode.
Sampling Time [μs] (Measurement Frequency [Hz] and Excitation Time/Interaction [ms])
If you set a short sampling time, measurements are possible up to high frequencies and the excitation time is shortened. However, the frequency resolution will be lower, and the measurement accuracy will be low for particularly low frequencies.
The measured frequencies and excitation time are determined by the sampling time.
First, set a short sampling time and use the measurement results to determine a suitable sampling time.
Excitation Signal: Frequency (Fixed)
A frequency is used to cause vibration in the machine.
Excitation Amplitude [± Percentage of Rated Torque (Force)]
Set the size of the reference amplitude to excite the servomotor as a percentage of the rated torque (force). The setting range is 1% to 300%.
Increasing the excitation amplitude tends to produce more correct measurements, but if the excitation amplitude is too large, balance will be lost with the load moment of inertia (mass). This will cause an A.510 alarm (Overspeed) or A.100 alarm (Overcurrent Detected) and prevent correct measurements.
The excitation amplitude must be no larger than the torque (force) limit. If the torque (force) is restricted during excitation, correct measurements will not be possible. Caution is required.
For information on the torque (force) limits, refer to the product manual for your SERVOPACK.
Reference Selection Allowable Rotations [Rotations] (Allowable Travel Distance [mm] for a Linear Servomotor)
Enter the limit for the number of motor rotations (travel distance) during the measurements. The setting range is ±1 to 1,000 rotations (±1 mm to 1,000 mm for a linear servomotor).
If the number of servomotor rotations (travel distance) exceeds the allowable rotations (travel distance) during measurements, the servomotor will stop and will be zero clamped, and the measurements will stop.
Set the motor rotations (travel distance) within the possible range of movement considering the gear ratio, e.g., the pulley diameters or ball screw pitch.
To reduce the number of motor rotations (travel distance), reduce the excitation width and the sampling time.
- This is the limit to the number of rotations (travel distance) per excitation. During multiple excitations, the excitation starting position may move in one direction or the other. Confirm the possible operating range for each excitation.
- There may be a delay of up to 2 ms in detecting the allowable rotations (travel distance) in the SERVOPACK. Also, depending on the size of the moment of inertia (mass) or speed, operation that exceeds the setting may occur. When you set the allowable rotations (travel distance), allow some leeway.
No. of Measurements [Sets]
Set the number of measurements for processing the average of the measurement data. The setting range is 1 to 5 sets.
One set consists of a round-trip operation that starts vibration or measurements from the forward side and then performs vibration and measurements from the reverse side. The larger the number of measurements, the more correct the measurement results will tend to be, but more time will be required for the measurements.
Line Color
Select the colors of the line to use in the graph of the measurement results.
Measuring the Frequency Characteristics
The servomotor is actually operated to measure the frequency characteristics.
The window depends on the operating mode that you select.
Use the links in the following table to jump to the relevant information.
| Driving Mode | Description |
|---|---|
| Horizontal Mode | Using Horizontal Mode |
| Vertical Mode | Using Vertical Mode |
Using Horizontal Mode
Use the following procedure to take measurements when the operating mode is set to the horizontal mode.
- Click the [Servo On] button.
- Click the [Forward] button.
The servomotor will operate in the forward direction and measurements will be taken.The following dialog box will be displayed if a limit is reached and the servomotor stops during excitation and measurements. Click the [OK] button to cancel processing and return to the [Mechanical Analysis] window. - Click the [Servo On] button.
- Click the [Reverse] button.
The servomotor will operate in the reverse direction and measurements will be taken.
The following window is displayed after the measurements have been completed. - Repeat steps 1 to 4 of the operation for the number of times set for the number of measurements in the [Mechanical Analysis (Reference Conditions Setting)] window.
- When the measurements have been completed, click the [Finish] button.
The gain and phase graphs will be displayed in the [Mechanical Analysis] window.
This concludes the measurements in the horizontal mode.
Using Vertical Mode
Use the following procedure to take measurements when the operating mode is set to the vertical mode.
- Click the [Servo On] button.
- Click the [Forward] button.
The servomotor will operate in the forward direction and measurements will be taken.The following dialog box will be displayed if a limit is reached and the servomotor stops during excitation and measurements. Click the [OK] button to cancel processing and return to the [Mechanical Analysis] window. - Click the [Reverse] button.
The servomotor will operate in the reverse direction and measurements will be taken. - Repeat steps 2 to 3 of the operation for the number of times set in the [No. of Measurements] box in the [Mechanical Analysis (Reference Conditions Setting)] window.
- When the measurements have been completed, click the [Servo On] button and then click the [Finish] button.
The gain and phase graphs will be displayed in the [Mechanical Analysis] window.The following dialog box will be displayed if you click the [Finish] button before you turn OFF the servo. Turn OFF the servo by clicking the [OK] button.
This concludes the measurements in the vertical mode.
Viewing Measurement Graphs
The measurement results are displayed in the graph display area of the [Mechanical Analysis] window.
You can use the cursors to check values on the graphs.
You can use the [Notch Filter Setting] tab page to set the values that were automatically calculated from the measurement results in the SERVOPACK.
Changing the Graph Displays
You can change the zoom or display positions of the graphs so that they are easier to check.
| No. | Item | Description |
|---|---|---|
| (1) | Estimated Anti-Resonance Frequency | A cursor is displayed at the location of the estimated anti-resonance frequency. The frequency is displayed in the [Estimated Anti-Resonance Frequency] on the [Measurement] tab page. Click the [Clear] button on the [Measurement] tab page to remove the cursor display. |
| (2) | Estimated Resonance Frequency | A cursor is displayed at the location of the estimated resonance frequency. The frequency is displayed in the [Estimated Resonance Frequency] on the [Measurement] tab Page. Click the [Clear] button on the [Measurement] tab page to remove the cursor display. |
| (3) | 2nd Estimated Resonance Frequency Candidate and 3rd Estimated Resonance Frequency Candidate | A cursor is displayed at the location of the 2nd and 3rd estimated resonance frequencies. Different line types are used to indicate the 2nd and 3rd candidates. 2nd estimated resonance frequency candidate: Long chain line 3rd estimated resonance frequency candidate: Dotted line Click the [Clear] button on the [Measurement] tab page to remove the cursor display. |
| (4) | Vertical Scroll Bar | The vertical scroll bar can be used when all of the data does not fit in the display area due to the vertical axis range setting. You can scroll the display position of the graph. |
| (5) | Vertical Axis Range Box | You can set the vertical axis ranges for both the gain and phase graphs. Select the ranges from the lists in the boxes. The unit for the gain graph is dB and the unit for the phase graph is deg. You cannot enter values directly. If you select “AUTO”, the optimum value to display all of the data in the graph display area will be selected and the range width will be adjusted. |
| (6) | Horizontal Axis Range Box | You can set the range for the horizontal axis of the gain and phase graphs. The same setting is used for both graphs. The unit is Hz for both the gain graph and phase graph. If you select “FULL”, the optimum value will be set to display all of the data in the display area. |
| (7) | Horizontal Scroll Bar | The horizontal scroll bar can used when all of the data does not fit in the display area due to the horizontal axis range setting. You can scroll the display position of the graph. |
Zooming the Graph Displays
After you click the
Click the
Graph Displays before Zooming
Graph Displays after Zooming
Displaying Graph Values with Cursors
Click the
Each time you click the A or B cursor, the other cursor is selected.
| No. | Item | Description |
|---|---|---|
| (1) | Cursor Button | Displays the A cursor and B cursor. |
| (2) | A Cursor | It is displayed when you click the [Cursor] button. If you click the B cursor, the A cursor is selected and you can move the A cursor. |
| (3) | B Cursor | The B cursor is displayed after the A cursor is displayed and its position is set. If you click the A cursor, the B cursor is selected and you can move the B cursor. |
| (4) | Estimated Resonance Frequency Line Color Selection Box | You can select the color of the line to use for the estimated resonance frequency cursor. |
| (5) | Estimated Anti-Resonance Frequency Line Color Selection Box | You can select the color of the line to use for the estimated anti-resonance frequency cursor. |
| (6) | Clear Button | If you click the [Clear] button, the displays of the estimated resonance frequency and estimated anti-resonance frequency are cleared. |
| (7) | A Cursor Line Color Selection Box | You can select the color of the A cursor line. |
| (8) | B Cursor Line Color Selection Box | You can select the color of the B cursor line. |
| (9) | Measurement values at the position of the A cursor | The values of the gain [dB], phase [deg], and frequency [Hz] at the position of the A cursor are displayed. |
| (10) | Measurement values at the position of the B cursor | The values of the gain [dB], phase [deg], and frequency [Hz] at the position of the B cursor are displayed. |
| (11) | Measurement values at mouse cursor position | The values of the gain [dB], phase [deg], and frequency [Hz] at the position of the mouse cursor are displayed. |
Displaying Graph Historical Data
Click the
Select a row of historical data to display in the graph area. You can select a maximum of one item of historical data.
Up to 10 items of historical data can be displayed. If 10 items of historical data are exceeded, the data will be discarded starting from the oldest data, and the executed data will be added to the 10th row.
button to clear all of the displayed historical data including the selected historical data. button to display the [Overlapping] window on which the historical data can be displayed overlapping.Overlapping Specified Graph Historical Data
Click the
The historical data that was selected will be displayed in the graph area. You can display and compare two or more graphs at the same time.
button to clear all of the displayed historical data including the selected historical data. button to display the [History] window on which you can check historical data one item at a time.The graphs of the historical data that was selected will be displayed overlapping.
Setting Notch Filter Frequencies
Click the [Notch Filter Setting] tab. The [Notch Filter Setting] tab page will be displayed.
Values that were automatically calculated from the measures are displayed for the notch filter frequencies. Click the [Setting] button to set the parameters in the SERVOPACK. The value that was set in Pn409 (1st Notch Filter Frequency) will be displayed.
Opening Mechanical Analysis Data Files (Measurement Results Files) on the Personal Computer
You can read mechanical analysis data files (measurement results files) saved on the personal computer and display the data.
Use the following procedure to open a mechanical analysis data file (measurement results file) on the personal computer.
- Select [Mechanical Analysis] in the [Menu] window.
The [Mechanical Analysis] window will be displayed. - Click the [Open] button.
The [Open] window will be displayed. - Select the file to read and click the [Open] button.
The data is read from the measurement results file and displayed in the [Mechanical Analysis] window.
This concludes the procedure to open a mechanical analysis data file (measurement results file) on the personal computer.
Saving Mechanical Analysis Data Files (Measurement Results Files) on the Personal Computer
You can save the results from mechanical analysis on the personal computer. You can compare measured graph data and save histories in file data.
Use the following procedure to save mechanical analysis data files (measurement results files) on the personal computer.
- Use mechanical analysis to measure the machine’s frequency characteristics.
Refer to Preparations for Measurements and Measuring the Frequency Characteristics for detailed measurement procedures. - Click the [Save] button.
The [Save As] window will be displayed. - Select the location in which to save the file.
- Enter the file name.
The default file name is the current time and date (yyyymmddhhmmss). - Click the [Save] button.
The data will be saved in a file in the specified location and the [Mechanical Analysis] window will return.If a file with the same name already exists or after you have read an existing file, the following dialog box will be displayed to confirm overwriting the file.
Click the [Yes] button to overwrite the existing file. Click the [No] button to not save the data and return to the [Save As] window.
This concludes the procedure to save mechanical analysis data files (measurement results files) on the personal computer.
Printing Measurement Results from Mechanical Analysis
You can print the measurement results of mechanical analysis. You can also print a cover sheet that contains information such as the company name and address of the submitter and the company name or department name of the recipient.
Use the following procedure to print the results of measurements made during mechanical analysis.
- Use mechanical analysis to measure the machine’s frequency characteristics.
Refer to Preparations for Measurements and Measuring the Frequency Characteristics for detailed measurement procedures. - Click the [Print] button.
The [Printing Item Setting] window will be displayed. - To attach a cover sheet, select the [Attaching the Cover] check box and click the [Cover Editing] button.
To not attach a cover sheet, clear the [Attaching the Cover] check box and proceed to step 7. - As required, click the [Submitter], [Where to Submit (No.1)], [Where to Submit (No.2)], [Where to Submit (No.3)], and [Greeting Sentences] tabs and enter the required text.
- Click the [OK] button.
- Select the appropriate [Where to Submit] option to use when printing.
The contents for the selected [Where to Submit] option is displayed in the [Printing Item Setting] window. - Click the [Header & Footer] tab and select the check boxes for the information to place in the header and footer.
If you select the [Title] check box, enter the title in the box. - Click the [Printing Items] tab and select the check boxes related to the graphs and comments as required.
- To print in black and white, select the [Black and White] option.
To print in color, select the [Color] option. - Click the [OK] button.
The [Print Preview] window will be displayed. - Click the [Print] button.
Printing will be started.
Click the [Editing of the Printing Items] button to change the items that are printed. The [Printing Item Setting] window will return.
This concludes the procedure to print measurement results from mechanical analysis.
Confirming Measurement Conditions for Mechanical Analysis
You can check measurement conditions from mechanical analysis.
Use the following procedure to check the measurement conditions from mechanical analysis.
- Use mechanical analysis to measure the machine’s frequency characteristics.
Refer to Preparations for Measurements and Measuring the Frequency Characteristics for detailed measurement procedures. - Click the [Measurement Conditions] button.
The [Measurement Conditions] window will be displayed. - Click the [Measurement Data] tab and check the measurement conditions.To leave comments with the measurement conditions, click the [Comment] tab and enter the comments in the box.
- Click the [OK] button.
The [Mechanical Analysis] window will return.
This concludes the procedure to check the measurement results from mechanical analysis.
Copying Mechanical Analysis Data to the Clipboard
You can copy the measurement results from mechanical analysis to the clipboard. This will allow you to use it in an MS Word or Excel file.
Use the following procedure to copy mechanical analysis data to the clipboard.
- Use mechanical analysis to measure the machine’s frequency characteristics.
Refer to Preparations for Measurements and Measuring the Frequency Characteristics for detailed measurement procedures. - Click the [Copy to Clipboard] button.
The [Clipboard Copy] window will be displayed. - Specify the area to copy and click the [OK] button.
This concludes the procedure to copy mechanical analysis measurement results to the clipboard.
6.5.8 Detecting Machine Characteristics and Suppressing Vibration
This operation resembles mechanical analysis, but detailed measurements are not performed. It is suitable to perform simple checks of the frequency characteristics.
The machine is made to vibrate and a resonance frequency is detected from the generated vibration to set notch filters according to the detected resonance frequencies. This is used to eliminate high-frequency vibration and noise.
During execution of this operation, a frequency waveform reference is sent from the SERVOPACK to the servomotor to automatically cause the shaft to rotate multiple times within 1/4th of a rotation, thus causing the machine to vibrate.
- Never touch the servomotor or machine during execution of Easy FFT. There is a risk of injury.
- Use Easy FFT when the servo gain is low, such as in the initial stage of servo tuning. If you execute Easy FFT after you increase the gain, the machine may vibrate depending on the machine characteristics or gain balance.
Use the following procedure to detect machine characteristics and suppress vibration.
- Select [EasyFFT] in the [Menu] window.
The [EasyFFT] dialog box will be displayed. - Read the precautions and then click the [OK] button.
Click the [Cancel] button to cancel Easy FFT. The Main Window will return. - Click the [Servo ON] button.
- In the [Measurement condition] area, enter the reference amplitude in [Instruction amplitude] and select the rotation direction from the list in [Rotation direction].
- Click the [Start] button.
The servomotor shaft will start and measurements will be taken. When measurements have been completed, the measurement results will be displayed. - Click the [Measurement complete] button.
- Click the [Result Writing] button if you want to set the measurement results in the parameters.
Click the [Close] button if you do not want to set the measurement results in the parameters.
The Main Window will return.
This concludes the procedure to detect machine characteristics and suppress vibration.
6.6 Simultaneously Adjusting Multiple Axes in a System
6.6.1 Introduction
You can use the [System Tuning] window to simultaneously adjust more than one axis in the same system.
You can adjust each axis individually or simultaneously adjust multiple axes by setting the same adjustment value for them with one base axis and up to three applicable axes.
You can display up to 16 axes in the [System Tuning] window.
| No. | Item | Description | Reference |
|---|---|---|---|
| (1) | Adjust Individually | Lets you select the axes to adjust from the axes displayed in the [System Tuning] window so that you can adjust them individually. | Adjusting Axes Individually (Individual Adjustment) |
| (2) | Adjust Equally | Lets you select a base axis and applicable axes (3 max.) to adjust from the axes displayed in the [System Tuning] window so that you can adjust them equally. | Adjusting Axes Simultaneously (Equal Adjustment) |
| (3) | Select Axes | Lets you select the base axis and applicable axes (3 max.) for equal adjustment. | Changing the Adjusted Axes for Equal Adjustment |
| (4) | Suggestions | Displays the [Suggestions for Increasing Adjustment Speed] dialog box containing suggestions for system tuning. | − |
| (5) | Precautions | Displays the dialog box containing precautions for system tuning. | − |
| (6) | Adjusted Axes | Displays the axes that are connected to the selected servo drive. To add more axes, go to the [Menu] window for the SERVOPACK connected to the axes to add and click [System Tuning]. | Adjusting Axes Individually (Individual Adjustment), Adjusting Axes Simultaneously (Equal Adjustment), and Changing the Adjusted Axes for Equal Adjustment1 |
6.6.2 Adjusting Axes Individually (Individual Adjustment)
You can adjust multiple axes used in the same system individually.
The following items are adjusted automatically.
- Gains (e.g., speed loop gain and position loop gain)
- Filters (torque reference filter and notch filters)
- Friction compensation
- Anti-resonance control
There are two adjustment methods that you can use for tuning.
Tuning Mode: 0, 1, 5, or 6
These modes allow you to set stable control conditions for multiple servo gains by manipulating only one tuning level. If vibration is detected, notch filters and anti-resonance control are automatically adjusted. Manual anti-resonance control adjustment is also possible during tuning.
Tuning Mode: 2 or 3
Two tuning levels are manipulated to reduce positioning time even further and set multiple servo gains. Model following control is used to reduce the positioning time. If vibration is detected, notch filters and anti-resonance control are automatically adjusted, and friction compensation is automatically set. Manual anti-resonance control adjustment and vibration suppression are also possible during custom tuning.
- Before you execute this operation, check the information provided in this manual. Observe the following precautions.
- Make sure that you can perform an emergency stop at any time.
When tuning is started with this operation, several parameters will be overwritten with the recommended settings, which may greatly affect the response before and after execution. Make sure that you can perform an emergency stop at any time. - Set the moment of inertia correctly before you execute this operation.
If the setting greatly differs from the actual moment of inertia, vibration may occur. - If you change the feedforward level, the new setting will not be used immediately. It will be used after positioning is completed.
- Make sure that you can perform an emergency stop at any time.
- Vibration or overshooting may occur during tuning. To ensure safety, make sure that you can perform an emergency stop at any time.
- If you are using an MP3000-series controller for phase control, set [Tuning mode] to "0" or "1". If [Tuning mode] is set to a mode other than "0" or "1", correct phase control may not be possible.
Use the following procedure to adjust axes individually.
- Select [System Tuning] in the [Menu] window.
The [System Tuning] window will be displayed.The following window will be displayed if system tuning cannot be performed for any of the axes of the selected servo drive.
To continue with system tuning, select axes for which system tuning is possible and click the [OK] button.
To cancel system tuning and change the parameters of an axis for which system tuning is not possible, click the [Cancel] button and then change the parameters. - Click the [Adjust Individually] button in the [Adjustment Method Selection] group.
- To change the tuning mode of an adjusted axis, click the [Change/Modify] button.
If you do not need to make changes to the tuning mode, go to Step 6.
The [Set Tuning Conditions] window will be displayed. - Set the conditions for system tuning.
No. Item Description (1) Tuning Mode Set the tuning mode. Mode Selection Meaning 0: Set servo gains with priority given to stability. This setting gives priority to stability and preventing overshooting. In addition to gain adjustment, notch filters and anti-resonance control (except during torque control) are automatically adjusted. 1: Set servo gains with priority given to response. Overshooting may occur because priority is given to response. In addition to gain adjustment, notch filters and anti-resonance control (except during torque control) are automatically adjusted. 2: Set servo gains for positioning application. Tuning is performed for positioning applications. In addition to gain adjustment, notch filters, anti-resonance control, and vibration suppression are adjusted. 3: Set servo gains especially to prevent overshooting during positioning application. Tuning is performed for positioning applications with emphasis on eliminating overshooting. In addition to gain adjustment, notch filters, anti-resonance control, and vibration suppression are adjusted. 5: Set servo gains appropriate for less-deviation control.
Note: This selection is displayed when connected to a Σ-X-series SERVOPACK.Tuning is performed that is appropriate for control to reduce deviation during movement and improve tracking ability (i.e., less-deviation control). In addition to the gains, notch filters and anti-resonance control are adjusted. 6: Set servo gains for applications with large load fluctuations.
Note: This selection is displayed when connected to a Σ-X-series SERVOPACK.Load fluctuation compensation control is performed to suppress the variations in settling time that occur when the load fluctuates. In addition to gain adjustment, automatic setting of notch filters and anti-resonance control is provided. (2) Mechanism Selection Select the type according to the machine element to drive.
If there is noise or if the gain does not increase, better results may be obtained by changing the rigidity type. Select the type according to the following guidelines.Mechanism Selection Meaning 1: Belt mechanism Tuning is performed for a mechanism with relatively low rigidity, e.g., a belt. 2: Ball screw mechanism or linear motor Tuning is performed for a mechanism with relatively high rigidity, e.g., a ball screw, or a linear servomotor. Use this setting if there is no other appropriate setting. 3: Rigid model Tuning is performed for a mechanism with high rigidity, e.g., a rigid body system. (3) Friction Compensation Enable or disable friction compensation. (4) Speed Control Select the speed control method. - The tuning modes that you can select depend on the SERVOPACK setting.
- Friction Compensation and Speed Control may not be displayed depending on the connected SERVOPACK and the selected tuning mode.
- Click the [Setting] button.
The [System Tuning] window will return. - Click the [Start Tuning] button.
- Use the [▲] and [▼] buttons to change the tuning level.
Increase the feedforward level until overshooting occurs and then increase the feedforward level until overshooting is eliminated. Repeat these changes to make the adjustment.
Click the [Reset] button during adjustment to restore the setting to its original value. The tuning level will return to the value from before when tuning was started.- The new feedforward level will not be used until the positioning completed signal is output.
- If vibration is automatically detected, the notch filter or anti-resonance control will be implemented.
If automatic setting of these functions makes vibration worse, click the corresponding [Cancel] button to disable the function.
- Click the [Finish] button.
The tuning results will be set in the parameters.
This concludes the procedure to adjust axes individually.
6.6.3 Adjusting Axes Simultaneously (Equal Adjustment)
You can simultaneously adjust multiple axes in the same system with one base axis and up to three applicable axes.
The following items are adjusted automatically.
- Gains (e.g., speed loop gain and position loop gain)
- Filters (torque reference filter and notch filters)
- Friction compensation
- Anti-resonance control
There are two adjustment methods that you can use for tuning.
Tuning Mode: 0, 1, 5, or 6
These modes allow you to set stable control conditions for multiple servo gains by manipulating only one tuning level. If vibration is detected, notch filters and anti-resonance control are automatically adjusted. Manual anti-resonance control adjustment is also possible during tuning.
Tuning Mode: 2 or 3
Two tuning levels are manipulated to reduce positioning time even further and set multiple servo gains. Model following control is used to reduce the positioning time. If vibration is detected, notch filters and anti-resonance control are automatically adjusted, and friction compensation is automatically set. Manual anti-resonance control adjustment and vibration suppression are also possible during custom tuning.
- Before you execute this operation, check the information provided in this manual. Observe the following precautions.
- Make sure that you can perform an emergency stop at any time.
When tuning is started with this operation, several parameters will be overwritten with the recommended settings, which may greatly affect the response before and after execution. Make sure that you can perform an emergency stop at any time. - Set the moment of inertia correctly before you execute this operation.
If the setting greatly differs from the actual moment of inertia, vibration may occur. - If you change the feedforward level, the new setting will not be used immediately. It will be used after positioning is completed.
- When a [Start Tuning] button is selected for equal adjustment, the feedforward and feedback levels of the base axis will be written to the applicable axes (3 max.). This may greatly affect axis behavior. Make sure that you can perform an emergency stop (to turn OFF the power supply) at any time.
- Make sure that you can perform an emergency stop at any time.
- Vibration or overshooting may occur during tuning. To ensure safety, make sure that you can perform an emergency stop at any time.
- If you are using an MP3000-series controller for phase control, set [Tuning mode] to "0" or "1". If [Tuning mode] is set to a mode other than "0" or "1", correct phase control may not be possible.
Use the following procedure to adjust multiple axes simultaneously.
- Select [System Tuning] in the [Menu] window.
The [System Tuning] window will be displayed.The following window will be displayed if system tuning cannot be performed for any of the axes of the selected servo drive.
To continue with system tuning, select axes for which system tuning is possible and click the [OK] button.
To cancel system tuning and change the parameters of an axis for which system tuning is not possible, click the [Cancel] button and then change the parameters. - Click the [Adjust Equally] button in the [Adjustment Method Selection] group.
The [Equalize Axis Settings] window will be displayed. - Select the base axis and applicable axes.With equal adjustment, the tuning mode and adjustment results of the base axis are used to simultaneously adjust the applicable axes (3 max.).
- Click the [Set] button.
The [System Tuning] window will return.- You may need to reset the software and MECHATROLINK communications depending on the connected SERVOPACK and the selected tuning mode.
If a message was displayed, follow the on-screen instructions. - You can change the base and applicable axes after you have set them.
For details, refer to Changing the Adjusted Axes for Equal Adjustment.
- You may need to reset the software and MECHATROLINK communications depending on the connected SERVOPACK and the selected tuning mode.
- To change the tuning mode of an adjusted axis, click the [Change/Modify] button.
If you do not need to make changes to the tuning mode, go to Step 8.
The [Set Tuning Conditions] window will be displayed. - Set the conditions for system tuning.
No. Item Description (1) Tuning Mode Set the tuning mode. Mode Selection Meaning 0: Set servo gains with priority given to stability. This setting gives priority to stability and preventing overshooting. In addition to gain adjustment, notch filters and anti-resonance control (except during torque control) are automatically adjusted. 1: Set servo gains with priority given to response. Overshooting may occur because priority is given to response. In addition to gain adjustment, notch filters and anti-resonance control (except during torque control) are automatically adjusted. 2: Set servo gains for positioning application. Tuning is performed for positioning applications. In addition to gain adjustment, notch filters, anti-resonance control, and vibration suppression are adjusted. 3: Set servo gains especially to prevent overshooting during positioning application. Tuning is performed for positioning applications with emphasis on eliminating overshooting. In addition to gain adjustment, notch filters, anti-resonance control, and vibration suppression are adjusted. 5: Set servo gains appropriate for less-deviation control.
Note: This selection is displayed when connected to a Σ-X-series SERVOPACK.Tuning is performed that is appropriate for control to reduce deviation during movement and improve tracking ability (i.e., less-deviation control). In addition to the gains, notch filters and anti-resonance control are adjusted. 6: Set servo gains for applications with large load fluctuations.
Note: This selection is displayed when connected to a Σ-X-series SERVOPACK.Load fluctuation compensation control is performed to suppress the variations in settling time that occur when the load fluctuates. In addition to gain adjustment, automatic setting of notch filters and anti-resonance control is provided. (2) Mechanism Selection Select the type according to the machine element to drive.
If there is noise or if the gain does not increase, better results may be obtained by changing the rigidity type. Select the type according to the following guidelines.Mechanism Selection Meaning 1: Belt mechanism Tuning is performed for a mechanism with relatively low rigidity, e.g., a belt. 2: Ball screw mechanism or linear motor Tuning is performed for a mechanism with relatively high rigidity, e.g., a ball screw, or a linear servomotor. Use this setting if there is no other appropriate setting. 3: Rigid model Tuning is performed for a mechanism with high rigidity, e.g., a rigid body system. (3) Friction Compensation Enable or disable friction compensation. (4) Speed Control Select the speed control method. The tuning modes that you can select depend on the SERVOPACK setting. - Click the [Setting] button.
The [System Tuning] window will return.You may need to reset the software and MECHATROLINK communications depending on the connected SERVOPACK and the selected tuning mode.
If a message was displayed, follow the on-screen instructions. - Click the [Start Tuning] button.
- Use the [▲] and [▼] buttons to change the tuning level.
Increase the feedforward level until overshooting occurs and then increase the feedforward level until overshooting is eliminated. Repeat these changes to make the adjustment.
Click the [Reset] button during adjustment to restore the setting to its original value. The tuning level will return to the value from before when tuning was started.- The new feedforward level will not be used until the positioning completed signal is output.
- If vibration is automatically detected, the notch filter or anti-resonance control will be implemented.
If automatic setting of these functions makes vibration worse, click the corresponding [Cancel] button to disable the function.
- Click the [Finish] button.
The tuning results will be set in the parameters.
This concludes the procedure to adjust multiple axes simultaneously.
6.6.4 Changing the Adjusted Axes for Equal Adjustment
You can change the axes used in equal adjustment (one base axis and up to three applicable axes).
Use the following procedure to change the axes for equal adjustment.
- Click the [Select Axes] button in the [System Tuning] window.
The [Equalize Axis Settings] window will be displayed. - Select the base axis and applicable axes.With equal adjustment, the tuning mode and adjustment results of the base axis are used to simultaneously adjust the applicable axes (3 max.).
- Click the [Set] button.
The [System Tuning] window will return.You may need to reset the software and MECHATROLINK communications depending on the connected SERVOPACK and the selected tuning mode.
If a message was displayed, follow the on-screen instructions.
This concludes the procedure to change axes for equal adjustment.
7 Monitoring
7.1 Introduction
You can use the SigmaWin+ to monitor SERVOPACK product information, operation, and status. You can also monitor waveforms of motor operation on graphs without using measurement instruments.
This section introduces the procedures that you can use to monitor SERVOPACK information with the SigmaWin+.
Monitoring Product Information
You can monitor the product information on an online SERVOPACK and servomotor.
When the product nameplates are difficult to access, you can use this operation to easily monitor product information with the SigmaWin+.
Displaying the QR Code for a Product
You can display the QR code for the SERVOPACK that is online. You can use your Smartphone or other device to read the QR code displayed on SigmaWin+ to easily browse SERVOPACK product information.
Writing Product Information to a CSV File (.csv)
You can write the product information that is displayed in the [Read Product Information] window to a CSV file (.csv). The contents displayed in the [Read Product Information] window are written to a CSV file (.csv).
Monitoring SERVOPACK Operation and Status
You can monitor the operation and status of an online SERVOPACK.
The [Monitor] window contains three windows, the [Operation] window, the [Status] window, and the [I/O] window. You can float these windows and you can dock them back to the [Monitor] window.
The data that is displayed in these windows is updated periodically.
Monitoring SERVOPACK Wiring Status
You can monitor the status of I/O signals between the SERVOPACK and the host controller or peripheral devices. This can be used to check wiring.
You can change the status of input signals from the host controller or peripheral devices while monitoring the SERVOPACK input signal status to check input signal wiring to see if it is correct.
You can also control the SERVOPACK output signals and check the signal status at the host controller or peripheral devices to check the output signal wiring to see if it is correct.
Monitoring Command Communications for INDEXER Modules
You can monitor serial commands that are sent using serial communications (RS-422 or RS-485) between a SERVOPACK to which an INDEXER module is mounted and a host controller (e.g., personal computer or controller).
Monitoring SERVOPACK Installation Environment and Life Predictions
You can monitor the installation environment of an online SERVOPACK and servomotor and you can monitor life predictions of internal SERVOPACK parts.
Monitoring SERVOPACK CDO List
You can monitor the CDO list by reading it from a SERVOPACK that is online.
You can also write the CDO list read from a SERVOPACK to a CSV file (.csv).
Viewing Detailed (Short-Term) Waveforms for Motor Operation
You can measure servomotor operating status and signal waveforms without using a measurement instrument.
A specified signal is used as a trigger to display short-term servomotor operating status and signal waveforms. You can measure the detailed waveforms that are displayed to confirm the effects of changes in parameter settings for detailed tuning operations.
Viewing Overall (Long-Term) Waveforms for Motor Operation
You can measure servomotor operating status and signal waveforms without using a measurement instrument.
This operation is suitable for long-term (e.g., several cycles) of operating status and signal waveforms for repetitive servomotor operation.
Performing Error Detection (Σ-X)
Error detection compares the values of normal operating characteristics saved to the SERVOPACK in advance with the actual values during operation to judge errors.
You can detect deterioration and failures in machines and equipment and detect defective products.
7.2 Monitoring Product Information
You can monitor the information on an online SERVOPACK and servomotor. When the product nameplates are difficult to access, you can use this operation to easily monitor product information with the SigmaWin+.
Use the following procedure to monitor product information.
- The [Read Product Information] window will be displayed.
The [Read Product Information] window will be displayed.
This concludes the procedure to monitor product information.
7.3 Displaying the QR Code for a Product
You can display the QR code for the SERVOPACK that is online. You can use your Smartphone to read the QR code displayed on SigmaWin+ to easily browse SERVOPACK product information.
Use the following procedure to display a product QR code.
- Select [Read Product Information] in the [Menu] window.
The [Read Product Information] window will be displayed. - Click the [QR Code] button.
The [Save QR Code File] window will be displayed.
You can save the QR code to an image file if you specify the product for which to generate a QR code, the file name, the save location, and other items in the [Save QR Code File] window.
This concludes the procedure to display a product QR code.
7.4 Writing Product Information to a CSV File (.csv)
You can write the product information that is displayed in the [Read Product Information] window to a CSV file (.csv). The contents displayed in the [Read Product Information] window are written to a CSV file (.csv).
Use the following procedure to write the product information to a CSV file (.csv).
- Select [Product Information] in the [Menu] window.
The [Read Product Information] window will be displayed. - Click the [Export] button.
The [Export] window will be displayed. - Specify the file save location and file name.
- Click the [Save] button.
The data will be saved in a file in the specified location and the [Read Product Information] window will return.
This concludes the procedure to write the product information to a CSV file (.csv).
7.5 Monitoring SERVOPACK Operation and Status
7.5.1 Introduction
You can monitor the operation and status of an online SERVOPACK.
The [Monitor] window contains three windows, the [Operation] window, the [Status] window, and the [I/O] window. You can float these windows and you can dock them back to the [Monitor] window.
The data that is displayed in these windows is updated periodically.
Monitor Window
The [Operation] window, [Status] window, and [I/O] window can be displayed in any of four ways, as described in the following table.
| Display Status | Meaning | Reference |
|---|---|---|
| Docked Windows | This is the default display status. The [Operation] window, [Status] window, and [I/O] window are vertically arranged in the [Monitor] window. You can rearrange the windows to make them easier to check. | Docked Windows |
| Windows Docked as Tab Pages | The [Operation] window, [Status] window, and [I/O] window can be docked as tab pages and changed with the tabs. | Panes Docked as Tab Pages |
| Automatically Hidden Windows | You can click a tab to slide out and display a window. You can then click any location outside of the window to slide in and hide the window | Automatically Hidden Windows |
| Floating Windows | You can separate the windows from the [Monitor] window and float them. You can drag the windows from the title bar to move them freely. | Floating Windows |
Docked Windows
This is the default display status.
The [Operation] window, [Status] window, and [I/O] window are vertically arranged in the [Monitor] window.
You can rearrange the windows to make them easier to check.
You can drag a floating window to the top, bottom, left, or right docking guide to dock it to the window as a standard window.
| No. | Item | Description |
|---|---|---|
| (1) | [Operation] window | Displays operation information on the SERVOPACK. |
| (2) | [Status] window | Display the status of the SERVOPACK. |
| (3) | [I/O] window | Displays I/O information on the SERVOPACK. |
| (4) | Filter | Allows you to show or hide the [Control] and [I/F] columns in the [Operation] window, [Status] window, and [I/O] window.
When you move the cursor on the each cell of [Control], [I/F], and [Item], the [▼] button will be displayed. You can set the information that is displayed by selecting the check boxes from the pull down list.    |
Windows Docked as Tab Pages
The [Operation] window, [Status] window, and [I/O] window can be docked as tab pages in the [Monitor] window and changed with the tabs.
You can drag a floating window to the center docking guide to dock it to the window as a tab page.
| No. | Item | Description |
|---|---|---|
| (1) | [Operation] window, [Status] window, and [I/O] window | The [Operation] window, [Status] window, and [I/O] window are docked as tab pages. |
| (2) | [Operation] tab, [Status] tab, and [I/O] tab | These tabs are used to select the window to display in the [Monitor] window. Click the [Operation] tab to display the [Operation] window. You can drag the [Operation] tab to float the [Operation] window. Click the [Status] tab to display the [Status] window. You can drag the [Status] tab to float the [Status] window. Click the [I/O] tab to display the [I/O] window. You can drag the [I/O] tab to float the [I/O] window. |
| (3) | Filter | The filter is the same as for docked windows. |
Automatically Hidden Windows
You can click a tab to slide out and display a window. You can then click any location outside of the window to slide in and hide the window
The window will be automatically hidden if you select [Auto Hide] from the window menu.
| No. | Item | Description |
|---|---|---|
| (1) | [Operation] tab, [Status] tab, and [I/O] tab | These are the tabs for the hidden windows. These tabs are used to select the window to display in the [Monitor] window. Click the [Operation] tab to slide out the [Operation] window. Click the [Status] tab to slide out the [Status] window. Click the [I/O] tab to slide out the [I/O] window. |
| (2) | [Operation] window | Click the [Operation] tab to slide out the [Operation] window. In the same way, click the [Status] tab to slide out the [Status] window. In the same way, click the [I/O] tab to slide out the [I/O] window. |
| (3) | Filter | The filter is the same as for docked windows. |
Floating Windows
You can separate the windows from the [Monitor] window and float them. You can drag the windows from the title bar to move them freely.
You can drag either normally docked windows or windows docked as tab pages to float them.
| No. | Item | Description |
|---|---|---|
| (1) | [Operation] window | Here, the [Operation] window is floating. You can freely move a floating window. The [Status] window functions in the same way. The [I/O] window functions in the same way. |
| (2) | Top Docking button of the Docking Guides | This guide is used to position a floating window that is being dragged at the top of the [Monitor] window. The window will be docked after it is positioned. |
| (3) | Left Docking button of the Docking Guides | This guide is used to position a floating window that is being dragged on the left of the [Monitor] window. The window will be docked after it is positioned. |
| (4) | Center Docking button of the Docking Guides | If you click a [Docking] button in the window, the window will be docked with the window. It will be docked as a tab page. |
| (5) | Right Docking button of the Docking Guides | This guide is used to position a floating window that is being dragged on the right of the [Monitor] window. The window will be docked after it is positioned. |
| (6) | Bottom Docking button of the Docking Guides | This guide is used to position a floating window that is being dragged at the bottom of the [Monitor] window. The window will be docked after it is positioned. |
| (7) | Filter | The filter is the same as for docked windows. |
7.5.2 Monitoring SERVOPACK Operation
You can use the SigmaWin+ to monitor the operation of an online SERVOPACK.
Use the following procedure to monitor SERVOPACK operation.
- Select [Monitor] in the [Menu] window.
The [Operation] window will be displayed in the [Monitor] window. - SERVOPACK operation information will be displayed in the [Operation] window.
This concludes the procedure to monitor SERVOPACK operation.
7.5.3 Monitoring SERVOPACK Status
You can use the SigmaWin+ to monitor the status of an online SERVOPACK.
Use the following procedure to monitor SERVOPACK status.
- Select [Monitor] in the [Menu] window.
The [Status] window will be displayed in the [Monitor] window. - SERVOPACK status information will be displayed in the [Status] window.
This concludes the procedure to monitor SERVOPACK status.
7.5.4 Monitoring SERVOPACK I/O Signals
You can use the SigmaWin+ to monitor the I/O signals of an online SERVOPACK.
Use the following procedure to monitor SERVOPACK I/O signals.
- Select [Monitor] in the [Menu] window.
The [I/O] window will be displayed in the [Monitor] window. - SERVOPACK I/O information will be displayed in the [I/O] window.
This concludes the procedure to monitor SERVOPACK I/O signals.
7.6 Monitoring SERVOPACK Wiring Status
You can monitor the status of I/O signals between the SERVOPACK and the host controller or peripheral devices. This can be used to check wiring.
You can change the status of input signals from the host controller or peripheral devices while monitoring the SERVOPACK input signal status to check input signal wiring to see if it is correct.
You can also control the SERVOPACK output signals and check the signal status at the host controller or peripheral devices to check the output signal wiring to see if it is correct.
This section describes the procedure to monitor the SERVOPACK wiring status.
- Select [I/O Signal Allocation] in the [Menu] window.
The [I/O Signal Allocation] window will be displayed. - Change the input signal status from the host controller or peripheral devices connected to the SERVOPACK and check the input signal status and use the signals to check the status of the SERVOPACK.You check the reference input on the [Additional Info] tab page that is displayed for a SERVOPACK with analog voltage/pulse train references.
- Click the [Output Signal] tab to display the Output Signal tab page.
- Turn OFF the servo.
- Click the [Forced Output Mode] button.
- Click the [OK] button.
- Click the [Hi] and [Lo] buttons by the output signals to set the output signal status.
If the signal status at the host controller or peripheral devices changes according to the output signal status, then the wiring is correct. - Click the [Monitor Mode] button.
- Click the [OK] button.
This concludes the procedure to monitor SERVOPACK wiring status.
7.7 Monitoring Command Communications for INDEXER Modules
7.7.1 Introduction
You can monitor serial commands that are sent using serial communications (RS-422 or RS-485) between a SERVOPACK to which an INDEXER module is mounted and a host controller (e.g., personal computer or controller).
There are two display formats that you can use for serial commands: binary and command.
| No. | Item | Description | Reference |
|---|---|---|---|
| (1) | [Binary] tab and [Command] tab | These tabs are used to select the serial command display format for the [Serial Command Monitor] window. If you click the [Binary] tab, the serial commands displayed in the [Servopack Receive command] area and [Servopack Send command] area are displayed in binary format. If you click the [Command] tab, the serial commands displayed in the [Servopack Receive command] area and [Servopack Send command] area are displayed in command format. | − |
| (2) | [Servopack Receive command] area | The serial commands received by the INDEXER module are displayed. Display limit: 5,000 lines (50,000 characters)
| − |
| (3) | [Command receive character numbers] | The number of characters of serial commands received by the INDEXER module is displayed. | − |
| (4) | [Command receive error character numbers] | The number of error characters received by the INDEXER module is displayed. | − |
| (5) | [Servopack Send command] area | The serial commands sent by the INDEXER module are displayed. Display limit: 5,000 lines (50,000 characters)
| − |
| (6) | [Command send character number] | The number of characters of serial commands sent by the INDEXER module is displayed. | − |
| (7) | [start the monitor] button | Click the [start the monitor] button to start monitoring serial commands. | Monitoring Serial Command Communications |
| (8) | [monitoring time] | The elapsed time from the start of monitoring serial commands is displayed. | − |
| (9) | [stop the monitor] button | Click the [stop the monitor] button to stop monitoring serial commands. | Monitoring Serial Command Communications |
| (10) | [save] button | This button saves the command communications monitor data displayed in the [Serial Command Monitor] window to a text file (.txt) on the personal computer. The monitor data is saved in the same format as it is displayed. | Saving Monitor Data on the Personal Computer |
| (11) | [display clear] button | This button clears the serial commands displayed in the [Servopack Receive command] area and [Servopack Send command] area. | − |
| (12) | [Serial Communication Protocol] | The setting of the serial communications protocol (PnB00) is displayed. | − |
| (13) | [Baud rate] | The setting of the bit rate (PnB01) is displayed. | − |
| (14) | [Answer] | The answer OK setting (PnB02) is displayed. | − |
Monitor processing may not be able to keep up if there is a large number of commands sent in a short period of time.
If that happens, the display will appear as follows:
- Binary Format: *
- Command format: LOST
7.7.2 Monitoring Serial Command Communications
You can use the SigmaWin+ to monitor serial command communications of an INDEXER module mounted to an online SERVOPACK.
Use the following procedure to monitor serial command communications.
- Select [Serial Command Monitor] in the [Menu] window.
The [Serial Command Monitor] window will be displayed. - Click the [start the monitor] button.
Monitoring serial commands will be started. - Click the [stop the monitor] button.
This concludes the procedure to monitor serial command communications.
7.7.3 Saving Monitor Data on the Personal Computer
You can save the command communications monitor data displayed in the [Serial Command Monitor] window to a text file (.txt) on the personal computer.
Use the following procedure to save the monitor data on the personal computer.
- Use the serial command monitor to monitor serial command communications.
Refer to Monitoring Serial Command Communications for details on monitoring serial command communications. - Click the [Save] button.
The [Save As] window will be displayed. - Select the location in which to save the file.
- Enter the file name.
The default file name is the current time and date (yyyymmddhhmmss). - Click the [Save] button.
The data will be saved in a file in the specified location and the [Serial Command Monitor] window will be displayed again.
This concludes the procedure to save monitor data on the personal computer.
7.8 Monitoring SERVOPACK Installation Environment and Life Predictions
You can monitor the installation environment of an online SERVOPACK and servomotor and you can monitor life predictions of internal SERVOPACK parts.
This information is a guideline for product replacement when performing maintenance on SERVOPACKs and servomotors.
Use the following procedure to check the operating status of the SERVOPACK and servomotor in terms of the installation environment.
- Select [Life Monitor] in the [Menu] window.
The [Life Monitor] window will be displayed. - Check the SERVOPACK and servomotor monitor.
* The items displayed on the monitor depend on the SERVOPACK model.
The information about the installation environment that is displayed is described in the following table.
* An error occurred when obtaining the information from the SERVOPACK. Check the communications status.Installation Environment Range Background Color Text Color Description 0% to 99% Blue Black Good 100% to 114% Yellow Black Warning 115% or higher Red White Bad ---- Gray Black An error occurred in obtaining the installation environment value.*
The information about the overheat margin that is displayed is described in the following table.
* An error occurred when obtaining the information from the SERVOPACK. Check the communications status.Overheat Margin Range Background Color Text Color Description 10°C or higher Blue Black Good 0°C to 9°C Yellow Black Warning Less than 0°C Red White Bad ---- Gray Black An error occurred in obtaining the overheat margin.*
The information that is displayed in the life monitor and maintenance prediction monitor is described in the following table.
* An error occurred when obtaining the information from the SERVOPACK. Check the communications status.Value Range Background Color Text Color Description 10.00% to 100.00% Blue Black Normal 0.01% to 9.99% Blue Black It is almost time to replace the part. 0.00% Gray Black It is time to replace the part. ---- Gray Black An error occurred in obtaining the value.* - When you finish checking the information, click the close button.
This concludes the procedure to check the operating status of the SERVOPACK and servomotor in terms of the installation environment.
7.9 Monitoring SERVOPACK CDO List
7.9.1 Introduction
You can monitor the CDO list by reading it from a SERVOPACK that is online.
You can also write the CDO list read from a SERVOPACK to a CSV file (.csv).
- The [CDO] window presented in this manual is for reference only. The information that is actually displayed may be different.
- SERVOPACK manuals describe CDO (Communication Data Object) as MECHATROLINK communications settings. For details on CDO, refer to the following manual published by MECHATROLINK Members Association. MECHATROLINK-4 Protocol User’s Manual (Manual No.: MMATDJP040)
| No. | Item | Description | Reference |
|---|---|---|---|
| (1) | Category | You can select the category of the CDO from the [Category] area to specify the CDO to display in the [CDO] window. | Specifying the CDO to Display |
| (2) | Display Settings | You can set whether to display descriptions for CDO in the [CDO] window. | Specifying ON or OFF for Description Display for CDO in the [CDO] Window |
| (3) | Read from Servo: CDO List | The CDO list is read from the SERVOPACK of the selected axis and displayed in the [CDO] window. | Reading the CDO List from the SERVOPACK |
| (4) | File: CSV Export | The CDO list in the [CDO] window is written to a CSV file (.csv). All CDO lists displayed in the [CDO] window are exported. | Writing the CDO List to a CSV File (.csv) |
| (5) | Display: Remove Servo from List | A SERVOPACK is removed from the list in the [CDO] window. | Removing a SERVOPACK from the List |
| (6) | CDO List | The CDO list of each SERVOPACK is displayed. | CDO List |
CDO List
| No. | Item | Description |
|---|---|---|
| (1) | CDO No. | The CDO numbers are displayed. |
| (2) | CDO Name | The CDO names are displayed. |
| (3) | [CDO Name Filter] Button | Click the [CDO Name Filter] button to display the [CDO Name Filter] menu. |
| (4) | Unit | The CDO units are displayed. For CDO that do not have units, “-” is displayed. |
| (5) | SERVOPACK Model | The SERVOPACK model is displayed. |
| (6) | Axis Name | The axis name is displayed. |
CDO Name Filter Menu
| No. | Item | Description |
|---|---|---|
| (1) | Filter Condition 1 | Set the filter condition for the CDO to display in the [CDO] window. Select the filter condition in [Show items where the value] and enter a value. You can select the following filter conditions.
|
| (2) | Logic Operator | Click the [And] or [Or] option to specify how to combine filter conditions 1 and 2. |
| (3) | Filter Condition 2 | Set this condition in the same way as for filter condition 1. |
| (4) | [Apply] Button | Click the [Apply] button to apply the set filter conditions to the [CDO] window. |
| (5) | [Clear] Button | The set CDO filter conditions are cleared. |
| (6) | [Cancel] Button | The set CDO filter conditions are not applied and the display returns to the [CDO] window. |
7.9.2 Specifying the CDO to Display
You can select categories from the [Category] area in the [CDO] window to specify the CDO to display.
Use the following procedure to specify the CDO to display.
- Select [CDO] in the [Menu] window.
The [CDO] window will be displayed. - Select the category of the CDO to display from the [Category] group.
[All constant number] is selected by default.
This concludes the procedure to specify the CDO to display.
7.9.3 Specifying ON or OFF for Description Display for CDO in the [CDO] Window
You can set whether to display descriptions for CDO in [Display Settings] area in the [CDO] window.
Use the following procedure to turn display of descriptions for CDO ON and OFF.
- Select [CDO] in the [Menu] window.
The [CDO] window will be displayed. - Set ON or OFF for description display in the [Display Settings] area.
Description display is set to “ON” by default.
Description Display Set to ON
Description Display Set to OFF
This concludes the procedure to turn display of descriptions for CDO ON and OFF.
7.9.4 Reading the CDO List from the SERVOPACK
The CDO list is read from the SERVOPACK and displayed in the [CDO] window.
Use the following procedure to read the CDO list from the SERVOPACK.
- Select [CDO] in the [Menu] window.
The [CDO] window will be displayed. At this time, the CDO information of the selected servo drive will be read and displayed as the CDO list. - Select any CDO for the SERVOPACK for which to read the CDO list.
- Select [CDO List] in the [Read from Servo] group.
The CDO list of the selected SERVOPACK will be read and displayed.The CDO list that is read is the list for the currently selected SERVOPACK (i.e., the one with the column title displayed in orange).
This concludes the procedure to read the CDO list from the SERVOPACK.
7.9.5 Writing the CDO List to a CSV File (.csv)
You can write the CDO list that is displayed in the [CDO] window to a CSV file (.csv).
All CDO lists displayed in the [CDO] window are written to a CSV file (.csv).
Use the following procedure to write the CDO list to a CSV file (.csv).
- Display the [CDO] window to display the CDO list.
Refer to Reading the CDO List from the SERVOPACK for the procedure to read a CDO list from the SERVOPACK. - Select [CSV Export] in the [File] group.
The [Export] window will be displayed. - Enter the save location and file name for the CSV file (.csv) and click the [Save] button.
This concludes the procedure to write a CDO list to a CSV file (.csv).
7.9.6 Removing a SERVOPACK from the List
You can remove a SERVOPACK from the [CDO] window.
Use the following procedure to remove a SERVOPACK from the list.
- Select [CDO] in the [Menu] window.
The [CDO] window will be displayed. - Select any CDO for the SERVOPACK to remove from the list.
- Select [Remove Servo from List] in the [Display] group.
- Click the [Yes] button.
The selected SERVOPACK will be removed from the list.
This concludes the procedure to remove a SERVOPACK from the list.
7.10 Viewing Detailed (Short-Term) Waveforms for Motor Operation
7.10.1 Introduction
You can measure servomotor operating status and signal waveforms without using a measurement instrument. Displaying servomotor operating status and signal waveforms on a graph is called tracing.
You can save the trace data that was traced to the personal computer as graph data and CSV files. You can also compare sets of trace data and compare trace data to saved data that was acquired in the past.
[Trace] Window
The names of the areas on the [Trace] window are given below.
| No. | Item | Description | Reference |
|---|---|---|---|
| (1) | Menu Area | The menu area provides buttons such as the [Open] button, which allows you to read a trace data file, and the [Save] button, which allows you to save. | Menu Area |
| (2) | Trace Operations and History Display Area | This area has the [Setting] button that sets the tracing conditions and the [Start] and [Stop] buttons for controlling tracing. The trace data that can be graphed is also displayed here. This area can be hidden with the expander bar. | Trace Operations and History Display Area |
| (3) | Graph Display Area | This area displays the graphs of the target data. | Graph Display Area |
Menu Area
The names of the parts of the area are given below.
| Button | Description | Reference |
|---|---|---|
 | Reads a trace data file. | Opening a Trace Data File on the Personal Computer |
 | Changes the settings (e.g., cursor and graph color) in a trace file or import file that has already been saved and saves the file with the same file name. | Saving a Trace Data File on the Personal Computer |
 | Saves the trace data displayed in the [History] area with a given name. | Saving a Trace Data File on the Personal Computer |
 | Creates a CSV file of the trace data displayed in the [History] area. | Saving Trace Graphs to CSV Files |
 | Displays the measurement conditions of the trace data displayed in the [History] area. | Viewing Trace Measurement Conditions |
 | Displays the parameters of the trace data displayed in the [History] area. | Viewing Parameter Setting Values for Trace Data |
 | Copies the displayed graph in the graph display area to the clipboard. | Copying a Trace Graph to the Clipboard |
Trace Operations and History Display Area
The names of the parts of the area are given below.
| No. | Item | Description | Reference |
|---|---|---|---|
| (1) | [Setting] Button | Displays the [Trace Setting] window. | Preparations for Tracing |
| (2) | [Start] Button [Stop] Button | Starts and stops the trace. The icon on the button changes to  [Stop] while the trace is executing. | Tracing Data |
| (3) | [Continuous] Check Box | Select this check box to automatically repeat execution of the trace after the trigger is met. | Tracing Data |
| (4) | [Trace Target] Check Boxes | Displays the SERVOPACKs on which tracing can be executed. | ― |
| (5) | [History] Area | Displays the traced graphs and read trace data. The background color changes depending on whether the trace settings are configured.
| |
| (6) | Trace Operations and History Display Area Expander Bar | Toggles between displaying and hiding the trace operations and history display area. You can also drag the expander bar to change the width of the view. | ― |
Graph Display Area
The names of the parts of the area are given below.
| No. | Item | Description | Reference |
|---|---|---|---|
| (1) | Graph Tabs Area | Three types of tabs are displayed:
| |
| (2) | Trace Progress Display Area | Displays the progress status of trace execution on the online SERVOPACK. | ― |
| (3) | Trigger Conditions Display Area | Displays the trigger conditions set in the [Trace Setting] window. | Preparations for Tracing |
| (4) | [Displayed Axis] Button | Sets the axis to display for a multi-axis SERVOPACK because multiple axes can be traced. | ― |
| (5) | [Zoom In] Button [Display All] Button | After you click the [Zoom In] button, you can specify the area on the graph to enlarge with the mouse. Click the [Display All] button when the graph is enlarged to restore the normal display. | Zooming Part of the Trace Graph Display |
| (6) | [Cursor] Button | The [Cursor] window will be displayed, which can be used to take measurements on the graph. | Displaying Graph Values with Cursors |
| (7) | Analog Trace 1 to 4 Vertical Axis Display Area | Displays the vertical axis of the trace targets selected for [Analog Trace 1] to [Analog Trace 4] on the [Trace Setting] window. You can change the line color and display or hide each trace. | Changing the Trace Graph Display |
| (8) | Analog Trace 1 to 4 Vertical Axis Scale Interval List Box | Changes the scale interval of the vertical axis of the trace targets selected for [Analog Trace 1] to [Analog Trace 4] on the [Trace Setting] window. | Changing the Trace Graph Display |
| (9) | Trace Graph Display Area | Displays the traced graph. | Viewing Trace Graphs |
| (10) | Pre-trigger Position Mark | Displays the position of the pre-trigger. | ― |
| (11) | Horizontal Axis Scale Interval List Box | Changes the scale interval of the horizontal axis. | Changing the Trace Graph Display |
| (12) | I/O Trace 1 to 4 Vertical Axis Offset Buttons Display Area | Adjusts the offset of the vertical axis direction of the trace targets selected for [I/O Trace 1] to [I/O Trace 4] on the [Trace Setting] window. You can change the line color and display or hide each trace. | Changing the Trace Graph Display |
7.10.2 Preparations for Tracing
You must set the objects to trace and the trace conditions before you execute a trace.
Use the following procedure to prepare for tracing.
The status is displayed as "Wait for Settings" if the trace settings have not been completed.
- Open the [Menu] window for the SERVOPACK to trace, and then click [Trace].
The [Trace] window will be displayed.To execute tracing on multiple SERVOPACKs, click [Trace] from the [Menu] window for each SERVOPACK. The tab for the relevant SERVOPACK will be added to the [Trace] window. - Click the [Setting] button.
- Set the conditions for the tracing.
No. Item Description (1) [Open] Button The [Trace Setting] window will be displayed.
Select a trace settings file (*.stc) and click the [Open] button to read the trace settings.(2) [Save As] Button The [Save As] window will be displayed.
Set the file name and click the [Save] button to save the trace settings in a trace settings file (*.stc).
The default file name is the current time and date (yyyymmddhhmmss.stc).(3) [Copy] Button Copies the trace settings data to another SERVOPACK. Use this button together with the (4) [Paste] button.
Select the source SERVOPACK and click the [Copy] button to copy that trace settings data to the clipboard.(4) [Paste] Button Applies the trace settings data that was copied to the clipboard with the (3) [Copy] button.
Select the destination SERVOPACK and click the [Paste] button to apply the settings.
Click the [OK] button to save the pasted settings.
An asterisk (*) will be displayed in front of the SERVOPACK name if the settings are not saved.(5) SERVOPACK Display Area Displays the SERVOPACKs that can be configured with trace settings.
An asterisk (*) will be displayed in front of the SERVOPACK name if trace settings are not saved.(6) Auto Setting Select the purpose from the list box and click the [Setting] button to apply preset trace settings. (7) Measurement Axis Use this item when a multi-axis SERVOPACK is connected.
Click the [Axis Set] button to display the [Select Measurement Axis] window, and then select the axis to trace on this window.
Analog trace data and I/O trace data can be obtained by SERVOPACK, regardless of whether it has a single axis or multiple axes.
The amount of data that can be obtained depends on the model and number of axes, as shown below.
1. Σ-V: 3 items of data each
2. Σ-V MD:- 9 to 12 axes: 1 item of data each
- 6 to 8 axes: 2 items of data each
- 1 to 5 axes: 3 items of data each
(8) Sampling Setting Set the sampling cycle for obtaining trace data and the number of data points.
Set the sampling cycle as an integer multiple of 125.
The number of data points that is displayed depends on the SERVOPACK model.- Σ-7-series and earlier: 1024 points
- Σ-X-series Σ-XS: Select from 1024, 2048, and 4096 points
- Σ-X-series Σ-XW/Σ-XT: Select from 1024 and 2048 points
Setting example:
If the sampling cycle is set to 250 [μs] and the number of trace points is set to 1024 points, 1024 points of trace data will be obtained every 250 [μs].(9) [High-precision trace] Check Box Select the [High-precision trace (The time required to trace will be reduced to a half.)] check box to obtain higher precision trace data. (10) Analog Trace Set [Analog Trace 1], [Analog Trace 2], [Analog Trace 3], and [Analog Trace 4] to analog trace targets.
You can also set the trace line colors.
Analog trace 4 is displayed for a Σ-7-series or later SERVOPACK.(11) I/O Trace Set [I/O Trace 1], [I/O Trace 2], [I/O Trace 3], and [I/O Trace 4] to I/O trace targets.
You can also set the trace line colors.
I/O trace 4 is displayed for a Σ-7-series or later SERVOPACK.(12) Trigger Conditions Select the trigger conditions.
You can select the following trigger conditions.Trigger Condition Meaning Trigger A When the trigger A condition is met Trigger A AND Trigger B When both the trigger A and trigger B conditions are met Trigger A OR Trigger B When either of the trigger A and trigger B conditions is met (13) Pre-Trigger Enter the percentage of the graph data to display from before the trigger condition was met. (14) Trigger A - Trigger Target
Set the object that is to serve as the trigger for tracing.
The trace items that were set for analog trace 1 to 4 and I/O trace 1 to 4 are displayed in the list box. - Trigger Level
Set the reference value for detecting the trigger. The setting unit is the same as the unit for the selected trigger target.
You cannot set the trigger level if the trigger target is set to an I/O signal or [No Trigger]. - Trigger Type
Select the method for detecting the trigger from [Trigger Type].
You can select the following trigger types.
Trigger Type Meaning Rising Edge A trigger is detected when the trigger object changes from below the trigger level to above the trigger level.
If the trigger target is set to an I/O signal, a trigger is detected when the signal changes from low to high level.Falling Edge A trigger is detected when the trigger object changes from above the trigger level to below the trigger level.
If the trigger target is set to an I/O signal, a trigger is detected when the signal changes from high to low.Change Edge A trigger is detected when the trigger object changes from below the trigger level to above the trigger level or from above the trigger level to below the trigger level.
If the trigger target is set to an I/O signal, a trigger is detected when the signal level changes.Above Trigger Lv. A trigger is detected if the trigger object is above the trigger level.
You cannot select this item if the trigger target is set to an I/O signal.Below Trigger Lv. A trigger is detected if the trigger object is below the trigger level.
You cannot select this item if the trigger target is set to an I/O signal.(15) Trigger B The trigger settings are the same as for trigger A. (16) [Display options] Check Box Select the [Display options] check box to display [Settling time]. Clear the [Display options] check box to not display the [Settling time].
To display the settling time, set "Position Reference Speed" and "/COIN" for the trace targets. - Click the [OK] button. The [Trace] window will return.
This concludes the preparations for tracing.
7.10.3 Tracing Data
You can execute traces according to the trace settings and display the trace graphs.
Use the following procedure to trace data.
- Click the [Start] button.To repeatedly draw the graph after the trigger is met, select the [Continuous] check box, and then click the [Start] button.
- Tracing is started and the SigmaWin+ waits for the trigger.
When the trigger condition is met, data is transferred. - When the data has been transferred, the trace graph is displayed in the [Trace] window.
This concludes the procedure for tracing.
7.10.4 Viewing Trace Graphs
You can change the trace graph displays to make them easier to check, you can display trace data historical data from previous traces, and you can overlap trace data from previous traces.
Use the following links to jump to the individual procedures.
Changing the Trace Graph DisplayMaking the Trace Graph Easier to See by Adjusting Its Position
Zooming Part of the Trace Graph Display
Displaying Graph Values with Cursors
Displaying Trace Graph Historical Data
Overlapping Specified Trace Graph Historical Data
Changing the Trace Graph Display
You can change the zoom or display positions of the trace graphs so that they are easier to check.
| No. | Item | Description |
|---|---|---|
| (1) | Analog Trace 1 Vertical Axis Display Area | Displays the vertical axis of the trace target selected for [Analog Trace 1] on the [Trace Setting] window. Move the slider to adjust the offset of the vertical axis direction of the target analog trace. Click the  button to display the properties window, and then you can change the line color and display or hide the trace. |
| (2) | Analog Trace 2 Vertical Axis Display Area | Displays the vertical axis of the trace target selected for [Analog Trace 2] on the [Trace Setting] window. The operations in this area are the same as the operations for the [Analog Trace 1 Vertical Axis Display Area]. |
| (3) | Analog Trace 3 Vertical Axis Display Area | Displays the vertical axis of the trace target selected for [Analog Trace 3] on the [Trace Setting] window. The operations in this area are the same as the operations for the [Analog Trace 1 Vertical Axis Display Area]. |
| (4) | Analog Trace 4 Vertical Axis Display Area | Displays the vertical axis of the trace target selected for [Analog Trace 4] on the [Trace Setting] window. The operations in this area are the same as the operations for the [Analog Trace 1 Vertical Axis Display Area]. Analog trace 4 is displayed for a Σ-7-series or later SERVOPACK. |
| (5) | Analog Trace 1 Vertical Axis Scale Interval List Box | Changes the scale interval of the vertical axis of the trace target selected for [Analog Trace 1] on the [Trace Setting] window. |
| (6) | Analog Trace 2 Vertical Axis Scale Interval List Box | Changes the scale interval of the vertical axis of the trace target selected for [Analog Trace 2] on the [Trace Setting] window. |
| (7) | Analog Trace 3 Vertical Axis Scale Interval List Box | Changes the scale interval of the vertical axis of the trace target selected for [Analog Trace 3] on the [Trace Setting] window. |
| (8) | Analog Trace 4 Vertical Axis Scale Interval List Box | Changes the scale interval of the vertical axis of the trace target selected for [Analog Trace 4] on the [Trace Setting] window. Analog trace 4 is displayed for a Σ-7-series or later SERVOPACK. |
| (9) | Horizontal Scroll Bar | Scrolls the display position of the graph when all of the data does not fit in the display area due to the horizontal axis scale interval setting. |
| (10) | Horizontal Axis Scale Interval List Box | Select the horizontal axis scale interval for all of the data traces from the list in the box. If you select [FULL], the scale interval will be automatically adjusted to display all of the data on the full horizontal axis. |
| (11) | I/O Trace 1 Vertical Axis Offset Buttons Display Area | Adjusts the offset of the vertical axis direction of the trace target selected for [I/O Trace 1] on the [Trace Setting] window. Click the [▲] and [▼] buttons to adjust the offset of the vertical axis. Click the button to display the properties window, and then you can change the line color and display or hide the trace. |
| (12) | I/O Trace 2 Vertical Axis Offset Buttons Display Area | Adjusts the offset of the vertical axis direction of the trace target selected for [I/O Trace 2] on the [Trace Setting] window. The operations in this area are the same as the operations for the [I/O trace 1 vertical axis offset buttons display area]. |
| (13) | I/O Trace 3 Vertical Axis Offset Buttons Display Area | Adjusts the offset of the vertical axis direction of the trace target selected for [I/O Trace 3] on the [Trace Setting] window. The operations in this area are the same as the operations for the [I/O trace 1 vertical axis offset buttons display area]. |
| (14) | I/O Trace 4 Vertical Axis Offset Buttons Display Area | Adjusts the offset of the vertical axis direction of the trace target selected for [I/O Trace 4] on the [Trace Setting] window. The operations in this area are the same as the operations for the [I/O trace 1 vertical axis offset buttons display area]. I/O trace 4 is displayed for a Σ-7-series or later SERVOPACK. |
| (15) | Zero Point Marks | Shows the zero point on the vertical axis for analog trace 1 to 4 and I/O trace 1 to 4. |
Making the Trace Graph Easier to See by Adjusting Its Position
The traced graph display may not be easy to see when the reference position of each graph is centered.
Graph display before adjustment: Example of tracing the status of the SLS function *1
| *1 | The SLS function is one type of safety function in the ASM-X safety module. |
The adjustment method for this situation is explained next.
- Make the numeric values for the scale intervals of the same types of traces the same.
The graphs will fit better in the window if the numeric values are increased at this time.
For example, CH1, CH2, and CH3 in the above screenshot are all traces related to speed, so make these numeric values the same. If you adjust the values while checking the display in the window, you will find a value of 500 fits well, so set the values to 500. - Set the reference positions of the vertical axes.
Move the sliders to change the position of the vertical direction of each trace.
The following screenshot shows the window after the reference position of CH3 is set to the reference position of CH2.
The following screenshot shows the window after the reference position of CH1 is set to the reference positions of CH2 and CH3.
This concludes the procedure.
Zooming Part of the Trace Graph Display
After you click the [Zoom In] button in the graph display area, you can enlarge the area that you specify with the mouse.
Click the [Display All] button again to restore the normal display.
Graph Display before Zooming
Graph Display after Zooming
When the graph is enlarged, press Shift and drag the mouse to move the graph.
Click the [Display All] button when the graph is enlarged to restore the normal display.
Displaying Graph Values with Cursors
If you click the [Cursor] button in the graph display area, the vertical cursors (A and B cursors), horizontal cursors (C and D cursors), and [Cursor] window will be displayed. You can move the cursors to check time data on the graph.
| No. | Item | Description |
|---|---|---|
| (1) | A Cursor | Drag this cursor with the mouse to move it in the horizontal direction on the graph. |
| (2) | B Cursor | This cursor works the same as the A cursor. |
| (3) | C Cursor | Drag this cursor with the mouse to move it in the vertical direction on the graph. |
| (4) | D Cursor | This cursor works the same as the C cursor. |
| (5) | [Show Vertical Cursor] Check Box | Toggles between displaying and hiding the vertical cursors (A and B cursors). Clear the check box to hide the cursors. |
| (6) | [Fix A-B Distance] Check Box | Select this check box to fix the distance between the A cursor and B cursor. |
| (7) | Cursor Line Color List Boxes | You can select the line colors for the A and B cursors from the lists in the boxes. |
| (8) | Time Data Display Area | The times for the A cursor, B cursor, and between the A and B cursors are displayed. |
| (9) | Frequency Display Area | The frequency between the A and B cursors is displayed. |
| (10) | [Show Horizontal Cursor] Check Box | Toggles between displaying and hiding the horizontal cursors (C and D cursors). Clear the check box to hide the cursors. |
| (11) | [Fix C-D Distance] Check Box | Select this check box to fix the distance between the C cursor and D cursor. |
| (12) | Cursor Line Color List Boxes | You can select the line colors for the C and D cursors from the lists in the boxes. |
| (13) | Analog Trace 1 Vertical Axis Values Display Area | For analog trace 1, the value on the vertical axis of the C cursor, the value on the vertical axis of the D cursor, and the difference between the C cursor and D cursor are displayed. |
| (14) | Analog Trace 2 Vertical Axis Values Display Area | For analog trace 2, the value on the vertical axis of the C cursor, the value on the vertical axis of the D cursor, and the difference between the C cursor and D cursor are displayed. |
| (15) | Analog Trace 3 Vertical Axis Values Display Area | For analog trace 3, the value on the vertical axis of the C cursor, the value on the vertical axis of the D cursor, and the difference between the C cursor and D cursor are displayed. |
| (16) | Analog Trace 4 Vertical Axis Values Display Area | For analog trace 4, the value on the vertical axis of the C cursor, the value on the vertical axis of the D cursor, and the difference between the C cursor and D cursor are displayed. Analog trace 4 is displayed for a Σ-7-series or later SERVOPACK. |
Displaying Trace Graph Historical Data
You can read previous trace data (including from files) and display it as historical data in chronological order from the new data in the [History] area. When you select the check box for the historical data to display, the corresponding graph will be displayed.
An asterisk (*) will be displayed in front of the trace name for trace data that is not saved.
Up to 10 items of historical data can be retained and displayed. If 10 items of historical data is exceeded, the data will be discarded starting from the oldest data, and the executed data will be added to the beginning of the list. Also, if you close the [Trace] window, all of the historical data is discarded.
Right-click trace data in the [History] area to display the context menu.
| No. | Item | Description |
|---|---|---|
| (1) | Show Parameters | You can check the parameter settings for the trace data. |
| (2) | Save As | Saves the trace data as an std file. |
| (3) | Delete | Deletes the trace data from the [History] area. |
| (4) | Measurement Conditions | You can check the measurement conditions for the trace data. |
Overlapping Specified Trace Graph Historical Data
Select the check boxes of the data to overlap on the graph from the trace data displayed in the [History] area. The graphs of the selected traces are displayed on the [Overlap] tab.
The historical data that is first selected serves as the reference data.
| No. | Item | Description |
|---|---|---|
| (1) | [Overlap] Tab | The data with selected overlap check boxes in the [History] area is displayed on this tab. This tab is not displayed if all overlap check boxes are cleared. |
| (2) | Overlap Check Boxes | When the check boxes of the data to display by overlapping are checked, the corresponding graph is added to the [Overlap] tab. The data that is first selected serves as the reference data, and this data is given the (3) overlap reference mark. You can display up to 10 graphs. |
| (3) | Overlap Reference Mark | This mark is given to the data that serves as the overlap reference. |
7.10.5 Opening a Trace Data File on the Personal Computer
You can read data from a trace data file saved on the personal computer and display it on the graph in the [Trace] window.
Use the following procedure to open a trace data file.
- Select [Trace] in the [Menu] window.
The [Trace] window will be displayed. - Click the [Open] button.
The [Open] window will be displayed. - Select the file to read and click the [Open] button.
The data is read from the trace data file and displayed in the [Import File] tab.
This concludes the procedure to open a trace data file.
7.10.6 Saving a Trace Data File on the Personal Computer
You can save trace data on the personal computer. You can compare trace graphs and save the history as files.
Use the following procedure to save data in a trace data file.
- Use tracing to trace the machine characteristics.
Refer to Preparations for Tracing and Tracing Data for detailed tracing procedures. - Click the [Save As] button.
The [Save As] window will be displayed. - Select the location in which to save the file, and enter the file name.
The default file name is the current time and date (yyyymmddhhmmss.std). - Click the [Save] button.
The data will be saved in a file in the specified location and the [Trace] window will return.
The trace data in the [History] area will be displayed with the set name.
Select and then right-click the target SERVOPACK.
[Batch Export] will be displayed on the context menu. Click [Batch Export], and specify the destination folder.
All of the trace files for the target SERVOPACK will be saved to the specified folder.
Click the [Yes] button to overwrite the existing file. Click the [No] button to not save the data and return to the [Save As] window.
This concludes the procedure to save data in a trace data file.
7.10.7 Viewing Trace Measurement Conditions
You can check the measurement conditions that were used to trace data.
Use the following procedure to check the measurement conditions that were used for tracing.
- Use tracing to trace the machine characteristics.
Refer to Preparations for Tracing and Tracing Data for detailed tracing procedures. - Select the trace with the measurement conditions to check from the [History] area, and then click the [Measurement Conditions] button.This window can also be displayed by right-clicking the trace in the [History] area and selecting [Measurement Conditions] from the context menu.
The [Measurement Conditions] window will be displayed. - Check the measurement conditions.
- Click the [OK] button.
The [Trace] window will return.
This concludes the procedure to check the trace measurement conditions.
7.10.8 Viewing Parameter Setting Values for Trace Data
You can check the parameter settings that were used to trace data.
Use the following procedure to check the parameter settings during tracing.
- Use tracing to trace the machine characteristics.
Refer to Preparations for Tracing and Tracing Data for detailed tracing procedures. - Select the trace with the parameter settings to check from the [History] area, and then click the [Show Parameters] button.This window can also be displayed by right-clicking the trace in the [History] area and selecting [Show Parameters] from the context menu.
The [Edit Parameters] window will be displayed. - Check the parameter settings.
This concludes the procedure to check the parameter settings during tracing.
7.10.9 Copying a Trace Graph to the Clipboard
You can copy the trace graph displayed in the [Trace] window to the clipboard.
Copying the data to the clipboard will allow you to paste the trace graph in an MS Word or Excel file.
Use the following procedure to copy a trace graph to the clipboard.
- Use tracing to trace the machine characteristics.
Refer to Preparations for Tracing and Tracing Data for detailed tracing procedures. - Click the [Copy to Clipboard] button.
The graph display area will be copied to the clipboard.
<Area That Is Copied to the Clipboard>
This concludes the procedure to copy a trace graph to the clipboard.
7.10.10 Saving Trace Graphs to CSV Files
You can save the trace graph that is displayed in the [Trace] window in a CSV file. You can use the CSV file to edit the trace data with Excel or another spreadsheet application.
Use the following procedure to save a trace graph in a CSV file.
- Use tracing to trace the machine characteristics.
Refer to Preparations for Tracing and Tracing Data for detailed tracing procedures. - Click the [Save to CSV] button.
The [Save As] window will be displayed. - Select the location in which to save the file, and enter the file name.
The default file name is the current time and date (yyyymmddhhmmss.csv).If the trace data was already saved, the default file name is the name of the file that was saved. - Click the [Save] button.
The data will be saved in a file in the specified location and the [Trace] window will return.If a file with the same name already exists or after you have read an existing file, the following dialog box will be displayed to confirm overwriting the file.
Click the [Yes] button to overwrite the existing file. Click the [No] button to not save the data and return to the [Save As] window.
This concludes the procedure to save a trace graph in a CSV file.
7.11 Viewing Overall (Long-Term) Waveforms for Motor Operation
7.11.1 Introduction
You can measure servomotor operating status and signal waveforms without using a measurement instrument. Displaying servomotor operating status and signal waveforms on a graph is called tracing.
Real time tracing is used for rough, long-term tracing of motor operating status and signal waveforms.
You can print the trace data or save it on the personal computer. You can also display trace data saved on the personal computer for comparison.
[Real Time Trace] window
The names of the parts of the [Real Time Trace] window are given below.
| No. | Item | Description | Reference |
|---|---|---|---|
| (1) | Toolbar | The toolbar provides buttons such as the [Open] button, which allows you to load a trace data file, and the [Print] button, which allows you to print. | [Real Time Trace] Window Toolbar |
| (2) | Trace Graph Display Area | The trace graphs are displayed in this area. | Viewing Real Time Trace Graphs |
| (3) | Data Trace 1 Vertical Axis Range Box | The vertical axis for the object that you selected in the [Data 1] in the [Trace Setting] window is displayed. | Viewing Real Time Trace Graphs |
| (4) | Data Trace 2 Vertical Axis Range Box | The vertical axis for the object that you selected in the [Data 2] in the [Trace Setting] window is displayed. | Viewing Real Time Trace Graphs |
| (5) | Data Trace 1 Origin Movement buttons | You can adjust the display position of the data trace 1 trace graph by clicking the [▲] and [▼] buttons. You can also drag the knob to change the display position. | Viewing Real Time Trace Graphs |
| (6) | Data Trace 2 Origin Movement buttons | You can adjust the display position of the data trace 2 trace graph by clicking the [▲] and [▼] buttons. You can also drag the knob to change the display position. | Viewing Real Time Trace Graphs |
| (7) | Horizontal Scroll Bar | You can scroll the graph display position when all of the data does not fit in the display area due to the horizontal axis range setting. | Viewing Real Time Trace Graphs |
| (8) | I/O Trace 1/2 Origin Movement buttons | Select the I/O for which to change the origin position and click the [▲] and [▼] buttons to adjust the origin position. | Viewing Real Time Trace Graphs |
| (9) | Horizontal Axis Range Box | You can change the range for the horizontal axes of the trace graphs. | Viewing Real Time Trace Graphs |
| (10) | [SETUP] button | The vertical axis for the object that you selected in the [Data 3] in the [Trace Setting] window is displayed. | Preparations for Real Time Tracing |
| (11) | [START]/[STOP] button | When you click the [START] button, tracing is started and the button changes to the [STOP] button. When you click the [STOP] button, tracing is stopped and the button changes to the [START] button. | Real Time Tracing |
| (12) | Tracing Info | The tracing information for the displayed trace graph is displayed. | Viewing Real Time Trace Graphs |
| (13) | Cursor | If you click the [Cursor] button to display the A and B cursors, the data values at the cursor locations are displayed here. | Viewing Real Time Trace Graphs |
[Real Time Trace] Window Toolbar
The buttons in the [Real Time Trace] window toolbar are described in the following table.
| Toolbar Button | Description | Reference |
|---|---|---|
 [Open] | Loads a trace data file. | Opening a Real Time Trace File on the Personal Computer |
 [Print] | Prints trace measurement results. | Printing Real Time Trace Graphs |
 [Measurement Conditions] | Displays the measurement conditions that were used for tracing. | Viewing Real Time Trace Measurement Conditions |
 [Cursor] | Displays the data from the location of the cursor. | Viewing Real Time Trace Graphs |
 [Edit Parameters Online] | Displays the [Online Parameter Editing] window. For details on the [Online Parameter Editing] window, refer to Adjusting Individual Parameters during Operation. | Adjusting Individual Parameters during Operation |
 [Zoom] | Lets you enlarge the display of the area you specify with the mouse. | Viewing Real Time Trace Graphs |
 [Restore] | Restores the original display zoom. | Viewing Real Time Trace Graphs |
 [Copy to Clipboard] | Copies the displayed trace graph or the entire [Real Time Trace] window to the clipboard. | Copying a Real Time Trace Graph to the Clipboard |
7.11.2 Preparations for Real Time Tracing
You must set the objects to trace and the trace conditions before you execute a real time trace.
Use the following procedure to prepare for real time tracing.
- Select [Real Time Trace] in the [Menu] window.
The [Real Time Trace] window will be displayed. - Click the [SETUP] button.
- Set the conditions for the tracing.
No. Item Description (1) Trace Object Setting:
Data trace 1Select the data trace 1 trace object in the [Data Trace 1].
You can also select the data trace 1 line color in the list in the [Line].
You can select any of the following trace objects.- Torque reference
- Feedback speed
- Reference speed
- Position reference speed
- Position deviation
- Position amplifier deviation
- Position error between motor and load
- Speed feed forward
- Torque feed forward
- Effective gain
- Main circuit DC voltage (main bus voltage)
- External encoder speed
- Control mode
- Not set
(2) Trace Object Setting:
Data trace 2The same as for Data Trace 1. (3) Trace Object Setting:
I/O 1Select the I/O trace 1 trace object in the [I/O 1].
You can also select the I/O trace 1 line color in the list in the [Line].
You can select any of the following trace objects.- Input Signals
- /S-ON (Servo ON Input Signal)
- /P-CON (Proportional Control Input Signal)
- P-OT (Forward Drive Prohibit Input Signal)
- N-OT (Reverse Drive Prohibit Input Signal)
- /ALM-RST (Alarm Reset Input Signal)
- /P-CL (Forward External Torque/Force Limit Input Signal)
- /N-CL (Reverse External Torque/Force Limit Input Signal)
- /G-SEL (Gain Selection Input Signal)
- /P-DET (Polarity Detection Input Signal)
- /DEC (Origin Return Deceleration Switch Input Signal)
- /EXT1 (External Latch Input 1 Signal)
- /EXT2 (External Latch Input 2 Signal)
- /EXT3 (External Latch Input 3 Signal)
- FSTP (Forced Stop Input Signal)
- SEN (Absolute Data Request Input Signal)
- /HWBB1 (Hard Wire Base Block Input 1 Signal)
- /HWBB2 (Hard Wire Base Block Input 2 Signal)
- Output Signals
- ALM (Servo Alarm Output Signal)
- /COIN (Positioning Completion Output Signal)
- /V-CMP (Speed Coincidence Detection Output Signal)
- /TGON (Rotation Detection Output Signal)
- /S-RDY (Servo Ready Output Signal)
- /CLT (Torque Limit Detection Output Signal)
- /VLT (Speed Limit Detection Output Signal)
- /BK (Brake Output Signal)
- /WARN (Warning Output Signal)
- /NEAR (Near Output Signal)
- PAO (Encoder Divided Pulse Output Phase A Signal)
- PBO (Encoder Divided Pulse Output Phase B Signal)
- PCO (Encoder Divided Pulse Output Phase C Signal)
- Internal Signals
- ACON (Main Circuit ON Signal)
- PDETCMP (Polarity Detection Completed Signal)
- DEN (Position Reference Distribution Completed Signal)
- PSET (Positioning Completion Output Signal)
- CMDRDY (Command Ready Signal)
(4) Trace Object Setting:
I/O 2The same as for I/O trace 1. (5) Sampling cycle Set the interval for obtaining trace data in the [Sampling cycle]. (6) Saves File Specify whether to save the trace data. - If you do not want to save the trace data, select the [Not Saved] check box.
- If you want to save the trace data, clear the [Not Saved] check box and click the [Setting] button.
In the [Setting the File Name] window, set the location and file name to use to save the data and click the [OK] button. The trace data will be saved in a real time trace file (*.rtd).When saving the trace data, the (*.rtd) file is saved together with the (.rtg) file and the (.rtu) file. When opening the trace data, it is necessary to have all three files saved in the same location.
(7) Updating Cycle Set the time interval for updating the trace graph in the [Real Time Trace] window. - Click the [OK] button.
The [Real Time Trace] window will return.
7.11.3 Real Time Tracing
You can execute real time traces according to the trace settings and display the trace graphs.
Use the following procedure for real time tracing.
- Click the [START] button in the [Real Time Trace] window.
The trace graph trace information will be displayed in the [Tracing Info] area. - Click the [STOP] button to stop tracing.
7.11.4 Viewing Real Time Trace Graphs
You can change the real time trace graph displays to make them easier to check, you can display trace data historical data from previous traces, and you can overlap trace data from previous traces.
Use the following links to jump to the individual procedures.
Changing the Display of Real Time Trace GraphsZooming Part of the Real Time Trace Graph Display
Displaying Graph Values with Cursors on the Horizontal Axis Scale
Displaying Graph Values with Cursors on the Vertical Axis Scale
Changing the Display of Real Time Trace Graphs
You can change the zoom or display positions of the trace graphs so that they are easier to check.
| No. | Item | Description |
|---|---|---|
| (1) | Data Trace 1 Vertical Axis Range Box | Select the vertical axis range for data trace 1 from the list in the box. If you click the [AUTO] button, the optimum value to display all of the data in the graph display area will be selected and the range width will be adjusted. |
| (2) | Data Trace 2 Vertical Axis Range Box | Select the vertical axis range for data trace 2 from the list in the box. If you click the [AUTO] button, the optimum value to display all of the data in the graph display area will be selected and the range width will be adjusted. |
| (3) | Data Trace 1 Origin Movement buttons | You can adjust the display position of the data trace 1 trace graph by clicking the [▲] and [▼] buttons. You can also drag the knob to change the display position. |
| (4) | Data Trace 2 Origin Movement buttons | You can adjust the display position of the data trace 2 trace graph by clicking the [▲] and [▼] buttons. You can also drag the knob to change the display position. |
| (5) | Horizontal Scroll Bar | You can scroll the graph display position when all of the data does not fit in the display area due to the horizontal axis range setting. |
| (6) | I/O Trace 1/2 Origin Movement buttons | Select the I/O for which to change the origin position and click the [▲] and [▼] buttons to adjust the position. |
| (7) | Horizontal Axis Range Box | Select the horizontal axis range for all of the data traces from the list in the box. If you select [FULL], the range will be automatically adjusted to display all of the data on the horizontal axis. |
Zooming Part of the Real Time Trace Graph Display
After you click the 
Click the 
Graph Displays before Zooming
Graph Displays after Zooming
Displaying Graph Values with Cursors on the Horizontal Axis Scale
If you click the 
| No. | Item | Description |
|---|---|---|
| (1) | [Cursor] Button | If you click the [Cursor] button in the toolbar, the A cursor, B cursor, and [Cursor] window will be displayed. |
| (2) | A Cursor | You can drag the A cursor to move it. |
| (3) | B Cursor | You can drag the B cursor to move it. |
| (4) | specifies axes: Vertical | If you click the [Vertical] option in the [specifies axes] area, the A and B cursors will change to vertical cursors. |
| (5) | Time | The times for the A cursor, B cursor, and between the A and B cursors are displayed. |
| (6) | Line color | You can select the line colors for the A and B cursors from the lists in the boxes. |
Displaying Graph Values with Cursors on the Vertical Axis Scale
If you click the 
| No. | Item | Description |
|---|---|---|
| (1) | [Cursor] Button | If you click the [Cursor] button in the toolbar, the A cursor, B cursor, and [Cursor] window will be displayed. |
| (2) | B Cursor | You can drag the B cursor to move it. |
| (3) | A Cursor | You can drag the A cursor to move it. |
| (4) | specifies axes: Horizontal | If you click the [Vertical] option in the [specifies axes] area, the A and B cursors will change to vertical cursors. |
| (5) | Data trace 1 data | The data trace 1 data for the A cursor, B cursor, and between the A and B cursors are displayed. |
| (6) | Data trace 2 data | The data trace 2 data for the A cursor, B cursor, and between the A and B cursors are displayed. |
| (7) | Line color | You can select the line colors for the A and B cursors from the lists in the boxes. |
7.11.5 Opening a Real Time Trace File on the Personal Computer
You can read data from a real time trace file saved on the personal computer and display it on the graph in the [Real Time Trace] window.
Use the following procedure to open a trace data file.
- Select [Real Time Trace] in the [Menu] window.
The [Real Time Trace] window will be displayed. - Click the [Open] button.
The [Open] window will be displayed. - Select the file to read and click the [Open] button.
The data is read from the real time trace file and displayed in the [Real Time Trace] window.When opening the trace data file, it is necessary to have the three types of files ( (*.rtd) file, (*.rtg) file, and (*.rtu) file) saved in the same location.
This concludes the procedure to open a real time trace file.
7.11.6 Printing Real Time Trace Graphs
You can print real time trace graphs. You can also print a cover sheet that contains information such as the company name and address of the submitter and the company name or department name of the recipient.
Use the following procedure to print real time trace graphs.
- Use real time tracing to trace the machine characteristics.
Refer to Preparations for Real Time Tracing and Real Time Tracing for detailed real time tracing procedures. - Click the [Print] button.
The [Printing Item Setting] window will be displayed. - To attach a cover sheet, select the [Attaching the Cover] check box and click the [Cover Editing] button.
To not attach a cover sheet, clear the [Attaching the Cover] check box and proceed to step 7. - As required, click the [Submitter], [Where to Submit (No.1)], [Where to Submit (No.2)], [Where to Submit (No.3)], and [Greeting Sentences] tabs and enter the required text.
- Click the [OK] button.
- Select the appropriate [Where to Submit] option to use when printing.
The contents for the selected [Where to Submit] option is displayed in the [Printing Item Setting] window. - Click the [Header & Footer] tab and select the check boxes for the information to place in the header and footer.
If you select the [Title] check box, enter the title in the box. - Click the [Printing Items] tab and select the check boxes related to the graphs and comments as required.
- To print in black and white, select the [Black and White] option.
To print in color, select the [Color] option. - Click the [OK] button.
The [Print Preview] window will be displayed. - Click the [Print] button.
Printing will be started.
Click the [Editing of the Printing Items] button to change the items that are printed. The [Printing Item Setting] window will return.
This concludes the procedure to print a real time trace graph.
7.11.7 Viewing Real Time Trace Measurement Conditions
You can check the measurement conditions that were used to perform real time tracing.
Use the following procedure to check the measurement conditions that were used for real time tracing.
- Use real time tracing to trace the machine characteristics.
Refer to Preparations for Real Time Tracing and Real Time Tracing for detailed real time tracing procedures. - Click the [Measurement Conditions] button.
The [Measurement Data] window will be displayed. - Click the [Measurement Data] tab and check the measurement conditions.
- If you click the [Parameters] tab, you can check the parameter settings that were used during real time tracing.To leave comments with the measurement conditions, click the [Comment] tab and enter the comments in the box.
- Click the [OK] button.
The [Real Time Trace] window will return.
This concludes the procedure to check the measurement conditions for a real time trace.
7.11.8 Copying a Real Time Trace Graph to the Clipboard
You can copy the real time trace graph displayed in the [Real Time Trace] window or the entire [Real Time Trace] window to the clipboard.
Copying the data to the clipboard will allow you to insert the real time trace graph in an MS Word or Excel file.
Use the following procedure to copy a real time trace graph to the clipboard.
- Use real time tracing to trace the machine characteristics.
Refer to Preparations for Real Time Tracing and Real Time Tracing for detailed real time tracing procedures. - Click the [Copy to Clipboard] button.
The [Clipboard Copy] window will be displayed. - In the [Clipboard Copy] window, select either the [Copying only the Graph Area] option or the [Copying the Whole Dialog] option.
- Click the [OK] button.
This concludes the procedure to copy a real time trace graph to the clipboard.
7.12 Performing Error Detection (Σ-X)
7.12.1 Introduction
Error detection is a function that compares the values of normal operating characteristics saved to the SERVOPACK in advance with the actual values during operation to judge errors.
You can use this function to detect deterioration and failures in machines and equipment and to detect defective products.
A simplified flowchart for error detection is given below.
| Sample data: | Sample data is the data set saved to the SERVOPACK in advance for error detection processing. The sample data is created by calculating the average value and variance value in waveform sample points from multiple waveforms when the SERVOPACK performed the same operation. |
|---|---|
| Mahalanobis distance: | The Mahalanobis distance is an index that expresses the degree to which the operating values deviate from the sample data. The greater the Mahalanobis distance, the more the operating values are deviating from the sample data. |
| No. | Description | Meaning | Reference |
|---|---|---|---|
| (1) | Prepare Trace Data for Sample Data | Prepare the trace data that will be the source to create sample data. | Preparing Trace Data to Create Sample Data |
| (2) | Create Sample Data and Setting the Error Judgment Baseline | Create the sample data from the trace data in step (1), and set the judgment baseline for error judgments. | Creating Sample Data and Setting the Error Judgment Baseline |
| (3) | Write Data to the SERVOPACK | Write the sample data to the SERVOPACK. | Writing Data to the SERVOPACK and Executing Error Detection |
| (4) | Execute Error Detection | Execute error detection. | Writing Data to the SERVOPACK and Executing Error Detection |
[Error Detection] Window
The names of the areas on the [Error Detection] window are given below.
| No. | Item | Description | Reference |
|---|---|---|---|
| (1) | Axis Selection List Box | Displayed only when a multi-axis SERVOPACK is connected. Select the axis for error detection. | − |
| (2) | [Edit Settings] Button | Displays the [Error Detection-Edit Settings] window. | Creating Sample Data and Setting the Error Judgment Baseline |
| (3) | [Write to Servo] Button | Registers the sample data that was set on the [Error Detection-Edit Settings] window. | Writing Data to the SERVOPACK and Executing Error Detection |
| (4) | [Execute Error Detection] Button [Stop Error Detection] Button | Executes and stops error detection based on the set sample data. | Writing Data to the SERVOPACK and Executing Error Detection |
| (5) | [Settings Information] Area | Displays the information that was set in the [Error Detection-Edit Settings] window or information on the sample data that was written to the SERVOPACK. | − |
| (6) | [Read from Servo] Button | Reads and displays the sample data from the SERVOPACK. | Writing Data to the SERVOPACK and Executing Error Detection |
| (7) | [Save to CSV] Button | Saves the sample data information that is displayed in the graph display area to a CSV file. | Saving Sample Data to CSV Files |
| (8) | [Start Monitor] Button [Stop Monitor] Button | Click the [Start Monitor] button to update the graph in a 2-s cycle while error detection is being executed. Click the [Stop Monitor] button to stop updating the graph. | Writing Data to the SERVOPACK and Executing Error Detection |
| (9) | [Zoom In] Button [Display All] Button | After you click the [Zoom In] button, you can specify the area on the graph to enlarge with the mouse. Click the [Display All] button when the graph is enlarged to restore the normal display. | − |
| (10) | Graph Display Area | Displays the graph of the sample data and error detection results data. | − |
| (11) | CH1 and CH2 Vertical Axis Scale Interval List Box | Changes the scale interval of the vertical axis of the trace target selected for [CH1] and [CH2]. | − |
| (12) | Horizontal Axis Scale Interval List Box | Changes the scale interval of the horizontal axis. | − |
| (13) | Error Detection Results Data 1 | Displays the current number of error points for Data 1 in a 2-s cycle. "Error" will be displayed if the number of error points for the error detection results data is greater than or equal to the set number of error detection points. | − |
| (14) | Error Detection Results Data 2 | Displays the current number of error points for Data 2 in a 2-s cycle. "Error" will be displayed if the number of error points for the error detection results data is greater than or equal to the set number of error detection points. | − |
| (15) | [Data 1] Check Box | Toggles between displaying and hiding the Data 1 graphs. Clear the check box to hide the graphs. When displaying the sample data, the sample data average value and sample data variance value are enabled. When displaying the error detection results, the trade data and Mahalanobis distance are enabled. | − |
| (16) | [Data 2] Check Box | Toggles between displaying and hiding the Data 2 graphs. Clear the check box to hide the graphs. When displaying the sample data, the sample data average value and sample data variance value are enabled. When displaying the error detection results, the trade data and Mahalanobis distance are enabled. | − |
| (17) | Error Detection Execution Conditions Display Area | Displays information about the execution conditions for error detection. | − |
| (18) | Data 1: Error Detection Points (Current Value) | Displays the number of error detection points for Data 1 that were written to the SERVOPACK. | Writing Data to the SERVOPACK and Executing Error Detection |
| (19) | Data 1: Error Detection Points | Enter the number of points to use to judge an error for Data 1 error detection. The setting can be changed while error detection is being executed. | |
| (20) | Data 1: [Set] Button | Sets the value that was entered for the Data 1 error detection points. You cannot enter 1025 or more points. | |
| (21) | Data 2: Error Detection Points (Current Value) | Displays the number of error detection points for Data 2 that were written to the SERVOPACK. | |
| (22) | Data 2: Error Detection Points | Enter the number of points to use to judge an error for Data 2 error detection. The setting can be changed while error detection is being executed. | |
| (23) | Data 2: [Set] Button | Sets the value that was entered for the Data 2 error detection points. You cannot enter 1025 or more points. | |
| (24) | [Save to CSV] Button | Saves the error detection results information that is displayed in the graph display area to a CSV file. | Saving Error Detection Data to CSV Files |
7.12.2 Executing Error Detection
Preparing Trace Data to Create Sample Data
Prepare the trace data to create sample data.
Perform tracing using the same procedure as normal tracing and obtain multiple items of trace data (std file).
Refer to Preparations for Tracing and Tracing Data for detailed tracing procedures.
- Set to the same trigger conditions and sampling cycle for the trace data.
- Obtain the data with 1024 data points.
- Set the number of pre-triggers to 0.
- High-precision trace data cannot be used.
Creating Sample Data and Setting the Error Judgment Baseline
- Open the [Menu] window for the SERVOPACK to use to create the sample data, and then click [Error Detection].
The [Error Detection] window will be displayed. - Click the [Edit Settings] button.
The [Error Detection-Edit Settings] window will be displayed. - In the [Load Trace File] area, click the [Select File] button.
The [Open Trace File] window will be displayed. - Select the files to use as the sample data, and click the [Open] button.The data is read from the trace data files and displayed in the [Error Detection-Edit Settings] window.You can select multiple files by using the [Shift] key and [Ctrl] key while selecting files.
- Configure the error detection settings, and click the [OK] button.
No. Item Description (1) [Select File] Button The [Open Trace File] window will be displayed.
Select the trace files (*.std) to use as the sample data and click the [Open] button to read the trace files.(2) [Display Data] Area Displays the trace file names read in (1).
Select the check boxes of the traces to use for the sample data.(3) [Error Detection Data] Area Displays the item names of the trace read in (1).
You can select up to two items for error detection.(4) Tracing Information Area Displays the trigger setting conditions of the trace read in (1). (5) [Error Detection Settings] Area Enter the number of points to use to judge an error for error detection.
Set the number of points of the difference from the sample data to serve as the condition to trigger A.905. If the setting is low, the odds of A.905 being triggered will increase.
The number of error detection points can be changed when error detection is being executed. The appropriate setting will depend on the device and usage conditions, so adjust the setting while actually using error detection.(6) [Error detection when warning occurs] Area Set whether to stop or continue error detection tracing when A.905 (Error Detection Warning) occurs.
The [Error Detection-Edit Settings] window will close and the [Error Detection] window will return. - The sample data will be applied to the [Error Detection] window.
Writing Data to the SERVOPACK and Executing Error Detection
- Create the sample data.
Refer to Creating Sample Data and Setting the Error Judgment Baseline for details on creating the sample data. - Click the [Write to Servo] button.
- Click the [OK] button.
The settings information will be applied to the [Error Detection Settings] area. - Click the [Execute Error Detection] button.
- Click the [OK] button.
- Click the [OK] button.
- Turn the power to the SERVOPACK OFF and ON again.
- Run the machine and equipment as you would normally.
Error detection will execute and the graph will be displayed.
When an error is detected that matches the set conditions and content, A.905 (Error Detection Warning) will occur.While error detection is being executed, you can change the number of error detection points in the [Error Detection Settings] area.
Change the number of points, and click the [Set] button.Click the [Read from Servo] button to add and display the sample data that was written to the SERVOPACK.
7.12.3 Saving Sample Data to CSV Files
You can save the sample data displayed in the [Error Detection] window in a CSV file. You can use the CSV file to check the sample data with Excel or another spreadsheet application.
Use the following procedure to save the sample data in a CSV file.
- Use error detection and create the sample data.
Refer to Preparing Trace Data to Create Sample Data and Creating Sample Data and Setting the Error Judgment Baseline for details on creating the sample data. - Click the [Save to CSV] button in the [Settings Information] area.
The [Sample Data] window will be displayed. - Select the location in which to save the file, and enter the file name.
The default file name is "SampleData_[SampleNumber]_yyyymmddhhmmss.csv". - Click the [Save] button.
The data will be saved in a file in the specified location and the [Error Detection] window will return.If a file with the same name already exists, the following dialog box will be displayed.
Click the [Yes] button to overwrite the existing file. Click the [No] button to not save the data and return to the [Sample Data] window.
This concludes the procedure to save the sample data in a CSV file.
7.12.4 Saving Error Detection Data to CSV Files
You can save the error detection data displayed in the [Error Detection] window in a CSV file. You can use the CSV file to check the error detection data with Excel or another spreadsheet application.
Use the following procedure to save the error detection data in a CSV file.
- Execute error detection.
Refer to Preparing Trace Data to Create Sample Data, Creating Sample Data and Setting the Error Judgment Baseline, and Writing Data to the SERVOPACK and Executing Error Detection for details on executing error detection. - Click the [Save to CSV] button in the [Save Results] area.
The [Error Detection Results] window will be displayed. - Select the location in which to save the file, and enter the file name.
The default file name is "ErrorDetectionResults_[SampleNumber]_yyyymmddhhmmss.csv". - Click the [Save] button.
The data will be saved in a file in the specified location and the [Error Detection] window will return.If a file with the same name already exists, the following dialog box will be displayed.
Click the [Yes] button to overwrite the existing file. Click the [No] button to not save the data and return to the [Error Detection Results] window.
This concludes the procedure to save the error detection data in a CSV file.
8 Troubleshooting
8.1 Introduction
This section describes how to check the meanings of the alarms that may occur, how to investigate the causes of the alarms, and how to clear the alarms.
For detailed information on alarms, refer to the product manual for your SERVOPACK.
Checking Alarms
You can check current alarms and alarms that occurred in the past.
Checking Current Alarms
You can check the meanings, investigation methods, and corrections for current alarms.
Checking the Alarm History
You can check alarms that occurred in the past. Up to 10 alarms are saved. You can check the order in which the alarms occurred, the alarm numbers, and the alarm names.
Checking SERVOPACK Status When an Alarm Occurs
When an alarm occurs, you can check the servomotor’s operating status and the signal waveforms.
Clearing Alarms
After you remove the cause of an alarm, you can clear the alarm. The method for clearing an alarm depends on the alarm that occurred.
Resetting Alarms
After you remove the cause of an alarm that occurred in the SERVOPACK, you can reset the alarm.
Resetting Motor Type Change Detected Alarms
You can use a Σ-7-series SERVOPACK to operate either a rotary servomotor or a linear servomotor. If you operate a servomotor and then connect a different type of servomotor, an alarm will occur. If you change to a different type of servomotor, use this operation to reset the alarm.
8.2 Checking Alarms
8.2.1 Checking Current Alarms
You can use the [Alarm Display] window to check the cause of the alarm, to find out how to investigate the alarm, and to find out how to correct the alarm.
Use the following procedure to check alarms.
- Select [Display Alarm] in the [Menu] window.
The [Alarm Display] window will be displayed. - Check the axis number and alarm meaning in the [Alarm] area.
- If you click the [Alarm diagnosis] tab, you can check the cause of the alarm, find out how to investigate the alarm, and find out how to correct the alarm.
- If there is more than one possible cause, click the [◀] and [▸] buttons to change the display.
- When you finish checking the alarm, click the [Close] button.
This concludes the procedure to check alarms.
8.2.2 Checking the Alarm History
You can use the [Alarm Display] window to check the alarm numbers and alarm names for alarms that occurred in the past.
You can display up to 10 alarms that are saved in the history of alarms.
Use the following procedure to check the alarm history.
- Select [Display Alarm] in the [Menu] window.
The [Alarm Display] window will be displayed. - Click the [Alarm History] tab.
The [Alarm History] tab page will be displayed. - You can check alarms that occurred in the past.
- A history of up to 10 alarms is saved in the SERVOPACK.
If a new alarm occurs, it is saved as the number 01 alarm and the other alarm numbers are incremented (i.e., they are moved down in the window). The last alarm is discarded. - If the same alarm occurs continuously, it is not saved again if it occurs again in less than an hour.
- You can clear the alarm history by clicking the [Clear] button. The alarm history is not cleared when alarms are reset or when the SERVOPACK main circuit power is turned OFF.
- A history of up to 10 alarms is saved in the SERVOPACK.
- When you finish checking the alarm history, click the [Close] button.
This concludes the procedure to check the alarm history.
8.3 Checking SERVOPACK Status When an Alarm Occurs
8.3.1 Introduction
When an alarm occurs, you can check the servomotor’s operating status and the signal waveforms without using measurement devices.
You can measure the alarm trace data waveforms or save them on the personal computer.
[Alarm Display] Window
Click the [View Trace Waveform] button in the [Alarm Display] window to display the [Alarm Trace] window.
For details, refer to Displaying Alarm Trace Graphs.
[Alarm Trace] Window
The names of the parts of the [Alarm Trace] window are given below.
| No. | Item | Description | Reference |
|---|---|---|---|
| (1) | Toolbar | The toolbar provides buttons such as the [Open] button, which allows you to load an alarm trace data file, and the [Save] button, which allows you to save. | [Alarm Trace] Window Toolbar |
| (2) | Tab Pages: [Alarm Information], [Data], and [I/O] | Information is displayed on the alarm that triggered the alarm trace. On the [Data] and [I/O] tab pages, you can make settings to show or hide the trace graphs and select line colors. | Tab Pages: [Alarm Information], [Data], and [I/O] |
| (3) | Data Trace 1 | The vertical axis for the trace object that you selected in the [Data 1] area is displayed. | Viewing Alarm Trace Graphs |
| (4) | Data Trace 2 | The vertical axis for the trace object that you selected in the [Data 2] area is displayed. | Viewing Alarm Trace Graphs |
| (5) | Data Trace 3 | The vertical axis for the trace object that you selected in the [Data 3] area is displayed. | Viewing Alarm Trace Graphs |
| (6) | Alarm Trace Graph Display Area | The alarm trace graphs are displayed in this area. | Viewing Alarm Trace Graphs |
| (7) | Data Trace 1 Vertical Axis Range Box | You can set the vertical axis range for the object that you selected in the [Data 1] area in the [Data] tab page. | Viewing Alarm Trace Graphs |
| (8) | Data Trace 2 Vertical Axis Range Box | You can set the vertical axis range for the object that you selected in the [Data 2] area in the [Data] tab page. | Viewing Alarm Trace Graphs |
| (9) | Data Trace 3 Vertical Axis Range Box | You can set the vertical axis range for the object that you selected in the [Data 3] area in the [Data] tab page. | Viewing Alarm Trace Graphs |
| (10) | I/O Trace 1/2/3 Origin Movement Buttons | You can change the origin position of the I/O trace that is selected in the [Trace Settings] window. | Viewing Alarm Trace Graphs |
| (11) | Horizontal Axis Range Box | You can change the range for the horizontal axes of the trace graphs. | Viewing Alarm Trace Graphs |
[Alarm Trace] Window Toolbar
The buttons in the [Alarm Trace] window toolbar are described in the following table.
| Toolbar Button | Description | Reference |
|---|---|---|
 [Open] | Loads an alarm trace data file. | Opening an Alarm Trace Data File on the Personal Computer |
 [Save] | Saves the currently displayed alarm trace graph to a file. | Saving an Alarm Trace Data File on the Personal Computer |
 [Measurement Conditions] | Displays the measurement conditions that were used for alarm tracing. | Viewing Alarm Trace Measurement Conditions |
 [Cursor] | Displays the data from the location of the cursor. | Viewing Alarm Trace Graphs |
 [Zoom] | Lets you enlarge the display of the area you specify with the mouse. | Viewing Alarm Trace Graphs |
 [Restore] | Restores the original display zoom. | Viewing Alarm Trace Graphs |
 [Copy to Clipboard] | Copies the displayed alarm trace graph or the entire [Alarm Trace] window to the clipboard. | Copying an Alarm Trace Graph to the Clipboard |
 [Save CSV File] | Saves the currently displayed alarm trace graph to a CSV file. | Saving Alarm Trace Graphs to CSV Files |
Tab Pages: [Alarm Information], [Data], and [I/O]
[Alarm Information] Tab Page
The alarm information for the displayed alarm trace graph is displayed.
[Data] Tab Page
Select the objects to trace from the [Data 1], [Data 2], and [Data 3] in the [Alarm Trace] window.
You can also set the data trace line colors and whether to show or hide the data trace data graphs.
[I/O] Tab Page
Select the objects to trace from the [I/O 1], [I/O 2], and [I/O 3] in the [Alarm Trace] window.
You can also set the I/O trace line colors and whether to show or hide the data trace data graphs.
8.3.2 Displaying Alarm Trace Graphs
A graph of the alarm trace is displayed in the [Alarm Trace] window.
Use the following procedure to display the alarm trace graph.
- Select [Display Alarm] in the [Menu] window.
The [Alarm Display] window will be displayed. - Click the [View Trace Waveform] button.
The [Alarm Trace] window is displayed and the alarm trace graph is displayed.You can also display alarm trace graphs for alarms that occurred in the past. If you select an alarm in the [Alarm History] tab page in the [Alarm Display] window and then click the [View Trace Waveform] button, the alarm trace graph will be displayed in the [Alarm Trace] window.
8.3.3 Viewing Alarm Trace Graphs
You can change alarm trace graphs to make them easier to check and use cursors to take measurements on the graphs.
The procedures are the same for Viewing Trace Graphs. Refer to the following sections.
Changing the Trace Graph Display
Zooming Part of the Trace Graph Display
Displaying Graph Values with Cursors on the Horizontal Axis Scale
Displaying Graph Values with Cursors on the Vertical Axis Scale
8.3.4 Opening an Alarm Trace Data File on the Personal Computer
You can read data from a trace data file saved on the personal computer and display it on the graph in the [Alarm Trace] window.
Use the following procedure to open an alarm trace data file.
- Select [Alarm Trace] in the [Menu] window.
The [Alarm Trace] window will be displayed. - Click the [Open] button.
The [Open] window will be displayed. - Select the file to read and click the [Open] button.
The data is read from the alarm trace data file and displayed in the [Alarm Trace] window.
This concludes the procedure to open an alarm trace data file.
8.3.5 Saving an Alarm Trace Data File on the Personal Computer
You can save alarm trace data on the personal computer. You can compare alarm trace graphs and save historical data in files.
Use the following procedure to save an alarm trace data file.
- Display the [Alarm Trace] window to display the alarm trace graph to save on the personal computer.
- Click the [Save] button.
The [Save As] window will be displayed. - Select the location in which to save the file.
- Enter the file name.
The default file name is the current time and date (yyyymmddhhmmss). - Click the [Save] button.
The data will be saved in a file in the specified location and the [Alarm Trace] window will return.If a file with the same name already exists or after you have read an existing file, the following dialog box will be displayed to confirm overwriting the file.
Click the [Yes] button to overwrite the existing file. Click the [No] button to not save the data and return to the [Save As] window.
This concludes the procedure to save data in an alarm trace data file.
8.3.6 Viewing Alarm Trace Measurement Conditions
You can check the measurement conditions that were used to trace the alarm.
Use the following procedure to check the measurement conditions that were used to trace the alarm.
- Display the [Alarm Trace] window to display the alarm trace graph to save on the personal computer.
- Click the [Measurement Conditions] button.
The [Measurement Conditions] window will be displayed. - Click the [Measurement Data] tab and check the measurement conditions.To leave comments with the measurement conditions, click the [Comment] tab and enter the comments in the box.
- Click the [OK] button.
The [Alarm Trace] window will return.
This concludes the procedure to view the alarm trace measurement conditions.
8.3.7 Copying an Alarm Trace Graph to the Clipboard
You can copy the alarm trace graph displayed in the [Alarm Trace] window or the entire [Alarm Trace] window to the clipboard.
Copying the data to the clipboard will allow you to insert the alarm trace graph in an MS Word or Excel file.
Use the following procedure to copy an alarm trace graph to the clipboard.
- Display the [Alarm Trace] window to display the alarm trace graph to copy to the clipboard.
- Click the [Copy to Clipboard] button.
The [Clipboard Copy] window will be displayed. - In the [Area to be copied] area, select either the [Copy only the graph] option or the [Copy whole dialog box] option.
- In the [Graph display color selection] area, select either the [Color] option or the [Black and white] option.
- To make the background of the graph white, select the [White background] check box.
- Click the [OK] button.
This concludes the procedure to copy a trace graph to the clipboard.
8.3.8 Saving Alarm Trace Graphs to CSV Files
You can save the alarm trace graph that is displayed in the [Alarm Trace] window in a CSV file.
You can use the CSV file to edit the trace data with Excel or another spreadsheet application.
Use the following procedure to save an alarm trace graph in a CSV file.
- Display the [Alarm Trace] window to display the alarm trace graph to save on the personal computer.
- Click the [Save CSV File] button.
The [Save As] window will be displayed. - Select the location in which to save the file.
- Enter the file name.
The default file name is the current time and date (yyyymmddhhmmss). - Enter a comment if one is required.
You can enter up to 255 single-byte characters in the comment. - Click the [Save] button.
The data will be saved in a file in the specified location and the [Alarm Trace] window will return.If a file with the same name already exists or after you have read an existing file, the following dialog box will be displayed to confirm overwriting the file.
Click the [Yes] button to overwrite the existing file. Click the [No] button to not save the data and return to the [Save As] window.
This concludes the procedure to save an alarm trace graph in a CSV file.
8.4 Clearing Alarms
8.4.1 Resetting Alarms
You can reset alarms that occur in the SERVOPACK.
Use the following procedure to reset alarms.
- Click [Display Alarm] in the [Menu] window.
The [Alarm Display] window will be displayed. - Check the axis number and alarm meaning in the [Alarm] area.
The method for resetting an alarm depends on the alarm that occurs.
Use the links in the following table to jump to the relevant information.Alarm Reference A.E70, A.E71, A.E72 , A.E80, A.E81 and A.E82 alarms (Option Module Detection Failure Alarms) A.E70, A.E71, A.E72 , A.E80, A.E81 and A.E82 Alarms (Option Module Detection Failure Alarms) A.EC0 alarm (Safety Module: Setup Confirmation Alarm) A.EC0 Alarm (Safety Module: Setup Confirmation Alarm) A.EC1 alarm (Safety-related Servo Parameter Unmatch Alarm) A.EC1 Alarm (Safety-related Servo Parameter Unmatch Alarm) Alarms other than the above Alarms Other Than the Above
A.E70, A.E71, A.E72 , A.E80, A.E81 and A.E82 Alarms (Option Module Detection Failure Alarms)
There are the following three types of option modules.
- Command option module
- Safety option module / ASM-X (Advanced Safety Module)
- Feedback option module
- You cannot reset the alarm if the option module cannot be detected “Failed to detect” or if it does not match “Detection unmatched”.
- You cannot reset the alarm if an error is "detected". Check to make sure that the option module is mounted correctly or remove the option module.
Use the following procedure to reset an A.E70, A.E71, A.E72, A.E.80, A.E81 or A.E82 alarm detected in an option module.
- Click the [Reset axes] button.
The [Reset Option Module Configuration Error] window will be displayed. - Select the [Clear] check box for the option module for which to reset the alarm and then click the [Execute] button.
- Read the precaution and then click the [OK] button.
Click the [Cancel] button to not reset the option module alarm. - Read the precaution and then click the [OK] button.
- Turn the power to the SERVOPACK OFF and ON again.
This concludes the procedure.
A.EC0 Alarm (Safety Module: Setup Confirmation Alarm)
The correction for A.EC0 depends on your safety module.
When Using the ASM-X
When you are using the ASM-X, an A.EC0 alarm will occur when you change the SERVOPACK to which the ASM-X is mounted. If an A.EC0 alarm occurs when you are using the ASM-X, initialize the ASM-X settings. Refer to the following section for details on the operation procedure.
→Initializing ASM-X Settings
When Using a Safety Module Other than the ASM-X
When you are using a safety module other than the ASM-X, an A.EC0 alarm will occur if you perform any of the following operations.
- Start for the first time after safety option module installation.
- Initialize a safety option module parameter (Pc☐☐☐).
- Change a safety option module parameter (Pc☐☐☐).
When you are using a safety module other than the ASM-X, use the following procedure to reset the A.EC0 alarm.
- Click the [Reset axes] button.
The [Safety Option Module Setup Alarm Clear] window will be displayed. - Click the [Execute] button.
This concludes the procedure.
A.EC1 Alarm (Safety-related Servo Parameter Unmatch Alarm)
The correction for A.EC1 depends on your safety module.
When Using the ASM-X
If an A.EC1 alarm occurs when you are using the ASM-X, first correct the parameter mismatch, and then write the parameters to the ASM-X. Refer to the following sections for details on the respective operation procedures.
→◆Setting ASM-X Parameters
→◆Writing ASM-X Parameters
For details on the guidelines and restrictions on the parameter settings, refer to the sections for the relevant safety functions in the product manual for your ASM-X.
When Using a Safety Module Other than the ASM-X
When you are using a safety module other than the ASM-X, an A.EC1 alarm will occur if you perform any of the following operations.
- Change a safety-related SERVOPACK parameter (Pc☐☐☐).
When you are using a safety module other than the ASM-X, use the following procedure to reset the A.EC1 alarm.
- Click the [Reset axes] button.
The [Safety Option Module Setup Alarm Clear] window will be displayed. - Click the [Execute] button.
The [Rechecking Safety Module Parameters] window will be displayed with the current values of the safety option module parameters and the input values that were set when the parameters were edited. - Select the [It was confirmed that all parameters were written correctly] check box, and then click the [OK] button.
- Click the [OK] button.
- Turn the power to the SERVOPACK OFF and ON again.
This concludes the procedure.
Alarms Other Than the Above
- Remove the cause of the alarm.
- Click the [Reset axes] button.
The alarm will be reset, and the alarm will disappear from the display.
This concludes the procedure.
8.4.2 Resetting Motor Type Change Detected Alarms
You can use a Σ-7-series SERVOPACK to operate either a rotary servomotor or a linear servomotor. If you operate a servomotor and then connect a different type of servomotor, an alarm will occur.
Use the following procedure to reset Motor Type Change Detected alarms.
- Select [Reset Motor Type Alarm] in the [Menu] window.
The [Reset Motor Type Alarm] window will be displayed. - Click the [Reset] button.
- Read the precaution and then click the [OK] button.
Click the [Cancel] button to not delete the alarm. - Read the precaution and then click the [OK] button.
- Turn the power to the SERVOPACK OFF and ON again.
This concludes the procedure to reset Motor Type Change Detected alarms.
9 Basic Settings for SigmaWin+
9.1 Changing the SigmaWin+ Language
You can change the language that is displayed by the SigmaWin+.
Use the following procedure to change the language displayed by the SigmaWin+.
- Click the [Home] button in the SigmaWin+ Main Window.
The Home Menu will be displayed. - Select [Options].
- Click [Set Language].
The [Set Language] window will be displayed. - Select the SigmaWin+ language in [Language] and click the [OK] button.
This concludes the procedure to change the SigmaWin+ language.
9.2 Managing the Model Information Files of the SigmaWin+
9.2.1 Introduction
You can check and add SigmaWin+ model information files installed in the personal computer.
| No. | Item | Description | Reference | ||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| (1) | Classification | Displays the classification of the model information file. The classifications of the model information files are given in the following table.
| − | ||||||||||
| (2) | Model Name | Displays the name of the model information file. | − | ||||||||||
| (3) | Language | Displays the model language of the model information file. | − | ||||||||||
| (4) | Version | Displays the release version of the model information file. | − | ||||||||||
| (5) | Status | Displays the status of the model information file.
| − | ||||||||||
| (6) | [Details] tab page and [Log Data] tab page | Click the [Details] tab to display detailed information on the selected model information file. Click the [Log Data] tab to display log data for model information file management. | − | ||||||||||
| (7) | [Add] button | Adds model information files. | Adding Model Information Files | ||||||||||
| (8) | [Set Language] button | Sets the model language of the model information file. | Setting the Model Language of the Model Information File | ||||||||||
| (9) | [Output Log] button | You can save the model information file list that is displayed in the [Model Information File Management] window and the log data to a text file (i.e., a .txt file) in the personal computer. | Saving the Log Data for Model Information File Management to the Personal Computer | ||||||||||
| (10) | [Close] button | Closes the [Model Information File Management] window. | − |
9.2.2 Adding Model Information Files
To manipulate SERVOPACKs that are not standard models on the SigmaWin+, you must add the model information files for the SERVOPACKs that you want to manipulate.
Use the following procedure to add model information files to the SigmaWin+.
- Prepare the model information file for the SERVOPACK that you want to manipulate.You can download model information files from Yaskawa's product and technical information website.
URL: www.e-mechatronics.com - Click the [Home] button in the SigmaWin+ Main Window.
The Home Menu will be displayed. - Select [Supported Model].
- Click [Model Information File Management].
The [Model Information File Management] window will be displayed. - Click the [Add] button.
The [Open Model Information File] window will be displayed. - Select the model information file to add and click the [Open] button.
- Click the [OK] button.
- Restart the SigmaWin+.
This concludes the procedure to add model information files.
9.2.3 Checking the Model Information File Version
Use the following procedure to check the version of the model information file.
- Click the [Home] button in the SigmaWin+ Main Window.
The Home Menu will be displayed. - Click [Supported Model].
- Click [Model Information File Management].
The [Model Information File Management] window will be displayed. - Click the model with the model information file version to check.
- Click the [Details] tab.
- Check [Version] under the [Item] column.
This concludes the procedure.
9.2.4 Setting the Model Language of the Model Information File
Some of the model information files for the SigmaWin+ support more than one language. You can select the model language for a multilingual model information file.
Use the following procedure to set the model language of the model information file.
- Click the [Home] button in the SigmaWin+ Main Window.
The Home Menu will be displayed. - Select [Supported Model].
- Click [Model Information File Management].
The [Model Information File Management] window will be displayed. - Click the [Set Language] button.
The [Set Language] window will be displayed. - Select the model language for the model information file and click the [OK] button.
- Click the [OK] button.
- Restart the SigmaWin+.
This concludes the procedure to change the model language for a model information file.
9.2.5 Saving the Log Data for Model Information File Management to the Personal Computer
Saves the model information file list that is displayed in the [Model Information File Management] window and the log data to a text file (i.e., a .txt file) in the personal computer. You can use the saved log data to check whether model information file addition was successful and to check the dates when model information files were added.
Use the following procedure to save the log data for model information file management to the personal computer.
- Click the [Home] button in the SigmaWin+ Main Window.
The Home Menu will be displayed. - Select [Supported Model].
- Click [Model Information File Management].
The [Model Information File Management] window will be displayed. - Click the [Output Log] button.
The [Save Log Data] window will be displayed. - Enter the save location and file name for the log data file (.txt) and click the [Save] button.
This concludes the procedure to save the log data for model information file management to the personal computer.
9.3 Checking the SigmaWin+ Version
You can check the version of SigmaWin+ that you are using.
Use the following procedure to check the SigmaWin+ version.
- Click the [Home] button in the SigmaWin+ Main Window.
The Home Menu will be displayed. - Select [Help].
- Click [Display Version].
- Check the SigmaWin+ version.
This concludes the procedure to check the SigmaWin+ version.
9.4 Displaying Help
You can display SigmaWin+ help.
Use the following procedure to display SigmaWin+ help.
- Click the [Home] button in the SigmaWin+ Main Window.
The Home Menu will be displayed. - Select [Help].
- Click [Display Help].
A browser is started and the SigmaWin+ Operation Manual is displayed. - Check operating procedures and other information on the SigmaWin+.
This concludes the procedure to display help.
Revision History
Manual Number
The manual number and revision numbers for this manual are as follows:
Manual number: SIET S800001 34T
Revision number: <19>
Web revision number: 0
Revision History
Revision information for this manual is provided below.
| Date of Publication | Rev. No. | Section | Revised Contents |
|---|---|---|---|
| June 2025 | <19> | 1.1 | Deletion: Description of Windows8.1. |
| 4.2.3 | Addtion: Description of "Registering Favorite Parameters" | ||
| Revision: Description of the target axis for writing parameters to servo | |||
| 6.2.3, 6.2.5 | Revision: Movement range | ||
| March 2025 | <18> | 2.3, 4.15 | Partly revised. |
| December 2024 | <17> | All chapters | Addition: Description of ASM-X. |
| Partly revised. | |||
| September 2024 | <16> | 4.18 | Revision: Description of the table program edit window. |
| 6.4, 6.5, 6.6 | Addition: Description of tuning mode 5. | ||
| September 2023 | <15> | 6.2.5 | Newly added. |
| Preface, 4.15.3, 6.1, 6.2.6, Technical Support | Partly revised. | ||
| September 2022 | <14> | All chapters | Addition: Description of Σ-XT. |
| Preface | Addition: Description of USB driver installation. | ||
| Preface, 1.1, 6.6.2, 6.6.3, 6.6.4 | Partly revised. | ||
| April 2022 | <13> | 2.2.8 | Newly added. |
| Preface, 1.1, 2.3, 4.7, 6.2, 6.3, 6.4.5, 7.12.1, Technical Support | Partly revised. | ||
| December 2021 | <12> | 6.2.5, 6.4.5 | Newly added. |
| 4.2.3, 6.2.2, 6.4.7, 6.5.7, Technical Support | Partly revised. | ||
| May 2021 | <11> | All chapters | Partly revised. |
| 4.7, 6.2, 6.4, 7.12 | Newly added. | ||
| Chapter 6, 7.10 | Completely revised. | ||
| December 2019 | <10> | 4.2.3, 7.9.1, 7.11.2, Technical Support | Partly added. |
| June 2019 | <9> | 7.9 | Newly added. |
| Technical Support | Partly revised. | ||
| September 2018 | <8> | 1.1 | Revision: Information on system environment |
| 7.5.1 | Partly revised. | ||
| Technical Support | Partly revised. | ||
| November 2017 | <7> | Preface | Addition: Regarding USB Driver |
| 4.2.3 | Partly revised. | ||
| Addition: Comparing Displayed Parameter Settings with Parameter Settings in Parameter File (.usrs or .usr) and Applying Them | |||
| Addition: Comparing Displayed Parameter Settings with Parameter Settings for Other Axis and Applying Them | |||
| May 2017 | <6> | 2.2.3, 2.2.4, 2.2.5, 2.2.6, 2.2.7, 4.3.1, 7.6, 9.2.1 | Partly revised. |
| 9.2.3 | Newly added. | ||
| Technical Support | Partly revised. | ||
| March 2017 | <5> | 4.3, 6.4, 9.2 | Newly added. |
| 7.6 | Partly revised. | ||
| 9.2 (previous number) | Deletion: Adding a Model Information File | ||
| Technical Support | Partly revised. | ||
| November 2016 | <4> | 4.2.3 | Addition: Saving DeviceNet Module parameters to flash memory in the SERVOPACK |
| 4.2.4, 4.16 | Newly added. | ||
| 8.4.1 | Partly revised. | ||
| 8.4.3 (previous number) | Deletion: Resetting Option Module Configuration Errors | ||
| 2.2.3, 4.5, 7.3 | Newly added. | ||
| 1.2, 2.2, 2.3, Chapter 3, 4.2.3, 4.2.5 | Partly revised. | ||
| January 2016 | <3> | 2.2.5, 2.2.6, 4.12, 4.13, 4.14, 7.3, 7.6 | Newly added. |
| 7.2 | Partly revised. | ||
| Technical Support | Partly revised. | ||
| July 2015 | <2> | 9.2 | Newly added. |
| May 2015 | <1> | All chapters | Partly revised. |
| 2.2.4, 8.3 | Newly added. | ||
| January 2015 | - | - | First edition |
Other Information
Country where published: Japan
Technical Support
IRUMA BUSINESS CENTER (SOLUTION CENTER)
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Phone: +81-4-2962-5151 Fax: +81-4-2962-6138
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Phone: +1-800-YASKAWA (927-5292) or +1-847-887-7000 Fax: +1-847-887-7310
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Phone: +49-6196-569-300 Fax: +49-6196-569-398
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Phone: +66-2-017-0099 Fax: +66-2-017-0799
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Phone: +86-21-5385-2200 Fax: +86-21-5385-3299
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YASKAWA ELECTRIC (CHINA) CO., LTD. BEIJING OFFICE
Room 1011, Tower W3 Oriental Plaza, No.1, East Chang An Avenue, Dong Cheng District, Beijing, 100738, China
Phone: +86-10-8518-4086 Fax: +86-10-8518-4082
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Phone: +886-2-8913-1333 Fax: +886-2-8913-1513 or +886-2-8913-1519
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