Download M-E099SB0C2-126

MEGATORQUE® MOTOR SYSTEM
User’s Manual
(ESB Driver Unit System)
Instructions for PROFIBUS
M-E099SB0C2-126
NSK Ltd.
Document Number: C20126-02
Limited Warranty
NSK Ltd. warrants its products to be free from defects in material and/or workmanship which NSK
Ltd. is notified of in writing within, which comes first, one (1) year of shipment or 2400 total
operation hours. NSK Ltd., at its option, and with transportation charges prepaid by the claimant,
will repair or replace any product which has been proved to the satisfaction of NSK Ltd. to have a
defect in material and/or workmanship.
This warranty is the sole and exclusive remedy available, and under no circumstances shall NSK
Ltd. be liable for any consequential damages, loss of profits and/or personal injury as a result of
claim arising under this limited warranty. NSK Ltd. makes no other warranty express or implied,
and disclaims any warranties for fitness for a particular purpose or merchantability.
Copyright 2003 by NSK Ltd., Tokyo, Japan
All rights reserved.
No part of this publication may be reproduced in any
form or by any means without permission in writing
from NSK Ltd.
NSK Ltd. reserves the right to make changes to any
products herein to improve reliability, function or design
without prior notice and without any obligation.
NSK Ltd. does not assume any liability arising out of the
application or use of any product described herein;
neither does it convey any license under its present
patent nor the rights of others.
Patents issued and patents pending.
“MEGATORQUE” is a registered trademark of NSK Ltd. in
Japan, and that of NSK Precision America, Inc. in the United
States of America.
Introduction
◎ About This Manual
l This manual describes the interface with PROFIBUS. Other matters related to the Megatorque
Motor System, refer to the User’s Manual for ESB Driver Unit.
l Please read thoroughly this manual for safety use of the Megatorque Motor System.
◎ Limited Function for ESB Driver Unit Compatible With PROFIBUS
l The following functions are not available for the ESB Driver Unit compatible with PROFIBUS
communication.
à Velocity control and torque control mode operation.
à Operation by pulse train position command.
à Acceleration profiling function.
(Blank Page)
Contents
1. Specifications --------------------------------1-1
4.4. Output Signal---------------------------------------------4.4.1. Driver Unit Ready (DRDY)
/ Warning (OVER) -------------------------------4.4.2.In-Position (IPOS) --------------------------------4.4.3. Processing Pulse Generation (BUSY) ------4.4.4. Brake (BRK) ---------------------------------------4.4.5. Brake Control (BRKC) --------------------------4.4.6. Home Position Defined (HCMP) -------------4.4.7. Home Return Completed
/ Home Position Detected (HOME) --------4.4.8. Velocity Report (SPD) -------------------------4.4.9. Move / Channel Acknowledgement
1.1. PROFIBUS Specifications -----------------------------1-1
1.2. Dimensions of Driver Unit -----------------------------1-1
1.3. Specifications of Control Input
and Output Signals ------------------------------------- 1-2
1.4. Validity of Inputs and Outputs
by Operation Mode ---------------------------------------1-3
1.4.1. Combination of Inputs and Outputs in
PROFIBUS Mode and Maintenance Mode
-------------------------------------------------------------I-3
2. Interface Specifications ---------------------2-1
4-6
4-6
4-7
4-7
4-7
4-7
4-8
4-8
4-9
(ACK_PRGｘ)---------------------------------- 4-9
2.1. CN2 Connector -------------------------------------------2-1
2.1.1.CN2 Pin-Out ----------------------------------------2-1
2.1.2. Signal Code and Function ----------------------2-2
2.2. PROFIBUS-DP Interface--------------------------------2-3
2.2.1. CN5 (PROFIBUS) Pin-Out ---------------------2-3
2.2.2. SW1: Termination Resistor Switch -----------2-3
2.2.3. SW2 and Sw3: Node Address Switch --------2-3
2.2.4. Indication of STATUS LED ---------------------2-4
4.4.10. Emergency Stop State (EMSTA) -----------4-11
4.4.11. State of Over-travel Limit (OtxA) -----------4-11
4.4.12. State of Home Position Limit Sensor
(HLSA) ------------------------------------------4-11
4.4.13. Target Proximity / In Target
3. Setting -----------------------------------------3-1
4.4.15.Parameter Number (PRM_GET_NO) ------4-13
4.4.16. Parameter Contents
(PRM_GET_DATA) -------------------------4-13
(NEARA、NEARB) --------------------------4-12
4.4.14.Processing Confirmed / Data Processed
Result (PRM_ACK／PRM_STS)-------------4-13
3.1. Termination Resistor ------------------------------------3-1
3.2. Node Address --------------------------------------------3-1
3.3. Configuration by GSD File ------------------------------3-1
5. Command Interface--------------------------5-1
5.1. Outline of Command ------------------------------------ 5-1
5.2. Parameter Interface ------------------------------------- 5-2
5.2.1. Procedures for Writing Parameter, Executing
Command and Starting Operation------------ 5-2
5.2.2. Procedures for Reading out Parameters /
Monitoring Operating Conditions-------------- 5-3
5.3. Program Interfface --------------------------------------- 5-4
5.3.1. Procedures for Editing Intenal Program --- 5-4
5.3.2. Procedure for Reading out Internal Program
--------------------------------------------------------- 5-5
5.4. Command List--------------------------------------------- 5-6
5.4.1. Parameter------------------------------------------- 5-6
5.4.2. Managing Command ----------------------------- 5-9
5.4.3. Operation Command ----------------------------- 5-9
5.4.4. Editing Program ----------------------------------5-10
5.4.5. Program Command------------------------------5-10
5.4.6. Monitor----------------------------------------------5-11
5.4.7. Processing Decimal Place ---------------------5-15
4. Input and Output Specifications ----------4-1
4.1. Data Packets -----------------------------------------------4-1
4.2. I/O and Signal Format ----------------------------------4-1
4.3. Input Signal -------------------------------------------------4-2
4.3.1. Emergency Stop (EMST) ------------------------4-2
4.3.2. Servo ON (SVON) ---------------------------------4-2
4.3.3. Start Programmable Indexer (RUN)-----------4-2
4.3.4. Stop (STP)-------------------------------------------4-2
4.3.5. Clear Position Error Counter / Alarm (CLR)
---------------------------------------------------------4-3
4.3.6. Integration OFF / Lower Velocity Gain (IOFF)
---------------------------------------------------------4-3
4.3.7. Clamp cancel (CLCN) ----------------------------4-3
4.3.8. Home Return Start (HOS) -----------------------4-3
4.3.9. Override (ORD)-------------------------------------4-4
4.3.10. Internal Program Channel Select
(PRGx: x=0 to 5) ---------------------------------4-4
4.3.11. Jog (JOG) -----------------------------------------4-4
4.3.12. Jog Direction (DIR) ------------------------------4-5
4.3.13. Write / Read Parameter, Process Type
(PRM_REQ／PRM_OPE) -----------------------4-5
4.3.14. Parameter Number (PRM_SET_NO) -------4-5
4.3.15. Writing Data Type
(PRM_SET_DATA)--------------------------------4-5
—i —
6. Power on----------------------------------------6-1
6.1. Operation Mode -------------------------------------------6-2
6.1.1. PROFIBUS Mode ----------------------------------6-2
6.1.2. Maintenance Mode --------------------------------6-2
6.1.3. Switching Operation Mode ----------------------6-3
6.1.3.1. Switch PROFIBUS Mode to
Maintenance Mode-------------------------6-3
6.1.3.2. Switch Maintenance Mode to
PROFIBUS Mode---------------------------6-3
7. Additional Function, Command
and Alarm --------------------------------7-1
7.1. Additional Function --------------------------------------7-1
7.1.1. Override Function----------------------------------7-1
7.2. Additional RS-232C Command------------------------7-2
CP: Switch PROFIBUS /Maintenance Mode --7-2
IO: Input / Output Monitor ---------------------------7-3
OV: Override--------------------------------------------7-4
7.2.1. Additional Parameter List -----------------------7-5
7.3. Additional Alarm -----------------------------------------7-6
7.3.1. Fieldbus Error---------------------------------------7-6
— ii —
1. Specifications
1.1. PROFIBUS Specifications
Table 1-1
Interface format
Communication media
Baud rate
Communication
distance
Network size
Data packets
PROFIBUS－DP slave interface
Special four wires twisted pair cable
Automatic detection (Maximum 12 Mbps)
100 m (12 Mbps)
200 m (1500 Kbps)
400 m (1500 Kbps)
1000 m (187.5 Kbps)
Up to 126 nodes
Input: 10 bytes, Output: 10 bites
1.2. Dimensions of Driver Unit
Table 1-1
Unit: mm
— 1-1 —
1.3. Specifications of Control Input and Output Signals
Table 1-2
Input
signal
When the operation mode is set to PROFIBUS:
Emergency stop, Home position limit sensor and Over-travel limit
switch (CW and CCW)
CN2
When the operation mode is set to the maintenance mode:
Emergency stop, Servo on, Clear, Velocity loop integration OFF
/Lower velocity gain, Clamp cancel*1, Home Return start,
Home position sensor, and Over-travel limit switch (CW and CCW)
Control
When the operation mode is set to PROFIBUS:
Input
Emergency stop, Servo on, Programmable Indexer start , Stop,
Clear, Velocity loop integration OFF/Lower velocity gain,
Clamp cancel*1, Home Return start, Override,
PROFIBUS
Programmable Indexer channel select, Jog, Direction Select.
(CN5)
*Emergency stop is the logical sum with Emergency Stop signal of CN2.
All input signals are invalid in the maintenance mode.
Position feedback
signal
CN2
Output
signal
Refer to “Resolution of Resolver” described in the “Megatorque Motor
System User’s Manual” which is provided with the Driver Unit.
Driver Unit ready, In-position, and Brake/ Brake control*1.
When the operation mode is set to PROFIBUS:
Driver Unit ready, Warning, In-position, Processing pulse generation,
Brake/ Brake control*1, Home position defined,
Home Return completed/Home position detected, Velocity report,
Operation program respond, Emergency stop state,
Control
Over-travel limit (CW and CCW), Home position sensor,
PROFIBUS
Output
Target proximity point A, Target proximity B.
(CN5)
When the operation mode is set to the maintenance:
Driver Unit ready, Warning, In-position, Processing pulse generation,
Brake/ Brake control*1, Home position defined,
Home Return complete/Detect Home position, Velocity report,
Emergency stop state, Over-travel limit (CW, CCW),
Home position sensor, Target proximity A/Target proximity B.
*1: When using motor with brake combined with brake sequence function(BF1), signals Integrator
off / Low gain will be used as Clamp cancel input, Brake output will be used as Brake control
output.
l The switching command CP from the Handy Terminal specifies PROFIBUS mode or the
maintenance mode. Refer to operational description of CP command for more details.
l PROFIBUS mode is to operate the Driver Unit in accordance with the control input signals from
PROFIBUS.
l The maintenance mode is to operate tentatively the Driver Unit when PROFIBUS is not
functioning for some reason.
l PROFIBUS mode is set to the initial setting after the Driver Unit is turned on.
— 1-2 —
1.4. Validity of Inputs and Outputs by Operation Mode
Validity of Input and Output of PROFIBUS and CN2 connector changes in accordance with the operation
modes.
(Mode selection command CP switches the operation mode.)
1.4.1. Combination of Inputs and Outputs in PROFIBUS Mode and Maintenance Mode
Table 1-3
I/O
Signal code
Input
EMST
SVON
RUN
STP
CLR
IOFF /CLCN*1
HOS
ORD
PRG0
PRG1
PRG2
PRG3
PRG4
PRG5
JOG
DIR
HLS
OTP
OTM
DRDY
OVER
IPOS
BUSY
BRK/BRKC*1
HCMP
HOME
SPD
ACK_PRG0
ACK_PRG1
ACK_PRG2
ACK_PRG3
ACK_PRG4
ACK_PRG5
EMSTA
OTPA
OTPM
HLSA
NEARA
NEARB
Output
PROFIBUS mode
(Valid: ü, Invalid: ×）
PROFIBUS
CN2
ü
ü
ü
×
–
–
ü
ü
Maintenance mode
(Valid: ü, Invalid: ×）
PROFIBUS
CN2
×
×
×
×
×
×
×
×
×
×
×
×
×
×
×
ü
ü
–
–
ü
×
×
×
–
–
–
–
–
–
–
–
–
―
ü
―
ü
―
ü
–
–
–
×
ü
ü
ü
ü
–
ü
–
ü
ü
ü
ü
ü
–
ü
–
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
–
–
–
–
–
–
–
–
–
ü
ü
ü
ü
–
–
ü
–
ü
×
ü
–
×
ü
–
×
ü
–
×
ü
–
×
ü
–
×
ü
–
ü
ü
–
ü
ü
–
ü
ü
–
ü
ü
–
ü
ü
–
ü
ü
–
*1: When using motor with brake combined with brake sequence function(BF1), signals Integrator
off / Low gain will be used as Clamp cancel input, Brake output will be used as Brake control
output.
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
ü
ü
— 1-3 —
ü
ü
(Blank Page)
— 1-4 —
2. Interface Specifications
2.1. CN2 Connector
2.1.1. CN2 Pin Out
Figure 2-1
25
*1
(IOFF/CLCN ) 24
(HOS)
23
OTM
22
–
21
–
20
＊CHA
19
＊CHB
18
CHZ
17
SGND
16
DRDY+
15
IPOS
14
(SVON)
l
13
12
11
10
9
8
7
6
5
4
3
2
1
DC24V
EMST
HLS
(CLR)
OTP
–
–
CHA
CHB
＊CHZ
BRK/BRKC
*1
DRDYCOM
Signals SVON, CLR, IOFF/CLCN*1 and HOS, which are put in parentheses, are not valid in
PROFIBUS mode.
*1: Signals parenthesized in the above figure (SVON, CLR, IOFF/CLCN*1, and HOS) are not valid in
PROFIBUS mode.
— 2-1 —
2.1.2. Signal Code and Function
Table 2-1
Pin
No.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
Signal code
I/O
COM
DRDYBRK/BRKC*1
*CHZ※1
CHB
CHA
–
–
OTP
(CLR) ※2
HLS
EMST
DC24
IPOS
DRDY+
SGND
CHZ※1
*CHB
*CHA
–
–
OTM
(HOS) ※2
(IOFF/CLCN*3) *2
(SVON) ※2
O
O
O
O
O
O
–
–
I
I
I
I
I
O
O
–
O
O
O
–
–
I
I
I
I
Function
Output COMMON
Driver Unit ready (–)
Brake /Brake control signal (normally closed)
Position feedback signal *øZ / Digital position signal *MSB*1
Position feedback signal øB
Position feedback signal øA
Do not connect.
Do not connect.
Over-travel limit (+ direction: CW)
Clear input
Home position limit switch
Emergency stop
External power supply 24 VDC
In-position
Driver Unit ready (+)
Signal ground
Position feedback signal *øZ / Digital position signal *MSB*1
Position feedback signal øB
Position feedback signal øA
Do not connect.
Do not connect.
Over-travel limit (- direction: CCW)
Home Return start
Integrator OFF /Clamp cansel
Servo ON
*1: Parameter FZ (RS-232C communication) sets function of “Position feedback signal *øZ”
and “Digital position signal *MSB.”
*2: Signals parenthesized in the above table (SVON, CLR, IOFF, and HOS) are not valid in
PROFIBUS mode.
*3: When using motor with brake combined with brake sequence function(BF1), signals
Integrator off / Low gain will be used as Clamp cancel input, Brake output will be used as
Brake control output.
— 2-2 —
2.2. PROFIBUS-DP Interface
Figure 2-2
－
RxD/TxD－
－
(Vcc)
⑨
⑧
⑦
⑥
⑤
④
③
②
①
PROFIBUS-DP Interface
GND
－
Termination resistor switch
RxD/TxD+
－
Node address switch 1
－
Node address switch 2
PROFIBUS
CN5
SW1
SW2
SW3
STATUS
LED
2.2.1. CN5 (PROFIBUS) Pin-Out
Table 2-2
Pin
1
2
3
4
5
6
7
8
9
Signal code
－
－
RxD/TxD+
－
GND
(Vcc)
－
RxD/TxD–
－
I/O
----Input/Output
--------Input/Output
---
Function
Do not connect.
Do not connect.
Signal (+)
Do not connect.
Ground
+5 VDC (For PROFIBUS)
Do not connect.
Signal (–)
Do not connect.
l Voltage supply (Pin number 6) is for the external termination of network, which must be
provided at the both ends of PROFIBUS. Refer to the specifications of PROFIBUS for the
details of cable termination.
2.2.2. SW1: Termination Resistor Switch
Table 2-3
Switch setting
Termination resistor switch ON
Termination resistor switch OFF
Function
Termination resistor is effective.
Termination resistor is ineffective.
2.2.3. SW2 and SW3: Node Address Switch
l These switches are for setting node address in the range of 1 to 99. The switch SW1 sets the
number of tens, while the SW2 switch sets the number of ones.
— 2-3 —
2.2.4. Indication of STATUS LED
Figure 2-3
Idle
Fieldbus diagnostic
Off line
On line
Table 2-4
Name
Diagnostic of fieldbus
Color
Red
Off-line
On-line
Red
Green
Function
Indicates failure of the fieldbus. Blinking frequency
identifies the details of failure.
· Blinking at 1 Hz.
An input or output configuration is not in the
specified packet length (10 byte).
· Blinking in 2 Hz
There is an error on the user parameter.
· Blinking in 4 Hz
A problem has occurred at the moment of
initialization of the PROFIBUS communication LSI.
Internal network module is off-line.
Internal network module is on-line: thus enables
communication.
— 2-4 —
3. Setting
l You need to set the following to operate the Driver Unit in your network.
à Termination resistor
à Node address
à Configuration by GSD file
l The Driver Unit automatically detects and sets the communication speed. The Driver Unit
supports the baud rates listed in the table below.
Table 3-1
Supporting baud rate
9.6 Kbit/s
19.2 Kbit/s
45.45 Kbit/s
93.75 Kbit/s
187.5 Kbit/s
500 Kbit/s
1.5 Mbit/s
3 Mbit/s
6 Mbit/s
12 Mbit/s
3.1. Termination Resistor
l When the Driver Unit is set to the top or the end of PROFIBUS network, set the termination
resistor switch to ON. If you an external termination resistor, set the termination resistor switch
to OFF.
3.2. Node Address
l Two rotary switches, SW2 and SW3, set the node address. Settable range of node address is 1 to
99. SW2 sets the number of tens and SW3 sets the number of ones.
Thus, the relation between the node address and the settings of SW2 and SW3 switches can be
numerically expressed as follows.
Node address = (Setting of SW2 × 10) + (Setting of SW3 × 1)
3.3. Configuration by GSD File
l A GSD file can be downloaded from web page of NSK.
— 3-1 —
(Blank Page)
— 3-2 —
4. Input and Output Specifications
4.1. Data Packets
Input
Output
: 10 bytes
: 10 bytes
4.2. I/O and Signal Format
Table４-１
Byte
0
Input
(Master controller ® Driver Unit)
Bit
Function
0
EMST (Emergency stop)
1
SVON (Servo ON)
2
RUN (Start Programmable Indexer)
3
STP (Decelerates to stop)
4
Byte
0
CLR (Clear)
*1
5
1
2
3
4
5
6
7
8
9
6
7
0
1
2
3
4
5
6
7
0
1
2
3
4
5
6
7
0
1
2
3
4
5
6
7
–
–
–
–
–
–
IOFF /CLCN
(Integration OFF /Clamp cansel)
HOS (Home Return start)
ORD (Override)
PRG0 (Program channel 0)
PRG1 (Program channel 1)
PRG2 (Program channel 2)
PRG3 (Program channel 3)
PRG4 (Program channel 4)
PRG5 (Program channel 5)
(Reserved)
(Reserved)
JOG (Jog start)
DIR (Jog direction)
(Reserved)
(Reserved)
(Reserved)
(Reserved)
(Reserved)
(Reserved)
(Reserved)
(Reserved)
(Reserved)
(Reserved)
(Reserved)
(Reserved)
PRM_REQ (Write/ read parameters)
PRM_OPE (Write/read selection)
PRM_SET_NO (Para. No.)
(LSB)
PRM_SET_NO
(MSB)
PRM_SET_DATA (Data)
(LSB)
PRM_SET_DATA
PRM_SET_DATA
PRM_SET_DATA
(MSB)
1
2
3
4
5
6
7
8
9
Output
(Driver Unit ® Master controller)
Bit
Function
0
DRDY (Driver Unit ready)
1
OVER (Warning)
2
IPOS (In position)
3
BUSY (Processing generated pulses)
*1
BRK /BRKC
4
(Brake /Brake control signal)
5
HCMP (Home position defined)
6
7
0
1
2
3
4
5
6
7
0
1
2
3
4
5
6
7
0
1
2
3
4
5
6
7
–
–
–
–
–
–
HOME (Home Return completed)
SPD (Velocity threshold)
ACK_PRG0 (Move/ Program channel 0)
ACK_PRG1 (Move/ Program channel 1)
ACK_PRG2 (Move/ Program channel 2)
ACK_PRG3 (Move/ Program channel 3)
ACK_PRG4 (Move/ Program channel 4)
ACK_PRG5 (Move/ Program channel 5)
(Reserved)
(Reserved)
EMSTA (Emergency stop state)
OTPA (+ Over-travel limit state)
OTMA (- Over-travel limit state)
HLSA (Home position limit state)
NEARA (Target proximity/ In Target A)
NEARB (Target proximity/ In Target B)
(Reserved)
(Reserved)
(Reserved)
(Reserved)
(Reserved)
(Reserved)
(Reserved)
(Reserved)
PRM_ACK (Processing confirmed)
PRM_STS (Data processed result)
PRM_GET_NO (Para. NO.) (LSB)
PRM_GET_NO
(MSB)
PRM_GET_DATA (Data)
(LSB)
PRM_GET_DATA
PRM_GET_DATA
PRM_GET_DATA
(MSB)
*1 : When using motor with brake combined with brake sequence function(BF1), signals Integrator off / Low
gain will be used as Clamp cancel input, Brake output will be used as Brake control output.
— 4-1 —
4.3. Input Signal
4.3.1. Emergency Stop (EMST)
l The Driver Unit detects the input by its signal current level.
l The System disables the function of position loop control when the input of EMST is set to 1,
and then the Motor stops in the state of servo lock in the velocity loop control.
l EMST input of CN2 connector is valid in PROFIBUS mode.
Table 4-2
EMST
0
1
Function
Clear Emergency Stop.
Emergency Stop
4.3.2. Servo ON (SVON)
l The input puts the Motor in Servo ON state.
l The Driver Unit detects the input by its current level.
l The Motor gets in Servo ON state when DRDY output is set to 1 after the power is on, then
SVON input is set to 1.
Table 4-3
SVON
0
1
Function
Servo OFF
Servo ON
4.3.3. Start Programmable Indexer (RUN)
l This is to start a programmed operation of the specified channel in PRG0 - PRG5.
l The Driver Unit detects the rising edge(0 ® 1) of input signal current.
4.3.4. Stop (STP)
l The Driver Unit detects the input by its current level.
l The Driver Unit stops the Motor when STP input is set to 1, and then disables the starting
commands. You may set parameter MD for deceleration rate to stop the Motor.
Table 4-4
STP
0
1
Function
Starting commands valid.
Disables the starting commands.
— 4-2 —
4.3.5. Clear Position Error Counter / Alarm (CLR)
l The Driver Unit detects the input by the rising edge of signal current.
l The error counter is cleared when CLR input is set to 1. However, the error counter won’t be
cleared when the Motor is in the middle of operation caused by the following command.
à Operation by positioning commands (AD, AR, ID, IR and HS)
à Operation of Programmable Indexer (AD, AR, ID, IR, HS, JP and TI)
à Home Return
à Jog
l When the alarm of “Excessive position error” (F1) is reported, setting CLR input to 1 clears the
error counter and the alarm.
l Alarms of “Software thermal (A3),” “Velocity error over (A4),” “Program error (A5),”
“RS-232C error (C2),” and “Automatic tuning error (F8)” will be cleared when CLR input is set
to 1.
4.3.6. Integration OFF / Lower Velocity Gain (IOFF) *When brake sequence function is invalid
l The Driver Unit detects the current level of input signal.
l When IOFF input is set to 1, the integration control is disabled, and the parameter VG for
velocity loop proportional gain is lowered with the ratio set by the parameter LG for lowering
velocity gain.
l Parameter IM:
When IOFF input is set to 1, parameter IM sets only one function to IOFF input such as
“Integration OFF,” or “Lowering velocity loop proportional gain.”
l Lowering velocity gain is mainly used to control torque output when the Motor is holding its
position with a brake.
Table 4-5
IOFF
0
1
Function
Integration ON• Lowering gain not available.
IM0: Integration OFF and Lowering gain (Shipping set)
IM1: Integration OFF
IM2: Lower velocity gain
4.3.7. Clamp cancel Input (CLCN) *When brake sequence function is valid
l Select brake clamp function valid or invalid.
l If CLCN input is 1, brake will be released, and no further brake clamp will be performed.
However, if an alarm (which will make motor condition servo-off) occurs, brake will clamp.
l If CLCN input is 0, brake will clamp/unclamp depending on the motor motion command.
Table 4-6
CLCN
0
1
Function
Brake clamp function valid
Clamp cancel
— 4-3 —
4.3.8. Home Return Start (HOS)
l The input starts Home Return.
l The Driver Unit detects the rising edge(0 ® 1) of signal current.
4.3.9. Override (ORD)
l The Driver Unit detects the current level of input signal.
l When ORD input is set to 1, the Motor operates under the velocity, which is obtained by
application of parameter CV to the velocity set by parameters MV, HV, CV or JV.
l Normally ORD is set to 0. (Positioning velocity will follow the parameters MV, HV, CV and JV
respectively.)
l Input of OVD in the middle of positioning will be invalidated.
Table 4-7
ORD
0
1
Function
Override OFF
Override ON
4.3.10. Internal Program Channel Select (PRGx: x = 0 to 5)
l This is to specify a number of internal program channels to be executed by RUN input.
l The channel number is specified by the binary codes of PRG0 to PRG5.
Table 4-8
CH No.
0
1
2
3
•
61
62
63
PRG5
0
0
0
0
PRG4
0
0
0
0
PRG3
0
0
0
0
PRG2
0
0
0
0
PRG4
0
0
1
1
PRG0
0
1
0
1
•
•
•
•
•
•
1
1
1
1
1
1
1
1
1
1
1
1
0
1
1
1
0
1
4.3.11. JOG
l Starts and stops Jog operation.
l The Driver Unit detects the rising edge of input signal current.
Table 4-9
JOG
­ (0 ® 1)
¯ (1 ® 0)
Function
JOG start (Starts and accelerates)
JOG stop (decelerates and stops)
— 4-4 —
4.3.12. Direction (DIR)
l This input specifies the direction of operation.
l When the input is changed in the middle of Jogging, the Motor decelerates, and then reverses the
rotational direction.
Table 4-10
DIR
0
1
Function
CW
CCW
4.3.13. Write/Read Parameter, Process Type (PRM_REQ/PRM_OPE)
l This input is to process (write or read out) parameters as specified by PRM_OPE input.
l The Driver Unit detects the rising edge of PRM_REQ input signal current.
Table 4-11
PRM_REQ
0
0
0 ®1
(Rising edge
detection)
0 ®1
(Rising edge
detection)
PRM_OPE
0
1
Function
No request
No request
0
Read out parameter settings
1
Copy parameter settings
4.3.14. Parameter Number (PRM_SET_NO)
l Specifies the parameter number that is an object of writing or reading out.
l Set the lower byte of parameter number to byte 4, and the higher one to byte 5.
l The parameter number shall be specified by a signed integer.
4.3.15. Writing Data Type (PRM_SET_DATA)
l This input specifies the type of parameter data, when requesting to write parameters.
l This input can be used as a parameter for an execution of command, or a start command of
operation.
l Set the lowest byte of changed parameter data to byte 6, and the highest one to byte 9.
l A signed integer will specify a change of parameter data.
— 4-5 —
4.4. Output Signal
4.4.1. Driver Unit Ready (DRDY) / Warning (OVER)
l DRDY output is 1 (one) if the Driver Unit is ready to operate the Motor.
l State of DRDY / OVER outputs are shown in Table 4-12 when an alarm has been reported.
Table 4-12
Alarm
Setting
*1
Memory error
EEPROM error
*2
System error
Interface error
Brake-on position error
Excess position error
Software over travel limit
Hardware over travel limit
Emergency stop
Program error
Automatic tuning error
RS-232C error
CPU error
*2
Field bus error
Resolver circuit error
Absolute position error
Software thermal sensor
Velocity error over
(serious)
Velocity error over
(minor)
Home position undefined
Brake error
Heat sink overheat
Abnormal main AC line
voltage
Over current
Control AC line under
voltage
–
–
–
–
–
EP1
EP2
EP3
TO1
TO2
HT0
HT1
HT2
–
PE0
PE1
AE0
AE2
SE0
SE1
SE2
–
–
–
–
–
7-seg DRDY OVER BRK
LED Output Output Output
E0
0
0
0
E2
0
0
0
E7
–
–
–
E8
0
0
0
F0
0
0
0
0
0
F1
1
1
1
0
1
0
0
F2
1
1
1
1
0
F3
1
0
0
1
1
F4
1
0
0
1
0
F5
1
1
1
1
0
F8
1
1
1
1
0
C2
1
0
0
1
1
C3
0
0
0
C4
0
0
0
A0
0
0
0
A1
0
0
0
A3
0
0
0
Motor state
Readout with TA
command
Servo-off
Servo-off
Servo-off
Servo-off
Servo- lock
E0>Memory Error
Servo-lock
F1>Excess Position Error
Servo-lock
F2>Software Over Travel
Servo-lock
F3>Hardware Over Travel
Servo-lock
F4>Emergency Stop
Servo-lock
F5>Program Error
Normal
Normal
Servo-lock
Normal
Servo-off
Servo-off
Servo-off
Servo-off
Servo-off
E2>EEPROM Error
E7>System Error
E8>I/F Error
F0>Clamp Position Error
F8>AT Error
C2>RS232C Error
(Cannot read out by TA)
C4>Field bus Error
A0>Resolver Circuit Error
A1>Absolute Position Error
A3>Overload
0
1
0
Servo-off
1
1
1
Servo-lock
0
1
1
0
1
Normal
A8
P0
1
1
1
0
0
0
Servo- lock
Servo-off
P1
0
0
0
Servo-off
P1>Main AC Line Trouble
–
P2
0
0
0
Servo-off
P2>Over Current
–
P3
0
0
0
Servo-off
P3>Control AC Line Under Voltage
–
OU0
OU2
–
–
–
A4
A5
A4>Velocity Abnormal
A5>Origin Undefined
A8>Brake Error
P0>Over Heat
*1. When this alarm occurred at the time of power-on, it won’t be reported through PROFIBUS.
*2. This alarm won’t be reported through PROFIBUS.
— 4-6 —
4.4.2. In-Position (IPOS)
l The following parameters are the conditions to output In-position signal.
FW : Fin Width (Sets the time length to keep outputting IPOS signal.)
IN
: Criterion to detect completion of positioning.
IS
: In-position stability timer (Sets time length for position error stability.)
4.4.3. Processing Pulse Generation (BUSY)
l This output notifies that the System is processing internal pulse train. The signal outputs 1 when
executing following motion commands.
à Operation by a positioning command (AD, AR, ID, IR and HS)
à Programmable Indexer (AD, AR, ID, IR, HS, JP and TI)
à Home Return
à Jog
l This output does not change by overshooting of undershooting.
Table 4-13
BUSY
0
1
Function
No generation of internal pulses
Processing internally generated pulse
4.4.4. Brake Output (BRK) *When brake sequence function is invalid
l This specifies the timing to activate optional brake when the servo is off or EMST signal is
inputted.
Table 4-14
BRK
0
1
Function
Clamp
Unclamp
4.4.5. Brake Control Output (BRKC) *When brake sequence function is valid
l Brake control signal to control brake clamp / un-clamp by the driver unit.
If BRKC output is 0, brake will clam. IF BRKC output is 1, brake will un-clamp.
— 4-7 —
4.4.6. Home Position Defined (HCMP)
l This is to notify that the Home position is set. When the power is on, HCMP output will be 1
simultaneously with DRDY output.
l HCMP output will be 0 when Home Return is interrupted in the middle of operation, or
parameter DI (Direction inversion) setting is changed, even though the Home position has been
set.
Table 4-15
HCMP
0
1
Function
Home position not set.
Home position is set.
4.4.7. Home Return Completed / Home Position Detected (HOME)
l This is to report completion of Home Return or the Motor is on the Home position.
l The following parameters set the way of report.
Figure 4-1: Parameters related to HOME output
HW＝0
Home Return mode
HOME output
HW≠0
Home positoin mode
Set a holding time of output to paramemter
HW.
Set Home position range to parameter HI.
Table 4-16: Home Return mode (HW = 0)
HOME
0
1
Function
Home Return is not completed, or the Motor has moved from the Home
position after completion of Home Return.
Home return is completed, and the Motor is on the Home position.
Table 4-17: HOME position mode (HW ¹ 0)
HOME
0
1
Function
Home position is not detected.
Home position is detected.
— 4-8 —
4.4.8. Velocity Report (SPD)
l This is to report the Motor velocity.
l The following parameters set the way of report and threshold to output signal.
Table 4-18: Parameters related to SPD output
Parameter
SO
SB
ST
Function
Sets velocity-detecting mode.
Threshold to output SPD signal
Sets stability timer to output SPD signal
Table 4-19: SPD Zero speed mode (SO0)
SPD
0
1
Function
Over the set speed
Under the set speed
Table 4-20: SPD Over peed mode (SO1)
SPD
0
1
Function
Under the set speed
Over or equal to the set speed
4.4.9. Move / Channel Acknowledge (ACK_PRG ×)
l Outputs the state of input for switching internal program channel before input of RUN
command.
l Outputs a specified channel number while generating internal pulses after input of RUN
command.
l In case of ‘&’ sequence, this signal outputs the specified channel number after input of RUN
command.
l A binary number of ACK_PRG0 to ACK_PRG5 (6 bits) specifies the channel numbers.
Table 4-21:
CH No.
0
1
2
3
•
61
62
63
ACK_PRG5
0
0
0
0
ACK_PRG4
0
0
0
0
ACK_PRG3
0
0
0
0
ACK_PRG2
0
0
0
0
ACK_PRG1
0
0
1
1
ACK_PRG0
0
1
0
1
•
•
•
•
•
•
1
1
1
1
1
1
1
1
1
1
1
1
0
1
1
1
0
1
— 4-9 —
Figure 4-2: Signal timing of program operation
(An example shown below is to start the channel number 5.)
Channel select
PRG0 Input
ON
OFF
PRG1 Input
ON
OFF
PRG2 Input
ON
OFF
PRG3 Input
ON
OFF
RUN Input
ON
OFF
Motor motion
ON
OFF
BUSY Output
ON
OFF
Channel acknowledge
ACK_PRG0 Output
ON
OFF
ACK_PRG1 Output
ON
OFF
ACK_PRG2 Output
ON
OFF
ACK_PRG3 Output
ON
OFF
Start
Velocity in CW/CCW
In motion
Outputs specified channel.
Outputs state of PRG0
input.
Outputs state of
PG0 input.
Affedted by external force
IN setting
Error counter
residual pulses
IPOS Output
IPOS mode
(FW=0)
closed
open
IPOS Output
CFIN mode
(FW>0)
closed
open
IPOS Output
FIN mode
(FW>0)
closed
open
FW setting
Example) FW1:100 ms
— 4-10 —
4.4.10. Emergency Stop State (EMSTA)
l This is to inform the state of Emergency stop.
l This output is a logic sum of EMST of CN2 control input and PROFIBUS control input.
Table 4-22:
EMSTA
0
1
Function
Clear emergency stop
Emergency stop
4.4.11. State of Over- travel Limit (OtxA)
l This output reports the state of over-travel limits.
l This output is a logic sum of OTx of CN2 control input and software over-travel limit.
Table 4-23:
OTxA
0
1
Function
Travel limit is not detected.
Travel limit is detected.
4.4.12. State of Home Position Limit Sensor (HLSA)
l This output reports state of Home position limit sensor (HLS of CN2 control input).
Table 4-24:
HLSA
0
1
Function
Home position sensor is not detected.
Home position sensor is detected.
— 4-11 —
4.4.13. Target Proximity / In Target (NEARA, NEARB)
l This output reports that the Motor is nearing the target position, or the Motor is in a specified
target zone.
l The following parameters set the type of report.
l Refer to “7.1.14. Target Proximity / In Target” of ESB User’s Manual.
Figure 4-3: Related parameters to NEAR output
NMA = 0
NEARA
Output
Target proximity
mode
NMA ¹ 0
In target mode
NMB = 0
NEARB
Output
Target proximity
mode
Sets distance from the target to parameter NA
for outputting Target proximity signal.
Sets signal holding time to parameter NMA.
Sets outputting pointion to parameter ZAS.
Sets position to terminate outputting to
parameter ZAE.
Sets distance to output Target proximity siganl
to parameter NB.
Sets signal holding time to parameter NMB.
Sets outputting pointion to parameter ZAS.
Sets position to end outputting to parameter
ZAE.
NMB ¹ 0
In target mode
Table 4-25: NEARx: Target proximity (NMx = 0)
NEARx
0
1
Function
Not nearing target position.
Nearing target position.
Table 4-26: NEARx: In Target (NMx ¹ 0)
NEARx
0
1
Function
Not in target zone.
In target zone.
— 4-12 —
4.4.14. Processing Confirmed / Data Processed Result (PRM_ACK / PRM_STS)
l This output reports the end of processing and the processed result as the response to the
commands of Write / Read parameters.
l PRM_ACK reports completion or incompletion of parameter processing, while PRM_STS
reports the result of the processing (success/fail).
Table 4-27:
PRM_ACK
0
0
1
1
PRM_STS
0
1
0
1
Function
Idle or processing data as instructed.
Idle or processing data as instructed.
Processing completed (Failed)
Processing completed (Successful)
4.4.15. Parameter Number (PRM_GET_NO)
l This is to report the parameter number that is the objective for reading out or writing data.
l The lower byte of the parameter number shall be set to byte 4, and the higher one to byte 5.
l A signed integer will report a parameter number.
4.4.16. Parameter Contents（PRM_GET_DATA）
l When reading out parameters is requested, this signal outputs the contents of read-out parameter.
l When reading out of parameter is requested, this signal outputs copies of PRM_SET_DATA.
l Set byte 6 to the lowest byte of the parameter contents, and byte 9 to the highest byte.
l The contents of parameter will be reported in a signed integer.
— 4-13 —
(Blank Page)
— 4-14 —
5. Command Interface
5.1. Outline of Command
l We classify all commands by attribute of Read / Write and function as shown in Table 5-1.
l Refer to “5.2. Parameter Interface” for parameter, command and way of using monitor.
l Program commands are the same attribute as the parameters, but they differ from the parameters
in way of use. Refer to “5.3. Program Interface.”
Table 5-1
Command
(attribute)
Parameter
(Read/Write)
Command
(Write)
Operation
(Write)
Program editing
(Write)
Monitor
(Read out)
Command
number
001 – 019
020 – 039
040 – 059
060 – 079
080 – 099
100 – 119
120 – 139
140 – 159
160 – 179
180 – 199
200 – 219
220 – 239
240 – 259
260 – 279
280 – 299
300 – 319
320 – 339
400 – 419
420 – 439
500 – 519
600 – 619
620 – 639
640 – 659
660 – 679
800 – 819
820 – 839
840 – 859
Classification
Servo parameters (1)
Servo parameters (2)
Related to servo state output
Related to pulse train input operation
Related to position feedback signal
Related to position scale
Related to velocity
Related to Home Return
Characteristic of Motor
Related to I/O
Related to processing parameter
Related to automatic tuning
Special functions
Related to outputs for expanded function
Related to warning
Adjusting
Processing parameter
Positioning
Home Return
Editing internal program
Positioning
Home Return
Control command
Optional code
Alarm
Read out internal program
Various monitors
— 5-1 —
5.2. Parameter Interface
l The following procedures make possible to read or write parameters, to execute a command, to start an
operation, and to monitor current status.
5.2.1. Procedures for Writing Parameter, Executing Command and Starting Operation
Figure 5-1: Handshake example: Writing parameter, executing command and starting
operation
Setting of parameter number/write data
Writing procedure
Set parameter number to PRM_SET_NO, and set its data to
PRM_SET_DATA.
For commands and starting commands, set their paramters to
PRM_SET_DATA.
Whether to use or disuse PRM_SET_DATA, it differs in some
commands and starting commands. Specify the request for
writing to PRM_OPE.
PRM_SET_NO=[Parameter number]
PRM_SET_DATA=[Setting data]
PRM_OPE=1
Request for processing parameters.
PRM_REQ =1
No
Set 1 to PRM_REQ to request for parmeter processing.
Wait for “Data Processed Result.”
Wait untill data processing completes.
PRM_ACK =1?
Yes
PRM_STS =1?
No
Confirm result of parameter processing.
Get the processed result.
Yes
Correct error.
If the writing parameters fails, take an action for error
according to need.
Complete of processing paramete.
PRM_REQ = 0
Set 0 to PRM_REQ to complete processing parameters
after the confirmation of result.
Wait until the Driver Unit becomes idle.
PRM_ACK= 0?
No
Wait until PRM_ACK changes to idle.
When it is idle, the Driver Unit is ready for the next
command.
Yes
End
— 5-2 —
5.2.2. Procedures for Reading out Parameters / Monitoring Operating Conditions
Figure 5-2: Handshake example: Parameter read out and monitoring
Procedure to read out
Set parameter number.
PRM_SET_NO=[Parameter Nunber]
Set parameter number to PRM_SET_NO.
Specify the request of reading out to PRM_OPE.
PRM_OPE=0
Request to process parameters.
PRM_REQ=1
No
Set 1 to PRM_REQ to execute parameter processing.
Wait for “Data Processed Result.”
Wait until the data processing completes.
PRM_ACK=1?
Yes
PRM_STS=1?
No
Confirm result of data processing.
Yes
correct error.
Get the processed result.
If reading out fials, take an action for error according to
need.
Get PRM_GET_DATA.
If it is successful, get the esult by PRM_GET_DATA.
End of parameter procssing.
PRM_REQ =0
After the confirmation of result, set 0 to PRM_REQ for the
completion.
Wait until the Driver Unit becomes idle.
PRM_ACK=0?
No
Wait until PRM_ACK changes to idle.
When it is indicating that the Driver Unit is idle, you may
input the next command.
Yes
End
— 5-3 —
5.3. Program Interface
l Use of the program interface enables to edit and read out the internal programs. The program interface
consists of a number of command interfaces.
5.3.1. Procedure for Editing Internal Program
Figure 5-3: Handshake example: Editing internal program
Start of editing internal porogram.
Edit internal program.
Execute command number 500 in accordance with the
procedures for writing parameter.
The System gets in the internal program editing mode when
the command 500 is executed.
The System only accepts programming command and
optional codes until an entry of termination command for
edting and reading out program (command number 502).
Execute command number 500.
(Start to edit intarnal program.)
Execute any one of command
numbers 600 to 611, 620, 640,
and 641. (Program command)
Set progam command.
Execute any one of the program command numders 600 to 611,
620, 640, or 641 in accordance with the procedures for writing
parameter.
Execute any one of
command numbers
660 to 663.
Set optional code.
Setting of opetional code
If it is necessary, set any one of optional codes 660 to 663
for the specified program command in accordance with the
procedures for writing parameter.
Yes
No
Execute command number 502.
(End of editing and reading out
internal program)
End of editing internal program.
Execute command number 502 in accodnace with the
procedures for writing parameter.
Execution of the command number 502 terminates the
mode to edit internal program of the specified cahnnel.
End
l The table below shows the combinations of available program commands and optional codes.
Table 5-2: Combination of program commands and optional codes
Optional code
Command
600 (AD), 601 (AD/PL), 602 (AD/MI), 603 (AD / EX)
660
–
661
OE n
662
CV n
663
CA n
N/A
604 (AR), 605 (AR/PL), 606 (AR/MI), 607(AR/EX)
N/A
P
P
P
P
P
P
P
P
P
P
P
P
P
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
608 (ID), 609 (ID/EX)
P
610 (IR), 611 (IR/EX)
P
N/A
N/A
N/A
620 (HS)
640 (JP)
641 (TI)
— 5-4 —
5.3.2. Procedure for Reading out Internal Program
Figure 5-4: Example of handshake: Reading out internal parameter
Start reading out of internal program.
Read out a program
Execute command number 501 in accordance with the
procedures for writing parameter.
The System gets in the mode to read out an internal
program of the specified cahnnel by the execution of
command number 501.
The System only accepts the command to read out internal
program until the execution command to terminate editing
and reading out internal program (command number 502).
Execute command number 501.
(Starting of reading out internal
program)
Execute command number 820.
(Read out internal progrma.)
PRM_GET_NO= －1
Read out internal program.
Execute program command nember 820 in accodance with
the procedures for reading put parameter.
Yes
No
Getting command / optional code
When acquired PRM_GET_NO is other than – 1, it
indicates command/optional code.
PRM_GET_DATA is a data set to the acquired
command/optional code.
Get command/optional code.
PRM_GET_DATA
When acquired PRM_GET_NO is – 1, it indicates that all
contents in the specifeid channel are read out.
No
Interrupt reading out.
Yes
Execute the command for termination of editing and
Execute command number 502.
reading out of internal program.
(End of editing/read out internal program.)
Execute command number 502 in accordance with the
procedures for writing parameter.
Execution of command number 502 will cancel the mode
to read out an internal program of the specified cahnnel.
End.
— 5-5 —
5.4. Command List
l The parameters marked with « of the column of “Correspondence” in the lists below require to
lift the protection by inputting “/NSK ON” when setting them via RS-232C. It does not require
lifting the protection for setting them through PROFIBUS.
l Refer to “5.4.7. Processing Decimal Place” for the decimal place in the command lists.
5.4.1. Parameter
Table 5-3: Parameter List
Initial
setting
Data range
Unit
Decimal
place
0.100
1.0
1.0
1.00
0.010 – 1.000
0.1 – 255.0
0.1 – 255.0
0.10 – 63.00
–
–
–
Hz
3
1
1
2
1.00
0.10 – 63.00
Hz
2
–
0
%
%
0
0
pulse
0
ms
–
0
–
s-1
2
Hz
0
Parameter
Correspondence
1
2
3
4
PG
VG
VGL
VI
5
VIL
6
«VM
Velocity integrator mode
7
8
LG
«TL
Lower gain
Torque limit rate
9
«GP
Gain switching point
0
10
11–19
GT
–
Switching gain timer
Reserved
5
–
20
FO
Low-pass filter, off velocity
21
FP
Low-pass filter, primary
0
22
FS
Low-pass filter, secondary
0
23
NP
Notch filter, primary
0
24
NS
Notch filter, secondary
0
25
26
27
28
29
30–39
NQ
«DBP
«ILV
«FF
«FC
－
40
CO
41
42
IN
IS
Notch filter, Q parameter
Dead band
Integration limit
Feed forward gain
Friction
(Reserved)
Position error counter over
limit
In-position
In-position stability counter
43
FW
In-position FIN width
44
«VO
Velocity error over limit
45
46
47– 49
50
51– 61
«VW
«OR
－
«CE
－
Velocity error over limit width
62
«RR
63–79
–
Function
Position gain
Velocity gain
Velocity gain, lower
Velocity integrator frequency
Velocity integrator gain,
lower
0.25
0
100.0
0.0000
0
–
0: No integration
1: Integration available
0 – 100
0 – 100
0：No gain switching
1 – 1 000
0 – 1 000
–
0: Switching off
0.01 – 3.00
0: Filter OFF
10 – 500
0: Filter OFF
10 – 500
0: Filter OFF
10 – 500
0: Filter OFF
10 – 500
0.10 – 5.00
0 – 4095
0.0 – 100.0
0.0000 – 1.0000
0 – 2047
–
Hz
Hz
pulse
%
–
–
–
2
0
1
4
0
–
50 000
1 – 99 999 999
pulse
0
1
50
100
0.00
100
0.0
1.0
Criterion, overrun alarm
Reserved
Brake-on position error
Reserved
Hz
Hz
0 – 99 999 999
pulse
0, 0.3 – 100.0
100 ms
0.0: COIN mode
－
+ 0.3– +100.0:FIN mode
100 ms
- 0.3– –100.0:CFIN
-100 ms
mode
0
0
0
0
1
1
2730
1 – 5461
3.000/
-1
5461 s
0
100
409 600
0 – 1 000
204 800 – 819 200
ms
pulse
0
0
–
–
–
–
1000
1 – 99 999 999
pulse
0
–
–
–
–
Resolver resolution
–3
-3: High/low switching
1:Fixed
to
low
resolution
–
0
(Reserved)
–
–
–
–
— 5-6 —
Table 5-4: Parameter list (Continued [1])
Parameter
Correspondence
80
FD
81
«FZ
82
«FR
83 – 99
100
Initial
setting
Function
Data range
0: Leading phase A in CW.
1: Leading phase B in CW.
0: øZ output
1: MSB output
Unit
Decimal
place
–
0
–
0
1
1: 12bit resolution
–
0
–
«PS
Position feedback signal
phase.
Position feedback signal
Z/MSB
Resolution:
Position feedback signal
(Reserved)
Position scale select
–
1
–
rev
–
0
101
«DI
Direction inversion
0
–
0
102
103
«OTP
«OTM
0
0
pulse
pulse
0
0
104
«AO
0
0 – 819 199
pulse
0
105–119
120
121
122
123
124
125
126
–
MV
MA
JV
JA
HV
HA
HZ
Over travel limit position
Over travel limit position
Absolute position scale
offset
(Reserved)
Move velocity
Move acceleration
JOG velocity
JOG acceleration
Home return velocity
Home return acceleration
Home return near-zero speed
–
1
0: CW is (＋).
1: CCW is (–).
0 – ± 99 999 999
0 – ± 99 999 999
–
s-1
s-2
s-1
s-2
s-1
s-2
s-1
–
4
2
4
2
4
2
4
127
MD
Move deceleration
s-2
2
128–130
131
132–139
–
OV
–
(Reserved)
Velocity change ration
(Reserved)
－
%
–
–
0
–
140
«OS
Origin setting mode
4
–
0
141
«PH
Program Home Return
0
–
0
142
«HD
Home Return direction
1
–
0
143
144–159
160
161
162
«HO
－
«PA
«OL
«RC
Home offset
(Reserved)
Phase adjust
Overload limit *1
Rated current
0
–
700
–
–
pulse
–
–
–
%
0
–
0
0
0
163
«LR
Low torque ripple
0
–
0
164
«RO
–
0
165–179
180
181
–
«AB
«NW
ABS/INC resolver set
position offset
(Reserved)
I/O polarity
Chattering preventive timer
–
–
2.8 ms
–
0
0
182
«IM
IOFF mode
0
–
0
183–189
190
191
192
193–199
–
«BF
«WC
«WU
–
(Reserved)
Brake sequence function
Brake-on timer
Brake-off timer
(Reserved)
–
0
*1
*1
–
–
–
100 ms
100 ms
–
–
0
0
0
–
0
0
–
1.0000
1.00
0.1000
1.00
0.2000
1.00
0.0100
0
–
100
–
2 048
–
00h
0
*1: Initial setting differs with Motor size.
— 5-7 —
–
0.0001 – 3.0000
0.01 – 1 280.00
0.0001 – 3.0000
0.01 – 1 280.00
0.0001 – 3.0000
0.01 – 1 280.00
0.0001 – 0.2000
0: Stop immediately.
0.01 – 1 280.00
–
0 – 200
–
1, 3, 4, 5: Standard homing.
6: Home position by
teaching
0: Automatic homing
invalid
1: Each programmed
operation (when Home
position is not set.)
2: Each RUN input.
0: (+) direction
1: (–) direction
0 – ± 802 816
－
24 – 1 048
0 –100
0 –100
0: Standard
1: Low torque ripple
0 – 4 095
–
0000 0000b – 0101 0011b
0–4
0: Integration OFF and lower gain.
1: Integration OFF
2: Lower gain
－
0, 1
*1 – 30.0
*1 – 30.0
－
Table 5-5: Parameter List (Continued [2])
Parameter
Correspondence
Initial
setting
200
«WM
Write mode to EEPROM
0
201–219
220
221
222–239
–
«LO
SG
–
(Reserved)
Load inertia
Servo gain
(Reserved)
–
0
0
–
240
«SL
Control mode
3
241
AL
Acceleration limiter
0
242–259
260
261
–
HW
HI
(Reserved)
Home signal holding time
Home In-position
262
«SO
SPD output mode
Function
–
0.0
0
0
263
264
SB
ST
265
«NMA
266
«NMB
267
268
269
270
271
272
273–279
NA
NB
ZAS
ZAE
ZBS
ZBE
－
Criterion, SPD signal output
Speed stability timer
Near A/Near position A
output mode
Near B/Near position B
output mode
Near position A
Near position B
Start point of zone A
Endpoint of zone A
Start point of zone B
Endpoint of zone B
(Reserved)
280
«OU
Origin Undefined
0
281
«EP
Excessive position error ,
Alarm type
2
282
«TO
Software travel limit over,
Alarm type
2
283
«HT
Hardware travel limit over,
Alarm type
2
284
«PE
Program error, Alarm type
2
285
«AE
Automatic tuning error,
Alarm type
2
286–299
–
(Reserved)
–
— 5-8 —
0.00
0.0
0.0
0.0
100
100
0
0
0
0
–
Data range
0: Backup
1: No backup
–
0.000 – 50.000
0 – 30
–
1: Torque control
2: Velocity control
3: Position control
0: Function disabled.
0.01 – 1 280.00
–
0, 0.3 – 100.0
0 – 102 400
0: Zero speed mode
1: Over speed mode
0.00 – 3.00
0, 0.3 – 100.0
0.0: Proximity mode
0.3 – 100.0: Area mode
0.0: Proximity mode.
0.3 – 100.0: Area mode
1 –99 999 999
1 – 99 999 999
0 – ± 99 999 999
0 – ±99 999 999
0 – ±99 999 999
0 – ±99 999 999
–
0: DRDY/OVER
No change
2: OVER output closed
1: DRDY output open.
2：OVER output closed.
3：DRDY: Open
OVER: Closed
1：DRD: open
2：OVER: closed
0：DRDY/OVER
No change.
1: DRDY: Open
2: OVER: Closed
0: DRDY/OVER
No change
2: OVER: Closed
0：DRDY/OVER
No change
2：OVER: Closed
–
Unit
Decimal
place
–
0
–
kgm2
Hz
–
–
3
0
–
–
0
s-2
–
100 ms
pulse
2
–
1
0
–
0
-1
2
1
s
100 ms
–
100 ms
–
100 ms
pulse
pulse
pulse
pulse
pulse
pulse
–
0
0
0
0
0
0
–
–
0
–
0
–
0
–
0
–
0
–
0
–
–
1
1
5.4.2. Managing Command
Table 5-6
Command
300
301
302
303 –319
Correspondence
AZ
AT
«OG
–
320
«SI
321
322– 329
330
331– 339
«WD
–
«KB
–
Function
Data range
Absolute zero position set
Automatic tuning
Origin set (Resolver phase adjust)
(Reserved)
–
–
Decimal
place
–
–
–
–
–
–
–
–
–
–
－
0
–
–
–
–
–
–
0
–
0: Servo parameters
1: All parameters
2: All parameters excluding
PA and RO）
3: All parameters (PA700)
System initialization
Unit
–
–
1,0
–
Write data to EEPROM
(Reserved)
Kill Brake
(Reserved)
5.4.3. Operation Command
Table 5-7
400
401
402
403
404
405
406
407
Correspondenc
e
AD
AD/PL
AD/MI
AD/EX
AR
AR/PL
AR/MI
AR/EX
408
ID
409
ID/EX
410
IR
411
IR/EX
412
413–419
420
421–439
SP
Command
－
HS
－
Function
Absolute positioning, Degree (Short cut)
Absolute positioning, Degree (CW)
Absolute positioning, Degree (CCW)
Absolute positioning, Degree (DIR input)
Absolute positioning, Resolver (Short cut)
Absolute positioning, Resolver (CW)
Absolute positioning, Resolver (CCW)
Absolute positioning, Resolver (DIR input)
Incremental positioning, Degree
Incremental positioning, Degree (DIR input)
Incremental positioning,, Resolver
Incremental positioning, Resolver (DIR
input)
Start program
(Reserved)
Home Return start
(Reserved)
Data range
Unit
Decimal
place
0 – 35 999
0 – 35 999
0 – 35 999
0 – 35 999
0 – 819 199
0 – 819 199
0 – 819 199
0 – 819 199
0–
±9 999 999
0–
± 9 999 999
0–
±99 999 999
0–
99 999 999
0 – 63
0.01°
0.01°
0.01°
0.01°
pulse
pulse
pulse
pulse
0
0
0
0
0
0
0
0
pulse
0
pulse
0
pulse
0
pulse
0
－
0
－
－
－
－
－
0
－
－
－
Velocity control:
440
DC
441–459
–
Digital RS-232C command
0 – ± 5461
3.0000
5461
Torque control:
100
4095
s -1
%
0
0 – ± 4095
(Reserved)
－
— 5-9 —
－
－
5.4.4. Editing Program
Table 5-8
Command
Corres
pondence
500
501
CH
TC
502
–
503
504–519
CC
–
Function
Channel select
Tell channel program
End of reading out or editing channel
program.
Clear channel
(Reserved)
Data range
Unit
Decimal
place
0 – 63
0 – 63
–
–
0
0
–
–
–
0 – 63
–
–
–
0
–
5.4.5. Program Command
Table 5-9
Command
Correspondence
Function
Data range
Unit
Decimal
place
600
601
602
603
604
605
606
607
608
609
610
AD
AD/PL
AD/MI
AD/EX
AR
AR/PL
AR/MI
AR/EX
ID
ID/EX
IR
0 – 35 999
0 – 35 999
0 – 35 999
0 – 35 999
0 – 819 199
0 – 819 199
0 – 819 199
0 – 819 199
0 – ± 9 999 999
0 – ± 9 999 999
0 – ± 99 999 999
0.01°
0.01°
0.01°
0.01°
pulse
pulse
pulse
pulse
pulse
pulse
pulse
0
0
0
0
0
0
0
0
0
0
0
0 – 99 999 999
pulse
0
HS
–
JP
Absolute positioning, Degree (Short cut)
Absolute positioning, Degree (CW)
Absolute positioning, Degree (CCW)
Absolute positioning, Degree (DIR input)
Absolute positioning, Resolver (Short cut)
Absolute positioning, Resolver (CW)
Absolute positioning, Resolver (CCW)
Absolute positioning, Resolver (DIR input)
Incremental positioning, Degree
Incremental positioning, Degree (DIR input)
Incremental positioning, Resolver
Incremental positioning, Resolver
(DIR input)
(Reserved)
Home Return start
(Reserved)
Jump
611
IR/EX
612–619
620
621–639
640
–
–
–
0 – 63
–
0
–
0
641
TI
Timer
642–659
–
(Reserved)
–
–
–
–
100
ms
–
660
–
Division of indexing points
–
0
–
0
s-1
4
s-2
－
2
－
0.3 – 100.0
–
0: Delete
2 –99
1
–
0: Delete
1: * Execute next
661
OE
Sequence option edit
command :
2 &: Wait fort for RU
input. .
662
CV
Channel velocity
663
CA
Channel acceleration
664–679
–
0: Delete
0.0001 – 3.0000
0: Delete
0.01–3.0000
(Reserved)
— 5-10 —
－
5.4.6. Monitor
Table 5-10
Command
Correspondence
Function
Data range
Unit
Places of
decimal
–
0
–
–
Each bit indicates alarm.
Byte number
3
2
1
0
800
TA
801–819
–
820
–
821–839
–
840
IO0
Alarm
(Reserved)
Internal
program
(Reserved)
Input/Output
state
Alarm
P7 – P0
A7 – A0
C7 – C0
F7 – F0
–
0
–
Indicates Input/Output of CN2 connector.
Bit
11
10
9
8
7
6
5
4
3
2
1
0
Function
SVON
EMST
IOFF
HLS
HOS
CLR
OTM
OTP
DRDY
BRK
IPOS
HOME
— 5-11 —
–
–
–
0
Table 5-11: Monitor (Continued [1])
841
842
IO1
IO2
Input/Output state
(2)
Input/Output state
(3)
Parameter AB is set to the inputs of CN2, and
then the result that are merged with
PROFIBUS control inputs will be shown.
Bit
11
10
9
8
7
6
5
4
3
2
1
0
Function
SVON
EMST
IOFF
HLS
HOS
CLR
OTM
OTP
DRDY
BRK
IPOS
HOME
Indicates control Inputs/Outputs of
PROFIBUS.
Bit
12
11
10
9
8
7
6
5
4
3
2
1
0
Function
PRG5
PRG4
PRG3
PRG2
PRG1
PRG0
RUN
STP
0
0
IPOS
NEARA
NEARB
— 5-12 —
–
0
–
0
Table 5-12: Monitor (Continued [2])
843
IO3
Input/Output state
(4)
844
IO4
Input/Output state
(5)
Indicates control Inputs/Outputs of PROFIBUS.
Bit
12
11
10
9
8
7
6
5
4
3
2
1
0
Function
JOG
DIR
RUN
HOS
STP
0
ORD
DRDY
OVER
IPOS
SPD
HOME
HCMP
Indicates control Input/Output of PROFIBUS
Bit
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
Function
EMST
SVON
RUN
STP
CLR
IOFF
HOS
ORD
JOG
DRDY
OVER
IPOS
BUSY
BRK
HCMP
HOME
SPD
— 5-13 —
–
0
－
0
Table 5-13: Monitor (Continued [3])
845
846
847
848
849
850
851–859
IO5
TE
TP
TP
TR
TT
–
Indicates control Inputs/Outputs of
PROFIBUS.
Bit
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
Input/Output state
(6)
Tell position error counter
Tell position (In unit of pulse)
Tell position (In unit of degree)
Tell RDC position data
Tell torque and thermal
(Reserved)
— 5-14 —
Function
PRG5
PRG4
PRG3
PRG2
PRG1
PRG0
RUN
ACK_PRG5
ACK_PRG4
ACK_PRG3
ACK_PRG3
ACK_PRG２
ACK_PRG1
ACK_PRG0
IPOS
BUSY
NEARA
NEARB
0 – ± 99 999 999
0 – 819 199
0 – 35 999
0 – 16 383
0.0 – 1 00.0
–
pulse
pulse
0.01°
pulse
%
–
0
0
0
0
0
1
–
5.4.7. Processing Decimal Place
l In the communication of PROFIBUS, all data are processed in integers even monitored data or
parameters are decimal numbers.
l The decimal place is preset to each parameter. (Refer to “Decimal place” in the above tables.)
Use them when decoding or encoding the integer numbers by the master controller in accordance
with a need.
u Setting example of Velocity loop proportional gain VG.
l The following shows an example to set the velocity loop proportional gain VG to VG5.
Table 5-14: Parameter List (Refer to VG on the list.)
Parameter
Correspondence
Function
Initial
setting
Data range
Unit
Decimal
place
02
VG
Velocity loop proportional
gain
1.0
0.1 – 255.0
–
1
l The actual parameter data shall be 450 (0000 01C2h) because the decimal pace of VG is one
according to the table above. Therefore, the actual control input of VG45.0 will be processed as
Figure 5-5.
Figure 5-5: Example: Control input of PROFIBUS for VG45.0
Bite
4
5
6
7
8
9
PRM_SET_NO (_lower):
PRM_SET_NO (_higher):
PRM_SET_DATA (lowest):
PRM_SET_DATA (_lower):
PRM_SET_DATA (_higher):
PRM_SET_DATA (highest):
Value
02h
00h
C2h
01h
00h
00h
u Example for reading out of position loop proportional gain PG
l The following shows an example of the control output by a reading out command for position
loop proportional gain.
Figure 5-6:Example: Control output of PROFIBUS by a reading out command for PG
Bite
4
5
6
7
8
9
PRM_GET_NO (_lower):
PRM_GET_NO (_higher):
PRM_GET_DATA (lowest):
PRM_GET_DATA (_lower):
PRM_GET_DATA (_higher):
PRM_GET_DATA (highest):
Value
01h
00h
90h
01h
00h
00h
l The result of readout of PG is 190h (400). The table below shows that the decimal place of PG is
three, and thus PG400 is actually set to PG.
Table 5-15: Parameter Refer to PG on the list.)
Parameter
01
Correspondence
PG
Initial
Function
setting
Position loop proportional gain
0.100
— 5-15 —
Data range
0.010 – 1.000
Unit
Decimal
place
–
3
(Blank Page)
— 5-16 —
6. Power on
l When initialization of internal network module completes after the power is on, the Driver Unit
gets in the mode where it can receive instructions from PROFIBUS.
l Confirm the following before communicating with PROFIBUS.
à 7 segments LED
If it reports any one of C4, E0, E7 or E8 alarm.
à Handy Terminal (Right after it is connected to the Driver Unit.)
It indicates the prompt “#”.
NSK MEGATORQUE
MS1A50_xxxx.x
xxxxxxxxx
#
Indicates the System is in PROFIBUS mode.
l If the Driver Unit fails to initialize the internal network module for some reason, the System
indicates the following.
à 7 segments LED
Reports any one of C4, E0, E7 or E8 alarm.
à Handy Terminal (Right after it is connected to the Driver Unit.)
It indicates the prompt “:”.
NSK MEGATORQUE
MS1A50_xxxx.x
xxxxxxxxx
:
Indicates that the System is in the maintenance mode
— 6-1 —
6.1. Operation Mode
l The Driver Unit has two operation modes as shown below.
à PROFIBUS mode
à Maintenance mode
l Default is PROFIBUS mode after turning on the power.
6.1.1. PROFIBUS Mode
l The Driver Unit functions in accordance with instructions of PROFIBUS.
l The Handy Terminal indicates the prompt “#” when it is connected to the Driver Unit.
NSK MEGATORQUE
MS1A50_xxxx.x
xxxxxxxxx
#
Indicates the System is in PROFIBUS mode.
6.1.2. Maintenance Mode
l The Driver Unit functions in accordance with instructions from the Handy Terminal (RS-232C
communication).
l The Handy Terminal indicates the prompt “:”.
l The maintenance mode is to tentatively control the Driver Unit when PROFIBUS is disabled for
some reason.
l Some input signals of CN2 connector will be available in the maintenance mode. On the other
hand the all inputs and some outputs of PROFIBUS will be disabled.
l Refer to “1.4. Validity of Inputs and Outputs by Operation Mode” for details.
NSK MEGATORQUE
MS1A50_xxxx.x
xxxxxxxxx
:
Indicates the System is in the maintenance mode.
— 6-2 —
6.1.3. Switching Operation Mode
l The Driver Unit can control only one communication device at a time. When switching the
operation mode, input the command (CP) to change operation mode through the Handy Terminal.
If the Motor is operating under the internal pulse train when switching the mode, it will
automatically decelerate and stop.
6.1.3.1. Switch PROFIBUS Mode to Maintenance Mode
1) Confirm that the prompt is “#” (PROFIBUS mode).
2) Input the password.
#
#
#/NSK ON
#
3) Execute command CP0.
l If the Motor is operating under the internal pulse train, it will decelerate and stop.
4) The prompt changes to “:” (maintenance mode) from “&”.
#
#/NSK ON
#CP0
:
6.1.3.2. Switch Maintenance Mode to PROFIBUS Mode
1) Confirm that the prompt is “:” (Maintenance mode).
2) Input the password.
:
:
:/NSK ON
:
3) Execute command CP1.
l If the Motor is operating under the internal pulse train, it will decelerate and stop.
4) The prompt will change to “#” (PROFIBUS mode) from “:”.
:
:/NSK ON
:CP1
#
— 6-3 —
(Blank Page)
— 6-4 —
7. Additional Function, Command and Alarm
7.1. Additional Function
7.1.1. Override Function
l This function is to change the positioning velocity of Motor in accordance with the change ratio
preset by parameter OV when a control input signal ORD from PROFIBUS is ON.
l The Driver Unit detects the current level of ORD input signal.
l When ORD input is ON, the change ratio [%] set by the parameter OV will be applied to the
operation velocity in positioning operation through RS-232C command (MV), Home Return
(HV), operation in Programmable Indexer (CV), and Jog (JV).
l The normal state is ORD input OFF. (Each positioning operation follows the set velocity with
MV, HV, CV and JV respectively.)
l The override ratio may be set in the range of 0 – 200% with the parameter OV.
l Input of ORD will be invalid in the middle of positioning operation.
l When the maximum velocity set by the override function exceeds the allowable velocity of the
Motor, the available maximum speed will be limited to the allowable velocity of the Motor.
l If the parameter OV is set to 0%, the Motor won’t rotate by the input of ORD signal.
Figure 7 -1: Operation example: Input signal RUN
< If [ORD] is OFF>
ON
[ORD] input
OFF
ON
[RUN] input
OFF
MV
Motor rotation
<If [ORD] is ON>
ON
[ORD] input
At the moment of [RUN] input (edge triggered input),
signal level of [ORD] input decides validity of override
function.
OFF
ON
When [ORD] OFF
[RUN] input
OFF
Example: OV=50 [%]
MV × OV [%]
Motor rotation
— 7-1 —
7.2. Additional RS-232C Command
l The following shows the additional commands and commands with expanded function.
l The command marked with ★ requires an entry of the password “/NSK ON.”
★
CP: Switch PROFIBUS/ Maintenance Mode
Format
Data
Default
: CP data
: data=0: Maintenance mode
: data=1: PROFIBUS mode
:0
l This command is to select PROFIBUS mode or the maintenance mode of the Drover Unit.
l This command is used in case of maintenance. The settings in this mode won’t be backed up by
the memory.
l Input of ?CP reports the current setting.
l The operation mode at the starting depends on the result of initialization of PROFIBUS
communication right after the power is turned on.
à PROFIBUS mode : When the initialization of LSI of PROFIBUS communication was
successful right after the power is turned on.
(The prompt “#” is indicated on the screen.)
à Maintenance mode : When the initialization of LSI PROFIBUS communication has
failed right after the power is turned on.
(The prompt “:” is indicated on the screen.)
Display format: In normal start
NSK MEGATORQUE
MS1A50_xxxx.x
xxxxxxxxx
#
System reference number
Torque ROM reference number
Prompt #
(For PROFIBUS mode)
Display format: In abnormal start
NSK MEGATORQUE
MS1A50_xxxx.x
xxxxxxxxx
:
System reference number
Torque ROM reference number
Prompt :
* C4 alarm is reported on 7seg. LED.
！ Caution: When the operation mode is switched, the control input and output
signals (CN2 and CN5) are switched as well: thus the Motor may start
suddenly depending on the command of the master controller.
When switching the operation mode, be sure to confirm the command of
the master controller, and take an appropriate action for the safety.
— 7-2 —
IO: Input / Output Monitor
Format
Data
Optional code
: IO data opt
: data = default, or 0: General readout of Inputs/Outputs
data = 1
General readout of Inputs/Outputs
(Reversed video for normally closed contacts)
data = 2
…Readout of Inputs/Outputs related to
Programmable Indexer
data = 3
…Readout of Inputs/Outputs of all operation
data = 4
…Readout of Inputs/Outputs related to PROFIBUS
data = 5
…Readout of Inputs/Outputs Programmable
Indexer with PROFIBUS
: opt = default…One shot readout
: opt = /RP …Readout is repeated automatically.
l Reports the status (ON/OFF, open /closed) of the control Inputs/Outputs of CN2 and CN5 by
zeros and ones.
1: Input ON, output closed
0: Input OFF, output open
l Press the BS key to terminate repeated readouts by IO/RP.
Figure 7-2: In case of IO4
A B C D E F G H I J K L M N O P Q R
＊ ＊ ＊ ＊ ＊ ＊ ＊ ＊ ＊ / ＊ ＊ ＊ ＊ ＊ ＊ ＊ ＊
Signal
SPD
HOME
HCMP
BRK/BRKC*1
BUSY
IPOS
OVER
DRDY
－
JOG
ORD
HOS
IOFF/CLCN*1
CLR
STP
RUN
SVON
EMST
*1: When using motor with brake combined with brake sequence function(BF1), signals
Integrator off / Low gain will be used as Clamp cancel input, Brake output will be used
as Brake control output.
— 7-3 —
Figure 7-3: In case of IO5
A B C D E F G H I J K L M N O P Q R
＊ ＊ ＊ ＊ ＊ ＊ ＊ / ＊ ＊ ＊ ＊ ＊ ＊ ＊ ＊ ＊ ＊
Signal
NEARB
NEARA
BUSY
IPOS
ACK_PRG0
ACK_PRG1
ACK_PRG2
ACK_PRG3
ACK_PRG4
ACK_PRG5
－
RUN
PRG0
PRG1
PRG2
PRG3
PRG4
PRG5
OV : Override
Format
Data
Shipping set
Default
: OV data
: 0 – 200 [%]
: 100
:0
l This is to set the velocity change ratio when ORD input of PROFIBUS is ON.
l Unit of data is 1%.
l If the data setting is zero (0) and ORD input is ON, the Motor does not rotate even for
instructions of motion command.
l If the OV setting exceeds the allowable Motor velocity, the rotational speed is limited to the
allowable velocity of the Motor.
l Refer to “7.1.1. Override Function” for details.
l TS or ?OV command reports the current setting.
— 7-4 —
7.2.1. Additional Parameter List
Table 7-1
Parameter
OV
Function
Override velocity
Password
Shipping set
Data range
Not required
100
0 – 200
Current
setting
(User)
7.3. Additional Alarm
7.3.1. Fieldbus Error
l The alarm reports that an error is detected in the interface of PROFIBUS.
l The PROFIBUS communication will be disabled because of the interface error.
l This report will be outputted to 7 segments LED on the Driver Unit and RS-232C
communication terminal.
Table 7-2
DRDY output
Motor state
7 segments
LED
TA readout
Clear alarm
Open (alarm)
Servo off
C4
C4>Fieldbus Error
Turn on the power again.
l If this alarm is reported, input TA/HI command through an RS232C terminal and confirm the
alarm sub-code.
l Cause and remedy are shown in the table below.
Table 7-3
Cause
Defective interface board
Remedy
Replace the Driver Unit.
— 7-5 —
(Blank Page)
— 7-6 —
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NSK Ltd. Headquarters, Tokyo, Japan
NSK France S.A.
Americas & Europe Department
Phone: 03-3779-7120
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Phone: 03-3779-7121
FRANCE
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: Ann Arbor
Phone: 734-761-9500
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: Chicago
Phone: 630-620-8500
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Phone: 72.15.29.00
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SPAIN
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: Melbourne Phone: 03-9764-8302
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: Paris
: Lyon
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Phone: 09-276-4992
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: Seoul
Phone: 02-3287-6001
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: Singapore
Phone: (65) 2781 711
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THAILAND
: Bangkok
Phone: 02-6412150-60
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: Taipei
Phone: 02-591-0656
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: Stuttgart
: Leipzig
Phone: 02102-4810
Phone: 0711-79082-0
Phone: 0341-5631241
MEGATORQUE® MOTOR SYSTEM
User’s Manual (ESB Driver Unit System)
Instructions for PROFIBUS
Document Number: C20126-02
March 14, 2003
1st Edition
1st Printing
November 20, 2003
2nd Edition
1st Printing
NSK Ltd.
2nd Edition, 1st Printing: November 20, 2003
Document Number: C20126-02