Document Outline

• Front Cover
• Using this Manual
• Safety Information
• Safety Precautions
• Warranty
• Contents
• 1 Overview
  • 1.1 SVB Module Overview and Features
    • 1.1.1 SVB Modules
    • 1.1.2 Built-in SVB and Slot-mounting Optional SVB
    • 1.1.3 Features
    • 1.1.4 System Configuration Example
    • 1.1.5 Devices Connectable to MECHATROLINK
    • 1.1.6 Synchronization between Modules
  • 1.2 Specifications
    • 1.2.1 SVB-01 Module Hardware Specifications
    • 1.2.2 Specifications of SVB Module
• 2 Settings and Installation
  • 2.1 LED Indicators and Switch Settings
    • 2.1.1 External Appearance
    • 2.1.2 Indicators
    • 2.1.3 SVB-01 Module Status Indication
    • 2.1.4 Switch Settings
  • 2.2 Applicable Machine Controllers for SVB-01 Modules
  • 2.3 Mounting/Removing SVB-01 Modules
    • 2.3.1 Mounting an SVB-01 Module
    • 2.3.2 Removing SVB-01 Modules for Replacement
• 3 Self-configuration and Created Definition Files
  • 3.1 Self-configuration Overview
  • 3.2 How to Execute Self-configuration
  • 3.3 System Startup Using Self-Configuration
    • 3.3.1 Starting the System for First Time
    • 3.3.2 System Startup when Adding Electronic Devices
    • 3.3.3 System Startup when Replacing Electronic Devices
  • 3.4 Self-configuration and Definition Files
    • 3.4.1 Module Configuration Definition
    • 3.4.2 MECHATROLINK Transmission Definition
    • 3.4.3 SVB Definition
    • 3.4.4 Current Value and Setting Data in SVB
    • 3.4.5 Precautions When Saving SERVOPACK Parameters
• 4 Motion Parameters
  • 4.1 Motion Parameters Register Numbers
    • 4.1.1 Motion Parameter Register Numbers for MP2000 Series Machine Controllers
  • 4.2 Motion Parameters Setting Window
    • 4.2.1 How to Open the Motion Parameter Setting Windows
    • 4.2.2 Motor Type and Related Alarms
  • 4.3 Motion Parameter Lists
    • 4.3.1 Fixed Parameter List
    • 4.3.2 Setting Parameter List
    • 4.3.3 Monitoring Parameter List
  • 4.4 MP2000 Series Machine Controller Parameter Details
    • 4.4.1 Motion Fixed Parameter Details
    • 4.4.2 Motion Setting Parameter Details
    • 4.4.3 Motion Monitoring Parameter Details
• 5 Motion Parameter Setting Examples
  • 5.1 Example Setting of Motion Parameters for the Machine
    • 5.1.1 Reference Unit
    • 5.1.2 Electronic Gear
    • 5.1.3 Axis Type Selection
    • 5.1.4 Position Reference
    • 5.1.5 Speed Reference
    • 5.1.6 Acceleration/Deceleration Settings
    • 5.1.7 Acceleration/Deceleration Filter Settings
    • 5.1.8 Linear Scale Pitch and Rated Speed
• 6 Motion Commands
  • 6.1 Motion Commands
    • 6.1.1 Motion Command Table
    • 6.1.2 Motion Commands Supported by SERVOPACK Models
  • 6.2 Motion Command Details
    • 6.2.1 Position Mode (POSING) (Positioning)
    • 6.2.2 Latch Target Positioning (EX_POSING) (External Positioning)
    • 6.2.3 Zero Point Return (ZRET)
    • 6.2.4 Interpolation (INTERPOLATE)
    • 6.2.5 Interpolation Mode with Latch Input (LATCH)
    • 6.2.6 Jog Mode (FEED)
    • 6.2.7 Relative Position Mode (STEP) (Step Mode)
    • 6.2.8 Set Zero Point (ZSET)
    • 6.2.9 Change Acceleration Time (ACC)
    • 6.2.10 Change Deceleration Time (DCC)
    • 6.2.11 Change Filter Time Constant (SCC)
    • 6.2.12 Change Filter Type (CHG_FILTER)
    • 6.2.13 Change Speed Loop Gain (KVS)
    • 6.2.14 Change Position Loop Gain (KPS)
    • 6.2.15 Change Feed Forward (KFS)
    • 6.2.16 Read User Constant (PRM_RD)
    • 6.2.17 Write User Constant (PRM_WR)
    • 6.2.18 Alarm Monitor (ALM_MON)
    • 6.2.19 Alarm History Monitor (ALM_HIST)
    • 6.2.20 Clear Alarm History (ALMHIST_CLR)
    • 6.2.21 Absolute Encoder Reset (ABS_RST)
    • 6.2.22 Speed Reference (VELO)
    • 6.2.23 Torque /Thrust Reference (TRQ)
    • 6.2.24 Phase References (PHASE)
    • 6.2.25 Change Position Loop Integral Time Constant (KIS)
    • 6.2.26 Stored Parameter Write (PPRM_WR)
    • 6.2.27 Multiturn Limit Setting (MLTTRN_SET)
  • 6.3 Motion Subcommands
    • 6.3.1 Motion Subcommand Table
    • 6.3.2 Motion Subcommand Settings
  • 6.4 Motion Subcommand Details
    • 6.4.1 No Command (NOP)
    • 6.4.2 Read User Constant (PRM_RD)
    • 6.4.3 Write User Constant (PRM_WR)
    • 6.4.4 Status Monitor (SMON)
    • 6.4.5 Read Fixed Parameters (FIXPRM_RD)
• 7 Switching Commands during Execution
  • 7.1 Switchable Motion Commands and Subcommands
    • 7.1.1 Switching Between Motion Commands
    • 7.1.2 Setting a Subcommand During Command Execution
  • 7.2 Motions After Switching Motion Commands
    • 7.2.1 Switching from POSING
    • 7.2.2 Switching from EX_POSING
    • 7.2.3 Switching from ZRET
    • 7.2.4 Switching from INTERPOLATE
    • 7.2.5 Switching from ENDOF_INTERPOLATE or LATCH
    • 7.2.6 Switching from FEED
    • 7.2.7 Switching from STEP
    • 7.2.8 Switching from ZSET
    • 7.2.9 Switching from VELO
    • 7.2.10 Switching from TRQ
    • 7.2.11 Switching from PHASE
• 8 Control Block Diagrams
  • 8.1 Position Control
    • 8.1.1 Motion Parameters for Position Control
    • 8.1.2 Control Block Diagram for Position Control
  • 8.2 Phase Control
    • 8.2.1 Motion Parameters for Phase Control
    • 8.2.2 Control Block Diagram for Phase Control
  • 8.3 Torque Control
    • 8.3.1 Motion Parameters for Torque Control
    • 8.3.2 Control Block Diagram for Torque Control
  • 8.4 Speed Control
    • 8.4.1 Motion Parameters for Speed Control
    • 8.4.2 Control Block Diagram for Speed Control
• 9 Absolute Position Detection
  • 9.1 Absolute Position Detection Function
    • 9.1.1 Outline of the Function
    • 9.1.2 Reading Absolute Data
    • 9.1.3 Finite Length/Infinite Length Axes and Absolute Position Detection
  • 9.2 Setting Procedure of Absolute Position Detection Function
    • 9.2.1 System Startup Flowchart
    • 9.2.2 Initializing the Absolute Encoder
  • 9.3 Absolute Position Detection for Finite Length Axes
    • 9.3.1 Parameter Settings for Finite Length Axes
    • 9.3.2 Setting the Zero Point for a Finite Length Axis
    • 9.3.3 Turning ON the Power after Setting the Zero Point of Machine Coordinate System
  • 9.4 Absolute Position Detection for Infinite Length Axes
    • 9.4.1 Simple Absolute Infinite Length Position Control
    • 9.4.2 Parameter Settings for Simple Absolute Infinite Length Position Control
    • 9.4.3 Setting the Zero Point and Turning ON Power as Simple Absolute Positions
    • 9.4.4 Turning ON the Power after Setting the Zero Point
    • 9.4.5 Infinite Length Position Control without Simple Absolute Positions
• 10 Settings for Connecting Inverters
  • 10.1 Specifications for Communications with Connected Inverters
  • 10.2 Operating Inverters Using an MPE720
    • 10.2.1 Check Items before Operation
    • 10.2.2 Operation Precautions
    • 10.2.3 Operation Procedure
    • 10.2.4 Manually Allocating Inverters
    • 10.2.5 I/O Options
  • 10.3 Main Commands and Subcommands
    • 10.3.1 List of Main Commands and Subcommands
    • 10.3.2 Applicable Combinations of Commands and Subcommands
    • 10.3.3 Command Details
    • 10.3.4 Subcommand Details
  • 10.4 Motion Parameter Details
    • 10.4.1 Fixed Parameter List
    • 10.4.2 Setting Parameter List
    • 10.4.3 Monitoring Parameter List
    • 10.4.4 Inverter Output Data Details
    • 10.4.5 Inverter Input Data Details
  • 10.5 Inverter Alarm and Warning Codes
    • 10.5.1 Inverter Alarms
    • 10.5.2 Inverter Warnings
    • 10.5.3 Communication Warnings
    • 10.5.4 Communication Alarm
    • 10.5.5 Optional Interface Settings
• 11 Utility Functions
  • 11.1 Controlling Vertical Axes
    • 11.1.1 Holding Brake Function of the SERVOPACK
    • 11.1.2 Connections to Sigma-II/III SGDH or SGDS SERVOPACK
    • 11.1.3 Connections to Sigma-I Series SGDB SERVOPACK
    • 11.1.4 Connections to Sigma-I Series SGD SERVOPACK
  • 11.2 Overtravel Function
    • 11.2.1 Connections to Sigma-II/III/V Series SGDH, SGDS, or SGDV SERVOPACK
    • 11.2.2 Connections to Sigma-I Series SGDB or SGD SERVOPACK
  • 11.3 Software Limit Function
    • 11.3.1 Fixed Parameter Settings
    • 11.3.2 Effects of the Software Limit Function
    • 11.3.3 Processing after an Alarm Occurs
  • 11.4 Modal Latch Function
  • 11.5 Bank Switching Function
    • 11.5.1 Bank Switching Specifications
    • 11.5.2 Bank Switching Function Unsupported Motion Commands
    • 11.5.3 SERVOPACK Parameter Settings for Bank Switching
    • 11.5.4 Bank Member Setting
  • 11.6 Parameters That Are Automatically Updated
    • 11.6.1 Parameters Updated when a MECHATROLINK Connection Is Established (1) (User Constants Self-writing Function Enabled)
    • 11.6.2 Parameters Updated when a MECHATROLINK Connection Is Established (2) (Regardless of the User Constants Self-writing Function)
    • 11.6.3 Parameters Updated when a Setting Parameter Is Changed (MECHATROLINK-II Operating at 10 Mbps in 32-byte Mode with User Constants Self-writing Function Enabled)
    • 11.6.4 Parameters Updated when a Motion Command Is Executed
    • 11.6.5 Parameters Updated during Self-configuration
  • 11.7 Precautions for the Use of SGDV SERVOPACKs
    • 11.7.1 Software Limit Settings
    • 11.7.2 When the Tuning-less Function is Enabled
    • 11.7.3 Saving the Parameter Bank Data
    • 11.7.4 Motion Command Operation for External Latches with DC Power Input Sigma-V-series SERVOPACKs
• 12 Troubleshooting
  • 12.1 Troubleshooting
    • 12.1.1 Basic Flow of Troubleshooting
    • 12.1.2 MP2000 Series Machine Controller Error Check Flowchart
    • 12.1.3 LED Indicators (MP2200/MP2300)
  • 12.2 Troubleshooting System Errors
    • 12.2.1 Outline of System Errors
    • 12.2.2 Troubleshooting Flowchart for System Errors
    • 12.2.3 Correcting User Program Errors
    • 12.2.4 System Register Configuration and Error Status
  • 12.3 Motion Program Alarms
    • 12.3.1 Motion Program Alarm Configuration
    • 12.3.2 Motion Program Alarm Code List
  • 12.4 List of Causes for Command Error Occurrence
  • 12.5 Troubleshooting Motion Errors
    • 12.5.1 Overview of Motion Errors
    • 12.5.2 Motion Error Details and Corrections
    • 12.5.3 Servo Driver Status and Servo Driver Error Codes
• Appendices
  • Appendix A System Registers Lists
    • A.1 System Service Registers
    • A.2 Scan Execution Status and Calendar
    • A.3 Program Software Numbers and Remaining Program Memory Capacity Name
  • Appendix B Settings When Connecting MECHATROLINK Compatible I/O Modules, MYVIS, and MP940
    • B.1 Settings in Link Assignment Tab Page
    • B.2 I/O Register Configuration
  • Appendix C Initializing the Absolute Encoder
    • C.1 Sigma-III and Sigma-V SERVOPACK
    • C.2 Sigma-II SERVOPACK
    • C.3 Sigma-I SERVOPACK
  • Appendix D Setting the Multiturn Limit
    • D.1 Overview
    • D.2 Setting Method
  • Appendix E Fixed Parameter Setting According to Encoder Type and Axis Type
  • Appendix F SVB Module Throughput
    • F.1 For Servos and Inverters
    • F.2 For I/Os
  • Appendix G Settings when Connecting MECHATROLINK-II Compatible Stepping Motor Drivers
    • G.1 Required Firmware and Engineering Tool Versions
    • G.2 Applicable Communication Methods and Cycles
    • G.3 Link Assignment
    • G.4 Restrictions on the Use of Motion Parameters
    • G.5 Availability When Using M-II Steppers
    • G.6 Motion Command Details
    • G.7 Automatic Parameter Updating Function
    • G.8 Writing and Changing Parameters During Self-configuration
    • G.9 M-II Stepper Parameters
  • Appendix H Wild Card Servos
    • H.1 Required Firmware and Engineering Tool Versions
    • H.2 Applicable Communication Methods and Cycles
    • H.3 Link Assignment
    • H.4 Invalid Motion Parameters When Using Wild Card Servos
    • H.5 Availability When Using Wild Card Servos
  • Appendix I Servo Driver Transmission Reference Mode
    • I.1 What is Servo Driver Transmission Reference Mode?
    • I.2 MECHATROLINK Communication Management by the System
    • I.3 Motion Parameters That Can be Used in Servo Driver Transmission Reference Mode
    • I.4 MECHATROLINK Commands That Cannot Be Used
    • I.5 Operation Procedure in Servo Driver Transmission Reference Mode
    • I.6 Precautions When Using Servo Driver Transmission Reference Mode
  • Appendix J Terminology
  • Appendix K Functions Added to Sigma-V-series SERVOPACKs
• Index
  • Symbols
  • Numerics
  • A
  • B
  • C
  • D
  • E
  • F
  • G
  • H
  • I
  • J
  • K
  • L
  • M
  • N
  • O
  • P
  • R
  • S
  • T
  • U
  • V
  • W
  • Z
• Revision History
• Back Cover