Document Outline

• Using this Manual
• Safety Information
• Safety Precautions
• Variable Tables
• Motion Module Overview
  • 1.1 List of Motion Modules
  • 1.2 SVB-01 Module Overview and Features
    • 1.2.1 Overview
    • 1.2.2 Features
    • 1.2.3 System Configuration Example
    • 1.2.4 System Configuration Precautions
    • 1.2.5 Devices Connectable to MECHATROLINK
    • 1.2.6 Synchronization between Modules
  • 1.3 SVA-01 Module Overview and Features
    • 1.3.1 Overview
    • 1.3.2 Features
    • 1.3.3 System Configuration Example
  • 1.4 Virtual Motion Module (SVR) Overview
    • 1.4.1 Overview
    • 1.4.2 System Configuration
• Module Specifications and Connections
  • 2.1 SVB-01 Module Specifications and Connections
    • 2.1.1 General Specifications
    • 2.1.2 LED Indicators and Switch Settings
    • 2.1.3 Module Connections
  • 2.2 SVA-01 Module Specifications and Connections
    • 2.2.1 General Specifications
    • 2.2.2 LED Indicators and Switch Settings
    • 2.2.3 Module Connections
• Motion Module Setup
  • 3.1 SVB-01 Module Setup
    • 3.1.1 Setup Methods
    • 3.1.2 Self-configuration
    • 3.1.3 Module Configuration Definitions
  • 3.2 SVA-01 Module Setup
    • 3.2.1 Setup Method
    • 3.2.2 Self-configuration
    • 3.2.3 Module Configuration Definitions
    • 3.2.4 Servo Parameter Settings
  • 3.3 SVR Module Setup
    • 3.3.1 Module Configuration Definition
• Motion Parameters
  • 4.1 Motion Parameters Register Numbers
    • 4.1.1 Motion Parameter Register Numbers for the SVB-01 Module
    • 4.1.2 SVA-01 Module Motion Parameter Register Numbers
  • 4.2 Motion Parameter Lists
    • 4.2.1 Fixed Parameter List
    • 4.2.2 Setting Parameter List
    • 4.2.3 Monitoring Parameter List
  • 4.3 SVB-01 Module Parameter Details
    • 4.3.1 Motion Fixed Parameter Details
    • 4.3.2 Motion Setting Parameter Details
    • 4.3.3 Motion Monitoring Parameter Details
  • 4.4 SVA-01 Module Parameter Details
    • 4.4.1 Motion Fixed Parameter Details
    • 4.4.2 Motion Setting Parameter Details
    • 4.4.3 Motion Monitoring Parameter Details
  • 4.5 Example of Setting Motion Parameters for the Machine
• Motion Commands
  • 5.1 Motion Commands
    • 5.1.1 Motion Command Table
    • 5.1.2 Motion Commands Supported by SERVOPACK Models
  • 5.2 Motion Command Details
    • 5.2.1 Positioning (POSING)
    • 5.2.2 External Positioning (EX_POSING)
    • 5.2.3 Zero Point Return (ZRET)
    • 5.2.4 Interpolation (INTERPOLATE)
    • 5.2.5 Latch (LATCH)
    • 5.2.6 JOG Operation (FEED)
    • 5.2.7 STEP Operation (STEP)
    • 5.2.8 Zero Point Setting (ZSET)
    • 5.2.9 Change Linear Acceleration Time Constant (ACC)
    • 5.2.10 Change Linear Deceleration Time Constant (DCC)
    • 5.2.11 Change Filter Time Constant (SCC)
    • 5.2.12 Change Filter Type (CHG_FILTER)
    • 5.2.13 Change Speed Loop Gain (KVS)
    • 5.2.14 Change Position Loop Gain (KPS)
    • 5.2.15 Change Feed Forward (KFS)
    • 5.2.16 Read SERVOPACK Parameter (PRM_RD)
    • 5.2.17 Write SERVOPACK Parameter (PRM_WR)
    • 5.2.18 Monitor SERVOPACK Alarms (ALM_MON)
    • 5.2.19 Monitor SERVOPACK Alarm History (ALM_HIST)
    • 5.2.20 Clear SERVOPACK Alarm History (ALMHIST_CLR)
    • 5.2.21 Reset Absolute Encoder (ABS_RST)
    • 5.2.22 Speed Reference (VELO)
    • 5.2.23 Torque Reference (TRQ)
    • 5.2.24 Phase References (PHASE)
    • 5.2.25 Change Position Loop Integration Time Constant (KIS)
  • 5.3 Motion Subcommands
    • 5.3.1 Motion Sub-command Table
    • 5.3.2 Motion Subcommand Settings
    • 5.3.3 No Command (NOP)
    • 5.3.4 Read SERVOPACK Parameter (PRM_RD)
    • 5.3.5 Write SERVOPACK Parameter (PRM_WR)
    • 5.3.6 Monitor Status (SMON)
    • 5.3.7 Read Fixed Parameters (FIXPRM_RD)
• Control Block Diagrams
  • 6.1 SVB-01 Module Control Block Diagrams
    • 6.1.1 Position Control
    • 6.1.2 Phase Control
    • 6.1.3 Torque Control
    • 6.1.4 Speed Control
  • 6.2 SVA-01 Module Control Block Diagram
• Absolute Position Detection
  • 7.1 Absolute Position Detection Function
    • 7.1.1 Outline of the Function
    • 7.1.2 Basic Terminology
  • 7.2 Startup the Absolute Position Detection Function
    • 7.2.1 System Startup Procedure
    • 7.2.2 Setting Related Parameters
    • 7.2.3 Initializing the Absolute Encoder
  • 7.3 Using an Absolute Encoder
    • 7.3.1 Finite Length Axis
    • 7.3.2 Infinite Length Axis
• SVR Virtual Motion Module
  • 8.1 SVR Virtual Motion Module
    • 8.1.1 Overview
    • 8.1.2 System Configuration
    • 8.1.3 SVR Operation
  • 8.2 Motion Parameters
    • 8.2.1 Motion Parameter Details
    • 8.2.2 Motion Parameter Settings
  • 8.3 Motion Commands
    • 8.3.1 Motion Commands List
    • 8.3.2 Motion Command Details
  • 8.4 Sample Programming
    • 8.4.1 Description of the Sample Program
    • 8.4.2 Checking Operation
    • 8.4.3 Sample Program Details
• Utility Functions
  • 9.1 Controlling Vertical Axes
    • 9.1.1 Overview
    • 9.1.2 Connections to S-II and S-III SERVOPACK
    • 9.1.3 Connections to S Series SGDB SERVOPACK
    • 9.1.4 Connections to S Series SGD or SGDA SERVOPACK
  • 9.2 Overtravel Function
    • 9.2.1 Overview
    • 9.2.2 Overtravel Input Signal Connections
    • 9.2.3 Parameter Settings
  • 9.3 Software Limit Function
    • 9.3.1 Overview
    • 9.3.2 Fixed Parameter Settings
    • 9.3.3 Processing after an Alarm Occurs
  • 9.4 Parameters That Are Automatically Updated
    • 9.4.1 Parameters Updated when a Connection Is Established (MP2200/MP2300 to SERVOPACK)
    • 9.4.2 Parameters Updated when a Setting Parameter Is Changed (MP2200/MP2300 to SERVOPACK)
    • 9.4.3 Parameters Updated when a Motion Command Is Started (MP2200/MP2300 to SERVOPACK)
    • 9.4.4 Parameters Updated at Self-configuration (SERVOPACK to MP2200/MP2300)
    • 9.4.5 Parameters Updated at Self-configuration (MP2200/MP2300 to SERVOPACK)
• Troubleshooting
  • 10.1 Motion Errors
    • 10.1.1 Description of Motion Errors
    • 10.1.2 Motion Error Details and Corrections
    • 10.1.3 Motion Program Alarms
    • 10.1.4 Causes of the “Command Error End” Status (SVB-01 Only)
  • 10.2 Error Detection
    • 10.2.1 SVB-01 Module LED Indicators
    • 10.2.2 SVA-01 Module LED Indicators
• Appendix A
  • Appendix A Switching Motion Commands
    • Appendix A.1 SVB-01 Module Motion Command Execution Tables
    • Appendix A.2 SVB-01 Module Motion Subcommand Execution Table
    • Appendix A.3 SVA-01 Module Motion Command Execution Table
• Index
• Numerics
• A
• B
• C
• D
• E
• F
• G
• H
• I
• J
• K
• L
• M
• N
• O
• P
• R
• S
• T
• V
• W
• Z
• Revision History