Document Outline

• Front Cover
• Using this Manual
• Safety Information
• Safety Precautions
• CONTENTS
• 1 Overview of Motion Modules
  • 1.1 Module Overview and Features
    • 1.1.1 Motion Modules
    • 1.1.2 SVA-01A Module
    • 1.1.3 SVA-02A Module
    • 1.1.4 SVB-01 Module
    • 1.1.5 PO-01 Module
  • 1.2 System Configuration
    • 1.2.1 System Configuration Examples
  • 1.3 Specifications
    • 1.3.1 General Specifications
    • 1.3.2 Function Lists
• 2 Motion Control
  • 2.1 Overview of Motion Control
    • 2.1.1 Motion Control for the MP920
    • 2.1.2 Motion Control Methods
    • 2.1.3 Examples of Motion Control Applications
  • 2.2 Control Modes
    • 2.2.1 Overview of Control Modes
    • 2.2.2 Speed Reference Output Mode
    • 2.2.3 Torque Reference Output Mode
    • 2.2.4 Phase Control Mode
    • 2.2.5 Zero Point Return Mode
  • 2.3 Position Control
    • 2.3.1 Prerequisites for Position Control
    • 2.3.2 Position Control Without Using Motion Commands
  • 2.4 Position Control Using Motion Commands
    • 2.4.1 Overview of Motion Commands
    • 2.4.2 Positioning (POSING)
    • 2.4.3 External Positioning (EX_POSING)
    • 2.4.4 Zero Point Return (ZRET)
    • 2.4.5 Interpolation (INTERPOLATE, END_OF_INTERPOLATE)
    • 2.4.6 Interpolation with Position Detection (LATCH)
    • 2.4.7 Fixed Speed Feed (FEED)
    • 2.4.8 Fixed Length Feed (STEP)
    • 2.4.9 Zero Point Setting (ZSET)
• 3 Motion Module Allocations and Setup
  • 3.1 Allocations and Configuration Definitions
    • 3.1.1 Motion Module Allocation Method
    • 3.1.2 Setting Module Definitions
    • 3.1.3 Saving Module Definitions
  • 3.2 Individual Module Definitions
    • 3.2.1 MECHATROLINK Definitions
    • 3.2.2 Setting Motion Parameters
• 4 Parameters
  • 4.1 Overview of Parameters
    • 4.1.1 Parameter Classifications
    • 4.1.2 Modules and Motion Parameter Registers
  • 4.2 Parameter List by Module
    • 4.2.1 Motion Fixed Parameters
    • 4.2.2 Motion Setting Parameters
    • 4.2.3 Motion Monitoring Parameters
• 5 SVA Module Specifications and Handling
  • 5.1 SVA-01A Module
    • 5.1.1 Hardware Specifications
    • 5.1.2 Handling
  • 5.2 SVA-02A Module
    • 5.2.1 Hardware Specifications
    • 5.2.2 Handling
  • 5.3 Differences between SVA-01A and SVA-02A Modules
    • 5.3.1 Differences in Hardware
    • 5.3.2 Differences in Servo Connectors
    • 5.3.3 Differences in External I/O Signals
    • 5.3.4 Precautions on Connecting the SVA-02A Module
    • 5.3.5 Connection with SGDA-***S SERVOPACK
  • 5.4 SVA-01A and SVA-02A Parameters
    • 5.4.1 Motion Fixed Parameters
    • 5.4.2 Motion Setting Parameters
    • 5.4.3 Motion Monitoring Parameters
• 6 SVB Module Specifications and Handling
  • 6.1 SVB-01 Module
    • 6.1.1 Hardware Specifications
    • 6.1.2 Handling
  • 6.2 SVB-01 Parameters
    • 6.2.1 Motion Fixed Parameters
    • 6.2.2 Motion Setting Parameters
    • 6.2.3 Motion Monitoring Parameters
    • 6.2.4 Sigma Series SERVOPACK parameters
    • 6.2.5 Sigma-II Series SERVOPACK Parameters
    • 6.2.6 Relationship of SERVOPACK Parameters to SVB-01 Parameters
• 7 PO-01 Module Specification and Handling
  • 7.1 PO-01 Module
    • 7.1.1 Hardware Specifications
    • 7.1.2 Handling
  • 7.2 Functions
    • 7.2.1 Motion Control Functions
    • 7.2.2 Motion Functions
    • 7.2.3 Program Example
    • 7.2.4 Out-of-step Detection
    • 7.2.5 Emergency Stop
  • 7.3 PO-01 Parameters
    • 7.3.1 Motion Fixed Parameters
    • 7.3.2 Motion Setting Parameters
    • 7.3.3 Motion Monitoring Parameters
• 8 Troubleshooting
  • 8.1 Overview of Alarms
    • 8.1.1 Description of Motion Alarms
    • 8.1.2 Processing Flow for Motion Alarms
  • 8.2 Alarms and Actions Taken
    • 8.2.1 Alarm IL**22
    • 8.2.2 Motion Alarm Configuration
    • 8.2.3 Motion Module Error Displays and Actions Taken
• 9 Application Precautions
  • 9.1 Vertical Axis Control
    • 9.1.1 Overview
    • 9.1.2 SGDA SERVOPACK Connections
    • 9.1.3 SGDB SERVOPACK Connections
    • 9.1.4 SGDM/SGDS SERVOPACK Connections
  • 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
  • 9.4 Reverse Rotation Mode
    • 9.4.1 Overview
    • 9.4.2 Absolute Encoder Setting
    • 9.4.3 Incremental Encoder Setting
• 10 CNTR-01 Module Specifications and Handling
  • 10.1 CNTR-01 Module
    • 10.1.1 Hardware Specifications
    • 10.1.2 Handling
  • 10.2 Using the CNTR-01 Module
    • 10.2.1 Overview
    • 10.2.2 Fixed Parameters
    • 10.2.3 Setting I/O Data
  • 10.3 Counter Modes
    • 10.3.1 Reversible Counter Mode
    • 10.3.2 Interval Counter Mode
    • 10.3.3 Frequency Measurement
  • 10.4 CNTR-01 Module I/O Circuits
    • 10.4.1 Pulse Input Specifications
    • 10.4.2 Latch Input Circuits
    • 10.4.3 Coincidence Output Circuits
  • 10.5 CNTR-01 Counter Module Connections
    • 10.5.1 Connections to Pulse Generators
    • 10.5.2 Pulse C Signals
• Appendix A Module Appearance
  • A.1 Motion Modules
  • A.2 Counter Module
• INDEX
  • A
  • B
  • C
  • D
  • E
  • F
  • G
  • H
  • I
  • J
  • L
  • M
  • N
  • O
  • P
  • R
  • S
  • T
  • U
  • V
  • W
  • Z
• Revision History
• Back Cover