YASKAWA

Series SGDH
Indexer Application Module
USER'S MANUAL
MODEL: JUSP-NS600

YASKAWA MANUAL NO. SIE-C718-9B

Copyright © 2002 YASKAWA ELECTRIC CORPORATION

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 con-
stantly 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.
Overview

„ About this Manual

This manual provides the following information for a Σ-ΙΙ Series SGM†H/SGDH Servo-
drive that has an Indexer Application Module installed. (The Indexer Application Module is
referred to as the “NS600” in the remainder of this manual.)
• Procedures for installing and wiring the NS600
• Procedures for trial operation of the NS600
• Procedures for using digital I/O signals
• Procedures and specifications for serial communications
• Procedures for using the Hand-held Digital Operator
• Procedures for setting parameters and the program table
• Procedures for troubleshooting

„ Intended Audience
This manual is intended for the following users.
• Those designing Σ-II Series Servodrive systems
• Those installing or wiring Σ-II Series Servodrives
• Those performing trial operation or adjustments of Σ-II Series Servodrives
• Those maintaining or inspecting Σ-II Series Servodrives

„ Description of Technical Terms

In this manual, the following terms are defined as follows:
• NS600 = JUSP-NS600
• Servomotor = Σ-ΙΙ Series SGMAH, SGMPH, SGMGH, or SGMSH servomotor
• SERVOPACK = Σ-ΙΙ Series SGDH SERVOPACK
• Servodrive = A set including a servomotor and Servo Amplifier
• Servo System =A servo control system that includes the combination of a Servodrive
with a host computer and peripheral devices

„ Indication of Reverse Signals

In this manual, the names of reverse signals (ones that are valid when low) are written with a
forward slash (/) before the signal name, as shown in the following examples:
• S-ON = /S-ON
• RGRT = /RGRT

iii
 „ Indication of Dual Purpose Input Signals
Some terminals have different functions (input different signals) depending on the mode set
with the /MODE 0/1 signal. The two input signal names are separated by a semi-colon with
the Mode 0 signal name on the left and the Mode 1 signal name on the right.
• Example: START-STOP ; HOME = /START-STOP; /HOME
In the example above, the input signal is /START-STOP in Mode 0 or /HOME in Mode 1.

„ Visual Aids
The following aids are used to indicate certain types of information for easier reference.

Indicates important information that should be memorized, including precautions such as

IMPORTANT
alarm displays to avoid damaging the devices.

Indicates supplemental information.

INFO

EXAMPLE Indicates application examples.

Indicates definitions of difficult terms or terms that have not been previously explained in
TERMS
this manual.

iv
Related Manuals

Refer to the following manuals as required.

Read this manual carefully to ensure the proper use of Σ-II Series Servodrives. Also, keep
this manual in a safe place so that it can be referred to whenever necessary.

Manual Name Manual Number Contents

Σ-II Series SGM†H/SGDH SIEPS80000005 Provides detailed information on
User’s Manual selecting Σ-II Series Servo-
drives/Servomotors and capaci-
ties, and detailed information on
installation, wiring, trial opera-
tion, using functions, mainte-
nance, and inspection.
Σ-II Series SGDM†††DA/ SIEZS80000012 Provides detailed information on
SGDH†††E specifications and selection for
SERVOPACK SUPPLEMENT SERVOPACKs conforming to Σ-
For software version 32 or later II Series software version 32 or
later.
Linear Σ-II Series SGL††/ SIEZ-S800-39.2 Provides detailed specifications
SGDH User's Manual and application methods for Σ-II
Design and Maintenance Series Linear Servomotors.

v
Product Overview

The NS600 Indexer Application Module is a single-axis positioning device that is equipped
with a program table operation function. The NS600 is mounted to the side of the SERVO-
PACK.
The NS600 has two reference methods: digital I/O and serial commands.
Digital I/O is structured as a program table (Mode 0) or homing/jog speed table (Mode 1). If
the program table (Mode 0) is being used, the program step selected with the input signal
pattern (binary format) can be executed. If the jog speed table (Mode 1) is being used, the
jog speed selected with the input signal pattern (binary format) can be executed.
With serial commands, ASCII command strings are sent to the NS600 through RS-232C,
RS-422, or RS-485 wiring and these commands are interpreted and executed immediately.
The SigmaWin+ Support Software can be used to easily set program tables and parameters
or to perform monitoring operations. These same operations can also be performed using a
Digital Operator or serial commands.

Σ-II Series SGDH SERVOPACK

(with NS600 installed)

vi
 NS600 Functions

Function Description
Digital I/O The program step selection input signals (binary format) are used to select
program table the desired positioning data from the program table stored in the NS600.
(Mode 0) The NS600 can store up to 128 program steps. The program steps can be
linked to create combinations that perform more complex motions.
Digital I/O Homing using an incremental encoder and operation using a jog speed table
homing/jog speed with up to 16 speed levels can be performed.
table (Mode 1)
Serial commands Positioning can be controlled by ASCII command strings received through
RS-232C, RS-422, or RS-485 communications. Up to 16 axes can be con-
nected. ASCII commands can also be used to operate using a program table.
Registration Both the program table and serial commands are equipped with registration
functions for external positioning.
Programmable There are 5 output signals (/POUT0 to /POUT4) for which the output status
output signals can be specified.
Zone signals and The programmable output signals (/POUT0 to /POUT4) can also be used as
zone table zone signals. Up to 32 zones can be specified in the zone table.

NS600

DI
Speed control

Local I/O
Position control

operation
Current control

CPU DO
Profiler
Dual-port RAM

Serial Serial
Counter

RS-232C

RS-422/485

Block Diagram

vii
Differences between Firmware Version 3 and Version 4

The differences between firmware version 3 and version 4 are shown in the following table.
Several functions have been added to version 3 to create version 4 and the versions are
upwardly compatible.

Use SigmaWin+ Indexer Component Version 2.1x or later. SigmaWin+ Indexer Component Version
IMPORTANT
2.0x or earlier and SigmaIndexer do not support firmware version 4 and cannot edit or download the
program table.

Ver. 3 Ver. 4
Program Table Setting POS: Target position POS: Target position
Items SPD Positioning speed SPD Positioning speed
RDST Registration distance RDST Registration distance
RSPD Registration speed RSPD: Registration speed
POUT: Programmable ACC: Acceleration
output signals DEC: Deceleration
EVENT Pass condition POUT Programmable output
LOOP Number of executions signals
NEXT PGMSTEP to be EVENT Pass condition
executed next LOOP: Number of executions
NEXT PGMSTEP to be
executed next
ZONE Signal Setting Not supported. Supported.
(Parameter Pn835)
Backlash Compensation Not supported. Supported.
(Parameter Pn836)
Absolute Encoder Zero Not supported. Supported.
Setting (Parameter Pn809)
Automatic Setting of Not supported. Supported.
Multiturn Limit for a Single-
turn Absolute Encoder
(Parameter Pn205)
Firmware Version 0003 0004
Indication
Serial Command: VER
Digital Operator: Fn800
SigmaWin+: Product
Information Window

„ Nameplate Information
The firmware version is given in the lower 2 digits of the “VER” number given on the name-
plate on the side of the product.

VER. 0 4 0 0 4
Firmware version

viii
 Safety Information

The following conventions are used to indicate precautions in this manual. Failure to heed
precautions provided in this manual can result in serious or possibly even fatal injury or
damage to the products or to related equipment and systems.

Indicates precautions that, if not heeded, could possibly result in loss of life or
WARNING
serious injury.

Indicates precautions that, if not heeded, could result in relatively serious or minor
CAUTION
injury, damage to the product, or faulty operation.

In some situations, the precautions indicated could have serious consequences if not
heeded.

PROHIBITED Indicates prohibited actions that must not be performed. For example, this symbol

would be used as follows to indicate that fire is prohibited: .

MANDATORY Indicates compulsory actions that must be performed.

For example, this symbol would be used as follows to indicate that grounding is

compulsory: .

ix
Safety Precautions

The following precautions are for checking products upon delivery, installation, wiring,
operation, maintenance and inspections.

„ Checking Products upon Delivery

CAUTION

• Always use the servomotor and SERVOPACK in one of the specified combinations.
Not doing so may cause fire or malfunction.

„ Installation

CAUTION

• Never use the products in an environment subject to water, corrosive gases, inflammable gases, or
combustibles.
Doing so may result in electric shock or fire.

„ Wiring

WARNING

• Connect the ground terminal to electrical codes (ground resistance: 100 Ω or less).
Improper grounding may result in electric shock or fire.

CAUTION

• Do not connect a three-phase power supply to the SERVOPACK’s U, V, or W output terminals.

Doing so may result in injury or fire.
• Securely fasten the power supply terminal screws and motor output terminal screws.
Not doing so may result in fire.

x
„ Operation

WARNING

• Never touch any rotating motor parts while the motor is running.
Doing so may result in injury.

WARNING

• Conduct trial operation on the servomotor alone with the motor shaft disconnected from machine to
avoid any unexpected accidents.
Not doing so may result in injury.
• Before starting operation with a machine connected, change the settings to match the parameters
of the machine.
Starting operation without matching the proper settings may cause the machine to run out of control or mal-
function.
• Before starting operation with a machine connected, make sure that an emergency stop can be
applied at any time.
Not doing so may result in injury.
• Do not touch the heat sinks during operation.
Doing so may result in burns due to high temperatures.

„ Maintenance and Inspection

WARNING

• Never touch the inside of the SERVOPACKs.

Doing so may result in electric shock.
• Do not remove the panel cover while the power is ON.
Doing so may result in electric shock.
• Do not touch terminals for five minutes after the power is turned OFF.
Residual voltage may cause electric shock.

xi
 CAUTION

• Do not disassemble the servomotor.

Doing so may result in electric shock or injury.
• Do not attempt to change wiring while the power is ON.
Doing so may result in electric shock or injury.

„ General Precautions

Note the following to ensure safe application.

• The drawings presented in this manual are sometimes shown without covers or protective guards. Always
replace the cover or protective guard as specified first, and then operate the products in accordance with the
manual.
• The drawings presented in this manual are typical examples and may not match the product you received.
• This manual is subject to change due to product improvement, specification modification, and manual
improvement. When this manual is revised, the manual code is updated and the new manual is published as
a next edition. The edition number appears on the front and back covers.
• If the manual must be ordered due to loss or damage, inform your nearest Yaskawa representative or one of
the offices listed on the back of this manual.
• Yaskawa will not take responsibility for the results of unauthorized modifications of this product. Yaskawa
shall not be liable for any damages or troubles resulting from unauthorized modification.

xii
CONTENTS
Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iii
Related Manuals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - v
Product Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - vi
Differences between Firmware Version 3 and Version 4 - - - - - - - - - - - viii
Safety Information - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ix
Safety Precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - x

1 Checking Products and Part Names

1.1 Checking Products on Delivery - - - - - - - - - - - - - - - - - - - - - 1-2
1.1.1 External Appearance and Nameplate Examples - - - - - - - - - - - - - - - -1-2
1.1.2 Model Number - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-3
1.1.3 Version Information- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-3

1.2 Product Part Names - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4

1.3 Installing the Application Module - - - - - - - - - - - - - - - - - - - - 1-6

2 Installation
2.1 Storage Conditions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
2.2 Installation Site- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-3
2.3 Orientation- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4
2.4 Installation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-5

3 Connector Wiring
3.1 I/O Signal Connections - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2
3.1.1 Examples of I/O Signal Connections to CN1 and CN4 - - - - - - - - - - - -3-2
3.1.2 Terminal Layout on I/O Signal Connectors CN1 and CN4 - - - - - - - - - -3-4
3.1.3 I/O Signal Names and Functions - - - - - - - - - - - - - - - - - - - - - - - - - - -3-6
3.1.4 Interface Circuits - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-8

3.2 Serial Command Communications Connector (CN6) - - - - - 3-10

3.2.1 Communications Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-10
3.2.2 Communications Connector- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-11
3.2.3 Connector Signal Names- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-11
3.2.4 Connection Examples - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-12
3.2.5 RS-422/RS-485 Interface - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-14

3.3 Digital Operator or Support Software Connector (CN7) - - - 3-15

3.3.1 Communications Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-15
3.3.2 Communications Connector- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-16
3.3.3 Connector Signal Names- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-16
3.3.4 Connection Examples - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-17
3.3.5 RS-422 Interface - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-18

3.4 Power Loss in the NS600 - - - - - - - - - - - - - - - - - - - - - - - - 3-19

xiii
4 Trial Operation
4.1 Two-step Trial Operation - - - - - - - - - - - - - - - - - - - - - - - - - - 4-2
4.2 Step 1: Trial Operation for Servomotor without Load - - - - - - 4-3
4.3 Step 2: Trial Operation with the Servomotor Connected
to the Machine- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-10

5 Parameter Settings and Functions

5.1 Restrictions on SGDH SERVOPACK Parameters - - - - - - - - 5-4
5.2 Sequence I/O Signals - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6
5.2.1 Using the Servo ON/OFF Input Signal (/S-ON) - - - - - - - - - - - - - - - - - 5-9
5.2.2 Using Servo Alarm and Alarm Code Outputs (ALM, ALO1 to ALO3) - - 5-9
5.2.3 Brake Interlock Output Signal (/BK) - - - - - - - - - - - - - - - - - - - - - - - - 5-10
5.2.4 Using the Servo Ready Output Signal (/S-RDY) - - - - - - - - - - - - - - - 5-13
5.2.5 Using the Error/Warning Output Signal (/WARN)- - - - - - - - - - - - - - - 5-14
5.2.6 Using the Positioning Completed Output Signal (/INPOSITION) - - - - 5-15
5.2.7 Using the Programmable Output Signals (/POUT0 to /POUT4) - - - - 5-16
5.2.8 Encoder Signal Outputs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-18

5.3 Absolute Encoders - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-20

5.3.1 Interface Circuit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-21
5.3.2 Selecting an Absolute Encoder - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-21
5.3.3 Handling Batteries - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-21
5.3.4 Absolute Encoder Setup (Initialization)- - - - - - - - - - - - - - - - - - - - - - 5-22
5.3.5 Multiturn Limit Setting- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-23
5.3.6 Absolute Encoder Zero Setting - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-25

5.4 Settings According to Device Characteristics - - - - - - - - - - 5-26

5.4.1 Switching Servomotor Rotation Direction - - - - - - - - - - - - - - - - - - - - 5-26
5.4.2 Setting the Overtravel Limit Function - - - - - - - - - - - - - - - - - - - - - - - 5-27
5.4.3 Setting Reference Units - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-30
5.4.4 Moving Mode and Coordinate Settings- - - - - - - - - - - - - - - - - - - - - - 5-35
5.4.5 Backlash Compensation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-37
5.4.6 Limiting Torques - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-38

5.5 Program Table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-39

5.5.1 Mode Switch Signal (/MODE 0/1) - - - - - - - - - - - - - - - - - - - - - - - - - 5-39
5.5.2 Input Signals for Program Table Operation - - - - - - - - - - - - - - - - - - - 5-40
5.5.3 Program Table Step Selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-41
5.5.4 Program Table Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-42
5.5.5 Examples of EVENT Conditions - - - - - - - - - - - - - - - - - - - - - - - - - - 5-45
5.5.6 Program Table Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-46
5.5.7 Status Changes in Program Table Operation - - - - - - - - - - - - - - - - - 5-47
5.5.8 Input Signal Timing Specifications for Program Table Operation - - - - 5-49
5.5.9 Response Times after Turning ON the /START-STOP Signal - - - - - - 5-50
5.5.10 Program Table Examples - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-51

5.6 Registration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-56

5.6.1 Registration Timing Specifications - - - - - - - - - - - - - - - - - - - - - - - - - 5-56
5.6.2 Registration Input Setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-56
5.6.3 Registration Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-57

5.7 ZONE Table Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-59

xiv
 5.8 Homing/Jog Speed Table Mode - - - - - - - - - - - - - - - - - - - - 5-62
5.8.1 Mode Switch Signal (/MODE 0/1) - - - - - - - - - - - - - - - - - - - - - - - - - - 5-62
5.8.2 Homing/Jog Speed Table Input Signals- - - - - - - - - - - - - - - - - - - - - - 5-63
5.8.3 Parameters Related to Homing - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-64

5.9 Homing Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-65

5.10 Jog Speed Table Operation - - - - - - - - - - - - - - - - - - - - - - 5-66
5.10.1 Example of Jog Speed Table Operation - - - - - - - - - - - - - - - - - - - - 5-66
5.10.2 Jog Speed Table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-67
5.10.3 Input Conditions for Homing and Jog Speed Table Operation - - - - - 5-68
5.10.4 Input Signal Timing Specifications for Homing and
Jog Speed Table- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-69

6 Serial Command Communications

6.1 CN6 Connector Specifications - - - - - - - - - - - - - - - - - - - - - - 6-2
6.2 Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-3
6.2.1 Block Diagram - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-3
6.2.2 Setting the Axis Address - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-3
6.2.3 Parameters Related to Serial Communications - - - - - - - - - - - - - - - - -6-4
6.2.4 Monitors Related to Serial Communications - - - - - - - - - - - - - - - - - - -6-4

6.3 Command/Response Format- - - - - - - - - - - - - - - - - - - - - - - 6-5

6.4 Global Commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-6
6.5 Echoback Response Time- - - - - - - - - - - - - - - - - - - - - - - - - 6-7
6.6 Response Data Details - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-8
6.6.1 Positive Responses - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-8
6.6.2 Negative Responses- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-8

6.7 Serial Commands- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-9

6.7.1 Basic Operation Commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-9
6.7.2 Control Commands- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-10
6.7.3 Parameter Edit Commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-24
6.7.4 Program Table Setup Commands- - - - - - - - - - - - - - - - - - - - - - - - - - 6-26
6.7.5 Program Table Operation Commands- - - - - - - - - - - - - - - - - - - - - - - 6-30
6.7.6 Zone Table Setup Commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-31
6.7.7 Jog Speed Table Setup Commands - - - - - - - - - - - - - - - - - - - - - - - - 6-32
6.7.8 Monitor and Auxiliary Function Commands - - - - - - - - - - - - - - - - - - - 6-33

7 Using the Digital Operator

7.1 Connecting the Digital Operator - - - - - - - - - - - - - - - - - - - - - 7-3
7.2 Digital Operator Functions- - - - - - - - - - - - - - - - - - - - - - - - - 7-4
7.3 Status Display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-5
7.4 Switching between Basic Displays - - - - - - - - - - - - - - - - - - - 7-6
7.5 Operation during Parameter Editing Display - - - - - - - - - - - - 7-8

xv
7.6 Operation during Monitor Display- - - - - - - - - - - - - - - - - - - 7-10
Un000: Actual motor speed - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-11
Un002: Internal torque reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-11
Un003: Rotation angle (pulses) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-11
Un004: Rotation angle (electrical angle) - - - - - - - - - - - - - - - - - - - - - - - - - 7-11
Un005: SERVOPACK (CN1) input signal monitor - - - - - - - - - - - - - - - - - - - 7-11
Un006: SERVOPACK (CN1) output signal monitor - - - - - - - - - - - - - - - - - - 7-11
Un007: Position reference speed - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-11
Un008: Position error - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-12
Un009: Torque load ratio monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-12
Un00A: Regeneration load ratio monitor - - - - - - - - - - - - - - - - - - - - - - - - - 7-12
Un00B: Dynamic-brake load ratio monitor - - - - - - - - - - - - - - - - - - - - - - - - 7-12
Un00C: Position reference pulse counter - - - - - - - - - - - - - - - - - - - - - - - - 7-12
Un00D: Encoder pulse counter- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-13
Un010: Maximum speed for linear motor - - - - - - - - - - - - - - - - - - - - - - - - - 7-13
Un011: Hall Sensor for linear motor - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-13
Un800: Last error - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-13
Un801: NS600 (CN4) input signal monitor - - - - - - - - - - - - - - - - - - - - - - - - 7-14
Un802: NS600 (CN4) output signal monitor - - - - - - - - - - - - - - - - - - - - - - - 7-14
Un803: Status flag monitor- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-14
Un804: Current position reference monitor - - - - - - - - - - - - - - - - - - - - - - - 7-14
Un805: Current motor position monitor - - - - - - - - - - - - - - - - - - - - - - - - - - 7-14
Un806: Target position monitor- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-15
Un807: Target distance monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-15
Un808: Registration target position monitor - - - - - - - - - - - - - - - - - - - - - - - 7-15
Un809: Registration distance monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-15
Un80A: Program step monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-15
Un80B: Program event time progress monitor - - - - - - - - - - - - - - - - - - - - - 7-15
Un80C: Program loop progress monitor - - - - - - - - - - - - - - - - - - - - - - - - - 7-15
Un80D: Serial command received character trace - - - - - - - - - - - - - - - - - - 7-16
Un80E: Serial command received character count - - - - - - - - - - - - - - - - - - 7-16
Un80F: Serial command received error character count - - - - - - - - - - - - - - 7-16
Un810: Serial command transmitted character trace - - - - - - - - - - - - - - - - 7-17
Un811: Serial command transmitted character count - - - - - - - - - - - - - - - - 7-17

7.7 Operations during Auxiliary Function Display - - - - - - - - - - 7-18

Fn000: Alarm Traceback Data Display - - - - - - - - - - - - - - - - - - - - - - - - - - 7-20
Fn001: Rigidity Setting during Online Autotuning - - - - - - - - - - - - - - - - - - - 7-21
Fn002: JOG Mode Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-22
Fn003: Zero-point Search - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-24
Fn005: Parameter Settings Initialization - - - - - - - - - - - - - - - - - - - - - - - - - 7-26
Fn006: Alarm Traceback Data Clear - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-28
Fn007: Write Inertia Ratio Data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-29
Fn008: Absolute Encoder Reset - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-30
Fn00C: Manual Zero-adjustment of Analog Monitor Output - - - - - - - - - - - 7-32
Fn00D: Manual Gain-adjustment of Analog Monitor Output - - - - - - - - - - - 7-33
Fn00E: Automatic Offset-adjustment of Motor Current Detection Signal - - 7-34
Fn00F: Manual Offset-adjustment of Motor Current Detection Signal - - - - 7-36
Fn010: Write-protection Setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-37
Fn011: Motor Model Display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-38
Fn012: SERVOPACK Firmware Version Display - - - - - - - - - - - - - - - - - - - 7-39
Fn013: Change Multiturn Limit Value Setting - - - - - - - - - - - - - - - - - - - - - 7-40
Fn800: NS600 Firmware Version Display - - - - - - - - - - - - - - - - - - - - - - - - 7-42
Fn801: NS600 Model Code Display - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-42
Fn802: NS600 Y Specification Number Display - - - - - - - - - - - - - - - - - - - - 7-42

xvi
 Fn803: Program Table Save - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-43
Fn804: Zone Table Save - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-44
Fn805: Jog Speed Table Save - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-45
Fn806: Program Table Initialization - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-46
Fn807: Zone Table Initialization - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-47
Fn808: Jog Speed Table Initialization - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-48
Fn809: Absolute Encoder Zero Setting - - - - - - - - - - - - - - - - - - - - - - - - - - 7-49

7.8 Operations during Program Table Editing Display - - - - - - - 7-52

7.9 Operation during Zone Table Editing Display- - - - - - - - - - - 7-62
7.10 Operation during Jog Speed Table Editing Display- - - - - - 7-64

8 Dimensions
8.1 NS600 Dimensions- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-2

9 Troubleshooting
9.1 Servodrive Troubleshooting- - - - - - - - - - - - - - - - - - - - - - - - 9-2
9.1.1 Alarm Display Table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-2
9.1.2 Warning Display Table- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-5
9.1.3 Troubleshooting Problems with No Alarm Display - - - - - - - - - - - - - - -9-6

9.2 NS600 Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - 9-8

9.2.1 Status Displays- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-8
9.2.2 Alarm Display Table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-10
9.2.3 Error Display Table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-14
9.2.4 Warning Display Table- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-19
9.2.5 Normal Display Table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-20

9.3 STS Status Indicators - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-21

Appendix A List of Parameters

A.1 NS600 Parameters- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-2
A.2 SERVOPACK Parameters - - - - - - - - - - - - - - - - - - - - - - - - A-6
A.3 Parameters Used for SERVOPACK Linear Motors - - - - - - A-11
A.4 SERVOPACK Switches - - - - - - - - - - - - - - - - - - - - - - - - - A-12

Appendix B Monitor Mode and Auxiliary Functions

B.1 Monitor Modes- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - B-2
B.2 Auxiliary Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - B-4

Appendix C List of Serial Commands

C.1 Alphabetical List of Serial Commands - - - - - - - - - - - - - - - - C-2

Index

xvii
 1
1
Checking Products and Part Names

This chapter describes the procedure for checking products upon delivery of
the NS600 as well as the product parts and installation method.

1.1 Checking Products on Delivery - - - - - - - - - - - - - - - - - - - - - - 1-2

1.1.1 External Appearance and Nameplate Examples - - - - - - - - - - - - - - - - 1-2
1.1.2 Model Number - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3
1.1.3 Version Information - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3

1.2 Product Part Names - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4

1.3 Installing the Application Module - - - - - - - - - - - - - - - - - - - - - 1-6

1-1
1 Checking Products and Part Names
1.1.1 External Appearance and Nameplate Examples

1.1 Checking Products on Delivery

The following procedure is used to check the NS600 upon delivery. Check the following items
when the NS600 is delivered.

Check Items Comments

Are the delivered products the ones that Check the model number marked on the NS600’s
were ordered? nameplate. (Refer to the descriptions of model
numbers on following pages)
Is there any damage? Check the overall appearance, and check for dam-
age or scratches that may have occurred during
shipping.
Can the SERVOPACK be used with the Check the model number marked on the SERVO-
NS600? PACK’s nameplate.
SERVOPACK model number:
SGDH-†††E-†
(1) (2)
1) First part must be “SGDH”.
2) Middle part must end with an “E”.

If any of the above items are faulty or incorrect, contact your Yaskawa sales representative or
the dealer from whom you purchased the products.

1.1.1 External Appearance and Nameplate Examples

Fig. 1.1 External Appearance of the NS600

1-2
 1.1 Checking Products on Delivery

Application Module model number

Name

Manufacturing number Version

Fig. 1.2 Example Nameplate

1.1.2 Model Number

NS600

JUSP NS60 0
SERVOPACK Peripheral Device Design Revision Order
Unit Identifier
NS60: Idenxer Application Module

1.1.3 Version Information

VER.04004

VER. 04 0 04
Firmware version
Parameter version

Hardware version

Note: Unless otherwise specified, any version given in this manual is the firmware version.

1-3
1 Checking Products and Part Names

1.2 Product Part Names

The figure below shows the part names of a SERVOPACK that has the NS600 installed.

a) NS600
STS Status Indicator (green or red)

Not used. d and e) CN7 Digital Operator/Support

Do not use a Built-in Panel Operator. Software connector for setup,
Use a Hand-held Digital Operator instead. maintenance, and inspection.

Rotary switch for axis address setting

Not used. (Do not connect anything here.)

b) CN4 I/O Signal Connector:

Connect sequence I/O signals here.

c) CN1 I/O Signal Connector:

Connect sequence I/O signals here.

d) CN6 Signal Command Connector

Note: Refer to Table1.1 below for details on components a through e.

Table 1.1 Model Numbers

Component Model Number

Indexer a NS600 JUSP-NS600
I/O Cables b CN4 I/O Cable (loose wires on other end), 36 pins, 1.0 m DE9404859
CN4 I/O Cable (loose wires on other end), 36 pins, 2.0 m DE9404859-2
CN4 I/O Cable (loose wires on other end), 36 pins, 3.0 m DE9404859-3
CN4 I/O Cable (terminal block on other end), 36 pins, 0.5 m JUSP-TA36P
c CN1 I/O Cable (loose wires on other end), 50 pins, 1.0 m JZSP-CKI01-1
CN1 I/O Cable (loose wires on other end), 50 pins, 2.0 m JZSP-CKI01-2
CN1 I/O Cable (loose wires on other end), 50 pins, 3.0 m JZSP-CKI01-3
CN1 I/O Cable (terminal block on other end), 50 pins, 0.5 m JUSP-TA50P
Serial Communi- d CN6 Cable for RS-422 or RS-485 connections (Prepared by user.)
cations Cables CN6 Cable for personal computer connection (RS-232C Cable JZSP-CMS02
with 9-pin D-SUB connector), 2.0 m
CN7 Cable for RS-422 connection (Prepared by user.)
CN7 Cable for personal computer connection (RS-232C Cable JZSP-CMS02
with 9-pin D-SUB connector), 2.0 m

1-4
 1.2 Product Part Names

Table 1.1 Model Numbers (cont’d)

Component Model Number

Accessories b CN4 Connector (with case), 36 pins DP9420007
c CN1 Connector (with case), 50 pins JZSP-CK19
Digital Operators e Digital Operator (with 1-m cable) JUSP-OP02A-2
Digital Operator Cable (1 m) JZSP-CMS00-1
Digital Operator Cable (1.5 m) JZSP-CMS00-2
Digital Operator Cable (2 m) JZSP-CMS00-3 1
Support Software SigmaWin+ (Japanese-language version/English-language ver- JZSP-WP001
sion)
Note: Refer to the Σ-II Series SGM†H/SGDH User’s Manual (Manual No.: SIEPS80000005) for
part numbers and additional information on Servomotors, SERVOPACKs, Power Supply
Cables, Encoder Cables, and accessories.

1-5
1 Checking Products and Part Names

1.3 Installing the Application Module

Use the following procedure to mount an NS600 to an SGDH SERVOPACK. A screw is

needed to connect the ground wire; use the screw listed in the following table.

SERVOPACK Model Screw Comments

SGDH-A3 to 02BE M3×10 round head screw Attachments
SGDH-A3 to 10AE (with split lock and plain washers)
SGDH-15 to 50AE M4×10 round head screw Attachments
SGDH-05 to 50DE (with split lock and plain washers)
SGDH-60 to 1EAE M4×8 round head screw Use the screw on the front
SGDH-60 to 1EDE (with split lock and plain washers) panel.
SGDH-A3 to 02BE-R M4×6 round head screw Attachments
SGDH-A3 to 50AE-R (with split lock and plain washers)
SGDH-05 to 50DE-R
(Rack-mounting models)

1. Remove the connector cover attached to the SERVOPACK’s CN10 Connector.

CN10

Connector cover

2. Insert the two tabs on the bottom of the NS600 into the holes on the lower-right side of
the SERVOPACK.

1-6
 1.3 Installing the Application Module

SGDH-

3. Push the NS600 until the two tabs on the top of the NS600 are fully inserted into the two
holes on the upper-right side of the SERVOPACK, as shown in the diagram above.
4. Connect the NS600’s ground wire to the SERVOPACK’s “G” terminal and tighten the
screw.
Ground wire
"G"

Ground on 30-W to 50-kW SERVOPACKs

"G"

Ground wire

Ground on 6.0-kW to 15-kW SERVOPACKs

1-7
1 Checking Products and Part Names
1.1.3 Version Information

"G"

G Ground wire

SGDH- FC100

C
N
4

Ground on Rack-mounting SERVOPACKs

The following diagram shows a SERVOPACK with an NS600 installed correctly.

1-8
 2
Installation
2

This chapter describes precautions for Σ-II Series installation.

The SGDH SERVOPACKs are base-mounted servoamps. Incorrect installation
will cause problems. Always observe the installation instructions described in
this chapter.

2.1 Storage Conditions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2

2.2 Installation Site - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-3
2.3 Orientation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4
2.4 Installation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-5

2-1
2 Installation

2.1 Storage Conditions

Store the SERVOPACK within the following temperature range if it is stored with the power
cable disconnected.

Temperature Range: −20 to 85°C

Σ-II Series SGDH SERVOPACK

(with NS600 installed)

2-2
 2.2 Installation Site

2.2 Installation Site

Take the following precautions at the installation site.

Situation Installation Precaution

Installation in a Control Panel Design the control panel size, unit layout, and cooling
method so the temperature around the SERVOPACK does
not exceed 55°C.
Installation Near a Heating Unit Minimize heat radiated from the heating unit as well as any
temperature rise caused by natural convection so the temper-
ature around the SERVOPACK does not exceed 55°C.
Installation Near a Source of
Vibration
Install a vibration isolator beneath the SERVOPACK to avoid
subjecting it to vibration.
2
Installation at a Site Exposed to Corrosive gas does not have an immediate effect on the SER-
Corrosive Gas VOPACK, but will eventually cause electronic components
and contactor-related devices to malfunction. Take appropri-
ate action to avoid corrosive gas.
Other Situations Do not install the SERVOPACK in hot and humid locations
or locations subject to excessive dust or iron powder in the
air.

2-3
2 Installation

2.3 Orientation

Install the SERVOPACK perpendicular to the wall as shown in the figure. The SERVOPACK
must be oriented this way because it is designed to be cooled by natural convection or cooling
fan.

Secure the SERVOPACK using 2 to 4 mounting holes. The number of holes depends on the
capacity.

Wall

Ventilation

2-4
 2.4 Installation

2.4 Installation

Use the following layout (side-by-side installation) when installing two or more SERVOPACKs
side by side in a control panel.
Cooling fan Cooling fan
50 mm (1.97 in) min.

10 mm (0.39 in) min. 50 mm (1.97 in) min.

10 mm (0.39 in) min.

„ SERVOPACK Orientation
Install the SERVOPACK perpendicular to the wall so the front panel containing connectors
faces outward toward the user.

„ Cooling
As shown in the figure above, allow sufficient space around each SERVOPACK for cooling
by cooling fans or natural convection.

„ Side-by-side Installation
When installing SERVOPACKs side-by-side as shown in the figure above, allow at least
10 mm (0.39 in) between and at least 50 mm (1.97 in) above and below each SERVOPACK.
Install cooling fans above the SERVOPACKs to avoid excessive temperature rise and to
maintain even temperature inside the control panel.

„ Environmental Conditions in the Control Panel

• Ambient Temperature: 0 to 55°C
• Humidity: 90% or less
• Vibration: 4.9 m/s2
• Condensation and Freezing: None
• Ambient Temperature for Long-term Reliability: 45°C max.

2-5
 3
Connector Wiring

This chapter explains how to connect to the connectors of an SGDH SERVO-

3
PACK with an NS600 installed.

3.1 I/O Signal Connections - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2

3.1.1 Examples of I/O Signal Connections to CN1 and CN4 - - - - - - - - - - - - 3-2
3.1.2 Terminal Layout on I/O Signal Connectors CN1 and CN4 - - - - - - - - - 3-4
3.1.3 I/O Signal Names and Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-6
3.1.4 Interface Circuits - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-8

3.2 Serial Command Communications Connector (CN6) - - - - - 3-10

3.2.1 Communications Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-10
3.2.2 Communications Connector - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-11
3.2.3 Connector Signal Names - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-11
3.2.4 Connection Examples - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-12
3.2.5 RS-422/RS-485 Interface - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-14

3.3 Digital Operator or Support Software Connector (CN7) - - - - 3-15

3.3.1 Communications Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-15
3.3.2 Communications Connector - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-16
3.3.3 Connector Signal Names - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-16
3.3.4 Connection Examples - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-17
3.3.5 RS-422 Interface - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-18

3.4 Power Loss in the NS600 - - - - - - - - - - - - - - - - - - - - - - - - - 3-19

3-1
3 Connector Wiring
3.1.1 Examples of I/O Signal Connections to CN1 and CN4

3.1 I/O Signal Connections

This section describes I/O signal connections for an SGDH SERVOPACK with an NS600
installed.

3.1.1 Examples of I/O Signal Connections to CN1 and CN4

The following diagram shows a typical example of I/O signal connections.

1MC
L1 Servomotor
L2
SGDH SERVOPACK U
A (1)
B (2)
V M
L1C C (3)
W
D (4)
L2C
1
Optical
2 encoder
CN2 PG

FG

CN1

25 /WARN+ Error/Warning
26 /WARN-
(ON for an Error/Warning)
CN1
1 BAT (+) 21
27 /BK+ Brake interlock
Backup battery*2 +
28 /BK- (ON when brake is released)
2.8 to 4.5 V - BAT (-) 22

29 /S-RDY+ Servo ready

Sinking or sourcing +24 V +24 V 47
3.3 k 30 /S-RDY- (ON when ready)
Servo ON /S-ON
40 31 ALM+ Alarm (OFF for an Alarm)
(Servo ON when ON)
Forward run prohibited P-OT
32 ALM- Photocoupler output
42
(Prohibited when OFF) Max. voltage 30 VDC
Reverse run prohibited N-OT 43 Max. output current: 50 mA DC

(Prohibited when OFF) /DEC

37 ALO1 Alarm code outputs
Zero point return deceleration LS 44
38 ALO2 Max. voltage 30 VDC
(Deceleration when ON) /RGRT Max. output current: 20 mA DC
39 ALO3
Registration latch 46

(Latch when OFF→ON)

/SEL5
Program table select signal 5 41 33 PAO
(Bit 5=1 when ON) /SEL6 34 /PAO
Program table select signal 6 45

(Bit 6=1 when ON) 35 PBO PG divided outputs

36 /PBO
Applicable line receiver
SN75175 manufactured by T/I
19 PCO or the equivalent
20 /PCO

48 PSO Phase-S serial data output

Applicable line receiver
49 /PSO
SN75175 manufactured by T/I
1 SG or the equivalent
2 SG

CN3
Not used. (Do not connect to anything.)
A Digital Operator or computer running Sup-
port Software can be connected to CN7.
CN10

NS600

* 1. represents twisted-pair wires.

* 2. Connect only when an absolute encoder is being used and a battery is not connected to CN8.
Fig. 3.1 Example Connections to I/O Signal Connector CN1

3-2
 3.1 I/O Signal Connections

SGDH SERVOPACK

CN10
CN7
CN4 Digital Operator or
(Sinking or sourcing) 1 Support Software

ON: Mode 0 3.3 kΩ

CN4
19 /INPOSITION+
OFF: Mode 1
/MODE 0/1
3 20 /INPOSITION-

21 /POUT0+
/START-STOP ;
/HOME
5 22 /POUT0-

23 /POUT1+
3
/PGMRES ; /JOGP
7 24 /POUT1-

25 /POUT2+

/SEL0 ; /JOGN
9 26 /POUT2-

27 /POUT3+

/SEL1 ; /JOG0
11 28 /POUT3-

29 /POUT4+

/SEL2 ; /JOG1
13 30 /POUT4-

Photocoupler outputs:
Max. voltage: 30 VDC
/SEL3 ; /JOG2 Max. current: 50 mA DC
15
CN6
Serial command
communications
/SEL4 ; /JOG3
17

NS600

Note: When two signal names are listed, the first set of signals (/START-STOP, /PGMRES, /SEL0,
/SEL1, /SEL2, /SEL3, and /SEL4.) is valid when Mode 0 is set. The second set of signals
(/HOME, /JOGP, /JOGN, /JOG0, /JOG1, /JOG2, and /JOG3) is valid when Mode 1 is set.
Fig. 3.2 Example Connections to I/O Signal Connector CN4

3-3
3 Connector Wiring
3.1.2 Terminal Layout on I/O Signal Connectors CN1 and CN4

3.1.2 Terminal Layout on I/O Signal Connectors CN1 and CN4

The following diagrams show the layout and specifications of CN1 and CN4 terminals.

„ CN1 Terminal Layout

1 SG GND 26 /WARN- Servo warning

output
2 SG GND 27 /BK+ Brake inter-
lock output
3 - - 28 /BK- Brake interlock
output
4 - - 29 /S-RDY+ Servo ready
output
5 - - 30 /S-RDY- Servo ready out-
put
6 SG GND 31 ALM+ Alarm output

7 - - 32 ALM- Servo alarm out-

put
8 - - 33 PAO PG divided
output
9 - - phase A 34 /PAO PG divided out-
put
10 SG GND 35 PBO PG divided phase A
output
11 - - phase B 36 /PBO PG divided out-
put
12 - - 37 ALO1 Alarm code phase B
outputs
13 - - 38 ALO2 Alarm code out-
put
14 - - 39 ALO3

15 - - 40 /S-ON Servo ON input

16 - - 41 /SEL5 Program table

select signal 5
17 - - 42 P-OT Forward over-
travel input
18 - - 43 N-OT Reverse over-
travel input
19 PCO PG divided 44 /DEC Zero point return
output deceleration LS
20 /PCO PG divided phase C 45 /SEL6 Program table input
output select signal 6
phase C 21 BAT (+) Battery (+) 46 /RGRT Registration
latch
22 BAT (-) Battery (-) 47 +24VIN Power supply
for sequence
23 - - signals 48 PSO Phase-S output

24 - - 49 /PSO Phase-S out-

put
25 /WARN+ Error/Warn- 50 - -
ing output

Note: 1. Do not use unused terminals for relays.

2. Connect the shield of the I/O signal cable to the connector shell.
Connect to the FG (frame ground) at the SERVOPACK-end connector.

3-4
 3.1 I/O Signal Connections

„ CN1 Specifications

Specifications for Applicable Receptacles

SERVOPACK Solder Type Case Manufacturer
Connectors
10250-52A2JL or 10150-3000VE 10350-52A0-008 Sumitomo 3M Co.
Equivalent 50-p
Right Angle Plug

„ CN4 Terminal Layout

1 24V/COM Power supply 19 /INPOSI- Positioning

for sequence TION+ complete
signals 2 - - output 20 /INPOSI- Positioning
TION- complete
3 /MODE0/1 Mode select 21 /POUT0+ Programma- output
input ble output 0
4 - - 22 /POUT0- Programma-

5 /START- Start-Stop/ 23 /POUT1+ Programma-

ble output 0 3
STOP; Homing start ble output 1
/HOME 6 - - 24 /POUT1- Programma-
ble output 1
7 /PGMRES; Program reset/ 25 /POUT2+ Programma-
/JOGP JOG Forward ble output 2
input 8 - - 26 /POUT2- Programma-
ble output 2
9 /SEL0; Program select 27 /POUT3+ Programma-
/JOGN 0/JOG Reverse ble output 3
input 10 - - 28 /POUT3- Programma-
ble output 3
11 /SEL1; Program select 29 /POUT4+ Programma-
/JOG0 1/JOG Select 0 ble output 4
input 12 - - 30 /POUT4- Programma-
ble output 4
13 /SEL2; Program select 31 - -
/JOG1 2/JOG Select 1
input 14 - - 32 - -

15 /SEL3; Program select 33 - -

/JOG2 3/JOG Select 2
input 16 - - 34 - -

17 /SEL4; Program select 35 - -

/JOG3 4/JOG Select 3
input 18 - - 36 - -

„ CN4 Specifications

Specifications for Applicable Receptacles

SERVOPACK Solder Type Case Manufacturer
Connectors
10236-52A2JL or 10136-3000VE 10336-52A0-008 Sumitomo 3M Co.
Equivalent 36-p
Right Angle Plug

3-5
3 Connector Wiring
3.1.3 I/O Signal Names and Functions

3.1.3 I/O Signal Names and Functions

The following tables describe SERVOPACK I/O signal names and functions.

„ CN1 Input Signals

Signal Name Pin No. Function

Common /S-ON 40 Servo ON:
When ON, power is supplied to the motor.
When OFF, power is not supplied to the motor.
P-OT 42 Forward Run prohibited Overtravel prohibited: Stops servomotor when movable
N-OT 43 Reverse Run prohibited part travels beyond the allowable range of motion.
/DEC 44 Zero Point Return Deceleration Limit Switch:
Connects to the deceleration limit switch for homing.
/RGRT 46 Registration Latch:
This is a latch signal used for registration (external positioning).
+24VIN 47 Power Supply for Sequence Signals:
Voltage range: 11 V to 25 V
BAT(+) 21 These pins can be used to connect an absolute encoder’s backup battery.
BAT(-) 22 Connect to CN8 or pins 21 and 22 of CN1.
/SEL5 41 When Mode 0 has been set, this pin functions as Program Table Select 5.
/SEL6 45 When Mode 0 has been set, this pin functions as Program Table Select 6.

„ CN1 Output Signals

Signal Name Pin No. Function

Common ALM+ 31 Servo Alarm:
ALM- 32 Turns OFF when an error is detected.
/WARN+ 25 Error/Warning:
/WARN- 26 ON for 2 seconds when an error has occurred.
ON continuously while a warning is being detected.
/BK+ 27 Brake interlock (controls the brake):
/BK- 28 ON when the brake is released.
/S-RDY+ 29 Servo Ready:
/S-RDY- 30 ON when the control and main circuit power supplies are ON and a Servo Alarm has not
occurred.
ALO1 37 Alarm Code: Outputs 3-bit alarm codes.
ALO2 38 Open-collector: 30 V and 20 mA rating maximum.
ALO3 39 (1)
FG Shell Frame ground
Note: The pin number in parentheses indicates the signal ground.

3-6
 3.1 I/O Signal Connections

„ CN4 Input Signals

Signal Name Pin No. Function

+24V/COM 1 Power Supply for Sequence Signals. Voltage range: 11 V to 25 V
/MODE 0/1 3 This pin switches between Mode 0 and Mode 1.
ON: Mode 0 (Program table operation)
OFF: Mode 1 (JOG speed table operation or homing)
/START-STOP; 5 Mode 0: When ON, starts or restarts program table operation. Refers to signals /SEL0 through /
/HOME SEL6 when starting operation.
When OFF, interrupts program table operation.
Mode 1: When ON, starts or restarts homing.
When OFF, interrupts homing.
/PGMRES; 7 Mode 0: When ON while program table operation is interrupted, resets program table operation.
/JOGP Mode 1: When ON, causes forward JOG operation.
When OFF, stops forward JOG operation.
/SEL0;/JOGN 9 Mode 0: Program table 0
Mode 1: When ON, causes reverse JOG operation. 3
When OFF, stops reverse JOG operation.
/SEL1;/JOG0 11 Mode 0: Program table selector 1
Mode 1: JOG speed table selector 0
/SEL2;/JOG1 13 Mode 0: Program table selector 2
Mode 1: JOG speed table selector 1
/SEL3;/JOG2 15 Mode 0: Program table selector 3
Mode 1: JOG speed table selector 2
/SEL4;/JOG3 17 Mode 0: Program table selector 4
Mode 1: JOG speed table selector 3

„ CN4 Output Signals

Signal Name Pin No. Function

/INPOSITION+ 19 Positioning complete
/INPOSITION- 20
/POUT0+ 21 Programmable outputs
/POUT0- 22
/POUT1+ 23
/POUT1- 24
/POUT2+ 25
/POUT2- 26
/POUT3+ 27
/POUT3- 28
/POUT4+ 29
/POUT4- 30

3-7
3 Connector Wiring
3.1.4 Interface Circuits

3.1.4 Interface Circuits

This section shows examples of SERVOPACK I/O signal connection to the host controller.

„ Interfaces with Sequence Input Circuits

The sequence input circuit interface connects through a relay or open-collector transistor cir-
cuit. Select a low-current relay otherwise a faulty contact will result.

NS600 and SERVOPACK NS600 and SERVOPACK

24 VDC +24 V/COM 24 VDC +24 V/COM
50 mA min. +24VIN Ω
3.3 k # 50 mA min. 3.3 k Ω

-
- /S-ON +
CN1-† CN1-†
CN4-† CN4-† START-STOP,
START-STOP,
HOME, etc. HOME, etc.

Alternative configurations
NS600 and SERVOPACK NS600 and SERVOPACK
24 VDC +24 V/COM +24 V/COM
50 mA min. Ω
+24VIN 3.3 k # 3.3 k Ω

CN1-† CN1-†
CN4-† /S-ON CN4-†
+
-
START-STOP, START-STOP,
-
HOME, etc. HOME, etc.
+

24 VDC
50 mA min.

3-8
 3.1 I/O Signal Connections

„ Interfaces with Output Circuits

Any of the following two types of SERVOPACK output circuits can be used. Form an input
circuit at the host controller that matches one of two types.

• Connecting to an Open-collector Output Circuit

Alarm code signals are output from open-collector transistor output circuits. Connect an
open-collector output circuit through a photocoupler, relay or line receiver circuit.
5 to 12 VDC
Photocoupler
5 to 24 VDC
SERVOPACK SERVOPACK Relay
end end

0V 0V

3
0V

5 to 12 VDC
SERVOPACK
end

0V 0V

Note: The maximum allowable voltage and current capacities for open-collector output circuits
are as follows:
• Voltage: 30 VDC max.
• Current: 20 mA DC max.
• Connecting to a Photocoupler Output Circuit
Connect a photocoupler output circuit through a relay or line receiver circuit.
5 to 24 VDC Relay 5 to 12 VDC
SERVOPACK SERVOPACK
end end

0V
0V

Note: The maximum allowable voltage and current capacities for photocoupler output circuits
are as follows:
• Voltage: 30 VDC max.
• Current: 50 mA DC max.

3-9
3 Connector Wiring
3.2.1 Communications Specifications

3.2 Serial Command Communications Connector (CN6)

Serial commands can be used to perform operations such as positioning, setting parameters and
program tables, monitoring, and other operations.

RS-422, RS-485, or RS-232C

Host controller

3.2.1 Communications Specifications

The following table shows the communications specifications of the CN6 connector.

Item Specification
Interface Full duplex (RS-422, RS-485, or RS-232C*) or half duplex (RS-485)
(Selectable with parameter Pn800.)
Max. Number of Axes 16 axes
Total Cable Length RS-422/RS-485: 50 m max.
RS-232C: 3 m max.
Bit Rate 9,600, 19,200, or 38,400 bps
(Selectable with parameter Pn801. Factory setting: 9,600 bps)
Synchronization Start-stop synchronization
Data Format Start bits: 1 bit
Data bits: 7 bits, ASCII
Parity: 1 bit, even parity
Stop bits: 1 bit
Flow Control None
Shift Control None

* The /TXD signal voltages output from the NS600 are the TTL levels (5 V
maximum).

3-10
 3.2 Serial Command Communications Connector (CN6)

3.2.2 Communications Connector

„ Pin Layout

1 TXD 8 TXD
2 /TXD 9 /TXD
3 RXD 10 RXD
4 /RXD 11
5 GND* 12
6 /RXD 13
7 RT 14 GND
(Terminator)

„ Connector Model

NS600-side Applicable Receptacles 3

Connector Solder Type Case Manufacturer
10214-52A2JL 10114-3000VE 10314-52A0-008 Sumitomo 3M Co.
14-p

3.2.3 Connector Signal Names

Pin Signal Name Signal Circuit Name Signal Direction

No.
1 TXD Transmit data (not inverted) Host controller ← NS600
2 /TXD Transmit data (inverted) Personal computer ← SERVOPACK
3 RXD Receive data (not inverted) Personal computer → SERVOPACK
4 /RXD Receive data (inverted) Personal computer → SERVOPACK
5 GND* Signal ground (0 V) ---
6 /RXD Receive data (inverted) ---
7 RT If RT and /RXD are connected (shorted), the built-in terminator (120 Ω) will be connected
between RXD and /RXD.
8 TXD Transmit data (not inverted) Personal computer ← SERVOPACK
9 /TXD Transmit data (inverted) Personal computer ← SERVOPACK
10 RXD Receive data (not inverted) Personal computer → SERVOPACK
11 Reserved Reserved pin ---
12 Reserved Reserved pin ---
13 Reserved Reserved pin ---
14 GND Signal ground (0 V) ---

* The signal ground (GND) for pin number 5 is mounted from hardware version 04 or later. This
pin is open for hardware version 03 or earlier.

3-11
3 Connector Wiring
3.2.4 Connection Examples

The hardware version is given in the upper 2 digits of the “VER” number given on the nameplate on
INFO
the side of the product.

VER. 0 4 0 0 4

Hardware version

3.2.4 Connection Examples

„ Full-duplex Wiring

RS-422 or RS-485 port NS600

Twisted-pair wire

14 GND
Shield wire
FG Case FG

To next axis

Pin:

Note: 1. Cable length: 50 m max.

2. Connect (short) the RT and /RXD pins in the last axis.
Fig. 3.3 Full-duplex Wiring

3-12
 3.2 Serial Command Communications Connector (CN6)

„ Half-duplex Wiring

RS-485 port
NS600

Twisted-pair wire

14
Shield wire
Case FG

3
To next axis
Pin:

Note: Connect (short) the RT and /RXD pins in the last axis.
Fig. 3.4 Half-duplex Wiring

„ RS-232C Wiring
RS-232C port
NS600

Shield wire
Case FG

Note: Cable length: 3 m max.

Fig. 3.5 RS-232C Wiring

3-13
3 Connector Wiring
3.2.5 RS-422/RS-485 Interface

3.2.5 RS-422/RS-485 Interface

The maximum total length for RS-422 or RS-485 cable is 50 m. Use the minimum length of
cable that is needed.

The NS600’s communications circuits are not isolated. If communications errors occur
because of noise, use noise suppression methods such as shielded cable or ferrite cores.

When using full-duplex wiring, connect a terminator in the host controller’s reception circuit
and the reception circuit of the last NS600 in the line. The NS600 has a built-in terminator
(120 Ω) that is connected between the RXD and /RXD pins when the RT and /RXD pins are
shorted.

When using half-duplex wiring, connect a terminator at both ends of the communications
cable. The NS600 has a built-in terminator (120 Ω) that is connected between the RXD and /
RXD pins when the RT and /RXD pins are shorted.

The NS600’s transmission circuit is high-impedance when it is not transmitting. Pull-up or

pull-down the host controller’s reception circuit.

3-14
 3.3 Digital Operator or Support Software Connector (CN7)

3.3 Digital Operator or Support Software Connector (CN7)

A Digital Operator or a computer running the Support Software can be used for operations such
as setting parameters and program tables, monitoring, and other functions.

Special cable

Digital Operator

RS-422 or
3
RS-232C

Personal computer
(with Support Software)

3.3.1 Communications Specifications

The following table shows the communications specifications of the CN7 connector.

Item Specification
Interface Full duplex (RS-422 or RS-232C)
Max. Number of Axes 16 axes
Total Cable Length RS-422: 50 m max.
RS-232C: 3 m max.
Bit Rate 9,600 bps
Synchronization Start-stop synchronization
Data Format Start bits: 1 bit
Data bits: 7 bits, ASCII
Parity: 1 bit, even parity
Stop bits: 1 bit
Flow Control None
Shift Control None

* The /TXD signal voltages output from the NS600 are the TTL levels (5 V
maximum).

3-15
3 Connector Wiring
3.3.2 Communications Connector

3.3.2 Communications Connector

„ Pin Layout

1 TXD 8 TXD
2 /TXD 9 /TXD
3 RXD 10 RXD
4 /RXD 11 Reserved
5 Reserved 12 Reserved
6 /RXD 13 Reserved
7 RT 14 GND
(Terminator)

„ Connector Model

NS600-side Applicable Receptacles

Connector Solder Type Case Manufacturer
10214-52A2JL 10114-3000VE 10314-52A0-008 Sumitomo 3M Co.
14-p

3.3.3 Connector Signal Names

Pin No. Signal Name Signal Circuit Name Signal Direction

1 TXD Transmit data (not inverted) Personal computer ← NS600
2 /TXD Transmit data (inverted) Personal computer ← SERVOPACK
3 RXD Receive data (not inverted) Personal computer → SERVOPACK
4 /RXD Receive data (inverted) Personal computer → SERVOPACK
5 Reserved Reserved pin ---
6 /RXD Receive data (inverted) ---
7 RT If RT and /RXD are connected (shorted), the built-in terminator (120 Ω) will be connected
between RXD and /RXD.
8 TXD Transmit data (not inverted) Personal computer ← SERVOPACK
9 /TXD Transmit data (inverted) Personal computer ← SERVOPACK
10 RXD Receive data (not inverted) Personal computer → SERVOPACK
11 Reserved Reserved pin ---
12 Reserved Reserved pin ---
13 Reserved Reserved pin ---
14 GND Signal ground (0 V) ---

3-16
 3.3 Digital Operator or Support Software Connector (CN7)

3.3.4 Connection Examples

„ Using RS-422 Cable

RS-422/RS-485 port
NS600

Twisted-pair wire

14 GND
Shield wire
Case FG

To next axis
Pin:

Note: 1. Cable length: 50 m max.

2. Connect (short) the RT and /RXD pins in the last axis.
Fig. 3.6 Wiring with RS-422 Cable

„ Using RS-232C Cable

RS-232C port NS600

Shield wire

Case FG

Note: Cable length: 3 m max.

Fig. 3.7 Wiring with RS-232C Cable

3-17
3 Connector Wiring
3.3.5 RS-422 Interface

3.3.5 RS-422 Interface

The maximum total length for an RS-422 cable is 50 m. Use the minimum length of cable
that is needed.

The NS600’s communications circuits are not isolated. If communications errors occur
because of noise, use noise suppression methods such as shielded cable or ferrite cores.

When using RS-422 cable, connect a terminator in the host controller’s reception circuit and
the reception circuit of the last NS600 in the line. The NS600 has a built-in terminator
(120 Ω) that is connected between the RXD and /RXD pins when the RT and /RXD pins are
shorted.

The NS600’s transmission circuit is high-impedance when it is not transmitting. Pull-up or

pull-down the host controller’s reception circuit.

3-18
 3.4 Power Loss in the NS600

3.4 Power Loss in the NS600

Refer to 4.4 SERVOPACK’s Power Supply Capacities and Power Losses in the Σ-II Series
SGM†H/SGDH User’s Manual (Manual No.: SIEPS80000005) for a table showing the
SERVOPACK power losses at the rated output.

Table 3.1 NS600 Specifications

Item Specification
Min. operating voltage 5.05 V
Max. operating voltage 5.25 V
Max. operating current 500 mA
Max. power loss 2.6 W

INFO The NS600’s power is supplied from the SERVOPACK. 3

3-19
 4
Trial Operation

This chapter describes a two-step trial operation. Be sure to complete step 1

before proceeding to step 2.

4.1 Two-step Trial Operation - - - - - - - - - - - - - - - - - - - - - - - - - - 4-2 4

4.2 Step 1: Trial Operation for Servomotor without Load - - - - - - - 4-3
4.3 Step 2: Trial Operation with the Servomotor Connected
to the Machine - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-10

4-1
4 Trial Operation

4.1 Two-step Trial Operation

Make sure that all wiring is completed prior to starting trial operation.

Perform the trial operation in the order given below (steps 1 and 2) for your safety.
See 4.2 Step 1: Trial Operation for Servomotor without Load and 4.3 Step 2: Trial Operation
with the Servomotor Connected to the Machine for more details on the trial operation.

Step 1: Trial Operation for Servomotor without Load

Make sure the servomotor is wired properly and then turn the shaft prior to connecting
the servomotor to the equipment.

Check wiring.

Do not connect to the equipment.

Step 2: Trial Operation with the Equipment and Servomotor

Connected

Adjust the SERVOPACK according to equipment characteristics,

connect the servomotor to the equipment, and perform the trial operation.

SGM†H
SGDH servomotor
NS600
SERVOPACK

Connect to the equipment.

4-2
 4.2 Step 1: Trial Operation for Servomotor without Load

4.2 Step 1: Trial Operation for Servomotor without Load

CAUTION
注意
• Do not operate the servomotor while it is connected to the equipment.
To prevent accidents, initially perform step 1 where the trial operation is conducted under no-load conditions
(with all couplings and belts disconnected).

In step 1, make sure that the servomotor is wired properly as shown below. Incorrect wiring is
generally the reason why servomotors fail to operate properly during trial operation.

• Check main power supply circuit wiring.

• Check servomotor wiring.
• Check I/O signal wiring (CN1 and/or CN4) if these connectors are being used.
• Check Serial Command Communications wiring (CN6) if this connector is being used.

Make sure that adjustments in the host controller and other adjustments are completed as much
as possible in step 1 (prior to connecting the servomotor to equipment). 4

Check wiring.

Do not connect to the equipment.

Check the items on the following pages in the order given during the servomotor trial operation.
IMPORTANT
See 5.2.3 Brake Interlock Output Signal (/BK) if you are using a servomotor with brakes.

4-3
4 Trial Operation

1. Secure the servomotor.

Secure the mounting plate of the
servomotor to the equipment.

Do not connect anything to the shaft.

(No-load condition)

Secure the servomotor mounting plate to the equipment in order to prevent the servomo-
tor from moving during operation.
2. Check the wiring.
Digital
Operator.

Disconnect the CN1, CN4,

and CN6 connectors.

Disconnect the CN1, CN4, and CN6 connectors and check servomotor wiring in the
power supply circuit. The I/O signals (CN1 and CN4) and Serial Command Signals
(CN6) are not used. Connect the Digital Operator to the CN7 connector.
3. Turn ON power.
Normal displays

OR STATUS Indicator: Lit green.

Example of alarm display

STATUS Indicator: Lit red.

Turn ON SERVOPACK power. If the SERVOPACK has turned ON normally, the Digi-
tal Operator’s display will appear as shown above. Power is not supplied to the servo-
motor because the servo is OFF.
If an alarm display appears on the LED indicator as shown above, the power supply cir-
cuit, servomotor wiring, or encoder wiring is incorrect. In this case, turn OFF power and
take appropriate action. See Chapter 9 Troubleshooting.

4-4
 4.2 Step 1: Trial Operation for Servomotor without Load

INFO If an absolute encoder is used, it must be set up. Refer to 5.3.4 Absolute Encoder Setup (Initialization).

4. Operate with Digital Operator.

Operate the servomotor using the Digital Operator. Check to see if the servomotor runs
normally.

Use the following procedure to operate the servomotor with the Digital Operator. Refer to
Chapter 7 Using the Digital Operator for details on using the Digital Operator.

a) Press the DSPL/SET Key to select Fn002 in the auxiliary function mode. 4

b) Press the DATA/ENTER Key to select the Digital Operator operation mode. Opera-
tion is now possible using the Digital Operator.

c) Press the SVON Key to set to servo ON state (with motor power turned ON).

d) Press the Up Cursor Key or Down Cursor Key to operate the motor. The motor keeps
operating while the key is pressed.

Up Cursor Key: Down Cursor Key:

Motor forward rotation Motor reverse rotation

e) Press the DATA/ENTER Key, and the display will revert to Fn002. This sets to the
servo OFF state (with motor power turned OFF). Alternatively, press the SVON Key
to set to the servo OFF state.

This disables operation under the Digital Operator control.

4-5
4 Trial Operation

Use the following parameter to set or modify motor speed when operating the servomotor from
the Digital Operator.

Parameter Signal Setting

Pn304 JOG speed Initial setting: 500 min-1
(Pn383 for Linear Motors) (50 mm/s for linear motors)
Pn305 Soft Start Acceleration Time Initial setting: 0 ms
Pn306 Soft Start Deceleration Time Initial setting: 0 ms

The rotation direction of the servomotor depends on the setting of parameter Pn000.0 “Rotation Direc-
INFO
tion.” The above example applies when Pn000.0 is set to “0”, the factory setting.

5. Connect the signal lines.

Digital
Operator

Connect the CN1, CN4,

and CN6 connectors.

Use the following procedure to connect the CN1, CN4, and CN6 connectors if these
connectors are being used. The Digital Operator can remain connected.
a) Turn OFF power.
b) Connect the CN1, CN4, and CN6 connectors.
c) Turn ON power again.
6. Check the CN1 input signals if CN1 input signals are being used.
Check the input signal wiring in Monitor Mode using the Digital Operator by monitor-
ing Un005 (the input signal monitor). Refer to Chapter 7 Using the Digital Operator for
details on using the Digital Operator.

4-6
 4.2 Step 1: Trial Operation for Servomotor without Load

Turn ON and OFF each signal line to see if the LED monitor bit display changes as
shown below.

Input signal LED display

P-OT /SEL5
N-OT /S-ON

Top lights when OFF (high level).

Bottom lights when ON (low level).

/DEC
/SEL6
/RGRT
Not used. (Always ON)

Input Signal Status LED Display

OFF (high level) Top LED indicators light.
ON (low level) Bottom LED indicators light.

4
The servomotor will not operate properly if the following signal lines are not wired correctly. Short the
IMPORTANT
signal lines if they will not be used. The input signal selections (parameters Pn803 to Pn80F) can be
used to eliminate the need for external short circuiting.

Signal Symbol Connector Pin No. Description

P-OT CN1-42 The servomotor can rotate in the forward
direction when this signal is ON.
The servomotor is in forward overtravel status
(Forward Run Prohibited) when this signal is
OFF.
N-OT CN1-43 The servomotor can rotate in the reverse direc-
tion when this signal is ON.
The servomotor is in reverse overtravel status
(Reverse Run Prohibited) when this signal is
OFF.
/S-ON CN1-40 The servomotor is turned ON when this signal
is ON. Leave the servomotor OFF.
+24VIN CN1-47 Control power supply terminal for sequence
signals.

4-7
4 Trial Operation

7. Check the CN4 input signals if CN4 input signals are being used.
Check the input signal wiring in Monitor Mode using the Digital Operator by monitor-
ing Un801. Refer to Chapter 7 Using the Digital Operator for details on using the Digi-
tal Operator.
Turn ON and OFF each signal line to see if the LED monitor bit display changes as
shown below.
PGMRES;/JOGP /START-STOP;/HOME
/SEL0;/JOGN /MODE0/1

Top lights when OFF (high level).

Bottom lights when ON (low level).

/SEL1;/JOG0
/SEL2;/JOG1
/SEL3;/JOG2
/SEL4;/JOG3

Input Signal Status LED Display

OFF (high level) Top LED indicators light.
ON (low level) Bottom LED indicators light.

The CN1 and CN4 input signals can also be monitored from CN6 connector using the “IN1” and “IN2”
IMPORTANT
Serial Commands. Refer to Chapter 6 Serial Command Communications for details on the Serial Com-
mands.

8. Check the CN6 serial command communications if CN6 serial commands are being
used. Check the serial communications in Monitor Mode using the Digital Operator by
monitoring Un80D through Un811. Refer to Chapter 7 Using the Digital Operator for
details on using the Digital Operator.
Check the communications protocol and bit rate set in parameters Pn800 and Pn801.
Change the settings if necessary. If the settings are changed, the new settings is enabled
by turning the control power supply OFF and then ON again.
Refer to Chapter 7 Using the Digital Operator for the procedure to use when editing
parameters. Once serial communications have been established, serial communications
can be used for operations such as editing parameters and monitoring.

4-8
 4.2 Step 1: Trial Operation for Servomotor without Load

9. Turn ON the servo with /S-ON or the SVON serial command.

SERVOPACK SERVOPACK
Servomotor Serial Servomotor
/S-ON command
OR SVON
CN1-40 CN6

0V
Turn ON/S-ON.

Display when servo is ON.

If the system is setup correctly, the servomotor will turn ON and the Digital Operator
display shown above will appear. If an alarm display appears, take appropriate action as
described in Chapter 9 Troubleshooting.

4-9
4 Trial Operation

4.3 Step 2: Trial Operation with the Servomotor Connected to the

Machine

WARNING
注意
• Follow the procedure below for step-2 trial operation precisely as given.
Malfunctions that occur after the servomotor is connected to the equipment may not only damage the equip-
ment, but may also cause an accident resulting death or injury.

Before proceeding to step 2, repeat step 1 (servomotor trial operation without a load) until you
are fully satisfied that all items including parameters and wiring have been tested completely.

After step 1 has been completed, proceed to step 2 for trial operation with the servomotor con-
nected to the equipment. The purpose of step 2 is to adjust the SERVOPACK according to
equipment characteristics.

• Use autotuning to match the SERVOPACK to equipment characteristics.

• Match the direction of rotation and speed to equipment specifications.
• Check the final control form.

NS600 SGDH Servomotor

SERVO-
PACK

Connect to the machine.

Follow the procedures below to perform the trial operation.

1. Make sure power is OFF.

2. Connect the servomotor to the equipment.
See 3.8 Mechanical Specifications of Servomotors in the Σ-II Series SGM†H/SGDH
User’s Manual (Manual No.: SIEPS80000005) for more details on connecting the ser-
vomotor.
3. Use autotuning to match the SERVOPACK to equipment characteristics.
See 9.1.2 Autotuning Functions in the SGM†H/SGDH User’s Manual (Manual No.:
SIEPS80000005) for details.
4. Operate the servomotor with Digital I/O or Serial Mode operation.
See Chapter 5 Parameter Settings and Functions and Chapter 6 Serial Command Com-
munications for details.
5. Set and record parameters.
Set parameters as required and record all settings for use later in maintenance.

This completes the trial operation procedure.

4-10
 4.3 Step 2: Trial Operation with the Servomotor Connected to the Machine

WARNING The servomotor will not be broken in completely during the trial operation. Therefore, let it the sys-
tem run for a sufficient amount of additional time to ensure that it is properly broken in.

4-11
 5
Parameter Settings and Functions

This chapter describes the procedure for setting and applying parameters.

5.1 Restrictions on SGDH SERVOPACK Parameters - - - - - - - - - 5-4

5.2 Sequence I/O Signals - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6
5.2.1 Using the Servo ON/OFF Input Signal (/S-ON) - - - - - - - - - - - - - - - - - 5-9
5.2.2 Using Servo Alarm and Alarm Code Outputs (ALM, ALO1 to ALO3) - - 5-9
5.2.3 Brake Interlock Output Signal (/BK) - - - - - - - - - - - - - - - - - - - - - - - - 5-10
5
5.2.4 Using the Servo Ready Output Signal (/S-RDY) - - - - - - - - - - - - - - - 5-13
5.2.5 Using the Error/Warning Output Signal (/WARN) - - - - - - - - - - - - - - 5-14
5.2.6 Using the Positioning Completed Output Signal (/INPOSITION) - - - - 5-15
5.2.7 Using the Programmable Output Signals (/POUT0 to /POUT4) - - - - 5-16
5.2.8 Encoder Signal Outputs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-18

5.3 Absolute Encoders - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-20

5.3.1 Interface Circuit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-21
5.3.2 Selecting an Absolute Encoder - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-21
5.3.3 Handling Batteries - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-21
5.3.4 Absolute Encoder Setup (Initialization) - - - - - - - - - - - - - - - - - - - - - - 5-22
5.3.5 Multiturn Limit Setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-23
5.3.6 Absolute Encoder Zero Setting - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-25

5.4 Settings According to Device Characteristics - - - - - - - - - - - 5-26

5.4.1 Switching Servomotor Rotation Direction - - - - - - - - - - - - - - - - - - - - 5-26
5.4.2 Setting the Overtravel Limit Function - - - - - - - - - - - - - - - - - - - - - - - 5-27
5.4.3 Setting Reference Units - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-30
5.4.4 Moving Mode and Coordinate Settings - - - - - - - - - - - - - - - - - - - - - 5-35
5.4.5 Backlash Compensation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-37
5.4.6 Limiting Torques - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-38

5-1
5 Parameter Settings and Functions

5.5 Program Table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-39

5.5.1 Mode Switch Signal (/MODE 0/1) - - - - - - - - - - - - - - - - - - - - - - - - - 5-39
5.5.2 Input Signals for Program Table Operation - - - - - - - - - - - - - - - - - - - 5-40
5.5.3 Program Table Step Selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-41
5.5.4 Program Table Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-42
5.5.5 Examples of EVENT Conditions - - - - - - - - - - - - - - - - - - - - - - - - - - 5-45
5.5.6 Program Table Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-46
5.5.7 Status Changes in Program Table Operation - - - - - - - - - - - - - - - - - 5-47
5.5.8 Input Signal Timing Specifications for Program Table Operation - - - - 5-49
5.5.9 Response Times after Turning ON the /START-STOP Signal - - - - - - 5-50
5.5.10 Program Table Examples - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-51

5.6 Registration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-56

5.6.1 Registration Timing Specifications - - - - - - - - - - - - - - - - - - - - - - - - - 5-56
5.6.2 Registration Input Setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-56
5.6.3 Registration Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-57

5.7 ZONE Table Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-59

5.8 Homing/Jog Speed Table Mode - - - - - - - - - - - - - - - - - - - - 5-62
5.8.1 Mode Switch Signal (/MODE 0/1) - - - - - - - - - - - - - - - - - - - - - - - - - 5-62
5.8.2 Homing/Jog Speed Table Input Signals - - - - - - - - - - - - - - - - - - - - - 5-63
5.8.3 Parameters Related to Homing - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-64

5.9 Homing Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-65

5.10 Jog Speed Table Operation - - - - - - - - - - - - - - - - - - - - - - 5-66
5.10.1 Example of Jog Speed Table Operation - - - - - - - - - - - - - - - - - - - - 5-66
5.10.2 Jog Speed Table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-67
5.10.3 Input Conditions for Homing and Jog Speed Table Operation - - - - - 5-68
5.10.4 Input Signal Timing Specifications for Homing and
Jog Speed Table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-69

5-2
„ Before Reading this Chapter
This chapter describes the use of the I/O signals in the SGDH SERVOPACK and NS600 (I/
O signals in the CN1 and CN4 connectors) as well as the procedure for setting the related
parameters for the intended purposes.

The following sections can be used as references for this chapter.

• Lists of CN1 and CN4 I/O signals: See 3.1.3 I/O Signal Names and Functions.
• CN1 and CN4 I/O signal terminal layout: See 3.1.2 Terminal Layout on I/O Signal Con-
nectors CN1 and CN4.
• List of parameters: See Appendix A List of Parameters.

„ Parameter Configurations
Parameters are comprised of the types shown in the following table. See Appendix A List of
Parameters.

Type Parameter No. Description

Function Selection Pn000 to Pn005 Select basic and application functions such as the
Parameters Pn819 type of control or the stop mode used when an
alarm occurs.
Servo Gain and Pn100 to Pn123 Set numerical values such as speed and position
Other Parameters loop gains.
Position Control Pn200 to Pn208 Set position control parameters such as S-shaped
5
Parameters curve.
Speed Control Pn308 Set speed control parameters such as the Speed
Parameter Feedback Filter Time Constant.
Torque Control Pn401 to Pn409 Set torque control parameters such as the torque
Parameters limit values.
Sequence Pn500 to Pn509 Sets conditions for the sequence I/O signals.
Parameters Pn803 to Pn818
Positioning Pn81A to Pn822 Sets parameters related to positioning.
Parameters
Homing Parameters Pn823 to Pn828 Sets parameters related to homing.
Serial Pn800 to Pn802 Sets parameters related to serial communications
Communications through CN6.
Parameters
Setup Information Pn829 to Pn834 Do not change these parameters.
Parameters These parameters are used by the Support Software.
Others Pn600 to Pn601 Sets other parameters.

5-3
5 Parameter Settings and Functions

5.1 Restrictions on SGDH SERVOPACK Parameters

The following parameters are set automatically when an NS600 is installed on an SGDH
SERVOPACK. Do not change these parameters because they are reserved for system use. Also,
the SGDH SERVOPACK will be set for position control. It is not necessary to set parameters
related to speed control or torque control, so those parameters should not be changed.

After the NS600 is installed, it will take up to 10 seconds before the SERVOPACK starts up for
the first time because the parameters are set automatically the first time that the power is turned
ON.

Table 5.1 Setting-restricted Parameters

Parame- Digit Name Setting Description

ter
Pn000 1 Control Method 1 Position control
2 Axis Address 0 to F Copies the address set on the NS600’s rotary switch.
Pn002 0 T-REF Allocation (Torque Limit/ 0 Torque limit and torque feed-forward cannot be input by
Torque Feed-forward) analog voltage inputs.
3 Full Closed Loop Usage 0 Full-closed loop cannot be used.
Pn004 1 Reserved 0 Not used.
Pn005 0 Reserved 0 Not used.
Pn200 2 Clear Operation 0 Clears the position error when the servo is OFF.
Pn205 Multiturn Limit Setting 0 If a single-turn data absolute encoder is used and Pn002.2
is set to 0, the Multiturn Limit Setting will automatically
be set to 0.
*1. This parameter is automatically set only for version 4
or later. It must be manually set for version 3 or earlier.
Pn207 0 Position Reference Filter Selection 1 S-shaped Curve
1 Position Control Option 0 An analog voltage input cannot be used as a speed feed-
(V-REF as Speed Forward) forward input.
Pn50A 0 Input Signal Mapping 1 Input signals can be allocated.
1 /S-ON 8 Not used. (SI0 is detected as /S-ON by the NS600.)
2 /P-CON 8 Not used.
3 /P-OT 8 Not used. (SI2 is detected as P-OT by the NS600.)
Pn50B 0 /N-OT 8 Not used. (SI3 is detected as N-OT by the NS600.)
1 /ALM-RST 8 Not used.
2 /P-CL 8 Not used.
3 /N-CL 8 Not used.
Pn50C 0 /SPD-D 8 Not used.
1 /SPD-A 8 Not used.
2 /SPD-B 8 Not used.
3 /C-SEL 8 Not used.

5-4
 5.1 Restrictions on SGDH SERVOPACK Parameters

Table 5.1 Setting-restricted Parameters (cont’d)

Parame- Digit Name Setting Description

ter
Pn50D 0 /Z-CLAMP 8 Not used.
1 /INHIBIT 8 Not used.
2 /G-SEL 8 Not used.
3 Reserved 8 Not used.
Pn50E 0 /COIN 0 Not used.
1 /V-CMP 0 Not used.
2 /TGON 0 Not used.
3 /S-RDY 3 Always SO3.
Pn50F 0 /CLT 0 Not used.
1 /VLT 0 Not used.
2 /BK 2 Always SO2.
3 /WARN 1 Always SO1.
Pn510 0 /NEAR 0 Not used.
1 Reserved 0 Not used.
2 Not used. 0 Not used.
3 Not used. 0 Not used.
Pn512 0 SO1 Reverse 0 or 1 This value is set by the NS600 based on Pn816.
1 SO2 Reverse 0 or 1 This value is set by the NS600 based on Pn817. 5
2 SO3 Reverse 0 or 1 This value is set by the NS600 based on Pn818.
3 Not used. 0 Not used.

5-5
5 Parameter Settings and Functions

5.2 Sequence I/O Signals

Sequence I/O signals are used to control operation of the SERVOPACK and NS600. Connect
these signal terminals as required.

„ Input Signal Connections

Connect the Sequence Input signals as shown below.

CN1 Connector
SERVOPACK
Power supply
+ 24 V
CN1
3.3 k Ω Photocouplers
Host controller + 24 V IN CN1-47

/S-ON CN1-40

/SEL5 CN1-41

P-OT CN1-42

N-OT CN1-43

/DEC CN1-44

/SEL6 CN1-45

/RGRT CN1-46

0V

5-6
 5.2 Sequence I/O Signals

CN4 Connector

NS600
Power supply
+ 24 V
CN4
3.3 k Photocouplers
Host controller + 24 V /COM CN4-1

/MODE 0/1 CN4-3

/START-STOP; /HOME CN4-5

/PGMRES; /JOGP CN4-7

/SEL 0; /JOGN CN4-9

/SEL 1; /JOG0 CN4-11

/SEL 2; /JOG1 CN4-13

/SEL 3; /JOG2 CN4-15

/SEL 4; /JOG3 CN4-17

0V

5
Provide an external power supply; the SERVOPACK and NS600 do not have an internal 24-V power
IMPORTANT
supply.
Yaskawa recommends using the same external power supply as that used for output circuits. The
allowable voltage range for the 24-V sequence input circuit power supply is 11 to 25 V. Although a 12-
V power supply can be used, contact faults can easily occur for relays and other mechanical contacts
under low currents. Confirm the characteristics of relays and other mechanical contacts before using a
12-V power supply.

„ Input Signal Specifications (CN1 and CN4)

Item Specification
Signal Names CN1: /S-ON, P-OT, N-OT, /DEC, /RGRT
CN4: /MODE0/1, /START-STOP, /HOME, /PGMRES, /JOGP, /SEL0,
/JOGN, /SEL1, /JOG0, /SEL2, /JOG1, /SEL3, /JOG2, /SEL4, /JOG3
Input Form Sinking or Sourcing
Isolation Photocoupler
Operating Voltage 11 to 25 V DC
Input Impedance 3.3 kΩ
ON Current 8 mA max. each
OFF Current 1 mA max. each (OFF voltage = 1.0 V)

5-7
5 Parameter Settings and Functions

„ Output Signal Connections

Connect the sequence output signals as shown in the following figure.

CN1 Connector

SERVOPACK Power supply

+24 V 0V
Photocouplers CN1
31 ALM+
50 mA max.
32 ALM -
25 /WARN+

Photocoupler output per output 26 /WARN-

Maximum operating voltage: 30 V DC 27 /BK+
Maximum output current: 50 mA DC
28 /BK-
29 /S-RDY+

30 /S-RDY-

CN1
37 ALO1

20 mA max.
Open-collector output per output 38 ALO2
Maximum operating voltage: 30 V DC
Maximum output current: 20 mA DC
39 ALO3

Host
1 SG
controller
0V 0V

CN4 Connector

NS600 Power supply

Photocouplers

50 mA max.

50 mA max.

Photocoupler output per output

Maximum operating voltage: 30 V DC
Maximum output current: 50 mA DC

Provide a separate external I/O power supply; the SERVOPACK and NS600 do not have an internal
IMPORTANT
24-V power supply. Yaskawa recommends using the same type of external power supply as that used
for input circuits.

5-8
 5.2 Sequence I/O Signals

5.2.1 Using the Servo ON/OFF Input Signal (/S-ON)

Power supply SERVOPACK

+24 V Photo-
+24 VIN CN1-47 3.3k Ω coupler

Host controller
/S-ON CN1-40

0V
.

→ Input /S-ON CN1-40 Servo ON

This signal is used to turn the servomotor ON and OFF.

Signal Status Operation

/S-ON Photocoupler ON Power is supplied to the servomotor.
Photocoupler OFF Power is not supplied to the servomotor.
Do not turn the servo OFF while the servomotor is
operating except in an emergency-stop situation.

The /S-ON signal setting can be changed with parameter Pn80B.

Parame- Signal Pin No. Settings Factory

ter Setting
Pn80B /S-ON CN1-40 0: Photocoupler ON = Servo ON 0
5
1: Photocoupler OFF = Servo ON
2: Servo is always ON.
3: Servo is always OFF.

5.2.2 Using Servo Alarm and Alarm Code Outputs (ALM, ALO1 to ALO3)

The basic procedure for connecting alarm output signals is described below.

SERVOPACK Power supply

+24 V 0V
Photocouplers
CN1-31 ALM+
Photocoupler output per output 50 mA max.
Maximum operating voltage: 30 V DC
Maximum output current: 50 mA DC CN1-32 ALM -

CN1-37 ALO1
20 mA max.

Open-collector output per output CN1-38 ALO2

Maximum operating voltage: 30 V DC
Maximum output current: 20 mA DC CN1-39 ALO3

CN1-1 SG Host
controller
0V 0V

A suitable external I/O power supply must be provided by the user separately because there
is no internal 24-V power supply in the SERVOPACK.

5-9
5 Parameter Settings and Functions
5.2.3 Brake Interlock Output Signal (/BK)

The use of the photocoupler output signals is described below.

Output → ALM+ CN1-31 Servo Alarm Output

Output → ALM- CN1-32 Signal Ground for Servo Alarm Output

These alarms are output when a SERVOPACK alarm is detected.

SERVOPACK

Alarm ALM output

detection
Turns OFF the main power
supply.

Form an external circuit so this alarm output (ALM) turns the SERVOPACK OFF.

ON: Circuit between CN1-31 and 32 is closed, Normal state

and CN1-31 is at low level.
OFF: Circuit between CN1-31 and 32 is open, and Alarm state
CN1-31 is at high level.

Alarm codes ALO1, ALO2 and ALO3 are output to indicate each alarm type. The uses of
open-collector output signals ALO1, ALO2 and ALO3 is described below.

Output → ALO1 CN1-37 Alarm Code Output

Output → ALO2 CN1-38 Alarm Code Output
Output → ALO3 CN1-39 Alarm Code Output
Output → SG CN1-1 Signal Ground for Alarm Code Output

These signals output alarm codes to indicate the type of alarm detected by the
SERVOPACK. Use these signals to display alarm codes at the host controller.

See 9.1.1 Alarm Display Table for more details on the relationship between NS600 alarm
display and alarm code output. See 9.2.2 Alarm Display Table for more details on the rela-
tionship between SERVOPACK alarm display and alarm code output.

5.2.3 Brake Interlock Output Signal (/BK)

The holding brake is used when a servodrive controls a vertical axis. In other words, a servo-
motor with brake prevents the movable part from shifting due to gravity when system power
goes OFF.
Servomotor

Holding brake
Prevents the movable
part from shifting due
to gravity when system
power goes OFF.

5-10
 5.2 Sequence I/O Signals

The brake built into the SGM†H servomotor with brakes is a de-energization brake, which is used
IMPORTANT
only to hold and cannot be used for braking. Use the holding brake only to hold a stopped motor. Brake
torque is at least 120% of the rated motor torque.

„ Wiring Example
Use the SERVOPACK contact output signal /BK and the brake power supply to form a brake
ON/OFF circuit. The following diagram shows a standard wiring example.

SERVOPACK Servomotor with brake

Power supply
A (1)
L1 U
B (2)
L2
V
L3 C (3) M
W
L1C D (4)

L2C E (5)
BK-RY CN1-27 F (6) BK
/BK+
+24V
CN2-28
/BK-

CN2 PG

BK-RY
Blue or
yellow Red
White AC DC Black 5
Brake power supply

BK-RY: Brake control relay

Output → /BK Brake Interlock Output

This output signal controls the brake when using a servomotor with a brake and does not
have to be connected when using a servomotor without a brake.

ON: Photocoupler ON Releases the brake.

OFF: Photocoupler OFF Applies the brake.

The /BK signal setting can be changed with parameter Pn817.

Parame- Signal Pin No. Settings Factory

ter Setting
Pn817 /BK CN1-27, 0: Photocoupler ON = Releases the brake 0
CN1-28 1: Photocoupler OFF = Releases the brake

Related Parameters

Pn506 Time Delay from Brake Reference until Servo OFF

Pn507 Speed Level for Brake Reference Output during Motor Operation
Pn508 Timing for Brake Reference Output during Motor Operation

5-11
5 Parameter Settings and Functions
5.2.3 Brake Interlock Output Signal (/BK)

„ Brake ON Timing
If the equipment moves slightly due to gravity when the brake is applied, set the following
parameter to adjust brake ON timing.

Pn506 Brake Reference Servo OFF Delay Time Unit: Setting Factory
10 ms Range: Setting:
0 to 50 0

This parameter is used to set the output time from the brake control signal /BK until the
servo OFF operation (servomotor output stop) when a servomotor with a brake is used.
/S-ON input Servo ON Servo OFF
(CN1-40)
Release
brake Hold with brake
/BK output
Servo-
Servo ON/OFF motor ON Servomotor OFF
(Servomotor
ON/OFF status)
Servo OFF
time delay

With the factory setting, the servo is turned OFF when the /BK signal (brake operation) is
output. The equipment may move slightly due to gravity depending on equipment configura-
tion and brake characteristics. If this happens, use this parameter to delay servo OFF timing.

This setting sets the brake ON timing when the servomotor is stopped. Use Pn507 and
Pn508 for brake ON timing during operation.

The servomotor will turn OFF immediately if an alarm occurs. The equipment may move due to grav-
IMPORTANT
ity in the time it takes for the brake to operate.

„ Holding Brake Setting

Set the following parameters to adjust brake ON timing so the holding brake is applied when
the servomotor stops.

Pn507 Brake Reference Output Speed Level Unit: Setting Factory

min-1 Range: Setting:
0 to 10,000 100
Pn508 Timing for Brake Reference Output Unit: Setting Factory
during Motor Operation 10 ms Range: Setting:
0 to 100 50

5-12
 5.2 Sequence I/O Signals

Set the brake timing used when the servo is turned OFF by input signal /S-ON (CN1-40) or
when an alarm occurs during servomotor with brake operation.

/S-ON input
Power OFF by Servo ON
/S-ON (CN1-40) Servo OFF
input or alarm
occurrence Stop by dynamic
brake or coast to a
Motor speed stop.(Pn001.0.)
(min-1)
Pn-507

Release
brake Hold with brake
/BK output
Pn508

Brake ON timing when the servomotor stops must be adjusted properly because servomotor
brakes are designed as holding brakes. Adjust the parameter settings while observing equip-
ment operation.

/BK Signal Output Conditions during Servomotor Operation

The circuit is open under either of the following conditions:

1
2
Motor speed drops below the setting at Pn507 after servo OFF.
The time set at Pn508 has elapsed since servo OFF.
5
The actual setting will be the maximum speed even if Pn507 is set higher than the maximum
speed.

5.2.4 Using the Servo Ready Output Signal (/S-RDY)

The basic use and wiring procedures for the Servo Ready (/S-RDY) output signal (photocou-
pler output signal) are described below.

Servo Ready signal means there are no servo alarms and the main circuit power supply is
ON, so the servo can be turned ON.

Power supply
SERVOPACK +24 V 0V

CN1-29 /S-RDY+
Photocoupler output per output
Maximum operating voltage: 30 V DC
Maximum output current: 50 mA DC CN1-30 /S-RDY-

Output → /S-RDY CN1-29, CN1-30 Servo Ready Output Signal

5-13
5 Parameter Settings and Functions
5.2.5 Using the Error/Warning Output Signal (/WARN)

This signal indicates the SERVOPACK received the Servo ON signal and completed all
preparations.

ON: Closed or low level Servo is ready.

OFF: Open or high level Servo is not ready.

The /S-RDY signal setting can be changed with parameter Pn818.

Parame- Signal Pin No. Settings Factory

ter Setting
Pn818 /S-RDY CN1-29, 0: Output closed = Servo Ready 0
CN1-30 1: Output open = Servo Ready

5.2.5 Using the Error/Warning Output Signal (/WARN)

The basic use and wiring procedure for the warning (/WARN) output signal (photocoupler
output signal) are given below.

The warning output is composed from the following /WARN signals: NS600 Error, Over-
load Warning, Regenerative Overload Warning, and Low Battery Voltage Warning.

Power supply
SERVOPACK +24 V 0V

CN1-25 /WARN+
Photocoupler output per output
Maximum operating voltage: 30 V DC CN1-26 /WARN-
Maximum output current: 50 mA DC

Output → /WARN CN1-25, CN1-26 Warning Output Signal

This output signal indicates an error or warning has occurred. If an error occurred, the output
will last for 2 seconds; if a warning occurred, the output will remain until the cause of the
warning has been eliminated.

OFF: Open or high level Normal operation

ON: Closed or low level Error or warning status
(Overload, Regenerative Overload, Low
Battery Voltage, or NS600 Error)

The /WARN output setting can be changed with parameter Pn816.

Parame- Signal Pin No. Settings Factory

ter Setting
Pn816 /WARN CN1-25, 0: Output closed = Error or warning 0
CN1-26 1: Output open = Error or warning

The following parameter is used to output warning details with an alarm code.

Pn001.3 Warning Code Output Selection Factory Setting:

0

5-14
 5.2 Sequence I/O Signals

Pn001.3 Description
Setting
0 Outputs alarm codes alone for alarm codes ALO1, ALO2 and ALO3.
1 Outputs both alarm and warning codes for alarm codes ALO1, ALO2 and
ALO3 and outputs an alarm code when an alarm occurs.

The following warning codes are output in 3 bits.

Warning Warning Code Output Warning Description

Indication ALO1 ALO2 ALO3
A.91 ON signal OFF signal OFF signal Overload
(low level) (high level) (high level)
A.92 OFF signal ON signal OFF signal Regenerative overload
(high level) (low level) (high level)
A.93 ON signal ON signal OFF signal Low battery voltage
(low level) (low level) (high level)

5.2.6 Using the Positioning Completed Output Signal (/INPOSITION)

Power supply
NS600 +24 V 0V

Photocoupler output per output CN4-19 /INPOSITION+

Maximum operating voltage: 30 V DC
Maximum output current: 50 mA DC CN4-20 /INPOSITION- 5

Output → /INPOSITION CN4-19, CN4-20 Positioning Completed Output Signal

This signal indicates that servomotor movement has been completed.

If positioning is canceled, this signal will be output when the motor stops, even if the motor
does not reach the target position.
Reference
speed
Motor speed
Speed

Pn821
Position error
/INPOSITION

ON: Circuit between CN4-19 and CN4-20 is Positioning is completed. (Position error is
closed. below the setting.)
OFF: Circuit between CN4-19 and CN4-20 is Positioning is not completed. (Position error
open. is above the setting.)

5-15
5 Parameter Settings and Functions
5.2.7 Using the Programmable Output Signals (/POUT0 to /POUT4)

The timing for output of the Positioning Completed Output can be adjusted by adjusting the
INPOSITION Width with parameter Pn821.

Pn821 /INPOSITION Width Unit: Setting Factory

Reference Range: Setting:
units 0 to 1
99,999

This parameter sets the output timing between completion of motor positioning and the out-
put of the positioning completed output (/INPOSITION).

Input the set value in reference units.

The positioning completed width setting has no effect on final positioning accuracy.

5.2.7 Using the Programmable Output Signals (/POUT0 to /POUT4)

The basic use and wiring procedure for the Programmable Outputs (/POUT0 to /POUT4) are
given below. The 5 Programmable Outputs can be changed by the user through the program
table’s POUT bits or the POUT serial command.

Power supply
NS600

Photocoupler output per output

Maximum operating voltage: 30 V DC
Maximum output current: 50 mA DC

Output → /POUT0+ CN4-21 Programmable Output 0

Output → /POUT0- CN4-22
Output → /POUT1+ CN4-23 Programmable Output 1
Output → /POUT1- CN4-24
Output → /POUT2+ CN4-25 Programmable Output 2
Output → /POUT2- CN4-26
Output → /POUT3+ CN4-27 Programmable Output 3
Output → /POUT3- CN4-28
Output → /POUT4+ CN4-29 Programmable Output 4
Output → /POUT4- CN4-30

5-16
 5.2 Sequence I/O Signals

Status of /POUT0 to /POUT4 Status

ON Output closed (low level)
OFF Output open (high level)

Parameters Pn811 to Pn815 set the output status for /POUT0 to /POUT4, as shown in the
following table.

Parame- Signal Pin No. Settings Factory

ter Setting
Pn811 /POUT0 CN4-21, CN4-22 0: Output closed = Active 0
Pn812 /POUT1 CN4-23, CN4-24 1: Output open = Active

Pn813 /POUT2 CN4-25, CN4-26

Pn814 /POUT3 CN4-27, CN4-28
Pn815 /POUT4 CN4-29, CN4-30

„ Setting the Initial Status of Programmable Output Signals (/POUT0 to

/POUT4)
The following parameter can be set to be inactive or to use ZONE signals as the initial status
(i.e., the status when the control power supply is turned ON or after resetting) of program-
mable output signals /POUT0 to /POUT4.

5
This function is supported for version 4 or later. The programmable output signals will initially be
INFO
inactive with version 3 or lower.

Parame- Name Unit Settings Factory

ter Setting
Pn835 ZONE Signal --- 0: /POUT0 to /POUT4 become inactive 0
Setting when the control power supply is turned
ON or after resetting.
1: /POUT0 to /POUT4 are operated as
ZONE signals when the control power
supply is turned ON or after setting.

5-17
5 Parameter Settings and Functions
5.2.8 Encoder Signal Outputs

5.2.8 Encoder Signal Outputs

The encoder signals can be used to monitor the servomotor’s speed and position. However,
the NS600 manages the servomotor’s speed and position so it isn’t necessary to use the
encoder signals to monitor the speed and position from the host controller.
These outputs
explained here.

SERVOPACK Host controller

(Servomotor) CN2 CN1

Encoder
Phase A
Serial data Frequency Phase B
PG dividing
circuit Phase C

The output circuit is for line-driver output. Connect each signal line according to the follow-
ing circuit diagram.
SERVOPACK Host controller
Line receiver
Phase A CN1-33 PAO R 2 3
Phase
P A
CN1-34 /PAO 1

Phase B CN1-35 PBO R 6 5

Phase
P B
CN1-36 /PBO 7

Phase C CN1-19
PCO R 10 11
Phase
P C
CN1-20 /PCO 9

8 C 16 Choke
coil
OV +5V
+5V
+
CN1-1 -
0V
Smoothing
0V capacitor
Connector shell Shield

P: represents twisted-pair wires. Applicable line receiver:

SN75175 manufactured
by Texas Instruments Inc., MC3486 or the equivalent.
R (terminator): 220 to 470 Ω
C (decoupling capacitor): 0.1 µF

„ I/O Signals
I/O signals are described below.

Output → PAO CN1-33 Encoder Output Phase A

Output → /PAO CN1-34 Encoder Output Phase /A
Output → PBO CN1-35 Encoder Output Phase B
Output → /PBO CN1-36 Encoder Output Phase /B
Output → PCO CN1-19 Encoder Output Phase C
Output → /PCO CN1-20 Encoder Output Phase /C
Output → SG CN1-1 Signal Ground

5-18
 5.2 Sequence I/O Signals

Output Phase Form

Forward rotation Reverse rotation

90° 90°

Phase A Phase A

Phase B Phase B

Phase C Phase C

t t

„ PG Divider Setting
Set the PG Divider in the following parameter.

Pn201 PG Divider Unit: Setting Factory Speed/Torque

P/R Range: Setting: Control, Posi-
16 to 16,384 16,384 tion Control

The number of output pulses per revolution is set at this parameter.

The setting range varies with the encoder used.

Setting Example Preset value: 16
PAO
PBO
One revolution
5
Servomotor Model Resolution Number of Encoder Setting Range
and Encoder (Bits) Pulses Per Revolution
Specifications (P/R)
A 13 2048 P/R 16 to 2048
B, 1 16 16384 P/R 16 to 16384
C, 2 17

There are two phases, the PAO and PBO phases, and both phases are output at the PG
divider so a resolution of the PG divider × 4 can be achieved if all of the edges of the PAO
and PBO signals are counted. For example, 64 rising and falling edges can be counted if the
PG divider is set to 16 pulses/revolution.

1. Turn the power OFF and then ON again after changing this parameter.
INFO
2. A 13-bit encoder will run at 2048 P/R even if the setting at Pn201 is set higher than 2049.

5-19
5 Parameter Settings and Functions

5.3 Absolute Encoders

If a motor with an absolute encoder is used, operation can be restarted without performing the
homing operation.

Motor SGM†H-†††1†···With 16-bit absolute encoder

SGM†H-†††2†···With 17-bit absolute encoder

Always detects
absolute position. Homing

Absolute encoder

WARNING
注意

• The output range of multiturn data for Σ-ΙΙ series absolute detection system differs from that for
conventional systems (15-bit encoder and 12-bit encoder). Specially, when “Infinite length position-
ing system” of conventional type is to be configured with Σ-ΙΙ series, be sure to make the following
system modification.

Absolute Output Range of Motion When Exceeds the Limit

Encoder Type Multiturn Data
Conventional −99,999 to +99,999 • When exceeds the upper limit (+99999) in the pos-
Types itive direction, the multiturn data is 0.
(12-bit and 15-bit) • When exceeds the lower limit (−99999) in the neg-
ative direction, the multiturn data is 0.
Σ-ΙΙ Series −32,768 to +32,767 • When exceeds the upper limit (+32767) in the pos-
(16-bit and 17-bit) itive direction, the multiturn data is −32768.*
• When exceeds the lower limit (−32768) in the neg-
ative direction, the multiturn data is +32767.*
* When the multiturn limit setting (Pn205) is changed, the motion differs.
Refer to 5.3.5 Multiturn Limit Setting.

5-20
 5.3 Absolute Encoders

5.3.1 Interface Circuit

The following diagram shows the standard connections for an absolute encoder mounted to a
servomotor.
SERVOPACK
CN1 CN2
1 H (1)
P G (2)
2.8 to 4.5 V 2
21 3 T (3)
+ P
- 22 4 P S (4)

C (5) PG
5 P D (6)
6

Connector shell J
Shield wire (shell)

P: represents twisted-pair wire.

5.3.2 Selecting an Absolute Encoder

Select the absolute encoder usage with the following parameter. 5

Pn002.2 Absolute Encoder Usage Factory Setting:
0

“0” in the following table must be set to enable the absolute encoder.

Pn002.2 Setting Contents

0 Use the absolute encoder as an absolute encoder.
1 Use the absolute encoder as an incremental encoder.

Note: This user definition goes into effect when the power is turned OFF
after the change has been made.

5.3.3 Handling Batteries

In order for the absolute encoder to retain position data when the power is turned OFF, the
data must be backed up by a battery. Provide the battery recommended below.

„ Installing the Battery at the Host Device (CN1-21, CN1-22)

Lithium battery, by Toshiba: ER6VC3, 3.6 V, 2,000 mAh

5-21
5 Parameter Settings and Functions
5.3.4 Absolute Encoder Setup (Initialization)

„ Battery Provided for SERVOPACK (CN8)

Lithium battery: JZSP-BA01 (includes battery and connector)

Battery: Toshiba, ER3 V, 3.6 V, 1,000 mAh

Battery carrying space

Battery connector (CN8)

PROHIBITED
禁止

• Install the battery at either CN1-21/CN1-22 or CN8. It is dangerous to install batteries at both
simultaneously, because that sets up a loop circuit between the batteries.

5.3.4 Absolute Encoder Setup (Initialization)

Perform the setup operation for the absolute encoder in the following circumstances:

• When starting the machine for the first time.

• When an encoder backup alarm is generated.
• When the SERVOPACK’s power supply is turned OFF and the encoder’s cable is
removed.

The absolute encoder can be set up using the Support Software, Digital Operator function
Fn008 (in the Auxiliary Function Mode), or the ABSPGRES serial command. For more
details, refer to B.2 Auxiliary Functions.

The absolute encoder setup operation is only possible when the servo is OFF. After the setup process-
INFO
ing is finished, turn the power back ON again.

5-22
 5.3 Absolute Encoders

5.3.5 Multiturn Limit Setting

When using an absolute encoder for a rotary system, such as for a disc table, set the multi-
turn limit1.

The multiturn limit is set in the SERVOPACK using the following parameter.

Pn205 Multiturn Limit Setting Unit: Setting Factory

rev Range: Setting:
0 to 65,535
65,535

For a machine that turns n times in response to m turns in the motor, set the value m-1 in
Pn205. The following equation, however, must be true: m − 1 ≤ 65,534

If the Multiturn Limit Setting is set to 65,535 (factory setting), the multiturn data will vary
from −32,768 to 32,767. If any other value is set, the multiturn data will vary from 0 to the
setting of Pn205.

• Variation of multiturn data when the multiturn limit value is 65,535 (factory setting).
+32767
Positive Negative
direction direction
Multiturn data
0

5
−32768 No. of rotations

• Variation of multiturn data when the multiturn limit value is other than 65,535 (fac-
tory setting).
Pn205 Positive Negative
set value direction direction

Multiturn data

0
No. of rotations

If the servomotor rotates in the negative direction from 0, the multiturn data will change to
the value set for Pn205. If the servomotor rotates in the positive direction from the value set
in Pn205, the multiturn data will change to 0. Set Pn205 to m-1.

INFO Turn the power OFF and then back ON after changing the setting of parameter Pn002.2 or Pn205.

The multiturn limit value in the Encoder is factory set to 65,535, the same as the
SERVOPACK. If the multiturn limit value in the SERVOPACK is changed with Pn205 and

TERMS 1 Multiturn Limit

The multiturn limit is the upper limit of the multiturn data. If Pn002.2 = 0, the multiturn data will vary
between 0 and the value set for Pn205 (Multiturn Limit Setting).

5-23
5 Parameter Settings and Functions
5.3.5 Multiturn Limit Setting

then the SERVOPACK power is turned OFF and ON, the following alarm will occur.

Alarm Name: Multiturn Limit Disagreement

Alarm Alarm Code Outputs Meaning of Alarm

Display ALO1 ALO2 ALO3
A.CC ON OFF ON The multiturn limit value is different in the
Encoder and SERVOPACK.

Note: ON signals are low level; OFF signals are high level.

If this alarm occurs, the multiturn limit in the encoder must be changed. This setting can be
changed with the Support Software, Digital Operator function Fn013 (the Auxiliary Func-
tion Mode), or the MLTLIMSET serial command.

The multiturn limit setting in the Encoder can be changed only when the Multiturn Limit Disagreement
INFO
alarm has occurred. After changing the setting, turn the power supply OFF and then back ON.

5-24
 5.3 Absolute Encoders

5.3.6 Absolute Encoder Zero Setting

Set the offset between the reference coordinates and the position of the absolute encoder as
the absolute encoder offset in parameter Pn81D.

Pn81D Absolute Encoder Offset Reference Setting Factory

Units Range: Setting:
−99,999,999 0
to
99,999,999

This setting can be changed with the Support Software’s Absolute Encoder Zero Setting,
ZSET serial command, Digital Operator function Fn809, or by setting the value calculated
with the following equation in Pn81D.

• The Support Software’s Absolute Encoder Zero Setting and Digital Operator function Fn809 are
INFO
supported only for version 4 or later.
• Turn the power supply OFF and then ON again after changing this parameter.

After changing parameter Pn202, Pn203, Pn205, or Pn81A to Pn81D, turn the control power OFF and
IMPORTANT
then ON again to enable the new setting.
5
The value for Pn81D can be calculated from the following equation.

Pn81D = Current setting of Pn81D + nnnnnnnn − Un804

Pn81D: Absolute Encoder Offset

nnnnnnnn: Desired position (Usually zero.)
Un804: Current position reference monitor

When using the linear moving method (Pn81A = 0), set the calculated value in Pn81D.
When using a rotary moving method (Pn81A ≠ 0), set the results in Pn81D after performing
the following calculations so that the following relationships are satisfied: Pn81C ≤ Pn81D ≤
Pn81B.

• If the results is smaller than Pn81C (the start limit of the rotational coordinates) add the
width of the coordinates (Pn81B − Pn81C + 1).
• If the results is larger than Pn81C (the end limit of the rotational coordinates) subtract
the width of the coordinates (Pn81B − Pn81C + 1).

Making the above setting will change the current position of the machine to nnnnnnnn.

5-25
5 Parameter Settings and Functions
5.4.1 Switching Servomotor Rotation Direction

5.4 Settings According to Device Characteristics

This section describes the procedure for setting parameters according to the dimensions and per-
formance of the equipment used.

5.4.1 Switching Servomotor Rotation Direction

The SERVOPACK has a Reverse Rotation Mode that reverses the direction of servomotor
rotation without rewiring. Forward rotation in the standard setting is defined as counter-
clockwise as viewed from the load.

With the Reverse Rotation Mode, the direction of servomotor rotation can be reversed with-
out changing other items. The direction (+, -) of shaft motion is reversed.

Standard Setting Reverse Rotation Mode

Forward Encoder output Encoder output
Reference from SERVOPACK from SERVOPACK
PAO (phase A) PAO (phase A)

PBO (phase B) PBO (phase B)

Reverse Encoder output

Encoder output
Reference from SERVOPACK from SERVOPACK
PAO (phase A) PAO (phase A)

PBO (phase B) PBO (phase B)

„ Setting Reverse Rotation Mode

Use parameter Pn000.0.

Pn000.0 Direction Selection Factory Setting:

0

Use the following settings to select the direction of servomotor rotation.

Setting Description
0 Forward rotation is defined as counterclock- (Standard setting)
wise (CCW) rotation as viewed from the load.
1 Forward rotation is defined as clockwise (Reverse Rotation Mode)
(CW) rotation as viewed from the load.

5-26
 5.4 Settings According to Device Characteristics

5.4.2 Setting the Overtravel Limit Function

The overtravel limit function forces movable equipment parts to stop if they exceed the
allowable range of motion.

„ Using the Overtravel Function

To use the overtravel function, connect the overtravel limit switch input signal terminals
shown below to the correct pins of the SERVOPACK CN1 connector.

→ Input P-OT CN1-42 Forward Run Prohibited

(Forward Overtravel)
→ Input N-OT CN1-43 Reverse Run Prohibited
(Reverse Overtravel)

Connect limit switches as shown below to prevent damage to the devices during linear
motion.
Reverse Forward rotation
rotation end end

Servomotor
Limit Limit
switch switch

P-OT
SERVOPACK
5
CN1-42

N-OT
CN1-43

Drive status with an input signal ON or OFF is shown in the following table.

P-OT ON Normal operating status.

(Input photocoupler ON) (Rotation allowed in both directions.)
OFF Forward run prohibited.
(Input photocoupler OFF) (Reverse rotation allowed.)
N-OT ON Normal operating status.
(Input photocoupler ON) (Rotation allowed in both directions.)
OFF Reverse run prohibited.
(Input photocoupler OFF) (Forward rotation allowed.)

5-27
5 Parameter Settings and Functions
5.4.2 Setting the Overtravel Limit Function

„ Changing the Input Signal Settings

The overtravel input signal settings can be changed with parameters Pn80C and Pn80D.

Parame- Signal Pin No. Settings Factory

ter Setting
Pn80C P-OT CN1-42 0: Photocoupler OFF = Forward OT Status (Forward run prohibited) 0
1: Photocoupler ON = Forward OT Status (Forward run prohibited)
2: Always Forward OT Status (Forward run is always prohibited.)
3: Forward run is always allowed and P-OT is not used.
Pn80D N-OT CN1-43 0: Photocoupler OFF = Reverse OT Status (Reverse run prohibited) 0
1: Photocoupler ON = Reverse OT Status (Reverse run prohibited)
2: Always Reverse OT Status (Reverse run is always prohibited.)
3: Reverse run is always allowed and N-OT is not used.

„ Servomotor Stop Mode for P-OT and N-OT Input Signals

Set the following parameter to specify the Servomotor Stop Mode when P-OT and N-OT
input signals are used.

Pn819 Overtravel Stop Mode Factory Setting:

0

After stopping
Stop Mode 0 Hold with
Overtravel dynamic brake
Pn001.0 = 0 or 1 Stop by
dynamic brake 1
Pn819 = 0 Coast status
2 Coast to a
stop Coast status

Pn819 = 1 Emergency
Servo lock
stop
Pn819 = 2 Decelerate to
a stop Servo lock

Parame- Name Setting Description

ter
Pn819 Overtravel Stop 0 Stops the servomotor the same way as turning
Mode the servo OFF (according to Pn001.0).
1 Stop the servomotor by emergency stop and
locks the servomotor.
2 Decelerates the servomotor to a stop and locks
the servomotor.
(Deceleration setting in parameter Pn820)

Set the deceleration rate with the deceleration time setting in Pn820.

Pn820 Decelera- Unit: Setting Factory Enabled

tion ×1,000 Reference Range: Setting: when Pn819
units/min/ms 1 to 1,000 = 2.
99,999,999

5-28
 5.4 Settings According to Device Characteristics

If the Servo turns OFF due to overtravel, the Servo will not turn ON even if the overtravel is released.
IMPORTANT
To turn ON the Servo, turn the /S-ON signal OFF and then ON or send the SVON serial command. If
parameter Pn80B is set to 2 to keep the Servo always ON, turn the power supply OFF and then ON
again.

„ Servo OFF Stop Mode Selection

The SGDH SERVOPACK turns OFF under the following conditions:

• Servo ON input signal (/S-ON) is turned OFF or a Servo OFF command (SVOFF) is
sent.
• Servo alarm occurs.
• The main power is turned OFF.

Specify the Stop Mode if any of these occurs during operation.

Pn001.0 Servo OFF or Alarm Stop Factory Setting:

Mode 0

Servo OFF After stopping

Stop Mode 0
The dynamic brake electrically applies
Pn001.0 = 0 or 1
Stop by
Hold with
dynamic brake a brake by using a resistor to consume
servomotor rotation energy.
5
dynamic brake
1
Coast status

Pn001.0 = 2
Coast to a stop Coast status

Parameter Setting Description

Pn001.0 0 Uses the dynamic brake to stop the servomotor, and maintains dynamic
(Factory brake status after stopping.
setting)
1 Uses the dynamic brake to stop the servomotor, and cancels dynamic
brake status after stopping to go into coast status.
2 Coasts the servomotor to a stop.
The servomotor is turned OFF and stops due to equipment friction.

Note: If the servomotor is stopped or rotating at extremely low speed when

the items above are set at 0 (dynamic brake status after stopping with
the dynamic brake), then braking power is not generated and the ser-
vomotor will stop the same as in coast status.

5-29
5 Parameter Settings and Functions
5.4.3 Setting Reference Units

5.4.3 Setting Reference Units

Reference units are the position and distance units that are used between the host controller
and NS600. A reference unit is the minimum unit for positioning. The electronic gear ratio
converts between reference units and encoder pulses.

When the Electronic Gear When the Electronic Gear

Function is Not Used Function is Used

Workpiece Workpiece Reference

unit: 1 µm

No. of encoder No. of encoder

pulses: 2,048 Ball screw pitch: Ball screw pitch:
6 mm (0.24 in) pulses: 2,048
6 mm (0.24 in)

To move a workpiece 10 mm (0.39 in): To move a workpiece 10 mm (0.39 in):

One revolution is 6 mm. Therefore, Equipment conditions and reference units
10 ÷ 6 = 1.6666 revolutions must be defined for the electronic gear function
2,048 × 4 pulses in one revolution. beforehand.
Therefore, Reference unit is 1 µm. Therefore,
1.6666 × 2,048 × 4 = 13,653 pulses.
13,653 pulses are input as references. 10 mm
= 10,000 pulses
The equation must be calculated at the host 1µ
controller.

„ Setting Procedure of the Reference Unit

Calculate the electronic gear ratio (B/A) using the following procedure, and set the values in
parameters Pn202 and Pn203.

1. Check equipment specifications.

Items related to the electronic gear:
• Deceleration ratio
• Ball screw pitch
• Pulley diameter

Ball screw pitch

Deceleration ratio

2. Check the number of encoder pulses.

Servomotor Model Encoder Type Number of Encoder Pulses Per Revolution

and Encoder (P/R)
Specifications
A Incremental encoder 13-bit 2,048
B 16-bit 16,384
C 17-bit 32,768
1 Absolute encoder 16-bit 16,384
2 17-bit 32,768
3 Single-turn data abso- 20-bit 262,144
lute encoder

5-30
 5.4 Settings According to Device Characteristics

3. Determine the reference unit to be used.

To move table in 0.001-mm units

Reference unit: 0.001 mm

Determine the reference unit according to

equipment specifications and positioning accuracy.

EXAMPLE • 0.01 mm (0.0004 in), 0.001 mm, 0.1°, or 0.01 inch.

A reference unit of one pulse moves the load by one reference unit.
• When the reference unit is 1 µm
If a reference of 50,000 pulses is input, the load moves 50 mm (1.97 in) (50,000 ×
1 µm).
4. Determine the load travel distance per load shaft revolution in reference units.

Travel distance per load shaft revolution (reference unit) = Travel distance per load shaft revolution
Reference unit

EXAMPLE • When the ball screw pitch is 5 mm (0.20 in) and the reference unit is 0.001 mm
5 - = 5000 (reference unit)
------------
0.001
5
Ball Screw Disc Table Belt and Pulley

Load shaft P Load shaft πD

D
P: Pitch
Load shaft D: Pulley diameter
P 360° πD
1 revolution = 1 revolution = 1 revolution =
Reference unit Reference unit Reference unit

B-
5. Electronic gear ratio is given as  ---
A .
n
If the decelerator ratio of the motor and the load shaft is given as ----
m
where m is the rotation of the motor and n is the rotation of the load shaft,

B = No. of encoder pulses × 4

Electronic gear ratio
Travel distance per load shaft revolution
× m
n
A
(reference unit)

Make sure the electronic gear ratio satisfies the following condition:
IMPORTANT
 B-
0.01 ≤ Electronic gear ratio  ---
A ≤ 100
The SERVOPACK will not work properly if the electronic gear ratio is outside this range. In this case,
modify the load configuration or reference unit.

6. Set the parameters.

5-31
5 Parameter Settings and Functions
5.4.3 Setting Reference Units

B-
Reduce the electronic gear ratio  ---
A to the lower terms so that both A and B are inte-
gers smaller than 65,535, then set A and B in the respective parameters.

Pn202 Electronic gear ratio

B (Numerator)
A Pn203 Electronic gear ratio
(Denominator)

This concludes the electronic gear ratio setting procedure.

Pn202 Electronic Gear Ratio Unit: Setting Factory

(Numerator) None Range: Setting:
1 to 65,535 4
Pn203 Electronic Gear Ratio Unit: Setting Factory
(Denominator) None Range: Setting:
1 to 65,535 1

Set the electronic gear ratio according to equipment specifications.

B
Electronic gear ratio  ---- = Pn202
----------------
A Pn203

• B = [(Number of encoder pulses) × 4] × [motor speed]

• A = [Reference units (travel distance per load shaft revolution)] × [load shaft revolution
speed]

INFO After changing parameter Pn202 or Pn203, turn the power OFF and then ON again to enable the new
setting.

5-32
 5.4 Settings According to Device Characteristics

„ Electronic Gear Setting Examples

The following examples show electronic gear settings for different load mechanisms.

Ball Screws
Reference unit: 0.001 mm
Load shaft
6 mm
Travel distance per load shaft revolution = = 6000
0.001 mm
13-bit Ball screw pitch: 6 mm (0.24 in)
incremental B = 2048 × 4 × 1 = P n202
Electronic gear ratio A 6000 × 1 P n203
encoder

Preset Values Pn202 8,192

Pn203 6,000

Circular Tables

Reference unit: 0.1°

Deceleration ratio: 3:1

Travel distance per load shaft revolution = 360° = 3600
Load shaft 0.1°
13-bit × ×
incremental Electronic gear ratio B = 2048 4 3 P n202
A 3600 × 1 P n203
encoder
5
Preset Values Pn202 24,576
Pn203 3,600

Belts and Pulleys

Reference unit: 0.02 mm (0.0008 in)

3.14 × 100 mm = 15,700

Travel distance per load shaft revolution =
Load shaft 0.02 mm
B = 16,384 × 4 × 2 = Pn202
Deceleration Electronic gear ratio
Pully diameter: A 15,700 × 1 Pn203
ratio: 2:1
φ100 mm
= 131,072 = 32,768
15,700 3925
Set a PG dividing ratio
equivalent to 16 bit for
the absolute encoder.

Preset Values Pn202 32,768

Pn203 3,925

5-33
5 Parameter Settings and Functions
5.4.3 Setting Reference Units

„ Setting the Speed

Calculate the Positioning Speed.
EXAMPLE • Reference unit: 0.01 mm (0.0004 in)
• Desired Positioning Speed: 15 m/min
15,000 mm/min
= 1,500,000 reference units/min
0.01 mm

Thus, the Positioning Speed setting is 1,500 [× 1,000 reference units/min].

Specify the Positioning Speed and Registration Speed in the program table in SPD and
RSPD.

Specify the Jog Speed in the Jog speed table in JSPD.

Specify the Positioning Speed and Registration Speed with the SPD and RSPD serial com-
mands. The SPD and RSPD commands can be omitted; in this case, the setting in the follow-
ing parameter will be used.

Pn81E Positioning/Registration Setting Range: Factory

Speed 1 to 99,999,999 Setting:
(× 1,000 reference units/min) 1,000

„ Setting the Acceleration, Deceleration, and S-curve Time

Calculate the Acceleration/Deceleration.
EXAMPLE • Reference unit: 0.01 mm (0.0004 in)
• Acceleration rate from 0 m/min to 15 m/min: 100 ms
15,000 mm/min
= 1,500,000 reference units/min
0.01 mm

1,500,000 reference units/min

= 15,000 reference units/min/ms
100 ms

Thus, the Acceleration setting is 15 [× 1,000 reference units/min/ms].

Use the parameters listed in the following table to set the acceleration rate, deceleration rate,
and S-curve time.

Pn81F Acceleration Setting Range: Factory

1 to 99,999,999 Setting:
(×1,000 reference units/min/ms) 1,000
Pn820 Deceleration Setting Range: Factory
1 to 99,999,999 Setting:
(×1,000 reference units/min/ms) 1,000
Pn208 S-curve Time Setting Range: Factory
0 to 6,400 (0.01 ms) Setting:
0

5-34
 5.4 Settings According to Device Characteristics

Speed reference
(before S-curve filtering)
Speed Speed
reference reference
Speed reference
V (after S-curve filtering)

Time t1 t2 t5 t3 t4 t6 Time

V [×1,000 reference units/min]

Acceleration
[ms]

V [×1,000 reference units/min]

Deceleration
[ms]

S-curve time = t5 - t2 = t6 - t4

5.4.4 Moving Mode and Coordinate Settings

Use the following parameters to set the moving mode and coordinates.

Parameter Name Unit Setting range Factory

Setting
Pn81A Moving Mode --- 0: Linear 0
1: Rotary (shortest path)
2: Rotary (forward) 5
3: Rotary (reverse)
Pn81B Linear Moving Method (Pn81A = 0): Reference −99,999,999 to 99,999,999 99,999,999
Forward Software Limit (P-LS) units
Rotary Moving Method (Pn81A ≠ 0):
End point of Rotational Coordinates
Pn81C Linear Moving Method (Pn81A = 0): Reference −99,999,999 to 99,999,999 −99,999,999
Reverse Software Limit (N-LS) units
Rotary Moving Method (Pn81A ≠ 0):
Starting point of Rotational Coordinates
Pn81D Incremental Encoder: Reference −99,999,999 to 99,999,999 0
Home Position (When homing has been com- units
pleted, the current position where the homing
operation stopped is changed to the position set
here.)
Absolute Encoder: Absolute Encoder Offset (Refer
to 5.3.6 Absolute Encoder Zero Setting.)

„ Linear Moving Method

When using the linear moving method such as with a ball screw, set Pn81A to 0 and set the
forward software limit in Pn81B (P-LS) and the reverse software limit in Pn81C (N-LS).

An error will occur if the positioning target position exceeds one of the software limits. An
error will also occur if +/−INFINITE is set for the target position (POS) in the program
table.

If the motor reaches a software limit during the JOG command or JOG speed table opera-
tion, the motor will stop at the deceleration rate set in Pn820.
5-35
5 Parameter Settings and Functions
5.4.4 Moving Mode and Coordinate Settings

If both Pn81B and Pn81C are set to 0, the software limit function will be disabled.

The software limit function is enabled after completion of homing. If, however, Pn823 is set
to 0 (no homing), the software limit function will be enabled when the control power supply
is turned ON. The software limit function will also be enabled as soon as the ZSET serial
command is executed.
Negative Software Limit Workpiece Positive Software Limit
(N-LS): Pn81C (P-LS): Pn81B

„ Rotary Moving Methods

When using a rotary moving method such as with a disc table, set Pn81A to 1 (shortest
path), to 2 (forward), or to 3 (reverse). Then set the end point of rotational coordinates in
Pn81B and the starting point of rotational coordinates in Pn81C. The software limit function
will be disabled.

If Pn81A is set to 1 (shortest path), the motor will rotate in the shortest direction (forward or
reverse) when the target position is specified as an absolute position.

If Pn81A is set to 2 (forward), the motor will always rotate in the forward direction when the
target position is specified as an absolute position.

If Pn81A is set to 3 (reverse), the motor will always rotate in the reverse direction when the
target position is specified as an absolute position.

If the target position is specified as an relative position, the motor will rotate in the specified
direction regardless of the setting of Pn81A.

EXAMPLE • Pn81B = +3599, Pn81C = 0 • Pn81B = +4999, Pn81C = −5000

Pn81B = +3599 Pn81C = 0 Pn81B = +4999 Pn81C = −5000

Starting Starting
point point

When using both a rotary moving method and absolute encoder, set the Multiturn Limit (Pn205). Refer
IMPORTANT
to 5.3.5 Multiturn Limit Setting.

5-36
 5.4 Settings According to Device Characteristics

5.4.5 Backlash Compensation

This parameter can be set to compensate for positioning offset caused by the backlash of
gears.

This function is supported for version 4 or later.

INFO

Pn836 Backlash Compensation Unit: Setting Factory

Reference Range: Setting:
units −1,000 to 0
1,000

Specify the direction for compensation with the sign and the quantity of the compensation
with a numeric value. If the sign is positive, compensation will be applied for forward posi-
tioning. If the sign is negative, compensation will be applied for reverse positioning. If the
setting is changed, the new setting will be enabled from the next positioning operation.

When using an incremental encoder, the final direction used in homing generally serves as
the reference direction and backlash compensation is applied in the opposite direction.

When using an absolute encoder, the initial direction of movement generally serves as the
reference direction and backlash compensation is applied in the opposite direction.
5
Even when compensation is applied, the compensation will not be indicated in the target
position monitor or any other monitor values. Only actual monitor positions will be indi-
cated.

5-37
5 Parameter Settings and Functions
5.4.6 Limiting Torques

Pn836 > 0 Pn836 < 0

Positioning
in Forward Reverse Machine Forward
Reverse Machine Forward
Direction

Motor Motor
Reference position position Reference
side side

Compensation Compensation
applied. not applied.

Positioning
in Reverse Reverse Machine Forward Reverse Machine Forward
Direction

Motor Motor
Reference position position Reference
side side
Compensation Compensation
not applied. applied.

5.4.6 Limiting Torques

The SGDH SERVOPACK can limit the maximum output torque to protect the equipment or
workpiece.

Maximum torque is limited to the values set in the following parameters. Set the torque lim-
its as a percentage of the rated torque.

Pn402 Forward Torque Unit: Setting Range: Factory Setting:

Limit % 0 to 800 800
Pn403 Reverse Torque Unit: Setting Range: Factory Setting:
Limit % 0 to 800 800

1. If the torque limit is set higher than the maximum torque of the servomotor, the maximum torque of
INFO
the servomotor is the limit.
2. The external torque limits (/P-CL and /N-CL) cannot be used when an NS600 is installed on an
SGDH SERVOPACK.

5-38
 5.5 Program Table

5.5 Program Table

5.5.1 Mode Switch Signal (/MODE 0/1)

If the /MODE 0/1 input signal is active, the mode is set to program table operation mode
(Mode 0). Parameter Pn803 sets the relationship between the signal’s ON/OFF status and its
active/inactive status.

Parame- Signal Pin No. Settings Factory

ter Setting
Pn803 /MODE 0/1 CN4-3 0: Photocoupler ON = Mode 0 0
1: Photocoupler OFF = Mode 0
2: Always Mode 0
3: Always Mode 1

EXAMPLE • Pn803 = 0
NS600
+24 V DC

Input signal closed: Mode 0

Input signal open: Mode 1

• Pn803 = 1 5
NS600
+24 V DC

Input signal open: Mode 0

Input signal closed: Mode 1

5-39
5 Parameter Settings and Functions
5.5.2 Input Signals for Program Table Operation

5.5.2 Input Signals for Program Table Operation

Set input signals with the following parameters.

Parame- Signal Pin No. Settings Factory

ter Setting
Pn804 /START-STOP CN4-5 0: Photocoupler ON = Program table operation start. 0
Photocoupler OFF = Program table operation stop.
1: Photocoupler OFF = Program table operation start.
Photocoupler ON = Program table operation stop.
2 or 3: Do not start program.
Pn805 /PGMRES CN4-7 0: Photocoupler OFF-to-ON = Cancel program. 0
1: Photocoupler ON-to-OFF = Cancel program.
2 or 3: Do not cancel program.
Pn806 /SEL0 CN4-9 0: Photocoupler ON = Active 0
Pn807 /SEL1 CN4-11 1: Photocoupler OFF = Active
2: Always Active
Pn808 /SEL2 CN4-13
3: Always Inactive
Pn809 /SEL3 CN4-15
Pn80A /SEL4 CN4-17
Pn833 /SEL5 CN4-41
Pn834 /SEL6 CN4-45

The wiring and parameter settings described in the table above are not necessary when pro-
INFO
gram table operations are performed with serial commands. The following table shows
which serial commands correspond to the various input signals.

Signal Corresponding Serial Command

/MODE 0/1 None (Mode switching is not necessary.)
/START-STOP Start: START ††† command (††† = 000 to 127)
Stop: STOP command
/SEL0 to /SEL6
Restart: START command
/PGMRES PGMRES command

5-40
 5.5 Program Table

5.5.3 Program Table Step Selection

Use the 7-bit selection signals (/SEL0 to /SEL6) to specify PGMSTEP 0 to 127.

PGMSTEP Selection Signal Status

/SEL6 /SEL5 /SEL4 /SEL3 /SEL2 /SEL1 /SEL0
0 --- --- --- --- --- --- ---
1 --- --- --- --- --- --- Active
2 --- --- --- --- --- Active ---
3 --- --- --- --- --- Active Active
4 --- --- --- --- Active --- ---
5 --- --- --- --- Active --- Active
6 --- --- --- --- Active Active ---
7 --- --- --- --- Active Active Active
8 --- --- --- Active --- --- ---
9 --- --- --- Active --- --- Active
10 --- --- --- Active --- Active ---
11 --- --- --- Active --- Active Active
12 --- --- --- Active Active --- ---
13 --- --- --- Active Active --- Active
14 --- --- --- Active Active Active --- 5
15 --- --- --- Active Active Active Active
16 --- --- Active --- --- --- ---

:
:

126 Active Active Active Active Active Active ---

127 Active Active Active Active Active Active Active

Note: The “---” symbols indicate an inactive input status and “Active” indi-
cates an active input status.

5-41
5 Parameter Settings and Functions
5.5.4 Program Table Settings

5.5.4 Program Table Settings

This section explains the program table settings.

If the edited program table is saved to flash memory, it will be saved even after the control
power supply is turned OFF. Execute one of the following methods to save the program
table to flash memory.

• The PGMSTORE serial command

• Save Program Table from the support software
• Digital Operation function Fn803

„ Program Table

PGMSTEP POS SPD RDST RSPD ACC* DEC* POUT EVENT LOOP NEXT
0
1
2
: : : : : : : : : : :
: : : : : : : : : : :
127
* ACC and DEC are supported for version 4 or later.

„ Program Table Functions

The following table shows the various program table functions.

Table 5.2 Program Table Functions

Item Function Description

PGMSTEP Program step Number of usable program steps: 128 (0 to 127)
The program step can be specified with NEXT.
POS Target position I +/−99,999,999 Relative position (travel distance) specification [reference units]
A +/−99,999,999 Absolute position specification [reference units]
+INFINITE: Jog forward operation (See note.)
-INFINITE: Jog reverse operation (See note.)
STOP: Stop (for use with +/-INFINITE operation)
-: No positioning specified (for POUT only)
(The factory setting is STOP.)
Note: The +INFINITE and -INFINITE settings can be used only when the rotary coordinates
have been set (Pn81A = 1, 2, or 3) or software limits are not being used (Pn81B = Pn81C
= 0). An error will occur if linear coordinates are being used or a software limit is
enabled.
SPD Positioning speed 1 to 99,999,999: Positioning speed [× 1,000 reference units/min]
(The factory setting is 1,000.)

5-42
 5.5 Program Table

Table 5.2 Program Table Functions (cont’d)

Item Function Description

RDST Registration dis- 0 to 99,999,999: Registration distance [reference units]
tance -: No registration
(The factory setting is “-” for no registration.)
Note: If the change of speed is performed using the +INFINITE and -INFI-
NITE settings, registration cannot be done. (See note 2.)
RSPD Registration speed 1 to 99,999,999: Registration speed [× 1,000 reference units/min]
(The factory setting is 1,000.)
ACC* Acceleration 1 to 99,999,999: Acceleration [× 1,000 reference units/min/ms]
“:”: Continue with acceleration specified in the most previously executed
program step.
If “:” is set for the first step in program operation, the last acceleration
enabled before the start of program operation (e.g., the acceleration in
Pn81F or the acceleration set with the ACC serial command) will be
used.
(The factory setting is “:”.)
DEC* Deceleration 1 to 99,999,999: Deceleration [× 1,000 reference units/min/ms]
“:”: Continue with deceleration specified in the most previously executed
program step.
If “:” is set for the first step in program operation, the last deceleration
enabled before the start of program operation (e.g., the deceleration in
Pn820 or the deceleration set with the DEC serial command) will be
used. 5
(The factory setting is “:”.)
POUT Programmable out- nnnnn n = N, A, Z,
put signals
/POUT0 N: Inactive
/POUT1 A: Active
/POUT2 Z: ZONE signal (ZONE table reference)
/POUT3
/POUT4 “:”: Continue specification used in the most
previously executed program step.
When execution of a step is started, the corresponding output signal (/POUT0 to /POUT4) is
output.If you want to output the signal at the end of the step, specify POUT as POS = “-” in the
next step.

5-43
5 Parameter Settings and Functions
5.5.4 Program Table Settings

Table 5.2 Program Table Functions (cont’d)

Item Function Description

EVENT Pass condition Set the condition to use to determine when the program step has been completed.
For example, with the factory setting of IT0, the pass condition is met 0 ms after /INPOSI-
TION becomes active.
When the pass condition is met, the PGMSTEP that was specified for NEXT will be executed
if the number of execution times specified for LOOP has been reached. If the number of exe-
cution times specified for LOOP has not been reached, execution is repeated again.

Settings:
I: /INPOSITION
N: NEAR

D Position reference distribution completed.

SELx (x = 0 to 6) Input signal (/SEL0 to /SEL6) active.
Note: Level detection is used, not edge detection.
Tn (n = 0 to 99,999) Time elapsed (ms) since the program step started.
: Continue the previously executed program step’s specification.

The I, N, D, and SELx parameters can be combined with Tn.

If n = 0, then including Tn will not change the results.

ITn Waits for n ms after INPOSITION becomes active.

NTn Waits for n ms after NEAR becomes active.
DTn Waits for n ms after DEN becomes active.
SEL x Tn Waits for n ms after SELx becomes active.
(The factory setting is IT0.)
Refer to 5.5.5 Examples of EVENT Conditions if necessary.
The following parameters set the INPOSITION and NEAR detection widths.
Pn821 INPOSITION Width Setting Factory Setting:
Range: 1
Pn822 NEAR Width
0 to 99,999

LOOP Number of execu- Specifies the number of execution of the program step.
tions Setting range: 1 to 99,999
(The factory setting is 1.)
Note: The NEXT parameter is referenced after the number of LOOP repetitions are completed.
The LOOP specification cannot apply to more than one PGMSTEP.
NEXT PGMSTEP to be 0 to 127 Jump to the specified PGMSTEP.
executed next END End program table operation. (Program table operation will be can-
celed.)
(The factory setting is END.)
* ACC and DEC are supported from version 4.
Note: 1. An error (E53E) will occur and program table operation will be stopped if a new position-
ing command is received during positioning. To restart, turn the /START-STOP signal
OFF and then ON again. The execution will be started from the next step when restarting.
2. When the target position (POS) is +INFINITE and -INFINITE and the registration dis-
tance (RDST) is “-”, the PGMSTEP can be switched to change the speed. In this case, the
motor will shift to the new speed. In all other cases, PGMSTEP cannot be switched to
change the speed and an error will occur (E53E) if an attempt is made to do so.

5-44
 5.5 Program Table

3. Program table settings can be changed only when program table operation is canceled.
Program table settings cannot be changed during program table operating or stopping
even if the PGMSTEP has not been executed and an error will occur (E5EE).

5.5.5 Examples of EVENT Conditions

The following figures show examples of EVENT conditions.

I IT2000
Reference speed Motor speed
Speed Speed

N Reference speed NTn t = 2,000 ms

Motor speed
Speed Speed

5
D DT2000 t = 2,000 ms
Speed Speed

SEL0 SEL0T2000
t = 2,000 ms
Speed Speed

/SEL0 /SEL0

t = 2,000 ms
T2000
Speed

t = 2,000 ms

Note: If t < t1, an error (E53E) will occur and program table operation will be stopped.

5-45
5 Parameter Settings and Functions
5.5.6 Program Table Operation

5.5.6 Program Table Operation

„ Starting and Stopping the Program

If the /START-STOP signal becomes active when program table operation has been can-
celed, /SEL0 to /SEL6 will be latched and the program will be executed from the PGM-
STEP specified with /SEL0 to /SEL6.

Speed

/START-STOP Canceled Operating

Latched

/SEL0 to /SEL6

If the /START-STOP returns to inactive status, the program will be stopped and the motor
will stop (positioning will be stopped).
Speed

Canceled Operating Stopped

/START-STOP

If the /START-STOP becomes active again while the program is stopped, the program (posi-
tioning) will be restarted. /SEL0 to /SEL6 will not be latched at this time.

Speed

/START-STOP Canceled Opera- Stopped Operating

ting

Latched Not latched

/SEL0 to /SEL6

5-46
 5.5 Program Table

The program will be restarted even if the motor is decelerating.

Speed

/START-STOP Canceled Operat- Stopped Operating

ing

„ Resetting the Program

The program will be cancelled if the /PGMRES signal becomes active while the program is
stopped (when the /PGMRES signal is on the rising edge and the /START-STOP signal is
inactive.)

5
/START-STOP Canceled Operating Stopped Canceled

/PGMRES
Rising edge

5.5.7 Status Changes in Program Table Operation

There are three different states for program table operation. The initial status is “canceled.”

Canceled

/PGMRES /START-STOP
rising edge with active (start)
/START-STOP When NEXT
inactive is "END"

/START-STOP inactive
Stopped Error Operating

/START-STOP active (restart)

5-47
5 Parameter Settings and Functions
5.5.7 Status Changes in Program Table Operation

The following table shows the status changes that can occur during program table operation.

Status /START-STOP /PGMRES Operation

Cancelled Active Active Start
or (Latch specified signal
Inactive Inactive
between /SEL0 and /SEL6.)
Operating Active Active Stop
(Started or restarted) or
Inactive Inactive

Stopped Active
Cancel
Inactive
Inactive

Active Active Restart

Inactive or
Inactive

Note: If the program table operation is restarted after it stopped because of an error, the PGMSTEP
in which the error occurred will be skipped and execution will be restarted from the PGM-
STEP specified by NEXT. (If the number of executions specified for LOOP has not been
reached, the LOOP will be executed again.)

5-48
 5.5 Program Table

5.5.8 Input Signal Timing Specifications for Program Table Operation

The following figures show the timing specifications of program table input signals.

/MODE0/1
/START-STOP

4 ms min. 0 ms min.

/PGMRES
/START-STOP

4 ms min. 4 ms min.

/START-STOP

/SEL0 to /SEL4

2 ms min. 4 ms min.

/SEL5, /SEL6
5
8 ms min. 0 ms min.

• When /SEL0 to /SEL6 are specified in EVENT

/SEL0 to /SEL4
/SEL5, /SEL6

/START-STOP
0 ms min.
6 ms min. 4 ms min., EVENT time max.

5-49
5 Parameter Settings and Functions
5.5.9 Response Times after Turning ON the /START-STOP Signal

5.5.9 Response Times after Turning ON the /START-STOP Signal

The response times after turning ON the /START-STOP signal are shown below.

/START-STOP
Motor movement
/INPOSITION
/POUT0 to 4
tM

tI

tP

Time Normal Under Special Conditions*

tM 2 ms min. to 6 ms max. 2 ms min. to 16 ms max.
tI 2 ms min. to 8 ms max. 2 ms min. to 14 ms max.
tp 2 ms min. to 6 ms max. 2 ms min. to 10 ms max.

* Special Conditions
• Program is stopped due to error.
• Previous positioning was stopped.
• Previous external latch is on standby.
• Overtravel status exists.

5-50
 5.5 Program Table

5.5.10 Program Table Examples

This section provides representative examples of program tables.

„ Simple Round-trip Operation

PGMSTEP POS SPD RDST RSPD ACC* DEC* POUT EVENT LOOP NEXT
0 I+200000 15000 - 1000 : : NNNNA IT2000 1 1
1 I−200000 30000 - 1000 : : NNNAN IT2000 2 0
* ACC and DEC are supported for version 4 or later.

PGMSTEP 0 PGMSTEP 1 PGMSTEP 1 PGMSTEP 0

LOOP = 1 LOOP = 2

2s 2s 2s

Speed

/START-STOP

/INPOSITION

/POUT0
5
/POUT1

„ Output /POUTx Signal for 2 Seconds after Positioning Completed

PGMSTEP POS SPD RDST RSPD ACC* DEC* POUT EVENT LOOP NEXT
0 I+200000 15000 - 1000 : : NNNNN IT0 1 1
1 - 15000 - 1000 : : ::::A T2000 1 2
2 I−200000 30000 - 1000 : : NNNNN IT0 1 3
3 - 30000 - 1000 : : :::A: T2000 1 4
4 I−200000 30000 - 1000 : : NNNNN IT0 1 5
5 - 30000 - 1000 : : ::A:: T2000 1 0
* ACC and DEC are supported for version 4 or later.

5-51
5 Parameter Settings and Functions
5.5.10 Program Table Examples

PGMSTEP 1 PGMSTEP 3 PGMSTEP 5

PGMSTEP 0 PGMSTEP 2 PGMSTEP 4 PGMSTEP 0

2s 2s 2s

Speed

/START-STOP

/INPOSITION

/POUT0

/POUT1

/POUT2

„ Using a /SELx Signal in an EVENT

PGMSTEP POS SPD RDST RSPD ACC* DEC* POUT EVENT LOOP NEXT
0 I+200000 15000 - 1000 : : NNNNA SEL0T2000 1 1
1 I−200000 30000 - 1000 : : NNNAN SEL1T2000 2 0

* ACC and DEC are supported for version 4 or later.

PGMSTEP 0 PGMSTEP 1 PGMSTEP 1 PGMSTEP 0

LOOP = 1 LOOP = 1 LOOP = 2

2s 2s 2s

Speed

/START-STOP
SEL0
SEL1
INPOSITION

POUT0
POUT1

5-52
 5.5 Program Table

„ Using a ZONE Table

PGMSTEP POS SPD RDST RSPD ACC* DEC* POUT EVENT LOOP NEXT
0 A+500000 30000 - 1000 : : ZZZZZ IT0 1 1
1 A+000000 30000 - 1000 : : ZZZZZ IT0 1 0

* ACC and DEC are supported for version 4 or later.

PGMSTEP 0 PGMSTEP 1 PGMSTEP 0 PGMSTEP 1 PGMSTEP 0

Speed

/START-STOP
/INPOSITION
/POUT0
/POUT1
/POUT2
/POUT3
/POUT4

ZONE Table
5
ZONEN ZONEP ZONEN ZONEP
0 0 0 16 +499995 +500004
1 +099995 +100004 17 0 0
2 +199995 +200004 18 0 0
3 0 0 19 0 0
4 +299995 +300004 20 0 0
5 0 0 21 0 0
6 0 0 22 0 0
7 0 0 23 0 0
8 +399995 +400004 24 0 0
9 0 0 25 0 0
10 0 0 26 0 0
11 0 0 27 0 0
12 0 0 28 0 0
13 0 0 29 0 0
14 0 0 30 0 0
15 0 0 31 0 0

5-53
5 Parameter Settings and Functions
5.5.10 Program Table Examples

„ Using a Positioning Table

PGMSTEP POS SPD RDST RSPD ACC* DEC* POUT EVENT LOOP NEXT
0 A+000000 30000 - 1000 : : AZZZZ IT0 1 END
1 A+100000 30000 - 1000 : : NZZZZ IT0 1 END
2 A+200000 30000 - 1000 : : AZZZZ IT0 1 END
3 A+300000 30000 - 1000 : : NZZZZ IT0 1 END
4 A+400000 30000 - 1000 : : AZZZZ IT0 1 END
* ACC and DEC are supported for version 4 or later.

PGMSTEP 0 PGMSTEP 1 PGMSTEP 2 PGMSTEP 3 PGMSTEP 4

Speed

/START-STOP
/SEL0
/SEL1
/SEL2
/INPOSITION
/POUT0
/POUT1
/POUT2
/POUT3
/POUT4

Zone Table

ZONEN ZONEP ZONEN ZONEP

0 0 0 16 +399000 +401000
1 −001000 +001000 17 0 0
2 +099000 +101000 18 0 0
3 0 0 19 0 0
4 +199000 +201000 20 0 0
5 0 0 21 0 0
6 0 0 22 0 0
7 0 0 23 0 0
8 +299000 +301000 24 0 0
9 0 0 25 0 0
10 0 0 26 0 0
11 0 0 27 0 0
12 0 0 28 0 0
13 0 0 29 0 0
14 0 0 30 0 0
15 0 0 31 0 0

5-54
 5.5 Program Table

„ Using the INFINITE Parameter

PGMSTEP POS SPD RDST RSPD ACC* DEC* POUT EVENT LOOP NEXT
0 +INFINITE 15000 - 1000 : : NNNNN T2000 1 1
1 +INFINITE 30000 - 1000 : : ::::: SEL0TO 1 2
2 STOP 30000 - 1000 : : ::::: IT0 1 3
3 A+400000 30000 - 1000 : : ::::: SEL1TO 1 0
* ACC and DEC are supported for version 4 or later.

PGMSTEP 0 PGMSTEP 2 PGMSTEP 0 PGMSTEP 2

PGMSTEP 1 PGMSTEP 3 PGMSTEP 1 PGMSTEP 3

2s 2s

Speed

/START-STOP
/SEL0
/SEL1
/INPOSITION

„ Using Registration 5
See 5.6 Registration for details on the Registration function.

PGMSTEP POS SPD RDST RSPD ACC* DEC* POUT EVENT LOOP NEXT
0 I+200000 30000 100000 15000 : : NNNNN IT0 1 1
1 I−200000 30000 100000 15000 : : ::::: IT0 1 0

* ACC and DEC are supported for version 4 or later.

PGMSTEP 0 PGMSTEP 1 PGMSTEP 0

Speed

/START-STOP
/RGRT
/INPOSITION

5-55
5 Parameter Settings and Functions
5.6.1 Registration Timing Specifications

5.6 Registration

Positioning is performed for the specified distance and specified speed from the position where
the /RGRT signal is latched.

Speed

Registration
Registration speed
distance
t

/RGRT

5.6.1 Registration Timing Specifications

The following figure shows the latch timing specifications.

30 µs max.

20 µs min. when Pn80F = 0

200 µs min. when Pn80F = 1

/RGRT

Latch operation

• Shifting to Registration Operation

8 ms max.
Speed

/RGRT

5.6.2 Registration Input Setting

Parameter Pn80F sets the logic for the /RGRT Registration Latch Signal.

Parame- Signal Pin No. Settings

ter
Pn80F /RGRT CN1-46 0: Photocoupler ON = Latch
1: Photocoupler OFF = Latch

5-56
 5.6 Registration

5.6.3 Registration Operation

If the /RGRT signal becomes active (latches) during positioning, operation will proceed
from the latch position to the registration distance only. The registration distance is specified
in RDST.

Speed

t
/START-STOP

/RGRT

Alarm E23E will occur when the registration distance is too short, i.e., when positioning will
move too far even if deceleration begins immediately. When alarm E23E occurs, the servo
will go OFF and the program will stop.
Speed

Servo turned
OFF by alarm
5
t
/START-STOP

/RGRT

ALM

The second and later latch signals are ignored.

Speed

t
/START-STOP

/RGRT

5-57
5 Parameter Settings and Functions
5.6.3 Registration Operation

The /RGRT latch signal can be input while the program is stopped.

Speed

Registration
targent position

/START
-STOP

/RGRT

The program can be stopped during Registration operation. The Registration operation will
be restarted if the program is restarted.
Speed

Registration
target position

/START
-STOP

/RGRT

5-58
 5.7 ZONE Table Settings

5.7 ZONE Table Settings

ZONE signals are signals that indicate regions defined in the ZONE table.
Outputs /POUT0 to /POUT4 must be specified as ZONE signals in order to use ZONE signals.

If the edited ZONE table is saved to flash memory, it will be saved even after the control power
supply is turned OFF. Execute one of the following methods to save the ZONE table to flash
memory.

• The ZONESTORE serial command

• Save ZONE Table from the support software
• Digital Operation function Fn804

Table 5.3 ZONE Table

ZONE ID ZONE N ZONE P Z4 Z3 Z2 Z1 Z0

0 ±nnnnnnnn ±nnnnnnnn --- --- --- --- ---
1 ±nnnnnnnn ±nnnnnnnn --- --- --- --- Active
2 ±nnnnnnnn ±nnnnnnnn --- --- --- Active ---
3 ±nnnnnnnn ±nnnnnnnn --- --- --- Active Active
4 ±nnnnnnnn ±nnnnnnnn --- --- Active --- ---
5 ±nnnnnnnn ±nnnnnnnn --- --- Active --- Active
6
7
±nnnnnnnn
±nnnnnnnn
±nnnnnnnn
±nnnnnnnn
---
---
---
---
Active
Active
Active
Active
---
Active
5
8 ±nnnnnnnn ±nnnnnnnn --- Active --- --- ---
9 ±nnnnnnnn ±nnnnnnnn --- Active --- --- Active
10 ±nnnnnnnn ±nnnnnnnn --- Active --- Active ---
11 ±nnnnnnnn ±nnnnnnnn --- Active --- Active Active
12 ±nnnnnnnn ±nnnnnnnn --- Active Active --- ---
13 ±nnnnnnnn ±nnnnnnnn --- Active Active --- Active
14 ±nnnnnnnn ±nnnnnnnn --- Active Active Active ---
15 ±nnnnnnnn ±nnnnnnnn --- Active Active Active Active
16 ±nnnnnnnn ±nnnnnnnn Active --- --- --- ---
17 ±nnnnnnnn ±nnnnnnnn Active --- --- --- Active
18 ±nnnnnnnn ±nnnnnnnn Active --- --- Active ---
19 ±nnnnnnnn ±nnnnnnnn Active --- --- Active Active
20 ±nnnnnnnn ±nnnnnnnn Active --- Active --- ---
21 ±nnnnnnnn ±nnnnnnnn Active --- Active --- Active
22 ±nnnnnnnn ±nnnnnnnn Active --- Active Active ---
23 ±nnnnnnnn ±nnnnnnnn Active --- Active Active Active
24 ±nnnnnnnn ±nnnnnnnn Active Active --- --- ---
25 ±nnnnnnnn ±nnnnnnnn Active Active --- --- Active
26 ±nnnnnnnn ±nnnnnnnn Active Active --- Active ---
27 ±nnnnnnnn ±nnnnnnnn Active Active --- Active Active
28 ±nnnnnnnn ±nnnnnnnn Active Active Active --- ---

5-59
5 Parameter Settings and Functions

Table 5.3 ZONE Table (cont’d)

ZONE ID ZONE N ZONE P Z4 Z3 Z2 Z1 Z0

29 ±nnnnnnnn ±nnnnnnnn Active Active Active --- Active
30 ±nnnnnnnn ±nnnnnnnn Active Active Active Active ---
31 ±nnnnnnnn ±nnnnnnnn Active Active Active Active Active

Note: 1. The “---” symbols indicate inactive signal status.

2. ZONE ID: ZONE Number
ZONE N: Negative side ZONE boundary position
ZONE P: Positive side ZONE boundary position
Z0 to Z4: If the programmable output signals (/POUT0 to /POUT4) are specified as
ZONE signals, /POUT0 = Z0, /POUT1 = Z1, /POUT2 = Z2, /POUT3 = Z3, and /POUT4 =
Z4.
3. The status of outputs Z0 to Z4 is determined by the ZONE ID.
4. The programmable output signals (/POUT0 to /POUT4) must be specified as ZONE sig-
nals (“Z”). For example if POUT = ZAZZN, then signals Z1, Z2, and Z4 will be output
from programmable outputs /POUT1, /POUT2, and /POUT4.

ZONE Signal Conditions

• When ZONEN ≤ ZONEP, the motor position is within range when ZONEN ≤ motor
position ≤ ZONEP.
• When ZONEN > ZONEP, the motor position is within range when the motor position ≥
ZONEN or the motor position ≤ ZONEP.

EXAMPLE
ZONEN = +11000 0 ZONEP = +1000

• When the motor position is within range for two or more zones, only the lowest ZONE
ID will be effective.
• If the motor position is not within range of any zones, signals Z0 to Z4 will all be inac-
tive.
• A ZONE ID will be disabled if ZONEN = ZONEP = 0 is set for that zone.

5-60
 5.7 ZONE Table Settings

„ Setting the Initial Status of Programmable Output Signals (/POUT0 to

/POUT4)
The following parameter can be set to use ZONE signals as the initial status (i.e., the status
when the control power supply is turned ON or after resetting) of the programmable output
signals /POUT0 to /POUT4.

This function is supported for version 4 or later. For version 3 or earlier, /POUT0 to /POUT4 will be
INFO
inactive after the control power supply is turned ON or a reset is performed.

Parame- Name Unit Settings Factory

ter Setting
Pn835 ZONE --- 0: /POUT0 to /POUT4 will be inactive after 0
Signal the control power supply is turned ON or
Setting after resetting.
1: /POUT0 to /POUT4 are operated as
ZONE signals when the control power
supply is turned ON or after resetting.

5-61
5 Parameter Settings and Functions
5.8.1 Mode Switch Signal (/MODE 0/1)

5.8 Homing/Jog Speed Table Mode

5.8.1 Mode Switch Signal (/MODE 0/1)

If the /MODE 0/1 input signal is inactive, the mode is set to Mode 1 (homing/jog speed table
operation mode). Parameter Pn803 sets the relationship between the signal’s ON/OFF status
and its active/inactive status.

Parameter Signal Pin No. Settings Factory

Setting
Pn803 /MODE 0/ CN4-3 0: Photocoupler OFF = Mode 1 0
1 1: Photocoupler ON = Mode 1
2: Always Mode 0
3: Always Mode 1

EXAMPLE • Pn803 = 1
NS600
DC +24 V CN4-1

/MODE 0/1 CN4-3

Input signal closed: Mode 1

Input signal open: Mode 0

• Pn803 = 0
NS600
DC +24 V CN4-1

/MODE 0/1 CN4-3

Input signal open: Mode 1

Input signal closed: Mode 0

5-62
 5.8 Homing/Jog Speed Table Mode

5.8.2 Homing/Jog Speed Table Input Signals

The input signals are set with the parameters shown in the following table.

Param- Signal Pin No. Settings Factory

eter Setting
Pn804 /HOME CN4-5 0 = Photocoupler ON = Homing Start 0
1 = Photocoupler OFF = Homing Start
2 = Always active
3 = Always inactive
Pn80E /DEC CN1-44 0 = Photocoupler ON = Homing Deceleration Start 0
1 = Photocoupler OFF = Homing Deceleration Start
2 = Always homing Deceleration
3 = No homing Deceleration
Pn805 /JOGP CN4-7 0 = Photocoupler ON = Jog Forward 0
1 = Photocoupler OFF = Jog Forward
2 = Always active
3 = Always inactive
Pn806 /JOGN CN4-9 0 = Photocoupler ON = Jog Reverse 0
1 = Photocoupler OFF = Jog Reverse
2 = Always active
3 = Always inactive
Pn807 /JOG0 CN4-11 0 = Photocoupler ON = Active 0
Pn808 /JOG1 CN4-13 1 = Photocoupler OFF = Active 0
5
2 = Always active
Pn809 /JOG2 CN4-15 0
3 = Always inactive
Pn80A /JOG3 CN4-17 0

5-63
5 Parameter Settings and Functions
5.8.3 Parameters Related to Homing

5.8.3 Parameters Related to Homing

Set the homing parameters with the parameters listed in the following table.

Parame- Name Settings Unit Factory

ter Setting
Pn81D Home Position* −99,999,999 to Reference units 0
99,999,999
Pn823 Homing Method 0 = No Homing --- 0
1 = /DEC and phase C
2 = /DEC only
3 = Phase C only
Pn824 Homing Direction 0 = Forward --- 0
1 = Reverse
Pn825 Homing Moving Speed 0 to 99,999,999 ×1,000 Reference 1,000
units/min
Pn826 Homing Approach Speed 0 to 99,999,999 ×1,000 Reference 1,000
units/min
Pn827 Homing Creep Speed 0 to 99,999,999 ×1,000 Reference 1,000
units/min
Pn828 Homing Final Moving −99,999,999 to Reference units 0
Distance 99,999,999

* After having completed homing, the current position where homing

stopped will be switched to the setting of Pn81D.

5-64
 5.9 Homing Operation

5.9 Homing Operation

Homing starts when the /HOME signal becomes active.

Homing stops if the /HOME signal becomes inactive again.

If the /HOME signal becomes active again while the homing operation is stopped, homing will
be restarted from the point where it was interrupted.

The homing operation will be cancelled if operation is switched to Jog Speed Table Mode with
the /JOGP signal or /JOGN signal or the mode is switched with the /MODE 0/1 signal while the
homing operation is stopped.

When parameter Pn823 = 0 (No Homing), homing will end as soon as the control power supply
is turned ON or the RES command is executed.

The smaller of the settings in parameter Pn81F (Acceleration) and Pn820 (Deceleration) will be
used as the homing acceleration and deceleration rate.

• Mode 1 (Pn823 = 1: /DEC and phase C)

Pn825 Homing Moving Speed

Pn824 = 0: Forward Pn826 Homing Approach Speed

Pn827 Homing Creep Speed
Pn828 Homing Final Move 5
Distance

Encoder's phase C
(First phase-C input after/DEC signal
went from inactive to active)
4 ms min.

• Mode 2 (Pn823 = 2: /DEC only)

Pn826 Homing Approach Speed

Pn827 Homing Creep Speed

Pn824 = 0: Forward Pn828 Homing Final Move
Distance

Encoder's phase C
20 µs min. when Pn80E = 0
200 µs min. when Pn80F = 1

• Mode 3 (Pn823 = 3: phase C only)

Pn826 Homing Approach Speed

Pn827 Homing Creep Speed

Pn824 = 0: Forward Pn828 Homing Final Move
Distance

Encoder's phase C

5-65
5 Parameter Settings and Functions
5.10.1 Example of Jog Speed Table Operation

5.10 Jog Speed Table Operation

The /JOGP signal selects forward operation and the /JOGN signal selects reverse operation.

The /JOG0 to /JOG3 signals select the speed.

5.10.1 Example of Jog Speed Table Operation

The following diagram shows an example of Jog Speed Table operation.

JSPD4
JSPD12
JSPD5
JSPD13
JSPD7
JSPD15
Speed JSPD6
JSPD1
JSPD2
JSPD10
JSPD3
JSPD11
JSPD1
JSPD9
JSPD0
JSPD8

JSPD8
/JOGP

/JOGN

/JOG0

/JOG1

/JOG2

/JOG3

Fig. 5.1 Jog Speed Table Operation

5-66
 5.10 Jog Speed Table Operation

5.10.2 Jog Speed Table

A total of 16 speeds can be set for JSPD0 to JSPD15. If the edited jog table is saved to flash
memory, it will be saved even after the control power supply is turned OFF. Execute one of the
following methods to save the jog table to flash memory.

• The JSPDSTORE serial command

• Save Jog Speed Table from the support software
• Digital Operation function Fn805

JSPD Jog Speed Selection Signals

(JSPD) /JOG3 /JOG2 /JOG1 /JOG0
0 nnnnnnnn --- --- --- ---
1 nnnnnnnn --- --- --- Active
2 nnnnnnnn --- --- Active ---
3 nnnnnnnn --- --- Active Active
4 nnnnnnnn --- Active --- ---
5 nnnnnnnn --- Active --- Active
6 nnnnnnnn --- Active Active ---
7 nnnnnnnn --- Active Active Active
8 nnnnnnnn Active --- --- ---
9 nnnnnnnn Active --- --- Active 5
10 nnnnnnnn Active --- Active ---
11 nnnnnnnn Active --- Active Active
12 nnnnnnnn Active Active --- ---
13 nnnnnnnn Active Active --- Active
14 nnnnnnnn Active Active Active ---
15 nnnnnnnn Active Active Active Active
Note: 1. The “---” symbols indicate inactive signal status.
2. JSPD: Jog speed number
/JOG0 to /JOG3: Selection signals
Jog speed: Speed setting
Setting range: 1 to 99,999,999 (×1,000 Reference units/min)
Factory setting: 1,000

5-67
5 Parameter Settings and Functions
5.10.3 Input Conditions for Homing and Jog Speed Table Operation

5.10.3 Input Conditions for Homing and Jog Speed Table Operation

The following table shows the functions of the signals related to homing and jog speed table
operation.

/HOME /JOGP /JOGN Operation

Active
Start or restart
Inactive Inactive
homing
Inactive

Active Jog forward

Inactive Inactive
Inactive

Active Jog reverse

Inactive Inactive
Inactive

Stop
Inactive Inactive Inactive

Active Active Stop

Inactive

Active Active Stop

Inactive

Active Active Stop

Inactive

Active Active Active Stop

5-68
 5.10 Jog Speed Table Operation

5.10.4 Input Signal Timing Specifications for Homing and Jog Speed Table

The following figures show the timing specifications of input signals for homing and jog
speed table operation.

/MODE0/1
/HOME

4 ms min. 0 ms min.

/MODE0/1
/JOGP

4 ms min. 0 ms min.

/MODE0/1
/JOGN

4 ms min. 0 ms min.

/HOME
/JOGP
/JOGN 5
4 ms min. 4 ms min.

5-69
 6
Serial Command Communications

This chapter explains the NS600’s serial command capabilities.

6.1 CN6 Connector Specifications - - - - - - - - - - - - - - - - - - - - - - 6-2

6.2 Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-3
6.2.1 Block Diagram - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-3
6.2.2 Setting the Axis Address - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-3
6.2.3 Parameters Related to Serial Communications - - - - - - - - - - - - - - - - - 6-4
6.2.4 Monitors Related to Serial Communications - - - - - - - - - - - - - - - - - - - 6-4

6.3 Command/Response Format - - - - - - - - - - - - - - - - - - - - - - - 6-5

6
6.4 Global Commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-6
6.5 Echoback Response Time - - - - - - - - - - - - - - - - - - - - - - - - - 6-7
6.6 Response Data Details - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-8
6.6.1 Positive Responses - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-8
6.6.2 Negative Responses - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-8

6.7 Serial Commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-9

6.7.1 Basic Operation Commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-9
6.7.2 Control Commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-10
6.7.3 Parameter Edit Commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-24
6.7.4 Program Table Setup Commands - - - - - - - - - - - - - - - - - - - - - - - - - 6-26
6.7.5 Program Table Operation Commands - - - - - - - - - - - - - - - - - - - - - - 6-30
6.7.6 Zone Table Setup Commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-31
6.7.7 Jog Speed Table Setup Commands - - - - - - - - - - - - - - - - - - - - - - - - 6-32
6.7.8 Monitor and Auxiliary Function Commands - - - - - - - - - - - - - - - - - - 6-33

6-1
6 Serial Command Communications

6.1 CN6 Connector Specifications

The following table shows the specifications of the CN6 connector.

Item Specifications
Interface Full duplex (RS-422, RS-485, or RS-232C*) or half duplex (RS-485)
(Set the appropriate wiring method with parameter Pn800.)
Synchronization Start-stop synchronization (ASYNC)
Bit Rate 9,600, 19,200, or 38,400 bps
(Selectable with parameter Pn801.)
Start Bits 1 bit
Data Bits 7 bits, ASCII
Parity 1 bit, even parity
Stop Bits 1 bit
X-ON/X-OFF Control No
DTR/DSR Control No
RTS/CTS Control No
Echoback Each character, Each command, or None
(Selectable with parameter Pn800.)

* The /TXD signal voltages output from the NS600 are the TTL levels (5 V
maximum).

Data Configuration

Character string

Stop bit
Start bit Even parity
Data

6-2
 6.2 Settings

6.2 Settings

This section explains the settings for the NS600’s serial commands.

6.2.1 Block Diagram

The following block diagram shows the basic connections for multi-axis control.
Host
controller
#1 #2

SGDH SGDH
CN6 CN6

M M
Up to 16 axes can be connected.
For details on wiring, see 3.2 Serial Command Communications Connector (CN6).

Initial Settings
• Axis address
• Protocol
• Bit rate

6.2.2 Setting the Axis Address

Set the axis number on the ADRS rotary switch. Up to 16 axes can be connected (0 to 9 and
6
A to F).

ADRS

6-3
6 Serial Command Communications
6.2.3 Parameters Related to Serial Communications

6.2.3 Parameters Related to Serial Communications

The following table shows the parameters that set the communications protocol, bit rate, and
“OK” response.

Parame- Function Settings Factory

ter Setting
Pn800 Protocol 0: Full-duplex wiring 1
1: Full-duplex wiring, Echoback each character
2: Half-duplex wiring, delimiter CR
3: Half-duplex wiring, delimiter CR, Echoback each char-
acter
4: Half-duplex wiring, delimiter CR, Echoback each com-
mand
5: Half-duplex wiring, delimiter CR LF
6: Half-duplex wiring, delimiter CR LF, Echoback each
character
7: Half-duplex wiring, delimiter CR LF, Echoback each
command
Pn801 Bit rate 0: 9,600 bps 0
1: 19,200 bps
2: 38,400 bps
Pn802 Response 0: Disables response “OK.” 1
“OK” 1: Enables response “OK.”

6.2.4 Monitors Related to Serial Communications

Serial communications can be checked by using Un80D to Un811 on the Digital Operator or
the Serial Command Monitor in SigmaWin+. Use these when troubleshooting problems with
communications.

Monitor Num- Monitor Contents Reference

ber
Un80D Serial command received character trace 7.6 Operation during
Monitor Display
Un80E Serial command received character count
Un80F Serial command received error character count
Un810 Serial command transmitted character trace
Un811 Serial command transmitted character count

6-4
 6.3 Command/Response Format

6.3 Command/Response Format

The following diagram shows the command/response format.

Command (Host controller → NS600) Response (Host controller ← NS600)

Axis no. Command character string Delimiter Axis no. Response character string Delimiter

Example: Example:
1SVON [CR] 1OK [CR] [LF]
2SVON [CR] 2OK [CR] [LF]
1POS10000 [CR] 1OK [CR] [LF]
2POS10000 [CR] 2OK [CR] [LF]
1ST [CR] 1OK [CR] [LF]
2ST [CR] 2OK [CR] [LF]
1PUN [CR] 1PUN = +00004567 [CR] [LF]
2PUN [CR] 2PUN = -00002345 [CR] [LF]

Note: When full-duplex wiring is being used, either [CR] or Note: The response’s delimiter is always [CR] [LF].
[CR] [LF] can be used as the delimiter. Alphabetical characters in the response are always upper-
When half-duplex wiring is being used, the delimiter case.
can be set to either [CR] or [CR] [LF] with parameter
Pn800.
In both cases, [CR] [LF] will be returned as the echo-
back.
Upper-case and lower-case characters can be used in
the command (including the axis number) and are
treated the same. 6
Note: In ASCII, the [CR] character is 0D Hex and the [LF] character is 0A
Hex.

To maximize communications reliability, confirm the echoback and responses to each command while
IMPORTANT
communicating with the NS600. When the echoback and responses are not being confirmed, commu-
nications reliability can be improved by reading the status when appropriate.

6-5
6 Serial Command Communications

6.4 Global Commands

Global commands are commands that are sent to all axes at the same time.

Command (Host controller → NS600) Response (Host controller ← NS600)

“*” Command character string Delimiter

Example: No response returned.

*SVON [CR]
*ST [CR]
*PUN [CR]

The axis number setting “*” is the global address and ad-
dresses all axes.
No echoback or response is returned when the global ad-
dress is used.

When global commands are used, communications reliability can be improved by reading the status
IMPORTANT
when appropriate.

6-6
 6.5 Echoback Response Time

6.5 Echoback Response Time

The following diagram shows the response time from the command transmission until the echo-
back.

Stop bit
Command
tE
High impedance High impedance
Echoback

Start bit

Pn800 (Protocol) Settings tE Min. tE Max.

1: Full-duplex wiring, Echoback each character
1 1
− 100 µs +
Bit rate × 2 Bit rate × 2

(Centered at the command stop bit)

3: Half-duplex wiring, delimiter CR, Echoback each
1 1
character 250 µs − 600 µs +
Bit rate × 2 Bit rate × 2
4: Half-duplex wiring, delimiter CR, Echoback each
command
6: Half-duplex wiring, delimiter CR LF, Echoback
each character
7: Half-duplex wiring, delimiter CR LF, Echoback
each command

• Echoback response time when Pn800 = 1 (9,600 bps):

EXAMPLE
6
tE min. = − 1 = − 1 = −52 µs
Bit rate × 2 9,600 × 2

When using half-duplex wiring, the host controller must set the line driver to high-impedance within
IMPORTANT
the tE min. response time.

6-7
6 Serial Command Communications
6.6.1 Positive Responses

6.6 Response Data Details

There are positive responses and negative responses. The positive response indicates normal
operation and the negative response indicates an error.

6.6.1 Positive Responses

There two kinds of positive responses, responses that return data (for commands such as
PRM) and responses that do not return data (for commands such as SVON).

For commands that require data to be returned, see the description of the individual com-
mand for details on the structure of the response’s character string.

For commands that do not require data to be returned, the positive response is “OK” unless
parameter Pn802 is set to 0. If Pn802 = 0, there is no response.

Structure of the Response “OK”

OK [SP] [SP] [SP] [SP] [SP] [SP] [SP] [SP] [SP] [CR] [LF]

Note: The ASCII values for these special characters are 20 Hex for [SP],
0D Hex for [CR], and 0A Hex for [LF].

6.6.2 Negative Responses

There will be no response if one of the following errors is detected: a parity error (E48E),
framing error (E49E), or overrun error (E4AE). Furthermore, there will be no response to a
global command or a command with an incorrect axis number.

In all other cases, a negative response will be returned if an error is detected.

Structure of the Negative Response

Undefined Command Error E56E [SP] ERR [SP] SN [CR] [LF]

Address Out-of-range Error E57E [SP] ERR [SP] PN [CR] [LF]
Data Out-of-range Error E58E [SP] ERR [SP] OV [CR] [LF]
Other Errors ExxE [SP] [SP] [SP] [SP] [SP] [SP] [SP] [CR] [LF]
(The xx is the error number.)

Note: The ASCII values for these special characters are 20 Hex for [SP],
0D Hex for [CR], and 0A Hex for [LF].

6-8
 6.7 Serial Commands

6.7 Serial Commands

The axis number and delimiter are attached to actual serial commands, but are omitted here.

Some data in responses (such as parameters, table numbers, and monitored data) is expressed
numerically. The sign and the number of digits are correct in the numerical data shown in these
examples, but the sign and number of digits will vary in actual applications.

6.7.1 Basic Operation Commands

The following table shows the basic operation commands.

Table 6.1 Basic Operation Commands

Serial Command Function Positive Response (Normal Response)

SVON Servo ON OK
Supplies power to the motor.
This command is the same as turning ON
the /S-ON signal.
SVOFF Servo OFF OK
Stops the power supply to the motor.
This command is the same as turning
OFF the /S-ON signal.
ARES Alarm Reset The response “OK” will be returned when the alarm has
Clears the alarm. been cleared. The alarm code will be returned if the alarm
remains uncleared.
ALM [SP] A. xx [SP] [CR] [LF]
(The xx is the SGDH alarm code.) 6
ALM [SP] E xxA [SP] [CR] [LF]
(The xx is the NS600 alarm code.)
RES Reset OK
This command is the same as turning the
control power supply OFF and then ON
again.

6-9
6 Serial Command Communications
6.7.2 Control Commands

6.7.2 Control Commands

The following table shows the control commands.

Table 6.2 Control Commands

Serial Command Function Positive

Response
POS (±) Target Position Reservation (Absolute Position) OK
nnnnnnnn
POSA (±) Setting range: −99,999,999 ≤ nnnnnnnn ≤ +99,999,999 [Reference units]
nnnnnnnn Specifies the target position as an absolute position.
(The + sign can
be omitted.) Speed SPDx
POSy or POSz or
POSAy POSAz
ST ST ST

* When the target position is an

absolute position, the axis will not
travel if the same positioning is
X repeated with ST.

Position coordinate

Note: If a new target position is specified during positioning, the new target position will be
used in the next ST command.
POSI (±) Target Position Reservation (Relative Position) OK
nnnnnnnn
(The + sign can Setting range: −99,999,999 ≤ nnnnnnnn ≤ +99,999,999 [Reference units]
be omitted.) Specifies the target position as a relative distance.
Speed
SPDx
POSIy
ST ST ST

* The same positioning

is repeated with ST.

X
(y) (y) (y)

0 t

b b+y b+2y b+3y Position coordinate

Note: If a new target position is specified during positioning, the new target position will be
used in the next ST command.

6-10
 6.7 Serial Commands

Table 6.2 Control Commands (cont’d)

Serial Command Function Positive

Response
SPDnnnnnnnn Positioning Speed Reservation OK

Setting range: 1 ≤ nnnnnnnn ≤ +99,999,999 [×1,000 reference units/min]

Specifies the positioning speed.
After the control power supply is turned ON (or the RES command is executed), the position-
ing speed set in parameter Pn81E will be used until the SPD command is executed.

For example, when the reference unit is 0.01 mm and the desired speed is 15 m/min:
1500 mm/min / 0.01 mm = 1,500,000 references units/min
= 1500 [×1,000 reference units/min]
SPD1500

Note: If a new positioning speed is specified during positioning, the new speed will not
become effective until the next positioning operation.
ACCnnnnnnnn Acceleration Reservation OK

Setting range: 1 ≤ nnnnnnnn ≤ +99,999,999 [×1,000 reference units/min/ms]

Speed
reference
V

Time
t1 t2 t3 t4

V [×1,000 reference units/min]

Acceleration = t2 - t1 [ms]
6
V [×1,000 reference units/min]
Deceleration = t4 - t3 [ms]
Note: The acceleration setting in parameter Pn81F can also be used. Executing the command
ACCnnnnnnnn is the same as executing TRM81F = nnnnnnnn.
DECnnnnnnnn Deceleration Reservation OK

Setting range: 1 ≤ nnnnnnnn ≤ +99,999,999 [×1,000 reference units/min/ms]

Note: The deceleration setting in parameter Pn820 can also be used. Executing the command
DECnnnnnnnn is the same as executing TRM820 = nnnnnnnn.

6-11
6 Serial Command Communications
6.7.2 Control Commands

Table 6.2 Control Commands (cont’d)

Serial Command Function Positive

Response
ST Positioning Start OK

Starts positioning with the speed specified by the SPD command and the target position speci-
fied by the POS, POSA, or POSI command.
The target position reservation and speed reservation can be omitted. In this case, the previous
positioning will be repeated.
Error E51E will occur if the ST command is executed but the target position hasn’t been speci-
fied even once. If the ST command is executed but the speed hasn’t been specified even once,
the speed specified in parameter Pn81E will be used.
When positioning has been stopped with the HOLD command, the positioning will be restarted
(the hold will be cleared) if the ST command is executed.

Example 1:
POSI + nnnnnnnn: Target Position Reservation
SPDnnnnnnnn: Speed Reservation
ST: Positioning Start
ST: Repeat

Example 2:
POSI + nnnnnnnn: Target Position Reservation
ST: Positioning Start (using the speed specified in Pn81E)

Example 3:
POSI + nnnnnnnn: Target Position Reservation
ST: Positioning Start
HOLD: Positioning Interruption
ST: Positioning Restart (Clear Hold)

Note: An E53E error will occur if a new travelling command (such as the ST command) is
received while the motor is already travelling (positioning or other travelling operation).
Execute a travelling command such as the ST command only after the previous travel-
ling operation has been completed.

6-12
 6.7 Serial Commands

Table 6.2 Control Commands (cont’d)

Serial Command Function Positive

Response
ST (±) nnnnnnnn Positioning Start (Absolute Position) OK
STA (±) nnnnnnnn
(The + sign can Setting range: −99,999,999 ≤ nnnnnnnn ≤ +99,999,999 [Reference units]
be omitted.)
Specifies the absolute position nnnnnnnn as the target position and starts positioning at the
same time. This command is equivalent to the following combination:
POSA + nnnnnnnn → ST.

Example:
SPDnnnnnnnn: Speed Reservation
STA + nnnnnnnn: Target Position Reservation and Positioning Start
Speed SPDx (Disabled)
STy or STAy STz or STAz
ST *

X
(y-a) (z-y)

0 t

a y z Position
* When the target position is an absolute position, the axis coordinate
will not travel if the same positioning is repeated with ST.

STI (±) nnnnnnnn Positioning Start (Relative Position) OK

(The + sign can
be omitted.) Setting range: −99,999,999 ≤ nnnnnnnn ≤ +99,999,999 [Reference units]

Specifies the relative distance nnnnnnnn as the target position and starts positioning at the same 6
time. This command is equivalent to the following combination:
POSI + nnnnnnnn → ST.

Example:
SPDnnnnnnnn: Speed Reservation
STI + nnnnnnnn: Target Position Reservation and Positioning Start
Speed
SPDx
STIy ST * The same position-
ing is repeated with
X ST.
(y) (y)

0 t

a a+y a+2y Position coordinate

6-13
6 Serial Command Communications
6.7.2 Control Commands

Table 6.2 Control Commands (cont’d)

Serial Command Function Positive

Response
RDSTnnnnnnnn Registration Distance Reservation OK

Setting range: 0 ≤ nnnnnnnn ≤ 99,999,999 [Reference units]

Specifies the registration distance that is used in the RS, RSnnnnnnnn, RSAnnnnnnnn, and
RSInnnnnnnn commands.
POSa
RDSTb
SPDx
Speed RSPDy

x
y
b

/RGRT

Note: Alarm E23A will occur (the motor Servo will go OFF) if the /RGRT signal latched but
the registration distance is longer than the deceleration distance, i.e., the registration dis-
tance will be exceeded even if deceleration begins immediately.
RSPDnnnnnnnn Registration Speed Reservation OK

Setting range: 1 ≤ nnnnnnnn ≤ 99,999,999 [×1,000 reference units/min]

Specifies the registration speed.

After the control power supply is turned ON (or the RES command is executed), the position-
ing speed set in parameter Pn81E will be used until the speed is specified with this command.

Note: If a new registration speed is specified during registration operation, the new speed will
not become effective until the next registration operation.

6-14
 6.7 Serial Commands

Table 6.2 Control Commands (cont’d)

Serial Command Function Positive

Response
RS Positioning Start with Registration OK

Starts positioning with the speed specified by the SPD command and the target position speci-
fied by the POS, POSA, or POSI command.
If the /RGRT signal goes ON during positioning, that position is latched and the motor will
move the specified relative distance from the latched position. The registration operation uses
the registration distance specified by the RDST command and the registration speed specified
by the RSPD command.
The target position reservation, positioning speed reservation, registration distance reservation,
and registration speed reservation can be omitted. In this case, the positioning performed in the
previous registration operation will be repeated.

Error E51E will occur if the RS command is executed but the target position hasn’t been speci-
fied even once. Error E52E will occur if the RS command is executed but the registration dis-
tance hasn’t been specified even once. If the RS command is executed but the positioning speed
and registration speed haven’t been specified even once, the speed specified in parameter
Pn81E will be used for both the positioning speed and registration speed.
When registration positioning has been stopped with the HOLD command, the registration
positioning will be restarted (the hold will be cleared) if the RS command is executed.

Example 1:
POSI + nnnnnnnn: Target Position Reservation
SPDnnnnnnnn: Speed Reservation
RDSTnnnnnnnn: Registration Distance Reservation
RSPDnnnnnnnn: Registration Speed Reservation
RS: Positioning Start with Registration
RS: Repeat
6
Example 2:
POSI + nnnnnnnn: Target Position Reservation
RDSTnnnnnnnn: Registration Distance Reservation
RS: Positioning Start with Registration (using the speed specified in Pn81E for both the posi-
tioning and registration speeds)

Example 3:
POSI + nnnnnnnn: Target Position Reservation
RDSTnnnnnnnn: Registration Distance Reservation
RS: Positioning Start with Registration
HOLD: Positioning Interruption
RS: Positioning Restart (Clear Hold)

Note: Error E53E will occur if a new travelling command (such as the RS command) is
received while the motor is already travelling (positioning or other travelling operation).
Execute a travelling command such as the RS command only after the previous travel-
ling operation has been completed.

6-15
6 Serial Command Communications
6.7.2 Control Commands

Table 6.2 Control Commands (cont’d)

Serial Command Function Positive

Response
RS (±) nnnnnnnn Positioning Start with Registration (Absolute Position) OK
RSA (±)
nnnnnnnn Setting range: −99,999,999 ≤ nnnnnnnn ≤ +99,999,999 [Reference units]
(The + sign can
be omitted.) Specifies the absolute position nnnnnnnn as the target position and starts registration position-
ing at the same time. This command is equivalent to the following combination: POSA +
nnnnnnnn → RS.

Example:
SPDnnnnnnnn: Speed Reservation
RDSTnnnnnnnn: Registration Distance Reservation
RSPDnnnnnnnn: Registration Speed Reservation
RSA +nnnnnnnn: Target Position Reservation and Positioning Start with Registration
RSI (±) nnnnnnnn Positioning Start with Registration (Relative Distance) OK
(The + sign can
be omitted.) Setting range: −99,999,999 ≤ nnnnnnnn ≤ +99,999,999 [Reference units]

Specifies the relative distance nnnnnnnn as the target position and starts registration positioning
at the same time. This command is equivalent to the following combination: POSI + nnnnnnnn
→ RS.

Example:
SPDnnnnnnnn: Speed Reservation
RDSTnnnnnnnn: Registration Distance Reservation
RSPDnnnnnnnn: Registration Speed Reservation
RSI +nnnnnnnn: Relative Position Reservation and Positioning Start with Registration
JOGPnnnnnnnn Jog Forward/Reverse OK
JOGNnnnnnnnn
Setting range: 1 ≤ nnnnnnnn ≤ 99,999,999 [×1,000 reference units/min]

Starts jog forward or jog reverse operation at the speed specified in nnnnnnnn.
JOGPnnnnnnnn: Forward
JOGNnnnnnnnn: Reverse
The specified speed and jog direction can be changed while jogging is in progress.
Speed SKIP
JOGPx JOGNy JOGNz JOGPx

0 t
z

6-16
 6.7 Serial Commands

Table 6.2 Control Commands (cont’d)

Serial Command Function Positive

Response
RJOGPnnnnnnnn Jog Forward/Reverse with Registration OK
RJOGNnnnnnnnn
Setting range: 1 ≤ nnnnnnnn ≤ 99,999,999 [×1,000 reference units/min]

Starts jog forward or jog reverse operation at the speed specified in nnnnnnnn.
RJOGPnnnnnnnn: Forward
RJOGNnnnnnnnn: Reverse
If the /RGRT signal goes ON during forward/reverse jogging, that position is latched and the
motor will move the specified relative distance from the latched position. The registration oper-
ation uses the registration distance specified by the RDST command and the registration speed
specified by the RSPD command.
Error E52E will occur if the RJOGP/RJOGNnnnnnnnn command is executed but the registra-
tion distance hasn’t been specified even once. If the RJOGP/RJOGNnnnnnnnn command is
executed but the registration speed hasn’t been specified even once, the speed specified in
parameter Pn81E will be used for the registration speed.
When registration jogging has been stopped with the HOLD command, forward registration
jogging will be restarted (the hold will be cleared) when the RJOGPnnnnnnnn command is exe-
cuted again. (Reverse registration jogging will be restarted when the RJOGNnnnnnnnn com-
mand is executed again.)

The specified speed and direction cannot be changed while jogging is in progress. Error E53E
will occur if the speed or direction is changed during operation.
Speed RDSTa
RSPDb
RJOGPx RJOGNy
x
b
a 6
0 t
a
-b
-y

/RGRT

6-17
6 Serial Command Communications
6.7.2 Control Commands

Table 6.2 Control Commands (cont’d)

Serial Command Function Positive

Response
ZRN Homing Start OK

Starts homing operation.

When homing has been stopped with the HOLD command, homing will be restarted (the hold
will be cleared) when the ZRN command is executed again.
The parameters for homing are specified in parameters Pn823 to Pn828.
Pn823 Pn824 Pn825 to Pn828
Homing Method Homing Direction
Pn823 = 0: --- ---
No homing.
Homing ends when the
control power supply is
turned ON or the RES
command is executed.
Pn823 = 1: Pn824 = 0: Forward ZRN
Moving
Use the /DEC signal and Pn824 = 1: Reverse speed
the encoder’s phase C. (Pn825) Approach Creep
speed speed
(Pn826) (Pn827)
Final Move
Distance
(Pn828)
/DEC
Encoder phase C

First encoder phase-C signal after the

/DEC signal went from OFF to ON.

Pn823 = 2: ZRN
Use the /DEC signal only. Approach
speed Creep
(Pn826) speed
(Pn827)

Final Move Dis-

tance (Pn828)
/DEC

Pn823 = 3: ZRN Approach

Use the encoder’s phase C speed
(Pn826) Creep
only. speed
(Pn827)

Final Move Dis-

Encoder tance (Pn828)
phase C

The home position when homing is completed is specified in Pn81D.

When the control power supply is turned ON (or the RES command is executed) and hom-
ing is completed, the home position is replaced with the value in Pn81D.

6-18
 6.7 Serial Commands

Table 6.2 Control Commands (cont’d)

Serial Command Function Positive

Response
ZRN OK
Parameter Name Settings
Pn81D Home Position −99,999,999 to +99,999,999
[Reference units]
Pn823 Homing Method 0: No Homing
1: /DEC and Encoder phase C
2: /DEC signal only
3: Encoder phase C only
Pn824 Homing Direction 0: Forward
1: Reverse
Pn825 Homing Moving Speed 1 to 99,999,999
[×1,000 reference units/min]
Pn826 Homing Approach Speed 1 to 99,999,999
[×1,000 reference units/min]
Pn827 Homing Creep Speed 1 to 99,999,999
[×1,000 reference units/min]
Pn828 Homing Final Move Distance −99,999,999 to +99,999,999
[Reference units]
Note: 1.The software position reference limits (Pn81B and Pn81C) are disabled until homing
is completed. They are effective after homing is completed. On the other hand, the
overtravel signals (P-OT and N-OT signals) are effective before homing is com-
pleted.
2. When an incremental encoder is being used, homing will be completed if the ZSET
command (Coordinates Setting) is executed instead of homing.
3. Error E5DE will occur if the ZRN command is executed while Pn823 = 0. 6
4. Homing can be performed only when an incremental encoder is being used. Error
E61E will occur if the ZRN command is executed and an absolute encoder is being
used.

6-19
6 Serial Command Communications
6.7.2 Control Commands

Table 6.2 Control Commands (cont’d)

Serial Command Function Positive

Response
ZSET (±) Coordinates Setting OK
nnnnnnnn
Note: It can be dangerous to execute this command carelessly to switch the coordinates of the
position reference. After executing this command, confirm that the position reference
and the new coordinates are in agreement before starting operation.

Setting range: −99,999,999 ≤ nnnnnnnn ≤ +99,999,999 [Reference units]

• With an Incremental Encoder

Replaces the home position with nnnnnnnn.
Homing will be completed and the software position reference limits (Pn81B and Pn81C)
will be enabled.
This Coordinates Setting will be cleared when the control power supply is turned OFF or the
RES command is executed.

Note: Parameter Pn81D will not be refreshed. Pn81D will be used as the homing position
when the control power supply is turned ON (or the RES command is executed) and
homing is completed.
• With an Absolute Encoder
Switches the current position to nnnnnnnn and refreshes Pn81D with the absolute position
offset so that the home position becomes nnnnnnnn.
The Coordinates Setting will remain effective after the control power supply is turned OFF
or the RES command is executed.
Normally, this command is executed once during system setup and it is not necessary to exe-
cute it again. Each time that the command is executed, the content of Pn81D are refreshed
and stored in EEPROM, so this command must not be executed repeatedly or too frequently.

Note: When one of the Pn202, Pn203, Pn205, or Pn81A to Pn81D parameters has been
changed, enable the new setting by turning the control power supply OFF and then ON
again (or executing the RES command) before executing the command.

6-20
 6.7 Serial Commands

Table 6.2 Control Commands (cont’d)

Serial Command Function Positive

Response
HOLD Positioning Interruption OK

Interrupts the current positioning operation.

The remainder of the positioning operation is put on hold.

When the HOLD command has interrupted a positioning operation initiated by an ST,
STnnnnnnnn, STAnnnnnnnn, or STInnnnnnnn command, the positioning operation can be
restarted by executing the ST command.
When the HOLD command has interrupted registration positioning initiated by an RS,
RSnnnnnnnn, RSAnnnnnnnn, or RSInnnnnnnn command, the registration positioning opera-
tion can be restarted by executing the RS command.
When the HOLD command has interrupted a “forward jogging with registration” operation that
was initiated by the RJOGPnnnnnnnn command, the operation can be restarted by executing
the RJOGPnnnnnnnn command again.
When the HOLD command has interrupted a “reverse jogging with registration” operation that
was initiated by the RJOGNnnnnnnnn command, the operation can be restarted by executing
the RJOGNnnnnnnnn command again.
When the HOLD command has interrupted a homing operation initiated by the ZRN command,
homing can be restarted by executing the ZRN command.
When the HOLD command is executed during a jog forward operation initiated by JOGP-
nnnnnnnn or a jog reverse operation initiated by JOGNnnnnnnnn, the jog operation will be
stopped.
SPDx
Speed POSIy
ST HOLD ST

x
(y1) (y2)
6
0 t
(y1+y2 = y)
Remaining dis-
tance put on hold

When the HOLD command is executed after positioning is completed, a remaining distance of
zero is put on hold.
Speed SPDx
POSIy HOLD
ST ST ST
x
(y) (y)

0 t

If a new target position is specified while a positioning operation has been put on hold by the
HOLD command, the remaining distance (recorded by the HOLD command) is cancelled and
the new target position is used instead.

Speed POSIz
SPDx HOLD ST
POSIy
ST
x
(y1) (z)

Remaining dis-
tance put on hold

6-21
6 Serial Command Communications
6.7.2 Control Commands

Table 6.2 Control Commands (cont’d)

Serial Command Function Positive

Response
HOLD Even if a new target position is specified before the HOLD command is executed, the remain- OK
ing distance will be cancelled and the new target position will be used instead.
Speed POSIz

SPDx HOLD ST
POSIy
ST
x
(y1) (z)
t

Remaining dis-
tance put on hold

When the speed setting has been changed, the new setting will be used when positioning is
restarted.
Example 1:
Speed SPDx SPDz
POSIy ST
ST HOLD
x (y1+y2 = y)
z
(y1) (y2)
t

Example 2:
Speed SPDx
POSIy SPDz
ST HOLD
x ST

z
(y1)
(y2)
t

SKIP Positioning Stop OK

Stops the current positioning operation.

The remainder of the positioning operation is cancelled.
SPDx
POSIy
ST SKIP Remaining
JOGPx SKIP
Speed distance
cancelled
x

0 t

6-22
 6.7 Serial Commands

Table 6.2 Control Commands (cont’d)

Serial Command Function Positive

Response
POUTnnnnn POUT Reservation OK

Specifies the operation of programmable output signals POUT0 to POUT4.

Settings:
N: Inactive
A: Active
Z: Zone table
“:”: Continue

6-23
6 Serial Command Communications
6.7.3 Parameter Edit Commands

6.7.3 Parameter Edit Commands

The following table shows the Parameter Edit Commands.

Table 6.3 Parameter Edit Commands

Serial Command Function Positive Response

PRMppp Parameter Read An 8-digit signed decimal value is returned
for commands PRM81B, PRM81C,
Reads a parameter. PRM81D, and PRM828.
ppp: Parameter number (Pn number) Example: PRM81B = +12345678 [CR] [LF]

Example: Reading Pn800 An 8-digit hexadecimal value is returned for

Command: 1PRM800 [CR] commands PRM000 to PRM005, PRM080,
Response: 1PRM800 = 00000001 [CR] [LF] PRM10B, PRM110, PRM200, PRM207,
PRM218, PRM408, and PRM50A to
PRM513.
Example: PRM000 = 00001234 [CR] [LF]

An 8-digit unsigned decimal value is

returned for all other parameters.
Example: PRM800 = 12345678 [CR] [LF]
PRMppp = (±) nnnnnnnn Parameter Write OK

Sets a parameter.
ppp: Parameter number (Pn number)

Parameters are stored in EEPROM, so the settings

will be retained after the control power supply is
turned OFF or the RES command is executed. Since
the value is stored in EEPROM, this command must
not be used if the setting needs to be changed fre-
quently. In this case, use the TRMppp = (±)
nnnnnnnn command.

Online parameters:
The setting is enabled immediately.

Offline parameters:
Enable the setting by turning the control power sup-
ply OFF and ON or executing the RES command.

Refer to Appendix A List of Parameters to determine

whether a parameter is an online or offline parame-
ter.

6-24
 6.7 Serial Commands

Table 6.3 Parameter Edit Commands (cont’d)

Serial Command Function Positive Response

TRMppp = (±) nnnnnnnn Temporary Parameter Write OK

Sets a parameter.
ppp: Parameter number (Pn number)

The PRMppp = (±) nnnnnnnn command stores the

parameter setting in EEPROM, but the TRMppp =
(±) nnnnnnnn command does not. Since this com-
mand does not write the setting in EEPROM, it can
be used to change settings frequently.

Online parameters:
The setting is enabled immediately.

Offline parameters:
Offline parameters must be enabled by turning the
control power supply OFF and ON or executing the
RES command, so the TRMppp = (±) nnnnnnnn
command cannot be used to change these parame-
ters. Use the PRMppp = (±) nnnnnnnn command.

Refer to Appendix A List of Parameters to determine

whether a parameter is an online or offline parame-
ter.
PRMINIT Parameter Initialization OK

Resets all parameters to their factory default settings.

After executing PRMINIT, turn the control power 6
supply OFF and ON or execute the RES command.

6-25
6 Serial Command Communications
6.7.4 Program Table Setup Commands

6.7.4 Program Table Setup Commands

The following table shows the Program Table Setup Commands.

Table 6.4 Program Table Setup Commands

Serial Command Function Positive Response

PGMSTORE Program Table Save OK

Saves the program table in flash memory.

Once PGMSTORE is executed, the program table will be
retained after the control power supply is turned OFF or
the RES command is executed. Since the program table is
stored in flash memory, this command must not be exe-
cuted frequently.

Note: Do not turn OFF the control power supply while

PGMSTORE is being executed.
Execution can take slightly longer than 10 seconds.
The green LED will flash during execution.
PGMINIT Program Initialization OK

Resets all values in the program table to their factory

default settings.

Note: Do not turn OFF the control power supply while

PGMINIT is being executed.
Execution can take slightly longer than 10 seconds.
The green LED will flash during execution.
POSTsss Program Table POS Read POST123 = A+12345678 [CR] [LF]
POST123 = I+12345678 [CR] [LF]
Reads the POS value (positioning target position). POST123 = +INFINITE [SP] [CR] [LF]
sss: Program step (PGMSTEP) POST123 = STOP [SP] [SP] [SP] [SP]
[SP] [SP] [CR] [LF]
POST123 = -[SP] [SP] [SP] [SP] [SP]
[SP] [SP] [SP] [SP] [CR]
[LF]
POSTsss = nnnnnnnn Program Table POS Write OK

Sets the POS value (positioning target position).

sss: Program step (PGMSTEP)

Settings:
Annnnnnnn: Absolute position [Reference units]
(−99,999,999 ≤ nnnnnnnn ≤ +99,999,999)
Innnnnnnn: Relative distance [Reference units]
(−99,999,999 ≤ nnnnnnnn ≤ +99,999,999)
+INFINITE or -INFINITE: Jog forward or Jog reverse
STOP: Stop
-: No specification
SPDTsss Program Table SPD Read SPDT123 = 12345678 [CR] [LF]

Reads the SPD value (positioning speed).

sss: Program step (PGMSTEP)

6-26
 6.7 Serial Commands

Table 6.4 Program Table Setup Commands (cont’d)

Serial Command Function Positive Response

SPDTsss = nnnnnnnn Program Table SPD Write OK

Sets the SPD value (positioning speed).

sss: Program step (PGMSTEP)

Settings:
1 ≤ nnnnnnnn ≤ +99,999,999 [×1,000 reference units/min]
RDSTTsss Program Table RDST Read RDSTT123 = 12345678 [CR] [LF]
RDSTT123 = -[SP] [SP] [SP] [SP] [SP]
Reads the RDST value (registration distance). [SP] [SP] [CR] [LF]
sss: Program step (PGMSTEP)

RDSTTsss = nnnnnnnn Program Table RDST Write OK

Sets the RDST value (registration distance).

sss: Program step (PGMSTEP)

Settings:
0 ≤ nnnnnnnn ≤ 99,999,999:
Registration distance [Reference units]

-: No registration
RSPDTsss Program Table RSPD Read RSPDT123 = 12345678 [CR] [LF]

Reads the RSPD value (registration speed).

sss: Program step (PGMSTEP) 6
RSPDTsss = nnnnnnnn Program Table RSPD Write OK

Sets the RSPD value (registration speed).

sss: Program step (PGMSTEP)

Settings:
1 ≤ nnnnnnnn ≤ +99,999,999 [×1,000 reference units/min]
ACCTsss* Program Table ACC Read ACCTsss = 12345678 [CR] [LF]
ACCTsss = :[SP] [SP] [SP] [SP] [SP]
Reads the ACC value (acceleration). [SP] [SP] [CR] [LF]
sss: Program step (PGMSTEP)
ACCTsss = nnnnnnnn* Program Table ACC Write OK

Sets the ACC value (acceleration).

sss: Program step (PGMSTEP)

Settings:
1 ≤ nnnnnnnn ≤ +99,999,999: Acceleration [×1,000 refer-
ence units/min/ms]
“:”: Continue the previously executed program step’s
specification.

6-27
6 Serial Command Communications
6.7.4 Program Table Setup Commands

Table 6.4 Program Table Setup Commands (cont’d)

Serial Command Function Positive Response

DECTsss* Program Table DEC Read DECTsss = 12345678 [CR] [LF]
DECTsss = :[SP] [SP] [SP] [SP] [SP]
Reads the DEC value (deceleration). [SP] [SP] [CR] [LF]
sss: Program step (PGMSTEP)
DECTsss = nnnnnnnn* Program Table DEC Write OK

Sets the DEC value (deceleration).

sss: Program step (PGMSTEP)

Settings:
1 ≤ nnnnnnnn ≤ +99,999,999: Deceleration [×1,000 refer-
ence units/min/ms]
“:”: Continues the previously executed program step’s
specification.
POUTTsss Program Table POUT Read POUTT123 = ANANZ [CR] [LF]

Reads the POUT settings (programmable output signal

specifications).
sss: Program step (PGMSTEP)
POUTTsss = nnnnn Program Table POUT Write OK

Sets the POUT settings (programmable output signal

specifications).
sss: Program step (PGMSTEP)

Settings:
N: Inactive
A: Active
Z: Zone table
“:”: Continue the POUT specifications used in the pro-
gram step that was executed last.

EVENTTsss Program Table EVENT Read EVENTT123 = T12345 [SP] [SP] [SP]
[SP] [CR] [LF]
Reads the EVENT value (pass condition). EVENTT123 = IT12345 [SP] [SP] [SP]
sss: Program step (PGMSTEP) [CR] [LF]
EVENTT123 = NT12345 [SP] [SP] [SP]
[CR] [LF]
EVENTT123 = DT12345 [SP] [SP] [SP]
[CR] [LF]
EVENTT123 = SEL1T12345 [CR] [LF]
EVENTT123 =:[SP] [SP] [SP] [SP] [SP]
[SP] [SP] [SP] [SP] [CR]
[LF]

6-28
 6.7 Serial Commands

Table 6.4 Program Table Setup Commands (cont’d)

Serial Command Function Positive Response

EVENTTsss = nnnnnnnn Program Table EVENT Write OK

Sets the EVENT value (pass condition).

sss: Program step (PGMSTEP)

Settings:
I: INPOSITION (positioning completed) active
N: NEAR (positioning near) active
D: DEN (positioning reference distribution) active
SELx: SEL input signal active (x = 0 to 4)
Tnnnnn: Time elapsed (ms) since the program step started.
(0 ≤ nnnnn ≤ 99,999)
ITnnnnn: Time elapsed (ms) after the INPOSITION signal
became active. (0 ≤ nnnnn ≤ 99,999)
NTnnnnn: Time elapsed (ms) after the NEAR signal
became active. (0 ≤ nnnnn ≤ 99,999)
DTnnnnn: Time elapsed (ms) after the DEN signal
became active. (0 ≤ nnnnn ≤ 99,999)
SELxnnnnn: Time elapsed (ms) after the SEL input signal
became active.
(x = 0 to 6, 0 ≤ nnnnn ≤ 99,999)
“:”: Continue the specification used in the program step
that was executed last.
LOOPTsss Program Table LOOP Read LOOPT123 = 12345 [CR] [LF]

Reads the LOOP setting (number of repetitions).

sss: Program step (PGMSTEP) 6
LOOPTsss = nnnnn Program Table LOOP Write OK

Sets the LOOP setting (number of repetitions).

sss: Program step (PGMSTEP)

Setting:
1 ≤ nnnnn ≤ 99,999
NEXTTsss Program Table NEXT Read NEXTT123 = 12345 [CR] [LF]
NEXTT123 = END [SP] [SP] [CR] [LF]
Reads the NEXT setting (link destination).
sss: Program step (PGMSTEP)
NEXTTsss = nnn Program Table NEXT Write OK

Sets the NEXT setting (link destination).

sss: Program step (PGMSTEP)

Settings:
0 ≤ nnn ≤ 127: Program step (PGMSTEP)
END: End

6-29
6 Serial Command Communications
6.7.5 Program Table Operation Commands

6.7.5 Program Table Operation Commands

The following table shows the Program Table Operation Commands.

Table 6.5 Program Table Operation Commands

Serial Command Function Positive Response

STARTsss Program Table Operation Start OK

Starts program table operation from program step sss.

sss: Program step (PGMSTEP)

When program table operation has been interrupted by the

STOP command or other method, the STARTsss com-
mand can be executed to cancel that operation and simul-
taneously start a new program table operation from
program step sss.
START Program Table Operation Restart OK

When program table operation has been interrupted by the

STOP command or other method, the START command
can be executed to restart that operation (Clear Hold).
If program table operation was cancelled or ended, the
START command will start a new program table operation
from the program step (sss) that was specified in the last
STARTsss command, i.e., START will repeat the last
STARTsss command.
STOP Program Table Operation Interruption OK

Interrupts a program table operation.

When a positioning operation is in progress, the remainder
of the operation (remaining distance) is put on hold.
PGMRES Program Table Operation Reset OK

When program table operation has been interrupted by the

STOP command or other method, the PGMRES command
can be executed to cancel that operation (reset program
table operation.)

6-30
 6.7 Serial Commands

6.7.6 Zone Table Setup Commands

The following table shows the Zone Table Setup Commands.

Table 6.6 Zone Table Setup Commands

Serial Command Function Positive Response

ZONESTORE Zone Table Save OK

Saves the zone table in flash memory.

Once ZONESTORE is executed, the zone table will be
retained after the control power supply is turned OFF or
the RES command is executed. Since the zone table is
stored in flash memory, this command must not be exe-
cuted frequently.
ZONEINIT Zone Table Initialization OK

Resets all values in the zone table to their factory default

settings.
ZONEPTzz Zone Table ZONEP Read ZONEPT123 = +12345678 [CR] [LF]

Reads the ZONEP setting (positive side zone boundary

position.)
zz: Zone number (ZONE ID)
ZONEPTzz = nnnnnnnn Zone Table ZONEP Write OK

Sets the ZONEP setting (positive side zone boundary

position.)
zz: Zone number (ZONE ID)
6
Settings: −99,999,999 ≤ nnnnnnnn ≤ +99,999,999
ZONENTzz Zone Table ZONEN Read ZONENT123 = +12345678 [CR] [LF]

Reads the ZONEN setting (negative side zone boundary

position.)
zz: Zone number (ZONE ID)
ZONENTzz = nnnnnnnn Zone Table ZONEN Write OK

Sets the ZONEN setting (negative side zone boundary

position.)
zz: Zone number (ZONE ID)

Settings: −99,999,999 ≤ nnnnnnnn ≤ +99,999,999

6-31
6 Serial Command Communications
6.7.7 Jog Speed Table Setup Commands

6.7.7 Jog Speed Table Setup Commands

The following table shows the Jog Speed Table Setup Commands.

Table 6.7 Jog Speed Table Setup Commands

Serial Command Function Positive Response

JSPDSTORE JOG Speed Table Save OK

Saves the jog speed table in flash memory.

Once JSPDSTORE is executed, the jog speed table will be
retained after the control power supply is turned OFF or
the RES command is executed. Since the jog speed table is
stored in flash memory, this command must not be exe-
cuted frequently.
JSPDINIT JOG Speed Table Initialization OK

Resets all values in the jog speed table to their factory

default settings.
JSPDTdd JOG Speed Table Read JSPDT123 = 12345678 [CR] [LF]

Reads the jog speed table setting for the specified number.
dd: Jog speed number
JSPDTdd = nnnnnnnn JOG Speed Table Write OK

Sets the jog speed table setting for the specified number.
dd: Jog speed number

Settings: 1 ≤ nnnnnnnn ≤ 99,999,999

6-32
 6.7 Serial Commands

6.7.8 Monitor and Auxiliary Function Commands

The following table shows the Monitor and Auxiliary Function Commands.

Table 6.8 Monitor and Auxiliary Function Commands

Serial Command Function Positive Response

ALM Alarm or Warning Read One of the following responses is returned
depending on the status.
• ALM [SP] A.xx [SP] [CR] [LF]
(The “xx” is the SERVOPACK’s alarm/
warning code.)
• ALM [SP] ExxA [SP] [CR] [LF]
(ExxA is the NS600’s alarm code.)
• ALM [SP] P-OT [SP] [CR] [LF]
• ALM [SP] N-OT [SP] [CR] [LF]
• ALM [SP] P-LS [SP] [CR] [LF]
• ALM [SP] N-LS [SP] [CR] [LF]
• ALM [SP] BB [SP] [SP] [SP] [CR] [LF]
• ALM [SP] HOLD [SP] [CR] [LF]
• ALM [SP] INPOS [CR] [LF]
• ALM [SP] NEAR [SP] [CR] [LF]
• ALM [SP] RUN [SP] [SP] [CR] [LF]
• ALM [SP] . [SP] [SP] [SP] [SP] [CR] [LF]
ALMn Alarm History Read One of the following responses is returned
(0 ≤ n ≤ 9) depending on the status (no alarm,
SERVOPACK alarm, or NS600 alarm).
• ALM1 = NONE [CR] [LF]
• ALM1 = A.xx [CR] [LF]
• ALM1 = ExxA [CR] [LF] 6
ERR Most Recent Error Read One of the following responses is returned. A
response of “NONE” indicates that no errors
have occurred.
• ERR [SP] NONE [SP] [CR] [LF]
• ERR [SP] ExxE [SP] [CR] [LF]
IN1 SGDH Input Signal Monitor IN1 = 01010101 [CR] [LF]

0: Photocoupler OFF
1: Photocoupler ON

Bit 0: /S-ON
Bit 1: /SEL5
Bit 2: P-OT
Bit 3: N-OT
Bit 4: /DEC
Bit 5: /SEL6
Bit 6: /RGRT
Bit 7: Always 0

6-33
6 Serial Command Communications
6.7.8 Monitor and Auxiliary Function Commands

Table 6.8 Monitor and Auxiliary Function Commands (cont’d)

Serial Command Function Positive Response

IN2 NS600 Input Signal Monitor IN2 = 01010101 [CR] [LF]

0: Photocoupler OFF
1: Photocoupler ON

Bit 0: /MODE 0/1

Bit 1: /START-STOP; /HOME
Bit 2: /PGMRES; /JOGP
Bit 3: /SEL0; /JOGN
Bit 4: /SEL1; /JOG0
Bit 5: /SEL2; /JOG1
Bit 6: /SEL3; /JOG2
Bit 7: /SEL4; /JOG3
IN2TESTbbbbbbbb NS600 Input Signal Reservation OK

The actual signal is ignored and the input signal is

forcibly set to the specified status.
This command is used to test operation when the
actual signal line is not connected.

b = 0: Photocoupler OFF
b = 1: Photocoupler ON

Bit 0: /MODE 0/1

Bit 1: /START-STOP; /HOME
Bit 2: /PGMRES; /JOGP
Bit 3: /SEL0; /JOGN
Bit 4: /SEL1; /JOG0
Bit 5: /SEL2; /JOG1
Bit 6: /SEL3; /JOG2
Bit 7: /SEL4; /JOG3

IN2TESTEND: Return to actual signal status.

Note: 1. Error E56E will occur if fewer than 8 digits

(bbbbbbbb) are specified in the command.
2. If operation is being performed in Mode 0
(program table operation mode), /MODE0/1
must be set to 1 before /START-STOP is set
to 1. If operation is being performed in
Mode 1 (homing or jog speed table opera-
tion mode), /MODE0/1 must be set to 0
before /HOME, /JOGP, or /JOGN is set to 1.

6-34
 6.7 Serial Commands

Table 6.8 Monitor and Auxiliary Function Commands (cont’d)

Serial Command Function Positive Response

OUT1 SGDH Output Signal Monitor OUT1 = 01010101 [CR] [LF]

0: Photocoupler OFF
1: Photocoupler ON

Bit 0: ALM
Bit 1: /WRN
Bit 2: /BK
Bit 3: /S-RDY
Bit 4: ALO1
Bit 5: ALO2
Bit 6: ALO3
Bit 7: Always 0
OUT2 NS600 Output Signal Monitor OUT2 = 01010101 [CR] [LF]

0: Photocoupler OFF
1: Photocoupler ON

Bit 0: /INPOSITION
Bit 1: /POUT0
Bit 2: /POUT1
Bit 3: /POUT2
Bit 4: /POUT3
Bit 5: /POUT4
Bit 6: Always 0
Bit 7: Always 0
OUT2TESTbbbbbb NS600 Output Signal Reservation OK
6
Forcibly sets the output signals to the specified sta-
tus. This command is used to check wiring.

b = 0: Photocoupler OFF
b = 1: Photocoupler ON

Bit 0: /INPOSITION
Bit 1: /POUT0
Bit 2: /POUT1
Bit 3: /POUT2
Bit 4: /POUT3
Bit 5: /POUT4
Bit 6: Always 0
Bit 7: Always 0

OUT2TESTEND: Clears the forced signal status.

Note: Error E56E will occur if fewer than 6 digits

(bbbbbb) are specified in the command.

6-35
6 Serial Command Communications
6.7.8 Monitor and Auxiliary Function Commands

Table 6.8 Monitor and Auxiliary Function Commands (cont’d)

Serial Command Function Positive Response

POUT POUT Monitor POUT [SP] ANANZ [CR] [LF]

Bit 0: /POUT0
Bit 1: /POUT1
Bit 2: /POUT2
Bit 3: /POUT3
Bit 4: /POUT4
PGMSTEP Program PGMSTEP Pass Through Monitor PGMSTEP = 12345 [CR] [LF]
EVTIME Program EVENT Elapsed Time Monitor EVTIME = 12345 [CR] [LF]
Monitors time elapsed (ms) for an event in program
table operation.
LOOP Program LOOP Pass Through Monitor LOOP = 12345 [CR] [LF]
MONn Monitor Read See following description of the responses for
(1 ≤ n ≤ 11) STS to RDST.

See following description of STS to RDST.

STS or MON6 Status Flag Monitor STS = 1010101 [CR] [LF]

Bit 0: ON (1) when the /INPOSITION (posi-

tioning completed) signal is active.
Bit 1: ON (1) when the NEAR (positioning
near) signal is active.
Bit 2: ON (1) when the DEN (positioning ref-
erence distribution) signal is active.
Bit 3: ON (1) when positioning or program
operation is interrupted (on hold).
Bit 4: ON (1) during program operation.
Bit 5: ON (1) when the current (torque) is
being limited.
Bit 6: ON (1) when the main power supply is
ON.
PUN or MON1 Current Distributed Position Monitor PUN = +12345678 [CR] [LF]
PFB or MON7 Current (Actual) Motor Position Monitor PFB = +12345678 [CR] [LF]
POS or MON8 Target Position Monitor POS = +12345678 [CR] [LF]
DST or MON9 Target Distance Monitor DST = +12345678 [CR] [LF]
RPOS or MON10 Registration Target Position Monitor RPOS = +12345678 [CR] [LF]
RDST or MON11 Registration Target Distance Monitor RDST = +12345678 [CR] [LF]
NFB or MON3 Motor Speed Monitor [min -1] NFB = +12345678 [CR] [LF]
TREF or MON5 Torque Reference Monitor [%] TREF = +12345678 [CR] [LF]
NREF or MON4 Speed Reference Monitor [min-1] NREF = +12345678 [CR] [LF]
PER or MON2 Position Error Monitor [Reference units] PER = +12345678 [CR] [LF]
TRMS Torque Load Ratio Monitor [%] TRMS = +12345678 [CR] [LF]
RGRMS Regeneration Load Ratio Monitor [%] RGRMS = +12345678 [CR] [LF]
DBRMS Dynamic-Brake Load Ratio Monitor [%] DBRMS = +12345678 [CR] [LF]

6-36
 6.7 Serial Commands

Table 6.8 Monitor and Auxiliary Function Commands (cont’d)

Serial Command Function Positive Response

HALLSENS* Hall Sensor Monitor for Linear Motor HALLSENS = 1 [SP] LLH [CR] [LF]
A number between 0 and 7 and three charac-
ters that are either L or H.
Character 0: Status of phase W
Character 1: Status of phase V
Character 2: Status of phase U
TYPE NS600 Type Code Display TYPE = 00000600 [CR] [LF]
(Displayed in hexadecimal.)
NS600 Type Code = 0600
YSPEC NS600 Y Spec. No. Display YSPEC = 12345678 [CR] [LF]
VER NS600 Firmware Version Display VER = 00001234 [CR] [LF]
(Displayed in hexadecimal.)
SVTYPE SGDH Type Code Display SVTYPE = 00000002 [CR] [LF]
(Displayed in hexadecimal.)
SGDH Type Code = 02
SVYSPEC SGDH Y Spec. No. Display SVYSPEC = 12345678 [CR] [LF]
SVVER SGDH Firmware Version Display SVVER = 0000123 [CR] [LF]
(Displayed in hexadecimal.)
MTTYPE Motor Type Display MTTYPE = 00001234 [CR] [LF]
(Displayed in hexadecimal.)
Voltage Motor model

6
MTSIZE Motor Capacity Display [10 W] MTSIZE = 12345678 [CR] [LF]
PGTYPE Encoder Model Code Display PGTYPE = 00001234 [CR] [LF]
(Displayed in hexadecimal.)
000D: 13-bit incremental encoder
0011: 17-bit incremental encoder
0100: 16-bit absolute encoder
0111: 17-bit absolute encoder
0214: 20-bit, single-turn data absolute encoder
PGVER Encoder Firmware Version Display PGVER = 00001234 [CR] [LF]
(Displayed in hexadecimal.)
STIFF Rigidity Monitor STIFF = 12345 [CR] [LF]
STIFFd Rigidity Reservation OK
(1 ≤ d ≤ 10)
ABSPGRES Absolute Encoder Reset OK
MLTLIMSET Multiturn Limit Setting OK
ALMTRCCLR Alarm Trace Clear OK
INERTIA Auto-tuning Inertia Display INERTIA = 12345 [CR] [LF]
TUNESTORE Auto-tuning Inertia Save OK
CURZERO Motor Current Zero Adjustment OK

6-37
 7
Using the Digital Operator

This chapter explains how to connect the Digital Operator to the NS600 and
how to use the Digital Operator’s various functions. All constant settings and
motor operations can be performed by simple, convenient operations. Operate
the Digital Operator as you read through this chapter.

7.1 Connecting the Digital Operator - - - - - - - - - - - - - - - - - - - - - 7-3

7.2 Digital Operator Functions - - - - - - - - - - - - - - - - - - - - - - - - - 7-4
7.3 Status Display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-5
7.4 Switching between Basic Displays - - - - - - - - - - - - - - - - - - - 7-6
7.5 Operation during Parameter Editing Display - - - - - - - - - - - - 7-8
7.6 Operation during Monitor Display - - - - - - - - - - - - - - - - - - - 7-10 7
Un000: Actual motor speed - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-11
Un002: Internal torque reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-11
Un003: Rotation angle (pulses) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-11
Un004: Rotation angle (electrical angle) - - - - - - - - - - - - - - - - - - - - - - - - 7-11
Un005: SERVOPACK (CN1) input signal monitor- - - - - - - - - - - - - - - - - - 7-11
Un006: SERVOPACK (CN1) output signal monitor- - - - - - - - - - - - - - - - - 7-11
Un007: Position reference speed - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-11
Un008: Position error - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-12
Un009: Torque load ratio monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-12
Un00A: Regeneration load ratio monitor - - - - - - - - - - - - - - - - - - - - - - - - 7-12
Un00B: Dynamic-brake load ratio monitor - - - - - - - - - - - - - - - - - - - - - - - 7-12
Un00C: Position reference pulse counter - - - - - - - - - - - - - - - - - - - - - - - 7-12
Un00D: Encoder pulse counter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-13
Un010: Maximum speed for linear motor- - - - - - - - - - - - - - - - - - - - - - - - 7-13
Un011: Hall Sensor for linear motor - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-13
Un800: Last error - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-13
Un801: NS600 (CN4) input signal monitor- - - - - - - - - - - - - - - - - - - - - - - 7-14
Un802: NS600 (CN4) output signal monitor- - - - - - - - - - - - - - - - - - - - - - 7-14
Un803: Status flag monitor- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-14

7-1
7 Using the Digital Operator

Un804: Current position reference monitor - - - - - - - - - - - - - - - - - - - - - - 7-14

Un805: Current motor position monitor - - - - - - - - - - - - - - - - - - - - - - - - - 7-14
Un806: Target position monitor- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-15
Un807: Target distance monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-15
Un808: Registration target position monitor - - - - - - - - - - - - - - - - - - - - - - 7-15
Un809: Registration distance monitor - - - - - - - - - - - - - - - - - - - - - - - - - - 7-15
Un80A: Program step monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-15
Un80B: Program event time progress monitor - - - - - - - - - - - - - - - - - - - - 7-15
Un80C: Program loop progress monitor - - - - - - - - - - - - - - - - - - - - - - - - 7-15
Un80D: Serial command received character trace - - - - - - - - - - - - - - - - - 7-16
Un80E: Serial command received character count - - - - - - - - - - - - - - - - - 7-16
Un80F: Serial command received error character count - - - - - - - - - - - - - 7-16
Un810: Serial command transmitted character trace - - - - - - - - - - - - - - - 7-17
Un811: Serial command transmitted character count - - - - - - - - - - - - - - - 7-17

7.7 Operations during Auxiliary Function Display - - - - - - - - - - 7-18

Fn000: Alarm Traceback Data Display - - - - - - - - - - - - - - - - - - - - - - - - - 7-20
Fn001: Rigidity Setting during Online Autotuning - - - - - - - - - - - - - - - - - 7-21
Fn002: JOG Mode Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-22
Fn003: Zero-point Search - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-24
Fn005: Parameter Settings Initialization - - - - - - - - - - - - - - - - - - - - - - - - 7-26
Fn006: Alarm Traceback Data Clear - - - - - - - - - - - - - - - - - - - - - - - - - - 7-28
Fn007: Write Inertia Ratio Data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-29
Fn008: Absolute Encoder Reset - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-30
Fn00C: Manual Zero-adjustment of Analog Monitor Output - - - - - - - - - - 7-32
Fn00D: Manual Gain-adjustment of Analog Monitor Output - - - - - - - - - - 7-33
Fn00E: Automatic Offset-adjustment of Motor Current Detection Signal - 7-34
Fn00F: Manual Offset-adjustment of Motor Current Detection Signal - - - 7-36
Fn010: Write-protection Setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-37
Fn011: Motor Model Display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-38
Fn012: SERVOPACK Firmware Version Display - - - - - - - - - - - - - - - - - - 7-39
Fn013: Change Multiturn Limit Value Setting - - - - - - - - - - - - - - - - - - - - 7-40
Fn800: NS600 Firmware Version Display - - - - - - - - - - - - - - - - - - - - - - - 7-42
Fn801: NS600 Model Code Display - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-42
Fn802: NS600 Y Specification Number Display - - - - - - - - - - - - - - - - - - - 7-42
Fn803: Program Table Save - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-43
Fn804: Zone Table Save - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-44
Fn805: Jog Speed Table Save - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-45
Fn806: Program Table Initialization - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-46
Fn807: Zone Table Initialization - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-47
Fn808: Jog Speed Table Initialization - - - - - - - - - - - - - - - - - - - - - - - - - - 7-48
Fn809: Absolute Encoder Zero Setting - - - - - - - - - - - - - - - - - - - - - - - - - 7-49

7.8 Operations during Program Table Editing Display - - - - - - - 7-52

7.9 Operation during Zone Table Editing Display - - - - - - - - - - - 7-62
7.10 Operation during Jog Speed Table Editing Display - - - - - - 7-64

7-2
 7.1 Connecting the Digital Operator

7.1 Connecting the Digital Operator

CAUTION
注意

• The built-in Panel Operator cannot be used. Do not operate the built-in Panel Operator.

Connect the Hand-held JUSP-OP02A Digital Operator to connector CN7 on the NS600.

The SERVOPACK power supply can be left ON while connecting and disconnecting the Digital
Operator’s connector.
JUSP-OP02A
Digital Operator

SERVOPACK
ALARM DSPL
RESET SET

JOG DATA
SVON ENTER

YASKAWA

7
SGDH-
CN7

7-3
7 Using the Digital Operator

7.2 Digital Operator Functions

The Digital Operator can be used for parameter settings, operating references, and status dis-
plays.

This section provides information on the keys and their functions available from the initial dis-
plays.

Hand-held Key Name Function

Digital Operator ALARM ALARM RESET On the Status Display, use this key to reset alarms.
RESET

DSPL/SET Use this key for operations such as switching dis-

DSPL
SET
plays or executing auxiliary functions.

DATA/ENTER Use this key for operations such as inputting

DATA numerical values.
ENTER

UP Use these keys for operations such as incrementing

and decrementing numerical values.

DOWN

LEFT Use these keys for operations such as moving the

cursor.

RIGHT

JOG SVON Press this key to switch between Servo ON and

JOG Servo OFF status during JOG operation.
SVON

7-4
 7.3 Status Display

7.3 Status Display

On the Status Display, bit data and codes are displayed to indicate the status of SERVOPACK.

Display Meaning
Indicates Servo OFF status.
(bb: Base Block)
bb

Indicates Servo ON status.

run

Indicates P-OT status.

Rotation in the forward direction is prohibited by
the P-OT signal.
Motor rotating Pot
INPOSITION (P-OT: Positive-side Over Travel)
Indicates N-OT status.
Rotation in the reverse direction is prohibited by
Lit when Servo OFF the N-OT signal.
Control power supply Main See the descriptions not
(N-OT: Negative-side Over Travel)
on the right.
power Indicates P-LS status.
supply
Rotation in the forward direction is prohibited by
the limit setting in parameter Pn81B.
PLS
(P-LS: Positive-side Limit Switch)
Indicates N-LS status.
Rotation in the reverse direction is prohibited by
the limit setting in parameter Pn81C.
nLS
(N-LS: Negative-side Limit Switch)
Indicates Alarm or Warning status.
Code (A.xx: SERVOPACK alarm or warning code)
A.xx

Indicates Alarm status.

Code (ExxA: NS600’s alarm code) 7
ExxA

Indicates an error. The error code is displayed for 2

Code 2 seconds seconds when an error has occurred.
(ExxE: Error code)
ExxE

Indicates that data is being saved to flash memory.

Flashing Never turn OFF the control power supply while
data is being saved.
StorE

Indicates that data is being initialized to the factory

Flashing default settings. Never turn OFF the control power
supply while settings are being initialized.
InIt

ALARM
The key can be used to reset alarms on the Status Display only.
RESET

IMPORTANT If an alarm has occurred, reset the alarm after eliminating the cause of the alarm. Refer to Chapter 9
Troubleshooting for details.

7-5
7 Using the Digital Operator

7.4 Switching between Basic Displays

Switch between the Digital Operator’s basic displays for indicating the status of the SERVO-
PACK in operation and setting a variety of parameters and operation references.

The following basic displays are available: status display, auxiliary function, parameter editing,
monitor, program table editing, zone table editing, and jog speed table editing displays. Select
the basic display by pressing the DSPL/SET Key. The displays will appear in the following
order as the key is pressed.

7-6
 7.4 Switching between Basic Displays

Example: Status Display

Indicates the status with codes such as "bb" and "run."
Refer to 7.3 Status Display for details on codes.
bb
DSPL The display changes each time
SET the DSPL/SET is pressed.

Example:
Auxiliary Function Display
Indicates "Fn" and the selected function number. Refer
to 7.7 Operations during Auxiliary Function Display for
Fn000 details.
DSPL
SET

Example:
Parameter Editing Display
Indicates "Pn" and the selected parameter number.
Refer to 7.5 Operation during Parameter Editing Display
Pn000 for details.
DSPL
SET

Example:
Monitor Display
Indicates "Un" and the selected monitor number. Refer
to 7.6 Operation during Monitor Display for details.
Un000
DSPL
SET

Example: Program Table Editing Display

Indicates the mode, such as "Po" or "SP," and the
selected program step number. Refer to 7.8 Operations
during Program Table Editing Display for details.
Po000
DSPL
SET 7
Example: Zone Table Editing Display
Indicates the mode, i.e. "ZP" or "Zn," and the selected
zone number. Refer to 7.9 Operation during Zone Table
ZP000 Editing Display for details.

DSPL
SET

Example: Jog Speed Table Editing Display

Indicates "JS" and the selected jog speed number.
Refer to 7.10 Operation during Jog Speed Table Editing
JS000 Display for details.

DSPL
SET

7-7
7 Using the Digital Operator

7.5 Operation during Parameter Editing Display

Functions can be selected or adjusted by setting parameters. Refer to Appendix A List of Param-
eters for a list of parameters.

Use these keys to select

the parameter number.

Example:

DATA Press the DATA/ENTER Key to

ENTER display the current value.

Example:

DATA
ENTER Use these keys to edit
the parameter value.
If the DATA/ENTER Key is
pressed before editing, the
display will return to the
parameter number display.

Example:

DATA Press the DATA/ENTER Key to

ENTER save the new setting in EEPROM.

Wait until the display stops flashing.

Never turn OFF the control power
supply while the display is flashing.

DATA Press the DATA/ENTER Key to return

ENTER to the parameter number display.

IMPORTANT 1. A function that automatically keeps the displayed value within the allowed setting range has been
added for parameters with numbers Pn800 and higher. This function does not operate for parame-
ters with numbers lower than Pn800. If you attempt to change to a value outside of the allowed
range, the value will not change so keep the new values within range.
2. Some parameters can be changed during operation (online parameters) and others cannot (offline
parameters). When an offline parameter’s setting has been changed, the control power supply must
be turned OFF and then ON again to enable the new setting.

7-8
 7.5 Operation during Parameter Editing Display

„ Displaying Parameters
This section explains how to display parameters. The following table shows the 4 data for-
mats used for parameter settings.

Data Format Display Method

5-digit Example: 12,345
Decimal

4-digit Example: 1,234 (Hexadecimal)

Hexadecimal
This display is used for parameters
that are set digit-by-digit. For example,
the expression "Pn000.0" indicates the
lowest digit setting of Pn000.

8-digit Example: 12,345,678

Decimal

Press the Left or Right Key

Upper 3 digits to display the upper 3 digits Lower 5 digits
or lower 5 digits.

8-digit Example: +12,345,678

Signed
Decimal

Press the Left or Right Key

"+" Upper 3 digits to display the upper 3 digits Lower 5 digits
or lower 5 digits. 7

7-9
7 Using the Digital Operator

7.6 Operation during Monitor Display

The Monitor Display can be used for monitoring the reference values, I/O signal status, and
SERVOPACK internal status.

Use these keys to select

the monitor number.

Example:

DATA Press the DATA/ENTER Key

ENTER to display the monitored value.

Example:

DATA Press the DATA/ENTER Key to return

ENTER to the monitor number display.

There may be additional operations depending on the monitor number selected. Refer to the fol-
lowing description of each monitor number for details.

7-10
 7.6 Operation during Monitor Display

„ Contents of the Monitor Display

The following table shows contents of the monitor display.

Table 7.1 Monitor Displays

Monitor Monitored Value Display Explanation

Number
Un000 Actual motor Example: 3,000 min-1 Indicates the motor speed.
speed
[min-1]

Un002 Internal torque Example: 100% Indicates the torque.

reference The torque level is displayed
[%] as a percentage of the rated
torque (rated torque = 100%).

Un003 Rotation angle Example: 8,191 pulses Indicates the number of

(pulses) encoder phase-C pulses
[pulse] counted since the start point.

Un004 Rotation angle Example: 90° Indicates the motor’s electri-

(electrical angle) cal angle.
[degrees]

Un005 SERVOPACK Example: Indicates the ON/OFF status of

(CN1) input each signal.
signal monitor The ON/OFF logic is the ON/
OFF status of the input pthoto-
coupler.
OFF

Not used
ON
/S-ON
7
(Always ON) /RGRT /SEL5
/SEL6 P-OT
/DEC N-OT

Un006 SERVOPACK Example: Indicates the ON/OFF status of

(CN1) output each signal.
signal monitor The ON/OFF logic is the ON/
OFF status of the output tran-
sistor.
OFF
ON
ALM
ALO3 /WARN
ALO2 /BK
ALO1 /S-RDY

Un007 Position refer- Example: 3,000 min-1 Indicates the reference speed
ence speed of the position reference.
[min-1]

7-11
7 Using the Digital Operator

Table 7.1 Monitor Displays (cont’d)

Monitor Monitored Value Display Explanation

Number
Un008 Position error Example: 6,250 reference units Indicates the position error.
[reference units] If the value exceeds ±9,999,
“SAt” will be displayed.

SAt

Un009 Torque load ratio Example: 100% Indicates the executed torque
monitor over a 10-second interval.
[%] The torque level is displayed
as a percentage of the rated
torque (rated torque = 100%).
Un00A Regeneration Example: 30% Indicates the power consumed
load ratio moni- by the regenerative resistor
tor over a 10-second interval.
[%] The load rate is displayed as a
percentage of the regenerative
resistor’s allowed power con-
sumption.
Un00B Dynamic-brake Example: 10% Indicates the power consumed
load ratio moni- by the dynamic brake over a
tor 10-second interval.
[%] The load rate is displayed as a
percentage of the dynamic
brake’s allowed power con-
sumption.
Un00C Position refer- Example: 01234567 reference units (hexadecimal) Displays a position reference
ence pulse counter for monitoring.
counter
[reference units]
Upper 2 bytes
Press the Up or
Down Key
to display the upper
2 bytes or
lower 2 bytes.

Lower 2 bytes

The counter can be cleared by pressing

the Up and Down Keys together.

7-12
 7.6 Operation during Monitor Display

Table 7.1 Monitor Displays (cont’d)

Monitor Monitored Value Display Explanation

Number
Un00D Encoder pulse Example: 89ABCDEF pulses (hexadecimal) Displays an encoder pulse
counter counter for monitoring.
[pulses]

Upper 2 bytes
Press the Up or
Down Key
to display the upper
2 bytes or
lower 2 bytes.

Lower 2 bytes

The counter can be cleared by pressing

the Up and Down Keys together.

Un010 Maximum speed Example: 50 [x 100 mm/s] Displays the setting of the
for linear motor* maximum motor speed
[x100 mm/s] Maximum motor speed (Pn384) and the maximum
or possible setting for the PG
Maximum PG divider (Pn281) if Pn080.3 = 0.
divider* [pulses/ DSPL Press the DSPL/SET Key to Displays the maximum setting
SET switch the display. for the maximum motor speed
scale pitch]
(Pn384) and for the PG divider
Example: 20 [pulses/scale pitch] (Pn281) if Pn080.3 = 1.

Dividing ratio

Un011 Hall sensor for Example: Displays the phase U, phase V, 7

linear motor and phase W signals of the hall
sensor as L (low) and H (high)
and a signal pattern from 0 to 7
for the combination of L’s and
H’s.
Phase W
Phase V
Signal pattern Phase U

Un800 Last error Example: E4BE Displays the error code of the
most recent error.
If no errors have occurred,
“nonE” will be displayed.
nonE

7-13
7 Using the Digital Operator

Table 7.1 Monitor Displays (cont’d)

Monitor Monitored Value Display Explanation

Number
Un801 NS600 (CN4) Example: Indicates the ON/OFF status of
input signal mon- each signal.
itor The ON/OFF logic is the ON/
OFF status of the input photo-
coupler.

OFF
ON

/SEL4;/JOG3 /MODE0/1
/SEL3;/JOG2 /START;/HOME
/SEL2;/JOG1 / PGMRES;/JOGP
/SEL1;/JOG0 /SEL0;/JOGN

Un802 NS600 (CN4) Example: Indicates the ON/OFF status of

output signal each signal.
monitor The ON/OFF logic is the ON/
OFF status of the output photo-
coupler.

OFF
ON

/POUT4 /INPOSITION
/POUT3 /POUT0
/POUT2 /POUT1

Un803 Status flag Example: Displays the flags that indicate

monitor status.

Active
Inactive
INPOSITION
Main power supply
NEAR
Torque control DEN
Program executing Program or positioning interrupted.

Un804 Current position Example: +12,345,678 reference units Indicates the current position
reference of the position reference.
monitor
[reference units]
Upper 3 digits Press the Left or Right Key Lower 5 digits
"+"
to display the upper 3 digits
or lower 5 digits.

Un805 Current motor Example: -12,345,678 reference units Indicates the current motor
position monitor position.
[reference units]

Upper 3 digits Lower 5 digits

Press the Left or Right Key
to display the upper 3 digits
or lower 5 digits.

7-14
 7.6 Operation during Monitor Display

Table 7.1 Monitor Displays (cont’d)

Monitor Monitored Value Display Explanation

Number
Un806 Target position Example: +12,345,678 reference units Indicates the target position for
monitor positioning.
[reference units]

Upper 3 digits Press the Left or Right Key Lower 5 digits

"+"
to display the upper 3 digits
or lower 5 digits.

Un807 Target distance Example: -12,345,678 reference units Indicates the distance from the
monitor positioning start position to the
[reference units] target position.

Upper 3 digits Lower 5 digits

Press the Left or Right Key
to display the upper 3 digits
or lower 5 digits.

Un808 Registration Example: +12,345,678 reference units Indicates the registration target
target position position that was determined
monitor when the registration signal
[reference units] latched.
Upper 3 digits Press the Left or Right Key Lower 5 digits
"+"
to display the upper 3 digits
or lower 5 digits.

Un809 Registration Example: 12,345,678 reference units Indicates the registration dis-
distance monitor tance.
[reference units]

Upper 3 digits Press the Left or Right Key Lower 5 digits

to display the upper 3 digits
or lower 5 digits. 7
Un80A Program step Example: 127 Indicates the program step that
monitor is being executed.
If the program is not being
executed, “End” will be dis-
played.
End

Un80B Program event Example: 1,000 ms Indicates the time elapsed in

time progress the program table event.
monitor
[ms]

Un80C Program loop Example: 1 repetition Indicates the program table’s

progress monitor loop execution progress.
[repetitions]

7-15
7 Using the Digital Operator

Table 7.1 Monitor Displays (cont’d)

Monitor Monitored Value Display Explanation

Number
Un80D Serial command Displays a record of the char-
received acters received through serial
character trace communications.
Use the Up and Down Keys to
Received ASCII value scroll up and down between
Number of Reception (Hexadecimal) the 99th oldest character to the
characters error
from end of most recent character.
text string
Example: Reception error:
When reception errors have
occurred, the following codes
are added to indicate which
errors have occurred. (A blank
The Up and Down Keys can space indicates that no errors
be used to scroll up and down occurred.)
from the 99th character.
1: Overrun error
2: Framing error
4: Parity error
For example, a value of “6”
indicates that a framing error
and parity error occurred.

Un80E Serial command Example: 5 characters Indicates the number of char-

received charac- acters received through serial
ter count communications.

Un80F Serial command Example: 1 character Indicates the number of char-

received error acters received through serial
character count communications that had
reception errors.

7-16
 7.6 Operation during Monitor Display

Table 7.1 Monitor Displays (cont’d)

Monitor Monitored Value Display Explanation

Number
Un810 Serial command Displays a record of the char-
transmitted acters transmitted through
character trace serial communications.
Use the Up and Down Keys to
scroll up and down between
Number of characters Transmitted ASCII value the 39th oldest character to the
from end of text string (Hexadecimal)
most recent character.

Example:

The Up and Down Keys can

be used to scroll up and down
from the 39th character.

Un811 Serial command Example: 17 characters Indicates the number of char-

transmitted char- acters transmitted through
acter count serial communications.
7

7-17
7 Using the Digital Operator

7.7 Operations during Auxiliary Function Display

The various auxiliary functions, such as jog operation or initialization of parameters, can be
executed during the auxiliary function display.

The following table shows the auxiliary function numbers and the corresponding auxiliary func-
tions.

Auxiliary Function
Function No.
Fn000 Alarm traceback data display
Fn001 Rigidity setting during online autotuning
Fn002 JOG mode operation
Fn003 Zero-point search
Fn004 (Reserved)
Fn005 Parameter settings initialization
Fn006 Alarm traceback data clear
Fn007 Write moment of inertia ratio data
Fn008 Absolute encoder reset
Fn009 (Reserved)
Fn00A (Reserved)
Fn00B (Reserved)
Fn00C Manual zero-adjustment of analog monitor output
Fn00D Manual gain-adjustment of analog monitor output
Fn00E Automatic offset-adjustment of motor current detection signal
Fn00F Manual offset-adjustment of motor current detection signal
Fn010 Write-protection setting
Fn011 Motor model display
Fn012 SERVOPACK firmware version display
Fn013 Multiturn limit value setting change when a Multiturn Limit Disagreement
Alarm (A.CC) occurs
Fn800 NS600 firmware version display
Fn801 NS600 model code (0600 Hex) display
Fn802 NS600 Y spec. number display
Fn803 Program table save
Fn804 Zone table save
Fn805 Jog speed table save
Fn806 Program table initialization
Fn807 Zone table initialization
Fn808 Jog speed table initialization
Fn809* Absolute Encoder Zero Setting

* This auxiliary function is supported from version 4.

7-18
 7.7 Operations during Auxiliary Function Display

The following example shows how to select and execute an auxiliary function.

Use these keys to select the

auxiliary function number.

Example:

DATA Press the DATA/ENTER Key to enter

ENTER the selected auxiliary function number.

Example:

DATA Press the DATA/ENTER Key again to return

ENTER to the auxiliary function number display.

The actual function displays and operations vary depending on the function selected. Refer to
the description of each function for details.

7-19
7 Using the Digital Operator

„ Fn000: Alarm Traceback Data Display

This function displays the last ten alarms that have occurred.

DATA Press the DATA/ENTER Key once to enter

ENTER alarm traceback display.
Press the DATA/ENTER Key again to return
to the auxiliary function number display.

Example:

.
Use the Up and Down Keys to scroll through
. the last 10 alarms (numbered 0 to 9).
.

Note: The following diagram shows the content of the alarm traceback dis-
play. If no alarms have occurred, “nonE” will be displayed.

nonE

Alarm code
Alarm record number
(Alarm 0 is the most recent.)

7-20
 7.7 Operations during Auxiliary Function Display

„ Fn001: Rigidity Setting during Online Autotuning

This function sets the machine rigidity. When this function is executed, parameters Pn100,
Pn101, Pn102, and Pn401 will be refreshed and saved to EEPROM.

DATA Press the DATA/ENTER Key to enter

ENTER the autotuning rigidity setting display.

Example:
The current rigidity setting will be displayed.

DATA
ENTER
Use the Up and Down Keys to change
the rigidity setting.
If the DATA/ENTER Key is
pressed before editing,
the display will return to
the function number setting
display.
Example:

DATA Press the DATA/ENTER Key again to confirm

ENTER the new autotuning rigidity setting.

Wait until the display stops flashing.

Never turn OFF the control power supply
while the display is flashing.
donE
7
The display will return to the
function number setting display.

INFO For details on autotuning operations, see 9.2 Online Autotuning in the Σ-II Series SGM†H/SGDH
User’s Manual (Manual No.: SIEPS80000005).

7-21
7 Using the Digital Operator

„ Fn002: JOG Mode Operation

This function performs JOG mode operation.

CAUTION
注意
• P-OT, N-OT, P-LS, and N-LS are not effective during JOG mode operation. (These signals and
parameter settings prohibit forward and reverse operation.)

DATA
ENTER Press the DATA/ENTER Key to display
the JOG mode operation display.

JoG

DATA
ENTER
JOG Press the JOG/SVON Key to switch
SVON
between Servo ON and Servo OFF.
Press the DATA/ENTER Key
to return to the function
number setting display.
Press the Up Key to jog forward.

Press the Down Key to jog in reverse.

DATA
ENTER

Press the DATA/ENTER Key to

return to the function number
setting display.

INFO The speed can be changed with parameter Pn383 for linear motors and parameter Pn304 for other
motors. The factory default speed is 50 mm/s for linear motors and 500 min−1 for other motors.
The acceleration and deceleration times can be changed with parameters Pn305 and Pn306. The fac-
tory default acceleration and deceleration times are 0 ms.

7-22
 7.7 Operations during Auxiliary Function Display

Related Errors
The following table shows the main errors related to JOG mode operation.

Error Display Error Code and Name Description

E5AE: JOG operation cannot be executed while the
Execution Disabled while Servo is ON.
Servo ON Error Switch the Servo OFF and try again.

E5CE: JOG operation cannot be executed if the

Execution Disabled while main power supply is OFF.
Main Power OFF Error Turn ON the main power supply and try
again.
E5EE: JOG operation cannot be executed while
Execution Disabled dur- program operation is in progress or on hold
ing Program Operation (interrupted).
Error Reset program operation and try again.

7-23
7 Using the Digital Operator

„ Fn003: Zero-point Search

This function operates the motor and searches for the encoder’s phase C.

CAUTION
注意
• P-OT, N-OT, P-LS, and N-LS are not effective during the Zero-point Search operation. (These sig-
nals and parameter settings prohibit forward and reverse operation.)

DATA Press the DATA/ENTER Key to display

ENTER the Zero-point Search display.

CSr

DATA JOG Press the JOG/SVON Key to switch

ENTER SVON
between Servo ON and Servo OFF.
Press the DATA/ENTER
Key to return to the
function number
setting display.

DATA
The motor will rotate forward at 60 min-1
ENTER
when the Up Key is pressed.
Press the DATA/ENTER The motor will rotate in reverse at 60 min-1
Key to return to the when the Down Key is pressed.
function number setting
display.
When the phase C is found, the motor
will stop the display will flash.

DATA
ENTER

Press the DATA/ENTER

Key to return to the
function number setting
display.

7-24
 7.7 Operations during Auxiliary Function Display

Related Errors
The following table shows the main errors related to the Zero-point Search operation.

Error Display Error Code and Name Description

E5AE: Zero-point Search operation cannot be exe-
Execution Disabled while cuted while the Servo is ON.
Servo ON Error Switch the Servo OFF and try again.

E5CE: Zero-point Search operation cannot be exe-

Execution Disabled while cuted if the main power supply is OFF.
Main Power OFF Error Turn ON the main power supply and try
again.
E5EE: Zero-point Search operation cannot be exe-
Execution Disabled dur- cuted while program operation is in progress
ing Program Operation or on hold (interrupted).
Error Reset program operation and try again.

7-25
7 Using the Digital Operator

„ Fn005: Parameter Settings Initialization

This function returns the parameters to their factory default settings.

IMPORTANT The Servo must be OFF when this function is executed.

DATA Press the DATA/ENTER Key to display

ENTER the Parameter Initialization display.

P.InIt

DATA DSPL Press the DSPL/SET Key to

ENTER SET execute the function.
If the DATA/ENTER Key is pressed
before executing, the display will
return to the function number setting
display.

Wait until the display stops flashing.

Never turn OFF the control power
supply while the display is flashing.

donE

The display will return to the function

number setting display.

Turn the control power supply

OFF and then ON again.
End

IMPORTANT For a function whose settings has been changed, the control power supply must be turned OFF and
then ON again to enable the new settings.

7-26
 7.7 Operations during Auxiliary Function Display

Related Errors
The following table shows the main errors related to the initialize parameter settings opera-
tion.

Error Display Error Code and Name Description

E5AE: The parameter settings initialization opera-
Execution Disabled while tion cannot be executed while the Servo is
Servo ON Error ON.
Switch the Servo OFF and try again.

7-27
7 Using the Digital Operator

„ Fn006: Alarm Traceback Data Clear

This function clears the record of alarms that have occurred.

DATA Press the DATA/ENTER Key to display

ENTER the Alarm Traceback Data Clear display.

trCLr

DATA
ENTER
DSPL Press the DSPL/SET Key to
SET execute the function.
If the DATA/ENTER Key is
pressed before executing, the
display will return to the
function number
setting display.

Wait until the display stops flashing.

Never turn OFF the control power
supply while the display is flashing.

donE

The display will return to the

function number setting display.

7-28
 7.7 Operations during Auxiliary Function Display

„ Fn007: Write Inertia Ratio Data

This function writes the inertia ratio (calculated by online autotuning) to the parameter.
When this function is executed, parameter Pn103 is refreshed with the new inertia ratio data
and saved in EEPROM.

DATA Press the DATA/ENTER Key to display

ENTER the Write Inertia Ratio Data display.

Example:
The calculated inertia ratio will be displayed.

DATA
ENTER
DSPL Press the DSPL/SET Key to
SET execute the function.
If the DATA/ENTER Key
is pressed before executing,
the display will return to the
function number setting
display.

Wait until the display stops flashing.

Never turn OFF the control power
supply while the display is flashing.

donE

The display will return to the

function number setting display.
7

INFO For details on autotuning operations, see 9.2 Online Autotuning in the Σ-II Series SGM†H/SGDH
User’s Manual (Manual No.: SIEPS80000005).

7-29
7 Using the Digital Operator

„ Fn008: Absolute Encoder Reset

This function resets the absolute encoder and clears the recorded position information.

Execute this function in the following cases:

• When starting up the machine for the first time

• When an Encoder Backup Alarm has occurred
• When the encoder cable was disconnected

DATA Press the DATA/ENTER Key to display

ENTER the Absolute Encoder Reset display.

PGCL1

Press the Up Key several times to

display "PGCL5."

PGCL5

DATA
ENTER
DSPL Press the DSPL/SET Key to
SET execute the function.
If the DATA/ENTER Key
is pressed before executing,
the display will return to the
function number setting
display.

Wait until the display stops flashing.

Never turn OFF the control power
supply while the display is flashing.

donE

The display will return to the

function number setting display.

Turn the control power supply

OFF and then ON again.

End

IMPORTANT For a function whose settings has been changed, the control power supply must be turned OFF and
then ON again to enable the new settings.

7-30
 7.7 Operations during Auxiliary Function Display

Related Errors
The following table shows the main errors related to the absolute encoder reset operation.

Error Display Error Code and Name Description

E5AE: The absolute encoder reset operation cannot
Execution Disabled while be executed while the Servo is ON.
Servo ON Error Switch the Servo OFF and try again.

E61E: The function cannot be executed because the

Encoder Mismatch Error encoder is not an absolute encoder.

--- The operation failed. Try the operation again.

nO OP

7-31
7 Using the Digital Operator

„ Fn00C: Manual Zero-adjustment of Analog Monitor Output

This function adjusts the analog monitor’s zero setting (offset voltage).

DATA Press the DATA/ENTER Key to display

ENTER the channel selection display.

DSPL
SET

Press DSPL/SET
CH1_o to select the channel. CH2_o

DATA Press the Left or Right Key to display the

ENTER OR adjustment display. (Press the Key again
Press the DATA/ENTER to return to the channel selection display.)
Key to return to the
function number setting
display.

Example: The current zero-adjust setting will be displayed.

Press the Up and Down Keys to

change the setting.

DATA
ENTER

Press the DATA/ENTER Key

to confirm the new setting
and return to the function
number setting display.

7-32
 7.7 Operations during Auxiliary Function Display

„ Fn00D: Manual Gain-adjustment of Analog Monitor Output

This function adjusts the analog monitor’s gain.

DATA Press the DATA/ENTER Key to display

ENTER the channel selection display.

DSPL
SET

Press DSPL/SET
CH1_G to select the channel. CH2_G

DATA Press the Left or Right Key to display the

OR adjustment display. (Press the Key again
ENTER
to return to the channel selection display.)
Press the DATA/ENTER
Key to return to the
function number setting
display.

Example: The current gain setting will be displayed.

Press the Up and Down Keys to
change the setting.

DATA
ENTER

Press the DATA/ENTER Key

to confirm the new setting
and return to the function
number setting display.

7-33
7 Using the Digital Operator

„ Fn00E: Automatic Offset-adjustment of Motor Current Detection Sig-

nal
This function automatically adjusts the motor current’s zero setting (offset current).

The motor current detection offset is adjusted at Yaskawa before shipping. Normally, the
user does not have to perform this adjustment. Perform this adjustment only if you require
even higher accuracy because the torque ripple caused by current offset is causing unaccept-
able errors and you want to reduce the torque ripple even more.

IMPORTANT If this function is executed carelessly, it may worsen the characteristics. Execute this function only
when the generated torque ripple is clearly high compared to other SERVOPACKs.

DATA Press the DATA/ENTER Key to display

ENTER the Automatic Motor Current Offset
Adjustment display.

Cur_o

DATA
ENTER DSPL Press the DSPL/SET Key to
SET execute the function.
If the DATA/ENTER Key
is pressed before executing,
the display will return to the
function number setting
display.

Wait until the display stops flashing.

Never turn OFF the control power
supply while the display is flashing.

donE

The display will return to the

function number setting display.

7-34
 7.7 Operations during Auxiliary Function Display

Related Errors
The following table shows the main errors related to the Automatic Offset-adjustment of the
Motor Current Detection Signal operation.

Error Display Error Code and Name Description

E5AE: The offset adjustment cannot be executed
Execution Disabled while while the Servo is ON.
Servo ON Error Switch the Servo OFF and try again.

E5CE: The offset adjustment cannot be executed if

Execution Disabled while the main power supply is OFF.
Main Power OFF Error Turn ON the main power supply and try
again.

7-35
7 Using the Digital Operator

„ Fn00F: Manual Offset-adjustment of Motor Current Detection Signal

This function manually adjusts the motor current’s zero setting (offset current).

The motor current detection offset is adjusted at Yaskawa before shipping. Normally, the
user does not have to perform this adjustment. Perform this adjustment only if you require
even higher accuracy because the torque ripple caused by current offset is causing unaccept-
able errors and you want to reduce the torque ripple even more.

IMPORTANT 1. If this function is executed carelessly, it may worsen the characteristics. When the generated torque
ripple is clearly high compared to other SERVOPACKs, execute the automatic offset-adjustment
function (function number Fn00E).
2. When making manual adjustments, run the motor at a speed of approximately 100 min-1, and adjust
the offset until the torque monitor ripple is minimized. It is necessary to adjust the motor’s phase U
and phase V offsets alternately several times until these offsets are well balanced.

DATA Press the DATA/ENTER Key to display

ENTER the channel selection display.

Phase U Phase V
DSPL
SET

Cu1_o Press DSPL/SET Cu2_o

to select the channel.

DATA Press the Left or Right Key to display the

ENTER
OR adjustment display. (Press the Key again
to return to the channel selection display.)
If the DATA/ENTER Key
is pressed before executing,
the display will return to the
function number setting
display.
Example: The current offset setting will be displayed.
Press the Up and Down Keys to change
the motor current offset setting.

DATA
ENTER

Press the DATA/ENTER Key

to confirm the new setting
and return to the function
number setting display.

7-36
 7.7 Operations during Auxiliary Function Display

„ Fn010: Write-protection Setting

This function sets write-protection for various data.

If data is write-protected, it will not be possible to change the program table, zone table, jog
speed table, or parameters. Some auxiliary functions will also be disabled.

DATA Press the DATA/ENTER Key to display

ENTER the write-protection setting display.

The current write-protection setting

will be displayed.

DATA
ENTER Press the Up or Down Key to change
the write-protection setting.
If the DATA/ENTER Key
is pressed before executing, Settings:
the display will return to the 0001: Write-protect data.
function number setting 0000: Clear write-protection.
display.

DATA Press the DATA/ENTER Key to save the

ENTER setting to EEPROM. The display will flash.

Wait until the display stops flashing.

Never turn OFF the control power
supply while the display is flashing.
7
donE

The display will return to the

function number setting display.

Turn the control power supply

OFF and then ON again.
End

IMPORTANT For a function whose settings has been changed, the control power supply must be turned OFF and
then ON again to enable the new settings.

7-37
7 Using the Digital Operator

„ Fn011: Motor Model Display

This function displays the motor model code, motor capacity, encoder model code, and the
SERVOPACK special specification code (Y-specification code).

DATA Press the DATA/ENTER Key to display the model code display.
ENTER (Press the DATA/ENTER Key again to return to the function
number setting display.)

Example:
The motor model code is displayed first.

DSPL
SET

Example:
The motor capacity is displayed.

DSPL
SET

Example:
The encoder model code is displayed.

DSPL
SET

Example:
The SERVOPACK specification code is displayed.

DSPL
SET

INFO For details on the various codes displayed by this function, see 7.2.9 Motor Models Display in the Σ-II
Series SGM†H/SGDH User’s Manual (Manual No.: SIEPS80000005).

7-38
 7.7 Operations during Auxiliary Function Display

„ Fn012: SERVOPACK Firmware Version Display

This function displays the SERVOPACK and encoder firmware version.

DATA Press the DATA/ENTER Key to display the firmware

ENTER version display. (Press the DATA/ENTER Key again
to return to the function number setting display.)

Example:
The SERVOPACK's firmware version is displayed first.

DSPL
SET

Example:
The encoder's firmware version is displayed.

DSPL
SET

7-39
7 Using the Digital Operator

„ Fn013: Change Multiturn Limit Value Setting

This function sets the multiturn limit value.

When this function is executed, the maximum multiturn value set in the absolute encoder is
refreshed with the value in parameter Pn205.
This operation clears alarm A.CC (the Multiturn Limit Disagreement alarm).

WARNING
注意
• The multiturn limit value must be changed only for special applications. Changing it inappropriately
or unintentionally can be dangerous.
• If a Multiturn Limit Disagreement alarm occurs, check the setting of parameter Pn205 in the SER-
VOPACK first to confirm that it is correct.
If Fn013 is executed when an incorrect value is set in Pn205, an incorrect value will be set in the Encoder.
The alarm will disappear even if an incorrect value is set, but incorrect positions will be detected, resulting a
dangerous situation where the machine will move to unexpected positions.

DATA Press the DATA/ENTER Key to display

ENTER the multiturn limit setting display.

PGSEt

DATA
DSPL Press the DSPL/SET Key to
ENTER
SET execute the function.
If the DATA/ENTER Key
is pressed before executing,
the display will return to the
function number
setting display.

Wait until the display stops flashing.

Never turn OFF the control power
supply while the display is flashing.

donE

The display will return to the

function number setting display.

Turn the control power supply

OFF and then ON again.
End

7-40
 7.7 Operations during Auxiliary Function Display

INFO For details on the multiturn limit setting, see 5.3.5 Multiturn Limit Setting.

IMPORTANT For a function whose settings has been changed, the control power supply must be turned OFF and
then ON again to enable the new settings.

Related Errors
The following table shows the main errors related to the change multiturn limit value setting
operation.

Error Display Error Code and Name Description

E61E: The function cannot be executed because the
Encoder Mismatch Error encoder is not an absolute encoder.

E62E: The function cannot be executed if an A.CC

No A.CC Alarm alarm has not occurred.
Occurred Error (Alarm A.CC occurs only when the setting
stored in the encoder does not match the set-
ting in parameter Pn205.)

7-41
7 Using the Digital Operator

„ Fn800: NS600 Firmware Version Display

This function displays the NS600’s firmware version.

DATA Press the DATA/ENTER Key to display the firmware

ENTER version display. (Press the DATA/ENTER Key again
to return to the function number setting display.)

Example:
The NS600's firmware version is displayed.

„ Fn801: NS600 Model Code Display

This function displays the NS600’s model code.

DATA Press the DATA/ENTER Key to display the model

ENTER code display. (Press the DATA/ENTER Key again
to return to the function number setting display.)

The NS600's model code is displayed.

„ Fn802: NS600 Y Specification Number Display

This function displays the NS600’s Y specification code.

DATA Press the DATA/ENTER Key to display the NS600 Y specification

ENTER code display. (Press the DATA/ENTER Key again to return to the
function number setting display.)

Example:
The NS600's Y specification code is displayed.

7-42
 7.7 Operations during Auxiliary Function Display

„ Fn803: Program Table Save

This function saves the program table to flash memory.

When this function is executed, the program table in RAM is saved to flash memory. Data
saved in flash memory is retained even when the control power supply is turned OFF.

DATA Press the DATA/ENTER Key to display

ENTER the Program Table Save display.

StorE

DATA
ENTER DSPL Press the DSPL/SET Key to
SET execute the function.
If the DATA/ENTER Key
is pressed before executing,
the display will return to the
function number setting
display.

Wait until the display stops flashing.

Never turn OFF the control power
supply while the display is flashing.

donE

The display will return to the

function number setting display. 7

7-43
7 Using the Digital Operator

„ Fn804: Zone Table Save

This function saves the zone table to flash memory.

When this function is executed, the zone table in RAM is saved to flash memory. Data saved
in flash memory is retained even when the control power supply is turned OFF.

DATA Press the DATA/ENTER Key to display

ENTER the Zone Table Save display.

StorE

DATA
ENTER DSPL Press the DSPL/SET Key to
SET execute the function.
If the DATA/ENTER Key
is pressed before executing,
the display will return to the
function number setting
display.

Wait until the display stops flashing.

Never turn OFF the control power
supply while the display is flashing.

donE

The display will return to the

function number setting display.

7-44
 7.7 Operations during Auxiliary Function Display

„ Fn805: Jog Speed Table Save

This function saves the jog speed table to flash memory.

When this function is executed, the jog speed table in RAM is saved to flash memory. Data
saved in flash memory is retained even when the control power supply is turned OFF.

DATA Press the DATA/ENTER Key to display

ENTER the Jog Speed Table Save display.

StorE

DATA DSPL Press the DSPL/SET Key to

ENTER
SET execute the function.
If the DATA/ENTER Key
is pressed before executing,
the display will return to the
function number
setting display.

Wait until the display stops flashing.

Never turn OFF the control power
supply while the display is flashing.

donE

The display will return to the

function number setting display. 7

7-45
7 Using the Digital Operator

„ Fn806: Program Table Initialization

This function initializes the program table, i.e., returns the program table settings to their
factory default settings.

DATA Press the DATA/ENTER Key to display

ENTER the Program Table Initialization display.

Init

DATA
DSPL Press the DSPL/SET Key to
ENTER
SET execute the function.
If the DATA/ENTER Key
is pressed before executing,
the display will return to the
function number setting
display.

Wait until the display stops flashing.

Never turn OFF the control power
supply while the display is flashing.

donE

The display will return to the

function number setting display.

Related Errors
The following table shows the main errors related to program table initialization.

Error Display Error Code and Name Description

E5EE: The program table cannot be initialized
Execution Disabled dur- while program operation is in progress or on
ing Program Operation hold (interrupted).
Error Reset program operation and try again.

7-46
 7.7 Operations during Auxiliary Function Display

„ Fn807: Zone Table Initialization

This function initializes the zone table, i.e., returns the zone table settings to their factory
default settings.

DATA Press the DATA/ENTER Key to display

ENTER the Zone Table Initialization display.

Init

DATA
ENTER
DSPL Press the DSPL/SET Key to
SET execute the function.
If the DATA/ENTER Key
is pressed before executing,
the display will return to the
function number setting
display.

Wait until the display stops flashing.

Never turn OFF the control power
supply while the display is flashing.

donE

The display will return to the

function number setting display.

7-47
7 Using the Digital Operator

„ Fn808: Jog Speed Table Initialization

This function initializes the jog speed table, i.e., returns the jog speed table settings to their
factory default settings.

DATA Press the DATA/ENTER Key to display

ENTER the Jog Speed Table Initialization display.

Init

DATA
ENTER
DSPL Press the DSPL/SET Key to
SET execute the function.
If the DATA/ENTER Key
is pressed before executing,
the display will return to the
function number
setting display.

Wait until the display stops flashing.

Never turn OFF the control power
supply while the display is flashing.

donE

The display will return to the

function number setting display.

7-48
 7.7 Operations during Auxiliary Function Display

„ Fn809: Absolute Encoder Zero Setting

The present position can be changed to a desired position by inputting the desired position.
(The desired position is often 0.)

Calculate the difference between the desired position and the absolute encoder position (i.e.,
the absolute encoder offset), and save the value in parameter Pn81D

This function is supported for version 4 or later.

INFO

CAUTION
注意

• It can be dangerous to execute this function to switch the coordinates of the position reference. After execut-
ing this function, confirm that the position reference and the new coordinates are in agreement before start-
ing operation.

When one of the Pn202, Pn203, Pn205, or Pn81A to Pn81D parameters has been changed, enable the
IMPORTANT
new setting by turning the control power supply OFF and then ON again before continuing operation.

7-49
7 Using the Digital Operator

DATA Press the DATA/ENTER Key to display the absolute encoder

ENTER home position setting edit display.

ZSEt1

Press the Up Key several times until ZSEt5 is set.

ZSEt5

If the DATA/ENTER DATA

DSPL Press the DSPL/SET Key to display the desired
Key is pressed before ENTER SET position input display.
executing, the display
will return to the
function number setting
display.
Upper 3 digits Lower 5 digits

Example:
+12345678 Move Set the desired position.
cursor

Use the Up and Down Keys Use the Up and Down Keys
to change the setting. to change the setting.

DATA Press the DATA/ENTER Key to execute

ENTER the function.

Wait until the display stops flashing.

Never turn OFF the control power supply
while the display is flashing.

The display will return to the function number

setting display.

Confirm that the current position reference monitor (Un804) and the current motor position monitor (Un805)
have changed to the desired position.

End

7-50
 7.7 Operations during Auxiliary Function Display

Do not rewrite this value until the absolute encoder offset has been stored in parameter Pn81D.
IMPORTANT

Related Errors
The following table shows the main errors related to the absolute encoder zero setting.

Error Display Error Code and Name Description

E53E: Move Reference Execution is not possible because the system
Duplication Error is already moving.

E58E: Data Out-of-range The calculated value of the absolute encoder

Error offset exceeds the setting range of Pn81D.
The desired position and the position of the
absolute encoder are too far apart. Reset the
absolute encoder offset (Fn008) and then try
the execution again.
E61E: Encoder Mis- Execution is not possible because the
match Error encoder is not an absolute encoder.

--- The operation was not executed correctly.

Try the operation again.
nO OP

7-51
7 Using the Digital Operator

7.8 Operations during Program Table Editing Display

The program table can be edited during the program table editing display.

The following diagram shows the codes for each column of the program table.

* *

Po SP rd rS AC dE ou EV Lo nE

PGMSTE POS SPD RDST RSPD ACC* DEC* POUT EVENT LOOP NEXT
0 POS000 SPD000 RDST000 RSPD000 ACC000 DEC000 POUT000 EVENT000 LOOP000 NEXT000
1 POS001 SPD001 RDST001 RSPD001 ACC001 DEC001 POUT001 EVENT001 LOOP001 NEXT001
. . . . . . . . . . .
. . . . . . . . . . .
. . . . . . . . . . .

127 POS127 SPD127 RDST127 RSPD127 ACC127 DEC127 POUT127 EVENT127 LOOP127 NEXT127

* ACC and DEC are supported from version 4.

1. Use the Keys to move between columns and rows.

EXAMPLE

Move
horizontally
PGMSTEP POS SPD PGMSTEP POS SPD

0 POS000 SPD000 0 POS000 SPD000

1 POS001 SPD001 1 POS001 SPD001

Move
vertically

PGMSTEP POS SPD

0 POS000 SPD000
1 POS001 SPD001

2. Press the DATA

ENTER
Key to display the setting editing display. Press the DATA/ENTER Key

again to return to the initial program table display.

Example:

StoP

3. Edit the setting with the Keys.

4. Press the DATA

ENTER
Key to enter the new setting and return to the program table number dis-

play.

7-52
 7.8 Operations during Program Table Editing Display

INFO The Program Table Save function (Fn803) can be executed to save the new settings to flash memory.
Once saved to flash memory, the data will be retained even if the control power supply goes OFF. See
page 7-43 for details.

StorE

Related Errors
The following table shows the main errors related to the program table editing operations.

Error Display Error Code and Name Description

E5EE: The program table cannot be edited while
Execution Disabled dur- program operation is in progress or on hold
ing Program Operation (interrupted).
Error Reset program operation and try again.

7-53
7 Using the Digital Operator

„ POS: Target Position

This parameter sets the target position.

PGMSTEP

DATA Press the DATA/ENTER Key to display the Target Position Edit display.
ENTER (Press the DATA/ENTER Key again to return to the program table number
display.)

Example: "-"

Changing the Target Position Setting

Target position set to "-".

Target position set to "-INFINITE".

-InF I

Target position set to "+INFINITE".

+InFI

Move Move
I+123 cursor cursor
Example: Target position set
to I +12,345,678.

Move Move
A+123 cursor cursor
Example: Target position set
to A+12,345,678.

Target position set to "STOP".

StoP

7-54
 7.8 Operations during Program Table Editing Display

„ SPD: Positioning Speed

This parameter sets the positioning speed.

PGMSTEP

DATA Press the DATA/ENTER Key to display the Positioning Speed Edit display.
ENTER (Press the DATA/ENTER Key again to return to the program table number
display.)

Example: "12,345,678"
Upper 3 digits Lower 5 digits

Move
cursor
Use the Up and Down Keys
to change the setting.

„ RDST: Registration Distance

This parameter sets the registration distance.

PGMSTEP

DATA Press the DATA/ENTER Key to display the Registration Distance Edit display.
ENTER (Press the DATA/ENTER Key again to return to the program table number
display.)

Example: "12,345,678"
Upper 3 digits Lower 5 digits

7
Move
cursor
Use the Up and Down Keys
to change the setting.

INFO If the registration distance is set to a negative value, the setting will automatically be changed to “-”.

7-55
7 Using the Digital Operator

„ RSPD: Registration Speed

This parameter sets the registration speed.

PGMSTEP

DATA Press the DATA/ENTER Key to display the Registration Speed Edit display.
ENTER (Press the DATA/ENTER Key again to return to the program table number
display.)

Example: "12,345,678"
Upper 3 digits Lower 5 digits

Move
cursor
Use the Up and Down Keys
to change the setting.

„ ACC: Accleration
This parameter sets the acceleration.

PGMSTEP

DATA Press the DATA/ENTER Key to display the Acceleration Edit display.
ENTER (Press the DATA/ENTER Key again to return to the program table number
display.)

Example: "12,345,678"
Upper 3 digits Lower 5 digits

Move
cursor

Use the Up and Down Keys

to change the setting.

":" will be displayed if the value is smaller than 1.

This function is supported for version 4 or later.

INFO

7-56
 7.8 Operations during Program Table Editing Display

„ DEC: Deceleration
This parameter sets the deceleration.

PGMSTEP

DATA Press the DATA/ENTER Key to display the Deceleration Edit display.
ENTER (Press the DATA/ENTER Key again to return to the program table number
display.)

Example: "12,345,678"
Upper 3 digits Lower 5 digits

Move
cursor

Use the Up and Down Keys

to change the setting.

":" will be displayed if the value is smaller than 1.

This function is supported for version 4 or later.

INFO

7-57
7 Using the Digital Operator

„ POUT: Programmable Output Signals

This parameter sets the usage of the programmable output signals.

PGMSTEP

DATA Press the DATA/ENTER Key to display the Editing display.

ENTER (Press the DATA/ENTER Key again to return to the program
table number display.)

Example: ": : : : :"

Use the Up and Down Keys

to change the setting.
:::::

Changing the Programmable Output Signal Setting

Set to ":".

Set to "Z".

Set to "A".

Set to "n".

7-58
 7.8 Operations during Program Table Editing Display

„ EVENT: Pass Condition

This parameter sets the pass condition.

PGMSTEP

DATA Press the DATA/ENTER Key to display the Editing display.

ENTER (Press the DATA/ENTER Key again to return to the program
table number display.)

Example: ":"

7-59
7 Using the Digital Operator

Changing the EVENT Setting

Set to ":".

Move Move
SEL0t cursor cursor
Example:
Set to "SEL0T00000".

Example:
Set to "DT00000".
Move
dt cursor

Example:
Set to "NT00000".
Move
nt cursor

Example:
Set to "IT00000".
Move
It cursor

Example:
Set to "T00000".
Move
t cursor

7-60
 7.8 Operations during Program Table Editing Display

„ LOOP: Number of Executions

This parameter sets the number of executions (repetitions).

PGMSTEP

DATA Press the DATA/ENTER Key to display the Editing display.

ENTER (Press the DATA/ENTER Key again to return to the program
table number display.)

Example: "1"

Use the Left and Right Keys to move the cursor.

Use the Up and Down Keys to change the setting.

„ NEXT: PGMSTEP to be Executed Next

This parameter sets the PGMSTEP number that will be executed next.

PGMSTEP

DATA Press the DATA/ENTER Key to display the Editing display.

ENTER (Press the DATA/ENTER Key again to return to the program
table number display.)

Example: "1"

Use the Left and Right Keys to move the cursor.

Use the Up and Down Keys to change the setting.

7
INFO If the NEXT parameter is set to a negative value, the setting will automatically be changed to “End.”

7-61
7 Using the Digital Operator

7.9 Operation during Zone Table Editing Display

The zone table can be edited during the zone table editing display.

The following diagram shows the codes for each column of the zone table.

ZP Zn

ZONE No. ZONEP ZONEN

0 ZONEP000 ZONEN000
1 ZONEP001 ZONEN001
. . .
. . .
. . .

31 ZONEP031 ZONEN031

1. Use the Keys to move between columns and rows.

EXAMPLE

Move
horizontally
ZONE No. ZONEP ZONEN ZONE No. ZONEP ZONEN
0 ZONEP000 ZONEN000 0 ZONEP000 ZONEN000
1 ZONEP001 ZONEN001 1 ZONEP001 ZONEN001

Move
vertically

ZONE No. ZONEP ZONEN

0 ZONEP000 ZONEN000
1 ZONEP001 ZONEN001

2. Press the DATA

ENTER
Key to display the setting editing display. (Press the DATA/ENTER Key

again to return to the initial zone table display.)

Example:

+000

3. Edit the setting with the Keys.

4. Press the DATA

ENTER
Key to enter the new setting and return to the zone table number display.

7-62
 7.9 Operation during Zone Table Editing Display

INFO The Zone Table Save function (Fn804) can be executed to save the new settings to flash memory. Once
saved to flash memory, the data will be retained even if the control power supply goes OFF. See page
7-44 for details.

StorE

„ ZONEP: Forward (Positive) Zone Setting,

ZONEN: Reverse (Negative) Zone Setting
These parameters define the zones in the zone table.

ZONE OR ZONE
number number

DATA Press the DATA/ENTER Key to display the Zone Setting Edit display.
ENTER (Press the DATA/ENTER Key again to return to the zone table number display.)

Example: "+12,345,678"

Upper 3 digits Lower 5 digits

Move
cursor
"+"
Use the Up and Down Keys
to change the setting.
7

7-63
7 Using the Digital Operator

7.10 Operation during Jog Speed Table Editing Display

The jog speed table can be edited during the jog speed table editing display.

The following diagram shows the code for the column of the jog speed table.

JS

JOG speed
No. JSPD
0 JSPD000
1 JSPD001
. .
. .
. .

15 JSPD015

1. Use the Keys to move between rows.

EXAMPLE

JOG speed
No. JSPD
0 JSPD000
1 JSPD001

Move vertically

JOG speed
No. JSPD
0 JSPD000
1 JSPD001

2. Press the DATA

ENTER
Key to display the setting editing display. (Press the DATA/ENTER Key

again to return to the initial jog speed table display.)

Example:

000

3. Edit the setting with the Keys.

4. Press the DATA

ENTER
Key to enter the new setting and return to the jog speed table number

display.

7-64
 7.10 Operation during Jog Speed Table Editing Display

INFO The Jog Speed Table Save function (Fn805) can be executed to save the new settings to flash memory.
Once saved to flash memory, the data will be retained even if the control power supply goes OFF. See
page 7-45 for details.

StorE

„ JSPD: Jog Speed Table

This parameter sets the jog speed.

Jog speed
number

DATA Press the DATA/ENTER Key to display the Jog Speed Setting Edit display.
ENTER (Press the DATA/ENTER Key again to return to the jog speed table number
display.)

Example: "12,345,678"

Upper 3 digits Lower 5 digits

Move
cursor
Use the Up and Down Keys
to change the setting.

7-65
 8
Dimensions

This chapter provides a dimensional drawing of the NS600.

8.1 NS600 Dimensions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-2

8-1
8 Dimensions

8.1 NS600 Dimensions

The following diagram shows the external dimensions of the NS600.

Unit: mm (in)

20
(0.79)

NS600
142 (5.59)

24 1 128 (5.04)
(0.94) (0.039)

8-2
 9
Troubleshooting

This chapter describes the troubleshooting procedures for problems which

cause an alarm display, problems that do not cause an alarm display, and
related functions.

9.1 Servodrive Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - 9-2

9.1.1 Alarm Display Table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2
9.1.2 Warning Display Table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-5
9.1.3 Troubleshooting Problems with No Alarm Display - - - - - - - - - - - - - - - 9-6

9.2 NS600 Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-8

9.2.1 Status Displays - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-8
9.2.2 Alarm Display Table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-10
9.2.3 Error Display Table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-14
9.2.4 Warning Display Table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-19
9.2.5 Normal Display Table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-20

9.3 STS Status Indicators - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-21

9-1
9 Troubleshooting
9.1.1 Alarm Display Table

9.1 Servodrive Troubleshooting

This section explains how to troubleshoot and correct servodrive problems.

9.1.1 Alarm Display Table

The following table shows the alarm displays and meaning of the alarms.

Table 9.1 Alarm Displays and Outputs

Alarm Alarm Name Meaning ALM Output Alarm Code Outputs

Display
ALO1 ALO2 ALO3
A.02 Parameter Breakdown∗2 EEPROM data of SERVOPACK is abnor- OFF OFF OFF OFF
mal.
A.03 Main Circuit Encoder Error Detection data for power circuit is abnormal.
A.04 Parameter Setting Error ∗2 • The parameter setting is outside the allow-
able setting range.
• Pn080.0 was set to 1 when using a linear
motor with a hall sensor, or Pn080.0 was
set to 0 when using a motor without a hall
sensor.
A.05 Combination Error SERVOPACK and servomotor capacities do
not match each other.
A.08 Linear Scale Pitch Setting Pn280 is still set to the factory default. OFF OFF OFF OFF
Error∗5
A.09 Dividing Ratio Setting The setting of the dividing ratio (Pn212) is OFF OFF OFF OFF
Error∗4 not acceptable (out of fixed increments) or
exceeds the value for the connected encoder
resolution.
With a linear motor connected, Pn281 was
set to a division ratio that exceeds the maxi-
mum value obtained from the maximum
speed of the linear motor.
A.0A Encoder Model Unmatched The mounted serial encoder is not supported OFF OFF OFF OFF
by Σ-II series SERVOPACK.
A.10 Overcurrent or Heat Sink An overcurrent flowed through the IGBT. OFF ON OFF OFF
Overheated∗2 Heat sink of the SERVOPACK was over-
heated.
A.30 Regeneration Error Detected • Regenerative circuit is faulty. OFF ON ON OFF
• Regenerative resistor is faulty.
A.32 Regenerative Overload Regenerative energy exceeds regenerative
resistor capacity.
A.40 Overvoltage∗3 Main circuit DC voltage is excessively high. OFF OFF OFF ON
A.41 Undervoltage∗3 Main circuit DC voltage is excessively low.
A.51 Overspeed • Rotational speed of the motor is exces- OFF ON OFF ON
sively high.
• The divided pulse output frequency
exceeded 15 Mbps.

9-2
 9.1 Servodrive Troubleshooting

Table 9.1 Alarm Displays and Outputs (cont’d)

Alarm Alarm Name Meaning ALM Output Alarm Code Outputs

Display
ALO1 ALO2 ALO3
A.55 Linear Motor Maximum With a linear motor connected, Pn384 was ON OFF ON OFF
Speed Setting Error∗4 set to a speed higher than the maximum lin-
ear motor speed.
A.71 Overload: High Load The motor was operating for several seconds OFF ON ON ON
to several tens of seconds under a torque
largely exceeding ratings.
A.72 Overload: Low Load The motor was operating continuously under
a torque largely exceeding ratings.
A.73 Dynamic Brake Overload When the dynamic brake was applied, rota-
tional energy exceeded the capacity of
dynamic brake resistor.
A.74 Overload of Surge Current The main circuit power was frequently
Limit Resistor turned ON and OFF.
A.7A Heat Sink Overheated ∗1 The heat sink of SERVOPACK overheated.
A.81 Encoder Backup Error∗2 All the power supplies for the absolute OFF OFF OFF OFF
encoder have failed and position data was
cleared.
A.82 Encoder Checksum Error∗2 The checksum results of encoder memory is
abnormal.
A.83 Absolute Encoder Battery Battery voltage for the absolute encoder has
Error dropped.
A.84 Encoder Data Error∗2 Data in the encoder is abnormal.
A.85 Encoder Overspeed The encoder was rotating at high speed when OFF OFF OFF OFF
the power was turned ON.
A.86 Encoder Overheated The internal temperature of encoder is too
high.
A.b1 Reference Speed Input Read The A/D converter for reference speed input
Error is faulty.
A.b2 Reference Torque Input The A/D converter for reference torque input
Read Error is faulty.
A.b3 Current Detection Error∗4 The current sensor is faulty or the servomo-
tor is disconnected.
A.bF System Alarm∗2 A system error occurred in the SERVO-
PACK.
A.C1 Servo Overrun Detected The servomotor ran out of control. OFF ON OFF ON 9
A.C2 Encoder Phase Detection Phase data exceeding ±30° exists in the ON OFF ON OFF
Error serial encode data cycle.
A.C5 Linear Motor Polarity Posi- The pole position of a linear motor was not
tion Error Detection detected correctly.

9-3
9 Troubleshooting
9.1.1 Alarm Display Table

Table 9.1 Alarm Displays and Outputs (cont’d)

Alarm Alarm Name Meaning ALM Output Alarm Code Outputs

Display
ALO1 ALO2 ALO3
A.C8 Absolute Encoder Clear The multiturn for the absolute encoder was OFF ON OFF ON
Error and Multiturn Limit not properly cleared or set.
Setting Error∗2
A.C9 Encoder Communications Communications between SERVOPACK
Error∗2 and encoder is not possible.
A.CA Encoder Parameter Error∗2 Encoder parameters are faulty.
A.Cb Encoder Echoback Error∗2 Contents of communications with encoder is
incorrect.
A.CC Multiturn Limit Disagree- Different multiturn limits have been set in
ment the encoder and SERVOPACK.
A.d0 Position Error Pulse Over- Position error pulse exceeded parameter OFF ON ON OFF
flow (Pn505).
A.d2 Position Data Overflow The position data exceeds the range of posi-
Error tion management data.
A.EF Application Module Error Some kind of alarm occurred in the Applica- OFF OFF ON ON
tion Module. Check the NS600 Alarm Dis-
play.
A.F1 Power Line Open Phase One phase is not connected in the main OFF OFF ON OFF
power supply.
A.F6 Servomotor Disconnection The power is not supplied to the servomotor OFF ON OFF OFF
Alarm∗4 though the SERVOPACK received the Servo
ON command.
A.-- Not an error Normal operating status ON OFF OFF OFF
Note: OFF: Output transistor is OFF (high).
ON: Output transistor is ON (low).
* 1. This alarm display appears only within the range of 30 W to 1000 W.
* 2. These alarms cannot be reset with the alarm reset signal (/ALM-RST). Eliminate the cause of
the alarm and then turn the control power supply OFF/ON or execute the RES command to
reset the alarm.
* 3. For the SERVOPACK with a capacity of 6.0 kW or higher, alarm A.40 indicates main circuit
DC voltage is excessively high or low.
* 4. These errors are supported for SERVOPACK firmware version 32 or later.
* 5. The factory default is 0, so an A.08 alarm will occur the first time the power supply is turned
ON. The alarm will not occur if this parameter is set to a correct value and the power supply
is turned OFF and then ON again.

9-4
 9.1 Servodrive Troubleshooting

9.1.2 Warning Display Table

The following table shows the warning displays, status of the alarm code outputs, and mean-
ing of the warnings.

Table 9.2 Warning Displays and Outputs

Warning Warning Name Meaning Warning Code Outputs

Display
ALO1 ALO2 ALO3
A.90 Excessive Position Error The position error exceeded the setting in Pn51E. OFF OFF OFF
Warning*
A.91 Overload This warning occurs before the overload alarms (A.71 or ON OFF OFF
A.72) occur. If the warning is ignored and operation con-
tinues, an overload alarm may occur.
A.92 Regenerative Overload This warning occurs before the regenerative overload OFF ON OFF
alarm (A.32) occurs. If the warning is ignored and opera-
tion continues, a regenerative overload alarm may occur.
A.93 Absolute Encoder Battery This warning indicates that the absolute encoder’s battery ON ON OFF
Warning voltage has dropped. If the warning is ignored and opera-
tion continues, an absolute encoder battery alarm may
occur.
A.9F NS600 Error This warning indicates that some kind of error occurred in ON ON ON
the NS600. Check the NS600 Error Display for details.
Note: OFF: Output transistor is OFF (high).
ON: Output transistor is ON (low).
* This warning is supported for SERVOPACK firmware version 32 or later.

9-5
9 Troubleshooting
9.1.3 Troubleshooting Problems with No Alarm Display

9.1.3 Troubleshooting Problems with No Alarm Display

Refer to the tables below to identify the cause of a problem that causes no alarm display and
take the remedy described.

Turn OFF the servo system power supply before starting the shaded procedures.

Contact your Yaskawa representative if the problem cannot be solved by the described pro-
cedures.

Table 9.3 Troubleshooting Table with No Alarm Display

Symptom Cause Inspection Remedy

Servomotor Does Not Power not connected Check voltage between power Correct the power circuit.
Start supply terminals.
Loose connection Check terminals of connectors Tighten any loose parts.
(CN1, CN2, CN4, and CN6).
Connector (CN1, CN4, or Check connector (CN1, CN4, Refer to connection diagram
CN6) external wiring incorrect and CN6) external wiring. and correct wiring.
Servomotor or encoder wiring --- Reconnect wiring
disconnected.
Overloaded Run under no load. Reduce load or replace with
larger capacity servomotor.
/S-ON is turned OFF. --- Turn /S-ON input ON, execute
the SVON command, or set
parameter Pn80B=2 so that the
servo is always ON.
P-OT and N-OT inputs are Refer to 5.4.2 Setting the Over- Turn P-OT and N-OT input
turned OFF. travel Limit Function for signals ON.
details.
A software position reference Check for NS600 errors. Check the motor position and
limit (P-LS or N-LS) is ON. the position reference limit set-
tings (Pn81B and Pn81C). If
necessary, move within the
software position reference
limits.
There is no position reference Check for NS600 errors. Set the program table correctly.
or it is incorrect.
Servomotor Moves Servomotor or encoder wiring --- Refer to Chapter 3 Wiring in
Instantaneously, then incorrect. the Σ-II Series SGM†H/
Stops SGDH User’s Manual Design
and Maintenance (Manual
Number SIE-S800-32.2) and
correct the wiring.
Servomotor Speed Wiring connection to motor Check connection of power Tighten any loose terminals or
Unstable defective. lead (phases-U, -V, and -W) connectors.
and encoder connectors.
Servomotor Vibrates at Speed loop gain value too high. --- Reduce speed loop gain
Approximately 200 to (Pn100) preset value.
400 Hz.

9-6
 9.1 Servodrive Troubleshooting

Table 9.3 Troubleshooting Table with No Alarm Display (cont’d)

Symptom Cause Inspection Remedy

High Rotation Speed Speed loop gain value too high. --- Reduce speed loop gain
Overshoot on Starting (Pn100) preset value.
and Stopping. Increase integration time con-
stant (Pn101).
Speed loop gain is too low --- Increase the value of parameter
compared to position loop gain. Pn100 (speed loop gain).
Reduce the integration time
constant (Pn101).
Servomotor Overheated Ambient temperature too high Measure servomotor ambient Reduce ambient temperature to
temperature. 40°C max.
Servomotor surface dirty Visual check Clean dust and oil from motor
surface.
Overloaded Run under no load. Reduce load or replace with
larger capacity servomotor.
Abnormal Noise Mechanical mounting incorrect Servomotor mounting screws Tighten mounting screws.
loose?
Coupling not centered? Center coupling.
Coupling unbalanced? Balance coupling.
Bearing defective Check noise and vibration near Consult your Yaskawa repre-
bearing. sentative if defective.
Machine causing vibrations Foreign object intrusion, dam- Consult with machine manu-
age or deformation of sliding facturer.
parts of machine.

9-7
9 Troubleshooting
9.2.1 Status Displays

9.2 NS600 Troubleshooting

This section explains how to troubleshoot and correct NS600 problems.

9.2.1 Status Displays

Displays when an Alarm Occurred

Serious errors that occur unexpectedly are known as alarms.

When an alarm occurs, the servo will be forced OFF.

Display or Signal Content

STS Status Indicator Green LED: Continuously OFF
Red LED: Continuously Lit
Digital Operator (connected to CN7) In Status Display Mode, the alarm code is displayed continuously.
In other Modes, the alarm code is displayed for just 2 seconds.
Response to the Alarm or Warning Read command Alarm code
(ALM)
Response to the Most Recent Error Read command No change
(ERR)
Panel Displays A.EF or the SERVOPACK alarm code. In some cases,
nothing is displayed.
ALM signal Active (photocoupler OFF)
/WARN signal Inactive

Displays when an Error Occurred

Negative acknowledgments (error responses) to input signals, serial commands, or opera-
tions from the Digital Operator are known as errors.

The error status lasts only for the moment that the error occurred, but the display and signal
output will remain for 2 seconds.

The servo will not be turned OFF when an error occurs.

Display or Signal Content

STS Status Indicator The Red LED flashes for just 2 seconds.
Digital Operator (connected to CN7) The error code is displayed for just 2 seconds.
Response to the Alarm or Warning Read command No change
(ALM)
Response to the Most Recent Error Read command Error code (the most recent error code)
(ERR)
Panel Displays A.9F for just 2 seconds. In some cases, nothing is dis-
played.
ALM signal No change
/WARN signal Active for just 2 seconds

9-8
 9.2 NS600 Troubleshooting

Displays when a Warning Occurred

Minor errors that occur unexpectedly are known as warnings.

The servo will not be turned OFF when a warning occurs.

Display or Signal Content

STS Status Indicator The Red LED flashes continuously.
Digital Operator (connected to CN7) In Status Display Mode, the warning code is displayed continu-
ously. In other Modes, the warning code is displayed for just 2 sec-
onds.
Response to the Alarm or Warning Read command Warning code
(ALM)
Response to the Most Recent Error Read command No change
(ERR)
Panel Displays the SERVOPACK warning code. In some cases, nothing
is displayed.
ALM signal No change
/WARN signal Active

Normal Displays

The displays and signals are normal when no alarms, errors, or warnings have occurred.

Display or Signal Content

STS Status Indicator Green LED: Continuously Lit
Red LED: Continuously OFF
Digital Operator (connected to CN7) In Status Display Mode, the display shows the status such as POT,
BB, or RUN.
Response to the Alarm or Warning Read command Returns BB, COIN, HOLD, P-OT, etc.
(ALM)
Response to the Most Recent Error Read command Error code (the most recent error code)
(ERR)
Panel Displays BB or RUN. In some cases, nothing is displayed.
ALM signal Inactive (photocoupler ON)
/WARN signal Inactive

9-9
9 Troubleshooting
9.2.2 Alarm Display Table

9.2.2 Alarm Display Table

Refer to the following table to identify the cause of a problem and take the remedy
described.

Contact your Yaskawa representative if the problem cannot be solved by the described pro-
cedures.

Table 9.4 NS600 Alarm Displays

Alarm Alarm Name Details Remedy Panel Alarm

Display*1 Display*2 Reset
A.†† SGDH Alarm Activation A SERVOPACK alarm See 9.1.1 Alarm Display Table A.†† See 9.1.1
Alarm occurred. for details.
(†† = SERVOPACK alarm
code)
CPF00 System Alarm The firmware is not recorded Repair the firmware. A.E0 Ineffective
(Detected only when con- properly.
trol power supply is Memory device verification Repair the memory device.
turned ON or the RES failed.
command is executed.)
The Digital Operator is faulty. Replace the Digital Operator.
E12A Firmware Execution The firmware processing time • Upgrade the firmware ver- A.EF Ineffective
Alarm was too long. sion.
• Reduce the number of func-
tions being used.
E13A Firmware Version The firmware and hardware Replace the firmware or the A.EF Ineffective
Unmatched are not compatible. hardware.
(Detected only when con-
trol power supply is
turned ON or the RES
command is executed.)
E14A Parameter Checksum Incorrect or corrupted param- • Initialize the parameters A.EF Ineffective
Alarm eters are stored in EEPROM. with the PRMINIT com-
(Detected only when con- (This alarm can occur if the mand or Fn005 function.
trol power supply is control power supply is • If the problem is not solved,
turned ON or the RES turned OFF while the param- correct the parameters.
command is executed.) eters are being initialized or
changed.)
E15A Parameter Version The firmware version is not Replace the firmware or A.EF Ineffective
Unmatched compatible with the version parameters.
(Detected only when con- of the parameters.
trol power supply is
turned ON or the RES
command is executed.)
E16A Parameter Out-of-range The moving method is set to a Correct the home position set- A.EF Ineffective
Alarm rotary method (Pn81A = 1, 2, ting (Pn81D) or the software
(Detected only when con- or 3), but the home position position reference limits
trol power supply is set in Pn81D exceeds the (Pn81B and Pn81C).
turned ON or the RES software position reference
command is executed.) limits set in Pn81B and
Pn81C.

9-10
 9.2 NS600 Troubleshooting

Table 9.4 NS600 Alarm Displays (cont’d)

Alarm Alarm Name Details Remedy Panel Alarm

Display*1 Display*2 Reset
E17A Initial Communication When the control power sup- • Connect the Digital Operator A.E0 Ineffective
Alarm between NS600 ply was turned ON or the to CN7.
and SGDH RES command was exe- • Take steps to reduce noise in
(Detected only when con- cuted, the NS600 was unable the system such as improv-
trol power supply is to acquire necessary informa- ing the frame ground.
turned ON or the RES tion from the SERVOPACK,
command is executed.) such as parameters or an
absolute encoder’s position
data.
(When an absolute encoder is
being used, this alarm can
occur if the Digital Operator
is connected to SERVOPACK
connector CN3 and the posi-
tion data cannot be acquired.)
E18A Communication Alarm An error occurred in commu- Take steps to reduce noise in A.E2 Effective
between NS600 and nications between the NS600 the system such as improving
SGDH (after initializa- and SGDH during operation. the frame ground.
tion)
E19A Program Table Checksum The program table stored in • Initialize the program table A.EF Effective*3
Alarm flash memory was not with the PGMINIT com-
(Detected only when con- recorded properly. mand or Fn806 function.
trol power supply is (This alarm can occur if the • If the problem is not solved,
turned ON or the RES control power supply is correct the program table.
command is executed.) turned OFF while the pro-
gram table is being saved or
initialized.)
E1AA Program Version The firmware version is not Replace the firmware or pro- A.EF Effective*3
Unmatched compatible with the program gram table.
(Detected only when con- table version being used.
trol power supply is
turned ON or the RES
command is executed.)
E1BA Program Out-of-range A value set in the program Replace the firmware or pro- A.EF Effective*3
Alarm table is not within the allowed gram table.
(Detected only when con- setting range.
trol power supply is
turned ON or the RES
command is executed.)
E1CA Zone Table Checksum The zone table stored in flash • Initialize the zone table with A.EF Effective*4
9
Alarm memory was not recorded the ZONEINIT command or
(Detected only when con- properly. Fn807 function.
trol power supply is (This alarm can occur if the • If the problem is not solved,
turned ON or the RES control power supply is correct the zone table.
command is executed.) turned OFF while the zone
table is being saved or initial-
ized.)

9-11
9 Troubleshooting
9.2.2 Alarm Display Table

Table 9.4 NS600 Alarm Displays (cont’d)

Alarm Alarm Name Details Remedy Panel Alarm

Display*1 Display*2 Reset
E1DA Zone Table Version The firmware version is not Replace the firmware or zone A.EF Effective*4
Unmatched compatible with the zone table.
(Detected only when con- table version being used.
trol power supply is
turned ON or the RES
command is executed.)
E1EA Zone Table Out-of-range A value set in the zone table Replace the firmware or zone A.EF Effective*4
Alarm is not within the allowed set- table.
(Detected only when con- ting range.
trol power supply is
turned ON or the RES
command is executed.)
E1FA Jog Speed Table Check- The jog speed table stored in • Initialize the jog speed table A.EF Effective*5
sum Alarm flash memory was not with the JSPDINIT com-
(Detected only when con- recorded properly. mand or Fn808 function.
trol power supply is (This alarm can occur if the • If the problem is not solved,
turned ON or the RES control power supply is correct the jog speed table.
command is executed.) turned OFF while the jog
speed table is being saved or
initialized.)
E21A Jog Speed Table Version The firmware version is not Replace the firmware or jog A.EF Effective*5
Unmatched compatible with the jog speed speed table.
(Detected only when con- table version being used.
trol power supply is
turned ON or the RES
command is executed.)
E22A Jog Speed Table Out-of- A value set in the jog speed Replace the firmware or jog A.EF Effective*5
range Alarm table is not within the allowed speed table.
(Detected only when con- setting range.
trol power supply is
turned ON or the RES
command is executed.)
E23A Insufficient Registration The registration distance was Either increase the registration A.EF Effective
Distance Alarm shorter than the deceleration distance or reduce the deceler-
distance when the /RGRT sig- ation distance (increase the
nal went ON to start registra- deceleration rate).
tion operation. (The The registration distance can
registration distance will be be set by executing the RDST
exceeded even if decelera- command or changing the
tion begins immediately.) RDST parameter in the pro-
gram table.
The deceleration rate can be
changed by executing the DEC
command or changing parame-
ter Pn820.
* 1. This is the alarm code displayed on the Digital Operator when it is connected to CN7. This
same alarm code is also used in the response to the ALM command.
* 2. The panel display may be OFF depending on communications between the NS600 and the
SERVOPACK.
* 3. These alarms can be reset, but a Program Table Checksum Error (E44E) will occur the next
time you attempt to start program table operation, so program table operation will not be pos-
sible.

9-12
 9.2 NS600 Troubleshooting

* 4. These alarms can be reset, but it is possible that the zone signals (POUT0 to POUT4) will be
output incorrectly. When using the zone table, correct the alarm without resetting.
* 5. These alarms can be reset, but a Jog Speed Table Checksum Error (E46E) will occur the next
time you attempt to start jog speed table operation, so jog speed table operation will not be
possible.

9-13
9 Troubleshooting
9.2.3 Error Display Table

9.2.3 Error Display Table

Refer to the following table to identify the cause of a problem and take the remedy
described.

Table 9.5 NS600 Error Displays

Error Error Name Details Remedy Panel

Display*1 Display*2
E41E Program Table Save The flash memory write process failed dur- Repair the hardware. A.9F
Failure Error ing a program table save operation (execu-
tion of the PGMSTORE command or
Fn803) or program table initialization
operation (execution of the PGMINIT
command or Fn806).
E42E Zone Table Save Failure The flash memory write process failed dur- Repair the hardware. A.9F
Error ing a zone table save operation (execution
of the ZONESTORE command or Fn804)
or zone table initialization operation (exe-
cution of the ZONEINIT command or
Fn807).
E43E Jog Speed Table Save The flash memory write process failed dur- Repair the hardware. A.9F
Failure Error ing a jog speed table save operation (exe-
cution of the JSPDSTORE command or
Fn805) or jog speed table initialization
operation (execution of the JSPDINIT
command or Fn808).
E44E Program Table Check- There was a request to start program table When program table operation is A.9F
sum Error operation even though an E19A, E1AA, or being used, the cause of the
E1BA alarm occurred when the control alarm must be eliminated.
power supply was turned ON or the RES
command was executed.
E46E Jog Speed Table Check- There was a request to start jog speed table When jog speed table operation A.9F
sum Error operation even though an E1FA, E20A, or is being used, the cause of the
E21A alarm occurred when the control alarm must be eliminated.
power supply was turned ON or the RES
command was executed.
E47E Serial Communications There was an overflow in the reception Wait for a response to be A.9F
Receiving Buffer Over- buffer used for serial commands. received before sending the next
flow Error • An error will occur if too many serial command.
commands are sent consecutively with- The reception buffer can contain
out waiting for the responses. up to 100 commands.
(Normally, the reception buffer will not
overflow if there is command/response
handshaking.)
• When an overflow has occurred, error
code E47E will be returned and all of the
data that has accumulated in the recep-
tion buffer will be discarded.

9-14
 9.2 NS600 Troubleshooting

Table 9.5 NS600 Error Displays (cont’d)

Error Error Name Details Remedy Panel

Display*1 Display*2
E48E Serial Communications A parity check error occurred with the • Check the serial communica- A.9F
Parity Error serial command. tions protocol (Pn800) and bit
• This error will occur if even parity is not rate (Pn801) settings.
being used. • Check the wiring.
• The command that caused this error will • If noise may be causing the
be discarded and no response will be problem, take steps to reduce
returned. noise such as using communi-
• There will be no response, but the cations cables with ferrite
/WARN output and LED indicators will cores.
indicate that an error has occurred.
E49E Serial Communications A stop bit detection error occurred with the • Check the serial communica- A.9F
Framing Error serial command. tions protocol (Pn800) and bit
• The command that caused this error will rate (Pn801) settings.
be discarded and no response will be • Check the wiring.
returned. • If noise may be causing the
• There will be no response, but the problem, take steps to reduce
/WARN output and LED indicators will noise such as using communi-
indicate that an error has occurred. cations cables with ferrite
cores.
E4AE Serial Communications Serial command reception failed. Repair the hardware. A.9F
Overrun Error • The hardware’s reception buffer was
overwritten with the subsequent data.
(Normally, data is read before it is over-
written, so this error does not occur.)
E4BE Moving Disabled Error Travel in the forward direction was • When P-OT is being used, A.9F
due to P-OT requested when P-OT was in effect. (For- move to a position where the
ward movement is disabled when P-OT P-OT is not in effect.
(positive overtravel) is in effect.) • When P-OT is not being used,
disable P-OT in the parameter
(Pn80C = 3).
E4CE Moving Disabled Error Travel in the reverse direction was • When N-OT is being used, A.9F
due to N-OT requested when N-OT was in effect. move to a position where the
(Reverse movement is disabled when N- N-OT is not in effect.
OT (negative overtravel) is in effect.) • When N-OT is not being used,
disable N-OT in the parameter
(Pn80D = 3).
E4DE Moving Disabled Error The specified target position exceeds the • Check the target position spec- A.9F
due to P-LS position reference forward limit set in ification.
Pn81B. • Check the forward limit in 9
Pn81B.
• Check the moving method
(rotary or linear) set in Pn81A.
• If software position limits are
not being used, either select a
rotary moving method in
Pn81A or disable the limits by
setting Pn81B = Pn81C = 0.

9-15
9 Troubleshooting
9.2.3 Error Display Table

Table 9.5 NS600 Error Displays (cont’d)

Error Error Name Details Remedy Panel

Display*1 Display*2
E4EE Moving Disabled Error The specified target position exceeds the • Check the target position spec- A.9F
due to N-LS position reference reverse limit set in ification.
Pn81C. • Check the reverse limit in
Pn81C.
• Check the moving method
(rotary or linear) set in Pn81A.
• If software position limits are
not being used, either select a
rotary moving method in
Pn81A or disable the limits by
setting Pn81B = Pn81C = 0.
E4FE Position Reference Out- The moving method is set to rotary • Check the target position spec- A.9F
of-range Error (Pn81A = 1, 2, or 3) and the target position ification.
specification exceeds the position refer- • Check the positioning range
ence limits in Pn81B and Pn81C. set with Pn81B and Pn81C.
• Check the moving method
(rotary or linear) set in Pn81A.
E51E Target Position Unspeci- Even though the target position wasn’t Specify a target position with a A.9F
fied Error specified even once, there was a request by command such as the POS com-
the ST command to start positioning or a mand, STnnnnnnnn command,
request by the RS command to start regis- or RSnnnnnnnn command.
tration positioning.
E52E Registration Distance Even though the registration distance Specify a registration distance A.9F
Unspecified Error wasn’t specified even once, there was a with the RDST command.
request by the RS command to start regis-
tration positioning.
E53E Move Reference Dupli- There was a new move reference requested • Send the next move reference A.9F
cation Error even though the system was already mov- request only after the current
ing in a positioning operation or other trav- movement operation is com-
elling operation. pleted (Position reference dis-
tribution is completed).
• A movement operation can be
interrupted or cancelled with
the HOLD or SKIP serial
commands.
Also, STOP can be specified
in the target position reserva-
tion (POS) with the program
table.

9-16
 9.2 NS600 Troubleshooting

Table 9.5 NS600 Error Displays (cont’d)

Error Error Name Details Remedy Panel

Display*1 Display*2
E54E Servo ON Incomplete The servo is not ON. Send the move reference request A.9F
Error • There was a positioning request or other only after turning the servo ON
move reference request in servo OFF by turning ON the /S-ON signal,
status. setting Pn80B = 2 so that the
servo is always ON, or executing
the SVON command.
The servo went OFF during program table There are two possibilities. A.9F
operation. • The program can be cancelled
(Program table operation will be inter- with the /PGMRES signal or
rupted when just the step that was being PGMRES command.
executed is cancelled (LOOP ≠ 1 and first • The servo can be turned ON
LOOP.)) and the program can be
restarted with the /START-
STOP signal or the START
command.
E55E Servo ON Failure Error The servo could not be turned ON within 2 • Turn the servo ON when the A.9F
s after turning ON the /S-ON signal or exe- motor is stopped.
cuting the SVON command. • Check the main power supply.
• The motor is rotating during servo ON
execution.
• The main power supply went OFF dur-
ing servo ON execution.
Error E5BE will occur if there was an
alarm when the servo ON request was sent
using the SVON command. Error E5CE
will occur if the main power supply was
OFF when the servo ON request was sent.
E56E Undefined Serial Com- • There was a syntax error in the serial • Check the serial command’s A.9F
mand Error command. character string.
• There was a number in the serial com- • Use the Digital Operator’s
mand longer than 8 digits. Serial Command Reception
Character Trace function
(Un80D) to check the charac-
ter string that the NS600
received.
E57E Address Out-of-range The specified address was incorrect for a • Check the address. A.9F
Error parameter, program table, zone table, jog • Use the Digital Operator’s
speed table, or alarm history in a monitor Serial Command Reception
read/write command. Character Trace function
(Un80D) to check the charac-
9
ter string that the NS600
received.
E58E Data Out-of-range Error The specified setting was incorrect in a • Check the setting. A.9F
parameter or program table write com- • Use the Digital Operator’s
mand. Serial Command Reception
Character Trace function
(Un80D) to check the charac-
ter string that the NS600
received.

9-17
9 Troubleshooting
9.2.3 Error Display Table

Table 9.5 NS600 Error Displays (cont’d)

Error Error Name Details Remedy Panel

Display*1 Display*2
E59E Communication Failure • Communications between the NS600 • Connect the Digital Operator A.9F
Error between NS600 and SERVOPACK failed when a Digital or computer to NS600 connec-
and SGDH Operator or computer was connected to tor CN7.
SERVOPACK connector CN3 and the • Check the version of the SER-
SERVOPACK’s parameter or monitor VOPACK.
read/write command was sent.
• An attempt was made to execute a func-
tion not supported by an older version of
SERVOPACK.
E5AE Execution Disabled An auxiliary function such as Digital Execute after turning the servo A.9F
while Servo ON Error Operator jog operation or parameter ini- OFF.
tialization was requested when the servo
was ON.
(For safety, these functions cannot be exe-
cuted with the servo ON.)
Disabled Auxiliary Functions:
Digital Operator jog operation, home posi-
tion search, parameter initialization, abso-
lute encoder reset, motor current automatic
zero adjustment, precision (off-line) auto-
tuning
E5BE Execution Disabled Servo ON was requested (the SVON com- Turn the servo ON after elimi- A.9F
while Alarm Activated mand was executed) while there was an nating the cause of the alarm and
Error alarm. clearing the alarm.
E5CE Execution Disabled Servo ON was requested (the SVON com- Turn the servo ON after turning A.9F
while Main Power OFF mand was executed) while the main power ON the main power supply.
Error supply was OFF.
E5DE Homing Method The homing method is not specified. Specify the homing method in A.9F
Unspecified Error • Homing Start was requested (/HOME Pn823.
signal was turned ON or ZRN command
was executed) without setting the hom-
ing method.
E5EE Execution Disabled dur- • There was a request to execute a process Request execution of the process A.9F
ing Program Operation that is not allowed during program table again after cancelling program
Error operation while program table operation table operation with the
was in progress or on hold. /PGMRES signal or RES com-
• There was an attempt to change the pro- mand.
gram table while program table opera-
tion was in progress or on hold.
• There was a request to start positioning
by a serial command while program
table operation was in progress or on
hold.
E5FE Session Conflict Error There was a request that could not be exe- Execute the operation again after A.9F
cuted at the same time as the function that the execution of the current func-
was being executed. tion is completed.
Example:
There was a request to start program table
operation while the program table was
being initialized.

9-18
 9.2 NS600 Troubleshooting

Table 9.5 NS600 Error Displays (cont’d)

Error Error Name Details Remedy Panel

Display*1 Display*2
E61E Encoder Mismatch Error There was a request that was incompatible Check the encoder. A.9F
with the connected encoder.
Examples:
• An Absolute Encoder Reset
(ABSPGRES command or Fn008) was
requested when an incremental encoder
is connected.
• Homing Start was requested (/HOME
signal was turned ON or ZRN command
was executed) when an absolute encoder
is connected.
(An absolute encoder can be used as an
incremental encoder if parameter
Pn002.2 = 1.)
E62E No A.CC Alarm A Multiturn Limit Setting (MLTLTMSET Use the Multiturn Limit Setting A.9F
Occurred Error command or Fn013) was requested even operation to adjust the setting in
though alarm A.CC has not occurred. the encoder to match Pn205 only
(Alarm A.CC indicates that Pn205 does after alarm A.CC has occurred.
not match the setting in the encoder after
the multiturn limit setting in Pn205 was
changed and the control power supply was
turned OFF and ON.)
* 1. This is the error code displayed on the Digital Operator when it is connected to CN7. This
same code is also used in the response to the ERR command and error responses.
* 2. The panel display may be OFF depending on communications between the NS600 and the
SERVOPACK.

9.2.4 Warning Display Table

Refer to the following table to identify the cause of a problem and take the remedy
described.

Warning Error Name Details Remedy Panel

Display*1 Display*2
A.9† SGDH SERVOPACK A SERVOPACK warning occurred. See 9.1.2 Warning Display Table A.9†
Warning for details.
(The “9†” is the SERVOPACK’s
warning code.) 9
* 1. This is the warning code displayed on the Digital Operator when it is connected to CN7. This
same code is also used in the response to the ALM command.
* 2. The panel display may be OFF depending on communications between the NS600 and the
SERVOPACK.

9-19
9 Troubleshooting
9.2.5 Normal Display Table

9.2.5 Normal Display Table

The following table shows the NS600’s normal status displays.

Table 9.6 NS600 Normal Displays

Digital Operator Name Description Panel

Display Display*
POT Forward (Positive) Over- The P-OT signal is the input signal for the forward hardware limit BB or
travel (P-OT) switch. This display indicates that the P-OT signal is OFF. RUN
When the P-OT signal is being used, move to a position where the
P-OT signal is ON.
When the P-OT signal is not being used, disable the signal by set-
ting Pn80C = 3.
NOT Reverse (Negative) Over- The N-OT signal is the input signal for the reverse hardware limit BB or
travel (N-OT) switch. This display indicates that the N-OT signal is OFF. RUN
When the N-OT signal is being used, move to a position where the
N-OT signal is ON.
When the N-OT signal is not being used, disable the signal by set-
ting Pn80D = 3.
PLS Forward (Positive) Position This display indicates that the motor position exceeds the forward BB or
Reference Limit (P-LS) position reference limit setting (a software setting). RUN
When the Moving Method is set to Linear (Pn81A = 0), the for-
ward position reference limit is set in Pn81B.
When the forward position reference limit is being used, move to a
position within the position reference limits.
When the position reference limits are not being used because the
system is a rotary system, set the moving method to Rotary by set-
ting Pn81A = 1, 2, or 3.
When the system is a linear system but position reference limits
are not being used, disable the software limits by setting Pn81B =
Pn81C = 0.
NLS Reverse (Negative) Position This display indicates that the motor position exceeds the reverse BB or
Reference Limit (N-LS) position reference limit setting (a software setting). RUN
When the Moving Method is set to Linear (Pn81A = 0), the reverse
position reference limit is set in Pn81C.
When the reverse position reference limit is being used, move to a
position within the position reference limits.
When the position reference limits are not being used because the
system is a rotary system, set the moving method to Rotary by set-
ting Pn81A = 1, 2, or 3.
When the system is a linear system but position reference limits
are not being used, disable the software limits by setting Pn81B =
Pn81C = 0.
BB Servo OFF (Baseblock) This display indicates that power is not being supplied to the BB
motor.
RUN Servo ON This display indicates that power is being supplied to the motor. RUN
* The panel display may be OFF depending on communications between the NS600 and the SER-
VOPACK.

9-20
 9.3 STS Status Indicators

9.3 STS Status Indicators

The following table shows the meaning of the STS Status Indicators (LED indicators).

Status Green LED Red LED

Control Power Supply OFF Not lit Not lit
Control Power Supply ON Flashing Not lit
Normal Lit Not lit
Overtravel/Software Limit Activated
Resetting Flashing ---
Saving a Table
Initializing a Table
Initializing Parameters
Error --- Flashing (2 seconds)
Warning --- Flashing
Alarm Not lit Lit

9-21
 Appendix A
A

List of Parameters

This appendix lists the parameters and switches for the NS600 and SGDH
SERVOPACKs with an NS600 installed.

A.1 NS600 Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -A-2

A.2 SERVOPACK Parameters - - - - - - - - - - - - - - - - - - - - - - - - -A-6
A.3 Parameters Used for SERVOPACK Linear Motors - - - - - - - A-11
A.4 SERVOPACK Switches - - - - - - - - - - - - - - - - - - - - - - - - - -A-12

A-1
Appendix A List of Parameters

A.1 NS600 Parameters

The following table shows the NS600’s parameters.

Table A.1 NS600 Parameters

Parameter Name Unit Setting Range Factory

Setting
Pn800 Serial Communication --- 0: Full-duplex wiring 1
Protocol*1 1: Full-duplex wiring, Echoback each character
2: Half-duplex wiring, delimiter CR
3: Half-duplex wiring, delimiter CR, Echoback each
character
4: Half-duplex wiring, delimiter CR, Echoback each
command
5: Half-duplex wiring, delimiter CR LF
6: Half-duplex wiring, delimiter CR LF, Echoback
each character
7: Half-duplex wiring, delimiter CR LF, Echoback
each command
Pn801 Bit rate*1 bps 0: 9,600 0
1: 19,200
2: 38,400
Pn802 Response “OK”*2 --- 0: Disables response “OK.” 1
1: Enables response “OK.”
Pn803 /MODE 0/1*1 --- 0: Closed = Mode 0 0
1: Closed = Mode 1
2: Always Mode 0
3: Always Mode 1
Pn804 /START-STOP; --- 0: Closed = Program Start (Mode 0) 0
/HOME*1 Homing Start (Mode 1)
1: Open = Program Start (Mode 0)
Homing Start (Mode 1)
2 or 3: No Program Start (Mode 0)
No Homing Start (Mode 1)
Pn805 /PGMRES; /JOGP*1 --- 0: Open-to-closed: Reset program (Mode 0) 0
Jog forward (Mode 1)
1: Closed-to-open: Reset program (Mode 0)
Jog forward (Mode 1)
2 or 3: No program reset (Mode 0)
No jog forward (Mode 1)
Pn806 /SEL0; /JOGN*1 --- 0: Closed = Program select (Mode 0) 0
Jog reverse (Mode 1)
1: Open = Program select (Mode 0)
Jog reverse (Mode 1)
2: Always program select (Mode 0)
No jog reverse (Mode 1)
3: No program select (Mode 0)
No jog reverse (Mode 1)

A-2
 A.1 NS600 Parameters

Table A.1 NS600 Parameters (cont’d)

Parameter Name Unit Setting Range Factory

Setting
Pn807 /SEL1; /JOG0*1 --- 0: Closed = Program select (Mode 0) 0
Jog select (Mode 1)
1: Open = Program select (Mode 0)
Jog select (Mode 1)
2: Always program select (Mode 0)
Always jog select (Mode 1)
3: No program select (Mode 0) A
No jog select (Mode 1)
Pn808 /SEL2; /JOG1*1 --- 0: Closed = Program select (Mode 0) 0
Jog select (Mode 1)
1: Open = Program select (Mode 0)
Jog select (Mode 1)
2: Always program select (Mode 0)
Always jog select (Mode 1)
3: No program select (Mode 0)
No jog select (Mode 1)
Pn809 /SEL3; /JOG2*1 --- 0: Closed = Program select (Mode 0) 0
Jog select (Mode 1)
1: Open = Program select (Mode 0)
Jog select (Mode 1)
2: Always program select (Mode 0)
Always jog select (Mode 1)
3: No program select (Mode 0)
No jog select (Mode 1)
Pn80A /SEL4; /JOG3*1 --- 0: Closed = Program select (Mode 0) 0
Jog select (Mode 1)
1: Open = Program select (Mode 0)
Jog select (Mode 1)
2: Always program select (Mode 0)
Always jog select (Mode 1)
3: No program select (Mode 0)
No jog select (Mode 1)
Pn80B /S-ON*1 --- 0: Closed = Servo ON 0
1: Open = Servo ON
2: Always Servo ON
3: Always Servo OFF
Pn80C P-OT*1 --- 0: Open = Positive (forward) overtravel 0
1: Closed = Positive (forward) overtravel
2: Always positive (forward) overtravel
3: Always movable
Pn80D N-OT*1 --- 0: Open = Negative (reverse) overtravel 0
1: Closed = Negative (reverse) overtravel
2: Always negative (reverse) overtravel
3: Always movable
Pn80E /DEC*1 --- 0: Open = Homing Deceleration LS ON 0
1: Closed = Homing Deceleration LS ON
2: Homing Deceleration LS Always ON
3: Homing Deceleration LS Always OFF
Pn80F /RGRT*1 --- 0: Closed = Registration Start 0
1: Open = Registration Start

A-3
Appendix A List of Parameters

Table A.1 NS600 Parameters (cont’d)

Parameter Name Unit Setting Range Factory

Setting
Pn810 /INPOSITION*1 --- 0: Closed = Positioning complete 0
1: Open = Positioning complete
Pn811 /POUT0*1 --- 0: Closed = Active 0
1: Open = Active
Pn812 /POUT1*1 --- 0: Closed = Active 0
1: Open = Active
Pn813 /POUT2*1 --- 0: Closed = Active 0
1: Open = Active
Pn814 /POUT3*1 --- 0: Closed = Active 0
1: Open = Active
Pn815 /POUT4*1 --- 0: Closed = Active 0
1: Open = Active
Pn816 /WARN*1 --- 0: Closed = Error/Warning status 0
1: Open = Error/Warning status
Pn817 /BK*1 --- 0: Closed = Brake release 0
1: Open = Brake release
Pn818 /S-RDY*1 --- 0: Closed = Servo ready 0
1: Open = Servo ready
Pn819 Overtravel (OT) Stop --- 0: Servo OFF (same as Pn001.0 setting) 0
Method*1 1: Emergency stop
2: Deceleration stop
Pn81A Moving Mode*1 --- 0: Linear 0
1: Rotary (shortest path)
2: Rotary (forward)
3: Rotary (reverse)
Pn81B Linear Moving Method Reference −99,999,999 to +99,999,999 +99,999,999
(Pn81A = 0): units
Forward Software Limit
(P-LS)*1
Rotary Moving Method
(Pn81A ≠ 0):
End Point of Rotational
Coordinates*1
Pn81C Linear Moving Method Reference −99,999,999 to +99,999,999 −99,999,999
(Pn81A = 0): units
Reverse Software Limit
(N-LS)*1
Rotary Moving Method
(Pn81A ≠ 0):
Starting Point of the
Rotational Coordinates*1
Pn81D Incremental Encoder: Reference −99,999,999 to +99,999,999 0
Home Position*1 units
Absolute Encoder:
Absolute Encoder Off-
set*1
Pn81E Positioning/Registration ×1,000 refer- 1 to 99,999,999 1,000
Speed*1 ence units/min

A-4
 A.1 NS600 Parameters

Table A.1 NS600 Parameters (cont’d)

Parameter Name Unit Setting Range Factory

Setting
Pn81F Acceleration*2 ×1,000 refer- 1 to 99,999,999 1,000
ence units/
min/ms
Pn820 Deceleration*2 ×1,000 refer- 1 to 99,999,999 1,000
ence units/
min/ms
Pn821 Reference 1 to 99,999 1
A
/INPOSITION Width*2
units
Pn822 Near Width*2 Reference 1 to 99,999 1
units
Pn823 Homing Method*2 --- 0: No Homing 0
1: /DEC and phase C
2: /DEC only
3: Phase C only
Pn824 Homing Direction*2 --- 0: Forward 0
1: Reverse
Pn825 Homing Moving ×1,000 refer- 1 to 99,999,999 1,000
Speed*2 ence units/min
Pn826 Homing Approach ×1,000 refer- 1 to 99,999,999 1,000
Speed*2 ence units/min
Pn827 Homing Creep Speed*2 ×1,000 refer- 1 to 99,999,999 1,000
ence units/min
Pn828 Homing Final Move Dis- Reference −99,999,999 to +99,999,999 0
tance*2 units
Pn829 to Reserved (setup infor- --- Do not change. 0
Pn832 mation)
Pn833 /SEL5*1 --- 0: Closed = Program select 0
1: Open = Program select
2: Always program select
3: Always no program select
Pn834 /SEL6*1 --- 0: Closed = Program select 0
1: Open = Program select
2: Always program select
3: Always no program select
Pn835 ZONE Signal Set- --- 0: /POUT0 to /POUT4 will be inactive after the con- 0
ting*1,*3 trol power supply is turned ON or after resetting.
1: /POUT0 to /POUT4 are operated as ZONE signals
when the control power supply is turned ON or
after resetting.
Pn836 Backlash Compensa- Reference −1,000 to +1,000 0
tion*2,*3 units

* 1. These are off-line parameters. Turn OFF the power after changing these parameters. The new
settings will become effective the next time that the power is turned ON or the RES serial
command is executed.
* 2. These are on-line parameters. The new settings become effective immediately.
* 3. These parameters are supported for version 4 or later.

A-5
Appendix A List of Parameters

A.2 SERVOPACK Parameters

The following table shows the SERVOPACK’s parameters.

Table A.2 SERVOPACK Parameters

Category Parameter Name Unit Setting Factory

Range Setting
Function Pn000 Function Selection Basic Switches *3 --- --- 0010
Selection
Constants Pn001 Function Selection Application Switches 1 *3 --- --- 0000
Pn002 Function Selection Application Switches 2 *3 --- --- 0000
Pn003 Function Selection Application Switches 3 --- --- 0002
Pn004 Fixed parameters (Do not change.) --- --- ---
Pn005 --- --- ---
Gain Related Pn100 Speed Loop Gain Hz 1 to 2,000 40
Constants Pn101 Speed Loop Integral Time Constant 0.01 ms 15 to 51,200 2,000
Pn102 Position Loop Gain 1/s 1 to 2,000 40
Pn103 Moment of Inertia Ratio % 0 to 20,000 0
Pn104 Second Speed Loop Gain Hz 1 to 2,000 40
Pn105 Second Speed Loop Integral Time Constant 0.01 ms 15 to 51,200 2,000
Pn106 Second Position Loop Gain 1/s 1 to 2,000 40
Pn107 Bias min -1 0 to 450 0
Pn108 Bias Width Addition Reference 0 to 250 7
units
Pn109 Feed-forward % 0 to 100 0
Pn10A Feed-forward Filter Time Constant 0.01 ms 0 to 6,400 0
Pn10B Gain-related Application Switches *3 --- --- 0000
Pn10C Mode Switch Torque Reference % 0 to 800 200
Pn10D Mode Switch Speed Reference min -1 0 to 10,000 0
Pn10E Mode Switch Acceleration 10 min-1/s 0 to 3,000 0
Pn10F Mode Switch Error Pulse Reference 0 to 10,000 0
units
Pn110 Online Autotuning Switches *3 --- --- 0010
Pn111 Speed Feedback Compensation *2 % 1 to 500 100
Pn112 Fixed parameters (Do not change.) % 0 to 1,000 100
Pn113 --- 0 to 1,000 1,000
Pn114 --- 0 to 1,000 200
Pn115 --- 0 to 65,535 32
Pn116 --- 0 to 65,535 16
Pn117 % 20 to 100 100
Pn118 % 50 to 100 100

A-6
 A.2 SERVOPACK Parameters

Table A.2 SERVOPACK Parameters (cont’d)

Category Parameter Name Unit Setting Factory

Range Setting
Gain Related Pn119 Fixed parameters (Do not change.) 1/S 1 to 2,000 50
Constants Pn11A 0.1% 1 to 2,000 1,000
(Cont’d)
Pn11B Hz 1 to 150 50
Pn11C Hz 1 to 150 70
Pn11D % 0 to 150 100
A
Pn11E % 0 to 150 100
Pn11F ms 0 to 2,000 0
Pn120 0.01 ms 0 to 51,200 0
Pn121 Hz 10 to 250 50
Pn122 Hz 0 to 250 0
Pn123 % 0 to 100 0
Pn124 Automatic Gain Switching Timer*6 ms 1 to 10,000 100
Pn125 Automatic Gain Switching Width*6 Reference 1 to 250 7
units
Position Pn200 Position Control Reference Selection Switches --- --- 0000
Related *3
Constants Pn201 p/r 16 to 16,384 16,384
PG Divider *3
Pn202 Electronic Gear Ratio (Numerator) *3 --- 1 to 65,535 4
Pn203 Electronic Gear Ratio (Denominator) *3 --- 1 to 65,535 1
Pn204 Not used. --- --- 0
Pn205 Multiturn Limit Setting *1, *3 rev 0 to 65,535 65,535
Pn206 Fixed parameter (Do not change.) P/rev 513 to 16,384
65,535
Pn207 Position Control Function Switches *3 --- --- 0001
Pn208 S-curve Time *3 0.01 ms 0 to 6,400 0
Pn212 Lower 2 Bytes of PG Divider*6,*7 --- 0 to 65,536 2,048
Pn213 Upper 2 Bytes of PG Divider*6,*7 --- 0 to 65,536 0
Pn217 Not used.*6 --- --- 1
Pn218 Not used.*6 --- --- 0000H
Speed Related Pn300 Not used. --- --- 600
Constants Pn301 Not used. --- --- 100
Pn302 Not used. --- --- 200
Pn303 Not used. --- --- 300
Pn304 Jog Speed min-1 0 to 10,000 500
Pn305 Soft Start Acceleration Time ms 0 to 10,000 0
Pn306 Soft Start Deceleration Time ms 0 to 10,000 0
Pn307 Not used. --- --- 40
Pn308 Speed Feed-forward Filter Time Constant 0.01 ms 0 to 65,535 0
Pn309 Fixed parameter (Do not change.)*6 min-1 0 to 500 60

A-7
Appendix A List of Parameters

Table A.2 SERVOPACK Parameters (cont’d)

Category Parameter Name Unit Setting Factory

Range Setting
Torque Related Pn400 Not used. --- --- 30
Constants Pn401 Torque Reference Filter Time Constant 0.01 ms 0 to 65,535 100
Pn402 Forward Torque Limit % 0 to 800 800
Pn403 Reverse Torque Limit % 0 to 800 800
Pn404 Not used. --- --- 100
Pn405 Not used. --- --- 100
Pn406 Not used. --- --- 800
Pn407 Not used. --- --- 10,000
Pn408 Torque Function Switches --- --- 0000
Pn409 First Stage Notch Filter Frequency Hz 50 to 2,000 2,000
Pn40A First Stage Notch Filter Q Value*6 ×0.01 50 to 400 70
Pn40B Second Stage Notch Filter Frequency*6 Hz 50 to 2,000 2,000
Pn40C Second Stage Notch Filter Q Value*6 ×0.01 50 to 400 70

A-8
 A.2 SERVOPACK Parameters

Table A.2 SERVOPACK Parameters (cont’d)

Category Parameter Name Unit Setting Factory

Range Setting
Sequence Pn500 Not used. --- --- 7
Related Pn501 Not used. --- --- 10
Constants
Pn502 Rotation Detection Level min-1 1 to 10,000 20
Pn503 Not used. --- --- 10
Pn504 Not used. --- --- 7 A
Pn505 Overflow Level 256 refer- 1 to 32,767 1,024
ence units
Pn506 Brake Reference Servo OFF Delay Time 10 ms 0 to 50 0
Pn507 Brake Reference Output Speed Level min-1 0 to 10,000 100
Pn508 Timing for Brake Reference Output during 10 ms 10 to 100 50
Motor Operation
Pn509 Momentary Hold Time ms 20 to 1,000 20
Pn50A Fixed parameters (Do not change.) --- --- 8881
Pn50B --- --- 8888
Pn50C --- --- 8888
Pn50D --- --- 8888
Pn50E --- --- 3000
Pn50F --- --- 1200
Pn510 --- --- 0000
Pn511 --- --- 8468
Pn512 --- --- 0000
Pn513 Fixed parameter (Do not change.) *6 --- --- 0088H
Pn51A Error Level between Motor and Load Position Reference 0 to 32,767 0
units
Pn51B Fixed parameter (Do not change.)*6 256 refer- 1 to 32,767 100
ence units
Pn51C Fixed parameter (Do not change.)*6 min-1 0 to 10,000 450
Pn51E Excessive Position Error Warning Level*6 % 0 to 100 0
Other Pn600 Regenerative Resistor Capacity *4 10 W 0 to capac- 0
Constants ity∗5
Pn601 Fixed parameter (Do not change.) --- 0 to capac- 0
ity∗5
* 1. The multiturn limit must be changed only for special applications. Changing this limit inap-
propriate or unintentionally can be dangerous.
* 2. The setting of parameter Pn111 is valid only when parameter Pn110.1 is set to 0.
* 3. After changing these parameters, turn OFF the main circuit and control power supplies and
then turn them ON again to enable the new settings. (Pn110.1 and Pn110.2 are on-line param-
eters and become effective immediately.)
* 4. Normally set to “0”. When using an External Regenerative Resistor, set the capacity (W) of
the regenerative resistor.
* 5. The upper limit is the maximum output capacity (W) of the SERVOPACK.
* 6. This parameter is supported for SERVOPACK firmware version 32 or later.

A-9
Appendix A List of Parameters

* 7. Change the set value to hexadecimal and then convert the lower 2 bytes and upper 2 bytes to
decimal values. Set the decimal equivalent of the lower 2 bytes in Pn212 and the decimal
equivalent of the upper 2 bytes in Pn213.
Example: If the set value is 131088, set the following.
131088 = 0x00020010
Pn212 = Lower 2 bytes = 0x0010 = 16
Pn213 = Upper 2 bytes = 0x0002 = 2

A-10
 A.3 Parameters Used for SERVOPACK Linear Motors

A.3 Parameters Used for SERVOPACK Linear Motors

The following table lists the SERVOPACK linear motors.

Table A.3 Parameters Used for SERVOPACK Linear Motors

Category Parameter Name Unit Setting Factory

Range Setting
Function Pn080 Function Selection Application Switches*1 --- --- 0000
Selection A
Parameters
Gain-related Pn180 Bias mm/s 0 to 450 0
Parameters Pn181 Mode Switch Speed Reference mm/s 0 to 5,000 0
Pn182 Mode Switch Acceleration mm/s 2 0 to 3,000 0
Position-related Pn280 Linear Scale Pitch*2 µm 0 to 65,535 0
Parameters
Pn281 PG Divider pulses/scale 1 to 255 20
pitch
(Pn280)
Speed-related Pn380 Not used. --- --- 10
Parameters Pn381 Not used. --- --- 20
Pn382 Not used. --- --- 30
Pn383 Jog Speed mm/s 0 to 5,000 50
Pn384 Maximum Motor Speed *4 100 mm/s 1 to 100 50
Thrust-related Pn480 Not used. --- --- 5,000
Parameters Pn481 Pole Detection Speed Loop Gain Hz 1 to 200 40
Pn482 Pole Detection Speed Loop Integral Time Con- 0.01 ms 15 to 51,200 3,000
stant
Pn483 Forward Thrust Limit*3 % 0 to 800 30
Pn484 Reverse Thrust Limit*3 % 0 to 800 30
Sequence- Pn580 Not used. --- --- 10
related Pn581 Movement Detection Level mm/s 1 to 5,000 20
Parameters
Pn582 Not used. --- --- 10
Pn583 Brake Reference Output Speed Level mm/s 0 to 5,000 100
Pn584 Motor Self-propulsion Cooling Rate %/maxi- 0 to 100 0
mum speed

* 1. After changing these parameters, turn OFF the main circuit and control power supplies and
then turn them ON again to enable the new settings.
* 2. The factory default is 0, so an A.08 alarm will occur the first time the power supply is turned
ON. The alarm will not occur if this parameter is set to a correct value and the power supply
is turned OFF and then back ON again.
* 3. These parameters are set to small values to prevent dangerous situations when setting up the
motor. After completing the setup, increase the settings to the thrust levels used in the appli-
cation.
* 4. These parameters are supported for SERVOPACK firmware version 32 or later.

A-11
Appendix A List of Parameters

A.4 SERVOPACK Switches

The following table shows the SERVOPACK’s software switches.

Table A.4 SERVOPACK Switches

Parameter Digit Name Setting Contents Factory

Place Setting
Pn000 0 Direction Selection 0 Sets CCW as forward direction. 0
Function 1 Sets CW as forward direction (reverse rotation
Selection Basic mode).
Switches
1 Control Method Selec- 1 Position control 1 (fixed)
tion
2 Axis Address 0 to F Sets SERVOPACK axis address (rotary switch 0
(ADRS))
3 Rotary/Linear Startup 0 Starts as a rotary motor. 0
Selection (when
1 Starts as a linear motor.
encoder is not con-
nected)
Pn001 0 Servo OFF or Alarm 0 Stops the motor by applying dynamic brake (DB). 0
Function Stop Mode 1 Stops the motor by applying dynamic brake (DB)
Selection and then releases DB.
Application
Switches 2 Makes the motor coast to a stop state without
using the dynamic brake (DB).
1 Not used. --- --- 0
2 AC/DC Power Input 0 Not applicable to DC power input: Input AC 0
Selection power supply through L1, L2, and (L3) terminals.
1 Applicable to DC power input: Input DC power
supply through (+)1 and (-) terminals.
3 Warning Code Output 0 ALO1, ALO2, and ALO3 output only alarm 0
Selection codes.
1 ALO1, ALO2, and ALO3 output both alarm codes
and warning codes. While warning codes are out-
put, ALM signal output remains ON (normal
state).
Pn002 0 Not used. --- --- 0 (fixed)
Function
1 Not used. --- --- 0
Selection
Application 2 Absolute Encoder 0 Uses absolute encoder as an absolute encoder. 0
Switches Usage 1 Uses absolute encoder as an incremental encoder.
3 Not used. 0 to 4 --- 0 (fixed)

A-12
 A.4 SERVOPACK Switches

Table A.4 SERVOPACK Switches (cont’d)

Parameter Digit Name Setting Contents Factory

Place Setting
Pn003 0 Analog Monitor 1 0 Motor speed Moni-
Function Torque Reference Mon- Linear motors: 1 V/1000 mm/s tor 1: 2
Selection itor Other motors: 1 V/1000 min-1 Moni-
Application tor 2: 0
Switches Analog Monitor 2 1 Internal speed reference
1
Speed Reference Moni- Linear motors: 1 V/1000 mm/s
tor Other motors: 1 V/1000 min-1 A
2 Internal torque reference: 1 V/100%
3 Position error: 0.05 V/1 reference unit
4 Position error: 0.05 V/100 reference units
5 Position reference speed (converted to min-1)
Linear motors: 1 V/1000 mm/s
Other motors: 1 V/1000 min-1
6 Motor speed × 4
Linear motors: 1 V/250 mm/s
Other motors: 1 V/250 min-1
7 Motor speed × 8
Linear motors: 1 V/125 mm/s
Other motors: 1 V/125 min-1
8 Fixed parameters (Do not change.)
9
A
B
C
D
E
F
2 Reserved --- --- 0
3 Reserved --- --- 0
Pn080 0 Hall Sensor Selection 0 Hall sensor used. 0
Function 1 Hall sensor not used.
Selection
Application (for 1 Motor Phase Sequence 0 Phase A advanced, Phase order: U, V, W 0
linear motors) Selection 1 Phase B advanced, Phase order: U, V, W
2 Hall Sensor Phase Error 0 Always detects hall sensor phase error. 0
Handling Selection*2 1 Detects only initial hall sensor phase error.
3 Settable Maximum 0 Fixes the maximum motor speed and calculates 0
Motor Speed/Dividing settable dividing ratio.
Ratio Calculation*1 1 Fixes the dividing ratio and calculates settable
Selection (Calculated maximum motor speed.
value given in Un010.)

A-13
Appendix A List of Parameters

Table A.4 SERVOPACK Switches (cont’d)

Parameter Digit Name Setting Contents Factory

Place Setting
Pn10B 0 Mode Switch 0 Uses internal torque reference as the condition 0
Selection (Level setting: Pn10C)
1 Uses speed reference as the condition
(Level setting: Pn10D, For linear motor: Pn181)
2 Uses acceleration as the condition
(Level setting: Pn10E, For linear motor: Pn182)
3 Uses error pulse as the condition
(Level setting: Pn10F)
4 No mode switch function available
1 Speed Loop Control 0 PI control 0
Method 1 IP control
2 Automatic Gain 0 Does not use automatic gain switching. 0
Switching Selection*1 1 Position references only.
2 Position error only.
3 Position references and position error.
3 Fixed parameter 0 to 2 --- 0
(Do not change.)
Pn110 0 Online Autotuning 0 Tunes only at the beginning of operation. 0
Online Method 1 Always tunes.
Autotuning
Switches 2 Does not perform autotuning.
1 Speed Feedback Com- 0 Enabled 1
pensation Selection 1 Disabled
2 Friction Compensation 0 Friction compensation: Disabled 0
Selection 1 Friction compensation: Small
2 Friction compensation: Large
3 Fixed parameter 0 to 3 --- 0
(Do not change.)
Pn200 0 Not used. --- --- 0
Position Control
1 Not used. --- --- 0
References
Selection 2 Clear Operation 0 Clears error counter at the baseblock. 0 (fixed)
Switches 2 Clears error counter when an alarm occurs.
3 Not used. --- --- 0
Pn207 0 Position Reference 1 S curve 1 (fixed)
Position Control Filter Selection
Function 1 Not used. --- --- 0
Switches
2 PG Divider*1 0 Uses Pn201 (For 16-bit or less) 0
1 Uses Pn212 and Pn213 (For 17-bit or more)
3 Reserved --- --- 0

A-14
 A.4 SERVOPACK Switches

Table A.4 SERVOPACK Switches (cont’d)

Parameter Digit Name Setting Contents Factory

Place Setting
Pn408 0 Notch Filter Selection 0 Disabled. 0
Torque Function 1 Uses a notch filter for torque reference.
Switches
1 Reserved --- --- 0
2 Notch Filter 2 Selection 0 Disabled. 0
*1
1 Uses a notch filter for torque reference.
A
3 Reserved --- --- 0

* 1. This parameter is supported for SERVOPACK firmware version 32 or later.

* 2. This parameter is supported for SERVOPACK firmware version 36 or later.

A-15
 Appendix B
Monitor Mode and Auxiliary Functions B

This appendix provides lists of monitor modes and auxiliary functions that can
be used when the Digital Operator is connected to connector CN7.

B.1 Monitor Modes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -B-2

B.2 Auxiliary Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -B-4

B-1
Appendix B Monitor Mode and Auxiliary Functions

B.1 Monitor Modes

The following table shows the monitor modes that can be used when the Digital Operator is
connected to connector CN7.

Table B.1 Monitor Modes

Monitor Number Display Contents Unit Serial

Command
Un000 Actual motor speed Linear motor: NFB
mm/s
Other: min-1
Un001 Not used. --- ---
Un002 Internal torque reference *1 % TREF
Un003 Rotation angle (pulses) *2 pulse ---
Un004 Rotation angle (electrical angle) deg ---
Un005 SERVOPACK (CN1) input signal monitor --- IN1
Un006 SERVOPACK (CN1) output signal monitor --- OUT1
Un007 Position reference speed Linear motor: NREF
mm/s
Other: min-1
Un008 Position error reference units PER
Un009 Torque load ratio monitor*3 % TRMS
Un00A Regeneration load ratio monitor*4 % RGRMS
Un00B Dynamic-brake load ratio monitor*5 % DBRMS
Un00C Position reference pulse counter (hexadecimal)*6 reference units ---
Un00D Encoder pulse counter (hexadecimal)*6 pulse ---
Un010 Settable maximum motor speed or dividing ratio monitor 100 mm/s or ---
(for linear motor)*7 pulses/scale pitch
(Pn280)
Un011 Hall sensor signal monitor (for linear motor)*7 --- HALLSENS
Un800 Last error (most recent error code) --- ERR
Un801 NS600 (CN4) input signal monitor --- IN2
Un802 NS600 (CN4) output signal monitor --- OUT2
Un803 Status flag monitor --- STS
Un804 Current position reference monitor reference units PUN
Un805 Current motor position monitor reference units PFB
Un806 Target position monitor reference units POS
Un807 Target distance monitor reference units DST
Un808 Registration target position monitor reference units RPOS
Un809 Registration distance monitor reference units RDST
Un80A Program step (PGMSTEP) monitor --- PGMSTEP
Un80B Program event time progress monitor ms EVTIME
Un80C Program loop progress monitor repetitions LOOP
Un80D Serial command received character trace --- ---

B-2
 B.1 Monitor Modes

Table B.1 Monitor Modes (cont’d)

Monitor Number Display Contents Unit Serial

Command
Un80E Serial command received character count --- ---
Un80F Serial command received error character count --- ---
Un810 Serial command transmitted character trace --- ---
Un811 Serial command transmitted character count --- ---
* 1. Indicates the percentage of the rated torque. (100% is the rated torque.)
* 2. Indicates the number of pulses from the encoder’s phase C.
* 3. Indicates the percentage of the rated torque over a 10 second period.
* 4. Indicates the percentage of the maximum regenerative power over a 10
second period.
* 5. Indicates the percentage of the maximum DB power consumption over
B
a 10 second period.
* 6. These values are expressed in hexadecimal.
* 7. These monitor modes are supported for NS600 firmware version 4 or
later and SERVOPACK firmware version 32 or later.

B-3
Appendix B Monitor Mode and Auxiliary Functions

B.2 Auxiliary Functions

The following table shows the auxiliary functions that can be used when the Digital Operator is
connected to connector CN7.

Table B.2 Usable Auxiliary Functions

Monitor Number Function Serial Command

Fn000 Alarm traceback data display ALM0 to ALM9
Fn001 Rigidity setting during online autotuning STIFF, STIFFd
Fn002 JOG mode operation ---
Fn003 Zero-point search ---
Fn004 Not used. ---
Fn005 Parameter settings initialization PRMINIT
Fn006 Alarm traceback data clear ALMTRCCLR
Fn007 Writing to EEPROM inertia ratio data obtained from online autotuning INERTIA, TUNESTORE
Fn008 Absolute encoder reset ABSPGRES
Fn009 Not used. ---
Fn00A Not used. ---
Fn00B Not used. ---
Fn00C Manual zero-adjustment of analog monitor output ---
Fn00D Manual gain-adjustment of analog monitor output ---
Fn00E Automatic offset-adjustment of motor current detection signal CURZERO
Fn00F Manual offset-adjustment of motor current detection signal ---
Fn010 Write-protection setting ---
Fn011 Motor models display MTTYPE, MTSIZE,
PGTYPE, SVYSPEC
Fn012 SERVOPACK firmware version display SVVER, PGVER
Fn013 Multiturn limit value setting change when a Multiturn Limit Disagree- MLTLIMSET
ment Alarm (A.CC) occurs
Fn014 Not used. ---
Fn800 NS600 firmware version display VER
Fn801 NS600 model code (0600 Hex) display TYPE
Fn802 NS600 Y spec. number display YSPEC
Fn803 Program table save PGMSTORE
Fn804 Zone table save ZONESTORE
Fn805 Jog speed table save JSPDSTORE
Fn806 Program table initialization PGMINIT
Fn807 Zone table initialization ZONEINIT
Fn808 Jog speed table initialization JSPDINIT
Fn809* Absolute encoder zero setting ZSET

* This auxiliary function is supported from version 4.

B-4
 Appendix C
List of Serial Commands

C
This appendix provides a list of the serial commands in alphabetical order.

C.1 Alphabetical List of Serial Commands - - - - - - - - - - - - - - - - C-2

C-1
Appendix C List of Serial Commands

C.1 Alphabetical List of Serial Commands

The following table lists the usable serial commands in alphabetical order.
For more details on the serial commands, see 6.7 Serial Commands.

Table C.1 Alphabetical List of Serial Commands

Serial Command Function Reference

ABSPGRES Absolute Encoder Reset 6.7.8
ACCnnnnnnnn Acceleration Reservation 6.7.2
ACCTsss* Program Table ACC Read 6.7.4
ACCTsss=* Program Table ACC Write 6.7.4
ALM Alarm or Warning Read 6.7.8
ALMn Alarm History Read 6.7.8
ALMTRCCLR Alarm Trace Clear 6.7.8
ARES Alarm Reset 6.7.1
CURZERO Motor Current Zero Adjustment 6.7.8
DBRMS Dynamic-Brake Load Ratio Monitor 6.7.8
DECnnnnnnnn Deceleration Reservation 6.7.2
DECTsss* Program Table DEC Read 6.7.4
DECTsss=* Program Table DEC Write 6.7.4
DST or MON9 Target Distance Monitor 6.7.8
ERR Most Recent Error Read 6.7.8
EVENTTsss Program Table EVENT Read 6.7.4
EVENTsss= Program Table EVENT Write 6.7.4
EVTIME Program EVENT Elapsed Time Monitor 6.7.8
HALLSENS* Hall Sensor Monitor for Linear Motor 6.7.8
HOLD Positioning Interruption (or Jog Stop) 6.7.2
IN1 SGDH Input Signal Monitor (CN1) 6.7.8
IN2 NS600 Input Signal Monitor (CN4) 6.7.8
IN2TESTbbbbbbbb NS600 Input Signal Reservation (CN4) 6.7.8
INERTIA Auto-tuning Inertia Display 6.7.8
JOGPnnnnnnnn Motor Forward 6.7.2
JOGNnnnnnnnn Motor Reverse 6.7.2
JSPDINIT JOG Speed Table Initialization 6.7.7
JSPDSTORE JOG Speed Table Save 6.7.7
JSPDTdd JOG Speed Table JSPD (jog speed reservation) Read 6.7.7
JSPDTdd= JOG Speed Table Write 6.7.7
LOOP Program LOOP Pass Through Monitor 6.7.8
LOOPTsss Program Table LOOP Read 6.7.4
LOOPTsss= Program Table LOOP Write 6.7.4
MLTLIMSET Multiturn Limit Setting 6.7.8
MONn Monitor Read 6.7.8
MTSIZE Monitor Capacity Display 6.7.8

C-2
 C.1 Alphabetical List of Serial Commands

Table C.1 Alphabetical List of Serial Commands (cont’d)

Serial Command Function Reference

MTTYPE Motor Type Display 6.7.8
NEXTTsss Program Table NEXT Read 6.7.4
NEXTTsss= Program Table NEXT Write 6.7.4
NFB or MON3 Motor Speed Monitor 6.7.8
NREF or MON4 Speed Reference Monitor 6.7.8
OUT1 SGDH Output Signal Monitor (CN1) 6.7.8
OUT2 NS600 Output Signal Monitor (CN4) 6.7.8
OUT2TESTbbbbbb NS600 Output Signal Reservation (CN4) 6.7.8
PER or MON2 Position Error Monitor 6.7.8
PFB or MON7 Current (actual) Motor Position Monitor 6.7.8
PGMINIT Program Initialization 6.7.4
PGMRES Program Table Operation Reset 6.7.5
C
PGMSTEP Program PGMSTEP Pass Through Monitor 6.7.8
PGMSTORE Program Table Save 6.7.4
PGTYPE Encoder Type Display 6.7.8
PGVER Encoder Firmware Version Display 6.7.8
POS (±) nnnnnnnn Target Position Reservation (Absolute Position) 6.7.2
POSA (±) nnnnnnnn
POS or MON8 Target Position Monitor 6.7.8
POSI (±) nnnnnnnn Target Position Reservation (Relative Position) 6.7.2
POSTsss Program Table POS Read 6.7.4
POSTsss= Program Table POS Write 6.7.4
POUT POUT Monitor 6.7.8
POUTnnnnn POUT Reservation 6.7.2
POUTTsss Program Table POUT Read 6.7.4
POUTTsss= Program Table POUT Write 6.7.4
PRMINIT Parameter Initialization 6.7.3
PRMppp Parameter Read 6.7.3
PRMppp= Parameter Write 6.7.3
PUN or MON1 Current Distributed Position Monitor 6.7.8
RDST or MON11 Registration Target Distance Monitor 6.7.8
RDSTnnnnnnnn Registration Distance Reservation 6.7.2
RDSTTsss Program Table RDST Read 6.7.4
RDSTTsss= Program Table RDST Write 6.7.4
RES Reset 6.7.1
RGRMS Regeneration Load Ratio Monitor 6.7.8
RPOS or MON10 Registration Target Position Monitor 6.7.8
RS Positioning Start with Registration 6.7.2
RS (±) nnnnnnnn Positioning Start with Registration (Absolute Position) 6.7.2
RSA (±) nnnnnnnn
RSI (±) nnnnnnnn Positioning Start with Registration (Relative Distance) 6.7.2

C-3
Appendix C List of Serial Commands

Table C.1 Alphabetical List of Serial Commands (cont’d)

Serial Command Function Reference

RSPDnnnnnnnn Registration Speed Reservation 6.7.2
RSPDTsss Program Table RSPD Read 6.7.4
RSPDTsss= Program Table RSPD Write 6.7.4
SKIP Positioning Stop (or Jog Stop) 6.7.2
SPDnnnnnnnn Positioning Speed Reservation 6.7.2
SPDTsss Program Table SPD Read 6.7.4
SPDTsss= Program Table SPD Write 6.7.4
ST Positioning Start 6.7.2
ST (±) nnnnnnnn Positioning Start (Absolute Position) 6.7.2
STA (±) nnnnnnnn
START Program Table Operation Restart 6.7.5
STARTsss Program Table Operation Start 6.7.5
STI (±) nnnnnnnn Positioning Start (Relative Position) 6.7.2
STIFF Rigidity Monitor 6.7.8
STIFFd Rigidity Reservation 6.7.8
STOP Program Table Operation Interruption 6.7.5
STS or MON6 Status Flag Monitor [reference units] 6.7.8
SVOFF Servo OFF 6.7.1
SVON Servo ON 6.7.1
SVTYPE SGDH Type Code (xx02H) Display 6.7.8
SVVER SGDH Firmware Version Display 6.7.8
SVYSPEC SGDH Y Spec. No. Display 6.7.8
TREF or MON5 Torque Reference Monitor 6.7.8
TRMppp= Temporary Parameter Write 6.7.3
TRMS Torque Load Ratio Monitor 6.7.8
TUNESTORE Auto-tuning Inertia Save 6.7.8
TYPE NS600 Type Code (0600H) Display 6.7.8
VER NS600 Firmware Version Display 6.7.8
YSPEC NS600 Y Spec. No. Display 6.7.8
ZONEINIT Zone Table Initialization 6.7.6
ZONENTzz Zone Table ZONEN (negative side zone position limit) Read 6.7.6
ZONENTzz= Zone Table ZONEN (negative side zone position limit) Write 6.7.6
ZONEPTzz Zone table ZONEP (positive side zone position limit) Read 6.7.6
ZONEPTzz= Zone Table ZONEP (positive side zone position limit) Write 6.7.6
ZONESTORE Zone Table Save 6.7.6
ZRN Homing Start 6.7.2
ZSET (±) nnnnnnnn Coordinates Setting 6.7.2

* These serial commands are supported from version 4.

C-4
 Index

Index
Symbols C
* (global address) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-6 cables
/BK - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2, 5-8, 5-10 I/O cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4
/DEC - - - - - - - - - - - - - - - - - - - - - - 3-2, 5-6, 5-64, 5-65, 6-18, 6-19 serial communications cables - - - - - - - - - - - - - - - - - - - - - - 1-4
/HOME - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3, 5-7, 5-65, 5-69 clearing hold - - - - - - - - - - - - - - - - - - - - - - - 6-12, 6-15, 6-17, 6-18
/INPOSITION- - - - - - - - - - - - - - - - - - - - - - - - - - - -3-3, 5-15, 5-44 CN1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4
/JOG0 to /JOG3- - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3, 5-7, 5-66 connections examples - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2
/JOGN - - - - - - - - - - - - - - - - - - - - - - - - - 3-3, 5-7, 5-65, 5-66, 5-69 examples of I/O signal connections to CN1 and CN4 - - - - - - 3-2
/JOGP - - - - - - - - - - - - - - - - - - - - - - - - - 3-3, 5-7, 5-65, 5-66, 5-69 input signal connections - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6
/MODE 0/1- - - - - - - - - - - - - -3-3, 5-7, 5-39, 5-40, 5-49, 5-62, 5-69 output signal connections - - - - - - - - - - - - - - - - - - - - - - - - - 5-8
/PGMRES - - - - - - - - - - - - - - - - - - - - - - 3-3, 5-7, 5-40, 5-47, 5-49 specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-5
/POUT0 to /POUT4 - - - - - - - - - - - - - - - - - - - 3-3, 5-16, 5-43, 5-59 terminal layout - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-4
/RGRT - - - - - - - - - - - - - - - - -3-2, 5-6, 5-55, 5-56, 5-57, 6-14, 6-17 CN10 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-6
/SEL0 to /SEL6 - - - 3-2, 3-3, 5-6, 5-40, 5-41, 5-44, 5-45, 5-46, 5-49 CN2 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2
/S-ON - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2, 5-6, 5-9 CN4 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4
/S-RDY - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2, 5-8, 5-13 connection examples - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2
/START-STOP - - - - - - - - - - - - - - - 3-3, 5-7, 5-40, 5-46, 5-47, 5-49 examples of I/O signal connections to CN1 and CN4 - - - - - - 3-2
/WARN - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2, 5-8, 5-14 input signal connections - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6
output signal connections - - - - - - - - - - - - - - - - - - - - - - - - - 5-8
A specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-5
absolute encoder - - - - - - - - - - - - - - - - - - - - - - - - - 5-20, 6-19, 6-20 terminal layout - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-5
interface circuit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-21 CN6 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4, 3-10
offset - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-25, 7-49 serial command communications connector (CN6) - - - - - - - 3-10
reset - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-37 specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2
selecting usage - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-21 CN7 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4
setup initialization - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-22 Digital Operator or Support Software connector (CN7) - - - - 3-15
zero setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-25, 7-49 CN8 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-22
ACC - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-43 coasting to a stop- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-28, 5-29
acceleration - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-34, 5-43, 6-11 commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-5, 6-6, 6-7, 6-8
alarms command/response format - - - - - - - - - - - - - - - - - - - - - - - - 6-5
alarm code output signals - - - - - - - - - - - - - - - - - - - - - - - - - 5-9 communications protocol - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-4
alarm display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-8 connectors
alarm display table- - - - - - - - - - - - - - - - - - - - - - - - - - 9-2, 9-10 Digital Operator or Support Software connector (CN7) - - - - 3-15
I/O signal connections - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2
alarm reset - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-9, 7-5
serial command communications connector (CN6) - - - - - - - 3-10
Servo alarm output- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-9
wiring - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-1
troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-6
coordinates
ALM - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2, 5-8, 5-9
moving method and coordinate settings - - - - - - - - - - - - - - 5-35
ALO1 to ALO3 - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2, 5-8, 5-9
setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-19, 6-20
auxiliary functions
commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-33 D
list- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - B-4
DEC - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-43
axis address - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4, 6-3
deceleration - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-34, 5-43, 6-11
setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-3
deceleration ratio- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-30
axis number - - - - - - - - - - - - - - - - - - - - - - - -6-3, 6-5, 6-6, 6-8, 6-9
delimiter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-4, 6-5, 6-6, 6-9
B DEN - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-45
differences between firmware version 3 and version 4- - - - - - - - - viii
backlash compensation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-37
baseblock - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-20 Digital Operator - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-1
BAT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2 available models - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4, 1-5
battery dimensions- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-1
handling - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-21 display
bit rate - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2, 6-3, 6-4, 6-7 alarm display table - - - - - - - - - - - - - - - - - - - - - - - - - 9-2, 9-10
brake - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-10 error display table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-14
interlock output signal - - - - - - - - - - - - - - - - - - - - - - - - - - 5-10 for alarms - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-8
for errors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-8

Index-1
Index

for warnings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-9 installation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-1, 2-5

normal display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-9 installation site - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-3
normal display table - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-20 orientation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4
status display- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-8 interfaces with sequence input circuits - - - - - - - - - - - - - - - - - - - 3-8
STS status indicators - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-21
warning display table - - - - - - - - - - - - - - - - - - - - - - - -9-5, 9-19
J
jog speed table - - - - - - - - - - - - - - - - - - - - - -5-62, 5-68, 5-69, 6-32
DTR/DSR control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2
dynamic brake - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-28, 5-29 homing/jog speed input signals - - - - - - - - - - - - - - - - - - - - 5-63
input conditions- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-68
E input signal timing specifications - - - - - - - - - - - - - - - - - - - 5-69
echoback- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-4, 6-5, 6-7 operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-65, 5-66
response time - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-7 selection- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-67
electronic gear - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-30 setup commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-32
setting examples - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-33
settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-30
L
encoder latch - - - - - - - - - - - - - - - - - - - - - - - - 5-56, 5-57, 5-58, 6-14, 6-17
encoder signal outputs- - - - - - - - - - - - - - - - - - - - - - - - - - - 5-18 latch signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-57
output phase form - - - - - - - - - - - - - - - - - - - - - - - - - 5-19 latch timing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-56
output phase A- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-18 limit switches - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-27
output phase B- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-18 LOOP - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-44
output phase C- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-18
pulses- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-30
M
errors Mode 0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3, 5-39
error display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-8 Mode 1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3, 5-62
error display table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-14 mode switch signal (/MODE 0/1) - - - - - - - - - - - - - - - - - - 5-39, 5-62
error/warning output signal (/WARN) - - - - - - - - - - - - - - - - 5-14 model number - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3
EVENT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-44, 5-45, 5-49 monitor
examples of EVENT conditions - - - - - - - - - - - - - - - - - - - - - - - 5-45 commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-33
monitor modes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - B-2
F moving method and coordinate settings- - - - - - - - - - - - - - 5-35, 5-36
forward reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-26 multiturn limit setting - - - - - - - - - - - - - - - - - - - - - - 5-20, 5-23, 6-37
forward run prohibited - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-27
forward torque limit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-38
N
framing error - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-8 NEAR - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-44, 5-45
full-duplex wiring - - - - - - - - - - - - - - - - - - -3-12, 6-2, 6-4, 6-5, 6-7 negative responses - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-8
NEXT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-42, 5-44
G N-LS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-20
global commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-6 N-OT- - - - - - - - - - - - - - - - - - - - - - - - - - 3-2, 5-6, 5-27, 5-28, 9-20
number of executions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-44
H
half-duplex wiring - - - - - - - - - - - - - - - - - - -3-13, 6-2, 6-4, 6-5, 6-7 O
hall sensor- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-37, 7-13 OK - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-4, 6-8
holding brake structure of OK response- - - - - - - - - - - - - - - - - - - - - - - - - - 6-8
ON timing- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-12 online autotuning
settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-12 rigidity setting- - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-21, 7-29
wiring example - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-11 open-collector output circuits- - - - - - - - - - - - - - - - - - - - - - - - - - 3-9
homing - - - - - - - - - - - - - - - - - - - - - - - 5-36, 5-62, 5-63, 5-68, 5-69 output circuits
homing start - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-18 interfaces - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-9
homing/jog speed table input signals - - - - - - - - - - - - - - - - - 5-63 output signals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-6, 3-7
input conditions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-68 overrun error- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-8
input signal timing specifications - - - - - - - - - - - - - - - - - - - 5-69 overtravel - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-28, 6-19, 9-20
operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-65 overtravel limit function - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-27
parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-64
P
I PAO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2
I/O signals parameters
connection examples- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2 for NS600- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-2
signal names and functions - - - - - - - - - - - - - - - - - - - - - - - - 3-6 for SERVOPACK - - - - - - - - - - - - - - - - - - - - - - - - - A-6, A-11
INFINITE - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-42, 5-55 offline - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-5
INPOSITION - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-45 online - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-5
input signals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-6, 3-7 parameter edit commands - - - - - - - - - - - - - - - - - - - - - - - - 6-24

Index-2
 Index

restrictions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-4 related manuals- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - v

parity - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2 reset - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-9
parity error - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-8 response - - - - - - - - - - - - - - - - - - - - - - - - - - 6-4, 6-5, 6-6, 6-8, 6-9
PBO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2 command/answer format - - - - - - - - - - - - - - - - - - - - - - - - - 6-5
PCO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2 details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-8
PG divider - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-19 OK response- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-4
PGMSTEP - - - - - - - - - - - - - - - - - - - - - - - - -5-41, 5-42, 5-44, 5-46 reverse reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-26
photocoupler output circuit - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-9 Reverse Rotation Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-26
P-LS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-20 reverse run prohibited - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-27
POS- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-42 reverse torque limit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-38
position error - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-15 rotary switch - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4, 6-3
positioning rotation direction- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-26
positioning completed judgement - - - - - - - - - - - - - - - - - - - 5-44 RS-232C - - - - - - - - - - - - - - - - - - - - - - 3-10, 3-13, 3-15, 3-17, 6-2
positioning completed output signal - - - - - - - - - - - - - - - - - 5-15 RS-422 - - - - - - - - - - - - - - - - - - - - - - - 3-10, 3-12, 3-15, 3-17, 6-2
positioning interruption - - - - - - - - - - - - - - - - - - - - - - - - - 6-21 RS-485 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-10, 3-12, 6-2
positioning speed- - - - - - - - - - - - - - - - - - - - - - 5-34, 5-42, 6-11 RSPD - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-43
positioning start- - - - - - - - - - - - - - - - - - - - - - - - - - - 6-12, 6-13 RTS/CTS control- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2
positioning table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-54 S
positioning/registration speed - - - - - - - - - - - - - - - - - - - - - 5-34
safety information - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ix
stopping - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-22
safety precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - x
target position - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-42, 6-10 S-curve time- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-34
positive responses - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-8 sequence I/O signals
P-OT - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2, 5-6, 5-27, 5-28, 9-20 input signal connections - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6
POUT, POUT0 to POUT4- - - - - - - - - - - - - - - - - - - 5-16, 5-43, 6-23 output signal connections - - - - - - - - - - - - - - - - - - - - - - - - - 5-8
power loss - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-19 serial commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-40, 6-9
program command/response format - - - - - - - - - - - - - - - - - - - - - - - - 6-5
input signal timing for program table operation - - - - - - - - - 5-49 communications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-1
input signals for program table operation- - - - - - - - - - - - - - 5-40 list - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - C-2
program step - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-42 parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-4
program table - - - - - - - - - - - - - - - - - - - - - - - - 5-16, 5-39, 5-42 serial command received character trace - - - - - - - - - - - - - - 7-16
program table examples - - - - - - - - - - - - - - - - - - - - - - - - - 5-51 serial command transmitted character trace - - - - - - - - - - - - 7-17
program table operation - - - - - - - - - - - - -5-40, 5-44, 5-46, 5-47 Servo OFF - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-29, 6-9, 9-20
program table operation commands - - - - - - - - - - - - - - - - - 6-30 Servo ON- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-9, 9-20
program table setup commands - - - - - - - - - - - - - - - - - - - - 6-26 Servo ON/OFF input signal (/S-ON) - - - - - - - - - - - - - - - - - - - - 5-9
program table step selection - - - - - - - - - - - - - - - - - - - - - - 5-41 Servo ready output signal - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-13
resetting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-47 software limit - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-42, 6-19, 9-20
restarting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-46 SPD - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-42
settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-42 speed setting- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-34
starting and stopping - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-46 start bits- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2, 6-7
status changes in program table operation - - - - - - - - - - - - - 5-48 status
stopping - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-47 status display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-8
programmable output signals - - - - - - - - 5-16, 5-43, 5-60, 5-61, 6-23 status indicators - - - - - - - - - - - - - - - - - - - - - - - - 9-8, 9-9, 9-21
protocol - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-3 stop bits - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2, 6-7
PSO- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2 storage conditions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
STS- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-8, 9-9, 9-21
R
STS status indicators - - - - - - - - - - - - - - - - - - - - - - - - 1-4, 9-21
RDST - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-43, 5-57
Support Software - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5
reference units- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-30
setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-30 T
region - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-59 terminator - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-11, 3-16
registration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-55, 5-56 torque limit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-38
jog forward/reverse with registration - - - - - - - - - - - - - - - - 6-17 trial operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-1
positioning start with registration - - - - - - - - - - - - - - - 6-15, 6-16 step 1: servomotor without load- - - - - - - - - - - - - - - - - - - - - 4-3
registration distance - - - - - - - - - - - - - - - - - - - - 5-43, 5-57, 6-14 step 2: servomotor connected to the machine - - - - - - - - - - - 4-10
registration input - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-56 troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-8
registration latch signal- - - - - - - - - - - - - - - - - - - - - - - - - - 5-56
registration operation - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-57
V
version - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3
registration speed- - - - - - - - - - - - - - - - - - - - - - - - - - 5-34, 6-14
differences between firmware version 3 and version 4- - - - - - viii
registration timing specifications - - - - - - - - - - - - - - - - - - - 5-56

Index-3
Index

W
warnings
warning display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-9
warning display table - - - - - - - - - - - - - - - - - - - - - - - -9-5, 9-19
warning output signal - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-14

X
X-ON/X-OFF control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2

Z
ZONE
ZONE signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-43, 5-59
ZONE table- - - - - - - - - - - - - - - - - - - - - 5-43, 5-53, 5-59, 6-23
ZONE table settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-59
ZONE table setup commands - - - - - - - - - - - - - - - - - - - - - - 6-31

Index-4
Revision History

The revision dates and numbers of the revised manuals are given on the bottom of the back cover.

MANUAL NO. SIE-C718-9B

C Printed in Japan October 2003 02-1 3
Revision number
Date of Date of original
printing publication

Date of Printing Rev. Section Revised Content

No.
January 2002 − First edition
January 2003  Preface Correction: Clerial error

October 2003 3 Preface Revision: Sentence and Table

Addition: Differences between firmware version 3 and version 4
Revision: Related manuals
1.2 Revision: Model number of support software
3.2.3 Revision: Sentence
5.1 Addition: Pn205
5.4.4 Deletion: Section on software position limit settings and the moving method
Addition: Section on moving method and coordinate settings
5.4.5 Addition: Section on backlash compensation
5.2.7, 5.7 Addition: Setting the initial status programmable output signals (/POUT0 to /POUT4)
5.2.8 Revision: Sentence
5.3.5 Revision: Sentence
5.3.6 Addition: Section on absolute encoder zero setting
5.5.4 Revision: Sentence
Revision: Program table
Addition: Program table functions (ACC and DEC)
5.5.6 Revision: Program table figure
5.5.7 Revision: Sentence
5.5.9 Addition: Section on response times after turning ON the /START-STOP signal
5.5.10, 7.8 Addition: Program table function (ACC and DEC)
5.9.3 Addition: Pn81D
5.11.2 Revision: Sentence
6.7.2 Revision: Sentence
6.7.4 Addition: Serial command ACCTsss, ACCTsss=nnnnnnnn, DECTsss, DECTsss=nnnnnnnn
6.7.8 Revision: Sentence
7.6, B.1 Addition: Un010,Un011
7.7 Revision: Software version changed to firmware version
Addition: Fn809 (Absolute encoder zero setting)
9.1.1 Revision: Sentence
Addition: A.09, A.0A, A.55, A.B3, A.F6, A.C2, A.C5, A.d2, A.90
Revision: A.04, A.51
9.2.3 Revision: Sentence
A.1 Addition: Pn829, Pn830, Pn831, Pn832, Pn833, Pn834, Pn835, Pn836
Revision: Pn81B, Pn81C, Pn81D
A.2 Revision: Sentence
Revision: Pn104, Pn105, Pn106, Pn201, Pn208
Addition: Pn124, Pn125, Pn212, Pn213, Pn217, Pn218, Pn309, Pn40A, Pn40B, Pn40C, Pn513,
Pn51A, Pn51B, Pn51C, Pn51E
A.3 Addition: Section on parameters used for SERVOPACK linear motors
A.4 Revision: Pn000.3, Pn0003.0, Pn0003.1, Pn10B.0, Pn10B.2, Pn207.2, Pn408.2
Addition: Pn008
 Rev.
Date of Printing No. Section Revised Content

October 2003 B.2 Revision: Sentence

3
Addition: Fn809
C.1 Revision: Sentence
Addition: Serial command ACCTsss, ACCTsss=, DECTsss, DECTsss=, HALLSENS
No.4-3（インター） メカトロ製品用 SIE

Series SGDH
Indexer Application Module
USER'S MANUAL
IRUMA BUSINESS CENTER
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Phone 86-10-6788-0551 Fax 86-10-6788-2878

YASKAWA ELECTRIC CORPORATION

YASKAWA
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. Therefore, be sure to follow all procedures and submit all relevant
documentation according to any and all rules, regulations and laws that may apply.
Specifications are subject to change without notice
MANUAL NO. SIE-C718-9B
for ongoing product modifications and improvements. © Printed in Japan October 2003 02-1 2
© 2002-2003 YASKAWA ELECTRIC CORPORATION. All rights reserved. 03-4③ 00-71066