User manual OMRON SJDE-ANA-OY

[. . . ] TOEP-C71080603-01-OY JUNMA SERIES SERVO DRIVE Mechatrolink-II communications type Model: SJDEANA-OY USER´ S MANUAL Copyright © 2006 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 constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice. [. . . ] If a VFF is input, no compensation for speed feed forward will be applied. · For details on interpolation, refer to 6. 5. 1 INTERPOLATE Related Commands. Related Parameters Parameter No. Pn820 Pn822 Description Latching Area Upper Limit Latching Area Lower Limit 83 4. 2 Main Commands 4. 2. 28 External Input Positioning (EX_POSING: 39H) Byte EX_POSING Command 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 WDT For subcommands. SEL_MON 1/2 - SEL_MON 1/2 I/O_MON TSPD MONITOR2 TPOS MONITOR1 39H LT_SGN OPTION Response 39H ALARM STATUS Processing classifications Processing time Motion command group Within communications cycle Synchronization classifications Subcommand Asynchronous Can be used Description · Moves toward the target position (TPOS) at the target speed (TSPD). When a latch signal is input midway, positioning is performed according to the final travel distance for external position specified in the parameter from the latch signal input position. When no latch signal is input, positioning is performed for the target position (TPOS). · A command warning will occur and the command will be ignored in the following cases. -If the SERVOPACK is Servo OFF: Command warning 1 (A. 95A) -If the target speed (TSPD) exceeds the maximum speed : Data setting warning 2 (A. 94B) · OPTION field cannot be used. · The target position (TPOS) is a signed 4 bytes [reference unit]. It is sent by using an absolute position in the reference coordinate system. It is sent in the range from 0 to the maximum speed [reference unit/s]. · After the latch is input, any changes to the target position during motion will be ignored. · Use DEN (output complete) to confirm the completion of position reference output. · For details on posing commands, refer to 6. 5. 2 POSING Related Commands. 84 4. 2 Main Commands Related Parameters Parameter No. Pn80B Pn80E Pn814 Pn820 Pn822 Description Linear Acceleration Parameter Linear Deceleration Parameter Final Travel Distance for External Positioning Latching Area Upper Limit Latching Area Lower Limit Operation If a latch signal is input, positioning is performed for the position calculated with the following equation: latch signal input position (LPOS) + final travel distance for external positioning specified in Pn814. When no latch signal is input, positioning is performed for the target position (TPOS). Latch signal 4. 2. 29 Homing (ZRET: 3AH) Byte ZRET Command 1 2 3AH LT_SGN Response 3AH ALARM Processing classifications Processing time Motion command group Within communications cycle Synchronization classifications Subcommand Asynchronous Can be used Description 85 4. 2 Main Commands Byte ZRET Command Response STATUS Description 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 OPTION - MONITOR1 TSPD MONITOR2 SEL_MON 1/2 - SEL_MON 1/2 IO_MON WDT For subcommands. RWDT For subcommands. · Perform a homing using the following sequence. Accelerates to the target speed (TSPD) in the direction specified in the parameter (Pn816) and continues to move at the target speed. When a latch signal is input, positioning is performed to define the target position at the homing approach speed 2 (Pn818). The target position is calculated by adding the homing final travel distance (Pn819). After the completion of positioning, the coordinate system is set so that the position reached is 0. · A command warning will occur and the command will be ignored in the following cases. [. . . ] · Press the tip of a flathead screwdriver against each of the notches A on the SERVOPACK to dislodge the hooks. · Insert the tip of a flathead screwdriver into the notches B on the SERVOPACK one at a time and pry the front cover off. A A Front cover B B 2. Insert the tip of a flathead screwdriver into the two notches on the SERVOPACK one at a time and pry the hooks loose. Case 3. Lift up to pull the case of the SERVOPACK off. 160 9. 3 Replacement of Cooling Fan 4. [. . . ]