YASKAWA S-7 Series Istruzioni per l'installazione

MECHATROLINK-III Communications

Standard Servo Profile

-7-Series AC Servo Drive

Command Manual

MANUAL NO. SIEP S800001 31C

Command Format

Main Commands

Subcommands

Operation Sequence

Function/Command Related Parameters

Common Parameters

Virtual Memory Space

MECHATROLINK-III

Communication Settings

Detecting Alarms/Warnings Related to

Communications or Commands

retrieval system, or transmitted, in any form, or by any means, mechanical, elec-

tronic, photocopying, recording, or otherwise, without the prior written permission

of Yaskawa. No patent liability is assumed with respect to the use of the informa-

tion contained herein. Moreover, because Yaskawa is constantly striving to

improve its high-quality products, the information contained in this manual is sub-

ject 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.

iii

About this Manual

This manual describes the specifications of standard servo profile commands used in MECHA-

TROLINK-III communications for the following MECHATROLINK-III communications reference input

type SERVOPACKs, the basic operations using these commands, and the parameters for these com-

mands.

•Σ-7-Series Σ-7S SERVOPACKs (Models: SGD7S-20)

•Σ-7-Series Σ-7W SERVOPACKs (Models: SGD7W-20)

Read and understand this manual to ensure correct usage of the Σ-7-Series AC Servo Drives.

Keep this manual in a safe place so that it can be referred to whenever necessary.

•Supported Profile Version: Ver. 1.0

•Targeted Readers

Users who incorporate the standard servo profile commands in controllers

Users who design applications for host controllers that use standard servo profile commands

directly

Outline of Manual

The contents of the chapters of this manual are described in the following table.

Refer to these chapters as required.

Chapter Chapter Title Contents

1MECHATROLINK-III Communication

Settings

Provides detailed information on MECHATROLINK-III communi-

cations.

2 Command Format Describes the common specifications for all commands and the

command format.

3 Main Commands Provides detailed information on the main commands.

4 Subcommands Provides detailed information on the subcommands.

5 Operation Sequence Describes basic operation sequences using MECHATROLINK-III

communications.

6Function/Command Related Parame-

ters

Describes the parameter settings required for executing com-

mands and functions.

7Detecting Alarms/Warnings Related to

Communications or Commands

Describes the alarms and warnings that may occur in MECHA-

TROLINK-III communications.

8 Common Parameters Provides detailed information on the common parameters.

9 Virtual Memory Space Provides detailed information on the virtual memory space.

Other Documents

Servomotors



Enclosed

Documents

Σ-7-Series

Servomotor

Product

Manuals

SERVOPACKswith Built-in Controllers: Σ-7C



Enclosed

Documents



Built-in

Function

Manuals



Σ-7-Series

Σ-7C

SERVOPACK

Product

Manual



Σ-7-Series

Σ-7C

SERVOPACK

Troubleshoot-

ing Manual



Enclosed

Documents



Σ-7-Series

Σ-7Sand Σ-7W

SERVOPACK

Product

Manuals



Σ-7-Series

Σ-7S/Σ-7W

SERVOPACK

Hardware Option

Product Manuals

Σ-7-Series

Σ-7Sand Σ-7W

SERVOPACK

FT/EX

Product

Manuals

Option

Module

User’s

Manual

Integrated Servomotors: Σ-7F



Enclosed

Documents

Σ-7-Series

Σ-7F

SERVOPACK

Product Manual

-7-Series

Peripheral

Device

Selection

Manual

Programming

Manuals

Σ-7-Series

MECHA-

TROLINK

Communica-

tionsCommand

Manuals

(thismanual)

-7-Series

Operation

Interface

Operating

Manuals

Distributed

I/O Module

User’s

Manuals



Option

Module

User’s

Manuals

Classification Document Name Document No. Description



Machine Controller and

Servo Drive

General Catalog

Machine Controller and

AC Servo Drive

Solutions Catalog

KAEP S800001 22

Describes the features and applica-

tion examples for combinations of

MP3000-Series Machine Control-

lers and Σ-7-Series AC Servo

Drives.



MP3300 Catalog

Machine Controller

MP3300 KAEP C880725 03

Provides detailed information on

MP3300 Machine Controllers,

including features and specifica-

tions.



Σ-7-Series Catalog

AC Servo Drives

Σ-7 Series KAEP S800001 23

Provides detailed information on

Σ-7-Series AC Servo Drives, includ-

ing features and specifications.



Built-in Function

Manuals

Σ-7-Series AC Servo Drive

Σ-7C SERVOPACK

Motion Control

User’s Manual

SIEP S800002 03

Provides detailed information on

the specifications, system configu-

ration, and application methods of

the Motion Control Function Mod-

ules (SVD, SVC4, and SVR4) for

Σ-7-Series Σ-7C SERVOPACKs.

Machine Controller

MP3000 Series

Communications

User’s Manual

SIEP C880725 12

Provides detailed information on

the specifications, system configu-

ration, and communications con-

nection methods for the Ethernet

communications that are used with

MP3000-Series Machine Control-

lers and Σ-7-Series Σ-7C SERVO-

PACKs.



Option Module

User’s Manuals

Machine Controller

MP2000 Series

Communication Module

User’s Manual

SIEP C880700 04

Provide detailed information on the

specifications and communica-

tions methods for the Communica-

tions Modules that can be mounted

to MP3000-Series Machine Con-

trollers and Σ-7-Series Σ-7C

SERVOPACKs.

Machine Controller

MP2000 Series

262IF-01 FL-net

Communication Module

User’s Manual

SIEP C880700 36

Machine Controller

MP2000 Series

263IF-01 EtherNet/IP

Communications Module

User’s Manual

SIEP C880700 39

Machine Controller

MP2000 Series

I/O Module

User’s Manual

SIEP C880700 34

Provide detailed information on the

specifications and communica-

tions methods for the I/O Modules

that can be mounted to MP3000-

Series Machine Controllers and

Σ-7-Series Σ-7C SERVOPACKs.

Machine Controller

MP2000 Series

Analog Input/Analog Output

Module AI-01/AO-01

User’s Manual

SIEP C880700 26

Machine Controller

MP2000 Series

Counter Module CNTR-01

User’s Manual

SIEP C880700 27

Continued on next page.



Enclosed Documents

Σ-7-Series AC Servo Drive

Σ-7S, Σ-7W, and Σ-7C SER-

VOPACK

Safety Precautions

TOMP C710828 00

Provides detailed information for

the safe usage of Σ-7-Series

SERVOPACKs.

Σ-V-Series/Σ-V-Series for

Large-Capacity Models/

Σ-7-Series

Safety Precautions

Option Module

TOBP C720829 00 Provides detailed information for

the safe usage of Option Modules.

Σ-V-Series/Σ-V-Series for

Large-Capacity Models/

Σ-7-Series

Installation Guide

Command Option Module

TOBP C720829 01

Provides detailed procedures for

installing a Command Option

Module in a SERVOPACK.

Σ-V-Series/Σ-V-Series for

Large-Capacity Models/

Σ-7-Series

Installation Guide

Fully-closed Module

TOBP C720829 03

Provides detailed procedures for

installing the Fully-Closed Module

in a SERVOPACK.

Σ-V-Series/Σ-V-Series for

Large-Capacity Models/

Σ-7-Series

Installation Guide

Safety Module

TOBP C720829 06

Provides detailed procedures for

installing the Safety Module in a

SERVOPACK.

Σ-V-Series/Σ-V-Series for

Large-Capacity Models/

Σ-7-Series

Installation Guide

INDEXER Module

TOBP C720829 02

Provides detailed procedures for

installing the INDEXER Module in a

SERVOPACK.

Σ-V-Series/Σ-V-Series for

Large-Capacity Models/

Σ-7-Series

Installation Guide

DeviceNet Module

TOBP C720829 07

Provides detailed procedures for

installing the DeviceNet Module in a

SERVOPACK.

AC Servo Drive

Rotary Servomotor

Safety Precautions

TOBP C230260 00

Provides detailed information for

the safe usage of Rotary Servomo-

tors and Direct Drive Servomotors.

AC Servomotor

Linear ΣSeries

Safety Precautions

TOBP C230800 00

Provides detailed information for

the safe usage of Linear

Servomotors.

Σ-7-Series AC Servo Drive

Σ-7F Integrated Servomotor

Safety Precautions

TOMP C710828 05

Provides detailed information for

the safe usage of Σ-7-Series Σ-7F

Integrated Servomotors.

Σ-7-Series AC Servo Drive

Σ-7F Converter

Safety Precautions

TOMP C710828 06

Provides detailed information for

the safe usage of Σ-7-Series Σ-7F

Converters.



Σ-7-Series

Σ-7C SERVOPACK

Product Manual

Σ-7-Series AC Servo Drive

Σ-7C SERVOPACK

Product Manual

SIEP S800002 04

Provides detailed information on

selecting Σ-7-Series Σ-7C SERVO-

PACKs; installing, connecting, set-

ting, testing in trial operation, and

tuning Servo Drives; writing, moni-

toring, and maintaining programs;

and other information.



Σ-7-Series

Σ-7C SERVOPACK

Troubleshooting Manual

Σ-7-Series AC Servo Drive

Σ-7C SERVOPACK

Troubleshooting Manual

SIEP S800002 07

Provides detailed troubleshooting

information for Σ-7-Series Σ-7C

SERVOPACKs.

Continued on next page.

Continued from previous page.

Classification Document Name Document No. Description

vii



Σ-7-Series

Σ-7S/Σ-7W

SERVOPACK

Product Manuals

Σ-7-Series AC Servo Drive

Σ-7S SERVOPACK with

MECHATROLINK-III

Communications References

Product Manual

SIEP S800001 28

Provide detailed information on

selecting Σ-7-Series Σ-7S and

Σ-7W SERVOPACKs; installing,

connecting, setting, testing in trial

operation, tuning, monitoring, and

maintaining Server Drives; and

other information.

Σ-7-Series AC Servo Drive

Σ-7S SERVOPACK with

MECHATROLINK-II

Communications References

Product Manual

SIEP S800001 27

Σ-7-Series AC Servo Drive

Σ-7S SERVOPACK with

Analog Voltage/Pulse Train

References

Product Manual

SIEP S800001 26

Σ-7-Series AC Servo Drive

Σ-7S SERVOPACK

Command Option Attachable

Type with INDEXER Module

Product Manual

SIEP S800001 64

Σ-7-Series AC Servo Drive

Σ-7S SERVOPACK

Command Option Attachable

Type with DeviceNet Module

Product Manual

SIEP S800001 70

Σ-7-Series AC Servo Drive

Σ-7W SERVOPACK with

MECHATROLINK-III

Communications References

Product Manual

SIEP S800001 29



Σ-7-Series

Σ-7S/Σ-7W

SERVOPACK with Hard-

ware Option Specifica-

tions

Product Manuals

Σ-7-Series AC Servo Drive

Σ-7S/Σ-7W SERVOPACK with

Hardware Option Specifica-

tions

Dynamic Brake

Product Manual

SIEP S800001 73

Provide detailed information on

Hardware Options for Σ-7-Series

SERVOPACKS.

Σ-7-Series AC Servo Drive

Σ-7W/Σ-7C SERVOPACK with

Hardware Option Specifica-

tions

HWBB Function

Product Manual

SIEP S800001 72

Continued on next page.

Continued from previous page.

Classification Document Name Document No. Description

viii

Σ-7-Series

Σ-7S/Σ-7W SERVOPACK

FT/EX Product Manuals

Σ-7-Series AC Servo Drive

Σ-7S SERVOPACK with

FT/EX Specification for Index-

ing Application

Product Manual

SIEP S800001 84

Provide detailed information on the

FT/EX Option for Σ-7-Series

SERVOPACKs.

Σ-7-Series AC Servo Drive

Σ-7S SERVOPACK with

FT/EX Specification for Track-

ing Application

Product Manual

SIEP S800001 89

Σ-7-Series AC Servo Drive

Σ-7S SERVOPACK with

FT/EX Specification

for Application with Special

Motor,

SGM7D Motor

Product Manual

SIEP S800001 91

Σ-7-Series AC Servo Drive

Σ-7S SERVOPACK with

FT/EX Specification

for Press and Injection

Molding Application

Product Manual

SIEP S800001 94

Σ-7-Series AC Servo Drive

Σ-7S SERVOPACK with

FT/EX Specification

for Transfer and Alignment

Application

Product Manual

SIEP S800001 95

Σ-7-Series AC Servo Drive

Σ-7S SERVOPACK with

FT/EX Specification

for Torque/Force Assistance

for Conveyance Application

Product Manual

SIEP S800002 09

Σ-7-Series AC Servo Drive

Σ-7S SERVOPACK with

FT/EX Specification

for Cutting Application

Feed Shaft Motor

Product Manual

SIEP S800002 10

Option Module

User’s Manual

Σ-V-Series/Σ-V-Series

for Large-Capacity Models/

Σ-7-Series

User’s Manual

Safety Module

SIEP C720829 06

Provides detailed information

required for the design and mainte-

nance of a Safety Module.

Σ-7-Series

Σ-7F SERVOPACK

Product Manual

Σ-7-Series AC Servo Drive

Σ-7F Integrated Servomotor

Product Manual

SIEP S800002 24

Provides detailed information on

selecting Σ-7-Series Σ-7F Inte-

grated Servomotors and Σ-7F Con-

verters; installing, connecting,

setting, testing in trial operation,

tuning, monitoring, and maintain-

ing Server Drives; and other infor-

mation.

Σ-7-Series

Servomotor

Product Manuals

Σ-7-Series AC Servo Drive

Rotary Servomotor

Product Manual

SIEP S800001 36

Provide detailed information on

selecting, installing, and connecting

the Σ-7-Series Servomotors.

Σ-7-Series AC Servo Drive

Linear Servomotor

Product Manual

SIEP S800001 37

Σ-7-Series AC Servo Drive

Direct Drive Servomotor

Product Manual

SIEP S800001 38

Continued on next page.

Continued from previous page.

Classification Document Name Document No. Description

Σ-7 Series

Peripheral Device

Selection Manual

Σ-7-Series AC Servo Drive

Peripheral Device

Selection Manual

SIEP S800001 32

Provides detailed information

required to select cables, periph-

eral devices, and options for Σ-7-

Series Servo Systems.

Σ-7-Series

MECHATROLINK

Communications

Command Manuals

Σ-7-Series AC Servo Drive

MECHATROLINK-II

Communications

Command Manual

SIEP S800001 30

Provides detailed information on

the MECHATROLINK-II communi-

cations commands that are used

for a Σ-7-Series Servo System.

Σ-7-Series AC Servo Drive

MECHATROLINK-III

Communications

Standard Servo Profile

Command Manual

This manual

(SIEP S800001 31)

Provides detailed information on

the MECHATROLINK-III communi-

cations standard servo profile com-

mands that are used for a Σ-7-

Series Servo System.

Programming Manuals

Machine Controller

MP3000 Series

Ladder Programming Manual

SIEP C880725 13

Provides detailed information on

the ladder programming specifica-

tions and instructions for MP3000-

Series Machine Controllers and

Σ-7-Series Σ-7C SERVOPACKs.

Machine Controller

MP3000 Series

Motion Programming Manual

SIEP C880725 14

Provides detailed information on

the motion programming and

sequence programming specifica-

tions and instructions for MP3000-

Series Machine Controllers and

Σ-7-Series Σ-7C SERVOPACKs.

Σ-7 Series

Operation Interface

Operating Manuals

Machine Controller

MP2000/MP3000 Series

Engineering Tool

MPE720 Version 7

User’s Manual

SIEP C880761 03 Describes in detail how to operate

MPE720 version 7.

Σ-7-Series AC Servo Drive

Digital Operator

Operating Manual

SIEP S800001 33

Describes the operating proce-

dures for a Digital Operator for a

Σ-7-Series Servo System.

AC Servo Drive

Engineering Tool

SigmaWin+

Operation Manual

SIET S800001 34

Provides detailed operating proce-

dures for the SigmaWin+ Engineer-

ing Tool for a Σ-7-Series Servo

System.

Distributed

I/O Module

User’s Manuals

MECHATROLINK-III

Compatible I/O Module

User’s Manual

SIEP C880781 04

Describes the functions, specifica-

tions, operating methods, and

MECHATROLINK-III communica-

tions for the Remote I/O Modules

for MP2000/MP3000-Series

Machine Controllers.

Document Name Document Number

MECHATROLINK-III Protocol Specifications MMA TDEP 020A

MECHATROLINK-III Command Specifications

for Standard Servo Profile MMA TDEP 021A

Continued from previous page.

Classification Document Name Document No. Description

Using This Manual

Technical Terms Used in This Manual

The following terms are used in this manual.

Differences in Terms for Rotary Servomotors and Linear Servomotors

There are differences in the terms that are used for Rotary Servomotors and Linear Servomotors.

This manual primarily describes Rotary Servomotors. If you are using a Linear Servomotor, you

need to interpret the terms as given in the following table.

Basic Term Meaning

Transmission Cycle

The transmission cycle is the cycle in the MAC (Media Access Control) layer. It is the

communication cycle for physically sending data to the transmission path. The transmis-

sion cycle is unaffected by the services provided by the application layer.

Communication Cycle The communication cycle is the cycle for application layer. The communication cycle is

set to an integral multiple of the transmission cycle.

Synchronous Commands

(Classification S)

For commands of this type, commands are sent and response are received every com-

munication cycle.

The WDT (Watchdog Timer) in the frames are refreshed and checked every communica-

tion cycle. Synchronous commands can be used only during synchronous communica-

tions (Phase 3).

Asynchronous Com-

mands (Classification A)

For commands of this type, commands are sent and response are received asynchro-

nously to the communication cycle.

Subsequent commands can be sent after confirming the completion of processing of the

slave station that received the command.

The WDT (Watchdog Timer) in the frames are not checked.

Common Commands Commands that are common for MECHATROLINK-III communications, independent of

profiles

Servo Commands Commands that are defined in the standard servo profile and specific to SERVOPACKs

Motion Commands

Among servo commands, the following commands are called motion commands.

INTERPOLATE, POSING, FEED, EX_FEED, EX_POSING, ZRET, VELCTRL, and TRQC-

TRL

Be sure that you fully understand each command and use the commands in the order appropri-

ate for your application.

Incorrect usage of the commands can result not only unexpected motions, but in a serious acci-

dent.

Special care and verification must be taken for usage of the commands in order to avoid acci-

dents.

Be sure to also establish safety measures for the system.

This manual does not apply to users who use MP-series motion controllers for controlling

-7-

Series SERVOPACKs.

Rotary Servomotors Linear Servomotors

torque force

moment of inertia mass

rotation movement

forward rotation and reverse rotation forward movement and reverse movement

CW and CCW pulse trains forward and reverse pulse trains

rotary encoder linear encoder

absolute rotary encoder absolute linear encoder

incremental rotary encoder incremental linear encoder

unit: min-1 unit: mm/s

unit: N·m unit: N

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