w426 E1 11 - cj1w NC - cs1w NC PDF

Cat. No.
W426-E1-11
SYSMAC
CJ1W-NC271/NC471/NCF71/NCF71-MA
CS1W-NC271/NC471/NCF71
Position Control Units
OPERATION MANUAL
 OMRON, 2004
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 OMRON.
No patent liability is assumed with respect to the use of the information contained herein. Moreover, because
OMRON is constantly 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. Neverthe-
less, OMRON 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.
Trademarks
• Windows are either registered trademarks or trademarks of Microsoft Corporation in the USA and other coun-
tries.
• MECHATROLINK is a registered trademark of the MECHATROLINK Members Association.
Other company names and product names in this document are the trademarks or registered trademarks of their
respective companies.
CJ1W-NC271/NC471/NCF71/NCF71-MA
CS1W-NC271/NC471/NCF71
Position Control Units
Operation Manual
Revised October 2014
iv
Notice:
OMRON products are manufactured for use according to proper procedures by a qualified operator
and only for the purposes described in this manual.
The following conventions are used to indicate and classify precautions in this manual. Always heed
the information provided with them. Failure to heed precautions can result in injury to people or dam-
age to property.
!DANGER Indicates an imminently hazardous situation which, if not avoided, will result in death or
serious injury. Additionally, there may be severe property damage.
!WARNING Indicates a potentially hazardous situation which, if not avoided, could result in death or
serious injury. Additionally, there may be severe property damage.
!Caution Indicates a potentially hazardous situation which, if not avoided, may result in minor or
moderate injury, or property damage.
OMRON Product References

All OMRON products are capitalized in this manual. The word “Unit” is also capitalized when it refers to
an OMRON product, regardless of whether or not it appears in the proper name of the product.
The abbreviation “Ch,” which appears in some displays and on some OMRON products, often means
“word” and is abbreviated “Wd” in documentation in this sense.
The abbreviation “PLC” means Programmable Controller. “PC” is used, however, in some Program-
ming Device displays to mean Programmable Controller.
Visual Aids
The following headings appear in the left column of the manual to help you locate different types of
information.
Note Indicates information of particular interest for efficient and convenient opera-
tion of the product.
1,2,3... 1. Indicates lists of one sort or another, such as procedures, checklists, etc.
v
vi
TABLE OF CONTENTS
PRECAUTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxi
1 Intended Audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxii
2 General Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxii
3 Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxii
4 Operating Environment Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxiii
5 Application Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxiv
6 Conformance to EC Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxvi
SECTION 1
Features and System Configuration . . . . . . . . . . . . . . . . . . . 1
1-1 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1-2 System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1-3 Basic Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1-4 List of Functions and Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1-5 List of Functions by Purpose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1-6 Comparison with Existing Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
SECTION 2
Basic Procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2-1 Basic Flow of Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2-2 Starting Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
SECTION 3
Installation and Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
3-1 Nomenclature and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
3-2 Installing the Position Control Unit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
3-3 External I/O Circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
3-4 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
SECTION 4
Data Areas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
4-1 Overall Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
4-2 Data Areas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
4-3 Common Parameter Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
4-4 Axis Parameter Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
4-5 Servo Parameter Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
4-6 Common Operating Memory Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
4-7 Axis Operating Output Memory Areas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185
4-8 Axis Operating Input Memory Areas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194
vii
TABLE OF CONTENTS
SECTION 5
Transferring and Saving Data . . . . . . . . . . . . . . . . . . . . . . . . 217
5-1 Transferring Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218
5-2 Transferring PCU Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220
5-3 Transferring Servo Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 226
SECTION 6
MECHATROLINK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237
6-1 MECHATROLINK Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238
6-2 MECHATROLINK Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239
6-3 MECHATROLINK Communications Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 248
6-4 Standard Settings for Servo Drives Using MECHATROLINK. . . . . . . . . . . . . . . . . . . . . . . 263
SECTION 7
Position Control Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . 271
7-1 PCU Control System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 272
7-2 Control Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 273
7-3 Coordinate System and Present Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 276
7-4 Acceleration and Deceleration Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 277
7-5 Limit Input Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 286
SECTION 8
Defining the Origin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 291
8-1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292
8-2 Origin Search Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 293
8-3 Present Position Preset. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 317
8-4 Origin Return . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 319
8-5 Phase Z Margin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 324
8-6 Absolute Encoder Origin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 326
SECTION 9
Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 339
9-1 Direct Operation Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 340
9-2 Direct Operation Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 341
9-3 PCU Data Settings for Direct Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 341
9-4 Using Direct Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 345
9-5 Interrupt Feeding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 353
9-6 Torque Limit Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 356
9-7 Linear Interpolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 357
viii
TABLE OF CONTENTS
SECTION 10
Other Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 371
10-1 Servo Lock/Unlock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 372
10-2 Jogging. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 373
10-3 Override . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 378
10-4 Torque Limits. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 379
10-5 Speed Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 387
10-6 Torque Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 400
10-7 Backlash Compensation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 407
10-8 Software Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 410
10-9 Stop Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 414
10-10 DEVIATION COUNTER RESET. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 420
SECTION 11
Sample Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 423
11-1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 424
11-2 Basic Program Examples. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 425
11-3 Application Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 450
SECTION 12
Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 481
12-1 Overview of PCU Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 482
12-2 Troubleshooting Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 486
12-3 LED Error Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 487
12-4 Error Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 490
12-5 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 503
12-6 Error Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 508
12-7 CPU Unit Error Display. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 510
SECTION 13
Maintenance and Inspection . . . . . . . . . . . . . . . . . . . . . . . . . 511
13-1 Inspection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 512
13-2 Inspection Points . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 512
13-3 Handling Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 513
13-4 Procedure for Replacing a PCU. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 513
ix
TABLE OF CONTENTS
Appendices
A Performance Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 517
B List of Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 521
C Operation Area I/O Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 599
D List of Error Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 611
E Changing to CS1W/CJ1W-NC271/471/F71 from CS1W/
CJ1W-NC113/133/213/233/413/433 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 623
F Additional Functions for the CJ1W-NCF71-MA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 645
Index. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 649
Revision History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 659
x
About this Manual:
This manual describes the installation and operation of the CJ1W-NC271/NC471/NCF71/NCF71-MA
and CS1W-NC271/NC471/NCF71 Position Control Units and includes the sections described below.
Please read this manual carefully and be sure you understand the information provided before
attempting to install or operate the Position Control Unit. Be sure to read the precautions provided in
the following section.
Precautions provide general precautions for using the Position Control Unit, Programmable Control-
ler, and related devices.
Section 1 introduces the features of the Position Control Unit, explains the system configuration in
which it is used, and also provides information on basic operations, functions and specifications.
Section 2 provides an overview of the procedures required to use the Position Control Unit.
Section 3 provides information on nomenclature and functions, and describes the procedures required
for wiring and installation. Information on the MECHATROLINK-II I/F Unit is also provided.
Section 4 provides an overview of the parameter and data settings used in Position Control Unit oper-
ation and provides information on memory allocations.
Section 5 explains how to transfer and save parameters and data using the data transfer bits.
Section 6 provides an overview of MECHATROLINK communications, and includes information on
settings and procedures required to use MECHATROLINK with the Position Control Unit.
Section 7 provides an overview of the control system used by the Position Control Unit, including
information on the control units, coordinate system, acceleration/deceleration operations, and limit
input operations.
Section 8 provides information on the various operations used to determine the origin, including origin
searches, origin returns, presetting the present position, calculating phase Z margins, and using the
absolute encoder.
Section 9 provides an overview of direct operation and describes the parameter settings, data set-
tings, and procedures required to perform direct operation. Information on interrupt feeding and torque
limits is also provided here.
Section 10 describes the servo lock/unlock, jogging, override, torque limits, speed control, torque con-
trol, backlash compensation, software limits, and stop functions.
Section 11 provides basic program examples and application examples for using the Position Control
Unit.
Section 12 provides information on troubleshooting errors that may occur, including details on the
meaning of indicator displays and error codes, and the procedures required to reset errors in the Unit
or axes.
Section 13 describes methods for inspecting and maintaining the Position Control Unit and the proce-
dure required to replace a Position Control Unit.
The Appendices provide information on the performance characteristics, lists of parameters, I/O allo-
cations in the operation areas, lists of error codes, alarm/warning displays, and information required
when changing to the CJ1W-NC271/NC471/NCF71/NCF71-MA or CS1W-NC271/NC471/NCF71 from
a CJ1W/CS1W-NC113/133/213/233/413/433 Position Control Unit.
!WARNING Failure to read and understand the information provided in this manual may result in per-
sonal injury or death, damage to the product, or product failure. Please read each section
in its entirety and be sure you understand the information provided in the section and
related sections before attempting any of the procedures or operations given.
xi
Unit Versions of Position Control Units
Unit Versions A “unit version” has been introduced to manage Position Control Units
according to differences in functionality accompanying Unit upgrades.
Notation of Unit Versions The unit version is given to the right of the lot number on the nameplate of the
on Products products for which unit versions are being managed, as shown below.
CJ1W-NCF71
NCF71
MLK RUN
ERC CJ1W-NCF71
ERH
ERM
BCDE UNIT
NC UNIT
789A
No.
F 012
3456
Unit version
Example for unit version 1.0
Lot No. 040401 0000 Ver.1.0
OMRON Corporation MADE IN JAPAN

MLK
The unit version of Position Control Units starts with unit version 1.0.
Confirming Unit Versions CX-Programmer version 4.0 can be used to confirm the unit version using the
with Support Software Unit Manufacturing Information.
In the IO Table Window, right-click the Position Control Unit and select Unit
Manufacturing information.
The following Unit Manufacturing information Dialog Box will be displayed.
Unit version
The unit version is displayed as 1.0 in the Unit Version Number field of the
above example. Use the above display to confirm the unit version of the Unit
connected online.
Using Unit Version Label A unit version label is provided with the Position Control Unit. This label can
be attached to the front of the Position Control Unit to differentiate between
Position Control Units with different unit versions.
xii
Functions Supported According to Position Control Unit Versions
Model CJ1W-NC@71/CS1W-NC@71
Unit Ver. 1.0 Unit Ver. 1.1 Unit Ver. 1.2 Unit Ver. 1.3 Unit Ver. 2.0 Unit Ver. 2.1
Linear interpolation --- Supported. Supported. Supported. Supported. Supported.
Absolute encoder setup function --- --- Supported. Supported. Supported. Supported.
Deviation counter reset --- --- --- Supported. Supported. Supported.
Establishing connections even --- --- --- Supported. Supported. Supported.
when there are unconnected
axes or axes with alarms that
cannot be cleared
Transferring servo parameters --- --- --- Supported. Supported. Supported.
even when there is an axis error
Creating servo locks during soft- --- --- --- Supported. Supported. Supported.
ware limit detection when an
absolute encoder is used
Driver main circuit OFF error --- --- --- Supported. Supported. Supported.
detection only when the servo is
locked
Using Holding Area address --- --- --- Supported. Supported. Supported.
H512 and onwards for function
block address allocations
Addition of supported models: --- --- --- --- Supported. Supported.
SMARTSTEP Junior Servo
Drives (R7D-ZN@-ML2)
Addition of rejoin function --- --- --- --- Supported. Supported.
Eliminating connection restric- --- --- --- --- Supported. Supported.
tion when Servo Drive alarms
occur (enabling connection
when alarm A.C90 occurs)
Addition of origin search opera- --- --- --- --- Supported. Supported.
tion modes
Addition of origin search preset --- --- --- --- Supported. Supported.
function
Faster setting for transfer cycle --- --- --- --- --- Supported.
and communications cycle
when setting the absolute
encoder PG zero point position
offset with an origin search
xiii
Upgrades Made According to Unit Versions of the Position Control Unit
Unit Version 1.0 to Unit Version 1.1
Functional upgrade Unit version 1.0 Unit version 1.1
Addition of linear interpolation Linear interpolation cannot be used. Linear interpolation can be performed for
function positioning operations combining one or
more axes.
Linear interpolation can performed for up to
four axes each of axes 1 to 4 and axes 5 to 8
for Servo Drive axes connected to the Posi-
tion Control Unit. (Refer to 9-7 Linear Inter-
polation.)

Addition of setup function for An absolute encoder must be set up the With Position Control Units with unit version
absolute encoders first time it is used, when the rotation data 1.2 or later, the following operation can be
is initialized to 0, or when the absolute used to set up the absolute encoder.
encoder is left for a long period of time • Special software (personal computer moni-
without the battery connected. toring software) can be connected to the
With Position Control Units with unit ver- Servo Drive to perform the setup operation.
sion 1.1 or earlier, the following operation • When the Position Control Unit is used with
is used to set up the absolute encoder. a CPU Unit with unit version 3.0 or later, the
• Special software (personal computer absolute encoder can be set up from the
monitoring software) must be connected program by using a function block from the
to the Servo Drive to perform the setup OMRON FB Library.
operation. • The absolute encoder can be set up from
the CX-Motion-NCF. (Refer to 8-6-4
Absolute Encoder Setup.)

Addition of deviation counter The deviation counter in the Servo Drive The deviation counter in the Servo Drive can
reset function cannot be reset from the Position Control be reset from the Position Control Unit during
Unit during position control operations. position control operations.
To deviation reset function in the Position
Control Unit works by sending a movement
command in the opposite direction and of the
same size as the current position deviation
so that the current command position equals
the current feedback position.
(Refer to 10-10 DEVIATION COUNTER
RESET.)
xiv
Establishing connections If any of the axes registered in the scan list Axis operations using MECHATROLINK
when there are unconnected are not connected, have the control power communications are possible for any axes
axes or axes with alarms that supply interrupted, or have an alarm that registered in the scan list and for which
cannot be cleared can be reset only by cycling the power MECHATROLINK communications have
supply, an MLK initialization error (Unit been started (see note) regardless of
error code 0020 (hex) will occur after the whether there are Servo Drive alarms.
connections are established and opera- If there are any axes with alarms, they will be
tions using MECHATROLINK communica- indicated by the Error Flags and error code in
tions will not be possible any axes, the Axis Operating Input Memory Areas.
including those without errors. If there are alarms in the Servo Drive that can
To start MECHATROLINK communica- be cleared only by recycling the power, they
tions normally, all errors must be cleared will be detected as Unit errors (MLK initializa-
for all axes registered in the scan list tion errors) for Units with unit version 1.1 or
before connections can be established. earlier, but they will be detected in the indi-
vidual axis areas.
Note If R88D-WN@-ML2 W-series Servo
Drives (Models with Built-in MECHA-
TROLINK-II Communications) are con-
nected, an encoder communications
error (A.C9@) will occur in the Servo
Drive and it will not be possible to start
MECHATROLINK communications for
Units with unit version 1.3 or earlier.
(Refer to 6-3-2 MECHATROLINK Communi-
cations Status.)
Transferring parameters when Servo parameters cannot be transferred Servo parameters can be transferred (i.e.,
there are axis errors (i.e., written, read, or saved) for axes with written, read, or saved) for axes with errors. If
errors. The errors must first be reset to the axis error already exists, it will not be
clear the axis error status before Servo overwritten even if an error occurs during
parameters can be transferred. parameter transfer.
If Servo parameters are written when there is
an axis error, be sure to confirm that the
parameters were transferred correctly.
(Refer to 5-3 Transferring Servo Parameters.)
Locking the servo when a If an attempt is made to lock the Servo The Servo can be locked at any position,
software limit is being when an absolute encoder is used, the regardless of the type of encoder and the
detected for a Motor with an software limits are enabled, and the software limit settings.
absolute encoder present position is within the software limit (Refer to 10-8-4 Software Limit Operation.)
area, a software limit error will occur and
the Servo lock operation will be canceled.
To lock the Servo in the above situation,
the software limit must first be disabled.
xv
Detecting driver main circuit Servo Drive main circuit OFF errors are Servo Drive main circuit OFF errors are
OFF errors only when the detected regardless of whether the Servo detected only when the Servo is locked for
Servo is locked is locked for the axis. Once a Servo Drive the axis.
main circuit OFF error is detected, it will The Position Control Unit will automatically
continue to be detected even if the error is unlock the Servo when a Servo Drive main
reset until the main circuit power supply is circuit OFF error is detected, allowing the
restored. error to be cleared even while the main circuit
power supply is interrupted.
If an attempt is made to lock the Servo while
the main circuit power supply is interrupted, a
Servo Drive main circuit OFF error will be
detected again.
(Refer to 12-4-2 List of Error Codes.)
Allocating holding addresses The function blocks in the OMRON FB The function blocks in the OMRON FB
H512 and higher as function Library for the Position Control Unit cannot Library for the Position Control Unit can be
block addresses be used if H512 (default setting) or higher used if H512 (default setting) or higher are
are allocated for non-holding areas of allocated for non-holding areas of function
function block addresses. block addresses.
If H512 or higher are allocated, a function
block error will occur when the function
block is executed.
The CX-Programmer must be used to
change the setting to other unused words
(e.g., in the DM or EM Area).

Addition of applicable models Applicable Models Applicable Models
• R88D-WT@W-series Servo Drives (with • R88D-WT@W-series Servo Drives (with
FNY-NS115 MECHATROLINK-II I/F Unit FNY-NS115 MECHATROLINK-II I/F Unit
mounted) mounted)
• R88D-WN@-ML2 W-series Servo Drives • R88D-WN@-ML2 W-series Servo Drives
(Models with Built-in MECHATROLINK-II (Models with Built-in MECHATROLINK-II
Communications) Communications)
• R7D-ZN@-ML2 SMARTSTEP Junior Servo
Drive (Models with Built-in MECHA-
TROLINK-II Communications)
xvi
Addition of rejoin function MECHATROLINK communications are The following functions are supported in
started and stopped at the same time for addition to starting and stopping MECHA-
all axes registered in the scan list. TROLINK communications for all axes at the
same time.
• Rejoin Function
An axis for which communications have
been stopped, e.g., due to a communica-
tions error, can be restarted without stop-
ping communications for the other axes.
(Refer to 6-3-4 Rejoining the Connection.)
• Setting the Axes to Be Connected
Axes registered in the scan list can be set
temporarily so that they are not registered.
The axes can be set so that they are tempo-
rarily not used without resetting the scan
list. Operations can be performed without
errors occurring for these axes.
(Refer to 6-3-5 Specifying the Axes to Con-
nect.)
The Axis Communications Status Flags have
also been changed for the above functions.
Refer to the note following this table for
details.
Eliminating connection restric- If an encoder communications error MECHATROLINK communications can be
tion when Servo Drive alarms (A.C90) occurs for a R88D-WN@-ML2 W- started under the conditions given at the left,
occur (enabling connection series Servo Drive (Model with Built-in and operations, such as transferring Servo
when alarm A.C90 occurs) MECHATROLINK-II Communications), Parameters, can be performed.
MECHATROLINK communications can-
not be started with that Servo Drive.
Addition of origin search oper- Three origin search operation pattern are Eleven origin search operation pattern are
ation modes possible by combining the following set- possible by combining the following settings:
tings: • Origin search operations: 4 settings
• Origin search operations: 3 settings (Reversal modes 1, 2, and 3, and Single-
(Reversal modes 1 and 2, and Single- direction mode)
direction mode) • Origin detection methods: 3 settings (With
• Origin detection method: 1 setting origin proximity input signal reversal, With-
(With origin proximity input signal rever- out origin proximity input signal reversal,
sal) Not use origin proximity input signal)
Origin search operation
Origin
detection Single-
Reversal Reversal direction Reversal
method mode 1 mode 2 mode mode 3
With origin
proximity
input signal
reversal (See note.)
Without
origin
proximity
input signal (See note.)
reversal
Not use
origin
proximity
input signal (See note.)
: Combinations supported by unit version 1.3 or earlier
: Combinations supported by unit version 2.0 or later
Note: Origin search operation patterns supported by
absolute encoders.
(Refer to 8-2-4 Origin Search Operation.)
xvii
Addition of origin search pre- The preset function cannot be used during The preset function can be used during origin
set function origin searches. searches.
For any of the origin search operations the
present position can be automatically set to
any specified value at the end of the origin
search. When using reversal mode 1 and an
absolute encoder, an offset can also be set
for the absolute origin.
(Refer to 8-2-6 Origin Search Preset and 8-6-
2 Absolute Encoder Operating Procedure.)
Note Changes in Axis Communications Status Flags

The conditions for setting and resetting the Axis Communications Status
Flags in word n+22 of the Common Operating Memory Area have been
changed accompanying the addition of the rejoin function. New conditions are
underlined in the following table.
Functional upgrade Unit version 1.3 or earlier Unit version 2.0 or later
Setting conditions • The flags will turn ON when connections • The flags will turn ON when connections
are made for the axes registered in the are made for the axes registered in the
scan list and MECHATROLINK commu- scan list and MECHATROLINK communi-
nications start. cations start.
• The flag will turn ON when the rejoin func-
tion is used to start MECHATROLINK com-
munications for an axis registered in the
scan list.
Resetting conditions • The flags will remain OFF when MECHA- • The flags will remain OFF when MECHA-
TROLINK communications cannot be TROLINK communications cannot be
started when connections are made for started when connections are made for the
the axes registered in the scan list. axes registered in the scan list.
• The flags will turn OFF if MECHA- • The flags will turn OFF if MECHATROLINK
TROLINK communications stop because communications stop because the axis is
the axis is disconnected. disconnected.
• The flags will turn OFF if a Unit error • The flags will turn OFF if a Unit error occurs
occurs that requires disconnection. that requires disconnection.
• The flags will turn OFF whenever a commu-
nications error occurs after MECHA-
TROLINK communications have been
started for the axis.
With unit version 1.3 or earlier, once MECHATROLINK communications have been started by estab-
lishing connections, the Axis Communications Status Flags will not change unless communications
are disconnected (including Unit errors that required disconnection).
With unit version 2.0 or later, the Axis Communications Status Flags will turn OFF after connections
have been established whenever axis operation becomes impossible due to a communications error
(synchronous communications alarm or communications alarm).
Faster setting of transfer cycle A longer communications cycle must be The same communications cycle can be
and communications cycle when set using the settings given in a separate set regardless of whether the absolute
setting the absolute encoder PG table when the absolute encoder PG zero encoder PG zero point position offset is
zero point position offset with an point position offset is set with an origin set with an origin search.
origin search search.
xviii
Terms and Conditions Agreement
Warranty, Limitations of Liability

Warranties
● Exclusive Warranty Omron's exclusive warranty is that the Products will be free from defects in
materials and workmanship for a period of twelve months from the date of
sale by Omron (or such other period expressed in writing by Omron). Omron
disclaims all other warranties, express or implied.
● Limitations OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR

IMPLIED, ABOUT NON-INFRINGEMENT, MERCHANTABILITY OR FIT-
NESS FOR A PARTICULAR PURPOSE OF THE PRODUCTS. BUYER
ACKNOWLEDGES THAT IT ALONE HAS DETERMINED THAT THE PROD-
UCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED
USE.
Omron further disclaims all warranties and responsibility of any type for claims
or expenses based on infringement by the Products or otherwise of any intel-
lectual property right.
● Buyer Remedy Omron's sole obligation hereunder shall be, at Omron's election, to (i) replace
(in the form originally shipped with Buyer responsible for labor charges for
removal or replacement thereof) the non-complying Product, (ii) repair the
non-complying Product, or (iii) repay or credit Buyer an amount equal to the
purchase price of the non-complying Product; provided that in no event shall
Omron be responsible for warranty, repair, indemnity or any other claims or
expenses regarding the Products unless Omron's analysis confirms that the
Products were properly handled, stored, installed and maintained and not
subject to contamination, abuse, misuse or inappropriate modification. Return
of any Products by Buyer must be approved in writing by Omron before ship-
ment. Omron Companies shall not be liable for the suitability or unsuitability or
the results from the use of Products in combination with any electrical or elec-
tronic components, circuits, system assemblies or any other materials or sub-
stances or environments. Any advice, recommendations or information given
orally or in writing, are not to be construed as an amendment or addition to
the above warranty.
See http://www.omron.com/global/ or contact your Omron representative for

published information.
Limitation on OMRON COMPANIES SHALL NOT BE LIABLE FOR SPECIAL, INDIRECT,

Liability; Etc INCIDENTAL, OR CONSEQUENTIAL DAMAGES, LOSS OF PROFITS OR
PRODUCTION OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH
THE PRODUCTS, WHETHER SUCH CLAIM IS BASED IN CONTRACT,
WARRANTY, NEGLIGENCE OR STRICT LIABILITY.
Further, in no event shall liability of Omron Companies exceed the individual
price of the Product on which liability is asserted.
xix
Application Considerations
Suitability of Use Omron Companies shall not be responsible for conformity with any standards,
codes or regulations which apply to the combination of the Product in the
Buyer's application or use of the Product. At Buyer's request, Omron will pro-
vide applicable third party certification documents identifying ratings and limi-
tations of use which apply to the Product. This information by itself is not
sufficient for a complete determination of the suitability of the Product in com-
bination with the end product, machine, system, or other application or use.
Buyer shall be solely responsible for determining appropriateness of the par-
ticular Product with respect to Buyer's application, product or system. Buyer
shall take application responsibility in all cases.
NEVER USE THE PRODUCT FOR AN APPLICATION INVOLVING SERIOUS
RISK TO LIFE OR PROPERTY WITHOUT ENSURING THAT THE SYSTEM
AS A WHOLE HAS BEEN DESIGNED TO ADDRESS THE RISKS, AND
THAT THE OMRON PRODUCT(S) IS PROPERLY RATED AND INSTALLED
FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYS-
TEM.
Programmable Omron Companies shall not be responsible for the user's programming of a
Products programmable Product, or any consequence thereof.
Disclaimers
Performance Data Data presented in Omron Company websites, catalogs and other materials is
provided as a guide for the user in determining suitability and does not consti-
tute a warranty. It may represent the result of Omron's test conditions, and the
user must correlate it to actual application requirements. Actual performance
is subject to the Omron's Warranty and Limitations of Liability.
Change in Product specifications and accessories may be changed at any time based on
Specifications improvements and other reasons. It is our practice to change part numbers
when published ratings or features are changed, or when significant construc-
tion changes are made. However, some specifications of the Product may be
changed without any notice. When in doubt, special part numbers may be
assigned to fix or establish key specifications for your application. Please con-
sult with your Omron's representative at any time to confirm actual specifica-
tions of purchased Product.
Errors and Omissions Information presented by Omron Companies has been checked and is
believed to be accurate; however, no responsibility is assumed for clerical,
typographical or proofreading errors or omissions.
xx
PRECAUTIONS
This section provides general precautions for using the Position Control Unit and related devices.
The information contained in this section is important for the safe and reliable application of Position Control Units. You
must read this section and understand the information contained before attempting to set up or operate a Position Control
Unit.
1 Intended Audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxii

2 General Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxii
3 Safety Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxii
4 Operating Environment Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxiii
5 Application Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxiv
6 Conformance to EC Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxvi
6-1 Applicable Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxvi
6-2 Concepts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxvi
6-3 Conformance to EC Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxvi
6-4 Installation within Control Panels . . . . . . . . . . . . . . . . . . . . . . . . . . xxvi
xxi
Intended Audience 1
1 Intended Audience
This manual is intended for the following personnel, who must also have
knowledge of electrical systems (an electrical engineer or the equivalent).
• Personnel in charge of installing FA systems.
• Personnel in charge of designing FA systems.
• Personnel in charge of managing FA systems and facilities.
2 General Precautions
The user must operate the product according to the performance specifica-
tions described in the operation manuals.
Before using the product under conditions which are not described in the
manual or applying the product to nuclear control systems, railroad systems,
aviation systems, vehicles, combustion systems, medical equipment, amuse-
ment machines, safety equipment, and other systems, machines, and equip-
ment that may have a serious influence on lives and property if used
improperly, consult your OMRON representative.
Make sure that the ratings and performance characteristics of the product are
sufficient for the systems, machines, and equipment, and be sure to provide
the systems, machines, and equipment with double safety mechanisms.
This manual provides information for programming and operating the Unit. Be
sure to read this manual before attempting to use the Unit and keep this man-
ual close at hand for reference during operation.
!WARNING It is extremely important that a Position Control Units and related devices be
used for the specified purpose and under the specified conditions, especially
in applications that can directly or indirectly affect human life. You must con-
sult with your OMRON representative before applying Position Control Units
and related devices to the above-mentioned applications.
3 Safety Precautions
!WARNING Do not attempt to take any Unit apart while the power is being supplied. Doing
so may result in electric shock.
!WARNING Do not attempt to disassemble, repair, or modify any Units. Any attempt to do
so may result in malfunction, fire, or electric shock.
!WARNING Never touch any of the terminals while power is being supplied. Doing so may
result in serious electric shock.
!WARNING Provide safety measures in external circuits (i.e., not in the Programmable
Controller or Position Control Unit) to ensure safety in the system if an abnor-
mality occurs due to malfunction of the PLC, malfunction of the PCU (Position
Control Unit), or external factors affecting the operation of the PLC or PCU.
Not providing sufficient safety measures may result in serious accidents.
xxii
Operating Environment Precautions 4
• Emergency stop circuits, interlock circuits, limit circuits, and similar safety
measures must be provided in external control circuits.
• The PLC will turn OFF all outputs when its self-diagnosis function detects
any error or when a severe failure alarm (FALS) instruction is executed.
Unexpected operation, however, may still occur for errors in the I/O con-
trol section, errors in I/O memory, and other errors that cannot be
detected by the self-diagnosis function. As a countermeasure for all such
errors, external safety measures must be provided to ensure safety in the
system.
• The PLC or PCU outputs may remain ON or OFF due to deposits on or
burning of the output relays, or destruction of the output transistors. As a
countermeasure for such problems, external safety measures must be
provided to ensure safety in the system.
• When the 24-V DC output (service power supply to the PLC) is over-
loaded or short-circuited, the voltage may drop and result in the outputs
being turned OFF. As a countermeasure for such problems, external
safety measures must be provided to ensure safety in the system.
• Provide measures in the computer system and programming to ensure
safety in the overall system even if communications errors or malfunctions
occur in data link communications or remote I/O communications.
• External safety measures must also be taken to ensure safety in the
event of unexpected operation when connecting or disconnecting the
PCU’s connectors.
!Caution Confirm safety before transferring data files stored in the file memory (Mem-
ory Card or EM file memory) to the I/O area (CIO) of the CPU Unit using a
peripheral tool. Otherwise, the devices connected to the output unit may mal-
function regardless of the operation mode of the CPU Unit.
!Caution Execute online editing only after confirming that no adverse effects will be
caused by extending the cycle time. Otherwise, the input signals may not be
readable.
!Caution Confirm safety at the destination node before transferring a program to

another node or changing contents of the I/O memory area. Transferring or
changing data can result in unexpected system operation.
4 Operating Environment Precautions

!Caution Do not operate the control system in the following locations:
• Locations subject to direct sunlight.

• Locations subject to temperatures or humidity outside the range specified
in the specifications.
• Locations subject to condensation as the result of severe changes in tem-
perature.
• Locations subject to corrosive or flammable gases.
• Locations subject to dust (especially iron dust) or salts.
• Locations subject to exposure to water, oil, or chemicals.
• Locations subject to shock or vibration.
xxiii
Application Precautions 5
!Caution Take appropriate and sufficient countermeasures when installing systems in

the following locations:
• Locations subject to static electricity or other forms of noise.

• Locations subject to strong electromagnetic fields.
• Locations subject to possible exposure to radioactivity.
• Locations close to power supplies.
!Caution The operating environment of the PLC System can have a large effect on the
longevity and reliability of the system. Improper operating environments can
lead to malfunction, failure, and other unforeseeable problems with the PLC
System. Make sure that the operating environment is within the specified con-
ditions at installation and remains within the specified conditions during the
life of the system.
5 Application Precautions
Observe the following precautions when using the PLC System.
!WARNING Always heed these precautions. Failure to abide by the following precautions
could lead to serious or possibly fatal injury.
• Always connect to a ground of 100 Ω or less when installing the Units. Not
connecting to a ground of 100 Ω or less may result in electric shock.
• Always turn OFF the power supply to the PLC before attempting any of
the following. Not turning OFF the power supply may result in malfunction
or electric shock.
• Mounting or dismounting Power Supply Units, I/O Units, CPU Units, In-
ner Boards, or any other Units.
• Assembling the Units.
• Setting DIP switches or rotary switches.
• Connecting cables or wiring the system.
• Connecting or disconnecting the connectors.
!Caution Failure to abide by the following precautions could lead to faulty operation of
the PLC, the PCU, or the system, or could damage the PLC or PCU. Always
heed these precautions.
• Fail-safe measures must be taken by the customer to ensure safety in the

event of incorrect, missing, or abnormal signals caused by broken signal
lines, momentary power interruptions, or other causes. Not doing so may
cause malfunction resulting in serious injury.
• Interlock circuits, limit circuits, and similar safety measures in external cir-
cuits (i.e., not in the Programmable Controller) must be provided by the
customer.
• Install external breakers and take other safety measures against short-cir-
cuiting in external wiring. Insufficient safety measures against short-cir-
cuiting may result in burning.
• For CS-series PLCs, always tighten the mounting screw at the bottom of
the PCU to a torque of 0.4 N⋅m.
xxiv
Application Precautions 5
• For CJ-series PLCs, lock the sliders securely until they click into place
when connecting the Power Supply Unit, CPU Unit, I/O Units, Special I/O
Units, or CPU Bus Units. Functions may not work correctly if the sliders
are not locked properly.
• Always attach the End Cover provided with the CPU Unit to the Unit on
the right end of the PLC. The CJ-series PLC will not operate properly if
the End Cover is not attached.
• Take appropriate measures to ensure that the specified power with the
rated voltage and frequency is supplied in places where the power supply
is unstable. An incorrect power supply may result in malfunction.
• Remove the label after the completion of wiring to ensure proper heat dis-
sipation. Leaving the label attached may result in malfunction.
• Disconnect the LG (line ground) terminal and GR (ground) terminal before
performing withstand voltage and insulation resistance tests.
• Confirm that set parameters and data operate properly.
• Perform wiring according to specified procedures.
• Double-check all wiring and switch settings before turning ON the power
supply. Incorrect wiring may result in burning.
• Check the user program for proper execution before actually running it on
the Unit. Not checking the program may result in unexpected operation.
• Confirm that no adverse effect will occur in the system before attempting
any of the following. Not doing so may result in an unexpected operation.
• Changing the operating mode of the PLC (including setting the Startup
Mode).
• Force-setting/force-resetting any bit in memory.
• Changing the present value of any word or any set value in memory.
• After replacing Units, resume operation only after transferring to the new
CPU Unit, Special I/O Units, CPU Bus Units, and externally connected
devices the contents of the DM Area, Holding Area, and other data
required for resuming operation. Not doing so may result in an unex-
pected operation.
• Do not pull on the cables or bend the cables beyond their natural limit.
Doing either of these may break the cables.
• Do not place objects on top of the cables or other wiring lines. Doing so
may break the cables.
• Before touching a Unit, be sure to first touch a grounded metallic object in
order to discharge any static build-up. Not doing so may result in malfunc-
tion or damage.
• Unexpected operation may result if inappropriate data link tables or
parameters are set. Even if appropriate data link tables and parameters
have been set, confirm that the controlled system will not be adversely
affected before starting or stopping data links.
• Never turn OFF the power to the Unit while transferring data.
xxv
Conformance to EC Directives 6
6 Conformance to EC Directives
6-1 Applicable Directives
• EMC Directives
6-2 Concepts
EMC Directives
OMRON devices that comply with EC Directives also conform to the related
EMC standards so that they can be more easily built into other devices or the
overall machine. The actual products have been checked for conformity to
EMC standards (see the following note). Whether the products conform to the
standards in the system used by the customer, however, must be checked by
the customer.
EMC-related performance of the OMRON devices that comply with EC Direc-
tives will vary depending on the configuration, wiring, and other conditions of
the equipment or control panel on which the OMRON devices are installed.
The customer must, therefore, perform the final check to confirm that devices
and the overall machine conform to EMC standards.
Note Applicable EMC (Electromagnetic Compatibility) standards are as follows:
EMS (Electromagnetic Susceptibility): EN61000-6-2
EMI (Electromagnetic Interference): EN61000-6-4
(Radiated emission: 10-m regulations)
6-3 Conformance to EC Directives

The PCUs comply with EC Directives. To ensure that the machine or device in
which a PCU is used complies with EC Directives, the PCU must be installed
as follows:
1,2,3... 1. The PCU is defined as a in-panel device and must be installed within a
control panel.
2. Reinforced insulation or double insulation must be used for the DC power
supplies used for I/O.
3. PCUs complying with EC directives also meet the common emission stan-
dard (EN61000-6-4). The measures required to ensure that the standard
is met will vary with the overall configuration of the control panel, the other
devices connected to the control panel, wiring, and other conditions. The
customer must therefore confirm that EC directives are met for the overall
machine or device, particularly for the radiated emission requirement
(10 m).
6-4 Installation within Control Panels

Unnecessary clearance in cable inlet or outlet ports, operation panel mount-
ing holes, or in the control panel door may cause electromagnetic wave leak-
age or interference. In this case, the product may fail to meet EC Directives. In
order to prevent such interference, fill clearances in the control panel with con-
ductive packing. (In places where conductive packing comes in contact with
the control panel, ensure electrical conductivity by removing the paint coating
or masking these parts when painting.)
xxvi
SECTION 1
Features and System Configuration
This section introduces the features of the Position Control Unit, explains the system configuration in which it is used, and
also provides information on basic operations, functions and specifications.
1-1 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1-2 System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1-3 Basic Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1-3-1 Position Control (Direct Operation) . . . . . . . . . . . . . . . . . . . . . . . . . 4
1-3-2 Speed Control and Torque Control . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1-3-3 Other Operations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1-4 List of Functions and Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1-4-1 General Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1-4-2 List of Functions and Specifications. . . . . . . . . . . . . . . . . . . . . . . . . 6
1-5 List of Functions by Purpose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1-6 Comparison with Existing Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1
Features Section 1-1
1-1 Features
Position Control Unit
CS1W-NC271/471/F71
CJ1W-NC271/471/F71
NCF71
RUN CS
ERC ERH
NCF71 ERM
MLK
MLK
RUN
ERC
ERH
ERM UNIT
BCDE 09
UNIT No.
321
8
789A
F 012
No.
54
3456
MLK
MLK
The Position Control Unit is a CS/CJ-series CPU Bus Unit. The Position Con-
trol Unit (PCU) receives commands from the CPU Unit's internal Auxiliary
Area and outputs positioning commands to MECHATROLINK-II Servo Drives.
MECHATROLINK is a registered trademark of MECHATROLINK Members
Association.
Compatible with the A MECHATROLINK-II high-speed (10 Mbps) communications interface is
MECHATROLINK-II High- used to control Servo Drives for up to 16 axes with a single CS/CJ-series Unit.
speed Field Network Shielded twisted-pair cables in daisy-chain formation make wiring simple and
enable multi-axis systems that require less wiring and are smaller in size.
High-speed, High- Optimal motor performance can be achieved by transmitting data using com-
precision Control Using munications between the Programmable Controller (PLC) and Servo Drives,
Data Communications without having to set an upper limit for the designated speed. High-speed and
high-precision position control using high-resolution motors are possible.
Position Control (Direct Positioning can be performed simply by directly setting the target position and
Operation) target speed from the CPU Unit. Positioning to either absolute or relative posi-
tions is also possible. Interrupt feeding is also supported. With interrupt feed-
ing, positioning is continued for a specified amount after an interrupt input
signal is received, and then the axis is stopped.
Speed Control and Torque The Servo Drive's speed and torque can be controlled by directly specifying
Control the target speed and torque from the CPU Unit.
Compatible with The PCU is compatible with Servomotors that have absolute encoders. Using
Servomotors with such Servomotors eliminates the need to repeatedly perform origin searches.
Absolute Encoders
Transfer Data between The Servo Drive's parameters and monitors can be set from the CPU Unit. All
Host PLC and Servo Drive the data for the multi-axis system can be centrally controlled from the host
PLC. This removes the difficulty in starting up devices or setting data when
replacing a Unit.
2
System Configuration Section 1-2
1-2 System Configuration

The PCU receives commands from the CPU Unit's ladder program and con-
trol signal status (forward/reverse rotation limit, origin, origin proximity, and
interrupt input signals) from devices connected externally to the Servo Drive,
and uses them to control Servo Drive positioning.
System Configuration Example

CJ-series CJ1W-NCF71
Power Supply Unit CPU Unit Position Control Unit
External inputs
Forward rotation limit input signal

Reverse rotation limit input signal
Origin input signal
Servo Drive Origin proximity input signal
Interrupt input signal
Etc.
24-V DC power supply
for interface
Servomotor
External inputs
Servo Drive
Forward rotation limit input signal

Reverse rotation limit input signal
Origin input signal
Origin proximity input signal
Servomotor
Etc.
Servo Drive 24-V DC power supply
for interface
MECHATROLINK-II
(16 axes max.)
3
Basic Operations Section 1-3
1-3 Basic Operations

The PCU's operations are as follows:
CJ1W-NC@71/CS1W-NC@71 Position control Absolute movement
Position Control Unit functions (direct operation)
Relative movement
Interrupt feeding
Speed control
Torque control
Other operations Origin searches
Jogging
Overrides
Present position preset
Stop functions
Backlash compensation
1-3-1 Position Control (Direct Operation)

Positioning can be executed either to an absolute position (i.e., to an absolute
position from the origin) or to an incremental position (i.e., to a position rela-
tive to the present position). Interrupt feeding is also possible, whereby an
axis is moved a specified amount when an interrupt input signal is received
and then stopped.
Absolute Movements and With absolute and relative movements, position and speed data are set
Relative Movements directly from the ladder program in the CPU Unit. Positioning is executed
according to operating commands sent to the PCU from the CPU Unit. It is
also possible to change the speed or to send commands to move axes to dif-
ferent positions while positioning is being performed.
Y
New target position
Speed
Target position before
position changed
Position changed, start
Start
Time X
Start Speed changed
4
Basic Operations Section 1-3
Interrupt Feeding When an interrupt input signal is received, positioning is continued for the
specified amount of movement and then stopped.
Speed Interrupt input
Specified amount of movement (a

negative direction can also be set)
Time
Linear Interpolation Linear interpolation can be performed for a combination of axes (Unit Ver. 1.1
or later).
1-3-2 Speed Control and Torque Control

Speed command data and torque command data are set from the CPU Unit.
Speed control and torque control of the Servomotor are executed by sending
operating commands to the PCU from the CPU Unit.
1-3-3 Other Operations

Origin Searches The origin search operations find the origin for a designated axis.
Jogging Jogging moves a specified axis at a designated speed and then stops it.
Overrides When an override is enabled during positioning, the target speed is changed
to the override speed.
Speed Override set value: 150%

A × 1.5
Time
1
Override Enable Bit
0
Present Position Preset The PRESENT POSITION PRESET command changes the present position
(Changing the Present to a specified position.
Position)
Stop Functions The DECELERATION STOP command decelerates positioning to a stop.
The EMERGENCY STOP command cancels operating commands immedi-
ately and stops the axis after moving it for the number of pulses remaining in
the Servo Drive's deviation counter.
5
List of Functions and Specifications Section 1-4
1-4 List of Functions and Specifications

1-4-1 General Specifications
Item Specification
Model CJ1W-NC271/471/F71 CS1W-NC271/471/F71
Internal current 360 mA max. at 5 V DC
consumption
Dimensions 31 × 90 × 65 mm (W × H × D) 130 × 35 × 101 mm (W × H × D)
Weight 95 g max. 188 g max.
Ambient operat- 0 to 55°C
ing temperature
Approved stan- CE, cULus, and C-tick
dards
Specifications not listed above conform to general CS/CJ Series specifica-

tions.
1-4-2 List of Functions and Specifications

Item Specification
Unit classification CPU Bus Unit
Applicable PLCs CS/CJ Series
Possible unit number settings 0 to F
I/O allocations Common Operating Memory Area Words allocated in CPU Bus Unit Area: 25 words (15 output words,
10 input words)
Axis Operating Memory Area Allocated in one of the following areas (user-specified):
CIO, Work, Auxiliary, Holding, DM, or EM Area.
Number of words allocated: 50 words (25 output words, 25 input
words) × Highest axis No. used
Compatible devices • OMRON G5-series Servo Drives
(Built-in MECHATROLINK-II communications)
• OMRON G-series Servo Drives
• OMRON W-series Servo Drives
(equipped with MECHATROLINK-II I/F Unit or built-in MECHA-
TROLINK-II communications)
• OMRON SMARTSTEP Junior Servo Drives
Note SMARTSTEP Junior Servo Drive are supported by Position
Control Units with unit version 2.0 or later.
Control method Control commands executed using MECHATROLINK-II synchro-
nous communications.
Maximum number of controlled axes CS1W/CJ1W-NC271: 2 axes, CS1W/CJ1W-NC471: 4 axes,
CS1W/CJ1W-NCF71: 16 axes
Control units Position command unit Command unit: Depends on the Electronic Gear Setting in the
Servo Parameters.
Default setting: Pulses
Speed command unit for position Command units/s
control
Acceleration/deceleration speeds 10,000 command units/s2
for position control
Speed command unit for speed 0.001% of the motor's momentary maximum rotation speed
control
Torque command unit for torque 0.001% of the motor's momentary maximum torque
control
6
List of Functions and Specifications Section 1-4
Item Specification
Control com- Position command range −2,147,483,648 to 2,147,483,647 (command units)
mand range Speed command range for position 0 to 2,147,483,647 (command units/s)
control
Acceleration/deceleration speeds 1 to 65,535 (10,000 command units/s2)
for position control
Speed command range for speed −199.999% to 199.999%
control The upper limit of the speed command range depends on the
specifications of the Servo Drive.
Torque command range for torque −199.999% to 199.999%
control The upper limit of the torque command range depends on the
specifications of the Servo Drive.
Control func- Servo lock/unlock Creates (Servo lock) or releases (Servo unlock) the position loop
tions on the PCU.
Position control Positions to an absolute position or relative position according to
the target position and target speed specified from the ladder pro-
gram.
Origin determination • Origin search: Establishes the origin using the specified search
method.
• Present position preset: Changes the present position to a speci-
fied position to establish the origin.
• Origin return: Returns the axis from any position to the estab-
lished origin.
• Absolute encoder origin: Establishes the origin using a Servomo-
tor that has an absolute encoder, without having to use an origin
search.
Jogging Outputs pulses at a fixed speed in the forward rotation or reverse
rotation direction.
Interrupt feeding Performs positioning by moving the axis a fixed amount when an
external interrupt input is received while the axis is moving.
Speed control Performs speed control by sending a command to the Servo Drive
speed loop.
Torque control Performs torque control by sending a command to the Servo Drive
current loop.
Stop functions • Deceleration stop: Decelerates the moving axis to a stop.
• Emergency stop: Positions the moving axis for the number of
pulses remaining in the deviation counter and then stops the axis.
Auxiliary func- Acceleration/deceleration curves Sets one of the following: a trapezoidal (linear) curve, an exponen-
tions tial curve, or an S-curve (moving average).
Torque limit Restricts the output torque during axis operation.
Override Multiplies the axis command speed by a specified ratio.
Override: 0.01% to 327.67%
Servo parameter transfer Reads and writes the Servo Drive parameters from the ladder pro-
gram in the CPU Unit.
Monitoring function Monitors the control status of the Servo Drive, such as the com-
mand coordinate positions, feedback position, current speed, and
torque.
Software limits Limits software operation within the positioning range during posi-
tion control.
Backlash compensation Compensates for the amount of play in the mechanical system
according to a set value.
Deviation counter reset The position deviation in the Servo Drive’s deviation counter can
be reset to 0 (unit version 1.3 or later).
External I/O Position Control Unit One MECHATROLINK-II interface port
Servo Drive I/O Forward/reverse rotation limit inputs, origin proximity inputs, exter-
nal interrupt inputs 1 to 3 (can be used as external origin inputs)
7
List of Functions by Purpose Section 1-5
Item Specification
Self-diagnostic functions Watchdog, flash memory check, memory corruption check
Error detection functions Overtravel, Servo Drive alarm detection, CPU error, MECHA-
TROLINK communications error, Unit setting error
1-5 List of Functions by Purpose

Purpose Category Name Basic function Details
Establishing the Origin deter- Origin search The motor is operated to estab- 8-2 Origin Search
mechanical origin of mination lished the origin. Operation
the machine Present position preset The position where the motor is 8-3 Present Position
stopped is set to a specified posi- Preset
tion to establish the origin.
Origin return The axis is returned to the estab- 8-4 Origin Return
lished origin.
Absolute encoder origin The origin is established using a 8-6 Absolute
Servomotor with an absolute Encoder Origin
encoder, so origin searches are
not required at machine startup.
Point-to-point (PTP) Position Direct operation (abso- The position and speed are speci- 9-4 Using Direct
positioning control lute movement or rela- fied to perform positioning using Operation
tive movement) an absolute or relative movement.
Changing the target Direct operation: The target position or target 9-4-3 Changing Tar-
position and speed Changing target position speed is changed during position- get Position
as required during or changing target speed ing with direct operation. 9-4-4 Changing Tar-
positioning get Speed
Performing position- Interrupt feeding When an interrupt input signal 9-5 Interrupt Feeding
ing for a specified turns ON during positioning with
distance from an direct operation, operation
external input point switches to positioning for a fixed
during positioning amount.
Performing manual Jogging The axis is moved at a fixed 10-2 Jogging
feeding for adjust- speed in the forward rotation or
ment or other pur- reverse rotation direction.
pose
Reducing shock Auxiliary Acceleration/decelera- Acceleration/deceleration is per- 7-4 Acceleration and
while device is oper- functions tion curves formed according to the basic Deceleration Opera-
ating trapezoidal curve (linear acceler- tions
ation/deceleration), an exponen-
tial curve, or an S-curve, which
greatly helps to reduce mechani-
cal vibration.
Temporarily multiply- Overrides The axis command speed is mul- 10-3 Override
ing the machine's tiplied by a constant ratio.
operating speed by a
constant ratio to per-
form startup adjust-
ments
Restricting output Torque limit A constant limit is applied to the 10-4 Torque Limits
torque during con- output torque of the Servomotor
trol operations such during positioning.
as pushing control
Stopping the device Stop func- Deceleration stop or The moving axis is decelerated to 10-9 Stop Functions
during operation tion emergency stop a stop or the axis is moved for the
number of pulses remaining in the
deviation counter and then
stopped.
Changing the Servo Data trans- Reading/writing Servo Servo Drive parameters are read 5-3 Transferring
Drive settings from fer function parameters or written from the CPU Unit. Servo Parameters
the PLC
8
Comparison with Existing Models Section 1-6
Purpose Category Name Basic function Details

Performing speed Speed con- Speed control The speed command value is 10-5 Speed Control
feeding in rotary control directly specified to control the
trol such as sheet Servomotor rotation.
feeding.
Changing the output Torque con- Torque control The torque command value is 10-6 Torque Control
torque sequentially trol directly specified to control the
during control opera- Servomotor's output torque.
tions such as tight-
ening.
1-6 Comparison with Existing Models

Functions and CJ1W-NC@71 CJ1W-NC@13/@33
performance CS1W-NC@71 CS1W-NC@13/@33
Unit type CPU Bus Unit Special I/O Unit
Unit number alloca- Unit numbers can be set from 0 to F Unit numbers can be set from 0 to 95.
tion (CPU Bus Units). • One-axis and two-axis PCUs: One unit number
used.
• Four-axis PCUs: Two unit numbers used.
Control method Commands are executed using MECHA- Open-loop control is performed using a pulse
TROLINK-II synchronous communications. train output.
Format of data Binary (hexadecimal) Same as CJ1W-NC@71/CS1W-NC@71.
exchanged between Example: Present position is output to the PLC
PLC and PCU in 32-bit signed binary format.
Position command −2,147,483,648 to 2,147,483,647 −1,073,741,823 to 1,073,741,823 pulses
range (Unit depends on Servo Parameters)
Present position −2,147,483,648~2,147,483,647 −2,147,483,647 to 2,147,483,647 pulses
range (Unit depends on Servo parameters)
Zone range No zone functions −1,073,741,823 to 1,073,741,823 pulses
Speed command Position control: 1 to 500,000 (unit: 1 pps)
range 0 to 2,147,483,647 (command units/s)
(Upper limit speed depends on Servo Drive
and Servomotor.)
Speed control:
−199.999% to 199.999%
(percentage of Servomotor’s momentary maxi-
mum rotation speed)
The upper limit of the speed command range
depends on the specifications of the Servo
Drive.
Torque command −199.999% to 199.999% None
range (percentage of Servomotor's momentary maxi-
mum torque)
The upper limit of the torque command range
depends on the specifications of the Servo
Drive.
Overrides 0.01% to 327.67% in increments of 0.01% 1% to 999% in increments of 1%
Memory operation None Absolute/relative movement, linear interpolation,
function interrupt feeding, speed control, forced interrupt,
and teaching
9
Comparison with Existing Models Section 1-6
Functions and CJ1W-NC@71 CJ1W-NC@13/@33

performance CS1W-NC@71 CS1W-NC@13/@33
Origin search Origin search method: Origin search methods:
• The origin input signal is detected after the ori- • The origin input signal is detected after the ori-
gin proximity input signal turns OFF. gin proximity input signal turns ON.
• The origin input signal is detected after the ori- • The origin input signal is detected after the ori-
gin proximity input signal turns ON. (Unit ver- gin proximity input signal turns OFF.
sion 2.0 or later) • The origin input signal is detected without
• The origin input signal is detected without using the origin proximity input signal.
using the origin proximity input signal. (Unit
version 2.0 or later)
Origin compensation: After detecting the origin Origin compensation: The axis is moved for the
input signal, positioning is performed for the ori- amount specified by the origin compensation
gin return final travel distance (specified in data (specified from the Unit) at the proximity
Servo Parameters). speed.
Acceleration/decel- Trapezoidal curve, exponential curve, or S- Trapezoidal curve or S-curve
eration curves curve S-curve acceleration/deceleration uses a ter-
S-curve acceleration/deceleration uses a mov- tiary function.
ing average.
Setting acceleration/ Accelerations and decelerations are specified in The times in milliseconds required to reach the
deceleration speeds units of 10,000 command units/s2. Servo param- maximum speed from the initial speed and to
eters are set individually for each axis. reach the initial speed from the maximum speed
are specified
Direct operation: Acceleration/deceleration
speeds are specified as operation data from the
PLC.
Memory operation: Up to 9 acceleration/deceler-
ation speeds per axis are recorded in the Unit.
Deviation counter Supported (unit version 1.3 or later). Supported.
reset
Emergency stop A hardware input contact is not provided on the The PCU's hardware input contact is used.
Position Control Unit.
Stopping is possible after moving the number of
pulses remaining in the deviation counter by
using an allocated operation bit.
Data transfer method Writes/reads using the Data Transfer Bit. • Data can be read or written using the Data
Transfer Bit.
• Data can be read or written using the IOWR/
IORD instruction.
Saving data Parameters can be saved to the flash memory in Axis Parameters and Zone Data are saved in
the PCU. the flash memory in the PCU.
Servo Parameters are saved in the Servo Drive.
CPU Unit cycle time 1 ms max. per 16 axes (using the CS1/CJ1-H 0.5 ms max. per PCU
extension for END CPU Unit)
refresh
Response time 4 ms max. (time from when the start commands 4 ms max. (time from when the start commands
for the ladder program are sent until the Servo for the ladder program are sent until the Position
Drive receives the control command when four Control Unit performs pulse output when all
axes are connected) (See note.) axes of a four-axis Unit are being operated
simultaneously)
Note The response time depends on the cycle time of the PLC and the MECHA-
TROLINK communications settings. The time shown in the table is the maxi-
mum value obtained when calculated according to specified measurement
conditions. For details, refer to Appendix A Performance Characteristics.
10
SECTION 2
Basic Procedures
This section provides an overview of the procedures required to use the Position Control Unit.
2-1 Basic Flow of Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

2-2 Starting Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2-2-1 Overview of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2-2-2 System Configuration and Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2-2-3 Setting the PCU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
2-2-4 Starting MECHATROLINK Communications . . . . . . . . . . . . . . . . . 21
2-2-5 Setting Servo Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
2-2-6 Operating the Servomotor from the PCU . . . . . . . . . . . . . . . . . . . . . 25
11
Basic Flow of Operations Section 2-1
2-1 Basic Flow of Operations

The basic flow of Position Control Unit (PCU) operation is described in this
section. The steps from installation through setting the MECHATROLINK
devices are required only when installing the devices for the first time. When
PCU and MECHATROLINK device settings have been completed, start oper-
ation from starting MECHATROLINK communications in the flow of operation.
Flow of operation Details
START
3-2 Installing the Position

Installation
Install the PCU. Control Unit

3-1 Nomenclature and
Functions
Set the unit number of the PCU.
Set the station addresses of the Servo Drives. (See note 1.)
Connect the Servomotors to the Servo Drives. (See note 1.)

3-3 External I/O Circuits
3-4 Wiring
Wiring
Connect the Servo Drives to the external input

devices.
Connect the Servo Drives to the PCU.

PLC Settings
Turn ON the power to the PLC.
Create the I/O tables for the PLC. (See note 2.)
Transfer the common parameters from the CPU 4-3 Common Parameter Area
Unit to the PCU using the WRITE DATA Bit in 4-6 Common Operating
the Common Operating Memory Area. Memory Area
5-2-1 Writing PCU
Parameters
Transfer the axis parameters from the CPU Unit 4-4 Axis Parameter Area
to the PCU using the WRITE DATA Bit in the
5-2-1 Writing PCU
Common Operating Memory Area. Parameters
PCU Settings
Transfer only the axis parameters 5-2-3 Saving PCU

Parameters
for the axes to be used.
Save the transferred common parameters and

axis parameters to the PCU's flash memory
using the SAVE DATA Bit in the PCU's
Common Operating Memory Area.
Restart the PCU or cycle the power to the PLC.
The PCU can now communicate

with MECHATROLINK devices.
(Continued on next page.)
Note (1) Perform wiring according to instructions given in the Servomotor and Ser-
vo Drive's operation manuals.
(2) Refer to the CJ Series PLC Operation Manual.
12
(Continued from previous page.)

Starting MECHATROLINK communications (setup)
Turn ON the power to the Servo Drives.

4-6 Common Operating
Memory Area
Turn ON the CONNECT Bit in the PCU's 6-3-1 Establishing
Common Operating Memory Area. Connections
6-3-2 MECHATROLINK
Communications Status
Check that communications are established with
the connected devices by referring to the axis
communications status in the PCU's Common
Operating Memory Area.
NO 6-3-3 MECHATROLINK
Are communications established Communications Errors
with all devices? 12-5 Troubleshooting
YES
The MECHATROLINK devices can
now be operated from the PCU.
4-5 Servo Parameter Area

Transfer the Servo parameters from the CPU 4-7 Axis Operating Output
Memory Areas
Setting the MECHATROLINK devices
Unit to the PCU using the WRITE SERVO PA-

RAMETER Bit and SAVE SERVO PARAMETER 4-8 Axis Operating Input
Bit in the PCU's Axis Operating Memory Areas. Memory Areas
Transfer (save) only the Servo 5-3-1 Writing Servo
Parameters
Parameters for the axes to be used.
5-3-3 Saving Servo
Use either of the following methods to enable Parameters
the parameter settings for offline parameters. 6-3-1 Establishing
1) Perform the device setup. Connections
2) Turn OFF the CONNECT Bit (releases the 6-4 Standard Settings for
connection) in the PCU's Common Operating Servo Drives Using
Memory Area, and after Servo MECHATROLINK
communications have stopped, cycle the 5-3-4 Device Setup
Servo Drive power.
The Servo Parameters that have
been set are now enabled.
Turn ON the power to the Servo Drives and

external input devices.
Starting MECHATROLINK communications
Memory Area
Turn ON the CONNECT Bit in the PCU's
Common Operating Memory Area. 6-3-1 Establishing
Connections
6-3-2 MECHATROLINK
Check that communications are established with Communications Status
the connected devices by referring to the axis
communications status in the PCU's Common
NO 6-3-3 MECHATROLINK
Communications are established Communications Errors
with all devices? 12-5 Troubleshooting
YES
The MECHATROLINK devices can
now be operated from the PCU.
13
4-7 Axis Operating Output

Memory Areas
Servo lock
Turn ON the SERVO LOCK Bit in the PCU's

Axis Operating Memory Area. 4-8 Axis Operating Input
Memory Areas
10-1 Servo Lock/Unlock
Check that the SVON Flag indicating the Servo
Drive status in the PCU's Axis Operating
Memory Area is ON.
The Servomotor axis operations can

now be controlled from the PCU.

Set the jog speed in the speed command value Memory Areas
of the PCU's Axis Operating Memory Area. 4-8 Axis Operating Input
Memory Areas
Set the acceleration and deceleration
7-4 Acceleration and
times in the Servo parameters. Deceleration Operations
Set the feed direction in the Direction
Designation Bit of the PCU's Axis Operating
Memory Area.
10-2 Jogging
Jogging
Turn ON the JOG Bit in the PCU's Axis

Stop the jogging operation by turning OFF the

JOG Bit in the PCU's Axis Operating Memory
Area.
Check whether jogging has stopped by

monitoring whether the Busy Flag is OFF in the
PCU's Axis Operating Memory Area.

Set the Origin Search Speed in the speed
command value of the PCU's Axis Operating Memory Areas
Memory Area. 4-8 Axis Operating Input
Set the Origin Search Approach Memory Areas
Speeds 1 and 2 in the Servo 7-4 Acceleration and
Parameters. Deceleration Operations
Origin determination
SECTION 8 Defining the

Turn ON the ORIGIN SEARCH Bit in the PCU's Origin
Axis Operating Memory Area.
Check whether the ORIGIN SEARCH operation

has completed by monitoring the PCU
Positioning Completed Flag and No Origin Flag
in the PCU's Axis Operating Memory Area.
14

Set the target position in the position command Memory Areas
value of the PCU's Axis Operating Memory Area. 4-8 Axis Operating Input
Memory Areas
7-4 Acceleration and
Set the target speed in the speed command val- Deceleration Operations
Positioning
ue of the PCU's Axis Operating Memory Area.

Set the acceleration and deceleration
times for positioning in the Servo
Parameters.
Turn ON the Movement Bit (ABSOLUTE 9-1 Direct Operation
Overview
MOVEMENT or RELATIVE MOVEMENT) in the
PCU's Axis Operating Memory Area.
Check whether the positioning operation has

completed by monitoring the PCU Positioning
Completed Flag in the PCU's Axis Operating
Memory Area.

Start axis operation using jogging, an origin Memory Areas
search, or direct operation. 4-8 Axis Operating Input
Memory Areas
Stopping operation
Turn ON the Deceleration Stop Bit or 7-4 Acceleration and

Emergency Stop Bit in the PCU's Axis Operating Deceleration Operations
Memory Area. 10-9 Stop Functions
Set the deceleration time for a
deceleration stop in the Servo
Parameters.
Check whether the positioning operation has
stopped by monitoring whether the Stop
Execution Flag is ON in the PCU's Axis

Turn ON the SERVO UNLOCK Bit in the PCU's Memory Areas
Servo Unlock
Axis Operating Memory Area. 4-8 Axis Operating Input

Memory Areas
Check that the SVON Flag indicating the Servo
Drive status in the PCU's Axis Operating
Memory Area is OFF.

Stop Servo communications by turning OFF the Memory Area
CONNECT Bit (releases connection) in the 6-3-1 Establishing
PCU's Common Operating Memory Area. Connections
Finishing operation
6-3-2 MECHATROLINK
Communications Status
Turn OFF the power to the Servo Drives and
external input devices.
Turn OFF the power to the CPU Unit.
END
15
Starting Operation Section 2-2
2-2 Starting Operation

Examples of operating the Servomotor using RELATIVE MOVEMENT com-
mands for direct operation are provided in this section for first-time users of a
PCU.
2-2-1 Overview of Operation

The following example is for operating the Servomotor using direct operation
under the following operation conditions. An OMRON W-series Servomotor
and a Servo Drive with a FNY-NS115 MECHATROLINK-II I/F Unit installed is
used.
Only the minimum parameters required to operate the Servomotor are set in
this example. Default settings are used for the PCU and Servo Drive parame-
ters that are not set.
Speed
Target speed: 100,000 (pulses/s)
100 kpulses/s
Target position: 500,000 pulses
Time
0.1 s 0.1 s
A Programming Console is used in this operation example without using a

ladder program and with the PLC in PROGRAM mode to manually perform
the settings and execute the start commands that are required to operate the
Servomotor. The Programming Console is used to set the required data for
direct operation and then turn ON the RELATIVE MOVEMENT Bit to operate
the motor.
2-2-2 System Configuration and Wiring

The following system configuration is used. In this example, only the motor is
operated, without using a mechanical system. The unit number of the PCU is
0, and the station address of the MECHATROLINK-II I/F Unit is 1.
16
Power Supply Unit CPU Unit Position Control Unit
Programming Console
MECHATROLINK-II
I/F Unit
Servo Drive MECHATROLINK-II Connection Cable
MECHATROLINK-II Terminator
Servomotor
The devices used in this configuration diagram example are as follows:

Device Model
CPU Unit CJ1H-CPU67H
Power Supply Unit CJ1W-PA202
Position Control Unit CJ1W-NCF71
Programming Console C200H-PRO27
Programming Console Connecting Cable CS1W-CN224 (2 m)
Servo Drive R88D-WT01HL
Servomotor R88M-W10030L
Servomotor Encoder Cable R88A-CRWA003C (3 m)
Servomotor Power Cable R88A-CAWA003S (3 m)
MECHATROLINK-II I/F Unit FNY-NS115
MECHATROLINK-II Connection Cable JEPMC-W6003-01 (Yaskawa) (1 m)
MECHATROLINK-II Terminator JEPMC-W6022 (Yaskawa)
Each of the above devices is in its factory-shipped condition.
Setting the PCU Unit Number

Set the unit number using the rotary switch on the front of the PCU.
Unit number: 0
Setting the Station Address of the MECHATROLINK-II I/F Unit

Set the station address of the MECHATROLINK-II I/F Unit using the rotary
switch (SW1) on the Unit. Use the default settings for the DIP switch (SW2).
SW1: 1
SW2: Default settings (pin 1: ON; pin 2: ON; pin 3: OFF; pin 4: OFF)
17
Wiring Wire the Units as shown in the following diagram.

CJ1W-NCF71 FNY-NS115 R88D-WT01HL
CN1
JEPMC-W6003-01
MLK CN6A +24VIN 47
24 V DC
(Not used.) 40
Origin proximity signal
CN6B
DEC 41
JEPMC-W6022 Forward rotation limit
Terminator input
POT 42
Reverse rotation limit
input
NOT 43
EXT1 44
EXT2 45
EXT3 46
The Servo Drive's CN1 input signals depend on the input signal allocations,
which are set in this operation example. Of these allocated input signals, the
forward drive prohibit input (forward rotation limit input) and reverse drive pro-
hibit input (reverse rotation limit input) are used as N.C. contacts. Therefore,
connect them so that they are normally ON. The origin proximity signal and
external latch inputs 1 to 3 are not used in this operation example and there-
fore do not need to be wired.
The above diagram shows the wiring for the PCU, Servo Drive, MECHA-
TROLINK-II I/F Unit, and external control input signals at the Servo Drive.
Refer to each of the CPU Unit and Servo Drive operation manuals for details
on wiring the CPU Unit and Servo Drive power supply and connecting the
Servo Drive and Servomotor.
2-2-3 Setting the PCU

Creating I/O Tables Turn ON the power to the PLC and create the I/O tables. Refer to the CJ
Series PLC Operation Manual for details on creating I/O tables.
Setting Common Set the Common Parameters of the PCU. The minimum required Common
Parameters Parameters that must be set are as follows:
• Axis Operating Output Memory Area designation
• Axis Operating Input Memory Area designation
• Scan list setting (information registered for axes connected to MECHA-
TROLINK communications)
Common Parameters are transferred to the PCU using the WRITE DATA Bit
in the Common Operating Memory Area. D01000 to D01011 are used for data
to be transferred.
18
Common Parameters Set The following settings are made in D01000 to D01011 as the Common
in the PCU Parameters to be set in the PCU. Refer to the following table for setting
details.
DM word Set value Common Parameter Details
D01000 00B0 hex Axis Operating Output Set the beginning word of
Memory Areas the Axis Operating Output
D01001 0064 hex Beginning word of Axis Memory Areas to CIO 100.
Operating Output Memory Axis 1 output words:
Areas CIO 100 to CIO 124
D01002 00B0 hex Axis Operating Input Mem- Set the beginning word of
ory Areas the Axis Operating Input
D01003 01F4 hex Beginning word of Axis Memory Area to CIO 500.
Operating Input Memory Axis 1 input words: CIO 500
Areas to CIO 524
D01004 0040 hex Scan list setting (axes 1 Allocate axis 1 of the PCU
and 2) to the Servo Drive.
D01005 to Set all Scan list setting
D01011 words to (axes 3 to 16)
0000 hex.
The above settings enable the Servo Drive connected to MECHATROLINK to

be controlled from the ladder program through the I/O words that are allo-
cated as shown in the following diagram.
CPU Unit Position Control Unit Servo Drive

Start Registered
Axis 1 output data command, connections MECHATROLINK
etc.
CIO 100 to
Axis 1: Servo
CIO 124
Ladder program Axis 2: None
Axis 1 input data
CIO 500 to Axis 3: None
CIO 524
Present position, etc.
Writing Common The Common Parameter settings in D01000 to D01011 are written to the
Parameters to the PCU PCU. Make the settings for transferring data to the PCU's Common Operating
Memory Area as shown below.
Word Set value Data transfer Details
setting name
CIO 1506 000C hex Number of write Number of write words: 0C hex =
words 12 decimal
CIO 1507 0082 hex Write source area Beginning word of write data:
CIO 1508 03E8 hex Write source word D01000
CIO 1509 1838 hex Write destination Write destination address in PCU:
address 1838 hex = Beginning word of
Common Parameter Area
Data is written to the PCU by turning ON the WRITE DATA Bit in the Common
Operating Memory Area. For the PCU with unit number 0, the WRITE DATA
Bit is allocated in CIO 150001. Turn ON this bit using the Programming Con-
sole.
01
CIO 1500 This bit transfers data according to the data transfer
settings when it is turned ON.
WRITE DATA Bit
19
While data is being written to the PCU, the Data Transferring Flag in the Com-
mon Operating Memory Area turns ON. When data has finished being written,
the Data Transferring Flag turns OFF. For the PCU with unit number 0, the
Data Transferring Flag is allocated in CIO 151514.
14
CIO 1515 This flag is ON while data is being written.

When writing is completed, the flag turns OFF.
Data Transferring Flag
The following diagram shows the operation for writing data to the PCU.
CPU Unit Position Control Unit

Common Operating Memory Area 01
CIO 1500
WRITE DATA Bit
CIO 1506 000C hex Number of write words (12)
CIO 1507 0082 hex Write source area
(D01000)
CIO 1508 03E8 hex
CIO 1509 1838 hex Write destination address
(1838 hex)
14
CIO 1515
Data Transferring Flag (ON while data is being written)
DM Area Internal address

D01000 00B0 hex Beginning word of Axis 1838 hex 00B0 hex
Operating Output Memory
D01001 0064 hex Area (100 words) 1839 hex 0064 hex
D01002 00B0 hex Beginning word of Axis 183A hex 00B0 hex
D01003 01F4 hex Operating Input Memory 183B hex 01F4 hex
Area (500 words)
D01004 0040 hex 183C hex 0040 hex
D01005 0000 Scan list setting 183D hex 0000
Axis 1: Registered to Servo Drive
: : Axes 2 to 16: Not used. : :
D01011 0000 1843 hex 0000
Setting Axis In this operation example, the PCU's default settings are used for each axis
Parameters parameter, so they do not need to be transferred to the PCU.
Saving PCU Settings The Common Parameters are saved in the PCU's flash memory.
Data is saved to the PCU's flash memory by turning ON the SAVE DATA Bit
in the Common Operating Memory Area. For the PCU with unit number 0, the
SAVE DATA Bit is allocated in CIO 150003. Turn ON this bit using the Pro-
gramming Console.
03
CIO 1500 This bit saves parameters in the PCU's
flash memory when it is turned ON.
SAVE DATA Bit
While data is being saved to flash memory, the Data Transferring Flag in the
Common Operating Memory Area turns ON. When data has finished being
saved, the Data Transferring Flag turns OFF. For the PCU with unit number 0,
the Data Transferring Flag is allocated in CIO 151514.
20
14
CIO 1515 This flag is ON while data is being saved.
When data saving is completed, the flag turns OFF.
Data Transferring Flag
Restarting the PCU After the PCU settings have been saved, restart the PCU to enable the set-
tings. Either cycle the power to the CPU Unit, or restart the PCU. For the PCU
with unit number 0, the Restart Bit is allocated in A50100.
Note Do not turn OFF the power to the PLC or restart the PCU while data is being
saved to the PCU’s flash memory. Doing so may corrupt the PCU’s memory.
Always make sure that the Data Transferring Flag is OFF before turning OFF
the power to the CPU Unit or restarting the PCU.
2-2-4 Starting MECHATROLINK Communications

Communications are started with the Servo Drive connected to MECHA-
TROLINK based on the Common Parameter settings in the PCU.
MECHATROLINK communications are started by turning ON the CONNECT
Bit in the Common Operating Memory Area. For the PCU with unit number 0,
the CONNECT Bit is allocated in CIO 150100. Turn ON this bit using the Pro-
gramming Console.
00
CIO 1501 This bit starts MECHATOROLINK
communications when it is turned ON.
CONNECT Bit
When connections are established, the PCU starts communications with the
MECHATROLINK devices (Servo Drives) registered in the scan list set in the
Common Parameters. When communications with the registered device are
normal, the corresponding bits for the axes in the Axis Communications Sta-
tus of the Common Operating Memory Area are turned ON. For the PCU with
unit number 0, the Axis Communications Status is allocated in the bits of CIO
1522.
00 Bits 00 to 15 show the communications status
CIO 1522 for axes 1 to 16, respectively. When an axis
registered in the scan list is communicating
normally, the corresponding bit turns ON.
Axis Communicating Bit for Axis 1
When communications with the registered devices are not normal, the corre-
sponding bits for the axes in the Axis Communications Status bits of the Com-
mon Operating Memory Area are not turned ON and an MLK initialization
error (Unit error code 0020 hex) occurs in the PCU. Any axis errors that occur
can be checked using the Axis Error Flags and error codes in the Axis Operat-
ing Memory Areas.
The Connection Status Flag in the Common Operating Memory Area will turn
ON at the start of communications when the CONNECT Bit turns ON, regard-
less of whether communications with all registered devices are normal.
In this operation example, if MECHATROLINK communications are started
normally, the status of each flag is as follows:
Connection status (CIO 151615): 1 (Connection established)
Axis communications status (CIO 1522): 0001 (bit 00 = Communications
established with axis 1)
21
Unit Error Flag (CIO 151512): 0 (No error)

Unit error code (CIO 1521): 0000 (No error)
Axis Error Flag for axis 1 (CIO 50012): 0 (No error) (See note.)
Axis error code for axis 1 (CIO 504): 0000 (No error) (See note.)
Note The Axis Operating Memory Area for axis 1 depends on the Axis Operating
Input Memory Area settings in the Common Parameters.
2-2-5 Setting Servo Parameters

The Servo Parameters are set in the connected Servo Drive. The following
table shows an example of settings for the Servo Drive's external input signal
allocations (input signal selection).
Input Input Setting Servo Drive default
terminal signal setting
(CN1) name
40 --- Not used RUN (RUN command input)
41 DEC Origin return deceleration MING (gain reduction input)
limit switch
(origin proximity input sig-
nal)
42 POT Forward drive prohibit input Not allocated.
(forward rotation limit input
signal)
43 NOT Reverse drive prohibit input Not allocated.
(reverse rotation limit input
signal)
44 EXT1 External latch signal 1 RESET (alarm reset input)
(external interrupt input sig-
nal 1)
45 EXT2 External latch signal 2 PCL (forward rotation cur-
(external interrupt input sig- rent limit input)
nal 2)
46 EXT3 External latch signal 3 NCL (reverse rotation cur-
(external interrupt input sig- rent limit input)
nal 3)
These settings are standard for input signals when an R88D-WT@ Servo
Drive and FNY-NS115 MECHATROLINK-II I/F Unit are used together.
Transferring Servo Servo Parameters are transferred to the Servo Drive via the PCU using the
Parameters SAVE SERVO PARAMETER Bits in the PCU's Axis Operating Output Mem-
ory Areas. The Servo Parameters are transferred one at a time. The following
three parameters must be set as shown below to allocate the above input sig-
nals.
Parameter No. Parameter name Set value
Pn50A Input signal selection 1 2881
Pn50B Input signal selection 2 8883
Pn511 Input signal selection 5 6541
22
Preparing Servo The settings for the parameter number, parameter size, and write data are set
Parameters to Be Set in in the Axis Operating Output Memory Area as Servo Parameters to be set in
the Servo Drive the Servo Drive. In this operation example, the Common Parameters are set
so that the beginning word of the Axis Operating Output Memory Area for axis
1 is allocated in CIO 100. Therefore, the setting words for the Servo Parame-
ters for axis 1 are allocated as follows:
Word Details
CIO 117 Servo Parameter No.
CIO 118 Parameter size (Unit: bytes)
CIO 119 Write data (rightmost word)
CIO 120 Write data (leftmost word)
Writing Servo Parameters The Servo Parameter settings in CIO 117 to CIO 120 are written to the Servo
to the Servo Drive Drive. In this example, to transfer three Servo Parameters, execute the opera-
tion to write to the Servo Drive three times.
Writing the Pn50A Set Value
To write the Pn50A settings, first make the settings for transferring Servo
Parameters to the PCU's Axis Operating Output Memory Areas as shown
below.
Word Set value Parameter transfer Details
setting
CIO 117 050A hex Servo Parameter No. Write Servo Parameter No.:
Pn50A
CIO 118 0002 Parameter size Write parameter size: 2 (bytes)
CIO 119 2881 hex Write data (right- Write Servo Parameter set value:
most word) 2881
CIO 120 --- Write data (leftmost Parameter size is 2 bytes (1 word,
word) so this is not used.) The set value
is ignored.
In this example, to keep the Servo Parameters even if the Servo Drive power
is turned OFF, the Servo Parameters are saved in the non-volatile memory
(flash memory) in the Servo Drive. Servo Parameters are written from the
PCU to the non-volatile memory (flash memory) of the Servo Drive by turning
ON the SAVE SERVO PARAMETER Bit in the Axis Operating Output Mem-
ory Area.
In this operation example, the Common Parameters are set so that the begin-
ning word of the Axis Operating Output Memory Area for axis 1 is allocated in
CIO 100. Therefore, the SAVE SERVO PARAMETER Bit for axis 1 is allo-
cated in CIO 10114. Turn ON this bit using the Programming Console.
14
CIO 101 This bit saves the Servo parameters according to the
parameter transfer settings when it is turned ON.
SAVE SERVO PARAMETER Bit
While Servo Parameters are being saved to the Servo Drive, the Servo
Parameter Transferring Flag in the Axis Operating Input Memory Area turns
ON. When the Servo Parameters have finished being saved, the Servo
Parameter Transferring Flag turns OFF.
ning word of the Axis Operating Input Memory Area for axis 1 is allocated in
CIO 500. Therefore, the Servo Parameter Transferring Flag for axis 1 is allo-
cated in CIO 50014.
23
14
CIO 500 This flag is ON while Servo parameters are being
saved, and turns OFF when saving is completed.
Servo Parameter Transferring Flag
The set values for Pn50B and Pn511 are written in the same way, i.e., by
changing the details of the Servo Parameters to be transferred and turning
ON the WRITE DATA Bit.
Writing the Pn50B Set Value
setting
CIO 117 050B hex Servo Parameter No. Write Servo Parameter No.:
Pn50B
CIO 118 0002 hex Parameter size Write parameter size: 2 (bytes)
CIO 119 8883 hex Write data (right- Write Servo Parameter setting:
most word) 8883
CIO 120 --- Write data (leftmost Parameter size is two bytes (one
word) word, so this is not used.) The set-
ting is ignored.
Writing the Pn511 Setting

setting
CIO 117 0511 hex Servo Parameter No. Write Servo Parameter No.: Pn511
CIO 118 0002 hex Parameter size Write parameter size: 2 (bytes)
CIO 119 6541 hex Write data (right- Write Servo Parameter setting:
most word) 6541
CIO 120 --- Write data (leftmost Parameter size is two bytes (i.e.,
word) one word, so this is not used.) The
setting is ignored.
The following diagram shows the operation used to transfer parameters to the
Servo Drive.
CPU Unit PCU Servo Drive (Axis 1)

Axis Operating Output Memory Area
(Axis 1) 14
CIO 101 Servo Parameters
saved. Non-volatile memory
MECHATROLINK
CIO 117 050A hex Servo parameter No. (Pn50A)

CIO 118 0002 hex Parameter length (2 bytes) Pn50A 2881
CIO 119 2881 hex Set value (2881)
CIO 120 ---
Axis Operating Input Memory Area

(Axis 1) 14
CIO 500
Servo Parameters Transferring Flag (ON while transferring)
24
Ending MECHATROLINK Communications

The Servo Parameters written to the Servo Drive consist of online and offline
parameters. Online parameters are enabled as soon as they are written,
whereas offline parameters are not.
The input signal selection parameters set here are offline parameters that are
enabled by cycling the power to the Servo Drive or executing the device setup
operation. In this example, the Servo Drive power is cycled. First, stop
MECHATROLINK communications before turning OFF the power supply to
the Servo Drive.
MECHATROLINK communications are stopped by turning OFF the CON-
NECT Bit in the Common Operating Memory Area. For the PCU with unit
number 0, the CONNECT Bit is allocated in CIO 150100. Use the Program-
ming Console to turn OFF this bit, which was turned ON at the start of
MECHATROLINK communications.
00
CIO 1501 MECHATROLINK communications stop
when this bit is turned OFF.
CONNECT Bit
When MECHATROLINK communications stop, the Connection Status Flag in

the Common Operating Memory Area turns OFF. For the PCU with unit num-
ber 0, the Connection Status Flag is allocated in CIO 151615.
15
CIO 1516 This flag turns ON when MECHATROLINK
communications start and turns OFF when
MECHATROLINK communications stop.
Connection Status Flag
Turning the Servo Drive Power OFF and ON Again

After writing Servo Parameters, and when MECHATROLINK communications
have stopped, enable the Servo Parameters by cycling the power to the
Servo Drive. This procedure completes settings for the PCU and Servo Drive.
Unless changes in installation, wiring, or parameter settings are required, the
above operation does not need to be performed a second time.
2-2-6 Operating the Servomotor from the PCU

Starting MECHATROLINK Communications
Perform the operations described in 2-2-4 Starting MECHATROLINK Commu-
nications and then start communications with the Servo Drive connected to
MECHATROLINK.
Servo Lock The servo lock of the Servomotor connected to MECHATROLINK can be set
by turning ON the SERVO LOCK Bit in the Axis Operating Output Memory
Area.
CIO 100. Therefore, the SERVO LOCK Bit for axis 1 is allocated in CIO
10100. Turn ON this bit using the Programming Console.
25
00
CIO 101 This bit places the Servomotor in Servo lock status
when it is turned ON.
SERVO LOCK Bit
When the servo lock operation is performed, the Servomotor is placed in

servo lock status. The SVON (Servo ON) Flag indicating servo status in the
Axis Operating Input Memory Area turns ON when an R88D-WT@ Servo
Drive and FNY-NS115 MECHATROLINK-II I/F Unit are used together.
CIO 500. Therefore, the SVON Flag for axis 1 is allocated in CIO 50103.
03
CIO 501 When the Servomotor is in Servo lock status, this
flag is ON. When the Servomotor is in Servo
unlock status, this flag turns OFF.
SVON Flag
When the servo lock is no longer required, turn OFF the corresponding
SERVO LOCK Bit in the Axis Operating Output Memory Area.
Positioning Using the Direct Operation RELATIVE MOVEMENT Command

Positioning can be performed for axis 1 using the RELATIVE MOVEMENT
command for direct operation. The RELATIVE MOVEMENT command for
direct operation sends information on the target position and target speed to
the Axis Operating Output Memory Area when the RELATIVE MOVEMENT
Bit turns ON.
CIO 100. Therefore, the target position and target speed are set as follows:
setting
CIO 102 A120 hex Position command Target position: 0007 A120 hex =
value (rightmost 500,000 pulses
word)
CIO 103 0007 hex Position command
value (leftmost word)
CIO 104 86A0 hex Speed command Target speed: 0001 86A0 hex =
value (rightmost 100,000 pulses/s
word)
CIO 105 0001 hex Speed command
The RELATIVE MOVEMENT Bit for axis 1 is allocated in CIO 10004. There-
fore, turn this bit ON using the Programming Console.
04
CIO 100 This bit executes the RELATIVE MOVEMENT
command for direct operation when it is turned ON.
RELATIVE MOVEMENT Bit
26
The Servomotor starts rotating up to the target speed of 100,000 pulses/s and
stops at 500,000 pulses. The acceleration/deceleration speed depends on the
Servo Parameters set for the Servo Drive. When a W-series Servo Drive and
the FNY-NS115 are used together, the acceleration and deceleration speeds
are set in the Servo Parameters as follows:
Parameter Parameter name Default Unit Setting in this
No. example
Pn80A First-step linear 100 10,000 command Not used.
acceleration con- units/s2
stant
Pn80B Second-step linear 100 10,000 command 1,000,000
acceleration con- units/s2 pulses/s2
stant
Pn80C Acceleration con- 0 100 command Default settings
stant switching units/s used.
speed
Pn80D First-step linear 100 10,000 command Not used.
deceleration con- units/s2
stant
Pn80E Second-step linear 100 10,000 command 1,000,000
deceleration con- units/s2 pulses/s2
stant
Pn80F Deceleration con- 0 100 command Default settings
stant switching units/s used.
speed
In this operation example, the default settings are used for the acceleration/
deceleration constants. With the default settings, the acceleration/decelera-
tion movement uses a linear acceleration/deceleration waveform, and the
slope of the acceleration and deceleration is 1,000,000 pulses/s2.The target
speed is 100,000 pulses/s, so after starting, the motor accelerates up to the
target speed in 0.1 s, and decelerates to a stop from the target speed in 0.1 s.
Speed
Pn80B
(Second-step Linear Acceleration Constant) Pn80E
(Second-step Linear Deceleration Constant)
Pn80C
(Acceleration Constant Switching Speed) Pn80F
(Deceleration Constant Switching Speed)
Time
In this operation example, the acceleration/deceleration constant switching
speed is 0. Therefore, from startup, the motor accelerates according to the
Second-step Linear Acceleration Constant and decelerates using the
Second-step Linear Deceleration Constant until stopping. The First-step
Acceleration/Deceleration Constants are not used.
The present position of each axis can be monitored in the Axis Operating
Input Memory Areas.
CIO 500. Therefore, the present position (feedback present position) for axis
1 is allocated in CIO 506 and CIO 507.
Feedback present position
CIO 506 (rightmost word)
CIO 507 Feedback present position (leftmost word)
27
The following diagram shows the operation for the RELATIVE MOVEMENT
command.
CPU Unit PCU Servo Drive/

Axis Operating Output Memory Area 04 Servomotor (Axis 1)
(Axis 1)
CIO 100 RELATIVE MECHATROLINK
MOVEMENT Bit
CIO 102 A120 hex Target position: 0007 A120 hex

CIO 103 0007 hex = 500,000 pulses 100,000 pulses/s
CIO 104 86A0 hex

Target speed: 0001 86A0 hex
CIO 105 0001 hex = 100,000 pulses/s
500,000 pulses
Axis Operating Input Memory Area
(Axis 1)
CIO 506 (rightmost word)
CIO 507 Feedback present position (leftmost word)
Servo Unlock The Servomotor connected to MECHATROLINK can be set to servo unlock
status by turning ON the SERVO UNLOCK Bit in the Axis Operating Output
Memory Area.
CIO 100. Therefore, the SERVO UNLOCK Bit for axis 1 is allocated in CIO
10101. Turn ON this bit using the Programming Console.
01
CIO 101 This bit places the Servomotor in servo unlock

status when it is turned ON.
SERVO UNLOCK Bit
When the servo unlock operation is performed, the Servomotor is placed in

servo unlock status. The SVON (Servo ON) Flag indicating servo status in the
Axis Operating Memory Areas turns OFF when using an R88D-WT@ Servo
Drive with a FNY-NS115 MECHATROLINK-II I/F Unit.
CIO 500. Therefore, the SVON Flag for axis 1 is allocated in CIO 50103.
03
CIO 501 This flag turns ON when the Servomotor is in servo
lock status, and turns OFF when the Servomotor is
in servo unlock status.
SVON Flag
When the servo unlock status is no longer required, turn OFF the correspond-
ing SERVO UNLOCK Bit in the Axis Operating Output Memory Area.
Stopping MECHATROLINK Communications
Always stop MECHATROLINK communications before turning OFF the
power supply to the Servo Drive. MECHATROLINK communications are
stopped by turning OFF the CONNECT Bit in the Common Operating Memory
Area.
28
For the PCU with unit number 0, the CONNECT Bit is allocated in CIO
150100. Use the Programming Console to turn OFF this bit, which was turned
ON at the start of MECHATROLINK communications.
00
CIO 1501 This bit stops MECHATROLINK communications
when it is turned OFF.
CONNECT Bit
When MECHATROLINK communications stop, the Connection Status Flag in

the Common Operating Memory Area turns OFF. For the PCU with unit num-
ber 0, the Connection Status Flag is allocated in CIO 151615.
15
CIO 1516 This flag turns ON when MECHATROLINK
communications start and turns OFF when
MECHATROLINK communications stop.
This completes the operations example for operating the Servomotor using
the RELATIVE MOVEMENT command for direct operation. In this operation
example, the commands are sent manually from the Programming Console,
but the basic operation flow is the same when sequences are programmed
into the ladder program. Other functions are also used in the same way by
changing the parameter settings and manipulating bits.
29
30
SECTION 3
Installation and Wiring
This section provides information on nomenclature and functions, and describes the procedures required for wiring and
installation. Information on the MECHATROLINK-II I/F Unit is also provided.
3-1 Nomenclature and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

3-1-1 Nomenclature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
3-1-2 MECHATROLINK-II I/F Unit for W-series Servo Drives. . . . . . . . 33
3-2 Installing the Position Control Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
3-2-1 System Configuration Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . 35
3-2-2 Unit Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
3-2-3 Installation Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
3-2-4 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
3-3 External I/O Circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
3-3-1 PCU I/O Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
3-3-2 G5-series Servo Drive I/O Signals (R88D-KN@-
ML2 with Built-in MECHATROLINK-II Communications). . . . . . 40
3-3-3 G-series Servo Drive I/O Signals (R88D-GN@-ML2
with Built-in MECHATROLINK-II Communications) . . . . . . . . . . 43
3-3-4 W-series Servo Drive I/O Signals (R88D-WT@ with FNY-NS115) 47
3-3-5 W-series Servo Drive I/O Signals (R88D-WN@-ML2
with MECHATROLINK-II Built-in Communications) . . . . . . . . . . 50
3-3-6 SMARTSTEP Junior Servo Drive I/O Signals (R7D-ZN@-ML2
3-4 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
3-4-1 MECHATROLINK-II Communications Wiring . . . . . . . . . . . . . . . 56
3-4-2 Wiring the Servo Drive I/O Signals . . . . . . . . . . . . . . . . . . . . . . . . . 58
31
Nomenclature and Functions Section 3-1
3-1 Nomenclature and Functions

3-1-1 Nomenclature
CS1W-NC@71
CJ1W-NC@71 NCF71
RUN ERH
NCF71 ERC ERM
MLK
MLK RUN LED Indicators
ERC
ERH Indicate the PCU's operating status.
ERM
UNIT 10FE
BCD UNIT No. 2
6543
EF 2
DCB
789A
No. A987
01
3456
Unit Number Setting Switch
Sets the PCU's unit number.
MECHATROLINK-II
MLK Communications Connector
Connects to the MECHATROLINK-II
Connection Cable. MLK
LED Indicators
LED Name Color Status Details
RUN Run Green Lit The PCU is operating normally.
Not lit Other condition
ERC Unit Error Red Lit A fatal error has occurred in the
PCU and operation cannot con-
tinue.
Flashing A non-fatal error has occurred in
the PCU and operation can con-
tinue.
ERH CPU Unit Error Red Lit An error has occurred in the PLC.
ERM MECHA- Red Lit An error has occurred in MECHA-
TROLINK TROLINK communications.
Device Error Flashing An error has occurred in a con-
nected MECHATROLINK device.
MLK MECHA- Yellow Lit MECHATROLINK communica-
TROLINK Com- tions in progress
munications Not lit MECHATROLINK communica-
Status tions stopped
For details on errors, refer to SECTION 12 Troubleshooting.
32
Unit Number Setting Set the unit number using the rotary switch on the front of the PCU. The
Switch (UNIT No.) PCU's unit number is a CPU Bus Unit unit number.
CJ1W-NC@71 CS1W-NC@71
BCD UNIT UNIT
EF 2
210FE
789A
No. No.
01
6543
DCB
3456 A987
Setting range: 0 to F (Unit numbers 0 to 15)

Note The factory default setting is 0.
The unit number setting determines which words are allocated to the PCU in
the CPU Bus Unit Area within the CPU Unit's CIO Area.
The PCU uses this allocated area as the “Common Operating Memory Area.”
For details, refer to 4-6 Common Operating Memory Area.
Unit number Allocated words Unit number Allocated words
0 1500 to 1524 8 1700 to 1724
1 1525 to 1549 9 1725 to 1749
2 1550 to 1574 10 1750 to 1774
3 1575 to 1599 11 1775 to 1799
4 1600 to 1624 12 1800 to 1824
5 1625 to 1649 13 1825 to 1849
6 1650 to 1674 14 1850 to 1874
7 1675 to 1699 15 1875 to 1899
Note Always turn OFF the power supply before changing the Unit Number Setting
Switch's setting.
MECHATROLINK-II This connector connects the PCU with MECHATROLINK devices through the
Communications special MECHATROLINK-II Connection Cable.
Connector
For details on MECHATROLINK-II Connection Cable models and configura-
tion, refer to 3-4-1 MECHATROLINK-II Communications Wiring.
3-1-2 MECHATROLINK-II I/F Unit for W-series Servo Drives

The following MECHATROLINK-II I/F Unit must be mounted to a an R88D-
WT@ W-series Servo Drive without built-in MECHATROLINK-II communica-
tions to enable connection to the PCU through MECHATROLINK-II.
Name Model number
MECHATROLINK-II I/F Unit FNY-NS115
When a MECHATROLINK-II I/F Unit must be mounted to a W-series Servo

Drive, use the following device versions.
Device Compatible versions
W-series Servo Drive Ver. 39 or later
MECHATROLINK-II I/F Unit VER. @@@03 or later
The versions of both the W-series Servo Drive and MECHATROLINK-II I/F
Unit can be found on the nameplate on the side of each device. If an earlier
version of the device is used, it will not function properly. Always use products
with versions listed in the table above (or later versions).
Nomenclature This section provides a basic description of the FNY-NS115 MECHA-

TROLINK-II I/F Unit's LED Indicators and Setting Switches.
For details, refer to the Yaskawa Electric Corporation JUSP-NS115 MECHA-
TROLINK-II I/F Unit User’s Manual.
33
Note Refer to the user’s manual for the Servo Drive for the nomenclature and func-
tions of Servo Drives with Built-in MECHATROLINK-II Communications.
• G5-series Servo Drives with Built-in MECHATROLINK-II Communications
(R88D-KN@-ML2)
• G-series Servo Drives with Built-in MECHATROLINK-II Communications
(R88D-GN@-ML2)
• W-series Servo Drives with Built-in MECHATROLINK-II Communications
(R88D-WN@-ML2)
• SMARTSTEP Junior Servo Drives with Built-in MECHATROLINK-II Com-
munications (R7D-ZN@-ML2)
LED Indicators The LED Indicators show the operating status of the FNY-NS115.
A
R
LED Name Color Status Details

A Alarm Status Red Lit An alarm occurred in the Servo
Drive. (See note.)
R MECHA- Green Lit MECHATROLINK communica-
TROLINK-II tions in progress
Communica- Not lit MECHATROLINK communica-
tions Status tions stopped
Note The Alarm Status LED will also be lit when MECHATROLINK communications
are not established with the PCU.
Station Address Setting Set the Servo Drive's station address in conjunction with the MECHA-
Switch (SW1) TROLINK-II communications setting on pin 3 of the Communications Setting
DIP Switch (SW2).
8 9
7
6 A
5 B
4 C
3 D
2 E
1 0 F
Setting Range: 0 to F (See the following table.)

Note The factory default setting is 1.
Pin 3 of SW1 Station Note
SW2 address
OFF 0 --- Cannot be used. Do not set.
1 to F 1 to 15 ---
ON 0 16 ---
1 to F --- Cannot be used when connecting to the
PCU. Do not set.
Communications Setting Sets the MECHATROLINK-II communications settings.

DIP Switch (SW2)
O
N
1 2 3 4
34
Installing the Position Control Unit Section 3-2
Pin Function Setting Contents Default Note

setting
1 Baud rate OFF 4 Mbps ON Turn ON this pin (10
ON 10 Mbps Mbps) when connect-
ing to the PCU.
2 Transmission OFF 17 bytes ON Turn ON this pin (32
bytes ON 32 bytes bytes) when connect-
(See note.) ing to the PCU.
3 Station address OFF 1 to 15 OFF See the explanation of
ON 16 to 30 SW1.
4 Reserved by the OFF --- OFF Leave this pin OFF.
system.
* In some devices, the number of transmission bytes is expressed as “30

bytes,” but the meaning is the same as this 32-byte setting.
Note The MECHATROLINK-II I/F Unit can be ordered from OMRON with the follow-
ing model number.
Name Yaskawa Electric Co. OMRON model

model number number
MECHATROLINK-II I/F Unit JUSP-NS115 FNY-NS115
3-2 Installing the Position Control Unit

3-2-1 System Configuration Precautions
• The I/O words allocated to the PCU as a CPU Bus Unit are not deter-
mined by the Unit's mounting order, but by the unit number set on the Unit
Number Setting Switch on the front of the Unit.
• The PCU can be mounted in either the CPU Rack or an Expansion Rack
(only up to 10 Units per Rack for a CJ-series PLC) and up to 16 Units can
be controlled by one CPU Unit.
• The CS1W-NC@71 can be mounted to a CS1W-BC@@3 CPU Backplane
or a CS1W-BI@@3 Expansion Backplane.
3-2-2 Unit Installation

Use the following procedure to install the PCU.
CJ1W-NC@71
1,2,3... 1. Align the connectors correctly and mount the PCU.
35
Connector
PA205R
POWER SYSMAC RUN
CJ1G-CPU44 ERR/ALM NCF71

INH
PROGRAMMABLE
PRPHL MLK RUN
CONTROLLER
COMM ERC
ERH
ERM
OPEN
D
BC E UNIT
F 012
789A
3456 No.
MCPWR
L1 BUSY
AC100-240V
INPUT
L2/N
PERIPHERAL
RUN
OUTPUT
AC240V
DC24V
MLK
PORT
2. Secure the PCU by sliding the yellow latches on the top and bottom until
they click and lock.
Latch
PA205R
POWER SYSMAC
CJ1G-CPU44
RUN
ERR/ALM
INH
NCF71
MLK
Lock
PROGRAMMABLE
PRPHL
RUN
CONTROLLER ERC
COMM ERH
ERM
OPEN
D
BC E UNIT
Release
F 012
789A
3456 No.
MCPWR
L1 BUSY
AC100-240V
INPUT
L2/N
PERIPHERAL
RUN
OUTPUT
AC240V
DC24V
MLK
PORT
Note If the latches are not completely locked, the PCU may not function properly.
To remove the PCU, slide the latches in the “release” direction and remove the
PCU.
CS1W-NC@71
1,2,3... 1. Catch the hook on the top back of the PCU on the Backplane to mount the
unit.
Mounting hook
Backplane
36
2. Insert the connector on the back of the CPU properly into the connector on
the Backplane.
Duct
20 mm min.
Backplane
PCU
20 mm min.
Phillip’s screwdriver
3. Tighten the screw on the bottom of the PCU using a Phillip’s screwdriver.
When mounting the PCU inside equipment, provide the minimum space in-
dicated in the diagram to enable mounting/dismounting the PCU and to en-
sure proper ventilation.
Note Always tighten the mounting screw on the bottom of the PCU to a torque of
0.4 N⋅m.
To remove the PCU, loosen the screw at the bottom of the PCU using a Phil-
lip’s screwdriver and then lift up on the bottom of the PCU.
3-2-3 Installation Precautions

• Always turn OFF the CPU Unit's power supply before connecting or dis-
connecting cables or the Unit itself.
• To minimize the effects of noise, place I/O wiring in a separate duct from
high-voltage lines and power lines.
• Wire strands may be scattered around during wiring, so leave the protec-
tive label on top of the PCU to prevent any wire strands from getting inside
the PCU. Once the wiring has been completed, be sure to remove the
label to allow ventilation.
37
Remove the label after

wiring is completed.
NCF71
RUN CS
ERC ERH
NCF71 ERM
MLK
MLK
RUN
ERC
ERH
ERM UNIT
BCDE 09
UNIT No.
321
8
789A
F 012
No.
54
3456
MLK
MLK
3-2-4 Dimensions
CJ1W-NC@71
31 65
2.7
NCF71
MLK RUN
ERC
ERH
ERM
BCD UNIT
EF 2
789A
No.
01
3456
90
MLK
2.7
38
External I/O Circuits Section 3-3
CS1W-NC@71
35 101 6.2
NCF71
RUN ERH
ERC ERM
MLK
UNIT
No.
130
MLK
Dimensions Mounted to Backplane
Backplane
Connecting Cable
123
Approx. 193
3-3 External I/O Circuits

This section describes the external I/O when a Position Control Unit is used
with any of the following Servo Drives.
• G-series Servo Drives (R88D-GN@-ML2 with built-in MECHATROLINK-II
communications)
• W-series Servo Drives (equipped with R88D-WT@ and FNY-NS115)
• W-series Servo Drives (R88D-WN@-ML2 with built-in MECHATROLINK-II
communications)
• SMARTSTEP Junior Servo Drives (R7D-ZN@-ML2 with built-in MECHA-
TROLINK-II communications)
39
3-3-1 PCU I/O Signals

MECHATROLINK Connector (MLK)
Connector Explanation
specifications
Name MLK MECHATROLINK-II connector
Connector used USB connector DUSB-ARA41-T11 (made by DDK) or
equivalent
Applicable connector USB connector DUSB-APA41-B1-C50 (made by DDK),
including shell
Pin arrangement
1 Pin Name I/O Description

1 (NC) --- ---
2 SRD− I/O Send/receive data −
3 SRD+ I /O Send/receive data +
4 (NC) --- ---
4
Shell Shield --- Shield ground
3-3-2 G5-series Servo Drive I/O Signals (R88D-KN@-ML2 with Built-in

MECHATROLINK-II Communications)
This section describes the standard I/O signals used with a Position Control
Unit when using a G5-series Servo Drive with built-in MECHATROLINK-II
communications.
Use the OMNUC G5 Series AC Servomotors/Servo Drives with Built-in
MECHATROLINK-II Communication User's Manual (Cat No. I566) together
with this manual for information on I/O signals.
Terminal Arrangement of the Control I/O Connector (CN1)

When using G5-series Servo Drives with built-in MECHATROLINK-II commu-
nications, the default control I/O signal allocations are the standard Servo
Drive settings for using MECHATROLINK.
The following diagram shows the terminal arrangement of the Servo Drive's
Control I/O Connector (CN1) when MECHATROLINK is being used with the
Servo Drive's default settings.
This diagram shows only the I/O signals used when connecting to the PCU.
For details of the Servo Drive's standard settings, refer to 6-4 Standard Set-
tings for Servo Drives Using MECHATROLINK.
40
1 +24VIN 12 to 24-VDC 19 POT Forward Drive

Power Supply Prohibit Input
2 STOP Emergency Input 20 NOT Reverse Drive
Stop Input Prohibit Input
3 EXT3 External Latch 21 DEC Origin Proximity
Signal 3 External Input
4 EXT2 External Latch 22 IN0
Signal 2 General-
5 EXT1 External Latch purpose Input 0 23 IN2 External Gener-
External Signal 1 al-purpose In-
6 IN1 24 --- * put 2
General-purpose
Input 1 7 PCL Forward 25 --- *
Torque Limit
8 NCL Reverse Torque Input 26 --- *
Limit Input 9 --- * 27 --- *
10 --- * 28 --- *
11 --- * 29 OUTM2 General-pur-
General- pose Output 2
12 --- * 30 OUTM2
COM purpose
13 --- * Output 2 31 OUTM3 General-pur-
14 --- * 32 OUTM3
COM purpose
15 /ALM Alarm Output Output 3 33 BATCOM Backup Battery
Backup Input
16 ALMCOM Alarm Output 34 BAT
Battery Input
17 --- * 35 OUTM1COM General-pur-
18 --- * 36 OUTM1
purpose
Output 1
Note (1) Do not connect anything to unused pins (*).

(2) Inputs for pins 1 to 8 are determined by parameter settings.The diagram
shows the default configuration.
CN1 Connector (26 Pin)
Name Model Manufacturer
Plug 10126-3000PE
Sumitomo 3M
Case 10326-52A0-008
41
Control I/O Signals The following table shows the names and functions of the Servo Drive’s con-
trol I/O signals.
CN1 Control Input Signals
Pin No. Symbol Signal name Function/Interface
Name Default setting
6 +24VIN 12 to 24-VDC Power Supply Input Power supply +input terminal (12 to 24 VDC) for
sequence inputs.
5 IN1 General-pur- Immediate stop This is a general-purpose input.
pose input 1 Functions can be selected by parameters.
7 IN2 General-pur- Forward drive Take note that, however, external latch inputs 1
pose input 2 prohibition to 3 can only be allocated to IN5 to IN7 (pin
8 IN3 General-pur- Reverse drive numbers 10 to 12)
pose input 3 prohibition
9 IN4 General-pur- Origin proximity
pose input 4
10 IN5 General-pur- External latch 3
pose input 5
pose input 6
pose input 7
13 IN8 General-pur- Monitor input 0
pose input 8
14 BAT Backup battery input Backup battery connection terminals when the
15 BATGND absolute encoder power is interrupted.
ABS
(Connection to this terminal is not necessary if
you use the absolute encoder battery cable for
backup.)
CN1 Control Input Signal Connection Diagram

External power supply:
+24VIN 6 4.7k
12VDC ±5% to Photocoupler input
24VDC ±5%
1.0k
Power supply capacity IN1 5
50mA min. (per Unit)
4.7k
Photocoupler input
Signal Levels 1.0k
ON level: 10 V min. IN2 7
OFF level: 3 V max.
To other input circuit To other input circuits

ground commons
Note (1) If the limit input signal inputs (Servo Drive's forward drive prohibited sig-
nal and reverse drive prohibited signal) are not allocated, the Servo Drive
will not stop the Servomotor when the signal is input, and the Position
Control Unit will also not detect limit inputs as errors. When using a Posi-
tion Control Unit, always allocate the Servo Drive's forward drive prohib-
ited signal and reverse drive prohibited signal to enable use of the limit
input signals. (Refer to 6-4 Standard Settings for Servo Drives Using
MECHATROLINK.)
(2) The signal width of the limit input signals (forward drive prohibited signal
and reverse drive prohibited signal) and origin proximity input signal (ori-
gin return deceleration limit switch) must be longer than the MECHA-
42
TROLINK communications cycle. If the input signal width is shorter than

the communications cycle, the Position Control Unit will be unable to de-
tect the input signal.
(3) When selecting a sensor for the origin proximity input signal (origin return
deceleration LS), use a sensor such as a Photoelectric Sensor, which
does not have chattering, because the origin signal is detected after the
input goes from ON to OFF during the origin search. If a switch with con-
tacts is used, the origin position may shift due to the switch contact's chat-
tering.
CN1 Control Output
Signals
Pin No. Symbol Signal name Function/Interface
Name Default setting
3 /ALM Alarm Output The output is OFF when an
4 ALMCOM alarm is generated for the
Servo Drive.
1 OUTM1 General-pur- Brake interlock This is a general-purpose out-
2 OUTM1COM pose output 1 put.
25 OUTM2 General-pur- Servo ready Functions can be selected by
26 OUTM2COM pose output 2 completed out- parameters.
put
16 GND Signal ground This is a signal ground.
Control Output Circuits
Servo Drive
10 + X External power supply
12 VDC to 24 VDC
Di Maximum operating voltage: 30 VDC
- Maximum output current: 50 mA
Di: Diode for preventing surge voltage

(Use high-speed diodes.)
3-3-3 G-series Servo Drive I/O Signals (R88D-GN@-ML2 with Built-in

Unit when using a G-series Servo Drive with Built-in MECHATROLINK-II
Communications.
Use the OMNUC G Series AC Servomotors/Servo Drives with Built-in
MECHATROLINK-II Communications User's Manual (Cat. No. I566) together
with this manual for information on I/O signals.

When using G-series Servo Drives with built-in MECHATROLINK-II communi-
cations, the default control I/O signal allocations are the standard Servo Drive
settings for using MECHATROLINK.
The following diagram shows the terminal arrangement of the Servo Drive's
Control I/O Connector (CN1) when MECHATROLINK is being used with the
Servo Drive's default settings.
43
For details on the Servo Drive's standard settings, refer to 6-4 Standard Set-
1 +24VIN 12 to 24-VDC 19 POT Forward Drive

Power Supply Prohibit Input
2 STOP Emergency Input 20 NOT Reverse Drive
Stop Input Prohibit Input
3 EXT3 External Latch 21 DEC Origin Proximity
Signal 3 External Input
4 EXT2 External Latch 22 IN0
Signal 2 General-
5 EXT1 External Latch purpose Input 0 23 IN2 External Gener-
External Signal 1 al-purpose In-
6 IN1 24 --- * put 2
General-purpose
Input 1 7 PCL Forward 25 --- *
Torque Limit
8 NCL Reverse Torque Input 26 --- *
Limit Input 9 --- * 27 --- *
10 --- * 28 --- *
11 --- * 29 OUTM2 General-pur-
12 --- * 30 OUTM2
COM purpose
13 --- * Output 2 31 OUTM3 General-pur-
14 --- * 32 OUTM3
COM purpose
15 /ALM Alarm Output Output 3 33 BATCOM Backup Battery
Backup Input
16 ALMCOM Alarm Output 34 BAT
Battery Input
17 --- * 35 OUTM1COM General-pur-
18 --- * 36 OUTM1
purpose
Output 1
Note (1) Do not connect anything to unused pins (*).

(2) Inputs for pins 19 and 20 are determined by parameter settings. The dia-
gram shows the default configuration.
Servo Drive Connector 52986-3679 Molex Japan
Cable Connector 10136-3000PE Sumitomo 3M
Cable Case (Shell Kit) 10336-52A0-008 Sumitomo 3M
44
Control I/O Signals The following table shows the names and functions of the Servo Drive's con-
trol I/O signals.
Pin No. Symbol Name Function/Interface
1 +24VIN 12 to 24-VDC Power supply input terminal (12 to 24 VDC) for sequence inputs.
Power Supply
Input
2 STOP Emergency Input for emergency stop.
Stop Input When this signal is enabled and pin 1 is not connected to pin 2, an
Emergency Stop Input error (alarm code 87) occurs. Set this signal
to be enabled or disabled in the Emergency Stop Input Setting
(Pn041). (Factory default: Enable)
3 EXT3 External Latch This external signal input latches the current value feedback pulse
Signal 3 counter.
4 EXT2 External Latch The position data is obtained the moment the input is turned ON.
Signal 2 Minimal signal width must be 1 ms or more.
5 EXT1 External Latch
Signal 1
6 IN1 External Gen- This input is used as external general-purpose input 1.
eral-purpose
Input 1
7 PCL Forward Torque When the Torque Limit Selection (Pn003) is set to 3 or 5, this signal
Limit Input input selects the torque limit.
8 NCL Reverse Torque
Limit Input
19 to 20 POT Forward Drive Forward, reverse drive rotation overtravel Input.
Prohibit Input Pn004 chooses between enable and disable.
NOT Reverse Drive Pn044 sets the function assignment for pins 19 and 20.
Prohibit Input
Pn066 selects the operation.
21 DEC Origin Proximity Connect the origin proximity input signal in the origin search opera-
Input tion.
Pn042 changes the logic of the sensor.
eral-purpose
Input 0
eral-purpose
Input 2
11 --- Not used Do not connect anything.
34 BAT Backup battery Connect a battery to these terminals as a backup when the abso-
33 BATCOM input lute encoder is stopped. A cable with a battery is not required if a
battery is connected to these terminals. (Backup voltage: 3.6 V)
45
CN1 Control Input Signal Connection Diagram

External power supply: +24VIN 1 4.7 kΩ
12 VDC ±5% to
24 VDC ±5%
Photocoupler input
Power supply capacity:
50 mA min. (per Unit)
To other input circuit To other input circuits

ground commons
Signal Levels
ON level: 10 V min.
OFF level: 3 V max.
MECHATROLINK.)
tering.
CN1 Control Output
Signals
Pin No. Symbol Name Function/Interface
15 /ALM Alarm Output The output is OFF when an
16 ALMCOM alarm is generated in the Servo
Drive.
29 OUTM2 General-purpose Out- This is a general-purpose out-
30 OUTM2COM put 2 (READY) put. The function for this output
is selected by changing the
31 OUTM3 General-purpose Out- parameter.
32 OUTM3COM put 3 (CLIM)
Refer to Output Signal Assign-
36 OUTM1 General-purpose Out- ment Details on the next page.
35 OUTM1COM put 1 (BKIR)
46
■ Output Signal Assignment Details

Pn112 (General-purpose Output 1 OUTM1 (General-purpose Output 1)
Function Selection) OUTM2 (General-purpose Output 2)
Pn113 (General-purpose Output 2
Function Selection) OUTM3 (General-purpose Output 3)
Pn114 (General-purpose Output 3
Function Selection)
0 Not assigned No output. Always OFF.
1 INP1 Positioning Completed 1 output
assignment.
2 VCMP Speed Conformity Signal out-
put assignment.
3 TGON Servomotor Rotation Speed
Detection output assignment.
4 READY Servo Ready output assign-
ment.
5 CLIM Current Limit Detection output
assignment.
6 VLIM Speed Limit Detection output
assignment.
7 BKIR Brake Interlock output assign-
ment.
8 WARN Warning Signal output assign-
ment.
9 INP2 Positioning Completed 2 output
assignment.
Control Output Circuits

Servo Drive
To other output
+ circuits
X
− Di
External power supply

+
X 24 VDC ±1 V
Maximum operating voltage: 30 VDC
− Di Maximum output current: 50 mA
Di: Diode for preventing surge voltage

(Use high-speed diodes.)
3-3-4 W-series Servo Drive I/O Signals (R88D-WT@ with FNY-NS115)

This section explains the I/O signals used between the PCU and a W-series
Servo Drive equipped with a FNY-NS115 MECHATROLINK-II I/F Unit.
Use the OMNUC W Series User's Manual together with this manual for infor-
mation on I/O signals.

The following diagram shows the terminal arrangement of the W-series Servo
Drive's Control I/O Connector (CN1) when MECHATROLINK is being used
with the Servo Drive's standard settings.
47
1 --- --- 26 INP1COM Positioning

completed out-
2 --- --- 27 BKIR Brake inter- put 1 common
3 --- --- lock output 28 BKIRCOM Brake interlock
4 --- --- 29 READY Servo ready output common
5 --- --- output 30 READYCOM Servo ready

6 --- --- 31 ALM output common
Alarm output
7 --- --- 32 ALMCOM Alarm output
8 --- --- 33 --- --- common
9 --- --- 34 --- ---
10 --- --- 35 --- ---
11 --- --- 36 --- ---
12 --- --- 37 --- ---
13 --- --- 38 --- ---
14 --- --- 39 --- ---
15 --- --- 40 --- Unused input
16 --- --- 41 DEC Origin return
deceleration LS
17 --- --- input 42 POT Forward drive
18 --- --- 43 NOT Reverse drive prohibit input
prohibit input
19 --- --- 44 EXT1 External latch 1
input
20 --- --- 45 EXT2 External
21 BAT Backup battery latch 2 input 46 EXT3 External latch 3
22 BATGND + input 47 +24VIN +24 VDC con- input
Backup battery
trol power sup-
− input 23 --- --- ply input 48 --- ---
24 --- --- 49 --- ---
25 INP1 Positioning 50 --- ---
completed
output 1
Note (1) Do not connect wiring to unused pins.

(2) Connect the control I/O signal cable's shield wire to the connector shell.
The connector on the Servo Drive side is connected to the FG (frame
ground).
Receptacle on Servo Drive Side 10250-52A2JL Sumitomo 3M
Soldered Plug on Cable Side 10150-3000VE Sumitomo 3M
Case on Cable Side 10350-52A0-008 Sumitomo 3M
48
Control I/O Signals The following tables show the names and functions of the Servo Drive's con-
trol I/O signals.
Pin Signal Name Function/Interface Control
no. mode
40 --- Not used. This control input signal is not used with the standard set- ---
tings.
41 DEC Origin return deceleration Used as the origin proximity input signal during the origin Position
LS search operation.
With the standard settings, the signal is enabled when ON.
42 POT Forward drive prohibit Used as the forward limit input. All modes
input (Positive overtravel) With the standard settings, the input is normally closed and
operates as follows:
OFF: Drive prohibited ON: Drive allowed
43 NOT Reverse drive prohibit Used as the reverse limit input. All modes
input (Negative over- With the standard settings, the input is normally closed and
travel) operates as follows
44 EXT1 External latch 1 input Input signal used for external interrupts. Position
45 EXT2 External latch 2 input Used as an external interrupt input signal during interrupt
46 EXT3 External latch 3 input feeding or an external origin input signal during an origin
search.
With the standard settings, the signal is enabled when ON.
47 +24VIN +24 VDC control power This is the input terminal for the +24 VDC control input All modes
supply power supply.
Control Input Circuit

Servo Drive
3.3 k
+24VIN 47
24 ± 1 VDC
Power supply capacity 3.3 k Photocoupler input (24 VDC, 7 mA)
50 mA min. (per Unit) 40
Minimum ON time: 2 ms
To other input circuits GND common To other input circuits
• Signal levels ON: Min. voltage (+24VIN − 11 V)

OFF: Max. voltage (+24VIN − 1 V)
MECHATROLINK.)
49
tering.
CN1 Control Output Signals
Pin no. Signal Name Function/Interface Control
mode
25 INP1 Positioning completed The position deviation is less than positioning comple- Position
26 INP1COM output 1 tion range 1 (Pn500). (This signal is always OFF in con-
trol modes other than position control mode.)
27 BKIR Brake interlock output This is the holding brake timing signal that is output All modes
28 BKIRCOM according to the settings in parameters Pn506, Pn507,
and Pn508.
29 READY Servo ready output Turned ON if there are no errors after the control and All modes
30 READYCOM main circuit power supplies are turned ON.
31 ALM Alarm output This output turns OFF when there is a Servo Drive All modes
32 ALMCOM alarm.
Shell FG Frame ground Use this terminal to connect the cable's shield and FG All modes
wire.
Control Output Circuit

Servo Drive
To other output circuit
+
X
External power Voltage: 30 VDC max.
supply Output current: 50 mA max.
Di 24 ± 1 VDC
See note. −
Di: Diode providing surge-voltage protection (Use a high-speed diode.)
Note The circuit is equipped with an auto-resetting circuit breaker to protect the out-
put. Even if an overcurrent trips the breaker, the breaker will reset automati-
cally after a certain time elapses with no current. (Ver. 37 and later Servo
Drives are equipped with the auto-resetting circuit breakers.)
3-3-5 W-series Servo Drive I/O Signals (R88D-WN@-ML2 with

MECHATROLINK-II Built-in Communications)
This section explains the I/O signals used between the PCU and a W-series
Servo Drive equipped with built-in MECHATROLINK-II communications.
Use the OMNUC W Series User's Manual (Cat. No. I544) together with this
manual for information on I/O signals.

When using W-series Servo Drives equipped with built-in MECHATROLINK-II
communications, the default control I/O signal allocations are the standard
Servo Drive settings for using MECHATROLINK.
The following diagram shows the terminal arrangement of the W-series Servo
Drive's Control I/O Connector (CN1) when MECHATROLINK is being used
with the Servo Drive's default settings.
50
1 BKIR Brake interlock 14 BAT Backup battery
(SO1+) output + input
2 BKIRCOM Brake interlock 15 BATGND Backup battery
(SO1−) output common − input
3 ALM Alarm output 16 --- ---

4 ALMCOM Alarm output 17 --- ---
common
5 --- --- 18 --- ---
6 +24VIN 24-VDC 19 --- ---
control power
7 POT Forward drive supply 20 --- ---
prohibited Reverse drive
8 NOT 21 --- ---
Origin return prohibited
9 DEC 22 --- ---
deceleration
limit switch 10 EXT1 External latch 23 SO2+ Unused output
1 input
11 EXT2 External latch 24 SO2− Unused output
2 input External latch Unused output
12 EXT3 25 SO3+
3 input Unused output
13 --- Unused input 26 SO3−
Note (1) Do not connect wiring to unused pins.

(2) Connect the control I/O signal cable's shield wire to the connector shell.
The connector on the Servo Drive side is connected to the FG (frame
ground).
CN1 Connector (26 Pins)
Control I/O Signals The following tables show the names and functions of the Servo Drive's con-
trol I/O signals.
Control Input Signals
Pin No. Symbol Name Function/Interface Control mode
6 +24VIN +24 VDC control This is the input terminal for the +24 VDC control All modes
power supply input power supply.
7 POT Forward drive pro- Used as the forward limit input. All modes
hibited With the standard settings, the input is normally
closed and operates as follows:
8 NOT Reverse drive pro- Used as the reverse limit input. All modes
hibited With the standard settings, the input is normally
closed and operates as follows
9 DEC Origin return decel- Used as the origin proximity input signal during the Position
eration limit switch origin search operation.
With the standard settings, the signal is enabled
when ON.
51

10 EXT1 External latch 1 input Input signal used for external interrupts. Position
11 EXT2 External latch 2 input Used as an external interrupt input signal during
12 EXT3 External latch 3 input interrupt feeding or an external origin input signal
during an origin search.
With the standard settings, the signal is enabled
when ON.
13 --- Not used. This control input signal is not used with the standard ---
settings.
Control Input Circuit

Servo Drive
3.3 k
+24VIN 6
24 ± 1 VDC
Power supply capacity 3.3 k Photocoupler input (24 VDC, 7 mA)
50 mA min. (per Unit) 9
To other input circuits GND common To other input circuits
• Signal levels ON: Min. voltage (+24VIN − 11 V)

OFF: Max. voltage (+24VIN − 1 V)
MECHATROLINK.)
tering.
Control Output Signals
1 BKIR Brake interlock out- This is the holding brake timing signal that is output All modes
(SO1+) put according to the settings in parameters Pn506,
2 BKIRCOM Pn507, and Pn508.
(SO1−)
3 ALM Alarm output This output turns OFF when there is a Servo Drive All modes
4 ALMCOM alarm.
52

23 SO2+ General-purpose These control input signals are not used with the All modes
24 SO2− output standard settings.
25 SO3+
26 SO3−
Shell FG Frame ground Use this terminal to connect the cable's shield and All modes
FG wire.
Control Output Circuit

Servo Drive
To other output circuit
+
X
External power Voltage: 30 VDC max.
supply Output current: 50 mA max.
Di 24 ± 1 VDC
See note. −
Di: Diode providing surge-voltage protection (Use a high-speed diode.)
Note The circuit is equipped with an auto-resetting circuit breaker to protect the out-
put. Even if an overcurrent trips the breaker, the breaker will reset automati-
cally after a certain time elapses with no current.
3-3-6 SMARTSTEP Junior Servo Drive I/O Signals (R7D-ZN@-ML2 with

Built-in MECHATROLINK-II Communications)
Unit when using a SMARTSTEP Junior Servo Drive with Built-in MECHA-
TROLINK-II Communications.
Refer also to the SMARTSTEP Junior Servo Drive with MECHATROLINK-II
Communications User’s Manual (Cat. No. I554).
Terminal Arrangement of Control I/O Connector (CN1)

The default control I/O signal allocations for a SMARTSTEP Junior Servo
Drive with MECHATROLINK-II Communications are set to the standard Servo
Drive settings for using MECHATROLINK. The default pin arrangement of the
control I/O connector (CN1) on the Servo Drive are shown below.
Only the I/O signals that are connected to the Position Control Unit are shown.
Refer to 6-4 Standard Settings for Servo Drives Using MECHATROLINK for
the standard Servo Drive settings for using MECHATROLINK.
1 EXT1 External 8 --- ---

2 DEC Origin prox- latch signal 9 --- ---
imity input 1 input
4 POT Forward 3 NOT Reverse 11 --- --- 10 --- ---
drive inhibit drive inhibit
input input
6 STOP Emergency 5 +24VIN +24 VDC 13 BKIR Brake inter- 12 ALM Alarm output
stop input control lock output
power sup-
ply input
7 0GND Output 14 --- ---
ground
common
Note (1) Do not connect unused pins.
53
(2) Connect the shield in the control I/O signal cable to the connector hood.
At the Servo Drive connector, connect it to the FG (Frame ground).
CN1 Connector (14 Pins)
Control I/O Signals The names and functions of Servo Drive control I/O signals are given in the
following table.
Pin Signal Name Function/interface Control
No. mode
1 EXT1 External latch signal 1 input An external interrupt input signal. Position
Use as an external interrupt signal for
interrupt feeding or as external origin
input signal for origin searches. The
signal is valid when ON.
2 DEC Origin proximity input The origin proximity input signal for ori- All modes
gin searches.
The signal is valid when ON.
3 NOT Reverse drive inhibit input The limit input in the reverse direction. All modes
This input operates as follows (i.e., like
a NC contact):
OFF: Drive prohibited, ON: Drive
enabled
4 POT Forward drive inhibit input The limit input in the forward direction. All modes
a NC contact):
OFF: Drive prohibited, ON: Drive
enabled
5 +24VIN +24-V power supply input for The +24 VDC input terminal for the con- All modes
control DC trol input power supply.
6 STOP Emergency stop input An external input signal used to stop All modes
power supply to the motor.
This input is used when an error occurs
to unlock the Servo from a host control-
ler.
a NC contact):
OFF: Power to motor stopped (Servo
cannot be locked).
ON: Power can be supplied to motor
(Servo can be locked).
Control Input Circuits

Servo Drive
3.3 kΩ
External power supply 5
24±1 VDC Photocoupler input:
3.3 kΩ
Power supply capacity EXT 1 7 mA at 24 VDC
50 mA max. (per Unit)
To ground common for Other input circuit

other input circuit
Signal Levels: ON: (+24 VIN − 11) V min.

OFF: (+24 VIN − 1) V max.
54
MECHATROLINK.)
tering.
(4) The SMARTSTEP Junior Servo Drive's emergency stop input stops the
Servomotor using software processing. If required for system safety, add
a safety circuit in an external circuit.
CN1 Control Output Signals
Pin No. Signal Name Function/interface Control mode
7 0GND Output ground common The ground common for control output sig- All modes
nals.
12 ALM Alarm output Turns OFF when an alarm occurs in the All modes
Servo Drive.
13 BKIR Brake interlock output Output as a timing signal for a holding brake All modes
when the Servo is locked or unlocked.
Shell FG Frame ground The connection point for the cable shield All modes
and FG line.
Control Input Circuits

Servo Drive
12 ALM
Maximum applicable voltage: 30 VDC

Di Maximum output current: 50 mA
13 BKIR
External power
Di supply: 24±1 VDC
7 0GND
Di: Diode to suppress surge voltage

(Use a high-speed diode.)
Note The circuit is equipped with an auto-resetting circuit breaker to pro-

tect the output. Even if an overcurrent trips the breaker, the breaker
will reset automatically after a certain time elapses with no current.
55
Wiring Section 3-4
3-4 Wiring
This section provides examples of the connections between the PCU and
Servo Drive as well as the Servo Drive's control I/O connections.
3-4-1 MECHATROLINK-II Communications Wiring

Use the special MECHATROLINK-II Connection Cable to connect the PCU
and Servo Drive (MECHATROLINK-II I/F Unit).
Connection Cable Use the following cables (made by Yaskawa Electric) to connect MECHA-
TROLINK-II devices.
Name Model number Cable length Manufacturer
MECHATROLINK-II JEPMC-W6003-A5 0.5 m Yaskawa Electric
Connection Cable JEPMC-W6003-01 1.0 m Corporation
(USB connectors
and ferrite cores on JEPMC-W6003-03 3.0 m
both ends) JEPMC-W6003-05 5.0 m
JEPMC-W6003-10 10 m
JEPMC-W6003-20 20 m
JEPMC-W6003-30 30 m
Terminators Make sure to connect the following Terminator at the end of the MECHA-
TROLINK-II communications line.
Name Model number Manufacturer
MECHATROLINK-II Terminator JEPMC-W6022 Yaskawa Electric Corporation
Repeaters The wiring distance for the MECHATROLINK-II can be extended to a maxi-
mum of 100 m by using Repeaters.
Name Model number Manufacturer
MECHATROLINK-II Repeater JEPMC-REP2000 Yaskawa Electric Corporation
Note MECHATROLINK-II Connection Cables and Terminators can be ordered from

OMRON with the following model numbers.
Name Yaskawa Electric Co. OMRON model

model number number
MECHATROLINK-II Connection JEPMC-W6003-A5 FNY-W6003-A5
Cable (USB connectors and ferrite JEPMC-W6003-01 FNY-W6003-01
cores on both ends)
JEPMC-W6003-03 FNY-W6003-03
JEPMC-W6003-05 FNY-W6003-05
JEPMC-W6003-10 FNY-W6003-10
JEPMC-W6003-20 FNY-W6003-20
JEPMC-W6003-30 FNY-W6003-30
MECHATROLINK-II Terminator JEPMC-W6022 FNY-W6022
MECHATROLINK-II Repeater JEPMC-REP2000 FNY-REP2000
56
Wiring Section 3-4
MECHATROLINK-II Communications Connections

The following example shows a PCU connected with several Servo Drives
with the MECHATROLINK-II Connection Cables.
Position Control Unit
ABCD
678 9
E0F1
2345
L1 L2 Ln
NS115 NS115 NS115
Terminator
Note When not using Repeaters, the maximum total length of the Connection
Cable (L1 + L2 + ... + Ln) is 50 m when using fewer than 16 axes or 30 m
when using 16 axes.
MECHATROLINK-II The maximum total length of the Connection Cables depends on the number
Connection Cable Length of MECHATROLINK devices (Servo Drives) being connected, as shown in the
following table.
Repeaters Number of MECHATROLINK Minimum cable Maximum total
devices length between cable length
devices
Without 15 or fewer 0.5 m min. 50 m max.
Repeaters 16 0.5 m min. 30 m max.
With Between PCU 14 or fewer 0.5 m min. 50 m max.
Repeaters and Repeater 15 0.5 m min. 30 m max.
Between 15 or fewer 0.5 m min. 50 m max.
Repeater and 16 0.5 m min. 30 m max.
Terminator
Note The number of devices in the table for when Repeaters are used does not
include the Repeaters. For example, if using one MECHATROLINK device
between the PCU and the Repeater and 15 MECHATROLINK devices
between the Repeater and the Terminator, there will be 16 MECHATROLINK
devices and the maximum total cable length is 100 m.
Note Always turn OFF the power supply to the PCU and Servo Drives before con-
necting or disconnecting MECHATROLINK-II Connection Cables or the Termi-
nator.
57
Wiring Section 3-4
3-4-2 Wiring the Servo Drive I/O Signals

The following example shows a Servo Drive's control I/O signal connections
when a Position Control Unit is connected to a G5-series Servo Drive, a G-
series Servo Drive, a W-series Servo Drive, or a SMARTSTEP Junior Servo
Drive.
For details on connecting the Servo Drive to the power supply or Servomotor,
refer to the Servo Drive operation manual.
Control I/O Connector (CN1) Connection Example

R88D-KN@-ML2 (Equipped with Built-in MECHATROLINK-II Communications)
12 to 24 VDC +24VIN 6 4.7kΩ 10Ω 3 /ALM

General- Alarm Output
purpose 1kΩ 4 ALMCOM
Input 1 IN1 5
4.7kΩ 10Ω 1 OUTM1
General-purpose Output 1
General-
purpose 1kΩ 2 OUTM1COM
Input 2 IN2 7
4.7kΩ 10Ω 25 OUTM2
General-purpose Output 2
General- 26 OUTM2COM
purpose 1kΩ
Input 3 IN3 8
4.7kΩ
Voltage: 30 VDC max.
General- Output current: 50 mA max.
purpose 1kΩ
Input 4 IN4 9
4.7kΩ
General-
purpose 1kΩ
Input 5 IN5 10
4.7kΩ
General-
purpose 1kΩ
Input 6 IN6 11
4.7kΩ 16 GND
General-
purpose 1kΩ
Input 7 IN7 12
4.7kΩ
General-
purpose 1kΩ
Input 8 IN8 13
BAT 14
Backup
Battery
(See note 1.)
BATGND 15 Shell FG
58
Wiring Section 3-4
R88D-GN@-ML2 (Equipped with Built-in MECHATROLINK-II Communications)
12 to 24 VDC +24VIN 1 4.7 k

15 /ALM
Emergency 1k Alarm Output
Stop STOP 2
16 ALMCOM
4.7k
External 36 OUTM1
1k
Latch 3 General-purpose Output 1
EXT3 3
4.7k
35 OUTM1COM
External 1k
Latch 2 29 OUTM2
EXT2 4
4.7k General-purpose Output 2
External 30 OUTM2COM
1k
Latch 1
EXT1 5
31 OUTM3
4.7k
General- General-purpose Output 3
purpose 1k
Input 1 32 OUTM3COM
IN1 6
4.7k
Forward
Torque 1k
Limit Input
PCL 7
4.7k
Reverse
Torque- 1k
Limit Input
NCL 8
4.7k
Forward
Drive Pro- 1k
hibit Input POT 19
4.7k
Reverse
Drive Pro-
1k
hibit Input
NOT 20
4.7k
Origin
Proximity
Input 1k
DEC 21
4.7k
General- Backup Battery (See note 1.)
purpose 1k 34 BAT
Input0
IN0 22
4.7k 33 BATCOM
General-
purpose
Input 2 1k
IN2 23
Shell FG
Note (1) If a backup battery is connected, a cable with a battery is not required.
(2) Inputs for pins 19 and 20 are determined by parameter settings. The dia-
gram shows the default configuration.
59
Wiring Section 3-4
R88D-WT@ with FNY-NS115

The following example shows the connections when the standard I/O signal
settings are being used.
24 VDC +24VIN 47 3.3 kΩ

25 INP1
3.3 kΩ Positioning completed Max. voltage:
Not used. 40 26 output 1
INP1COM 30 VDC
3.3 kΩ 27 BKIR Max. output current:
Origin return Brake interlock output 50 mA
deceleration LS DEC 41 3.3 kΩ 28 BKIRCOM
3.3 kΩ 29 READY
Forward drive Servo ready output
prohibited signal POT 42 3.3 kΩ 30 READYCOM
3.3 kΩ 31 ALM
Alarm output
Reverse drive 32 ALMCOM
prohibited signal NOT 43 3.3 kΩ
3.3 kΩ
External latch 1
input 3.3 kΩ
EXT1 44
3.3 kΩ
External latch 2
input 3.3 kΩ
EXT2 45
3.3 kΩ
External latch 3
input 3.3 kΩ Shell FG
EXT3 46 Frame ground
R88D-WN@-ML2 (Equipped with Built-in MECHATROLINK-II Communications)
24 VDC +24VIN 6 3.3 kΩ

1 SO1+
Forward drive 3.3 kΩ Brake interlock output
prohibited signal POT 7 Max. voltage:
2 SO1−
30 VDC
3.3 kΩ 23 SO2+ Max. output current:
Reverse drive Not used. 50 mA
prohibited signal 3.3 kΩ 24 SO2−
8
3.3 kΩ 25 SO3+
Origin return Not used.
deceleration LS DEC 9 3.3 kΩ 26 SO3−
3.3 kΩ 3 ALM
External latch 1 Alarm output
input 3.3 kΩ 4 ALMCOM
EXT1 10
3.3 kΩ
External latch 2
input 3.3 kΩ
EXT2 11
3.3 kΩ
External latch 3
input 3.3 kΩ
EXT3 12
3.3 kΩ
3.3 kΩ Shell FG
Not used. 13 Frame ground
60
Wiring Section 3-4
R7D-ZN@-ML2 (Equipped with Built-in MECHATROLINK-II Communications)

24 VDC +24VIN 5
12 /ALM
External latch Alarm output Maximum
signal 1 3.3 kΩ operating voltage:
EXT1 1 30 V DC
Maximum output
13 current: 50 mA
BKIR
Origin Brake interlock
2 3.3 kΩ
proximity input DEC 7
0GND
Reverse rotation 3.3 kΩ

drive prohibit NOT 3
Forward rotation
drive prohibit 4 3.3 kΩ
POT
Emergency stop Shell FG

input 6 3.3 kΩ
STOP Frame ground
Note When a Servo Drive is controlled through MECHATROLINK-II communica-

tions, software processes are used to stop the Servomotor when the corre-
sponding PCU control signal is received, the Servo Drive's drive prohibited
input signal is received, or an error occurs. Use an external fail-safe circuit
(outside of the Servo Drive), such as a circuit that disconnects the Servo
Drive's main power supply, to stop the system in an emergency.
Components Provided to Wire Control I/O Signals

The following components are provided to wire the Control I/O Connector
(CN1) on a G5-series, a G-series, W-series, or SMARTSTEP Junior Servo
Drive.
Control I/O Connector This connector connects to the Control I/O Connector (CN1) on a G-series
(R88A-CNU01C) Servo Drive (R88D- GN@-ML2).
Use this connector when making your own control cable.
Dimensions
39
52.4
Connector Plug model

10136-3000PE (Sumitomo 3M)
Connector Case model
10336-52A0-008 (Sumitomo 3M)
t = 18
Control I/O Connector This connector connects to the W-series Servo Drive’s Control I/O Connector
(R88A-CNU11C) (CN1).
61
Wiring Section 3-4
Dimensions
39
52.4
Connector Plug model
10150-3000VE (Sumitomo 3M)
Connector Case model
10350-52A0-008 (Sumitomo 3M)
t = 18
Control I/O Connector This connector connects to the R88D-KN@-ML2 G5-series Servo Drive or the
(R88A-CNW01C) R88D-WN@-ML2 W-series Servo Drive's Control I/O Connector (CN1).
Dimensions
39
Connector plug: 10126-3000VE (Sumitomo 3M)

37.2
Connector case: 10326-52A0-008 (Sumitomo 3M)
t = 14
Control I/O Connector This connector connects to the R7D-ZN@-ML2 SMARTSTEP Junior Servo
(R7A-CNA01R) Drive's Control I/O Connector (CN1).
39
Driver end
29.5
R7D-ZP@
t = 12.7
General-purpose Control This cable has a connector already attached, which connects to the R88D-
Cable (R88A-CPW@S) WT@ W-series Servo Drive's Control I/O Connector (CN1). There is no con-
nector attached to the other end of the cable. Attach an appropriate connector
to connect the desired I/O device in order to use the cable.
Standard Cables
Model Length (L) Sheath diameter Approx. weight
R88A-CPW001S 1m 12.8-mm dia. 0.3 kg
R88A-CPW002S 2m 0.6 kg
62
Wiring Section 3-4
Connection Configuration and Dimensions

L 39
Controller Servo Drive
R88D-WT@
t = 18
Wiring
No. Wire/Marking colors Signal No. Wire/Marking colors Signal
1 Yellow/Black (− − −) --- 27 White/Red (− −) BKIR
2 Pink/Black (− − − −) --- 28 White/Black (− −) BKIRCOM
3 Yellow/Red (− − − − −) --- 29 Yellow/Red (− −) READY
4 Pink/Red (− − − −) --- 30 Yellow/Black (− −) READYCOM
5 Orange/Red (−) --- 31 Pink/Red (− −) ---
6 Orange/Black (−) --- 32 Pink/Black (− −) ---
7 Gray/Red (−) --- 33 Orange/Red (− − −) ---
8 Gray/Black (−) --- 34 Orange/Black (− − −) ---
9 White/Red (−) --- 35 Gray/Black (− − −) ---
10 White/Black (−) --- 36 Gray/Red (− − −) ---
11 Yellow/Red (−) --- 37 White/Red (− − −) ---
12 Yellow/Black (−) --- 38 White/Black (− − −) ---
13 Yellow/Black (− − − − −) --- 39 Yellow/Red (− − −) ---
14 Pink/Black (−) --- 40 Pink/Red (− − −) (Not used.)
15 Pink/Red (−) --- 41 Pink/Black (− − −) DEC
16 Orange/Red (− − − − −) --- 42 Orange/Red (− − − −) POT
17 Orange/Black (− − − − −) --- 43 Orange/Black (− − − −) NOT
18 Pink/Red (− − − − −) --- 44 Gray/Black (− − − −) EXT1
19 Gray/Red (− −) --- 45 White/Red (− − − −) EXT2
20 Gray/Black (− −) --- 46 White/Black (− − − −) EXT3
21 Gray/Red (− − − − −) --- 47 Gray/Red (− − − −) +24VIN
22 Gray/Black (− − − − −) --- 48 Yellow/Red (− − − −) ---
23 White/Red (− − − − −) --- 49 Yellow/Black (− − − −) ---
24 White/Black (− − − − −) --- 50 Pink/Black (− − − − −) ---
25 Orange/Red (− −) INP1 Shell --- FG
26 Orange/Black (− −) INP1COM
Connector Plug model: 10150-3000VE (Sumitomo 3M)

Connector Case model: 10350-52A0-008 (Sumitomo 3M)
Cable: 24 AWG, 25 wire, UL20276
Note (1) Wires with the same wire color and number of marks make up a twisted
pair.
For example, the Orange/Red (−) and Orange/Black (−) wires make up a
twisted pair.
(2) The I/O signals listed in the table above are applicable only when con-
necting to the PCU. Do not wire any unused signals.
Connector-Terminal Block This cable connects to the R88D-KN@-ML2 G5 series Servo Drive’s connec-
Cables (XW2Z-@J-B34) tor terminal block.
63
Wiring Section 3-4
Standard Cables
Model Length (L) Outer diameter of Approx. weight
cable
XW2Z-100J-B34 1m 8.0 dia. 0.1 kg
XW2Z-200J-B34 2m 0.2 kg

6 L 39
Connector terminal
block Servo Drive
XW2B-20G4
37.2
30
XW2B-20G5 R88D-KN@
XW2D-20G6
t=14
Connector on Connector Terminal Block Connector on Servo Drive (CN1)

Name No. No. Name
+24V 1 6 +24VIN
0V 2
+24V 3
0V 4
+24V 5
0V 6
STOP 7 5 STOP
DEC 8 9 DEC
POT 9 7 POT
NOT 10 8 NOT
EXT1 11 10 EXT1
EXT2 12 11 EXT2
EXT3 13 12 EXT3
BATGND 14 15 BATGND
BAT 15 14 BAT
BKIRCOM 16 2 BKIRCOM
BKIR 17 1 BKIR
ALMCOM 18 4 ALMCOM
ALM 19 3 ALM
FG 20 Shell FG
*Set the signal names of driver Connector on Servo Drive

connectors shown above. Connector Plug: 10126-3000PE (Sumitomo 3M)
Connector Case: 10326-52A0-008 (Sumitomo 3M)
Connector on Connector Terminal Block
Connector Socket: XG4M-2030 (OMRON)
Strain Relief: XG4T-2004 (OMRON)
Cable: AWG28 x 3P + AWG28 x 7C UL2464
64
Wiring Section 3-4
Connector-Terminal Block This cable connects to the R88D-WN@-ML2 G series Servo Drive’s connector
Cables (XW2Z-@J-B33) terminal block.
Standard Cables
Model Length (L) Outer diameter of Approx. weight
cable
XW2Z-100J-B33 1m 8.0 dia. 0.1 kg
XW2Z-200J-B33 2m 0.2 kg

6 L 39
Connector terminal
block end Servo Drive end
XW2B-20G4
43.5
30
XW2B-20G5 R88D-GN@
XW2D-20G6
t=18
Wiring
Terminal block Connector Servo Drive • Wires with the same wire color and the same
Wire/mark
number of marks form a twisted pair.
Signal No. No. No. color Signal
+24VIN 1 1 1 Blue/Red (1) +24VIN A pink/red (1) wire and pink/black (1) wire form a
0V 2 2 Blue/Black (1) twisted pair.
+24VIN 3 3 Pink/Red (1)
0V 4 4 Pink/Black (1)
+24VIN 5 5 Green/Red (1) Servo Drive Connector
0V 6 6 Green/Black (1) Connector plug: 10136-3000PE (Sumitomo 3M)
STOP 7 7 2 Orange/Red (1) STOP Connector case: 10336-52A0-008 (Sumitomo 3M)
DEC 8 8 21 Orange/Black (1) DEC
POT 9 9 19 Gray/Red (1) POT
NOT 10 10 20 Gray/Black (1) NOT Terminal Block Connector
EXT1 11 11 5 Blue/Red (2) EXT1 Connector socket: XG4M-2030 (OMRON)
EXT2 12 12 4 Blue/Black (2) EXT2 Strain relief: XG4T-2004 (OMRON)
EXT3 13 13 3 Pink/Red (2) EXT3
BATCOM 14 14 33 Green/Red (2) BATCOM
BAT 15 15 34 Green/Black (2) BAT Cable
OUTM1COM 16 16 35 Orange/Red (2) OUTM1COM AWG28×10P UL2464
OUTM1 17 17 36 Orange/Black (2) OUTM1
ALMCOM 18 18 16 Gray/Red (2) ALMCOM
/ALM 19 19 15 Gray/Black (2) /ALM
FG 20 20 Shell Not specified. FG
Connector Terminal Block This cable connects to the R88D-WT@ W-series Servo Drive’s connector ter-
Cables (XW2Z-@J-B15) minal block.
Standard Cables
Model Length (L) Approx. weight
XW2Z-100J-B15 1m 0.1 kg
XW2Z-200J-B15 2m 0.2 kg

6 L 39
Connector terminal
XW2B-20G4
52.4
XW2B-20G5 R88D-WT@
30
XW2D-20G6
t=18
65
Wiring Section 3-4
Wiring
Connector terminal block end Servo Drive end
Name No. No. Name
+24 V 1 47 +24 VIN
0V 2
+24 V 3
0V 4
+24 V 5
0V 6
7
DEC 8 41 DEC
POT 9 42 POT
NOT 10 43 NOT
EXT1 11 44 EXT1
EXT2 12 45 EXT2
EXT3 13 46 EXT3
BATGND 14 22 BATGND
BAT 15 21 BAT
BKIR 17 27 BKIR
ALMCOM 18 32 ALMCOM
ALM 19 31 ALM
FG 20 Shell FG
Connector on Servo Drive End

Connector Plug: 10150-300VE (Sumitomo 3M)
Connector on Connector Terminal Block End
Cable: AWG28 × 3P + AWG28 × 7C UL2464
Note Signal names for the connector on the Servo Drive end are for standard I/O
allocations.
Connector Terminal Block This is the Connector Terminal Block Cable for W-series Servo Drives (R88D-
Cables (XW2Z-@J-B16) WN@-ML2 with built-in MECHATROLINK-II communications).
Standard Cables
Model Length (L) Approx. weight
XW2Z-100J-B16 1m 0.1 kg
XW2Z-200J-B16 2m 0.2 kg

6 L 39
Connector terminal
XW2B-20G4
37.2
30
XW2B-20G5 R88D-WN@-ML2
XW2D-20G6
t=14
66
Wiring Section 3-4
Wiring
Connector terminal block end Servo Drive end
Name No. No. Name
+24 V 1 6 +24 VIN
0V 2
+24 V 3
0V 4
+24 V 5
0V 6
7
DEC 8 9 DEC
POT 9 7 POT
NOT 10 8 NOT
EXT1 11 10 EXT1
EXT2 12 11 EXT2
EXT3 13 12 EXT3
BATGND 14 15 BATGND
BAT 15 14 BAT
BKIR 17 1 BKIR
ALMCOM 18 4 ALMCOM
ALM 19 3 ALM
FG 20 Shell FG
Connector on Servo Drive End

Connector Plug: 10126-300VE (Sumitomo 3M)
Connector on Connector Terminal Block End
Cable: AWG28 × 3P + AWG28 × 7C UL2464
Note Signal names for the connector on the Servo Drive end are for standard I/O
allocations.
Connector Terminal Block This is the Connector Terminal Block Cable for the SMARTSTEP Junior Servo
Cable (XW2Z-@J-B19) Drive Control I/O Connector (CN1).
Standard Cables
Model Length (L) Outer diameter of cable Approx. weight
XW2Z-100J-B19 1m 8 dia. 0.1 kg
XW2Z-200J-B19 2m 0.2 kg

6 L 39
Connector terminal
block end
Servo Drive end
XW2B-20G4
29.5
XW2B-20G5 R7D-Z@
XW2D-20G6
t=12.7
67
Wiring Section 3-4
Wiring
Terminal Block Connector Servo Drive end
Signal No. No. No. Wire code/Mark color Signal
+24VIN 1 1 5 Blue/Red (−) +24VIN
2 2
+24VIN 3 3
4 4
+24VIN 5 5
6 6
EXT1 7 7 1 Pink/Red (−) EXT1
DEC 8 8 2 Pink/Black (−) DEC
NOT 9 9 3 Green/Red (−) NOT
POT 10 10 4 Green/Black (−) POT
11 11 8 Orange/Red (−)
12 12 9 Orange/Black (−)
13 13 10 Grey/Red (−)
14 14 11 Grey/Black (−)
STOP 15 15 6 Blue/Red (− −) STOP
0GND 16 16 7 Blue/Black (− −) 0GND
BKIR 17 17 13 Pink/Red (− −) BKIR
18 18 14 Pink/Black (− −)
/ALM 19 19 12 Green/Red (− −) /ALM
Shield 20 20 Shell Shield FG
Connector at Connector Terminal Block

Connector Socket: XG4M-2030
Strain Relief: XG4T-5004
Cable: AWG28-10P UL20276
Connector at Servo Drive
Connector Plug: 10114-3000PE (Sumitomo 3M)
Connector-Terminal The Connector-Terminal Block Conversion Unit can be used along with a
Conversion Units Connector Terminal Block Cable (XW2Z-@J-B15/B16/B19/B33/B34) to con-
vert the control I/O connector (CN1) of a G5-series Servo Drive, G-series
Servo Drive, W-series Servo Drive, or SMARTSTEP Junior Servo Drive to a
terminal block.
XW2B-20G4
The XW2B-20G4 is an M3 Screw Terminal Block.
68
Wiring Section 3-4
Dimensions
Flat cable connector (MIL plug)
3.5 67.5 3.5
20
19
15.5
29.5
45
19
Two,
20 3.5-dia.
5.08 Terminal Block
(45.3)
38.1
20.5
Note (1) Use 0.30 to 1.25 mm2 wire (AWG22 to AWG16).

(2) The wire inlet is 1.8 mm (height) × 2.5 mm (width).
(3) Strip the insulation from the end of the wire for 6 mm as shown below.
6 mm
XW2B-20G5
The XW2B-20G5 is an M3.5 Screw Terminal Block.
Dimensions
Flat cable connector (MIL connector)
3.5 112.5 3.5
7 7
15.5
29.5
45
Two, 3.5-dia.
8.5 7.3 Terminal block

(45.3)
43.5
20.5
• Terminal block pitch: 8.5 mm
69
Wiring Section 3-4
Note (1) When using crimp terminals, use crimp terminals with the following di-
mensions.
(2) When connecting wires and crimp terminals to a terminal block, tighten
them with a tightening torque of 0.59 N·m.
Round Crimp Terminals Fork Terminals
3.2-mm dia.
6.8 mm max. 3.7 mm 6.8 mm max.
Applicable Crimp Terminals Applicable Wires

Round Crimp 1.25-3 AWG22-16
Terminals (0.3 to 1.25 mm2)
2-3.5 AWG16-14
(1.25 to 2.0 mm2)
Fork Terminals 1.25Y-3 AWG22-16
(0.3 to 1.25 mm2)
2-3.5 AWG16-14
(1.25 to 2.0 mm2)
XW2D-20G6
The XW2D-20G6 is an M3 Screw Terminal Block.
A1 A
2 A3 A
4 A
5 A
B1 B 6 A7
2 B3 A8 A
B4 B 9 A1
5 B 0
6 B7
B8 B
9 B1
0
Dimensions
79 (39.1)
57 17.6
Two, 4.5-dia.
6
40
(4.5)
39
Note (1) When using crimp terminals, use crimp terminals with the following di-
mensions.
70
Wiring Section 3-4
(2) When connecting wires and crimp terminals to a terminal block, tighten
them with a tightening torque of 0.7 N·m.
Round Crimp Terminals Fork Terminals
3.2-mm dia.
5.8 mm max. 3.2 mm 5.8 mm max.
Applicable Crimp Terminals Applicable Wires

Round Crimp 1.25-3 AWG22-16
Terminals (0.3 to 1.25 mm2)
Fork Terminals 1.25Y-3 AWG22-16
(0.3 to 1.25 mm2)
The following diagrams show typical connections between a host device and
Servo Drives using a MECHATROLINK-II communications cable.
■ G5-series Servo Drives
Terminal Block Wiring Example (Same for XW2B-20G4, XW2B-20G5, and
XW2D-20G6)
*1
+24V +24V +24V STOP POT EXT1 EXT3 BAT BKIR ALM
0V 0V 0V DEC NOT EXT2 BATGND BKIRCOM ALMCOM FG
*2 *3
XB X1
DC24V DC24V
■ G-series Servo Drives

Terminal Block Wiring Example (Same for XW2B-20G4, XW2B-20G5, and
XW2D-20G6)
(See note 3.)
+24 V +24 V +24 V STOP POT EXT1 EXT3 BAT OUTM1 /ALM
DEC NOT EXT2 BAT OUTM1 ALM FG

0V 0V 0V COM COM COM
(See
note
1.) (See note 2.)
X1 XB
24 VDC 24 VDC
Note (1) Absolute encoder backup battery 3.6 to 4.5 V

(2) The XB contacts are used to turn ON/OFF the electromagnetic brake.
(3) Assign BKIR (brake interlock) to CN1-36 pin to use.
(4) The absolute encoder backup battery is not required when using a Ser-
vomotor with an incremental encoder.
71
Wiring Section 3-4
(5) Connect the absolute encoder backup battery to only one of either the
connector terminal block or absolute encoder backup battery cable.
(6) Use cable clips with double-sided adhesive tape to secure the absolute
encoder backup battery in place.
■ W-series Servo Drives
Terminal Block Wiring Example (Same for All Models; with Standard
Settings for I/O Allocations)
+24 V +24 V +24 V Not used POT EXT1 EXT3 BAT BKIR ALM
0V 0V 0V DEC NOT EXT2 BAT BKIR ALM FG

GND COM COM
X X
24 VDC
24 VDC
Note (1) Absolute Encoder Backup Battery: 2.8 to 4.5 V

When using a motor with an absolute encoder, connect a backup battery
to one of the following: The Servo Drive for the R88D-WT@, the battery
cable for the R88D-WN@-ML2, or the Connector Terminal Block.
(2) Do not connect anything to unused terminals.
Terminal Block Wiring Example (XW2B-20G4, XW2B-20G5, and XW2D-
20G6)
1 +24 V +24 V +24 V EXT1 NOT STOP BKIR ALM 19
2 0V 0V 0 V DEC POT 0GND FG 20
XB X
24 VDC 24 VDC
Note (1) Use a maximum of 300 mA total for the 24-VDC inputs.
(2) Do not use inputs other than sensor inputs.
72
Wiring Section 3-4
Terminal Block Signal Names

Terminal Block
Signal No.
+24VIN 1
2
+24VIN 3
4
+24VIN 5
6
EXT1 7
DEC 8
NOT 9
POT 10
11
12
13
14
STOP 15
0GND 16
BKIR 17
18
/ALM 19
Shield 20
Wiring Precautions The electronic control devices may malfunction due to noise from nearby
power supply lines, external loads, or other sources.
Malfunctions caused by noise can be troublesome because it can be difficult
to recreate the situation and to identify the noise source.
Use the following methods to eliminate malfunctions due to noise and improve
the system's reliability.
• When selecting wiring components, use wires or cables that meet or
exceed the specifications listed in the Servo Drive User's Manual.
• Wire the control lines (communications lines, external I/O signal lines,
etc.) separately from the power lines (AC power supply lines and motor
power lines). Do not wire these lines together in the same duct or bundle
them together.
• Use shielded cables for the control lines.
• Use the specified special cables to connect the PCU and Servo Drives.
• Always connect surge suppressors to nearby inductive loads (relays or
solenoids).
DC relay AC relay
+
DC Surge- AC
RY suppressing RY Surge suppressor
diode
Solenoid
SOL Surge suppressor
(Example: Okaya Electric CR-50500 or equivalent)
73
Wiring Section 3-4
Note Connect surge-suppressing diodes or surge suppressors close to relays. Use

surge-suppressing diodes with a dielectric strength of at least 5 times the cir-
cuit voltage.
• Noise may be transferred through the power line if there is nearby equip-
ment that generates high-frequency noise or the power supply is shared
with equipment such as an electric welder or electric discharge equip-
ment. In this case, insert a noise filter in the power supply input line.
• Connect to a ground of 100 Ω or less and use the thickest possible wire,
greater than 1.25 mm2.
• Twisted-pair cable is recommended for power lines.
74
SECTION 4
Data Areas
This section provides an overview of the parameter and data settings used in Position Control Unit operation and provides
information on memory allocations.
4-1 Overall Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76

4-2 Data Areas. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
4-3 Common Parameter Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
4-3-1 Common Parameters Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
4-3-2 Common Parameter Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
4-4 Axis Parameter Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
4-4-1 Axis Parameters Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
4-4-2 Axis Parameter Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
4-5 Servo Parameter Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
4-5-1 G5-series Servo Drive (R88D-KN@-ML2 with Built-in
MECHATROLINK-II Communications) . . . . . . . . . . . . . . . . . . . . . 104
4-5-2 G-series Servo Drive (R88D-GN@-ML2 with Built-in
4-5-3 W-series Servo Drives (R88D-WT@ with FNY-NS115) . . . . . . . . . 132
4-5-4 W-series Servo Drive (R88D-WN@-ML2 with Built-in
4-5-5 SMARTSTEP Junior Servo Drive (R7D-ZN@-ML2 with Built-in
4-6 Common Operating Memory Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
4-6-1 Common Operating Memory Area Overview . . . . . . . . . . . . . . . . . 179
4-6-2 Common Operating Memory Area Words . . . . . . . . . . . . . . . . . . . . 181
4-7 Axis Operating Output Memory Areas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185
4-7-1 Axis Operating Output Memory Area Overview . . . . . . . . . . . . . . . 185
4-7-2 Axis Operating Output Memory Area Allocations. . . . . . . . . . . . . . 186
4-7-3 Axis Operating Output Memory Area Priority. . . . . . . . . . . . . . . . . 190
4-8 Axis Operating Input Memory Areas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194
4-8-1 Axis Operating Input Memory Area Overview . . . . . . . . . . . . . . . . 194
4-8-2 Axis Operating Input Memory Area Allocations . . . . . . . . . . . . . . . 195
4-8-3 Axis Control Status Flags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200
4-8-4 Servo Status Flags. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206
4-8-5 External I/O Status Bits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211
4-8-6 Expanded Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
75
Overall Structure Section 4-1
4-1 Overall Structure

The PCU is used by exchanging data with the CPU Unit as shown in the fol-
lowing diagram.
CPU Unit PCU Servo Drive
Commu-
CPU Bus Unit Area
nications
Common Operating
I/O refresh cycle
Memory Area
Operating Commands
(Output) commands
Settings
(Input)
Status
Status
User-specified words
Axis Operating
Memory Areas
Operating
(Output) commands
Command
(Input) Status execution
Servo parameter Data Status/Data
transfer data transfer
Servo
Parameters
(RAM)
User-specified words
(for data transfer) PCU's Internal Memory
Servo parameters
Common parameter Common (non-volatile
area parameters memory) Result
Axis parameter
area Axis parameters
Save data
Flash memory
76
The data handled by the PCU can be classified into the following six types.
Data name Contents Setting area Enable timing
Common This area contains the parameters PCU's internal memory The settings saved in the PCU are
Parameter Area for basic setting of PCU operation, (The parameter settings enabled when read to the PCU internal
such as allocation of the Axis can be saved in the memory at power ON or restart.
Operating Memory Areas and PCU's flash memory.)
MECHATROLINK communica-
tions.
The common parameters must be
set to use the PCU.
Axis Parameter These areas contain the parame- PCU's internal memoryThe settings saved in the PCU are read
Areas ters for axis control settings, such to the PCU internal memory at power
(The parameter settings
as the origin input signal selection can be saved in the ON or restart.
and origin search method. PCU's flash memory.) When the settings are written, they are
refreshed immediately and are enabled
after they have been written.
Servo Parame- These parameters are for setting Servo Drive's internal Online Servo Parameters are enabled
ter Area Servo Drive operation. memory as soon as they are written, and offline
(The parameter settings Servo parameters are enabled after the
can be saved in the Servo Drive power is turned OFF and
Servo Drive's internal ON again, or after executing DEVICE
non-volatile memory.) SETUP.
Common Oper- This area is for settings for com- CPU Unit's CPU Bus Unit Data is updated with every I/O refresh
ating Memory mon PCU operations, such as Area of the CPU Unit.
Area communications control and trans- The set data is enabled and used with
ferring common parameters. The the startup of each operation.
status of these operations is also
input to this area.
Axis Operating These areas are for settings and CPU Unit's memory area Data is updated with every I/O refresh
Output Memory operations of axis operation, such set in the common of the CPU Unit.
Areas as positioning/speed commands parameters. The set data is enabled and used with
and operating commands for direct the startup of each operation.
operation, origin search, and jog-
ging.
Axis Operating These areas are used to input sta- CPU Unit's memory area Data is updated with every I/O refresh
Input Memory tus information for axis opera- set in the common of the CPU Unit.
Areas tions, such as present position and parameters.
axis operation status.
Using these data/parameter settings, the PCU executes operation (1) using
the operation settings specified in the common parameters, axis parameters,
and Servo parameters (2) based on operating commands received from the
Axis Operating Memory Areas.
The common parameters, axis parameters, and certain Servo parameters are
the basic settings for the PCU and the axes to be controlled. Therefore, these
settings must be set when using the PCU. Make the settings for other data/
parameters according to the kind of operation required.
77
PCU Setting Procedure

Step Operation Result
1 Set unit num- Set the unit number on the unit number The Common Operating Memory Area starts
ber. setting switch and turn ON the power from the beginning word obtained using the fol-
to the PCU. lowing equation: n = CIO 1500 + (unit No. × 25)
2 Set common Write the common parameters to the The axes being used (scan list) and MECHA-
parameters. PCU and save them in the internal TROLINK communications settings are deter-
flash memory using the WRITE DATA mined. The Axis Operating Output/Input
and SAVE DATA Bits in the Common Memory Areas for the axes to be used are allo-
Operating Memory Area. cated.
After saving the common parameters,
restart the PCU or cycle the power to
enable the parameters.
3 Set axis Write the axis parameters to the PCU The settings of the origin search operation and
parameters. and save them in the internal flash other parameters for the axes to be used are
memory using the WRITE DATA and determined.
SAVE DATA Bits in the Common Oper-
ating Memory Area. (These parame-
ters are set at the same time as the
common parameters.)
4 Start MECHA- Start MECHATROLINK communica- When MECHATROLINK communications start,
TROLINK tions using the CONNECT Bit in the the axes are operated according to the bits in
communica- Common Operating Memory Area. the Axis Operating Output Memory Areas and
tions. the status of the axes can be monitored using
the bits in the Axis Operating Input Memory
Areas. Subsequent operations are performed
with MECHATROLINK communications in
progress.
MECHA- 5 Set Servo Write the Servo parameters using the The settings for each axis or each Servo Param-
TROLINK parameters. WRITE SERVO PARAMETER Bit and eter are transferred. The transferred online
communi- SAVE SERVO PARAMETER Bit in the parameters are enabled when writing is com-
cations in Axis Operating Output Memory Areas. pleted, and transferred offline parameters are
progress Read the Servo parameters using the enabled when the Servo Drive power is cycled
READ SERVO PARAMETER Bit in the or DEVICE SETUP is executed.
Axis Operating Input Memory Areas.
6 Operate axes. Start operating axes using the bits in Commands are executed and status information
the Axis Operating Output Memory is obtained when the PLC’s I/O is refreshed.
Areas.
Monitor the status of axes using the
78
Data Areas Section 4-2
4-2 Data Areas

The following tables provide the bit/word addresses for the parameters and
data handled by the PCU. For further details, refer to the relevant sections.
Only the Servo parameters for applicable models are listed here. For details
on Servo parameters, refer to the operation manual for the model being used.

PCU's Name Bits
internal 15 to 12 11 to 08 07 to 04 03 to 00
address
1838 hex Area alloca-Axis Operating Output Memory Area designation
1839 hex tions Beginning word of Axis Operating Output Memory Area
183A hex Axis Operating Input Memory Area designation
183B hex Beginning word of Axis Operating Input Memory Area
183C hex Scan list Axis 2 allocation Axis 1 allocation
183D hex Axis 4 allocation Axis 3 allocation
183E hex Axis 6 allocation Axis 5 allocation
183F hex Axis 8 allocation Axis 7 allocation
1840 hex Axis 10 allocation Axis 9 allocation
1844 hex to Reserved by Set to 0000.
1855 hex the system.
1856 hex MECHA- Transfer cycle Communications cycle
1857 hex TROLINK 00 (fixed) C2 master Number of
communica- connection communica-
tions setting tions retries
1858 hex to Reserved by Set to 0000.
185F hex the system.
Axis Parameter Area

PCU's Name Bits
address
1860 hex Axis 1 Input signal selection Origin input signal selection Interrupt input signal selection
1861 hex Operation mode Origin search Origin detection Origin search 0 (fixed)
selection direction method operation
Origin search
preset
1862 hex 0 (fixed) 0 (fixed) 0 (fixed) Encoder type
1863 hex to Reserved by the sys- Set to 0000.
1873 hex tem.
1874 hex Axis 2 Input signal selection Origin input signal selection Interrupt input signal selection
1875 hex Operation mode Origin search Origin detection Origin search 0 (fixed)
Origin search
preset
1876 hex 0 (fixed) 0 (fixed) 0 (fixed) Encoder type
1877 hex to Reserved by the sys- Set to 0000.
1887 hex tem.
1888 hex to Axis 3 Same as above Same as above
189B hex
79
PCU's Name Bits

address
189C hex to Axis 4 Same as above Same as above
18AF hex
18B0 hex to Axis 5 Same as above Same as above
18C3 hex
18C4 hex to Axis 6 Same as above Same as above
18D7 hex
18D8 hex to Axis 7 Same as above Same as above
18EB hex
18EC hex Axis 8 Same as above Same as above
to 18FF hex
1913 hex
1927 hex
193B hex
193C hex to Axis 12 Same as above Same as above
194F hex
1963 hex
1977 hex
198B hex
198C hex Axis 16 Input signal selection Origin input signal selection Interrupt input signal selection
198D hex Operation mode Origin search Origin detection Origin search 0 (fixed)
Origin search
preset
198E hex 0 (fixed) 0 (fixed) 0 (fixed) Encoder type
198F hex to Reserved by the sys- Set to 0000.
199F hex tem.
Servo Parameter Area The following table provides information on the parameters for the main func-
tions of the PCU that are described in this manual when using an R88D-WT@
OMRON W-series Servo Drive together with a FNY-NS115 MECHATROLINK-
II I/F Unit or an R88D-WN@-ML2 W-series Servo Drive with built-in MECHA-
TROLINK-II communications. A list of other parameters, G5-series Servo
Drive parameters, G-series Servo Drive parameters, and SMARTSTEP Junior
Servo Drive parameters are provided in 4-5 Servo Parameter Area. For fur-
ther details on each of the parameters, refer to the operation manuals for
OMRON G5-series Servo Drive, G-series Servo Drives, W-series Servo
Drives, SMARTSTEP Junior Servo Drives, and Yaskawa JUSP-NS115
MECHATROLINK-II I/F Unit.
The default settings for parameters Pn000 to Pn601 in the parameter tables
for the R88D-WT@ W-series Servo Drive used with the FNY-NS115 are auto-
matically set to the default parameter settings used when the FNY-NS115
MECHATROLINK-II I/F Unit is mounted to a W-series Servo Drive. Parame-
ters from Pn800 onwards are enabled when the FNY-NS115 is installed. The
parameter names and default settings used for these parameters follow those
specified in the FNY-NS115 operation manual.
For details on information provided in the Enable Setting and Details columns,
refer to 4-5 Servo Parameter Area.
80
Function Selection Parameters

■ R88D-WT@ and R88D-WN@-ML2
Param- Parame- Param- Contents Default Unit Setting Enable Details
eter No. ter name eter setting range setting
size Digit Name Set- Explanation
No. ting
Pn001 Function 2 0 Select stop if 0 Servomotor stopped 2 --- --- Offline ---
selection an alarm by dynamic brake.
applica- occurs when
tion switch Servomotor is 1 Dynamic brake OFF --- ---
1 OFF after Servomotor
stopped.
2 Servomotor stopped --- ---
with free run.
1 Select stop 0 Stop according to 0 --- --- Offline ---
when prohib- Pn001.0 settings
ited drive is (release Servomo-
input tor after stopping)
1 Stop Servomotor --- ---
using torque set in
Pn406, and lock
Servomotor after
stopping.
2 Stop Servomotor --- ---
using torque set in
Pn406, and release
Servomotor after
stopping.
2 Select AC/DC --- --- 0 --- --- Offline ---
power input
3 Select warning --- --- 1 --- --- Offline ---
code output
Pn002 Function 2 0 Torque com- 0 Option command 0 --- --- Offline ---
selection mand input values not used.
applica- change (dur-
tion switch ing speed con- 1 Option command
2 trol) value 1 used as the
torque limit input.
2 Option command
value 1 used as the
torque feed forward
input.
3 Option command
values 1 and 2 used
as the torque limit
input according to
the forward/reverse
rotation current limit
setting.
1 Speed com- 0 Option command 0 --- --- Offline ---
mand input value not used.
change (dur-
ing torque con- 1 Option command
trol) value 1 used as
speed limit input.
2 Operation 0 Use as absolute 0 --- --- Offline ---
switch when encoder.
using absolute
encoder 1 Use as incremental
encoder.
3 Fully-closed --- --- 0 --- --- Offline ---
encoder usage
method
Position Control Parameters

■ R88D-WT@
Param- Parameter name Param- Explanation Default Unit Setting Enable Details
eter No. eter setting range setting
size
Pn202 Electronic gear ratio G1 2 Set the pulse rate for the command 4 --- 1 to 65535 Offline ---
(numerator) pulses and Servomotor travel dis-
tance.
Pn203 Electronic gear ratio G2 2 1 --- 1 to 65535 Offline ---
(denominator) 0.01 ≤ G1/G2 ≤ 100
81
■ R88D-WN@-ML2
size
Pn20E Electronic gear ratio G1 4 Sets the pulse rate for the command 4 --- 1 to Offline ---
(numerator) pulses and Servomotor movement 1073741824
distance.
Pn210 Electronic gear ratio G2 4 1 --- 1 to Offline ---
(denominator) 0.01 ≤ G1/G2 ≤ 1000 1073741824
Speed Control Parameters

size
Pn305 Soft start acceleration 2 Sets acceleration time during speed 0 ms 0 to 10000 Online ---
time control soft start.
Pn306 Soft start deceleration 2 Sets deceleration time during speed 0 ms 0 to 10000 Online ---
time control soft start.
Torque Control (Torque Limit) Parameters

size
Pn402 Forward torque limit 2 Forward rotation output torque limit 350 % 0 to 800 Online ---
(rated torque ratio).
Pn403 Reverse torque limit 2 Reverse rotation output torque limit 350 % 0 to 800 Online ---
(rated torque ratio).
Pn404 Forward rotation external 2 Output torque limit during input of 100 % 0 to 800 Online ---
current limit forward rotation current limit (rated
torque ratio).
Pn405 Reverse rotation external 2 Output torque limit during input of 100 % 0 to 800 Online ---
current limit reverse rotation current limit (rated
torque ratio).
Pn406 Emergency stop torque 2 Deceleration torque when an error 350 % 0 to 800 Online ---
occurs (rated torque ratio).
Pn407 Speed limit 2 Sets the speed limit in torque control 3000 r/min 0 to 10000 Online ---
mode.
I/O and Status Parameters

■ R88D-WT@
Param- Parameter Param- Contents Default Unit Setting Enable Details
eter No. name eter setting range setting
No. ting
Pn500 Positioning 2 Sets the range of positioning completed. 3 Com- 0 to 250 Online ---
completion mand
range 1 unit
Pn502 Rotation 2 Sets the rotation speed for the Servomotor rotation 20 r/min 1 to Online ---
speed for detection output (TGON). 10000
motor rota-
tion detec-
tion
Pn503 Speed con- 2 Sets the allowable fluctuation range (rotation speed) 10 r/min 0 to 100 Online ---
formity sig- for the Speed Conformity Flag.
nal output
width
Pn504 Positioning 2 Sets the proximity range for the Positioning Proximity 3 Com- 1 to 250 Online ---
completion Flag. mand
range 2 unit
82

No. ting
Pn50A Input sig- 2 0 Not used. 1 (Do not change the 1 --- --- --- Fixed
nal selec- setting.) setting:
tion 1 1
1 Not used. 8 (Do not change the 8 --- --- --- Fixed
setting.) setting:
8
setting.) setting:
8
3 POT (forward 0 Allocated to CN1, 8 --- --- Offline Stan-
drive prohib- pin 40: Valid for low dard
ited input) sig- input setting:
nal Input 2
terminal allo- 1 Allocated to CN1,
cation pin 41: Valid for low
input
2 Allocated to CN1,
pin 42: Valid for low
input
3 Allocated to CN1,
input
4 Allocated to CN1,
input
5 Allocated to CN1,
input
6 Allocated to CN1,
input
7 Always valid.
8 Always invalid.
9 Allocated to CN1,
pin 40: Valid for
high input
A Allocated to CN1,
pin 41: Valid for
high input
B Allocated to CN1,
pin 42: Valid for
high input
C Allocated to CN1,
pin 43: Valid for
high input
D Allocated to CN1,
pin 44: Valid for
high input
E Allocated to CN1,
pin 45: Valid for
high input
F Allocated to CN1,
pin 46: Valid for
high input
83

No. ting
Pn50B Input sig- 2 0 NOT (reverse 0 to F Same as Pn50A.3 8 --- --- Offline Stan-
nal selec- drive prohib- dard
tion 2 ited) signal setting:
input terminal 3
allocation
setting.) setting:
8
2 PCL (forward 0 to F Same as Pn50A.3 5 --- --- Offline Fixed
rotation current setting:
limit) signal 8
input terminal
allocation
3 NCL (reverse 0 to F Same as Pn50A.3 6 --- --- Offline Fixed
rotation current setting:
limit) signal 8
input terminal
allocation
Pn50E Output sig- 2 0 INP1 (position- 0 Not used. 1 --- --- Offline Stan-
nal selec- ing completed dard
tion 1 1) signal out- 1 Allocated to CN1, setting:
put terminal pins 25, 26 1
allocation 2 Allocated to CN1,
pins 27, 28
3 Allocated to CN1,
pins 29, 30
1 VCMP (speed 0 to 3 Same as Pn50E.0 1 --- --- Offline Stan-
conformity) dard
signal output setting:
terminal allo- 0
cation
2 TGON (Servo- 0 to 3 Same as Pn50E.0 2 --- --- Offline Stan-
motor rotation dard
detection) sig- setting:
nal output ter- 0
minal
allocation
3 READY (Ser- 0 to 3 Same as Pn50E.0 3 --- --- Offline Stan-
vomotor war- dard
mup complete) setting:
signal output 3
terminal allo-
cation
Pn50F Output sig- 2 0 CLIMT (current 0 to 3 Same as Pn50E.0 0 --- --- Offline Stan-
nal selec- limit detection) dard
tion 2 signal output setting:
terminal allo- 0
cation
1 VLIMT (speed 0 to 3 Same as Pn50E.0 0 --- --- Offline Stan-
limit detection) dard
terminal allo- 0
cation
2 BKIR (brake 0 to 3 Same as Pn50E.0 0 --- --- Offline Stan-
interlock) sig- dard
nal output ter- setting:
minal 2
allocation
3 WARN (warn- 0 to 3 Same as Pn50E.0 0 --- --- Offline Stan-
ing) signal out- dard
put terminal setting:
allocation 0
84

No. ting
Pn510 Output sig- 2 0 INP2 (position- 0 to 3 Same as Pn50E.0 0 --- --- Offline Stan-
tion 3 2) signal out- setting:
put terminal 0
allocation
1 Not used. 0 (Do not change the 0 --- --- --- ---
setting.)
setting.)
setting.)
Pn511 Input sig- 2 0 DEC (origin 0 to F Same as Pn50A.3 8 --- --- Offline Stan-
nal selec- return deceler- dard
tion 5 ation limit setting:
switch) signal 1
input terminal
allocation
1 EXT1 (exter- 0 to F Same as Pn50A.3 8 --- --- Offline Stan-
nal latch 1 (0 to 3 and 9 to C dard
input) signal are always dis- setting:
input terminal abled.) 4
allocation
allocation
allocation
■ R88D-WN@-ML2
No. ting
Pn502 Rotation 2 Sets the number of rotations for the Servomotor 20 r/min 1 to 10000 Online ---
speed for rotation detection output (TGON).
motor rota-
tion detec-
tion
Pn503 Speed 2 Sets the allowable fluctuation (number of rotations) 10 r/min 0 to 100 Online ---
conformity for the speed conformity output (VCMP).
signal out-
put width
85

No. ting
tions 1 1
setting.) setting:
8
setting.) setting:
8
drive prohibited pin 13: Valid for low dard
input) signal input setting:
Input terminal 1
input
2 Allocated to CN1,
input
3 Allocated to CN1,
input
4 Allocated to CN1,
input
5 Allocated to CN1,
input
6 Allocated to CN1,
input
7 Always enabled.
8 Always disabled.
9 Allocated to CN1,
pin 13: Valid for
high input
A Allocated to CN1,
pin 7: Valid for high
input
B Allocated to CN1,
input
C Allocated to CN1,
input
D Allocated to CN1,
pin 10: Valid for
high input
E Allocated to CN1,
pin 11: Valid for
high input
F Allocated to CN1,
pin 12: Valid for
high input
Pn50B Input sig- 2 0 NOT (reverse 0 to F Same as Pn50A.3. 2 --- --- Offline Stan-
nal selec- drive prohibited dard
tions 2 input) signal setting:
Input terminal 2
allocation
setting.)
setting.)
setting.)
86

No. ting
tions 1 1) signal output 1 Allocated to CN1 setting:
terminal alloca- pins 1, 2 0
tion 2 Allocated to CN1
pins 23, 24
3 Allocated to CN1
pins 25, 26
1 VCMP (speed 0 to 3 Same as Pn50E.0. 0 --- --- Offline Stan-
conformity) dard
terminal alloca- 0
tion
2 TGON (servo- 0 to 3 Same as Pn50E.0. 0 --- --- Offline Stan-
motor rotation dard
nal output ter- 0
minal
allocation
3 READY (servo 0 to 3 Same as Pn50E.0. 0 --- --- Offline Stan-
ready) signal dard
output termi- setting:
nal allocation 0
Pn50F Output sig- 2 0 CLIMT (cur- 0 to 3 Same as Pn50E.0. 0 --- --- Offline Stan-
nal selec- rent limit detec- dard
tions 2 tion) signal setting:
output termi- 0
nal allocation
1 VLIMT (speed 0 to 3 Same as Pn50E.0. 0 --- --- Offline Stan-
terminal alloca- 0
tion
2 BKIR (brake 0 to 3 Same as Pn50E.0. 1 --- --- Offline Stan-
minal 1
allocation
3 WARN (warn- 0 to 3 Same as Pn50E.0. 0 --- --- Offline Stan-
allocation 0
Pn510 Output sig- 2 0 INP2 (position- 0 to 3 Same as Pn50E.0. 0 --- --- Offline ---
nal selec- ing completed
tions 3 2) signal output
terminal alloca-
tion
setting.)
setting.)
setting.)
Pn511 Input sig- 2 0 DEC signal 0 to F Same as Pn50A.3. 3 --- --- Offline Stan-
nal selec- input terminal dard
tions 5 allocation setting:
3
1 EXT1 signal 0 to F Same as Pn50A.3. 4 --- --- Offline Stan-
input terminal (0 to 3 and 9 to C dard
allocation are always dis- setting:
abled.) 4
abled.) 5
abled.) 6
87

No. ting
Pn522 Position- 4 Setting range for positioning completed range 3 Com- 0 to Online ---
ing command 1,073,741,8
pleted unit 24
range 1
Pn524 Position- 4 Setting for proximity range for the Positioning Prox- 3 Com- 1 to Online ---
ing com- imity Flag. mand 1,073,741,8
pleted unit 24
range 2
88
Control Function Parameters

■ R88D-WT@ and R88D-WN@-ML2)
No. ting
Pn800 Communi- 2 0 MECHA- 0 Detects both com- 0 --- --- Online Always
cations TROLINK-II munications errors set to 0.
control communica- (A.E6) and syn-
tions check chronization errors
mask (A.E5).
1 Ignores communi-
cations errors
(A.E6).
2 Ignores synchroni-
zation errors
(A.E5).
3 Ignores both com-
munications errors
(A.E6) and syn-
chronization errors
(A.E5).
1 Warning check 0 Detects parameter 4 --- --- Online Always
mask setting warnings set to 4
(A.94), MECHA- or 0.
TROLINK com-
mand warnings
(A.95), and com-
munications errors
(A.96).
1 Ignores parameter
setting warnings
(A.94).
2 Ignores MECHA-
TROLINK-II com-
mand warnings
(A.95).
3 Ignores both
parameter setting
warnings (A.94)
and MECHA-
TROLINK-II com-
mand warnings
(A.95).
4 Ignores communi-
cations errors
(A.96).
5 Ignores both
parameter setting
warnings (A.94)
and communica-
tions errors (A.96).
6 Ignores both
MECHATROLINK-
II command warn-
ings (A.95) and
communications
errors (A.96).
7 Ignores parameter
setting warnings
(A.94), MECHA-
TROLINK-II com-
mand warnings
(A.95), and com-
munications errors
(A.96).
2 Communica- --- --- 0 --- --- Online ---
tions error
count at single
transmission
3 Not used. --- (Do not change the 0 --- --- --- ---
setting.)
89

No. ting
Pn801 Function 2 0 Software limit 0 Software limit (See --- --- Online ---
selection function enabled. note.)
applica-
tion (soft- 1 Forward software
ware limit disabled.
limits) 2 Reverse software
limit disabled.
3 Software limit dis-
abled in both direc-
tions.
setting.)
2 Software limit 0 No software limit 0 --- --- Online Always
check using check using refer- set to 0.
references ences.
1 Software limit
check using refer-
ences.
setting.)
Note R88D-WT@ with FNY-NS115: 0

R88D-WN@-ML2: 3
Param- Parameter Param- Contents Default set- Unit Setting range Enable Details
eter No. name eter ting setting
size
Pn803 Zero point 2 Sets the detection range 10 Command 0 to 250 Online ---
width for the Origin Stop Flag. unit
Pn804 Forward soft- 4 Sets the forward soft- 819,191,808 Command −1,073,741,823 to Online ---
ware limit ware limit. unit 1,073,741,823
Pn806 Reverse soft- 4 Sets the reverse soft- −819,191,808 Command −1,073,741,823 to Online ---
Pn808 Absolute 4 Sets the offset for the 0 Command −1,073,741,823 to Offline ---
encoder zero mechanical origin from unit 1,073,741,823
point position the absolute encoder's
offset absolute value data.
Pn80A First-step lin- 2 Sets the first-step accel- 100 ×10,000 1 to 65535 Online Settings
ear accelera- eration speed for the command can be
tion constant acceleration/decelera- units/s2 changed
tion curve used in posi- when the
tion control. axes are
stopped
(Busy Flag
for each
axis = 0).
Pn80B Second-step 2 Sets the second-step 100 ×10,000 1 to 65535 Online Settings
linear accelera- acceleration speed for command can be
tion constant the acceleration/deceler- units/s2 changed
ation curve used in posi- when the
stopped
(Busy Flag
for each
axis = 0).
Pn80C Acceleration 2 Sets the speed for 0 ×100 com- 0 to 65535 Online Settings
constant switching between first- mand can be
switching step and second-step units/s changed
speed acceleration for the when the
acceleration/decelera- axes are
tion curve used in posi- stopped
tion control. (Busy Flag
for each
axis = 0).
90
size
Pn80D First-step lin- 2 Sets the first-step decel- 100 ×10,000 1 to 65535 Online Settings
ear decelera- eration speed for the command can be
tion constant acceleration/decelera- units/s2 changed
stopped
(Busy Flag
for each
axis = 0).
Pn80E Second-step 2 Sets the second-step 100 ×10,000 1 to 65535 Online Settings
linear decelera- deceleration speed for command can be
tion constant the acceleration/deceler- units/s2 changed
stopped
(Busy Flag
for each
axis = 0).
Pn80F Deceleration 2 Sets the speed for 0 ×100 com- 0 to 65535 Online Settings
constant switching between first- mand can be
switching step and second-step units/s changed
speed deceleration for the when the
for each
axis = 0).
Pn810 Exponential 2 Sets the exponential 0 Command 0 to 32767 Online Settings
acceleration/ acceleration/decelera- units/s can be
deceleration tion bias speed for the changed
bias acceleration/decelera- when the
tion curve used in posi- axes are
tion control. stopped
(Busy Flag
for each
axis = 0).
Pn811 Exponential 2 Sets exponential accel- 0 ×0.1 ms 0 to 5100 Online Settings
acceleration/ eration/deceleration time can be
deceleration constant for the acceler- changed
time constant ation/deceleration curve when the
used in position control. axes are
stopped
(Busy Flag
for each
axis = 0).
Pn812 Movement 2 Sets the S-curve accel- 0 ×0.1 ms 0 to 5100 Online Settings
average time eration/deceleration can be
moving average time for changed
the acceleration/deceler- when the
ation curve used in posi- axes are
(Busy Flag
for each
axis = 0).
Pn814 Final travel dis- 4 Sets the final travel dis- 100 Command −1,073,741,823 to Online Settings
tance for exter- tance for external posi- unit 1,073,741,823 can be
nal positioning tioning when performing changed
interrupt feeding using when the
direct operation. axes are
stopped
(Busy Flag
for each
axis = 0).
91
Param- Parame- Param- Contents Default Unit Setting range Enable Details
eter No. ter name eter setting setting
No. ting
Pn816 Zero point 2 0 Zero point 0 Forward 0 --- --- Online Set the
return return same
mode set- direction 1 Reverse direction
ting as the ori-
gin search
direction
set in the
Axis
Parame-
ters.
Settings
can be
changed
when the
axes are
stopped
(Busy Flag
for each
axis = 0).
1 to 3 Not used. --- (Do not 0 --- --- --- ---
change the
setting.)
Pn817 Zero point 2 Sets the origin (zero point) input signal 50 ×100 0 to 65535 Online Settings
return search speed used after the origin proxim- com- can be
approach ity signal has been detected in an origin mand changed
speed 1 search. units/s when the
axes are
stopped
(Busy Flag
for each
axis = 0).
Pn818 Zero point 2 Sets the origin (zero point) return final 5 ×100 0 to 65535 Online Settings
return travel distance positioning speed used after com- can be
approach the origin input signal has been detected in mand changed
speed 2 an origin search. units/s when the
axes are
stopped
(Busy Flag
for each
axis = 0).
Pn819 Final travel 4 Sets the amount of compensation position- 100 Com- −1,073,741,823 Online Settings
distance to ing used after the origin input signal has mand to can be
return to been detected in an origin search. unit 1,073,741,823 changed
zero point when the
axes are
stopped
(Busy Flag
for each
axis = 0).
Note The parameters for backlash compensation are different for the R88D-WT@
and R88D-WN@-ML2.
■ R88D-WT@
No. ting
Pn81B Backlash 2 Sets the amount of backlash compensation. 0 ×0.1 −32,768 Online ---
compen- com- to
sation mand unit 32,767
amount
Pn81D Compen- 2 0 Backlash 0 Compensates in 0 --- --- Offline ---
sation compensa- forward direction.
function tion selec-
selection tion 1 Compensates in
reverse direction.
1 to 3 Not used. --- (Do not change the 0 --- --- --- ---
setting.)
92
■ R88D-WN@-ML2
No. ting
Pn207 Position 2 0 Not used. 0 (Do not change the 0 --- --- --- ---
control setting.)
settings 2
setting.)
2 Backlash 0 Disabled 0 --- --- Offline ---
compensa-
tion selec- 1 Compensates to
tion forward rotation
side.
2 Compensates to
reverse rotation
side.
3 INP 1 out- --- --- 0 --- --- Offline ---
put timing
Pn214 Backlash 2 Mechanical system backlash amount (the 0 Com- −32767 Online ---
compen- mechanical gap between the drive shaft and the mand unit to
sation shaft being driven) 32767
amount
Pn215 Backlash 2 Sets the backlash compensation time constant. 0 × 0.01 ms 0 to Online ---
compen- 65535
sation time
constant
Common Operating Beginning word of Common Operating Memory Area: n = CIO 1500 + (unit
Memory Area number × 25)
Word Name
15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00
n Not used (reserved by the system). SAVE READ WRITE UNIT
DATA DATA DATA ERROR
RESET
n+1 REJOI Not used (reserved by the system). READ WRITE Reserved by the system. CON-
N (See BACK- BACK- NECT
note.) UP UP
DATA DATA
n+2 Axes to connect (See note.)
n+3 to Not used (reserved by the system).
n+5
n+6 Number of write words
n+7 Write source area
n+8 Write source word
n+9 Write destination address
n+10 Number of read words
n+11 Read source address
n+12 Read destination area
n+13 Read destination word
n+14 Not used (reserved by the system).
n+15 Not Data Not Unit Not used (reserved by the system).
used Trans- used Error
(referring (re- Flag
served Flag served
by the by the
sys- sys-
tem). tem).
n+16 Con- Unit Not Mem- Reserved by the system.
nec- Busy used ory
tion Flag (re- Card
Status served trans-
Flag by the fer
sys- error
tem).
n+17 Reserved by the system.
to
n+20
n+21 Unit error code
93
Word Name
15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00
n+22 Axis communications status
n+23 Not used (reserved by the system).
n+24
Note The REJOIN Bit and the Axes to Connect parameter are supported for unit
version 2.0 or later. The allocated bit and word are not used for earlier unit
versions.
Axis Operating Beginning Word of Axis Operating Output Memory Areas:

Output Memory Areas a = Beginning word of Axis Operating Output Areas specified in Common
Parameters + (Axis No. −1) × 25
Word Name
15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00
a DE- Over- DEVIA- ER- Not Direc- JOG PRESENT ORI- ORIGIN INTER- RELA- ABSO- Not LIN- LINEAR
CEL- ride En- TION ROR used tion POSI- GIN SEARCH RUPT TIVE LUTE used EAR INTER-
ERA- able Bit COUN- RESET (re- desig- TION RE- FEED- MOVE- MOVE- (re- INTER- POLA-
PRESET
TION TER served nation TURN ING MENT MENT served POLA- TION
STOP RE- by the by the TION SET-
SET sys- sys- START TING
(See tem). tem). (See (See
note 4.) note 1.) note 1.)
a+1 EMER- SAVE READ WRITE DE- Not used (reserved by the system). TORQUE SPEED SER- SER-
GEN- SER- SER- SER- VICE CON- CON- VO UN- VO
CY VO PA- VO PA- VO PA- SETUP TROL TROL LOCK LOCK
STOP RAME- RAME- RAME-
TER TER TER
a+2 Position command value
a+3
a+4 Speed command value (for position control)
a+5
a+6 Speed command value (for speed control)
a+7
a+8 Torque command value
a+9
a+10 Option command value 1
a+11
a+12 Option command value 2
a+13
a+14 Override
a+15 Not used (reserved by the system). Monitor 2 type Monitor 1 type
a+16 Re- For- Reserved by the system. S-curve Expo- Reserved by the system.
verse ward desig- nential
rota- rota- nation curve
tion tion desig-
current current nation
limit limit
a+17 Servo Parameter No.
a+18 Parameter size
a+19 Write data (Servo Parameters)
a+20
a+21 Not used (reserved by the system). Interpolation axis designation (See Interpolation axis designation (See
note 3.) note 2.)
a+22 Not used (reserved by the system). Interpolation position designation Interpolation position designation
(See note 3.) (See note 2.)
a+23 Interpolation speed command value (See note 1.)
a+24
Note (1) Allocated in Axis Operating Output Memory Areas for axis 1 and axis 5
for Position Control Unit Ver. 1.1 or later. These bits are not used in the
Axis Operating Output Memory Areas for other axes.
(2) Allocated in Axis Operating Output Memory Area for axis 1 for Position
Control Unit Ver. 1.1 or later. These bits are not used in the Axis Operat-
ing Output Memory Areas for other axes.
94
Control Unit version 1.1 or later. These bits are not used in the Axis Op-
erating Output Memory Areas for other axes.
(4) The DEVIATION COUNTER RESET can be used with unit version 1.3 or
later. This bit is not used for earlier unit versions.
Axis Operating Input Beginning Word of Axis Operating Input Memory Areas:
Memory Areas b = Beginning word of Axis Operating Input Areas specified in Common
Word Name
15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00
b Axis Control Status Flags
Stop Servo Busy Error Warn- Not used (reserved by the Origin No Ori- PCU Not used (reserved by the system). Re-
Execu- Param- Flag Flag ing system). Stop gin Posi- ceiv-
tion eters Flag Flag Flag tioning ing
Flag Trans- Com- Com-
ferring pleted mand
Flag Flag Flag
b+1 Servo Status Flags (status particular to Servo Drive)
Reserved by the Re- For- Posi- Re- Torque Distri- Posi- Reserved by the Main Servo Reserved by the system.
system. verse ward tioning served Limit bution tion system. Power ON
Soft- Soft- Prox- by the Status Com- Com- ON Flag
ware ware imity sys- Flag pleted pleted Flag
Limit Limit Flag/ tem. Flag/ Flag/
Flag Flag Speed Zero Speed
Limit Speed Con-
Status Flag formi-
Flag ty Flag
b+2 Reserved by the system.
b+3 External I/O Status Bits
Reserved by the system. Emer- Brake Exter- Exter- Exter- Encod- En- En- Origin Re- For-
gency output nal nal nal er coder coder prox- verse ward
stop latch latch latch Phase Phase Phase imity rota- rota-
input signal signal signal Z input B input A input input tion tion
(See 3 input 2 input 1 input signal limit in- limit
note put input
2.)
b+4 Axis error code
b+5 Not used (reserved by the system). Monitor 2 type Monitor 1 type
b+6 Feedback present position
b+7
b+8 Command present position
b+9
b+10 Monitor 1
b+11
b+12 Monitor 2
b+13
b+14 Read data (Servo Parameters)
b+15
b+16 Not used (reserved by the system).
to
b+23
b+24 Not used (re- Linear Not used (reserved by the system). Linear
served by the inter- inter-
system). pola- pola-
tion ex- tion
ecut- setting
ing com-
(See pleted
note (See
1.) note
1.)
Note (1) Allocated in Axis Operating Input Memory Areas for axis 1 and axis 5 for
Position Control Unit Ver. 1.1 or later. These bits are not used in the Axis
Operating Output Memory Areas for other axes.
(2) The emergency stop input status is input only for SMARTSTEP Junior
Servo Drives. This status is not used (reserved by the system) by W-se-
ries Servo Drives.
95
Common Parameter Area Section 4-3
4-3 Common Parameter Area

Common Parameters are used for basic settings for operating the PCU, such
as allocation of the Axis Operating Memory Areas and settings for MECHA-
TROLINK communications. The common parameters must be set when using
the PCU.
4-3-1 Common Parameters Overview

Common Parameters are transferred to the PCU's internal memory using the
data transfer command and saved in the PCU's flash memory using the SAVE
DATA command. After setting and saving the Common Parameters, either
cycle the power to the CPU Unit, or restart the PCU. This operation will enable
the set parameters. The Common Parameter Area is used to set the following
information.
PCU's Contents Setting
address Bits 08 to 15 Bits 00 to 07
1838 hex Axis Operating Output Memory Area desig- Specifies the area allocated for the Axis Operating Output
nation Memory Areas.
0000 hex: No setting 00B0 hex: CIO Area
00B1 hex: Work Area 00B2 hex: Holding Area
00B3 hex: Auxiliary Area 0082 hex: DM Area
0050 to 0059, 005A, 005B, 005C hex:
EM Area (5@: @ = EM Bank No.)
1839 hex Beginning word of Axis Operating Output Specifies the beginning word of the Axis Operating Output
Memory Areas Memory Areas.
The beginning word of the Operating Output Memory Area for
Axis 1 is determined by the Axis Operating Output Memory
Area designation and the word determined using this parame-
ter. Each Axis is allocated 25 words in sequence from this
word.
183A hex Axis Operating Input Memory Area designa- Specifies the allocated area and beginning word for the Axis
tion Operating Input Memory Areas.
183B hex Beginning word of Axis Operating Input The setting method is the same as for the Axis Operating Out-
Memory Areas put Memory Areas.
183C hex to Scan list Sets the axis allocations for axes 1 to 16 with 8 bytes per axis,
1843 hex as follows:
00 hex: Axis not used (default setting)
40 hex: Allocates axis to the Servo Drive.
1856 hex Transfer cycle Communications Transfer cycle:
cycle 00 hex: 1 ms (default setting)
01 hex: 1 ms 02 hex: 2 ms 03 hex: 3 ms
04 hex: 4 ms 05 hex: 5 ms 06 hex: 6 ms
07 hex: 7 ms 08 hex: 8 ms A2 hex: 0.25 ms
A5 hex: 0.5 ms
Communications cycle:
Sets a multiplier used to obtain integer multiples of the trans-
fer cycle.
Set value: 00 to 20 hex
The default setting 00 is the same as when the cycle is set to
3.
Set as follows:
Transfer cycle x communications cycle (multiplier) ≤ 32 ms
96

1857 hex 00 (fixed) 07 to 04 03 to 00 C2 master connection:
C2 mas- Number 0: No C2 master (default setting)
ter con- of com- 1: C2 master connected
nection munica- Number of communications retries:
tions Set value: 0 to 7, F
retries The default setting 0 is the same as when the number of
retries is set to 1.
4-3-2 Common Parameter Details

The data set in the Common Parameter Area is as follows:
Unit address Name Enable timing
1838 hex Axis Operating Output Memory Area designa- At powerup or
tion restart.
1839 hex Beginning word of Axis Operating Output Mem-
ory Areas
183B hex Beginning word of Axis Operating Input Memory
Areas
Data con- 15 08 07 00 Data setting range Default

figuration
1838 hex 00B0 to 00B3, 0082, 0000
Axis Operating Output Memory Area designation
0050 to 005C hex
1839 hex Beginning word of Axis Operating Output Memory 0000 to 7FFF hex 0000
Areas

00B0 to 00B3, 0082, 0000
0050 to 005C hex
183B hex Beginning word of Axis Operating Input Memory 0000 to 7FFF hex 0000
Areas
Data Details Axis Operating Output Memory Area Designation

Specifies the words allocated for the Axis Operating Output Memory Areas.
0000 hex: No setting (default setting)
00B0 hex: CIO Area
00B1 hex: Work Area
00B2 hex: Holding Area
00B3 hex: Auxiliary Area
0082 hex: DM Area
0050 to 0059, 005A, 005B, 005C hex:
EM Area (005@ hex: @ = EM Bank No.)
Beginning Word of Axis Operating Output Memory Areas
Specifies the beginning word of the Axis Operating Output Memory Areas.
The Axis Operating Output Memory Area designation and the word deter-
mined using this parameter are used as the beginning word of the Operat-
ing Output Memory Area for Axis 1. Each axis is allocated 25 words in
sequence up to the highest axis number registered in the scan list.
97
Axis Operating Output Memory Axis Operating Input Memory Area

Axis MECHATROLINK Area Allocations Allocations
No. station address No. Axis 1 Word a+0 Axis 1 Word b+0
Axis 1 No. 1 Operating Word a+1 Operating Word b+1
Axis 2 No. 2 Output : Input Memory :
Memory Area Area
Axis 3 No. 3 Word a+24 Word b+24
Axis 4 No. 4 Axis 2 Word a+25 Axis 2 Word b+25
: : Operating Word a+26 Operating Word b+26
Axis 15 No. 15 Memory Area Word a+49 Area Word b+49
Axis 16 No. 16
Axis N Word a+(N−1)×25 Axis N Word b+(N−1)×25
Operating Word a+(N−1)×25+1 Operating Word b+(N−1)×25+1
Output : Input Memory :
Memory Area Area
Word a+(N−1)×25+24 Word b+(N−1)×25+24
Axis 16 Word a+375 Axis 16 Word b+375

Operating Word a+376 Operating Word b+376
Memory Area Area
Word a+399 Word b+399
a: Beginning word of Axis Operating Output Memory Areas specified in Common Parameters.
b: Beginning word of Axis Operating Input Memory Areas specified in Common Parameters.
Axis Operating Input Memory Area Designation:

Specifies the words allocated for the Axis Operating Input Memory Areas.
The setting method is the same as for the Axis Operating Output Memory
Areas.
Beginning Word of Axis Operating Input Memory Areas:
Specifies the beginning word of the Axis Operating Input Memory Areas.
The setting method is the same as for the Axis Operating Output Memory
Areas.
Note (1) Set the beginning word of the Axis Operating Output Memory Areas and
Axis Operating Input Memory Areas in the Common Parameters so that
the words allocated to each area do not exceed the upper limit of the
range for each of the CPU Unit's I/O memory areas.
CPU Unit I/O Memory Areas
CIO Area: CIO 0000 to CIO 6143
Work Area: W000 to W511
Holding Area: H000 to H511
Auxiliary Area: A000 to A959
DM Area: D00000 to D32767
EM Area: E@_00000 to E@_32767 (@ = EM Bank No.)
The maximum set value for the beginning word of the Axis Operating Out-
put/Input Memory Area is calculated as follows:
Maximum number of words in each area − Highest axis No. registered in
scan list × 25 + 1
(2) If the setting exceeds the range of the I/O memory area, an Initialization
Common Parameter Check Error (Unit error code 0028) will occur when
the PCU power is turned ON or the Unit is restarted.
Example:
Beginning word of the Axis Operating Output Memory Area: CIO 6100
Connected axes: 2 min.
Axis 1: Output Area: CIO 6100 to CIO 6124
The highest word in the CIO Area is CIO 6143. Therefore, an error will
occur.
(3) If the ranges set for the Axis Operating Output Memory Area and Axis Op-
erating Input Memory Area overlap, an Initialization Common Parameter
98
Check Error (Unit error code 0028) will occur when the PCU power is
turned ON or the Unit is restarted.
(4) Do not set the bank number of the EM Area that is being saved to file
memory in the CPU Unit. When the EM Area for the bank saved to file
memory has been specified, the information in the Operating Data Area
will not be reflected, resulting in a malfunction. If multiple PCUs are
mounted to a single PLC, make sure that the Operating Data Areas do
not overlap. The PCU will not detect an error if the Operating Data Areas
overlap, which may result in a malfunction.
Setting Example
CPU Unit PCU
Common Parameters
I/O memory Axis Operating Output Memory Area setting

1838 hex 00B0 (hex) : CIO Area
CIO 100
25 words: 1839 hex 0064 (hex) : CIO 100
Axis 1
Function as Axis Operating Output Memory
CIO 125 Areas
25 words: CIO 100 to CIO 124: Axis 1
Axis 2 CIO 125 to CIO 149: Axis 2
etc.
Axis Operating Input Memory Area setting
183A (hex) 00B0 (hex) : CIO Area

CIO 500
25 words: 183B (hex) 01F4 (hex) : CIO 500
Axis 1
Function as Axis Operating Input Memory
CIO 525
25 words: Areas
Axis 2 CIO 500 to CIO 524CH: Axis 1
CIO 525 to CIO 549CH: Axis 2
etc.
Details Refer to 6-2-2 Scan List and PCU Area Allocations.

183C hex to Scan list At powerup or
1843 hex restart.

figuration
183C hex 00 or 40 0000
Axis 2 allocation Axis 1 allocation
183D hex 00 or 40 0000

183E hex 00 or 40 0000

183F hex 00 or 40 0000

1840 hex 00 or 40 0000

1841 hex 00 or 40 0000

1842 hex 00 or 40 0000

1843 hex 00 or 40 0000

99
Data Details Set the allocations for the MECHATROLINK devices connected to the PCU.
Make the following settings using eight bits per axis for axes 1 to 16.
00 hex: Axis not used (no allocation).
40 hex: Axis allocated to the Servo Drive.
Up to 16 axes can be allocated for the CS1W/CJ1W-NCF71, up to 2 axes can
be allocated for the CS1W/CJ1W-NC271, and up to 4 axes can be allocated
for the CS1W/CJ1W-NC471. An error will occur if you allocate more axes than
your Unit supports.
Setting Example In this example, axes 1 to 3, axis 5, and axis 8 are allocated to the Servo
Drive. (The axis number corresponds to the station number for the MECHA-
TROLINK device.)
183C hex: 4040 hex
183D hex: 0040 hex
183E hex: 0040 hex
183F hex: 4000 hex
1840 to 1843 hex: 0000 hex
Details Refer to 6-2-1 Scan List.
1856 hex to MECHATROLINK communications setting At Powerup or
1857 hex restart
Data con- 15 08 07 04 03 00 Data setting range Default

figuration
1856 hex Transfer cycle: 00 to 0000
Transfer cycle Communications cycle
08, A2, A5
Communications
cycle: 00 to 20 hex
1857 hex C2 master No. of com- C2 master connec- 0000
00 (fixed) munications
connection retries tion: 0, 1
No. of communica-
tions retries: 0 to 7, F
Data Details This parameter is used to make the settings for MECHATROLINK communi-
cations. For details on settings, refer to 6-2-3 MECHATROLINK Communica-
tions Settings.
Transfer Cycle
This parameter is used to set the cycle for sending and receiving data with
00: 1 ms (default setting)
01: 1 ms 05: 5 ms
02: 2 ms 06: 6 ms
03: 3 ms 07: 7 ms
04: 4 ms 08: 8 ms
A2 hex: 0.25 ms A5 hex: 0.5 ms
Communications Cycle
This parameter sets the cycle for refreshing data in the PCU and MECHA-
TROLINK device. The communications cycle is set in the Common Parame-
ters by setting the factor used to obtain integer multiples of the transfer cycle.
The default setting 00 is the same as when the cycle is set to 3. The commu-
nications cycle, however, is set as follows:
Transfer cycle × communications cycle (multiplier) ≤ 32 ms
100
Axis Parameter Area Section 4-4
Number of Communications Retries

This parameter is used to set the maximum number of stations that will per-
form communications retries when sending/receiving data between the PCU
and MECHATROLINK devices.
Set value: 0 to 7, F
The default setting 0 is the same as when the number of retries is set to 1.
When F is specified, the number of retires is 0 (no retries).
C2 Master Connection
This parameter is used to set whether a separate communications master is
connected to the PCU for MECHATROLINK system support. This parameter
will be used for connecting future system support devices. Do not change the
default setting of 0 (no C2 master).
0: No C2 master (default setting)
1: C2 master connected
Setting Example Default Settings
1856 hex: 0000 hex
1857 hex: 0000 hex
The MECHATROLINK communications settings are as follows:
Transfer cycle: 1.0 ms
Communications cycle: × 3 (1.0 ms × 3 = 3.0 ms)
Number of communications retries: 1
There is no C2 master.
Details Refer to 6-2-3 MECHATROLINK Communications Settings.
4-4 Axis Parameter Area

The Axis Parameter Area is used to make settings for axis control, such as
origin input signal selection and origin search method. The axis parameters
for the axes to be used must be set.
4-4-1 Axis Parameters Overview

Axis Parameters are transferred to the PCU's internal memory using the data
transfer command and saved in the PCU's flash memory using the SAVE
DATA command. Turn ON the power to the CPU Unit again, or restart the PCU
to read the Axis Parameters saved in flash memory to the PCU's internal
memory.
The Axis Parameters can be changed at any time by sending the WRITE
DATA command to the PCU. The changed parameters are enabled as soon
as the data has been written without any errors. The addresses in the PCU's
internal memory allocated for Axis Parameters are determined by the axis
number of each axis using the following equation.
Beginning word of Axis Parameter Area for Axis N: d = 1860 hex + (N−1) × 14
hex (N = 1 to 16)
The following table lists the beginning word of each Axis Parameter Area.
Axis No. Beginning Axis No. Beginning Axis No. Beginning Axis No. Beginning
word d word d word d word d
Axis 1 1860 hex Axis 5 18B0 hex Axis 9 1900 hex Axis 13 1950 hex
Axis 2 1874 hex Axis 6 18C4 hex Axis 10 1914 hex Axis 14 1964 hex
Axis 3 1888 hex Axis 7 18D8 hex Axis 11 1928 hex Axis 15 1978 hex
Axis 4 189C hex Axis 8 18EC hex Axis 12 193C hex Axis 16 198C hex
101

address 15 to 14 13 12 11 to 08 07 to 04 03 to 00
d Origin input signal selection Interrupt input sig- Select the origin input signal and interrupt input
nal selection signal.
00: Phase Z (default setting)
01: External latch signal 1 input
d+1 0 (fixed) Origin Origin Origin Origin 0 (fixed) Set the origin search operation.
search search detection search Origin search direction
preset direction method operation 0: Reversal mode 1 (default setting)
1: Reverse mode 2
2: Single-direction mode
3: Reversal mode 3 (See note.)
Origin detection method (See note.)
0: With origin proximity input signal reversal
(default setting)
1: Without origin proximity input signal reversal
2: Not use origin proximity input signal
Origin search direction
0: Forward (default setting)
1: Reverse
Origin search preset (See note.)
0: Not Set (default setting)
1: Set
d+2 0 (fixed) 0 (fixed) 0 (fixed) Encoder 0: Incremental encoder (default setting)
type 1: Absolute encoder
Note The reversal mode 3 setting for the origin search operation, the origin detec-
tion method, and the origin search preset can be used only with Position Con-
trol Units with unit version 2.0 or later. They cannot be used with Position
Control Units with unit version 1.3 or earlier.
For details on transferring data, refer to SECTION 5 Transferring and Saving
Data.
4-4-2 Axis Parameter Details

The data set in the Axis Parameter Area is as follows:
d = 1860 hex + (Axis No. −1) × 14 hex
d Input signal selection After comple-
tion of data writ-
ing

figuration
d Origin input signal Interrupt input signal Origin input signal 0000
selection selection selection: 00 to 03
selection: 00 to 03
Data Details Origin Input Signal Selection

Use this parameter to select the origin input signal to be used with origin
search.
00: Phase Z
102
Interrupt Input Signal Selection

Select the interrupt input signal used for interrupt feeding.
00: Phase Z
Note (1) When 01, 02, or 03 (external latch signals 1 to 3) is selected in the origin
input signal selection/interrupt input signal selection, the external latch
signal to be used must be allocated in the Servo Drive's external input al-
locations. (Refer to 6-4 Standard Settings for Servo Drives Using
MECHATROLINK.)
(2) When using a SMARTSTEP Junior Servo Drive, only 00 (phase Z) and
01 (external latch signal 1) can be used for the origin input signal selec-
tion and interrupt input signal selection. Do not select any other input sig-
nals.
Setting Example In this example, the origin search is performed using the Servomotor's phase
Z as the origin input, and external latch signal 2 as the interrupt input signal
for interrupt feeding.
Beginning word of Axis Parameter Area for axis 4:
d = 1860 hex + (4 − 1) × 14 hex = 189C hex
189C hex: 0002 hex = Origin input signal selection: Phase Z (00 hex); In-
terrupt input signal selection: External latch signal 2 (02 hex)
Details Refer to 8-2 Origin Search Operation, and 9-5 Interrupt Feeding.
d = 1860 hex + (Axis No. −1) × 14 hex
d+1, d+2 Operation mode selection After comple-
tion of data writ-
ing
Data con- 15 12 11 08 07 04 03 00 Data setting range Default

figuration
d+1 Origin search Origin search Origin search opera- 0000
0 (fixed) 0 (fixed)
method operation
tion: 0 to 3
Bit 12: Origin search direction
Origin detection
Bit 13: Origin search preset
method: 0 to 2
Origin search direc-
tion: 0, 1
Origin search preset
: 0, 1
d+2 00 (fixed) 0 (fixed)
Encoder type: 0, 1 0000
Encoder type
Data Details Use there parameters to make the operation mode settings (origin search
operation mode) for each axis of the PCU. The bits specified as “0/00 (fixed)”
are reserved by the system in the PCU and must always be set to 0. For
details on settings, refer to 8-2-3 Data Settings Required for Origin Search,
and 8-6-3 PCU Data Settings for Using Absolute Encoders.
Origin Search Operation
Select the origin search operation pattern. For details on operation patterns,
refer to 8-2-4 Origin Search Operation.
103
Servo Parameter Area Section 4-5
0: Reversal mode 1
1: Reversal mode 2
3: Reversal mode 3 (unit version 2.0 or later)
Origin Detection Method (Unit Version 2.0 or Later)
Select the origin detection method. For details on operation patterns, refer to
8-2-4 Origin Search Operation.
0: With origin proximity input signal reversal
1: Without origin proximity input signal reversal
2: Not use origin proximity input signal
Origin Search Direction
This parameter sets the origin search direction to match the Zero Point Return
Direction setting (Pn816) in the Servo Parameters. This parameter and Servo
Parameter Pn816 must be set to the same value. For details on origin search
operations, refer to 8-2-4 Origin Search Operation.
0: Forward direction
1: Reverse direction
Origin Search Preset (Unit Version 2.0 or Later)
The present position can be automatically set to a preset value when the ori-
gin search has been completed normally. Refer to 8-2-6 Origin Search Preset
for details on the origin search preset.
0: Present position not set to preset value at completion of origin search
1: Present position set to preset value at completion of origin search
Encoder Type
Use this parameter to select incremental encoder or absolute encoder as the
encoder for the Servomotor. Set the encoder type according to the functions
of the Servomotor and Servo Drive being used, as follows.
0: Incremental encoder
1: Absolute encoder
Setting Example In this example, an incremental encoder is used with axis 5, and origin search
is set to reverse direction in single-direction mode.
18B1 hex: 1020 hex
18B2 hex: 0000 hex
Details • 8-2-3 Data Settings Required for Origin Search
• 8-2-4 Origin Search Operation
• 8-2-6 Origin Search Preset.
• 8-6-3 PCU Data Settings for Using Absolute Encoders
4-5 Servo Parameter Area

4-5-1 G5-series Servo Drive (R88D-KN@-ML2 with Built-in
The following table lists the Servo Parameters that can be read and written by
the Position Control Unit of a G5-series Servo Drive (R88D-KN@-ML2) with
Built-in MECHATROLINK-II Communications.
For details on each parameter, refer to the user’s manual of the respective
G5-series Servo Drives.
104
• Some parameters are enabled by turning the power supply OFF and then
ON again. (Those parameters are indicated in the table.)
After changing these parameters, turn OFF the power supply, confirm that
the power supply indicator has gone OFF, and then turn ON the power
supply again.
• Do not change the parameters marked "Reserved for manufacturer use"
and "Reserved".
Do not change the set values marked “Not used” and “Reserved”.
• For details about the data attributes, refer to the information below.
A: Enabled at all time.
B: Changes are prohibited during motor operation and issuing of com-
mands.
The timing will fluctuate if a change is made during motor operation and
issuing of commands.
C: Enabled after a power reset or executing the CONFIG command in
MECHATROLINK-II communication.
R: Power reset.
Note that this is not enabled by the CONFIG command in MECHA-
TROLINK-II communication.
Relay area settings Set the servo parameter numbers in parentheses in the list for the Servo
Parameter number Relay area (a+17) when transferring Servo Parameters.
For example, when transferring the Error Counter Overflow Level, set "00E"
for the Servo Parameter number Relay area (a+17).
105
Parameter Tables
Basic Parameters
Param- Parameter name Param- Explanation Default Unit Setting Data
eter eter setting range attribute
No. size
000 Rotation Direction 2 Set the relation between the command direction and 1 - 0 to 1 C
(000) Switching the motor rotation direction.
0: With a forward rotation command, the motor rotates
CW as viewed from the axis end.
CCW as viewed from the axis end.
001 Control Mode Selec- 2 Select the Servo Drive CONTROL mode. 0 - 0 to 6 R
(001) tion 0 to 5: Switch function
6: Full closing control
002 Realtime Autotuning 2 Set the OPERATION mode for realtime autotuning. 1 - 0 to 6 B
(002) Mode Selection 0: Disabled
1: Emphasizes stability
2: Emphasizes positioning
3: If there is an unbalanced load on the vertical axis or
the like.
4: When friction is large.
the like and friction is too large.
6: When the realtime autotuning is customized.
003 Realtime Autotuning 2 Set the machine rigidity for executing realtime autotun- 11/13 - 0 to 31 B
(003) Machine Rigidity Set- ing.
ting
004 Inertia Ratio 2 Set the load inertia as a percentage of the motor rotor 250 % 0 to 10000 B
(004) inertia.
009 Electronic Gear 4 Set the electronic gear ratio. 1 - 0 to 230 C
(009) Ratio Numerator If Pn009 = 0, the encoder resolution is set as the
numerator.
010 Electronic Gear 4 1 - 1 to 230 C
Ratio Denominator Electronic Gear Ratio Numerator (Pn009)
(00A)
Electronic Gear Ratio Denominator (Pn010)
013 No. 1 Torque Limit 2 Set the No. 1 limit value for the output torque of the 500 % 0 to 500 B
(00D) motor.
014 Error Counter Over- 4 Set the range of the error counter overflow level. Detec- 100000 Com- 0 to 227 A
(00E) flow Level tion of error counter overflow level error is disabled if mand
the set value is 0. unit
015 Operation Switch 2 Select the absolute encoder usage method. 1 - 0 to 2 C
(00F) when Using Absolute 0: Used as absolute encoder.
Encoder
1: Used as an incremental encoder.
2: Used as absolute encoder.
(Multi-rotation counter overflows are ignored.)
016 Regeneration Resis- 2 Select the Regeneration Resistor used. 0/3 - 0 to 3 C
(010) tor Selection 0: Use the Built-in Resistor.
Triggering of regeneration overload protection
(Alarm No.18) depends on the Built-in Resistor (with
approx. 1% duty).
1: Use an External Resistor.
The regeneration processing circuit operates and
regeneration overload protection (Alarm No.18) is
triggered when the operating rate of the Regenera-
tion Resistor exceeds 10%.
Regeneration overload protection (Alarm No.18)
does not operate.
3: No Regeneration Resistor
All regeneration power is processed with built-in
capacitors.
017 External Regenera- 2 Select the type of load ratio calculation for the External 0 - 0 to 4 C
(011) tion Resistor Setting Regeneration Resistor.
0: Regeneration load ratio is 100% when operating
rate of the External Regeneration Resistor is 10%.
1 to 4: Reserved
106
Gain Parameter
No. size
100 Position Loop Gain 1 2 Set the position loop gain 1. 320/ 0.1/s 0 to 30000 B
(100) 480
101 Speed Loop Gain 1 2 Set the speed loop gain 1. 180/ 0.1Hz 1 to 32767 B
(101) 270
102 Speed Loop Integral 2 Set the speed loop integration time constant 1. 210/ 0.1ms 1 to 10000 B
(102) Time Constant 1 310
103 Speed Feedback Fil- 2 The speed feedback filter 1 can be set to one of 6 val- 0 - 0 to 5 B
(103) ter Time Constant 1 ues.
104 Torque Command Fil- 2 Set the time constant for the torque filter 1. 84/126 0.01m 0 to 2500 B
(104) ter Time Constant 1 s
(105) 570
(106) 270
107 Speed Loop Integra- 2 Set the speed loop integration time constant 2. 10000 0.1ms 1 to 10000 B
(107) tion Time Constant 2
109 Torque Command 2 Set the time constant for the torque filter 2. 84/126 0.01m 0 to 2500 B
(109) Filter Time Constant s
2
110 Speed Feed-forward 2 Set the speed feed-forward amount. 300 0.1% 0 to 1000 B
(10A) Amount
111 Speed Feed-forward 2 Set the speed feed-forward filter time constant. 50 0.01m 0 to 6400 B
(10B) Command Filter s
112 Torque Feed-forward 2 Set the torque feed-forward amount. 0 0.1% 0 to 1000 B
(10C) Amount
113 Torque Feed-forward 2 Set the torque feed-forward filter. 0 0.01m 0 to 6400 B
(10D) Command Filter s
114 Gain Switching Input 2 Execute optimum tuning using the gain switching func- 1 - 0 to 1 B
(10E) Operating Mode tion.
Selection 0: Gain 1 (PI/P switching enabled)
1: Gain 1 and gain 2 switching available
115 Switching Mode in 2 Select the gain switching condition for position control. 0 - 0 to 10 B
(10F) Position Control It is necessary that Pn114 be set to 1.
0: Always gain 1
1: Always gain 2
2: Gain switching command input via MECHA-
TROLINK-II communications
3: Torque command change amount
4: Always gain 1
5: Command speed
6: Amount of position error
7: When the position command is received.
8: Positioning completion signal (INP) OFF
9: Actual motor speed
10:Combination of position command input and rota-
tion speed
116 Gain Switching Delay 2 Set the delay time for switching from gain 2 to gain 1. 50 0.1ms 0 to 10000 B
(110) Time in Position Con-
trol
117 Gain Switching Level 2 Set the gain switching level. 50 - 0 to 20000 B
(111) in Position Control
118 Gain Switching Hys- 2 Set the hysteresis for gain switching. 33 - 0 to 20000 B
(112) teresis in Position
Control
119 Position Gain Switch- 2 Set the position gain switching time for gain switching. 33 0.1ms 0 to 10000 B
(113) ing Time
107

No. size
120 Switching Mode in 2 Select the gain switching condition for speed control. 0 - 0 to 5 B
(114) Speed Control It is necessary that Pn114 be set to 1.
0: Always gain 1
1: Always gain 2
4: Speed command change amount
5: Command speed
(115) Time in Speed Con-
trol
(116) in Speed Control
(117) teresis in Speed
Control
124 Switching Mode in 2 Select the gain switching condition for torque control. 0 - 0 to 3 B
(118) Torque Control It is necessary that Pn114 be set to 1.
0: Always gain 1
1: Always gain 2
(119) Time in Torque Con-
trol
(11A) in Torque Control
(11B) teresis in Torque
Control
Damping Suppression Parameters

No. size
200 Adaptive Filter Selec- 2 Set the operation of the adaptive filter. 0 - 0 to 4 B
(200) tion 0: Disabled
1: One enabled.Frequency limited after adaptation.
2: Two enabled.Frequency limited after adaptation.
3: One enabled.Adaptation performed at all times.
4: Two enabled.Adaptation performed with 1 filter at all
times.
201 Notch 1 Frequency 2 Set the notch frequency of resonance suppression 5000 Hz 50 to 5000 B
(201) Setting notch filter 1.
202 Notch 1 Width Set- 2 Set the notch width of the resonance suppression 2 - 0 to 20 B
(202) ting notch filter 1.
203 Notch 1 Depth Set- 2 Set the notch depth of resonance suppression notch fil- 0 - 0 to 99 B
(203) ting ter 1.
(206) ting ter 2.
This is set automatically when an adaptive notch is
enabled.
enabled.
(209) ting ter 3.
enabled.
108

No. size
(20A) Setting notch filter 4.
enabled.
(20B) ting notch filter 4.
enabled.
(20C) ting ter 4.
enabled.
213 Damping Filter 2 Select the damping filter switching method. 0 - 0 to 3 B
(20D) Selection 0: Damping filter 1 or 2 enabled
1: Reserved for manufacturer use
3: Switch by the position command direction
• Forward direction: Damping filter 1 or 3 is enabled.
• Reverse direction: Damping filter 2 or 4 is enabled.
214 Damping Frequency 2 Set the damping frequency 1. 0 0.1Hz 0 to 2000 B
(20E) 1 The function is enabled if the set value is 10 (= 1 Hz) or
greater.
215 Damping Filter 1 Set- 2 Finely adjust damping control function 1. 0 0.1Hz 0 to 1000 B
(20F) ting If torque saturation occurs, lower this setting; to
increase responsiveness, raise this setting.
(210) 2 The function is enabled if the set value is 10 (= 1 Hz) or
greater.
(211) ting If torque saturation occurs, lower this setting; to
greater.
greater.
222 Position Command 2 Set the time constant of the first-order lag filter for the 0 0.1Hz 0 to 10000 B
(216) Filter Time Constant position command.
Analog Control Parameters

No. size
312 Soft Start Accelera- 2 Set the acceleration processing acceleration time for 0 ms/ 0 to 10000 B
(30C) tion Time speed commands. motor
Maxi-
mum
speed
313 Soft Start Decelera- 2 Set the deceleration processing acceleration time for 0 ms/ 0 to 10000 B
(30D) tion Time speed commands. motor
Maxi-
mum
speed
314 S-curve Accelera- 2 Set the acceleration/deceleration processing S-curve 0 ms 0 to 1000 B
(30E) tion/Deceleration time for speed commands.
Time Setting
317 Speed Limit Selec- 2 Select the torque command and speed limit value. 0 - 0 to 1 B
(311) tion 0: Limit the speed by the limit set on the Speed Limit
Value Setting (Pn321).
1: Limit the speed by the speed limit value (VLIM) via
MECHATROLINK-II communications or by the value
set by the Speed Limit Value Setting (Pn321).
321 Speed Limit Value 2 Set the speed limit value. 50 r/min 0 to 20000 A
(315) Setting
109

No. size
323 External Feedback 2 Select the external feedback pulse type. 0 - 0 to 2 R
(317) Pulse Type Selection 0: 90° phase difference output type
1: Serial communications type (incremental encoder
specifications)
2: Serial communications type (absolute encoder
specifications)
324 External Feedback 4 Set the external feedback pulse dividing numerator. 0 - 0 to 220 R
(318) Pulse Dividing
Numerator
325 External Feedback 4 Set the external feedback pulse dividing denominator. 10000 - 1 to 220 R
Denominator
326 External Feedback 2 Reverse the direction to count the external encoder 0 - 0 to 1 R
(31A) Pulse Direction feed back.
Switching 0: Count direction not reversed
1: Count direction reversed
327 External Feedback 2 Set to enable or disable the Phase-Z disconnection 0 - 0 to 1 R
(31B) Pulse Phase-Z Set- detection when an external encoder of 90° phase differ-
ting ence output type is used.
0: Phase-Z disconnection detection enabled
1: Phase-Z disconnection detection disabled
328 Internal/External 4 Set the threshold for feedback pulse deviation errors. 16000 Com- 1 to 227 C
(31C) Feedback Pulse mand
Error Counter Over- unit
flow Level
329 Internal/External 2 Clear to 0 the feedback pulse error value for each set 0 Rota- 0 to 100 C
(31D) Feedback Pulse rotation speed. tion
Error Counter Reset
Interface Monitor Setting Parameters

No. size
400 Input Signal Selec- 4 Set the function and logic for the general-purpose 00949494h - 0 to C
(400) tion 1 input 1 (IN1). 00FFFFFFh
404 Input Signal Selec- 4 Set the function and logic for the general-purpose 002B2B2Bh - 0 to C
407 Input Signal Selec- 4 Set the function and logic for the general-purpose 002E2E2Eh - 0 to C
410 Output Signal Selec- 4 Set the function assignment for the general-purpose 00030303h - 0 to C
(40A) tion 1 output 1 (OUTM1) 00FFFFFFh
(40B) tion 2 output 2 (OUTM2) 00FFFFFFh
110

No. size
416 Analog Monitor 1 2 Select the type for analog monitor 1. 0 - 0 to 21 A
(410) Selection 0: Motor speed
1: Position command speed
2: Internal position command speed
3: Speed control command
4: Torque command
5: Command position error
6: Encoder position error
7: Full close error
8: Hybrid error
9: P-N voltage
10:Regeneration load ratio
11: Motor load ratio
12:Forward direction torque limit
13:Reverse direction torque limit
14:Speed limit value
15:Inertia ratio
16 to 18: Reserved
19:Encoder temperature
20:Servo Drive temperature
21:Encoder 1-rotation data
417 Analog Monitor 1 4 Set the output gain for analog monitor 1. 0 - 0 to A
(411) Scale Setting 214748364
(412) Selection The set values for this parameter are the same as
Analog Monitor 1 Type (Pn416).
419 Analog Monitor 2 4 Select the output gain for analog monitor 2. 0 - 0 to A
421 Analog Monitor Out- 2 Select the analog monitor output voltage method. 0 - 0 to 2 A
(415) put Selection 0: Output range is -10 to 10 V
1: Output range is 0 to 10 V
2: Output range is 0 to 10 V (5 V as the center)
431 Positioning Comple- 4 Set the allowed number of pulses for the positioning 300 Com- 0 to 262144 A
(41F) tion Range 1 completion range. mand
unit
432 Positioning Comple- 2 Set the judgment conditions for positioning completion 0 - 0 to 3 A
(420) tion Condition Selec- output.
tion 0: The Positioning completion output 1 becomes on
when the positional error is lower than the value set
on the Pn431.
1: The Positioning completion output 1 becomes on
when there is no position command, and the posi-
tional error is lower than the value set on the
Pn431.
when there is no position command, the zero-
speed detection signal is on, and the positional
error is lower than the value set on the Pn431.
3. The Positioning completion output 1 becomes on
Pn431. The ON-state is retained until the Position-
ing Completion Hold Time (Pn433) elapses. After
that, it is turned off or kept to be on, depending on
the positional error then.
433 Positioning Comple- 2 Set the positioning completion hold time. 0 1ms 0 to 30000 A
(421) tion Hold Time
434 Zero Speed Detec- 2 Set the output timing of the Zero speed detection out- 50 r/min 10 to 20000 A
(422) tion put (ZSP) in rotation speed [r/min].
435 Speed Conformity 2 Set the detection range for the speed conformity out- 50 r/min 10 to 20000 A
(423) Detection Range put (VCMP). Set the difference between the speed
command and the actual speed.
436 Rotation Speed for 2 Set the number of motor rotation for the Motor rotation 1000 r/min 10 to 20000 A
(424) Motor Rotation detection output signal (TGON).
Detection
437 Brake Timing when 2 Set the operation time for the mechanical brake at 0 1ms 0 to 10000 B
(425) Stopped stop.
438 Brake Timing during 2 Set the operation time for the mechanical brake during 0 1ms 0 to 10000 B
(426) Operation operation.
439 Brake Release 2 Set the number of motor rotation to determine a 30 r/min 30 to 3000 B
(427) Speed Setting mechanical brake output during rotation.
111

No. size
440 Warning Output 2 Select the warning type for warning output 1. 0 - 0 to 13 A
(428) Selection 1 0: Output by all types of warnings.
1: Overload warning
2: Excessive regeneration warning
3: Battery warning
4: Fan warning
5: Encoder communications warning
6: Encoder overheating warning
7: Vibration warning
8: Life expectancy warning
9: External encoder error warning
10:External encoder communications error warning
11:Data setting warning
12:Command warning
13:MECHATROLINK-II communications warning
(429) Selection 2 The relationships among the set values for this param-
eter are the same as for Warning Output Selection 1
(Pn440).
442 Positioning Comple- 4 Set the allowable number of pulses for the second 10 Com- 0 to 262144 A
(42A) tion Range 2 positioning completion range. mand
unit
Extended Parameters
No. size
504 Drive Prohibition 2 Set the operation to be performed upon forward/ 1 - 0 to 2 C
(504) Input Selection reverse direction drive prohibition input.
0: Enable the Forward and Reverse drive prohibition
inputs.
1: Disable the Forward and Reverse drive prohibition
inputs.
inputs.
505 Stop Selection for 2 Set the drive conditions during deceleration and after 0 - 0 to 2 C
(505) Drive Prohibition stopping, when the Forward or Reverse Drive Prohibi-
Input tion Inputs are enabled.
0: The torque in the drive prohibit direction is dis-
abled, and the dynamic brake is activated.
abled, and free-run deceleration is performed.
abled, and an emergency stop is performed.
506 Stop Selection with 2 Set the stop operation when the servo is turned OFF. 0 - 0 to 9 B
(506) Servo OFF 0, 4:During deceleration: Dynamic brake
After stopping: Dynamic brake
Error counter: Clear
1, 5:During deceleration: Free-run
2, 6:During deceleration: Dynamic brake
After stopping: Servo free
3, 7:During deceleration: Free-run
8: During deceleration: Emergency stop
507 Stop Selection with 2 Set the stop operation when the main power supply is 0 - 0 to 9 B
(507) Main Power Supply turned OFF.
OFF The settable values are the same as those on the
Pn506.
508 Undervoltage Alarm 2 Select either to let the servo off or to stop the alarm 1 - 0 to 1 B
(508) Selection when a main power alarm occurs.
0: Bring the Servo-OFF state in accordance with the
Pn507 setting. Return to Servo on state by turning
on the main power.
1: Main power supply undervoltage (Alarm No.13.1)
occurs. Stop the alarm.
112

No. size
509 Momentary Hold 2 Set the main power supply alarm detection time. 70 1ms 70 to 2000 C
(509) Time
510 Stop Selection for 2 Select the stopping method at an alarm. 0 - 0 to 7 B
(50A) Alarm Detection 0: During deceleration: Dynamic brake
1: During deceleration: Free-run
2: During deceleration: Dynamic brake
4: During deceleration due to emergency stop alarm:
Emergency stop
During deceleration: Dynamic brake
5: During Emergency stop alarm deceleration: Emer-
gency stop
During deceleration: Free-run
gency stop
gency stop
511 Emergency Stop 2 Set the torque limit for emergency stops. 0 % 0 to 500 B
(50B) Torque
512 Overload Detection 2 Set the overload detection level. 0 % 0 to 500 A
(50C) Level Setting
513 Overspeed Detec- 2 Set the overspeed error detection level. 0 r/min 0 to 20000 A
(50D) tion Level Setting
514 Overrun Limit Setting 2 Set the motor over-travel distance for position com- 10 0.1 0 to 1000 A
(50E) mands. rota-
tion
515 Control Input Signal 2 Select the cycle to read the control input signals from 0 - 0 to 3 C
(50F) Read Setting the four levels.
0: 0.166 ms
1: 0.333 ms
2: 1 ms
3: 1.666 ms
520 Position Setting Unit 2 Select the setting units of Positioning Completion 0 - 0 to 1 C
(514) Selection Range 1 and 2 (Pn431 and Pn442) and of the Error
Counter Overflow Level (Pn014).
0: Command unit
1: Encoder unit
521 Torque Limit Selec- 2 Select the method to set the forward and reverse 1 - 0 to 6 B
(515) tion torque limits, and the torque feed forward function dur-
ing speed control.
522 No. 2 Torque Limit 2 Set the No. 2 limit value for the motor output torque. 0 % 0 to 500 B
(516)
525 Forward External 2 Set the forward external toque limit when the torque 0 % 0 to 500 B
(519) Torque Limit limit switch input is given.
526 Reverse External 2 Set the reverse external toque limit when the torque 0 % 0 to 500 B
(51A) Torque Limit limit switch input is given.
531 Axis Number 2 Set the axis number for communication. 1 - 0 to 127 C
(51F)
Special Parameters 1
No. size
605 Gain 3 Effective Time 2 Set effective time of gain 3 of three-step gain switch- 0 0.1ms 0 to 10000 B
(605) ing.
606 Gain 3 Ratio Setting 2 Set gain 3 as a multiple of gain 1. 100 % 50 to 1000 B
(606)
607 Torque Command 2 Set offset torque to add to torque command. 0 % -100 to 100 B
(607) Value Offset
608 Forward Direction 2 Set the value to add to a torque command for forward 0 % -100 to 100 B
(608) Torque Offset direction operation.
113

No. size
609 Reverse Direction 2 Set the value to add to a torque command for reverse 0 % -100 to 100 B
610 Function Expansion 2 Set the function expansion. The setting contents vary 0 - 0 to 63 -
(60A) Setting depending on the function.
611 Electric Current 2 Make fine adjustment on electric current response with 100 % 50 to 100 B
(60B) Response Setting default setting as 100%.
614 Alarm Detection 2 Set the allowable time until stopping when an emer- 200 ms 0 to 1000 B
(60E) Allowable Time Set- gency stop is actuated upon alarm detection.
ting
615 Overspeed Detec- 2 During an emergency stop upon alarm detection, if the 0 r/min 0 to 20000 A
(60F) tion Level Setting at motor speed excess this set value, this is an over-
Emergency Stop speed 2 error.
618 Power Supply ON 2 Set initialization time after power supply ON to the 0 0.1s 0 to 100 R
(612) Initialization Time standard 1.5 s plus some.
623 Disturbance Torque 2 Set the compensation gain for disturbance torque. 0 % -100 to 100 B
(617) Compensation Gain
624 Disturbance 2 Set the filter time constant for disturbance torque com- 53 0.01ms 10 to 2500 B
(618) Observer Filter Set- pensation.
ting
631 Realtime Autotuning 2 Set the load characteristics estimated speed when 0 - 0 to 3 B
(61F) Estimated Speed realtime autotuning is enabled.
Selection 0: Fixes estimated results at the time load estimation
becomes stable.
1: Estimates in every minute from the load character-
istic changes.
2: Estimates in every second from the load character-
istic changes.
3: Estimates the optimum from the load characteristic
changes.
632 Realtime Autotuing 2 Set the CUSTOMIZATION mode detail for realtime 0 - -32768 to B
(620) Customization Mode autotuning. 32767
Setting
634 Hybrid Vibration 2 Set the hybrid vibration suppression gain during full 0 0.1s 0 to 30000 B
(622) Suppression Gain closing control.
635 Hybrid Vibration 2 Set the hybrid vibration suppression filter time con- 10 0.01ms 0 to 6400 B
(623) Suppression Filter stant during full closing control.
637 Vibration Detection 2 Set the vibration detection threshold. 0 0.1% 0 to 1000 B
(625) Threshold If torque vibration that exceeds this setting is detected,
the vibration detection warning occurs.
638 Warning Mask Set- 2 Set the warning detection mask setting.If you set the 4 - -32768 to C
(626) ting corresponding bit to 1, the corresponding warning 32767
detection is disabled.
No. size
700 Default Display 2 Select a data type to display on the 7-segment LED 0 - 0 to 32767 A
(700) indicator on the front panel.
0: Normal state
1: Mechanical angle
2: Electric angle
3: Cumulative count of MECHATROLINK-II communi-
cations errors
4 Rotary switch setting value
5: Cumulative count of encoder communications
errors
6: Cumulative count of external encoder communica-
tions errors
7: Z-phase counter
8 or over: Unused
701 Power-ON Address 2 Set the time to indicate the node address when the 0 100ms 0 to 1000 R
(701) Display Duration Set- control power is turned on.
ting
703 Torque Limit Flag 2 Set the condition for torque limit output during torque 0 - 0 to 1 A
(703) Output Setting control.
0: On by the torque limit value including the torque
command value.
1: On by the torque limit value excluding the torque
command value.
114

No. size
704 Backlash Compen- 2 Select to enable or disable the backlash compensation 0 - 0 to 2 C
(704) sation Selection during position control.
Set the compensation direction when the compensa-
tion is enabled.
0: Disable the backlash compensation.
1: Compensate the backlash at the first forward oper-
ation after a Servo ON.
2: Compensate the backlash at the first reverse oper-
705 Backlash Compen- 2 Set the backlash compensation amount during posi- 0 Com- -32768 to B
(705) sation Amount tion control. mand 32767
unit
706 Backlash Compen- 2 Set the time constant to apply a backlash compensa- 0 0.01ms 0 to 6400 B
(706) sation Time Constant tion during position control.
710 MECHATROLINK-II 2 Select whether to reflect the inputs to the I/O monitor 0 - 0 to 1 A
(70A) Communication I/O of MECHATROLINK-II communications, when either
Monitor Setting the forward or reverse drive prohibition input is
assigned to the input signal and the Drive Prohibition
Input Selection (Pn504) is set to 1 (i.e. Disable).
0: Disable the one on the I/O monitor of MECHA-
TROLINK-II communications as well.
1: Enable the one on the I/O monitor of MECHA-
TROLINK-II communications.
No. size
800 Communications 2 Controls the alarms and warnings over the MECHA- 0 - -32768 to C
(800) Control TROLINK-II communications. 32767
801 Soft Limit 2 Select whether to enable or disable the Soft Limit 0 - 0 to 3 A
(801) Function.
0: Enable the soft limits on both directions.
1: Disable the forward soft limit, but enable the
reverse soft limit.
2: Enable the forward soft limit, but disable the reverse
soft limit.
3: Disable the soft limits on both directions.
803 Origin Range 2 Set the threshold for detecting the origin in absolute 0 - 0 to 250 A
(803) values.
804 Forward Software 4 Set the forward soft limit. 500000 Com- -1073741823 A
(804) Limit Value mand to
unit 1073741823
806 Reverse Software 4 Set the reverse soft limit. -500000 Com- -1073741823 A
(806) Limit mand to
unit 1073741823
808 Absolute Encoder 4 Set the offset volume between the encoder or external 0 Com- -1073741823 C
(808) Origin Offset encoder position and the mechanical coordinate posi- mand to
tion, when an absolute encoder or an absolute exter- unit 1073741823
nal encoder is used.
811 Linear Acceleration 2 Set the acceleration for positioning. 100 *1 -32768 to B
(80B) Constant 32767
814 Linear Deceleration 2 Set the deceleration for positioning. 100 *1 -32768 to B
(80E) Constant 32767
818 Position Command 2 Set the time constant of FIR filter for the position com- 0 0.1ms 0 to 10000 B
(812) FIR Filter Time Con- mand.
stant
820 Final Distance for 4 Sets the distance to travel after the latch signal input 100 0.1ms -1073741823 B
(814) External Input Posi- position is detected during the external input position- to
tioning ing. 1073741823
822 Origin Return mode 2 Set the direction for origin return. 0 - 0 to 1 B
(816) Setting 0: Positive direction
1: Negative direction
823 Origin Return 2 Set the operating speed for origin returns, from when 50 *2 1 to 32767 B
(817) Approach Speed 1 the origin proximity signal turns on to when it turns off
and the latch signal is detected.
(818) Approach Speed 2 the latch signal is detected to when the motor stops at
the position after travelling the distance set by Final
Distance for Origin Return (Pn825).
825 Final Distance for 4 Set the distance from the position where the latch sig- 100 Com- -1073741823 B
(819) Origin Return nal is entered to the origin during origin returns. mand to
unit 1073741823
115

No. size
836 Option Monitor 2 The Monitor Selection Field of MECHATROLINK-II 0 - -32768 to A
(824) Selection 1 communications displays the monitoring data that is 32767
set on this parameter.
*1. 10,000 command unit/s

*2. 100 command unit/s
4-5-2 G-series Servo Drive (R88D-GN@-ML2 with Built-in

The Servo Parameters listed here can be used when the Position Control Unit
is used with a G-series Servo Drive (R88D-GN@-ML2) with built-in MECHA-
For further details on each of the parameters, refer to the user’s manual for G-
series Servo Drives.
The timing for Servo Parameters to be enabled are classified into the following
two types.
Online (online parameters): Changed settings are enabled immediately after
Servo Parameters have been written.
Offline (offline parameters): Changed settings are enabled when the Servo
Drive power is cycled or DEVICE SETUP is exe-
cuted.
The Details column indicates whether the following conditions apply to the
corresponding parameter.
• Online parameters that can be changed when the axis is stopped (Busy
Flag = 0) only.
• Parameters with standard set values when using MECHATROLINK are
indicated in the Details column as “standard” with the set value.
The standard settings are basic settings required when using the PCU.
This manual describes operations assuming standard settings are being
used.
For details on fixed and standard settings, refer to 6-4 Standard Settings for
Servo Drives Using MECHATROLINK.
Note Parameters marked with "(RT)" are automatically set during realtime autotun-
ing. To set these parameters manually, disable realtime autotuning by setting
the Realtime Autotuning Mode Selection (Pn021) to 0 before changing the
parameter.
Note Make sure that the equipment will not be adversely affected before changing
the Servo Parameters (WRITE SERVO PARAMETER, SAVE SERVO
PARAMETER). Refer to the Servo Drive's operation manual and always check
the effect of changing the settings before changing the Servo Parameters.
116
Parameter Tables
Param- Parameter Param- Setting Explanation Default Unit Setting Enable Details
eter name eter setting range setting
No. size
Pn000 Reserved --- Do not change. 1 --- --- ---
Pn001 Default Dis- 2 Selects the data to be displayed on the 7-segment LED display on 0 --- 0 to 4 Online
play the front panel.
0 Normal status ("--" Servo OFF, "00" Servo ON)
1 Indicates the machine angle from 0 to FF hex.
0 is the zero position of the encoder. The angle
increases when the Servomotor turns forward.
The count continues from "0" after exceeding "FF".
When using an incremental encoder, the display shows
"nF" (not Fixed) until detecting the zero position on the
encoder after the control power is turned ON.
2 Indicates the electrical angle from 0 to FF hex.
0 is the position where the inductive voltage on the U
phase reaches the position peak. The angle increases
when the Servomotor turns forward.
3 Indicates the number (total) of MECHATROLINKII com-
munications errors from 0 to FF hex.
The communications error count (total) saturates at the
maximum of FFFFh. "h" appears only for the lowest
byte. The count continues from "00" after exceeding
"FF".
Note The communications error count (total) is
cleared by turning OFF the control power.
4 Indicates the setting on the rotary switch (node address
value) loaded at startup, in decimal.
This value does not change even if the rotary switch is
turned after startup.
5 to Reserved (Do not set.)
32767
Pn003 Torque 2 Selects the torque limit function, or the torque feed-forward func- 1 --- --- Online Settings
Limit Selec- tion during speed control. can be
tion changed
• Torque Limit Selection 1 --- 1 to 5 when the
For torque control, always select Pn05E. For position control and axes are
speed control, select the torque limit as follows. stopped
1 Use Pn05E as the limit value for forward and reverse (Busy
operations. Flag for
each axis
2 Forward: Use Pn05E. = 0).
Reverse: Use Pn05F.
3 Switch limits by torque limit values and input signals
from the network.
Limit in forward direction:
PCL is OFF = Pn05E, PCL is ON = Pn05F
Limit in reverse direction:
NCL is OFF = Pn05E, NCL is ON = Pn05F
4 Forward: Use Pn05E as limit.
Reverse: Use Pn05F as limit.
Only in speed control, torque limits can be switched by
torque limit values from the network as follows:
Use Pn05E command or option command value 1,
whichever is smaller.
Use Pn05F command or option command value 2,
torque limit values and input signals from the network
as follows:
PCL is OFF = Pn05E, PCL is ON = Pn05E command
or option command value 1, whichever is smaller.
NCL is OFF = Pn05F, NCL is ON = Pn05F command
117
No. size
Pn003 Torque 2 Note PCL ON: When either Forward Torque Limit (CN1 PCL: 1 --- 1 to 5 Online Settings
Limit Selec- pin 7) or MECHATROLINKII Communications can be
tion Option Field (P-CL) is ON. changed
PCL OFF: When both Forward Torque Limit (CN1 PCL: when the
pin 7) and MECHATROLINK-II Communica- axes are
tions Option Field (P-CL) are OFF. stopped
(Busy
• Torque Feed-forward Function Selection Flag for
each axis
1 to 3 Enabled only during speed control. Disabled if not = 0).
using speed control.
4 to 5 Always disabled
Pn004 Drive Pro- 2 Sets the function for the Forward and Reverse Drive Prohibit 0 --- 0 to 2 Offline
hibit Input Inputs (CN1 POT: pin 19, NOT: pin 20)
Selection
0 Decelerates and stops according to the sequence set
in the Stop Selection for Drive Prohibition Input (Pn066)
when both POT and NOT inputs are enabled.
When both POT and NOT inputs are OPEN, the Drive
Prohibit Input Error (alarm code 38) will occur.
1 Both POT and NOT inputs disabled.
2 When either POT or NOT input becomes OPEN, the
Drive Prohibit Input Error (alarm code 38) will occur.
Pn005 Communi- 2 Controls errors and warnings for MECHATROLINK-II communica- 0 --- 0 to 3955 Offline Always
cations tions. set to 0.
Control Note Use with thi]s parameter set to 0. Program to stop immedi-
ately if using a value other than 0.
Set the Consecutive Communications Error Detection Count in
COM_ERR (bit 8 to 11). The communications error (alarm code
83) will occur when a communications error, which is assessed at
every MECHATROLINK-II communications cycle, occurs consecu-
tively for the number of the Consecutive Communications Error
Detection Count. The error and warning can be masked for debug
purposes.
bits 15-12 bits 11-8 bits 7-4 bits 3-0
--- COM_ERR MSK COM MSK COM
WARNG ALM
• [bits 8-11] COM_ERR (Consecutive Communications

Error Detection Count)
Setting range: 0 to 15.
Consecutive Communications Error Detection
Count = COM_ERR + 2
Note These bits are debug functions. Set to enable (0) when
not debugging.
• [bits 0-3] MECHATROLINK-II Communications Alarms Mask
(MSK COM ALM)
[bit0]0: Communications error (alarm code 83) enabled
1: Communications error (alarm code 83) disabled
[bit1]0: Watchdog data error (alarm code 86) enabled
1: Watchdog data error (alarm code 86) disabled
• [bits 4-7] MECHATROLINK-II Communications Warnings Mask
(MSK COM WARNG)
[bit4]0: Data setting warning (warning code 94h) enabled
1: Data setting warning (warning code 94h) disabled
[bit5]0: Command warning (warning code 95h) enabled
1: Command warning (warning code 95h) disabled
[bit6]0: ML-II communications warning
(warning code 96h) enabled
1: ML-II communications warning
(warning code 96h) disabled
Pn006 Power ON 2 Sets the duration to display the node address when the control 30 ms 0 to 1000 Offline
Address power is turned ON.
Display Note The node address display has priority even if there are
Duration alarms or warnings at power ON.
Setting
0 to 6 600 ms
7 to set value × 100 ms
1000
118
No. size
Pn007 Speed 2 Selects the output to the Analog Speed Monitor (SP on the front 3 --- 0 to 11 Online
monitor panel).
(SP) Selec- Note This monitor output has a delay due to filtering. The Oper-
tion ating Direction Setting (Pn043) does not affect this moni-
tor output. Thus, forward rotation is always positive (+),
and reverse rotation is always negative (−).
0 Actual Servomotor speed: 47 r/min/6 V
5 Command speed: 47 r/min/6 V
10 Outputs the Issuance Completion Status (DEN).
0 V: Issuing
5 V: Issuance complete
11 Outputs the Gain Selection Status.
0 V: Gain 2
5 V: Gain 1
Pn008 Torque 2 Selects the output to the Analog Torque Monitor (IM on the 0 --- 0 to 14 Online
Monitor (IM) front panel)
Selection
Note This monitor output has a delay due to filtering. The Oper-
ating Direction Setting (Pn043) does not affect this moni-
0 Torque command: 100%/3 V
1 Position deviation: 31 pulses/3 V
6 to 10 Reserved
0 V: Issuing
0 V: Gain 2
5 V: Gain 1
Pn00A Prohibit 2 Allows/prohibits parameter changes via the network. 0 --- 0, 1 Online
Parameter
Changes 0 Allows parameter changes from the host controller via
via Network the network.
1 Prohibits parameter changes from the host controller
via the network.
Attempting to change a parameter via the network
when prohibited triggers the Command Warning (warn-
ing code 95h).
Pn00B Operation 2 Selects how the an absolute encoder is used. 0 --- 0 to 2 Online
Switch This parameter is disabled when using an incremental
When
Using encoder.
Absolute 0 Use as an absolute encoder.
Encoder
1 Use an absolute encoder as an incremental encoder.
2 Use as an absolute encoder but ignore absolute multi-
turn counter overflow alarm (alarm code 41).
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No. size
Pn00C RS-232 2 Sets the baud rate for RS-232 communications. 2 --- 0 to 5 Online
Baud Rate
Setting 0 2,400 bps
1 4,800 bps
2 9,600 bps
3 19,200 bps
4 38,400 bps
5 57,600 bps
Pn00D Reserved --- Do not change. 0 --- --- ---
Pn00E Reserved --- Do not change. 0 --- --- ---
Pn00F Reserved --- Do not change. 0 --- --- ---
Pn010 Position 2 Sets the position loop responsiveness. 400 ×0.1 0 to 30000 Online Settings
Loop Gain Increasing the gain increases position control responsiveness and [1/s] can be
(RT) shortens stabilization time. changed
when the
Oscillation or overshoot will occur if set too high. Adjust for opti- axes are
mum responsiveness. stopped
Pn011 Speed Loop 2 Sets the speed loop responsiveness. 500 ×0.1 1 to 30000 Online (Busy
Gain (RT) Hz Flag for
If the Inertia Ratio (Pn020) is set correctly, this parameter is set to
the Servomotor response frequency. each axis
= 0).
Increasing the gain increases the speed control responsiveness,
but too much gain may cause oscillating.
Small gain may cause overshoot in the speed response.
Adjust for optimum responsiveness.
Pn012 Speed Loop 2 Adjusts the speed loop integration time constant. 200 ×0.1 1 to 10000 Online
Integration Set a large value for large load inertia. ms
Time Con-
stant (RT) Decrease the setting for fast response with small inertia.
Set 9999 to stop integration operation while retaining the integra-
tion value. A setting of 10000 disables integration.
Pn013 Speed 2 Sets the type of speed detection filter time constant. 0 --- 0 to 5 Online
Feedback Normally, use a setting of 0.
Filter Time
Constant Increasing the value reduces the noise of the Servomotor but also
(RT) reduces its responsiveness.
This parameter is disabled if the Instantaneous Speed Observer
Setting (Pn027) is enabled.
Pn014 Torque 2 Adjusts the first-order lag filter time constant for the torque com- 80 ×0.01 0 to 2500 Online
Command mand section. ms
Filter Time The torque filter setting may reduce machine vibration.
Constant
(RT)
Pn015 Speed 2 Sets the speed feed-forward amount. 300 ×0.1 % 0 to 1000 Online
Feedfor- This parameter is particularly useful when fast response is
ward required.
Amount
(RT)
Pn016 Feed-for- 2 Sets the time constant for the speed feed-forward first-order lag fil- 100 ×0.01 0 to 6400 Online
ward Filter ter. ms
Time Con-
stant (RT)
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No. size
Pn018 0 to 6400 2 Sets the position loop gain when using gain 2 switching. 200 ×0.1 0 to 30000 Online Settings
Same function as Pn010. [1/s] can be
changed
Pn019 Speed Loop 2 Sets the speed loop gain when using gain 2 switching. 800 ×0.1 1 to 30000 Online when the
Gain 2 (RT) Same function as Pn011. Hz axes are
stopped
Pn01A Speed Loop 2 Sets the speed loop integration time constant when using gain 2 500 ×0.1 1 to 10000 Online (Busy
Integration switching. ms Flag for
Time Con- Same function as Pn012. each axis
stant 2 (RT) = 0).
tion value. Setting 10000 disables integration.
Pn01B Speed 2 Sets the speed detection filter when using gain 2 switching. 0 --- 0 to 5 Online
Feedback Same function as Pn013. Normally, use a setting of 0.
Filter Time
Constant 2 When Instantaneous Speed Observer Setting (Pn027) is enabled,
(RT) this parameter will be disabled.
Pn01C Torque 2 Sets the first-order lag filter time constant for the torque command 100 ×0.01 0 to 2500 Online
Command section when using gain 2 switching. ms
Filter Time Same function as Pn014.
Constant 2
(RT)
Pn01D Notch Filter 2 Sets the notch frequency of notch filter 1 for resonance suppres- 1500 Hz 100 to 1500 Online
1 Fre- sion.
quency This filter must be matched with the resonance frequency of the
load.
100 to Filter enabled
1499
1500 Filter disabled
Pn01E Notch Filter 2 Selects the notch width of notch filter 1 for resonance suppression. 2 --- 2 Online
1 Width Normally, use a setting of 2.
Pn020 Inertia Ratio 2 Sets the load inertia as a percentage of the Servomotor rotor iner- 300 % 0 to 10000 Online Settings
(RT) tia. can be
Setting [%] = (Load inertia / Rotor inertia) × 100 changed
when the
The inertia ratio estimated during realtime autotuning is stored in axes are
the EEPROM every 30 minutes. stopped
Pn021 Realtime 2 Sets the operating mode for realtime autotuning. 0 --- 0 to 7 Online (Busy
Autotuning Flag for
A setting of 3 or 6 will provide faster response to changes in inertia each axis
Mode during operation. Operation, however, may be unstable depending
Selection = 0).
on the operating pattern.
Normally, use a setting of 1 or 4.
Set to 4 to 6 when the Servomotor is used as a vertical axis.
Gain switching is enabled at set values 1 to 6.
Use a setting of 7 if operation changes caused by gain switching
are a problem.
Realtime Autotuning Degree of change in
load inertia
0 Disabled ---
1 Horizontal axis mode Almost no change
2 Gradual changes
3 Sudden changes
4 Vertical axis mode Almost no change
5 Gradual changes
6 Sudden changes
7 Gain switching disable Almost no change
mode
Pn022 Realtime 2 Sets the machine rigidity for realtime autotuning. 2 --- 0 to F Online
Autotuning Increasing this value increases the responsiveness.
Machine
Rigidity If the value is changed suddenly by a large amount, the gain will
Selection change rapidly, subjecting the machine to shock.
Always start by making small changes in the value, and gradually
increase the value while monitoring machine operation.
Cannot be set to 0 when using the Parameter Unit.
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No. size
Pn023 Adaptive 2 Enables or disables the adaptive filter. 0 --- 0 to 2 Online Settings
Filter Selec- The Adaptive Filter Table Number Display (Pn02F) will be reset to can be
tion 0 when disabled. changed
when the
Note When the Vibration Filter Selection (Pn024) is set to a axes are
low-pass filter type (Pn024 = 3 to 5), the adaptive filter is stopped
forcibly set to disabled (Pn023 = 0). (Busy
0 Adaptive filter disabled. Flag for
each axis
1 Adaptive filter enabled. = 0).
Adaptive operation performed.
2 Adaptive filter enabled. Adaptive operation will not be
performed (i.e., retained).
Pn024 Vibration 2 Selects the vibration filter type and switching mode. 0 --- 0 to 5 Offline
Filter Selec- • Filter type selection
tion • Normal type:
Vibration frequency setting range 10.0 to 200.0 Hz
• Low-pass type:
• Switching mode selection
• No switching: Both 1 and 2 are enabled
• Switching with command direction:
Selects Vibration Frequency 1 in forward direction
(Pn02B, Pn02C)
Selects Vibration Frequency 2 in reverse direction
(Pn02D, Pn02E)
Filter type Switching mode

0 Normal type No switching
1
2 Switching with command
direction
3 Low-pass type No switching
4
direction
Pn025 Normal 2 Sets the operating pattern for normal mode autotuning. 0 --- 0 to 7 Online Settings
Mode Auto- can be
tuning Number of rotations Rotation direction changed
Operation when the
Setting 0 Repeat cycles of 2 Forward and Reverse axes are
rotations (Alternating) stopped
1 Reverse and Forward (Busy
Flag for
(Alternating)
each axis
2 Forward only = 0).
3 Reverse only
4 Repeat cycles of single Forward and Reverse
rotation (Alternating)
5 Reverse and Forward
(Alternating)
6 Forward only
7 Reverse only
Pn026 Overrun 2 Sets the Servomotor’s allowable operating range for the position 10 ×0.1 0 to 1000 Online
Limit Set- command input range. rota-
ting Set to 0 to disable the overrun protective function. tion
Pn027 Instanta- 2 The Instantaneous Speed Observer improves speed detection 0 --- 0, 1 Online Settings
neous accuracy, thereby improving responsiveness and reducing vibra- can be
Speed tion when stopping. changed
Observer When the instantaneous speed observer is enabled, both Speed when the
Setting (RT) Feedback Filter Time Constant (Pn013) and Speed Feedback Fil- axes are
ter Time Constant 2 (Pn01B) are disabled. stopped
(Busy
This feature cannot be used with realtime autotuning. Flag for
0 Disabled each axis
= 0).
1 Enabled
Pn028 Notch Filter 2 Sets the notch frequency of notch filter 2 for resonance suppres- 1500 Hz 100 to 1500 Online
2 Fre- sion.
quency This parameter must be matched with the resonance frequency of
the load.
1499
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No. size
Pn029 Notch Filter 2 Selects the notch width of notch filter 2 for resonance suppression. 2 --- 0 to 4 Online Settings
2 Width Increasing the value increases the notch width. can be
changed
Pn02A Notch Filter 2 Selects the notch depth of notch filter 2 for resonance suppres- 0 --- 0 to 99 Online when the
2 Depth sion. axes are
Increasing this value decreases the notch depth, thereby reducing stopped
the phase lag. (Busy
Flag for
Pn02B Vibration 2 Sets the vibration frequency 1 for damping control to suppress 0 ×0.1 0 to 2000 Online each axis
Frequency vibration at the end of the load. Hz = 0).
1 Measure and set the frequency of the vibration.
The frequency setting range depends on the filter type selected in
the Vibration Filter Selection (Pn024).
• Normal type
Setting frequency range: 10.0 to 200.0 Hz (Disabled when set to
0 to 99)
• Low-pass type
Setting frequency range: 1.0 to 200.0 Hz (Disabled when set to 0
to 9)
Pn02C Vibration 2 When setting Vibration Frequency 1 (Pn02B), reduce this setting if 0 ×0.1 −200 to 2000 Online
Filter 1 Set- torque saturation occurs, or increase it to make the movement Hz
ting faster.
Normally, use a setting of 0.
The setting range depends on the filter type selected in the Vibra-
tion Filter Selection (Pn024), and if Vibration Filter 1 is enabled,
the ranges are as follows:
Note This parameter is disabled when Vibration Filter 1 is dis-
abled.
• Normal type
Setting range: 100 ≤ Pn02B + Pn02C ≤ Pn02B × 2 or 2000
• Low-pass type
Setting range: 10 ≤ Pn02B + Pn02C ≤ Pn02B × 6
Pn02D Vibration 2 Same function as Pn02B. 0 ×0.1 0 to 2000 Online
Frequency Hz
2
Pn02E Vibration 2 Same function as Pn02C. 0 ×0.1 −200 to 2000 Online
Filter 2 Set- Hz
ting
Pn02F Adaptive 2 Displays the table entry number corresponding to the frequency of 0 --- 0 to 64 Online This is a
Filter Table the adaptive filter. read-only
Number This parameter is set automatically when the adaptive filter is parame-
Display enabled (i.e., when the Adaptive Filter Selection (Pn023) is set to ter. You
a value other than 0), and cannot be changed. cannot
change
When the adaptive filter is enabled, this parameter will be saved in the set-
EEPROM approximately every 30 min. If the adaptive filter is ting.
enabled the next time the power supply is turned ON, adaptive
operation will start with the data saved in EEPROM as the default
value.
To clear this parameter and reset the adaptive operation, disable
the adaptive filter by setting the Adaptive Filter Selection (Pn023)
to 0, and then enable it again.
0 to 4 Filter disabled
5 to 48 Filter enabled
49 to 64 Enable or disable the filter with Pn022
Pn030 Gain 2 Enables or disables gain switching. 1 --- 0, 1 Online Settings
Switching can be
Operating 0 Disabled. Uses Gain 1 (Pn010 to Pn014). changed
Mode PI/P operation is switched from MECHATROLINK-II. when the
Selection axes are
(RT) 1 The gain is switched between Gain 1 (Pn010 to Pn014) stopped
and Gain 2 (Pn018 to Pn01C). (Busy
Flag for
each axis
= 0).
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No. size
Pn031 Gain Switch 2 Sets the trigger for gain switching. 2 --- 0 to 10 Online Settings
Setting (RT) The details depend on the control mode. can be
changed
0 Always Gain 1 when the
axes are
1 Always Gain 2 stopped
2 Switching from the network (Busy
Flag for
3 Amount of change in torque command each axis
= 0).
4 Always Gain 1
5 Speed command
6 Amount of position deviation
7 Position command pulses received
8 Positioning Completed Signal (INP) OFF
9 Actual Servomotor speed
10 Combination of position command pulses received and
speed
Pn032 Gain Switch 2 Enabled when the Gain Switch Setting (Pn031) is set to 3, or 5 to 30 ×166 0 to 10000 Online
Time (RT) 10. Sets the lag time from the trigger detection to actual gain µs
switching when switching from gain 2 to gain 1.
Pn033 Gain Switch 2 Sets the judgment level to switch between Gain 1 and Gain 2 600 -- 0 to 20000 Online
Level Set- when the Gain Switch Setting (Pn031) is set to 3, 5, 6, 9, or 10.
ting (RT) The unit for the setting depends on the condition set in the Gain
Switch Setting (Pn031).
Pn034 Gain Switch 2 Sets the hysteresis of the judgment level for the Gain Switch Level 50 --- 0 to 20000 Online
Hysteresis Setting (Pn033) when the Gain Switch Setting (Pn031) is set to 3,
Setting (RT) 5, 6, 9, or 10. The unit for the setting depends on the condition set
in the Gain Switch Setting (Pn031).
Pn035 Position 2 This parameter can prevent the position loop gain from increasing 20 ×166 0 to 10000 Online
Loop Gain suddenly when the position loop gain and position loop gain 2 dif- µs
Switching fer by a large amount.
Time (RT) When the position loop gain increases, it takes the duration of (set
value + 1) × 166 µs.
Pn03A Reserved --- Do not change. 0 --- --- ---
Pn03B Reserved --- Do not change. 0 --- --- ---
Pn03C Reserved --- Do not change. 0 --- --- ---
Pn03D Jog Speed 2 Sets the jog operation speed with the Parameter Unit or CX-Drive. 200 r/min 0 to 500 Online Settings
Note Jog operation is only available when the network is not can be
established. Do not try to establish the network while changed
using jog operation. Otherwise, command alarm (alarm when the
code 27) will occur. axes are
stopped
(Busy
Flag for
each axis
= 0).
Pn041 Emergency 2 Enables the Emergency Stop Input (STOP). 1 --- 0, 1 Offline
Stop Input Note If this function is disabled, the response status will always
Setting be 0 (disabled).
0 Disabled.
1 Enabled (alarm code 87 issued on OPEN)
Pn042 Origin Prox- 2 Sets the logic for the Origin Proximity Input (DEC). 1 --- 0, 1 Offline
imity Input
Logic Set- 0 N.C contact (origin proximity detected on OPEN)
ting 1 N.O contact (origin proximity detected on CLOSE)
Pn043 Operating 2 Sets the relationship between polarity of operation data sent over 1 --- 0, 1 Offline
Direction the network and the direction of Servomotor rotation.
Setting Note In RS-232C communications and on the analog monitor
(SP, IM) on the front panel, forward direction is always
positive (+), and reverse rotation is always negative (−).
0 Disabled.
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No. size
Pn044 Input Sig- 2 Sets the terminal assignment for Drive Prohibit Input. 1 --- 0, 1 Offline
nal Selec-
tion 0 Sets CN1 pin 19 to POT, CN1 pin 20 to NOT.
1 Sets CN1 pin 19 to NOT, CN1 pin 20 to POT.
Pn053 Speed Limit 2 Sets the speed limit for torque control mode. (The value is an 50 r/min −20000 to Online Settings
absolute value) 20000 can be
This parameter is limited by the Overspeed Detection Level Set- changed
ting (Pn073). when the
axes are
stopped
(Busy
Flag for
each axis
= 0).
Pn058 Soft Start 2 Sets the acceleration time for speed control mode. 0 ×2 ms 0 to 5000 Online Settings
Accelera- Acceleration time [s] from 0 r/min to maximum speed [r/min] = Set can be
tion Time value × 2 ms changed
when the
Pn059 Soft Start 2 Sets the deceleration time for speed control mode. 0 ×2 ms 0 to 5000 Online axes are
Decelera- Deceleration time [s] from maximum speed [r/min] to 0 r/min = Set stopped
tion Time value × 2 ms (Busy
Flag for
each axis
= 0).
Pn05B 2 Selects the speed limit for torque control mode. 0 --- 0, 1 Online Settings
can be
0 Use the Speed Limit (Pn053) changed
1 Use the speed limit value via MECHATROLINK-II or the when the
Speed Limit (Pn053), whichever is smaller. axes are
stopped
(Busy
Flag for
each axis
= 0).
Pn05E No. 1 2 Sets the No. 1 Torque Limit for the Servomotor output torque. 300 % 0 to 500 Online Settings
Torque Refer to information on the Torque Limit Selection (Pn003) to can be
Limit select the torque limit. changed
when the
The maximum value of the setting range depends on the applica- axes are
ble Servomotor. stopped
Pn05F No. 2 2 Sets the No. 2 torque limit for the Servomotor output torque. 100 % 0 to 500 Online (Busy
Torque Flag for
Refer to information on the Torque Limit Selection (Pn003) to each axis
Limit select the torque limit.
= 0).
The maximum value of the setting range depends on the applica-
ble Servomotor.
Pn060 Positioning 2 Sets the positioning completion range when Positioning Comple- 25 Com- 0 to 10000 Online
Completion tion 1 (INP1) Output is selected. mand
Range 1 Positioning is complete when all positioning command pulses are units
exhausted, and the absolute value of the position deviation con-
verted into command units is less than this setting.
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No. size
Pn061 Speed Con- 2 Sets the detection width for the speed conformity detection 20 r/min 10 to 20000 Online
formity Sig- (VCMP) signal.
nal Output Speed conformity is achieved when the absolute value of the dif-
Width ference between the internal speed command (before acceleration
and deceleration limits are applied) and the Servomotor speed is
less than the set speed.
Note This setting has a hysteresis of 10 r/min.
Pn062 Rotation 2 Sets the threshold level for the speed reached (TGON) signal. 50 r/min 10 to 20000 Online
Speed for Speed reached is determined when the absolute value of the Ser-
Motor Rota- vomotor speed is greater than the setting speed.
tion Detec-
tion Note Speed reached detection has a hysteresis of 10 r/min.
Completion tion 2 (INP2) is selected. mand
Range 2 Positioning is complete when the absolute value of the position units
deviation converted into command units is less than this setting,
regardless of whether position command pulses are still being pro-
cessed.
Pn064 Motor 2 Enables or disables the offset component readjustment function of 0 --- 0, 1 Online
Phase Cur- the Motor Phase Current Detector (CT) for Servo ON command
rent Offset inputs. The readjustment is made when control power is turned
Re-adjust- ON.
ment Set- Note This adjustment is inaccurate if the offset is measured
ting while the Servomotor is rotating. To enable this function,
do not rotate the Servomotor when inputting the Servo ON
command.
0 Disabled (only when turning ON control power)
1 Enabled (when turning ON control power, or at Servo
ON)
Pn065 Undervolt- 2 Selects whether to activate the main power supply undervoltage 1 --- 0, 1 Online Settings
age Alarm function (alarm code 13) when the main power supply is inter- can be
Selection rupted for the duration of the Momentary Hold Time (Pn06D) dur- changed
ing Servo ON. when the
axes are
0 Turns the Servo OFF according to the setting for stopped
the Stop Selection with Main Power OFF (Pn067), (Busy
interrupting the positioning command generation Flag for
each axis
process (positioning operation) within the Servo
= 0).
Drive. When the main power supply is turned back
ON, Servo ON will resume. Restart the positioning
operation after performing the positioning operation
and recovering from Servo OFF.
1 Causes an error due to main power supply
undervoltage (alarm code 13).
This parameter is disabled if Pn06D = 1,000.
If Pn06D is set too long and the voltage between
P and N in the main power supply converter drops
below the specified value before a main power
supply interruption is detected, a main power
supply undervoltage (alarm code 13) will occur.
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No. size
Pn066 Stop Selec- 2 Sets the deceleration stop operation to be performed after the For- 0 --- 0 to 2 Offline
tion for ward Drive Prohibit Input (POT) or Reverse Drive Prohibit Input
Drive Prohi- (NOT) is enabled.
bition
Input During After stopping Deviation counter
deceleration (30 r/min or
less)
0 Dynamic Disables torque Cleared while decel-
brake command in erating with dynamic
drive prohibited brake. Retained after
direction stopping.
1 Disables Disables torque Cleared while decel-
torque command in erating. Retained
drive prohibited after stopping.
direction
2 Emergency Servo locked Retained while decel-
Stop Torque erating, cleared upon
(Pn06E) completion of decel-
eration, and retained
after stopping.
Note 1. The positioning command generation process (positioning

operation) within the Servo Drive will be forcibly stopped
once it enters the deceleration mode. Also, when the
deceleration mode is activated during speed control or
torque control, it will switch to position control. If a posi-
tioning operation command is received during decelera-
tion, the internal positioning command generation process
will be retained, and after deceleration is complete, posi-
tioning operation will be activated.
Note 2. When the Servomotor rotation speed is 30 r/min or less
(stopped), the deceleration mode will not be activated
even if the drive prohibit input is enabled.
Note 3. When the parameter is set to 2 and an operation com-
mand in the drive prohibited direction is received after
stopping, a command warning (warning code 95h) will be
issued. When the parameter is set to 0 or 1, the operation
command in the prohibited direction after stopping will be
accepted, but the Servomotor will not operate and the
position deviation will accumulate because the torque
command is 0. Take measures such as issuing a com-
mand in the reverse direction from the host controller.
Note 4. When the parameter is set to 2, MECHATROLINK-II com-
munications are interrupted, and either Forward or
Reverse Drive Prohibit Input (POT or NOT) is turned ON,
receiving an operation command (jog operation or normal
mode autotuning) via RS232 will cause a Drive Prohibit
Input Error (alarm code 38). A Drive Prohibit Input Error
(alarm code 38) will also occur if either POT or NOT is
turned ON while operating on an operation command
received via RS232.
P067 Stop Selec- 2 Sets the operation to be performed during deceleration and after 0 --- 0 to 7 Online Settings
tion with stopping after the main power supply is turned OFF with the Und- can be
Main Power ervoltage Alarm Selection (Pn065) set to 0. The deviation counter changed
OFF will be reset when the power OFF is detected. when the
axes are
0 and 4 Use dynamic brake to decelerate and remain stopped stopped
with dynamic brake. (Busy
1 and 5 Use free-run to decelerate and remain stopped with Flag for
dynamic brake. each axis
= 0).
2 and 6 Use dynamic brake to decelerate, but free the motor
when stopped.
3 and 7 Use free-run to decelerate, and free the motor when
stopped.
Pn068 Stop Selec- 2 Sets the deceleration process and stop status after an alarm is 0 --- 0 to 3 Online
tion for issued by the protective function. The deviation counter will be
Alarm Gen- reset when an alarm is issued.
eration
0 Use dynamic brake to decelerate and remain stopped
with dynamic brake.
1 Use free-run to decelerate and remain stopped with
dynamic brake.
2 Use dynamic brake to decelerate, but free the motor
when stopped.
3 Use free-run to decelerate, and free the motor when
stopped.
Pn069 Stop Selec- 2 Sets the operational conditions to apply during deceleration and 0 --- 0 to 7 Online
tion with after stopping when the Servo is turned OFF.
Servo OFF The relationship between set values, operation, and deviation
counter processing for this parameter is the same as for the Stop
Selection with Main Power OFF (Pn067).
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No. size
Pn06A Brake Tim- 2 Sets the duration from when the Brake Interlock (BKIR) signal 10 2 ms 0 to 1000 Online Settings
ing When turns OFF to when the Servomotor is de-energized when the RUN can be
Stopped command is turned OFF with the Servomotor stopped. changed
Note The brake interlock signal is the logical OR of the brake when the
release request from the network and the release request axes are
from the Servo controller. Note, the brake release request stopped
from the network is OFF (operation request is ON) at (Busy
power ON. Flag for
each axis
Pn06B Brake Tim- 2 When the run command (RUN) is turned OFF during the Servo- 50 2 ms 0 to 1000 Online = 0).
ing during motor rotation, the Servomotor will decelerate reducing the rota-
Operation tion speed and the Brake Interlock Signal (BKIR) will turn OFF
after the time set by this parameter has elapsed.
BKIR turns OFF if the Servomotor speed drops below 30 r/min
before the set time.
Note The brake interlock signal is the logical OR of the brake
release request from the network and the release request
from the Servo controller. Note, the brake release request
from the network is OFF (operation request is ON) at
power ON.
Pn06C Regenera- 2 Sets the regeneration resistor operation and the regeneration 0 --- 0 to 3 Offline
tion Resis- overload (alarm code 18) operation.
tor Set this parameter to 0 if using the built-in regeneration resistor.
Selection
If using an external regeneration resistor, be sure to turn OFF the
main power when the built-in thermal switch is activated.
0 Sets the regeneration overload to match the built-in
regeneration resistor. (regeneration load ratio below
1%)
1 The regeneration overload (alarm code 18) occurs
when the load ratio of the external regeneration resistor
exceeds 10%.
2 The regeneration processing circuit by the external
regeneration resistor is activated, but the regeneration
overload (alarm code 18) does not occur.
3 The regeneration processing circuit is not activated.
All regenerative energy is absorbed by the built-in
capacitor.
Pn06D Momentary 2 Sets the amount of time required to detect shutoff when the main 35 2 ms 35 to 1000 Offline
Hold Time power supply continues to shut off.
The main power OFF detection will be disabled if this parameter is
set to 1000.
Pn06E Emergency 2 Sets the torque limit during deceleration because of the Drive Pro- 0 % 0 to 300 Online Settings
Stop Torque hibition Input when the Stop Selection for Drive Prohibition Input can be
(Pn066) is set to 2. changed
When this parameter is set to 0, the normal torque limit will be set. when the
axes are
The maximum value of the setting range depends on the Servo- stopped
motor. (Busy
Flag for
each axis
= 0).
Pn072 Overload 2 Sets the overload detection level. The overload detection level will 0 % 0 to 500 Online
Detection be set at 115% if this parameter is set to 0. Normally, use a setting
Level Set- of 0, and set the level only when reducing the overload detection
ting level.
Pn073 Overspeed 2 Sets the overspeed detection level. The overspeed detection level 0 r/min 0 to 20000 Online
Detection is 1.2 times the maximum Servomotor rotation speed when the
Level Set- parameter is set to 0. Normally, use a setting of 0, and set the level
ting only when reducing the overspeed detection level.
Note The detection margin of error for the setting is ±3 r/min for
a 7-core absolute encoder and ±36 r/min for a 5-core
incremental encoder.
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No. size
Pn100 Backlash 2 Enables or disables the backlash compensation for position con- 0 --- 0 to 2 Offline
Compensa- trol, and sets the compensation direction.
tion Selec-
tion 0 Disabled
1 Compensates in the initial positive direction after the
Servo ON.
2 Compensates in the initial negative direction after the
Servo ON.
Pn101 Backlash 2 Sets the backlash compensation amount for position control. 0 Com- −32768 to Online Settings
Compensa- mand 32767 can be
tion units changed
when the
Pn102 Backlash 2 Sets the backlash compensation time constant for position 0 0.01 0 to 6400 Online axes are
Compensa- control. ms stopped
tion (Busy
Time Con- Value Pn101 = Positive Pn101 = Negative Flag for
stant of number number each axis
Pn100 = 0).
1 Compensates in posi- Compensates in nega-
tive direction during tive direction during
rotation in positive rotation in positive
direction direction
rotation in negative rotation in negative
direction direction

Pn104 Soft Limit 2 Enables or disables the soft limit. 0 --- 0 to 3 Online
When enabled, the soft limit values are set in Forward Software
Limit (Pn201) and Reverse Software Limit (Pn202).
Note The response value for limit signals disabled by this set-
ting will be set to 0. The response value for limit signals is
also set to 0 when the Servomotor does not complete its
return to origin.
0 Enable both the Forward / Reverse Software Limits
(Pn201 and Pn202)
1 Disable the Forward Software Limit (Pn201), enable the
Reverse Software Limit (Pn202)
2 Enable the Forward Software Limit (Pn201), disable the
3 Disable both the Forward / Reverse Software Limits
(Pn201 and Pn202)
Pn105 Origin 2 Sets the threshold for detecting the origin (ZPOINT) in absolute 10 Com- 0 to 250 Online
Range values. mand
ZPOINT = 1 when the return to origin completes (coordinate sys- units
tem setup is complete) and the feedback position is within the set-
ting range of this parameter.
Pn107 Linear 2 Sets the acceleration for positioning operations. 100 × −32768 to Online Settings
Accelera- A setting of "0" is regarded as "1". 10000 32767 can be
tion [com- changed
The setting will be handled after conversion to an unsigned 16-bit mand when the
Constant data (0 to 65535). units/ axes are
Example: −32768 → 8000h = 32768 s2] stopped
−1 → FFFFh = 65535 (Busy
Flag for
each axis
= 0).
Pn10A Linear 2 Sets the deceleration for positioning operations. 100 × −32768 to Online Settings
Decelera- A setting of "0" is regarded as "1". 10000 32767 can be
tion Con- [com- changed
stant The setting will be handled after conversion to an unsigned 16-bit mand when the
data (0 to 65535). units/ axes are
−1 → FFFFh = 65535 (Busy
Flag for
each axis
= 0).
129
No. size
Pn10E Moving 2 Sets the moving average time for position commands. 0 ×0.1 0 to 5100 Online Settings
Average Note If the Moving Average Time is set, commands may not be ms can be
Time executed seamlessly when switching the control mode, changed
and when switching between interpolation feed motions when the
and positioning motions (motions wherein the command axes are
waveforms are generated inside the Servo Drive). stopped
(Busy
Pn10F Origin 2 Sets the direction for origin return. 0 --- 0, 1 Online Flag for
Return each axis
Mode Set- 0 Positive direction = 0).
tings 1 Negative direction
Pn110 Origin 2 Sets the operating speed for origin return from when the origin 50 100 1 to 32767 Online
Return proximity signal is turned ON, to when it is turned OFF and the [com-
Approach latch signal is detected. mand
Speed 1 This parameter can be set to a maximum value of 32767, but inter- units/
nally the speed is limited to the Servomotor's maximum speed. s]
Pn111 Origin 2 Sets the operating speed for origin return, from when the point 5 100 1 to 32767 Online
Return after the latch signal is detected to when the Origin Return Final [com-
Approach Distance (Pn204) is reached. mand
Pn112 General- 2 Selects the function for general-purpose output 1 (OUTM1). 7 --- 0 to 9 Offline Standard
purpose setting
Output 1 0 Always OFF
Function 1 INP1 output.
Selection
Turn ON when position deviation is equal to or less
than Pn060 for position control. Undefined when not
using position control.
2 VCMP output.
Turn ON when the deviation between the Servomotor
speed and commanded speed is within the range set
by Pn061 for speed control. Undefined when not using
speed control.
3 TGON output.
Turn ON when the absolute value of the Servomotor
speed exceeds Pn062 setting in all control modes.
4 READY output.
Turn ON when the main power is supplied, there is no
alarm, and Servo SYNC with a host controller is estab-
lished in all control modes.
5 CLIM output.
Turn ON when torque limit is activated in all control
modes.
6 VLIM output.
Turn ON when the Servomotor speed reaches the
speed limit for torque control. Undefined when not
using torque control.
7 BKIR output.
Turn ON with the release timing of the brake release
signal in all control modes.
8 WARN output.
Turn ON when a warning is issued in all control modes.
9 INP2 output.
Turn ON when the position deviation is equal to or less
than the Positioning Completion Range 2 (Pn063) for
position control. Undefined when not using position
control.
Pn113 General- 2 Selects the function for general-purpose output 2 (OUTM2). 0 --- 0 to 9 Offline
purpose The set values and the functions are the same as for general-pur-
Output 2 pose output 1 (OUTM1).
Function
Selection
Function
Selection
to
Pn13F
Pn200 Absolute 4 Sets the offset amount for the encoder position and the mechani- 0 Com- −1073741823 Offline
Origin Off- cal coordinate system position when using an absolute encoder. mand to
set units 1073741823
130
No. size
Pn201 Forward 4 Sets the soft limit in the forward direction. 500000 Com- −1073741823 Online
Software If the Servomotor exceeds the limit, the network response status mand to
Limit (PSOT) will turn ON (=1). units 1073741823
Note Be sure to set the limits so that Forward Software Limit >
Reverse Software Limit.
Note PSOT is not turned ON when origin return is incomplete.
Pn202 Reverse 4 Sets the soft limit for the reverse direction. −500000 Com- −1073741823 Online
Limit (NSOT) will turn ON (=1). units 1073741823
Note NSOT is not turned ON when origin return is incomplete.
Pn203 Final Dis- 4 Sets the distance to travel after detecting the latch signal input 100 Com- −1073741823 Online Settings
tance for position when performing external input positioning. mand to can be
External The operation after detecting the latch signal input position will be units 1073741823 changed
Input Posi- determined by the external input positioning direction and this when the
tioning parameter as follows. axes are
stopped
(Busy
External Sign
input Flag for
positioning Positive Negative each axis
= 0).
direction
Positive Moves in the positive Decelerates to a
direction direction and stops*1 stop, reverses, then
moves in the nega-
tive direction and
stops
Negative Decelerates to a Moves in the nega-
direction stop, reverses, then tive direction and
moves in the positive stops*1
direction and stops
*1. Reverses after decelerating to a stop if the final distance for

external input positioning is short in comparison to the deceler-
ation distance.
Pn204 Origin 4 Sets the distance from the latch signal input position to the origin 100 Com- −1073741823 Online
Return when performing origin return. mand to
Final Dis- The operation after detecting the latch signal input position will be units 1073741823
tance determined by the origin return direction and this parameter as fol-
lows.
Origin Sign
return
direction Positive Negative

moves in the nega-
tive direction and
stops
Negative Moves in the nega- Decelerates to a
direction tive direction and stop, reverses, then
stops*1 moves in the positive
direction and stops
*1. Reverses after decelerating to a stop if the final travel distance

for origin return is short in comparison to the deceleration dis-
tance.
Pn205 Electronic 4 Sets the numerator for the electronic gear ratio. 1 --- 0 to 131072 Offline
Gear Ratio Setting this parameter to 0 automatically sets the encoder resolu-
1 (Numera- tion as the numerator. (131072 for a 17-bit absolute encoder, or
tor) 10000 for a 2,500-p/r incremental encoder).
Note Set the electronic gear ratio within the range of 1/100 to
100 times. A parameter setting alarm (alarm code 93) will
occur if the ratio is set outside of this range.
Pn206 Electronic 4 Sets the denominator for the electronic gear ratio. 1 --- 1 to 65535 Offline
Gear Ratio Note Set the electronic gear ratio within the range of 1/100 to
2 (Denomi- 100 times. A parameter setting alarm (Alarm code 93) will
nator) occur if the ratio is set outside of this range.
Pn209 Deviation 4 Sets the deviation counter overflow level. 20000 Com- 0 to Online
Counter mand 2147483647
Overflow The value will become saturated at 134217728 (= 227) pulses after units
multiplying with the electronic gear ratio.
Level
Setting this parameter to 0 will disable deviation counter overflow.
to
Pn21F
131
4-5-3 W-series Servo Drives (R88D-WT@ with FNY-NS115)

is used with an OMRON W-series Servo Drive (R88D-WT@) with a MECHA-
TROLINK-II I/F Unit (FNY-NS115).
For further details on each of the parameters, refer to the user’s manuals for
W-series Servo Drives and MECHATROLINK-II I/F Unit (FNY-NS115).
The default settings for parameters Pn000 to Pn601 in the parameter tables
for the R88D-WT@ W-series Servo Drive used with the FNY-NS115 are auto-
matically set to the default parameter settings for when the FNY-NS115
MECHATROLINK-II I/F Unit is mounted to a W-series Servo Drive. Parame-
ters from Pn800 onwards are enabled when the FNY-NS115 is mounted. The
parameter names and default settings for these parameters follow those spec-
ified by the FNY-NS115.
two types.
Online (online parameter): Changed settings are enabled immediately after
cuted.
Flag = 0) only.
• Parameters that are automatically set when a FNY-NS115 MECHA-
TROLINK-II I/F Unit is installed and Parameters that are used with fixed
set values are indicated in the Details column as "fixed" with the set value.
indicated in the Details column as "standard" with the set value. The stan-
dard settings are basic settings required when using the Position Control
Unit. This manual describes operations assuming standard settings are
being used.
PARAMETER). Refer to the Servo Drive's user’s manual and always check
132

No. ting
Pn000 Function 2 0 Reverse rota- 0 CCW direction is 0 --- --- Offline ---
selection tion taken for positive
basic command.
switch
1 CW direction is
taken for positive
command.
1 Not used. 1 The setting is dis- 1 --- --- --- ---
abled. (Do not
change the set-
ting.)
2 Unit No. setting 0 to F Servo Drive com- 0 --- --- Offline ---
munications unit
number setting
when using per-
sonal computer
monitoring soft-
ware
setting.)
Pn001 Function 2 0 Select stop if 0 Servomotor 2 --- --- Offline ---
selection an alarm stopped by
applica- occurs when dynamic brake.
tion switch Servomotor is
1 OFF 1 Servomotor
stopped by
dynamic brake.
Dynamic brake
released after stop-
ping.
2 Servomotor
stopped with free
run.
input tor after stopping).
1 Stop Servomotor
using torque set in
Pn406, and lock
Servomotor after
stopping.
2 Stop Servomotor
using torque set in
Pn406, and release
Servomotor after
stopping.
2 Select AC/DC 0 AC power supply: 0 --- --- Offline ---
power input AC power supplied
from L1, L2, (L3)
terminals
1 DC power supply:
DC power supplied
from +1, − termi-
nals
3 Select warning 0 Alarm code only 1 --- --- Offline ---
code output output from ALO1,
ALO2, ALO3
1 Alarm code and
warning code both
output from ALO1,
ALO2, ALO3
133

No. ting
selection mand input value not used.
2 trol) value 1 used as
torque limit input.
2 Option command
value 1 used as the
torque feed for-
ward input.
3 Option command
values 1 and 2
used as torque limit
inputs according to
the forward/reverse
rotation current
limit setting.
change (dur-
speed limit input.
using absolute
encoder 1 Use as incremen-
tal encoder.
3 Fully-closed 0 Fully-closed 0 --- --- Offline ---
encoder usage encoder is not
method used.
1 Fully-closed
encoder is used
without phase Z.
2 Fully-closed
encoder is used
with phase Z.
3 Fully-closed
encoder is used in
Reverse Rotation
Mode without
phase Z.
4 Fully-closed
encoder is used in
Reverse Rotation
Mode with phase Z.
134

No. ting
Pn003 Function 2 0 Analog moni- 0 Servomotor rota- 2 --- --- Online ---
selection tor 1 (AM) allo- tion speed:
applica- cation 1 V/1,000 r/min
tion switch
3 1 Speed command:
1 V/1,000 r/min
2 Torque command:
1 V/100%
3 Position deviation:
0.05 V/1 command
unit
0.05 V/100 com-
mand units
5 Command pulse
frequency:
1 V/1,000 r/min
6 Servomotor rota-
tion speed:
1 V/250 r/min
7 Servomotor rota-
tion speed:
1 V/125 r/min
8 to F Not used.
1 Analog moni- 0 to F Same as Pn003.0 0 --- --- Online ---
tor 2 (NM) allo-
cation
2 to 3 Not used. 0 (Do not change the 0 --- --- --- ---
setting.)
Pn004 Not used. --- --- --- --- (Do not change the 0200 --- --- --- Fixed
setting.) setting:
0200
Pn005 Not used. --- --- --- --- (Do not change the 0000 --- --- --- ---
setting.)
Servo Gain Parameters

No. ting
Pn100 Speed 2 Adjusts speed loop responsiveness. 80 Hz 1 to Online ---
loop gain 2000
Pn101 Speed 2 Speed loop integral time constant 2000 ×0.01 15 to Online ---
loop inte- ms 51200
gration
constant
Pn102 Position 2 Adjusts position loop responsiveness. 40 1/s 1 to Online ---
loop gain 2000
Pn103 Inertia 2 Sets using the ratio between the machine system 300 % 0 to Online ---
ratio inertia and the Servomotor rotor inertia. 20000
Pn104 Speed 2 Adjusts speed loop responsiveness (enabled by auto- 80 Hz 1 to Online ---
loop gain 2 matic gain switching input). 2000
Pn105 Speed 2 Speed loop integral time constant (enabled by auto- 2000 ×0.01 15 to Online ---
loop inte- matic gain switching input) ms 51200
gration
constant 2
Pn106 Position 2 Adjusts position loop responsiveness (enabled by 40 1/s 1 to Online ---
loop gain 2 automatic gain switching input). 2000
Pn107 Bias rota- 2 Sets position control bias. 0 r/min 0 to 450 Online ---
tional
speed
Pn108 Bias addi- 2 Sets the position control bias operation start using 7 Com- 0 to 250 Online ---
tion band deviation counter pulse width. mand
unit
Pn109 Feed-for- 2 Position control feed-forward compensation value 0 % 0 to 100 Online ---
ward
amount
135

No. ting
Pn10A Feed-for- 2 Sets position control feed-forward command filter. 0 ×0.01 0 to Online ---
ward com- ms 6400
mand filter
Pn10B Speed 2 0 P control 0 Sets internal torque 4 --- --- Online ---
control switching con- command value
setting ditions conditions
(Pn10C).
1 Sets speed com-
mand value condi-
tions (Pn10D).
2 Sets acceleration
command value
conditions
(Pn10E).
3 Sets deviation
pulse value condi-
tions (Pn10F).
4 No P control
switching function
1 Speed control 0 PI control 0 --- --- Offline ---
loop switching
1 IP control
2 Automatic gain 0 Automatic gain 0 --- --- Offline ---
switching switching disabled
1 Gain switching
using position com-
mands
2 Gain switching
using position devi-
ation
3 Gain switching
using position com-
mands and position
deviation
setting.)
Pn10C P control 2 Sets level of torque command to switch from PI con- 200 % 0 to 800 Online ---
switching trol to P control.
(torque
command)
Pn10D P control 2 Sets level of speed command to switch from PI control 0 r/min 0 to Online ---
switching to P control. 10000
(speed
command)
Pn10E P control 2 Sets level of acceleration command to switch from PI 0 10 r/ 0 to Online ---
switching control to P control. min/s 3000
(accelera-
tion com-
mand)
Pn10F P control 2 Sets level of deviation pulses to switch from PI control 10 Com- 0 to Online ---
switching to P control. mand 10000
(deviation unit
pulse)
136

No. ting
Pn110 Online 2 0 Select online 0 Autotunes initial 2 --- --- Offline ---
autotun- autotuning operations only
ing setting after power is
turned ON.
1 Always autotunes.
2 No autotuning
1 Select speed 0 ON 1 --- --- Online ---
feedback com-
pensation 1 OFF
function
2 Select adhe- 0 Friction compensa- 0 --- --- Online ---
sive friction tion: OFF
compensation
function 1 Friction compensa-
tion: Rated torque
ratio small
2 Friction compensa-
tion: Rated torque
ratio large
setting.)
Pn111 Speed 2 Adjusts speed loop feedback gain. 100 % 1 to 500 Online ---
feedback
compen-
sation gain
Pn112 Not used. --- (Do not change the setting.) --- --- --- --- ---
to
Pn123
Pn124 Automatic 2 Sets the switching delay after conditions have been 100 ms 1 to Online ---
gain met, when the automatic gain switching function is 10000
switching used.
timer (Pn10B.2 = 1 to 3).
Pn125 Automatic 2 Sets the position deviation used as the switching con- 7 Com- 1 to 250 Online ---
gain dition when the automatic gain switching function by mand
switching position deviation (Pn10B.2 = 2, 3) is used. unit
width
(amount of
position
deviation)

No. ting
control setting.)
setting 1
setting.)
setting.) setting:
1
setting.)
Pn201 Encoder 2 Sets the number of output pulses from the Servo 1000 Pulses 16 to Offline ---
divider rate Drive. /rota- 16384
tion
Pn202 Electronic 2 Sets the pulse rate for the command pulses and Ser- 4 --- 1 to Offline ---
gear ratio vomotor travel distance. 65535
G1 0.01 ≤ G1/G2 ≤ 100
(numera-
tor)
Pn203 Electronic 2 1 --- 1 to Offline ---
gear ratio 65535
G2
(denomi-
nator)
Pn204 Not used. --- (Do not change the setting.) 0 --- --- --- ---
137

No. ting
Pn205 Absolute 2 Sets the limit to the rotation speed when using a Ser- 65535 Rota- 0 to Offline ---
encoder vomotor with an absolute encoder. tions 65535
multi-turn
limit set-
ting
Pn206 Number of 2 Sets the number of fully-closed encoder pulses for 16384 Pulses 513 to Offline ---
fully- each motor rotation. /rota- 32768
closed tion
encoder
pulses
control setting.)
setting 2
setting.) setting:
1
setting.)
setting.)
control setting.)
setting 3
setting.)
setting.)
setting.)

Param- Parameter name Param- Contents Default Unit Setting Enable Details
size
Pn304 Jog speed 2 Sets the rotation speed used during jog 500 r/min 0 to Online ---
operation (executed from the Servo 10000
Drive's Parameter Unit).
Pn305 Soft start acceleration 2 Sets acceleration time during speed 0 ms 0 to Online ---
time control soft start. 10000
Pn306 Soft start deceleration 2 Sets deceleration time during speed 0 ms 0 to Online ---
Pn308 Speed feedback filter time 2 Sets filter time constant for speed feed- 0 ×0.01 0 to Online ---
constant back. ms 65535

No. ting
Pn401 Torque 2 Sets the filter time constant for the internal torque 40 ×0.01 0 to Online ---
command command. ms 65535
filter time
constant
Pn402 Forward 2 Forward rotation output torque limit (rated torque 350 % 0 to 800 Online ---
torque limit ratio).
138

No. ting
Pn403 Reverse 2 Reverse rotation output torque limit (rated torque 350 % 0 to 800 Online ---
Pn404 Forward 2 Output torque limit during input of forward rotation cur- 100 % 0 to 800 Online ---
rotation rent limit (rated torque ratio).
external
current
limit
Pn405 Reverse 2 Output torque limit during input of reverse rotation cur- 100 % 0 to 800 Online ---
external
current
limit
Pn406 Emer- 2 Deceleration torque when an error occurs (rated 350 % 0 to 800 Online ---
gency stop torque ratio).
torque
Pn407 Speed 2 Sets the speed limit in torque control mode. 3000 r/min 0 to Online ---
limit 10000
Pn408 Torque 2 0 Selects notch 0 Notch filter 1 not 0 --- --- Online ---
command filter 1 function used.
setting
1 Notch filter 1 used
for torque com-
mands.
setting.)
2 Selects notch 0 Notch filter 2 not 0 --- --- Online ---
filter 2 function used.
for torque com-
mands.
setting.)
Pn409 Notch fil- 2 Sets notch filter 1 frequency for torque command. 2000 Hz 50 to Online ---
ter 1 fre- 2000
quency
Pn40A Notch fil- 2 Sets Q value of notch filter 1. 70 ×0.01 50 to Online ---
ter 1 Q 400
value
Pn40B Notch fil- 2 Sets notch filter 2 frequency for torque command. 2000 Hz 50 to Online ---
ter 2 fre- 2000
quency
Pn40C Notch fil- 2 Sets Q value of notch filter 2. 70 ×0.01 50 to Online ---
ter 2 Q 400
value

No. ting
Pn500 Position- 2 Sets the width of the positioning completed range. 3 Com- 0 to 250 Online ---
ing command
pletion unit
range 1
Pn502 Rotation 2 Sets the number of rotations for detecting the Zero 20 r/min 1 to Online ---
speed for Speed Flag. 10000
motor rota-
tion detec-
tion
Pn503 Speed 2 Sets the allowable fluctuation range (rotation speed) 10 r/min 0 to 100 Online ---
conformity for the Speed Conformity Flag.
signal out-
put width
Pn504 Position- 2 Sets the proximity range for the Positioning Proximity 3 Com- 1 to 250 Online ---
ing com- Flag. mand
pletion unit
range 2
139

No. ting
Pn505 Deviation 2 Sets the detection level for the deviation counter over 1024 ×256 1 to Online ---
counter alarm. pulses 32767
overflow
level
Pn506 Brake tim- 2 Sets the delay from the brake command to the Servo- 0 ×10 0 to 50 Online ---
ing 1 motor turning OFF. ms
Pn507 Brake 2 Sets the rotation speed for outputting the brake com- 100 r/min 0 to Online ---
command mand. 10000
speed
Pn508 Brake tim- 2 Sets the delay from the Servomotor turning OFF to 50 ×10 10 to Online ---
ing 2 the brake command output. ms 100
Pn509 Momen- 2 Sets the time during which alarm detection is disabled 20 ms 20 to Online ---
tary hold when a power failure occurs. 1000
time
140

No. ting
tion 1 1
setting.) setting:
8
setting.) setting:
8
input terminal 2
input
2 Allocated to CN1,
input
3 Allocated to CN1,
input
4 Allocated to CN1,
input
5 Allocated to CN1,
input
6 Allocated to CN1,
input
7 Always valid.
8 Always invalid.
9 Allocated to CN1,
pin 40: Valid for
high input
A Allocated to CN1,
pin 41: Valid for
high input
B Allocated to CN1,
pin 42: Valid for
high input
C Allocated to CN1,
pin 43: Valid for
high input
D Allocated to CN1,
pin 44: Valid for
high input
E Allocated to CN1,
pin 45: Valid for
high input
F Allocated to CN1,
pin 46: Valid for
high input
141

No. ting
tion 2 input) signal setting:
input terminal 3
allocation
setting.) setting:
8
2 PCL (forward 0 to F Same as Pn50A.3 5 --- --- Offline Stan-
rotation cur- dard
rent limit) sig- setting:
nal input 8
terminal alloca-
tion
3 NCL (reverse 0 to F Same as Pn50A.3 6 --- --- Offline Stan-
rotation cur- dard
nal input 8
terminal alloca-
tion
Pn50C Input sig- 2 0 Not used. 8 (Do not change the 8 --- --- --- Fixed
tion 3 8
setting.) setting:
8
setting.) setting:
8
setting.) setting:
8
Pn50D Input sig- 2 0 Not used. 8 (Do not change the 8 --- --- --- Fixed
tion 4 8
setting.) setting:
8
setting.)
setting.)
tion 1 1) signal output 1 Allocated to CN1, setting:
tion 2 Allocated to CN1,
pins 27, 28
3 Allocated to CN1,
pins 29, 30
conformity) dard
terminal alloca- 0
tion
motor rotation dard
nal output ter- 0
minal
allocation
vomotor war- dard
signal output 3
terminal alloca-
tion
142

No. ting
Pn50F Output sig- 2 0 CLIMT (cur- 0 to 3 Same as Pn50E.0 0 --- --- Offline Stan-
tion 2 tion) signal setting:
output termi- 0
nal allocation
terminal alloca- 0
tion
minal 2
allocation
allocation 0
tion 3 2) signal output setting:
terminal alloca- 0
tion
setting.)
setting.)
setting.)
143

No. ting
Pn511 Input sig- 2 0 DEC signal 0 Allocated to CN1, 8 --- --- Offline Stan-
nal selec- input terminal pin 40: Valid for low dard
tion 5 allocation input setting:
1
1 Allocated to CN1,
input
2 Allocated to CN1,
input
3 Allocated to CN1,
input
4 Allocated to CN1,
input
5 Allocated to CN1,
input
6 Allocated to CN1,
input
7 Always enabled.
8 Always disabled.
9 Allocated to CN1,
pin 40: Valid for
high input
A Allocated to CN1,
pin 41: Valid for
high input
B Allocated to CN1,
pin 42: Valid for
high input
C Allocated to CN1,
pin 43: Valid for
high input
D Allocated to CN1,
pin 44: Valid for
high input
E Allocated to CN1,
pin 45: Valid for
high input
F Allocated to CN1,
pin 46: Valid for
high input
144

No. ting
Pn511 Input sig- 2 1 EXT1 signal 0 to 3 Always disabled. 8 --- --- Offline Stan-
tion 5 allocation 4 Allocated to CN1, setting:
pin 44: Valid for low 4
input
5 Allocated to CN1,
input
6 Allocated to CN1,
input
7 Always enabled.
8 Always disabled.
9 to C Always disabled.
D Allocated to CN1,
pin 44: Valid for
high input
E Allocated to CN1,
pin 45: Valid for
high input
F Allocated to CN1,
pin 46: Valid for
high input
2 EXT2 signal 0 to F Same as Pn511.1 8 --- --- Offline Stan-
input terminal dard
allocation setting:
5
input terminal dard
allocation setting:
6
Pn512 Output sig- 2 0 Output signal 0 Not reversed. 0 --- --- Offline ---
nal reverse reverse for
CN1 pins 25, 1 Reversed.
26
1 Output signal 0, 1 Same as above 0 --- --- Offline ---
reverse for
CN1 pins 27,
28
reverse for
CN1 pins 29,
30
setting.)
Pn513 Input sig- 2 0 Not used. 8 (Do not change the 8 --- --- --- ---
nal selec- setting.)
tion 6
setting.)
setting.)
setting.)
Pn51A Motor-load 2 Sets the allowable range for the number of pulses for 0 Pulse 0 to Online ---
deviation fully-closed encoders and semi-closed encoders. 32767
over level
Pn51B Not used. --- (Do not change the setting.) 100 --- --- --- ---
Pn51C Not used. --- (Do not change the setting.) 450 --- --- --- ---
Pn51E Deviation 2 Sets the detection level for the deviation counter over- 0 % 0 to 100 Online ---
counter flow warning.
overflow
warning
level
145
Other Parameters
size
Pn600 Regeneration resistor 2 Setting for the regeneration resistance 0 ×10 W From 0 Online ---
capacity load ratio monitoring calculations. (Varies
by Unit.)
146

No. ting
mask (A.E5).
1 Ignores communi-
cations errors
(A.E6).
zation errors
(A.E5).
3 Ignores both com-
munications errors
(A.E6) and syn-
chronization errors
(A.E5).
TROLINK com-
mand warnings
(A.95), and com-
munications errors
(A.96).
1 Ignores parame-
ters setting warn-
ings (A.94).
2 Ignores MECHA-
TROLINK-II com-
mand warnings
(A.95).
3 Ignores both
parameter setting
warnings (A.94)
and MECHA-
TROLINK-II com-
mand warnings
(A.95).
4 Ignores communi-
cations errors
(A.96).
5 Ignores both
parameter setting
warnings (A.94)
and communica-
6 Ignores both
MECHATROLINK-
II command warn-
ings (A.95) and
communications
errors (A.96).
7 Ignores parameter
setting warnings
(A.94), MECHA-
TROLINK-II com-
mand warnings
(A.95), and com-
munications errors
(A.96).
2 Communica- 0 to F Detects a commu- 0 --- --- Online ---
tions error nications error
count at single (A.E6) when the
transmission number of errors
specified by the set
value + 2 have
occurred continu-
ously.
setting.)
147

No. ting
Pn801 Function 2 0 Software limit 0 Software limit 0 --- --- Online ---
selection function enabled.
applica-
tion (soft- 1 Forward software
ware limit disabled.
limits) 2 Reverse software
limit disabled.
tions.
setting.)
references ences.
1 Software limit
check using refer-
ences.
setting.)
size
Pn802 Not used. --- (Do not change the set- 0000 --- --- --- ---
ting.)
Pn803 Zero point width 2 Sets the detection range 10 Command 0 to 250 Online ---
for the Origin Stop Flag. unit
Pn804 Forward soft- 4 Sets the forward soft- 819,191,808 Command −1,073,741,823 to Online ---
Pn806 Reverse soft- 4 Sets the reverse soft- −819,191,808 Command −1,073,741,823 to Online ---
Pn808 Absolute 4 Sets the offset for the 0 Command −1,073,741,823 to Offline ---
encoder zero mechanical origin from unit 1,073,741,823
Pn80A First-step linear 2 Sets the first-step accel- 100 ×10,000 1 to 65535 Online Settings
acceleration eration speed for the command can be
constant acceleration/decelera- units/s2 changed
stopped
(Busy Flag
for each
axis = 0).
Pn80B Second-step lin- 2 Sets the second-step 100 ×10,000 1 to 65535 Online Settings
ear acceleration acceleration speed for command can be
constant the acceleration/deceler- units/s2 changed
stopped
(Busy Flag
for each
axis = 0).
constant switch- switching between first- mand can be
ing speed step and second-step units/s changed
acceleration for the when the
for each
axis = 0).
148
size
Pn80D First-step linear 2 Sets the first-step decel- 100 ×10,000 1 to 65535 Online Settings
deceleration eration speed for the command can be
stopped
(Busy Flag
for each
axis = 0).
Pn80E Second-step lin- 2 Sets the second-step 100 ×10,000 1 to 65535 Online Settings
ear deceleration deceleration speed for command can be
stopped
(Busy Flag
for each
axis = 0).
deceleration for the when the
for each
axis = 0).
Pn810 Exponential 2 Sets the exponential 0 Command 0 to 32767 Online Settings
acceleration/ acceleration/decelera- units/s can be
deceleration tion bias speed for the changed
(Busy Flag
for each
axis = 0).
stopped
(Busy Flag
for each
axis = 0).
Pn812 Movement aver- 2 Sets the average move- 0 ×0.1 ms 0 to 5100 Online Settings
age time ment time for when S- can be
curve acceleration/ changed
deceleration is used, and when the
an average movement axes are
filter is used for the posi- stopped
tion command filter. (Busy Flag
for each
axis = 0).
ting.)
Pn814 Final travel dis- 4 Sets the final travel dis- 100 Command −1,073,741,823 to Online Settings
tance for exter- tance for external posi- unit 1,073,741,823 can be
nal positioning tioning when executing changed
INTERRUPT FEEDING when the
using direct operation. axes are
stopped
(Busy Flag
for each
axis = 0).
149
No. ting
Pn816 Zero 2 0 Zero point 0 Forward 0 --- --- Online Set the
point return direc- same direc-
return tion 1 Reverse tion as the
mode set- origin
ting search
direction set
in the Axis
Parameters.
Settings can
be changed
when the
axes are
stopped
(Busy Flag
for each
axis = 0).
1 to 3 Not used. 0 (Do not 0 --- --- --- ---
change the
setting.)
Pn817 Zero 2 Sets the origin (zero point) input signal 50 ×100 0 to 65535 Online Settings can
point search speed used after the origin proximity com- be changed
return signal has been detected in an origin search. mand when the
approach units/s axes are
speed 1 stopped
(Busy Flag
for each
axis = 0).
Pn818 Zero 2 Sets the origin (zero point) return final travel 5 ×100 0 to 65535 Online Settings can
point distance positioning speed used after the ori- com- be changed
return gin input signal has been detected in an ori- mand when the
approach gin search. units/s axes are
speed 2 stopped
(Busy Flag
for each
axis = 0).
Pn819 Final 4 Sets the amount of compensation positioning 100 Com- −1,073,741,823 Online Settings can
travel dis- used after the origin input signal has been mand to be changed
tance to detected in an origin search. unit 1,073,741,823 when the
return to axes are
zero point stopped
(Busy Flag
for each
axis = 0).
Pn81B Backlash 2 Sets the amount of backlash compensation. 0 × 0.1 −32,768 to Online ---
compen- com- 32,767
sation mand
amount unit
Pn81D Compen- 2 0 Backlash 0 Compen- 0 --- --- Offline ---
sation compensa- sates in for-
function tion selec- ward
selection tion direction.
1 Compen-
sates in
reverse
direction.
1 to 3 Not used. 0 (Do not 0 --- --- --- ---
change the
setting.)
Pn81E Not used. --- (Do not change the setting.) 0000 --- --- --- ---
to
Pn823
150
4-5-4 W-series Servo Drive (R88D-WN@-ML2 with Built-in

is used with a W-series Servo Drive with Built-in MECHATROLINK-II Commu-
nications (R88D-WN@-ML2).
For further details on each of the parameters, refer to the user’s manual for W-
series Servo Drives.
two types.
cuted.
Flag = 0) only.
being used.
No. ting
basic command
switches
1 CW direction is
taken for positive
command
2 to 3 Not used.
setting.)
munications unit
number setting
(necessary for mul-
tiple Servo Drive
connections when
using personal
computer monitor-
ing software)
setting.)
151

No. ting
Pn001 Function 2 0 Stop selection 0 Servomotor 2 --- --- Offline ---
selection if an alarm stopped by
tion Servomotor is
switches 1 OFF 1 Dynamic brake
OFF after Servo-
motor stopped
2 Servomotor
stopped with free
run
1 Stop selection 0 Stop according to 0 --- --- Offline ---
when drive Pn001.0 setting
prohibited is (release Servomo-
1 Stop Servomotor
using torque set in
Pn406, and lock
Servomotor after
stopping
2 Stop Servomotor
using torque set in
Pn406, and release
Servomotor after
stopping
2 AC/DC power 0 AC power supply: 0 --- --- Offline ---
input selection AC power supplied
from L1, L2, (L3)
terminals
1 DC power supply:
DC power from +, −
(2) terminals
setting.)
Pn002 Function 2 0 Torque com- 0 Do not use option 0 --- --- Offline ---
selection mand input command value.
tion ing speed con- 1 Use option com-
switches 2 trol) mand value 1 as
the torque limit
value.
2 Use option com-
mand value 1 as
the torque feed for-
ward command
value.
3 Use option com-
mand value 1 or 2
as the torque limit
value, according to
the forward and
reverse torque lim-
its that are speci-
fied.
1 Speed com- 0 Do not use option 0 --- --- Offline ---
mand input command value.
change (dur-
ing torque con- 1 Use option com-
trol) mand value 1 as
the speed limit
value.
using absolute
tal encoder.
setting.)
152

No. ting
Pn004 Function 2 0 Not used. 0 (Do not change the 0 --- --- --- ---
selection setting.)
applica-
tion 1 Not used. 1 (Do not change the 1 --- --- --- ---
switches 4 setting.)
setting.)
setting.)
Pn006 Function 2 0 to 1 Analog moni- 00 Servomotor rota- 02 --- --- Online ---
selection tor 1 (AM) sig- tion speed: 1 V/
applica- nal selection 1000 r/min
tion
switches 6 01 Speed command:
1 V/1000 r/min
02 Torque command:
gravity compensa-
tion torque (Pn422)
(1 V per 100%)
0.05 V/1 command
unit
04 Position amplifier
deviation (after
electronic gear)
(0.05 V per
encoder pulse unit)
05 Position command
speed
(1 V/1,000 r/min)
06 Not used.
07 Not used.
08 Positioning com-
pleted command
(Positioning com-
pleted: 5 V; posi-
tioning not
completed: 0 V
09 Speed feed forward
(1 V/1,000 r/min)
0A Torque feed for-
ward (1 V per
100%)
0B to Not used.
1F
2 Analog moni- 0 1x 0 --- --- Online ---
tor 1 signal
multiplier 1 10x
selection 2 100x
3 1/10x
4 1/100x
setting.)
153

No. ting
selection tor 2 (NM) sig- tion speed: 1V/
tion
1 V/1000 r/min
02 Torque command:
gravity compensa-
tion torque (Pn422)
(1 V per 100%)
0.05 V/1 command
unit
deviation (after
electronic gear)
(0.05 V per
encoder pulse unit)
05 Position command
speed
(1 V/1,000 r/min)
06 Not used.
07 Not used.
08 Positioning com-
pleted command
(Positioning com-
pleted: 5 V; posi-
tioning not
completed: 0 V
(1 V/1,000 r/min)
0A Torque feed for-
ward (1 V per
100%)
0B to Not used.
1F
tor 2 signal
multiplier 1 10x
selection 2 100x
3 1/10x
4 1/100x
setting.)
Pn008 Function 2 0 Lowered bat- 0 Regard battery 0 --- --- Offline ---
selection tery voltage voltage drop as
applica- alarm/warning alarm (A.830).
tion selection
switches 8 1 Regard battery
voltage drop as
warning (A.930).
setting.)
2 Warning detec- 0 Warnings detected. 0 --- --- Offline ---
tion selection
1 Warnings not
detected.
setting.)
154

No. ting
Pn100 Speed loop 2 Adjusts speed loop response. 800 × 0.1 10 to Online ---
gain Hz 20000
Pn101 Speed loop 2 Speed loop integral time constant 2000 ×0.01 15 to Online ---
integration ms 51200
constant
Pn102 Position 2 Adjusts position loop response. 400 × 0.1/s 10 to Online ---
loop gain 20000
Pn103 Inertia ratio 2 Set using the ratio between the machine system iner- 300 % 0 to Online ---
tia and the Servomotor rotor inertia. 20000
Pn104 Speed loop 2 Adjusts speed loop response (enabled by automatic 800 × 0.1 10 to Online ---
gain 2 gain switching input). Hz 20000
Pn105 Speed loop 2 Speed loop integral time constant (enabled by auto- 2000 ×0.01 15 to Online ---
integration matic gain switching input). ms 51200
constant 2
Pn106 Position 2 Adjusts position loop response (enabled by automatic 400 × 0.1/s 10 to Online ---
loop gain 2 gain switching input). 20000
tional
speed
unit
ward
amount
ward com- ms 6400
mand filter
Pn10B Speed con- 2 0 P control 0 Sets internal torque 4 --- --- Online ---
trol setting switching con- command value
ditions conditions
(Pn10C).
1 Sets speed com-
mand value condi-
tions (Pn10d).
2 Sets acceleration
command value
conditions
(Pn10E).
3 Sets deviation
pulse value condi-
tions (Pn10F).
4 No P control
switching function
loop switching
1 IP control
2 to 3 Not used.
2 Position loop 0 Standard position 0 --- --- Offline ---
control method control
1 Less deviation con-
trol
2 to 3 Not used.
setting.)
(torque
command)
(speed
command)
155

No. ting
Pn10E P control 2 Sets level of acceleration command to switch from PI 0 r/min/s 0 to Online ---
switching control to P control. 30000
(accelera-
tion com-
mand)
(deviation unit
pulse)
Pn110 Normal 2 0 Not used. 2 (Do not change the 2 --- --- Offline ---
autotuning setting.)
switches
1 Speed feed- 0 ON 1 --- --- Online ---
back compen-
sation function 1 OFF
selection 2 to 3 Not used.
setting.)
setting.)
feedback
compensat-
ing gain
Pn11A Not used. --- (Do not change the setting.) 1000 --- --- --- ---
Pn11F Position 2 Position loop integral time constant 0 × 0.1 0 to Online ---
integral ms 50000
time con-
stant
Pn12D Not used. --- (Do not change the setting.) 400 --- --- --- ---
Pn12F Not used. --- (Do not change the setting.) 2000 --- --- --- ---
Pn131 Gain 2 Switching time from No. 1 gain to No. 2 gain 0 ms 0 to Online ---
switching 65535
time 1
switching 65535
time 2
Pn135 Gain 2 The time from when gain switching condition A is sat- 0 ms 0 to Online ---
switching isfied until switching from the No. 1 gain to the No. 2 65535
waiting time gain begins.
1
Pn136 Gain 2 The time from when gain switching condition B is sat- 0 ms 0 to Online ---
waiting time gain begins.
2
156

No. ting
Pn139 Automatic 2 0 Gain switching 0 Manual gain 0 --- --- Offline ---
gain selection switching (auto-
changeover switch matic gain switch-
related ing not used)
switches 1
1 Automatic switch-
ing pattern 1
Automatic switch-
ing from No. 1 gain
to No. 2 gain when
gain switching con-
dition A is satisfied.
Automatic switch-
ing from No. 2 gain
to No. 1 gain when
gain switching con-
dition B is satisfied.
2 to 4 Not used.
1 Gain switching 0 Positioning com- 0 --- --- Offline ---
condition A pleted output 1
(INP1) ON
1 Positioning com-
pleted output 1
(INP1) OFF
2 Positioning com-
pleted output 2
(INP2) ON
3 Positioning com-
pleted output 2
(INP2) OFF
4 The position com-
mand filter output is
0, and also the
position command
input is 0.
5 The position com-
mand input is not 0.
2 Gain switching 0 to 5 Same as Pn139.1 0 --- --- Offline ---
condition B
setting.)
Pn150 Predictive 2 0 Predictive con- 0 Predictive control 0 --- --- Offline ---
control trol selection not used.
selection
switches 1 Predictive control
used.
2 Not used.
1 Predictive con- 0 Predictive control 1 --- --- Offline ---
trol type for tracking
1 Predictive control
for positioning
setting.)
setting.)
Pn151 Predictive 2 Adjusts acceleration and deceleration response for 100 % 0 to 300 Online ---
control predictive control.
accelera-
tion/decel-
eration gain
Pn152 Predictive 2 Adjusts position deviation for predictive control. 100 % 0 to 300 Online ---
control
weighting
ratio
Pn1A0 Servo 2 Adjusts the Servo rigidity for the No. 1 gain. 60 % 1 to 500 Online ---
rigidity
rigidity 2
157

No. ting
Pn1A2 Speed 2 Sets the filter time constant for No. 1 gain speed feed- 72 × 0.01 30 to Online ---
feedback back. ms 3200
filter time
constant
Pn1A3 Speed 2 Sets the filter time constant for No. 2 gain speed feed- 72 × 0.01 30 to Online ---
filter time
constant 2
Pn1A4 Torque 2 Sets the filter time constant for the torque command. 36 × 0.01 0 to Online ---
command ms 2500
filter time
constant 2
Pn1A7 Utility con- 2 0 Integral com- 0 Integral compensa- 1 --- --- Online ---
trol pensation pro- tion processing not
switches cessing executed.
1 Integral compensa-
tion processing
executed.
tion is executed for
No. 1 gain and not
for No. 2 gain for
less-deviation gain
switching.
No. 2 gain and not
for No. 1 gain for
less-deviation gain
switching.
setting.)
setting.)
setting.)
Pn1A9 Utility inte- 2 Adjusts the auxiliary integral responsive. 37 Hz 0 to 500 Online ---
gral gain
Pn1AA Position 2 Adjusts the position proportional responsive. 60 Hz 0 to 500 Online ---
propor-
tional gain
Pn1AB Speed inte- 2 Adjusts the speed integral responsive. 0 Hz 0 to 500 Online ---
gral gain
Pn1AC Speed pro- 2 Adjusts the speed proportional responsive. 120 Hz 0 to Online ---
portional 2000
gain
Pn1B5 Not used. --- (Do not change the setting.) 150 --- --- --- ---

No. ting
Pn200 Not used. 2 0 Not used. 0 (Do not change the 0 --- --- --- ---
setting.)
setting.)
setting.)
setting.)
Pn205 Absolute 2 Sets the multi-turn limit for when a Servomotor with 65535 Rota- 0 to 65535 Offline ---
encoder an absolute encoder is used. tion
multi-turn
limit set-
ting
158

No. ting
control setting.)
settings 2
setting.)
compensa-
tion selection 1 Compensates to
forward rotation
side.
2 Compensates to
reverse rotation
side.
3 INP 1 output 0 When the position 0 --- --- Offline ---
timing deviation is below
the INP1 range
(Pn522).
1 When the position
deviation is below
the INP1 range
(Pn522) and also
the command after
the position com-
mand filter is 0.
2 When the absolute
value for the posi-
tion deviation is
below the INP1
range (Pn522) and
also the position
command input is
0.
Pn20E Electronic 4 Sets the pulse rate for the command pulses and 4 --- 1 to Offline ---
gear ratio Servomotor movement distance. 1073741824
G1 0.001 ≤ G1/G2 ≤ 1000
(numera-
tor)
gear ratio 1073741824
G2
(denomi-
nator)
Pn212 Encoder 4 Sets the number of output pulses per Servomotor 1000 Pulses 16 to Offline ---
divider rate rotation. /rota- 1073741824
tion
Pn214 Backlash 2 Sets mechanical system backlash amount (the 0 Com- −32767 to Online ---
compen- mechanical gap between the drive shaft and the mand 32767
sation shaft being driven) unit
amount
Pn215 Backlash 2 Sets the backlash compensation time constant. 0 × 0.01 0 to 65535 Online ---
compen- ms
sation time
constant

No. ting
159

No. ting
Pn304 Jog speed 2 Sets rotation speed during jog operation (using Servo 500 r/min 0 to Online ---
Drive’s personal computer monitoring software) 10000
Pn305 Soft start 2 Sets acceleration time during speed control soft start. 0 ms 0 to Online ---
accelera- 10000
tion time
Pn306 Soft start 2 Sets deceleration time during speed control soft start. 0 ms 0 to Online ---
decelera- 10000
tion time
Pn308 Speed 2 Sets constant during filter of speed feedback. 0 × 0.01 0 to Online ---
feedback ms 65535
filter time
constant
Pn310 Vibration 2 0 Vibration 0 Vibration detection 0 --- --- Online ---
detection detection not used.
switches selection
1 Gives warning
(A.911) when vibra-
tion is detected.
2 Gives warning
(A.520) when vibra-
tion is detected.
setting.)
setting.)
setting.)
Pn311 Vibration 2 Sets the vibration detection sensitivity. 100 % 50 to Online ---
detection 500
sensitivity
Pn312 Vibration 2 Sets the vibration detection level 50 r/min 0 to 500 Online ---
detection
level

No. ting
Pn401 1st step 2 Sets the filter time constant for internal torque com- 40 ×0.01 0 to Online ---
1st torque mands. ms 65535
command
filter time
constant
rotation rent limit (rated torque ratio)
external
current
limit
external
current
limit
gency stop torque ratio)
torque
limit 10000
160

No. ting
command filter 1 function. used.
setting
for torque com-
mands.
setting.)
filter 2 function. used.
for torque com-
mands.
setting.)
ter 1 fre- 2000
quency
ter 1 Q 1000
value
Pn40C Notch fil- 2 Sets the notch filter 2 frequency for torque com- 2000 Hz 50 to Online ---
ter 2 fre- mands. 2000
quency
Pn40D Notch fil- 2 Sets Q value of notch filter 2. 70 ×0.01 50 to Online ---
ter 2 Q 1000
value
Pn40F 2nd step 2 Sets the filter frequency for internal torque com- 2000 Hz 100 to Online ---
2nd torque mands. 2000
command
filter fre-
quency
Pn410 2nd step 2 Sets the torque command filter Q value. 70 ×0.01 50 to Online ---
2nd torque 1000
command
filter Q
value
Pn411 3rd step 2 Sets the filter time constant for internal torque com- 0 µs 0 to Online ---
torque mands. 65535
command
filter time
constant
Pn412 1st step 2 Sets the filter time constant for No. 2 gain internal 100 × 0.01 0 to Online ---
2nd torque torque commands. ms 65535
command
filter time
constant
Pn420 Damping 2 Sets the vibration suppression value while stopped. 100 % 10 to Online ---
for vibra- 100
tion sup-
pression
on stop-
ping
Pn421 Vibration 2 Sets the time from when the position command 1000 ms 0 to Online ---
suppres- becomes 0 until damping for vibration suppression on 65535
sion start- stopping begins.
ing time
Pn422 Gravity 2 Sets the gravity compensation torque. 0 ×0.01 −20000 Online ---
compen- % to
sation 20000
torque
Pn456 Sweep 2 Sets the sweep torque command amplitude. 15 % 1 to 800 Online ---
torque
command
amplitude
161

No. ting
motor rota-
tion detec-
tion
signal out-
put width
Pn506 Brake tim- 2 Sets the delay from the brake command to the Ser- 0 ×10 0 to 50 Online ---
ing 1 vomotor turning OFF. ms
Pn507 Brake 2 Sets the number of rotations for outputting the brake 100 r/min 0 to 10000 Online ---
command command.
speed
Pn508 Brake tim- 2 Sets the delay time from the Servomotor turning 50 ×10 10 to 100 Online ---
ing 2 OFF to the brake command output. ms
Pn509 Momen- 2 Sets the time during which alarm detection is dis- 20 ms 20 to 1000 Online ---
tary hold abled when a power failure occurs.
time
162

No. ting
Pn50A Input sig- 2 0 Not used. 1 (Do not change the 1 --- --- --- ---
tions 1
setting.)
setting.)
ited input) input setting:
signal Input 1
input
2 Allocated to CN1,
input
3 Allocated to CN1,
input
4 Allocated to CN1,
input
5 Allocated to CN1,
input
6 Allocated to CN1,
input
7 Always enabled.
8 Always disabled.
9 Allocated to CN1,
pin 13: Valid for
high input
A Allocated to CN1,
input
B Allocated to CN1,
input
C Allocated to CN1,
input
D Allocated to CN1,
pin 10: Valid for
high input
E Allocated to CN1,
pin 11: Valid for
high input
F Allocated to CN1,
pin 12: Valid for
high input
Pn50B Input sig- 2 0 NOT 0 to F Same as Pn50A.3 2 --- --- Offline Stan-
nal selec- (reverse dard
tions 2 drive prohib- setting:
ited input) 2
signal Input
terminal allo-
cation
setting.)
setting.)
setting.)
163

No. ting
Pn50C Input sig- 2 0 Not used. 8 (Do not change the 8 --- --- --- ---
tions 3
setting.)
setting.)
setting.)
Pn50D Input sig- 2 0 Not used. 8 (Do not change the 8 --- --- --- ---
tions 4
setting.)
setting.)
setting.)
Pn50E Output sig- 2 0 INP1 (posi- 0 Not used. 0 --- --- Offline Stan-
nal selec- tioning com- dard
tions 1 pleted 1) 1 Allocated to CN1 setting:
signal output pins 1, 2 0
terminal allo- 2 Allocated to CN1
cation pins 23, 24
3 Allocated to CN1
pins 25, 26
1 VCMP 0 to 3 Same as Pn50E.0 0 --- --- Offline Stan-
(speed con- dard
formity) sig- setting:
nal output 0
terminal allo-
cation
2 TGON (ser- 0 to 3 Same as Pn50E.0 0 --- --- Offline Stan-
vomotor rota- dard
tion setting:
detection) 0
signal output
terminal allo-
cation
3 READY 0 to 3 Same as Pn50E.0 0 --- --- Offline Stan-
(servo ready) dard
terminal allo- 0
cation
nal selec- rent limit dard
tions 2 detection) setting:
signal output 0
terminal allo-
cation
1 VLIMT 0 to 3 Same as Pn50E.0 0 --- --- Offline Stan-
(speed limit dard
detection) setting:
signal output 0
terminal allo-
cation
interlock) dard
terminal allo- 1
cation
3 WARN 0 to 3 Same as Pn50E.0 0 --- --- Offline Stan-
(warning) dard
terminal allo- 0
cation
164

No. ting
Pn510 Output sig- 2 0 INP2 (posi- 0 to 3 Same as Pn50E.0 0 --- --- Offline Stan-
tions 3 pleted 2) setting:
signal output 0
terminal allo-
cation
setting.)
setting.)
setting.)
nal selec- input termi- pin 13: Valid for low dard
tions 5 nal allocation input setting:
3
1 Allocated to CN1,
input
2 Allocated to CN1,
input
3 Allocated to CN1,
input
4 Allocated to CN1,
input
5 Allocated to CN1,
input
6 Allocated to CN1,
input
7 Always enabled.
8 Always disabled.
9 Allocated to CN1,
pin 13: Valid for
high input
A Allocated to CN1,
input
B Allocated to CN1,
input
C Allocated to CN1,
input
D Allocated to CN1,
pin 10: Valid for
high input
E Allocated to CN1,
pin 11: Valid for
high input
F Allocated to CN1,
pin 12: Valid for
high input
165

No. ting
nal selec- input termi- dard
tions 5 nal allocation 4 Allocated to CN1, setting:
input
5 Allocated to CN1,
input
6 Allocated to CN1,
input
7 Always enabled.
8 Always disabled.
D Allocated to CN1,
pin 10: Valid for
high input
E Allocated to CN1,
pin 11: Valid for
high input
F Allocated to CN1,
pin 12: Valid for
high input
input termi- dard
nal allocation setting:
5
input termi- dard
6
2
reverse for
CN1 pins 23,
24
reverse for
CN1 pins 25,
26
setting.)
Pn51E Deviation 2 Sets the detection level for the deviation counter 100 % 10 to 100 Online ---
counter overflow warning.
overflow
warning
level
Pn520 Deviation 4 Sets the deviation counter overflow alarm detection 262144 Com- 1 to Online ---
counter level. mand 1073741823
overflow unit
level
Pn522 Position- 4 Setting range for positioning completed range 1 3 Com- 0 to Online ---
ing com- (INP1) mand 1073741824
pleted unit
range 1
pleted unit
range 2
166

No. ting
counter level for Servo ON. mand 1073741823
overflow unit
level at
Servo-ON
Pn528 Deviation 2 Sets the deviation counter overflow warning detec- 100 % 10 to 100 Online ---
counter tion level for Servo ON.
overflow
warning
level at
Servo-ON
Pn529 Speed 2 Sets the speed limit for when the Servo turns ON 10000 r/min 0 to 10000 Online ---
limit level with position deviation accumulated.
at Servo-
ON
Pn52F Not used. --- (Do not change the setting.) FFF --- --- --- ---
167

No. ting
Pn530 Program 2 0 Program 0 (Waiting time 0 --- --- Online ---
JOG oper- JOG operat- Pn535 → Forward
ation ing pattern movement Pn531)
related × Number of move-
switches ment operations
Pn536
1 (Waiting time
Pn535 → Reverse
movement Pn531)
× Number of move-
ment operations
Pn536
2 Waiting time Pn535
→ Forward move-
ment Pn531) ×
Number of move-
ment operations
Pn536
(Waiting time
Pn535 → Reverse
movement Pn531)
× Number of move-
ment operations
Pn536
3 (Waiting time
Pn535 → Reverse
movement Pn531)
× Number of move-
ment operations
Pn536
(Waiting time
Pn535 → Forward
movement Pn531)
× Number of move-
ment operations
Pn536
4 (Waiting time
Pn535 → Forward
movement Pn531
→ Waiting time
Pn535 → Reverse
movement Pn531)
× Number of move-
ment operations
Pn536
5 (Waiting time
Pn535 → Reverse
movement Pn531
→ Waiting time
Pn535 → Forward
movement Pn531)
× Number of move-
ment operations
Pn536
setting.)
setting.)
setting.)
Pn531 Program 4 Sets the program JOG movement distance. 32768 Com- 1 to Online ---
JOG mand 1073741824
movement unit
distance
Pn533 Program 2 Sets the program JOG operation movement speed. 500 r/min 1 to 10000 Online ---
JOG
movement
speed
168

No. ting
Pn534 Program 2 Sets the acceleration/deceleration time for program 100 ms 2 to 10000 Online ---
JOG JOG operation.
accelera-
tion/decel-
eration
time
Pn535 Program 2 Sets the delay time from the program JOG opera- 100 ms 0 to 10000 Online ---
JOG wait- tion start input until operation starts.
ing time
Pn536 Number of 2 Sets the number of repetitions of the program JOG 1 Times 1 to 1000 Online ---
program operations.
JOG
move-
ments
Pn540 Gain limit 2 Sets the gain limit. 2000 × 0.1 10 to 2000 Online ---
Hz
Pn550 Analog 2 Sets the analog monitor 1 offset voltage. 0 × 0.1 −10000 to Online ---
monitor 1 V 10000
offset volt-
age
Pn551 Analog 2 Sets the analog monitor 2 offset voltage. 0 × 0.1 −10000 to Online ---
monitor 2 V 10000
offset volt-
age
Other Parameters
size
Pn600 Regeneration resistor 2 Setting for regeneration resistance 0 ×10 W 0 to Online ---
capacity load ratio monitoring calculations (varies
by
model)
169

No. ting
cations TROLINK communications errors set to 0.
control munications (A.E6@) and syn-
check mask chronization errors
(A.E5@).
1 Ignores communi-
cations errors
(A.E6@).
zation errors
(A.E5@).
3 Ignores communi-
cations errors
(A.E6@) and syn-
chronization errors
(A.E5@).
1 Warning check 0 Detects all parame- 4 --- --- Online Always
mask ter setting warnings set to 4
(A.94@), MECHA- or 0.
TROLINK com-
mand warnings
(A.95@), and com-
munications errors
(A.96@).
1 Ignores parameter
setting warning
(A. 94@).
2 Ignores command
warning (A.95@).
3 Ignores A.94@ and
A.95@.
4 Ignores communi-
cations warning
(A.96@).
5 Ignore A.94@ and
A.96@.
6 Ignores A.95@ and
A.96@.
7 Ignores A.94@,
A.95@ and A.96@.
2 Communica- 0 to F Detects communi- 0 --- --- Online ---
tions error cations errors
count at single (A.E60) if they
transmission occur consecutively
for the set value
plus two times.
setting.)
170

No. ting
applica-
tion 6 1 Forward software
(software limit disabled.
LS) 2 Reverse software
limit disabled.
3 Forward/reverse
software limits dis-
abled.
setting.)
reference ence
1 Software limit
check using refer-
ence
setting.)
size
ting.)
Pn803 Zero point width 2 Sets the origin position 10 Command 0 to 250 Online ---
detection range. unit
Pn804 Forward soft- 4 Sets the software limit 819,191,808 Command −1,073,741,823 Online ---
ware limit for the positive direction. unit to
1,073,741,823
Pn806 Reverse soft- 4 Sets the software limit −819,191,808 Command −1,073,741,823 Online ---
ware limit for the negative direc- unit to
tion. 1,073,741,823
Pn808 Absolute 4 Sets the encoder posi- 0 Command −1,073,741,823 Offline ---
encoder zero tion and machine coordi- unit to
point position nate system offsets for 1,073,741,823
offset when an absolute
encoder is used.
Pn80A First step linear 2 Sets the step 1 accelera- 100 ×10,000 1 to 65535 Online Settings can
acceleration tion for when two-step command be changed
constant acceleration is used. units/s2 when the
axes are
stopped
(Busy Flag for
each axis =
0).
Pn80B Second step lin- 2 Sets the step 2 accelera- 100 ×10,000 1 to 65535 Online Settings can
ear acceleration tion for when two-step command be changed
constant acceleration is exe- units/s2 when the
cuted, or the one-step axes are
acceleration constant for stopped
when one-step accelera- (Busy Flag for
tion is executed. each axis =
0).
Pn80C Acceleration 2 Sets the switching speed 0 ×100 com- 0 to 65535 Online Settings can
constant switch- for the step 1 and step 2 mand be changed
ing speed acceleration when two- units/s when the
step acceleration is exe- axes are
cuted. stopped
(Busy Flag for
each axis =
0).
171
size
Pn80D First step linear 2 Sets the step 1 decelera- 100 ×10,000 1 to 65535 Online Settings can
deceleration tion for when two-step command be changed
constant deceleration is used. units/s2 when the
axes are
stopped
(Busy Flag for
each axis =
0).
Pn80E Second step lin- 2 Sets the step 2 decelera- 100 ×10,000 1 to 65535 Online Settings can
ear deceleration tion for when two-step command be changed
constant deceleration is exe- units/s2 when the
deceleration constant for stopped
when one-step decelera- (Busy Flag for
0).
Pn80F Deceleration 2 Sets the switching speed 0 ×100 com- 0 to 65535 Online Settings can
ing speed deceleration when two- units/s when the
step deceleration is exe- axes are
cuted. stopped
(Busy Flag for
each axis =
0).
Pn810 Exponential 2 Sets the bias for when 0 Command 0 to 32767 Online Settings can
acceleration/ an exponential filter is units/s be changed
deceleration used for the position when the
bias command filter. axes are
stopped
(Busy Flag for
each axis =
0).
Pn811 Exponential 2 Sets the time constant 0 ×0.1 ms 0 to 5100 Online Settings can
acceleration/ for when an exponential be changed
deceleration filter is used for the posi- when the
time constant tion command filter. axes are
stopped
(Busy Flag for
each axis =
0).
Pn812 Moving average 2 Sets the average move- 0 ×0.1 ms 0 to 5100 Online Settings can
time ment time for when S- be changed
curve acceleration/ when the
deceleration is used, and axes are
an average movement stopped
filter is used for the posi- (Busy Flag for
tion command filter. each axis =
0).
ting.)
Pn814 Final travel dis- 4 Sets the distance from 100 Command −1,073,741,823 Online Settings can
tance for exter- the external signal input unit to be changed
nal positioning position when external 1,073,741,823 when the
positioning is executed. axes are
stopped
(Busy Flag for
each axis =
0).
172
No. ting
point return direc- direction same direc-
return tion tion as the
mode set- 1 Reverse origin
tings direction search
direction set
in the Axis
Parameters.
Settings can
be changed
when the
axes are
stopped
(Busy Flag
for each axis
= 0).
1 to 3 Not used. 0 (Do not 0 --- --- --- ---
change the
setting.)
Pn817 Zero 2 Sets the origin search speed after the decel- 50 ×100 0 to 65535 Online Settings can
point eration limit switch signal turns ON. com- be changed
return mand when the
speed 1 stopped
(Busy Flag
for each axis
= 0).
speed 2 stopped
(Busy Flag
for each axis
= 0).
Pn819 Final 4 Sets the distance from the latch signal input 100 Com- −1,073,741,823 Online Settings can
travel dis- position to the origin, for when origin search mand to be changed
tance to is executed. unit 1,073,741,823 when the
return to axes are
zero point stopped
(Busy Flag
for each axis
= 0).
to
Pn825
to
Pn910
Pn920 Not used. --- (Do not change the setting.) ---- --- --- --- ---
to
Pn95F
173
4-5-5 SMARTSTEP Junior Servo Drive (R7D-ZN@-ML2 with Built-in

is used with a SMARTSTEP Junior Servo Drive with Built-in MECHA-
TROLINK-II Communications (R7D-ZN@-ML2).
For further details on each of the parameters, refer to the user’s manual for
SMARTSTEP Junior Servo Drives.
two types.
cuted.
Flag = 0) only.
being used.
■ Function Selection Parameters
No. ting
Pn000 Function 2 0 Reverse 0 CCW direc- 0 --- --- Offline ---
selection rotation tion is taken
basic for positive
switch command.
1 CW direc-
tion is taken
for positive
command.
2 to 3 Not used.
1 Not used. 1 (Do not 1 --- --- --- ---
change the
setting.)
2 Not used. 0 (Do not 0 --- --- --- ---
change the
setting.)
3 Not used. 0 (Do not 0 --- --- --- ---
change the
setting.)
Pn00A Com- 2 Set the command filter constant. 0000 --- 0000 to 000F Online ---
mand fil- When using this parameter, turn ON bit 4 on
ter setting SW2 on the SMARTSTEP Junior Servo
Drive.
174
■ Position Control Parameters

No. ting
Pn20E Elec- 4 Set the pulse rate for the command pulses 1 --- 1 to Offline ---
tronic and Servomotor travel distance. 1073741824
gear ratio 0.01≤G1/G2≤100
G1
(numera-
tor)
Pn210 Elec- 4 1 --- 1 to Offline ---
tronic 1073741824
gear ratio
G2
(denomi-
nator)
■ I/O and Status Parameters

No. ting
Pn50A Input sig- 2 0 Not used. 1 (Do not 1 --- --- Offline ---
nal selec- change the
tion 1 setting.)
1 Not used. 8 (Do not 8 --- --- --- ---
change the
setting.)
2 Not used. 8 (Do not 8 --- --- --- ---
change the
setting.)
3 POT (for- 2 Allocated to 2 --- --- Offline Standard
ward drive CN1, pin 4: setting: 2
prohibited Valid for low
input) signal input
Input termi-
nal alloca- 8 Always
tion invalid.
Pn50B Input sig- 2 0 NOT 3 Allocated to 3 --- --- Offline Standard

nal selec- (reverse CN1, pin 3: setting: 3
tion 2 drive prohib- Valid for low
ited input) input
signal input
terminal 8 Always
allocation invalid.
1 Not used. 8 (Do not 8 --- --- --- ---

change the
setting.)
2 Not used. 8 (Do not 8 --- --- --- ---
change the
setting.)
3 Not used. 8 (Do not 8 --- --- --- ---
change the
setting.)
Pn515 Input sig- 2 0 Not used. 8 (Do not 8 --- --- --- ---
nal selec- change the
tion 7 setting.)
1 Not used. 8 (Do not 8 --- --- --- ---
change the
setting.)
2 STOP 4 Allocated to 4 --- --- Offline Standard
(emergency CN1, pin 6: setting: 4
stop input) Valid for low
input
Always
invalid.
3 Not used. 8 (Do not 8 --- --- --- ---
change the
setting.)
175
No. ting
Pn522 Position- 4 Setting range for positioning completed 10 Com- 0 to Online ---
ing com- range mand 1,073,741,824
pletion unit
width 1
Pn524 Position- 4 Setting for proximity range for the Positioning 100 Com- 1 to Online ---
ing com- Proximity Flag. mand 1,073,741,824
pletion unit
width 2
176
■ Control Function Parameters

No. ting
Pn800 Commu- 2 0 Not used. 0 (Do not 1 --- --- --- ---
nications change the
control setting.)
1 Warning 0 Detects 4 --- --- Online Always set
check mask parameter to 4 or 0.
setting warn-
ings (A.94),
command
warnings
(A.95), and
communica-
tions errors
(A.96).
1 Ignores
parameters
setting warn-
ings (A.94).
2 Ignores com-
mand warn-
ings (A.95).
3 Ignores both
parameter
setting warn-
ings (A.94)
and com-
mand warn-
ings (A.95).
4 Ignores com-
munications
errors (A.96).
5 Ignores both
parameter
setting warn-
ings (A.94)
and commu-
nications
errors (A.96).
6 Ignores both
command
warnings
(A.95) and
communica-
tions errors
(A.96).
7 Ignores
parameter
setting warn-
ings (A.94),
command
warnings
(A.95), and
communica-
tions errors
(A.96).
2 Not used. 0 (Do not 0 --- --- --- ---
change the
setting.)
3 Not used. 0 (Do not 0 --- --- --- ---
change the
setting.)
177
No. ting
Pn801 Function 2 0 Software 0 Software 3 --- --- Online ---
selection limit function limit enabled.
applica- 1 Forward
tion 6 software limit
(software disabled.
limits) 2 Reverse
software limit
disabled.
3 Software
limit disabled
in both
directions.
1 Not used. 0 (Do not 0 --- --- --- ---
change the
setting.)
2 Not used. 0 (Do not 0 --- --- --- ---
change the
setting.)
3 Not used. 0 (Do not 0 --- --- --- ---
change the
setting.)
PN803 Zero 2 Sets the detection range for the Origin Stop 10 Com- 0 to 250 Online ---
point Flag. mand
width unit
Pn804 Forward 4 Sets the forward software limit. 107374 Com- −1073741823 Online ---
software 1823 mand to 1073741823
limit unit
Pn806 Reverse 4 Sets the reverse software limit. −10737 Com- −1073741823 Online ---
software 41823 mand to 1073741823
limit unit
Pn80B Linear 2 Sets the acceleration speed for the accelera- 100 ×10,000 1 to 65535 Online Settings can
acceleration/deceleration curve used in position con- com- be changed
tion control. mand when the
stant units/s2 axes are
stopped
(Busy Flag
for each axis
= 0).
Pn80E Linear 2 Sets the deceleration speed for the accelera- 100 ×10,000 1 to 65535 Online Settings can
deceleration/deceleration curve used in position con- com- be changed
mand
tion control. when the
units/s2
stant axes are
stopped
(Busy Flag
for each axis
= 0).
Pn814 Final 4 Sets the final travel distance for external 100 Com- −1073741823 Online Settings can
travel dis- positioning when executing INTERRUPT mand to 1073741823 be changed
tance for FEEDING using direct operation. unit when the
external axes are
position- stopped
ing (Busy Flag
for each axis
= 0).
178
Common Operating Memory Area Section 4-6
No. ting
mode set- origin
ting search
direction set
in the Axis
Parameters.
Settings can
be changed
when the
axes are
stopped
(Busy Flag
for each axis
= 0).
1 to 3 Not used. 0 (Do not 0 --- --- --- ---
change the
setting.)
approach units/ axes are
speed 1 s2 stopped
(Busy Flag
for each axis
= 0).
approach gin search. units/ axes are
speed 2 s2 stopped
(Busy Flag
for each axis
= 0).
Pn819 Final 4 Sets the amount of compensation positioning 100 Com- −1073741823 Online Settings can
travel dis- used after the origin input signal has been mand to 1073741823 be changed
tance to detected in an origin search. unit when the
return to axes are
zero point stopped
(Busy Flag
for each axis
= 0).
Pn820 Not used. -- (Do not change the setting.) 0000 --- --- --- ---
to
Pn823
4-6 Common Operating Memory Area

The Common Operating Memory Area is allocated to outputs used for com-
mon PCU operations and settings, such as communications control and trans-
ferring common parameters, and inputs used for monitoring the status of
these operations.
4-6-1 Common Operating Memory Area Overview

The area allocated as the Common Operating Memory Area is contained in
the CPU Bus Unit Area within the CPU Unit's CIO Area. The beginning word
of the Common Operating Memory Area is determined by the unit number set
for the PCU using the following equation.
Beginning word of Common Operating Memory Area: n = CIO 1500 + (unit
number × 25)
0 CIO 1500 to CIO 1524 8 CIO 1700 to CIO 1724
179

The Common Operating Memory Area is divided into outputs and inputs.
Commands for common PCU operations and settings, such as transferring
PCU data (reading, writing, and saving Common Parameters and Axis Param-
eters) and establishing connections with MECHATROLINK communications
are allocated to the output memory area.
Commands are sent to the PCU when the respective bit in the output memory
area turns ON or while the respective bit is ON. The common PCU status and
MECHATROLINK communications status are input from the PCU to the input
memory area.
180
4-6-2 Common Operating Memory Area Words

The memory allocation of the Common Operating Memory Area is shown in
the following table. For details on functions and operations of each word, such
as operation timing, refer to the section given in the Details column.
Common Operating n = CIO 1500 + (unit number × 25)
Output Memory Area
I/O Word Bits Category Name Operation Details
Output n 00 --- UNIT ERROR Resets the Unit common error 12-6 Error Reset
(CPU RESET when this bit turns ON.
Unit to 01 Data trans- WRITE DATA Writes data to the PCU from 5-2-1 Writing PCU
PCU) fer com- the CPU Unit when this bit Parameters
mands turns ON.
02 READ DATA Reads data from the PCU to 5-2-2 Reading PCU
the CPU Unit when this bit Parameters
turns ON.
03 SAVE DATA Saves the contents of the 5-2-3 Saving PCU
PCU's internal memory to its Parameters
flash memory when this bit
turns ON.
04 to 15 --- Not used (reserved These bits are reserved by the ---
by the system). system. Do not use.
n+1 00 Communi- CONNECT Starts/stops MECHA- 6-3-1 Establishing
cations TROLINK communications. Connections
01 to 05 control Reserved by the sys- These bits are reserved by the ---
commands tem. system. Do not use.
06 --- WRITE BACKUP Writes data saved in the 13-4-2 Memory Card
DATA PCU’s internal flash memory Backup
to the Memory Card installed
in the CPU Unit when this bit
turns ON.
07 READ BACKUP Reads data from the Memory
DATA Card installed in the CPU Unit
to the PCU’s internal flash
memory when this bit turns
ON.
08 to 14 Not used (reserved These bits are reserved by the ---
15 REJOIN (See note.) Restarts MECHATROLINK 6-3-4 Rejoining the
communications. Connection
n+2 --- Axes to connect Specifies the axes for which to 6-3-5 Specifying the
(See note.) start MECHATROLINK com- Axes to Connect
munications.
n+3 to --- --- Not used (reserved These bits are reserved by the ---
n+5 by the system). system. Do not use.
181

Output n+6 --- Operating Number of write Specifies the number of words 5-2-1 Writing PCU
(CPU data for words to be written from the CPU Parameters
Unit to data trans- Unit to the PCU.
PCU) n+7 --- fer Write source area Specifies the area containing
the data to be written from the
CPU Unit to the PCU.
n+8 --- Write source word Specifies the beginning word
of the data to be written from
the CPU Unit to the PCU.
n+9 --- Write destination Specifies the address in the
address PCU to which the data is to be
written.
n+10 --- Number of read Specifies the number of words 5-2-2 Reading PCU
words to be read from the PCU to Parameters
the CPU Unit.
n+11 --- Read source Specifies the address in the
address PCU from which the data is to
be read.
n+12 --- Read destination Specifies the area used to
area store the data read from the
PCU.
n+13 --- Read destination Specifies the word used to
word store the data read from the
PCU.
n+14 --- --- Not used (reserved These bits are reserved by the ---
Note The REJOIN Bit and the Axes to Connect parameter are supported for unit
version 2.0 or later. The allocated bit and word are not used for earlier unit
versions.
182
Common Operating Input n = CIO 1500 + (unit number × 25)

Memory Area
Input n+15 00 to 11 PCU com- Not used (reserved These bits are reserved by the ---
(PCU mon status by the system). system. Do not use.
to CPU 12 words Unit Error Flag ON when a Unit common 12-1 Overview of
Unit) error has occurred. PCU Errors
13 Not used (reserved This bit is reserved by the sys- ---
by the system). tem. Do not use.
14 Data Transferring ON when data is being trans- 5-2 Transferring PCU
Flag ferred between the CPU Unit Parameters
and PCU, or when data is
being saved in the PCU's
internal flash memory.
n+16 00 to 11 Reserved by the sys- These bits are reserved by the ---
tem. system. Do not use.
12 Memory Card Trans- Indicates that an error 13-4-2 Memory Card
fer Error occurred when writing/reading Backup
backup data to/from the Mem-
ory Card.
13 Reserved by the sys- This bit is reserved by the sys- ---
tem. tem. Do not use.
14 Unit Busy Flag ON when PCU is processing 12-6 Error Reset
command sent to the Com-
mon Operating Memory Area.
This flag also turns ON during
initial processing when PCU
power is turned ON or the Unit
is restarted.
15 Connection Status ON when PCU starts 6-3-2 MECHA-
Flag MECHATROLINK communi- TROLINK Communi-
cations. cations Status
n+17 to --- --- Reserved by the sys- These bits are reserved by the ---
n+20 tem. system. Do not use.
n+21 --- Unit error code Returns the error code when 12-4 Error Codes
a Unit Common error occurs.
183

Input n+22 00 Axis com- Axis 1 communica- Bits 00 to 15 correspond to 6-3-2 MECHA-
(PCU munications status the communications status for TROLINK Communi-
to CPU 01 tions status Axis 2 communica- axes 1 to 16. cations Status
Unit) bits tions status The bits will turn ON if the cor-
02 Axis 3 communica- responding axes registered in
tions status the scan list are communicat-
ing normally.
03 Axis 4 communica-
tions status
tions status
tions status
tions status
tions status
tions status
tions status
tions status
tions status
tions status
tions status
tions status
tions status
n+23 to --- --- Not used (reserved These bits are reserved by the ---
n+24 by the system). system. Do not use.
184
Axis Operating Output Memory Areas Section 4-7
4-7 Axis Operating Output Memory Areas

The Axis Operating Output Memory Areas contain outputs used to set opera-
tion for the Servo Drive and Servomotor axes that are connected using
MECHATROLINK communications. These outputs include operating com-
mands, such as direct operation, ORIGIN SEARCH, and JOG, and related
position and speed command values.
4-7-1 Axis Operating Output Memory Area Overview

The Axis Operating Output Memory Areas are allocated 25 words per axis in
the CPU Unit's memory area set in the PCU's Common Parameters (Axis
Operating Output Memory Area designation, beginning word of Axis Operat-
ing Output Memory Area).
The designated beginning word corresponds to the beginning word of the
area for axis 1, and the other areas are allocated words in sequence up to the
highest axis number registered in the scan list. For details on area allocations,
refer to 6-2-2 Scan List and PCU Area Allocations.
The beginning words of the Axis Operating Output Memory Areas are deter-
mined by the axis number of each axis using the following equation.
Beginning Word of Axis Operating Output Memory Area for Axis N:
a= Beginning word of Axis Operating Output Memory Area specified in Com-
mon Parameters + (N−1) × 25 (N = 1 to 16)
Axis Operating Output Memory
Axis MECHATROLINK Area Allocations
No. station address No. Axis 1 Word a+0
Axis 1 No. 1 Operating Word a+1
Axis 2 No. 2 Output :
Axis 3 No. 3 Memory Area Word a+24
Axis 4 No. 4 Axis 2 Word a+25
: : Operating Word a+26
Axis 14 No. 14 Output :
Axis 15 No. 15 Memory Area Word a+49
Axis 16 No. 16 :
Axis N Word a+(N-1)×25
Operating Word a+(N-1)×25+1
Output :
Memory Area
Word a+(N-1)×25+24
:
Axis 16 Word a+375
Operating Word a+376
Output :
Memory Area Word a+399
a = Beginning word of Axis Operating Output Areas specified in Common Parameters
185
4-7-2 Axis Operating Output Memory Area Allocations

The memory allocation of the Axis Operating Output Memory Areas is shown
in the following table. For details on functions and operations of each word,
such as operation timing, refer to the section given in the Details column.
a = Beginning word of Axis Operating Output Memory Areas specified in
Common Parameters + (Axis No. −1) × 25
Output a 00 Direct oper- LINEAR INTERPO- Setting the linear interpola- 9-7 Linear Interpola-
(CPU ation com- LATION SETTING tion operation is started when tion
Unit to mands (See note 1.) this bit turns ON.
PCU) 01 LINEAR INTERPO- The linear interpolation opera-
LATION START (See tion that has been set is
note 1.) started when this bit turns
ON.
02 Not used (reserved These bits are reserved by the ---
03 ABSOLUTE MOVE- Starts positioning operation 9-4 Using Direct
MENT with the designated position Operation
treated as an absolute posi-
tion when this bit turns ON.
04 RELATIVE MOVE- Starts positioning operation
MENT with the designated position
treated as a relative position
when this bit turns ON.
05 INTERRUPT FEED- Interrupt feeding begins for 9-5 Interrupt Feeding
ING ABSOLUTE MOVEMENT and
RELATIVE MOVEMENT com-
mands.
06 Origin posi- ORIGIN SEARCH Executes an origin search 8-2 Origin Search
tioning when this bit turns ON. Operation
07 commands ORIGIN RETURN Returns position to the origin 8-4 Origin Return
when this bit turns ON.
08 PRESENT POSI- Forcibly changes the present 8-3 Present Position
TION PRESET position to the designated Preset
position, and thus establishes
an origin relative to the posi-
tion when this bit turns ON.
09 Com- JOG Jogging is executed while this 10-2 Jogging
mands for bit is ON.
10 special Direction designation This bit designates the direc-
functions tion for when jogging is exe-
cuted.
12 ERROR RESET Resets (turns OFF) the error 12-6 Error Reset
status for each axis when this
bit turns ON.
13 DEVIATION Resets the deviation counter 10-10 DEVIATION
COUNTER RESET to 0 when this bit turns ON. COUNTER RESET
(See note 4.)
14 Override Enable Bit This bit enables or disables 10-3 Override
the override.
15 DECELERATION Starts decelerating position- 10-9 Stop Functions
STOP ing to a stop when this bit
turns ON.
186

Output a+1 00 Com- SERVO LOCK Executes SERVO LOCK 10-1 Servo Lock/
(CPU mands for when this bit turns ON. Unlock
Unit to 01 special SERVO UNLOCK Executes SERVO UNLOCK
PCU) functions when this bit turns ON.
02 SPEED CONTROL Starts speed control using the 10-5 Speed Control
speed command value for
speed control as the target
speed when this bit turns ON.
03 TORQUE CON- Starts torque control using the 10-6 Torque Control
TROL torque command value when
this bit turns ON.
11 Servo DEVICE SETUP Starts Servo Drive setup 5-3-4 Device Setup
Parameter when this bit turns ON.
12 transfer WRITE SERVO Writes data to the Servo Drive 5-3-1 Writing Servo
commands PARAMETER from the CPU Unit when this Parameters
bit turns ON.
13 READ SERVO Reads data from the Servo 5-3-2 Reading Servo
PARAMETER Drive to the CPU Unit when Parameters
this bit turns ON.
14 SAVE SERVO Writes data to the Servo 5-3-3 Saving Servo
PARAMETER Drive's non-volatile memory at Parameters
the same time as writing the
Servo Parameters when this
bit turns ON.
15 Special EMERGENCY Executes emergency stop 10-9 Stop Functions
command STOP when this bit turns ON.
a+2 --- Operating Position command Specifies the position for per- 9-4 Using Direct
data for value (rightmost forming present position pre- Operation
position word) set and direct operation. 9-7 Linear Interpola-
a+3 --- control Position command tion
value (leftmost word) 8-3 Present Position
Preset
a+4 --- Speed command Specifies the target speed for 8-2 Origin Search
value (rightmost performing direct operation, Operation
word) jogging, origin searches, and 8-4 Origin Return
a+5 --- Speed command origin returns.
9-4 Using Direct
value (leftmost word) Operation
9-7 Linear Interpola-
tion
10-2 Jogging
187

Output a+6 --- Speed con- Speed command Specifies the target speed for 10-5 Speed Control
(CPU trol data value for speed con- performing speed control.
Unit to trol (rightmost word)
PCU) a+7 --- Speed command
value for speed con-
trol (leftmost word)
a+8 --- Torque con- Torque command Specifies the torque for per- 10-6 Torque Control
trol data value forming torque control.
(rightmost word)
a+9 --- Torque command
a+10 --- Position/ Option command Set the command value of the 9-7 Linear Interpola-
speed/ value 1 auxiliary functions for position/ tion
torque con- (rightmost word) speed/torque control, such as 10-5 Speed Control
a+11 --- trol data Option command the acceleration/deceleration
for linear interpolation, torque 10-6 Torque Control
value 1
(leftmost word) feed forward command, the
torque limit for speed control,
a+12 --- Option command and the speed limit for torque
value 2 control.
(rightmost word)
a+13 --- Option command
value 2
(leftmost word)
a+14 --- Operating Override This bit specifies the override 10-3 Override
data for rate.
special
function
a+15 00 to 03 Operating Monitor 1 type Specifies the monitor type for 4-8-6 Expanded
data for monitor 1 in the Axis Operat- Monitoring
expanded ing Input Memory Areas.
04 to 07 monitoring Monitor 2 type Specifies the monitor type for
monitor 2 in the Axis Operat-
ing Input Memory Area.
188

Output a+16 00 to 02 --- Reserved by the sys- These bits are reserved by the ---
(CPU tem. system. Do not use.
Unit to 03 Accelera- Exponential curve Specifies an exponential 8-2 Origin Search
PCU) tion/decel- designation curve as the acceleration/ Operation
eration deceleration curve for execut- 8-4 Origin Return
curves ing direct operation, jogging,
origin searches, and origin 9-4 Using Direct
returns. Operation
10-2 Jogging
04 S-curve designation Specifies an S-curve (move-
ment average) as the acceler-
ation/deceleration curve for
executing direct operation,
jogging, origin searches, and
origin returns.
05 to 13 --- Reserved by the sys- These bits are reserved by the ---
tem. system. Do not use.
14 Torque limit Forward rotation cur- Specifies the torque limit in 10-4 Torque Limits
rent limit designation the forward direction for axis
operation.
15 Reverse rotation cur- Specifies the torque limit in
rent limit designation the reverse direction for axis
operation.
a+17 --- Operating Servo Parameter No. Specifies the parameter num- 5-3 Transferring
data for ber for the Servo Parameters Servo Parameters
transferring to be written from or read to
Servo the CPU Unit.
a+18 --- Parameters Parameter size Specifies the parameter size
for the Servo Parameters to
be written from or read to the
CPU Unit.
a+19 --- Write data Specifies the data to be writ- 5-3-1 Writing Servo
(rightmost word) ten to the Servo Drive from Parameters
a+20 --- Write data the CPU Unit. 5-3-3 Saving Servo
(leftmost word) Parameters
a+21 00 to 03 Linear inter- Interpolation axis Specifies the axes for linear 9-7 Linear Interpola-
polation designation for axes interpolation for combinations tion
data 1 to 4 (See note 2.) of axes 1 to 4.
04 to 07 Interpolation axis Specifies the axes for linear
designation for axes interpolation for combinations
5 to 8 (See note 3.) of axes 5 to 8.
08 to 15 Not used (reserved These bits are reserved by the
a+22 00 to 03 Interpolation posi- Specify absolute or relative
tion designation for positioning for the axes for lin-
axes 1 to 4 (See note ear interpolation.
2.)
04 to 07 Interpolation posi-
tion designation for
axes 5 to 8 (See note
3.)
08 to 15 Not used (reserved These bits are reserved by the
a+23 --- Interpolation speed Specifies the interpolation
command value speed for linear interpolation.
(rightmost word)
(See note 1.)
a+24 --- Interpolation speed
command value
(leftmost word)
(See note 1.)
189
Note (1) Allocated in Axis Operating Output Memory Areas for axis 1 and axis 5
for Position Control Unit Ver. 1.1 or later. These bits are not used in the
Axis Operating Output Memory Areas for other axes.
(4) The DEVIATION COUNTER RESET can be used with unit version 1.3 or
later. This bit is not used for earlier unit versions.
4-7-3 Axis Operating Output Memory Area Priority

The Position Control Unit performs exclusive control for the command exe-
cuted for the axis operating output bits. Depending on the status of the Posi-
tion Control Unit (i.e., the Servo locked/unlocked status, Busy Flag status, and
ON/OFF status of axis operating output bits), the command is disabled or
detected as an error.
The operations that are performed when an attempt is made to execute more
than one function are described depending on the operating status.
When Position Control Unit Is Not Executing a Function (When Busy Flag = 0)
The operation that is performed for each command when the Position Control
Unit is not executing a function (including when the Busy Flag is reset after
completing or canceling operation) is shown below depending on the Servo
locked/unlocked status and the ON/OFF status of axis operating output bits.
(Refer to 12-1 Overview of PCU Errors for information on executing functions
when an error exists.)
Servo Unlocked
Function to be executed (See note.)
DEVIATION COUNTER RESET
PRESENT POSITION PRESET

ABSOLUTE MOVEMENT
RELATIVE MOVEMENT
DECELERATION STOP
INTERRUPT FEEDING
TORQUE CONTROL
EMERGENCY STOP
SPEED CONTROL
ORIGIN SEARCH
ORIGIN RETURN
SERVO UNLOCK
DEVICE SETUP
SERVO LOCK
JOG
Executing function
SERVO UNLOCK Bit ON --- --- --- --- --- --- --- --- --- --- --- --- ❍ ❍ ---
DEVIATION COUNTER RESET ❍ --- --- --- --- --- --- --- --- --- --- --- ❍ ❍ ---
Bit ON
EMERGENCY STOP Bit ON ❍ --- --- --- --- --- --- --- --- --- --- --- ❍ ❍ ---
DECELERATION STOP Bit ON ❍ --- --- --- --- --- --- --- --- --- --- --- ❍ ❍ ---
Other than above status ❍ --- --- --- × × × × × × × ❍ ❍ ❍
❍: Execution possible
×: A servo unlock error (axis error code: 3040) will occur and the function will
not be executed.
---: Execution not possible (ignored)
190
Note: The above table assumes that the conditions required for executing jog-
ging, origin searches, origin returns, absolute/relative movements
(including interrupt feeding), speed control, or torque control, such as
command values and origin establishment, have been met.
Servo Locked

ABSOLUTE MOVEMENT
RELATIVE MOVEMENT
DECELERATION STOP
INTERRUPT FEEDING
TORQUE CONTROL
EMERGENCY STOP
SPEED CONTROL
ORIGIN SEARCH
ORIGIN RETURN
SERVO UNLOCK
DEVICE SETUP
SERVO LOCK
JOG
Executing function
DEVIATION COUNTER RESET ❍ --- --- --- --- --- --- --- --- --- --- --- ❍ × ---
Bit ON
EMERGENCY STOP Bit ON ❍ ❍ --- --- --- --- --- --- --- --- --- --- ❍ × ---
DECELERATION STOP Bit ON ❍ ❍ ❍ --- --- --- --- --- --- --- --- --- ❍ × ---
Other than above status ❍ ❍ ❍ ❍ ❍ ❍ ❍ ❍ ❍ ❍ ❍ ❍ ❍ × ---
×: A multistart error (axis error code: 3050) will occur and the function will not
be executed.
When Position Control Unit Is Executing a Function (When Busy Flag = 1)

The operation that is performed for each command when the Position Control
Unit is already executing a function is shown below depending on the Servo
locked/unlocked status and the ON/OFF status of axis operating output bits.

ABSOLUTE MOVEMENT
RELATIVE MOVEMENT
DECELERATION STOP
INTERRUPT FEEDING
TORQUE CONTROL
EMERGENCY STOP
SPEED CONTROL
ORIGIN SEARCH
ORIGIN RETURN
SERVO UNLOCK
DEVICE SETUP
SERVO LOCK
JOG
Executing function
SERVO UNLOCK --- --- --- --- --- --- --- --- --- --- --- --- --- --- ---
DEVIATION COUNTER RESET ❍ --- --- --- --- --- --- --- --- --- --- --- --- --- ---
EMERGENCY STOP ❍ ❍ --- --- --- --- --- --- --- --- --- --- --- --- ---
191

ABSOLUTE MOVEMENT
RELATIVE MOVEMENT
DECELERATION STOP
INTERRUPT FEEDING
TORQUE CONTROL
EMERGENCY STOP
SPEED CONTROL
ORIGIN SEARCH
ORIGIN RETURN
SERVO UNLOCK
DEVICE SETUP
SERVO LOCK
JOG
Executing function
DECELERATION STOP ❍ ❍ ❍ --- --- --- --- --- --- --- --- --- --- --- ---
JOG ❍ ❍ ❍ ❍ --- × × × × × × × × × ---
ORIGIN SEARCH ❍ ❍ ❍ ❍ × × × × × × × × × × ---
ORIGIN RETURN ❍ ❍ ❍ ❍ × × × × × × × × × × ---
POSITION CONTROL (ABSO- ❍ ❍ ❍ ❍ × × × ❍ ❍ × ❍ ❍ × × ---
LUTE MOVEMENT)
POSITION CONTROL (RELA- ❍ ❍ ❍ ❍ × × × ❍ ❍ × ❍ ❍ × × ---
TIVE MOVEMENT)
INTERRUPT FEEDING ❍ ❍ ❍ ❍ × × × × × × ❍ ❍ × × ---
SPEED CONTROL ❍ --- ❍ ❍ × × × ❍ ❍ ❍ ❍ ❍ × × ---
TORQUE CONTROL ❍ --- ❍ ❍ × × × ❍ ❍ ❍ ❍ ❍ × × ---
PRESENT POSITION PRESET ❍ × ❍ ❍ × × × × × × × × × × ×
DEVICE SETUP --- --- --- --- --- --- --- --- --- --- --- --- --- --- ---
SERVO LOCK ❍ --- --- --- × × × × × × × × × × ×
×: A multistart error (axis error code: 3050) will occur and the function will not
be executed.
Executing Multiple Functions Simultaneously

The following table shows the PCU operations when multiple functions are
executed at the same time for the same axis during a servo lock (including
executing other functions while the Receiving Command Flag is ON.
Function Operation for simultaneous execution
SERVO UNLOCK Takes priority over any other function executed at the
same time.
All other operations are disabled while the SERVO
UNLOCK Bit is ON.
DEVIATION COUNTER Takes priority over any other function executed at the
RESET same time except for SERVO UNLOCK.
The following functions will not be started while the DEVI-
ATION COUNTER RESET Bit is ON.
EMERGENCY STOP Executed before any other function executed at the same
time, except SERVO UNLOCK or DEVIATION COUNTER
RESET.
All other operation functions are disabled while the
EMERGENCY STOP Bit is ON.
192
Function Operation for simultaneous execution

DECELERATION STOP Executed before any other function executed at the same
time, except SERVO UNLOCK, DEVIATION COUNTER
RESET, and EMERGENCY STOP.
All other operation functions are disabled while the
DECELERATION STOP Bit is ON.
ABSOLUTE/RELATIVE A Multistart Error (error code: 3050) will occur if these
MOVEMENT (with commands are executed at the same time.
INTERRUPT FEEDING)
ORIGIN SEARCH
ORIGIN RETURN
PRESENT POSITION
PRESET
JOG
SPEED CONTROL
TORQUE CONTROL
DEVICE SETUP
SERVO LOCK
193
Axis Operating Input Memory Areas Section 4-8
4-8 Axis Operating Input Memory Areas

The Axis Operating Input Memory Areas are allocated inputs for monitoring
the status of axis operations of the Servo Drive and Servomotor axes that are
connected using MECHATROLINK communications. These include present
position and axis operating status.
4-8-1 Axis Operating Input Memory Area Overview

The Axis Operating Input Memory Areas are allocated 25 words for each axis
in the CPU Unit's memory area set in PCU's Common Parameters (Axis
Operating Input Memory Area designation and beginning word of Axis Oper-
ating Input Memory Area).
The designated beginning word corresponds to the beginning word of the
area for axis 1, and the other areas are allocated words in sequence up to the
highest axis number registered in the scan list. For details on area allocations,
refer to 6-2-2 Scan List and PCU Area Allocations.
The beginning words of the Axis Operating Input Memory Areas are deter-
mined by the axis number of each axis using the following equation.
Beginning Word of Axis Operating Input Memory Area for Axis N:
b = Beginning word of Axis Operating Input Memory Area specified in Com-
mon Parameters + (N−1) × 25 (N = 1 to 16)
Axis Operating Input Memory
Axis MECHATROLINK Area Allocations
No. station address No. Axis 1 Word b+0
Axis 1 No. 1 Operating Word b+1
Axis 2 No. 2 Input Memory :
Area
Axis 3 No. 3 Word b+24
Axis 4 No. 4 Axis 2
Word b+25
: : Operating Word b+26
Axis 14 No. 14 Input Memory :
Axis 15 No. 15 Area Word b+49
Axis 16 No. 16
Axis N Word b+(N-1)×25
Operating Word b+(N-1)×25+1
Input Memory :
Area
Word b+(N-1)×25+24
Axis 16 Word b+375

Operating Word b+376
Input Memory :
Area Word b+399
b: Beginning word of the Axis Operating Memory Areas specified in the Common Parameters.
194
4-8-2 Axis Operating Input Memory Area Allocations

The memory allocation of the Axis Operating Input Memory Areas is shown in
the following table. For details on functions and operations of each word, such
as operation timing, refer to the section given in the Details column.
b = Beginning word of Axis Operating Input Areas specified in Common
I/O Word Bits Category Name Function Details
Input b 00 Axis Con- Receiving Com- ON when the PCU is in the 4-8-3 Axis Control
(PCU trol Status mand Flag process of receiving an oper- Status Flags
to CPU Flags ating command. 9-4 Using Direct
Unit) 1: Receiving command Operation
If another operating command 10-5 Speed Control
with the same priority level is 10-6 Torque Control
started while this flag is ON, a
Multistart Error (axis error
code: 3050) will occur. (Refer
to 4-7-3 Axis Operating Out-
put Memory Area Priority.)
The Receiving Command
Flag remains ON (1) for at
least one cycle time, and
turns OFF (0) when the com-
mand reception processing is
completed.
01 to 04 Not used (reserved Always 0. ---
by the system).
05 PCU Positioning ON when a PCU operation 4-8-3 Axis Control
Completed Flag executed in response to a Status Flags
positioning command is com- 8-2 Origin Search
pleted and the axis position is Operation
within the positioning comple-
tion range set for the target 8-4 Origin Return
position. 9-4 Using Direct
1: Any of the following opera- Operation
tions are completed:
Direct operation (ABSO-
LUTE MOVEMENT, REL-
ATIVE MOVEMENT,
INTERRUPT FEEDING),
ORIGIN SEARCH, ORI-
GIN RETURN
The flag turns OFF (0) when
the power is turned ON, a
connection is established, or
when another axis operation
is started.
This flag remains OFF if
EMERGENCY STOP or
DECELERATION STOP are
executed while the axis is
operating.
195

Input b 06 Axis Con- No Origin Flag ON when the origin is not 4-8-3 Axis Control
(PCU trol Status established. Status Flags
to CPU Flags 8-2 Origin Search
Unit) Operation
8-3 Present Position
Preset
07 Origin Stop Flag ON when the present position 4-8-3 Axis Control
of the axis is stopped within Status Flags
the origin range set in Zero 8-2 Origin Search
Point Width. Operation
08 to 10 Not used (reserved Always 0. ---
by the system).
11 Warning Flag ON when an axis warning has 12-1 Overview of
occurred. PCU Errors
12 Error Flag ON when an axis error has
occurred.
13 Busy Flag ON during axis operation or 4-8-3 Axis Control
processing. Status Flags
14 Servo Parameter ON during transfer of Servo 5-3 Transferring
Transferring Flag Parameters. Servo Parameters
15 Stop Execution Flag ON when axis operation is 4-8-3 Axis Control
stopped in response to Status Flags
EMERGENCY STOP or 10-9 Stop Functions
DECELERATION STOP.
196

Input b+1 00 to 02 Servo Sta- Reserved by the sys- Used by the PCU system. ---
(PCU tus Flags tem.
to CPU 03 Servo ON (SVON) ON while Servo Drive is in 4-8-4 Servo Status
Unit) Flag Servo lock status. Flags
10-1 Servo Lock/
Unlock
04 Main Power ON Flag Indicates the status of the 4-8-4 Servo Status
(PON) main circuit power supply to Flags
the Servo Drive.
05 and 06 Reserved by the sys- Used by the PCU system. ---
tem.
07 Positioning Com- The function of these flags 4-8-4 Servo Status
pleted (PSET) Flag/ depends on whether position Flags
Speed Conformity control or speed control is 10-5-2 Starting
(V-CMP) Flag being used. Speed Control
08 Distribution Com- For details, refer to the rele-
pleted (DEN) Flag/ vant sections.
Zero Speed (ZSPD)
Flag
09 Torque Limit (T_LIM) ON when the torque limit 4-8-4 Servo Status
Status Flag function is enabled and acti- Flags
vated. 10-4-3 Torque Limits
Set by Operating
Commands
10 Reserved by the sys- Used by the PCU system. ---
tem.
11 Positioning Proxim- The function of these flags 4-8-4 Servo Status
ity (NEAR) Flag/ changes according to whether Flags
Speed Limit (V_LIM) position control or torque con- 10-6-2 Starting
Status Flag trol is being used. Torque Control
For details, refer to the rele-
vant sections.
12 Forward Software Indicates whether the present 4-8-4 Servo Status
Limit Flag (P_SOT) position is within the forward Flags
software limit range. 10-8 Software Limits
13 Reverse Software Indicates whether the present
Limit Flag (N_SOT) position is within the reverse
software limit range.
14 to 15 Reserved by the sys- Used by the PCU system. ---
tem.
b+2 --- --- Reserved by the sys- Used by the PCU system. ---
tem.
197

Input b+3 00 External I/O Forward rotation limit Returns the status of I/O sig- 4-8-5 External I/O
(PCU status input nals for each axis. Status Bits
to CPU 01 Reverse rotation limit 1: Signal valid
Unit) input 0: Signal invalid
02 Origin proximity input The external I/O status shows
03 Encoder Phase A the enabled/disabled status of
input signals used for PCU control.
04 Encoder Phase B This status is different from
input the electrical ON/OFF status
of the I/O signals.
05 Encoder Phase Z
input
06 External latch signal
1 input
2 input
3 input
09 Brake output
10 Emergency stop
input
11 to 15 Reserved by the sys-
tem.
b+4 --- Errors Axis error code Returns the error code for the 12-4 Error Codes
axis error.
b+5 00 to 03 Expanded Monitor 1 type Indicates the monitor type for 4-8-6 Expanded
monitoring the present monitor 1 (b+10, Monitoring
b+11).
04 to 07 Monitor 2 type Indicates the monitor type for
the present monitor 2 (b+12,
b+13).
08 to 15 Not used (reserved Always 0.
by the system).
b+6 --- Present Feedback present Returns the feedback present 7-3 Coordinate Sys-
position position (rightmost position. tem and Present
word) Position
b+7 --- Feedback present
position (leftmost
word)
b+8 --- Command present Returns the command
position (rightmost present position.
word)
b+9 --- Command present
position (leftmost
word)
198

Input b+10 --- Expanded Monitor 1 (rightmost Returns the value for the mon- 4-8-6 Expanded
(PCU monitoring word) itor specified as monitor 1 Monitoring
to CPU b+11 --- Monitor 1 (leftmost type in the Axis Operating
Unit) word) Output Memory Areas.
b+12 --- Monitor 2 (rightmost Returns the value for the mon-
word) itor specified as monitor 2
b+13 --- Monitor 2 (leftmost type in the Axis Operating
word) Output Memory Areas.
b+14 --- Servo Read data (rightmost Returns the data read to the 5-3-2 Reading Servo
Parameter word) CPU Unit from the Servo Parameters
b+15 --- data Read data (leftmost Drive.
word)
b+16 to --- --- Not used (reserved Always 0. ---
b+23 by the system).
b+24 00 Linear inter- Linear interpolation Indicates when setting the 9-7 Linear Interpola-
polation setting completed Position Control Unit has been tion
status (See note.) completed for linear interpola-
tion.
1: Linear interpolation setting
completed.
by the system).
13 Linear interpolation Indicates when linear interpo-
executing (See lation is being performed.
note.)
14 and 15 Not used (reserved Always 0.
by the system).
Note Allocated in Axis Operating Input Memory Areas for axis 1 and axis 5 for Posi-
tion Control Unit Ver. 1.1 or later. These bits are not used in the Axis Operat-
199
4-8-3 Axis Control Status Flags

The Axis Control Status Flags in word b indicate the control status for each
axis connected to the PCU. Use these flags to interface with the CPU Unit
when using PCU functions.
Name Word Bits Contents
Receiving Com- b 00 0: Command reception enabled.
mand Flag 0 → 1: Command reception started.
1: Receiving command (command recep-
tion disabled).
PCU Positioning 05 0 → 1: Positioning completed.
Completed Flag
No Origin Flag 06 0: Origin established.
1: Origin not established.
Origin Stop Flag 07 0: Outside origin range.
1: Within origin range.
Warning Flag 11 0: No warning.
1: Warning has occurred.
Error Flag 12 0: No axis error.
1: Axis error has occurred.
Busy Flag 13 1: Axis busy (axis operation executing).
Servo Parameter 14 0: Powerup, transfer completed, or transfer
Transferring Flag failed.
1: Servo Parameter transferring.
Stop Execution Flag 15 0 → 1: Stop operation completed.

The flags that are particularly for controlling axis operation are described next.
For details on timing charts for each flag operation, refer to the relevant sec-
tion.
For details on the Error Flag and Warning Flag, refer to SECTION 12 Trouble-
shooting. For details on the Servo Parameters Transferring Flag, refer to 5-3
Transferring Servo Parameters.
Receiving Command Flag

Word b
Bit 00
Function This flag turns ON when the PCU is in the process of receiving any of the fol-
lowing operating commands.
ABSOLUTE MOVEMENT (including INTERRUPT FEEDING), RELATIVE
MOVEMENT (including INTERRUPT FEEDING), ORIGIN SEARCH, ORI-
GIN RETURN, PRESENT POSITION PRESET, JOG (JOG Bit ON), DE-
CELERATION STOP, EMERGENCY STOP, SERVO LOCK, SERVO
UNLOCK, SPEED CONTROL, TORQUE CONTROL, DEVICE SETUP,
ERROR RESET, or DEVIATION COUNTER RESET.
200
The PCU turns ON the Receiving Command Flag when an operating com-
mand is received from the CPU Unit, and the flag remains ON for at least CPU
Unit cycle time. The flag turns OFF when the command reception processing
is completed.
If another operating command with the same priority level is started while this
flag is ON, a Multistart Error (axis error code: 3050) will occur. (Refer to 4-7-3
Axis Operating Output Memory Area Priority.)
Operating command
The Receiving Command Flag remains ON for

either the length of one CPU Unit cycle time or
for the time required by the PCU to process
command reception, whichever is longer.
The Receiving Command Flag status does not change when changing the
target speed during position control/speed control, changing the torque com-
mand value during torque control, switching override enable/disable, changing
the override value, or transferring Servo Parameters.
The Receiving Command Flag is used mainly to determine ON/OFF timing of
the operating command bits when sending more than one operating com-
mand at the same time during axis operation (i.e., while the Busy Flag is ON),
such as changing the target position while using direct operation.
PCU Positioning Completed Flag

Word b
Bit 05
Function This flag turns ON when a PCU operation is completed normally in response
to any of the following positioning commands and the feedback present posi-
tion of the axis has reached a position within the range of the Servo Parame-
ter Positioning Completion Range 1 (Pn431 for R88D-KN@, Pn060 for R88D-
GN@, Pn500 for R88D-WT@, and Pn522 for R88D-WN@-ML2 and SMART-
STEP Junior) specified for the target position (command position). (The posi-
tion deviation must be within the range of Positioning Completion Range 1.)
MOVEMENT (including INTERRUPT FEEDING), ORIGIN SEARCH, or
ORIGIN RETURN.
201
Example: Executing RELATIVE MOVEMENT COMMAND.

Position (a+2,a+3) 2710 hex (10000)
Speed (a+4,a+5) 3E8 hex (1000)

RELATIVE MOVEMENT
command (a 04)
Target speed: 1000
Speed (command units/s)
Solid line: Command speed
Travel distance Broken line: Feedback speed
10000 (command
unit)
Time The Receiving Command Flag remains

Receiving Command ON for at least one cycle time after the
Flag (b 00) positioning command is received.
PCU Positioning The PCU Positioning Completed Flag is turned OFF
Completed Flag (b 05) when a movement command is executed.
The PCU Positioning Completed Flag is turned ON when
the number of the Servo Drive's deviation counter
residual pulses is less than the value set for the
positioning completion range. Depending on the number
of deviation counter residual pulses when pulse output
has been completed, a delay may occur in the time
between when the pulse output from the Position Control
Unit is completed until positioning has been completed.
The PCU Positioning Completed Flag will not turn ON when axis operation
stops under the following conditions.
• Stops due to an error during positioning.
• Stops due to DECELERATION STOP or EMERGENCY STOP sent during
positioning.
• Jogging (JOG) stops.
The PCU Positioning Completed Flag will also not turn ON when axis opera-
tion stops during positioning due to DECELERATION STOP or EMERGENCY
STOP, even if the position is within the Positioning Completion Range 1 speci-
fied for the original target position.
The PCU Positioning Completed Flag will turn OFF when the power is turned
ON, a connection is released, another axis operation is started successfully
(including jogging, speed control, and torque control), or Servo Unlock is exe-
cuted.
Note On machines for which position deviation occurs between the feedback posi-
tion and target position (command position) when the axis is stopped, such as
pushing a load or using a vertical axis, the PCU Positioning Completed Flag
will not turn ON if the set value for the Positioning Completion Range 1 is too
small. Adjust the set value for the Positioning Completion Range 1 to suit the
operating conditions for the machine.
202
No Origin Flag
Word b
Bit 06
Function This flag turns ON when the origin is not established. Except when using Ser-
vomotors with absolute encoders, the PCU's No Origin Flag turns ON immedi-
ately after a connection is established, at which time the origin is not
established. (The No Origin Flag turns OFF, however, immediately after the
PCU power is turned ON or the Unit is restarted, and the flag remains OFF
until the first CONNECT is executed.) The origin for each axis is determined
by either of the following origin positioning operations, after which the No Ori-
gin Flag turns OFF.
ORIGIN SEARCH, PRESENT POSITION PRESET
When using Servomotors with absolute encoders, the origin is established by
reading the absolute value data when establishing a connection or executing
SERVO LOCK. The established origin is held even if SERVO UNLOCK is exe-
cuted, and will not be set to no origin status. No origin status (No Origin Flag
ON) occurs under the following conditions.
• When DEVICE SETUP is executed (during Servo unlock status)
• When a connection is released (See note.)
Note When a connection is released (including a disconnection due to error), the
status for each axis becomes undefined (non-execution), except for the Error
Flag and axis error code. The No Origin Flag turns ON while in no origin (ori-
gin not established) status.
Origin Stop Flag

Word b
Bit 07
Function This flag turns ON when the origin has been established and the present posi-
tion of each axis is within the Origin Range set in Servo Parameter Pn105 for
the R88D-G@ or Zero Point Width set in Servo Parameter Pn803 for the
R88D-KN@, the R88D-WT@, the R88D-WN@-ML2, or a SMARTSTEP Junior
Servo Drive.
This flag turns ON for the interval in which the present position is within the
Origin Range or Zero Point Width when it passes the Origin Range or Zero
Point Width during axis operation.
Origin range (Pn105) for G Series
Zero point width (Pn803) for G5 Series, W Series, SMARTSTEP Junior
Forward direction
Established origin Origin range (Pn105) for G Series

Zero point width (Pn803) for G5 Series, W Series,
SMARTSTEP Junior
Origin Stop Flag
The Origin Stop Flag turns ON while the present position is within the
range of ±Pn105 for G-series Servo Drives or ±Pn803 for G5-Series,
W-series and SMARTSTEP Junior Servo Drives from the established
origin when traveling forward.
203
Busy Flag
Word b
Bit 13
Function This flag turns ON to indicate that the Position Control Unit is executing one of
the following operating commands. The flag will turn ON when the operation
command is started and remain ON for at least one cycle time of the CPU
Unit. For commands associated with axis operations, the Busy Flag remains
ON during the axis operation.
MOVEMENT (including INTERRUPT FEEDING), ORIGIN SEARCH, ORI-
GIN RETURN, PRESENT POSITION PRESET, JOG (JOG ON, JOG
OFF), DECELERATION STOP, EMERGENCY STOP, SERVO LOCK,
SERVO UNLOCK, SPEED CONTROL, TORQUE CONTROL, DEVICE
SETUP, ERROR RESET, or DEVIATION COUNTER RESET.
For operating commands associated with axis operations, the Busy Flag sta-
tus when the axis operation is completed (axis stops) depends on the operat-
ing command, as follows:
• ABSOLUTE MOVEMENT, RELATIVE MOVEMENT, ORIGIN SEARCH, or
ORIGIN RETURN:
The Busy Flag turns OFF when the axis feedback position reaches the
Servo Parameter Positioning Completion Range 1 (Pn431 for R88D-KN@,
Pn060 for R88D-GN@, Pn500 for R88D-WT@, and Pn522 for R88D-
WN@-ML2 and SMARTSTEP Junior) set for the target stop position. (The
Busy Flag turns OFF at the same time as the PCU Positioning Completed
Flag turns ON.)
• Jogging Stopped (JOG Bit OFF), DECELERATION STOP, EMERGENCY
STOP (Including Error Stop), or DEVIATION COUNTER RESET:
The Busy Flag turns OFF regardless of the axis feedback position when
the command position reaches the target (stop) position (i.e., when send-
ing the command to the Servo Drive is completed).
Speed
Broken line: Feedback speed
Time
Busy Flag
The Busy Flag turns OFF at comple- When positioning for ABSOLUTE
tion of sending the command (i.e., MOVEMENT, RELATIVE MOVEMENT,
when the command present position ORIGIN SEARCH, or ORIGIN RETURN
stops changing) when the axis stops stops, the Busy Flag will not turn OFF until
due to jogging stop (JOG Bit OFF), the feedback present position is within the
DECELERATION STOP, or EMER- Positioning Completion Range for the
GENCY STOP (including error stop). command position.
204
Stop Execution Flag

Word b
Bit 15
Function This flag turns ON in response to a DECELERATION STOP or EMERGENCY
STOP execution regardless of the axis operation status. If DECELERATION
STOP or EMERGENCY STOP is executed during axis operation, the Stop
Execution Flag turns ON when the command position reaches the target
(stop) position (i.e., when sending the command to the Servo Drive is com-
pleted) regardless of the axis feedback position.
This flag then turns OFF when the power is turned ON, a connection is
released, or when another axis operation is started.
Details Refer to 10-9 Stop Functions.
205
4-8-4 Servo Status Flags

The Servo Status Flags (word b+1) are flags that monitor the control status of
the Servo Drive. This enables monitoring of the Servo Drive control status
(position, speed, torque control loop).
Servo ON Flag b+1 03 0: Servo unlocked.
1: Servo locked.
Main Power ON Flag 04 0: Main circuit power supply OFF.
1: Main circuit power supply ON.
Positioning Com- 07 During position control: Positioning Com-
pleted Flag/Speed pleted Flag
Conformity Flag 0: Sending position control command to
Servo Drive or the position is outside
Positioning Completion Range 1.
1: Sending position control command to
Servo Drives completed and the posi-
tion is within Positioning Completion
Range 1.
During speed control: Speed Conformity
Flag
0: Speed does not match the speed com-
mand value for speed control.
1: Speed matches the speed command
value for speed control.
Distribution Com- 08 During position control: Distribution Com-
pleted Flag/Zero pleted Flag
Speed Flag 0: Sending position control command to
Servo Drive.
1: Sending position control command to
Servo Drive completed.
During speed control: Zero Speed Flag
0: Not zero speed.
1: Detecting zero speed.
Torque limit 09 0: Torque limit function disabled.
1: Torque limit function enabled.
Positioning Proxim- 11 During position control: Positioning Proxim-
ity Flag/Speed Limit ity Flag
Status Flag 0: Outside Positioning Completion Range
2
1: Within Positioning Completion Range 2
During torque control: Speed Limit Status
Flag
0: Speed limit function disabled.
1: Speed limit function enabled.
Forward Software 12 0: Within forward software limit.
Limit Flag 1: Forward software limit exceeded.
Reverse Software 13 0: Within reverse software limit.
Limit Flag 1: Reverse software limit exceeded.

206
The functions of the bits shown in this table are applicable when the Position
Control Unit is connected to a G5-series Servo Drive, a G-series Servo Drive,
a W-series Servo Drive combined with a FNY-NS115 MECHATROLINK-II I/F
Unit, a W-series Servo Drive with Built-in MECHATROLINK-II communica-
tions, or to a SMARTSTEP Junior Servo Drive. The functions of Servo Status
Flags 07, 08, and 11 depend on whether position control, speed control, or
torque control is being used. (The SMARTSTEP Junior Servo Drive supports
only position control.)
Note The Servo Status Flags are used to monitor the control status of the Servo
Drive. The Servo Status Flags may not reflect the Servo status for short-term
changes in Servo Drive status, depending on the PLC cycle time and
MECHATROLINK communications cycle.
Servo ON Flag
Word b+1
Bit 03
Function ON while Servo Drive is in Servo lock status during position control or in
Servo ON status (Servomotor carrying current) during speed or torque con-
trol.
0: Servo unlocked (Servo OFF)
1: Servo locked (Servo ON)
This flag turns ON when the SERVO LOCK Bit (a+1, bit 00) in the Axis Oper-
ating Output Memory Area turns ON, and turns OFF when the SERVO
UNLOCK Bit (a+1, bit 01) turns ON or an error that sets the Servo in free run
state occurs.
SERVO LOCK Bit
SERVO UNLOCK Bit
Servo ON Flag
Details Refer to 10-1 Servo Lock/Unlock.
Main Power ON Flag

Word b+1
Bit 04
Function Indicates the status of the main circuit power supply to the Servo Drive.
0: Main circuit power supply OFF
1: Main circuit power supply ON
Positioning Completed Flag (during Position Control)

Speed Conformity Flag (during Speed Control)
Word b+1
Bit 07
Function The function of these flags depends on whether position control or speed con-
trol is being used.
207
During Position Control: Positioning Completed Flag

This flag turns ON when the command position reaches the target (stop)
position (Sending position control command to Servo Drive completed),
and the feedback position is within the range set for the target (stop) posi-
tion Servo Parameter Positioning Completion Range 1 (Pn431 for R88D-
KN@, Pn060 for R88D-GN@, Pn500 for R88D-WT@, and Pn522 for R88D-
WN@-ML2 and SMARTSTEP Junior).
0: Sending position control command to Servo Drive or the position is
outside Positioning Completion Range 1.
1: Sending position control command to Servo Drive completed and
the position is within Positioning Completion Range 1.
The Positioning Completed Flag in the Servo Status Flags is different to the
PCU Positioning Completed Flag in the Axis Control Status Flags (word b, bit
05). In addition to when positioning stops, this flag turns ON when the number
of pulses remaining in the Servo Drive's deviation counter are within the Posi-
tioning Completion Range 1, even for jogging stops, deceleration stops, emer-
gency stops, and error stops.
Speed Solid line: Command speed

Time
Positioning Completed Flag

The Positioning Completed Flag turns
ON when the position error is within the
Positioning Completion Range 1.
During Speed Control: Speed Conformity Flag (G5-series Servo Drives,

G-series Servo Drives and W-series Servo Drives Only)
This flag turns ON when the feedback speed during speed control matches
the target speed (speed command value for speed control), i.e., the speed
is within the range of the Servo Parameter Speed Conformity Signal Out-
put Width (Pn435 for R88D-KN@, Pn061 for R88D-GN@ and Pn503 for
R88D-W@).
0: Speed does not match the speed command value for speed control.
1: Speed does match the speed command value for speed control.
Speed
Target speed Speed Conformity Signal
Output Width
Feedback speed
Time
Speed Conformity Flag
The Speed Conformity Flag turns ON when the

feedback speed is within the Speed Conformity
Signal Output Width for the target speed.
Details Refer to 10-5-2 Starting Speed Control.
208
Distribution Completed Flag (during Position Control)

Zero Speed Flag (during Speed Control)
Word b+1
Bit 08
Function The function of these flags depends on whether position control or speed con-
trol is being used.
During Position Control: Distribution Completed Flag
This flag turns ON when the command position reaches the target (stop)
position (When sending the position control command to Servo Drive is
completed).
0: Sending the position control command to Servo Drive.
1: Sending the position control command to Servo Drive completed.
Speed
Time
Distribution Completed Flag
During Speed Control: Zero Speed Flag (G5-series Servo Drives, G-series
Servo Drives and W-series Servo Drives Only)
This flag turns ON when the feedback speed during speed control drops
below the Servo Parameter Rotation Speed for Motor Rotation Detection
(Pn436 for R88D-KN@, Pn062 for R88D-GN@ and Pn502 for R88D-W@).
0: Not at zero speed
1: Detecting zero speed
Speed
Feedback speed
Rotation Speed for Motor

Rotation Detection
Time
Zero Speed Flag
The Zero Speed Flag turns ON when the

feedback speed is lower than the Rotation
Speed for Motor Rotation Detection.
Details Refer to 10-5-2 Starting Speed Control.
209
Torque Limit Status Flag

Word b+1
Bit 09
Function This flag turns ON when the Servomotor's output torque is limited by the
torque limit.
For W-series Servo Drives, the torque limit will be the lowest among all the
limit values that are enabled for the torque limits specified in Forward Torque
Limit (Pn402), Reverse Torque Limit (Pn403), Forward Rotation External Cur-
rent Limit (Pn404), Reverse Rotation External Current Limit (Pn405), or in the
option command value for speed control.
For G5-series Servo Drives, the torque limit will be the lowest among all the
limit values that are enabled for the torque limits specified in No. 1 Torque
Limit (Pn013), No.2 Torque Limit (Pn522), Forward External Torque Limit
(Pn525), Reverse External Torque Limit (Pn526) or in the option command
For G-series Servo Drives, the torque limit will be the lowest among all the
limit values that are enabled for the torque limits specified in No.1 Torque Limit
(Pn05E), No.2 Torque Limit (Pn05F), or in the option command value for
speed control.
0: Torque limit function disabled
1: Torque limit function enabled
Details Refer to 10-4 Torque Limits.
Positioning Proximity Flag (during Position Control)

Speed Limit Status Flag (during Torque Control)
Word b+1
Bit 11
Function The function of these flags depends on whether position control or torque
control is being used.
During Position Control: Positioning Proximity Flag
This flag turns ON when the feedback position is within the range for Servo
Parameter Positioning Completion Range 2 (Pn442 for R88D-KN@-ML2,
Pn504 for R88D-WT@ and Pn524 for R88D-WN@-ML2 and SMARTSTEP
Junior) for the target (stop) position.
0: Outside Positioning Completion Range 2
1: Within Positioning Completion Range 2
During Torque Control: Speed Limit Status Flag
This flag turns ON when the feedback speed during torque control is limit-
ed by the Servo Parameter Speed Limit (Pn407), or option command val-
ue.
0: Speed limit function disabled
1: Speed limit function enabled
Details Refer to 10-6-2 Starting Torque Control.
210
Forward Software Limit Flag and Reverse Software Limit Flag

Word b+1
Bits 12 and 13
Function These flags turn ON and OFF when the software limit function is enabled to
indicate the present position status for the forward/reverse software limit.
Forward Software Limit Flag
0: Within forward software limit range
1: Forward software limit range exceeded
Reverse Software Limit Flag
0: Within reverse software limit range
1: Reverse software limit range exceeded
Reverse Software Limit (Pn806) Forward Software Limit (Pn804)
Reverse direction Forward direction

Feedback position
Forward Software Limit Flag
(b+1, bit 12)
Reverse Software Limit Flag
(b+1, bit 13)
Details Refer to 10-8 Software Limits.
4-8-5 External I/O Status Bits

The External I/O Status Bits (word b + 3) show the I/O status of the I/O signals
allocated to the Servo Drive.
I/O Word Bits Category Name Function
Input b+3 00 External I/O Forward rotation limit input Returns the status of I/O signals
(PCU 01 status Reverse rotation limit input for each axis.
to CPU 1: Signal valid
Unit) 02 Origin proximity input signal
0: Signal invalid
03 Encoder Phase A input
The external I/O status shows the
04 Encoder Phase B input enabled/disabled status of signals
05 Encoder Phase Z input used for PCU control.
06 External latch signal 1 input This status is different from the
electrical ON/OFF status of the I/O
07 External latch signal 2 input signals.
08 External latch signal 3 input
09 Brake output
10 Emergency stop input
11 to 15 Reserved by the system.
Bit 10 (Emergency stop input) indicates the status of the emergency stop
input signal input when using a G5-series Servo Drive, G-series Servo Drive
or SMARTSTEP Junior Servo Drive. This bit is always 0 when using a W-
series Servo Drive, which does not have an emergency stop signal.
The SMARTSTEP Junior Servo Drive does not have inputs for external latch
signals 2 and 3. When using a SMARTSTEP Junior Servo Drive, the input sta-
tus for these signals will always be 0.
211
When using a G5-series Servo Drive or W-series Servo Drive, the allocation
and polarity of Servo Drive input signals can be set in the Servo Parameters,
but the external I/O status depends on the polarity of the Servo Drive's input
signals, as follows:
External I/O Signal Servo Drive I/O Signal polarity: Signal polarity:
status signal name Normal (Setting: 0 to 6) Reverse (Setting: 9 to F)
Sensor status: Sensor status: Sensor status: Sensor status:
Base block In operation Base block In operation
(not receiving (Input closed) (not receiving (Input closed)
power; Input power; Input
open) open)
Forward rota- POT Forward drive pro- 1 0 0 1
tion limit input hibited
Reverse rota- NOT Reverse drive pro- 1 0 0 1
tion limit input hibited
Origin proximity DEC Origin return decel- 0 1 1 0
input eration limit switch
External latch 1 EXT1 External latch 1 input 0 1 1 0
input
input
input
The forward rotation limit input (forward drive prohibited signal), and reverse
rotation limit input (reverse drive prohibited signal) are normally-closed con-
tact inputs (N.C. inputs) when polarity is normal. The origin proximity input
(origin return deceleration limit switch), and external latch inputs (1 to 3) are
normally-open contact inputs (N.O. inputs) when polarity is normal.
When using a SMARTSTEP Junior Servo Drive, the following status is shown.
(With the SMARTSTEP Junior, signal polarity is fixed.)
External I/O status Signal Servo Drive I/O signal name Sensor status: Base Sensor status: In
block (not receiving operation (Input
power; Input open) closed)
Forward rotation limit POT Forward drive prohibited 1 0
input
Reverse rotation limit NOT Reverse drive prohibited 1 0
input
Origin proximity input DEC Origin proximity input 0 1
External latch 1 input EXT1 External latch 1 input 0 1
Emergency stop STOP Emergency stop input 1 0
input
4-8-6 Expanded Monitoring

The PCU has a fixed monitoring function that monitors the following control
information for each axis and returns the result to the Axis Operating Input
Memory Areas.
Axis control status (word b)
Servo status (word b + 1)
External I/O status (word b + 3)
Present position (Feedback present position: Words b + 6, b + 7; Com-
mand present position: Words b + 8, b + 9)
212
The PCU also has an expanded monitoring function that monitors control
information selected from a number of categories, and returns the result to the
The expanded monitoring function provides two monitors in the Axis Operat-
ing Input Memory Areas (Monitor 1: Words b + 10, b + 11; Monitor 2: Words b
+ 12, b + 13). The information to be monitored by each is selected using Mon-
itor 1 type (Word a + 15, bits 00 to 03) and Monitor 2 type (Word a + 15, bits
04 to 07) in the Axis Operating Output Memory Areas.
Axis Operating Output Memory Area (Operating Commands)

Monitor 1 type a+15 00 to Used to select the type of control informa-
03 tion to be returned to monitor 1.
Monitor 2 type 04 to Used to select the type of control informa-
07 tion to be returned to monitor 2.
Reserved by the sys- 08 to Not used. The setting is disabled.
tem. 15
a = Beginning word of Axis Operating Output Areas specified in Common

Axis Operating Input Memory Area (Monitoring)

Monitor 1 type b+15 00 to Indicates the type of control information
03 selected by Monitor 1.
Monitor 2 type 04 to Indicates the type of control information
07 selected by Monitor 2.
Not used. 08 to Always 0.
15
Monitor 1 b+10 --- Monitor 1 (rightmost word)
b+11 Monitor 2 (leftmost word)
Monitor 2 b+12 --- Monitor 1 (rightmost word)
b+13 Monitor 2 (leftmost word)

Monitor Type The following control information can be selected for Monitor 1 and Monitor 2.
Monitor Control Unit Details
Type information
0 Command Command Returns the present position being sent
present position unit to the Servo Drive.
This value is the same as the com-
mand present position in words b + 8
and b + 9.
1 Reserved by the --- Do not set.
system.
2 Position devia- Command Returns the number of pulses remain-
tion unit ing in the deviation counter of the
Servo Drive in command units.
Position deviation = Command present
position − Feedback present position
3 Feedback Command Returns the actual position of the
present position unit machine based on feedback from the
Servomotor's encoder.
This value is the same as the feedback
present position in words b + 6 and b +
7.
213
Monitor Control Unit Details

Type information
4 to 5 Reserved by the --- Do not set.
system.
6 Target position Command Returns the target position (position
unit command value) during positioning.
7 Reserved by the --- Do not set.
system.
8 Feedback speed See note 1. Returns the speed of the machine
based on feedback from the Servomo-
tor's encoder.
9 Command See note 1. Returns the speed designated for the
speed Servo Drive.
A Target speed See note 1. Returns the designated target speed
(speed command value).
B Torque com- See note 2. Returns the torque command for the
mand Servo Drive.
C to F Reserved by the --- Do not set.
system.
Note (1) Speed Monitoring Unit

When the speed (feedback speed, command speed, or target speed) is
selected for the monitor type, the monitoring unit for position control/
torque control, and speed control is as follows:
Control mode Speed Unit change timing
monitoring unit
Position control Command units/s The unit changes when the command to
Torque control switch to position control or torque con-
trol is received (when the Receiving
Command Flag turns ON).
Speed control 0.001% The unit changes when the command
(percentage of for SPEED CONTROL is received
Servomotor’s (when the Receiving Command Flag
momentary maxi- turns ON).
mum rotation
speed)
For further details on operation timing, refer to 10-5 Speed Control.

(2) Torque Monitoring Unit
When the torque is selected for the monitor type, the monitoring unit for
position control, speed control, and torque control is as follows:
Control mode Torque Unit change timing
monitoring unit
Position control % (1% unit) The unit changes when the command to
Speed control (percentage of switch to position control or speed con-
Servomotor’s trol is received (when the Receiving
rated torque) Command Flag turns ON).
Torque control 0.001% The unit changes when the command
(percentage of for TORQUE CONTROL is received
Servomotor’s (when the Receiving Command Flag
momentary maxi- turns ON).
mum torque)
For further details on operation timing, refer to 10-6 Torque Control.
Note (1) Control data is used to monitor the control status of the Servo Drive. The
resolution of the monitor value depends on the specifications of the con-
nected Servo Drive.
214
Example: If a W-series Servo Drive equipped with a FNY-NS115

MECHATROLINK-II I/F Unit is connected, the minimum resolution of
the monitor values for feedback speed and command speed during po-
sition/torque control is 1,000 command units/s.
Depending on the length of the PLC cycle and MECHATROLINK commu-
nications cycle short-term changes of the Servo Drive status may not be
monitored successfully.
(2) If MECHATROLINK communications are stopped (connection released)
during speed or torque control and MECHATROLINK communications
are restarted to execute SERVO LOCK (Servo ON), the power to the Ser-
vomotor will be recovered with the previous control mode maintained. At
this point, the PCU cannot obtain correct monitor values for speed or
torque monitor in its expanded monitoring.
To stop MECHATROLINK communications during SPEED CONTROL or
TORQUE CONTROL execution, either execute DECELERATION STOP
or EMERGENCY STOP, or execute SERVO UNLOCK, change to the po-
sition control mode, and then release the connection.
215
216
SECTION 5
Transferring and Saving Data
This section explains how to transfer and save parameters and data using the data transfer bits.
5-1 Transferring Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218

5-2 Transferring PCU Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220
5-2-1 Writing PCU Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220
5-2-2 Reading PCU Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223
5-2-3 Saving PCU Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225
5-3 Transferring Servo Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 226
5-3-1 Writing Servo Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227
5-3-2 Reading Servo Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229
5-3-3 Saving Servo Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231
5-3-4 Device Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234
217
Transferring Data Section 5-1
5-1 Transferring Data

The following two types of data can be transferred by the Position Control Unit
(PCU).
1,2,3... 1. PCU Parameters

• Common Parameters
• Axis Parameters
2. Servo Drive Parameters
• Servo Parameters
There are two ways to transfer these parameters.
• Using the Support Software to transfer parameters to and from a Win-
dows computer connected to the CPU Unit
• Using the bits in the Operating Memory Areas allocated to the PCU in the
CPU Unit to transfer parameters to and from I/O Memory in the CPU Unit
Transferring Parameters The CX-Motion-NCF Support Software can be used on a Windows computer
Using Support Software to set and transfer parameters for the PCU, to save and print the parameters,
and to monitor PCU status.
PCU parameters set and

PCU transferred.
NCF71 Windows computer

MLK
RUN
ERC
ERH
ERM
BCD UNIT
EF
789A
No.
01
23456
MLK PCU operating status

monitored (e.g., monitoring
present positions, I/O
status, and errors).
Refer to the CX-Motion-NCF Operation Manual (Cat. No. W436) for operating
procedures and other information on the CX-Motion-NCF.
Transferring Parameters Bits in the Operating Memory Areas can be manipulated to transfer data
Using Bits in Operating between the CPU Unit and the PCU (and Servo Drives). The Common Oper-
Memory Areas ating Memory Area is used for parameters held in the PCU and the Axis Oper-
ating Memory Areas are used for parameters held in the Servo Drives.
Transferring PCU Common Parameters and Axis Parameters are saved in the PCU's internal
Parameters memory and also in the PCU's flash memory. These parameters are read/
written, or saved to flash memory from the CPU Unit using the WRITE DATA,
READ DATA, and SAVE DATA Bits allocated in the Common Operating
Memory Area.
The number of transfer words, transfer source, and transfer destination are
specified in the Common Operating Memory Area. It is possible to transfer
multiple parameters at once.
For PCU parameters, the parameters stored in memory are saved altogether
to the PCU's internal flash memory.
218
Transferring Data Section 5-1
Ladder program
CPU Unit PCU
MOV Internal memory Flash memory

Writing data Powerup
MOV
or restart
Reading data
WRITE DATA
MOV
Saving data
MOV
READ DATA
SAVE DATA
Transferring Servo Drive Servo Parameters are stored in internal memory of the Servo Drive connected
Parameters to the PCU and then saved in the Servo Drive's non-volatile memory. These
parameters are read/written or saved to the non-volatile memory from the
CPU Unit using the WRITE SERVO PARAMETER, READ SERVO PARAME-
TER, and SAVE SERVO PARAMETER Bits allocated in the Axis Operating
Memory Areas.
Servo Parameters for a single axis are written and read by parameter by
specifying the parameter number. Parameters for different axes can be trans-
ferred at the same time.
Servo Parameters are saved by executing WRITE DATA to write them to the
Servo Drive's non-volatile memory. Therefore, SAVE SERVO PARAMETER
must be executed for each parameter separately from writing them to the
Servo Drive's memory (WRITE SERVO PARAMETER).
Two types of Servo Parameters are transferred to the Servo Drive: online
parameters with set values that are enabled immediately after they are writ-
ten, and offline parameters, which are not enabled just by writing them. To
enable set values for offline parameters in Servo Drive operations, save the
parameters to the non-volatile memory, and then cycle the Servo Drive
power. Alternatively, execute WRITE SERVO PARAMETER/SAVE SERVO
PARAMETER and then execute the Servo Drive's DEVICE SETUP.
When DEVICE SETUP is executed, the Servo Drive enables all the Servo
Parameters that are currently being transferred, and initializes the present
position and output signal status to set the Servo Drive.
219
Transferring PCU Parameters Section 5-2
Ladder Program
MOV Internal memory

Writing Servo Parameter
MOV
Used as data
for controlling
Reading Servo Parameter Servomotor.
WRITE SERVO
PARAMETER
MOV
Power ON
MOV
Non-volatile memory
Saving Servo Parameter
READ SERVO (Writing to non-volatile memory)
PARAMETER
MOV Device setup
(For offline parameters)
MOV
SAVE SERVO
PARAMETER
DEVICE SETUP
5-2 Transferring PCU Parameters

5-2-1 Writing PCU Parameters
The PCU's Common Parameters and Axis Parameters are written from the
CPU Unit using the WRITE DATA Bit in the Common Operating Memory
Area. The data to be transferred is set by specifying the number of transfer
words, transfer source, and transfer destination in the Common Operating
Memory Area. Multiple parameters can also be transferred all at once.
The PCU reads the contents of the Common Parameters and Axis Parame-
ters saved in the internal flash memory when the PCU power is turned ON or
the Unit is restarted, and enables them as operating parameters. Parameters
transferred to the PCU using the WRITE DATA Bit will be lost if the PCU
power is turned OFF or the Unit is restarted.
Note (1) The Common Parameter set values are enabled by cycling the PCU pow-
er or restarting the Unit after executing WRITE DATA. Therefore, when
the WRITE DATA Bit is used to change the contents of the Common Pa-
rameters, execute SAVE DATA and save the Common Parameters to the
PCU's internal flash memory.
(2) The Axis Parameter settings are enabled when WRITE DATA execution
has completed. To change Axis Parameter settings permanently, exe-
cute WRITE DATA followed by SAVE DATA (while MECHATROLINK
communications are stopped) to save the Axis Parameter settings in the
PCU's internal flash memory.
(3) Execute WRITE DATA to write data to the PCU while the Data Transfer-
ring Flag is OFF. Writing data to the PCU is disabled while the Busy Flag
220
is ON (when the PCU is in initial processing or reading or writing the back-

up data from or to the Memory Card).
(4) If data is written while different data is being transferred, a Multistart Error
(Unit error code: 0021) will occur and data will not be written to the PCU.
(5) Do not restart the PCU or turn OFF the power to the PLC while data is
being written. The data will not be transferred correctly, and normal PCU
operations may not be possible.
Data writing starts when the WRITE DATA Bit in the Common Operating
Memory Area turns ON. When writing data to the PCU, make sure the WRITE
DATA Bit remains ON until the Data Transferring Flag turns ON.
Up to 600 words can be transferred during a single data write operation. The
maximum amount of data that can be transferred during a single CPU Unit
cycle, however, is 20 words. When more than 20 words of data are trans-
ferred, the data is divided and WRITE DATA is executed over multiple cycles.
When writing data to the PCU is completed, the Data Transferring Flag turns
OFF.
Common Operating Memory Area (Output)
Name Word Bit Contents
WRITE DATA Bit n 01 0 → 1: Starts writing data.
Number of write n+6 --- Specifies the number of words to be written
words to the PCU. Up to 600 words can be trans-
ferred.
Write source area n+7 --- Specifies the area of the data to be written
Write source word n+8 --- to the PCU.
The type of area set as the write source
area is specified by specifying the begin-
ning word of the area in the write source
word in hexadecimal.
Write source area:
00B0 hex: CIO Area
00B1 hex: Work Area
0082 hex: DM Area
005@ hex: EM Area
@: EM bank No.= 0 to 9, A, B, C
Write destination n+9 --- Specifies the write destination address in
address the PCU.
n = CIO 1500 + (unit number × 25)

Common Operating Memory Area (Input)
Data Transferring n+15 14 0: Powerup, transfer completed, or transfer
Flag failed
1: Transferring data
Unit Busy Flag n+16 14 0: PCU is not busy
1: PCU is busy

The following diagram shows the operation for writing data to the PCU.
221
Common Operating Memory Area CPU Unit PCU

n = CIO 1500 + (Unit No. × 25) 01
Word n
Data written.
Word n+6 000C hex No. of write words (12 words)
Word n+7 0082 hex Write source area (D01000)
Word n+8 03E8 hex
Word n+9 1838 hex Write destination address (1838 hex)
14
Word n+15
Data Transferring Flag (ON while executing transfer)
Data Transfer Example

DM Area Internal address
D01000 00B0 hex 1838 hex 00B0 hex
D01001 0064 hex 1839 hex 0064 hex

The data for the number of
D01002 00B0 hex write words starting from 183A hex 00B0 hex
the word of the write source
D01003 01F4 hex 183B hex 01F4 hex
area specified in the
D01004 0040 hex Common Operating 183C hex 0040 hex
Memory Area is transferred
D01005 0000 to the write destination 183D hex 0000
address in the PCU.
: : : :
D01011 0000 1843 hex 0000
Timing Chart for Writing Data can be written to the PCU during axis operation if the Unit Busy Flag is
Data to the PCU not ON (i.e., except when the PCU is initializing or reading/writing Memory
Card backup data). WRITE DATA, READ DATA, and SAVE DATA cannot be
executed at the same time.
Number of write words (Word n+6) 000C hex
Write source area (Word n+7) 0082 hex
Write source word (Word n+8) 03E8 hex
Write destination address (Word n+9) 1838 hex
WRITE DATA Bit (Word n, bit 01)
The Data Transferring Flag turns ON for at

Data Transferring Flag (Word n+15, bit 14) least one cycle time when the command to
transfer data is received from the PCU.
Unit Busy Flag (Word n+16, bit 14) The status of the Unit Busy Flag does not
change when data is being transferred.
Data writing completed
When writing data to the PCU is completed, the Data Transferring Flag (word
n+15, bit 14) turns OFF. When an error occurs during data transfer, the Unit
Error Flag (word n+15, bit 12) turns ON, and the corresponding error code is
input in word n+21 of the Common Operating Memory Area. Check the error
code and perform appropriate troubleshooting.
Note If an error occurs while writing data (multistart error, write transfer error, Com-
mon Parameter check error during data transfer, or Axis Parameter check
error during data transfer), the transferred set value will be destroyed, and the
parameter will return to the set value before transferring data. WRITE DATA
is still executed if an error occurs, but even if the data is transferred normally,
the error that occurred will not be cleared. Make sure to execute ERROR
222
RESET before WRITE DATA to enable identifying whether the data that was
written has been transferred correctly.
5-2-2 Reading PCU Parameters

The PCU's Common Parameters and Axis Parameters are read to the CPU
Unit using the READ DATA Bit in the Common Operating Memory Area. The
data to be transferred is set by specifying the number of transfer words, trans-
fer source, and transfer destination in the Common Operating Memory Area.
Multiple parameters can also be transferred all at once.
Note (1) Read data from the PCU when the Data Transferring Flag is OFF. READ
DATA cannot be executed from the PCU while the Unit Busy Flag is ON
(PCU initializing or reading/writing Memory Card backup data).
(2) If READ DATA is executed while data is being transferred, a Multistart Er-
ror (Unit error code: 0021) will occur and data will not be read from the
PCU.
Data reading starts when the READ DATA Bit in the Common Operating
Memory Area turns ON. When reading data from the PCU, make sure that the
READ DATA Bit remains ON until the Data Transferring Flag turns ON.
Up to 600 words can be transferred during a single data reading operation.
The maximum amount of data that can be transferred during a single CPU
Unit cycle, however, is 20 words. When reading more than 20 words of data,
the data is divided and read over multiple cycles. When reading data from the
PCU is completed, the Data Transferring Flag turns OFF.
READ DATA n 02 0 → 1: Starts reading data
Number of read n+10 --- Specifies the number of words to be read
words from the PCU.
Read source n+11 --- Specifies the read source address in the
address PCU.
Read destination n+12 --- Specifies the area used to store the data
area read from the PCU.
Read destination n+13 --- The type of area set as the read destination
word area is specified by specifying the begin-
ning word of the area in the read destination
word in hexadecimal.
Read destination area:
00B0 hex: CIO Area
00B1 hex: Work Area
0082 hex: DM Area
005@ hex: EM Area

Data Transferring n+15 14 0: Powerup, transfer completed, or transfer
Flag failed
1: Transferring data
1: PCU is busy
223

The following diagram shows the operation for reading data from the PCU.
CPU Unit PCU

Common Operating Memory Area
n = CIO 1500 + (unit number × 25) 02
Word n
READ DATA Bit
Word n+10 000C hex Number of read words (12 words)
Word n+11 1838 hex Read source address (1838 hex)
Word n+12 0051 hex Read destination area (EM1_00100)
Word n+13 0064 hex
14
Word n+15
Data Transferring Flag (ON while transferring data)
Data Memory Data Transfer Example Internal address
EM1_00100 00B0 hex 1838 hex 00B0 hex
EM1_00101 0064 hex 1839 hex 0064 hex

The data for the number of read
EM1_00102 00B0 hex words starting from the word of 183A hex 00B0 hex
the read source address (PCU's
EM1_00103 01F4 hex 183B hex 01F4 hex
internal address) specified in
EM1_00104 0040 hex the Common Operating 183C hex 0040 hex
Memory Area are transferred to
EM1_00105 0000 hex the words starting from the set 183D hex 0000 hex
read destination area word.
: : : :
EM1_00111 0000 hex 1843 hex 0000 hex
Timing Chart for Reading Data can be read from the PCU during axis operation if the Unit Busy Flag is
Data From the PCU not ON (i.e., except when the PCU is initializing or reading/writing Memory
Card backup data). READ DATA, WRITE DATA, and SAVE DATA cannot be
executed at the same time.
Number of read words (Word n+10) 000C hex
Read source address (Word n+11) 1838 hex
Read destination area (Word n+12) 0051 hex

Example: EM1_00100
Read destination word (Word n+13) 0064 hex
READ DATA Bit (Word n, bit 02)
The Data Transferring Flag turns ON for at

Data Transferring Flag (Word n+15, bit 14) least one cycle time when the command to
transfer data is received from the PCU.
The Unit Busy Flag does not change when
Unit Busy Flag (Word n+16, bit 14)
data is being read.
00B0 hex Read data

Specified read destination area (EM1_00100)
(example)
(EM1_00101) 0064 hex Read data
etc.
Data reading competed
When reading data from the PCU is completed, the Data Transferring Flag
(word n+15, bit 14) turns OFF. When an error occurs during data transfer, the
Unit Error Flag (word n+15, bit 12) turns ON, and the corresponding error
code is input in word n+21 of the Common Operating Memory Area. Check
the error code and perform appropriate troubleshooting.
224
Note If an error occurs when reading data (multistart error or read transfer error),
the data will not be read from the PCU and the data in the read destination
area will not be refreshed. READ DATA can still be executed if an error
occurs, but even if the data is transferred normally, the error that occurred
previously will not be cleared. Make sure to execute ERROR RESET before
executing READ DATA to enable identifying whether the data that was read
has been transferred correctly.
5-2-3 Saving PCU Parameters

When the power is turned ON, the PCU reads the Common Parameters and
Axis Parameters saved in the PCU's flash memory to the PCU's internal
memory and starts operations. The PCU's parameters are saved to the PCU's
internal flash memory using the SAVE DATA Bit in the Common Operating
Memory Area.
Note (1) Save data to the PCU when MECHATROLINK communications are
stopped and the Data Transferring Flag is OFF. The PCU's data cannot
be saved while the Unit Busy Flag is ON (i.e., PCU initializing or reading/
writing Memory Card backup data).
(2) If SAVE DATA is executed during MECHATROLINK communications or
while data is transferring, a Multistart Error (Unit error code: 0021) will oc-
cur and data will not be saved to the PCU.
(3) Do not restart the PCU or turn OFF the power to the PLC while data is
being saved. Doing so may result in damage to the PCU's internal flash
memory and the PCU may not operate normally.
Data saving starts when the SAVE DATA Bit in the Common Operating Mem-
ory Area turns ON, at which time the enabled Common Parameters and Axis
Parameters are saved to the PCU's internal flash memory all at once. When
saving data to the PCU, make sure that the SAVE DATA Bit remains ON until
the Data Transferring Flag turns ON.
SAVE DATA n 03 0 → 1: Starts saving data

Data Transferring n+15 14 0: Powerup, saving completed, or saving
Flag failed
1: Saving data
1: PCU is busy
Connection Status 15 0: MECHATROLINK communications
Flag stopped
1: MECHATROLINK communications exe-
cuting
225
Transferring Servo Parameters Section 5-3
The following diagram shows the operation for saving data in the PCU.
CPU Unit PCU
Common Operating Memory Area Internal memory

n = CIO 1500 + (unit number × 25) 03
Common Parameters
Word n
:
SAVE DATA Bit Axis Parameters
14 Etc.
Word n+15
Powerup or
Data Transferring Flag (ON while transferring data) restart
15
Internal flash memory
Word n+16
Common Parameters

Data cannot be saved while this flag is ON :
(MECHATROLINK communications executing).
Axis Parameters
Etc.
Timing Chart for Saving Data can be saved to the PCU while MECHATROLINK communications are
Data to the PCU stopped if the Unit Busy Flag is not ON (i.e., except when the PCU is initializ-
ing or reading/writing Memory Card backup data). SAVE DATA, WRITE
DATA, and READ DATA cannot be executed at the same time.
SAVE DATA Bit (Word n, bit 03)

The Data Transferring Flag remains ON for
at least one cycle time until data saving is
completed when the command to transfer
Data Transferring Flag (Word n+15, bit 14) data is received from the PCU.
The status of the Unit Busy Flag does not
Unit Busy Flag (Word n+16, bit 14) change when data is being saved.
Execute the SAVE DATA command while
Connection Status Flag (Word n+16, bit 15) MECHATROLINK communications are
stopped (Connection Status Flag OFF).
Data saving completed
When saving data to the PCU is completed, the Data Transferring Flag (word
n+15, bit 14) turns OFF. When an error occurs during data transfer, the Unit
Error Flag (word n+15, bit 12) turns ON, and the corresponding error code is
input in word n+21 of the Common Operating Memory Area. Check the error
code and perform appropriate troubleshooting.
Note If an error occurs while SAVE DATA is executing (multistart error), the data
will not be saved to the PCU's internal flash memory, and the parameter set
values saved in flash memory will be those before SAVE DATA was exe-
cuted. SAVE DATA is still executed if an error occurs, but even if the data is
saved normally, the error that occurred will not be cleared. Make sure that
SAVE DATA is executed after ERROR RESET to enable identifying whether
data has been saved correctly.
5-3 Transferring Servo Parameters

PARAMETER). Refer to the Servo Drive's operation manual and always
check the effect of changing the settings before changing the Servo Parame-
ters.
226
5-3-1 Writing Servo Parameters

Servo Parameters are written from the CPU Unit using the WRITE SERVO
PARAMETER Bit in the Axis Operating Output Memory Area. Prepare the set
values for the parameter number, parameter size (data length), and transfer
data in the Axis Operating Output Memory Area and execute WRITE SERVO
PARAMETER.
One execution of WRITE SERVO PARAMETER transfers one parameter for
each axis. To transfer multiple parameters, WRITE SERVO PARAMETER
must be executed separately for each parameter. Parameters for different
axes can be written at the same time.
Parameters transferred using WRITE SERVO PARAMETER are written to the
control memory in the Servo Drive. Therefore, online parameters that are
overwritten are used immediately in Servo Drive control of the Servomotor.
After executing WRITE SERVO PARAMETER for offline parameters,
DEVICE SETUP must be executed to enable the settings.
When WRITE SERVO PARAMETER is executed, however, the settings are
not saved in the Servo Drive's non-volatile memory. When the Servo Drive
power is turned OFF, the set parameter settings will be lost and the next time
the power is turned ON, operation will be performed using the parameters
saved in the non-volatile memory. To save parameters in the Servo Drive's
non-volatile memory, SAVE SERVO PARAMETER must be executed for
each parameter separately from WRITE SERVO PARAMETER.
Note (1) Execute WRITE SERVO PARAMETER when the Servo Parameter
Transferring Flag for the corresponding axis is OFF. If WRITE SERVO
PARAMETER is executed while a Servo Parameter is being transferred,
a Multistart Error (axis error code: 3050) will occur and the Servo Param-
eter will not be written.
(2) Do not restart the PCU or turn OFF the power to the PLC while writing a
Servo Parameter. Doing so may result in parameters not being trans-
ferred correctly and cause unexpected operations.
Servo Parameter writing starts when the WRITE SERVO PARAMETER Bit in
the Axis Operating Output Memory Area turns ON. When executing WRITE
SERVO PARAMETER, make sure that the WRITE SERVO PARAMETER Bit
remains ON until the Servo Parameter Transferring Flag turns ON.
WRITE SERVO a+1 12 0 → 1: Starts writing Servo Parameters
PARAMETER Bit
Servo Parameter No. a+17 --- Specifies the parameter No. of the Servo
Drive to which the data is to be written.
Parameter size a+18 --- Specifies the data length of the parameter
to be written in byte units.
Write data (right- a+19 --- Specifies the setting data (hexadecimal) to
most word) be written to the Servo Parameters. For a
Write data (leftmost a+20 --- parameter size of two bytes, the rightmost
word) word is used only, and the data in the left-
most word is ignored. For a parameter size
of four bytes, the four bytes of data from the
rightmost to leftmost words are transferred.

227

Servo Parameter b 14 0: Powerup, transfer completed, or transfer
Transferring Flag failed
1: Transferring Servo Parameter

The following diagram shows the operation used to write parameters to the
W-series Servo Drive.
Axis Operating Output 12

Memory Area
Word a+1
Internal memory
MECHATROLINK
WRITE SERVO PARAMETER Bit
Word a+17 050A hex Servo Parameter No. (Pn50A)
Word a+18 0002 Parameter size (2 bytes) Pn50A 2881

Word a+19 2881 hex Set value (2881)
Word a+20 ---
Axis Operating Input 14

Memory Area
Word b
Servo Parameter Transferring Flag (ON while transferring data)
a = Beginning word of Axis Operating Output Areas specified in Common Parameters + (Axis No.−1) × 25
b = Beginning word of Axis Operating Input Areas specified in Common Parameters + (Axis No.−1) × 25
Timing Chart for Writing WRITE SERVO PARAMETER can also be executed while the corresponding
Servo Parameters axis is operating (Busy Flag ON).
When using Position Control Units with unit version 2.0 or later, any Servo
parameter write operations specified during an origin search will be performed
after the origin search has been completed.
WRITE SERVO PARAMETER, READ SERVO PARAMETER, and SAVE
SERVO PARAMETER cannot be executed on one axis at the same time.
Servo Parameter No. (Word a+17) 050A hex
Parameter size (Word a+18) 2
For a parameter size of two bytes, only the

Write data (Words a+19, a+20) 00002881 hex rightmost word (word a + 19) of the write data is
used, and the data in the leftmost word (word a
WRITE SERVO PARAMETER Bit + 20) is ignored.
(Word a+1, bit 12)
Servo Parameter Transferring Flag The Servo Parameter Transferring Flag turns ON
(Word b, bit 14) for at least one cycle time when the command to
transfer the parameter is received.
Busy Flag (Word b, bit 13) The status of the Busy Flag does not change
when Servo Parameters are being written.
228
• Writing Servo Parameters during Origin Searches for Position Control

Units with Unit Version 2.0 or Later
WRITE SERVO PARAMETER

Bit (word a+1, bit 12)
Servo Parameter Transferring Flag When using Position Control Units with unit version
(word b, bit 14) 2.0 or later, any Servo parameter write operations
specified during an origin search will be performed
Busy Flag (word b, bit 13) after the origin search has been completed.
Origin search operation in progress Origin search operation completed
When writing a Servo Parameter is completed, the Servo Parameter Transfer-

ring Flag (word b, bit 14) turns OFF. If an error occurs during Servo Parame-
ter transfer, the Error Flag (word b, bit 12) or the Warning Flag (word b, bit 11)
will turn ON, and the corresponding axis error (warning) code is input in word
b+4 of the Axis Operating Input Memory Area. Check the error code and per-
form appropriate troubleshooting.
Note With PCUs of unit version 1.2 or earlier, WRITE SERVO PARAMETER can-
not be executed when an axis error has occurred. WRITE SERVO PARAME-
TER will be ignored if it is executed when an axis error has occurred.
With PCUs of version 1.3 or later, WRITE SERVO PARAMETER can be exe-
cuted even when an axis error has occurred. When the parameters are trans-
ferred, however, the Error Flag can no longer be used to determine if an error
has occurred during the transfer. It is thus necessary to write Servo Parame-
ters after resetting the error or, if parameters are written when there is an axis
error, then steps must be taken to confirm that the parameters were trans-
ferred correctly.
5-3-2 Reading Servo Parameters

Servo Parameters are read to the CPU Unit using the READ SERVO
PARAMETER Bit in the Axis Operating Output Memory Area. Specify the
parameter number and parameter size (data length) in the Axis Operating
Output Memory Area and execute READ SERVO PARAMETER. The read
parameter will be input in the Read data word of the Axis Operating Input
Memory Area.
One execution of READ SERVO PARAMETER transfers one parameter for
each axis. To transfer multiple parameters, READ SERVO PARAMETER
must be executed separately for each parameter. Parameters for different
axes can also be read at the same time.
Note Execute READ SERVO PARAMETER when the Servo Parameter Transfer-
ring Flag for the corresponding axis is OFF. If READ SERVO PARAMETER is
executed while a Servo Parameter is being transferred, a Multistart Error (axis
error code: 3050) will occur and the Servo Parameter will not be read.
Servo Parameter reading starts when the READ SERVO PARAMETER Bit in
the Axis Operating Output Memory Area turns ON. When executing READ
SERVO PARAMETER, make sure that the READ SERVO PARAMETER Bit
229

READ SERVO a+1 13 0 → 1: Starts reading Servo Parameter
PARAMETER Bit
Servo Parameter No. a+17 --- Specifies the Servo Drive parameter No.
from which the data is to be read.
to be read in byte units.

Read data (rightmost b+14 --- Contains the Servo Parameter (hexadeci-
word) mal) that was read. For a parameter size of
Read data (leftmost b+15 --- two bytes, the rightmost word is used only,
word) and 0000 is stored in the leftmost word. For
a parameter size of four bytes, four bytes of
data from the rightmost to leftmost words
are stored.

READ SERVO PARAMETER can be executed while the corresponding axis
is operating (Busy Flag ON). The following diagram shows the operation used
to read parameters to the Servo Drive.

Memory Area
Word a+1
Internal memory
MECHATROLINK
READ SERVO PARAMETER Bit
Word a+18 0002 Parameter size (2 bytes) Pn50A 2881

Memory Area
Word b
Servo Parameter Transferring Flag (ON while transferring data)
When the length of the parameter to

Word b+14 2881 hex
be read is two bytes (one word),
0000 is input in the leftmost word
Word b+15 0000 (word b + 15).
a = Beginning word of Axis Operating Output Areas specified in Common Parameters + (Axis No. −1) × 25
b = Beginning word of Axis Operating Input Areas specified in Common Parameters + (Axis No. −1) × 25
Timing Chart for Reading READ SERVO PARAMETER can be executed while the corresponding axis
Servo Parameters is operating (Busy Flag ON).
parameter read operations specified during an origin search will be performed
READ SERVO PARAMETER, WRITE SERVO PARAMETER, and SAVE
230
Servo Parameter No. (Word a+17) 050A hex
Parameter size (Word a+18) 2

(Word a+1, bit 13)
The Servo Parameter Transferring Flag turns ON
for at least one cycle time when the command to
Servo Parameter Transferring Flag transfer the parameter is received.
(Word b, bit 14) The status of the Busy Flag does not change
when Servo Parameters are being read.
Busy Flag (Word b, bit 13)
Read data (rightmost word) 2881 hex For a parameter size of two bytes, the read
(Word b+14) parameters are saved in rightmost word (word b
Read data (leftmost word) + 14) of the read data, and 0000 is saved in the
0000
(Word b+15) leftmost word (word b + 15).
• Reading Servo Parameters during Origin Searches for Position Control


(word a+1, bit 13)
(word b, bit 14) 2.0 or later, any Servo parameter read operations
Origin search operation completed Origin search operation in progress
When READ SERVO PARAMETER execution is completed, the Servo

Parameter Transferring Flag (word b, bit 14) turns OFF, and the contents of
the parameter that has been read is stored in the read data words (words
b+14, b+15).
If an error occurs while transferring Servo Parameters, the Error Flag (word b,
bit 12) or the Warning Flag (word b, bit 11) will turn ON, and the correspond-
ing axis error (warning) code will be input in word b+4 of the Axis Operating
Input Memory Area. Check the error code and perform appropriate trouble-
shooting.
Note With PCUs of unit version 1.2 or earlier, READ SERVO PARAMETER cannot
be executed when an axis error has occurred. READ SERVO PARAMETER
will be ignored if it is executed when an axis error has occurred.
With PCUs of version 1.3 or later, READ SERVO PARAMETER can be exe-
cuted even when an axis error has occurred. When the parameters are trans-
ferred, however, the Error Flag can no longer be used to determine if an error
has occurred during the transfer. It is thus necessary to read Servo Parame-
ters after resetting the error or, if parameters are read when there is an axis
error, then steps must be taken to confirm that the parameters were trans-
ferred correctly.
5-3-3 Saving Servo Parameters

When Servo Parameters are saved in the Servo Drive's non-volatile memory,
the settings are held even after the power is turned OFF and the next time the
power is turned ON, the previous settings will be recovered. Saving Servo
Parameter is treated as writing data to the Servo Drive's non-volatile memory.
Therefore, SAVE SERVO PARAMETER must be executed separately from
WRITE SERVO PARAMETER for each parameter.
231
Servo Parameters are saved from the CPU Unit using the SAVE SERVO
PARAMETER Bit in the Axis Operating Output Memory Area. Specify the
parameter number, parameter size (data length), and data to be transferred in
the Axis Operating Output Memory Area and execute SAVE SERVO PARAM-
ETER (to write settings to non-volatile memory).
One execution of SAVE SERVO PARAMETER transfers one parameter for
each axis. The parameter is written to the Servo Drive's internal memory at
the same time as saving it in the non-volatile memory. To save multiple
parameters, SAVE SERVO PARAMETER must be executed separately for
each parameter. Parameters for different axes can be saved at the same
time.
Note (1) There is a limit to the number of times non-volatile memory in the Servo
Drive can be written (10,000 times). When Servo parameters are
changed frequently during system operation, so not save the parameters,
but rather just write them.
(2) Execute SAVE SERVO PARAMETER when the Servo Parameter Trans-
ferring Flag for the corresponding axis is OFF. If SAVE SERVO PARAM-
ETER is executed while the Servo Parameter Transferring Flag is ON, a
Multistart Error (axis error code: 3050) will occur and the Servo Parame-
ter will not be saved.
(3) Do not restart the PCU or turn OFF the power to the PLC while a Servo
Parameter is being saved. Doing so may result in the parameter not be-
ing saved correctly and cause unexpected operations.
Servo Parameter saving starts when the SAVE SERVO PARAMETER Bit in
the Axis Operating Output Memory Area turns ON. When executing SAVE
SERVO PARAMETER, make sure that the SAVE SERVO PARAMETER Bit
SAVE SERVO a+1 14 0 → 1: Starts writing Servo Parameter to
PARAMETER Bit non-volatile memory.
Servo Parameter No. a+17 --- Specifies the parameter No. of the Servo
Drive to which the data is to be written.
to be written in byte units.
Write data (right- a+19 --- Specifies the setting data (hexadecimal) to
most word) be written to the Servo Parameter. For a
Write data (leftmost a+20 --- parameter size of two bytes, the rightmost
word word is used only, and the data in the left-
most word is ignored. For a parameter size
of four bytes, four bytes of data from the
rightmost to leftmost words are transferred.


232
SAVE SERVO PARAMETER can be executed while the corresponding axis is

operating (Busy Flag ON). The following diagram shows the operation used to
save parameters to the W-series Servo Drive.

Memory Area
Word a+1 Internal memory and
non-volatile memory
MECHATROLINK
Word a+18 0002 hex Parameter size (2 bytes) Pn50A 2881

Word a+19 2881 hex Set value (2881)
Word a+20 ---

Memory Area
Word b
Servo Parameters Transferring Flag (ON while transferring)
Timing Chart for Saving SAVE SERVO PARAMETER can be executed while the corresponding axis is
Servo Parameters operating (Busy Flag ON).
parameter save operations specified during an origin search will be performed
SAVE SERVO PARAMETER, WRITE SERVO PARAMETER, and READ
Servo Parameter No. (word a+17) 050A hex
Parameter size (word a+18) 2
For a parameter size of two bytes, only the

Write data (words a+19, a+20) 00002881 hex
rightmost word (word a+19) of the write data is
used, and the data in the leftmost word (word
a+20) is ignored.
(word a+1, bit 14)
The Servo Parameter Transferring Flag turns

ON for at least one cycle time when the
(word b, bit 14)
command to transfer the parameter is received.
The status of the Busy Flag does not change
Busy Flag (word b, bit 13) when Servo Parameters are being written.
• Saving Servo Parameters during Origin Searches for Position Control


(word a+1, bit 14)
(word b, bit 14) 2.0 or later, any Servo parameter save operations
When execution of SAVE SERVO PARAMETER has completed, the Servo

Parameter Transferring Flag (word b, bit 14) turns OFF.
233
If an error occurs while executing SAVE SERVO PARAMETER, the Error

Flag (word b, bit 12) or the Warning Flag (word b, bit 11) will turn ON, and the
corresponding axis error (warning) code will be input in word b+4 of the Axis
Operating Input Memory Area. Check the error code and perform appropriate
troubleshooting.
Note With PCUs of version 1.2 or earlier, SAVE SERVO PARAMETER cannot be
executed if an axis error has occurred. SAVE SERVO PARAMETER will be
ignored if it is executed when an axis error has occurred.
With PCUs of version 1.3 or later, SAVE SERVO PARAMETER can be exe-
cuted even when an axis error has occurred. When the parameters are
saved, however, the Error Flag can no longer be used to determine if an error
has occurred during the save. It is thus necessary to save Servo Parameters
after resetting the error or, if parameters are saved when there is an axis
error, then steps must be taken to confirm that the parameters were saved
correctly.
5-3-4 Device Setup

Two types of Servo Parameters are transferred to the Servo Drive: online
parameters with set values that are enabled immediately after they are writ-
ten, and offline parameters, which are not enabled just by writing them. To
enable set values for offline parameters in Servo Drive operations, save the
parameters to the non-volatile memory, and then cycle the Servo Drive
power. Alternatively, execute WRITE SERVO PARAMETER/SAVE SERVO
PARAMETER and then execute the Servo Drive's DEVICE SETUP.
When DEVICE SETUP is executed, the Servo Drive enables all the Servo
Parameters that have been transferred to set the Servo Drive, and initializes
the present position and output signal status. DEVICE SETUP can be exe-
cuted in Servo unlock status. If DEVICE SETUP is executed while in Servo
lock status, a Multistart Error (axis error code: 3050) will occur and DEVICE
SETUP will not be executed.
DEVICE SETUP is executed from the CPU Unit using the DEVICE SETUP Bit
in the Axis Operating Output Memory Area. DEVICE SETUP can be executed
for different axes at the same time.
Note Execute DEVICE SETUP when the Busy Flag for the corresponding axis is
OFF. If DEVICE SETUP is executed while the axis's Busy Flag is ON, a Multi-
start Error (axis error code: 3050) will occur and DEVICE SETUP will not be
executed.
Device setup starts when the DEVICE SETUP Bit in the Axis Operating Out-
put Memory Area turns ON. When executing the DEVICE SETUP command,
make sure that the DEVICE SETUP Bit remains ON until the Busy Flag in the
Axis Operating Input Memory Area turns ON.
DEVICE SETUP Bit a+1 11 0 → 1: Starts device setup for the Servo
Drive.

234

Receiving Com- b 00 0: Command reception enabled
mand Flag 0 → 1: Command reception started
1: Receiving command (command recep-
tion disabled)
Busy Flag 13 1: Axis busy (axis operation executing)

The following diagram shows the device setup operation for the Servo Drive.

Memory Area
Online Control
Word a+1 parameters processing
etc. Reflected
MECHATROLINK immediately
DEVICE SETUP Bit
Offline
parameters Reflected
when power
Axis Operating Input 13 00 etc. is turned
Memory Area ON or
Word b DEVICE
SETUP is
executed.
Busy Flag, Receiving Command Flag
(ON while executing)
Timing Chart for DEVICE DEVICE SETUP can be executed when the corresponding axis is in Servo
SETUP unlocked status and the Busy Flag is not ON. If DEVICE SETUP is executed
while in Servo lock status, a Multistart Error (axis error code: 3050) will occur
and DEVICE SETUP will not be executed.
DEVICE SETUP Bit
(word a+1, bit 11) Executing DEVICE SETUP
results in no origin (not
Receiving Command Flag established) status.
(word b, bit 00) The Busy Flag remains ON for
at least one cycle time until
Servo Drive setup processing
No Origin Flag (word b, bit 06) is completed when the
command for DEVICE SETUP
Busy Flag (word b, bit 13) is received.
If DEVICE SETUP is executed
SVON (Servo ON) Flag while in Servo lock status
(word b+1, bit 03) (SVON Flag ON), the
command is ignored and will
A Multistart Error occurs The Receiving Command not be executed.
if DEVICE SETUP is Flag and Busy Flag remain
executed during Servo ON during Servo Drive
lock status. setup processing.
During DEVICE SETUP processing, the Receiving Command Flag (word b,

bit 00) and Busy Flag (word b, bit 13) remain ON. When DEVICE SETUP exe-
cution is completed, both of these Flags turn OFF. When DEVICE SETUP is
executed, the origin is lost (No Origin Flag turns ON), and the present position
becomes undefined. After DEVICE SETUP is executed, establish the origin
again.
During execution of DEVICE SETUP, the Servo status and Servo Drive output
signals become undefined.
Note DEVICE SETUP cannot be executed if an axis error has occurred. DEVICE
SETUP will be ignored if it is executed during an axis error.
235
236
SECTION 6
MECHATROLINK
This section provides an overview of MECHATROLINK communications, and includes information on settings and
procedures required to use MECHATROLINK with the Position Control Unit.
6-1 MECHATROLINK Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238

6-2 MECHATROLINK Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239
6-2-1 Scan List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239
6-2-2 Scan List and PCU Area Allocations . . . . . . . . . . . . . . . . . . . . . . . . 241
6-2-3 MECHATROLINK Communications Settings. . . . . . . . . . . . . . . . . 243
6-3 MECHATROLINK Communications Control . . . . . . . . . . . . . . . . . . . . . . . . 248
6-3-1 Establishing Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 248
6-3-2 MECHATROLINK Communications Status . . . . . . . . . . . . . . . . . . 249
6-3-3 MECHATROLINK Communications Errors . . . . . . . . . . . . . . . . . . 254
6-3-4 Rejoining the Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 258
6-3-5 Specifying the Axes to Connect . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261
6-4 Standard Settings for Servo Drives Using MECHATROLINK . . . . . . . . . . . 263
6-4-1 G5-series Servo Drive Settings (R88D-KN@-ML2
6-4-2 G-series Servo Drive Settings (R88D-GN@-ML2
6-4-3 W-series Servo Drive Settings
(R88D-WT@ Equipped with FNY-NS115) . . . . . . . . . . . . . . . . . . . 265
6-4-4 W-series Servo Drive Settings (R88D-WN@-ML2
6-4-5 SMARTSTEP Junior Servo Drive Settings (R7D-ZN@-ML2
237
MECHATROLINK Overview Section 6-1
6-1 MECHATROLINK Overview

MECHATROLINK The Position Control Unit (PCU) uses MECHATROLINK (see note) to connect
to the Servo Drive.
Note MECHATROLINK is a registered trademark of Yaskawa Electric Corporation.
MECHATROLINK is a high-speed field network developed by Yaskawa Elec-
tric Corporation. High-speed, high-precision motion control is possible for up
to 30 (see note) MECHATROLINK-compatible devices connected to a single
communications line using high-speed communications of up to 10 Mbps.
Note Up to 16 Servo Drives can be connected to the CS1W/CJ1W-NCF71, up to 2
Servo Drives can be connected to the CS1W/CJ1W-NC271, and up to 4
Servo Drives can be connected to the CS1W/CJ1W-NC471. The highest axis
number that can be set in the Position Control Unit is 16.
MECHATROLINK is available with two baud rates: 4 Mbps for MECHA-
TROLINK-I and 10 Mbps for MECHATROLINK-II. This PCU is designed for
MECHATROLINK-II. The connected devices must be compatible with
MECHATROLINK-II.
In this manual, the use of MECHATROLINK refers to MECHATROLINK-II
unless otherwise specified.
MECHATROLINK Specifications
Item Specifications
Communications protocol MECHATROLINK-II
Baud rate 10 Mbps
Maximum transmission distance 50 m (See note 1.)
Minimum distance between stations 0.5 m
Transmission media Shielded, twisted-pair cables
Maximum No. of stations 30 slave stations max. (See note 2.)
Topology Bus
Transfer cycle 250 µs to 8 ms
Communications method Master-slave, totally synchronous
Encoding Manchester encoding
Data length 17 bytes/32 bytes selectable (See note 3.)
Note (1) This distance is the total length of the cable connected between devices.
However, the maximum length depends on the number of devices con-
nected and whether Repeaters are used. For details, refer to 3-4-1
MECHATROLINK-II Communications Wiring.
(2) Up to 16 devices can be connected to the CS1W/CJ1W-NCF71, up to 2
devices can be connected to the CS1W/CJ1W-NC271, and up to 4 de-
vices can be connected to the CS1W/CJ1W-NC471.
(3) The PCU data length is fixed at 32 bytes.
MECHATROLINK- This PCU is designed to be used with MECHATROLINK-II. The maximum
compatible Devices number of stations that can be connected to the PCU is 16, and the station
Supported by PCU addresses of the MECHATROLINK-compatible devices must be set in the
range 1 to 16. The MECHATROLINK-II communications settings at the PCU
are fixed, as follows:
Item Specifications
Baud rate 10 Mbps
Data length 32 bytes (fixed) (See note.)
238
MECHATROLINK Settings Section 6-2
Note Some devices indicate the data length as 30 bytes, but the meaning is the
same.
Make sure that the baud rates and number of transmission bytes for the
MECHATROLINK-compatible devices connected to the PCU are set to the
same settings as shown in the above table.
The MECHATROLINK-compatible devices that can be connected to the PCU
are shown in the following table.
Category Compatible devices
Servo Drive R88D-KN@-ML2 OMRON G5-series Servo Drives
(with MECHATROLINK-II communications)
R88D-GN@-ML2 OMRON G-series Servo Drives
(with MECHATROLINK-II communications)
R88D-WT@ OMRON W-series Servo Drives
(equipped with FNY-NS115 MECHATROLINK-II I/F Unit)
R88D-WN@-ML2 OMRON W-series Servo Drives
(equipped with built-in MECHATROLINK-II communications)
R7D-ZN@-ML2 OMRON SMARTSTEP Junior Servo Drives
(equipped with built-in MECHATROLINK-II communications)
The version of R88D-WT@ W-series Servo Drives used must support FNY-
NS115 MECHATROLINK-II I/F Unit. FNY-NS115 MECHATROLINK-II I/F Unit
can be installed in R88D-WT@ W-series Servo Drives with version 39 or later.
(For details, refer to 3-1-2 MECHATROLINK-II I/F Unit.) The version of R88D-
WT@ W-series Servo Drives is shown on the nameplate located on the side of
the Servo Drive. Make sure that the Servo Drive is version 39 or later. Earlier
versions will not function properly.
6-2 MECHATROLINK Settings

The settings required to use MECHATROLINK with the PCU are described
here.
6-2-1 Scan List

The scan list is used to register the MECHATROLINK devices connected to
the PCU. The PCU connects the axes registered in the scan list to MECHA-
TROLINK communications, detects these axes, and monitors communica-
tions for them.
The PCU receives positioning commands allocated in the Work Area (Axis
Operating Memory Area) of the CPU Unit and controls positioning of the
Servo Drive. The Axis Operating Memory Areas are allocated based on the
scan list that is saved in the PCU's internal flash memory. Therefore, to use
the PCU, first the scan list must be created and saved, and the connected
Servo Drives must be registered in the list.
239
Saved scan list
PCU Axis 1: Yes

Axis 2: Yes The Operating Memory
Axis 3: --- Area allocations based
Axis 4: Yes on the scan list.
Axis 5: ---
:
No. No. No.

1 2 4
Changes, additions, to Servo Drive configuration
Saved scan list Error Saved scan list
Axis 1: Yes Axis 1: ---

PCU PCU The Operating
Axis 2: Yes Axis 2: Yes
Scan list re-registered Memory Area
Axis 3: --- Axis 3: Yes
allocations based
Axis 4: Yes and saved Axis 4: ---
on the scan list.
Axis 5: --- Axis 5: Yes
: :
No. No. No. No. No. No. No. No. No. No.
2 5 3 7 8 2 5 3 7 8
The station address numbers set at the MECHATROLINK device slave sta-
tions correspond to the axis numbers registered in the PCU's scan list,
regardless of the physical order in which the devices are connected to the
MECHATROLINK communications line. The scan list is set as the Common
Parameters for the PCU.
The axes are allocated eight bits per axis in the eight words of data in the
PCU's internal addresses from 183C to 1843 hex, as shown in the following
table. To allocate an axis to the Servo Drive, set the data to 40 hex and when
an axis is not used, set the data to 00 hex. (Nothing is registered for the
default setting.) Up to 16 axes can be allocated for the CS1W/CJ1W-NCF71,
up to 2 axes can be allocated for the CS1W/CJ1W-NC271, and up to 4 axes
can be allocated for the CS1W/CJ1W-NC471. An error will occur if you allo-
cate more axes than your Unit supports. The Common Parameters settings
saved in the PCU's internal flash memory are enabled when the PCU power
is turned ON or the Unit is restarted.
183C hex Axis 2 allocation Axis 1 allocation 00 hex: Axis not used
183D hex Axis 4 allocation Axis 3 allocation (default setting).
183E hex Axis 6 allocation Axis 5 allocation 40 hex: Allocates axis to
the Servo Drive
183F hex Axis 8 allocation Axis 7 allocation
240
6-2-2 Scan List and PCU Area Allocations

Words are allocated to the PCU in the Work Area in the CPU Unit for use as
Axis Operating Output Memory Areas and Axis Operating Input Memory
Areas for the Servo Drives registered in the scan list. An output area of 25
words and an input area of 25 words are allocated to each axis according to
the axis number registered in the scan list. The beginning word of these out-
put areas and input areas can be set by the user in the Common Parameter
Area.
The output areas and input area allocations are specified in the four words of
data in the PCU's internal addresses from 1838 to 183B hex, as shown in the
following table. The Common Parameters settings saved in the PCU's internal
flash memory are enabled when the PCU power is turned ON or the Unit is
restarted.
address
1838 hex Axis Operating Out- Specifies the words allocated for the Axis Oper-
put Memory Area ating Output Memory Areas.
designation 0000 hex: No setting (default)
00B0 hex: CIO Area
00B1 hex: Work Area
0082 hex: DM Area
0050 to 0059, 005A,005B, 005C hex:
EM Area (5@: @ = EM Bank No.)
1839 hex Beginning word of Specifies the beginning word of the Axis Operat-
Axis Operating Out- ing Output Memory Areas. The beginning word
put Memory Areas of the Operating Output Memory Area for axis 1
is determined by the Axis Operating Output
Memory Area designation and the word deter-
mined using this parameter. Each axis is allo-
cated 25 words in sequence from this word.
183A hex Axis Operating Input Specifies the words allocated for the Axis Oper-
Memory Area desig- ating Input Memory Areas. The setting method
nation is the same as for the Axis Operating Output
Memory Areas.
183B hex Beginning word of Specifies the beginning word of the Axis Operat-
Axis Operating Input ing Input Memory Areas. The setting method is
Memory Areas the same as for the Axis Operating Output Mem-
ory Areas.
The Axis Operating Memory Output and Input Areas are allocated words for
each axis from axis 1 up to the highest axis number registered in the scan list.
Axis numbers between axis 1 and the highest registered axis number that are
not registered as MECHATROLINK devices are also each allocated 25 output
words and 25 input words.
241
Axis Operating Output Memory Area Axis Operating Input Memory Area
Axis MECHATROLINK Allocations Allocations
No. station address No. Axis 1 Word a+0 Axis 1 Word b+0
Axis 1 No. 1 Operating Word a+1 Operating Word b+1
Memory Area Area
Axis 3 No. 3 Word a+24 Word b+24
Axis 4 No. 4 Axis 2 Word a+25 Axis 2 Word b+25
: : Operating Word a+26 Operating Word b+26
Axis 15 No. 15 Memory Area Area
Word a+49 Word b+49
Axis 16 No. 16
Axis N Word a+(N−1)×25 Axis N Word b+(N−1)×25
Operating Word a+(N−1)×25+1 Operating Word b+(N−1)×25+1
Memory Area Word a+(N−1)×25+24 Area Word b+(N−1)×25+24
Axis 16 Word a+375 Axis 16 Word b+375

Operating Word a+376 Operating Word b+376
Memory Area Area
Word a+399 Word b+399
a = Beginning word of Axis Operating Output Areas specified in Common Parameters
b = Beginning word of Axis Operating Input Areas specified in Common Parameters
Example:
Beginning word of Axis Operating Output Memory Areas: CIO 100
Beginning word of Axis Operating Input Memory Areas: CIO 500
Station addresses of connected MECHATROLINK devices (registered in scan
list): No. 2, No. 5, and No. 7
In this example, the words occupied as Axis Operating Memory Areas are as
follows:
Axis Operating Output Memory Area: CIO 100 to CIO 274 (Axes 1 to 7)
Axis Operating Input Memory Area: CIO 500 to CIO 674 (Axes 1 to 7)
Axis 2 Output Area:CIO 125 to CIO 149;
Axis 2 Input Area:CIO 525 to CIO 549
Axes 1, 3, 4, and 6 are not used, but are still allocated words in the PCU.
These words cannot be used as work words.
Note Set the beginning word of the Axis Operating Output Memory Areas and Axis
Operating Input Memory Areas in the Common Parameters so that the words
allocated to each area do not exceed the range for each of the CPU Unit's I/O
memory areas. If the setting exceeds the range of the I/O memory area, an
Initialization Common Parameter Check Error (Unit error code: 0028) will
occur when the PCU power is turned ON or the Unit is restarted.
Example:
Beginning word of the Axis Operating Output Memory Areas: CIO 6100
Connected axes: 2 min.
Etc.
Areas for subsequent axes are allocated in sequence. The highest word in the
CIO Area is CIO 6143. Therefore, an error will occur. If the ranges set for the
Axis Operating Output Memory Areas and Axis Operating Input Memory
Areas overlap, an Initialization Common Parameter Check Error (Unit error
code: 0028) will occur when the PCU power is turned ON or the Unit is
restarted.
242
6-2-3 MECHATROLINK Communications Settings

In addition to the scan list, the following four PCU settings are also for
• Transfer cycle
• Communications cycle
• Number of communications retries
• C2 master connection
Of these settings, the transfer cycle and communications cycle must always
be set when using the PCU. The settings for MECHATROLINK communica-
tions are set as the PCU's Common Parameters.
Set the two words of data in the PCU's internal addresses 1856 hex and
1857 hex as shown in the following table. The Common Parameters settings
saved in the PCU's internal flash memory are enabled when the PCU power
1856 hex Transfer cycle Communications Transfer cycle:
cycle 00 hex: 1 ms (default setting)
01 hex: 1 ms05 hex: 5 ms
A2 hex: 0.25 msA5 hex: 0.5 ms
Communications cycle:
Sets a multiplier to obtain integer multiples of the transfer
cycle.
The default setting 00 is the same as when the cycle is set to
3.
Set as follows:
G5 series/G Series
Transfer cycle × communications cycle (multiplier) ≤ 16 ms.
Other Series
Transfer cycle × communications cycle (multiplier) ≤ 32 ms
The transfer cycle must be between 1 and 4 ms.
1857 hex 00 (fixed) 07 to 04 03 to 00 C2 master connection:
C2 mas- Number 0: No C2 master (default setting)
ter con- of com- 1: C2 master connected
nection munica- Number of communications retries:
tions Set value: 0 to 7, F
retries The default setting 0 is the same as when the number of retries
is set to 1.
When F is specified, the number of retries is 0 (no retries).
Transfer Cycle The transfer cycle is the cycle used for sending and receiving data with
MECHATROLINK communications. Data (sent and received) is constantly
exchanged along the MECHATROLINK communications path during every
transfer cycle. The set value and setting range for the transfer cycle depends
on the type and number of MECHATROLINK devices connected. When a W-
series Servo Drive equipped with a FNY-NS115 MECHATROLINK-II I/F Unit
or with built-in MECHATROLINK-II communications is connected to the PCU,
the setting range for the transfer cycle is 0.5 to 4 ms. When a G5-series Servo
Drive or a G-series Servo Drive is connected to the PCU, the setting range for
the transfer cycle is 1 to 4 ms.
243
Communications The communications cycle is the cycle used to refresh data in the PCU and
Cycle MECHATROLINK devices. The PCU sends operating commands to the con-
nected MECHATROLINK devices and refreshes present positions, status,
and other monitoring information every communications cycle.
The set value for the PCU's communications cycle is an integer used as a
multiplier to obtain integer multiples of the transfer cycle. The actual commu-
nications cycle (data refresh cycle) is a time cycle that is a multiple of the
transfer cycle's set value. The set value for the communications cycle is deter-
mined by the number of connected MECHATROLINK devices and depends
on the PCU communications processing.
The actual communications cycle (data refresh cycle) is a time cycle calcu-
lated by multiplying the transfer cycle by a set value. The lower limit of the
communications cycle is determined by the number of connected MECHA-
TROLINK devices and depends on the PCU communications processing.
When the default setting of 0 is used, the communications cycle is three times
the length of the transfer cycle. Set the communications cycle so that the
maximum value does not exceed 32 ms. When connecting a G5-series Servo
Drive or a G-series Servo Drive, set the communications cycle so that the
maximum value does not exceed 16 ms.
The following diagram illustrates data exchange with the PCU.
Ladder processing PCU processing MECHATROLINK Servo processing
Cycle time Communications cycle Transfer cycle (data Servo Drive's data
(end refresh) (data refresh cycle in PCU) transfer cycle in refresh cycle (by Servo
MECHATROLINK) Drive)
Number of Communications Retries

The number of communications retries is the number of stations that will per-
form retries if data sending/receiving fails when transferring data that is
exchanged between the PCU and MECHATROLINK devices using the trans-
fer cycle. The set value is set as the maximum number of stations used to
retry data transmission with the slave station for which data sending/receiving
failed.
The number of communications retries can be set between 0 and 7 (commu-
nications retries for up to 7 stations). The set value for the number of retries,
however, is added to the number of connected stations that determine the
transfer cycle (e.g., for 3 retries, the transfer cycle must be considered as that
for the number of stations connected plus 3). For normal use, use the default
setting of 0 (1 communications retry).
C2 Master Connection The C2 master is a separate communications master connected to the PCU
for MECHATROLINK system support. This setting will be used when a future
system support device is connected. Use the default setting 0 (No C2 mas-
ter).
244
Setting the Transfer Cycle and Communications Cycle

The transfer cycle and communications cycle are set as Common Parameters
in the PCU. Set the PCU's transfer cycle and communications cycle according
to the number of connected MECHATROLINK devices so that the set values
are not lower than the values shown in the following table.
Note Make sure that all of the axis number settings (station numbers of
the MECHATROLINK devices) are set to values equal to or less
than the number of connected devices for the transfer cycle. Here,
the number of connected MECHATROLINK devices is not the ac-
tual number of MECHATROLINK devices connected, but the high-
est registered axis number. For example, when using
MECHATROLINK devices for axis number 9 or higher, the transfer
cycle must be at least 2 ms even if less than nine devices are con-
nected. If the set value for the transfer cycle is smaller than the
number of connected devices or the axis number settings, a Trans-
fer Cycle Setting Error (Unit error code: 0027) will occur when
CONNECT is executed.
For the communications cycle, set the multiplier of the transfer cycle set value
so that the value is not lower than the values shown in the following table.
For example, if up to 3 Servo Drives (axis number 1 to 3) equipped with FNY-
NS115 MECHATROLINK-II I/F Unit are connected to the PCU, either set the
transfer cycle to 0.5 ms min. and the communications cycle set value to 2
(multiplier) or higher, or set the transfer cycle to 1.0 ms min. and the commu-
nications cycle set value to 1 (multiplier) or higher.
Number of R88D-KN@-ML2 G5- R88D-WT@ W-series R88D-WN@-ML2 W- R7D-ZN@-ML2
devices series Servo Drive Servo Drive equipped series Servo Drive SMARTSTEP Junior
connected equipped with built-in with FNY-NS115 equipped with built-in Servo Drive equipped
MECHATROLINK-II MECHATROLINK-II I/F MECHATROLINK-II with built-in
communications Unit communications MECHATROLINK-II
R88D-GN@-ML2 G-series communications
Servo Drive equipped
with built-in
MECHATROLINK-II
communications
Minimum Minimum Minimum Minimum Minimum Minimum Minimum Minimum
transfer communi- transfer communi- transfer communi- transfer communi-
cycle set cations cycle set cations cycle set cations cycle set cations
value cycle value value cycle value value cycle value value cycle value
1 1.0 ms 1.0 ms (1) 0.5 ms 1.0 ms (2) 0.5 ms 0.5 ms (1) 1.0 ms 1.0 ms (1)
245
Note (1) The set values in the above table apply when the default settings are
used for the number of communications retries (once) and C2 master
connection (No C2 master).
(2) The values in parentheses in the Minimum communications cycle value
column are the PCU's communications cycle set value (multiplier to ob-
tain integer multiples of the transfer cycle) used to set the minimum com-
munications cycle for the minimum transfer cycle set value.
(3) When using the R88D-WT@ W-series Servo Drive and FNY-NS115 to-
gether, the SMARTSTEP Junior, or the R88D-GN@, set the communica-
tions cycle so that it is an integer multiple of 1.0 ms. When using the
R88D-WN@-ML2 W-series Servo Drive, set the communications cycle so
that it is an integer multiple of 0.5 ms.
(4) When connecting a G5-series Servo Drive, a G-series Servo Drive, W-
series Servo Drive, or the SMARTSTEP Junior Servo Drive to the PCU,
set the transfer cycle to 4 ms max.
The PCU default settings are 1.0 ms for the transfer cycle and 3 for the com-
munications cycle (multiplier 3: 1.0 ms × 3 = 3.0 ms). Without changing the
default settings, the G5-series Servo Drive, the G-series Servo Drive, W-
series Servo Drive (equipped with FNY-NS115 MECHATROLINK-II I/F Unit or
built-in MECHATROLINK-II communications), or the SMARTSTEP Junior
Servo Drive can be used for up to eight axes (axis numbers 1 to 8).
Note (1) When using linear interpolation, set the communications cycle to a value
1 ms higher than the minimum value given in the above table. If the com-
munications cycle setting is too small, the command response time of the
Position Control Unit function may be greatly extended.
(2) The command response time for axes not used for linear interpolation will
be increased by up to four communications cycles per linear interpolation
combination being executed. This applies from when setting the linear in-
terpolation operation is started until linear interpolation is completed (i.e.,
while either the SETTING LINEAR INTERPOLATION Bit or the Linear In-
terpolation Executing Flag is ON).
Transfer Cycle and Communications Cycle When Setting the Absolute Encoder Zero Point Position
Offset Using an Origin Search Operation with Position Control Units with Unit Ver. 2.0
Make the settings according to the following table when using a Position Con-
trol Unit with unit version 2.0. For a Position Control Unit with unit version 2.1
or later, the same settings can be used for the communications cycle as when
not setting the absolute encoder zero point position offset using an origin
search operation.
If an absolute encoder zero point position offset is set using an origin search
operation for a motor with an absolute encoder, set the transfer cycle and
communications cycle according to the following table. The settings will
depend on the number of axes used and other functions that are executed
simultaneously. Refer to 8-6-5 Absolute Encoder's Origin (Zero Point) Position
Offset Setting for details on the position offset setting.
246
If the settings of the transfer cycle and communications cycle are smaller than
the values given in the following table when the absolute encoder zero point
position offset is set using an origin search operation, the offset may not be
calculated correctly and the position of the origin may not be correct.
Number of Min. set values when setting the absolute encoder zero point position offset using an origin search
devices
connected Linear interpolation not Linear interpolation Linear interpolation per- During online monitor-
performed at the same performed at the same formed at the same time ing with the CX-Motion-
time time for one set of axes for two sets of axes NCF
Minimum Minimum Minimum Minimum Minimum Minimum
transfer communi- transfer communi- transfer communica-
cycle set cations cycle set cations cycle set tions cycle
value cycle value value cycle value value value
1 0.5 ms 1.0 ms (2) 0.5 ms 3.0 ms (6) --- --- Communications cycle
2 0.5 ms 1.0 ms (2) 0.5 ms 4.0 ms (8) --- --- time on the left + 1.0 ms
3 0.5 ms 2.0 ms (4) 0.5 ms 5.0 ms (10) --- ---
4 1.0 ms 2.0 ms (2) 1.0 ms 5.0 ms (5) --- ---
5 1.0 ms 2.0 ms (2) 1.0 ms 6.0 ms (6) 1.0 ms 7.0 ms (7)
6 1.0 ms 3.0 ms (3) 1.0 ms 6.0 ms (6) 1.0 ms 8.0 ms (8)
7 1.0 ms 3.0 ms (3) 1.0 ms 6.0 ms (6) 1.0 ms 9.0 ms (9)
8 1.0 ms 3.0 ms (3) 1.0 ms 7.0 ms (7) 1.0 ms 10.0 ms (10)
9 2.0 ms 4.0 ms (2) 2.0 ms 8.0 ms (4) 2.0 ms 12.0 ms (6) Same as on the left
10 2.0 ms 4.0 ms (2) 2.0 ms 8.0 ms (4) 2.0 ms 12.0 ms (6) Communications cycle
11 2.0 ms 4.0 ms (2) 2.0 ms 8.0 ms (4) 2.0 ms 12.0 ms (6) time on the left + 2.0 ms
12 2.0 ms 4.0 ms (2) 2.0 ms 8.0 ms (4) 2.0 ms 12.0 ms (6)
13 2.0 ms 6.0 ms (3) 2.0 ms 8.0 ms (4) 2.0 ms 12.0 ms (6)
14 2.0 ms 6.0 ms (3) 2.0 ms 10.0 ms (5) 2.0 ms 12.0 ms (6)
15 2.0 ms 6.0 ms (3) 2.0 ms 10.0 ms (5) 2.0 ms 12.0 ms (6)
16 2.0 ms 6.0 ms (3) 2.0 ms 10.0 ms (5) 2.0 ms 14.0 ms (7) Same as on the left
Note (1) The values in parentheses in the Minimum communications cycle value
column are the PCU's communications cycle set value (multiplier to ob-
tain integer multiples of the transfer cycle) used to set the minimum com-
munications cycle for the minimum transfer cycle set value.
(2) The above table gives values for when an absolute encoder zero point
position offset is set using an origin search operation when a Position
Control Unit of unit version 2.0 is used. If this function is not being used,
set the transfer cycle and communications cycle based on the table on
page 245.
(3) The communications cycle values shown in the above table are the set
values for W-series Servo Drives. The minimum communications cycle
values for G5-series Servo Drives and G-series Servo Drives are the
same as those indicated in the table above, but refer to the table on page
245 for the minimum transfer cycles.
(4) The settings of the transfer cycle and communications cycle have a large
effect on the PCU’s command response time. (Refer to Command Re-
sponse Time in Appendix A Performance Characteristics.) As shown in
the above table, the communications cycle (time) must be increased,
e.g., particularly when linear interpolation is used at the same time as an
origin search is used to set the absolute encoder zero point position offset
(for different axes). The affect on system performance must thus be con-
sidered when making the settings. If it is not possible to increase the com-
munications cycle, provide an interlock circuit between the operation of
different axes so that linear interpolation is not performed for one axis
247
MECHATROLINK Communications Control Section 6-3
while an origin search is being performed for a motor with an absolute en-
coder on another axis.
6-3 MECHATROLINK Communications Control

MECHATROLINK communications control used for the PCU is described
here.
6-3-1 Establishing Connections

Establishing a connection refers to starting communications between the PCU
and the MECHATROLINK devices registered in the scan list. Connections are
established by turning ON the CONNECT Bit in the Common Operating Out-
put Memory Area. When CONNECT is executed, the PCU executes ERROR
RESET (UNIT ERROR RESET or AXIS ERROR RESET) for the PCU itself
and all the axes registered in the scan list.
For any error that occurs in an axis, ERROR RESET is executed when the
connection with the corresponding axis is established. Therefore, if the cause
of an error is removed, unless an error occurs due to connection processing,
the PCU will start MECHATROLINK communications with all errors reset
when CONNECT is executed.
The PCU status is initialized when a connection is established, as follows:
• PCU Positioning Completed Flag OFF
• Origin not established (No Origin Flag ON)
When using Servomotors with absolute encoders for which the encod-
er type is set to absolute encoder in the axis parameters, however, the
origin is established (No Origin Flag OFF) by reading the absolute val-
ue data when the connection is established.
• Stop Execution Flag OFF
For details on errors when establishing connections, refer to 6-3-3 MECHA-
TROLINK Communications Errors. The CONNECT Bit is allocated in
CIO 1501 + (unit number × 25), bit 00.

CONNECT Bit n+1 00 0 → 1: Establishes connection.
1 → 0: Releases connection.
00
Word n+1 MECHATROLINK communications start when this bit is turned ON.

CONNECT Bit
If the CONNECT Bit is turned OFF while a connection is established, the PCU
will stop MECHATROLINK communications (connection released).
When a connection is released, the active axis is put in the Servo free run
state.
For all axes registered in the scan list, the status that is input in the Axis Oper-
ating Input Memory Areas for each axis becomes the initial status (non-exe-
cuting status), except for the Error Flag and axis error code. For example, the
No Origin Flag turns ON because the origin is not established.
248
Note When a connection is released, the PCU immediately stops controlling the
active axes. If a connection is released while another command is being pro-
cessed, the Servo Drive may not respond to the command properly. Make
sure that command processing has been completed (Busy Flag = 0 and Servo
Parameter Transferring Flag = 0) before releasing a connection. When a con-
nection is reestablished after recovering from an error that caused the PCU to
release a connection, confirm that the settings and operating status of the
Servo Drive are correct before restarting operations. (If necessary, transfer
the Servo parameters again and execute DEVICE SETUP.)
6-3-2 MECHATROLINK Communications Status

The MECHATROLINK communications status is given using the following two
status flags allocated in the Common Operating Input Memory Area of the
PCU.
• Connection Status Flag
• Axis Communications Status Flags
Connection Status Flag This status flag turns ON when the PCU has established a connection
(MECHATROLINK communications have started).
The PCU starts MECHATROLINK communications for the axes registered in
the scan list. This status flag will turn ON, however, when CONNECT is exe-
cuted, even if nothing is registered in the scan list.
The Connection Status Flag turns OFF when the connection is released. The
Connection Status Flag is allocated in CIO 1516 + (unit number × 25), bit 15.

Connection Status n+16 15 0: MECHATROLINK communications
Flag stopped.
cuting.
15
This flag turns ON when MECHATROLINK communications start
Word n+16
and turns OFF when MECHATROLINK communications stop.

Axis Communications These status flags turn ON when a connection has been established between
Status Flags the PCU and the MECHATROLINK devices connected to the PCU. The Axis
Communications Status Flags are allocated in one word with 16 bits, with one
bit assigned to each of the 16 axes showing the corresponding communica-
tions status.
The PCU connects the axes registered in the scan list to MECHATROLINK
communications, recognizing those axes and monitoring their communica-
tions. Therefore, the Axis Communications Status Flags for axes not regis-
tered in the scan list are always OFF.
249
The operation of the Axis Communications Status Flag depends on the unit
version of the PCU as shown in the following table
Unit version Setting conditions Resetting conditions
Unit version 1.3 or • The flags will turn ON when • The flags will remain OFF
earlier connections are made for when MECHATROLINK
the axes registered in the communications cannot be
scan list and MECHA- started when connections
TROLINK communications are made for the axes regis-
start. tered in the scan list.
• The flags will turn OFF if
MECHATROLINK communi-
cations stop because the
axis is disconnected.
• The flags will turn OFF if a
Unit error occurs that
requires disconnection.
Unit version 2.0 or • The flags will turn ON when • The flags will remain OFF
later connections are made for when MECHATROLINK
the axes registered in the communications cannot be
scan list and MECHA- started when connections
TROLINK communications are made for the axes regis-
start. tered in the scan list.
• The flags will turn ON when • The flags will turn OFF if
the rejoin function is used to MECHATROLINK communi-
start MECHATROLINK com- cations stop because the
munications for an axis reg- axis is disconnected.
istered in the scan list. • The flags will turn OFF if a
Unit error occurs that
requires disconnection.
• The flags will turn OFF
whenever a communica-
tions error occurs after
MECHATROLINK communi-
cations have been started for
the axis.
With unit version 1.3 or earlier, once MECHATROLINK communications have

been started by establishing connections, the Axis Communications Status
Flags will not change unless communications are disconnected (including
Unit errors that required disconnection).
With unit version 2.0 or later, the Axis Communications Status Flags will turn
OFF after connections have been established whenever axis operation
becomes impossible due to a communications error (synchronous communi-
cations alarm or communications alarm).
Refer to 6-3-3 MECHATROLINK Communications Errors for information on
errors that occur when establishing connections.
The Axis Communications Status Flags are allocated in CIO 1522 + (unit
number × 25).
250

Axis Communica- n+22 00 0: Axis 1 communications stopped, or axis
tions Status Flags not registered in scan list.
1: Axis 1 communications executing.
01 Same as above for axis 2.
15 08 00
Bits 00 to 15 correspond to the communications status for axes 1 to
Word n+22 16.
The bits will turn ON (1) if the corresponding axes registered in the
scan list are communicating normally.
Axis 1 communicating
251
Timing Chart The following diagram shows the timing chart for establishing and releasing a
connection.
CONNECT Bit (word n+1, bit 00)
Unit Error Flag (word n+15, bit 12)
Unit Busy Flag (word n+16, bit 14)
Connection Status Flag (word n+16, bit 15)
Axis Communications Status Flags (word n+22)
Receiving Command Flag (word b, bit 00)
Busy Flag (word b, bit 13)

When the PCU starts MECHATROLINK communications as a result of
the CONNECT Bit turning ON, the Connection Status Flag turns ON. The
Axis Communications Status Flags turn ON when the connection is
established for axes registered in the scan list only.
There is no change in status of the Unit Busy Flag, or the Receiving
Command Flags or Busy Flags for the connected axes when a
connection is established or released.
CPU Unit PCU
Scan list Servo Drives

(station addresses)
183C hex 40 40
MOV
183D hex 40 00
No. 1
MOV 183E hex 00 40
When starting to use the
PCU, transfer using the : : :
WRITE DATA Bit.
WRITE DATA
Communications parameters
No. 2
1856 hex 00 00
1857 hex 00 00
n+1
Start MECHATROLINK
CONNECT Bit (word n+1, bit 00) communications with the
Servo Drives registered in No. 3
n+16 the scan list according to the
Connection Status Flag settings for the
(word n+16, bit 15) communications parameters.
Axis Communications Status
Flags (word n+22)
n+22
No. 4
The communications status of

the Servo Drives registered in
the scan list is shown by the Axis
Communications Status Flags.
No. 5
MECHATROLINK-II
In the above example, Servo Drives are registered to axes 1, 2, 4, and 5 in the
scan list (set to 40 hex). Therefore, MECHATROLINK communications start
with the Servo Drives with station addresses No. 1, No. 2, No. 4, and No. 5
when CONNECT is executed.
252
Restrictions in Establishing a Connection According to Servo Drive Status

Functionality for axis operations after establishing a connection depends on
the unit version of the PCU as described below if the following conditions exist
when a connection is established for an axis (Servo Drive) registered in the
scan list.
• Disconnection
• Control power supply interruption
• An alarm that cannot be reset (i.e., when the power must be cycled)
■ PCUs with Unit Version 1.2 or Earlier
An MLK initialization error (unit error code 0020 hex) will occur in these situa-
tions, and operation for MECHATROLINK communications will stop for all
axes. To start MECHATROLINK communications normally, any errors must
be cleared for all axes registered in the scan list before establishing a connec-
tion.
■ PCUs with Unit Version 1.3 or Later
Axis operation is possible for axes that are registered in the scan list and for
which MECHATROLINK communications was started (i.e., axes for which
Axis Communications Status Flags are ON), regardless of whether an alarm
is present in the Servo Drive or whether the connected axes match the scan
list. If MECHATROLINK communications cannot be started for all axes regis-
tered in the scan list, an MLK initialization error (unit error code 0020 hex) will
occur to provide notification of the inconsistency between the registered axes
and the axes that are communicating.
The following example shows the restrictions in operations according to axis
status when connections are established.
Example: When Axes 1 to 5 Are Registered in the Scan List
Axis 1 Axis 2 Axis 3 Axis 4 Axis 5
Axis No. No. 1 No. 2 No. 3 No. 4 No. 5

Axis status Normal Control power sup- Normal Alarm that can- Disconnection
(example) ply interrupted not be reset (See
Function (See note 1.) note 2.)
Connection Possible Not possible Possible Possible Not possible
Axis Communications ON OFF ON ON OFF
Status Flag
253
Axis No. No. 1 No. 2 No. 3 No. 4 No. 5

Monitoring (including Possible Not possible Possible Possible Not possible
error codes)
Servo parameter trans- Possible Not possible Possible Possible Not possible
fer
Axis operating com- Possible Not possible Possible Not possible Not possible
mands
Note (1) It is assumed that the MECHATROLINK communications cable is con-

nected.
(2) For example, when A.81 (backup error) occurs. MECHATROLINK com-
munications may not be possible, depending on the individual Servo
Drive specifications and on the type of alarm that cannot be reset.
For axes 1 and 3, MECHATROLINK communications can be started and all
axis operations can be executed if there is no Servo Drive error. For axis 2
(with no control power supply) and axis 5 (disconnected), MECHATROLINK
communications cannot be started, and operations and monitoring are not
possible. If MECHATROLINK communications can be started for axis 4
(alarm that cannot be reset), depending on the handling of the Servo Drive
error, the axis can be monitored and parameters can be transferred but axis
operations cannot be executed. In this example, the axes for which MECHA-
TROLINK communications can actually be started are 1, 3, and 4. This does
not match the axes registered in the scan list (i.e., axes 1 to 5), so an MLK ini-
tialization error (unit error code 0020 hex) occurs.
6-3-3 MECHATROLINK Communications Errors

The PCU monitors and detects errors if they occur at the start of or during
MECHATROLINK communications. Detected errors are largely categorized
as PCU common errors that stop MECHATROLINK communications and
operation of all axes, and axis errors that stop individual axes. Moreover, they
are classified into three types of error: Errors at Communications Startup,
Errors Detected by PCU during Communications, and Errors Detected in
MECHATROLINK Slave Stations Connected to PCU during Communications.
Errors that Stop MECHATROLINK Communications (Unit Common Errors)

Errors at Communications The following errors in MECHATROLINK (MLK) communications are moni-
Startup tored by the PCU when CONNECT is executed.
Errors in MECHATROLINK slave station devices cannot be detected by the
PCU before a connection is established. The PCU will execute ALARM
RESET for the devices communicating with MECHATROLINK when a con-
nection is established.
MLK Device Initialization Error (Unit Error Code: 0030 Hex)
This error occurs if initialization of MECHATROLINK communications fails
when CONNECT is executed, and causes connection processing to stop.
When this error occurs, confirm that the PCU’s common parameters and
MECHATROLINK communications settings are set correctly, restart the PCU,
and then execute CONNECT again. If the error occurs again, it is a result of
an error in the MECHATROLINK communications section of the PCU and
requires replacement of the PCU.
254
MLK Initialization Error (Unit Error Code: 0020 Hex)

This error occurs if the MECHATROLINK slave station device corresponding
to the axis number registered in the scan list is not detected within 10 seconds
after CONNECT is executed. This error may occur if a MECHATROLINK
slave station communications settings are not set, or if the settings for the
MECHATROLINK communications line connection and slave device's station
address do not match the settings in the scan list. Verify that the contents reg-
istered in the scan list matches the MECHATROLINK device settings and
connection configuration.
If this error occurs, the PCU will stop and the connection status will remain
ON (communications still in an executing state).
For PCUs with unit version 1.2 or earlier, operation will not be possible for all
axes registered in the scan list. For PCUs with unit version 1.3 or later, all or
part of the axis operations will be possible assuming that MECHATROLINK
communications can be established (i.e., if the Axis Communications Status
Flag is ON). (Refer to 6-3-2 MECHATROLINK Communications Status for axis
operation restrictions according to Servo Drive status.)
After recovering from the error, release the connection and then execute
CONNECT again. When using a Position Control Unit with unit version 2.0 or
later, the REJOIN command can be used to rejoin the connection without
breaking the connection.
MLK Communications Error (Unit Error Code: 0025 Hex)
This error occurs if two or more connected MECHATROLINK slave station
devices have the same station number when CONNECT is executed. This
error also occurs when communications errors that are not specific to a partic-
ular slave station occur during MECHATROLINK communications, and
causes MECHATROLINK communications to stop (connection released).
This error may occur during MECHATROLINK communications as a result of
a faulty communications path such as noise, breaks, or faulty connections in
the communications line. After removing the cause of the error, restart the
PCU and execute CONNECT again.
MLK Device Error (Unit Error Code: 0026 Hex)
This error occurs if an error in the MECHATROLINK communications section
of the PCU is detected, and causes MECHATROLINK communications to
stop (connection released). This error will occur if the MECHATROLINK com-
munications section of the PCU is faulty. Replace the PCU if this error occurs.
Transfer Cycle Setting Error (Unit Error Code: 0027 Hex)
This error may occur when establishing a connection if the transfer cycle set
in the PCU's Common Parameters is unsuitable for the axis numbers or num-
ber of slave stations connected to MECHATROLINK, and causes MECHA-
TROLINK communications to stop (connection released). This error indicates
that the set value for the transfer cycle is too small for the axis numbers or
number of connected slave stations. Change the transfer cycle setting in the
Common Parameters. After removing the cause of the error, restart the PCU
and execute CONNECT again.
If a Unit common error occurs, the Unit Error Flag in the Common Operating
Memory Area of the PCU turns ON, and the corresponding error code is input
in the Unit Error Code Bits. After the cause of the error is removed, the Unit
common error is cleared by turning ON the UNIT ERROR RESET Bit in the
When clearing a Unit common error, make sure that the UNIT ERROR
RESET Bit will remain ON until the Unit Busy Flag turns ON.
255
The UNIT ERROR RESET Bit cannot be used to clear errors that require PCU
replacement (MLK Device Initialization Error or MLK Device Error), or that
cause MECHATROLINK communications to stop (MLK Communications
Error or Transfer Cycle Setting Error). After removing the cause of the error,
turn ON the power to the PLC again or restart the PCU.

UNIT ERROR n 00 0 → 1: Clears the Unit common error that
RESET Bit occurred.

Unit Error Flag n+15 12 0: Unit common error has not occurred.
1: Unit common error has occurred.
Unit Busy Flag n+16 14 0: PCU is not busy.
1: PCU is busy.
Connection Status 15 0: MECHATROLINK communications
Flag stopped.
cuting.
Unit error code n+21 00 to Indicates the error code for the common
15 Unit error that occurred.
Individual Axis Errors

Errors Detected by PCU Synchronous Communications Alarm (Axis Error Code: 3010 Hex)
during Communications
This error occurs for errors in synchronous MECHATROLINK communica-
tions processing with an axis.
If this error occurs, the corresponding axis will stop operating according to the
stop method that is set in the Servo Drive for when alarms occur.
This error may occur as a result of a faulty communications path with the cor-
responding axis, such as noise, breaks, or faulty connections in the communi-
cations line.
If this error occurs, the corresponding axis may not be able to accept opera-
tions through MECHATROLINK communications such as ERROR RESET.
To recover from this error, release the connection and remove the cause of
the error, and then execute CONNECT again. When using a Position Control
Unit with unit version 2.0 or later, the REJOIN command can be used to rejoin
the connection without breaking the connection.
Communications Alarm (Axis Error Code: 3011 Hex)
This error occurs for errors in MECHATROLINK communications processing
with an axis. The communications alarm will occur if the PCU fails twice in
succession to exchange data using MECHATROLINK communications, such
as not receiving communications data. The corresponding axis will stop oper-
ating if this alarm occurs according to the stop method that is set in the Servo
Drive for when alarms occur.
This error may occur as a result of a faulty communications path with the cor-
responding axis, such as noise, breaks, or faulty connections in the communi-
cations line.
256
If this error occurs, the corresponding axis may not be able to accept opera-
tions through MECHATROLINK communications such as ERROR RESET.
To recover from this error, release the connection, remove the cause of the
error, and then execute CONNECT again. When using a Position Control Unit
with unit version 2.0 or later, the REJOIN command can be used to rejoin the
connection without breaking the connection.
Errors Detected in Errors detected in the slave stations connected to the PCU via MECHA-
MECHATROLINK Slave TROLINK after a connection is established cause axis errors or axis warnings
Station Connected to PCU in the PCU, as follows:
during Communications
MLK Device Alarm/Warning (Axis Error Code 40@@ Hex)
The boxes (@@) indicate the alarm number for the connected MECHA-
TROLINK devices. The operations of each axis when an error occurs depend
on each of the MECHATROLINK slave station devices.
For errors in MECHATROLINK communications that occur in individual axes,
the Error Flags for the corresponding axes turn ON in the Axis Operating Input
Memory Areas of the PCU, and the corresponding error code is input in the
axis error code word.
After the cause of the error is removed, the axis error is cleared by turning ON
the ERROR RESET Bit in the Axis Operating Output Memory Area. When
clearing the axis error, make sure that the ERROR RESET Bit will remain ON
until the Busy Flag for the corresponding axis turns ON.
The ERROR RESET Bit cannot be used to clear errors such as Synchronous
Communications Alarms or Communications Alarms. To recover from these
errors, release the connection, remove the cause of the error, and then exe-
cute CONNECT again. When using a Position Control Unit with unit version
2.0 or later, the REJOIN command can be used to rejoin the connection with-
out breaking the connection.
Axis Operating Output Memory Areas

ERROR RESET Bit a 12 0 → 1: Clears the axis error that occurred.

Axis Operating Input Memory Areas

Warning Flag b 11 0: Axis warning has not occurred.
1: Axis warning has occurred.
Error Flag 12 0: Axis error has not occurred.
Busy Flag 13 0: Axis is not busy.
1: Axis is busy.
Axis error code b+4 00 to Indicates the axis error code/warning code
15 for each axis.

For details on indicators and troubleshooting for when errors occur in the
PCU, refer to SECTION 12 Troubleshooting. For details on error displays and
troubleshooting for MECHATROLINK slave station devices, refer to the oper-
ation manuals for the corresponding device.
257
Note If an axis warning occurs (Warning Flag = 1), the PCU’s command response
time is delayed due to the PCU’s warning processing. The PCU processing
time required after receiving a command from the CPU Unit until the com-
mand is sent using MECHATROLINK communications is one MECHA-
TROLINK communications cycle if an axis warning has not occurred, and
three MECHATROLINK communications cycles if an axis warning has
occurred. If the machine’s operation would be affected by the PCU’s com-
mand response time, clear the axis warning status using ERROR RESET or
set the Servo Drive settings so that the warnings will not occur. For details on
the PCU’s command response time, refer to Command Response Time in
Appendix A Performance Characteristics.
6-3-4 Rejoining the Connection

Overview The rejoin function can be used to rejoin the connection for an axis for which
operations are not possible using MECHATROLINK communications either
when initially establishing the connection or after the connection has been
established.
This function can be used only with Position Control Units with unit version 2.0
or later.
If any axis registered in the scan list is in either of the following conditions, the
error cannot be cleared with the normal error reset procedure and axis opera-
tions will not be possible from the Position Control Unit.
• If an axis cannot be detected and MECHATROLINK communications cannot
be started within 10 s after executing the connection command (An MLK ini-
tialization error (Unit error code: 0020 (hex)) will occur.)
• If a synchronous communications alarm (axis error code: 3010 (hex)) occurs
or a communications alarm (axis error: 3011 (hex)) occurs
To restart communications for the axis for which axis operations are not pos-
sible with Position Control Units with unit version 1.3 or earlier, the connection
must be broken and MECHATROLINK communications must be stopped for
all axes, and then connection must be re-established.
258
With Position Control Units with unit version 2.0 or later, the rejoin function
can be used to restart MECHATROLINK communications for specific axes
without stopping MECHATROLINK communications for all axes.
Communications
disabled, e.g.,
Servo Drive power interrupted
Axis 1 Axis 2 Axis 3 Axis 4

PLC
(Position Axis Axis Axis Axis
Control Unit) operation operation operation operation
possible not possible possible possible
Axis operation
Releasing Connections
(communications temporarily
stopped for all axes)

PLC
(Position Axis Axis Axis Axis Rejoining Connections
not possible not possible not possible not possible
Establishing Connections

PLC
(Position Axis Axis Axis Axis
possible possible possible possible
Using the Rejoin The rejoin function is used by turning ON the REJOIN command bit in the
Function Common Operating Output Memory Area of the Position Control Unit.
When the REJOIN command bit is turned ON, the process to start MECHA-
TROLINK communications is performed in the same way as when a connec-
tion is established. This can be used to restart communications for any axes
registered in the scan list that are not part of the connection or for which axis
operations are not possible due to a communications error.
When using the REJOIN command bit, the axis for which rejoin processing is
to be performed can be specified in the Axes to Connect parameter. Refer to
6-3-5 Specifying the Axes to Connect for details on the Axes to Connect
parameter.
When rejoining the connection, errors that occur in the Position Control Unit
or the axes will be reset.
Functionality for axis operations after rejoining a connection are the same as
when establishing the connection.
The REJOIN command bit is bit 15 of CIO 1501+ (unit number × 25). Keep
the REJOIN command bit ON until the Unit Busy Flag turns ON.
Common Operating
Output Memory Area
REJOIN n+1 15 Rejoining the connection is
started when this bit is turned
ON.
259
n = 1500 + (unit number × 25)

Common Operating Input
Memory Area
Unit Busy Flag n+16 14 0: PCU is not busy.
1: PCU is busy.
Connection Status 15 0: MECHATROLINK commu-
Flag nications stopped.
1: MECHATROLINK commu-
nications executing.
Axis Communica- n+22 00 to 15 Indicate the communications
tions Status Flags status for each axis.
n = 1500 + (unit number × 25)

The REJOIN command bit can be used when the Connection Status Flag is
ON (i.e., when a connection is established).
When executing processing for an axis to rejoin a connection, the Unit Busy
Flag will turn ON for a minimum of one scan time and until the Axis Communi-
cations Status Flags turn ON for the axes being processed or until a MLK ini-
tialization error (Unit error code: 0020 (hex)) occurs after the REJOIN
command bit is turned ON.
Note When the REJOIN command is executed, processing to restart MECHA-
TROLINK communications is performed for all specified axes. If there are any
axes for which MECHATROLINK communications cannot be started, commu-
nications errors will not occur for individual axes, but rather an MLK initializa-
tion error (Unit error code: 0020 (hex)) will occur for the entire Unit. If
MECHATROLINK communications cannot be restarted when attempting to
recover from communications errors for only specific axes, the error status will
thus change from one for specific axes before rejoin processing to one for the
entire Unit after rejoin processing. Monitor the status of these error flags to
determine the result of rejoin processing.
260
Timing Chart A timing chart for rejoin processing is provided below for Position Control
Units with unit version 2.0 or later. In this example, axes 1 and 2 are regis-
tered in the scan list. After a connection is established, a communications
error occurs for axis 2 (i.e., either a sync communications alarm or a commu-
nications alarm).
CONNECT (n+1 00)
REJOIN (n+1 15)
Unit Error Flag (n+15 12)
Unit Busy Flag (n+16 14)
Connection Status Flag (n+16 15)
Axis 1 Communications Status Flag (n+22 00)
Axis 2 Communications Status Flag (n+22 01)
Axis 2 Error Flag (b+4)
Communications error for axis 2 Communications restored for axis 2
When a communications error occurs for axis 2, the Axis 2 Error Flag and Axis 2
Communications Status Flag will turn OFF.
After removing the cause of the error, the REJOIN command bit is turned ON to clear the
error for axis 2 and restart MECHATROLINK communications. The Axis Communications
Status Flag turns ON.

b = First word specified in the Common Parameters for the Axis Operating Input Memory Area + (Axis No. −1) × 25
6-3-5 Specifying the Axes to Connect

The Axes to Connect parameter can be used to temporarily disable MECHA-
TROLINK communications for one or more axes registered in the scan list.
This enables starting MECHATROLINK communications without errors occur-
ring for axes that are not connected without changing the scan list. This can
be used, for example, during system design and startup when all axes are not
yet connected.
or later.
The Axes to Connect parameter is in CIO 1502 + (unit number × 25).
261
Common Operating
Output Memory Area
Axes to connect n+2 00 The following settings apply if axis 1
is registered in the scan list:
0: MECHATROLINK communica-
tions started for axis 1
1: MECHATROLINK communica-
tions not started for axis 1
01 Same as above for axis 2
n = 1500 + (unit number × 25)
The Axes to Connect parameter is valid only when establishing a connection

or when rejoining a connection.
Example
This example shows how to use a scan list in which axes 1 to 5 are registered
and connect only axes 1, 2, and 5.
• Establishing a Connection for All Axes (n+2 = 0000 (Hex))
Axes 1, 2, and 5: MECHATROLINK communications started
Axes 3 and 4: MECHATROLINK communications not started
In this case, the connection cannot be established for axes 3 and 4, causing
an MLK initialization error (Unit error code: 0020 (hex)) to occur in the Posi-
tion Control Unit.
• Establishing a Connection for All Axes Except Axes 3 and 4 (n+2 = 000C
(Hex))
Axes 1, 2, and 5: MECHATROLINK communications started
Axes 3 and 4: MECHATROLINK communications not started
In this case, axes 3 and 4 are treated as if they are not registered in the scan
list and an MLK initialization error does not occur in the Position Control Unit.
Note The Axes to Connect parameter is valid only when using the CONNECT or
REJOIN command bits in the Common Operating Memory Area. When estab-
lishing connections from the CX-Motion-NCF, the Axes to Connect parameter
is ignored and processing to start MECHATROLINK communications is per-
formed for all axes registered in the scan list.
If MECHATROLINK communications cannot be started when establishing a
connection from the CX-Motion-NCF, an MLK initialization error (Unit error
code: 0020 (hex)) regardless of the setting of the Axes to Connect parameter.
Provide interlock circuits to allow for this as required by the system.
262
Standard Settings for Servo Drives Using MECHATROLINK Section 6-4
6-4 Standard Settings for Servo Drives Using MECHATROLINK

6-4-1 G5-series Servo Drive Settings (R88D-KN@-ML2 with Built-in
When an R88D-KN@-ML2 G5-series Servo Drive (with built-in MECHA-
TROLINK-II communications) is used, the default settings for the Servo Drive
are the standard settings when the MECHATROLINK communications is
used.
Compulsory Parameter The following Servo Parameter must be set to enable PCU control. Do not
Settings change this setting.
Pn800 Communication Control
Parameter Parameter Unit Fixed Details Default
No. name setting setting
Pn800 Communica- --- 0 0: MECHATROLINK-II 0
tions control communications
errors and warnings
are all detected.
All MECHATROLINK communications errors and warnings are used when the
PCU is controlling communications. Set the parameter so that they are all
detected. Leave Pn800 set to the default setting.
Standard Settings for I/O Signals Using MECHATROLINK
When an R88D-KN@-ML2 G5-series Servo Drive (with built-in MECHA-
are the standard settings for the I/O signal allocations when the MECHA-
TROLINK communications is used.
Standard I/O Signal Allocation
R88D-KN@-ML2
CN1
General-purpose input 13 1 BKIR
POT 7 2 BKIRCOM
NOT 8 25 READY
DEC 9 26 READYCOM
EXIT1 12 3 ALM
EXIT2 11 4 ALMCOM
EXT3 10
STOP 5
Note The PCU uses the forward drive prohibited input, reverse drive prohibited
input, and origin return deceleration limit switch allocated in the Servo Drive's
external inputs as the forward rotation limit input signal, reverse rotation limit
input signal, and origin proximity input signal, respectively. The signal widths
of these input signals must be longer than the MECHATROLINK communica-
tions cycle. If the input signal width is shorter than the communications cycle,
the PCU will not be able to detect the input signal, and operation will not be
performed normally.
263
6-4-2 G-series Servo Drive Settings (R88D-GN@-ML2 with Built-in

When an R88D-GN@-ML2 G-series Servo Drive (with built-in MECHA-
are the standard settings when the MECHATROLINK communications is
used.
Pn005 Communications Control
Parameter Parameter Unit Fixed Details Default
No. name setting setting
Pn005 Communica- --- 0 0: MECHATROLINK-II 0
tions control communications
errors and warnings
are all detected.
All MECHATROLINK communications errors and warnings are used when the
PCU is controlling communications. Set the parameter so that they are all
detected. Leave Pn005 set to the default setting.
Standard Settings for I/O Signals Using MECHATROLINK
When an R88D-GN@-ML2 G-series Servo Drive (with built-in MECHA-
are the standard settings for the I/O signal allocations when the MECHA-
TROLINK communications is used.
The standard input signal settings are used for the PCU's positioning control
functions, such as limit inputs, origin searches, and interrupt feeding. Use the
default settings for I/O allocations of the Servo Drive.
Standard I/O Signal Allocation
R88D-GN@-ML2
CN1
General-purpose input 22,23 36 BKIR+
POT 19 35 BKIR-
NOT 20 29 READY+
DEC 21 30 READY-
EXT1 5 31 CLIM+
EXT2 4 32 CLIM-
EXT3 3
PCL 7
NCL 8
STOP 2
input, and origin return deceleration limit switch allocated in the Servo Drive's
input signal, and origin proximity input signal, respectively. The signal widths
of these input signals must be longer than the MECHATROLINK communica-
tions cycle. If the input signal width is shorter than the communications cycle,
264
the PCU will not be able to detect the input signal, and operation will not be
performed normally.
6-4-3 W-series Servo Drive Settings (R88D-WT@ Equipped with FNY-

NS115)
When the R88D-WT@ W-series Servo Drive equipped with a FNY-NS115
MECHATROLINK-II I/F Unit is used, settings for some parameters of the W-
series user constants (Servo Parameters) may be limited.
Automatically Set Servo By equipping the W-series Servo Drive with the FNY-NS115, the Servo
Parameters Parameters in the following table will be automatically changed to the fixed
settings and saved when the power to the W-series Servo Drive is turned ON
for the first time. These parameters are used by the system as fixed settings
and must not be changed. (The default settings are those used for W-series
Servo Drives before installing the FNY-NS115.)
Parameter Parameter name Unit Fixed Details Default
No. setting setting
Pn004 Reserved by the system. --- 0200 --- 0000
Pn200 Position control setting 1 --- 0100 --- 1011
Pn204 Position command filter time constant 1 ×0.01 ms 0 Sets soft start for command. 0
Pn207.1 Position control setting 2 --- 1 REF used as feed-forward 0
Speed command input switching input
Pn50A.0 Input signal selection 1 --- 1 User-defined sequence input 0
Input signal allocation mode signal allocation
Pn50A.1 Input signal selection 1 --- 8 Always invalid. 0
RUN signal (RUN command) input terminal
allocation
Pn50A.2 Input signal selection 1 --- 8 Always invalid. 1
MING (gain reduction) signal input terminal
allocation
Pn50B.1 Input signal selection 2 --- 8 Always invalid. 4
RESET (alarm reset) signal input terminal
allocation
Pn50C Input signal selection 3 --- 8888 Always invalid. 8888
RDIR (rotation direction command signal)
SPD1 (speed selection command 1 signal)
SPD2 (speed selection command 2 signal)
TVSEL (control mode switching signal)
Pn50D.0 Input signal selection 4 --- 8 Always invalid. 8
PLOCK (position lock command signal)
Pn50D.1 Input signal selection 4 --- 8 Always invalid. 8
IPG (pulse disable signal)
Pn800.0 Communications Control: MECHATROLINK Communications
Check Mask
No. setting setting
Pn800.0 Communications control --- 0 0: Communications errors 0
MECHATROLINK-II communications (A.E6) and synchronization
check mask errors (A.E5) both detected.
265
The MECHATROLINK communications errors A.E6 (communications errors)

and A.E5 (synchronization errors) are used when the PCU is controlling com-
munications. Make sure to set this parameter so that these errors are always
detected. Leave Pn800.0 set to the default setting 0 (detects communications
errors (A.E6) and synchronization errors (A.E5)).
Pn800.1 Communications Control: Warning Check Mask
No. setting setting
Pn800.1 Communications control --- 4 or 0 4: Communications warning 4
Warning check mask (A.96) ignored.
0: A.94, A.95, and A.96 all
detected.
The MECHATROLINK communications warnings A.94 (parameter setting

warning) and A.95 (MECHATROLINK command warning) are used when the
PCU is controlling communications. Set the parameter so that they are not
ignored. Either leave Pn800.1 set to the default setting 4 (ignores communica-
tions errors (A.96) only) or set to 0 (detects A.94, A.95, and A.96).
Standard Settings for I/O When MECHATROLINK communications are used by a W-series Servo Drive
Signals Using equipped with FNY-NS115, the standard settings for the Servo Drive's exter-
MECHATROLINK nal I/O signal allocations are as follows:
The standard input signal settings are used for the PCU's positioning control
functions such as limit inputs, origin searches, and interrupt feeding. When
using a system configuration combining a W-series Servo Drive and FNY-
NS115, use the standard settings for the I/O signal allocations. (The following
default settings are those used by W-series Servo Drives before installing the
FNY-NS115.)
I/O Signal Allocations (Standard Settings)
W-series Servo Drive

CN1
Not used 40 25 INP1
DEC 41 26 INP1COM
POT 42 27 BKIR
NOT 43 28 BKIRCOM
EXT1 44 29 READY
EXT2 45 30 READYCOM
EXT3 46
Parameter Parameter name Standard Details Default

No. setting setting
Pn50A.3 Input signal selection 1 2 Allocated to CN1, pin 42 8
POT (forward drive prohibited input) signal input Valid for low input (N.C. con-
terminal allocation tact)
Pn50B.0 Input signal selection 2 3 Allocated to CN1, pin 43 8
NOT (reverse drive prohibited input) signal input Valid for low input (N.C. con-
terminal allocation tact)
Pn50B.2 Input signal selection 2 8 Always invalid. 5
PCL (forward rotation current limit) signal input
terminal allocation
266
Parameter Parameter name Standard Details Default

No. setting setting
Pn50B.3 Input signal selection 2 8 Always invalid. 6
NCL (reverse rotation current limit) signal input
terminal allocation
Pn511.0 Input signal selection 5 1 Allocated to CN1, pin 41 8
DEC (origin return deceleration limit switch) sig- Valid for low input (N.O. con-
nal input terminal allocation tact)
EXT1 (external latch 1 input) signal input termi- Valid for low input (N.O. con-
nal allocation tact)
Pn50E.0 Output signal selection 1 1 Allocated to CN1, pins 25 1
INP1 (positioning completed 1) signal output ter- and 26
minal allocation
Pn50E.1 Output signal selection 1 0 No output 1
VCMP (speed conformity) signal output terminal
allocation
Pn50E.2 Output signal selection 1 0 No output 2
TGON (Servomotor rotation detection) signal
output terminal allocation
Pn50E.3 Output signal selection 1 3 Allocated to CN1, pins 29 3
READY (Servomotor warmup complete) signal and 30
Pn50F.0 Output signal selection 2 0 No output 0
CLIMT (current limit detection) signal output ter-
minal allocation
VLIMT (speed limit detection) signal output ter-
minal allocation
Pn50F.2 Output signal selection 2 2 Allocated to CN1, pins 27 0
BKIR (brake interlock) signal output terminal and 28
allocation
WARN (warning) signal output terminal alloca-
tion
Pn510.0 Output signal selection 3 0 No output 0
INP2 (positioning completed 2) signal output ter-
minal allocation
Pn510.1 Not used. 0 --- 0
Pn510.2 Output signal selection 3 0 No output 0
PSON (command pulse factor enabled) signal
Pn510.3 Not used. 0 --- 0
input, and origin return deceleration limit switch allocated in the Servo Drive’s
input signal, and origin proximity input signal, respectively. Make sure that
these input signals maintain a signal width no shorter than the MECHA-
TROLINK communications cycle. If the input signal width is shorter than the
communications cycle, the PCU is unable to detect the input signals, and
operations cannot be performed normally.
267
6-4-4 W-series Servo Drive Settings (R88D-WN@-ML2 with Built-in

When the R88D-WN@-ML2 W-series Servo Drive equipped with built-in
MECHATROLINK-II communications is used, the Servo Drive’s default set-
tings are used as the standard settings for MECHATROLINK communica-
tions.
Compulsory Parameter The following Servo parameters must be set to enable PCU control. Do not
Pn800.0 Communications Control: MECHATROLINK Communications
Check Mask
No. setting setting
Pn800.0 Communications control --- 0 0: Communications errors 0
MECHATROLINK communications (A.E6@) and synchroniza-
check mask tion errors (A.E5@) both
detected.
The MECHATROLINK communications errors A.E6@ (communications

errors) and A.E5@ (synchronization errors) are used when the PCU is control-
ling communications. Make sure to set this parameter so that these errors are
always detected. Leave Pn800.0 set to the default setting 0 (detects commu-
nications errors (A.E6@) and synchronization errors (A.E5@)).
No. setting setting
Warning check mask (A.96@) ignored.
0: A.94@, A.95@, and A.96@
all detected.
The MECHATROLINK communications warnings A.94@ (parameter setting

warning) and A.95@ (MECHATROLINK command warning) are used when
the PCU is controlling communications. Set the parameter so that they are not
tions errors (A.96@) only) or set to 0 (detects A.94@, A.95@, and A.96@).
Standard Settings for I/O When the R88D-WN@-ML2 W-series Servo Drive equipped with built-in
Signals Using MECHATROLINK-II communications is used, the Servo Drive's default I/O
MECHATROLINK signal allocations are used as the standard settings for MECHATROLINK
communications.
The standard settings for input signals use the position control functions, such
as PCU limit inputs, origin search inputs, and interrupt feeding inputs. The
default I/O signal allocations of the Servo Drive should thus be used.
268
I/O Signal Allocations (Default Settings)
R88D-WN@-ML2
CN1
General-purpose input 13 1 BKIR+
POT 7 2 BKIR−
NOT 8 23 SO2+
DEC 9 24 SO2−
EXT1 10 25 SO3+
EXT2 11 26 SO3−
EXT3 12
input, and origin return deceleration limit switch allocated in the Servo Drive’s
input signal, and origin proximity input signal, respectively. Make sure that
these input signals maintain a signal width no shorter than the MECHA-
TROLINK communications cycle. If the input signal width is shorter than the
communications cycle, the PCU is unable to detect the input signals, and
operations cannot be performed normally.
6-4-5 SMARTSTEP Junior Servo Drive Settings (R7D-ZN@-ML2 with

Built-in MECHATROLINK-II Communications)
When the R7D-ZN@-ML2 SMARTSTEP Junior Servo Drive Settings
equipped with built-in MECHATROLINK-II communications is used, the Servo
Drive’s default settings are used as the standard settings for MECHA-
TROLINK communications.
Compulsory Parameter The following Servo parameter must be set to enable PCU control. Do not

No. setting setting
Warning check mask (A.96) ignored.
0: A.94, A.95, and A.96 all
detected.
The MECHATROLINK communications warnings A.94 (parameter setting

warning) and A.95 (MECHATROLINK command warning) are used when the
PCU is controlling communications. Set the parameter so that they are not
tions errors (A.96) only) or set to 0 (detects A.94, A.95, and A.96).
Standard Settings for I/O When the R7D-ZN@-ML2 SMARTSTEP Junior Servo Drive equipped with
Signals When Using built-in MECHATROLINK-II communications is used, the Servo Drive's default
MECHATROLINK settings are the standard settings for I/O signals for MECHATROLINK com-
munications. The standard I/O signal settings are used for limit inputs, origin
searches, interrupt feeding, and other position control functions of the Posi-
tion Control Unit. Use the default settings for the I/O signal allocations for the
Servo Drive.
269
I/O Signal Allocations (Default Settings)
R7D-ZN@-ML2
CN1
EXT1 1 7 0GND
DEC 2 12 ALM
NOT 3 13 BKIR
POT 4
STOP 6
Note The PCU uses the forward drive inhibit input, reverse drive inhibit input, and
origin proximity input allocated in the Servo Drive’s external inputs as the for-
ward rotation limit input signal, reverse rotation limit input signal, and origin
proximity input signal, respectively. Make sure that these input signals main-
tain a signal width no shorter than the MECHATROLINK communications
cycle. If the input signal width is shorter than the communications cycle, the
PCU is unable to detect the input signals, and operations cannot be per-
formed normally.
270
SECTION 7
Position Control Structure
This section provides an overview of the control system used by the Position Control Unit, including information on the
control units, coordinate system, acceleration/deceleration operations, and limit input operations.
7-1 PCU Control System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 272

7-1-1 Control System Configuration and Principles . . . . . . . . . . . . . . . . . 272
7-1-2 Position Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 272
7-2 Control Units. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 273
7-2-1 Control Units for Position Control . . . . . . . . . . . . . . . . . . . . . . . . . . 273
7-2-2 Control Units for Speed/Torque Control . . . . . . . . . . . . . . . . . . . . . 274
7-2-3 Units of the PCU's Main Controlled Variables . . . . . . . . . . . . . . . . . 275
7-3 Coordinate System and Present Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . 276
7-4 Acceleration and Deceleration Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . 277
7-4-1 Overview of Acceleration/Deceleration Operations. . . . . . . . . . . . . 277
7-4-2 Acceleration/Deceleration Settings . . . . . . . . . . . . . . . . . . . . . . . . . 278
7-4-3 Acceleration/Deceleration Filter Settings. . . . . . . . . . . . . . . . . . . . . 280
7-4-4 Origin Search Acceleration/Deceleration Operations . . . . . . . . . . . 284
7-4-5 Acceleration and Deceleration Operations during Speed Control . . 285
7-5 Limit Input Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 286
271
PCU Control System Section 7-1
7-1 PCU Control System

This section describes the configuration, principles, and basic information on
position control when using a control system configured with a PCU and a
W-series Servo Drive.
7-1-1 Control System Configuration and Principles

MECHATROLINK-II
CPU Unit PCU I/F Unit Servo Drive Servomotor
Sequence
(ladder program) Inter-
Com- face Command Posi- Speed Cur-
Start Com- Control commands tion rent
mand munica- interpreta- loop loop loop
interpre- tions MECHATROLINK tion and
I/O words tation and position-
pro- communications
process- cessing ing
Status Status
ing
No feedback system configuration Feedback system configuration
The control system configured using the PCU basically controls Servomotor
operations using the semi-closed loop method. The semi-closed loop method
detects the number of Servomotor rotations for the command value using the
rotary encoder mounted to the Servomotor, and sends this feedback as the
machine's travel distance. While calculating the deviation between the com-
mand value and actual number of Servomotor rotations, the machine is con-
trolled so that the deviation is compensated to 0.
In the PCU system configuration, a feedback system is configured in the
Servo Drive, without using feedback information for the commands sent from
the CPU Unit's ladder program to the PCU and Servo Drive.
7-1-2 Position Control

The control system configured using the PCU uses the Servo Drive's position
loop to perform position control. The PCU achieves positioning by using the
Servo Drive's position control functions together with control units and coordi-
nate systems.
Positioning
Sending command based on the positioning
Position command coordinate system managed by Servo Drive
value Coordinate
calculations
MECHATROLINK
I/O memory area communications
Monitoring the positioning coordinate

system managed by Servo Drive Present
Present position
position
272
Control Units Section 7-2
7-2 Control Units

7-2-1 Control Units for Position Control
Control Units for The command units are used as the basic control units for the position com-
Position Control mand values and speed command values that the PCU uses in position con-
trol axis operations, such as direct operation, origin searches, and jogging.
(The unit for speeds is command units/s.) These units are determined by the
electronic gear ratio in the Servo Parameters. The Servo Parameter settings
such as Positioning Completion Range and Software Limit and the present
position monitor unit input in the CPU Unit are also based on these command
units.
The Electronic Gear Ratio G1/G2 parameters determine the ratio between the
command unit and travel distance (pulse unit) of the Servomotor.
Model Parameter No. Parameter name Unit Setting range Parameter size Default setting
R88D-KN@- Pn009 Electronic gear ratio --- 1 to 4 1
ML2 numerator 1073741824
Pn010 Electronic gear ratio --- 1 to 4 1
denominator 1073741824
R88D-GN@- Pn205 Electronic gear ratio 1 --- 0 to 131072 4 1
ML2 (numerator)
Pn206 Electronic gear ratio 2 --- 1 to 65535 4 1
(denominator)
R88D-WT@ Pn202 Electronic gear ratio G1 --- 1 to 65535 2 4
(numerator)
Pn203 Electronic gear ratio G2 --- 1 to 65535 2 1
(denominator)
R88D- Pn20E Electronic gear ratio G1 --- 1 to 4 4
WN@-ML2 (numerator) 1073741824
Pn210 Electronic gear ratio G2 --- 1 to 4 1
(denominator) 1073741824
SMART- Pn20E Electronic gear ratio G1 --- 1 to 4 1
STEP Junior (numerator) 1073741824
Pn210 Electronic gear ratio G2 --- 1 to 4 1
(denominator) 1073741824
Set the electronic gear ratio such that 0.01 ≤ G1/G2 ≤ 100 when using R88D-
GN@ G-series Servo Drives, R88D-WT@ W-series Servo Drives, or SMART-
STEP Junior Servo Drives and such that 0.001 ≤ G1/G2 ≤ 1000 when using
R88D-KN@-ML2 G5-series Servo Drives or R88D-WN@-ML2 W-series Servo
Drives.
In the Servo Drive, the control unit is the pulse unit determined by the Servo-
motor's encoder resolution. (The Servo Drive operates internally with a pulse
multiplier of four. Therefore, the Servomotor's encoder resolution multiplied by
four is the number of pulses in one rotation.) The electronic gear ratio is used
to convert the command value (i.e., command units) handled by the PCU into
the control unit (i.e., pulses) used in the Servo Drive (the G1/G2 unit is
pulses/command unit.) When the Servo Drive’s default setting (G1/G2 = 4/1)
is used, the command unit is the number of pulses equivalent to the Servomo-
tor's encoder resolution.
Servomotor with 2,048 When set to G1/G2 = 8192/1000, the command units for which the Servomo-
(Pulses/Rotation) Encoder tor makes one rotation for a position command value of 1,000 can be
obtained.
273
Servo Drive Servomotor

(Encoder resolution; 2,048 pulses/rotation)
Electronic gear
8,192 pulses
Position command value: 1,000
G1 Encoder resolution × 4
=
(command unit) G2 Command unit
8192
=
1000
1 rotation (8,192 pulses)
Command Unit Setting Consider the following positioning example.

Example
N V
M
P
Servomotor Electronic gear ratio Object being Feed screw pitch
positioned
M: Deceleration gear ratio

V: Feed speed of object being positioned (mm/s)
P: Feed screw pitch (mm/rotation)
R: Servomotor encoder resolution (pulses/rotation)
The equation for calculating the distance traveled per Servomotor encoder
resolution pulse is as follows:
Feed screw pitch P (mm/rotation)
= (mm/pulse)
(Servomotor encoder resolution × 4) × (deceleration ratio) R (pulses/rotation) × 4 × M
The Servo Drive performs control internally at four times the Servomotor's
encoder resolution. Therefore, in the above equation, the Servomotor's
encoder resolution is multiplied by four. If the command unit used is mm, the
electronic gear ratio is set as the reciprocal of the above equation and G1/G2
is set as follows:
G1 R (pulses/rotation) × 4 × M
Command unit (mm): = (pulses/mm)
G2 P (mm/rotation)
If the command unit used is 0.01 mm (= 10 µm), the unit is converted by mul-
tiplying the travel distance per encoder resolution pulse by 100, and the elec-
tronic gear ratio is set as follows:
G1 R (pulses/rotation) × 4 × M
Command unit (0.01 mm): = (pulses/0.01 mm)
G2 P (mm/rotation) × 100
7-2-2 Control Units for Speed/Torque Control

The unit used for the speed command value in speed control is the percent-
age (unit: 0.001%) of the Servo Drive’s/Servomotor's momentary maximum
rotation speed. The unit used for the torque command value in torque control
is the percentage (unit: 0.001%) of the Servo Drive’s/Servomotor's momen-
tary maximum torque. The Servomotor's momentary maximum rotation speed
and momentary maximum torque depend on the Servomotor model.
274
For details on specifications, refer to the corresponding operation manuals for

the Servo Drive and Servomotor.
7-2-3 Units of the PCU's Main Controlled Variables

Function Category Controlled variable Unit Details
Common Servo Parame- Torque limit value % (percentage of Servomo-
ter data tor's rated torque)
Monitor value Feedback present position Command unit ---
Command present position Command unit ---
Position deviation Command unit ---
Position control Command value Position command value Command unit ---
Speed command value Command units/s ---
Servo Parame- Acceleration 10,000 command units/s2 ---
ter data
Deceleration 10,000 command units/s2 ---
Zero point return approach 100 command units/s ---
speed 1
Zero point return approach 100 command units/s ---
speed 2
Monitor value Speed monitor value Command units/s ---
Torque monitor value % (percentage of Servomo-
tor's rated torque)
Speed control Command value Speed command value (for 0.001% (percentage of Servomo-
speed control) tor’s momentary maxi-
mum rotation speed)
Torque limit value % (percentage of Servomo-
(option command value) tor's momentary maxi-
mum torque)
Monitor value Speed monitor value 0.001% (percentage of Servomo-
tor’s momentary maxi-
mum rotation speed)
Torque monitor value % (percentage of Servomo-
tor's rated torque)
Torque control Command value Torque command value 0.001% (percentage of Servomo-
tor's momentary maxi-
mum torque)
Speed limit value 0.001% (percentage of Servomo-
(option command value) tor’s momentary maxi-
mum rotation speed)
Monitor value Speed monitor value Command units/s ---
Torque monitor value 0.001% (percentage of Servomo-
tor's momentary maxi-
mum torque)
The units for speed and torque depend on the control mode (position, speed,
or torque control). For details, refer to 10-5 Speed Control, and 10-6 Torque
Control.
Note The resolution of the controlled variables that can be monitored by the PCU
depends on the specifications of the connected Servo Drive.
For example, when using a W-series Servo Drive equipped with a FNY-
NS115 MECHATROLINK-II I/F Unit, the minimum resolution for the command
speed monitor value and feedback speed in position/torque control is 1,000
command units/s.
275
Coordinate System and Present Position Section 7-3
Depending on the PLC’s cycle time and MECHATROLINK communications

cycle, short-term changes in status of the Servo Drive may not be monitored
successfully.
7-3 Coordinate System and Present Position

The PCU uses a single coordinate system based on the origin determined for
each axis using the origin defining functions. This coordinate system provides
two types of present positions for each axis: a feedback present position and
a command present position.
Feedback/Command The Servo Drive uses a rotary encoder to detect Servomotor rotations (provid-
Present Position ing feedback), and the Servomotor is controlled so that the deviation between
the feedback and command values is compensated to 0. Therefore, while a
position deviation remains in the Servo Drive, a difference equivalent to the
position deviation between the position command value and the integrated
value of the feedback, which indicates the actual machine (Servomotor) posi-
tion, should exist.
The PCU outputs to the I/O memory area allocated for each axis in the CPU
Unit the amount of feedback indicating the actual position of the machine
(Servomotor) as the feedback present position and the position given in the
command as the command present position.
Position
Target position
(position command
value)
Solid line: Command present position

Command present Broken line: Feedback present position
position at t1 (Servomotor's actual position)
Feedback present
position at t1
t1 Time
Speed
Target speed
(speed command Solid line: Command speed
value) Broken line: Servomotor's actual speed
Time
Position deviation
Start Time
Note When executing speed control and torque control commands, there is no
command present position because a positioning loop is not configured. A
command present position calculated from the position deviation assumed
from the current speed is output as monitor information.
Present Position The feedback present position and command present position can be dis-
Upper/Lower Limits played as values in the range −2,147,483,648 to 2,147,483,647 (command
units). When an operation in a fixed direction without a target position using
jogging, speed control, or torque control is continued, the present value that
exceeds the above range and is not limited by limit input signals or software
limits is given as follows:
276
Acceleration and Deceleration Operations Section 7-4
Present position
2,147,483,647
1,073,741,824 P
−2,147,483,648 0 2,147,483,647 4,294,967,296 6,442,450,943 Physical position

5,368,709,120
−2,147,483,648
Possible positioning range from point P
For example, if the physical position is 5,368,709,120 (command units), as

indicated by point P in the above diagram, which exceeds 2,147,483,647
(command units), 1,073,741,824 will be given as the present position (com-
mand units).
The position range for the ABSOLUTE MOVEMENT and RELATIVE MOVE-
MENT commands is −2,147,483,648 to 2,147,483,647 (command units) for
the command present position when they are not limited by limit input signals
or software limits.
If the physical position is point P in the diagram, the physical position that can
be moved to using ABSOLUTE MOVEMENT or RELATIVE MOVEMENT is
2,147,483,648 to 6,442,450,943 (command units). The PCU will treat the
position command value and present position in the range as −2,147,483,648
to 2,147,483,647 (command units).
Note With the direct operation position range, the operation for position command
values is different for ABSOLUTE MOVEMENT and RELATIVE MOVEMENT
commands. Refer to 9-4-1 Starting Direct Operation for further details.
7-4 Acceleration and Deceleration Operations

The acceleration and deceleration operations that can be used when the PCU
is connected to a G5-series Servo Drive, G-series Servo Drive, W-series
Servo Drive, or SMARTSTEP Junior Servo Drive are described here.
7-4-1 Overview of Acceleration/Deceleration Operations

The PCU creates the specified acceleration/deceleration curve for the operat-
ing commands performing position control, such as direct operation or origin
searches. The acceleration/deceleration speed settings are set for each axis
according to the Servo Parameters for acceleration/deceleration and are
enabled for the following acceleration/deceleration operations.
Operating command Acceleration operation Deceleration operation
ABSOLUTE MOVEMENT/ RELA- Starting Stopping positioning
TIVE MOVEMENT Changing speed (acceleration) Changing speed (deceleration)
Changing override (acceleration) Changing override (deceleration)
JOG Starting jogging Stopping jogging
Changing speed (acceleration) Changing speed (deceleration)
Changing override (acceleration) Changing override (deceleration)
ORIGIN SEARCH See 7-4-4 Origin Search Accelera- See 7-4-4 Origin Search Accelera-
tion/Deceleration Operations tion/Deceleration Operations
277
Operating command Acceleration operation Deceleration operation

DECELERATION STOP --- Decelerating to a stop
Errors with DECELERATION --- When errors occur
STOP
Acceleration/deceleration curves cannot be set for speed control or torque

control. Continuous speed changes using speed control, however, are possi-
ble by setting the Soft Start Acceleration Time and Soft Start Deceleration
Time in the Servo Parameters.
7-4-2 Acceleration/Deceleration Settings

The acceleration/deceleration settings are set for each axis according to the
Servo Parameters for acceleration/deceleration. Set these Servo Parameters
using WRITE/SAVE SERVO PARAMETER before sending operating com-
mands.
Do not change the acceleration/deceleration constants during axis operation
(i.e., while the Busy Flag for the corresponding axis is ON due to execution of
an operating command). Changing parameters while the axis is operating
may result in incorrect positioning or other malfunction.
G5-series Servo Parameters
Acceleration/Deceleration Constants
Type Parameter Parameter name Unit Setting Parameter Default G Series
No. range size setting
Acceleration/ Pn811 Linear acceleration 10,000 com- −32768 2 100 Supported
deceleration constant mand units/s2 to 32767
constants
Pn814 Linear deceleration 10,000 com- −32768 2 100 Supported
constant mand units/s2 to 32767
Note When using G5-series Servo Drives, one-step linear acceleration/decelera-

tion curves are set using only Pn811 and Pn814.
When the parameter is set to 0, it is taken as 1.
The setting will be used after conversion to unsigned 16-bit data (0 to 65536).
Examples: −32768 is converted to 8000 hex = 32768
−1 is converted to FFFF hex = 65535
G-series Servo Parameters
Type Parameter Parameter name Unit Setting Parameter Default G Series
Acceleration/ Pn107 Linear acceleration 10,000 com- −32768 2 100 Supported
deceleration constant mand units/s2 to 32767
constants
Pn10A Linear deceleration 10,000 com- −32768 2 100 Supported
constant mand units/s2 to 32767
Note When using G-series Servo Drives, one-step linear acceleration/deceleration

curves are set using only Pn107 and Pn10A.
When the parameter is set to 0, it is taken as 1.
The setting will be used after conversion to unsigned 16-bit data (0 to 65536).
Examples: −32768 is converted to 8000 hex = 32768
−1 is converted to FFFF hex = 65535
278
W-series and SMARTSTEP Junior Servo Parameters

Type Parameter Parameter name Unit Setting Parameter Default W Series SMARTS
No. range size setting TEP
Junior
Accelera- Pn80A First-step linear accel- 10,000 1 to 2 100 Sup- Not sup-
tion/ eration constant command 65535 ported ported
decelera- units/s2
tion con-
stants Pn80B Second-step linear 10,000 1 to 2 100 Sup- Sup-
acceleration constant command 65535 ported ported
units/s2
Pn80C Acceleration constant 100 com- 0 to 2 0 Sup- Not sup-
switching speed mand 65535 ported ported
units/s
Pn80D First-step linear decel- 10,000 1 to 2 100 Sup- Not sup-
eration constant command 65535 ported ported
units/s2
Pn80E Second-step linear 10,000 1 to 2 100 Sup- Sup-
deceleration constant command 65535 ported ported
units/s2
Pn80F Deceleration constant 100 com- 0 to 2 0 Sup- Not sup-
units/s
The SMARTSTEP Junior Servo Drives do not support the following parame-
ters: Pn80A, Pn80C, Pn80D, and Pn80F. One-step linear acceleration/decel-
eration curves are set using only Pn80B and Pn80E.
Speed
Speed
command value
Pn80C Second-step linear

acceleration constant
First-step linear Second-step linear

acceleration deceleration
constant constant
Pn80F
First-step linear
deceleration
constant
Time
To operate an axis using only a first-step acceleration/deceleration curve with

a W-series Servo Drive, only settings for the parameters Pn80B and Pn80E
are required if the default settings (0) are used for the Servo Parameters
Acceleration Constant Switching Speed and Deceleration Constant Switching
Speed (Pn80C and Pn80F).
Unit for Acceleration/Deceleration Constants

The unit for the acceleration/deceleration filters set in the Position Control Unit
is 10000 command units/s2 using the command unit determined by the elec-
tronic gear ratio in the Servo parameters.
The setting of the command unit can cause the setting unit for the accelera-
tion/deceleration constants to become imprecise or changes in the setting can
greatly affect the size of accelerations/decelerations.
279
To create a more precise setting unit for accelerations/decelerations, increase

the resolution of the command unit (i.e., increase the number of digits).
Example
If the command unit is 0.1 mm, the target speed is 1,000 mm/s (1,000.0 mm/s
= 10,000 command units/s) and the target speed must be reached in 250 ms,
the acceleration constant would be set to 4, as shown below.
1000 [command units/s]/250 [ms] = 40,000 [command units/s2]
= 4 [10,000 command units/s2]
If the acceleration constant is increased or decreased by only 1, the accelera-
tion time required to reach the same target speed is greatly affected, as
shown below:
Acceleration constant = 3:10000 [command units/s]/3 [10,000 command
units/s2] = 333 [ms]
Acceleration constant = 5:10000 [command units/s]/5 [10,000 command
units/s2] = 200 [ms]
If the precision of the command unit is increased by 2 digits to 0.001 mm, the
acceleration constant would be set to 400 to reach the same target speed of
1,000 mm/s (1000.000 mm/s = 1,000,000 command units/s) in the same time
of 250 ms.
1,000,000 [command units/s]/250 [ms] = 4,000,000 [command units/s2]
= 400 [10,000 command units/s2]
If the acceleration constant is increased or decreased by 1, the acceleration
time required to reach the same target speed is affected very little, as shown
below:
Acceleration constant = 399:1000000 [command units/s]/399 [10000 com-
mand units/s2] = 250.6 [ms]
Acceleration constant = 401:1000000 [command units/s]/401 [10000 com-
mand units/s2] = 249.3 [ms]
7-4-3 Acceleration/Deceleration Filter Settings

When a W-series Servo Drive is connected, acceleration/deceleration filters
can be set for each axis to avoid rapid changes in acceleration or decelera-
tion. A acceleration/deceleration filter can be set for each axis to enable non-
linear acceleration/deceleration curves. Using an acceleration/deceleration fil-
ter enables an exponential acceleration/deceleration curve and accelera-
tion/deceleration S-curves using a movement (running) average.
The G5-series Servo Drives and the G-series Servo Drives do not support
exponential filters, but acceleration/deceleration S-curves using a moving
average can be used.
The SMARTSTEP Junior Servo Drives do not support acceleration/decelera-
tion filters and the filters cannot be set.
To use the acceleration/deceleration filter, set the acceleration/deceleration
curve designation in the Axis Operating Output Memory Area when specifying
the operating command as well as setting the acceleration/deceleration filter
settings in the Servo Parameters.
280
Servo Parameters Acceleration/Deceleration Constants

Type Parameter name for Unit Setting Paramet Default G5 G W SMART-
G Series (Parameter range er size setting Series Series Series STEP
name for W Series) Junior
Accelera- Exponential accelera- Com- 0 to 2 0 Not sup- Not sup- Pn810 Not sup-
tion/ tion/deceleration bias mand 32767 ported ported ported
decelera- units/s
tion filters Exponential accelera- 0.1 ms 0 to 2 0 Not sup- Not sup- Pn811 Not sup-
tion/deceleration time 5100 ported ported ported
constant
Moving average time 0.1 ms 0 to 2 0 Pn818 Pn10E Pn812 Not sup-
(Movement average 5100 ported
time)
For W-series Servo Drives, Pn810 and Pn811 must be set when using an
exponential curve, and Pn812 must be set when using an S-curve for the
acceleration/deceleration curve.
For G-series Servo Drives, Pn10E must be set when using an S-curve.
For G5-series Servo Drives, Pn818 must be set when using an S-curve.
Name Word Bit Contents G5 Series W Series SMARTSTE
G Series P Junior
Accelera- Exponential a+16 03 1: Use exponential accelera- Not sup- Supported Not sup-
tion/decel- curve desig- tion/deceleration curve. ported ported
eration nation
curve des- S-curve des- 04 1: Use S-curve accelera- Supported Supported Not sup-
ignation ignation tion/deceleration curve. ported

The acceleration/deceleration curve designation setting is enabled when the
bit for the movement command turns ON.
Note (1) Do not set both the exponential curve designation and S-curve designa-
tion to 1 (enabled) in the acceleration/deceleration curve designation. En-
abling both settings may cause a malfunction.
(2) If an error occurs, the acceleration/deceleration curve for the deceleration
stop operation will be that currently specified in the acceleration/deceler-
ation curve designation, except for limit inputs and software limits. To use
a non-linear acceleration/deceleration curve for the deceleration stop op-
eration both when an error occurs and when operation is normal, make
sure that the acceleration/deceleration curve designation is kept enabled
during axis operations.
(3) Change the acceleration/deceleration constants using WRITE SERVO
PARAMETER while axis operation is stopped (Busy Flag =0). Do not
change parameters during axis operation. Changing parameters of an
active axis may result in incorrect positioning or other malfunction.
281
Exponential Acceleration/Deceleration Curve

Speed
(Speed command value

− Pn810) × 63.2%
(Speed command value
Speed command value

− Pn810) × 63.2%
Pn810
Pn811 Pn811 Time
The acceleration/deceleration for the exponential acceleration/deceleration

curve is determined by the Servo Parameters Exponential Accelera-
tion/Deceleration Bias (Pn810) and Exponential Acceleration/Deceleration
Time Constant (Pn811). The speed set in Exponential Acceleration/Decelera-
tion Bias (Pn810) is used as the start speed. The time until reaching 63.2% of
the difference between the speed command value and the start speed is set
in the Exponential Acceleration/Deceleration Time Constant (Pn811).
When an exponential acceleration/deceleration curve is used, the accelera-
tion/deceleration time is always fixed regardless of the speed command
value.
S-curve (Movement Average) Acceleration/Deceleration Curve

The slope of the acceleration/deceleration speed for the
S-curve acceleration/deceleration curve is smaller than the
Speed maximum acceleration/deceleration of the linear
acceleration/deceleration curve.
Speed command
value
Note: Use the parameter numbers in
Pn80C the parentheses ( ) for G
Pn80B series Servo Drives.
Note: Use the parameter numbers in

Pn80A Pn80E the parentheses [ ] for G5
(Pn107) series Servo Drives.
[Pn811]
Pn80F
Pn80D
(Pn10A)
[Pn814]
Pn812 Time
Pn812
(Pn10E) (Pn10E)
[Pn818] [Pn818]
282
In the S-curve acceleration/deceleration curve, a moving average is taken

based on the Moving Average Time Interval (Pn812 (this is possible with
Pn10E in the G series Servo Drive and with Pn818 in the G5 series Servo
Drive)) for the linear acceleration/deceleration curve specified in Pn80A to
Pn80F (Pn106 to Pn10B when using a G series Servo Drive, Pn811 and
Pn814 when using a G5 series Servo Drive) to smooth out sudden changes in
acceleration or deceleration (angles in the acceleration/deceleration curve).
The acceleration/deceleration for the S-curve acceleration/deceleration curve
will not exceed the maximum acceleration/deceleration of the linear accelera-
tion/deceleration of the linear acceleration/deceleration curve prior to taking
the moving average.
The time width where the average of the acceleration/deceleration curve is
taken is set as the Moving Average Time Interval (Pn812 (set by Pn10E in the
G series Servo Drive and by Pn818 in the G5 series Servo Drive)). For accel-
eration/deceleration curves having a fixed-speed region that is large enough
for the target speed (speed command value), the time to reach the target
speed by the S-curve acceleration/deceleration curve is slower than the linear
acceleration/deceleration curve by the amount of the setting value of the Mov-
ing Average Time Interval (Pn812 (set by Pn10E in the G series Servo Drive
and by Pn818 in the G5 series Servo Drive)).
If the constant speed interval for the target speed is less than the movement
(running) average time or a triangular acceleration/deceleration curve occurs,
the achieved speed of S-curve acceleration/deceleration will be less than the
target speed.
Speed
Speed command The S-curve acceleration/deceleration for

the acceleration/deceleration curve will
not reach the target speed if the target
speed (speed command value) constant
interval is too short or a triangular
acceleration/deceleration curve occurs.
Time
283
7-4-4 Origin Search Acceleration/Deceleration Operations

The origin search operation of the PCU consists of the following three steps.
1,2,3... 1. Search for origin proximity signal

2. Search for origin signal after detection of origin proximity signal
3. Positioning for final travel distance to return to zero point (origin) after de-
tection of origin signal
Origin proximity 1
input signal
0
Origin input signal/ 1
Phase Z signal
0
Zero point return approach speed 1 (Pn817) for W Series
Origin return approach speed 1 (Pn110) for G Series
Speed command value and (Pn823) for G5 Series
Speed Origin return approach speed 2 (Pn111) for G Series
and (Pn824) for G5 Series
Final travel distance to return to zero point
(Pn819) for W Series
Origin return final distance (Pn204) for G Series
Final distance for Origin return (Pn825) for G5 Series

Start Stop
(1 ) (2 ) (3 )
For details on the origin search, refer to 8-2 Origin Search Operation.
The acceleration when origin search starts and the speed change when
switching to another step depend on the acceleration/deceleration curve (cir-
cled in above diagram) determined by the acceleration/deceleration filter set-
ting and acceleration/deceleration set in Servo Parameters (Pn80A to Pn812
for W Series, Pn107 and Pn10A for G Series, Pn811 and Pn814 for G5
Series).
When the final travel distance to return to zero point (origin) is a negative or
small value, the axis will decelerate to a stop as shown in the following dia-
gram, and then reverse and perform the set positioning. Both the deceleration
and acceleration will be determined also by the set acceleration/deceleration
curve (circled in following diagram).
Origin input signal/ 1

Phase Z signal
0
Speed

Stop
(Pn819) for W Series
Origin return final distance (Pn204) for G Series
Final distance for Origin return (Pn825) for G5 Series
284
If the reversal mode operation using limit input is set, however, the stop oper-
ation when a limit input signal is input will depend on the Servo Drive setting.
For details on stop operations when using limit input signal inputs, refer to 7-5
Limit Input Operations and Reversal Mode Operation Using Limit Inputs in 8-
2-4 Origin Search Operation.
7-4-5 Acceleration and Deceleration Operations during Speed Control

When the speed control command is executed, the Servo Drive performs
stepped speed control from the present feedback speed to the target speed
specified in the speed command value for speed control. Apart from smoothly
increasing/decreasing the speed command value (for speed control) when
starting speed control, shock in acceleration/deceleration when performing
speed control can also be minimized by setting the Servo Parameters Soft
Start Acceleration Time (Pn312 for G5 Series, Pn058 for G Series and Pn305
for W Series) and Soft Start Deceleration Time (Pn313 for G5 Series, Pn059
for G Series and Pn306 for W Series) to create a trapezoidal speed curve.
For details on speed control, refer to 10-5 Speed Control.
G5-series Acceleration/Deceleration Constants for Speed Control
Parameter Parameter name Unit Setting Parameter Default
Pn312 Soft start accelera- ×2ms 0 to 5000 2 0
tion time
Pn313 Soft start decelera- ×2ms 0 to 5000 2 0
tion time
G-series Acceleration/Deceleration Constants for Speed Control

Pn058 Soft start accelera- ×2ms 0 to 5000 2 0
tion time
Pn059 Soft start decelera- ×2ms 0 to 5000 2 0
tion time
W-series Acceleration/Deceleration Constants for Speed Control

Pn305 Soft start accelera- ms 0 to 10000 2 0
tion time
Pn306 Soft start decelera- ms 0 to 10000 2 0
tion time
The Soft Start Acceleration Time and Soft Start Deceleration Time are set
respectively as the acceleration time and deceleration time between speed 0
(speed command value for speed control: 0%) and the maximum rotation
speed of the Servomotor (speed command value for speed control: 100%).
The acceleration time and deceleration time for the actual target speed are as
follows:
285
Limit Input Operations Section 7-5
Speed command value for speed control (r/min)

Actual acceleration (deceleration) time = × Soft start acceleration (deceleration) time
Maximum rotation speed (r/min)
Servomotor speed
+r/min
Max. rotation speed

(See note.)
Speed command value

for speed control
0 Time
Actual acceleration time Actual deceleration time
W Series: Pn305 W Series: Pn306

G Series: Pn058 G Series: Pn059
G5 Series: Pn312 G5 Series: Pn313
Note The maximum rotation speed depends on the Servomotor used. Refer to the
maximum momentary rotation speed for the Servomotor used. The following
values apply to W-series Servomotors.
3,000-r/min Servomotor (cylinder type or flat type): 5,000 r/min
1,000-r/min Servomotor: 2,000 r/min
1,500-r/min Servomotor (450 W to 7.5 kW): 3,000 r/min
1,500-r/min Servomotor (11 to 15 kW): 2,000 r/min
7-5 Limit Input Operations

The PCU uses the Servo Drive's internal forward drive prohibited signal input
and reverse drive prohibited signal input as the forward rotation limit input sig-
nal and reverse rotation limit input signal, respectively. Additionally, the for-
ward/reverse software limits can be used by setting the Servo Parameters.
The stop operation when the forward/reverse rotation limit input signal is
input, and the forward/reverse software limit is reached depend on the Servo
Parameter settings, as shown in the following table.
Travel direction limit Reverse travel direction
limit (See note 1.)
Limit input sig- The Servomotor operation is stopped An emergency stop
nal at the Servo Drive according to the set- caused by a limit input
ting of Servo Parameter Pn001.1 error is executed at the
(Pn504 for G5 Series, Pn004 for G PCU, except when exe-
Series). cuting ORIGIN SEARCH.
At the PCU, a limit input error occurs,
causing an emergency stop, except
when using the origin search opera-
tion's reversal mode.
Software limit The Servomotor operation is stopped ---
at the Servo Drive according to the set-
ting of Servo Parameter Pn001.1
(Pn504 for G5 Series, Pn004 for G
Series). (See note 2.)
At the PCU, a software limit error
occurs, causing an emergency stop.
1. This operation occurs when a limit input signal is input in the direction opposite to the
travel direction due to incorrect wiring or other cause.
2. For details on software limit functions, refer to 10-8 Software Limits.
286
will not stop the Servomotor when the signal is input, and the PCU will
also not detect limit inputs as errors. When using a PCU, always allocate
the Servo Drive's forward drive prohibited signal and reverse drive prohib-
ited signal to enable use of the limit input signals. (Refer to 6-4 Standard
Settings for Servo Drives Using MECHATROLINK.)
(2) Make sure that the limit input signals maintain a signal width no shorter
than the MECHATROLINK communications cycle. Input signals that are
shorter than the communications cycle cannot be detected by the PCU.
When using a G5-series Servo Drive, a G-series Servo Drive or a W-series
Servo Drive, the Servomotor's stop operation at the Servo Drive when a limit
input signal is input or a software limit is reached is set in the Servo Parame-
ters for limit input operations.
When using a SMARTSTEP Junior Servo Drive, the Servo is locked after
decelerating to a stop with the maximum Servomotor torque. The following
function cannot be used.
Servo Parameters G5-series Limit Input Parameters
Pn505 Stop selection for --- 0 to 2 2 0
drive prohibition
input
Pn511 Emergency stop % 0 to 500 2 0
torque
Pn505 is used to set the stop operation of the Servomotor when a for-
ward/reverse rotation limit is input or a forward/reverse software limit is
reached. The parameter size of Pn505 is the value to be specified when
transferring the Servo Parameter Pn505 including the above settings.
The following table shows the Servomotor stop operations using Pn505 set-
tings.
Parameter Setting During After stopping Deviation counter
No. deceleration
Pn505 0 Dynamic brake Disables torque Cleared while
command in drive decelerating with
prohibited direction dynamic brake.
Retained after
stopping.
1 Disables torque Disables torque Cleared while
command in drive decelerating.
prohibited direction Retained after
stopping.
2 Emergency stop Servo lock Retained while
torque (Pn511) decelerating,
cleared upon com-
pletion of decelera-
tion, and retained
after stopping.
Note (1) If an operation command in the drive prohibited direction is received

when the torque command of the drive prohibited direction is disabled,
the Servomotor will not operate in the drive-prohibited direction, but the
position deviation will accumulate because the position command is en-
abled. If drive prohibition is detected, stop the operation command from
287
the host controller and take measures such as executing a command in

the reverse direction.
(2) The positioning command generation process (positioning operation) in
the Servo Drive will be forcibly stopped after it enters the deceleration
mode. Also, when the deceleration mode is activated during speed con-
trol or torque control, it will switch to position control.
(3) When the Servomotor rotation speed is 30 r/min or less (stopped), the
Servomotor does not enter into deceleration mode even if the drive pro-
hibit input is enabled.
G-series Limit Input Parameters

Pn066 Stop selection for --- 0 to 2 2 0
drive prohibition
input
Pn06E Emergency stop % 0 to 300 2 0
torque
Pn066 is used to set the stop operation of the Servomotor when a for-
ward/reverse rotation limit is input or a forward/reverse software limit is
reached. The parameter size of Pn066 is the value to be specified when
transferring the Servo Parameter Pn066 including the above settings.
The following table shows the Servomotor stop operations using Pn066 set-
tings.
Parameter Setting During After stopping Deviation counter
No. deceleration
Pn066 0 Dynamic brake Disables torque Cleared while
command in drive decelerating with
prohibited direction dynamic brake.
Retained after
stopping.
1 Disables torque Disables torque Cleared while
command in drive decelerating.
prohibited direction Retained after
stopping.
2 Emergency stop Servo lock Retained while
torque (Pn06E) decelerating,
cleared upon com-
pletion of decelera-
tion, and retained
after stopping.
Note (1) If an operation command in the drive prohibited direction is received

when the torque command of the drive prohibited direction is disabled,
the Servomotor will not operate in the drive-prohibited direction, but the
position deviation will accumulate because the torque command is en-
abled. If drive prohibition is detected, stop the operation command from
the host controller and take measures such as executing a command in
the reverse direction.
(2) The positioning command generation process (positioning operation)
within the Servo Drive will be forcibly stopped after it enters the deceler-
ation mode. Also, when the deceleration mode is activated during speed
control or torque control, it will switch to position control.
288
(3) When the Servomotor rotation speed is 30 r/min or less (stopped), the de-
celeration mode will not be entered even if the drive prohibit input is en-
abled.
W-series and SMARTSTEP Junior Limit Input Parameters
Pn001.1 Function selection --- 0 to 2 2 0
application switch 1
Select stop when
prohibited drive is
input
Pn406 Emergency stop % 0 to 800 2 350
torque
Note The Pn406 default setting corresponds to that used for W-series Servo
Drives.
Pn001.1 is used to set the stop operation of the Servomotor when a for-
ward/reverse rotation limit input is input or a forward/reverse software limit is
reached. The parameter size of Pn001.1 in the above table is the set value to
be specified when transferring the Servo Parameter Pn001 (including
Pn001.1).
The following table shows the Servomotor stop operations using Pn001.1 set-
tings.
Parameter Set Details
No. value
Pn001.1 0 Stops operation according to the setting in Pn001.0 (selects
stop if an alarm occurs when Servomotor is OFF).
Puts Servomotor in Servo unlock status after stopping opera-
tion.
Parameter Set Details
No. value
Pn001.0 0 Servomotor stopped by dynamic
brake.
Dynamic brake held after stopping.
1 Servomotor stopped by dynamic
brake.
Dynamic brake OFF after stopping.
2 Servomotor stopped with free run.
1 Stops Servomotor using torque set in Emergency Stop Torque

(Pn406).
Puts Servomotor in Servo lock status after stopping operation.
2 Stops Servomotor using torque set in Emergency Stop Torque
(Pn406).
Puts Servomotor in Servo unlock status after stopping opera-
tion.
289
Stopping Methods when Forward/Reverse Drive Prohibit Is OFF

Deceleration method Stopped status
Pn001.0
"0" or "1" Dynamic brake Servo unlocked
Pn001.1
"0"
POT (NOT) is OFF "2" Free run
Pn001.1
"1" or "2" "2" Servo unlocked
Emergency Stop Torque (Pn406)
"1" Servo locked
Note The brake interlock output (BKIR output) will not function while there is a limit
input signal (Servo Drive's forwarded drive prohibited signal or reverse drive
prohibited signal) or while the Servo is unlocked as the result of reaching a
software limit. Unlock the Servo before activating a machine holding brake.
290
SECTION 8
Defining the Origin
This section provides information on the various operations used to determine the origin, including origin searches, origin
returns, presetting the present position, calculating phase Z margins, and using the absolute encoder.
8-1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292

8-2 Origin Search Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 293
8-2-1 Origin Search Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 293
8-2-2 Origin Search Procedure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294
8-2-3 Data Settings Required for Origin Search . . . . . . . . . . . . . . . . . . . . 295
8-2-4 Origin Search Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305
8-2-5 Starting Origin Search . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 314
8-2-6 Origin Search Preset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 315
8-3 Present Position Preset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 317
8-3-1 Outline of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 317
8-3-2 Data Settings for Present Position Preset . . . . . . . . . . . . . . . . . . . . . 317
8-4 Origin Return . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 319
8-4-1 Origin Return Data Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 319
8-5 Phase Z Margin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 324
8-5-1 Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 324
8-5-2 Calculating the Phase Z Margin (Example) . . . . . . . . . . . . . . . . . . . 324
8-5-3 Phase Z Margin for Specific Operation Patterns . . . . . . . . . . . . . . . 325
8-6 Absolute Encoder Origin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 326
8-6-1 Absolute Encoder Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 326
8-6-2 Absolute Encoder Operating Procedure . . . . . . . . . . . . . . . . . . . . . . 327
8-6-3 PCU Data Settings for Using Absolute Encoders. . . . . . . . . . . . . . . 329
8-6-4 Absolute Encoder Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331
8-6-5 Absolute Encoder's Origin (Zero Point) Position Offset Setting . . . 332
8-6-6 Establishing the Origin Using an Absolute Encoder . . . . . . . . . . . . 334
291
Overview Section 8-1
8-1 Overview
When performing positioning for a system in terms of absolute positions in
that system, it is first necessary to define the origin. For example, in the X-Y
plane shown below, before positioning to (X, Y) = (100 mm, 200 mm), the ori-
gin (0,0) of the machine must be established, i.e., it is necessary to define the
origin.
Y axis
•(100, 200)
X axis
(0, 0)
With the PCU, the mechanical origin can be defined using any of the following
three methods.
Name Contents
ORIGIN SEARCH The origin is determined by actually operating the Servomotor
and using the limit input signal, origin proximity input signal,
and origin input signal.
A photoelectric sensor or the phase Z signal from an encoder
can be used as the origin input signal.
Execute this function when using an incremental encoder Ser-
vomotor or Servomotor with absolute encoder used as an
PRESENT POSI- The origin can be determined by forcibly setting the position at
TION PRESET which the Servomotor is stopped to a user-specified position.
ABSOLUTE By using a Servomotor with absolute encoder, the absolute
ENCODER ORIGIN value data saved in the encoder can be read and the mechan-
ical origin can be established when starting to use the device.
The PCU also features a positioning function to return to the established ori-
gin.
Name Contents
ORIGIN RETURN Positioning is performed from the position where the Servo-
motor is stopped to the origin that has been established using
ORIGIN SEARCH or PRESENT POSITION PRESET.
The PCU can also be operated without defining the origin but the axis opera-
tion for each function is as follows:
Function Operation
JOG Can be executed.
ORIGIN RETURN Cannot be executed.
If executed, a Present Position Unknown Error
(axis error code: 3030 hex) will occur.
292
Origin Search Operation Section 8-2
Function Operation
Position ABSOLUTE MOVE- Cannot be executed.
control MENT If executed, a Present Position Unknown Error
(axis error code: 3030 hex) will occur.
RELATIVE MOVE- Can be executed.
MENT
INTERRUPT FEED- Can be executed only with RELATIVE MOVE-
ING MENT.
If executed with ABSOLUTE MOVEMENT, a
Present Position Unknown Error (axis error
code: 3030 hex) will occur, and the function will
not be executed.
SPEED CONTROL Can be executed.
TORQUE CONTROL Can be executed.
For G5-series Servo Drives, G-series Servo Drives and W-series Servo
Drives used with incremental encoders or absolute encoders used as incre-
mental encoders, the present position is taken as 0 when the power is turned
ON. When the executable functions shown in the above table are executed by
the PCU without a defined origin, the present position will be calculated from
the position of the axis (0) when the power was turned ON with no origin
established.
8-2 Origin Search Operation

8-2-1 Origin Search Overview
Origin searches are performed by actually operating the Servomotor, search-
ing for the mechanical origin based on the limit input signal, origin proximity
input signal, and origin input signal, and to define the origin.
Note In ORIGIN SEARCH execution, the present position is cleared to 0 at the
same time when an origin is defined. Unless the Absolute Encoder Zero Point
Position Offset is set using an Origin Search Operation with Position Control
Units with unit version 2.0 or later, the absolute value data read to the PCU
when SERVO LOCK was executed will be lost when the origin is established.
(The absolute data saved in the absolute encoder will not be lost and can be
obtained by executing SERVO LOCK after SERVO UNLOCK.) When using a
Position Control Unit with unit version 2.0 or later and not setting an Absolute
Encoder Zero Point Position Offset, execute ORIGIN SEARCH using either a
Servomotor with incremental encoder or a Servomotor with absolute encoder
that is used as an incremental encoder.
293
Origin Search Operation Diagram for W-series Servo Drives

CPU Unit PCU Servo Drive (1) Transfer the Axis Parameters and Servo Parameters.
Function selection (2) Set the operating data in the Axis Operating Output Data Areas.
Ladder program application switch (3) Use the bit in the Axis Operating Output Memory Areas to start
1 the origin search.
Pn001.1
(1)
Function selection
MOV application switch
Axis Parameters 2 Select the type of
encoder used.
MOV d+2 Encoder type Pn002.2
Acceleration/de-
celeration param-
Use WRITE SERVO eter
WRITE DATA/SERVO PARAMETER to
PARAMETER transfer before Pn80A
(2) executing ORIGIN Pn80B
MOV SEARCH.
Pn80C
MOV :
(3) Origin search
parameters
ORIGIN SEARCH Pn816
Pn817
Pn818
Use WRITE DATA to
transfer before Pn819
executing ORIGIN Axis Parameters
Pn81A Speed
SEARCH. Input signal
d selection
Axis Operating Output Memory Areas Operation mode
d+1 selection
Forward
a
Reverse Forward rotation
: rotation limit input
Output during I/O refresh
Speed command value limit input
a+4 (rightmost word)
Speed command value ORIGIN SEARCH Bit
a+5 (leftmost word) (word a, bit 06)
:
b Control status
Input during I/O refresh
Feedback present position Origin proximity input

b+6 (rightmost word)
Feedback present position Phase Z/origin input
b+7 (leftmost word)
Command present position Forward drive
b+8 (rightmost word) prohibited
Command present position
b+9 (leftmost word)
a: Beginning word of Axis Operating Output Areas specified in Common Parameters + (Axis No. −1) × 25
b: Beginning word of Axis Operating Input Areas specified in Common Parameters + (Axis No. −1) × 25
d: 1860 hex + (Axis No. −1) × 14 hex
The speed command value set in the Axis Operating Output Memory Area
using the MOV instruction is output to the PCU automatically during I/O
refresh.
The origin search is started when the ORIGIN SEARCH Bit allocated in the
Axis Operating Output Memory Area turns ON.
Note Once the origin is established by the PCU, it will not be lost if ORIGIN
SEARCH is executed again. If ORIGIN SEARCH is executed again, the
search operation will be executed using the coordinates based on the previ-
ous origin until the new origin is established. If the software limits are enabled
at this point, the software limits will apply to the origin search operation, caus-
ing operation to stop due to an error. (Positioning will not be reversed at the
software limits when origin searches are performed in reversal mode.) To
execute ORIGIN SEARCH again after the origin has been established, either
disable the software limits, or execute DEVICE SETUP or another operation
that will cancel the origin (No Origin Flag = 1) before executing ORIGIN
SEARCH.
8-2-2 Origin Search Procedure

Use the following procedure to perform an origin search.
1,2,3... 1. Set the Common Parameters and save them.

2. Set the Axis Parameters and save them.
294
3. Turn ON the PCU again or restart the Unit.

The data for the Common Parameters and Axis Parameters set in steps 1
and 2 above are enabled.
4. Start MECHATROLINK communications.
5. Set the Servo Parameters and save them.
Set the Servo Parameters required to execute origin searches.
To set parameters permanently, execute SAVE SERVO PARAMETER
(writes to the non-volatile memory)
To enable changed offline parameters, turn the power to the Servo Drive
OFF and then ON again or execute DEVICE SETUP.
For details, refer to 5-3 Transferring Servo Parameters.
6. Execute SERVO LOCK.
7. Set the data used for origin search.
Set the origin search speed data in the speed command value of the Axis
Operating Output Memory Area.
8. Execute ORIGIN SEARCH.
When using the PCU for the first time or to change the PCU parameter set-
tings, steps 1 to 3 must be performed.
Note To specify the Servo Parameters for acceleration/deceleration every time,
make sure that the axis operation is stopped (Busy Flag = 0) while changing
the acceleration/deceleration constants using WRITE SERVO PARAMETER.
Do not change the settings during axis operation. Changing parameters while
the axis is operating may result in incorrect positioning or other malfunction.
8-2-3 Data Settings Required for Origin Search

A simple explanation of the main parameters and data used to execute ORI-
GIN SEARCH is provided here. For details on the parameters required when
using absolute encoders, refer to 8-6 Absolute Encoder Origin.
To execute ORIGIN SEARCH, apart from the parameters explained here, the
following parameters also need to be set as basic settings for operating the
PCU.
• External I/O Signal Allocations
Refer to 6-4 Standard Settings for Servo Drives Using MECHATROLINK.
The origin proximity input signal must be allocated to execute ORIGIN
SEARCH.
• Command Unit
Refer to 7-2 Control Units.
The setting units for parameters and data depend on the specified com-
mand unit.
295
Axis Parameter Area The following parameters are for the operation mode for origin searches.
preset direction method operation 0: Reversal mode 1 (default setting)
1: Reverse mode 2
3: Reversal mode 3 (See note.)
Origin detection method (See note.)
0: With origin proximity input signal
reversal (default setting)
1: Without origin proximity input sig-
nal reversal
2: Not use origin proximity input sig-
nal
1: Reverse
Origin search preset (See note.)
0: Not Set (default setting)
1: Set
d+2 0 (fixed) 0 0 0 (fixed) 0 (fixed) Encoder 0: Incremental encoder (default setting)
type 1: Absolute encoder
d = 1860 hex + (Axis No. −1) × 14 hex

* The reversal mode 3 setting for the origin search operation, the origin detec-
tion method, and the origin search preset can be used only with Position
Control Units with unit version 2.0 or later. They cannot be used with Posi-
tion Control Units with unit version 1.3 or earlier.
Note (1) Set the origin search direction of the axis parameters and Origin Search
Direction for G5-series Servo Drives (Pn822), Origin Return Mode Set-
tings for G-series Servo Drives (Pn10F) or Zero Point Return Mode Set-
ting for W-series Servo Drives (Pn816) to the same direction. Setting
different direction may result in a malfunction.
(2) When using an absolute encoder, make sure that the settings for the en-
coder type in the Axis Parameters and Operation Switch when Using Ab-
solute Encoder (Pn002.2 for W Series, Pn00B for G Series and Pn015 for
G5 Series) in the Servo Parameters match. If the settings do not match,
ORIGIN SEARCH execution will not be possible, or another malfunction
may occur.
(3) Make sure that the external input signals for origin searches (limit input
signal and origin proximity input signal) maintain a signal width no shorter
than the MECHATROLINK communications cycle. If the input signal
width is shorter than the communications cycle, the PCU is unable to de-
tect the input signals, and operations cannot be performed normally.
296
Axis Parameter G5-series Servo Parameter Pn015 (Operation Switch

Area when Using Absolute Encoder)
Encoder type G-series Servo Parameter Pn00B (Operation Switch when
Using Absolute Encoder)
0: Use as an absolute 1: Use as an incremental
encoder. encoder.
2: Use as an absolute
encoder but ignore abso-
lute multi-turn counter over-
flow alarm
0: Incremental Do not set this combination. This setting is used when
encoder using an absolute encoder as
an incremental encoder.
1: Absolute encoder This setting is used when Do not set this combination.
using an absolute encoder as
an absolute encoder.
Axis Parameter W-series Servo Parameter Pn002.2

Area (Operation switch when using absolute encoder)
Encoder type 0: Use as absolute encoder. 1: Use as incremental
encoder.
an incremental encoder.
When using a G5-series or G-series incremental encoder, only the encoder

type setting in the Axis Parameters is required (When using the incremental
encoder, the settings for the Servo Parameter Pn015 (G5 series) and Pn00B
(G series) are disabled).
When using a W-series incremental encoder, only the encoder type setting in
the Axis Parameters is required (the Pn002.2 setting in Servo Parameters is
disabled when an incremental encoder is used).
An absolute encoder cannot be used with a SMARTSTEP Junior Servo Drive,
and Pn002.2 is not supported. Use the Servo Drive as if the axis parameters
are set for an incremental encoder.
Origin Input Signal Parameters
d Origin input sig- Interrupt input Origin input signal selection
nal selection signal selection 00: Phase Z (default setting)
d = 1860 hex + (Axis No. −1) × 14 hex

Use this parameter to select the origin input signal to be used with origin
search. When external latch signals 1 to 3 are used as the origin input signal,
the external latch signal used must be allocated in the Servo Drive's external
input allocations.
When using a SMARTSTEP Junior Servo Drive, only the Z phase or the
external latch signal 1 input can be set for the origin input signal.
297
Servo Parameters G5-series Limit Input Operation Parameters

Pn505 Stop selection for drive prohibition --- 0 to 2 2 0
input
Pn511 Emergency stop torque % 0 to 500 2 0
G-series Limit Input Operation Parameters

Type Parame- Parameter name Unit Setting Parame- Default
ter No. range ter size setting
--- Pn066 Stop selection for drive prohibition --- 0 to 2 2 0
input
--- Pn06E Emergency stop torque % 0 to 500 2 0
--- Pn004 Drive Prohibit Input Selection --- 0 to 2 2 0
W-series Limit Input Operation Parameters

Type Parame- Parameter name Unit Setting Parame- Default W Series SMART-
ter No. range ter size setting STEP
Junior
--- Pn001.1 Function selection application switch 1 --- 0 to 2 2 0 Sup- Not sup-
Select stop when prohibited drive is ported ported
input
--- Pn406 Emergency stop torque % 0 to 800 2 350 Sup- Not sup-
ported ported
* The Pn406 default setting corresponds to that used for W-series Servo
Drives.
The stop operation (Pn505 for G5 Series, Pn066 for G Series and Pn001.1 for
W Series) sets the stop operation of the Servomotor for forward/reverse rota-
tion limit inputs when prohibited drive is input.
When reversal mode is used for the origin search, it is also used as the oper-
ation setting when limit inputs are input in the origin search direction. The
parameter size for Pn001.1 for W-series Servo Drives is the value to be spec-
ified when transferring the Servo Parameter Pn001 (including Pn001.1).
The emergency stop torque (Pn511 for G5 Series, Pn06E for G Series and
Pn406 for W Series) sets the stopping torque when the stop operation for limit
inputs is set to 1 (decelerates to a stop at set torque or lower, and locks Servo
in zero clamp mode), or 2 (decelerates to a stop at set torque or lower, and
puts Servo in free run state).
When using a SMARTSTEP Junior Servo Drive, the Servomotor will deceler-
ate to a stop with the maximum Servomotor torque and the Servo will be
locked when the forward or reverse rotation limit input is received.
Drive Prohibit Input Selection (G series: Pn004) sets the forward and reverse
drive prohibition input (CH1 POT: pin 19, NOT: pin 20) functions.
If reversal mode 1 is used in origin search, set to 0 or 1.
Parameters for Using G5-series Absolute Encoders

--- Pn015 Operation switch when using absolute --- 0 to 2 2 1
encoder
298
Parameters for Using G-series Absolute Encoders

--- Pn00B Operation switch when using absolute --- 0 to 2 2 0
encoder
Parameters for Using W-series Absolute Encoders

Junior
--- Pn002.2 Function selection application switch 2 --- 0, 1 2 0 Sup- Not sup-
Operation switch when using abso- ported ported
lute encoder
When using a Servomotor with absolute encoder, select whether the absolute
encoder will be used as an absolute encoder or as an incremental encoder.
These parameter settings are disabled if a Servomotor with incremental
encoder is used.
Set this parameter to 1 or 2 for a G-series Servo Drive, and 1 for a W-series
Servo Drive, if using a Servomotor with absolute encoder as a Servomotor
with incremental encoder.
When using an absolute encoder, make sure that the settings for the encoder
type in the Axis Parameters and Operation Switch when Using Absolute
Encoder (Pn00B for G Series and Pn002.2 for W Series) in the Servo Param-
eters match.
A motor with an absolute encoder cannot be used with a SMARTSTEP Junior
Servo Drive. When using a SMARTSTEP Junior Servo Drive, Pn002.2 is not
supported. Use the Servo Drive as for an incremental encoder.
If the settings do not agree, origin searches may not be possible and other
malfunctions may occur.
Command Unit Parameters
Model
R88D-KN@- Pn009 Electronic gear ratio numerator --- 1 to 4 1
ML2 1073741824
Pn010 Electronic gear ratio denominator --- 1 to 4 1
1073741824
R88D-GN@- Pn205 Electronic gear ratio 1 (numerator) --- 1 to 4 1
ML2 1073741824
Pn206 Electronic gear ratio 2 (denominator) --- 1 to 4 1
1073741824
R88D-WT@ Pn202 Electronic gear ratio G1 (numerator) --- 1 to 65535 2 4
Pn203 Electronic gear ratio G2 (denominator) --- 1 to 65535 2 1
R88D-WN@- Pn20E Electronic gear ratio G1 (numerator) --- 1 to 4 4
ML2 1073741824
Pn210 Electronic gear ratio G2 (denominator) --- 1 to 4 1
1073741824
SMART- Pn20E Electronic gear ratio G1 (numerator) --- 1 to 4 1
STEP Junior 1073741824
1073741824
The command unit default setting is pulses.
299
G5-series Acceleration/Deceleration Constants

Accelera- Pn811 Linear acceleration con- 10,000 −32768 2 100
tion/ stant command to 32767
decelera- units/s2
tion con-
stants Pn814 Linear deceleration con- 10,000 −32768 2 100
stant command to 32767
units/s2
Accelera- Pn818 Position command FIR filter 0.1 ms 0 to 2 0
tion/ time constant 10000
decelera-
tion filters
G-series Acceleration/Deceleration Constants

Accelera- Pn107 Linear acceleration con- 10,000 −32768 2 100
tion/ stant command to 32767
decelera- units/s2
tion con-
stants Pn10A Linear deceleration con- 10,000 −32768 2 100
stant command to 32767
units/s2
Accelera- Pn10E Moving average time 0.1 ms 0 to 5100 2 0
tion/
decelera-
tion filters
W-series and SMARTSTEP Junior Acceleration/Deceleration Constants

Junior
Accelera- Pn80A First-step linear accelera- 10,000 1 to 2 100 Sup- Not sup-
tion/ tion constant command 65535 ported ported
decelera- units/s2
tion con-
stants Pn80B Second-step linear acceler- 10,000 1 to 2 100 Sup- Sup-
ation constant command 65535 ported ported
units/s2
Pn80C Acceleration constant 100 com- 0 to 2 0 Sup- Not sup-
units/s
Pn80D First-step linear decelera- 10,000 1 to 2 100 Sup- Not sup-
tion constant command 65535 ported ported
units/s2
Pn80E Second-step linear deceler- 10,000 1 to 2 100 Sup- Sup-
ation constant command 65535 ported ported
units/s2
Pn80F Deceleration constant 100 com- 0 to 2 0 Sup- Not sup-
units/s
Accelera- Pn810 Exponential acceleration/ Command 0 to 2 0 Sup- Not sup-
tion/ deceleration bias units/s 32767 ported ported
decelera- Pn811 Exponential acceleration/ 0.1 ms 0 to 5100 2 0 Sup- Not sup-
tion filters deceleration time constant ported ported
Pn812 Movement average time 0.1 ms 0 to 5100 2 0 Sup- Not sup-
ported ported
300
When using W-series Servo Drives, the first-step acceleration/deceleration

curve operations require parameter settings for Pn80B and Pn80E only.
When using an exponential curve for the acceleration/deceleration curve,
Pn810 and Pn811 must be set for W-series Servo Drives. Movement Average
Time for W-series Servo Drives (Pn812) or Moving Average Time for G-series
Servo Drives (Pn10E) must be set when using an S-curve for the accelera-
tion/deceleration curve.
The second-step acceleration/deceleration constant cannot be set using a
G5-series Servo Drive or G-series Servo Drive. The exponential acceleration/
deceleration filter cannot be set because there is no exponential acceleration/
deceleration filter function.
ters: Pn80A, Pn80C, Pn80D, and Pn80F. They also do not support accelera-
tion/deceleration filters, so the filters cannot be set. One-step linear
acceleration/deceleration curves are set using only Pn80B and Pn80E.
For details on acceleration/deceleration curves, refer to 7-4 Acceleration and
Deceleration Operations.
G5-series Origin Search Parameters
Type Parameter Parameter name Unit Setting range Parameter Default
No. size setting
--- Pn820 Final distance for external Command unit −1,073,741,823 4 100
(See note.) input positioning to
1,073,741,823
Pn822 Origin return mode setting --- 0000 hex or 2 0
0001 hex
Pn823 Origin return approach 100 command 1 to 32767 2 50
speed 1 units/s
speed 2 units/s
Pn825 Final distance for Origin Command unit −1,073,741,823 1 100
Return to
1,073,741,823
G-series Origin Search Parameters

No. size setting
--- Pn203 Final distance for external Command unit −1,073,741,823 4 100
(See note.) input positioning to
1,073,741,823
Pn10F Origin return mode settings --- 0000 hex or 2 0
0001 hex
speed 1 units/s
speed 2 units/s
Pn204 Origin return final distance Command unit −1,073,741,823 1 100
to
1,073,741,823
301
W-series Origin Search Parameters

No. size setting
--- Pn814 (See Final travel distance for Command unit −1,073,741,823 4 100
note.) external positioning to
1,073,741,823
Pn816 Zero point return direction --- 0000 hex or 2 0
0001 hex
Pn817 Zero point return approach 100 command 0 to 65535 2 50
speed 1 units/s
Pn818 Zero point return approach 100 command 0 to 65535 2 5
speed 2 units/s
Pn819 Final travel distance to Command unit −1,073,741,823 4 100
return to zero point to
1,073,741,823
Note Starting in Position Control Unit with version 2.0 and later, the Final Distance
for External Input Positioning (G5 series: Pn820, G series: Pn203) or Final
Travel Distance for External Positioning (W series: Pn814) is used for internal
processing in the Position Control Unit when one of the following origin search
operation patterns are selected.
• When the origin detection method is set to any value except for 0
(Origin proximity input signal reversal)
• When setting a zero point position offset for an origin search using an
absolute encoder
Because the Final Distance for External Input Positioning (G5 series: Pn820,
G series: Pn203) or Final Travel Distance for External Positioning (W series:
Pn814) is automatically overwritten by the Position Control Unit when starting
the origin search operation, if the interrupt feeding is used after origin search,
the Final Distance for External Input Positioning (G5 series: Pn820, G series:
Pn203) or Final Travel Distance for External Positioning (W series: Pn814)
must be set again. Also, the Servo parameters are read out by the Position
Control Unit for the following parameters when the origin search operation is
started.
Origin Return Approach Speed 1, Origin Return Approach Speed 2, Origin
Search Final Travel Distance
(Origin Search Approach Speed 1, Origin Search Approach Speed 2, Origin
Search Final Travel Distance (Pn823, Pn824, Pn825) for G5 Series, Origin
Return Approach Speed 1, Origin Return Approach Speed 2, Origin Return
Final Distance (Pn110, Pn111, Pn204) for G Series or Zero Point Return
Approach Speed 1, Zero Point Return Approach Speed 2, and Final Travel
Distance to Return to Zero Point (Pn817, Pn818, Pn819) for W Series)
Absolute Origin Offset (Pn200) for G Series or Absolute Encoder Zero Point
Position Offset (Pn808) for G5 Series/W Series) (when using an absolute
encoder)
Set the origin search direction of the axis parameters and Origin Search
Direction for G5-series Servo Drives (Pn822), Origin Return Mode Settings for
G-series Servo Drives (Pn10F) or Zero Point Return Mode Setting for W-
series Servo Drives (Pn816) to the same direction. Setting different directions
may result in a malfunction.
302
Control Status Parameters

Type Parameter Parameter name Unit Setting Parameter Default
R88D-KN@- Pn431 Positioning completion range 1 Command unit 0 to 262144 4 300
ML2 Pn803 Origin range Command unit 0 to 250 2 0
R88D-GN@- Pn060 Positioning completion range 1 Command unit 0 to 10000 2 25
R88D-WT@ Pn500 Positioning completion range 1 Command unit 0 to 250 2 3
Pn803 Zero point width Command unit 0 to 250 2 10
R88D-WN@- Pn522 Positioning completion range 1 Command unit 0 to 4 3
ML2 1073741824
SMART- Pn522 Positioning completion range 1 Command unit 0 to 4 10
Axis Operating Output Memory Areas (Operating Commands)

Name Word Bits Contents G Series W Series SMARTSTE
P Junior
ORIGIN SEARCH a 06 0 → 1: Starts origin search Supported Supported Supported
Position command value a+2 --- Position command value (right- Supported Not sup- Supported
a+3 most word) ported
Position command value (left-
most word)
Unit: Command units/s
Command range: −
2,147,483,648 to 2,147,483,647
(80000000 hex to 7FFFFFFF
hex)
This value is also used as the
preset value when a preset value
is being set after completing an
origin search.
Speed command value a+4 --- Speed command value (right- Supported Supported Supported
a+5 most word)
Speed command value (leftmost
word)
Command range: 1 to
2,147,483,647 (00000001 hex to
7FFFFFFF hex)
This value is also used as the
preset value when a preset value
is being set after completing an
origin search.
Accelera- Exponential a+16 03 1: Use exponential acceleration/ Not sup- Supported Not sup-
tion/ curve desig- deceleration curve. ported ported
decelera- nation
tion curve S-curve des- 04 1: Use S-curve acceleration/ Supported Supported Not sup-
designa- ignation deceleration curve. ported
tion
Forward rotation current 14 1: Use forward torque limit Supported Supported Not sup-
limit ported
Reverse rotation current 15 1: Use reverse torque limit Supported Supported Not sup-
limit ported

303
The speed command value specifies the initial origin search speed until the
origin proximity signal is input. When an origin search is started with the
speed command set to 0 (command units/s), a Speed Designation Error (axis
error code: 3061) will occur and the origin search will not be executed.
Torque limit during operation is possible with origin searches. For further
details on the torque limit function, refer to 10-4 Torque Limits.
The speed command value, acceleration/deceleration curve designation, and
forward/reverse rotation current limit designation data are enabled when the
ORIGIN SEARCH Bit turns ON.
tion filters and torque limits. When using a SMARTSTEP Junior Servo Drive,
do not attempt to use an acceleration/deceleration curve designation or for-
ward/reverse torque limit designation.
Note Do not set both the exponential curve designation and S-curve designation to
1 (enabled) in the acceleration/deceleration curve designation. Enabling both
settings may cause a malfunction.
Axis Operating Input Memory Areas (Monitor)
PCU Positioning Com- b 05 0 → 1: Positioning completed.
pleted Flag
1: No origin established.
1: Axis error.
Feedback present posi- b+6 --- Present position:
tion b+7 Feedback position (rightmost word)
Feedback position (leftmost word)
Command present posi- b+8 --- Present position:
tion b+9 Command position (rightmost word)
Command position (leftmost word)

304
8-2-4 Origin Search Operation

Origin Search Basically, the PCU’s origin search operation consists of the following three
Operation Summary steps.
1,2,3... 1. Search for origin proximity signal

2. Search for origin signal after detection of origin proximity signal
3. Positioning for final travel distance to return to zero point after detection of
origin signal
Each of these steps is executed using the operation direction and speed
according to the Axis Parameters, Servo Parameters, and speed command
value for origin search as shown in the following diagram.
The origin proximity signal is not always used in the origin search operation
pattern and an origin search can be started at the zero point return approach
speed. For details on origin search operation patterns, refer to Origin Search
Operation Modes on page 306.
Origin proximity 1
input signal 0
Origin input signal 1

(Phase Z signal) 0
Speed command value

Zero point return approach speed 1 (Pn817)
Speed
Final travel distance to return to zero point (Pn819)

Start Stop
(1) (2) (3)

Zero point return direction (Pn816)

Origin search direction (See note.)
(Axis Parameters)
(1) The operation direction for origin search is determined by the setting in
Servo Parameter Zero Point Return Direction (Pn816).
(2) The parameters shown above are different for G-series Servo Drives.
Note Make sure that the same direction is set for Origin Search Direction in the
Axis Parameters and Zero Point Return Direction (Pn816) in the Servo
Parameters. Setting different directions may result in a malfunction.
The override function is disabled during origin searches.
The parameter Final Travel Distance to Return to Zero Point (Pn819) sets the
amount of compensation positioning used after the origin input signal has
been detected. The value is set as the relative travel distance in the origin
search direction.
When Final Travel Distance to Return to Zero Point (Pn819) is set to a nega-
tive or small value, the axis will decelerate to a stop, and then reverse and
perform the set positioning.
305

(Phase Z signal) 0
Speed
Stop Origin search direction

For details on the acceleration/deceleration operation during origin search,

refer to 7-4 Acceleration and Deceleration Operations.
Origin Search The following four modes are available for origin search operation.
Operation Modes
Origin search operation Reversal modes The operation is reversed in the direction opposite to
the origin search direction.
Reversal Direction reversed when limit input is input in the

mode 1 origin search direction.
Reversal Operation is stopped and an error is generated when
mode 2 limit input is input in the origin search direction.
Reversal The operation is basically the same as that for
mode 3 reversal mode 2, but shock on the machine is
reduced when reversing at the origin proximity input.
Single-direction Origin search is always performed in one direction only.
mode
Note The parameter numbers shown above are different for G-series Servo Drives.
Select the origin search operation by setting Origin Search Operation in the
Axis Parameters.
0: Reversal mode 1
1: Reversal mode 2
3: Reversal mode 3 (Can be used only for Position Control Units with unit
version 2.0 or later.)
* If reversal mode 1 is used in the G series, set the Servo Parameter Drive
Prohibit Input Selection (Pn004) to 0 or 1.
Origin Detection method The Origin Detection Method parameter determines how the origin proximity
input signal is used. Any of the following three patterns can be selected in the
Axis Parameters.
Setting Origin detection method Origin input signal Remarks
detection
0 With origin proximity input sig- The origin input signal is ---
nal reversal detected after the origin prox-
imity input signal turns ON
and then OFF.
306
Setting Origin detection method Origin input signal Remarks

detection
1 Without origin proximity input The origin input signal is This setting is possible only
signal reversal detected after the origin prox- for Position Control Units with
imity input signal turns ON. unit version 2.0 or later.
2 Not use origin proximity input The origin proximity input sig- The origin search operation is
signal nal is not used. started at the zero point return
approach speed 1.
If this setting is used along
with reversal mode 3, and
axis parameter check error
(error code: 3091) will occur
when the data is transferred.
This setting is possible only
for Position Control Units with
unit version 2.0 or later.
Note (1) The Servo Drive’s origin proximity input signal (origin return deceleration
limit switch signal) must be allocated to execute ORIGIN SEARCH. The
forward/reverse rotation limit signal (forward/reverse drive prohibited sig-
nal) must be allocated to use a reversal mode. If these input signals are
not allocated, ORIGIN SEARCH cannot be executed properly. For details
on allocating Servo Drive input signals, refer to 6-4 Standard Settings for
(2) Make sure that the external input signals for origin searches (limit input
signal and origin proximity input signal) maintain a signal width no shorter
than the MECHATROLINK communications cycle. If the input signal
width is shorter than the communications cycle, the PCU is unable to de-
tect the input signals, and operations cannot be performed normally.
(3) For origin searches, the origin signal is detected after the origin proximity
input signal (origin return deceleration limit switch) changes from ON to
OFF. Therefore, be sure to use a sensor for the origin proximity input sig-
nal, such as a photoelectric switch, that does not produce chattering.
Chattering from contact switches may result in the displacement of the or-
igin position.
307
Origin search operation 0: Reversal mode 1

mode
Origin detection method
0: With origin proximity input Origin proximity 1
signal reversal input signal 0

(Phase Z signal) 0
Speed command value Zero point return approach speed 1

Zero point return approach speed 2
Origin search
reverse direction Origin search direction
Start Stop
Origin search
(See note 1.) Start Stop
Origin search
(See note 1.) Stop Start
Limit input signal in origin search direction
1: Without origin proximity Origin proximity 1

input signal reversal (unit ver- input signal 0
sion 2.0 or later)
(Phase Z signal) 0
Origin search Origin search direction
reverse direction
Start Stop

reverse direction
Start Stop
(See note 1.)

reverse direction
(See note 1.) Stop Start
2: Not use origin proximity

input signal (unit version 2.0 Origin input signal 1
(Phase Z signal) 0
or later)
Zero point return approach speed 1 Final travel distance to return to zero point
Origin search
reverse direction
Start Stop

reverse direction Stop
Start

reverse direction
Stop Start
(See note 2.)
308
Note To use a motor with absolute encoders with the OMNUC G series and G5
series Servo Drives, use the motor as described below when setting the abso-
lute PG origin offset using origin search.
• If the limit input in the origin search direction is ON when executing the
origin search, origin search does not operate normally.
Start the origin search after moving the position where the limit input in
the origin search direction does not turn ON by jogging.
• If the origin search is started when the limit input is ON in the origin
search direction, an error terminates when the origin search operation is
completed (data setting error, error code: 3099).

mode
0: With origin proximity input Origin proximity 1
signal reversal input signal
0
Origin input signal1

(Phase Z signal) 0
Origin search Zero point return approach speed 2
Start Stop

Origin search
Start Stop
(See note 1.)
Error stop
Origin search
reverse direction
Start
309

mode
sion 2.0 or later)
(Phase Z signal) 0
reverse direction
Start Stop

reverse direction
(See note 1.) Start Stop
Error stop
Origin search
reverse direction
Start Limit input signal in origin search direction
2: Not use origin proximity Origin input signal 1

input signal (unit version 2.0 (Phase Z signal) 0
or later) Zero point return approach speed 1 Final travel distance to return to zero point
reverse direction Start Stop

Origin search
reverse direction
Stop
Start Error stop
Origin search
reverse direction
Start
(See note 2.) Final travel distance to return to zero point
310
Origin search operation 2: Single-direction mode

mode
0: With origin proximity input
Origin proximity 1

(Phase Z signal) 0
reverse direction Stop
Start

reverse direction
Start Stop
Error stop

reverse direction Start Limit input signal in origin search direction

input signal reversal (unit ver- input signal
0
sion 2.0 or later)
(Phase Z signal) 0

Origin search Zero point return approach speed 2

Start Speed command value Stop

reverse direction
Start Speed command value
Error stop
Origin search
reverse direction
Start
2: Not use origin proximity Origin input signal 1

input signal (unit version 2.0 (Phase Z signal)
0
or later) Zero point return approach speed 1 Final travel distance to return to zero point

reverse direction Start Stop
Error stop

reverse direction Start Final travel distance to return to zero point
Error stop
Origin search
Start Limit input signal in origin search direction

(Phase Z signal) 0
Zero point return approach speed 1 Final travel distance to return to zero point
reverse direction
Start Stop
311

mode (unit version 2.0 or later)
0: With origin proximity input
Origin proximity 1

(Phase Z signal) 0
reverse direction
Start Stop

reverse direction
Start Stop
(See note 1.)
Error stop
Origin search
reverse direction
Start Final travel distance to return to zero point
1: Without origin proximity

Origin proximity 1
sion 2.0 or later)
(Phase Z signal) 0
Origin search
reverse direction
Start Stop

Origin search
Start Stop
(See note 1.)
Error stop
Origin search
reverse direction
Start
2: Not use origin proximity Cannot be set. (An axis parameter check error (error code: 3091) will occur when the data
input signal (unit version 2.0 is transferred.)
or later)
Note (1) The reversal operation for an origin search in the reverse direction is ex-
ecuted either when the origin proximity input signal turns OFF during the
origin search in the reverse direction, or when the limit input signal turns
ON during the origin search in the reverse direction while the origin prox-
imity input signal is ON, whichever occurs first.
Limit input in Limit input in
opposite direction opposite direction
from origin 1 from origin 1
search direction 0 search direction 0
1 1
Origin proximity 0 Origin proximity 0
input signal input signal
Speed Speed
Origin search direction Origin search direction
(2) The signal width of the origin input signal must be longer than the
MECHATROLINK communications cycle when the Origin Proximity Input
Signal parameter is set to 2 (Not use origin proximity input signal) during
312
the origin search for the Reversal Mode 1 and Reversal Mode 2 origin
search operation modes. If the origin input signal length is shorter than
the communications cycle, the PCU will be unable to detect the origin in-
put signal when in reversal operation. If the established origin position is
not aligned, the origin search function will not operate correctly. If using
this function with this setting, use an external sensor for the origin input
signal or select an origin search method that uses the origin proximity in-
put signal because the signal width of the Servo Drive's Z-phase signal is
too short.
Reversal Mode Operation When the origin search operation mode is set to reversal mode 1 to 3, axis
Using Limit Inputs operation stops or changes to the opposite direction when the limit input sig-
nal turns ON.
When using a W-series Servo Drive, the axis will operate according to the
Select Stop when Prohibited Drive Is Input (Pn001.1) setting in the Servo
Parameters after the limit input signal turns ON and until the axis operation
stops.
When using a SMARTSTEP Junior Servo Drive, the Servomotor will deceler-
ate to a stop using the maximum Servomotor torque.
Reverse Pattern
For reversal mode 1, the positioning relationship between the limit input and
the origin proximity signal is as shown by the two patterns in the following dia-
gram. For reversal mode 2 or 3, only the bottom pattern is possible. When
these modes are used, the axis operates according to the Stop Selection for
Drive Prohibit Input for G-series Servo Drives (Pn066) or Select Stop when
Prohibited Drive Is Input for W-series Servo Drives (Pn001.1) for the shaded
areas in the diagram.
Origin search 1
direction limit input 0
Speed
Limit input in opposite direction 1

from origin search direction 0
1
Origin proximity
0
input signal
Speed
Note If the Servo Parameter (Pn505 for G5 Series, Pn066 for G Series and
Pn001.1 for W Series) is set to stop operation with a free run when a limit
input is input when using a G-series or a W-series Servo Drive, the momen-
tum of the previous operation may cause the machine to run in the limit input
direction.
313
When origin searches are performed using reversal mode 1 to 3 as the opera-
tion mode, either enable the Servo Drive's dynamic brake, or set the Stop
Selection for Drive Prohibition Input for G5-series Servo Drives (Pn505), the
Stop Selection for Drive Prohibit Input for G-series Servo Drives (Pn066) or
Select Stop when Prohibited Drive is Input for W-series Servo Drives
(Pn001.1) to 1 (decelerates to a stop using the immediate stop torque set in
Pn511 for G5 Series, the emergency stop torque set in Pn06E for G Series or
Pn406 for W Series or lower and locks Servo in zero clamp mode) or 2 (decel-
erates to a stop using the immediate stop torque set in Pn511 for G5 Series,
the emergency stop torque set in Pn06E for G Series or Pn406 for W Series
or lower and puts Servo in free run state) so that the Servomotor stops prop-
erly when a limit input is received.
8-2-5 Starting Origin Search

Origin search is performed according to the speed command value set in the
Axis Operating Output Memory Areas and started when the ORIGIN
SEARCH Bit turns ON. Execute ORIGIN SEARCH when the Busy Flag for the
corresponding axis is OFF. If ORIGIN SEARCH is executed while the axis's
Busy Flag is ON, a Multistart Error (axis error code: 3050) will occur and ORI-
GIN SEARCH will not be executed.
When starting ORIGIN SEARCH, make sure that the ORIGIN SEARCH Bit
will remain ON until the Busy Flag turns ON.
If the SERVO UNLOCK, DEVIATION COUNTER RESET, EMERGENCY
STOP, OR DECELERATION STOP command bit is turned ON, the ORIGIN
SEARCH command will be ignored. Be sure that all of these command bits
are OFF before executing an origin search.
Timing Chart The following timing charts are for when ORIGIN SEARCH is executed with
the origin search operation set to reversal mode 1, the origin detection mode
set to origin proximity input signal reversal, and the origin search direction set
to forward.
Timing Chart Operation
Origin proximity 1
input signal 0
(Phase Z signal) 0
Origin search
Stop Start
314
Timing Chart
Speed command value

(words a+4, a+5) 3E8 hex (1000)
ORIGIN SEARCH
(word a, bit 06)
Forward rotation limit input 1
0
1
Origin proximity input
0
Origin input 1
0
Speed
Time
The PCU Positioning Completed Flag is turned ON when the

PCU Positioning Completed number of the Servo Drive's deviation counter residual pulses is
Flag (word b, bit 05) less than the value set for the positioning completion range.
Depending on the number of deviation counter residual pulses
No Origin Flag when pulse output has been completed, a delay may occur in
(word b, bit 06) the time between when the pulse output from the Position
Control Unit is completed until positioning has been completed.
Origin Stop Flag
After starting the origin search, the Busy Flag turns ON
(word b, bit 07)
until the origin search operation has completed.
Make sure that the ORIGIN SEARCH Bit remains ON until
Busy Flag
the Busy Flag turns ON.
(word b, bit 13)
Note If the origin search preset is used, the PCU Positioning Completed Flag, No
Origin Flag, and Busy Flag will change status only after the present position
preset operation is completed after finishing the origin search operation.
Transferring Parameters during Origin Search Operations

The Position Control Unit can transfer Servo Parameters during axis opera-
tions (i.e., while the Busy Flag is ON). With Position Control Units with unit
version 2.0 or later, Servo Parameter transfers specified during origin search
operation are performed after completing the origin search.
Example: The following example illustrates reading Servo Parameters during

an origin search operation.
(word a+1, bit 13)

(word b, bit 14) When using Position Control Units with unit version
2.0 or later, any Servo parameter read operations
Busy Flag (word b, bit 13) specified during an origin search will be performed
8-2-6 Origin Search Preset

The present position can be set to any desired position after completing an
origin search. This enables setting an arbitrary electrical origin point corre-
sponding to the mechanical origin point.
or later.
The origin search preset operation is selected using the following Origin
Search Preset parameter in the Axis Parameters.
315
Axis Parameters The following parameters are used to set the origin search operation mode.
d+1 0 (fixed) Origin Origin Origin Origin 0 (fixed) Bit 13: Origin Search Preset
search search detection search 0: Do not set the present position to
preset direction method operation the preset position after complet-
ing the origin search (default set-
ting).
1: Set the present position to the pre-
set position after completing the
origin search.
d = 1860 hex + (Axis No. −1) × 14 hex

The position command value set in the Axis Operating Output Memory Areas
is used as the preset value to be set after completing an origin search.
Axis Operating Output
Memory Areas (Operating
Commands)
Position command value a+2 --- Position command value (rightmost
a+3 word)
Position command value (leftmost
word)
Command range: −2,147,483,648 to
2,147,483,647 (80000000 hex to
7FFFFFFF hex)
This value is also used as the preset
value when a preset value is being set
after completing an origin search.

The position command value that is set when the ORIGIN SEARCH com-
mand bit turns ON is used as the origin search preset.
The origin search preset operation is executed only after the origin search
operation has been completed normally, i.e., when positioning for the final
travel distance to return to zero point has entered the positioning completion
range after the origin signal has been detected.
If an absolute encoder is used, the origin search operation is set to reversal
mode 1, and the origin search preset is enabled, a zero point position offset
for the absolute encoder can be automatically set. Refer to 8-6-5 Absolute
Encoder's Origin (Zero Point) Position Offset Setting for details.
Note The origin search preset function of the Position Control Unit cannot be used
with the function block for origin searches in the OMRON FB Library
(_NCF05@_Home) if the Library is version is 1.13 or lower. Use the present
value preset function provided in the library. To use the origin search function
block and enable the origin search preset, the OMRON FB Library with a ver-
sion higher than 1.13 must be used.
316
Present Position Preset Section 8-3
8-3 Present Position Preset

PRESENT POSITION PRESET changes the present position to any position
and then establishes the origin.
8-3-1 Outline of Operation

When the PRESENT POSITION PRESET Bit is turned ON, the present posi-
tion is changed to the value set as the position command value in the Axis
Operating Output Memory Areas. during present position preset, the Busy
Flag is ON (1 cycle time min.). The Busy Flag turns OFF to indicate that pre-
set operation has been completed. After this, the origin is established. If the
present position is changed to “0,” then that position will become the origin.
8-3-2 Data Settings for Present Position Preset

A simple explanation of the main parameters and data used to execute
PRESENT POSITION PRESET is provided here. For details on command
units, refer to 7-2 Control Units.
The setting units for parameters and data depend on the specified command
unit.
Servo Parameter Area Command Unit Parameters
Model Parameter Parameter name Unit Setting Parameter Default
ML2 1073741824
1073741824
R88D-GN@- Pn205 Electronic gear ratio G1 (numerator) --- 1 to 4 1
ML2 1073741824
1073741824
ML2 1073741824
1073741824
1073741824
317
Present Position Preset Section 8-3

PRESENT POSITION a 08 0 → 1: Starts present position preset
PRESET
Position command value a+2 --- Position command value (rightmost
a+3 word)
word)
Unit: Command unit
2,147,483,647 (80000000 hex to
7FFFFFFF hex)

Present position preset is performed according to the position command
value set in the Axis Operating Output Memory Area and started when the
PRESENT POSITION PRESET Bit turns ON.
Execute PRESENT POSITION PRESET when the Busy Flag for the corre-
sponding axis is OFF. If PRESENT POSITION PRESET is executed while the
axis's Busy Flag is ON, a Multistart Error (axis error code: 3050) will occur and
PRESENT POSITION PRESET will not be executed. When executing
PRESENT POSITION PRESET, make sure that the PRESENT POSITION
PRESET Bit will remain ON until the Busy Flag turns ON.
No Origin Flag b 06 0: Origin established.
1: Axis error.
tion b+7 Feedback present position (rightmost
word)
Feedback present position (leftmost
word)

Timing Chart In the following timing chart, the present position is changed to “0.” When the
present position changes to “0,” that position becomes the origin, so the Ori-
gin Stop Flag turns ON. The status of the PCU Positioning Completed Flag
(word b, bit 05) does not change.
318
Origin Return Section 8-4
Position command value

0
(word a+2, a+3)
PRESENT POSITION
PRESET (word a, bit 08)
Origin Stop Flag

(word b, bit 07)
No Origin Flag
(word b, bit 06)
Busy Flag
(word b, bit 13)
1 cycle time min.

8-4 Origin Return

The origin return operation is used to return the axis to the origin from any
position. ORIGIN RETURN is executed when the ORIGIN RETURN Bit turns
ON.
Note Execute ORIGIN RETURN when the origin has been established. If ORIGIN
RETURN is executed when the origin has not been established, a Present
Position Unknown Error (axis error code: 3030) will occur.
8-4-1 Origin Return Data Settings

A simple explanation of the main parameters and data used to execute ORI-
GIN RETURN is provided here. To execute ORIGIN RETURN, apart from the
parameters explained here, the following parameters also need to be set as
basic settings for operating the PCU.
For details on command units, refer to 7-2 Control Units. The setting units for
parameters and data depend on the specified command unit.
Servo Parameter Area Command Unit Parameters
ML2 1073741824
1073741824
R88D-GN@- Pn205 Electronic gear ratio G1 (numerator) --- 1 to 4 1
ML2 1073741824
1073741824
ML2 1073741824
1073741824
1073741824
319

Accel- Pn811 Linear acceleration constant 10,000 −32768 2 100
eration/ command to 32767
decel- units/s2
eration
con- Pn814 Linear deceleration constant 10,000 −32768 2 100
stants command to 32767
units/s2
Accel- Pn818 Position command FIR filter 0.1 ms 0 to 2 0
eration/ time constant 10000
decel-
eration
filters

Accel- Pn107 Linear acceleration constant 10,000 −32768 2 100
eration/ command to 32767
decel- units/s2
eration
con- Pn10A Linear deceleration constant 10,000 −32768 2 100
stants command to 32767
units/s2
Accel- Pn10E Moving average time 0.1 ms 0 to 5100 2 0
eration/
decel-
eration
filters

Junior
Accel- Pn80A First-step linear acceleration 10,000 1 to 2 100 Sup- Not sup-
eration/ constant command 65535 ported ported
decel- units/s2
eration
con- Pn80B Second-step linear accelera- 10,000 1 to 2 100 Sup- Sup-
stants tion constant command 65535 ported ported
units/s2
Pn80C Acceleration constant switch- 100 com- 0 to 2 0 Sup- Not sup-
ing speed mand 65535 ported ported
units/s
Pn80D First-step linear deceleration 10,000 1 to 2 100 Sup- Not sup-
constant command 65535 ported ported
units/s2
Pn80E Second-step linear decelera- 10,000 1 to 2 100 Sup- Sup-
units/s2
Pn80F Deceleration constant switch- 100 com- 0 to 2 0 Sup- Not sup-
units/s
320
Junior
Accel- Pn810 Exponential acceleration/ Command 0 to 2 0 Sup- Not sup-
eration/ deceleration bias units/s 32767 ported ported
decel- Pn811 Exponential acceleration/ 0.1 ms 0 to 5100 2 0 Sup- Not sup-
eration deceleration time constant ported ported
filters
ported ported
When using W-series Servo Drives, the first-step acceleration/deceleration

curve operations require parameter settings for Pn80B and Pn80E only.
When using an exponential curve for the acceleration/deceleration curve,
Pn810 and Pn811 must be set for W-series Servo Drives. Movement Average
Time for W-series Servo Drives (Pn812) or Moving Average Time for G-series
Servo Drives (Pn10E) must be set when using an S-curve for the accelera-
tion/deceleration curve.
The second-step acceleration/deceleration constant cannot be set using a
G5-series Servo Drive or G-series Servo Drive. The exponential acceleration/
deceleration filter cannot be set because there is no exponential acceleration/
deceleration filter function.
Refer to 7-4 Acceleration and Deceleration Operations for details on accelera-
tion/deceleration curves.
ML2 1073741824
321

Name Word Bits Contents G Series W Series SMARTSTEP
Junior
ORIGIN RETURN Bit a 07 0 → 1: Starts origin return opera- Supported Supported Supported
tion
Speed command value a+4 --- Speed command value (rightmost Supported Supported Supported
a+5 word)
word)
Command range: 1 to
2,147,483,647 (00000000 hex to
7FFFFFFF hex)
The upper limit setting for the
speed command value depends
on the Servo Drive specifications.
Accelera- Exponential a+16 03 1: Use exponential acceleration/ Not sup- Supported Not supported
tion/decel- curve desig- deceleration curve. ported
eration nation
curve des- S-curve des- 04 1: Use S-curve acceleration/decel- Supported Supported Not supported
ignation ignation eration curve.
Forward rotation current 14 1: Use forward torque limit Supported Supported Not supported
limit
Reverse rotation current 15 1: Use reverse torque limit Supported Supported Not supported
limit

Origin return is performed according to the speed command value set in the
Axis Operating Output Memory Areas and started when the ORIGIN
RETURN Bit turns ON.
Execute ORIGIN RETURN when the Busy Flag for the corresponding axis is
OFF. If ORIGIN RETURN is executed while the axis's Busy Flag is ON, a Mul-
tistart Error (axis error code: 3050) will occur and ORIGIN RETURN will not
be executed. When starting ORIGIN RETURN, make sure that the ORIGIN
RETURN Bit will remain ON until the Busy Flag turns ON.
STOP, OR DECELERATION STOP command bit is turned ON, the ORIGIN
RETURN command will be ignored. Be sure that all of these command bits
are OFF before executing an origin return.
The target speed for an origin return operation can be changed while ORIGIN
RETURN is being executed by setting the new speed command value in the
Axis Operating Output Memory Area. (For details on changing the target
speed, which is the same as positioning operations, refer to 9-4-4 Changing
Target Speed.)
Torque limit during operation is possible with origin return operations. For fur-
ther details on the torque limit function, refer to 10-4 Torque Limits.
The acceleration/deceleration curve designation, and forward/reverse rotation
current limit designation data are enabled when the ORIGIN RETURN Bit
turns ON.
322

PCU Positioning Com- b 05 0 → 1: Positioning completed.
pleted Flag
1: Axis error.
word)
word)

Timing Chart The following timing chart is for when ORIGIN RETURN is executed.
Speed command value
3E8 hex (1000)
(words a+4, a+5)
ORIGIN RETURN
(word a, bit 07) Target speed: 1,000
Speed (command units/s) Solid line: Command speed
Time
Origin Stop Flag
(word b, bit 07) The PCU Positioning Completed Flag is turned OFF
when a movement command is executed.
PCU Positioning Complet- The PCU Positioning Completed Flag is turned ON
ed Flag (word b, bit 05) when the number of the Servo Drive's deviation counter
residual pulses is less than the value set for the
positioning completion range. Depending on the number
of deviation counter residual pulses when pulse output
has been completed, a delay may occur in the time
between when the pulse output from the Position
Control Unit is completed until positioning has been
completed.
323
Phase Z Margin Section 8-5
8-5 Phase Z Margin

8-5-1 Description
Although there are some variations for different settings, the PCU's origin
search basically works by latching (detecting) the first encoder phase Z after
confirming ON/OFF status of the origin proximity signal, performing position-
ing for the final travel distance to return to the origin, and then setting that
position as the origin.
When the time (distance) from when the origin proximity signal changes from
ON to OFF until the first phase Z is detected is extremely short or is almost
the same as the time taken for one rotation of the Servomotor, the position at
which the phase Z is detected may be displaced by one phase due to discrep-
ancies in the ON response of the origin proximity sensor or the Servo Drive
speed. This displacement is prevented by confirming the “phase Z margin.”
The phase Z margin indicates the amount by which the Servomotor rotated
during the time from when the origin proximity signal changed from ON to
OFF until the phase Z was detected.
If this value is close to 0 or close to one motor rotation, there is a possibility of
origin displacement during origin search. A simple way of reducing the proba-
bility of this is to adjust the Servomotor's mounting angle or the origin proxim-
ity sensor's mounting position so that this value is approximately half a
rotation of the Servomotor.
Example: Final travel distance to return to zero point = 0
Servomotor rotation
Time
Origin proximity 1
input signal
0
Phase Z signal
This distance is the phase Z margin.
8-5-2 Calculating the Phase Z Margin (Example)

One method used to obtain the phase Z margin is to perform jogging after ori-
gin search in the opposite direction to origin search, with the final travel dis-
tance to return to origin set to 0. Then stop operation at the point where the
origin proximity signal changes from OFF to ON, and read the value of the
present position at that point. The value of this present position is equal to the
phase Z margin.
If the speed at the point when the origin proximity signal turns ON is fast,
there will be some inaccuracy in the value read for the phase Z margin.
Reduce the speed of the jogging in the vicinity of the point where the origin
proximity signal turns ON.
The required phase Z margin can be obtained by adjusting mounting positions
and angles so that this position corresponds to approximately half the dis-
tance moved for one rotation of the motor.
324
Phase Z Margin Section 8-5
Origin search operation

Servomotor rotation
Time
Origin proximity 1 Return using JOG

signal at low speed.
0
Phase Z signal
8-5-3 Phase Z Margin for Specific Operation Patterns

Phase Z Margin Required Up to a maximum of two MECHATROLINK communications cycles plus 4 ms
for Origin Search Settings may be required to start searching for the origin signal after detecting the ori-
gin proximity signal for the following origin search operation patterns.
• When the origin detection method is set to any setting other than 0 (Origin
proximity input signal reversal)
• When an absolute encoder zero point position offset is set for the origin
search
When performing an origin search with one of the above operation patterns,
the following margin must be provided in the phase Z signal after the origin
proximity input signal turns ON.
Motor rotation
Time
1
Origin proximity
input signal 0
Phase Z signal
Provide a margin in the phase Z signal of at least two

MECHATROLINK communications cycles plus 4 ms.
Phase Z Margin Required If the limit input signal in opposite direction from origin search direction and
for External Input Signals the origin proximity signal are close or overlapping, up to a maximum of two
MECHATROLINK communications cycles plus 4 ms may be required to start
searching for the origin signal after detecting the origin proximity signal.
In this case, the following margin must be provided in the phase Z signal after
the limit input signal in opposite direction from origin search direction turns
OFF.
325
Absolute Encoder Origin Section 8-6
Motor rotation
Time
Limit input in 1
opposite direction 0
from origin search
direction
1 Note: The origin search operation
0 settings determine the motor
Origin proximity operation and phase Z signal
input signal detection operation when the
1
origin proximity input signal
0
turns ON or OFF.
Phase Z signal
Provide a margin in the phase Z signal of at least two

MECHATROLINK communications cycles plus 4 ms.
8-6 Absolute Encoder Origin

8-6-1 Absolute Encoder Overview
The absolute encoder's battery backup enables absolute value data to be
held even if the power to the CPU Unit (PCU) or Servo Drive is turned OFF.
Therefore, after turning ON the power to the CPU Unit (PCU), the saved
absolute value data can be read, enabling positioning at the present position
that existed before the power was turned OFF.
The Servo Parameter Absolute Origin Offset for G-series Servo Drives
(Pn200) or Absolute Encoder Zero Point Position Offset for G5-series/W-
series Servo Drives (Pn808) for absolute value data that is read can be used
to offset the mechanical origin.
When an absolute encoder is used to determine the origin, it is not necessary
to perform origin searches every time the power is turned ON, as is required
for devices such as incremental encoders.
326
The following is an example for using a W-series Servo Drive.

Servomotor
MOV
MOV
Use WRITE SERVO
M
PARAMETER to transfer Function
before executing ORIGIN selection
SEARCH. application
WRITE DATA/SERVO
switch 2
PARAMETER
Pn002.2
Use WRITE DATA to
CONNECT/SERVO LOCK Select the type of
transfer before
Axis Parameter Area encoder to be used.
executing ORIGIN
SEARCH.
d+3 Encoder type

n+1 CONNECT Bit
(word n+1, bit 00)
a+1
SERVO LOCK
(word a+1, bit 00)
b Control status Origin offset
Pn808
Input during I/O refresh +

+
PG
Feedback present position Reading absolute
b+7 (leftmost word) value data
b+8 (rightmost word) Absolute encoder
b+9 (leftmost word)
n: Beginning word of Common Operating Memory Area: n = CIO 1500 + (unit number × 25)
Applicable Servomotors The following Servomotors with absolute encoders support this function.
OMRON G5-series Servomotors
Model: R88M-K@S/K@T/K@C
OMRON G-series Servomotors
Model: R88M-G@S/G@T
OMRON W-series Servomotors
Model: R88M-W@S/W@T
The SMARTSTEP Junior Servo Drives cannot be used with motors with abso-
lute encoders.
8-6-2 Absolute Encoder Operating Procedure

The procedure for using an absolute encoder is as given below. The following
procedure is performed just once when using the absolute encoder for the
first time, when replacing the Servomotor, when the absolute encoder's bat-
tery expires, or when another reason occurs that results in loss of absolute
value data.

2. Set the Axis Parameters and save them.
3. Turn the PCU OFF and then ON again or restart the Unit.
The data for the Common Parameters and Axis Parameters set in steps 1
and 2 above are enabled.
327

5. Set the absolute encoder type to be used in Operation Switch When Using
Absolute Encoder (Pn002.2 for W Series and Pn00B for G Series).
This step is not required if using the default setting.
6. Setup the absolute encoder.
After setting up the absolute encoder, the power to the Servo Drive must
be turned OFF and then ON again.
When the connection is established, the absolute value data is read from
the absolute encoder.
8. Set the mechanical origin.
9. Set the origin position offset for the absolute encoder.
After completing this procedure, the mechanical origin will be set whenever
the power is turned ON or MECHATROLINK communications are started.
Establishing the Origin The following differences exist in origin searches when using a motor with an
with an Absolute Encoder absolute encoder depending on the unit version of the Position Control Unit.
Position Control Units with Unit Version 1.3 or Earlier
Position Control Units with unit version 1.3 or earlier do not support origin
search operations for absolute encoders.
When the origin search operation is executed, the present position is cleared
to 0 or, if the origin search preset function is enabled, it is set to the present
command value after the origin has been established. Any absolute value
data previously read by the Position Control Unit is lost. If the absolute value
data is later read from the absolute encoder, e.g., when the Servo is unlocked
and locked, the coordinate system based on the absolute value data previ-
ously saved in the absolute encoder will be used instead of the origin estab-
lished by the origin search operation.
Position Control Units with Unit Version 2.0 or Later
When the origin search operation is executed, the present position is cleared
to 0 or, if the origin search preset function is enabled, it is set to the present
command value after the origin has been established. If the origin search
operation pattern is set to reversal mode 1, the zero point position offset of the
absolute encoder will be set automatically and saved in the Servo Parame-
ters. The mechanical origin and the zero point position offset in the absolute
encoder can thus be set simultaneously by using a Position Control Units with
unit version 2.0 or later and reversal mode 1 with an absolute encoder.
Refer to 8-6-5 Absolute Encoder's Origin (Zero Point) Position Offset Setting
for details on setting the zero point position offset using an origin search.
Note ORIGIN SEARCH can also be executed when using Servomotors with abso-
lute encoders. By executing ORIGIN SEARCH, however, the present position
will be cleared to 0 when the origin is established. Therefore, the absolute
data read to the PCU in Servo lock status will be lost unless the zero point
position offset is set using the origin search operation for a Position Control
Units with unit version 2.0 or later. The absolute data saved in the absolute
encoder will not be lost and can be obtained by executing SERVO UNLOCK
after the origin search has been completed, and then executing SERVO
LOCK again. The origin position detected, however, will be displaced due to
SERVO UNLOCK execution. Therefore, do not execute ORIGIN SEARCH
when using a Servomotor with absolute encoder unless you set the zero point
position offset using the origin search operation for a Position Control Units
with unit version 2.0 or later.
328
8-6-3 PCU Data Settings for Using Absolute Encoders

The parameters and data required when using absolute encoders are as fol-
lows:
Axis Parameter Area The following parameters are for the operation mode for origin searches.
address 15 to 12 11 to 08 07 to 04 03 to 00
d+2 0 (fixed) 0 (fixed) 0 (fixed) Encoder type 0: Incremental encoder (default setting)
1: Absolute encoder
d = 1860 hex + (Axis No. −1) × 14 hex

When using an absolute encoder, make sure that the settings for the encoder
type in the Axis Parameters and Operation Switch When Using Absolute
Encoder in the Servo Parameters match.
Axis Parameter G5-series Servo Parameter Pn015
Encoder type G-series Servo Parameter Pn00B
(Operation switch when using absolute encoder)
0: Use as an absolute 1: Use as an incremental
encoder. encoder.
2: Use as an absolute
encoder but ignore abso-
lute multi-turn counter over-
flow alarm.
an incremental encoder
(Set this combination when
using an absolute encoder.)
Axis Parameter W-series Servo Parameter Pn002.2

Encoder type 0: Use as absolute encoder. 1: Use as incremental
encoder.
an incremental encoder
(Set this combination when
using an absolute encoder.)
If the settings do not match, reading absolute data will not be possible, or
another malfunction may occur.
Servo Parameter Area Parameters for Using G5-series Absolute Encoders
--- Pn015 Operation switch when using absolute --- 0 to 2 2 1
encoder
329
Parameters for Using G-series Absolute Encoders

--- Pn00B Operation switch when using absolute --- 0 to 2 2 0
encoder
Parameters for Using W-series Absolute Encoders

--- Pn002.2 Function selection application switch 2 --- 0, 1 2 0
(operation switch when using absolute
encoder)
When using a Servomotor with an absolute encoder, select whether the abso-
lute encoder will be used as an absolute encoder or as an incremental
encoder. Set this parameter to 0 if using the absolute encoder as an absolute
encoder.
When using W-series Servo Drives, the parameter size is the value to be
specified when transferring the Servo Parameter including Pn002.
G-series Origin Position Offset Parameters
No. size setting
--- Pn200 Absolute origin offset Command unit −1,073,741,823 4 0
to
1,073,741,823
G5-series/W-series Origin Position Offset Parameters

No. size setting
--- Pn808 Absolute encoder zero point Command unit −1,073,741,823 4 0
position offset to
1,073,741,823
This parameter sets the offset for the mechanical origin from the absolute
encoder's absolute value data. The present position will be the absolute value
data that was read added to the value in this parameter, and that position is
set as the origin.
Note When using the zero point position offset setting function with Position Control
Units with unit version 2.0 or later, Pn808 is automatically overwritten when
an origin search is performed with an absolute encoder. (Refer to 8-6-5 Abso-
lute Encoder's Origin (Zero Point) Position Offset Setting) To achieve this, the
Position Control Unit reads and writes Servo Parameter for Pn808 when the
origin search operation is started and when it is completed.

No Origin Flag b 06 0: Origin established.
1: Axis error.
330

word)
word)

8-6-4 Absolute Encoder Setup

The absolute encoder setup must be performed when using the absolute
encoder for the first time, initializing the rotation amount to 0, or having left the
absolute encoder for a long time without connecting a battery.
The following methods can be used to set up the absolute encoder when
using a Position Control Unit with unit version 1.2 or later.
• The absolute encoder can be set up using the CX-Motion-NCF.
• The absolute encoder can be set up from the user program using a func-
tion block from the OMRON FB Library.
• The absolute encoder can be set up using the Servo Drive's Setting Tool.
Refer to the SYSMAC CX-Motion-NCF Programmable Controller Operation

Manual (Cat. No. W436) for information on setting up the absolute encoder
from the CX-Motion-NCF.
When setting up an absolute encoder using the function block from the
OMRON FB Library, use a CPU Unit with unit version 3.0 or later.
Absolute Encoder Setup Function Block in OMRON FB Library:
_NCF700_InitializeAbsEncoder
_NCF700_InitializeAbsEncoder
Start Bit
(BOOL) (BOOL)
EN ENO
(INT) (BOOL)
Busy Flag Unit No. UnitNo Busy Busy Flag
(INT) (BOOL)
Axis No. Axis Done Setup completed
(BOOL)
Error Flag
Error
Error Code
(WORD)
(Can be omitted)
ErrorID
The absolute encoder setup can be executed by specifying the unit number
and axis number for the function block, and setting the Start Bit.
For information on function block operating requirements and precautions,
refer to the OMRON FB Library Reference Manual (Cat. No. W442).
When using a PCU with unit version 1.1 or earlier, absolute encoder setup is
executed using the Servo Drive’s Setting Tool. For details on absolute
encoder setup operations using the Servo Drive Setting Tool, refer to the
operation manual for the connected Servo Drive.
Note After executing absolute encoder setup, be sure to turn ON the Servo Drive’s
control power supply again. Not doing so will prevent the Servo Drive’s
response to PCU commands, and normal operation will not be possible.
331
8-6-5 Absolute Encoder's Origin (Zero Point) Position Offset Setting

When Absolute Origin Offset for G Series (Pn200) or Absolute Encoder Zero Point Position Offset for
G5 Series/W Series (Pn808) = 0 (Default)
1,2,3... 1. Start MECHATROLINK communications (establish a connection using
CONNECT).
2. Use jogging or other operation to place the machine in the mechanical or-
igin position. ORIGIN SEARCH cannot be used when using an absolute
encoder.
3. Confirm the feedback present position in the Servo unlocked state and set
the origin position offset based on this present position. When the Servo is
locked, the present position may oscillate, or deviation will accumulate in
the Servo Drive, which may prevent the correct set value from being ob-
tained for the origin position offset, causing displacement of the origin.
4. Reverse the sign of the value for the feedback present position read in step
3 and write this value in Absolute Encoder Zero Point Position Offset
(Pn808). Use SAVE SERVO PARAMETER to write the value to the Servo
Drive's non-volatile memory.
5. Execute DEVICE SETUP or turn the power to the Servo Drive OFF and
then ON again.
The absolute encoder origin position offset that has been set is now enabled.
When Absolute Origin Offset for G Series (Pn200) or Absolute Encoder Zero Point Position Offset for
G5 Series/W Series (Pn808) = Not 0
When the Absolute Origin Offset for G Series (Pn200) or Absolute Encoder
Zero Point Position Offset for G5 Series/W Series (Pn808) is set to a value
other than 0, such as when replacing the Servomotor, use either of the follow-
ing methods to set the origin position offset.
Method 1: First set the origin position offset to 0 (set Absolute Origin Offset for
G Series (Pn200) or Absolute Encoder Zero Point Position Offset
for G5 Series/W Series (Pn808) to 0) using SAVE SERVO
PARAMETER), and then set it according to the setting method for
when Pn808 is 0.
Method 2: Use the above setting method for when the absolute encoder zero
point position offset is 0, and calculate the set value in step 4 using
the following equation.
New zero point position offset value = Present zero point position
offset value − Feedback present position
Note There is a limit to the number of times non-volatile memory in the Servo Drive
can be written (10,000 times). Do not save Absolute Origin Offset (Pn200) for
G Series or Absolute Encoder Zero Point Position Offset (Pn808) for G5
Series/W Series too frequently.
Setting the Absolute Encoder Zero Point Position Offset Using an Origin Search Operation
The Absolute Origin Offset for G Series (Pn200) and Absolute Encoder Zero
Point Position Offset for W Series (Pn808) can be automatically set at the end
of an origin search by executing the origin search with the following operation
pattern with a Position Control Unit with unit version 2.0 or later.
Operation pattern: Reversal mode 1
Origin detection method: Origin proximity input signal reversal, No origin
proximity input signal reversal, or Do not use origin proximity input signal
332
To enable setting the absolute encoder zero point position offset with an ori-
gin search operation, the following axis parameter settings must be used with
the above origin search operation pattern.
Origin search preset: Set.
Encoder type: Absolute Encoder
Axis Parameters
The following parameters are used to set the origin search operation mode.
preset direction method operation 0: Reversal mode 1
0: With origin proximity input signal
reversal (default setting)
1: Without origin proximity input sig-
nal reversal
2: Not use origin proximity input sig-
nal
1: Reverse
Origin search preset
1: Set
d+2 0 (fixed) 0 0 0 (fixed) 0 (fixed) Encoder 1: Absolute encoder
type
d = 1860 hex + (Axis No. −1) × 14 hex
When setting the absolute encoder's zero point position offset using an origin
search, set the position command value (i.e., the present position preset
value) to 0 and enable the origin search preset even when the preset value is
not being used for the origin search.
Note • Each time the absolute encoder zero point position offset is set using an
origin search operation, the Absolute Origin Offset for G Series (Pn200)
or Absolute Encoder Zero Point Position Offset for G5 Series/W Series
(Pn808) is saved to non-volatile memory in the Servo Drive. There is a
limit to the number of times non-volatile memory in the Servo Drive can
be written (10,000 times). Do not save the Absolute Origin Offset for G
Series (Pn200) or Absolute Encoder Zero Point Position Offset for W
Series (Pn808) too frequently.
• The absolute encoder zero point position offset will not be set correctly
using an origin search operation if an error occurs before origin search
operation is completed. Repeat the operation if an error occurs.
• If the absolute encoder PG zero point position offset is set using an origin
search operation, the MECHATROLINK transfer cycle and communica-
tions cycle settings will need to be changed. Refer to Transfer Cycle and
Communications Cycle When Setting the Absolute Encoder Zero Point
Position Offset Using an Origin Search Operation with Position Control
Units with Unit Ver. 2.0 on page 246 and set the transfer cycle and com-
munications cycle correctly. If the transfer cycle and communications
cycle are not set correctly, the function to set the absolute encoder PG
zero point position offset using an origin search operation will not operate
correctly.
333
• To use a motor with absolute encoders with the OMNUC G series and G5
series Servo Drives, use the motor as described below when setting the
absolute PG origin offset using origin search.
• If the limit input in the origin search direction is ON when executing the
origin search, origin search does not operate normally.
Start the origin search after moving the position where the limit input
in the origin search direction does not turn ON by jogging.
• If the origin search is started when the limit input is ON in the origin
search direction, an error terminates when the origin search operation
is completed (data setting error, error code: 3099).
8-6-6 Establishing the Origin Using an Absolute Encoder

The Position Control Unit establishes the origin by reading the absolute value
data saved in the absolute encoder using the following timing.
The zero point position offset that is set as a Servo parameter is added to the
absolute value data that is read and input to the Axis Operating Input Memory
Areas as the present position of the Position Control Unit.
In the following sections, the present position is given as the sum of the travel
distances for the operations for each axis.
G5-series/G-series Servo Turning ON the Servo Drive
Drives
When the control power supply is turned ON, the G5-series Servo Drive or G-
series Servo Drive reads the absolute value data of the Servomotor with the
absolute encoder to the Servo Drive. When MECHATROLINK communica-
tions start (i.e., when a connection is established), the Position Control Unit
updates the present position using the absolute value data read from the
Servo Drive.
Servo Drive Power Supply Input
Present Position Preset (word a, bit 08)
Positioning Completed (word b, bit 05)
No Origin Flag (word b, bit 06)
Absolute Position data Preset data

Feedback Present Position (words b+6, b+7) value data
Preset data
invalid (See note.)
Absolute Position data Preset data

Command Present Position (words b+8, b+9) value data Preset data invalid (See note.)
The present position data will be read from the The origin will not be established (the No Origin Flag Note: Once the Present Position
Servo Drive and the origin will be established when will be ON) and the present position will become Preset has been executed,
CONNECTION Bit is set and the MECHATROLINK invalid data when CONNECTION Bit is set and the preset data will be read
is in communications status (the Connection Status MECHATROLINK communications are stopped (the when the connection is
established until the absolute
Flag is ON). Connection Status Flag is OFF). value data is read again.
n = Beginning word of Common Operating Memory Area: n = 1500 + (unit number × 25)
b = Beginning word of Axis Operating Input Memory Areas specified in Common Parameters + (Axis No. −1) × 25
334
Executing DEVICE SETUP

The absolute value data for the axis for which DEVICE SETUP was executed
is read.
DEVICE SETUP (word a+1, bit 11)
SERVO LOCK (word a+1, bit 00)
SERVO UNLOCK (word a+1, bit 01)
Servo ON (word b+1, bit 03)
Feedback Present Position (words b+6, b+7) Absolute value data Preset data Rereading absolute value data
Command Present Position (words b+8, b+9) Absolute value data Preset data Rereading absolute value data
Once the connection has been established, the zero point position offset
will be set, and the origin will not be established (the No Origin Flag will be
OFF) if the offset is enabled using the device setup with MECHATROLINK
in communications status. Then, the origin will be updated using the set
present position offset when SERVO LOCK is executed.
a = Beginning word of Axis Operating Output Memory Areas specified in Common Parameters + (Axis No. −1) × 25
W-series Servo Drives Starting MECHATROLINK Communications (When a Connection Has

Been Established)
Absolute value data is read for all axes of the Servomotors with absolute
encoders that are registered in the scan list.

Feedback Present Position (words b+6, b+7) Absolute Position data Rereading absolute value data
value data Preset data invalid
Absolute Position data

Command Present Position (words b+8, b+9) value data Preset data invalid Rereading absolute value data
The absolute value data will be read and the origin

The origin will not be established (the No Origin
will be established when the CONNECTION Bit is
Flag will be ON) and the present position will
set and MECHATROLINK is in communications become invalid data when the CONNECT Bit is
status (the Connection Status Flag is ON). OFF and the MECHATROLINK communications
are stopped (the Connection Status Flag is
n = Beginning word of Common Operating Memory Area: n = 1500 + (unit number × 25) OFF).
335
Executing SERVO LOCK

Absolute value data for the axis for which SERVO LOCK was executed is
read.
If the absolute encoder zero point offset or other offline parameter is set and
DEVICE SETUP is executed to enable the absolute encoder zero point offset
while continuing MECHATROLINK communications, the origin for that axis
will not be established. In that case, the absolute value data will be read again
and the origin will be established based on the new parameter setting by exe-
cuting SERVO LOCK.
However, for W-series Servo Drives with built-in MECHATROLINK communi-
cations (R88D-WN@-ML2), the multiturn limit that is set is not applied to abso-
lute value data that is read when SERVO LOCK is re-executed. (Refer to the
note on page 337.)
SERVO LOCK (word a+1, bit 00)
SERVO UNLOCK (word a+1, bit 01)
DEVICE SETUP (word a +1, bit 11)
Servo ON (word b+1, bit 03)
Feedback Present Position (words b+6, b+7) Absolute Rereading absolute Preset data Rereading absolute value data
value data value data
Absolute Rereading absolute

Command Present Position (words b+8, b+9) value data value data Preset data Rereading absolute value data
Once the connection has been established, the zero point position offset will be set, and the origin
will not be established (the No Origin Flag will be OFF) if the offset is enabled using the device
setup while continuing MECHATROLINK communications. Then, the absolute value data will be
read again and the origin updated with the set present position offset will be established by
executing SERVO LOCK.
a = Beginning word of Axis Operating Output Memory Areas specified in Common Parameters + (Axis No. −1) × 25
Note (1) Parameters that are not saved in the non-volatile memory built into the
Servo Drive will be lost when DEVICE SETUP is executed. If data must
be saved to the non-volatile memory, execute SAVE SERVO PARAME-
TER first.
(2) The set data will be overwritten with the present position data of the Servo
Drive when PRESENT POSITION PRESET is executed. To read the ab-
solute value data again, turn OFF and ON again the power supply of the
Servo Drive or execute DEVICE SETUP for a G5-series Servo Drive or
G-series Servo Drive, and start MECHATROLINK communications or ex-
ecute SERVO LOCK for a W-series Servo Drive.
336
(3) When the setting of the Absolute Encoder Multi-turn Limit Setting param-
eter (Pn205) is changed from the default setting (65,535), the absolute
data that is read depends on the model of the W-series Servo Drive.
Read timing W-series Servo Drive with W-series Servo Drive with
MECHATROLINK-II Interface Built-in MECHATROLINK-II
Unit R88D-WT@ Communications R88D-
WN@-ML2
When MECHA- Absolute data is read with the Same as at the left.
TROLINK communi- limit set in Pn205 applied.
cations is started
When unlocking and Same as above. Absolute data for the current
then locking the present value is read. The
servo during opera- limit set in Pn205 is not
tion applied.
With a W-series Servo Drive with Built-in MECHATROLINK-II Communi-

cations (R88D-WN@-ML2), if the servo is unlocked and then locked dur-
ing operation, the present position with the absolute encoder multi-turn
limit applied is not restored. The present position that is restored when
the servo is locked will be the present position from the immediately pre-
vious operation. To apply the absolute encoder multi-turn limit with an
R88D-WN@-ML2 Servo Drive, stop MECHATROLINK communications
and then start communications again, or execute DEVICE SETUP while
the servo is unlocked. If the servo is locked after completing DEVICE
SETUP, a present position with the absolute encoder multi-turn limit ap-
plied will be restored.
337
338
SECTION 9
Positioning
This section provides an overview of direct operation and describes the parameter settings, data settings, and procedures
required to perform direct operation. Information on interrupt feeding and torque limits is also provided here.
9-1 Direct Operation Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 340

9-2 Direct Operation Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 341
9-3 PCU Data Settings for Direct Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 341
9-4 Using Direct Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 345
9-4-1 Starting Direct Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 345
9-4-2 Direct Operation Timing Charts . . . . . . . . . . . . . . . . . . . . . . . . . . . . 346
9-4-3 Changing Target Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 350
9-4-4 Changing Target Speed. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 352
9-5 Interrupt Feeding. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 353
9-5-1 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 353
9-5-2 Interrupt Feeding Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 353
9-5-3 Data Settings for Using Interrupt Feeding . . . . . . . . . . . . . . . . . . . . 354
9-5-4 Timing Chart for Interrupt Feeding . . . . . . . . . . . . . . . . . . . . . . . . . 355
9-5-5 Present Position during Interrupt Feeding . . . . . . . . . . . . . . . . . . . . 356
9-6 Torque Limit Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 356
9-7 Linear Interpolation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 357
9-7-1 Overview of Linear Interpolation Function . . . . . . . . . . . . . . . . . . . 357
9-7-2 Linear Interpolation Operation Procedure . . . . . . . . . . . . . . . . . . . . 359
9-7-3 Setting Data for Linear Interpolation Operation. . . . . . . . . . . . . . . . 360
9-7-4 Linear Interpolation Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 365
339
Direct Operation Overview Section 9-1
9-1 Direct Operation Overview

Direct operation of the PCU enables positioning by simply writing target posi-
tion data and target speed data directly from a ladder program to a specified
area in the CPU Unit.
Positioning operations using direct operation are executed according to the
position command value and speed command value in the Axis Operating
Memory Area set in Common Parameters and the acceleration/deceleration
constants set in the Servo Parameters.
The following is an example for a W-series Servo Drive.
CPU Unit
Ladder program
(1) Transfer the Servo Parameters for acceleration/deceleration.
(1) (2) Set the operating data in the Axis Operating Output Data Areas.
MOV (3) Use the bits in the Axis Operating Output Memory Areas to start the positioning operation.
MOV
PCU Servo Drive

WRITE SERVO PARAMETER Execute WRITE SERVO
PARAMETER to
Acceleration/
(2) transfer before starting
MOV deceleration
positioning operations.
parameters
MOV Pn80A
(3) Pn80B Speed
Pn80C
ABSOLUTE MOVEMENT/
RELATIVE MOVEMENT
:
Time
a
ABSOLUTE MOVEMENT
(word a, bit 03)
Position command value RELATIVE MOVEMENT
a+2 (rightmost word) (word a, bit 03)
a+3 (leftmost word) Output during I/O refresh
Speed command value
a+4 (rightmost word)
Speed command value
a+5 (leftmost word)

Input during I/O refresh
b Control status

b+7 (leftmost word) Input during I/O refresh
b+9 (leftmost word)
The position command value and speed command value set in the Axis Oper-
ating Output Memory Area using the MOV instruction are output to the PCU
automatically during I/O refresh. Direct operation is started when the ABSO-
LUTE MOVEMENT Bit or RELATIVE MOVEMENT Bit allocated in the Axis
Operating Output Memory Area turns ON.
340
Direct Operation Procedure Section 9-2
9-2 Direct Operation Procedure

The procedure for using direct operation is as follows:

The data for the Common Parameters set in step 1 above is enabled.
Set the Servo Parameters required to execute direct operation.
(writes to the non-volatile memory).
To enable changed offline parameters, turn ON the power to the Servo
Drive again or execute DEVICE SETUP.
6. Set the data used for direct operation.
Set the positioning data for direct operation in the position command value
of the Axis Operating Output Memory Area.
Set the speed data for direct operation in the speed command value of the
Axis Operating Output Memory Area.
7. Start ABSOLUTE MOVEMENT or RELATIVE MOVEMENT.
When using the PCU for the first time or to change the Common Parameter
data, steps 1 and 2 must be performed.
After executing SERVO LOCK, WRITE SERVO PARAMETER can be exe-
cuted to set the acceleration/deceleration used each time positioning is per-
formed.
Note When specifying the Servo Parameters for acceleration/deceleration every
time, make sure that the axis operation is stopped (Busy Flag = 0) while
changing the acceleration/deceleration constants using WRITE SERVO
PARAMETER. Do not change parameters during axis operation.
Changing parameters while the axis is operating may result in incorrect posi-
tioning or other malfunction.
9-3 PCU Data Settings for Direct Operation

A simple explanation of the main parameters and data used to execute direct
operation is provided here. To execute direct operation, apart from the param-
eters explained here, the following parameters also need to be set as basic
settings for operating the PCU.
• Command Unit
mand unit.
341
PCU Data Settings for Direct Operation Section 9-3
G5-series Acceleration/Deceleration Servo Parameters

Servo Parameter Area
Accelera- Pn811 Linear acceleration constant 10,000 command −32768 to 2 100
tion/decelera- units/s2 32767
tion constants
Pn814 Linear deceleration constant 10,000 command −32768 to 2 100
units/s2 32767
Accelera- Pn818 Position command FIR filter 0.1 ms 0 to 10000 2 0
tion/decelera- time constant
tion filters
G-series Servo Parameters

Accelera- Pn107 Linear acceleration constant 10,000 command −32768 to 2 100
tion/decelera- units/s2 32767
tion constants
Pn10A Linear deceleration constant 10,000 command −32768 to 2 100
units/s2 32767
Accelera- Pn10E Moving average time 0.1 ms 0 to 5100 2 0
tion/decelera-
tion filters
W-series and SMARTSTEP Junior Servo Parameters

Junior
Accel- Pn80A First-step linear accelera- 10,000 1 to 65535 2 100 Sup- Not sup-
eration/ tion constant command ported ported
decel- units/s2
eration
con- Pn80B Second-step linear acceler- 10,000 1 to 65535 2 100 Sup- Sup-
stants ation constant command ported ported
units/s2
Pn80C Acceleration constant 100 com- 0 to 65535 2 0 Sup- Not sup-
switching speed mand ported ported
units/s
Pn80D First-step linear decelera- 10,000 1 to 65535 2 100 Sup- Not sup-
tion constant command ported ported
units/s2
Pn80E Second-step linear deceler- 10,000 1 to 65535 2 100 Sup- Sup-
ation constant command ported ported
units/s2
Pn80F Deceleration constant 100 com- 0 to 65535 2 0 Sup- Not sup-
switching speed mand ported ported
units/s
Accel- Pn810 Exponential accelera- Command 0 to 32767 2 0 Sup- Not sup-
eration/ tion/deceleration bias units/s ported ported
decel- Pn811 Exponential accelera- 0.1 ms 0 to 5100 2 0 Sup- Not sup-
eration tion/deceleration time con- ported ported
filters stant
ported ported
342
First-step acceleration/deceleration curve operations require parameter set-

tings for Pn80B and Pn80E only. For the acceleration/deceleration curve,
Pn810 and Pn811 must be set when using an exponential curve, and Pn812
must be set when using an S-curve.
ML2
ML2
ML2 1073741824
Minimum Limit Settings

Under the following conditions, the Servo Parameters listed above, apart from
Pn80B, Pn80E, and Pn500/Pn522, are used with the default settings and do
not need to be changed.
• Command unit: Pulse
• Acceleration/deceleration curve: Linear acceleration/deceleration for a
single step only (trapezoidal curve)

Name Word Bits Contents G5 Series W Series SMARTST
G Series EP Junior
ABSOLUTE MOVEMENT a 03 0 → 1: Starts absolute movement. Supported Supported Supported
RELATIVE MOVEMENT 04 0 → 1: Starts relative movement. Supported Supported Supported
INTERRUPT FEEDING 05 1: Enables interrupt feeding. Supported Supported Supported
Position command value a+2 --- Position command value (right- Supported Supported Supported
a+3 most word)
word)
Unit: Command unit
Command range: −2,147,483,648
to 2,147,483,647 (80000000 hex
to 7FFFFFFF hex)
The command value is limited by
the allowable positioning range
when using RELATIVE MOVE-
MENT.
(For details, refer to 9-4-1 Starting
Direct Operation.)
343
Name Word Bits Contents G5 Series W Series SMARTST

G Series EP Junior
Speed command value a+4 --- Speed command value (rightmost Supported Supported Supported
a+5 word)
word)
Command range: 0 to
2,147,483,647 (00000000 hex to
7FFFFFFF hex)
The upper limit setting of the
speed command value depends
Accelera- Exponential a+16 03 1: Use exponential accelera- Not sup- Supported Not sup-
tion/decel- curve desig- tion/deceleration curve. ported ported
eration nation
curve S-curve des- 04 1: Use S-curve acceleration/decel- Supported Supported Not sup-
designa- ignation eration curve. ported
tion
Forward rotation current 14 1: Use forward torque limit. Supported Supported Not sup-
limit ported
Reverse rotation current 15 1: Use reverse torque limit. Supported Supported Not sup-
limit ported

The settings of the following are enabled when the movement command start
bit turns ON: Position command value, Acceleration/Deceleration Curve Des-
ignation Bit, Interrupt Feeding Designation Bit, and Forward/Reverse Rotation
Current Limit Designation Bit.
The speed command value can always be changed during operation. By over-
writing the speed command value, the speed for the positioning operation can
be changed.
The G5-series Servo Drives and G-series Servo Drives do not support expo-
nential curve designation filters. When using a G5-series Servo Drive or
G-series Servo Drive, do not attempt to use an exponential curve designation.
344
Using Direct Operation Section 9-4
Axis Operating Input Memory Areas (Monitoring)

Receiving Command b 00 0: Command reception enabled.
Flag 0 → 1: Command reception started.
1: Receiving command (command
reception disabled).
PCU Positioning Com- 05 0 → 1: Positioning is completed.
pleted Flag
word)
word)

The Receiving Command Flag turns ON for at least one cycle time when the
command to start direct operation is received by the PCU. Use the Receiving
Command Flag when starting and changing target positions to control the
ON/OFF timing for ABSOLUTE MOVEMENT and RELATIVE MOVEMENT.
9-4 Using Direct Operation

9-4-1 Starting Direct Operation
Two methods for starting direct operation are available, as follows:
1,2,3... 1. When the ABSOLUTE MOVEMENT Bit turns ON

2. When the RELATIVE MOVEMENT Bit turns ON
When starting direct operation, make sure that the ABSOLUTE MOVE-
MENT/RELATIVE MOVEMENT Bit remains ON until the Receiving Command
Flag or the Busy Flag in the Axis Operating Input Memory Area turns ON.
Direct operation commands will be ignored if the SERVO UNLOCK, DEVIA-
TION COUNTER RESET, EMERGENCY STOP, or DECELERATION STOP
Bit is ON. Be sure these bits remain OFF while performing direct operation.
Executing ABSOLUTE ABSOLUTE MOVEMENT positions the axis at the specified position using the
MOVEMENT position command value in the Axis Operating Output Memory Area as abso-
lute data. If ABSOLUTE MOVEMENT is started without the origin established
(No Origin Flag = 1), a Present Position Unknown Error (axis error code:
3030) will occur, and positioning will not be executed.
The positioning range for ABSOLUTE MOVEMENT is any absolute position
for which the travel amount from the present position is between
−2,147,483,648 and 2,147,483,647 (command units).
345
If ABSOLUTE MOVEMENT is executed for an absolute position that exceeds

this range, positioning will be performed not to a position based on the
present origin, but to a position exceeding the upper or lower limit of the com-
mand present position.
ABSOLUTE MOVEMENT execution
−2,147,483,648 0 2,147,483,647
Position command value for
ABSOLUTE MOVEMENT
−1,747,483,648 Example: 400,000,000
In this example, positioning is possible
between −1,747,483,648 and 2,147,483,647.
If ABSOLUTE MOVEMENT is executed with a position command value of
−2,147,483,648 to −1,747,483,649 in the above example, positioning will be
performed to the specified position.
Note If ABSOLUTE MOVEMENT is executed for an absolute position that exceeds

the positioning range, the positioning operation will be in the reverse direction
to the present origin and the origin will be offset. Do not allow the position
command value for ABSOLUTE MOVEMENT to exceed the positioning range.
Also, set limit input signals and software limits so that operation will not be
performed outside the present positioning range.
Executing RELATIVE RELATIVE MOVEMENT positions the axis at the specified position using the
MOVEMENT position command value in the Axis Operating Output Memory Area as incre-
mental data. RELATIVE MOVEMENT can be executed without the origin
established (No Origin Flag = 1), and the position command value will be
added to the present position (relative travel distance).
The positioning range for RELATIVE MOVEMENT is a command present
position range of −2,147,483,648 to 2,147,483,647 (command units) when it
is not limited by limit input signals or software limits. (For details on the com-
mand present position, refer to 7-3 Coordinate System and Present Position.)
The position command value used as the relative travel distance can be spec-
ified in the range −2,147,483,648 to 2,147,483,647 (command units), but if the
positioning is started with a position command value such that the target posi-
tion exceeds the positioning range for RELATIVE MOVEMENT, a Position
Designation Error (axis error code: 3060) will occur, and the positioning oper-
ation will not be executed.
RELATIVE MOVEMENT execution

−2,147,483,648 0 2,147,483,647
Position command value for
RELATIVE MOVEMENT
−2,147,483,648 0 2,147,483,647
Positioning is possible.
Positioning is not possible
(Position Designation error).
For details on acceleration/deceleration operations during direct operation,

refer to 7-4 Acceleration and Deceleration Operations.
9-4-2 Direct Operation Timing Charts

Timing Chart for The following timing chart is for when RELATIVE MOVEMENT is executed.
Movement Command The timing chart for ABSOLUTE MOVEMENT is the same, except that posi-
Execution tioning is executed with the absolute position.
346
Position command value 2710 hex (10000)

(words a+2, a+3)
Speed command value 3E8 hex (1000)
(words a+4, a+5)
RELATIVE MOVEMENT
(word a, bit 04) Target speed: 1,000
Travel distance: 10,000 Broken line: Feedback speed
(command units)
Time
Receiving Command Flag The Receiving Command Flag turns ON for at least one
(word b, bit 00) cycle time when the movement command is received.
PCU Positioning Completed
Flag (word b, bit 05) The PCU Positioning Completed Flag is turned OFF when
a movement command is executed.
The PCU Positioning Completed Flag is turned ON when
the number of the Servo Drive's deviation counter residual
pulses is less than the value set for the positioning
completion range. Depending on the number of deviation
counter residual pulses when pulse output has been
completed, a delay may occur in the time between when
the pulse output from the Position Control Unit is
completed until positioning has been completed.
After direct operation starts, the Busy Flag remains ON

until the positioning operation has been completed.
Make sure that the bit for the direct operation movement
command remains ON until the Receiving Command Flag
or Busy Flag turns ON.
Timing Chart for Zero or The following timing chart applies when ABSOLUTE MOVEMENT is executed
Minute Travel Distance to move to the same position as the present position, or RELATIVE MOVE-
MENT is executed for position data of 0 (i.e., direct operation executed for
travel distance of 0), or the positioning operation is ABSOLUTE or RELATIVE
MOVEMENT for a minute travel distance that will finish in less than one CPU
Unit cycle time.
(words a+2, a+3) 0
(words a+4, a+5)
RELATIVE MOVEMENT
(word a, bit 04)
The Receiving Command Flag and Busy Flag remain
Receiving Command ON for at least one cycle time when the movement
Flag (word b, bit 00) command is received.

The PCU Positioning Completed Flag turns OFF during
PCU Positioning Complet- execution of the movement command. When the travel
ed Flag (word b, bit 05) distance is 0, the PCU Positioning Completed Flag
remains OFF for at least one cycle time.
Even for a zero or minute travel distance, the Receiving Command Flag and
Busy Flag for the movement command will remain ON for at least one CPU
Unit cycle time.
The PCU Positioning Completed Flag for the movement command will remain
OFF for at least one cycle time if positioning stops within the positioning com-
pletion range for the target position.
347
Timing Chart for If an error occurs due to an illegal command value when a direct operation
Error/Warning Flag during command is executed, the command will not be executed, and the timing
Command Execution chart will be as follows:
(words a+2, a+3) 2710 hex (10000)
Speed command value
3E8 hex (1000)
(words a+4, a+5)
RELATIVE MOVEMENT
(word a, bit 04)
AXIS ERROR RESET
(word a, bit 12)
The Receiving Command Flag and Busy Flag turn
Receiving Command Flag ON for at least one cycle time when the command is
(word b, bit 00) received.
Busy Flag (word b, bit 13) The PCU Positioning Completed Flag will not
change if direction operation is not performed due
PCU Positioning Completed to an illegal movement command.
Flag (word b, bit 05)
If an illegal movement command is received, the
Error Flag (word b, bit 12) Error Flag will turn ON, and the movement
command will not be executed. The Error Flag
3040 hex (Example: Servo will turn OFF when the AXIS ERROR RESET Bit
Axis error code (word b+4) 0000 unlocked) 0000 is turned ON.
If an error occurs, after the Busy Flag turns ON,
the Error Flag will turn ON and the axis error code
will be set after either one cycle time or
MECHATROLINK communications cycle,
whichever is longer.
If a Servo Drive warning occurs when a movement command is being exe-

cuted, such as the speed command value exceeding the Servo Drive's limit
value, the Error Flag in the above timing chart is replaced by the Warning Flag
(word b, bit 11). After the command has been executed and the Busy Flag has
been ON for at least one CPU Unit cycle time, the Error Flag and Warning
Flag will turn ON at the same time as the Receiving Command Flag and Busy
Flag turn OFF after either one PLC cycle time or after one MECHATROLINK
communications time, whichever is longer.
Timing Chart for Errors or When an error occurs during direct operation, such as a limit input during axis
Warnings during Axis operation, the axis will either decelerate to a stop, immediately stop (emer-
Operation gency stop), or continue operation, depending on the error.
The timing charts when an error occurs during axis operation are provided
below.
348
When an Error that Stops (Deceleration/Emergency Stop) Axis Operation

Occurred
Example: Limit Input Error
Forward rotation limit input
RELATIVE MOVEMENT
(word a, bit 04)
AXIS ERROR RESET Bit
(word a, bit 12)
(word b, bit 00)

PCU Positioning Complet-
ed Flag (word b, bit 05) The PCU Positioning Completed Flag turns OFF
during execution of the movement command. This
Error Flag (word b, bit 12) flag will not turn ON if the executed positioning
0000 3000 hex (Example:
0000 command is not completed due to an error.
Forward rotation limit)
Axis error code (word b+4) If an error occurs, the Error Flag will turn ON, the
axis error code stored, and the axis will stop
according to the stopping method set for when
errors occur. The Error Flag will turn OFF when
AXIS ERROR RESET is executed. If an error
occurs, after the Busy Flag turns ON, the Error
Flag and axis error code will remain ON and set
for either one cycle time or MECHATROLINK
communications cycle, whichever is longer.
When a Warning Allowing Axis Operation to Continue Occurred

Example: Parameter Setting Warning during Servo Parameter Transfer
RELATIVE MOVEMENT
(word a, bit 04)
AXIS ERROR RESET
(word a, bit 12)
WRITE SERVO PARAMETER
(word a+1, bit 12)
(word b, bit 00)
Busy Flag (word b, bit 13) Axis operation The PCU Positioning Completed Flag turns
PCU Positioning Completed continues OFF during execution of the movement
Flag (word b, bit 05) command. This flag will not turn ON if the
Servo Parameter Transferring executed positioning command is not
Flag (word b, bit 14) completed due to an error.
When a warning occurs, the Warning Flag turns
Warning Flag (word b, bit 11) ON and the axis error code (warning code) is
4094 hex (Example: stored. The Warning Flag will turn OFF when
Axis error code (word b+4) 0000 Parameter setting warning) 0000 AXIS ERROR RESET is executed.
If an error occurs, after Busy Flag turns ON, the
Warning Flag will turn ON and the axis error
code will be set after either one cycle time or
MECHATROLINK communications cycle,
whichever is longest.
349
9-4-3 Changing Target Position

during direct operation, the target position for the positioning operation can be
changed by setting a new position command value in the Axis Operating Out-
put Memory Area and executing ABSOLUTE MOVEMENT or RELATIVE
MOVEMENT again.
The Busy Flag remains ON during direct operation until the positioning opera-
tion is completed. The Receiving Command Flag in the Axis Operating Input
Memory Area is used to control the ON/OFF timing of the ABSOLUTE/RELA-
TIVE MOVEMENT Bit to change the target position. The target position can
be changed when the Receiving Command Flag is OFF. When executing the
target position change, make sure that the ABSOLUTE/RELATIVE MOVE-
MENT Bit remains ON until the Receiving Command Flag turns ON.
(words a+2, a+3) 2710 hex (10000) 2EE0 hex (12000)
Speed command value
(words a+4, a+5) 3E8 hex (1000)
RELATIVE MOVEMENT
(word a, bit 04) The Receiving Command Flag turns ON for at least
one cycle time when a command is received to start
Receiving Command
direct operation or change the target position. During
direct operation, the Busy Flag remains ON until
positioning is completed. Therefore, control the
Busy Flag (word b, bit 13) movement command timing for changing target
positions using the Receiving Command Flag.
Speed
Target speed: 1,000 Solid line: Command speed
(command units/s) Broken line: Feedback speed
Time
Previous target position
(absolute position: 10,000) Final position: 12,000 (command units)
Target position changed
Note (1) When executing movement commands sequentially, make sure that the
movement command bit remains OFF for a minimum of either the PLC
cycle time × 2 or the MECHATROLINK communications cycle × 2, which-
ever is longer. If the time when the movement command bit is OFF is too
short, the PCU will not be able to detect the rising edge of the movement
command bit, preventing reception of the command.
(2) When executing the movement command again during axis operation to
change the target position, do not change the acceleration/deceleration
curve designation from the original setting when operation was started.
Changing the acceleration/deceleration curve designation when chang-
ing the target position during axis operation may result in displaced posi-
tioning or other malfunction.
350
Operation Pattern when Changing the Target Position

Without Reversal Operation With Reversal Operation
New command (position change) New command (position change)
Speed ↓ Speed ↓
Forward Forward
rotation rotation
↑ ↑ ↑ position ↑ ↑ ↑ position
Start First command New command Start | First command
position position | position
|
New command
position
Executing Change to If the target position is changed using RELATIVE MOVEMENT executed for a
Target Position for Small zero or minute travel distance or ABSOLUTE MOVEMENT executed to a posi-
Travel Distance tion near the present position, positioning will be performed to the target posi-
tion after decelerating to a stop and reversing direction.
RELATIVE MOVEMENT for position
command value 0
Speed
Travel direction
Stop
351
9-4-4 Changing Target Speed

during direct operation, by setting a new speed command value in the Axis
Operating Output Memory Area, the target speed for the positioning operation
can be changed. The speed command value is enabled at the I/O refresh
after it is set in the Axis Operating Memory Area. The PCU starts changing to
the new target speed at the acceleration/deceleration set in the Servo Param-
eters when the new speed command value is enabled.
(words a+2, a+3) 2710 hex (10000)
Speed command value

(words a+4, a+5) 3E8 hex (1000) 7D0 hex (2000)
ABSOLUTE MOVEMENT
(word a, bit 03)
Speed
2000
The target speed can be changed at any time by

overwriting the speed command value.
1000 If the positioning travel distance is not sufficient to
change the speed, the axis will decelerate and
positioning will stop, without reaching the target speed.
Time
Absolute position: 10,000
Receiving Command
Flag (word b, bit 00) The Receiving Command Flag does not
turn ON when changing the target speed.
(The Busy Flag turns OFF when positioning is completed.)
Target speed changed
Timing Chart for Changing Target Position and Target Speed

The target position change, is executed
Position command value according to the position command value
(words a+2, a+3) 2710 hex (10000) 4E20 hex (20000) 7530 hex (30000) when the ABSOLUTE MOVEMENT or
RELATIVE MOVEMENT Bit turns ON.
Speed command value 3E8 hex (1000) 5DC hex (1500) In the example here, positioning is
(words a+4, a+5) performed to 20000 and changing the
ABSOLUTE MOVEMENT target position to 30000 is not executed.
(word a, bit 03) The target speed can be changed at any
Speed time by overwriting the speed command
value.
1500
1000 Broken line: Feedback speed
Previous target position Absolute Time

Receiving Command (absolute position: 10,000) position:
Flag (word b, bit 00) 20000
Target position changed Target speed changed
352
Interrupt Feeding Section 9-5
9-5 Interrupt Feeding

9-5-1 Overview
The PCU's interrupt feeding is a positioning operation that moves the axis for
a specified amount, separate from the position command value, from the posi-
tion at which the external interrupt signal was input either in the same direc-
tion as the direction of travel or in the opposite direction. The specified amount
of travel is performed at the speed being used when the external interrupt sig-
nal was input.
Moving for a Specified Distance in the Direction of Travel Moving for a Specified Distance in Opposite Direction
Speed Target speed Interrupt input signal Speed Target speed Interrupt input signal
Acceler- Position control Acceler-
ation (traveling a ation
specified distance) Deceleration
Deceleration
Forward rotation Forward rotation

position position
Deceleration Acceleration
Position control
(traveling a specified distance)
When an interrupt input signal is not input, positioning is performed to the tar-
get position specified in the position command value, as normal.
A rising edge of the interrupt input signal after ABSOLUTE MOVEMENT or
RELATIVE MOVEMENT has started is treated as an input.
9-5-2 Interrupt Feeding Procedure

The interrupt feeding function is a supplementary function for positioning
operations using direct operation (ABSOLUTE MOVEMENT, RELATIVE
MOVEMENT). Interrupt feeding can be executed using the same procedure
as for direct operation by simply specifying interrupt feeding at the start of
direct operation.
The following procedure omits the steps up to SERVO LOCK, showing the
start procedure only.
1,2,3... 1. Transfer the Servo Parameters for interrupt feeding.

2. Set the data used for direct operation.
Set the positioning data for direct operation in the position command value
of the Axis Operating Output Memory Area.
Set the speed data for direct operation in the speed command value of the
3. Turn ON the INTERRUPT FEEDING Bit.
4. Start ABSOLUTE MOVEMENT or RELATIVE MOVEMENT.
353
9-5-3 Data Settings for Using Interrupt Feeding

To execute interrupt feeding, the following parameters and data must be set in
addition to the parameters and data required for direct operation.
Axis Parameter Area Interrupt Input Signal Parameters
d Origin input sig- Interrupt input Interrupt input signal selection
nal selection signal selection 00: Phase Z
d = 1860 hex + (Axis No. −1) × 14 hex

When using external latch signals 1 to 3, the external latch signal to be used
must be allocated in the Servo Drive's external input allocations.
When using a SMARTSTEP Junior Servo Drive, only 00 (phase Z) and 01
(external latch signal 1) can be used for the origin input signal selection.
Servo Parameter Area Interrupt Feeding Parameters
Parameter name for G Unit Setting range Paramet Default G5 G Series W Series
Series (Parameter er size setting Series and
name for W Series) SMARTS
TEP
Junior
Series
Final distance for exter- Command unit −1,073,741,823 to 4 100 Pn820 Pn203 Pn814
nal input positioning 1,073,741,823
(Final travel distance for
external positioning)
Set the travel distance from the position at which the interrupt input signal is
input. The travel direction for when the interrupt input signal is input is deter-
mined by the sign (positive or negative) in the set value. The operation per-
formed when the interrupt input signal is input depends on the sign for this
parameter and the sign of the position command value for direct operation, as
follows:
Position command Servo parameter Pn203/Pn814/Pn820 (External
value for direct Positioning Final Travel Distance)
operation Positive value Negative value
Positive value When the interrupt input sig- When the interrupt input sig-
nal is input, interrupt feeding nal is input, interrupt feeding
is executed in the same direc- is executed in the opposite
tion as the travel direction direction from the travel direc-
when movement was started. tion when movement was
started.
(Reversal mode operation)
Negative value When the interrupt input sig- When the interrupt input sig-
nal is input, interrupt feeding nal is input, interrupt feeding
is executed in the opposite is executed in the same direc-
direction from the travel direction as the travel direction
tion when movement was when movement was started.
started.
(Reversal mode operation)
Note Starting in Position Control Unit with version 2.0 and later, the External Posi-
tioning Final Travel Distance for G5-series Servo Drives (Pn820), the Final
Distance for External Input Positioning for G-series Servo Drives (Pn203) or
354
Final Travel Distance for External Positioning for W-series Servo Drives
(Pn814) is used for internal processing in the Position Control Unit when one
of the following origin search operation patterns are selected.
• When the origin detection method is set to any value except for 0 (Origin
proximity input signal reversal)
• When setting a zero point position offset for an origin search using an
absolute encoder
Because Pn814 is automatically overwritten by the Position Control Unit when
starting the origin search operation, if using the interrupt feeding after execut-
ing the origin search in the above operation pattern, be sure to set the Exter-
nal Positioning Final Travel Distance for G5-series Servo Drives (Pn820), the
Final Distance for External Input Positioning for G-series Servo Drives
(Pn203) or Final Travel Distance for External Positioning for W-series Servo
Drives (Pn814) again.

INTERRUPT FEEDING a 05 1: Enables interrupt feeding

9-5-4 Timing Chart for Interrupt Feeding

Interrupt feeding is executed by turning ON the INTERRUPT FEEDING Bit in
the Axis Operating Output Area and starting direct operation.
Timing Chart for Interrupt The following timing chart is for when INTERRUPT FEEDING is executed with
Feeding Using ABSOLUTE MOVEMENT. The timing chart for RELATIVE MOVEMENT is the
ABSOLUTE MOVEMENT same, except that positioning is executed with the relative position if no inter-
rupt input signal is input.
2710 hex (10000)
(words a+2, a+3)
(words a+4, a+5)
ABSOLUTE MOVEMENT
(word a, bit 03)
INTERRUPT FEEDING The INTERRUPT FEEDING is
(word a, bit 05) enabled when the bit for the
movement command turns ON.
Target speed: 1,000
Final travel distance for Time

Receiving Command Flag external positioning (Pn814)
(word b, bit 00)
Positioning when internal Positioning when no internal input signal is input

input signal is input (absolute position: 10000 (command unit))
355
Torque Limit Function Section 9-6
In interrupt feeding as well as normal direct operations, the target position

(target position for when no interrupt input signal is input), target speed, and
override value can be changed by executing another movement command.
Note that, however, in the interval of positioning for the final travel distance for
external positioning after the input of the interrupt input signal, another
INTERRUPT FEEDING cannot be executed (it will be ignored).
9-5-5 Present Position during Interrupt Feeding

The positioning range for direct operation (ABSOLUTE MOVEMENT and
RELATIVE MOVEMENT) is a command present position range of
−2,147,483,648 to 2,147,483,647 (command units) when it is not limited by
limit input signals or software limits. (For details on the command present
position, refer to 7-3 Coordinate System and Present Position. For details on
RELATIVE MOVEMENT, refer to Executing RELATIVE MOVEMENT in 9-4-1
Starting Direct Operation.)
When INTERRUPT FEEDING is executed, the positioning range and position
command value setting range are the same, but the positioning range is sub-
ject to the following conditions when interrupt input signals are input near the
upper limit/lower limit of the positioning range.
When the interrupt feeding operation after interrupt input exceeds the upper
or lower limit of the positioning range due to the Final Travel Distance for
External Positioning setting and the input position of the interrupt input signal,
the current position reference point (i.e., the origin) and the positioning range
change and positioning to the original position is no longer possible.
Positioning without input of
Interrupt input signal internal input signal
Final travel distance for external positioning
Physical position
−2,147,483,648 0 2,147,483,647 4,294,967,296
PCU present position
−2,147,483,648 0 2,147,483,647 P
Interrupt feeding start
−2,147,483,648 0 2,147,483,647
Position after interrupt feeding
Positioning range when interrupt feeding is started Positioning range from point P
When interrupt feeding is used, set the limit inputs, software limits, and other
required settings, and make sure that the positioning range is not exceeded
due to the interrupt feeding operation.
9-6 Torque Limit Function

When using a W-series Servo Drive, set Servo Parameters Forward Rotation
External Current Limit (Pn404) and Reverse Rotation External Current Limit
(Pn405), and turn ON the Forward Rotation External Current Limit Designa-
tion Bit and Reverse Rotation External Current Limit Designation Bit in the
Axis Operating Output Memory Area when starting a direct operation to apply
a current (torque) limit during direct operation.
356
Linear Interpolation Section 9-7
When using a G-series Servo Drive, set Servo Parameter No. 2 Torque Limit
(Pn05F) and turn ON the Forward Rotation External Current Limit Designation
Bit and Reverse Rotation External Current Limit Designation Bit in the Axis
Operating Output Memory Area when starting a operation to apply a current
or torque limit during direct operation.
When using a G5-series Servo Drive,set Servo Parameter No.1 Torque Limit
(Pn013) and turn ON the Forward rotation output torque limit and Reverse
rotation torque limit in the Axis Operating Output Memory Area when starting
a operation to apply torque limit during direct operation.
If another direct operation command is executed at this point, the torque limit
function can be switched during operation.
For further details on the torque limit function, refer to 10-4 Torque Limits.
The SMARTSTEP Junior Servo Drives do not support torque control.
9-7 Linear Interpolation

With unit version 1.1 or later of the Position Control Unit, a linear interpolation
function that can perform linear interpolation using multiple axes in combina-
tion has been added.
Linear interpolation can be executed for the axes of a Servo Drive connected
to the Position Control Unit, using up to four axes in any combination for axes
1 to 4 or axes 5 to 8.
Note Do not write data to the CJ1W-NC@71 unit version 1.1 or later that has been
backed up from the CJ1W-NC@71 unit version 1.0 to a Memory Card in the
CPU Unit (using either the CPU Unit’s simple backup function or the Position
Control Unit’s backup function). When unit version 1.0 backup data is restored
to unit version 1.1 or later, the linear interpolation function cannot be used. To
transfer unit version 1.0 settings to unit version 1.1 or later, use the parameter
transfer function using the READ DATA, WRITE DATA, or SAVE DATA Bit in
the Common Operating Memory Area.
9-7-1 Overview of Linear Interpolation Function

Linear interpolation operates according to the following settings data for axes
1 to 4 or axes 5 to 8.
• Designation of axes to combine for linear interpolation (Interpolation axis
designation)
• Position command values for individual interpolation axes
• Designation of absolute and relative positions for position command val-
ues for individual interpolation axes (interpolation position designation)
• Interpolation speed command values and speed command values for
individual interpolation axes
• Interpolation acceleration and deceleration times
Based on these commands, the respective linear interpolation operations are
started by the LINEAR INTERPOLATION START Bit allocated in the Axis
Operating Output Memory Area (axis 1 for interpolation operations using axes
1 to 4, and axis 5 for interpolation operations using axes 5 to 8).
357
Servo Drive (Axis No.)

CPU Unit PCU
Axis Operating Output Memory Area

#1
Axis 1 Operating Output

#2
Linear interpolation
operations are possible
using any combination #3
of axes 1 to 4.
#4
#5
Axis 5 Operating Output
Linear interpolation
operations are possible #6
using any combination
of axes 5 to 8.
#7
#8
MECHATROLINK-II
The speeds for individual axes in linear interpolation are determined by the
following equations. (The same equations are used for 2-axis or 3-axis linear
interpolation.)
Example: Linear Interpolation for 4-axis (Axis 1 to Axis 4) Operation
Axis 1 speed = Interpolation speed × Movement of Axis 1 / Total movement
Total movement = (Movement of Axis 1)2 + (Movement of Axis 2)2 + (Movement of Axis 3)2 + (Movement of Axis 4)2
If speeds set using speed command values for individual interpolation axes
are exceeded when interpolation speed command values are resolved into
individual axis speeds by the above equations, those speeds are automati-
cally lowered so that each axis involved in linear interpolation is moved at the
set speed command value.
358
Example: Linear Interpolation for 2-axis (Axis 1 and Axis 2) Operation

Axis 2
Interpolation end point

Axis 2 target position
Interpolation speed
Axis 2 speed
Start Point
Axis 1 Speed Axis 1 target Axis 1
position
Speed
Interpolation speed
Axis 1 speed
Axis 2 speed
Time
Interpolation acceleration time Interpolation deceleration time
Note In the linear interpolation function of the Position Control Unit, the acceleration
and deceleration operations for each axis based on the interpolation accelera-
tion time and interpolation deceleration time that were set are performed by
using the Second-step Linear Acceleration Constant for W-series Servo
Drives (Pn80B), Linear Acceleration Constant for G-series Servo Drives
(Pn107) or Linear Acceleration Constant for G5-series Servo Drives (Pn811)
and Second-step Linear Deceleration Constant for W-series Servo Drives
(Pn80E), Linear Deceleration Constant for G-series Servo Drives (Pn10A), or
Linear Deceleration Constant for G5-series Servo Drives (Pn814).
The setting unit for the Second-step Linear Acceleration Constant and Sec-
ond-step Linear Deceleration Constant is 10,000 command units/s2. In opera-
tion, the actual acceleration and deceleration times are thus affected by the
precision of the command unit.
9-7-2 Linear Interpolation Operation Procedure

Just as with direct operation (absolute and relative movement commands), lin-
ear interpolation is executed by setting operation commands in the Axis Oper-
ating Output Memory Area.
Common commands for linear interpolation operations, such as designation
of interpolation axis combinations, interpolation speeds, and interpolation
acceleration and deceleration times, are set in the Axis Operating Output
Memory Area for axis 1 or axis 5, and position and speed command values for
individual linear interpolation axes are set in the Axis Operating Output Mem-
ory Area for those particular axes. Then linear interpolation operations are
started by using the LINEAR INTERPOLATION SETTING and LINEAR
INTERPOLATION START Bits.
The following procedure describes the steps related to starting linear interpo-
lation operations, from servolock onwards.
359
1,2,3... 1. Set the data for linear interpolation operation.

Set the axis combination designation, the absolute and relative positioning
designation for individual interpolation axes, the interpolation acceleration
and deceleration times, and the interpolation speed command value in the
Axis Operating Output Memory Area for axis 1 (when using any combina-
tion of axes 1 to 4 for linear interpolation) or axis 5 (when using any com-
bination of axes 5 to 8 for linear interpolation).
↓
2. Set the data for individual axis interpolation operations.
In the Axis Operating Output Memory Area, for each axis specified for
interpolation, set the position data in the position command value and
the speed data in the speed command value.
↓
3. Set linear interpolation.
Turn ON the LINEAR INTERPOLATION SETTING Bit in the Axis Operat-
ing Output Memory Area for axis 1 (or axis 5).
↓
4. Start linear interpolation operation.
Turn ON the LINEAR INTERPOLATION START Bit in the Axis Operating
Output Memory Area for axis 1 (or axis 5).
Note (1) When the linear interpolation function is used, set the communications
cycle (PCU address 1856 hex: bits 07 to 00) in the MECHATROLINK
communications settings in the CPU’s Common Parameter Area to a val-
ue at least one greater than the normal minimum value. If the communi-
cations cycle is set too low, the command response times for PCU
functions may become too long.
(2) From the point where linear interpolation is first set until axis operation is
finished (i.e., while the LINEAR INTERPOLATION SETTING Bit is ON or
until the Linear Interpolation Executing Flag turns OFF), command re-
sponse times for the other axes not involved in the linear interpolation are
delayed by up to four communications cycles per combination of axes ex-
ecuting linear interpolation.
9-7-3 Setting Data for Linear Interpolation Operation

PCU linear interpolation operations can be executed simultaneously for two
combinations of axes, from axes 1 to 4 and axes 5 to 8. For a combination of
axes 1 to 4, set the following linear interpolation-related data in the Axis 1
Operating Output Memory Area, and for a combination of axes 5 to 8 set the
data in the Axis 5 Operating Output Memory Area.
• Interpolation acceleration and deceleration times
• Interpolation axis designation
• Interpolation position designation
• Interpolation speed command value
Also, in the Axis Operating Output Memory Area for each axis, make the fol-
lowing settings related to individual axes specified for linear interpolation.
• Position command value (Command value absolute and relative positions
are handled according to the interpolation position designation.)
• Speed command value (Functions as the maximum speed designation for
individual interpolation axes, with respect to the interpolation speed com-
mand value.)
360
Once the above settings have been made, then execute linear interpolation
operations by using the following two bits allocated in the Axis Operating Out-
put Memory Area for axis 1 or axis 5.
• LINEAR INTERPOLATION SETTING
• LINEAR INTERPOLATION START
Example: Linear Interpolation for 4-axis (Axis 1 to Axis 4) Operation
Axis 1 Operating Output Axis 2 Operating Output Axis 3 Operating Output Axis 4 Operating Output
+0 00 LINEAR INTERPOLATION SETTING
01 LINEAR INTERPOLATION START
+2 Axis 1 Position command Axis 2 Position command Axis 3 Position command Axis 4 Position command
+3 value value value value
+4 Axis 1 Speed command Axis 2 Speed command Axis 3 Speed command Axis 4 Speed command
+5 value (for position control) value (for position control) value (for position control) value (for position control)
+10 Option command value 1 Linear interpolation acceleration time

+11 Not used
+12 Option command value 2 Linear interpolation deceleration time
+13 Not used
15 Reverse rotation current limit
14 Forward rotation current limit 04 15 14 04 15 14 04
+16
04 S-curve designation 03 Axis 4
02 Axis 3
01 Axis 2
00 Axis 1
+21 Interpolation axis designation
+22 Interpolation position designation
+23 Interpolation Speed
+24 command value
Note (1) When executing interpolation operations using a combination of axes 5 to

8, the interpolation axis designation and interpolation position designa-
tion are made for axes 5 to 8 respectively in the Axis 5 Operating Output
Memory Area, in bits 04 to 07 in the corresponding words in the above
diagram.
(2) Set the acceleration/deceleration curve designation (the S-curve desig-
nation) and the forward/reverse torque designation for each designated
interpolation axis.
Common Parameter Area MECHATROLINK Communications Settings
PCU's address Contents Setting
Bits 08 to 15 Bits 00 to 07
1856 hex Transfer cycle Communica- Set the communications cycle to a value one greater than the min-
tions cycle imum communications cycle value determined by the number of
connected devices. (Refer to 6-2-3 MECHATROLINK Communica-
tions Settings.)
Servo Parameter Area Acceleration/Deceleration Constants

No. size setting
Accelera- Pn80C Acceleration constant 100 command Must be set to 0. 2 0
tion/deceler- switching speed units/s
ation Pn80F Deceleration constant 100 command Must be set to 0. 2 0
constants switching speed units/s
361
Note When executing linear interpolation operations, the Acceleration Constant

Switching Speed (Pn80C) and the Deceleration Constant Switching Speed
(Pn80F) in the Servo Parameter Area must each be set to 0. Linear interpola-
tion operations cannot be properly executed if any number other than 0 is set.
Linear interpolation operations can be executed for this PCU only with a
1-step acceleration/deceleration curve.
Axis Operating Output Settings for Linear Interpolation Operations: Axis 1, Axis 5 Operating
Memory Areas (Operating Output Memory Areas
Commands)
LINEAR INTERPO- a 00 0 → 1: Starts linear interpolation setting
LATION SETTING 1: LINEAR INTERPOLATION START valid.
LINEAR INTERPO- 01 0 → 1: Starts linear interpolation movement
LATION START (Valid only when LINEAR INTERPOLATION SETTING = 1)
Option Command a+10 --- Linear interpolation acceleration time
Value 1 Unit: ms
Command range: 0 to 65535 (0000 hex to FFFF hex)
a+11 --- Not used (Set value disabled.)
Option Command a+12 --- Linear interpolation deceleration time
Value 2 Unit: ms
Command range: 0 to 65535 (0000 hex to FFFF hex)
a+13 --- Not used. (Set value disabled.)
Interpolation Axis a+21 00 to 03 0: Not designated as interpolation axis.
Designation (Axis 1 to 1: Designated as interpolation axis.
Axis 4) Designates axes for executing linear interpolation.
Combinations of axes 1 to 4 are designated in bits 00 to 03 (Axis 1 Operat-
ing Output Memory Area), and combinations of axes 5 to 8 are designated
04 to 07 in bits 04 to 07 (Axis 5 Operating Output Memory Area).
(Axis 5 to Bits 00 to 03, and bits 04 to 07, correspond respectively to axes 1 to 4 and
Axis 8) axes 5 to 8.
Interpolation Posi- a+22 00 to 03 0: Execute interpolation operations using absolute position.
tion Designation (Axis 1 to 1: Execute interpolation operations using relative position.
Axis 4) Specifies, for axes designated by the interpolation axis designation, whether
positioning in interpolation operations is to be executed using absolute or
relative positions.
04 to 07 Positions for axes 1 to 4 are designated in bits 00 to 03 (Axis 1 Operating
(Axis 5 to Output Memory Area), and positions for axes 5 to 8 are designated in bits
Axis 8) 04 to 07 (Axis 5 Operating Output Memory Area). These bits correspond
respectively to axes 1 to 4 and axes 5 to 8.
Interpolation Speed a+23 --- Speed command value (rightmost word)
Command Value a+24 Speed command value (leftmost word)
Command range: 0 to 2,147,483,647 (00000000 hex to 7FFFFFFF hex)
For details on speeds for interpolation operations, refer to Linear Interpola-
tion Operation Speeds on page 368.

362
Settings for Interpolation Axis Operations: Axis Operating Output

Memory Areas for Axes Designated by Interpolation Axis Designation
Name Word Bits Contents G Series W Series SMART-
STEP
Junior
Position Command Value a+2 --- Position command value (rightmost word) Supported Supported Supported
a+3 Position command value (leftmost word)
Unit: Command unit
2,147,483,647 (80000000 hex to
7FFFFFFF hex)
The command value is limited by the
allowable positioning range.
(For details, refer to 9-4-1 Starting Direct
Operation.)
Speed Command Value a+4 --- Speed command value (rightmost word) Supported Supported Supported
(for Position Control) a+5 Speed command value (leftmost word)
Command range: 0 to 2,147,483,647
(00000000 hex to 7FFFFFFF hex)
For details on speeds for interpolation
operations, refer to Linear Interpolation
Operation Speeds on page 368.
Accelera- Exponen- a+16 03 1: Use exponential acceleration/decelera- Not sup- Supported Not sup-
tion/decel- tial curve tion curve. ported ported
eration designation
curve des- S-curve 04 1: Use S-curve acceleration/deceleration Supported Supported Not sup-
ignation designation curve. ported
Forward rotation current 14 1: Use forward torque limit. Supported Supported Not sup-
limit ported
Reverse rotation current 15 1: Use reverse torque limit. Supported Supported Not sup-
limit ported

nential curve designation filters. When using a G-series Servo Drive, do not
attempt to use an exponential curve designation filter.
Note (1) For interpolation acceleration and deceleration time settings, the upper
and lower limits for axis acceleration and deceleration speeds are restrict-
ed to a range of 1 to 65,535 [×10,000 command units/s2]. If the acceler-
ation or deceleration speeds calculated from the linear interpolation
operation settings for an interpolation axis are extremely low or high, the
linear interpolation following may not be correct.
(2) The interpolation acceleration time and interpolation deceleration time
are set by converting to the units [×10,000 command unit/s2] of the Sec-
ond-step Linear Acceleration Constant for W-series Servo Drives
(Pn80B), Linear Acceleration Constant for G-series Servo Drives (Pn107)
or Linear Acceleration Constant for G5-series Servo Drives (Pn811) and
Second-step Linear Deceleration Constant for W-series Servo Drives
(Pn80E), Linear Deceleration Constant for G-series Servo Drives
363
(Pn10A), or Linear Deceleration Constant for G5-series Servo Drives

(Pn814).
(3) If the linear interpolation operation is performed using an S-curve, be
sure to set the Movement Average Time for W-series Servo Drives
(Pn812), Moving Average Time for G-series Servo Drives (Pn10E), and
Moving Average Time Interval for G5-series Servo Drives (Pn818) to the
same value before for all axes that are specified an interpolation axes,
and specify the S-curve for all interpolation axes when starting the linear
interpolation operation. If different movement average times are set for in-
terpolation axes, and the S-curve designation does not match, operation
will not be possible using the linear interpolation following.
(4) With linear interpolation operations, an exponential curve cannot be des-
ignated. In the acceleration/deceleration curve designation, the designa-
tion of an exponential curve will be disabled.
Axis Operating Input Linear Interpolation Operation Status: Axis 1, Axis 5 Operating Input
Memory Areas Memory Areas
(Monitoring)
Linear Interpolation b+24 00 0: Linear interpolation setting command reception enabled.
Setting Completed 0 to 1: Linear interpolation setting completed.
Flag 1: Linear interpolation setting completed
(setting command reception disabled).
Linear Interpolation 13 1: Linear interpolation operation executing
Executing Flag

Interpolation Axis Operation Status: Axis Operating Input Memory Areas
for Axes Designated by Interpolation Axis Designation
Receiving Com- b 00 0: Command reception enabled.
mand Flag 0 to 1: Command reception started.
1: Receiving command (command reception disabled).
PCU Positioning 05 0 to 1: Positioning is completed.
Completed Flag
No Origin Flag 06 0: Origin established. 1: No origin established.
Error Flag 12 0: No axis error. 1: Axis error has occurred.
Feedback Present b+6 --- Present position:
Position b+7 Feedback present position (rightmost word)
Feedback present position (leftmost word)
Command Present b+8 --- Present position:
Position b+9 Command position (rightmost word)

When a linear interpolation operation command (LINEAR INTERPOLATION
SETTING or LINEAR INTERPOLATION START) is executed, the linear inter-
polation operation status can be checked in the Axis Operating Input Memory
Area of the axis (Axis 1 or Axis 5) for which the command was executed. The
operation status of axes designated by linear interpolation designation can be
checked in the Axis Operating Input Memory Areas for individual interpolation
axes.
364
9-7-4 Linear Interpolation Operation

After the data related to linear interpolation has been set, linear interpolation
operation is started by means of the following two operations.
Executing LINEAR INTERPOLATION SETTING

Turn ON the LINEAR INTERPOLATION SETTING Bit in the Axis 1 (or Axis 5)
Operating Output Memory Area.
When this bit is turned ON, the settings for linear interpolation operation that
have been set in the Axis Operating Output Memory Area for axis 1 (or axis 5)
are obtained, along with the position command values and position speed val-
ues for individual interpolation axes, and preparations will be executed for lin-
ear interpolation operation. Execute LINEAR INTERPOLATION SETTING
when the Linear Interpolation Setting Completed Flag in the Axis Operating
Input Memory Area for axis 1 (or axis 5), and the Busy Flag and Error Flag for
the axes designated by the interpolation axis designation, are reset. If the Lin-
ear Interpolation Setting Completed Flag for axis 1 (or axis 5) is set, or if an
axis designated by the interpolation axis designation is busy (i.e., Busy Flag
ON), or if an error has occurred (i.e., Error Flag ON), the LINEAR INTERPO-
LATION SETTING command will be ignored and will not be executed.
When LINEAR INTERPOLATION SETTING has been successfully com-
pleted, the Linear Interpolation Setting Completed Flag for axis 1 (or axis 5)
will be set.
Note (1) LINEAR INTERPOLATION SETTING is automatically written from the

PCU to the Servo Parameters. When executing LINEAR INTERPOLA-
TION SETTING, do not execute any of the Servo Parameter transfer op-
erations (WRITE, READ, or SAVE).
(2) When LINEAR INTERPOLATION SETTING is executed, the Sec-
ond-step Linear Acceleration Constant for W-series Servo Drives
(Pn80B), Linear Acceleration Constant for G-series Servo Drives (Pn107)
or Linear Acceleration Constant for G5-series Servo Drives (Pn811) and
Second-step Linear Deceleration Constant for W-series (Pn80E), Linear
Deceleration Constant for G-series Servo Drives (Pn10A) or Linear De-
celeration Constant for G5-series Servo Drives (Pn814) parameters in
the Servo Parameters are changed. Be careful of changes to acceleration
and deceleration speed settings if interpolation axes are operated inde-
pendently (by direct operation, JOG, etc.) after LINEAR INTERPOLA-
TION SETTING has been executed (regardless of whether LINEAR
INTERPOLATION START has been executed). Change the Second-step
Linear Acceleration Constant for W-series Servo Drives (Pn80B), Linear
Acceleration Constant for G-series Servo Drives (Pn107) or Linear Ac-
celeration Constant for G5-series Servo Drives (Pn811) and Second-step
Linear Deceleration Constant for W-series (Pn80E), Linear Deceleration
Constant for G-series Servo Drives (Pn10A) or Linear Deceleration Con-
stant for G5-series Servo Drives (Pn814) as required, by using a WRITE
SERVO PARAMETERS command.
Executing LINEAR INTERPOLATION START

Turn ON the LINEAR INTERPOLATION START Bit in the Axis 1 (or Axis 5)
Operating Output Memory Area. Linear interpolation operation will start,
based on the settings from when the LINEAR INTERPOLATION SETTING Bit
was turned ON just before. If the LINEAR INTERPOLATION SETTING Bit is
OFF, LINEAR INTERPOLATION START will be disabled.
365
Execute LINEAR INTERPOLATION START when the Linear Interpolation

Executing Flag in the Axis Operating Input Memory Area for axis 1 (or axis 5),
and the Busy Flag and Error Flag for the axes designated by the interpolation
axis designation, are reset. If the Linear Interpolation Setting Executing for
axis 1 (or axis 5) is set, or if an axis designated by the interpolation axis desig-
nation is busy (i.e., Busy Flag ON), or if an error has occurred (i.e., Error Flag
ON), the LINEAR INTERPOLATION START command will be ignored and will
not be executed.
Note (1) From the time that the LINEAR INTERPOLATION SETTING Bit turns ON
until the LINEAR INTERPOLATION START Bit turns ON, do not make
changes to any data related to linear interpolation operations. In addition,
do not make any changes to speed command values for individual axes
while linear interpolation operations are in progress (i.e., while the Busy
Flag for any interpolation axis is ON).
(2) For an axis designated as 0 (absolute position) by the interpolation posi-
tion designation, the origin must be established. If the origin is not estab-
lished (i.e., if the No Origin Flag is ON), a Present Position Unknown Error
(axis error code: 3030) will occur when LINEAR INTERPOLATION
START is executed (i.e., when linear interpolation operation is started),
and the axis will not be operated. At that time, the other interpolation axes
will also be decelerated to a stop.
Example: Linear The basic flow of operations for linear interpolation is shown below.
Interpolation Operation. In this example, “a” indicates the beginning word of the Axis Operating Output
Memory Area for axis 1 when a combination of axes 1 to 4 is used for linear
interpolation, and axis 5 when a combination of axes 5 to 8 is used. Likewise,
“b” indicates the beginning word of the Axis Operating Input Memory Area for
axis 1 when a combination of axes 1 to 4 is used, and axis 5 when a combina-
tion of axes 5 to 8 is used.
1,2,3... 1. With the bits in the interpolation axis designation (word a+21), designate
the axes to be combined for the linear interpolation operation.
2. With the bits in the interpolation position designation (word a+22), desig-
nate either absolute or relative position for the position command values
for the axes designated as interpolation axes.
3. With the interpolation speed command value (words a+23, a+24), desig-
nate the interpolation speed (i.e., the integrated speed). With the speed
command values for the axes designated as interpolation axes, designate
the maximum speed for each axis.
For details on the relation between linear interpolation operation speeds
and interpolation speed command values and individual axis speed com-
mand values, refer to the Linear Interpolation Operation Speeds on
page 368.
4. With option command value 1 (word a+10) and option command value 2
(word a+12), set the interpolation acceleration time and the interpolation
deceleration time.
5. Turn ON the LINEAR INTERPOLATION SETTING Bit (word a, bit 00).
6. When the linear interpolation operation settings have been completed, the
Linear Interpolation Setting Completed Flag (word b+24, bit 00) will turn
ON.
366
7. After the above settings have been completed, turning ON the LINEAR IN-
TERPOLATION START Bit (word a, bit 01) while the LINEAR INTERPO-
LATION SETTING Bit (word a, bit 00) is still ON will start positioning for the
designated axes, to the position designated in the interpolation position
designation.
during the linear interpolation operation, the Linear Interpolation Executing
Flag (word b+24, bit 13) will turn ON. When executing a linear interpolation
operation, leave the LINEAR INTERPOLATION SETTING Bit and the LIN-
EAR INTERPOLATION START Bit ON until the Linear Interpolation Exe-
cuting Flag turns ON.
Timing Charts • When LINEAR INTERPOLATION START is Executed After Linear Inter-
polation Settings are Completed
LINEAR INTERPOLATION Make sure that LINEAR INTERPOLATION
SETTING (a 00) SETTING and LINEAR INTERPOLATION START
remain ON until the Linear Interpolation
LINEAR INTERPOLATION Executing Flag turns ON.
START (a 01) The Linear Interpolation Setting Completed Flag
turns ON until LINEAR INTERPOLATION
Linear Interpolation Setting SETTING turns OFF or errors occur on the axes
Completed Flag (b+24 00) specified in the Interpolation axis designation.
Linear Interpolation The Linear Interpolation Executing Flag turns ON
Executing Flag (b+24 13) until the interpolation operation has completed or
LINEAR INTERPOLATION START turns OFF.
a = Beginning Word of Axis 1 (Axis 5) Operating Output Memory Areas
b = Beginning Word of Axis 1 (Axis 5) Operating Input Memory Areas
If the LINEAR INTERPOLATION SETTING Bit turns OFF before LINEAR

INTERPOLATION START is executed, LINEAR INTERPOLATION START
is disabled.
• When LINEAR INTERPOLATION SETTING and LINEAR INTERPOLA-
TION START are Executed Simultaneously
LINEAR INTERPOLATION Make sure that LINEAR INTERPOLATION
SETTING (a 00) SETTING and LINEAR INTERPOLATION
START remain ON until the Linear Interpolation
LINEAR INTERPOLATION
Executing Flag turns ON.
START (a 01)
The Linear Interpolation Setting Completed Flag
Linear Interpolation Setting turns ON until LINEAR INTERPOLATION
Completed Flag (b+24 00) SETTING turns OFF or errors occur on the axes
specified in the interpolation axis designation.
Linear Interpolation The Linear Interpolation Executing Flag turns ON
Executing Flag (b+24 13) until the interpolation operation has completed or
LINEAR INTERPOLATION START turns OFF.
a = Beginning Word of Axis 1 (Axis 5) Operating Output Memory Areas
b = Beginning Word of Axis 1 (Axis 5) Operating Input Memory Areas
If the LINEAR INTERPOLATION SETTING and LINEAR INTERPOLA-

TION START Bits are turned ON simultaneously, the linear interpolation
operation is started after the linear interpolation settings are completed.
Note (1) The same LINEAR INTERPOLATION START cannot be executed again
with a new command while linear interpolation operation is in progress
(i.e., while the Linear Interpolation Executing Flag is ON). If it is executed
again, it is disabled. It is possible, however, to start an independent linear
interpolation for a combination of axes 1 to 4, or of axes 5 to 8, while an
operation involving the other combination is already in progress.
(2) While a linear interpolation operation is in progress, do not make changes
to the speed command value for any axis involved in that operation (i.e.,
for any axis designated in the interpolation axis designation). If a speed
command value is changed during operation, the operation will not be ex-
ecuted correctly.
367
If direct operation (absolute movement or relative movement) is executed for

an axis designated in the interpolation axis designation while a linear interpo-
lation operation is in progress, that axis will start operation separately from the
linear interpolation operation. The acceleration and deceleration speeds at
that time will follow the acceleration and deceleration speeds set by the exe-
cution of LINEAR INTERPOLATION SETTING (determined from the speed
resolved with the interpolation acceleration and deceleration times). The Lin-
ear Interpolation Executing Flag will stay ON, however, until the operations of
all the originally designated interpolation axes (including this axis) are com-
pleted, or until the LINEAR INTERPOLATION START Bit turns OFF.
If MECHATROLINK communications are interrupted while the Linear Interpo-
lation Setting Completed Flag and the Linear Interpolation Executing Flag are
ON, the flags will hold their status until MECHATROLINK communications are
resumed, regardless of the status of the LINEAR INTERPOLATION SETTING
and LINEAR INTERPOLATION START Bits.
Linear Interpolation There are two types of settings related to linear interpolation operation
Operation Speeds speeds: interpolation speed command values and speed command values for
individual axes designated by the interpolation axis designation.
The interpolation speed command value designates the integrated speed for
linear interpolation. This command value is resolved for the individual interpo-
lation axes and becomes the speed command value for each axis.
The speed command values for individual axes at the time of linear interpola-
tion operation, on the other hand, are the maximum speed settings for the
individual axes. For all of the interpolation axes, the linear interpolation speed
is lowered so that the speed resolved from the interpolation speed command
value does not exceed this set value. (The axis with the longest movement
time is operated at 100% of the speed command value, and the speeds for the
other axes are lowered in order to perform the linear interpolation.)
Example 2-axis interpolation (axis 1 and axis 2), with target positions of 3,000 and
4,000 (command units) respectively, and with relative positioning designated
and the following speed command values set:
Interpolation speed command value:2,000 (command units/s)
Axis 1 speed command value: 600 (command units /s)
Axis 2 speed command value: 1,000 (command units /s)
The speeds resolved from the interpolation speed command value (in com-
mand units/s) are 1,200 for axis 1 and 1,600 for axis 2, but for linear interpola-
tion operation the speeds are reduced to the following values in order for the
maximum speeds set by the speed command values for individual axes to not
be exceeded.
Interpolation speed command value:1,000 (command units/s)
Axis 1 speed command value: 600 (command units/s)
Axis 2 speed command value: 800 (command units/s)
If a speed command value for an individual axis is set to 0, no maximum
speed limit will set for that interpolation axis and the speed resolved from the
interpolation speed command value will be used as is.
If the interpolation speed command value is set to 0, there is no interpolation
speed designation and the interpolation speed is determined by the speed
command values for the individual interpolation axes.
368
If either the interpolation speed command value or a speed command value

for an individual interpolation axis is set to 0, the individual interpolation axes
are operated at the same speed, at the minimum unit (1 command unit/s) for
the speed command value.
If less than the minimum unit (1 command unit/s) for an individual axis speed
command value results when the interpolation speed command value is
resolved for individual interpolation axes, that axis will be operated at the min-
imum unit (1 command unit/s) for the speed command value.
Note Do not use an override during linear interpolation operation. The linear inter-
polation operation will not be executed correctly if an override is used.
Stopping during If a stop command, error, or Servo unlock command occurs for one of multiple
Linear Interpolation axes for which linear interpolation is being performed, the operation of the
axes will be as follows and the axes will not stop at the same time.
Axis Error Occurs in One of the Interpolated Axes:
The other interpolated axes will be decelerated to a stop when the Error Flag
turns ON for the axis in which the error has occurred.
Stop Command Given for One of the Interpolated Axes:
The other interpolated axes will be decelerated to a stop when the Stop Exe-
cution Flag turns ON for the axis for which the stop command was given.
Servo Unlock Command Given for One of the Interpolated Axes:
The other interpolated axes will be decelerated to a stop when the Servo ON
Flag turns OFF for the axis for which the servo unlock command was given.
If a stop command is given for only one axis to stop a linear interpolation oper-
ations, the axes will not stop at the same time, as described above. To stop all
of the interpolated axes at the same time, stop commands must be given for
all interpolated axes at the same time.
If an alarm in the Servo Drive results in an axis error, the axis for which the
error occurred will be stopped according to the stop method set in the Servo
Drive, but the other interpolated axes will be decelerated to a stop. The dis-
tances required to stop will thus be different.
369
370
SECTION 10
Other Operations
This section describes the following operations: servo lock/unlock, jogging, override, torque limits, speed control, torque
control, backlash compensation, software limits, and stop functions.
10-1 Servo Lock/Unlock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 372

10-1-1 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 372
10-1-2 Servo Lock/Unlock Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 372
10-2 Jogging ...................................................... 373
10-2-1 Overview of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 373
10-2-2 Procedure for Jogging Operations . . . . . . . . . . . . . . . . . . . . . . . . . . 373
10-2-3 PCU Data Settings for Jogging Operations . . . . . . . . . . . . . . . . . . . 374
10-2-4 Starting Jogging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 377
10-3 Override . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 378
10-3-1 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 378
10-3-2 Override Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 378
10-4 Torque Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 379
10-4-1 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 379
10-4-2 Constant Torque Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 380
10-4-3 Torque Limits Set by Operating Commands . . . . . . . . . . . . . . . . . . 381
10-5 Speed Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 387
10-5-1 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 387
10-5-2 Starting Speed Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 387
10-5-3 Switching Control Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 398
10-6 Torque Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 400
10-6-1 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 400
10-6-2 Starting Torque Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 400
10-7 Backlash Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 407
10-7-1 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 407
10-7-2 Backlash Compensation Procedure . . . . . . . . . . . . . . . . . . . . . . . . . 407
10-7-3 Backlash Compensation Data Settings . . . . . . . . . . . . . . . . . . . . . . . 408
10-8 Software Limits. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 410
10-8-1 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 410
10-8-2 Procedure for Using Software Limits . . . . . . . . . . . . . . . . . . . . . . . . 410
10-8-3 Software Limit Data Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 411
10-8-4 Software Limit Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 412
10-9 Stop Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 414
10-9-1 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 414
10-9-2 Deceleration Stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 414
10-9-3 Emergency Stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 416
10-9-4 Stop Function Timing Chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 417
10-10 DEVIATION COUNTER RESET . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 420
10-10-1 Overview of DEVIATION COUNTER RESET. . . . . . . . . . . . . . . . 420
10-10-2 Using DEVIATION COUNTER RESET . . . . . . . . . . . . . . . . . . . . . 421
371
Servo Lock/Unlock Section 10-1

10-1-1 Overview
The Servo lock/unlock function either creates a Servo Drive position loop
(SERVO LOCK) or releases the position loop (SERVO UNLOCK).
10-1-2 Servo Lock/Unlock Operation

The SERVO LOCK/UNLOCK operations start when the SERVO
LOCK/UNLOCK Bit in the Axis Operating Output Memory Area turns ON.
When a Servomotor with absolute encoder is used, the absolute value data is
read by executing SERVO LOCK. For details, refer to 8-6-6 Establishing the
Origin Using an Absolute Encoder.

SERVO LOCK a+1 00 0 → 1: Starts SERVO LOCK.
SERVO UNLOCK 01 0 → 1: Starts SERVO UNLOCK.

Execute SERVO LOCK when the Busy Flag for the corresponding axis is
OFF. If SERVO LOCK is executed while the axis's Busy Flag is ON, a Multi-
start Error (axis error code: 3050) will occur and SERVO LOCK will not be
executed. When executing SERVO LOCK, make sure that the SERVO LOCK
Bit remains ON until the Receiving Command Flag or Busy Flag turns ON.
STOP, OR DECELERATION STOP command bit is turned ON, the SERVO
LOCK command will be ignored. Be sure that all of these command bits are
OFF before attempting to lock the Servo.
SERVO UNLOCK can be executed in any PCU status. When executing
SERVO UNLOCK, make sure that the SERVO UNLOCK Bit remains ON until
either the Receiving Command Flag turns ON, or the Busy Flag turns OFF
after executing SERVO UNLOCK.
Other axis operation commands will be ignored while SERVO UNLOCK is
being executed and while the SERVO UNLOCK Bit is ON.
Note When executing SERVO UNLOCK, the PCU executes DECELERATION
STOP for the Servo Drive, followed immediately (without waiting for the axis
to stop) by SERVO UNLOCK. If SERVO UNLOCK is executed during axis
operation, the corresponding axis will be put in Servo free run state. There-
fore, prevent the machine from moving due to momentum by using the
dynamic brake or executing DECELERATION STOP before executing
SERVO UNLOCK to stop axis operation. Movement of the machine due to
momentum may result in damage to the machine or an accident. When exe-
cuting SERVO UNLOCK during speed control or torque control, the Servo
Drive will recover in the position control mode’s Servo lock status the next
time SERVO LOCK is executed.
372
Jogging Section 10-2

Error Flag 12 0: No axis error
SVON (Servo ON) Flag b+1 03 0: Servo unlocked.
1: Servo locked.

Parameters + (Axis No. − 1) × 25
The Servo lock status of each axis can be confirmed by checking the SVON
Flag in the Axis Operating Input Memory Areas.
Timing Chart The following timing chart is for when SERVO LOCK and SERVO UNLOCK
are executed.
SERVO LOCK
(word a+1, bit 00)
SERVO UNLOCK When SERVO UNLOCK is executed,
(word a+1, bit 01) the PCU Positioning Completed Flag
turns OFF.
No Origin Flag The status of the No Origin Flag and
(word b, bit 06) Stop Execution Flag do not change
when SERVO UNLOCK is executed.
STOP Execution Flag
(word b, bit 15)
Servo ON (SVON) Flag The SVON Flag turns ON/OFF when
(word b+1, bit 03) the processing at the Servo Drive is
For details on the flag operations when using Servomotors with absolute encoders, finished (e.g., reading absolute
refer to 8-6-6 Establishing the Origin Using an Absolute Encoder. encoder data, turning ON brake).
10-2 Jogging
10-2-1 Overview of Operation
The axis travels in the specified direction at the specified speed while the JOG
Bit is ON, and decelerates to a stop when the JOG Bit turns OFF. Jogging
operations can be executed even if the origin has not been established.
10-2-2 Procedure for Jogging Operations

The procedure for using jogging is as follows:

The data for the Common Parameters set in step 1 above is enabled.
373

Set the Servo Parameters required to execute direct operation.
To enable changed offline parameters, turn ON the power to the Servo
Drive again or execute DEVICE SETUP.
6. Set the data used for the jogging operation.
Set the jogging operation speed data in the speed command value of the
7. Start the jogging operation.
When using the PCU for the first time or to change the Common Parameter
data, steps 1 and 2 must be performed. After executing SERVO LOCK,
WRITE SERVO PARAMETER can be executed to set the acceleration/decel-
eration used each time the jogging operation is performed.
Note When specifying the Servo Parameters for acceleration/deceleration every
time, make sure that the axis operation is stopped (Busy Flag = 0) while
changing the acceleration/deceleration constants using WRITE SERVO
PARAMETER. Do not change parameters during axis operation. Changing
parameters while the axis is operating may result in displaced positioning or
other malfunction.
10-2-3 PCU Data Settings for Jogging Operations

A simple explanation of the main parameters and data used to execute the
jogging operation is provided here. To execute jogging operations, apart from
the parameters explained here, the following parameters also need to be set
as basic settings for operating the PCU.
• Command Unit
mand unit.
Type Parameter Parameter name Unit Setting Data Default
No. range length setting
Acceleration/ Pn811 Linear acceleration constant 10,000 com- −32768 to 2 100
deceleration con- mand units/s2 32767
stants
Pn814 Linear deceleration constant 10,000 com- −32768 to 2 100
mand units/s2 32767
Acceleration/ Pn818 Position command FIR filter 0.1 ms 0 to 10000 2 0
deceleration filters time constant
374

Acceleration/ Pn107 Linear acceleration constant 10,000 com- −32768 to 2 100
deceleration con- mand units/s2 32767
stants
Pn10A Linear deceleration constant 10,000 com- −32768 to 2 100
mand units/s2 32767
Acceleration/ Pn10E Moving average time 0.1 ms 0 to 5100 2 0
deceleration filters

Type Parameter Parameter name Unit Setting Data Default W SMART-
No. range length setting Series STEP
Junior
Accelera- Pn80A First-step linear acceleration 10,000 1 to 2 100 Sup- Not sup-
tion/ constant command 65535 ported ported
decelera- units/s2
tion con-
stants Pn80B Second-step linear accelera- 10,000 1 to 2 100 Sup- Sup-
units/s2
Accelera- Pn810 Exponential accelera- Command 0 to 2 0 Sup- Not sup-
tion/ tion/deceleration bias units/s 32767 ported ported
decelera- Pn811 Exponential accelera- 0.1 ms 0 to 5100 2 0 Sup- Not sup-
tion filters tion/deceleration time con- ported ported
stant
ported ported
First-step acceleration/deceleration curve operations require parameter set-

tings for Pn80B and Pn80E only. For the acceleration/deceleration curve,
Pn810 and Pn811 must be set when using an exponential curve, and Pn812
must be set when using an S-curve.

STEP
Junior
JOG a 09 0 → 1: Starts jogging. Sup- Sup- Sup-
1 → 0: Stops jogging. ported ported ported
Direction designation 10 0: Forward rotation direction Sup- Sup- Sup-
1: Reverse rotation direction ported ported ported
Speed command value a+4 --- Speed command value (rightmost word) Sup- Sup- Sup-
a+5 Speed command value (leftmost word) ported ported ported
Command range: 0 to 2,147,483,647
(00000000 hex to 7FFFFFFF hex)
The upper limit setting of the speed com-
mand value depends on the specifica-
tions of the Servo Drive.
375

STEP
Junior
Accelera- Exponential a+16 03 1: Use exponential acceleration/deceler- Not sup- Sup- Not sup-
tion/decelera- curve desig- ation curve. ported ported ported
tion curve nation
designation S-curve des- 04 1: Use S-curve acceleration/deceleration Sup- Sup- Not sup-
ignation curve. ported ported ported
Forward rotation current limit 14 1: Use forward torque limit. Sup- Sup- Not sup-
ported ported ported
Reverse rotation current limit 15 1: Use reverse torque limit. Sup- Sup- Not sup-
ported ported ported

The direction designation setting when the jogging operation starts (JOG Bit
turns ON) is enabled. Even if the designation is changed during jogging, the
direction will not change.
The settings for the Acceleration/Deceleration Curve Designation Bit, and
Forward/Reverse Rotation Current Limit Designation Bit when jogging starts
(JOG Bit turns ON) and stops (JOG Bit turns OFF) are enabled.
The speed command value can always be changed during operation. By
overwriting the speed command value, the speed for the jogging operation
can be changed.
nential curve designation. When using a G-series Servo Drive, do not attempt
to use an exponential curve designation.

Feedback present posi- b+6 --- Present position
Command present posi- b+8 --- Present position

376
10-2-4 Starting Jogging

Jogging is performed according to the direction designation and speed com-
mand value set in the Axis Operating Output Memory Areas and started when
the Jog Bit turns ON. Execute JOG when the Busy Flag for the corresponding
axis is OFF. If the jogging operation is started while the axis's Busy Flag is
ON, a Multistart Error (axis error code: 3050) will occur and JOG will not be
executed.
STOP, OR DECELERATION STOP command bit is turned ON, the jog com-
mand will be ignored. Be sure that all of these command bits are OFF before
attempting a jog operation.
The jogging operation will continue while the Jog Bit is ON. To enable the
PCU to receive the JOG command correctly, make sure that the Jog Bit
remains ON while the Receiving Command Flag is ON.
The direction designation setting when the jogging operation starts (Jog Bit
turns ON) is enabled. Even if the designation is changed during jogging, the
direction will not change. Jogging decelerates to a stop when the Jog Bit turns
OFF.
The Busy Flag remains ON during the jogging operation. The PCU Position-
ing Completed Flag does not turn ON when jogging stops.
Timing Chart The following timing chart is for when JOG is executed in the forward rotation
direction.
Speed command value The target speed can be changed at any
(words a+4, a+5) 3E8 hex (1000) 5DC hex (1500)
time by overwriting the speed command
value.
JOG (word a, bit 09)
Direction designation The direction designation setting at the start
(word a, bit 10) of the jogging operation is enabled. Even if
Speed the designation is changed during jogging,
the direction of operation will not change.
1500
1000 Broken line: Feedback speed
Time
Receiving Command The Receiving Command Flag turns ON
Flag (word b, bit 00) for at least one cycle time when the
PCU Positioning Completed command to start jogging is received.
Flag (word b, bit 05) The PCU Positioning Completed Flag
turns OFF when jogging starts. The PCU
Busy Flag (word b, bit 13) Positioning Completed Flag does not turn
ON when the jogging operation stops.
Direction designation Target speed Jogging stopped The Busy Flag remains ON during the
changed changed (JOG Bit OFF) jogging operation.
When jogging stops, the Busy Flag turns
OFF when sending the command is
completed, regardless of the number of
pulses remaining in the Servo Drive.
377
Override Section 10-3
10-3 Override
10-3-1 Overview
The override operation is used to change the speed of an active axis. While
the Override Enable Bit is ON, the target speed is changed by applying the
override value that is set in the Axis Operating Output Memory Area.
The override can be set from 0.01% to 327.67% in units of 0.01%. The speed
command values (Speed command value for speed control in speed control
mode) set for direct operation, origin return, jogging, and speed control opera-
tions are taken to be 100%.
The override function is disabled during origin search or torque control.
The target speed when override is enabled is as follows:
Override
Target speed = Speed command value ×
10000
10-3-2 Override Operation

The override function can be used for the following operations.
• Enabling an Override for a Series of Operations
Set the override beforehand, and execute each operating command with
the Override Enable Bit turned ON. The target speed for the operation will
be the initial speed command value multiplied by the override.
• Switching between Enabling and Disabling Override during Axis Opera-
tion
When the Override Enable Bit is turned ON for an active axis performing
direct operation, origin return, or jogging operation, the speed will change
to the above target speed using the acceleration/deceleration set in the
Servo Parameters for acceleration/deceleration (the acceleration/deceler-
ation speed enabled for the present operation).
When using speed control, the speed can be changed without using accel-
eration/deceleration by using the Override Enable Bit during axis opera-
tion, however, the linear acceleration/deceleration curve can be applied to
the speed change by setting the Soft Start Acceleration/Deceleration Time
in the Servo Parameters. (For details on the acceleration/deceleration
curve, refer to 7-4 Acceleration and Deceleration Operations. For details
on speed control, refer to 10-5 Speed Control.)
If the Override Enable Bit is turned OFF, the speed is changed in the same
way as when the Override Enable Bit was ON from the present target
speed (speed command value multiplied by override value) to the speed
set in the speed command value.

Override Enable Bit a 14 0: Override disabled.
1: Override enabled.
Override a+14 --- Override ratio
Unit: 0.01%
Command range: 1 to 32,767 (0001
hex to 7FFF hex)

378
Torque Limits Section 10-4
The override can be set in the range 1 to 32767 (0.01% to 327.67%). The
actual Servomotor speed control range and minimum control unit depend on
the Servo Drive specifications.
While override is enabled, any changes to the override value are enabled
immediately. While override is enabled, the override ratio can be changed
during operation by setting a new override value in the Axis Operating Output
Memory Area.
Timing Chart The following timing chart is for when the override function is executed during
a jogging operation.
Speed command value
(words a+4, a+5) 3E8 hex (1000)
JOG (word a, bit 09)

Override Enable Bit
(word a, bit 14)
1388 hex (5000 = 50.00%) 3A98 hex (15000 = 150.00%)
Override (word a+14)
While override is enabled, the target speed
Speed is obtained by multiplying the speed
1500 command value by the override ratio.
Changes to the override value while
1000 override is enabled are immediately
effective in operations.
500 The acceleration/deceleration used to
change the speed when switching between
enabling and disabling override or
Receiving Command Time changing the override value depends on
the acceleration/deceleration operation
Flag (word b, bit 00) setting for the operation being performed.
Busy Flag (word b, bit 13) The Receiving Command Flag turns ON
for at least one cycle time when the
Jogging starts Override Override Override Jogging stops command to start axis operation is
(JOG Bit ON) disabled enabled changed (JOG Bit OFF) received. The status of this flag does not
change when the override value is
changed.
The status of the Busy Flag does not
change when switching between
enabling or disabling override, or when
the override value is changed.
a = Beginning word of Axis Operating Output Areas specified in Common Parameters + (Axis No. − 1) × 25
10-4 Torque Limits

10-4-1 Overview
Servo Drive, torque limits can be applied to Servomotor axis operation in posi-
tion control functions (ABSOLUTE MOVEMENT, RELATIVE MOVEMENT),
ORIGIN SEARCH, ORIGIN RETURN, JOG, SPEED CONTROL, TORQUE
CONTROL, and Stop Functions (DECELERATION STOP, EMERGENCY
STOP).
There are two types of torque limit, one that constantly functions for forward
and reverse rotation and the other that can be disabled/enabled in operating
commands. For speed control, torque limits can also be added to option com-
mand values. (For details, refer to Option Command Value during Speed Con-
trol in 10-5-2 Starting Speed Control.)
When enabling multiple torque limit functions simultaneously, the Servomo-
tor's output torque is limited by the minimum torque limit setting.
379
The SMARTSTEP Junior Servo Drives do not support torque control. The fol-
lowing settings and functions cannot be used.
10-4-2 Constant Torque Limits

G5-series Servo Drives To apply a constant torque limit to axis operation, set the Servo Parameters
No.1 Torque Limit (Pn013) and No.2 Torque Limit (Pn522). By setting these
parameters, the output torque of the operating Servomotor will always be lim-
ited by the set ratio of the rated torque. Also by setting the Torque Limit Selec-
tion (Pn521), the forward torque limit and reverse torque limit will be as shown
in the following table.
Parameter Set value Forward torque Reverse torque limit
No. limit
Pn521 0.1 Pn013 Pn013
2 Pn013 Pn522
Torque Limit Parameters

--- Pn013 No.1 torque limit % 0 to 500 2 500
--- Pn522 No.2 torque limit % 0 to 500 2 500
G-series Servo Drives To apply a constant torque limit to axis operation, set the Servo Parameters
No.1 Torque Limit (Pn05E) and No.2 Torque Limit (Pn05F). By setting these
parameters, the output torque of the operating Servomotor will always be lim-
ited by the set ratio of the rated torque. Also by setting the Torque Limit Selec-
tion (Pn003), the forward torque limit and reverse torque limit will be as shown
in the following table.
Parameter Set value Forward torque Reverse torque limit
No. limit
Pn003 1 Pn05E Pn05E
2 Pn05E Pn05F

--- Pn05E No.1 torque limit % 0 to 500 2 300
--- Pn05F No.2 torque limit % 0 to 500 2 100
W-series Servo Drives To apply constant torque limits to axis operation, set the Servo Parameters
Forward Torque Limit (Pn402) and Reverse Torque Limit (Pn403). By setting
this parameter, the output torque of the operating Servomotor will always be
limited by the set ratio of the rated torque.
--- Pn402 Forward torque limit % 0 to 800 2 350
--- Pn403 Reverse torque limit % 0 to 800 2 350
380
10-4-3 Torque Limits Set by Operating Commands

Torque limit functions set by operating commands are executed by turning ON
the Forward/Reverse Rotation Current Limit Bit in the Axis Operating Output
Area and starting the operating command. The Forward/Reverse Rotation
Current Limit setting is enabled when the Start Bit for the operating command
turns ON.
When using a G5-series Servo Drive, the output torque is limited when the
Torque Limit Selection (Pn521) is set to 3 or 6. The Forward Rotation Current
Limit Designation Bit is enabled when PCL is ON. The Reverse Rotation Cur-
rent Limit Designation Bit is enabled when NCL is ON.
Note PCL ON: When either the PCL external input signal or P-CL in the MECHA-
TROLINK-II Communications Option Field is ON. NCL ON: When either the
NCL external input signal or N-CL in the MECHATROLINK-II Communications
Option Field is ON.
The following tables give examples for when the Torque Limit Selection
(Pn521) is set to 3.
Forward Torque Limit
PCL OFF PCL ON
Pn013 Pn522
Reverse Torque Limit

NCL OFF NCL ON
Pn013 Pn522
When using W-series Servo Drives, the output torque is limited when the Ser-
vomotor is operating according to the set values in the Servo Parameters For-
ward Rotation External Current Limit (Pn404) and Reverse Rotation External
Current Limit (Pn405) by turning ON the Forward/Reverse Current Limit Des-
ignation Bit when using operating commands.
When using G-series Servo Drives, the output torque is limited when the
Servo Parameter Torque Limit Selection (Pn003) is set to 3. The Forward
Rotation Current Limit Designation Bit will be enabled when the PCL is turned
ON. The Reverse Rotation Current Limit Designation Bit will be enabled when
the NCL is turned ON.
PCL ON: When either the Forward Torque Limit (CN1 PCL: Pin 7) or Axis
Output Operating Area is turned ON.
NCL ON When either the Reverse Torque Limit (CN1 NCL: Pin 8) or Axis
Output Operating Area is turned ON.
Forward Torque Limit
PCL OFF PCL ON
Pn05E Pn05F
Reverse Torque Limit

NCL OFF NCL ON
Pn05E Pn05F
A torque limit that has been enabled will continue to function until the For-
ward/Reverse Current Limit Designation Bit is turned OFF and the next oper-
ating command is sent (the specified torque limits continue to be applied even
in Servo lock status after positioning stops).
381
Note If the axis stops due to an error during axis operation with the torque limit
function enabled, the torque limit when stopped will depend on the setting of
the Forward/Reverse Current Limit Designation Bit. When the Current Limit
Designation Bit is turned ON only at the start of axis operation, and turned
OFF during axis operation, the torque limit will be disabled if the axis stops
due to an error. Make sure that the Current Limit Designation Bit remains ON
for the interval that the torque limit needs to be enabled.
The Torque Limit Status Flag in the Servo Status Flags in the Axis Operating
Input Memory Area turns ON for the time the torque limit is functioning.
G5-series Servo Torque Limit Parameters
Parameters
--- Pn013 No. 1 Torque Limit % 0 to 500 2 500
--- Pn522 No. 2 Torque Limit % 0 to 500 2 500
G-series Servo Parameter Torque Limit Parameters

Area
--- Pn05E No.1 torque limit % 0 to 500 2 300
--- Pn05F No.2 torque limit % 0 to 500 2 100
W-Series Servo Parameter Torque Limit Parameters

Area
--- Pn404 Forward rotation external current limit % 0 to 800 2 100
--- Pn405 Reverse rotation external current limit % 0 to 800 2 100

ABSOLUTE MOVE- a 03 0 → 1: Starts absolute movement.
MENT
RELATIVE MOVEMENT 04 0 → 1: Starts relative movement.
ORIGIN SEARCH 06 0 → 1: Starts origin search.
ORIGIN RETURN 07 0 → 1: Starts origin return.
JOG 09 0 → 1: Starts jogging.
1 → 0: Stops jogging
Direction designation 10 0: Forward rotation direction
1: Reverse rotation direction
DECELERATION STOP 15 0 → 1: Starts deceleration stop.
SPEED CONTROL a+1 02 0 → 1: Starts speed control.
TORQUE CONTROL 03 0 → 1: Starts torque control.
EMERGENCY STOP 15 0 → 1: Starts emergency stop.
Forward rotation current a+16 14 1: Use forward torque limit.
limit designation
Reverse rotation current 15 1: Use reverse torque limit.
limit designation

382

Torque Limit Status Flag b+1 09 1: Torque limit in progress

When using W-series Servo Drives, the set values for Servo Parameters For-
ward Rotation External Current Limit (Pn404) and Reverse Rotation External
Current Limit (Pn405) can be overwritten at any time to change the torque
limit value while the torque limit function is enabled.
When using G-series Servo Drives, the set values for Servo Parameters No.1
Torque Limit (Pn05E) and No.2 Torque Limit (Pn05F) can be overwritten at
any time to change the torque limit value.
During ABSOLUTE MOVEMENT, RELATIVE MOVEMENT (except for INTER-
RUPT FEEDING), SPEED CONTROL, and TORQUE CONTROL execution,
the Current Limit Designation Bit setting can be changed while the axis is
active by turning ON the command's start bit again.
For ORIGIN SEARCH, ORIGIN RETURN, and JOG, torque limits can be
specified only at the start of operation.
Note When executing movement commands sequentially, make sure that the
movement command bit remains OFF for a minimum of either the PLC cycle
time × 2 or the MECHATROLINK communications cycle × 2, whichever is
longer. If the time that the movement command bit is OFF is too short, the
PCU will not be able to detect the rising edge of the movement command bit,
preventing reception of the command.
383
Timing Charts
Example: Using Torque The following timing chart is for when RELATIVE MOVEMENT is executed.
Limit during Position The timing chart for ABSOLUTE MOVEMENT is the same, except that posi-
Control Execution tioning is executed with the absolute position.
(words a+2, a+3) 2710 hex (10000)
(words a+4, a+5)
RELATIVE MOVEMENT The torque (current) limit designated at the
(word a, bit 04) time the movement command turned ON is
Forward Rotation Current Limit effective, and functions until the setting is
Designation Bit (word a+16, bit 14) changed with another movement command.
Target speed: 1,000
Travel distance: 10,000
(command units)
Time
(word b, bit 00)
Busy Flag (word b, bit 13) The Torque Limit Status Flag turns ON when the
PCU Positioning Completed torque limit function is operating.
Flag (word b, bit 05) This flag does not turn ON if the torque limit
Torque Limit Status Flag function is not ON because the output torque
(word b+1, bit 09) reaches the limit value or lower during Servomotor
rotation.
Example: Enabling Torque Limit during Positioning

(words a+2, a+3) 2710 hex (10000)
Speed command value
(words a+4, a+5) 3E8 hex (1000)
ABSOLUTE MOVEMENT
(word a, bit 03) The torque limit operation can be enabled and
Forward Rotation Current Limit disabled during operation by changing the
Designation Bit (word a+16, bit 14) current (torque) limit designation for the active
axis, and resending the movement command.
Target speed:
Speed 1,000 (command units/s)
Absolute position: 10,000 Time

Receiving Command Flag (command units/s)
(word b, bit 00)

Torque Limit Status Flag The Torque Limit Status Flag turns ON when
(word b+1, bit 09) the torque limit function is operating.
This flag does not turn ON if the torque limit
function is not ON because the output torque
Torque limit not used Torque limit used reaches the limit value or lower during
Servomotor rotation.
384
Positioning that Does Not Reach Target Position (Example: Pushing a Load)
ABSOLUTE MOVEMENT
(word a, bit 03)
Forward Rotation Current
Limit Designation Bit (word
When position deviation has accumulated due to pushing,
a+16, bit 14) torque in the pushing direction that is greater than the limit
value will be generated if the forward rotation current limit is
Receiving Command Flag cleared, which may result in damage to the device.
Therefore, specify a torque limit in the pushing direction also
(word b, bit 00) when starting operation in the opposite direction.
When positioning is not
Busy Flag (word b, bit 13) completed and the position
Torque Limit Status Flag deviation due to pushing
remains, the axis's Busy
(word b+1, bit 09)
Flag will remain ON until
This flag remains ON for the time the output torque is limited by the limit value. DECELERATION STOP or
Position other stop operation is
Pushing direction target executed.
position (position command
value) Solid line: Command present position
Pushing stop position
Broken line: Feedback present position

(Servomotor's actual position)
Speed Time
Pushing direction target
speed (speed command
value)
Time
Position deviation Broken line: Servomotor's actual speed
Start Pushing Start in opposite Time

direction
Time in which accumulated position deviation is consumed
Note In applications such as pushing a load, when using the torque limit function to
limit the output torque of the Servomotor and stop the machine, the command
present position reaches the target position while the feedback present posi-
tion does not, which causes the pulses to accumulate for the position devia-
tion in the Servo Drive’s deviation counter. To change movement to the
opposite direction, send the operating command with the Current Limit Desig-
nation Bit setting enabled in the pushing direction.
If the Current Limit Designation Bit setting is disabled for the direction in which
the load is being pushed when operation is started in the opposite direction
(i.e., an operating command is sent without specifying the torque limit), torque
will be generated in the pushing direction at the start of operation. This is due
to the position deviation accumulated in the pushing direction and may result
in damage to the machine or an accident.
385
When performing an operation to return from the pushing position, the Servo-
motor will remain stopped for the movement command while the position devi-
ation accumulated due to pushing is distributed. When the difference between
the pushing operation target position and pushing stop position is large (the
accumulated position deviation is large), the Servomotor will immediately
accelerate to the target speed after the accumulated position deviation is dis-
tributed.
To prevent this from occurring, set the positioning target position as close to
the pushing stop position as possible to minimize the accumulated position
deviation during pushing. (See below.)
Position
Pushing direction target position
(position command value)
Solid line: Command present position
Pushing stop position
Broken line: Feedback present position

Speed Time
Pushing direction target speed Solid line: Command speed
(speed command value)
Broken line: Servomotor's actual speed
Time
Position deviation
Time
Start Pushing Start in opposite direction
Alternatively, before performing the return operation, send a movement com-

mand to move the axis to the pushing stop position (feedback present position
at pushing stop) and distribute the accumulated position deviation before-
hand, as shown in the following diagram.
386
Speed Control Section 10-5
Position
Pushing direction target
position (position
command value) Solid line: Command present position
Pushing stop position Broken line: Feedback present position

Speed Time
Pushing direction Solid line: Command speed
target speed (speed
Broken line: Servomotor's actual speed
command value)
Time
Position deviation
Start Pushing Start in opposite Start in Time

direction opposite
(deviation direction
consumption)
Note The DEVIATION COUNTER RESET can be used to reset the remaining posi-
tion deviation to 0 for PCUs with unit version 1.3 or later. Refer to 10-10 DEVI-
ATION COUNTER RESET for details on DEVIATION COUNTER RESET.
10-5 Speed Control

10-5-1 Overview
In Speed control, the PCU controls the rotation speed of the Servomotor by
directly executing speed commands in a speed loop without using the Servo
Drive's position loop.
Speed control can be used when a G5-series Servo Drive, a G-series Servo
Drive, or a W-series Servo Drive is connected.
With the SMARTSTEP Junior Servo Drives, speed commands cannot be
given directly for a speed loop. When using a SMARTSTEP Junior Servo
Drive, position control can be performed while changing the speed using jog-
ging or direct operation to achieve feeding at desired speeds.
10-5-2 Starting Speed Control

Speed control is performed by setting the target speed in the speed command
value for speed control in the Axis Operating Output Memory Areas and
started when the SPEED CONTROL Bit turns ON. When starting speed con-
trol, make sure that the SPEED CONTROL Bit remains ON until the Receiv-
ing Command Flag or Busy Flag in the Axis Operating Input Memory Area
turns ON.
387

STOP, OR DECELERATION STOP command bit is turned ON, the SPEED
CONTROL command will be ignored. Be sure that all of these command bits
are OFF before executing speed control.
The speed command value for speed control is set in units of 0.001% as a
ratio of the Servomotor's momentary maximum rotation speed. (The unit is
different from that used for the speed command value for position control
(command units/s).) The speed command value is specified in the range
−199.999% to 199.999%, and the rotation direction is determined by the sign
(positive or negative) of the speed command value.
The actual Servomotor speed control range and minimum control unit depend
To stop speed control, execute DECELERATION STOP or EMERGENCY
STOP. (For details on stop functions, refer to 10-9 Stop Functions.)
Servo Parameter Area G5-series Servo Drive Speed Control Parameters
--- Pn521 Torque limit selection --- 0 to 6 2 1
--- Pn436 Rotation speed for motor rotation detection r/min 10 to 20000 2 1000
--- Pn435 Speed conformity detection range r/min 10 to 20000 2 50
Pn521 is used to select the function of the option command value for speed
control.
The option command value for speed control is described on the following
pages.
Pn436 is set as the detection threshold of the Zero Speed Flag (word b+1, bit
08) in the Axis Operating Input Memory Area.
Pn435 is set as the detection width of the Speed Conformity Flag (word b+1,
bit 07) in the Axis Operating Input Memory Area.
Servo Parameter Area G-series Servo Drive Speed Control Parameters
--- Pn003 Torque limit selection --- 1 to 5 2 1
--- Pn061 Speed conformity signal output width r/min 10 to 20000 2 20
Pn003 is used to select the function of the option command value for speed
control.
The option command value for speed control is described on the following
pages.
08) in the Axis Operating Input Memory Area. Pn061 is set as the detection
width of the Speed Conformity Flag (word b+1, bit 07) in the Axis Operating
Input Memory Area.
W-series Servo Drive Speed Control Parameters
--- Pn002.0 Function selection application switch 2 --- 0 to 3 2 0
Torque command input change
--- Pn503 Speed conformity signal output width r/min 0 to 100 2 10
388
Pn002.0 is used to select the function of the option command value for speed
control. The option command value for speed control is described in the fol-
lowing pages.
The data length for Pn002.0 is the set value specified to transfer Pn002
(including Pn002.0) when transferring Servo Parameters.
08) in the Axis Operating Input Memory Area. Pn503 is set as the detection
width of the Speed Conformity Flag (word b+1, bit 07) in the Axis Operating
Input Memory Area.

DECELERATION STOP a 15 0 → 1: Starts deceleration stop.
SPEED CONTROL a+1 02 0 → 1: Starts speed control.
Speed command value a+6 --- Speed command value (rightmost word)
(for speed control) a+7 Speed command value (leftmost word)
Unit: 0.001%
(percentage of Servomotor's momentary maximum rotation speed)
Command range: −199.999% to 199.999%
(FFFCF2C1 to 00030D3F hex)
Note The rotation direction is determined by the sign.
Option command value 1 a+10 --- Torque limit/torque feed forward (rightmost word)
a+11 Torque limit/torque feed forward (leftmost word)
Unit: %
(percentage of Servomotor’s momentary maximum torque)
Command range: 0% to 399% (See note.)
(00000000 to 0000018F hex)
When using G5-series Servo Drives, the option command value 1 can be
used as the torque limit command value or torque feed forward command
value by setting the Servo Parameter Torque Limit Selection (Pn521).
When using G-series Servo Drives, the option command value 1 can be
When using W-series Servo Drives, the option command value 1 can be
value by setting Torque Command Input Change in Servo Parameter Func-
tion Selection Application Switch 2 (Pn002.0).
Option command value 2 a+12 --- Torque limit (rightmost word)
a+13 Torque limit (leftmost word)
Unit: %
Command range: 0 to 399% (See note.)
(00000000 to 0000018F hex)
When using G5-series Servo Drives, the option command value 2 can be
When using G-series Servo Drives, the option command value 2 can be
When using W-series Servo Drives, the option command value 2 can be
used as the torque limit command value by setting Torque Command Input
Change in Servo Parameter Function Selection Application Switch 2
(Pn002.0).
389

limit designation
limit designation

Parameters + (Axis No. − 1) × 25
Note The torque limit for option command values during speed control can be spec-
ified between 0 and 399 for the PCU, but the effective command value
depends on Servo Drive specifications. The following command range restric-
tions are for W-series Servo Drives.
R88D-WT@ + FNY-NS115
Command range: 0% to 199% (00000000 to 000000C7 hex)
Torque limits will not be set correctly for command values between 200%
ad 399%. Use values between 0% and 199%.
R88D-WN@-ML2 (built-in MECHATROLINK-II Communications)
Command range: 0% to 199% (00000000 to 000000C7 hex)
Torque limits will not be set correctly for command values between 200%
ad 399%. Use values between 0% and 199%.
A command range check (0 to 399) is performed for the option command
value for speed control when the speed control command is given. If the
option command value is out of range, an option command value error (error
code: 3064 or 3065) will occur. The command range check will be performed
even if the Speed Command Input Change parameter in the Function Selec-
tion Application Switches 2 is set to disable using the option command value.
Always set the option command value to 0 when it is not being used.
Note The same option command value parameter is used for both speed and
torque control. The allowable setting ranges for speed and torque control,
however, are different. When switching between speed and torque control, be
sure that the option command value is set within the proper range for the cur-
rent type of control.
Changes to the speed command value for speed control during operation are
always effective. During speed control, by setting a new speed command
value for speed control in the Axis Operating Output Memory Area, the target
speed for speed control can be changed.
The settings for option command values 1 and 2 (torque limit/torque feed for-
ward command values) and Forward/Reverse Rotation Current Limit Desig-
nation Bits are enabled when the SPEED CONTROL Bit turns ON. Changing
these command values while speed control is being executed and then turn-
ing ON the SPEED CONTROL Bit again enables the option command values
and Current Limit Designation Bits to be changed during operation.
It is necessary to pay attention to the change of output torque when switching
from the speed control mode to the position control mode with deceleration
stop. For details, refer to 10-5-3 Switching Control Mode.
390

Speed Conformity Flag b+1 07 1: Speed matches the speed command
Zero Speed Flag 08 1: Detecting zero speed.
Torque Limit Status Flag 09 1: Torque limit in progress.

command to start speed control is received by the PCU. Use the Receiving
Command Flag when starting and changing option commands to control the
ON/OFF timing for SPEED CONTROL.
During speed control, bits 07 and 08 in the Servo Status Flags (word b+1) of
the Axis Operating Input Memory Area function as the Speed Conformity Flag
and Zero Speed Flag respectively.
The command present position that is output during speed control is calcu-
lated from the feedback position and the position deviation that is inferred
from the current speed.
Acceleration and Deceleration during Speed Control

When SPEED CONTROL is executed, the Servo Drive performs stepped
speed control from the present feedback speed to the target speed specified
in the speed command value for speed control. Apart from smoothly increas-
ing/decreasing the speed command value (for speed control) when starting
speed control, shock in acceleration/deceleration when performing speed
control can also be minimized by setting the Servo Parameters Soft Start
Acceleration Time and Soft Start Deceleration Time to create a trapezoidal
speed curve.
G5-series Acceleration/Deceleration Constants for Speed Control
--- Pn312 Soft start acceleration time ms 0 to 10000 2 0
--- Pn313 Soft start deceleration time ms 0 to 10000 2 0
G-series Acceleration/Deceleration Constants for Speed Control

391
W-series Acceleration/Deceleration Constants for Speed Control

The Soft Start Acceleration Time and Soft Start Deceleration Time are set
respectively as the acceleration time and deceleration time between speed 0
(speed command value for speed control: 0%) and the momentary maximum
rotation speed of the Servomotor (speed command value for speed control:
100%).
The acceleration time and deceleration time for the actual target speed are as
follows:
Speed command value for speed control (r/min)
Actual acceleration (deceleration) time = × Soft start acceleration (deceleration) time
Momentary maximum rotation speed (r/min)
Servomotor speed
+r/min
Momentary maximum
rotation speed (See note.)
Speed command value for

speed control
0 Time
Actual acceleration time Actual deceleration time
Pn305 Pn306
Note The momentary maximum rotation speed depends on the Servomotor used.
Refer to the momentary maximum rotation speed for the Servomotor used.
The following values apply to W-series Servomotors.
3,000-r/min Servomotor (cylinder type or flat type): 5,000 r/min
1,000-r/min Servomotor: 2,000 r/min
1,500-r/min Servomotor (450 W to 7.5 kW): 3,000 r/min
1,500-r/min Servomotor (11 to 15 kW): 2,000 r/min
Option Command Value during Speed Control

When speed control is used, the torque limit and torque feed forward func-
tions can be applied during speed control by setting Servo Parameter Torque
Limit Selection (Pn521) when using G5-series Servo Drives, Servo Parameter
Torque Limit Selection (Pn003) when using G-series Servo Drives or Servo
Parameter Torque Command Input Change of Function Selection Application
Switch 2 (Pn002.0) when using W-series Servo Drives and setting the Current
Limit Designation Bits and option command values in the Axis Operating Out-
put Memory Area.
392
When using G5-series Servo Drives, the torque limit/torque feed forward func-
tion depends on the Servo Parameter and output bit combinations, as follows:
Torque Limit PCL NCL R88D-GN@-ML2
Selection (Pn521) (with built-in MECHATROLINK-II communications)
1 --- --- Option command value 1 (words a+10, a+11) functions as a torque feed
forward command value when the torque feed forward function is
enabled. Pn013 functions as a forward torque limit value/reverse torque
limit value when the torque limit function is enabled.
enabled. Pn013 functions as a forward torque limit value, and Pn522
functions as a reverse torque limit value when the torque limit function is
enabled.
enabled.
OFF OFF Pn013 functions as a forward torque limit value/reverse torque limit
value when the torque limit function is enabled.
OFF ON Pn013 functions as a forward torque limit value, and Pn522 functions as
a reverse torque limit value when the torque limit function is enabled.
ON OFF Pn522 functions as a forward torque limit value, and Pn013 functions as
ON ON Pn522 functions as a forward torque limit value/reverse torque limit
4 --- --- The torque feed forward function is disabled. Whichever is smaller of the
Servo Parameter Pn013 and option command value 1 (word a+10,
a+11) functions as a forward torque limit value, and whichever is smaller
of the Servo Parameter Pn522 and option command 2 (word a+12,
a+13) functions as a reverse torque limit value when the torque limit
function is enabled.
5 --- --- The torque feed forward function is disabled.
OFF OFF Pn013 functions as a forward torque limit value when the torque limit
Pn522 functions as a reverse torque limit value when the torque limit
OFF ON Pn013 functions as a forward torque limit value when the torque limit
Whichever is smaller of the Servo Parameter Pn522 and option com-
mand value 2 (word a+12, a+13) functions as a reverse torque limit
ON OFF Whichever is smaller of the Servo Parameter Pn013 and option com-
mand value 1 (word a+10, a+11) functions as a forward torque limit
Pn522 functions as a reverse torque limit value when the torque limit
ON ON Whichever is smaller of the Servo Parameter Pn013 and option com-
Whichever is smaller of the Servo Parameter Pn522 and option com-
enabled.
OFF OFF Pn013 functions as a forward torque limit value, and Pn522 functions as
OFF ON Pn013 functions as a forward torque limit value, and Pn526 functions as
393

ON OFF Pn525 functions as a forward torque limit value, and Pn522 functions as
ON ON Pn525 functions as a forward torque limit value, and Pn526 functions as
Note PCL ON: When either the external signal Forward Torque Limit or the For-
ward Rotation Current Designation (a+1614) is ON.
NCL ON: When either the external signal reverse torque limit or the Forward
Rotation Current Designation (a+1615) is ON.
When using G-series Servo Drives, the torque limit/torque feed forward func-
tion depends on the Servo Parameter and output bit combinations, as follows:
forward command value and the torque feed forward function is
enabled. Pn05E functions as a forward torque limit value/reverse torque
limit value and the torque limit function is enabled.
enabled. Pn05E functions as a forward torque limit value, Pn05F func-
tions as a reverse torque limit value and the torque limit function is
enabled.
enabled.
OFF OFF Pn05E functions as a forward torque limit value/reverse torque limit
value and the torque limit function is enabled.
OFF ON Pn05E functions as a forward torque limit value, Pn05F functions as a
reverse torque limit value and the torque limit function is enabled.
ON OFF Pn05F functions as a forward torque limit value, Pn05E functions as a
reverse torque limit value and the torque limit function is enabled.
ON ON Pn05F functions as a forward torque limit value/reverse torque limit
4 --- --- The torque feed forward function is disabled. Whichever is smaller of the
Servo Parameter Pn05E and option command value 1 (word a+10,
a+11) functions as a forward torque limit value, whichever is smaller of
the Servo Parameter Pn05F and option command 2 (word a+12, a+13)
functions as a reverse torque limit value and the torque limit function is
enabled.
394

5 --- --- The torque feed forward function is disabled.
OFF OFF Pn05E functions as a forward torque limit value and the torque limit
Pn05F functions as a reverse torque limit value and the torque limit func-
tion is enabled.
OFF ON Pn05E functions as a forward torque limit value and the torque limit
Whichever is smaller of the Servo Parameter Pn05F and option com-
ON OFF Whichever is smaller of the Servo Parameter Pn05E and option com-
Pn05F functions as a reverse torque limit value and the torque limit func-
tion is enabled.
ON ON Whichever is smaller of the Servo Parameter Pn05E and option com-
Whichever is smaller of the Servo Parameter Pn05F and option com-
Note PCL ON: When either the Forward Torque Limit (CN1 PCL: Pin 7) or Forward
Rotation Current Limit Designation (word a+1614) is turned ON.
NCL ON: When either the Reverse Torque Limit (CN1 NCL: Pin 8) or
Reverse Rotation Current Limit Designation (word a+1615) is
turned ON.
When an R88D-WT@ W-series Servo Drive equipped with a FNY-NS115

MECHATROLINK-II I/F Unit or an R88D-WN@-ML2 W-series Servo Drive
with built-in MECHATROLINK-II communications is connected to the PCU,
the torque limit/torque feed forward function depends on the Servo Parameter
and output bit combinations, as follows:
Torque com- Forward rota- Reverse rota- R88D-WT@ + FNY-NS115 R88D-WN@-ML2 with built-in
mand input tion current limit tion current limit MECHATROLINK-II commu-
change designation designation nications
(Pn002.0) (word a+16, bit (word a+16, bit
14 15)
0 --- --- Option command values 1 and Option command values 1 and
2 are disabled. Use set value 2 are disabled. Use set value
0. 0.
1 --- --- Option command value 1 Option command value 1
(words a+10, a+11) functions (words a+10, a+11) functions
as a torque limit value and the as a forward torque limit value,
torque limit function is enabled option command value 2
in both directions. (words a+12, a+13) functions
as a reverse torque limit value
and the torque limit function is
enabled.
2 --- --- Option command value 1 Option command value 1
as a torque feed forward com- as a torque feed forward com-
mand value and torque feed mand value and torque feed
forward is enabled. forward is enabled.
395
Torque com- Forward rota- Reverse rota- R88D-WT@ + FNY-NS115 R88D-WN@-ML2 with built-in
mand input tion current limit tion current limit MECHATROLINK-II commu-
change designation designation nications
(Pn002.0) (word a+16, bit (word a+16, bit
14 15)
3 0 0 Option command values 1 and Option command values 1 and
2 are disabled. Use set value 2 are disabled. Use set value
0. 0.
0 1 Option command value 2 Option command value 2
as a reverse torque limit value as a reverse torque limit value
and the torque limit function is and the torque limit function is
enabled. enabled.
as a forward torque limit value as a forward torque limit value
and the torque limit function is and the torque limit function is
enabled. enabled.
as a torque limit value and the as a forward torque limit value,
torque limit function is enabled option command value 2
in both directions. (words a+12, a+13) functions
as a reverse torque limit value
and the torque limit function is
enabled.
The settings for option command values 1 and 2 (torque limit/torque feed for-
ward command values) and Forward/Reverse Rotation Current Limit Desig-
nation Bits are enabled when the SPEED CONTROL Bit turns ON. Changing
these command values while speed control is being executed and then turn-
ing ON the SPEED CONTROL Bit again enables the option command values
and Current Limit Designation Bits to be changed during operation.
The torque limit for speed control set in the option command values can be
used together with the torque limit function (refer to 10-4 Torque Limits). When
enabling multiple torque limit functions simultaneously, the Servomotor's out-
put torque is limited by the minimum torque limit setting.
396
Example Timing Chart for W-series Speed Control

The target speed can be changed at any time during
Speed command value for speed speed control by overwriting the speed command
control (words a+6, a+7) 0000C350 hex (50.000%) 0 000124F8 hex (75.000%) value.
Option command value 1 The torque limit operation can be switched between
(words a+10, a+11) 32 hex (50) enabled and disabled status during operation by
changing the option command value and Current
Monitor type (word a+15) 0008 hex (Monitor 1: Feedback speed) Limit Designation Bit settings during speed control,
and executing SPEED CONTROL.
SPEED CONTROL The function combination depends on the setting in
(word a+1, bit 02) Pn002.0 (torque command input change).
Axes operating with speed control are stopped using
DECELERATION STOP DECELERATION STOP or EMERGENCY STOP.
(word a, bit 15) In this example, the Servo Parameter Pn002.0
Forward Rotation Current Limit (torque command input change) is set to 3: Current
Designation Bit (word a+16, bit 14) Limit Designation Bit are used.
Speed
75%
50% Broken line: Feedback speed
The acceleration/deceleration during speed control
depends on the setting in the Servo Parameter Soft Start
Acceleration/Deceleration Time, and the deceleration for
deceleration stop depends on the settings in the Servo
Parameters related to acceleration/deceleration.
Receiving Command Flag Time
(word b, bit 00) The Receiving Command Flag turns ON for at least one
cycle time when the movement command is received.

Stop Execution Bit Bits 07 and 08 in the Servo Status Flags (word b+1)
(word b, bit 15) function, respectively, as the Speed Conformity Flag
and Zero Speed Flag from the time when SPEED
Speed Conformity Flag CONTROL is received (when the Receiving Command
(word b+1, bit 07) Flag turns OFF) until the command to switch to
Zero Speed Flag position control, such as DECELERATION STOP, is
(word b+1, bit 08) received (when the Receiving Command Flag turns
OFF), as indicated by the shaded area.
Torque Limit Status Flag The Torque Limit Status Flag is ON when the torque
(word b+1, bit 09) limit function is enabled and operating. This flag does
not turn ON if the output torque reaches the limit value
or lower during Servomotor rotation and thus the
Torque limit enabled torque limit function is not ON.
Monitor 1: Feedback speed Monitor unit: 0.001% (percentage of Servomotor's momentary
(words b+10, b+11) Monitor unit: Command units/s
maximum rotation speed)
When the speed (feedback speed, command speed, or
Control mode target speed) is selected for monitor 1 or 2, the
(Position Speed control Position monitoring unit for position control/torque control, and
control) control speed control will change. The speed command value
for speed control (unit: 0.001%) is used from when the
a = Beginning word of Axis Operating Output Areas specified in Common Parameters + (Axis No. −1) × 25 speed control command is received (when the
b = Beginning word of Axis Operating Input Areas specified in Common Parameters + (Axis No. −1) × 25 Receiving Command Flag turns OFF) and the speed
command value for position control (command units/s)
is used from when the command to switch to position
control or torque control is received.
397
Status and Monitoring When SPEED CONTROL is executed, some of the Status Flags, monitoring
during Speed Control functions, and display units change.
Servo Status Flags in Axis The functions of bits 07 and 08 in the Servo Status Flags of the Axis Operat-
Operating Input Memory ing Input Memory Area change depending on whether position control or
Area (Word b+1) speed control is used.
Word Bits Control Flag name Function Function change timing
mode
b+1 07 Position Positioning Com- Sending the position control com- The function changes when
control pleted (PSET) Flag mand to the Servo Drive com- the command to switch to
pleted and the position is within position control has been
Positioning Completion Range 1 received (when the Receiving
(in position). Command Flag turns OFF).
Speed con- Speed Conformity Speed matches the speed com- The function changes when
trol (V-CMP) Flag mand value for speed control. SPEED CONTROL has been
received (when the Receiving
Command Flag turns OFF).
08 Position Distribution Com- Sending the position control com- The function changes when
control pleted (DEN) Flag mand to the Servo Drive com- the command to switch to
pleted (operating for the number of position control has been
pulses remaining in the deviation received (when the Receiving
counter). Command Flag turns OFF).
Speed con- Zero Speed (ZSPD) Speed control with zero speed in The function changes when
trol Flag progress. SPEED CONTROL has been
Monitors 1 and 2 in Axis When the speed (feedback speed, command speed, or target speed) is
Operating Input Memory selected for monitor 1 or 2, the monitoring unit for position control/torque con-
Areas trol, and speed control will change, as follows:
Control mode Speed monitoring Unit change timing
unit
Position con- Command units/s The unit changes when the command
trol/Torque control to switch to position control/torque con-
trol has been received (when the
Receiving Command Flag turns OFF).
Speed control 0.001% The unit changes when SPEED CON-
(percentage of Ser- TROL has been received (when the
vomotor's momen- Receiving Command Flag turns OFF).
tary maximum
rotation speed)
10-5-3 Switching Control Mode

The PCU's operating commands can be used to switch between position con-
trol, speed control, and torque control of active axes, as follows:
Operating Control mode Operation when operating command is
command executed
ABSOLUTE Position control Switches to position control from any control
MOVEMENT mode when the command starts and executes
positioning with an absolute position.
RELATIVE Position control Switches to position control from any control
MOVEMENT mode when the command starts and executes
positioning with a relative position.
ORIGIN Position control A multistart error occurs when the command
SEARCH starts from any control mode, and deceleration
stop is executed in position control mode.
ORIGIN Position control A multistart error occurs when the command
RETURN starts from any control mode, and deceleration
398
Operating Control mode Operation when operating command is

command executed
JOG Position control A multistart error occurs when the command
starts from any control mode, and deceleration
DECELERA- Position control Switches to position control when the command
TION STOP starts from any control mode, and deceleration
stop is executed.
SPEED CON- Speed control Switches to speed control when the command
TROL starts from any control mode.
TORQUE CON- Torque control Switches to torque control when the command
TROL starts from any control mode.
EMERGENCY Position control Switches to position control when the command
STOP starts from any control mode, and emergency
stop is executed.
SERVO Position control When executing SERVO UNLOCK, the PCU
UNLOCK executes DECELERATION STOP for the Servo
Drive, followed immediately (without waiting for
the axis to stop) by SERVO UNLOCK. When
SERVO UNLOCK is executed during speed
control or torque control, the Servo Drive will
recover in the position control mode's Servo lock
status the next time the SERVO LOCK com-
mand is executed.
DEVICE SETUP Position control Switches to position control when the command
starts, and recovers in position control mode
when SERVO LOCK is executed.
If operation stops due to an error (except stopping that puts Servo in free run
state), the Servomotor stops in position control mode (deceleration stop or
emergency stop) and remains in position control mode (Servo lock status)
after stopping. After turning ON the power to the PCU or restarting the Unit
and executing CONNECT or SERVO LOCK, the PCU will be put in the posi-
tion control mode and in Servo lock status.
Note When SERVO UNLOCK is executed during speed control or torque
control, the Servo Drive will recover in the position control mode
and in Servo lock status the next time the SERVO LOCK command
is executed. If MECHATROLINK communications are stopped
(connection released) or the power to the PCU is interrupted during
speed control or torque control, the Servo Drive will be put in Servo
free run state in the previous control mode. While in this state, if
MECHATROLINK communications are started (connection estab-
lished) and SERVO LOCK is executed, the Servomotor starts op-
erating immediately in the previous command state. The speed
monitor and torque monitor in the PCU’s expanded monitoring
functions will also not function properly. To stop MECHATROLINK
communications while in speed control or torque control mode, use
DECELERATION STOP or another command that will switch the
Servo Drive to position control, and execute the next SERVO
LOCK command in position control mode. If the Servo is in a free
run state during speed control or torque control (due to an error or
other cause), execute DEVICE SETUP before the next SERVO
LOCK and switch the Servo Drive to position control mode.
When switching to position control from speed control or torque control, the
feedback speed for executing operating commands in position control is used
as the start speed. Movement to the position control target speed or stop
operation is then performed using the acceleration/deceleration set in the
Servo Parameters for acceleration/deceleration.
399
Torque Control Section 10-6
Changes in Torque when When switching to another control mode during torque control, position con-
Switching Control Modes trol with the torque limit enabled, or speed control, the torque in the control
mode to be switched to must be considered. For example, if DECELERATION
STOP is executed with the torque limit disabled during speed control with the
torque limit enabled, position control will be used without the output torque
limit during the time deceleration stop is executed.
When switching from the control mode that requires a constant torque limit,
such as for pushing or pulling a load, make sure that the torque limit is also
enabled for the next operating command to be executed to prevent a sudden
change in output torque.
Note In speed control mode, axis stop operations due to errors are executed after
switching to position control. The torque limit for these stop operations
depends on the setting of the Current Limit Designation Bit at when the error
occurred. When executing speed control with the torque limit enabled using
the option command value, if the Current Limit Designation Bit is not set to
ON, the axis stop operation due to error will be executed with the torque limit
disabled. To enable the torque limit for axis stop operations due to errors, turn
ON the Current Limit Designation Bit and set Servo Parameters No.1 Torque
Limit (Pn013) or No.2 Torque Limit (Pn522) when using G5-series Servo
Drives, Servo Parameters No.1 Torque Limit (Pn05E) or No.2 Torque Limit
(Pn05F) when using G-series Servo Drives, and Forward Rotation External
Current Limit (Pn404) or Reverse Rotation External Current Limit (Pn405)
when using W-series Servo Drives.
10-6 Torque Control

10-6-1 Overview
In torque control, the PCU controls the output torque of the Servomotor by
directly executing torque commands in a torque (current) loop without using
the Servo Drive's position loop or speed loop.
Torque control can be used when a G5-series Servo Drive, a G-series Servo
Drive or a W-series Servo Drive is connected. The SMARTSTEP Junior Servo
Drives do not support torque control.
10-6-2 Starting Torque Control

Torque control is performed according to the target torque set in the torque
command value in the Axis Operating Output Memory Areas and started
when the TORQUE CONTROL Bit turns ON. When starting torque control,
make sure that the TORQUE CONTROL Bit remains ON until the Receiving
Command Flag or Busy Flag in the Axis Operating Input Memory Area turns
ON.
STOP, OR DECELERATION STOP command bit is turned ON, the TORQUE
CONTROL command will be ignored. Be sure that all of these command bits
are OFF before executing torque control.
The torque command value is set in units of 0.001% as a percentage of the
Servomotor's momentary maximum torque. The torque command value is
specified in the range −199.999% to 199.999%, and the rotation direction is
determined by the sign (positive or negative) of the torque command value.
The actual Servomotor torque control range and minimum control unit depend
400
To stop torque control, execute DECELERATION STOP or EMERGENCY

STOP. (For details on stop functions, refer to 10-9 Stop Functions.)
Servo Parameter Area G5-series Torque Control Parameters
--- Pn317 Speed limit selection --- 0, 1 2 0
--- Pn321 Speed limit value setting r/min 0 to 20000 2 50
Pn317 is used to select the function of the option command value for torque
control.
The option command value for torque control is described in the following
pages.
Pn321 is used to set the fixed speed limit for torque control.
G-series Torque Control Parameters
--- Pn05B Speed limit selection --- 0, 1 2 0
--- Pn053 Speed limit r/min −20000 to 2 50
20000
Pn05B is used to select the function of the option command value for torque
control.
The option command value for torque control is described in the following
pages.
Pn053 is used to set the fixed speed limit for torque control.
W-series Torque Control Parameters
--- Pn002.1 Function selection application switch 2 --- 0, 1 2 0
Speed command input switching
--- Pn407 Speed limit r/min 0 to 10000 2 3000
Note The default settings correspond to those used for W-series Servo Drives.
Pn002.1 is used to select the function of the option command value for torque
control. The option command value for torque control is described in the fol-
lowing pages.
The data length for Pn002.1 is the set value specified to transfer Pn002
(including Pn002.1) when transferring Servo Parameters. Pn407 is used to
set the fixed speed limit for torque control.

TORQUE CONTROL a+1 03 0 → 1: Starts torque control.
401

Torque command value a+8 --- Torque command value (rightmost word)
a+9 Torque command value (leftmost word)
Unit: 0.001%
Command range: −199.999 to 199.999%
(FFFCF2C1 hex to 00030D3F hex)
Note The rotation direction is determined by the sign.
Option command value 1 a+10 --- Speed limit value (rightmost word)
a+11 Speed limit value (leftmost word)
Unit: 0.001%
(percentage of Servomotor's momentary maximum rotation speed)
Command range: 0 to 100.000% (See note 1.)
(00000000 hex to 000186A0 hex)
The option command value 1 can be used as the speed limit value during
torque control by setting the Servo Parameter Speed Limit Selection
(Pn317) when using G5-series Servo Drives, Speed Limit Selection
(Pn05B) when using G-series Servo Drives, and the Speed Command Input
Change in Servo Parameter Function Selection Application Switch 1
(Pn002.1) when using W-series Servo Drives.
limit designation
limit designation

Note (1) A command range check (0 to 10,000) is performed for the option com-
mand value for torque control when the torque control command is given.
If the option command value is out of range, an option command value
error (error code: 3064) will occur. The command range check will be per-
formed even if the Servo Parameter Speed Limit Selection (Pn317) when
using G5-series Servo Drives, Servo Parameter Speed Limit Selection
(Pn05B) when using G-series Servo Drives, or the Torque Command In-
put Change parameter in the Function Selection Application Switches 2
when using W-series Servo Drives is set to disable using the option com-
mand value. Always set the option command value to 0 when it is not be-
ing used.
(2) The same option command value parameter is used for both speed and
torque control. The allowable setting ranges for speed and torque control,
however, are different. When switching between speed and torque con-
trol, be sure that the option command value is set within the proper range
for the current type of control.
Changes to the torque command value during operation are always effective.
during torque control, by setting a new torque command value in the Axis
Operating Output Memory Area, the target torque for torque control can be
changed.
The data for option command value 1 (speed limit value) is enabled when the
start bit for TORQUE CONTROL turns ON. Changing these set values while
torque control is being executed and then turning ON the TORQUE CON-
TROL Bit again enables the speed limit value to be changed during operation.
The torque limit can also be applied by turning ON the Forward/Reverse
Rotation Current Limit Designation Bit when executing TORQUE CONTROL.
(For details, refer to 10-4-3 Torque Limits Set by Operating Commands.)
402

Torque Limit Status Flag b+1 09 1: Torque limit in progress.
Speed Limit Status Flag 11 1: Speed limit in progress.

command to start torque control is received by the PCU. Use the Receiving
Command Flag when starting and changing option commands to control the
ON/OFF timing for TORQUE CONTROL.
During torque control, bit 11 in the Servo Status Flags (word b+1) of the Axis
Operating Input Memory Area functions as the Speed Limit Status Flag.
The command present position that is output during torque control is calcu-
lated from the feedback position and the position deviation that is inferred
from the current speed.
Changes in output torque may affect operation when switching to speed con-
trol or position control with deceleration stop, while torque control is being per-
formed. For details, refer to 10-5-3 Switching Control Mode.
Option Command Value during Torque Control

A speed limit can be applied during torque control by setting Servo Parameter
Speed Limit Selection (Pn317) when using G5-series Servo Drives, Servo
Parameter Speed Limit Selection (Pn05B) when using G-series Servo Drives,
and the Speed Command Input Change in Servo Parameter Function Selec-
tion Application Switch 2 (Pn002.1) when using W-series Servo Drives and
the option command value.
The speed limit functions depend on the Servo Parameter and output bit com-
binations, as follows:
403
G5-series Servo Drives

Speed command Function
input change
(Pn317)
0 Option command values 1 and 2 are disabled. Use set value 0.
1 Limits speed during torque control, using option command value
1 (words a+10, a+11) as the speed limit value.
Option command value 2 is not used. Use set value 0.
G-series Servo Drives

input change
(Pn05B)
W-series Servo Drives

input change
(Pn002.1)
The data for option command value 1 (speed limit value) is enabled when the
bit for TORQUE CONTROL turns ON. Changing option command value 1
while torque control is being executed and then turning ON the TORQUE
CONTROL Bit again enables the speed limit value to be changed during oper-
ation.
The speed limit for torque control set in the option command value can be
used together with a Servo Parameter (Pn321 for the G5 Series, Pn053 for
the G Series and Pn407 for the W Series) (speed limit). When both speed
limit functions are enabled at the same time, the Servomotor's rotation speed
is limited by the lowest speed limit setting.
Note The speed limit functions for torque control are used to limit the Servomotor's
rotation speed in a steady state, and not the upper limit (maximum value) of
the Servomotor's rotation speed. Transitional overshooting may occur in the
Servomotor's rotation speed and the speed limit value may be exceeded due
to conditions such as the torque command value, Servomotor load, and iner-
tia.
404
Example Timing Chart for Torque Control

Torque command value The target output torque can be changed at any
(words a+8, a+9) 00002710 hex (10.000%) 00013880 hex (80.000%)
time during torque control by overwriting the
torque command value.
Option command value 1 0000C350 hex (50.000%) 000124F8 hex (75.000%)
(words a+10, a+11)
Monitor type (word a+15) 000B hex (Monitor 1: Torque command)
TORQUE CONTROL Changing option command value 1 while torque

(word a+1, bit 03) control is being executed and then executing
TORQUE CONTROL again enables the speed
DECELERATION STOP limit value to be changed during operation.
(word a, bit 15) Axes operating with torque control are stopped
using DECELERATION STOP or EMERGENCY
Forward Rotation Current Limit
STOP.
Designation Bit (word a+16, bit 14)
When the torque limit is disabled for position
control commands such as DECELERATION
Speed STOP, the torque may suddenly change when
75% switching from torque control.
50% Broken line: Feedback speed
The speed and acceleration/deceleration used
during torque control depend on the torque
command value and Servomotor load, within the
range limited by the speed limit value in option
command value 1.
Time
Receiving Command Flag The Receiving Command Flag turns ON for at least
(word b, bit 00) one cycle time when the movement command is
received.
Bit 11 in the Servo Status Flags (word b+1) functions

as the Speed Limit Status Flag from the time when
TORQUE CONTROL is received (when the Receiving
Stop Execution Bit
Command Flag turns OFF) until the command to
(word b, bit 15)
switch to position control, such as DECELERATION
Speed Limit Status Flag STOP, is received (when the Receiving Command
(word b+1, bit 11) Flag turns OFF), as indicated by the shaded area.
Torque Limit Status Flag The Torque Limit Status Flag is ON when the torque
(word b+1, bit 09) limit function is enabled and operating. This flag does
not turn ON if the output torque reaches the limit
value or lower during Servomotor rotation and thus
Torque limit the torque limit function is not ON.
enabled
Monitor 1: Torque command Monitor unit: 0.001% (percentage of Servomotor's momentary
maximum torque) Monitor unit: 1% (percentage of Servomotor's rated torque)
(words b+10, b+11)
When the torque is selected for monitor 1 or 2, the
Control mode monitoring unit for position control/speed control, and
torque control changes. The monitor uses a unit of
(Position control) Torque control Position control 0.001% from when the torque control command is
received (when the Receiving Command Flag turns
OFF) and 1% from when the command to switch to
a = Beginning word of Axis Operating Output Areas specified in Common Parameters + (Axis No. −1) × 25 position control or speed control is received (when the
b = Beginning word of Axis Operating Input Areas specified in Common Parameters + (Axis No. −1) × 25 Receiving Command Flag turns OFF).
For details on switching to torque control from position control or speed con-
trol, refer to 10-5-3 Switching Control Mode.
Note (1) When SERVO UNLOCK is executed during speed control or torque con-
trol, the Servo Drive will recover in the position control mode and in Servo
lock status the next time SERVO LOCK is executed. If MECHATROLINK
communications are stopped (connection released) or the power to the
PCU is interrupted during speed control or torque control, the Servo Drive
will be put in Servo free run state in the previous control mode. While in
this state, if MECHATROLINK communications are started (connection
established) and SERVO LOCK is executed, the Servomotor starts oper-
ating immediately in the previous command state. The speed monitor and
torque monitor in the PCU’s expanded monitoring functions will also not
function properly. To stop MECHATROLINK communications while in
speed control or torque control mode, use DECELERATION STOP or
other command that will switch the Servo Drive to position control, and
execute the next SERVO LOCK in position control mode. If the Servo is
in a free run state during speed control or torque control (due to an error
or other cause), execute DEVICE SETUP before the next SERVO LOCK
and switch the Servo Drive to position control mode.
405
(2) In torque control mode, axis stop operations due to errors are executed
after switching to position control. The output torque for these stop oper-
ations depends on the setting for error operation in the Current Limit Des-
ignation Bit. during torque control execution, if the Current Limit
Designation Bit is not set to ON, the axis stop operation due to error will
be executed with the torque limit disabled. To enable the torque limit for
axis stop operations due to errors, turn ON the Current Limit Designation
Bit while torque control is being executed and set Servo Parameters No.2
Torque Limit (Pn05F) when using G-series Servo Drives, and Forward
Rotation External Current Limit (Pn404) or Reverse Rotation External
Current Limit (Pn405) when using W-series Servo Drives.
Status and Monitoring When TORQUE CONTROL is executed, some of the Status Flags, monitor-
during Torque ing functions, and display units change.
Control
Servo Status Flags in Axis The function of bit 11 in the Servo Status Flags of the Axis Operating Input
Operating Input Memory Memory Area depends on whether position control or torque control is used.
Area (Word b+1)
Word Bits Control Flag name Function Function change timing
mode
b+1 11 Position Positioning Proxim- ON when within Positioning Com- The function changes when
control ity (NEAR) Flag pletion Range 2 the command to switch to
position control has been
Torque Speed Limit (V_LIM) ON when speed limit in progress The function changes when
control Status Flag using speed limit value specified in TORQUE CONTROL has
option command value 1. been received (when the
turns OFF).
Monitors 1 and 2 in Axis When the torque is selected for monitor 1 or 2, the monitoring unit for position
Operating Input Memory control/speed control, and torque control changes, as follows:
Areas
Control mode Speed monitoring Unit change timing
unit
Position con- % (1% unit) The unit changes when the command
trol/speed control (percentage of Ser- to switch to position control or speed
vomotor’s rated control has been received (when the
torque) Receiving Command Flag turns OFF).
Torque control 0.001% The unit changes when TORQUE
(percentage of Ser- CONTROL has been received (when
vomotor’s momen- the Receiving Command Flag turns
tary maximum OFF).
torque)
406
Backlash Compensation Section 10-7
10-7 Backlash Compensation

10-7-1 Overview
"Backlash" is the play between the driving axis and the mechanical system
being driven. If there is backlash in positioning from the positive or negative
direction, it will cause a discrepancy of the same extent in the positioning.
Servo Drive, backlash compensation can be used to make this discrepancy
as small as possible.
Backlash
Positioning from positive side:

Position on drive side = Position on driven side
Positioning from positive side
Driven side Positioning from negative side:

Position on drive side = Position on driven
side − Amount of backlash compensation
Positioning from negative side

Driving side
Same position
In the above diagram, after positioning from the positive side, backlash is
compensated for up to the amount of the output of pulses set for the backlash
compensation either when positioning in the negative direction or when the
positioning direction is reversed.
The SMARTSTEP Junior Servo Drives do not support backlash compensa-
tion.
10-7-2 Backlash Compensation Procedure

The PCU uses the Servo Drive's backlash compensation function. The Servo
Parameters for backlash compensation must be set to enable the backlash
compensation function. After setting the Servo Parameters, execute SERVO
LOCK, and then perform backlash compensation with the following position
control operations.
ABSOLUTE MOVEMENT, RELATIVE MOVEMENT, ORIGIN SEARCH,
ORIGIN RETURN, and JOG
Backlash compensation is disabled when executing SPEED CONTROL or
TORQUE CONTROL. Backlash compensation operation functions as follows:
• After SERVO LOCK (First Position Control Operating Command)
Compensation is applied to the first operating command that operates in
the specified backlash compensation direction. Compensation is not
applied to operations prior to this that moved axes in the opposite direc-
tion to backlash.
407
• After Backlash Compensation

Backlash compensation is applied for the first operating command that
operates in the opposite direction from which backlash compensation was
previously applied. Once backlash compensation has been applied, it will
not be applied again as long as operation is continued in the same direc-
tion.
Present position managed by PCU

Compensation amount
(4)
(3)
(2)
Compen-
sation
(1)
amount
Start (1) Start (2) Start (3) Start (4) Number of Servomotor rotations
(First time after
SERVO LOCK)
Specified backlash compensation direction
Note The PCU's present position compensation according to the backlash compen-
sation function is applied to both the feedback present position and command
present position.
10-7-3 Backlash Compensation Data Settings

When a G5-series Servo Drive, a G-series Servo Drive or a W-series Servo
Drive is connected, the data settings for backlash compensation are as fol-
lows:
Servo Parameter Area Backlash Compensation Parameters (R88D-KN@-ML2)
--- Pn704 Backlash compensation selec- --- 0 to 2 2 0
tion
--- Pn705 Backlash compensation amount Command unit −32,768 to 2 0
32,767
--- Pn706 Backlash compensation time 0.01ms 0 to 6400 2 0
constant
The backlash compensation amount is set in Pn705 in command units. The

minimum setting unit for the backlash compensation amount, however,
depends on the encoder resolution.
Backlash Compensation Parameters (R88D-GN@-ML2)
--- Pn100 Backlash compensation selec- --- 0 to 2 2 0
tion
408

--- Pn101 Backlash compensation Command unit −32,768 to 2 0
32,767
--- Pn102 Backlash compensation time 0.01ms 0 to 6400 2 0
constant
The backlash compensation amount is set in Pn101 in command units. The

Backlash Compensation Parameters (R88D-WT@ + FNY-NS115)
--- Pn81B Backlash compensation amount 0.1 command unit −32,768 to 2 0
32,767
--- Pn81D.0 Compensation function selection --- 0, 1 2 0
The backlash compensation amount is set in Pn81B in 0.1 command units.

The minimum setting unit for the backlash compensation amount, however,
Backlash Compensation Parameters (R88D-WN@-ML2)
--- Pn207.2 Backlash compensation selec- --- 0 to 2 2 0
tion
--- Pn214 Backlash compensation amount Command unit −32,768 to 2 0
32,767
--- Pn215 Backlash compensation con- 0.01 ms 0 to 65535 2 0
stant
The backlash compensation function is set in Pn214 in command units. The

The direction in which backlash compensation is first applied after execution
of SERVO LOCK using the backlash compensation function is set in Servo
Parameters Backlash Compensation Selection (Pn704) when using
R88D-KN@-ML2, Backlash Compensation Selection (Pn100) when using
R88D-GN@-ML2, Backlash Compensation Direction (Pn81D.0) when using
R88D-WT@, and Backlash Compensation Selection (Pn207.2) when using
R88D-WN@-ML2, as follows:
R88D-KN@ R88D-GN@ R88D-WT@ + R88D-WN@ Function
-ML2 -ML2 FNY-NS115 -ML2
Pn704 Pn100 Pn81D.0 Pn207.2
0 0 --- 0 No backlash compensation
1 1 0 1 Compensates in the forward direction.
The first backlash compensation
direction is forward.
2 2 1 2 Compensates in the reverse direction.
The first backlash compensation
direction is forward.
Note When using R88D-WT@ + FNY-NS115 without backlash compensation, set

the backlash compensation amount to (Pn81B) to 0.
409
Software Limits Section 10-8
10-8 Software Limits

10-8-1 Overview
To prevent or reduce damage to external devices due to unexpected position-
ing operations when there is a malfunction, in addition to the forward rotation
and reverse rotation limit input signals, the PCU also has a function that mon-
itors positioning at a software level. This function is called the “software limit”
function.
The range in which the software limit function monitors the position is deter-
mined by the values of two settings: the forward software limit and the reverse
software limit. Normally, positioning is only possible within the range deter-
mined by these software limit settings. The relationship between the forward
rotation and reverse rotation limit input signals, the software limits, and the
mechanical stoppers used in the system is shown below.
Reverse software limit Forward software limit
Software level operating range
Reverse rotation limit input signal Forward rotation limit input signal
Electrical level operating range
Mechanical stopper Mechanical stopper
Mechanical level operating range
The software limit function is enabled if an origin has been established (i.e.,
the No Origin Flag is OFF). The software limit function is disabled when the
origin has not been established.
When the Servo Drive power is turned ON, the PCU's present position is set
to 0, and the origin is not established. RELATIVE MOVEMENT can be exe-
cuted under these conditions, but the positioning range (present position
range possible for positioning) will be −2,147,483,648 to 2,147,483,647 (com-
mand units), and the present position will be refreshed by adding the travel
distance without an established origin.
If RELATIVE MOVEMENT is executed using a position command value that
exceeds the positioning range, a Position Designation Error (error code:
3060) will occur when the command is executed.
When a command such as JOG continues to be executed, the present posi-
tion will be repeated between −2,147,483,648 and 2,147,483,647 (command
units). (Refer to 7-3 Coordinate System and Present Position.)
10-8-2 Procedure for Using Software Limits

The PCU uses the Servo Drive's software limit function. The Servo Parame-
ters for software limits must be set to enable the software limit function. After
setting the Servo Parameters, the software limit function is enabled by execut-
ing ORIGIN SEARCH and PRESENT POSITION PRESET, or detecting the
origin using the absolute encoder.
410
10-8-3 Software Limit Data Settings

Servo Parameter Area G5-series Software Limit Parameters
No. size setting
--- Pn801 Soft limit --- 0 to 3 2 0
--- Pn804 Forward software limit Command unit −1,073,741,823 4 500000
to
1,073,741,823
--- Pn806 Reverse software limit Command unit −1,073,741,823 4 −500000
to
1,073,741,823
G-series Software Limit Parameters

No. size setting
--- Pn104 Software limit function --- 0 to 3 2 0
--- Pn201 Forward software limit Command unit −1,073,741,823 4 500000
to
1,073,741,823
--- Pn202 Reverse software limit Command unit −1,073,741,823 4 −500000
to
1,073,741,823
W-series and SMARTSTEP Junior Software Limit Parameters

No. size setting
--- Pn801.0 Software limit function --- 0 to 3 2 (See note 2.)
--- Pn801.2 Software limit check using --- 0 (Do not (See note 0
references change the set- 1.)
ting.)
--- Pn804 Forward software limit Command unit −1,073,741,823 4 819,191,808
to
1,073,741,823
--- Pn806 Reverse software limit Command unit −1,073,741,823 4 −819,191,808
to
1,073,741,823
Note (1) The data length for Pn801.0 and Pn801.2 is that specified when Servo
Parameter Pn801 is transferred.
(2) The default setting for Pn801.0 is 0 when using R88D-WT@, and 3 when
using the R88D-WN@-ML2 or a SMARTSTEP Junior Servo Drive.
The software limit settings are provided in the following pages. Set the soft-
ware limits so that the reverse software limit is less than the forward software
limit. If the forward software limit is less than or equal to the reverse software
limit, the software limit will always be enabled.
When the software limit function is enabled, the status is indicated by the For-
ward/Reverse Software Limit Flags in the Axis Operating Input Memory Area,
as follows:
411

Forward Software Limit b+1 12 0: Within forward software limit range
Flag 1: Forward software limit range
exceeded
Reverse Software Limit 13 0: Within reverse software limit range
Flag 1: Reverse software limit range
exceeded

10-8-4 Software Limit Operation

The software limit function operates as described in the following table for the
present position when the software limits are set.
Software limit function Software limit by command
0: No software limit check using 1: Software limit check using references.
references. (Default setting)
0 Software limit When the feedback present position for the Do not use this setting. Otherwise, the axis
enabled active axis reaches the forward/reverse operation will not be performed properly.
software limit, in the same way as when for-
ward/reverse rotation limit input signals are
input, the axis will stop and a For-
ward/Reverse Software Limit Error (error
code: 3002/3003) will occur.
1 Forward software The forward software limit is disabled.
limit disabled When the feedback present position for the
active axis reaches the reverse software
limit, the axis will stop and a Reverse Soft-
ware Limit Error (error code: 3003) will
occur in the same way as when a reverse
rotation limit input signal is input.
2 Reverse software The reverse software limit is disabled.
limit disabled When the feedback present position for the
active axis reaches the forward software
limit, the axis will stop and a Forward Soft-
ware Limit Error (error code: 3002) will
occur in the same way as when a forward
rotation limit input signal is input.
3 Software limit dis- The software limits are disabled in both
abled in both direc- directions.
tions The refresh range and positioning range for
the present position is −2,147,483,647 to
2,147,483,647 (command units), and the
possible operating range is within the for-
ward/reverse rotation limit input signal
range.
When a movement command is executed using direct operation for which the
target position will exceed the software limit range, the operation when the
software limit is reached will be as shown in the following diagram.
412
Operation will start stopping from the software

limit position. (See note.)
Speed
Original movement command
Forward rotation direction

Movement command Forward Target position
software limit
If RELATIVE MOVEMENT is executed using a position command value that exceeds

the positioning range (−2,147,483,647 to 2,147,483,647 command units), a Position
Designation Error (error code: 3060) will occur when the command is executed.
Note The stop operations when the software limit is reached is the same as when
limit input signals are input. For details, refer to 7-5 Limit Input Operations.
When the axis movement command is executed (after alarm reset) from the
position at which the software limit is exceeded (software limit has been
detected), the operation will depend on the direction in which the software
limit is detected, as follows:
Movement command Opposite direction of software limit Direction of software

limit
ABSOLUTE MOVE- Operation is possible. A Software Limit Error will
MENT Even if the target position is still beyond the software limit in the occur when the com-
RELATIVE MOVEMENT direction that has been detected, positioning will be performed to mand is executed.
the target position and a Software Limit Error will not be detected
even after positioning is completed.
If the target position is beyond the software limit in the other direc-
tion, a Software Limit Error will occur when the other software limit
is reached.
If, however, RELATIVE MOVEMENT is executed using a position
command value that exceeds the positioning range
(−2,147,483,647 to 2,147,483,647), a Position Designation Error
(error code: 3060) will occur when the command is executed.
INTERRUPT FEEDING Operation depends on ABSOLUTE MOVEMENT or RELATIVE A Software Limit Error will
MOVEMENT. occur when the com-
If the interrupt feeding direction after an interrupt input is opposite mand is executed.
to the starting movement direction (reversal operation), the opera-
tion is as follows:
• If interrupt feeding is performed after passing the software limit in
the direction that has been detected. When the interrupt feeding
position does not reach the software limit, positioning will be com-
pleted. If the software limit will be exceeded due to interrupt feed-
ing, a Software Limit Error will occur when the software limit
position is reached again.
• If interrupt feeding is executed without passing the software limit
in the direction that has been detected, positioning will stop at the
reversal position and reverse operation will not be executed due
to the Driver’s drive prohibited status. In this state, a Software
Limit Error will not be detected.
ORIGIN RETURN Origin return operations are possible when performed in the oppo- A Software Limit Error will
site direction of the software limit that has been detected. If the ori- occur when the com-
gin position exceeds the other software limit, however, a Software mand is executed.
Limit Error will occur when the other software limit is reached.
413
Stop Functions Section 10-9
Movement command Opposite direction of software limit Direction of software

limit
JOG Operation is possible. A Software Limit Error will
A Software Limit Error will not be detected even if jogging is occur when the com-
stopped, or if DECELERATION STOP or EMERGENCY STOP is mand is executed.
executed, at a position that is still beyond the software limit in the
direction that has been detected.
If operation is not stopped, a Software Limit Error will occur when
the other software limit is reached.
SPEED CONTROL Operation is possible. A Software Limit Error will
TORQUE CONTROL A Software Limit Error will not be detected even if DECELERA- occur when the com-
TION STOP or EMERGENCY STOP is executed at a position that mand is executed.
is still beyond the software limit in the direction that has been
detected.
If operation is not stopped, a Software Limit Error will occur when
the other software limit is reached.
PRESENT POSITION If PRESENT POSITION PRESET is executed for a position beyond the software limit in the
PRESET present travel direction, the present position will change and a Software Limit Error will not be
detected. If PRESENT POSITION PRESET is executed for a position beyond the software
limit in the direction opposite to the travel direction, the present position will change and a
Software Limit Error will occur for the software limit in the opposite direction.
SERVO LOCK SERVO LOCK can be executed regardless of software limit detection status when using an
Incremental Encoder or when using an Absolute Encoder as an Incremental Encoder. When
using an Absolute Encoder, operation depends on the unit version of the PCU as follows:
PCUs with Unit Version 1.2 or Earlier
A software limit error will be detected when SERVO LOCK is executed and the SERVO
LOCK operation will be cancelled. Disable the software limit to enable executing SERVO
LOCK.
PCUs with Unit Version 1.3 or Later
SERVO LOCK can be executed regardless of software limit detection status in the same
way as when using an Incremental Encoder.
10-9 Stop Functions

10-9-1 Overview
The stop function is used to stop active axes operated by position control,
speed control, or torque control. Axis operation can be stopped using the
deceleration stop method, which stops the axis using a specified deceleration,
or the emergency stop method, which cancels the operating command imme-
diately and stops operation after moving for the remaining pulses in the Servo
Drive's deviation counter. Axis operations are also stopped by the PCU if an
error occurs.
For details on PCU operations when errors occur, refer to SECTION 12 Trou-
bleshooting.
10-9-2 Deceleration Stop

Deceleration stop stops the active axis using the deceleration set in the Servo
Parameters when the DECELERATION STOP Bit turns ON in the Axis Oper-
ating Output Memory Area. The deceleration stop operation is executed using
position control with the specified deceleration curve.
When DECLARATION STOP is executed during speed control or torque con-
trol, the feedback speed at that point is used as the start speed, the control
mode switches to position control, and operation decelerates to a stop.
414
Regardless of the previous control mode,

DECELERATION STOP is executed after
Speed switching to position control.
Operation decelerate to a stop according
to the deceleration set in the Servo
Parameters for acceleration/deceleration.
The Servomotor is set to Servo lock status
after operation stops.
Movement command DECELERATION Time

STOP executed
DECELERATION STOP can be executed for an axis that is servo-locked as

long as SERVO UNLOCK, DEVIATION COUNTER RESET, or EMERGENCY
STOP is not being executed and the command bits for these commands are
not ON and as long as an axis error has not occurred.
When executing DECELERATION STOP, make sure that the DECELERA-
TION STOP Bit remains ON until the Receiving Command Flag or Stop Exe-
cution Flag in the Axis Operating Input Memory Area turns ON.
All axis operation commands except for SERVO UNLOCK, DEVIATION
COUNTER RESET, and EMERGENCY STOP will be ignored during DECEL-
ERATION STOP execution or while the DECELERATION STOP Bit is ON.
Servo Parameter Area G5-series Acceleration/Deceleration Parameters
Acceleration/ Pn811 Linear acceleration constant 10,000 command −32768 to 2 100
deceleration con- units/s2 32767
stants
Pn814 Linear deceleration constant 10,000 command −32768 to 2 100
units/s2 32767
Acceleration/ Pn818 Position command FIR filter 0.1 ms 0 to 10000 2 0
deceleration fil- time constant
ters
G-series Acceleration/Deceleration Parameters

Acceleration/ Pn107 Linear acceleration constant 10,000 command −32768 to 2 100
deceleration con- units/s2 32767
stants
Pn10A Linear deceleration constant 10,000 command −32768 to 2 100
units/s2 32767
Acceleration/ Pn10E Moving average time 0.1 ms 0 to 5100 2 0
deceleration fil-
ters
W-series and SMARTSTEP Junior Acceleration/Deceleration Parameters

Type Parame- Parameter name Unit Setting Parame- Default W SMART
ter No. range ter size setting Series STEP
Junior
Accelera- Pn80D First-step linear deceleration 10,000 1 to 2 100 Sup- Not sup-
tion/ constant command 65535 ported ported
decelera- units/s2
tion con-
stants Pn80E Second-step linear decelera- 10,000 1 to 2 100 Sup- Sup-
units/s2
Pn80F Deceleration constant switch- 100 com- 0 to 2 0 Sup- Not sup-
units/s
415
Type Parame- Parameter name Unit Setting Parame- Default W SMART

ter No. range ter size setting Series STEP
Junior
Accelera- Pn810 Exponential accelera- Command 0 to 2 0 Sup- Not sup-
tion/ tion/deceleration bias units/s 32767 ported ported
decelera- Pn811 Exponential accelera- 0.1 ms 0 to 5100 2 0 Sup- Not sup-
tion filters tion/deceleration time con- ported ported
stant
ported ported
First-step deceleration curve operations require parameter settings for Pn80E

only. For the acceleration/deceleration curve, Pn810 and Pn811 must be set
when using an exponential curve, and Pn812 must be set when using an
S-curve.
ters: Pn80D and Pn80F. They also do not support acceleration/deceleration
filters, so the filters cannot be set. A one-step linear deceleration curve is set
using only Pn80E.




The Stop Execution Flag turns ON when DECELERATION STOP or EMER-
GENCY STOP is received, but does not check whether the remaining pulses
in the Servo Drive are within the positioning completion range, unlike the PCU
Positioning Completed Flag in direct operation.
The Stop Execution Flag turns OFF when direct operation, jogging, speed
commands or other movement commands are executed.
10-9-3 Emergency Stop

The emergency stop operation cancels the operating command immediately
and stops the active axis when the EMERGENCY STOP Bit turns ON in the
When EMERGENCY STOP is executed, axis operation switches to position
control mode, and stops in Servo locked status. When EMERGENCY STOP
is executed during position control, the axis operation distributes the pulses
remaining in the Servo Drive's deviation counter and then stops.
416
Regardless of the previous control mode,

EMERGENCY STOP is executed after switching
Speed to position control.
When pulses remain in the Servo Drive's deviation
counter, after EMERGENCY STOP is executed, the
remaining pulses are distributed and operation is
stopped.
The Servomotor is set to Servo lock status after
operation stops.
Movement command EMERGENCY Time

STOP executed
EMERGENCY STOP can be executed for an axis that is servo-locked as long

as SERVO UNLOCK or DEVIATION COUNTER RESET is not being exe-
cuted and the command bits for these commands are not ON and as long as
an axis error has not occurred.
When executing EMERGENCY STOP, make sure that the EMERGENCY
STOP Bit remains ON until the Receiving Command Flag or Stop Execution
Flag in the Axis Operating Input Memory Area turns ON.
All axis operation commands except for SERVO UNLOCK and DEVIATION
COUNTER RESET will be ignored during EMERGENCY STOP execution or
while the EMERGENCY STOP Bit is ON.

EMERGENCY STOP a+1 15 0 → 1: Starts emergency stop.



The Stop Execution Flag turns ON when DECELERATION STOP or EMER-
GENCY STOP is received, but does not check whether the remaining pulses
in the Servo Drive are within the positioning completion range, unlike the PCU
Positioning Completed Flag in direct operation.
The Stop Execution Flag turns OFF when direct operation, jogging, speed
commands or other movement commands are executed.
10-9-4 Stop Function Timing Chart

The following timing chart is for when DECELERATION STOP is executed.
The timing chart for EMERGENCY STOP is the same, except that operation
is stopped after distributing the pulses remaining in the Servo Drive.
417
RELATIVE MOVEMENT
(word a, bit 04)
DECELERATION STOP
(word a, bit 15)
Speed
Time
Receiving Command Flag The Receiving Command Flag turns ON for at least
(word b, bit 00) one cycle time when the movement command or
PCU Positioning Completed DECELERATION STOP is received.
Flag (word b, bit 05) When DECELERATION STOP is executed during a
positioning operation, the PCU Positioning
Busy Flag (word b, bit 13) Completed Flag will not turn ON.
Stop Execution Flag The Stop Execution Flag will change from ON to
(word b, bit 15) OFF when a movement command is executed.
The Stop Execution Flag will turn ON when
DECELERATION STOP has been received.
The positioning completion range for the pulses
remaining in the Servo Drive is not checked.
When DECELERATION STOP or EMERGENCY STOP is executed during

direct operation (ABSOLUTE MOVEMENT/RELATIVE MOVEMENT) or ORI-
GIN SEARCH, the PCU Positioning Completed Flag will not turn ON when
operation stops. Even if the stop position for DECELERATION STOP/EMER-
GENCY STOP is within the positioning completion range of the target position
for the initial positioning operation, the PCU Positioning Completed Flag will
not turn ON.
The status of the Receiving Command Flag, Busy Flag, and Stop Execution
Flag will change if DECELERATION STOP or EMERGENCY STOP is exe-
cuted when an axis operating command is not being executed.
The stop operation will also be performed in the same way as for an active
axis if still in the controlled status while the axis is being stopped (Busy Flag is
ON), such as during direct operation, jogging, when the speed command
value is set to 0 for speed control, or when the axis is being stopped during
torque control.
418
Example: Executing DECELERATION STOP for Speed Control with a Speed

Command Value of 0
Speed command value for
speed control (words a+6, a+7) 0
SPEED CONTROL
(word a+1, bit 02)
DECELERATION STOP
(word a, bit 15)
Speed
Receiving Command Flag Time The Receiving Command Flag turns ON for
(word b, bit 00)
at least one cycle time when the movement
PCU Positioning Completed command or stop command is received.
Stop Execution Flag
(word b, bit 15)
If DECELERATION STOP is executed If DECELERATION STOP is executed

for an axis that is not being controlled, during control (Busy Flag is ON) even
while the command is being received, though the axis is stopped, such as speed
the Busy Flag will turn ON at least for control with a speed command value of 0,
one scan and then the Stop Execution the stop operation will be executed and
Flag will turn ON. the status of flags will change.
419
DEVIATION COUNTER RESET Section 10-10
10-10 DEVIATION COUNTER RESET

10-10-1 Overview of DEVIATION COUNTER RESET
The deviation counter can be reset during position control for PCUs with unit
version 1.3 or later.
The deviation counter reset function resets to 0 the position deviation accu-
mulating in the Servo Drive’s position loop deviation counter during position
control. When pressing using torque control, when the machine catches and
stops moving, or in other cases when the command present position and the
feedback present position vary greatly, the positioning operation may not fin-
ished because the position deviation never becomes less than the completion
width. DEVIATION COUNTER RESET can be used in such cases to reset the
accumulated position deviation to 0 and thus complete the positioning opera-
tion.
With this function, the PCU’s deviation counter reset function uses a move-
ment command in the direction opposite to and the same size as the accumu-
lated position deviation so that the command present position will match the
feedback present position.
Position
Target position in pressing direction Solid line: Command present position
(position command value)
Dotted line: Feedback present position
(actual motor position)
Pressing stop position
Speed Dotted line: Actual motor speed Time
Target speed in pressing direction Solid line: Command speed

(speed command value)
Time
Command proportional to position

Position deviation deviation executed.
Start Pressing DEVIATION COUNTER RESET Time
DEVIATION COUNTER RESET is valid only during position control after the
servo has been locked and will be ignored if executed during speed control or
torque control, or when the servo is unlocked.
Note Execute the PCU’s DEVIATION COUNTER RESET only while the motor axis
(machine) is stopped, by being pressed against something for example. This
function executes a movement command in the direction opposite to and of
the same size as the accumulated position deviation, so the machine may be
subjected to shock if a movement command in the opposite direction is sud-
denly executed for a rotating axis. Also, do not execute DEVIATION
COUNTER RESET for a vertical axis that is stopped by a servo lock only,
without being held mechanically. While the vertical axis is servo-locked, the
axis is controlled so that the vertical position is held using the accumulated
position deviation. Therefore, executing a deviation counter reset may cause
the motor load to fall.
420
10-10-2 Using DEVIATION COUNTER RESET

DEVIATION COUNTER RESET is executed by turning ON the DEVIATION
COUNTER RESET Bit in the Axis Operating Output Area to execute a move-
ment command that effectively cancels the position deviation.
DEVIATION COUNTER RESET executes position control according to the
position deviation at a maximum speed of 128,000. If the accumulated posi-
tion deviation is large, processing time equivalent to several MECHA-
TROLINK communications cycles will be required to complete resetting the
deviation counter.
Example
MECHATROLINK communications cycle: 2 ms
Position deviation: 800 (command units)
The movement command executed for DEVIATION COUNTER RESET will
be as shown below for the above conditions. The direction will be so that the
position deviation is eliminated.
DEVIATION COUNTER RESET Bit
(word a, bit 13)
Command speed The following command is executed for a position

deviation of 800 command units/s: 128,000
128,000 command units/s command units/s × 0.002 s/cycle × 3 cycles +
16,000 command units/s × 0.002 s/cycle × 1 cycle
16,000 command units/s
Time
MECHATROLINK
communications cycle
(example: 2 ms)
In this example, four MECHATROLINK

communications cycles are required to process
DEVIATION COUNTER RESET.
In this example, the movement command to eliminate the position deviation of

800 command units exceeds the movement possible in one MECHA-
TROLINK communications cycle at a speed of 128,000 command units/s, so
the command is executed over multiple cycles (four total).
When DEVIATION COUNTER RESET is executed, the torque limit does not
depend on the setting of the Torque Limit Designation Bit, but on the status in
the previous axis operation. (The previous torque limit status is continued,
and DEVIATION COUNTER RESET is executed.)
Axis Operating Output Area (Operation Commands)
Name Word Bit Description
DEVIATION a 13 0 → 1: Deviation counter reset started.
COUNTER RESET Bit
a = Beginning word of Axis Operating Output Area specified in Common Parameters +
(Axis No. − 1) x 25
A deviation counter reset can be executed for any axis for which position con-
trol that includes a Servo lock is being executed, as long as there is no axis
error, the Servo is locked, and the Servo Unlock Bit is not ON. The command
is invalid if executed during speed control or torque control, or when the Servo
is unlocked.
When executing a deviation counter reset, keep the Deviation Counter Reset
Bit ON until Receiving Command Flag turns ON in the Axis Operating Output
Area or until the Busy Flag is turned OFF.
421
While the Deviation Counter Reset Bit is ON and a deviation counter reset is
being executed, all operation commands other than SERVO UNLOCK are
disabled.
Axis Operating Input Area (Monitoring)
Error Flag 12 0: No axis error
b = Beginning word of Axis Operating Input Areas specified in Common Parameters +
(Axis No. − 1) × 25
The status of the PCU Positioning Completed Flag, the No Origin Flag, and
the Stop Execution Bit are not changed by turning ON the DEVIATION
COUNTER RESET Bit. When the DEVIATION COUNTER RESET is exe-
cuted, the Busy Flag is held.
Timing Chart The timing chart for DEVIATION COUNTER RESET is shown below.
DEVIATION COUNTER RESET Bit
(word a, bit 13)
Speed
Time
Position deviation
Time
The Receiving Command Flag is set for at least
Receiving Command Flag (word b, bit 00) one cycle when DEVIATION COUNTER
RESET is received.
The status of the PCU Positioning Completed
PCU Positioning Completed Flag (word b, bit 05) Flag, the No Origin Flag, and the Stop
Execution Bit are not changed by executing
No Origin Flag (word, b, bit 06) DEVIATION COUNTER RESET.
Busy Flag (word b, bit 13) When DEVIATION COUNTER RESET is executed,
the Busy Flag is set while the movement command
is executed to eliminate the position deviation.
Stop Execution Bit (word b, bit 15)
a = Beginning word of Axis Operating Output Area specified in Common Parameters + (Axis No. −1) × 25
b = Beginning word of Axis Operating Input Area specified in Common Parameters + (Axis No. −1) × 25
422
SECTION 11
Sample Programs
This section provides basic program examples and application examples for using the Position Control Unit.
11-1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 424

11-2 Basic Program Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 425
11-2-1 Transferring PCU Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 425
11-2-2 Starting and Stopping MECHATROLINK Communications. . . . . . 430
11-2-3 Transferring Servo Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 431
11-2-4 Servo Lock/Unlock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 438
11-2-5 Origin Search . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 440
11-2-6 Positioning (Absolute Movement or Relative Movement) . . . . . . . . 441
11-2-7 Speed Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 444
11-2-8 Torque Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 445
11-2-9 Deceleration Stop or Emergency Stop . . . . . . . . . . . . . . . . . . . . . . . 447
11-2-10 Jogging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 448
11-3 Application Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 450
11-3-1 Initial PCU Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 450
11-3-2 Servo Parameter Backup. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 456
11-3-3 Switching among Position, Speed, and Torque Control . . . . . . . . . . 468
423
Overview Section 11-1
11-1 Overview
This section shows sample programs that execute the various PCU functions
from the ladder program.
Refer to 11-2 Basic Program Examples for descriptions of the sample ladder
program sections containing the functions. Refer to 11-3 Application Exam-
ples for sample programs that combine those various program sections.
This section explains the example system and conditions used for the sample
programs.
Note The sample programs shown in this section use the PCU's functions and are
configured only with ladder programs related to the interface between the PLC
and PCU.
When creating the program for the actual equipment in the system, add pro-
gram sections to perform tasks such as interlocking the equipment's move-
ment, managing I/O from other equipment, and controlling operation so that
the program will provide the required operating commands to the PCU.
In addition, always test the new program thoroughly to verify proper operation
before switching to full-scale operation in the system.
Devices in the Sample System

Position Control Unit CJ1W-NCF71
Unit number: 0 (Beginning word of Common Operating Memory Area: CIO
1500)
Only one PCU is used in the PLC.
When a different unit number is required, use the following equation to deter-
mine the beginning word of Common Operating Memory Area.
Beginning word of Common Operating Memory Area: n = 1500 + (unit
number × 25)
MECHATROLINK Devices W-series Servo Drive (R88D-WT@)
(Servo Drives) FNY-NS115 MECHATROLINK-II I/F Unit mounted to Servo Drive
Axis 1 (MECHATROLINK-II station address 1) is used to demonstrate axis
operation in these sample ladder programs.
When a different number of axes or station number is required, use the follow-
ing equation to determine the beginning CIO word addresses for each axis.
Beginning word of Axis Operating Output Memory Area for Axis N:
Beginning word of Axis Operating Output Areas specified in Common Pa-
rameters + (Axis No. −1) × 25
Beginning word of Axis Operating Input Memory Area for Axis N:
Beginning word of Axis Operating Input Areas specified in Common Pa-
rameters + (Axis No. −1) × 25
Refer to 11-3-1 Initial PCU Settings for an example that shows how to set the
beginning words of Axis Operating Input/Output Areas.
The standard settings are used for the Servo Drive's I/O signals; for details on
the standard settings, refer to 6-4 Standard Settings for Servo Drives Using
MECHATROLINK.
CPU Unit Model number: CJ1H-CPU@@
In 11-3 Application Examples, the CPU Unit's EM Area is used to store the
PCU's Common Parameter, Axis Parameter, and Servo Parameter data.
If the CJ1H-CPU@@ CPU Unit being used is not equipped with an EM Area,
change the storage area to an unused section of the DM Area.
424
Basic Program Examples Section 11-2
Installation and Install and wire the devices according to the directions in SECTION 3 Installa-
Wiring tion and Wiring.
Connect a 24-VDC control input power supply for the Servo Drive's I/O signals
and connect normally closed switches/sensors for the positive and negative
overtravel inputs (forward drive prohibited and reverse drive prohibited sig-
nals).
Also, when an origin search operation is to be executed, connect a normally
open switch/sensor for the origin proximity input signal (origin return decelera-
tion LS).
11-2 Basic Program Examples

This section provides sample ladder programs related to the PCU's basic
functions.
11-2-1 Transferring PCU Parameters

Overview The parameters set in the PCU (Common Parameters and Axis Parameters)
can be transferred to and from the CPU Unit's EM Area using the READ DATA
Bit and WRITE DATA Bit.
Also, the parameters that have been written to the PCU can be saved to the
PCU's internal flash memory using the SAVE DATA Bit.
These sample programs use the following parts of the CPU Unit's I/O mem-
ory.
CPU Bus Unit Area
CIO 1500 to CIO 1524
These word addresses are contained in the CPU Bus Unit Area words allo-
cated to unit number 0.
Data Memory Area (DM Area)
D10000 to D10039
These words contain the write data when writing or the read data when read-
ing.
In this sample program, 40 words of data are written and read, and D10000 is
specified as the starting word, so D10000 to D10039 are used.
Work Area (WR Area)
Writing data: W300.00 to W300.06
Reading data: W301.00 to W301.06
Saving data: W302.00 to W302.06
These Work Area bits are used to show the progress of function execution
and the execution status.
Writing Data Use the WRITE DATA Bit in the Common Operating Memory Area to write the
write data prepared in the DM Area of the CPU Unit to the PCU.
When the execution condition for the write operation goes ON, the 40 words
of write data (preset in the CPU Unit's DM Area starting at D10000) are trans-
ferred to the PCU's internal memory starting at address 1838 hex.
When the data has been written, W300.05 is turned ON for one cycle.
425
Sample Ladder Program

Program name: Write Data
Section name: Write Data
MOV [OP1]
000000 [OP2]
(021)
(000000) Number of words to write
Write Data &40
execution 1506
condition
MOV [OP1]
(021) [OP2]
Write source area
#0082
1507
MOV [OP1]
(021) [OP2]
Write source word
#2710
1508
MOV [OP1]
(021) [OP2]
Write destination address
#1838
1509
W300.00 Start Unit Data Write
Write Data
000001
(000006)
W300.00 1515.12 1515.14 1500.01 WRITE DATA Bit
Start Unit Data Unit Error Flag Data

Write Transferring
Flag
1500.01 W300.01 Execute Unit Data Write
WRITE DATA Bit

W300.02 1515.14 W300.03 Unit Data Write Received
000002
(000012)
Waiting for Unit Data Transferring Flag
Data Write
Received
W300.04 1515.12 1515.14 W300.05 Unit Data Write End
000003
(000015)
Waiting for Unit Unit Error Flag Data Transferring Flag
Data Write End
W300.02 1515.12 W300.06 Unit Data Write Error End

000004
(000019)
Waiting for Unit Unit Error Flag
Data Write
Received
W300.04
Waiting for Unit

Data Write End
W300.01 W300.03 W300.06 W300.02 Waiting for Unit Data Write

000005 Received
(000023)
Execute Unit Unit Data Unit Data Write Error End
Data Write Write
Received
W300.02
Waiting for Unit Data

Write Received
W300.03 W300.05 W300.06 W300.04 Waiting for Unit Data Write
000006 End
(000028)
Unit Data Write Unit Data Unit Data Write Error End
Received Write End
W300.04
Waiting for Unit

Data Write End
426
Reading Data Use the READ DATA Bit in the Common Operating Memory Area to read the
read data from the PCU's internal memory to the CPU Unit's DM Area.
When the execution condition for the read operation goes ON, the 40 words of
read data are read from the PCU's internal memory (starting at address 1838
hex) to the CPU Unit's DM Area (starting at D10000).
When the data has been read, W301.05 is turned ON for one cycle.
427

Program name: Read Data
Section name: Read Data
MOV [OP1]
000000 [OP2]
(021)
(000000) Number of words to read
Read Data &40
execution 1510
condition
MOV [OP1]
(021) [OP2]
Read source address
#1838
1511
MOV [OP1]
(021) [OP2]
Read destination area
#0082
1512
MOV [OP1]
(021) [OP2]
Read destination word
#2710
1513
W301.00 Start Unit Data Read
Read Data
000001
(000006)
W301.00 1515.12 1515.14 1500.02 READ DATA Bit
Start Unit Data Unit Error Flag Data

Read Transferring
Flag
1500.02 W301.01 Execute Unit Data Read
READ DATA Bit

Unit Data Read Received
000002 W301.02 1515.14 W301.03
(000012)
Data Read
Received
Unit Data Read End
000003 W301.04 1515.12 1515.14 W301.05
(000015)
Data Read End
Unit Data Read Error
000004 W301.02 1515.12 W301.06
End
(000019)
Data Read
Received
W301.04
Waiting for Unit

Data Read End
W301.01 W301.03 W301.06 W301.02 Waiting for Unit Data
000005 Read Received
(000023)
Execute Unit Unit Data Unit Data Read Error End
Data Read Read
Received
W301.02

Read Received
000006 W301.03 W301.05 W301.06 W301.04
Read End
(000028)
Unit Data Read Unit Data Unit Data Read Error End
Received Read End
W301.04
Waiting for Unit

Data Read End
428
Saving Data Use the SAVE DATA Bit in the Common Operating Memory Area to save the
PCU's Common Parameters and Axis Parameters to the PCU's flash memory.
The PCU's Save Data operation is executed when the Save Data execution
condition goes from OFF to ON.
When the data has been saved, W302.05 is turned ON for one cycle.
The Save Data operation cannot be executed while MECHATROLINK com-
munications are active. If the Save Data is executed during MECHATROLINK
communications, a Multi-start Error (Unit error code: 0021).
Execute this sample program only when MECHATROLINK communications
are stopped.
Program name: Save Data
Section name: Save Data
W302.00 Start Unit Data Save

000000
(000000)
Save Data
execution condition
Save Data
000001
(000002)
W302.00 1515.12 1515.14 1500.03 SAVE DATA Bit
Start Unit Unit Error Flag Data

Data Save Transferring
Flag
1500.03 W302.01 Execute Unit Data Save
SAVE DATA Bit

W302.02 1515.14 W302.03 Unit Data Save Received
000002
(000008)
Data Save
Received
W302.04 1515.12 1515.14 W302.05 Unit Data Save Normal End
000003
(000011)
Data Save End
W302.02 1515.12 W302.06 Unit Data Save Error End
000004
(000015)
Data Save
Received
W302.04
Waiting for Unit

Data Save End
W302.01 W302.03 W302.06 W302.02 Waiting for Unit Data Save
000005 Received
(000019)
Execute Unit Unit Data Unit Data Save Error End
Data Save Save
Received
W302.02

Save Received
W302.03 W302.05 W302.06 W302.04 Waiting for Unit Data Save
000006 End
(000024)
Unit Data Save Unit Data Unit Data Save Error End
Received Save Normal
End
W302.04
Waiting for Unit

Data Save End
429
11-2-2 Starting and Stopping MECHATROLINK Communications

Overview This program starts MECHATROLINK communications (establishes a con-
nection) based on the MECHATROLINK communications settings and the
scan list set in the PCU's Common Parameters; the program can also stop
communications (release the connection).
While the PCU connection is established, MECHATROLINK communications
will be stopped automatically if normal communications are not established
with all of the axes registered in the scan list within the preset timeout time.
(If the PCU cannot start communications with an axis registered in the scan
list within 10 seconds, an MLK Initialization Error will occur. This sample pro-
gram contains a timer function that stops communications before the MLK Ini-
tialization Error is detected.)
This program uses the MECHATROLINK communications settings and the
scan list that are already set in the PCU's Common Parameters.
This sample program uses the following parts of the CPU Unit's I/O memory.
CPU Bus Unit Area
Work Area (WR Area)
W303.00 to W303.04
Timer Area
TIM0000
Used as a watchdog timer to monitor the establishment of a connection.
This program uses the CONNECT Bit in the Common Operating Memory
Area to start and stop MECHATROLINK communications.
When the Start Communications condition goes ON, MECHATROLINK com-
munications are started (a connection is established). Likewise, when the
Stop Communications condition goes ON, MECHATROLINK communications
are stopped (the connection is released).
In this sample program, only Axis 1 is registered in the scan list.
If MECHATROLINK communications start normally with Axis 1, Work Area bit
W303.03 will be turned ON.
The connection will be stopped and Work Area bit W303.04 will be turned ON
if MECHATROLINK communications do not start with Axis 1 5 seconds after
execution of CONNECT.
Since the PCU will continue MECHATROLINK communications while the
CONNECT Bit (CIO 1501.00) is ON, the CONNECT Bit is programmed as a
self-holding bit in the ladder program. If an error occurs that stops communi-
cations, such as a communications error, the PCU will release the connection
regardless of the status of the CONNECT Bit.
To reestablish the connection after eliminating the cause of the error, the
CONNECT Bit must be turned OFF and then ON again. When releasing the
connection after an error occurs, use W303.02 to turn OFF the self-holding
circuit that holds the CONNECT Bit.
430

Program name: Start Communications
Section name: Start Communications
1515.12 W303.00 Establish Connection

000000
(000000)
Start Communi- Unit Error Flag
cations execu-
W303.01 Release Connection
000001 tion condition
(000003)
Stop Communications
execution condition
1516.15 DIFD Turn OFF CONNECT Bit
000002
(014)
(000005)
Connection Status Flag W303.02
CONNECT Bit
000003 W303.00 W303.01 W303.02 W303.04 1501.00
(000007)
Establish Release Turn OFF Connection
Connection Connection CONNECT Timeout
Bit
1501.00 TIM [OP1]
Connection Timeout Timer
[OP2]
CONNECT Bit 0000
#50
1516.15 1522.00 W303.03 All Axes Communicating

000004
(000014)
Connection Axis 1 Communicating
Status Flag
T0000 W303.03 W303.04 Connection Timeout
000005
(000017)
Connection All Axes Communicating
Timeout Timer
11-2-3 Transferring Servo Parameters

Overview The Servo Parameters in Servo Drives connected through MECHATROLINK
communications can be transferred to and from the CPU Unit's DM Area with
the PCU's WRITE SERVO PARAMETER Bit, READ SERVO PARAMETER
Bit, and SAVE SERVO PARAMETER Bit.
The application example shown in 11-3-2 Servo Parameter Backup incorpo-
rates this sample program to transfer all the W-series Servo Drive's Servo
Parameters at once between the Servo Drive (equipped with a FNY-NS115
I/F Unit) and the CPU Unit's EM Area.
Execute these sample programs only after starting MECHATROLINK commu-
nications (establishing a connection).
In these examples, the Servo Parameters are transferred to and from the
Servo Drive registered as axis 1.
The Axis Operating Output/Input Memory Areas for the axis are based on the
settings of the Common Parameter Area, as shown below. The application
example in 11-3-1 Initial PCU Settings shows a sample program that can be
used to make the following settings.
Beginning word of Axis Operating Output Memory Area: CIO 0000
(Axis 1 Operating Output Memory Area: CIO 0000 to CIO 0024)
Beginning word of Axis Operating Input Memory Area: CIO 1000
(Axis 1 Operating Input Memory Area: CIO 1000 to CIO 1024)
This sample program uses the following parts of the CPU Unit's I/O memory
in addition to the CIO Area words listed above.
431

D10500 to D10503
These words are used to store the data required for a single Servo Parameter
transfer, including the Servo Parameter number, parameter size, and transfer
data (2 words).
Work Area (WR Area)
Writing Servo Parameters: W400.00 to W400.06
Reading Servo Parameters: W401.00 to W401.06
Saving Servo Parameters: W402.00 to W402.06
Writing Servo Use the WRITE SERVO PARAMETER Bit in the Axis Operating Output Mem-
Parameters ory Area to write the Servo Parameter data (preset in the CPU Unit's DM
Area) to the Servo Drive.
When the Servo Parameter transfer operation's execution condition goes ON,
the Servo Parameters preset in the following DM Area words will be trans-
ferred to the Servo Drive.
Word Details
D10500 Servo Parameter No.
D10501 Parameter size (Unit: bytes)
D10502 Write data (rightmost word)
D10503 Write data (leftmost word)
When the Servo Parameter data has been written, W400.05 is turned ON for
one cycle.
When the write operation was not completed normally, i.e., an error occurred
during the transfer, W400.06 will be turned ON for one cycle. (There must be
no axis error before execution of this sample program.)
432

Program name: Write Servo Parameter
Section name: Write Axis 1 Servo Parameter
MOV [OP1]
000000 Parameter Number to Transfer
(021)
(000000) [OP2]
Transfer Servo D10500 Axis 1 Servo Parameter number
Parameter 17
execution
condition
MOV [OP1]
(021)
Parameter Size to Transfer
[OP2]
D10501 Axis 1 Parameter size
18
MOVL [OP1]
(498) Transfer Data
[OP2]
D10502 Axis 1 Write Data
19
W400.00 Start Axis 1 Write
W400: Write Axis 1 Servo Parameter

000001
(000005)
W400.00 1522.00 1000.12 1000.14 1.12 Axis 1 WRITE SERVO
PARAMETER
Start Axis 1 Axis 1 Axis 1 Error Axis 1 Servo

Write Communicating Parameter
1.12 Transferring W400.01 Execute Axis 1 Write
Axis 1 WRITE SERVO

PARAMETER
Axis 1 Write Received
000002 W400.02 1000.14 W400.03
(000012)
Waiting for Axis 1 Servo Parameter Transferring
Axis 1 Write
Received
Axis 1 Write Normal End
000003 W400.04 1000.12 1000.14 W400.05
(000015)
Waiting for Axis 1 Axis 1 Servo Parameter Transferring
Axis 1 Write Error Flag
End
Axis 1 Write Error End
000004 W400.02 1000.12 W400.06
(000019)
Waiting for Axis 1
Received
W400.04 1522.00
Waiting for Axis 1 Communicating

Axis 1 Write
End
Waiting for Axis 1 Write
000005 W400.01 W400.03 W400.06 W400.02
Received
(000025)
Execute Axis 1 Axis 1 Write Axis 1 Write Error End
Servo Parame-
ter Write Received
W400.02
Waiting for Axis 1

Write Received
W400.03 W400.05 W400.06 W400.04 Waiting for Axis 1 Write
000006 End
(000030)
Axis 1 Write Axis 1 Write Axis 1 Write Error End
Received Normal End
W400.04
Waiting for Axis

1 Write End
433
Reading Servo Use the READ SERVO PARAMETER Bit in the Axis Operating Output Mem-
Parameters ory Area to read the Servo Parameters from the Servo Drive to the CPU Unit's
DM Area.
the Servo Parameter (specified in the DM Area as shown below) will be read.
Word Details
When the Servo Parameter data has been read normally, W401.05 is turned
ON for one cycle and the parameter is stored in the DM Area as shown in the
following table.
Word Details
D10502 Read data (rightmost)
D10503 Read data (leftmost)
When the read operation was not completed normally, i.e., an error occurred
434

Program name: Read Servo Parameter
Section name: Read Axis 1 Servo Parameter
MOV [OP1]
(021)
(000000) [OP2]
Parameter
17
execution
condition
MOV [OP1]
(021)
[OP2]
18
W401.00 Start Axis 1 Read
W401.05 @MOVL [OP1]

000001 Axis 1 Read Data
(498)
(000004) [OP2]
Axis 1 Read 1014 Transfer Data
Normal End D10502
W401: Read Axis 1 Servo Parameter

000002
(000006)
W401.00 1522.00 1000.12 1000.14 1.13 Axis 1 READ SERVO
PARAMETER

Read Communicating Parameter
Transferring Execute Axis 1 Read
1.13 W401.01
Axis 1 READ SERVO

PARAMETER
Axis 1 Read Received
000003 W401.02 1000.14 W401.03
(000013)
Axis 1 Read
Received
Axis 1 Read Normal End
000004 W401.04 1000.12 1000.14 W401.05
(000016)
Waiting for Axis Axis 1 Axis 1 Servo Parameter Transferring
1 Read End Error Flag
Axis 1 Read Error End
000005 W401.02 1000.12 W401.06
(000020)
Waiting for Axis 1
Axis 1 Read Error Flag
Received
W401.04 1522.00
Waiting for Axis Axis 1 Communicating

1 Read End
Waiting for Axis 1 Read
000006 W401.01 W401.03 W401.06 W401.02
Received
(000026)
Execute Axis Axis 1 Read Axis 1 Read Error End
1 Read Received
W401.02
Waiting for Axis 1

Read Received
W401.03 W401.05 W401.06 W401.04 Waiting for Axis 1 Read
000007 End
(000031)
Axis 1 Read Axis 1 Read Axis 1 Read Error End
Received Normal End
W401.04
Waiting for Axis

1 Read End
435
Saving Servo Use the SAVE SERVO PARAMETER Bit in the Axis Operating Output Mem-
Parameters ory Area to write the transfer data (preset in the CPU Unit's DM Area) to the
Servo Drive's non-volatile flash memory.
the Servo Parameters preset in the following DM Area words will be trans-
ferred to the Servo Drive and written to the Servo Drive's non-volatile flash
memory at the same time.
Word Details
D10502 Write data (rightmost word)
D10503 Write data (leftmost word)
When the Servo Parameter data has been saved normally, W402.05 is turned
ON for one cycle.
When the save operation was not completed normally, i.e., an error occurred
436

Program name: Save Servo Parameter
Section name: Save Axis 1 Servo Parameter
MOV [OP1]
(021)
(000000) [OP2]
Parameter 17
execution
condition
MOV [OP1]
(021)
[OP2]
18
MOVL [OP1]
(498) Transfer Data
[OP2]
19
W402.00 Start Axis 1 Save
W402: Save Axis 1 Servo Parameter

000001
(000005)
W402.00 1522.00 1000.12 1000.14 1.14 Axis 1 SAVE SERVO
PARAMETER

Save Communicating Parameter
Transferring Execute Axis 1 Save
1.14 W402.01
Axis 1 SAVE SERVO

PARAMETER
Axis 1 Save Received
000002 W402.02 1000.14 W402.03
(000012)
Axis 1 Save
Received
Axis 1 Save Normal End
000003 W402.04 1000.12 1000.14 W402.05
(000015)
Waiting for Axis Axis 1 Error Axis 1 Servo Parameter Transferring
1 Save End
Axis 1 Save Error End
000004 W402.02 1000.12 W402.06
(000019)
Waiting for Axis 1 Error
Axis 1 Save
Received
W402.04 1522.00

1 Save End
Waiting for Axis 1 Save
000005 W402.01 W402.03 W402.06 W402.02
Received
(000025)
Execute Axis Axis 1 Save Axis 1 Save Error End
1 Save Received
W402.02
Waiting for Axis 1

Save Received
W402.03 W402.05 W402.06 W402.04 Waiting for Axis 1 Save
000006 End
(000030)
Axis 1 Save Axis 1 Save Axis 1 Save Error End
Received Normal End
W402.04
Waiting for Axis

1 Save End
437
11-2-4 Servo Lock/Unlock

Overview This sample program executes the Servo Lock/Unlock function on a Servo
Drive connected through MECHATROLINK communications.
Also, timeout processing will be performed when the Servo Lock function has
been executed but the Servo Lock did not engage for the axis within a preset
time.
Execute this sample program only after starting MECHATROLINK communi-
cations (establishing a connection).
In this example, the Servo Lock/Unlock function is executed on the Servo
Drive registered as axis 1 using the SERVO LOCK Bit or SERVO UNLOCK Bit
in the Axis Operating Output Memory Area.
The Axis Operating Output/Input Memory Areas are based on the settings of
the Common Parameter Area, as shown below. The application example in
11-3-1 Initial PCU Settings shows a sample program that can be used to
make the following settings.
Work Area (WR Area)
W305.00 to W305.05
Timer Area
TIM0001
Used as a watchdog timer to monitor the execution of the Servo Lock function.
This sample program alternately executes the Servo Lock and Servo Unlock
functions each time that the Servo Lock Switch execution condition goes from
OFF to ON.
If the Axis 1 Servo Lock is not engaged within 5 seconds after the Servo Lock
function is executed, a Servo Lock Execution Timeout will occur, bit W305.05
will be turned ON for one cycle, and the Servo Unlock function will be exe-
cuted.
438

Program name: Servo Lock
Section name: Servo Lock
Execute Axis 1 Servo Lock

000000 W305.04 1000.12 1000.13 1001.03 W305.00
(000000)
Servo Lock Axis 1 Axis 1 Error Axis 1 Busy Axis 1 Servo ON
Switch Servo Lock
execution Command
condition W305.04 W305.01 Execute Axis 1 Servo Unlock
Axis 1 Servo
Lock Command
W305.00 1522.00 1000.13 W305.05 1.00 Axis 1 SERVO LOCK

000001
(000010)
Execute Axis 1 Axis 1 Axis 1 Busy Axis 1 Servo Lock Execution Timeout
Servo Lock Communicating
1.00
Axis 1 SERVO LOCK

Axis 1 SERVO UNLOCK
W305.01 1522.00 W305.03 1.01
000002
(000016)
Execute Axis 1 Axis 1 Axis 1 Servo Unlock End
Servo Unlock Communicating
W305.05
Axis 1 Servo
Lock Execution
Timeout
1.01
Axis 1 SERVO UNLOCK
1.01 1000.13 Axis 1 Servo Unlock End

000003 DIFD
(014)
(000022)
Axis 1 SERVO Axis 1 Busy W305.03
UNLOCK
000004 1.00 1.01 W305.05 1000.12 1522.00 W305.04 Axis 1 Servo Lock
Command
(000025)
Axis 1 SERVO Axis 1 SERVO Axis 1 Servo Axis 1 Error Axis 1
LOCK UNLOCK Lock Execution Communicating
Timeout
W305.04 1001.03
Axis 1 Servo Axis 1 Servo ON

Lock Command
1.00 1.01 W305.05 1001.03 W305.06 Axis 1 SERVO

000005 Locking
(000034)
Axis 1 SERVO Axis 1 SERVO Axis 1 Servo Axis 1 Servo ON
LOCK UNLOCK Lock Execution
Timeout
W305.06 TIM Servo Lock Execution
Watchdog Timer
Axis 1 SERVO 0001
Locking
#50
T0001 W305.05 Axis 1 Servo

000006 Lock Execution
(000041) Timeout
Servo Lock Execution
Watchdog Timer
Note With the above programming example, if the Servo is unlocked by any means
other than the SERVO UNLOCK command bit (e.g., if a Driver main circuit
OFF error occurs), the status of the work bit will be held. When using this pro-
gramming example as reference for actual programming, add interlocks suit-
able for the operating conditions of the equipment.
439
11-2-5 Origin Search

Overview This sample program executes an origin search on a Servo Drive connected
through MECHATROLINK communications.
cations (establishing a connection), executing the Servo Lock function, and
verifying that the Servo Lock is engaged.
In these examples, the origin search is performed on the Servo Drive regis-
tered as axis 1.
Work Area (WR Area)
W350.00 to W350.02
Timer Area
TIM0002
Used as a watchdog timer to detect an origin search timeout error.
This sample program starts an origin search on axis 1 when the Origin Search
execution condition goes from OFF to ON. The speed command value and
origin search speed must be set in advance in the Axis 1 Operating Output
Memory Area before executing this sample program.
If the Axis 1 origin is not established within 10 seconds after the origin input
signal is detected and the Final Travel Distance to Return to Zero Point posi-
tioning is performed, the Origin Search Timeout will occur and W305.02 will
be turned ON for one cycle.
440

Program name: Origin Search
Section name: Origin Search
1000.06 1000.13 1000.12 W350.00 Execute Axis 1 Origin

000000 Search
(000000)
Origin Search Axis 1 No Axis 1 Busy Axis 1 Error
execution Origin
condition
[OP1]
000001 W350.01 1001.08 1000.06 TIM
Origin Search Watchdog Timer
(000005) [OP2]
Searching for Axis 1 Axis 1 No Origin 0002
Axis 1 Origin Distribution #100
Completed
T0002 1000.06 W350.02 Axis 1 Origin Search

000002 Timeout
(000009)
Origin Search Axis 1 No Origin
Watchdog
Timer
0.06 1000.06 1000.13 1000.15 1000.12 W350.02 W350.01 Searching for Axis 1
000003 Origin
(000012)
Axis 1 ORIGIN Axis 1 No Axis 1 Busy Axis 1 STOP Axis 1 Error Axis 1 Origin Search Timeout
SEARCH Origin EXECUTION
W350.01
Searching for
Axis 1 Origin
Axis 1 ORIGIN SEARCH
000004 W350.00 1.01 1.15 0.15 1522.00 1000.13 1000.12 0.06
(000020)
Execute Axis Axis 1 SERVO Axis 1 Axis 1 DE- Axis 1 Axis 1 Busy Axis 1 Error
1 Origin UNLOCK EMERGENCY CELERATION Communicating
Search STOP STOP
0.06
Axis 1 ORIGIN SEARCH
11-2-6 Positioning (Absolute Movement or Relative Movement)

Overview This sample program sends a positioning command to a Servo Drive con-
nected through MECHATROLINK communications.
In addition, when executing ABSOLUTE MOVEMENT, establish the origin by
performing an origin search before sending the position command.
In this example, positioning is performed on the Servo Drive registered as axis
1 using the ABSOLUTE MOVEMENT Bit or RELATIVE MOVEMENT Bit in the
Beginning word of Axis Operating Output Memory Areas: CIO 0000
Beginning word of Axis Operating Input Memory Areas: CIO 1000
Work Area (WR Area)
W201.00 to W201.03
441
Holding Area (HR Area)
H1.00
This bit is used as a switch to indicate whether positioning is performed with
ABSOLUTE MOVEMENT or RELATIVE MOVEMENT.
Timer Area
TIM0003
Used as a watchdog timer to monitor the positioning operation.
This sample program starts Axis 1 positioning when the Positioning execution
condition goes ON.
The position command value must be set to the target position and the speed
command value must be set to the target speed in the Axis Operating Output
Memory Area before executing this sample program.
At this point, the ON/OFF status of HR1.00 determines whether the position-
ing is executed with RELATIVE MOVEMENT (HR1.00 OFF) or ABSOLUTE
MOVEMENT (HR1.00 ON).
If axis 1 positioning is not completed within 10 seconds after completion of
sending the positioning command, i.e., after pulse distribution is completed, a
Positioning Timeout will occur and bit W201.03 will be turned ON for one
cycle.
The target position can be changed during an Absolute Movement or Relative
Movement positioning operation by setting a new position command value
and turning ON the ABSOLUTE or RELATIVE MOVEMENT Bit. Torque limits
can also be enabled/disabled during positioning by turning ON/OFF the for-
ward and reverse rotation current limit bits in the Axis Operating Output Mem-
ory Area and turning ON the ABSOLUTE or RELATIVE MOVEMENT Bit.
This sample program allows the target position to be changed during an oper-
ation by turning the execution condition OFF and then ON again.
A Multistart Error will occur if a Movement command is sent while the PCU's
Receiving Command Flag is already ON, so the Receiving Command Flag is
ANDed with the Positioning execution condition (in the W201.00 output cir-
cuit). An OR circuit containing the ABSOLUTE MOVEMENT Bit and RELA-
TIVE MOVEMENT Bit has been added so that the W201.00 is not output
again when the Receiving Command Flag goes from ON to OFF.
The target speed can be changed sequentially during operation by overwriting
the speed command value in the Axis Operating Output Memory Area.
442

Program name: Positioning
Section name: Positioning
1000.00 1000.12 DIFU Execute Axis 1

000000 Movement Command
(013)
(000000)
Positioning Axis 1 Re- Axis 1 Error W201.00
execution ceiving Com-
condition mand Flag
0.03
Axis 1 ABSO-
LUTE MOVE-
MENT Bit
0.04
Axis 1 RELATIVE
MOVEMENT Bit
W201.02 1001.08 1000.05 TIM [OP1]
000001 Positioning Watchdog Timer
(000007) [OP2]
Controlling Axis 1 Pulse Axis 1 PCU Positioning Completed 0003
Axis 1 Distribution #100
Position Complete
T0003 1000.05 W201.03 Positioning Timeout

000002
(000011)
Positioning Axis 1 PCU Positioning Completed
Watchdog
Timer
0.03 1000.05 1000.13 1000.15 1000.12 W201.03 W201.02 Controlling Axis 1 Position
000003
(000014)
Axis 1 ABSO- Axis 1 PCU Axis 1 Busy Axis 1 Stop Axis 1 Error Positioning Timeout
LUTE MOVE- Positioning Execution
MENT Bit Completed
0.04
Axis 1 RELA-
TIVE MOVE-
MENT Bit
W201.02
Controlling Axis 1 Position
W201.00 1.01 1.15 0.15 1522.00 W201.01 1000.12 H1.00 0.03 Axis 1 ABSOLUTE
000004 MOVEMENT Bit
(000023)
Execute Axis 1 Axis 1 Axis 1 Axis 1 DE- Axis 1 Axis 1 Axis 1 Error Movement
Movement SERVO EMERGENCY CELERATION Communicating Movement Command
Command UNLOCK STOP STOP Command Switch
0.03 H1.00 0.04 Axis 1 RELATIVE
Reception
MOVEMENT Bit
Complete
Axis 1 ABSOLUTE Movement
MOVEMENT Bit Command
Switch
0.04
Axis 1 RELATIVE
MOVEMENT Bit
0.03 1000.00 DIFD Axis 1 Movement Com-

000005 mand Reception Complete
(014)
(000038)
Axis 1 ABSO- Axis 1 Receiving W201.01
LUTE MOVE- Command Flag
MENT Bit
0.04
Axis 1 RELATIVE
MOVEMENT Bit
443
11-2-7 Speed Control

Overview This sample program performs speed control on a Servo Drive connected
In this example, speed control is performed on the Servo Drive registered as
axis 1 using the SPEED CONTROL Bit in the Axis 1 Operating Output Mem-
ory Area.
Work Area (WR Area)
W202.00 to W202.02
This sample program starts Axis 1 speed control when the Speed Control
execution condition goes ON.
The speed command value in the Axis 1 Operating Output Memory Area must
be set to the target speed in advance before executing this sample program.
The target speed can be changed sequentially during operation by overwriting
the speed command value for speed control in the Axis Operating Output
Memory Area.
Torque limits can be enabled/disabled and the torque limits can be changed
during operation by turning ON/OFF the forward and reverse rotation current
limit bits and changing the option command values in the Axis Operating Out-
put Memory Area and then turning ON the SPEED CONTROL Bit.
This sample program allows the speed control command to be sent again dur-
ing an operation by turning the Speed Control execution condition OFF and
then ON again.
A Multistart Error will occur if a Speed Control command is sent while the
PCU's Receiving Command Flag is already ON, so the condition that the
Receiving Command Flag is OFF is ANDed with the Speed Control execution
condition (in the W202.00 output circuit). The Axis 1 SPEED CONTROL Bit
has been added as an OR condition so that the W202.00 is not output again
when the Receiving Command Flag goes from ON to OFF.
444

Program name: Speed Control
Section name: Speed Control
1000.00 1000.12 DIFU Execute Axis 1 Speed

000000 Control Command
(013)
(000000)
Speed Control Axis 1 Receiv- Axis 1 Error W202.00
execution ing Command
condition Flag
1.02
Axis 1 SPEED
CONTROL Bit
1.02 1000.13 1000.15 1000.12 W202.02 Controlling Axis 1 Speed
000001
(000006)
Axis 1 SPEED Axis 1 Busy Axis 1 Stop Axis 1 Error
CONTROL Bit Execution
W202.02
Controlling
Axis 1 Speed
W202.00 1.01 1.15 0.15 1522.00 W202.01 1000.12 1.02 Axis 1 SPEED
000002 CONTROL Bit
(000012)
Execute Axis 1 Axis 1 Axis 1 Axis 1 DE- Axis 1 Axis 1 Speed Axis 1 Error
Speed Control SERVO EMERGENCY CELERATION Communicating Control
Command
UNLOCK STOP STOP Command
1.02 Reception
Complete
Axis 1 SPEED
CONTROL Bit
1.02 1000.00 DIFD Axis 1 Speed Control

000003 Command Reception
(014)
(000021) Complete
Axis 1 SPEED Axis 1 Receiving W202.01
CONTROL Bit Command Flag
11-2-8 Torque Control

Overview This sample program performs torque control on a Servo Drive connected
In this example, torque control is performed on the Servo Drive registered as
axis 1 using the TORQUE CONTROL Bit in the Axis 1 Operating Output Mem-
ory Area.
Work Area (WR Area)
W203.00 to W203.02
445
This sample program starts Axis 1 torque control when the Torque Control
execution condition goes ON.
The torque command value in the Axis 1 Operating Output Memory Area
must be set to the desired output torque in advance before executing this
sample program.
The torque control's output torque can be changed sequentially during opera-
tion by overwriting the torque command value in the Axis Operating Output
Memory Area.
Torque limits can be enabled/disabled and the speed limit value can be
changed during operation by turning ON/OFF the forward and reverse rotation
current limit bits and changing the option command values in the Axis Operat-
ing Output Memory Area and then turning ON the TORQUE CONTROL Bit.
This sample program allows the TORQUE CONTROL command to be sent
again during an operation by turning the Torque Control execution condition
OFF and then ON again.
A Multistart Error will occur if a TORQUE CONTROL command is sent while
the PCU's Receiving Command Flag is already ON, so include an AND of the
Receiving Command Flag OFF in the execution condition for Torque Control
execution (i.e. from the W203.00 output in the following example). The
TORQUE CONTROL Bit has been added as an OR condition so that the
W203.00 is not output again when the Receiving Command Flag goes from
ON to OFF.

Program name: Torque Control
Section name: Torque Control
1000.00 1000.12 DIFU Execute Axis 1 Torque

000000 Control Command
(013)
(000000)
Torque Control Axis 1 Re- Axis 1 Error W203.00
execution ceiving Com-
condition mand Flag
1.03
Axis 1 TORQUE
CONTROL Bit
1.03 1000.13 1000.15 1000.12 W203.02 Controlling Axis 1 Torque

000001
(000006)
Axis 1 TORQUE Axis 1 Busy Axis 1 Stop Axis 1 Error
W203.02
Controlling Axis 1 Torque

W203.00 1.01 1.15 0.15 1522.00 W203.01 1000.12 1.03 Axis 1 TORQUE
000002 CONTROL Bit
(000012)
Execute Axis 1 Axis 1 Axis 1 Axis 1 DE- Axis 1 Axis 1 Torque Axis 1 Error
Torque Control SERVO EMERGENCY CELERATION Communi- Control
Command
UNLOCK STOP STOP cating Command
1.03 Reception
Complete
Axis 1 TORQUE
CONTROL Bit
1.03 1000.00 Axis 1 Torque Control
000003 DIFD
(014) Command Reception
(000021) Complete
Axis 1 Axis 1 Receiving W203.01
TORQUE Command Flag
CONTROL Bit
446
11-2-9 Deceleration Stop or Emergency Stop

Overview This sample program performs a deceleration stop or emergency stop on a
Servo Drive connected through MECHATROLINK communications. Execute
this sample program only after starting MECHATROLINK communications
with the servo locked (i.e., after establishing a connection).
In this example, a deceleration stop or emergency stop is performed on the
Servo Drive registered as axis 1 using the DECELERATION STOP Bit or
EMERGENCY STOP Bit in the Axis 1 Operating Output Memory Area.
Work Area (WR Area)
Deceleration Stop:W204.00 and W204.01
Emergency Stop: W205.00 and W205.01
This sample program executes a deceleration stop or emergency stop on Axis
1 when the Deceleration Stop or Emergency Stop execution condition goes
ON.
Sample Ladder Program (Deceleration Stop)

Program name: Deceleration Stop
Section name: Deceleration Stop
1000.12 DIFU Execute Axis 1

000000 Deceleration Stop
(013)
(000000)
Deceleration Axis 1 Error W204.00
Stop execution
condition
0.15 1000.13 1000.15 1000.12 W204.01 Executing Axis 1
(000003)
Axis 1 DECEL- Axis 1 Busy Axis 1 Stop Axis 1 Error
ERATION STOP
Execution
W204.01
Executing Axis 1
Deceleration Stop
Axis 1
000002 W204.00 1.01 1.15 1522.00 1000.15 1000.12 1001.03 0.15
DECELERATION
(000009) STOP
Execute Axis 1 Axis 1 Axis 1 Axis 1 Axis 1 Stop Axis 1 Error Axis 1 Servo
Deceleration SERVO EMERGENCY Communicating Execution ON Flag
Stop UNLOCK STOP
0.15
Axis 1
DECELERATION
STOP
447
Sample Ladder Program (Emergency Stop)

Program name: Emergency Stop
Section name: Emergency Stop
1000.12 DIFU Execute Axis 1

000000 Emergency Stop
(013)
(000000)
Emergency Axis 1 Error W205.00
Stop execution
condition
1.15 1000.13 1000.15 1000.12 W205.01 Executing Axis 1
(000003)
Axis 1 EMER- Axis 1 Busy Axis 1 Stop Axis 1 Error
GENCY STOP
Execution
W205.01
Executing Axis 1
Emergency Stop
Axis 1
000002 W205.00 1.01 1522.00 1000.15 1000.12 1001.03 1.15
EMERGENCY
(000009) STOP
Execute Axis 1 Axis 1 SERVO Axis 1 Axis 1 Stop Axis 1 Error Axis 1 Servo
Emergency UNLOCK Communicating Execution ON Flag
Stop
1.15
Axis 1 EMERGENCY
STOP
Note Deceleration and emergency stops are possible only when the Servo is
locked. If the Servo is unlocked, these stop commands will be ignored. In the
above programming example, the Servo ON Flag is inserted as an output
condition so that DECELERATION STOP, EMERGENCY STOP, and work bits
do not remain ON even if a deceleration stop or emergency stop is executed
when the Servo is not locked.
11-2-10 Jogging
Overview This sample program performs jogging with the Servo Drive connected via
MECHATROLINK communications. MECHATROLINK communications start
(i.e., a connection is established), and after executing SERVO LOCK, jogging
is executed while the Servomotor is in a servo locked state.
In this programming example, jogging is executed for the Servo Drive regis-
tered at axis 1 when the Jog Bit turns ON in the Axis Operating Output Mem-
ory Area. The Axis Operating Output/Input Memory Areas are based on the
settings of the Common Parameter Area, as shown below. The application
example in 11-3-1 Initial PCU Settings shows a sample program that can be
used to make the following settings.
Work Area (WR Area)
W206.00 to W206.01
These Work Area bits are used to create the operation timing for function exe-
cution.
448
In this program example, jogging starts when the jogging condition turns ON,
and stops when the jogging condition turns OFF. Jogging is performed in the
forward direction when the jogging direction is OFF at the start of jogging.
Jogging is performed in the reverse direction when the jogging direction is ON
at the start of jogging.
When executing this programming example, the target speed must be set in
the speed command value of the Axis 1 Operating Output Memory Area. The
target speed for jogging can be changed successively during operation by
writing the speed command value to the Axis Operating Output Memory Area.
In this programming example, application in combination with the PCU jog-
ging (adjustment operation) Smart Active Parts Library provided in the
OMRON NS-series Programmable Terminals has been considered and thus
the program is constructed with self-holding bits for the Jog Bit and Direction
Designation Bit in the Axis Operating Output Memory Area. Therefore, the
command for the jogging condition is sent via the Work Area bit W206.00.
The output circuit of Work Area bit W206.00 is also provided with a self-hold-
ing circuit that operates according to the Receiving Command Flag and Busy
Flag to enable the JOG command to be received correctly at the PCU.
Ladder Programming Example
Program name: Jogging
Section name: Jogging
1000.13 1.01 1.15 0.15 1522.00 1000.12 W206.00

Axis 1 Jogging
000000
(000000)
Jogging Axis 1 Axis 1 SERVO Axis 1 Axis 1 Axis 1 Axis 1 Error
condition Busy UNLOCK EMERGENCY DECELERATION Communicating
STOP STOP
W206.00
Axis 1 Jogging Jogging

condition
1000.00
Axis 1
Receiving
Command
1000.13
Axis 1 Busy
W206.00 0.09
000001 Axis 1 JOG
(000014)
Axis 1 Jogging
0.09 W206.01
Axis 1 JOG Axis 1

Jogging Stop
W206.00 Axis 1 Direction

000002
(000019) Designation
Jogging direction Axis 1 Jogging
0.09 0.10
Axis 1 JOG Axis 1 Direction Designation
W206.00 DIFD
000003 (014) Axis 1 Jogging Stop
(000025)
Axis 1 Jogging W206.01
449
Application Examples Section 11-3
11-3 Application Examples

This section shows sample application programs created by combining the
basic sample programs introduced in the previous section.
To make the basic sample programs easier to understand, the basic sample
programs reused in this section's application examples keep the same Work
Area word and bit addresses that were allocated in the previous section.
11-3-1 Initial PCU Settings

Overview This application combines the data-writing and data-saving functions from 11-
2-1 Transferring PCU Parameters with the communications function from 11-
2-2 Starting and Stopping MECHATROLINK Communications to make the Ini-
tial PCU Settings. The 80 words of parameter data (including unused words)
must be preset in EM Area words E0_00000 to E0_00079 with the 40 words
of Common Parameters and 40 words of Axis Parameters (20 words each for
axes 1 and 2).
In this program, the initial PCU settings are made when H0.00 is OFF and the
task switches from INI to RUN status. After the initial settings are made, the
PCU is restarted. The transferred and saved parameters are enabled and
H0.00 is turned ON (Set) at the same time so that the initial settings are not
made again.
To make the initial settings again, reset H0.00 and execute the program again.
When H0.00 is reset, the Initial Task Execution Flag is used as the Write Data
execution condition and the Unit Data Write End Flag (W300.05) is used as
the Save Data execution condition. When the Save Data operation is com-
pleted (W302.05 ON), the Unit is restarted and H0.00 is turned ON.
MECHATROLINK communications will be controlled by the new Common
Parameters in the PCU either after the Unit restart at the end of initial settings
if H0.00 is OFF, or after starting the program (task) if H0.00 is ON.
CPU Bus Unit Area
EM Area bank 0
E0_00000 to E0_00079
These 80 EM words are used to transfer to the PCU the 40 words of Common
Parameters and 40 words of Axis Parameters (20 words each for axes 1 and
2).
Work Area (WR Area)
Writing Data: W300.00 to W300.06
Saving Data: W302.00 to W302.06
Starting Communications: W303.00 to W303.04
Restarting the Unit: W304.00 to W304.03
The following parts of I/O memory are used in the combined program exam-
ple.
450

H0.00
Used as a switch to enable/disable the initial PCU settings function.
I/O Bits
Restart Communications:400.00
Stop Communications: 400.01
When the corresponding I/O bit goes ON, stopped MECHATROLINK commu-
nications are restarted or established MECHATROLINK communications are
stopped.
This sample program writes the following Common Parameters and Axis
Parameters (initial settings).
Common Parameters
Scan List: Registers Servo Drives to axes 1 and 2 (station numbers 1 and
2).
MECHATROLINK communications settings:
Transfer cycle: 1 ms
Communications cycle: × 2 (1 ms × 2 = 2 ms)
Number of communications retries: 0 (1 retry)
C2 Master connection: 0 (No C2 Master)
Axis Parameters for Axes 1 and 2 (Shared by both Axes.)
Origin input signal selection: 00 (Phase Z)
Interrupt input signal selection: 01 (External latch signal 1 input)
Origin search direction: 0 (Forward)
Origin search operation mode: 1 (Reversal mode 2)
Encoder type: 0 (Incremental encoder)
The following parameter settings must be written in advance to the CPU Unit's
EM Area words E0_00000 to E0_00079.
EM word Set value Item Details
E0_00000 00B0 hex Common Parameters Sets the beginning word of the Axis Operating
Axis Operating Output Memory Area Output Memory Areas to CIO 0000.
designation Axis 1 output words: CIO 0000 to CIO 0024
E0_00001 0000 hex Common Parameters Axis 2 output words: CIO 0025 to CIO 0049
Beginning word of Axis Operating Out-
put Memory Areas
E0_00002 00B0 hex Common Parameters Sets the beginning word of the Axis Operating
Axis Operating Input Memory Area des- Input Memory Areas to CIO 1000.
ignation Axis 1 input words: CIO 1000 to CIO 1024
E0_00003 03E8 hex Common Parameters Axis 2 input words: CIO 1025 to CIO 1049
Beginning word of Axis Operating Input
Memory Areas
E0_00004 4040 hex Common Parameters Allocates axes 1 and 2 to the Servo Drive.
Scan list setting (axes 1 and 2)
E0_00005 to 0000 hex Common Parameters
E0_00011 Scan list setting (axes 3 to 16)
E0_00012 to 0000 hex Not used. This part of the Common Parameters is
E0_00029 unused.
Set all words to 0000 hex.
451
EM word Set value Item Details

E0_00030 0102 hex Common Parameters Transfer cycle: 01 (1 ms)
MECHATROLINK communications set- Communications cycle: 02 (×2)
tings
Transfer cycle and communications
cycle
E0_00031 0000 hex Common Parameters Number of communications retries: 0 (1 retry)
MECHATROLINK communications set- C2 Master connection: 0 (No C2 Master)
tings
Number of communications retries
and C2 Master connection
E0_00039 unused.
E0_00040 0001 hex Axis 1 Parameters Origin input signal selection: 00 (Phase Z)
Origin input signal selection and Inter- Interrupt input signal selection: 01 (External
rupt input signal selection latch signal 1 input)
E0_00041 0010 hex Axis 1 Parameters Origin search direction: 0 (Forward)
Origin search direction and Origin Origin search operation mode: 1 (Reversal
search operation mode 2)
E0_00042 0000 hex Axis 1 Parameters Encoder type: 0 (Incremental encoder)
Encoder type
E0_00059 unused.
E0_00060 0001 hex Axis 2 Parameters Origin input signal selection: 00 (Phase Z)
Origin input signal selection and Inter- Interrupt input signal selection: 01 (External
rupt input signal selection latch signal 1 input)
E0_00061 0010 hex Axis 2 Parameters Origin search direction: 0 (Forward)
Origin search direction and Origin Origin search operation mode: 1 (Reversal
search operation mode 2)
E0_00062 0000 hex Axis 2 Parameters Encoder type: 0 (Incremental encoder)
Encoder type
E0_00079 unused.
The PCU does not use regions E0_00012 to E0_00029, E0_00032 to

E0_00039, E0_00043 to E0_00059, and E0_00063 to E0_00079 in the Com-
mon Parameter Area and Axis Parameter Areas.
These unused areas are reserved because this program transfers all 80
words (40 words of Common Parameters and 40 words of Axis Parameters for
axes 1 and 2) to the PCU's internal addresses at once.
Set all words in the unused addresses to 0000 hex.
When Axis Parameters are being transferred for axis 3 or higher axes, pre-
pare the parameter settings in 20-word regions for each axis (starting from
E0_00080) with the same data configuration as axis 1. This sample program
can be used to make the initial settings for multi-axis operation by changing
the number of write words to 40 words (Common Parameters) + 20 words ×
Number of axes (Axis Parameters).
Conversely, when only axis 1 is being used, set the number of write words to
60 words and prepare only EM words E0_00000 to E0_00059 from the table
above. (Change the scan list in the Common Parameters so that only axis 1 is
used.)
452
When the initial PCU settings have been made, W304.03 is turned ON for one
cycle.
Also, W303.03 will be turned ON when MECHATROLINK communications
have started and all axes (axes 1 and 2 in this case) are communicating nor-
mally.
453

Program name: Initial Settings
Section name: Initial Settings
A200.15 H0.00 MOV [OP1]

000000 [OP2]
(021)
(000000) Number of words to write
P_First_Cycle_ Execute &80
Task Initial
Initial Task Settings 1506
Execution Switch
Flag [OP1]
MOV
(021) [OP2]
Write source area
#0050
1507
MOV [OP1]
(021) [OP2]
Write source word
#0000
1508
MOV [OP1]
(021) [OP2]
Write destination address
#1838
1509
W300.00 Start Unit Data Write
Write Data
000001
(000007)
W300.00 1515.12 1515.14 1500.01 WRITE DATA Bit

Data Write Transferring
Flag
1500.01 W300.01 Execute Unit Data Write
WRITE DATA Bit

Unit Data Write Received
000002 W300.02 1515.14 W300.03
(000013)
Data Write
Received
Unit Data Write End
000003 W300.04 1515.12 1515.14 W300.05
(000016)
Waiting for Unit Error Flag Data Transferring Flag
Unit Data
Write End
Unit Data Write Error End
000004 W300.02 1515.12 W300.06
(000020)
Data Write
Received
W300.04
Waiting for Unit

Data Write End
000005 Write Received
(000024)
Execute Unit Unit Data Unit Data Write
Data Write Write Error End
Received
W300.02

Write Received
000006 W300.03 W300.05 W300.06 W300.04
Write End
(000029)
Unit Data Write Unit Data Unit Data Write
Received Write End Error End
W300.04
Waiting for Unit

Data Write End
Start Unit Data Save
000007 W300.05 W302.00
(000034)
Unit Data
Write End (Continued on next page.)
454
Save Data
000008
(000036)
W302.00 1515.12 1515.14 1500.03 SAVE DATA Bit

Data Save Transferring
Flag
1500.03 W302.01 Execute Unit Data Save
SAVE DATA Bit

W302.02 1515.14 W302.03 Unit Data Save Received
000009
(000042)
Data Save
Received
W302.04 1515.12 1515.14 W302.05 Unit Data Save Normal End
000010
(000045)
Data Save End
Unit Data Save Error End
000011 W302.02 1515.12 W302.06
(000049)
Data Save
Received
W302.04
Waiting for Unit

Data Save End

000012 Save Received
(000053)
Execute Unit Unit Data Unit Data Save
Data Save Save Error End
Received
W302.02

Save Received
000013 Save End
(000058)
Unit Data Save Unit Data Unit Data
Received Save Normal Save Error
End End
W302.04
Waiting for Unit

Data Save End
Restart PCU
000014
(000063)
W304.00 SET Execute Initial Settings
Switch
Start Unit H0.00

Restart
A501.00 CPU Bus Unit Restart Bit
A302.00 W304.01 Execute Unit Restart
CPU Bus Unit

Initializing Flag
Start Unit Restart
000015 W302.05 W304.01 W304.00
(000068)
Unit Data Save Execute Unit Restart
Normal End
W304.00
Start Unit Restart
Restarting Unit
000016 W304.01 W304.03 W304.02
(000072)
Execute Unit Unit Restart Complete
Restart
W304.02
Restarting Unit
Unit Restart Complete
000017 W304.02 A302.00 1516.14 W304.03
(000076)
Restarting Unit CPU Bus Unit Unit Busy Flag
Initializing
Flag
455
Start Communications
000018
(000080)
A200.15 H0.00 1515.12 W303.00 Establish Connection
P_First_Cycle_ Execute Initial Unit Error Flag

Task Settings
Initial Task Switch
Execution Flag
W304.03
Unit Restart
Complete
400.00
Restart Communications
400.01 W303.01 Release Connection
000019
(000086)
Stop Communications
1516.15 DIFD Turn OFF CONNECT Bit
000020
(014)
(000088)
Connection Status Flag W303.02
CONNECT Bit
000021 W303.00 W303.01 W303.02 W303.04 1501.00
(000090)
Establish Release Turn OFF Connection
Connection Connection CONNECT Timeout
Bit [OP1]
1501.00 TIM
Connection Timeout Timer
[OP2]
CONNECT Bit 0000
#50
1516.15 1522.00 1522.01 W303.03 All Axes Communicating

000022
(000097)
Connection Axis 1 Axis 2
Status Flag Communicating Communicating
T0000 W303.03 W303.04 Connection Timeout
000023
(000101)
Connection All Axes
Timeout Timer Communicating
11-3-2 Servo Parameter Backup

Overview This application incorporates the Servo Parameter transfer functions from 11-
2-3 Transferring Servo Parameters to transfer (write, read, or save) all of the
Servo Drive's Servo Parameters at one time with the CPU Unit's EM Area.
This application example is normally executed after the initial PCU settings
application shown in 11-3-1 Initial PCU Settings.
The Servo Parameters to be transferred are set in the CPU Unit's EM Area as
a parameter list.
When reading Servo Parameters, the parameter data read from the Servo
Drive is stored in the specified EM words based on this parameter list.
When writing/saving Servo Parameters, the parameter data is stored in the
EM Area in the prescribed format and written to the Servo Drives in order.
In this program example, the Servo Drives connected as axes 1 and 2 are
both W-series Servo Drives and the same Servo Parameter list is transferred
to both.
456
CPU Unit PCU

E1_00000 to E1_00257 Read together
Parameter list
E1_01000 to E1_01511 Axis 1 Servo Drive

Axis 1 Servo Parameter Servo Parameters
Backup
E1_02000 to E1_02511 Axis 2 Servo Drive

Axis 2 Servo Parameter Servo Parameters
Backup
Written/Saved together
The Axis Operating Output/Input Memory Areas for axes 1 and 2 are based
on the settings of the Common Parameter Area, as shown below. The applica-
tion example in 11-3-1 Initial PCU Settings shows a sample program that can
be used to make the following settings.
CPU Bus Unit Area
Axis 1 Servo Parameter words: D10500 to D10503
Axis 2 Servo Parameter words: D10600 to D10603
These words are used to store the data required for a single Servo Parameter
transfer, including the Servo Parameter number, parameter size, and transfer
data (2 words).
EM Area bank 1
Servo Parameter list: E1_00000 to E1_00257
Axis 1 Servo Parameter words: E1_01000 to E1_01511
Axis 2 Servo Parameter words: E1_02000 to E1_02511
457
When the Servo Parameters are being read, these EM words are used to
store the parameter list read from the Servo Drive. These words are also used
to store the Servo Parameters that were read and set the Servo Parameters
that will be written.
Index Registers (IR)
IR6 to IR8
The Index Registers are used to reference the Servo Parameter list and refer-
ence the EM Area addresses that contain the parameter data being read/writ-
ten.
Work Area (WR Area)
Write Axis 1 Servo Parameters: W400.00 to W400.06
Read Axis 1 Servo Parameters: W401.00 to W401.06
Save Axis 1 Servo Parameters: W402.00 to W402.06
Write Axis 2 Servo Parameters: W410.00 to W410.06
Read Axis 2 Servo Parameters: W411.00 to W411.06
Save Axis 2 Servo Parameters: W412.00 to W412.06
Batch transfer sequence stepping: W500.00 to W500.10
Axis 1 Transfer Function Selection: H10.00 to H10.02
Axis 2 Transfer Function Selection: H11.00 to H11.02
These bits are used to select the Servo Parameter transfer function for each
axis.
The following table shows how the status of bits H10.00 to H10.02 and
H11.00 to H11.02 specify the Servo Parameter transfer function in this sample
program.
Transfer function Axis 1 Axis 2
H10.00 H10.01 H10.02 H11.00 H11.01 H11.02
Write Servo Parameter 1 0 0 1 0 0
Read Servo Parameter 0 1 0 0 1 0
Save Servo Parameter 0 0 1 0 0 1
A different transfer function can be selected for each axis and executed for 2
axes simultaneously.
Different transfer functions cannot be performed at the same time on a single
axis. If bits 00 to 02 are all OFF or more than one bit is ON, the transfer func-
tion will not be executed for that axis.
Also, when executing this sample program, always transfer the Servo Parame-
ters for 2 axes.
CIO 0510.00 is used as the Servo Parameter Batch Transfer Start Switch.
Parameter List In this program, the parameter list for the Read Servo Parameters function is
stored in the CPU Unit's EM Area as follows.
The beginning words of the parameter list specify the parameter number
and parameter size of each parameter.
+0: Parameter number (hex)
+1: Parameter size
The parameter number and size are specified in order for all of the param-
eters being transferred.
At the end of the parameter list, the parameter size is set to 0000 hex.
458
The following table shows a setting example for the parameter list in this pro-
gram.
The Servo Parameters listed here are for an OMRON W-series Servo Drive
with a FNY-NS115 MECHATROLINK-II I/F Unit mounted. All 256 parameter
numbers and parameter sizes shown in the table in 4-5 Servo Parameter Area
are included even if the parameters are not being used.
When the two-word end code (0000 0000) at the end of the parameter list is
included, a total of 256 words (including unused words) are used, from
E1_00000 to E1_00257.
Word +0 +1 +2 +3 +4 +5 +6 +7 +8 +9
E1_00000 0000 0002 0001 0002 0002 0002 0003 0002 0004 0002
E1_00010 0005 0002 0100 0002 0101 0002 0002 0002 0103 0002
E1_00020 0104 0002 0105 0002 0106 0002 0107 0002 0108 0002
E1_00030 0109 0002 010A 0002 010B 0002 010C 0002 010D 0002
E1_00040 010E 0002 010F 0002 0110 0002 0111 0002 0112 0002
E1_00050 0113 0002 0114 0002 0115 0002 0116 0002 0117 0002
E1_00060 0118 0002 0119 0002 0120 0002 0121 0002 0122 0002
E1_00070 0123 0002 0124 0002 0125 0002 0200 0002 0201 0002
E1_00080 0202 0002 0203 0002 0204 0002 0205 0002 0206 0002
E1_00090 0207 0002 0208 0002 0212 0002 0217 0002 0218 0002
E1_00100 0300 0002 0301 0002 0302 0002 0303 0002 0304 0002
E1_00110 0305 0002 0306 0002 0307 0002 0308 0002 0309 0002
E1_00120 0400 0002 0401 0002 0402 0002 0403 0002 0404 0002
E1_00130 0405 0002 0406 0002 0407 0002 0408 0002 0409 0002
E1_00140 040A 0002 040B 0002 040C 0002 0500 0002 0501 0002
E1_00150 0502 0002 0503 0002 0504 0002 0505 0002 0506 0002
E1_00160 0507 0002 0508 0002 0509 0002 050A 0002 050B 0002
E1_00170 050C 0002 050D 0002 050E 0002 050F 0002 0510 0002
E1_00180 0511 0002 0512 0002 0513 0002 051A 0002 051B 0002
E1_00190 051C 0002 051E 0002 0600 0002 0601 0002 0800 0002
E1_00200 0801 0002 0802 0002 0803 0002 0804 0004 0806 0004
E1_00210 0808 0004 080A 0002 080B 0002 080C 0002 080D 0002
E1_00220 080E 0002 080F 0002 0810 0002 0811 0002 0812 0002
E1_00230 0813 0002 0814 0004 0816 0002 0817 0002 0818 0002
E1_00240 0819 0004 081B 0002 081C 0002 081D 0002 081E 0002
E1_00250 081F 0002 0820 0004 0822 0004 0000 0000 0000 0000
Read/Write Parameter This program stores the Servo Parameters with the following format (read
Format according to the parameter list above) in the specified part of the EM Area.
The parameter number, parameter size, and set value of each parameter are
stored in four-word sets.
+0: Parameter number (hex)
+1: Parameter size
+2: Servo Parameter set value (rightmost word)
+3: Servo Parameter set value (leftmost word)
These four-word sets are stored in the order that the parameters appear in the
parameter list.
When the parameter size is 2 bytes (0002 hex), the leftmost word of the set
value in “+3: Servo Parameter set value” will be set to 0000 hex.
459
Example: First Part of Default Settings Read from an OMRON W-series Servo
Drive
Word +0 +1 +2 +3 +4 +5 +6 +7
E1_01000 0000 0002 0010 0000 0001 0002 1002 0000
E1_01008 0002 0002 0000 0000 0003 0002 0002 0000
E1_01016 0004 0002 0200 0000 0005 0002 0000 0000
E1_01024 0100 0002 0050 0000 0101 0002 07D0 0000
E1_01032 0102 0002 0028 0000 0103 0002 012C 0000
E1_01040 0104 0002 0050 0000 0105 0002 07D0 0000
E1_01048 0106 0002 0028 0000 0107 0002 0000 0000
E1_01056 0108 0002 0007 0000 0109 0002 0000 0000
E1_01064 010A 0002 0000 0000 010B 0002 0004 0000
:
Note All of the data is expressed in hexadecimal.

For example, the data in E1_01024 to E1_01027 indicates parameter Pn100,
a parameter size of 2 bytes, and a set value of 0050 hex (80 decimal).
This data format is also used in the sample program when writing or saving
data from the CPU Unit's EM Area to the Servo Drive. (The parameter size at
the end of the transfer data is 0000 hex, which is the end code.)
Consequently, this program can be used to read the Servo Parameters to the
CPU Unit's EM Area to back up the Servo Parameters and those Servo
Parameters can be transferred to a new Servo Drive if it is necessary to
replace the Servo Drive in the future.
This sample program will start transferring the Servo Parameters when the
Servo Parameter Batch Transfer Bit (CIO 510.00) is ON and W303.03 has
been turned ON (indicating that axes 1 and 2 are both communicating nor-
mally) by the application example shown in 11-3-1 Initial PCU Settings.
When this program is completed (Servo Parameter Transfer Complete),
W500.05 is turned ON for one cycle. If an error occurs while the Servo Param-
eters are being transferred (Error Flag ON), the transfer will be cancelled at
that point and W500.10 will be turned ON for one cycle.
Sample Ladder The Write Servo Parameters, Read Servo Parameters, and Save Servo
Program Parameters functions for axis 1 (program steps 000016 to 000033) are the
same as the functions described in 11-2-3 Transferring Servo Parameters.
The functions for axis 2 (program steps 000034 to 000051) are the same as
the functions for axis 1, except for the different I/O words. To prevent duplica-
tions, be sure to change the axis 1 output words (CIO 0000 to CIO 0024) to
the corresponding axis 2 output words (CIO 0025 to CIO 0049) and change
the axis 1 input words (CIO 1000 to CIO 1024) to the corresponding axis 2
input words (CIO 1025 to CIO 1049).
460
Program name: Servo Parameter Backup

Section name: Servo Parameter Backup
510.00 W303.03 1000.12 1025.12 DIFU Servo Parameter Batch

000000 Transfer Start
(013)
(000000)
Servo Parameter All Axes Axis 1 Error Axis 2 Error W500.00
Batch Transfer Communicating
Start Switch
[OP1]
000001 W500.00 MOVR
First Word of Parameter List
(560)
(000005) [OP2]
Servo E1_0
Parameter IR6
Batch Transfer
Start
MOVR [OP1]
First Word of Axis 1 Servo Parameters
(560)
[OP2]
E1_1000
IR7
MOVR [OP1]
First Word of Axis 2 Servo Parameters
(560)
[OP2]
E1_2000
IR8
W500.01 H10.00 H10.01 H10.02 @MOV [OP1]

000002 [OP2]
(021)
(000009) Axis 1 Transfer
Servo Write Axis 1 Read Axis 1 Save Axis 1 ,IR6+ Parameter Number
Parameter Servo Servo Servo
Parameters Parameters Parameters D10500
Transfer
Selected Selected Selected
Selection
H11.00 H11.01 H11.02
Write Axis 2 Read Axis 2 Save Axis 2

Servo Servo Servo
Parameters Parameters Parameters [OP1]
Selected Selected Selected @MOV
(021) [OP2]
Axis 1 Transfer
,IR6+ Parameter Size
D10501
MOV [OP1]
Axis 1 Transfer Parameter Number
(021)
[OP2]
D10500 Axis 2 Transfer Parameter Number
D10600
MOV [OP1]
(021) Axis 1 Transfer Parameter Size
[OP2]
D10501 Axis 2 Transfer Parameter Size
D10601
[OP1]
000003 W500.01 H10.00 H10.01 @MOV
[OP2]
(021)
Servo Write Axis 1 Read Axis 1 ,IR7+ Parameter Number
Parameter Servo Servo
Parameters D10500
Transfer Parameters
Selected
Selection Selected
H10.02
Save Axis 1
Servo
Parameters
@MOV [OP1]
Selected
(021) [OP2]
Axis 1 Transfer
D10501
@MOVL [OP1]
(498) [OP2]
Axis 1 Transfer Data
,IR7++
D10502
461
[OP1]
000004 W500.01 H11.00 H11.01 @MOV
[OP2]
(021)
Servo Write Axis 2 Read Axis 2 ,IR8+
Servo Parameter Number
Parameter Servo
Transfer Parameters Parameters D10600
Selected
Selection
H11.02
Save Axis 2
Servo
Parameters [OP1]
Selected @MOV
(021) [OP2]
Axis 2 Transfer
D10601
@MOVL [OP1]
(498) [OP2]
,IR8++
D10602
W500.01 <> W500.02 Continue Parameter

000005 (305) Transfer
(000038)
Servo #0
Parameter D10501
Transfer [OP1]
Selection [OP2]
Axis 1 Transfer
Parameter Size
= W500.05 Stop Parameter Transfer
(300)
#0
D10501
[OP1]
[OP2]
Axis 1 Transfer
Parameter Size
[OP1]
000006 W500.03 MOV
(021)
(000045) [OP2]
Execute Servo D10500 Axis 1 Servo Parameter Number
Parameter
17
Transfer
MOV [OP1]
[OP2]
D10501 Axis 1 Parameter Size
18
MOVL [OP1]
(498) Axis 1 Transfer Data
[OP2]
19
H10.00 H10.01 H10.02 DIFU Start Axis 1 Write

(013)
Write Axis 1 Read Axis 1 Save Axis 1 Servo
Servo Parameters Servo Param-
W400.00
Parameters
Selected eters Selected Selected
H10.00 H10.01 H10.02 DIFU Start Axis 1 Read
(013)
Write Axis 1 Read Axis 1 Save Axis 1 W401.00

Servo Servo Servo
W401.05 MOV Axis 1 Servo Parameter Number
(021)
[OP2]
Axis 1 Read 17
Normal End
,IR7+
MOV [OP1]
(021) Axis 1 Parameter Size
[OP2]
18
,IR7+
MOVL [OP1]
(498) Axis 1 Read Data
[OP2]
1014
,IR7++
H10.00 H10.01 H10.02 DIFU Start Axis 1 Save

(013)

Servo Servo Servo
Parameters Parameters Parameters
462
[OP1]
000007 W500.03 MOV
(021)
(000068) [OP2]
Execute D10600 Axis 2 Servo Parameter Number
Servo 42
Parameter
Transfer
MOV [OP1]
[OP2]
43
MOVL [OP1]
(498) Axis 2 Transfer Data
[OP2]
44
H11.00 H11.01 H11.02 DIFU Start Axis 2 Write

(013)
Write Axis 2 Read Axis 2 Save Axis 2 Servo W410.00
Servo Parameters Servo Param- Parameters
H11.00 H11.01 H11.02 DIFU Start Axis 2 Read
(013)

Servo Servo Servo
W411.05 MOV
Selected Selected Selected Axis 2 Servo Parameter Number
(021)
[OP2]
Axis 2 Read 42
Normal End ,IR8+
MOV [OP1]
(021) Axis 2 Parameter Size
[OP2]
43
,IR8+
MOVL [OP1]
(498) Axis 2 Read Data
[OP2]
1039
,IR8++
H11.00 H11.01 H11.02 DIFU Start Axis 2 Save

(013)
Write Axis 2 Read Axis 2 Save Axis 2 Servo W412.00
Servo Parameters Servo Param- Parameters
Axis 1 Transfer End
000008 W500.03 W400.05 W401.05 W402.05 W500.04 W500.10 W500.06
(000091)
Execute Servo Axis 1 Write Axis 1 Read Axis 1 Save All Axes Stop Servo
Parameter Normal End Normal End Normal End Transfer End Parameter Transfer
Transfer
H10.00 H10.01 H10.02

Servo Servo Servo
W500.06 Selected Selected Selected
Axis 1 Transfer End

Axis 2 Transfer End
000009 W500.03 W410.05 W411.05 W412.05 W500.04 W500.10 W500.07
(000105)
Execute Servo Axis 2 Write Axis 2 Read Axis 2 Save All Axes Stop Servo
Parameter Normal End Normal End Normal End Transfer End Parameter Transfer
Transfer
H11.00 H11.01 H11.02

Servo Servo Servo
W500.07 Selected Selected Selected
Axis 2 Transfer End
463
Axis 1 Transfer Error End

000010 W500.03 W400.06 W500.08
(000119)
Execute Servo Axis 1 Write
Parameter Error End
Transfer
W401.06
Axis 1 Read
Error End
W402.06
W500.03 W410.06 W500.09 Axis 2 Transfer Error End

000011
(000125)
Execute Servo Axis 2 Write
Parameter Error End
Transfer
W411.06
Axis 2 Read
Error End
W412.06
All Axes Transfer End

000012 W500.06 W500.07 W500.04
(000131)
Axis 1 Transfer Axis 2 Transfer End
End
W500.08 W500.10 Stop Servo Parameter
000013 Transfer
(000134)
Axis 1 Transfer
Error End
W500.09
Axis 2 Transfer Error End
Servo Parameter
000014 W500.00 W500.02 W500.05 W500.01
Transfer Selection
(000137)
Servo Parameter Continue Stop Servo
Batch Transfer
Servo Parameter
Start
Parameter Transfer
W500.01 Transfer
Servo Parameter
Transfer Selection
W500.04
All Axes Transfer End

Continue Servo
000015 W500.02 W500.04 W500.10 W500.03
Parameter Transfer
(000143)
Continue Servo All Axes Stop Servo
Parameter
Transfer Transfer End Parameter Transfer
W500.03
Execute Servo
Parameter Transfer

000016
(000148)
PARAMETER
Transferring
1.12 W400.01 Execute Axis 1 Write
Axis 1 WRITE SERVO

PARAMETER
000017 W400.02 1000.14 W400.03
(000155)
Axis 1 Write
Received
000018 W400.04 1000.12 1000.14 W400.05
(000158)
Waiting for Axis 1 Axis 1 Servo Parameter Transferring
End
464

000019 W400.02 1000.12 W400.06
(000162)
Axis 1 Write Flag
Received
W400.04 1522.00

Axis 1 Write
End
Waiting for Axis 1
000020 W400.01 W400.03 W400.06 W400.02
Write Received
(000168)
Execute Axis 1 Axis 1 Write Axis 1 Write
Servo
Parameter Write Received Error End
W400.02
Waiting for Axis 1

Write Received
W400.03 W400.05 W400.06 W400.04 Waiting for Axis 1

000021 Write End
(000173)
Axis 1 Write Axis 1 Write Axis 1 Write
Received Normal End Error End
W400.04
Waiting for Axis 1

Write End
000022
(000178)
W401.00 1522.00 1000.12 1000.14 1.13 Axis 1 READ SERVO
PARAMETER
Transferring
1.13 W401.01 Execute Axis 1 Read
Axis 1 READ SERVO

PARAMETER
W401.02 1000.14 W401.03 Axis 1 Read Received
000023
(000185)
Axis 1 Read
Received
000024 W401.04 1000.12 1000.14 W401.05 Axis 1 Read Normal End
(000188)
000025 W401.02 1000.12 W401.06 Axis 1 Read Error End

(000192)
Waiting for Axis 1
Received
W401.04 1522.00

1 Read End
000026 W401.01 W401.03 W401.06 W401.02 Waiting for Axis 1 Read

Received
(000198)
1 Read Received
W401.02
Waiting for Axis 1

Read Received
W401.03 W401.05 W401.06 W401.04 Waiting for Axis 1 Read
000027 End
(000203)
Received Normal End
W401.04
Waiting for Axis

1 Read End
465

000028
(000208)
W402.00 1522.00 1000.12 1000.14 1.14 Axis 1 SAVE SERVO
PARAMETER
Transferring
1.14 W402.01 Execute Axis 1 Save
Axis 1 SAVE SERVO

PARAMETER
000029 W402.02 1000.14 W402.03
(000215)
Axis 1 Save
Received
000030 W402.04 1000.12 1000.14 W402.05
(000218)
1 Save End
000031 W402.02 1000.12 W402.06
(000222)
Axis 1 Save
Received
W402.04 1522.00

1 Save End

000032 Received
(000228)
1 Save Received
W402.02
Waiting for Axis 1

Save Received
000033 End
(000233)
Received Normal End
W402.04
Waiting for Axis

1 Save End
000034
(000238)
PARAMETER
Transferring
Axis 2 SAVE SERVO

PARAMETER
000035 W410.02 1025.14 W410.03
(000245)
Axis 2 Save
Received
000036 W410.04 1025.12 1025.14 W410.05
(000248)
2 Save End
000037 W410.02 1025.12 W410.06
(000252)
Axis 2 Save
Received
W410.04 1522.01

2 Save End
466
000038 W410.01 W410.03 W410.06 W410.02 Waiting for Axis 2

Write Received
(000258)
Servo
Parameter Write Received Error End
W410.02
Waiting for Axis 2

Write Received
000039 W410.03 W410.05 W410.06 W410.04 Waiting for Axis 2

Write End
(000263)
W410.04
Waiting for Axis 2

Write End
000040
(000268)
W411.00 1522.01 1025.12 1025.14 26.13 Axis 2 READ SERVO
PARAMETER
Transferring
26.13 W411.01 Execute Axis 2 Read
Axis 2 READ SERVO

PARAMETER
1025.14 W411.03
000041 W411.02 Axis 2 Read Received
(000275)
Axis 2 Read
Received
1025.12 1025.14 W411.05
000042 W411.04 Axis 2 Read Normal End
(000278)
W411.02 1025.12 W411.06 Axis 2 Read Error End
000043
(000282)
Waiting for Axis 2
Received
W411.04 1522.01

2 Read End
000044 W411.01 W411.03 W411.06 W411.02
Received
(000288)
2 Read Received
W411.02
Waiting for Axis 2

Read Received
000045 W411.03 W411.05 W411.06 W411.04
End
(000293)
Received Normal End
W411.04
Waiting for Axis

2 Read End

000046
(000298)
W412.00 1522.01 1025.12 1025.14 26.14 Axis 2 SAVE SERVO
PARAMETER
Transferring
26.14 W412.01 Execute Axis 2 Save
Axis 2 SAVE SERVO

PARAMETER
000047 W412.02 1025.14 W412.03
(000305)
Axis 2 Save
Received
467

000048 W412.04 1025.12 1025.14 W412.05
(000308)
2 Save End
000049 W412.02 1025.12 W412.06
(000312)
Axis 2 Save
Received
W412.04 1522.01

2 Save End
000050 Received
(000318)
2 Save Received
W412.02
Waiting for Axis 2

Save Received
000051 End
(000323)
Received Normal End
W412.04
Waiting for Axis

2 Save End
11-3-3 Switching among Position, Speed, and Torque Control

Overview The basic program examples introduced in the following sections are com-
bined to perform position, speed, and torque control.
11-2-3 Transferring Servo Parameters (Used to transfer acceleration/de-
celeration constants for positioning.)
11-2-4 Servo Lock/Unlock
11-2-6 Positioning (Absolute Movement or Relative Movement)
11-2-7 Speed Control
11-2-8 Torque Control
11-2-9 Deceleration Stop or Emergency Stop
This program uses I/O bits to execute the Servo Lock/Unlock function, start
controlling an axis (positioning, speed control, or torque control), or switch the
control status of an operating axis.
In this example, only axis 1 is controlled.
This application example is normally executed after the initial PCU settings
application shown in 11-3-1 Initial PCU Settings.
468
CPU Bus Unit Area

Axis operation command settings: D1000 to D1011
Units conversion calculation: D1500 to D1515
Expanded Monitoring: D1020 to D1023
Axis 1 Servo Parameter transfer: D10500 to D10503
These words are used to store the axis operation command values, calculate
the command's units, store expanded monitoring values, and store the Servo
Parameter transfer information (parameter number, parameter size, and two-
word transfer data).
Work Area (WR Area)
Servo Lock/Unlock: W305.00 to W305.06
Positioning: W201.00 to W201.03
Speed Control: W202.00 to W202.02
Torque Control: W203.00 to W203.02
Deceleration Stop: W204.00 and W204.01
Emergency Stop: W205.00 and W205.01
Expanded Monitoring Switch: W210.00 to W210.02
Axis 1 Write Servo Parameters: W400.00 to W400.06
Change Acceleration/Deceleration Constant: W501.00 to W501.06
H1.00
This bit is used as a switch to indicate whether the positioning command is
ABSOLUTE MOVEMENT or RELATIVE MOVEMENT.
Timer Area
TIM0003
Used as a watchdog timer to monitor the positioning operation.
I/O Bits
CIO 500.00 to CIO 500.05 and CIO 500.14 to CIO 500.15
469
The following table shows the axis 1 operations that can be started by this
program as well as the I/O bit operations and command values (in the DM
Area), which start that axis 1 operation.
Word/bit Function Explanation
CIO 050000 Axis 1 Servo Lock/ Each time this bit is turned ON, it switches axis 1 between Servo Lock and Servo
Unlock Switch Unlock.
When the Servo Unlock is executed during speed control or torque control, the
Servo Unlock is executed after executing an Emergency Stop.
CIO 050001 Start Axis 1 Position- When this bit goes from OFF to ON, positioning starts according to the position
ing command value in D1000 and D1001 or the speed command value in D1002
and D1003.
The positioning method can be switched between absolute/relative movement by
turning H1.00 ON/OFF.
H1.00 ON: ABSOLUTE MOVEMENT
H1.00 OFF: RELATIVE MOVEMENT
Also, the acceleration constant (deceleration constant) can be set to the value in
D1010 (D1011) before starting the positioning operation if CIO 0500.14 (CIO
0500.15) is turned ON before turning this bit from OFF to ON.
When positioning is started with CIO 0500.14 and/or CIO 0500.15 OFF, position-
ing will be performed with the acceleration constant and/or deceleration constant
set in the Servo Drive.
CIO 050002 Start Axis 1 Speed When this bit goes from OFF to ON, speed control starts according to the speed
Control command value in D1002 and D1003.
CIO 050003 Start Axis 1 Torque When this bit goes from OFF to ON, torque control starts according to the torque
Control command value in D1004 and D1005, with the speed command value in D1002
and D1003 as the speed limit value.
CIO 050004 Start Axis 1 Deceler- A Deceleration Stop is executed when this bit goes from OFF to ON.
ation Stop
CIO 050005 Start Axis 1 Emer- An Emergency Stop is executed when this bit goes from OFF to ON.
gency Stop
CIO 050014 Specify Axis 1 Accel- If CIO 0500.01 (Axis 1 Start Positioning) is turned from OFF to ON while this bit
eration Constant is ON, positioning will be executed with the acceleration constant specified in
D1010. (Before positioning is started, the new constant is written to the acceler-
ation constant Servo Parameter.)
CIO 050015 Specify Axis 1 If CIO 0500.01 (Axis 1 Start Positioning) is turned from OFF to ON while this bit
Deceleration Con- is ON, positioning will be executed with the deceleration constant specified in
stant D1011. (Before positioning is started, the new constant is written to the deceler-
ation constant Servo Parameter.)
D1000 Axis 1 Position Com- These words contain the position command value used in positioning. Set in the
D1001 mand Value “command units.”
D1002 Axis 1 Speed Com- These words contain the speed command value used in positioning and speed
D1003 mand Value control.
This value is also used as the speed limit value during torque control.
Set in “command units/s.”
Speed command value for speed control and speed limit value for torque control
are calculated in this program from this set value and the Servomotor's momen-
tary maximum rotation speed, encoder resolution, and electronic gear ratio.
D1004 Axis 1 Torque Com- This is the torque command value used in torque control.
D1005 mand Value Set the torque command value as a percentage of the Servomotor's momentary
maximum torque, in units of 0.001%.
470
Word/bit Function Explanation

D1010 Axis 1 Acceleration This word contains the acceleration constant for positioning.
Constant If CIO 0500.14 is ON when positioning is started, the contents of this word are
written to the Servo Parameter to change the acceleration rate.
Set in units of “×10,000 command units/s2.”
D1011 Axis 1 Deceleration This word contains the deceleration constant for positioning.
Constant If CIO 0500.15 is ON when positioning is started, the contents of this word are
written to the Servo Parameter to change the deceleration rate.
Set in units of “×10,000 command units/s2.”
The setting value in D1002 and D1003 is used as the speed command value
in position and speed control. In torque control, it is used as the speed limit
value.
The PCU's speed command value for speed control and the speed limit value
for torque control (option command value 1) are set as a percentage of the
Servomotor's momentary maximum rotation speed (units: 0.001%), so they
are calculated as follows in this program.
Use the following equation as a template and change the equation in this pro-
gram when the Servomotor's momentary maximum rotation speed, encoder
resolution, or electronic gear ratio are different.
Speed command value for speed control and speed limit value for torque
control = Speed command value (command units/s) × 60 (s) / (Servomotor
momentary maximum rotation speed (r/min) × Encoder resolution (pulses/
rotation) × 4/Electronic gear ratio)/0.001%
An R88M-W10030L W-series Servomotor is used in this sample program. In
this case,
Momentary maximum rotation speed:5,000 r/min
Encoder resolution: 2,048 pulses/rotation
The electronic gear ratio is contained in Servo Parameters (Pn202/Pn203)
and the default setting is 4 (Pn202 = 4 and Pn203 = 1).
Consequently, the units calculation is as follows:
Speed command value for speed control and speed limit value for torque
control
= Speed command value (command units/s) × 60/ (5,000 × 2,048 × 4/4) ×
100,000
= Speed command value (command units/s) × 6,000,000 / 10,240,000
In this program, the fraction is reduced to 1,200/2,048 to prevent the multipli-
cation or division from overflowing.
Note When torque control is being performed, option command value 1 is used as
the speed limit value, so set parameter Pn002.1 (Speed command input
change) to 1 to select option command value 1.
If the Servo Unlock function is executed during speed control or torque con-
trol, this program will output the Servo Unlock command after executing an
Emergency Stop (see the output circuit for W305.06).
In addition, the feedback speed and torque command are monitored in this
program with the PCU's Expanded Monitoring function.
Since the speed and torque units used for monitoring depend on the control
mode (position control, speed control, or torque control), the monitoring units
are converted in this program and output to D1020 to D1021 and D1022 to
D1023. Refer to 4-8-6 Expanded Monitoring for details on the monitoring units
used in each control mode.
471
In this program, the unit conversion methods are switched at the start of axis
operation. The speed monitoring units are converted (0.001% → command
units/s) during speed control and the torque monitoring units are converted
(0.001% →%) during torque control.
(The conversion of speed monitoring units is performed by reversing the
equation used to convert the speed command value for speed control.)
472

Program name: Switching Control Mode
Section name: Switching Control Mode
500.01 500.14 W501.00 Start Axis 1 Acceleration

000000 Constant Setting
(000000)
Positioning Specify Axis 1
Start Switch Acceleration Constant
500.15 W501.02 Start Axis 1 Deceleration

Constant Setting
Specify Axis 1
Deceleration Constant
500.14 500.15 W200.00 Positioning Execution
Condition
Specify Axis 1 Specify Axis 1
Acceleration Deceleration
Constant Constant
W501.01 W501.03 W501.05
Execute Axis 1 Execute Axis 1 Axis 1 Acceler-

Deceleration Con- Deceleration ation Constant
stant Transfer Constant Transfer Transfer End
W501.01 W501.03 W501.06
Execute Axis 1 Execute Axis 1 Axis 1 Deceleration

Deceleration Con- Deceleration Constant Transfer End
stant Transfer Constant Transfer
Servo Lock/Servo Unlock
000001
(000019)
500.00 W305.04 1000.12 1000.13 1001.03 W305.00 Execute Axis 1 Servo
Lock
Servo Lock/ Axis 1 Servo Axis 1 Error Axis 1 Busy Axis 1 Servo ON
Unlock Switch Lock Command
W305.04 W305.01 Execute Axis 1 Servo
Unlock
Axis 1 Servo
Lock Command
W305.00 1522.00 1000.13 W305.05 1.00 Axis 1 SERVO LOCK
000002
(000029)
Execute Axis 1 Axis 1 Axis 1 Busy Axis 1 Servo Lock
Servo Lock Communicating Execution Timeout
1.00
Axis 1 SERVO LOCK

W305.01 1522.00 W305.03 W202.02 W203.02 1.01 Axis 1 SERVO UNLOCK
000003
(000035)
Execute Axis 1 Axis 1 Axis 1 Servo Controlling Controlling Axis 1 Torque
Servo Unlock Communicating Unlock End Axis 1 Speed
W305.05 W202.02 W305.06 Stop Speed/Torque

Control
Axis 1 Servo Controlling
Lock Execution Axis 1 Speed
Timeout
1.01 W203.02
Axis 1 SERVO Controlling

UNLOCK Axis 1 Torque
W305.06
Stop Speed/
Torque Control
1.01 1000.13 DIFD Axis 1 Servo Unlock End

000004
(014)
(000050)
Axis 1 SERVO Axis 1 Busy W305.03
UNLOCK
1.00 1.01 W305.05 W305.04 Axis 1 Servo Lock

000005 Command
(000053)
Axis 1 SERVO Axis 1 Axis 1 Servo
LOCK SERVO Lock Execution
UNLOCK Timeout [OP1]
W305.04 TIM
Servo Lock Execution Watchdog Timer
[OP2]
Axis 1 Servo 0001
Lock Command
#50
473
T0001 1001.03 W305.05 Axis 1 Servo Lock

000006 Execution Timeout
(000059)
Servo Lock Axis 1 Servo ON
Execution
Watchdog Timer
Position Control
000007
(000062)
W200.00 1000.00 1000.12 DIFU Execute Axis 1
(013) Movement Command
Positioning Axis 1 Axis 1 Error W201.00
execution Receiving
condition Command Flag
0.03
Axis 1
ABSOLUTE
MOVEMENT Bit
0.04
Axis 1
RELATIVE
MOVEMENT Bit
[OP1]
000008 W201.02 1001.08 1000.05 TIM
Positioning Watchdog Timer
(000069) [OP2]
Controlling Axis 1 Pulse Axis 1 PCU 0003
Axis 1 Position Distribution Positioning
Complete Completed
#100
T0003 1000.05 W201.03 Positioning Timeout

000009
(000073)
Positioning Axis 1 PCU
Watchdog Positioning
Timer Completed
0.03 1000.05 1000.13 1000.15 1000.12 W201.03 W201.02 Controlling Axis 1 Position
000010
(000076)
Axis 1 ABSOLUTE Axis 1 PCU Axis 1 Busy Axis 1 Stop Axis 1 Error Positioning
MOVEMENT Bit Positioning Execution Timeout
Completed
0.04
Axis 1 RELATIVE
MOVEMENT Bit
W201.02 W202.02 W203.02
Controlling Controlling Controlling

Axis 1 Axis 1 Axis 1 Torque
Position Speed
Axis 1 ABSOLUTE
000011 W201.00 1.01 1.15 0.15 1522.00 W201.01 1000.12 H1.00 0.03
MOVEMENT Bit
(000088)
Execute Axis Axis 1 Axis 1 Axis 1 DE- Axis 1 Axis 1 Axis 1 Error Movement
1 Movement SERVO EMERGENCY CELERATION Communicating Movement Command Switch
Command UNLOCK STOP STOP Command
0.03 Reception H1.00 0.04 Axis 1 RELATIVE
Complete MOVEMENT Bit
Axis 1 ABSOLUTE Movement

MOVEMENT Bit Command Switch
0.04
Axis 1 RELATIVE
MOVEMENT Bit
0.03 1000.00 DIFD Axis 1 Movement
(014)
(000103) Complete
Axis 1 Axis 1 Receiving W201.01
ABSOLUTE Command Flag
MOVEMENT
Bit 0.04
Axis 1 RELATIVE
MOVEMENT Bit
Speed Control
000013
(000107)
500.02 1000.00 1000.12 DIFU Execute Axis 1 Speed
(013) Control Command
Speed Control Axis 1 Receiving Axis 1 Error W202.00

Start Switch Command Flag
1.02
Axis 1 SPEED
CONTROL Bit
474
1.02 1000.13 1000.15 1000.12 W202.02 Controlling Axis 1 Speed

000014
(000113)
Axis 1 SPEED Axis 1 Busy Axis 1 Stop Axis 1 Error
W201.02 W202.02 W203.02

Axis 1 Axis 1 Speed Axis 1 Torque
Position
1000.12 Axis 1 SPEED
000015 W202.00 1.01 1.15 0.15 1522.00 W202.01 1.02
CONTROL Bit
(000122)
Execute Axis 1 Axis 1 Axis 1 Axis 1 DE- Axis 1 Axis 1 Speed Axis 1 Error
Speed Control SERVO EMERGENCY CELERATION Communicating Control
Command UNLOCK STOP STOP Command
1.02 Reception
Complete
Axis 1 SPEED
CONTROL Bit
1.02 1000.00 DIFD Axis 1 Speed Control

(014)
(000131) Complete
Axis 1 SPEED Axis 1 Receiving W202.01
Torque Control
000017
(000134)
500.03 1000.00 1000.12 DIFU Execute Axis 1 Torque
(013) Control Command
Torque Control Axis 1 Receiving Axis 1 Error W203.00

Start Switch Command Flag
1.03
Axis 1 TORQUE
CONTROL Bit
1.03 1000.13 1000.15 1000.12 W203.02 Controlling Axis 1 Torque
000018
(000140)
Axis 1 TORQUE Axis 1 Busy Axis 1 Stop Axis 1 Error
CONTOL Bit Execution
W201.02 W202.02 W203.02

Axis 1 Axis 1 Axis 1 Torque
Position Speed
Axis 1 TORQUE
000019 W203.00 1.01 1.15 0.15 1522.00 W203.01 1000.12 1.03
CONTROL Bit
(000149)
Execute Axis 1 Axis 1 Axis 1 Axis 1 DE- Axis 1 Axis 1 Axis 1 Error
Torque Control SERVO EMERGENCY CELERATION Communicating Torque
Command Control
UNLOCK STOP STOP
1.03 Command
Reception
Axis 1 Torque Complete
Control Bit
1.03 1000.00 DIFD Axis 1 Torque Control

(014)
(000158) Complete
Axis 1 TORQUE Axis 1 Receiving W203.01
Deceleration Stop
000021
(000161)
(013) Deceleration Stop
Deceleration Axis 1 Error W204.00
Stop Switch
0.15 1000.13 1000.15 1000.12 W204.01 Executing Axis 1

(000164)
Axis 1 DECEL- Axis 1 Busy Axis 1 Stop Axis 1 Error
ERATION STOP Execution
W204.01
Executing Axis 1
Deceleration Stop
1001.03 Axis 1 DECELERATION

000023 W204.00 1.01 1.15 1522.00 1000.15 1000.12 0.15
STOP
(000170)
Execute Axis 1 Axis 1 Axis 1 Axis 1 Axis 1 Axis 1 Error Axis 1 Servo ON Flag
Deceleration SERVO EMERGENCY Communicating Stop
Stop UNLOCK STOP Execution
0.15
Axis 1 DECELERATION STOP
475
0.15 1000.00 DIFD Axis 1 Deceleration Stop

000024 Reception Complete
(014)
(000178)
Axis 1 DECEL- Axis 1 Receiving W204.02
ERATION STOP Command Flag
Emergency Stop
000025
(000181)
(013) Emergency Stop
Emergency Axis 1 Error W205.00
Stop Switch
W305.06
Stop Speed/Torque Control
1.15 1000.13 1000.15 1000.12 W205.01 Executing Axis 1

(000185)
Axis 1 EMER- Axis 1 Busy Axis 1 Stop Axis 1 Error
GENCY STOP Execution
W205.01
Executing Axis 1
Emergency Stop
1001.03 Axis 1 EMERGENCY
000027 W205.00 1.01 1522.00 1000.15 1000.12 1.15
STOP
(000191)
Execute Axis 1 Axis 1 SERVO Axis 1 Axis 1 Stop Axis 1 Error Axis 1 Servo ON Flag
Emergency UNLOCK Communicating Execution
Stop
1.15
Axis 1 EMERGENCY STOP

1.15 1000.00 DIFD Axis 1 Emergency Stop
000028 Reception Complete
(014)
(000198)
Axis 1 EMER- Axis 1 Receiving W205.02
GENCY STOP Command Flag
Axis 1 Operation Command Setting

000029
(000201)
W201.00 MOVL [OP1]
Axis 1 Position Command Value
(498)
[OP2]
Execute Axis 1 Operation Command D1000 Axis 1 Position Command Value
[OP1]
000030 W201.00 MOVL
Axis 1 Speed Command Value
(498)
(000203) [OP2]
Execute Axis 1 D1002 Axis 1 Speed Command Value
Operation
Command 4
W201.02
Controlling Axis 1 Position
W202.00 *L [OP1]
000031 [OP2]
(421)
(000206) Axis 1 Speed Command Value
Execute Axis 1 &1200 [OP3]
Speed Control D1002
Command
D1500
W202.02
Controlling
Axis 1 Speed
/L [OP1]
(431) [OP2]
[OP3]
D1500
&2048
D1504
MOVL [OP1]
(498) [OP2]
Speed Command Value
D1504 for Axis 1 Speed Control
(Continued on next page.) 6
476
[OP1]
000032 W202.00 MOVL
[OP2]
(498)
(000211)
Execute Axis 1 &0
Speed Control D1508
Command
MOVL [OP1]
(498) [OP2]
&0
D1510
[OP1]
000033 W203.00 MOVL
Axis 1 Torque Command Value
(498)
(000214) [OP2]
Execute Axis 1 D1004 Axis 1 Torque Command Value
Torque Control
Command 8
W203.02
Controlling Axis 1 Torque

[OP1]
000034 W203.00 *L
[OP2]
(421)
(000217) Axis 1 Torque Command Value
Execute Axis 1 &1200 [OP3]
Torque Control
Command
D1002
D1500
/L [OP1]
(431) [OP2]
[OP3]
D1500
&2048
D1504
MOVL [OP1]
(498) [OP2]
D1504
D1508
MOVL [OP1]
(498) [OP2]
&0
D1510
[OP1]
000035 W202.00 MOVL
[OP2]
(498)
(000222) Axis 1 Option Command
Execute Axis 1 D1508 Value 1
Speed Control 10
Command
W203.00
Execute Axis 1
Torque Control
Command
MOVL [OP1]
(498) [OP2]
Axis 1 Option Command
D1510 Value 2
12
Acceleration and Deceleration Constant Setting

000036
(000226)
W501.00 W501.05 W501.01 Execute Axis 1
Acceleration Constant
Transfer
Start Axis 1 Axis 1 Acceleration
Acceleration Constant Transfer End
Constant Setting
W501.01
Execute Axis 1 Acceleration

Constant Transfer
Execute Axis 1
000037 W501.02 W501.06 W501.03
Deceleration Constant
(000230) Transfer
Start Axis 1 Axis 1 Deceleration
Deceleration Constant Transfer End
Constant Setting
W501.03
Execute Axis 1 Deceleration

Constant Transfer
477
[OP1]
000038 W501.01 MOV
[OP2]
(021)
Execute Axis 1 #080B Parameter Number
Acceleration D10500
Constant
Transfer
MOV [OP1]
(021) [OP2]
Axis 1 Transfer
#0002 Parameter Size
D10501
MOVL [OP1]
(498) Axis 1 Acceleration Constant
[OP2]
D1010 Axis 1 Transfer Data
D10502
[OP1]
000039 W501.01 W501.03 MOV
[OP2]
(021)
Execute Axis Execute Axis 1 #080E Parameter Number
1 Acceleration Deceleration D10500
Constant Constant
Transfer Transfer
MOV [OP1]
(021) [OP2]
Axis 1 Transfer
#0002 Parameter Size
D10501
MOVL [OP1]
(498) Axis 1 Deceleration Constant
[OP2]
D1011 Axis 1 Transfer Data
D10502
W501.01 MOV [OP1]

000040 Axis 1 Transfer Parameter Number
(021)
(000243) [OP2]
Execute Axis 1 Acceleration D10500 Axis 1 Servo Parameter
Constant Transfer 17 Number
W501.01 W501.03 W501.05
Execute Axis Execute Axis 1 Axis 1

1 Acceleration Deceleration Acceleration
Constant Constant Constant
MOV [OP1]
Transfer Transfer Transfer End Axis 1 Transfer Parameter Size
(021)
[OP2]
18
MOVL [OP1]
(498)
[OP2]
19
DIFU Start Axis 1 Write

(013)
W400.00
Axis 1 Acceleration
000041 W501.01 W400.05 W501.05
Constant Transfer End
(000252)
Execute Axis 1 Acceleration Axis 1 Write
Constant Transfer Normal End
W501.01 W501.03 W501.01 W501.06 Axis 1 Deceleration

Constant Transfer End
Execute Axis 1 Execute Axis 1 Execute Axis 1 Acceleration
Acceleration Con-
Deceleration Constant Transfer
stant Transfer Constant Transfer
000042
(000260)
PARAMETER

Transferring
Axis 1 WRITE SERVO

PARAMETER
478

000043 W400.02 1000.14 W400.03
(000267)
Waiting for Axis 1 Servo Parameter
Axis 1 Write Transferring
Received
000044 W400.04 1000.12 1000.14 W400.05
(000270)
Waiting for Axis Axis 1 Axis 1 Servo Parameter
1 Write End Error Flag Transferring

000045 W400.02 1000.12 W400.06
(000274)
Waiting for Axis 1
Received
W400.04 1522.00

Axis 1 Write
End
W400.01 W400.03 W400.06 W400.02 Waiting for Axis 1 Write
000046 Received
(000280)
Servo Parame- Received Error End
ter Write
W400.02
Waiting for Axis 1

Write Received
Waiting for Axis 1 Write
000047 W400.03 W400.05 W400.06 W400.04
End
(000285)
W400.04
Waiting for Axis 1

Write End
Switch Monitoring Units
000048
(000290)
CF113 MOV [OP1]
(021) [OP2]
Axis 1 Monitor Type
P_On #00B8
Always ON Flag
15
A200.15 W202.01 W203.01 W210.00 Position Control Monitor

000049
(000292)
P_First_Cycle_ Axis 1 Speed Axis 1 Torque
Task Control Control Command
Initial Task Command Reception Complete
Execution Flag Reception
W201.01 Complete
Axis 1 Movement
Command Recep-
tion Complete
W204.02
Axis 1 Decelera-
tion Stop Recep-
tion Complete
W205.02
Axis 1 Emergency
Stop Reception
Complete
W210.00
Position Control Monitor

Speed Control Monitor
000050 W202.01 W201.01 W203.01 W204.02 W205.02 W210.01
(000300)
Axis 1 Speed Con- Axis 1 Axis 1 Torque Axis 1 Axis 1 Emergency
trol Command Re- Movement Control Deceleration Stop Reception
ception Complete Command Command Stop Complete
W210.01 Reception Reception Reception
Complete Complete Complete
Speed Control Monitor

Torque Control Monitor
000051 W203.01 W201.01 W202.01 W204.02 W205.02 W210.02
(000307)
Axis 1 Torque Con- Axis 1 Axis 1 Speed Axis 1 Axis 1 Emergency
trol Command Re- Movement Control Deceleration Stop Reception
ception Complete Command Command Stop Reception Complete
W210.02 Reception Reception Complete
Complete Complete
Torque Control Monitor
479
[OP1]
000052 W210.00 MOVL
Axis 1 Monitor 1
(498)
(000314) [OP2]
Position Control 1010 Axis 1 Feedback Speed;
Monitor (command units/s)
D1020
MOVL [OP1]
(498) Axis 1 Monitor 2
[OP2]
1012 Axis 1 Torque Command
D1022 (%)
[OP1]
000053 W210.01 *L
[OP2]
(421)
Speed Control &2048 [OP3]
Monitor 1010
D1512
/L [OP1]
(431) [OP2]
[OP3]
D1512 Axis 1 Feedback Speed;
&1200 (command units/s)
D1020
MOVL [OP1]
[OP2]
1012 Axis 1 Torque Command
D1022 (%)
W210.02 MOVL [OP1]

000054 Axis 1 Monitor 1
(498)
(000321) [OP2]
Torque Control 1010 Axis 1 Feedback Speed;
Monitor D1020 (command units/s)
/L [OP1]
[OP2]
1012 [OP3]
&1000 Axis 1 Torque Command
(%)
D1022
480
SECTION 12
Troubleshooting
This section provides information on troubleshooting errors that may occur, including details on the meaning of indicator
displays and error codes, and the procedures required to reset errors in the Unit or axes.
12-1 Overview of PCU Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 482

12-2 Troubleshooting Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 486
12-3 LED Error Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 487
12-3-1 Error Indicators at Powerup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 487
12-3-2 Error Display for CPU Unit Errors. . . . . . . . . . . . . . . . . . . . . . . . . . 488
12-3-3 Error Display for PCU Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 488
12-3-4 Error Display for MECHATROLINK Communications Errors . . . . 489
12-3-5 Error Display for PCU Settings and Operations. . . . . . . . . . . . . . . . 489
12-3-6 Error Display for MECHATROLINK Slave Station Device Errors . 490
12-4 Error Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 490
12-4-1 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 490
12-4-2 List of Error Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 491
12-5 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 503
12-5-1 Initial Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 503
12-5-2 Troubleshooting during PCU Operations . . . . . . . . . . . . . . . . . . . . . 504
12-5-3 Troubleshooting Communications Errors. . . . . . . . . . . . . . . . . . . . . 506
12-6 Error Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 508
12-6-1 Resetting Unit Common Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . 508
12-6-2 Resetting Individual Axis Errors and Warnings . . . . . . . . . . . . . . . . 509
12-6-3 Restarting the PCU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 510
12-7 CPU Unit Error Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 510
481
Overview of PCU Errors Section 12-1
12-1 Overview of PCU Errors

The PCU detects errors that occur in the PCU, MECHATROLINK communica-
tions, or the MECHATROLINK slave device and sends notification of the error
to the CPU Unit.
The errors that are detected by the PCU can be divided broadly into problems
common to the PCU and those in each of the controlled axes. The CPU Unit
is notified of any errors according to the cause of the detected error and its
location, as shown in the following table.
Category Source of Error/ Cause of error Notifica- Interface
error warning tion from area
Errors at CPU Unit PCU MECHA- PCU set- MECHA- PCU
powerup errors internal TROLINK tings/ TROLINK
(initializa- errors communi- opera- slave
tion cations tion device
errors) errors errors errors
Unit com- PCU Error Causes Causes Causes Causes Causes Does not Unit Error Common
mon Unit com- Unit com- Unit com- Unit com- Unit com- cause Unit Flag, Unit Operating
mon error mon error mon error mon error mon error common error code Memory
error Area
Axis errors PCU Error Does not Does not Does not Causes Causes Does not (Axis) Axis Oper-
cause axis cause axis cause axis axis error axis error cause axis Error Flag, ating Input
error error error error Axis error Memory
code Areas
MECHA- Error Does not Does not Does not Causes Causes Causes
TROLINK cause axis cause axis cause axis axis error axis error axis error
slave error error error
device
Warning Does not Does not Does not Does not Does not Causes (Axis)
cause axis cause axis cause axis cause axis cause axis axis error Warning
error error error error error Flag, Axis
error code
Note (1) MECHATROLINK communications errors are either related to all commu-
nications or occur in individual axes, and are notified either as Unit com-
mon errors or as axis errors.
(2) The PCU settings/operation errors are caused due to operations either
common to the PCU or in each axis, and are notified either as Unit com-
mon errors or as axis errors.
The following diagram shows the operation error notification.
Common Operating
12 CPU Unit PCU Servo Drive
Memory Area
Word n+15 MECHATROLINK
Unit Error Flag
Errors common to PCU

Word n+21 Unit error code
Axis Operating Input 12 11

Memory Areas
Word b
Warning Flag
Error Flag
Errors/warnings occurring in each axis
Word b+4 Axis error code

b = Beginning word of Axis Operating Input Areas specified in Common Parameters + (Axis No. − 1) × 25
If an error occurs, the PCU operates according to the following table depend-
ing on the cause of the detected error.
482
The errors common to the PCU can be cleared by setting the UNIT ERROR
RESET Bit in the Common Operating Memory Area, and errors that occur in
axes are cleared by setting the ERROR RESET Bit in the Axis Operating Out-
put Memory Areas.
Operation Cause of error Status after error ERROR
after error RESET
Errors at CPU Unit PCU inter- MECHA- PCU Set- MECHA- MECHA- Servomo-
powerup errors nal errors TROLINK tings/oper- TROLINK TROLINK tor carry-
(initializa- communi- ation slave communi- ing current
tion errors) cations errors device cations
errors errors
System Causes Does not Causes Does not Does not Does not Connection Servomo- Not possi-
stopped PCU opera- cause PCU PCU opera- cause PCU cause PCU cause PCU released. tor not car- ble
tion on the operation tion on the operation operation operation rying
left on the left left on the left on the left on the left current
(See note
2.) (Servo
OFF)
Connection Does not Does not Does not Causes Causes Does not Connection Servomo- Not possi-
released cause PCU cause PCU cause PCU PCU opera- PCU opera- cause PCU released. tor not car- ble
suddenly operation operation operation tion on the tion on the operation rying
on the left on the left on the left left left on the left current
(See note
2.) (Servo
OFF)
Connection Does not Causes Does not Does not Does not Does not Connection Servomo- Possible
released cause PCU PCU opera- cause PCU cause PCU cause PCU cause PCU released. tor not car- only for
after decel- operation tion on the operation operation operation operation rying CPU Unit
eration stop on the left left on the left on the left on the left on the left current monitor
(See note errors.
2.) (Servo
OFF)
Servo OFF Does not Does not Does not Does not Does not Causes Connection Servomo- Possible
cause PCU cause PCU cause PCU cause PCU cause PCU PCU opera- not tor not car-
operation operation operation operation operation tion on the released. rying
on the left on the left on the left on the left on the left left current
(Servo
OFF)
Emergency Does not Does not Does not Does not Does not Causes Connection Maintains Possible
stop cause PCU cause PCU cause PCU cause PCU cause PCU PCU opera- not previous
operation operation operation operation operation tion on the released. status
on the left on the left on the left on the left on the left left
Decelera- Does not Does not Does not Causes Causes Causes Connection Maintains Possible
tion stop cause PCU cause PCU cause PCU PCU opera- PCU opera- PCU opera- not previous (See note
operation operation operation tion on the tion on the tion on the released. status 4.)
on the left on the left on the left left left left
Maintains Does not Does not Does not Causes Causes See note 1. Maintains Maintains Possible
cause PCU cause PCU cause PCU PCU opera- PCU opera- previous previous
operation operation operation tion on the tion on the status status
on the left on the left on the left left left
Note (1) If a warning occurs in a MECHATROLINK slave device, the Warning Flag
will turn ON and operation will continue.
(2) When a connection is released by the PCU, the Servo Drive will be put in
the Servo OFF state.
(3) The operations and status for MECHATROLINK slave device errors
above indicate the PCU operation (i.e., the command sent to the slave
device when an error occurs). The operation of the MECHATROLINK
slave device in which the error occurred depends on the device's specifi-
cations.
(4) MECHATROLINK communications errors that occur in individual axes
cannot be cleared by setting the AXIS ERROR RESET Bit in the Axis Op-
erating Output Memory Areas. (For details, refer to Errors in MECHA-
TROLINK Communications in this section.)
If two or more errors occur at the same time, the errors are processed in the
order of priority starting from the most important error, as shown in the follow-
ing table, and the error codes are refreshed.
483
If two or more errors of the same priority level occur at the same time, the
error status of the error that was detected first will be maintained (the error
code for the error that was detected first will be held).
Category PCU operation if error Priority Details
occurs level
Unit common System stopped High
errors Connection released sud-
denly
Connection released after
deceleration stop
Individual axis MECHATROLINK communi- If a Unit common error
error cations error (See note.) occurs while an individ-
Servo OFF ual axis error has
Emergency stop occurred, the status of
Deceleration stop Low the Error Flag and axis
Operation continues error code for the axis
error will be held.
Note MECHATROLINK communications errors that occur in individual axes are

processed in order of highest priority among the errors that occur in each
axis. (For details, refer to Errors in MECHATROLINK Communications in this
section.)
The PCU functions are limited when an error occurs, as follows:
Error Functions that can be Functions that cannot be
performed performed
Unit common errors • UNIT ERROR RESET • Establishing connection
(Unit Error Flag ON • WRITE DATA (CONNECT Bit ON)
in the Common • READ DATA
Operating Memory
Area) • SAVE DATA
• Releasing connection (CON-
NECT Bit OFF)
Axis error • ERROR RESET • ABSOLUTE/RELATIVE
(Error Flag ON in the • SERVO UNLOCK MOVEMENT (with INTER-
Axis Operating Input • WRITE SERVO PARAME- RUPT FEEDING)
Memory Area) TER (See note.) • ORIGIN SEARCH
• READ SERVO PARAME- • ORIGIN RETURN
TER (See note.) • PRESENT POSITION PRE-
• SAVE SERVO PARAME- SET
TER (See note.) • JOG
• Switching between Monitor • DEVIATION COUNTER
type 1 and 2. RESET
For details on MECHA- • Changing override
TROLINK communications • DECELERATION STOP
errors, refer to Errors in • SERVO LOCK
MECHATROLINK Communi-
• SPEED CONTROL
cations in this section.
• TORQUE CONTROL
• DEVICE SETUP
• WRITE SERVO PARAME-
TER (See note.)
• READ SERVO PARAME-
TER (See note.)
• SAVE SERVO PARAMETER
• EMERGENCY STOP (See
note.)
Note For PCUs with unit version 1.2 or earlier, parameters cannot be read, written,
or saved when there is an axis error. Attempts to execute these commands
484
will be ignored. For PCUs with unit version 1.3 or later, parameters can be
read, written, or saved even when there is an axis error.
Functions that cannot be performed during errors can be performed after exe-
cuting ERROR RESET to clear the error.
Errors in MECHATROLINK Communications

The following errors are MECHATROLINK communications errors that occur
in individual axes.
• Synchronous Communications Alarm (axis error code: 3010 hex)
• Communications Alarm (axis error code: 3011 hex)
• Command timeout (axis error code: 3012 hex)
These errors cannot be cleared using the AXIS ERROR RESET Bit in the
Axis Operating Output Memory Areas.
These errors are related to the interface between the PCU and Servo Drive
and are, therefore, given the highest priority in error processing of individual
axis errors.
If these errors occur, the PCU will execute DECELERATION STOP for the cor-
responding axis (Servo Drive operation will depend on the stop method that is
specified to be used when alarms occur in the Servo Drive) and operation of
the axis will be prohibited.
To clear this error, stop MECHATROLINK communications (release connec-
tion) and then execute CONNECT again.
PCU Operation when CPU Unit Load Is Turned OFF

When the CPU Unit turns OFF the load, the PCU decelerates the active axis
to a stop and releases the MECHATROLINK communications connection.
After recovering from the load OFF status, reestablish the MECHATROLINK
communications connection by turning the CONNECT Bit OFF and then ON
again.
Warnings The MECHATROLINK slave device warnings that occur indicate that an error
will occur if operation is continued without correcting the problem.
The type of warning and detection conditions depend on the connected
MECHATROLINK slave device (Servo Drive).
When the PCU detects a warning for the MECHATROLINK slave station
device, the PCU notifies the CPU Unit, by turning ON the Warning Flag for the
corresponding axis, and stores the warning code in the axis error code.
When a warning is detected, the Unit continues operation unchanged.
When a warning is detected and then the associated error occurs for the
same axis, the Error Flag turns ON and the PCU performs error processing.
The axis error code will be overwritten by the error code for the error that has
occurred.
485
Troubleshooting Procedure Section 12-2
Timing Chart for Axis Errors and Warnings
ERROR RESET Bit

(word a, bit 12)
Warning Flag
(word b, bit 11)
Error Flag
(word b, bit 12) The Busy Flag remains ON for at
Busy Flag least one cycle time when ERROR
(word b, bit 13) RESET is executed.
Axis error code 0000 4096 (Hex) 0000 4096 (Hex) 40E6 (Hex) If the Error Flag turns ON while the
(word b+4) Warning Flag is already ON, the axis
(Example) Communications Communications error code will be overwritten.
Communications warning warning error
Note If an axis warning occurs (Warning Flag = 1), the PCUs’ command response
time will be delayed due to the warning processing. The PCU processing time
required from receiving a command from the CPU Unit until the command is
sent using MECHATROLINK communications is one MECHATROLINK com-
munications cycle if an axis warning has not occurred, and three MECHA-
TROLINK communications cycles if an axis warning has occurred. If the
machine's operation is affected by the PCU's command response time, clear
the axis warning status using ERROR RESET or disable the warnings using
the Servo Drive settings.
For details on the PCU's command response time, refer to Command
Response Time in Appendix A Performance Characteristics.
12-2 Troubleshooting Procedure

The basic flow of troubleshooting errors that occur in the PCU is as follows:
PCU User application
Error occurs
Operation when
error occurs
Error Flag turns ON Error evasion operation

Error code stored in application (as Cause of error
Notification required) isolated using PCU 12-3 LED Error Indicators
display
Cause of error
investigated Cause of error
determined using 12-4 Error Codes
error code
Countermeasure
Cause of error determined according 12-4 Error Codes
removed to each error cause 12-5 Troubleshooting
ERROR RESET ERROR RESET 12-6 Error Reset

executed ERROR executed
RESET
Recovery
486
LED Error Indicators Section 12-3
12-3 LED Error Indicators

The status of the LED indicators on the front of the PCU can be used to diag-
nose the following errors.
NCF71
MLK RUN
ERC
ERH
ERM
RUN: The PCU is operating.

ERC: An error has occurred in the PCU.
ERH: An error has occurred in the CPU Unit.
ERM: An error has occurred in the MECHATROLINK device.
MLK: Indicates MECHATROLINK communications status
The indicator displays indicate the first error that is detected.
If the cause of an error has been cleared using ALARM RESET when two or
more errors have occurred at the same time, the PCU will detect the next error
with the highest priority and the indicator display will switch to show the new
error. If multiple errors occur with the same priority level, the error for the
smaller axis number will be displayed first.
12-3-1 Error Indicators at Powerup

Indicator status Category Probable cause of Countermeasure
RUN ERC ERH ERM MLK error
Not lit Not lit Not lit Not lit Not lit CPU Unit power Power is not being sup- Check the power sup-
interruption plied correctly to the ply voltage being sup-
CPU Unit. plied to the CPU Unit
and make sure the cor-
rect power is being
supplied.
Unit system The PCU system is not Make sure that the
error operating correctly. PCU is installed cor-
rectly, and turn the
power OFF and ON
again. If the error
occurs again, replace
the PCU.
Not lit Not lit Lit Not lit Not lit Setting error The PCU's unit number After changing the unit
is the same as another number, cycle the
Unit. power and create the I/
O tables from the CPU
Unit.
The PCU is not regis- Create the I/O tables
tered in the CPU Unit's for the CPU Unit again.
I/O tables, or the regis-
tered status does not
match.
Data transfer The transfer of data Make sure that the
error between the PCU and PCU is installed cor-
CPU Unit could not be rectly, and turn the
executed correctly. power OFF and ON
again. If the error
the PCU or CPU Unit.
487

Not lit Lit Not lit Not lit Not lit Unit malfunction The internal circuits of Replace the PCU.
the PCU have malfunc-
tioned.
Not lit Lit Lit Not lit Not lit Unit recognition The CPU Unit has not Replace the PCU.
error recognized the PCU
correctly.
12-3-2 Error Display for CPU Unit Errors

Lit Flashing Lit Not lit Not lit CPU Unit error The CPU Unit system Make sure that the
is not operating cor- CPU Unit and PCU are
rectly. installed correctly, and
A PLC bus operation turn the power OFF
error has occurred. and ON again. If the
error occurs again,
replace the CPU Unit.
A fatal error has Remove the cause of
occurred in the CPU the CPU Unit stopping.
Unit.
The indicator displays shown in the above table indicate errors that have
occurred in the CPU Unit. Check the Unit's installation status and causes for
the errors in the CPU Unit.
12-3-3 Error Display for PCU Errors

Lit Lit Not lit Not lit Not lit Data corrupted The data saved in the Transfer and save the
PCU is corrupted. PCU data again, and
then restart the Unit or
turn the power OFF
and ON again.
Unit error An error has occurred Replace the PCU.
in the internal circuits
of the PCU.
The indicator displays shown in the above table indicate that data in the PCU
is corrupted or the PCU's internal circuits have malfunction.
Data may be corrupted if the PCU power is interrupted while data is being
saved to the PCU's internal flash memory. Use PCU's SAVE DATA or the CPU
Unit's simple backup function to restore (read) data saved in the Memory
Card or perform another process to recover saved data.
If the error occurs again, the probable cause is a faulty PCU. Replace the
PCU.
488
12-3-4 Error Display for MECHATROLINK Communications Errors

Lit Flashing Not lit Lit Undeter- Communica- MECHATROLINK com- Check the connection
mined tions error munications cannot be of the MECHA-
performed correctly. TROLINK communica-
tions cable.
Scan list mis- The MECHATROLINK Check whether the set-
match slave station device tings for the MECHA-
corresponding to the TROLINK
axis number regis- communications line
tered in the PCU scan connection or slave
list is not connected. device's station
address match the set-
tings in the scan list.
This display occurs when MECHATROLINK communications are started (con-

nection established), or during communications when MECHATROLINK com-
munications are not connected correctly.
Check for disconnected, broken, or faulty contact in the MECHATROLINK
communications cables, and check the status (power interruption, etc.) of the
connected MECHATROLINK slave station devices.
Also check whether the actual connection status matches the connections
registered in the scan list.
Communications errors, scan list mismatches, or other error types, and the
axis in which the error has occurred can be checked using the PCU Error
Flags and error codes.
12-3-5 Error Display for PCU Settings and Operations

Lit Flashing Not lit Not lit Undeter- Illegal operation An operation command Check the timing of the
mined that cannot be exe- last command and
cuted has been sent to change the operation
the PCU. sequence.
Illegal data Illegal parameters have Check the contents of
been set for the PCU, the last command, and
or an operation com- correct the contents of
mand has been sent the data.
with illegal parameters.
The indicator display shown in the above table indicates that illegal data is set
in the PCU parameters or an illegal operation has been attempted, such as
multistart.
This error will occur if a problem has occurred in the use of the PCU, which
requires the PCU settings or user program to be corrected.
The error types, and the axis in which the error has occurred can be checked
using the PCU Error Flags and error codes.
489
Error Codes Section 12-4
12-3-6 Error Display for MECHATROLINK Slave Station Device Errors

Lit Flashing Not lit Flashing Lit External sensor An error has occurred Check the machine
input due to external sensor status and remove the
input detection. cause of the error.
Servo Drive The main circuit power Check the power sup-
error of the Servo Drive has ply voltage being sup-
been turned OFF. plied to the Servo
Drive's main circuit
power supply and
make sure the correct
power is being sup-
plied.
The indicator display shown in the above table indicates that the limit input
has been detected, Servo Drive's main circuit power supply is OFF, or an error
specific to the Servo Drive or another error in the machine or Servo Drive has
occurred.
Check whether the cause of the error is a machine error, a faulty sensor, dis-
connection, or Servo Drive error.
The error types, and the axis in which the error has occurred can be checked
using the PCU Error Flags and error codes.
12-4 Error Codes

12-4-1 Overview
When an error occurs in the PCU, an Error Flag is turned ON and an error
code is input in the Common Operating Memory Area or the Axis Operating
Input Memory Areas.
The area in which the Error Flag is turned ON and the input error code indi-
cate the type of error and in which axis the error occurred.
Unit error code n+21 --- Stores the error code when a Unit common
error occurs.

Error information in this area indicates errors that occur in the PCU or that are
not specific to a particular axis.
The Unit common error code is indicated as 00@@ hex.
If the Unit Error Flag turns ON, error processing must be performed for the
PCU or the whole system including the PCU.
Error Flag b 12 0: No error
1: Error has occurred
Axis error code b+4 --- Stores the error code for the error that
occurred in an individual axis.
490

Error information in this area indicates errors that have occurred in individual
axes.
The Axis error code is indicated as 3@@@ hex or 4@@@ hex.
If an Axis Error Flag turns ON, error processing must be performed for the
corresponding axis.
Determine the cause of the error using the indicator display and error code,
isolating the location of the error as either in the PCU or in the Servo Drive/
Machine.
12-4-2 List of Error Codes

PCU Common Errors
Indicator status Category Error Error Probable Clearing method Operation
name code cause after error
RUN ERC ERH ERM MLK
Errors at powerup
Not lit Not lit Not lit Not lit Not lit CPU Unit Power --- Power is not Check the power supply ---
power interrup- being supplied voltage being supplied to
interruption correctly to the CPU Unit and make
tion the CPU Unit. sure the correct power is
being supplied.
Unit sys- Watch- --- The PCU sys- Make sure that the PCU System
tem error dog timer tem is not is installed correctly, and stopped
operation operating cor- turn the power OFF and
rectly. ON again. If the error
the PCU.
Not lit Not lit Lit Not lit Not lit Setting Unit num- --- The PCU's After changing the unit System
error ber error unit number is number, cycle the power stopped
the same as and create the I/O tables
another Unit. from the CPU Unit.
Unit rec- --- The PCU is Create the I/O tables for System
ognition not registered the CPU Unit again. stopped
incom- in the CPU
plete Unit's I/O
tables, or the
registered sta-
tus does not
match.
Data Data --- The transfer of Make sure that the PCU System
transfer transfer data between is installed correctly, and stopped
error error the PCU and turn the power OFF and
CPU Unit at ON again. If the error
initialization of occurs again, replace
the PCU could the PCU or CPU Unit.
not be exe-
cuted cor-
rectly.
Not lit Lit Not lit Not lit Not lit Unit mal- Common --- The internal Replace the PCU. System
function memory circuits of the stopped
error PCU have
malfunc-
tioned.
Not lit Lit Lit Not lit Not lit Unit rec- Unit rec- --- The CPU Unit Replace the PCU. System
ognition ognition has not recog- stopped
error error nized the PCU
correctly.
The above errors for which the RUN indicator is not lit occur when starting
PCU operations, such as turning ON the power or restarting the Unit. The
PCU system does not start correctly if any of these errors occurs, so the Error
Flags and error codes cannot be checked from the CPU Unit.
491

RUN ERC ERH ERM MLK
CPU Unit errors
Lit Flash- Lit Not lit Not lit CPU Unit CPU fatal 000A An error caus- Remove the cause of Connec-
ing error error ing the CPU the CPU Unit stopping. tion
Unit to stop released
has occurred. after decel-
eration
stop
CPU Unit 000B The CPU Unit Make sure that the CPU Connec-
watchdog system is not Unit and PCU are tion
timer error operating cor- installed correctly, and released
rectly. turn the power OFF and after decel-
ON again. If the error eration
occurs again, replace stop
the CPU Unit.
CPU Unit 000C The cyclic Check the error status of Connec-
monitor refresh from the CPU Unit and per- tion
error the CPU Unit form appropriate error released
to the PCU processing. After restart- after decel-
has stopped. ing the cyclic refresh eration
with the CPU Unit, exe- stop
cute PCU's ERROR
RESET.
Bus error 000D PLC bus oper- Make sure that the CPU Connec-
ation error Unit and PCU are tion
installed correctly, and released
turn the power OFF and after decel-
ON again. If the error eration
occurs again, replace stop
the CPU Unit.
PCU internal errors
Lit Lit Not lit Not lit Not lit Unit error MLK 0026 An error has Replace the PCU. System
device occurred in stopped
error the internal
circuits of the
PCU.
MLK 0030 An error has Check the MECHA- System
device ini- been detected TROLINK communica- stopped
tialization in the tions settings in the
error MECHA- Common Parameters,
TROLINK and then restart the Unit
communica- or turn the power OFF
tions part dur- and ON again. If the
ing PCU error occurs again,
initialization replace the PCU.
processing.
Data cor- Memory 00F1 The data Transfer and save the System
rupted error saved in the PCU data again, and stopped
PCU is cor- then restart the Unit or
rupted. turn the power OFF and
ON again. If the error
the PCU.
492

RUN ERC ERH ERM MLK
MECHATROLINK communications errors
Lit Flash- Not lit Lit Unde- Scan list MLK ini- 0020 The MECHA- Check whether the set- Maintains
ing ter- mismatch tialization TROLINK tings for the MECHA- (Axes that
mined error slave station TROLINK have a
device corre- communications line connection
sponding to connection or slave estab-
the axis num- device's station address lished can-
ber registered match the settings in the not be
in the PCU scan list, and then exe- operated
scan list is not cute CONNECT again. for PCUs
connected. with unit
version 1.2
or earlier.)
Communi- MLK com- 0025 MECHA- Check the connection of Connec-
cations munica- TROLINK the MECHATROLINK tion
error tions error communica- communications cable. released
tions cannot After removing the noise suddenly
be performed or other the cause pre-
correctly, or venting communications,
two or more restart the PCU.
MECHA-
TROLINK
slave station
devices are
using the
same station
number.
493

RUN ERC ERH ERM MLK
PCU settings and operations errors
Lit Flash- Not lit Not lit Unde- Illegal Multistart 0021 An operation The operation com- Maintains
ing ter- operation error command that mand that was sent can-
mined cannot be not be executed. Check
executed has the last command tim-
been sent to ing and change the
the PCU. operation sequence.
FINS 0024 Communica- Check the communica- Connec-
command tions between tions path between the tion
time moni- the computer computer and PLC and released
toring and PCU were remove any problems. after decel-
error interrupted for The Position Control eration
more than 5 s Unit is set to continue stop
after switch- monitoring communica-
ing the CX- tions with the computer.
Motion-NCF Restart the PCU to clear
to an opera- the communications
tion monitor monitoring status.
window.
Illegal Write 0022 An attempt The data transfer for the Maintains
data transfer has been command cannot be
error made for the executed. Check the
PCU to write contents of the last com-
data to an ille- mand, and correct the
gal address, data transfer settings.
or to write
data using an
illegal data
size.
Read 0023 An attempt The data transfer for the Maintains
transfer has been command cannot be
error made for the executed. Check the
PCU to read contents of the last com-
data from an mand, and correct the
illegal data transfer settings.
address, or to
read data with
an illegal data
size.
Transfer 0027 The set value Set and save a transfer Connec-
cycle set- for the transfer cycle set value in the tion
ting error cycle set in Common Parameters released
the PCU's that is suitable for the suddenly
Common number and type of con-
Parameters is nected MECHA-
too small for TROLINK devices and
the number the maximum axis num-
and type of ber, and then restart the
connected PCU.
MECHA-
TROLINK
devices or the
maximum axis
number.
Initializa- 0028 An illegal set When this error occurs, Maintains
tion com- value has the corresponding set-
mon been detected ting in the Common
parame- in the Com- Parameters is set to the
ter check mon Parame- default value (0). After
error ters during executing ERROR
PCU initializa- RESET, transfer and
tion. (See save the correct Com-
note.) mon Parameter setting
and restart the PCU.
Data 0029 An illegal set The transferred set Maintains
transfer value in the value is discarded and
common Common the set value in the Com-
parame- Parameters mon Parameters before
ter check was trans- the transfer is restored.
error ferred to the After executing ERROR
PCU using RESET, transfer the cor-
WRITE DATA. rect Common Parame-
(See note.) ters setting.
Note An error will occur if the scan list contains more than the maximum number of
axes for the CS1W-NC271/NC471 or CJ1W-NC271/NC471.
494

RUN ERC ERH ERM MLK
MECHATROLINK communications errors
Lit Flash- Not lit Lit Unde- Communi- Synchro- 3010 MECHA- Check the connection of Operation
ing ter- cations nous TROLINK the MECHATROLINK stops
mined error communi- communica- communications cable. according
cations tions cannot After removing the to the
alarm be performed cause preventing com- method
correctly with munications, such as used when
the corre- breaks or noise in the the Servo
sponding axis. connection, execute Drive alarm
CONNECT again. occurs.
(The PCU
executes
DECELER-
ATION
STOP.)
Operation
of the cor-
respond-
ing axis is
prohibited.
Communi- 3011 MECHA- Check the connection of Operation
cations TROLINK the MECHATROLINK stops
alarm communica- communications cable. according
tions cannot After removing the to the
be performed cause preventing com- method set
correctly with munications, such as in the
the corre- breaks or noise in the Servo
sponding axis. connection, execute Drive for
CONNECT again. alarms.
(The PCU
executes
DECELER-
ATION
STOP.)
Operation
of the cor-
respond-
ing axis is
prohibited.
Com- 3012 No MECHA- After checking that no Operation
mand tim- TROLINK error has occurred in the stops
eout communica- MECHATROLINK device according
tions connected to the corre- to the
response has sponding axis, execute method
been received CONNECT again. used when
from the cor- If this error occurs when the Servo
responding transferring a Servo Drive alarm
axis. Parameter to the R88D- occurs.
When con- WN@-ML2 Servo Drive, (The PCU
nected to an check whether the Servo executes
R88D-WN@- Parameter is being DECELER-
ML2 Servo transferred with an ille- ATION
Drive, this gal parameter size. STOP.)
error will occur Operation
if a Servo of the cor-
Parameter is respond-
transferred ing axis is
with an illegal prohibited.
parameter
size.
495

RUN ERC ERH ERM MLK
PCU settings and operation errors
Lit Flash- Not lit Not lit Lit Illegal Present 3030 ABSOLUTE Execute ORIGIN Decelera-
ing operation position MOVEMENT SEARCH or PRESENT tion stop
unknown or ORIGIN POSITION PRESET and
error RETURN was after defining the origin,
executed execute the previously
before the ori- unsuccessful command
gin was estab- again.
lished.
Servo 3040 A command to Execute the SERVO The com-
unlock start the axis LOCK and then execute mand to
error was executed the previously unsuc- start the
while in Servo cessful command again. axis is
unlock status. ignored
and the
Servo
Drive
remains in
Servo
unlock sta-
tus.
Multistart 3050 An attempt After editing the ladder Decelera-
error was made to program so that multiple tion stop
execute two or command bits do not
more of the turn ON at the same
following com- time for the same axis,
mands at the execute the previously
same time for unsuccessful command
the same axis. again.
ABSOLUTE
MOVE-
MENT, REL-
ATIVE
MOVE-
MENT, ORI-
GIN
SEARCH,
ORIGIN
RETURN,
PRESENT
POSITION
PRESET,
JOG, SPEED
CONTROL,
TORQUE
CONTROL,
or DEVICE
SETUP
An attempt After editing the ladder
was made to program so that com-
execute one of mand bits do not turn
the following ON for a busy axis, exe-
commands for cute the previously
a busy axis. unsuccessful command
ORIGIN again.
SEARCH,
ORIGIN
RETURN,
PRESENT
POSITION
PRESET,
JOG, or
DEVICE
SETUP
496

RUN ERC ERH ERM MLK
Lit Flash- Not lit Not lit Lit Illegal Position 3060 An attempt Edit the position com- Decelera-
ing data designa- was made to mand value to be within tion stop
tion error execute REL- the positioning range
ATIVE MOVE- and execute the com-
MENT using a mand again.
position com-
mand value
for the target
position that is
outside the
positioning
range.
Speed 3061 An attempt Edit the speed com- Decelera-
designa- was made to mand value to be within tion stop
tion error execute one of the setting range and
the following execute the command
commands again.
with a nega-
tive value as
the speed
command
value.
ABSOLUTE
MOVE-
MENT, REL-
ATIVE
MOVE-
MENT, ORI-
GIN
SEARCH,
ORIGIN
RETURN,
and JOG
An attempt Edit the speed com-
was made to mand value to be within
execute ORI- the setting range and
GIN SEARCH execute the command
with a speed again.
command
value of 0.
Speed 3062 An attempt Edit the speed com- Decelera-
control was made to mand value to be within tion stop
speed execute the setting range and
designa- SPEED CON- execute the command
tion error TROL using a again.
command
value that
exceeds the
speed com-
mand range.
Torque 3063 An attempt Edit the torque com- Decelera-
command was made to mand value to be within tion stop
value execute the setting range and
error TORQUE execute the command
CONTROL again.
using a com-
mand value
that exceeds
the torque
command
range.
497

RUN ERC ERH ERM MLK
Lit Flash- Not lit Not lit Lit Illegal Option 3064 An attempt Edit the option com- Decelera-
ing data command was made to mand value to be within tion stop
value 1 execute the setting range and
error SPEED/ execute the command
TORQUE again.
CONTROL
using a com-
mand value
that exceeds
the command
range in
option com-
mand value 1.
Option 3065 An attempt Edit the option com- Decelera-
command was made to mand value to be within tion stop
value 2 execute the setting range and
error SPEED CON- execute the command
TROL using a again.
command
value that
exceeds the
command
range in
option com-
mand value 2.
Override 3070 An attempt Edit the override value to Decelera-
was made to be within the setting tion stop
execute the range and execute the
override using command again.
an override
value outside
the setting
range.
Initializa- 3090 An illegal set When this error occurs, Decelera-
tion axis value has the corresponding set- tion stop
parame- been detected ting in the Axis Parame-
ter check in the Axis ters is set to the default
error Parameters value (0). After executing
during PCU ERROR RESET, transfer
initialization. the correct Axis Parame-
ter.
Data 3091 An illegal set The transferred set Decelera-
transfer value in the value is discarded and tion stop
axis Axis Parame- the set value in the Axis
parameters was Parameters before the
ter check transferred to transfer is restored. After
error the PCU using executing ERROR
WRITE DATA. RESET, transfer the cor-
rect Axis Parameter.
Data 3099 An attempt The transferred set Decelera-
setting was made to value is discarded and tion stop
error transfer data the set value for the
for an illegal Servo Parameter before
parameter the transfer is restored.
number and After executing ERROR
outside the RESET, transfer the cor-
setting range rect Servo Parameter.
using SERVO
PARAMETER
TRANSFER.
A function not Check the commands
supported by for the relevant axis and
SMARTSTEP correct the ladder pro-
Junior Servo gram so that only sup-
Drives (e.g., ported functions are
torque control used.
commands)
was executed.
498

RUN ERC ERH ERM MLK
MECHATROLINK Slave Station Device Errors
Lit Flash- Not lit Flash- Lit External Forward 3000 A forward After executing ERROR Operation
ing ing sensor rotation rotation limit RESET, perform move- stops
input limit input input signal ment in the reverse rota- according
was detected. tion direction. to the
Servo
Drive's
specified
stop
method for
limit inputs.
(The PCU
executes
EMER-
GENCY
STOP.)
Reverse 3001 A reverse After executing ERROR Operation
rotation rotation limit RESET, perform move- stops
limit input input signal ment in the forward rota- according
was detected. tion direction. to the
Servo
Drive's
specified
stop
method for
limit inputs.
(The PCU
executes
EMER-
GENCY
STOP.)
Forward 3002 The forward After checking the posi- Operation
software software limit tion command value and stops
limit was reached executing ERROR according
or exceeded RESET, execute a to the
during axis movement command to Servo
movement. move the axis to a cor- Drive’s
rect position within the specified
software limit range. stop
method for
limit inputs.
(The PCU
executes
EMER-
GENCY
STOP.)
Reverse 3003 The reverse After checking the posi- Operation
software software limit tion command value and stops
limit was reached executing ERROR according
or exceeded RESET, execute a to the
during axis movement command to Servo
movement. move the axis to a cor- Drive's
rect position within the specified
software limit range. stop
method for
limit inputs.
(The PCU
executes
EMER-
GENCY
STOP.)
Emer- 3004 The emer- Turn OFF the emer- Servo OFF
gency gency stop gency stop input signal,
stop sig- input signal reset the axis error, and
nal input (an external repeat the operation
control input from locking the Servo.
signal) was (This error will not occur
detected if the EMERGENCY
when the STOP command in the
Servo was Axis Operating Memory
locked or an Area is used.)
attempt was
made to lock
the Servo
while the
emergency
stop input sig-
nal was ON.
499

RUN ERC ERH ERM MLK
MECHATROLINK Slave Station Device Errors
Lit Flash- Not lit Flash- Lit Origin No origin 3020 The origin Check the origin proxim- Operation
ing ing search proximity proximity input ity input signal wiring stops
error or origin signal could and the signal's alloca- according
input sig- not be tion setting in the Servo to the
nal detected Parameters. Check that Servo
within the the dog width of the ori- Drive's
range of both gin proximity input signal specified
limit input sig- is no shorter than the stop
nals during an communications cycle. method for
origin search. limit inputs.
(The PCU
After detecting Check that the origin executes
the origin input signal selection in EMER-
proximity input the PCU's Axis Parame- GENCY
signal during ters is correct. When the STOP.)
an origin external latch signal is
search opera- selected as the origin
tion, a limit input signal, check the
input signal external latch signal wir-
was detected ing and the allocation
before detect- setting in the Servo
ing the origin Parameters.
input signal.
Limit input 3021 The limit input Check the limit input sig- Emer-
already signal in the nal wiring for the corre- gency stop
ON origin search sponding direction and (the opera-
direction has check the limit input sig- tion com-
already been nal's allocation setting in mand is
input during a the Servo Parameters. not exe-
single-direc- cuted)
tion origin
search.
Limit input 3022 Origin search Check the limit input sig- Emer-
signal ON cannot be nal wiring in both direc- gency stop
in both executed due tions and check the limit (the opera-
directions to limit input input signal allocation tion com-
signals being settings in the Servo mand is
input in both Parameters. not exe-
directions. cuted)
Servo Drive 3080 The main cir- Check the power supply Servo OFF
Drive main circuit power of voltage being supplied to
error cuit OFF the Servo the Servo Drive's main
error (See Drive has circuit power supply and
note.) been turned make sure the correct
OFF. power is being supplied.
MECHA- --- 4000 + The error processing depends on the Operation
TROLINK Alarm device. stops
device code for according
alarm each to the
device specified
method
when the
Servo
Drive alarm
occurs.
(The PCU
executes
DECELER-
ATION
STOP.)
Note For PCUs with unit version 1.2 or earlier, driver main circuit OFF errors can be
detected regardless of whether the axis is servo-locked. For PCUs with unit
version 1.3 or later, driver main circuit OFF errors will be detected only when
the axis is servo-locked and will not be detected when the axis is not servo-
locked.
500
Individual Axis Warnings

RUN ERC ERH ERM MLK
MECHATROLINK slave station device
Lit Not lit Not lit Not lit Lit MECHA- --- 4000 + The error processing depends on the Operation
TROLINK Warn- device. continues
device ing
warning code for
each
device
MECHATROLINK Device Alarms (Alarm Code 4@@@ Hex)

When an alarm or warning occurs for one of the connected MECHATROLINK
slave station devices, the PCU turns ON the Error Flag or Warning Flag and
returns the following error code.
G5-series Servo Drives/G-series Servo Drives
Error code: 4@@@ hex
The numbers in the boxes of the error codes displayed for alarms are given as
decimal numbers for the Servo Drives and as hexadecimal numbers for the
Position Control Units.
The same numbers are given in the boxes of the error codes displayed for
warnings for the Servo Drives and the Position Control Units.
Example: Position deviation overflow alarm (deviation counter overflow)
Servo Drive alarm display: A.24
The PCU's error code in this example is 4018.
Example: Battery warning
Servo Drive warning display: A.92
For details on alarm display and warning display numbers, and the difference
between Servo Drives and Position Control Units, refer to the list in Appendix
D List of Error Codes.
W-series and SMARTSTEP Junior Servo Drives
Error code: 40@@ hex
The boxes (@@) indicate the alarm/display number for the Servo Drive.
When using an R88D-WN@-ML2 W-series Servo Drive (with built-in MECHA-
TROLINK-II communications), however, only the upper two digits of the dis-
play number's three digits will be displayed.
R88D-WT@ W-series Servo Drive:
Servo Drive alarm display: A.D0
The PCU's error code in this example is 40D0 hex.
R88D-WN@-ML2 W-series Servo Drive:
Position deviation overflow alarm: A.D00
Servo ON position deviation overflow alarm: A.D01
Servo ON speed limit position deviation overflow alarm: A.D02
501
With the R88D-WN@-ML2 W-series Servo Drives, more detailed informa-

tion is provided for position deviation overflow alarms, as shown above, but
only the upper two digits of the alarm code (40D0 hex) are displayed as the
PCU’s error code for any of these alarms.
For details on alarm displays and warning displays in Servo Drives, refer to
the list in Appendix D List of Error Codes.
For details on alarm/warning contents, refer to the operation manual for the
Servo Drive being used.
502
Troubleshooting Section 12-5
12-5 Troubleshooting
This section provides troubleshooting flowcharts when Servo Drive communi-
cations cannot be established or movement is not possible even when move-
ment commands are sent from the ladder program.
12-5-1 Initial Troubleshooting

The following troubleshooting flowchart is for errors that occur during initial
checking.
This flowchart can be used to determine whether the PCU is faulty and cannot
be started.
The Servo Drive cannot communicate.
The Servomotor will not operate in
response to commands.
Y
Is the RUN indicator lit?
Y
Are any other
indicators lit?
N Y
Is the ERH indicator lit?
N
Y N
Is power being supplied to Is the unit number
the PLC correctly? set correctly?
N Y
N
Are the I/O tables
set correctly?
Supply the correct Make sure that the PCU Create the I/O Check whether the See 12-5-2
is installed correctly, Troubleshooting
power supply and turn the power OFF tables for the CPU PCU's unit number is
voltage to the PLC. Unit again. the same as another during PCU
and ON again.
If the problem occurs Operations.
Unit.
again, the probable
cause is a faulty PCU
Unit. Replace the PCU.
503
12-5-2 Troubleshooting during PCU Operations

The following troubleshooting flowchart is for problems that occur after the
PCU has been started (RUN indicator is lit).
Use this flowchart to determine whether the error is a CPU Unit error, a set-
ting or usage problem, or a MECHATROLINK communications error.
An error has occurred while the PCU

is operating.
RUN indicator: Lit
Y
Is the ERH indicator lit?
Y
Is the ERC indicator lit?
Y
Is the ERC indicator
flashing?
Y
Is the MLK indicator lit?
N Y
Are the axis communications status flags
in the Common Operating Memory Area
turned ON?
Is the CONNECT Bit in the

Y
Common Operating Memory N
Area turned ON?
N Is the corresponding axis Y

Axis Operating Memory Areas in
registered in the scan list in the Common Parameters set correctly?
Common Parameters?
SERVO
N Y UNLOCK, DEVIATION
Bit for relative axis = 0 in Axes to COUNTER RESET, EMERGENCY STOP, or
Connect parameter? DECELERATION STOP bit
ON?
Turn ON the The axis is not Correct the scan list With Position Control Units The scan list may not Set the Axis Check the outputs
CONNECT Bit in registered in the scan settings in the PCU's with unit version 2.0 or be enabled. To enable Operating Memory from the user
list in the PCU's Common Parameters. later, all axes with the the scan list, save it in Areas correctly and program to see if they
the Common
Common Parameters. If the scan list has corresponding bit turned the flash memory in then restart the function correctly.
Parameters and Position Control Unit. If there is no problem
Register the axes been changed, save ON in the Axes to Connect the Position Control
start being used in the scan the settings in the Unit and then either Axis operation is not in the user program,
parameter will not be
MECHATROLINK list, and save the PCU's internal flash included in the connection restart the Unit or possible if nothing is the probable cause is
communications. settings in the PCU's memory. Then restart even if they are registered cycle the power specified in the a MECHATROLINK
internal flash memory. the Unit or cycle the in the scan list. supply. settings of the Axis slave station device
Then restart the Unit power and execute Confirm equipment safety, If the problem recurs, Operating Output malfunction. Replace
or cycle the power and CONNECT again. and then turn ON the the Position Control Memory Area. the slave station
execute CONNECT corresponding bit and Unit may be faulty. device and turn ON
again. execute CONNECT again. Replace the Position the power again.
Control Unit.
504
Y
Check the Unit error code.
Has the Memory Error (00F1)
occurred?
Y Y
Check the Unit error code. Has the
Is the ERM indicator lit? MLK Device Initialization Error (0030)
occurred?
N N
Y
Is the ERM indicator
flashing?
SERVO LOCK, Illegal data is set in The limit input was An error in Make sure that the Check the The data saved in An error has
DEVIATION the PCU or an illegal detected or Servo MECHATROLINK PCU is installed MECHATROLINK the PCU is occurred in the CPU
COUNTER RESET, operation was Drive's main circuit communications correctly, and turn communications corrupted. Unit.
executed. Check the power supply is OFF, occurred. the power OFF and settings in Transfer and save Check the error code
EMERGENCY an error specific to at the CPU Unit or
STOP, and DECEL- Unit Error Flag and Check the Error ON again. Common the PCU data again,
Error Flags. Check the Servo Drive or Flag status and If the problem occurs Parameters set in and then restart the the PCU's Unit error
ERATION STOP are another error in the the PCU. Transfer code, and then
given priority over the Unit for which clear the error using again, the probable Unit or turn the
machine or Servo the method shown and save the remove the cause of
other axis com- the Error Flag is ON Drive has occurred. cause is a faulty power OFF and ON the error in the CPU
or the axis error in 12-5-3 PCU Unit. correct data again, again.
mands. Refer to 4- Check the Error Flag and then restart the Unit.
code and clear the status and clear the Troubleshooting Replace the PCU. If the error occurs
7-3 Axis Operating Communications Unit or turn the
error according to error using the again, replace the
Output Memory Errors and the list of power OFF and ON
the method shown in method shown in the PCU.
Area Priority and list of error codes for error codes for the again.
the list of error
add suitable inter- the corresponding corresponding axis If the error occurs
codes. again, replace the
locks to the user axis error code. error code.
program. PCU.
505
12-5-3 Troubleshooting Communications Errors

The following troubleshooting flowchart is for when MECHATROLINK commu-
nications errors occur.
Use this flowchart to determine the cause, such as whether the error is due to
MECHATROLINK communications settings or installation.
An error in MECHATROLINK
communications has occurred.
RUN indicator: Lit
ERC indicator: Flashing
ERM indicator: Lit
Y
Is the Unit Error Flag
turned ON?
N Y
Check the Unit error code. Has an
MLK Initialization Error (0020)
occurred?
Y
Is the Error Flag N
turned ON?
N Check the error code for the Y Y

corresponding axis. Has the Check the Unit error code. Has an
Synchronous Communications Alarm MLK Communications Error
(3010) occurred? (0025) occurred?
N N
Check the error code for the Y

corresponding axis. Has a
Communications Alarm (3011)
occurred?
N
Y
Has the error occurred
Check the error code for the
Y in all axes?
corresponding axis. Has a Command
Timeout (3012) occurred? N
N
Y
Has the error occurred in the
corresponding axis only?
Illegal data is set in Check the Error Flags for No MECHATROLINK If the error has occurred The probable cause is MECHATROLINK
all axes being used, Check the Unit
the PCU or an communications re- in all the axes connected due to the external envi- communications are not
check the axes in which before the specified axis, ronment such as noise Error Flag and Unit
illegal operation was sponse has been re- being performed normally
the MECHATROLINK the probable cause of or an interruption to the due to disconnections, error code again.
executed. communications error ceived from the corre- the error is in the MECHATROLINK de- faulty contacts, or breaks If the problem
Check the Unit Error occurred, and then follow sponding axis. Check communications line vice power supply, pre- in the terminating occurs again, the
Flag and Error the steps in the that no error has occur- between the specified venting the correspond- resistance or
troubleshooting flowchart probable cause is a
Flags. red in the MECHATRO- axis and the immediately ing axis from MECHATROLINK
related to previous (normal) axis. communicating normal- faulty PCU. Replace
Check the Unit for LINK device connected communications cables.
communications again. Check that there are no ly. Check the installation Check the the PCU.
which the Error Flag (MECHATROLINK to the corresponding ax- disconnections, faulty environment and communications
is ON or the axis communications errors is. contacts or breaks in the grounding status of the connection conditions.
error code and clear are given a high level of Release the connection communications cable. MECHATROLINK de- Release the connection
the error according priority among axis and execute CONNECT Release the connection vice for the correspond- and execute CONNECT
errors and are indicated and execute CONNECT ing axis. Release the again to enable the PCU
to the method by the indicator display in again to enable the
again to enable the PCU connection and execute to recover.
shown in the list of order of priority.) PCU to recover. to recover. CONNECT again to en-
error codes. able the PCU to recov-
er.
506
Y
Is the power ON for every
MECHATROLINK slave
station device?
N Are the MECHATROLINK N

communications cables or terminating
resistance loose or disconnected?
Y
Do two or more MECHATROLINK
slave station devices have the same Y Are the communications settings Y
station number? for every MECHATROLINK slave
station device set to 10 Mbps and
32 bytes?
N
N Do the station addresses of the Y
MECHATROLINK slave station devices
match the axis numbers registered in
the scan list?
MECHATROLINK Check the station Turn ON the power Make sure that the Set the Reset the station Check that an error
communications are not number setting switch on
number of the to every MECHATROLINK MECHATROLINK the slave station device has not occurred in
being performed
MECHATROLINK MECHATROLINK communications slave station device or change the scan list the
normally due to settings in the PCU's
disconnections, faulty slave station device, slave station device. cables and communications MECHATROLINK
Common Parameters,
contacts, or breaks in the and set a unique Release the terminating settings to 10 Mbps making sure that the slave station device
terminating resistance or number for each connection and then resistance are and 32 bytes, and station numbers of the that cannot be
MECHATROLINK MECHATROLINK slave
device. execute CONNECT inserted securely so then cycle the station devices match cleared.
communications cables. Restart the Unit or again to enable the that they are locked. power. the axis numbers Example: Servo
Check the registered in the scan
cycle the power, PCU to recover. Release the Release the Drive encoder
communications list.
connection conditions. and then execute connection at the connection at the If the scan list has been communications
Restart the Unit or cycle CONNECT again to PCU and then PCU, cycle the changed, save the error (A.C9), etc.
settings in the PCU's
the power, and then enable the PCU to execute CONNECT power to the slave internal flash memory.
execute CONNECT recover. again. station device, and Then restart the Unit or
again to enable the PCU then execute cycle the power and
to recover. execute CONNECT
CONNECT again. again.
507
Error Reset Section 12-6
12-6 Error Reset

The PCU indicates Unit common errors and individual axis errors in the Com-
mon Operating Memory Area and Axis Operating Input Memory Areas,
respectively, using Error Flags and error codes.
These errors can be cleared by removing the cause of the error and executing
ERROR RESET.
The methods for resetting Unit common errors and individual axis errors are
different.
12-6-1 Resetting Unit Common Errors

Unit common errors are cleared by turning ON ( ) the UNIT ERROR RESET
Bit in the Common Operating Memory Area.
Reset Unit common errors when the Unit Busy Flag for the Position Control
Unit is OFF. If errors are reset when the Unit Busy Flag is ON, a multistart
error (Unit error code: 0021) will occur and it will not be possible to reset Unit
common errors.
When clearing Unit common errors, make sure that the UNIT ERROR RESET
Bit in the Common Operating Memory Area remains ON until the Unit Busy
Flag turns ON.

UNIT ERROR n 00 : Resets Unit common error
RESET Bit

1: PCU is busy
Unit error code n+21 --- Stores the error code when a Unit common
error occurs.

Timing Chart Example for UNIT ERROR RESET
UNIT ERROR RESET Bit
(word n, bit 00)
Unit Error Flag
(word n+15, bit 12)
Unit Busy Flag The Unit Busy Flag remains ON
(word n+16, bit 14) for at least one cycle time when
UNIT ERROR RESET is
Unit Error Code 0000 0021 hex 0000 executed.
(word n +21)
(Example) Multistart Error
508
Error Reset Section 12-6
12-6-2 Resetting Individual Axis Errors and Warnings

Individual axis errors/warnings are cleared by turning ON ( ) the ERROR
RESET Bits in the Axis Operating Output Memory Areas.
Reset individual axis errors and warning when the Axis Busy Flag for the Axis
is OFF. If errors are reset when the Axis Busy Flag is ON, a multistart error
(Axis error code: 3050) will occur and it will not be possible to reset errors/
warnings.
When clearing individual axis errors/warnings, make sure that the ERROR
RESET Bit remains ON until the Busy Flag in the Axis Operating Input Mem-
ory Areas turns ON.

ERROR RESET Bit a 12 : Resets axis error
a = Beginning word of Axis Operating Output Memory Areas specified in

Common Parameters + (Axis No. −1) × 25

Warning Flag b 11 0: No warning
1: Warning has occurred
Error Flag 12 0: No error
1: Error has occurred
Busy Flag 13 1: Axis busy (AXIS ERROR RESET execut-
ing)
Axis error code b+4 --- Stores the error code for the error that
occurred in an individual axis.
b = Beginning word of Axis Operating Input Memory Areas specified in Com-

mon Parameters + (Axis No. −1) × 25
Timing Chart Example for ERROR RESET
ERROR RESET Bit
(word a, bit 12)
Warning Flag
(word b, bit 11)
Error Flag
(word b, bit 12)
Busy Flag The Busy Flag remains ON for at least one
(word b, bit 13) cycle time when ERROR RESET is executed.
Axis error code If the Error Flag turns ON while the Warning
0000 4096 hex 0000 4096 hex 40E6 hex Flag is already ON, the axis error code will be
(word b+4)
overwritten.
(Example)
Communications Communications Communications
warning warning error
a = Beginning word of Axis Operating Output Memory Areas specified in Common Parameters + (Axis No. − 1) × 25
b = Beginning word of Axis Operating Input Memory Areas specified in Common Parameters + (Axis No. − 1) × 25
509
CPU Unit Error Display Section 12-7
12-6-3 Restarting the PCU

For errors that cannot be cleared using ERROR RESET, remove the cause of
the error and either cycle the power to the CPU Unit or restart the CPU Bus
Unit to enable the PCU to recover from the error.
Name Word Details Read/write
CPU Bus Unit A50100 to The CPU Bus Unit is restarted when Read/write
Restart Flag A50115 this flag is set from 0 to 1. Each bit cor- possible
responds to the unit number. Bits 00 to
15: Unit numbers 0 to F
12-7 CPU Unit Error Display

The CPU Unit monitors the PCU, which is a CPU Bus Unit, as follows:
• Monitors PCU for hardware errors
• Monitors unit number duplication
• Monitors refreshing between the CPU Unit and PCU.
If an error is detected during the above monitoring operations, the corre-
sponding flag in the Auxiliary Area of the CPU Unit will turn ON (for details on
each flag, refer to the CPU Unit's operation manual). The flags are as follows:
• CPU Bus Unit Number Duplication Flags (A41000 to A41015)
• CPU Bus Unit Error, Unit Number Flags (A41700 to A41715)
• CPU Bus Unit Setting Error, Unit Number Flags (A42700 to A42715)
• CPU Bus Unit Setting Error Flag (A40203)
• CPU Bus Unit Error Flag (A40207)
Perform error processing according to the tables provided in 12-3 LED Error
Indicators and 12-4-2 List of Error Codes.
510
SECTION 13
Maintenance and Inspection
This section describes methods for inspecting and maintaining the Position Control Unit and the procedure required to
replace a Position Control Unit.
13-1 Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 512

13-2 Inspection Points . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 512
13-3 Handling Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 513
13-4 Procedure for Replacing a PCU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 513
13-4-1 Procedure for Replacing a PCU . . . . . . . . . . . . . . . . . . . . . . . . . . . . 513
13-4-2 Memory Card Backup. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 514
511
Inspection Section 13-1
13-1 Inspection
Perform daily or periodic inspections to make sure that the PCU continues
operating in its optimum condition.
13-2 Inspection Points

The main components of the PCU are semiconductors, which have a long
service life. These components may deteriorate faster, however, due to fac-
tors such as the operating environment. Therefore, routine inspection is
required.
The standard inspection schedule is once every six months to one year. More
frequent inspections may be advisable depending on the operating environ-
ment.
Maintain the inspection schedule once it has been set.
Routine Inspection Points
No. Inspection Details Criteria Remarks
point
1 I/O Power Sup- Measure the voltage varia- 24 V DC: Using a voltage tester, check between
ply tions at the I/O power supply 21.6 to 26.4 V DC the terminals adjusting to make sure
terminal block. Do they meet that the power supply is within the
the standards? acceptable range.
2 Environment Is the ambient temperature 0 to 55°C Using a thermometer, check the ambi-
conditions within the acceptable range? ent temperature inside the panel and
(When used in a panel, the make sure that it is within the accept-
ambient temperature of the able range.
PCU inside the panel must be
checked.)
Is the ambient humidity 10% to 90% (with no con- Using a hygrometer, check the ambient
(humidity within panel) within densation) humidity inside the panel and make
the acceptable range? (When sure that it is within the acceptable
used in a panel, the ambient range. In particular, check that there is
humidity of the PCU inside the no condensation due to sudden
panel must be checked.) changes in temperature.
Is the PCU exposed to direct The PCU must not be Shield the PCU from direct sunlight.
sunlight? exposed to direct sun-
light.
Is there any accumulation of There must be none of Remove any accumulation of dust
dust (including iron dust) or these present. (including iron dust) or salts and protect
salts? the PCU against them.
Is the PCU exposed to any The PCU must not be Protect the PCU against water, oil, and
sprays of water, oil, or chemi- exposed to any of these. chemicals.
cals?
Is the PCU installed in a loca- The PCU must not be Check for odors by smelling or using a
tion subject to corrosive or exposed to any of these. gas sensor.
flammable gases?
Is the PCU installed in a loca- The amount of shock or Install a cushion or other device to
tion subject to shock or vibra- vibration must be within reduce shock and vibration.
tion? the acceptable ranges
given in the specifica-
tions.
Is the PCU installed in a loca- There must be no noise. Remove the PCU from the noise
tion near any source of noise? source or take countermeasures to
protect the PCU from noise.
512
Handling Precautions Section 13-3
No. Inspection Details Criteria Remarks

point
3 Installation and Is the PCU securely The mounting must not Lock the sliders securely.
wiring mounted? be loose.
Are the cable connectors The mounting must not Insert and lock all cable connectors
properly inserted and locked? be loose. properly.
Are any external cables dis- There must be no exter- Do a visual check and connect or
connected? nal abnormalities. replace cables as required.
Required Inspection Tools

The following tools, materials, and equipment are required for performing
inspections.
• Voltage tester or digital voltage meter
• Industrial alcohol and a clean cotton cloth
The following measuring devices may be required when performing an
inspection.
• Oscilloscope
• Memory recorder
• Thermometer
• Hygrometer
13-3 Handling Precautions

• Turn OFF the power before replacing the PCU.
• If a PCU is found to be faulty and is replaced, also check the new PCU to
make sure that there are no errors.
• When returning a faulty PCU for repair, make a detailed record of the
PCU's malfunction and take it together with the PCU to your nearest
OMRON office or sales representative.
• If a contact is faulty, clean the contact by applying some industrial alcohol
to a clean cotton cloth and wiping the surface, and then install the PCU.
13-4 Procedure for Replacing a PCU

Use the following procedure when it is necessary to replace a PCU due to
malfunction or other cause. The method for backing up data saved in the
PCU's internal flash memory is also provided here.
13-4-1 Procedure for Replacing a PCU

Use the following procedure to replace a PCU.
1,2,3... 1. Make a note of the unit number of the PCU to be replaced.

2. Use the READ DATA Bit to read the parameters saved in the PCU to be
replaced to the PLC's DM Area first. Then save the DM Area data to a flop-
py disk or hard disk using, for example, CX-Programmer. Alternatively, use
the CPU Unit's simple backup function or the PCU's backup function to
back up (write) the PCU parameter data to the Memory Card installed in
the CPU Unit.
3. Turn OFF the power to the CPU Unit.
4. Disconnect the MECHATROLINK-II communications cables that are con-
nected to the Servo Drive.
513
Procedure for Replacing a PCU Section 13-4
5. Replace the PCU and reconnect the MECHATROLINK-II communications

cables, making sure that they are securely locked.
6. Set the unit number for the PCU.
7. Turn ON the power supply to the CPU Unit.
8. Transfer the saved parameters and operating data to the CPU Unit's DM
Area using, for example, CX-Programmer, and then transfer them to the
PCU using the WRITE DATA Bit. After transferring, save the parameters
and operating data to the flash memory. When the PCU's parameter data
has been saved to the Memory Card using the CPU Unit's simple backup
function or the PCU's backup function, execute the command to restore
(read) the data from the Memory Card. Save the backed up parameters to
the PCU's flash memory by reading them from the Memory Card.
9. Turn OFF the power supply to the CPU Unit, and then turn it ON again.
For details on transferring PCU data to the Memory Card installed in the CPU
Unit, refer to the next section 13-4-2 Memory Card Backup.
Note The above procedure is used when replacing the PCU, and transferring only
the parameters saved in the PCU. This procedure is not used to transfer
Servo Parameters saved in the Servo Drive.
When replacing the Servo Drive, use the PCU's READ SERVO PARAMETER
Bit to read the parameters saved in the Servo Drive to be replaced to the CPU
Unit's DM Area first. Then save the DM Area data to a floppy disk or hard disk
using, for example, CX-Programmer. After replacing the Servo Drive, transfer
the saved Servo Parameters to the CPU Unit's DM Area using, for example,
CX-Programmer, and then write them to the Servo Drive's non-volatile mem-
ory using the PCU's SAVE SERVO PARAMETER Bit.
13-4-2 Memory Card Backup

The following data can be saved to the PCU's internal flash memory.
• Common Parameters
• Axis Parameters
The PCU can save this data to the Memory Card installed in the CPU Unit by
using the CPU Unit's simple backup function or the PCU's backup function.
The data saved to the Memory Card can also be read to the PCU's flash
memory.
Note Do not read out data backed up to a Memory Card installed in the CPU Unit
from a Position Control Unit with unit version 1.0 to a Position Control Unit
with unit version 1.1 or later (for both the simple backup function and the
PCU’s backup function). If Position Control Unit Ver. 1.0 backup data is
restored for Position Control Unit Ver. 1.1 or later, the linear interpolation
function will be disabled. To transfer setting data from Position Control Unit
Ver. 1.0 to Position Control Unit Ver. 1.1 or later, use the parameter transfer
function using the data transfer bits (WRITE DATA, READ DATA, and SAVE
DATA) in the Common Operating Memory Area.
CPU Unit's Simple CS/CJ-series CPU Units have a simple backup function that enables all the
Backup Function setup data in the CPU Unit for every Unit to be backed up (written) to the
Memory Card that is installed in the CPU Unit or restored (read) from the
Memory Card at the same time by simply operating a switch on the front of the
CPU Unit.
When replacing the PCU, the time required to reset each Unit can be short-
ened by reading the backup file.
514
The CJ1W-NC@71/CS1W-NC@71 PCUs described in this manual support

the CS/CJ-series CPU Unit simple backup function.
Note The simple backup function can be used to back up the PCU’s Common
Parameters and Axis Parameters. The Servo Parameters for each Servo
Drive connected to the PCU will not be saved to the Memory Card.
The PCU data backed up using the CPU Unit's simple backup function is
stored in the Memory Card under the following filename.
File name: BACKUP@@.PRM
(Note: The boxes indicate the PCU's unit number + 10 hex)
For details on the CPU Unit's simple backup function, refer to 5-2-6 Simple
Backup Function in the CS/CJ-series Programmable Controllers Program-
ming Manual (Cat. No. W394).
Note The CPU Unit's simple backup function is used to backup or restore data for
the entire CPU Unit's system at the same time. Changing the system configu-
ration may prevent restoration of the PCU's data. To backup or restore data
for a single PCU, use the PCU's backup function as described next.
PCU's Backup The PCU has a backup function for separately transferring data that has been
Function saved in the PCU's internal flash memory to the Memory Card installed in the
CPU Unit using the READ BACKUP DATA Bit and WRITE BACKUP DATA
Bit in the Common Operating Memory Area.
The PCU's backup function can be executed while MECHATROLINK commu-
nications are stopped (connection released) and the Unit Busy Flag is OFF. If
this command is executed during MECHATROLINK communications, the
command will be ignored and backup will not be performed.
Writing and reading of backup data starts at the rising edge ( ) when the
WRITE BACKUP DATA Bit and READ BACKUP DATA Bit turn ON, respec-
tively, in the Common Operating Memory Area.
WRITE BACKUP n+1 06 : Starts writing backup data
DATA
READ BACKUP 07 : Starts reading backup data
DATA

When executing the PCU's backup function, make sure that the WRITE
BACKUP DATA Bit or READ BACKUP DATA Bit remains ON until the Unit
Busy Flag turns ON.
The Unit Busy Flag is ON while data is being transferred between the PCU
and Memory Card. When transferring data is completed, the Unit Busy Flag
turns OFF.
Memory Card Trans- n+16 12 0: No Memory Card transfer error
fer Error Flag 1: A Memory Card transfer error has
occurred
Unit Busy Flag 14 0: PCU is not busy
1: PCU is busy
515
If an error occurs in transferring data between the PCU and Memory Card
when using the PCU's backup function, the data transfer will be cancelled,
and the Memory Card Transfer Error Flag in the Common Operating Memory
Area will turn ON.
If a Memory Card Transfer Error occurs, execute UNIT ERROR RESET and
after the error is reset, execute the backup function again.
The PCU data backed up using the PCU's backup function is stored in the
Memory Card under the following filename.
File name: UNIT@@.PRM
(Note: The boxes indicate the PCU's unit number + 10 hex)
Note (1) Execute PCU's READ BACKUP DATA to restore (read) data from the
Memory Card to the PCU's internal flash memory. The data restored in
the internal flash memory is enabled by restarting the PCU or cycling the
power to the CPU Unit.
(2) If a Memory Card Transfer Error occurs while using the PCU's backup
function, the backup to the Memory Card or restoration of data to the
PCU's internal flash memory will not be executed correctly. If such an er-
ror occurs, always execute the backup function again, and backup or re-
store the correct data.
516
Appendix A
Performance Characteristics
The performance characteristics of the CJ1W-NCF71 are described here.

Refer to these characteristics when building applications.
The numerical values for each performance characteristic are obtained using the following machines and con-
figuration.
CPU Unit: CJ1H-CPU@@H (without an Expansion Rack)
Position Control Unit: A single PCU installed on the CPU Rack.
Servo Drive: R88D-WT01HL Servo Drive equipped with a FNY-NS115 MECHATROLINK-II I/F
Unit
Note The performance values shown in this Appendix will depend on conditions such as the CPU Unit, user
program, and other installed Units used. Therefore, these values are for reference purposes only.
Power Up Time
When the PCU is powered up or restarted, the time required for the Unit to complete its initial processing and
be ready to receive commands from the CPU Unit is 500 ms max.
The Unit Busy Flag turns ON during initial processing after turning ON the PCU power or restarting the Unit.
Restart completed (Unit reset released)
Reset
Unit initial processing
Unit Busy Flag
Command Response Time

The PCU's command response time is the time from when the CPU Unit (user program) sends a command to
the PCU until the Servo Drive actually starts operating in response to the command, and the changes in Servo
Drive, such as the present position and statuses are reflected in the CPU Unit's user program.
The command response time depends on the CPU Unit's cycle time, MECHATROLINK's transfer time and
communications cycle, and the command processing time of MECHATROLINK slave station device.
517
Performance Characteristics Appendix A
Servo Drive's Response Time for Commands from the CPU Unit
The response time starts with refreshing outputs for the cycle in which the command was sent from the CPU
Unit and continues until the Servo Drive starts operating in response to the command.
Command sent
CPU Unit cycle time

Cycle time
CPU→NC
PCU processing
TOUT_REF
TNC= Communications cycle
MECHATROLINK
communications
cycle TMLK=Transfer cycle
Servo Drive processing

TSRV_OUT
Servo Drive operation

(e.g., axis operation) TCMD
The maximum time from the end refresh of the user program's cycle in which the command was sent until the
command is actually received by the PCU is indicated as TOUT_REF:
(CPU cycle time or MECHATROLINK communications cycle, whichever is longer) + communications cycle
×1
The PCU processing time from when the command is received by the PCU until it is sent using MECHA-
TROLINK communications is indicated as TNC:
MECHATROLINK communications cycle × 1
Note If a warning occurs, PCU retry processing is required, so the value for TNC is the MECHATROLINK
communications cycle × 3.
The time for a command sent from the PCU using MECHATROLINK communications to reach the Servo Drive
is indicated as TMLK:
MECHATROLINK transfer cycle × 1
The processing time until execution of the command received by the Servo Drive is indicated as TSRV_OUT:
250 µs (using an R88D-GN@-ML2 to send commands relating to interpolation feed, speed control and
torque control)
1,250 µs (using an R88D-GN@-ML2 to send commands other than those described above)
625 µs (using an R88D-WT@ and FNY-NS115 or the SMARTSTEP Junior)
425 µs (using an R88D-KN@-ML2 or an R88D-WN@-ML2)
The maximum value for the time until the Servo Drive actually starts operating in response to the command
sent from the CPU Unit's user program, as indicated by TCMD, is calculated as the total of these values, as fol-
lows:
TCMD(MAX) = TOUT_REF + TNC + TMLK + TSRV_OUT
Note TCMD varies depending on the width of TOUT_REF.
518
Response Time to Reflect Servo Drive Status Changes in CPU Unit

The response time starts when status transmitted via MECHATROLINK communications is sampled and con-
tinues until that status is refreshed in the CPU Unit's input status.
Cycle time Reflected in ladder program
CPU Unit cycle time
NC→CPU
PCU processing
TIN_REF
MECHATROLINK
communications
cycle TMLK=Transfer cycle
Servo Drive processing

TSRV_IN
Servo Drive status

change sampling
TRES
(e.g., changing status)
The processing time for the changes in status detected in the Servo Drive to be sent using MECHATROLINK
communications is indicated as TSRV_IN:
250 µs + transfer cycle (using R88D-GN@-ML2)
625 µs (using an R88D-WT@ and FNY-NS115 MECHATROLINK-II I/F Unit or the SMARTSTEP Junior)
450 µs (using an R88D-WN@-ML2)
300 µs (using an R88D-KN@-ML2)
The time for the Servo Drive status to reach the PCU via MECHATROLINK communications is indicated as
TMLK:
MECHATROLINK transfer cycle × 1
The maximum time from the end refresh of the user program's cycle in which the command was sent until the
command is actually received by the PCU is TIN_REF:
(CPU cycle time or MECHATROLINK communications cycle, whichever is longer) + CPU Unit's cycle time
×1
The maximum value for the time until changes in the Servo Drive status are reflected in the CPU Unit's user
program, as indicated by TRES, is a total of these values, as follows:
TRES(MAX) = TSRV_IN + TMLK + TIN_REF
Note TRES varies depending on the width of TIN_REF.
Example:
CPU Unit cycle time: 1 ms
PCU communications setting: Transfer cycle: 1 ms
Communications cycle = 1 (transfer cycle × 1 = 1 ms)
Connected Servo Drive: W-series Servo Drive + FNY-NS115
The command response time for the above conditions is as follows:
(This example applies when no warning has occurred in the PCU.)
Item Maximum response time Calculation method
CPU Unit to PCU 4.625 ms TCMD(MAX) = TOUT_REF + TNC + TMLK + TSRV_OUT
= 2 ms + 1 ms + 1 ms +625 µs
PCU to CPU Unit 3.625 ms TRES(MAX) = TSRV_IN + TMLK + TIN_REF
= 625 µs + 1 ms + 2 ms
Note When mounting a Position Control Unit to a CS-series Long-distance Expansion Rack, refer to the graph
on I/O refresh time coefficients in the CS-series CPU Unit Operation Manual (Cat. No. W339).
519
Effect on CPU Unit Cycle Time

When a single PCU is mounted, the CPU Unit's cycle time increases with the amount of Servo Drive axes con-
nected to the PCU, as follows:
Model Number of axes connected Additional time for each PCU connected
CJ1W-NCF71 1 0.2 ms
3 0.3 ms
6 0.4 ms
16 1.0 ms
External Input Response Time

The response time is as shown below for external input signals, such as limit inputs and interrupt inputs. The
following response times indicate the time until the Servo Drive starts operating according to the function corre-
sponding to the input signal.
The command response time is required for the status of the signal that was input to be reflected in the input
area of the CPU Unit.
External input signal Response time Details
Limit input signal 2 ms max. Response time until the Servo Drive starts the Servomotor's stop operation
according to the setting in Servo Parameter Pn001.1 in response to input of
the limit input signal.
Interrupt input signal 3 ms max. Response time until the interrupt feeding operation starts after input of the
interrupt input signal for interrupt feeding.
Note The numerical values are obtained when a W-series Servo Drive is used with a FNY-NS115 MECHA-
TROLINK-II I/F Unit.
Speed After the Servo Drive detects that the limit input
signal has turned ON and until it stops axis
operation (area shaded in gray), the axis will
operate according to the Select Stop when
Prohibited Drive Is Input (Pn001.1) setting in the
Servo Parameters.
Time
1
Travel direction limit input
0
Limit input response time
Speed
Interrupt feeding amount

(Final travel distance for external positioning:
Servo Parameter Pn814)
Time
Interrupt input signal 1

(external latch input) 0
Interrupt input response time
In interrupt feeding, this indicates the response time from

after the Servo Drive detects that the interrupt input
signal is ON until interrupt feeding positioning starts.
Difference in Start Times for Simultaneously Started Axes

There is no difference in start times between axes when multiple axes are started at the same time (the bit to
start operation turns ON at the same I/O refresh timing).
520
Appendix B
List of Parameters

PCU's internal Name Bit
address 15 to 12 11 to 08 07 to 04 03 to 00
1838 hex Area allocations Axis Operating Output Memory Area designation
0000 hex: No setting
00B0 hex: CIO Area
00B1 hex: WR Area
00B2 hex: HR Area
00B3 hex: AR Area
0082 hex: DM Area
0050 to 0059, 005A, 005B, 005C: EM Area (5@: @ = EM Bank No.)
1839 hex Beginning word of Axis Operating Output Memory Area: 0000 to 7FFF hex
0000 hex: No setting
00B0 hex: CIO Area
00B1 hex: WR Area
00B2 hex: HR Area
00B3 hex: AR Area
0082 hex: DM Area
0050 to 0059, 005A, 005B, 005C: EM Area (5@: @ = EM Bank No.)
183B hex Beginning word of Axis Operating Input Memory Area: 0000 to 7FFF hex
183C hex Scan list Axis 2 allocation Axis 1 allocation
00 hex: Axis not used (no allocation) 00 hex: Axis not used (no allocation)
40 hex: Allocates axis to the Servo 40 hex: Allocates axis to the Servo
Drive. Drive.
183D hex Axis 4 allocation (same as above) Axis 3 allocation (same as above)
183E hex Axis 6 allocation (same as above) Axis 5 allocation (same as above)
183F hex Axis 8 allocation (same as above) Axis 7 allocation (same as above)
1840 hex Axis 10 allocation (same as above) Axis 9 allocation (same as above)
1844 hex to Reserved by the sys- 0 0 0 0
1855 hex tem.
1856 hex MECHATROLINK Transfer cycle Communications cycle
communications set- 00: 1 ms (default setting) Sets the factor used as the integer
ting 01: 1 ms 02: 2 ms multiple for the transfer cycle.
03: 3 ms 04: 4 ms Set value: 00 to 20 hex
05: 5 ms 06: 6 ms The default setting 00 is the same as
07: 7 ms 08: 8 ms when the cycle is set to 3.
A2 hex: 0.25 ms
A5 hex: 0.5 ms
1857 hex 0 0 C2 Master Con- Number of com-
nection munications
0: No C2 master retries
(default setting) Set value: 0 to 7,
1: C2 master con- F hex
nected
1858 hex to Reserved by the sys- 0 0 0 0
185F hex tem.
521
List of Parameters Appendix B
Axis Parameter Area

Beginning word of Axis Parameter Area for Axis N: d = 1860 hex + (N − 1) × 14 hex (N = 1 to 16)
PCU's internal address (hexadecimal) Data
Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16
1860 1874 1888 189C 18B0 18C4 18D8 18EC 1900 1914 1928 193C 1950 1964 1978 198C Input signal selection
Bit Function Settings
00 to 07 Interrupt 00: Phase Z
input sig- 01: External
nal selec- latch signal
tion 1 input
02: External
latch signal
2 input
03: External
latch signal
3 input
08 to 15 Origin 00: Phase Z
input sig- 01: External
nal selec- latch signal
tion 1 input
02: External
latch signal
2 input
03: External
latch signal
3 input
1861 1875 1889 189D 18B1 18C5 18D9 18ED 1901 1915 1929 193D 1951 1965 1979 198D Operation mode selection
00 to 03 Reserved 0
by the
system.
04 to 07 Origin 0: Reversal
search mode 1
operation 1: Reversal
mode 2
2: Single-direc-
tion mode
3: Reversal
mode 3 (See
note.)
08 to 11 Origin 0: Origin prox-
detec- imity input
tion signal rever-
method sal
(See 1: No origin
note.) proximity
input signal
reversal
2: Do not use
origin prox-
imity input
signal
12 Origin 0: Forward
search 1: Reverse
direction
13 Origin 0: Not set.
search 1: Set.
preset
(See
note.)
14 to 15 Reserved 0
by the
system.
522
PCU's internal address (hexadecimal) Data

Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16
1862 1876 188A 189E 18B2 18C6 18DA 18EE 1902 1916 192A 193E 1952 1966 197A 198E Operation mode selection
00 to 03 Encoder 0: Incremental
type encoder
1: Absolute
encoder
04 to 07 Reserved 0
by the
system.
08 to 11 Reserved 0
by the
system.
12 to 15 Reserved 0
by the
system.
1863 1877 188B 189F 18B3 18C7 18DB 18EF 1903 1917 192B 193F 1953 1967 197B 198F 0000 (Reserved by the system.)
to to to to to to to to to to to to to to to to
1873 1887 189B 18AF 18C3 18D7 18EB 18FF 1913 1927 193B 194F 1963 1977 198B 199F
Note The reversal mode 3 setting for the origin search operation, the origin detection method, and the origin
search preset can be used only with Position Control Units with unit version 2.0 or later. They cannot be
used with Position Control Units with unit version 1.3 or earlier.

The Servo Parameters listed here can be used when the PCU is used with either an R88D-KN@-ML2 G5-
series Servo Drive, an R88D-GN@-ML2 G-series Servo Drive, OMRON R88D-WT@ W-series Servo Drive
equipped with a FNY-NS115 MECHATROLINK-II I/F Unit, an W-series Servo Drive with built-in MECHA-
TROLINK-II communications (R88D-WN@-ML2), or a SMARTSTEP Junior Servo Drive with Built-in MECHA-
TROLINK-II Communications (R7D-ZN@-ML2).
For further details on each of the parameters, refer to the operation manuals for OMRON G5-series Servo
Drives, G-series Servo Drives, W-series Servo Drives and Yaskawa JUSP-NS115 MECHATROLINK-II I/F Unit.
G5-series Servo Drive (R88D-KN@-ML2 with Built-in MECHATROLINK-II

Communications)
This shows a list of Servo Parameters that can be used by the Position Control Unit of a G5-series Servo Drive
(R88D-KN@-ML2) with built-in MECHATROLINK-II communications.
For details on each parameter, refer to the user’s manual of the respective G5-series Servo Drives.
• Some parameters are enabled by turning the power supply OFF and then ON again. (Those parameters
are indicated in the table.)
After changing these parameters, turn OFF the power supply, confirm that the power supply indicator has
gone OFF, and then turn ON the power supply again.
• Do not change the parameters marked "Reserved for manufacturer use" and "Reserved".
Do not change the set values marked “Not used” and “Reserved”.
• For details about the data attributes, refer to the information below.
A: Enabled at all time.
B: Changes are prohibited during motor operation and issuing of commands.
The timing will fluctuate if a change is made during motor operation and issuing of commands.
C: Enabled after a power reset or executing the CONFIG command in MECHATROLINK-II communication.
R: Power reset.
Note that this is not enabled by the CONFIG command in MECHATROLINK-II communication.
523
Relay area settings

Set the servo parameter numbers in parentheses in the list for the Servo Parameter number Relay area (a+17)
when transferring Servo Parameters.
For example, when transferring the Error Counter Overflow Level, set "00E" for the Servo Parameter number
Relay area (a+17).
524
Basic Parameters
No. size
000 Rotation Direction 2 Set the relation between the command direction and 1 - 0 to 1 C
(000) Switching the motor rotation direction.
CW as viewed from the axis end.
CCW as viewed from the axis end.
001 Control Mode Selec- 2 Select the Servo Drive CONTROL mode. 0 - 0 to 6 R
(001) tion 0 to 5: Switch function
6: Full closing control
002 Realtime Autotuning 2 Set the OPERATION mode for realtime autotuning. 1 - 0 to 6 B
(002) Mode Selection 0: Disabled
1: Emphasizes stability
2: Emphasizes positioning
the like.
4: When friction is large.
the like and friction is too large.
6: When the realtime autotuning is customized.
003 Realtime Autotuning 2 Set the machine rigidity for executing realtime autotun- 11/13 - 0 to 31 B
(003) Machine Rigidity Set- ing.
ting
004 Inertia Ratio 2 Set the load inertia as a percentage of the motor rotor 250 % 0 to 10000 B
(004) inertia.
009 Electronic Gear 4 Set the electronic gear ratio. 1 - 0 to 230 C
(009) Ratio Numerator If Pn009 = 0, the encoder resolution is set as the
numerator.
010 Electronic Gear 4 1 - 1 to 230 C
Ratio Denominator Electronic Gear Ratio Numerator (Pn009)
(00A)
Electronic Gear Ratio Denominator (Pn010)
013 No. 1 Torque Limit 2 Set the No. 1 limit value for the output torque of the 500 % 0 to 500 B
(00D) motor.
014 Error Counter Over- 4 Set the range of the error counter overflow level. Detec- 100000 Com- 0 to 227 A
(00E) flow Level tion of error counter overflow level error is disabled if mand
the set value is 0. unit
015 Operation Switch 2 Select the absolute encoder usage method. 1 - 0 to 2 C
(00F) when Using Absolute 0: Used as absolute encoder.
Encoder
1: Used as an incremental encoder.
2: Used as absolute encoder.
(Multi-rotation counter overflows are ignored.)
016 Regeneration Resis- 2 Select the Regeneration Resistor used. 0/3 - 0 to 3 C
(010) tor Selection 0: Use the Built-in Resistor.
Triggering of regeneration overload protection
(Alarm No.18) depends on the Built-in Resistor (with
approx. 1% duty).
The regeneration processing circuit operates and
regeneration overload protection (Alarm No.18) is
triggered when the operating rate of the Regenera-
tion Resistor exceeds 10%.
Regeneration overload protection (Alarm No.18)
does not operate.
3: No Regeneration Resistor
All regeneration power is processed with built-in
capacitors.
017 External Regenera- 2 Select the type of load ratio calculation for the External 0 - 0 to 4 C
(011) tion Resistor Setting Regeneration Resistor.
0: Regeneration load ratio is 100% when operating
rate of the External Regeneration Resistor is 10%.
1 to 4: Reserved
525
Gain Parameter
No. size
(100) 480
(101) 270
102 Speed Loop Integral 2 Set the speed loop integration time constant 1. 210/ 0.1ms 1 to 10000 B
(102) Time Constant 1 310
(105) 570
(106) 270
107 Speed Loop Integra- 2 Set the speed loop integration time constant 2. 10000 0.1ms 1 to 10000 B
(107) tion Time Constant 2
110 Speed Feed-forward 2 Set the speed feed-forward amount. 300 0.1% 0 to 1000 B
(10A) Amount
111 Speed Feed-forward 2 Set the speed feed-forward filter time constant. 50 0.01m 0 to 6400 B
(10B) Command Filter s
112 Torque Feed-forward 2 Set the torque feed-forward amount. 0 0.1% 0 to 1000 B
(10C) Amount
113 Torque Feed-forward 2 Set the torque feed-forward filter. 0 0.01m 0 to 6400 B
(10D) Command Filter s
114 Gain Switching Input 2 Execute optimum tuning using the gain switching func- 1 - 0 to 1 B
(10E) Operating Mode tion.
Selection 0: Gain 1 (PI/P switching enabled)
1: Gain 1 and gain 2 switching available
115 Switching Mode in 2 Select the gain switching condition for position control. 0 - 0 to 10 B
(10F) Position Control It is necessary that Pn114 be set to 1.
0: Always gain 1
1: Always gain 2
4: Always gain 1
5: Command speed
6: Amount of position error
7: When the position command is received.
8: Positioning completion signal (INP) OFF
9: Actual motor speed
10:Combination of position command input and rota-
tion speed
(110) Time in Position Con-
trol
(111) in Position Control
(112) teresis in Position
Control
119 Position Gain Switch- 2 Set the position gain switching time for gain switching. 33 0.1ms 0 to 10000 B
(113) ing Time
120 Switching Mode in 2 Select the gain switching condition for speed control. 0 - 0 to 5 B
(114) Speed Control It is necessary that Pn114 be set to 1.
0: Always gain 1
1: Always gain 2
4: Speed command change amount
5: Command speed
526

No. size
(115) Time in Speed Con-
trol
(116) in Speed Control
(117) teresis in Speed
Control
124 Switching Mode in 2 Select the gain switching condition for torque control. 0 - 0 to 3 B
(118) Torque Control It is necessary that Pn114 be set to 1.
0: Always gain 1
1: Always gain 2
(119) Time in Torque Con-
trol
(11A) in Torque Control
(11B) teresis in Torque
Control
527
Damping Suppression Parameters

No. size
200 Adaptive Filter Selec- 2 Set the operation of the adaptive filter. 0 - 0 to 4 B
(200) tion 0: Disabled
1: One enabled.Frequency limited after adaptation.
2: Two enabled.Frequency limited after adaptation.
3: One enabled.Adaptation performed at all times.
4: Two enabled.Adaptation performed with 1 filter at all
times.
(203) ting ter 1.
(206) ting ter 2.
enabled.
enabled.
(209) ting ter 3.
enabled.
(20A) Setting notch filter 4.
enabled.
(20B) ting notch filter 4.
enabled.
(20C) ting ter 4.
enabled.
213 Damping Filter 2 Select the damping filter switching method. 0 - 0 to 3 B
(20D) Selection 0: Damping filter 1 or 2 enabled
3: Switch by the position command direction
• Forward direction: Damping filter 1 or 3 is enabled.
• Reverse direction: Damping filter 2 or 4 is enabled.
(20E) 1 The function is enabled if the set value is 10 (= 1 Hz) or
greater.
(20F) ting If torque saturation occurs, lower this setting; to
greater.
greater.
528

No. size
greater.
222 Position Command 2 Set the time constant of the first-order lag filter for the 0 0.1Hz 0 to 1000 B
(216) Filter Time Constant position command.
529
Analog Control Parameters

No. size
312 Soft Start Accelera- 2 Set the acceleration processing acceleration time for 0 ms/ 0 to 10000 B
(30C) tion Time speed commands. motor
Maxi-
mum
speed
313 Soft Start Decelera- 2 Set the deceleration processing acceleration time for 0 ms/ 0 to 10000 B
(30D) tion Time speed commands. motor
Maxi-
mum
speed
314 S-curve Accelera- 2 Set the acceleration/deceleration processing S-curve 0 ms 0 to 1000 B
(30E) tion/Deceleration time for speed commands.
Time Setting
317 Speed Limit Selec- 2 Select the torque command and speed limit value. 0 - 0 to 1 B
(311) tion 0: Limit the speed by the limit set on the Speed Limit
Value Setting (Pn321).
1: Limit the speed by the speed limit value (VLIM) via
MECHATROLINK-II communications or by the value
set by the Speed Limit Value Setting (Pn321).
321 Speed Limit Value 2 Set the speed limit value. 50 r/min 0 to 20000 A
(315) Setting
323 External Feedback 2 Select the external feedback pulse type. 0 - 0 to 2 R
(317) Pulse Type Selection 0: 90° phase difference output type
1: Serial communications type (incremental encoder
specifications)
2: Serial communications type (absolute encoder
specifications)
324 External Feedback 4 Set the external feedback pulse dividing numerator. 0 - 0 to 220 R
Numerator
325 External Feedback 4 Set the external feedback pulse dividing denominator. 10000 - 1 to 220 R
Denominator
326 External Feedback 2 Reverse the direction to count the external encoder 0 - 0 to 1 R
(31A) Pulse Direction feed back.
Switching 0: Count direction not reversed
1: Count direction reversed
327 External Feedback 2 Set to enable or disable the Phase-Z disconnection 0 - 0 to 1 R
(31B) Pulse Phase-Z Set- detection when an external encoder of 90° phase differ-
ting ence output type is used.
0: Phase-Z disconnection detection enabled
1: Phase-Z disconnection detection disabled
328 Internal/External 4 Set the threshold for feedback pulse deviation errors. 16000 Com- 1 to 227 C
(31C) Feedback Pulse mand
Error Counter Over- unit
flow Level
329 Internal/External 2 Clear to 0 the feedback pulse error value for each set 0 Rota- 0 to 100 C
(31D) Feedback Pulse rotation speed. tion
Error Counter Reset
Interface Monitor Setting Parameters

No. size
404 Input Signal Selec- 4 Set the function and logic for the general-purpose 002B2B2Bh - 0 to C
530

No. size
407 Input Signal Selec- 4 Set the function and logic for the general-purpose 002E2E2Eh - 0 to C
(40A) tion 1 output 1 (OUTM1) 00FFFFFFh
(40B) tion 2 output 2 (OUTM2) 00FFFFFFh
(410) Selection 0: Motor speed
1: Position command speed
2: Internal position command speed
3: Speed control command
4: Torque command
5: Command position error
6: Encoder position error
7: Full close error
8: Hybrid error
9: P-N voltage
10:Regeneration load ratio
11: Motor load ratio
12:Forward direction torque limit
13:Reverse direction torque limit
14:Speed limit value
15:Inertia ratio
16 to 18: Reserved
19:Encoder temperature
20:Servo Drive temperature
21:Encoder 1-rotation data
417 Analog Monitor 1 4 Set the output gain for analog monitor 1. 0 - 0 to A
(412) Selection The set values for this parameter are the same as
Analog Monitor 1 Type (Pn416).
419 Analog Monitor 2 4 Select the output gain for analog monitor 2. 0 - 0 to A
421 Analog Monitor Out- 2 Select the analog monitor output voltage method. 0 - 0 to 2 A
(415) put Selection 0: Output range is -10 to 10 V
1: Output range is 0 to 10 V
2: Output range is 0 to 10 V (5 V as the center)
431 Positioning Comple- 4 Set the allowed number of pulses for the positioning 300 Com- 0 to 262144 A
(41F) tion Range 1 completion range. mand
unit
432 Positioning Comple- 2 Set the judgment conditions for positioning completion 0 - 0 to 3 A
(420) tion Condition Selec- output.
tion 0: The Positioning completion output 1 becomes on
when the positional error is lower than the value set
on the Pn431.
Pn431.
when there is no position command, the zero-
speed detection signal is on, and the positional
error is lower than the value set on the Pn431.
3. The Positioning completion output 1 becomes on
Pn431. The ON-state is retained until the Position-
ing Completion Hold Time (Pn433) elapses. After
that, it is turned off or kept to be on, depending on
the positional error then.
433 Positioning Comple- 2 Set the positioning completion hold time. 0 1ms 0 to 30000 A
(421) tion Hold Time
434 Zero Speed Detec- 2 Set the output timing of the Zero speed detection out- 50 r/min 10 to 20000 A
(422) tion put (ZSP) in rotation speed [r/min].
435 Speed Conformity 2 Set the detection range for the speed conformity out- 50 r/min 10 to 20000 A
(423) Detection Range put (VCMP). Set the difference between the speed
command and the actual speed.
436 Rotation Speed for 2 Set the number of motor rotation for the Motor rotation 1000 r/min 10 to 20000 A
(424) Motor Rotation detection output signal (TGON).
Detection
531

No. size
437 Brake Timing when 2 Set the operation time for the mechanical brake at 0 1ms 0 to 10000 B
(425) Stopped stop.
438 Brake Timing during 2 Set the operation time for the mechanical brake during 0 1ms 0 to 10000 B
(426) Operation operation.
439 Brake Release 2 Set the number of motor rotation to determine a 30 r/min 30 to 3000 B
(427) Speed Setting mechanical brake output during rotation.
(428) Selection 1 0: Output by all types of warnings.
1: Overload warning
2: Excessive regeneration warning
3: Battery warning
4: Fan warning
5: Encoder communications warning
6: Encoder overheating warning
7: Vibration warning
8: Life expectancy warning
9: External encoder error warning
10:External encoder communications error warning
11:Data setting warning
12:Command warning
13:MECHATROLINK-II communications warning
(429) Selection 2 The relationships among the set values for this param-
eter are the same as for Warning Output Selection 1
(Pn440).
442 Positioning Comple- 4 Set the allowable number of pulses for the second 10 Com- 0 to 262144 A
(42A) tion Range 2 positioning completion range. mand
unit
532
Extended Parameters
No. size
504 Drive Prohibition 2 Set the operation to be performed upon forward/ 1 - 0 to 2 C
(504) Input Selection reverse direction drive prohibition input.
inputs.
1: Disable the Forward and Reverse drive prohibition
inputs.
inputs.
505 Stop Selection for 2 Set the drive conditions during deceleration and after 0 - 0 to 2 C
(505) Drive Prohibition stopping, when the Forward or Reverse Drive Prohibi-
Input tion Inputs are enabled.
abled, and the dynamic brake is activated.
abled, and free-run deceleration is performed.
abled, and an emergency stop is performed.
506 Stop Selection with 2 Set the stop operation when the servo is turned OFF. 0 - 0 to 9 B
(506) Servo OFF 0, 4: During deceleration: Dynamic brake
1, 5: During deceleration: Free-run
2, 6: During deceleration: Dynamic brake
3, 7: During deceleration: Free-run
507 Stop Selection with 2 Set the stop operation when the main power supply is 0 - 0 to 9 B
(507) Main Power Supply turned OFF.
OFF The settable values are the same as those on the
Pn506.
508 Undervoltage Alarm 2 Select either to let the servo off or to stop the alarm 1 - 0 to 1 B
(508) Selection when a main power alarm occurs.
0: Bring the Servo-OFF state in accordance with the
Pn507 setting. Return to Servo on state by turning
on the main power.
1: Main power supply undervoltage (Alarm No.13.1)
occurs. Stop the alarm.
509 Momentary Hold 2 Set the main power supply alarm detection time. 70 1ms 70 to 2000 C
(509) Time
510 Stop Selection for 2 Select the stopping method at an alarm. 0 - 0 to 7 B
(50A) Alarm Detection 0: During deceleration: Dynamic brake
2: During deceleration: Dynamic brake
4: During deceleration due to emergency stop alarm:
Emergency stop
gency stop
gency stop
gency stop
511 Emergency Stop 2 Set the torque limit for emergency stops. 0 % 0 to 500 B
(50B) Torque
533

No. size
512 Overload Detection 2 Set the overload detection level. 0 % 0 to 500 A
(50C) Level Setting
513 Overspeed Detec- 2 Set the overspeed error detection level. 0 r/min 0 to 20000 A
(50D) tion Level Setting
514 Overrun Limit Setting 2 Set the motor over-travel distance for position com- 10 0.1 0 to 1000 A
(50E) mands. rota-
tion
515 Control Input Signal 2 Select the cycle to read the control input signals from 0 - 0 to 3 C
(50F) Read Setting the four levels.
0: 0.166 ms
1: 0.333 ms
2: 1 ms
3: 1.666 ms
520 Position Setting Unit 2 Select the setting units of Positioning Completion 0 - 0 to 1 C
(514) Selection Range 1 and 2 (Pn431 and Pn442) and of the Error
0: Command unit
1: Encoder unit
521 Torque Limit Selec- 2 Select the method to set the forward and reverse 1 - 0 to 6 B
(515) tion torque limits, and the torque feed forward function dur-
ing speed control.
522 No. 2 Torque Limit 2 Set the No. 2 limit value for the motor output torque. 0 % 0 to 500 B
(516)
525 Forward External 2 Set the forward external toque limit when the torque 0 % 0 to 500 B
(519) Torque Limit limit switch input is given.
526 Reverse External 2 Set the reverse external toque limit when the torque 0 % 0 to 500 B
(51A) Torque Limit limit switch input is given.
531 Axis Number 2 Set the axis number for communication. 1 - 0 to 127 C
(51F)
534
No. size
605 Gain 3 Effective Time 2 Set effective time of gain 3 of three-step gain switch- 0 0.1ms 0 to 10000 B
(605) ing.
606 Gain 3 Ratio Setting 2 Set gain 3 as a multiple of gain 1. 100 % 50 to 1000 B
(606)
607 Torque Command 2 Set offset torque to add to torque command. 0 % -100 to 100 B
(607) Value Offset
608 Forward Direction 2 Set the value to add to a torque command for forward 0 % -100 to 100 B
609 Reverse Direction 2 Set the value to add to a torque command for reverse 0 % -100 to 100 B
610 Function Expansion 2 Set the function expansion. The setting contents vary 0 - 0 to 63 B
(60A) Setting depending on the function.
611 Electric Current 2 Make fine adjustment on electric current response with 100 % 50 to 100 -
(60B) Response Setting default setting as 100%.
614 Alarm Detection 2 Set the allowable time until stopping when an emer- 200 ms 0 to 1000 B
(60E) Allowable Time Set- gency stop is actuated upon alarm detection.
ting
615 Overspeed Detec- 2 During an emergency stop upon alarm detection, if the 0 r/min 0 to 20000 A
(60F) tion Level Setting at motor speed excess this set value, this is an over-
Emergency Stop speed 2 error.
618 Power Supply ON 2 Set initialization time after power supply ON to the 0 0.1s 0 to 100 R
(612) Initialization Time standard 1.5 s plus some.
623 Disturbance Torque 2 Set the compensation gain for disturbance torque. 0 % -100 to 100 B
(617) Compensation Gain
624 Disturbance 2 Set the filter time constant for disturbance torque com- 53 0.01ms 10 to 2500 B
(618) Observer Filter Set- pensation.
ting
631 Realtime Autotuning 2 Set the load characteristics estimated speed when 0 - 0 to 3 B
(61F) Estimated Speed realtime autotuning is enabled.
Selection 0: Fixes estimated results at the time load estimation
becomes stable.
1: Estimates in every minute from the load character-
istic changes.
2: Estimates in every second from the load character-
istic changes.
3: Estimates the optimum from the load characteristic
changes.
632 Realtime Autotuing 2 Set the CUSTOMIZATION mode detail for realtime 0 - -32768 to B
(620) Customization Mode autotuning. 32767
Setting
634 Hybrid Vibration 2 Set the hybrid vibration suppression gain during full 0 0.1s 0 to 30000 B
(622) Suppression Gain closing control.
635 Hybrid Vibration 2 Set the hybrid vibration suppression filter time con- 10 0.01ms 0 to 6400 B
(623) Suppression Filter stant during full closing control.
637 Vibration Detection 2 Set the vibration detection threshold. 0 0.1% 0 to 1000 B
(625) Threshold If torque vibration that exceeds this setting is detected,
the vibration detection warning occurs.
638 Warning Mask Set- 2 Set the warning detection mask setting.If you set the 4 - -32768 to C
(626) ting corresponding bit to 1, the corresponding warning 32767
detection is disabled.
535
No. size
700 Default Display 2 Select a data type to display on the 7-segment LED 0 - 0 to 32767 A
(700) indicator on the front panel.
0: Normal state
1: Mechanical angle
2: Electric angle
3: Cumulative count of MECHATROLINK-II communi-
cations errors
4 Rotary switch setting value
5: Cumulative count of encoder communications
errors
6: Cumulative count of external encoder communica-
tions errors
7: Z-phase counter
8 or over: Unused
701 Power-ON Address 2 Set the time to indicate the node address when the 0 100ms 0 to 1000 R
(701) Display Duration Set- control power is turned on.
ting
703 Torque Limit Flag 2 Set the condition for torque limit output during torque 0 - 0 to 1 A
(703) Output Setting control.
0: On by the torque limit value including the torque
command value.
1: On by the torque limit value excluding the torque
command value.
704 Backlash Compen- 2 Select to enable or disable the backlash compensation 0 - 0 to 2 C
(704) sation Selection during position control.
Set the compensation direction when the compensa-
tion is enabled.
0: Disable the backlash compensation.
1: Compensate the backlash at the first forward oper-
2: Compensate the backlash at the first reverse oper-
705 Backlash Compen- 2 Set the backlash compensation amount during posi- 0 Com- -32768 to B
(705) sation Amount tion control. mand 32767
unit
706 Backlash Compen- 2 Set the time constant to apply a backlash compensa- 0 0.01ms 0 to 6400 B
(706) sation Time Constant tion during position control.
710 MECHATROLINK-II 2 Select whether to reflect the inputs to the I/O monitor 0 - 0 to 1 A
(70A) Communication I/O of MECHATROLINK-II communications, when either
Monitor Setting the forward or reverse drive prohibition input is
assigned to the input signal and the Drive Prohibition
Input Selection (Pn504) is set to 1 (i.e. Disable).
0: Disable the one on the I/O monitor of MECHA-
TROLINK-II communications as well.
1: Enable the one on the I/O monitor of MECHA-
No. size
800 Communications 2 Controls the alarms and warnings over the MECHA- 0 - -32768 to C
(800) Control TROLINK-II communications. 32767
801 Soft Limit 2 Select whether to enable or disable the Soft Limit 0 - 0 to 3 A
(801) Function.
0: Enable the soft limits on both directions.
1: Disable the forward soft limit, but enable the
reverse soft limit.
2: Enable the forward soft limit, but disable the reverse
soft limit.
3: Disable the soft limits on both directions.
803 Origin Range 2 Set the threshold for detecting the origin in absolute 0 - 0 to 250 A
(803) values.
804 Forward Software 4 Set the forward soft limit. 500000 Com- -1073741823 A
(804) Limit mand to
unit 1073741823
806 Reverse Software 4 Set the reverse soft limit. -500000 Com- -1073741823 A
(806) Limit mand to
unit 1073741823
536

No. size
808 Absolute Encoder 4 Set the offset volume between the encoder or external 0 Com- -1073741823 C
(808) Origin Offset encoder position and the mechanical coordinate posi- mand to
tion, when an absolute encoder or an absolute exter- unit 1073741823
nal encoder is used.
811 Linear Acceleration 2 Set the acceleration for positioning. 100 *1 -32768 to B
(80B) Constant 32767
814 Linear Deceleration 2 Set the deceleration for positioning. 100 *1 -32768 to B
(80E) Constant 32767
818 Position Command 2 Set the time constant of FIR filter for the position com- 0 0.1ms 0 to 10000 B
(812) FIR Filter Time Con- mand.
stant
820 Final Distance for 4 Sets the distance to travel after the latch signal input 100 0.1ms -1073741823 B
(814) External Input Posi- position is detected during the external input position- to
tioning ing. 1073741823
822 Origin Return mode 2 Set the direction for origin return. 0 - 0 to 1 B
(816) Setting 0: Positive direction
1: Negative direction
(817) Approach Speed 1 the origin proximity signal turns on to when it turns off
and the latch signal is detected.
(818) Approach Speed 2 the latch signal is detected to when the motor stops at
the position after travelling the distance set by Final
Distance for Origin Return (Pn825).
825 Final Distance for 4 Set the distance from the position where the latch sig- 100 Com- -1073741823 B
(819) Origin Return nal is entered to the origin during origin returns. mand to
unit 1073741823
*1. 10,000 command unit/s

*2. 100 command unit/s
537
G Series Servo Drive (Built-in MECHATROLINK-II Communication Type

R88D-GN@-ML2)
Parameter Tables
No. size
Pn001 Default Dis- 2 Selects the data to be displayed on the 7-segment LED display on 0 --- 0 to 4 Online
play the front panel.
0 Normal status ("--" Servo OFF, "00" Servo ON)
1 Indicates the machine angle from 0 to FF hex.
0 is the zero position of the encoder. The angle
increases when the Servomotor turns forward.
When using an incremental encoder, the display shows
"nF" (not Fixed) until detecting the zero position on the
encoder after the control power is turned ON.
2 Indicates the electrical angle from 0 to FF hex.
0 is the position where the inductive voltage on the U
phase reaches the position peak. The angle increases
when the Servomotor turns forward.
3 Indicates the number (total) of MECHATROLINKII com-
munications errors from 0 to FF hex.
The communications error count (total) saturates at the
maximum of FFFFh. "h" appears only for the lowest
byte. The count continues from "00" after exceeding
"FF".
Note The communications error count (total) is
cleared by turning OFF the control power.
4 Indicates the setting on the rotary switch (node address
value) loaded at startup, in decimal.
This value does not change even if the rotary switch is
turned after startup.
5 to Reserved (Do not set.)
32767
Pn003 Torque 2 Selects the torque limit function, or the torque feed-forward func- 1 --- --- Online Settings
Limit Selec- tion during speed control. can be
tion changed
• Torque Limit Selection 1 --- 1 to 5 when the
For torque control, always select Pn05E. For position control and axes are
speed control, select the torque limit as follows. stopped
1 Use Pn05E as the limit value for forward and reverse (Busy
operations. Flag for
each axis
2 Forward: Use Pn05E. = 0).
Reverse: Use Pn05F.
3 Switch limits by torque limit values and input signals
from the network.
PCL is OFF = Pn05E, PCL is ON = Pn05F
NCL is OFF = Pn05E, NCL is ON = Pn05F
torque limit values from the network as follows:
Use Pn05E command or option command value 1,
Use Pn05F command or option command value 2,
torque limit values and input signals from the network
as follows:
PCL is OFF = Pn05E, PCL is ON = Pn05E command
NCL is OFF = Pn05F, NCL is ON = Pn05F command
538
No. size
Pn003 Torque 2 Note PCL ON: When either Forward Torque Limit (CN1 PCL: 1 --- 1 to 5 Online Settings
Limit Selec- pin 7) or MECHATROLINKII Communications can be
tion Option Field (P-CL) is ON. changed
PCL OFF: When both Forward Torque Limit (CN1 PCL: when the
pin 7) and MECHATROLINK-II Communica- axes are
tions Option Field (P-CL) are OFF. stopped
(Busy
• Torque Feed-forward Function Selection Flag for
each axis
1 to 3 Enabled only during speed control. Disabled if not = 0).
using speed control.
4 to 5 Always disabled
Pn004 Drive Pro- 2 Sets the function for the Forward and Reverse Drive Prohibit 0 --- 0 to 2 Offline
hibit Input Inputs (CN1 POT: pin 19, NOT: pin 20)
Selection
0 Decelerates and stops according to the sequence set
in the Stop Selection for Drive Prohibition Input (Pn066)
when both POT and NOT inputs are enabled.
When both POT and NOT inputs are OPEN, the Drive
Prohibit Input Error (alarm code 38) will occur.
1 Both POT and NOT inputs disabled.
2 When either POT or NOT input becomes OPEN, the
Drive Prohibit Input Error (alarm code 38) will occur.
Pn005 Communi- 2 Controls errors and warnings for MECHATROLINK-II communica- 0 --- 0 to 3955 Offline Always
cations tions. set to 0.
Control Note Use with thi]s parameter set to 0. Program to stop immedi-
ately if using a value other than 0.
Set the Consecutive Communications Error Detection Count in
COM_ERR (bit 8 to 11). The communications error (alarm code
83) will occur when a communications error, which is assessed at
every MECHATROLINK-II communications cycle, occurs consecu-
tively for the number of the Consecutive Communications Error
Detection Count. The error and warning can be masked for debug
purposes.
bits 15-12 bits 11-8 bits 7-4 bits 3-0
--- COM_ERR MSK COM MSK COM
WARNG ALM
• [bits 8-11] COM_ERR (Consecutive Communications

Error Detection Count)
Setting range: 0 to 15.
Consecutive Communications Error Detection
Count = COM_ERR + 2
Note These bits are debug functions. Set to enable (0) when
not debugging.
• [bits 0-3] MECHATROLINK-II Communications Alarms Mask
(MSK COM ALM)
[bit0]0: Communications error (alarm code 83) enabled
1: Communications error (alarm code 83) disabled
[bit1]0: Watchdog data error (alarm code 86) enabled
1: Watchdog data error (alarm code 86) disabled
• [bits 4-7] MECHATROLINK-II Communications Warnings Mask
(MSK COM WARNG)
[bit4]0: Data setting warning (warning code 94h) enabled
1: Data setting warning (warning code 94h) disabled
[bit5]0: Command warning (warning code 95h) enabled
1: Command warning (warning code 95h) disabled
[bit6]0: ML-II communications warning
(warning code 96h) enabled
1: ML-II communications warning
(warning code 96h) disabled
Pn006 Power ON 2 Sets the duration to display the node address when the control 30 ms 0 to 1000 Offline
Address power is turned ON.
Display Note The node address display has priority even if there are
Duration alarms or warnings at power ON.
Setting
0 to 6 600 ms
7 to set value × 100 ms
1000
539
No. size
Pn007 Speed 2 Selects the output to the Analog Speed Monitor (SP on the front 3 --- 0 to 11 Online
monitor panel).
(SP) Selec- Note This monitor output has a delay due to filtering. The Oper-
tion ating Direction Setting (Pn043) does not affect this moni-
0 V: Issuing
0 V: Gain 2
5 V: Gain 1
Pn008 Torque 2 Selects the output to the Analog Torque Monitor (IM on the 0 --- 0 to 14 Online
Monitor (IM) front panel)
Selection
Note This monitor output has a delay due to filtering. The Oper-
ating Direction Setting (Pn043) does not affect this moni-
6 to 10 Reserved
0 V: Issuing
0 V: Gain 2
5 V: Gain 1
Pn00A Prohibit 2 Allows/prohibits parameter changes via the network. 0 --- 0, 1 Online
Parameter
Changes 0 Allows parameter changes from the host controller via
via Network the network.
1 Prohibits parameter changes from the host controller
via the network.
Attempting to change a parameter via the network
when prohibited triggers the Command Warning (warn-
ing code 95h).
Pn00B Operation 2 Selects how the an absolute encoder is used. 0 --- 0 to 2 Online
Switch This parameter is disabled when using an incremental
When
Using encoder.
Absolute 0 Use as an absolute encoder.
Encoder
1 Use an absolute encoder as an incremental encoder.
2 Use as an absolute encoder but ignore absolute multi-
turn counter overflow alarm (alarm code 41).
540
No. size
Pn00C RS-232 2 Sets the baud rate for RS-232 communications. 2 --- 0 to 5 Online
Baud Rate
Setting 0 2,400 bps
1 4,800 bps
2 9,600 bps
3 19,200 bps
4 38,400 bps
5 57,600 bps
Pn010 Position 2 Sets the position loop responsiveness. 400 ×0.1 0 to 30000 Online Settings
Loop Gain Increasing the gain increases position control responsiveness and [1/s] can be
(RT) shortens stabilization time. changed
when the
Oscillation or overshoot will occur if set too high. Adjust for opti- axes are
mum responsiveness. stopped
Pn011 Speed Loop 2 Sets the speed loop responsiveness. 500 ×0.1 1 to 30000 Online (Busy
Gain (RT) Hz Flag for
If the Inertia Ratio (Pn020) is set correctly, this parameter is set to
the Servomotor response frequency. each axis
= 0).
Increasing the gain increases the speed control responsiveness,
but too much gain may cause oscillating.
Small gain may cause overshoot in the speed response.
Adjust for optimum responsiveness.
Pn012 Speed Loop 2 Adjusts the speed loop integration time constant. 200 ×0.1 1 to 10000 Online
Integration Set a large value for large load inertia. ms
Time Con-
stant (RT) Decrease the setting for fast response with small inertia.
tion value. A setting of 10000 disables integration.
Pn013 Speed 2 Sets the type of speed detection filter time constant. 0 --- 0 to 5 Online
Feedback Normally, use a setting of 0.
Filter Time
Constant Increasing the value reduces the noise of the Servomotor but also
(RT) reduces its responsiveness.
This parameter is disabled if the Instantaneous Speed Observer
Setting (Pn027) is enabled.
Pn014 Torque 2 Adjusts the first-order lag filter time constant for the torque com- 80 ×0.01 0 to 2500 Online
Command mand section. ms
Filter Time The torque filter setting may reduce machine vibration.
Constant
(RT)
Pn015 Speed 2 Sets the speed feed-forward amount. 300 ×0.1 % 0 to 1000 Online
Feedfor- This parameter is particularly useful when fast response is
ward required.
Amount
(RT)
Pn016 Feed-for- 2 Sets the time constant for the speed feed-forward first-order lag fil- 100 ×0.01 0 to 6400 Online
ward Filter ter. ms
Time Con-
stant (RT)
541
No. size
Pn018 0 to 6400 2 Sets the position loop gain when using gain 2 switching. 200 ×0.1 0 to 30000 Online Settings
Same function as Pn010. [1/s] can be
changed
Pn019 Speed Loop 2 Sets the speed loop gain when using gain 2 switching. 800 ×0.1 1 to 30000 Online when the
Gain 2 (RT) Same function as Pn011. Hz axes are
stopped
Pn01A Speed Loop 2 Sets the speed loop integration time constant when using gain 2 500 ×0.1 1 to 10000 Online (Busy
Integration switching. ms Flag for
Time Con- Same function as Pn012. each axis
stant 2 (RT) = 0).
tion value. Setting 10000 disables integration.
Pn01B Speed 2 Sets the speed detection filter when using gain 2 switching. 0 --- 0 to 5 Online
Feedback Same function as Pn013. Normally, use a setting of 0.
Filter Time
Constant 2 When Instantaneous Speed Observer Setting (Pn027) is enabled,
(RT) this parameter will be disabled.
Pn01C Torque 2 Sets the first-order lag filter time constant for the torque command 100 ×0.01 0 to 2500 Online
Command section when using gain 2 switching. ms
Filter Time Same function as Pn014.
Constant 2
(RT)
Pn01D Notch Filter 2 Sets the notch frequency of notch filter 1 for resonance suppres- 1500 Hz 100 to 1500 Online
1 Fre- sion.
quency This filter must be matched with the resonance frequency of the
load.
1499
Pn01E Notch Filter 2 Selects the notch width of notch filter 1 for resonance suppression. 2 --- 2 Online
1 Width Normally, use a setting of 2.
Pn020 Inertia Ratio 2 Sets the load inertia as a percentage of the Servomotor rotor iner- 300 % 0 to 10000 Online Settings
(RT) tia. can be
Setting [%] = (Load inertia / Rotor inertia) × 100 changed
when the
The inertia ratio estimated during realtime autotuning is stored in axes are
the EEPROM every 30 minutes. stopped
Pn021 Realtime 2 Sets the operating mode for realtime autotuning. 0 --- 0 to 7 Online (Busy
Autotuning Flag for
A setting of 3 or 6 will provide faster response to changes in inertia each axis
Mode during operation. Operation, however, may be unstable depending
Selection = 0).
on the operating pattern.
Normally, use a setting of 1 or 4.
Set to 4 to 6 when the Servomotor is used as a vertical axis.
Gain switching is enabled at set values 1 to 6.
Use a setting of 7 if operation changes caused by gain switching
are a problem.
Realtime Autotuning Degree of change in
load inertia
0 Disabled ---
1 Horizontal axis mode Almost no change
2 Gradual changes
3 Sudden changes
4 Vertical axis mode Almost no change
5 Gradual changes
6 Sudden changes
7 Gain switching disable Almost no change
mode
Pn022 Realtime 2 Sets the machine rigidity for realtime autotuning. 2 --- 0 to F Online
Autotuning Increasing this value increases the responsiveness.
Machine
Rigidity If the value is changed suddenly by a large amount, the gain will
Selection change rapidly, subjecting the machine to shock.
Always start by making small changes in the value, and gradually
increase the value while monitoring machine operation.
Cannot be set to 0 when using the Parameter Unit.
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No. size
Pn023 Adaptive 2 Enables or disables the adaptive filter. 0 --- 0 to 2 Online Settings
Filter Selec- The Adaptive Filter Table Number Display (Pn02F) will be reset to can be
tion 0 when disabled. changed
when the
Note When the Vibration Filter Selection (Pn024) is set to a axes are
low-pass filter type (Pn024 = 3 to 5), the adaptive filter is stopped
forcibly set to disabled (Pn023 = 0). (Busy
0 Adaptive filter disabled. Flag for
each axis
1 Adaptive filter enabled. = 0).
Adaptive operation performed.
2 Adaptive filter enabled. Adaptive operation will not be
performed (i.e., retained).
Pn024 Vibration 2 Selects the vibration filter type and switching mode. 0 --- 0 to 5 Offline
Filter Selec- • Filter type selection
tion • Normal type:
• Low-pass type:
• Switching mode selection
• No switching: Both 1 and 2 are enabled
• Switching with command direction:
Selects Vibration Frequency 1 in forward direction
(Pn02B, Pn02C)
Selects Vibration Frequency 2 in reverse direction
(Pn02D, Pn02E)
Filter type Switching mode

0 Normal type No switching
1
direction
3 Low-pass type No switching
4
direction
Pn025 Normal 2 Sets the operating pattern for normal mode autotuning. 0 --- 0 to 7 Online Settings
Mode Auto- can be
tuning Number of rotations Rotation direction changed
Operation when the
Setting 0 Repeat cycles of 2 Forward and Reverse axes are
rotations (Alternating) stopped
1 Reverse and Forward (Busy
Flag for
(Alternating)
each axis
2 Forward only = 0).
3 Reverse only
4 Repeat cycles of single Forward and Reverse
rotation (Alternating)
5 Reverse and Forward
(Alternating)
6 Forward only
7 Reverse only
Pn026 Overrun 2 Sets the Servomotor’s allowable operating range for the position 10 ×0.1 0 to 1000 Online
Limit Set- command input range. rota-
ting Set to 0 to disable the overrun protective function. tion
Pn027 Instanta- 2 The Instantaneous Speed Observer improves speed detection 0 --- 0, 1 Online Settings
neous accuracy, thereby improving responsiveness and reducing vibra- can be
Speed tion when stopping. changed
Observer When the instantaneous speed observer is enabled, both Speed when the
Setting (RT) Feedback Filter Time Constant (Pn013) and Speed Feedback Fil- axes are
ter Time Constant 2 (Pn01B) are disabled. stopped
(Busy
This feature cannot be used with realtime autotuning. Flag for
0 Disabled each axis
= 0).
1 Enabled
Pn028 Notch Filter 2 Sets the notch frequency of notch filter 2 for resonance suppres- 1500 Hz 100 to 1500 Online
2 Fre- sion.
quency This parameter must be matched with the resonance frequency of
the load.
1499
543
No. size
Pn029 Notch Filter 2 Selects the notch width of notch filter 2 for resonance suppression. 2 --- 0 to 4 Online Settings
2 Width Increasing the value increases the notch width. can be
changed
Pn02A Notch Filter 2 Selects the notch depth of notch filter 2 for resonance suppres- 0 --- 0 to 99 Online when the
2 Depth sion. axes are
Increasing this value decreases the notch depth, thereby reducing stopped
the phase lag. (Busy
Flag for
Pn02B Vibration 2 Sets the vibration frequency 1 for damping control to suppress 0 ×0.1 0 to 2000 Online each axis
Frequency vibration at the end of the load. Hz = 0).
1 Measure and set the frequency of the vibration.
The frequency setting range depends on the filter type selected in
the Vibration Filter Selection (Pn024).
• Normal type
Setting frequency range: 10.0 to 200.0 Hz (Disabled when set to
0 to 99)
• Low-pass type
Setting frequency range: 1.0 to 200.0 Hz (Disabled when set to 0
to 9)
Pn02C Vibration 2 When setting Vibration Frequency 1 (Pn02B), reduce this setting if 0 ×0.1 −200 to 2000 Online
Filter 1 Set- torque saturation occurs, or increase it to make the movement Hz
ting faster.
Normally, use a setting of 0.
The setting range depends on the filter type selected in the Vibra-
tion Filter Selection (Pn024), and if Vibration Filter 1 is enabled,
the ranges are as follows:
Note This parameter is disabled when Vibration Filter 1 is dis-
abled.
• Normal type
Setting range: 100 ≤ Pn02B + Pn02C ≤ Pn02B × 2 or 2000
• Low-pass type
Setting range: 10 ≤ Pn02B + Pn02C ≤ Pn02B × 6
Pn02D Vibration 2 Same function as Pn02B. 0 ×0.1 0 to 2000 Online
Frequency Hz
2
Pn02E Vibration 2 Same function as Pn02C. 0 ×0.1 −200 to 2000 Online
Filter 2 Set- Hz
ting
Pn02F Adaptive 2 Displays the table entry number corresponding to the frequency of 0 --- 0 to 64 Online This is a
Filter Table the adaptive filter. read-only
Number This parameter is set automatically when the adaptive filter is parame-
Display enabled (i.e., when the Adaptive Filter Selection (Pn023) is set to ter. You
a value other than 0), and cannot be changed. cannot
change
When the adaptive filter is enabled, this parameter will be saved in the set-
EEPROM approximately every 30 min. If the adaptive filter is ting.
enabled the next time the power supply is turned ON, adaptive
operation will start with the data saved in EEPROM as the default
value.
To clear this parameter and reset the adaptive operation, disable
the adaptive filter by setting the Adaptive Filter Selection (Pn023)
to 0, and then enable it again.
0 to 4 Filter disabled
5 to 48 Filter enabled
49 to 64 Enable or disable the filter with Pn022
Pn030 Gain 2 Enables or disables gain switching. 1 --- 0, 1 Online Settings
Switching can be
Operating 0 Disabled. Uses Gain 1 (Pn010 to Pn014). changed
Mode PI/P operation is switched from MECHATROLINK-II. when the
Selection axes are
(RT) 1 The gain is switched between Gain 1 (Pn010 to Pn014) stopped
and Gain 2 (Pn018 to Pn01C). (Busy
Flag for
each axis
= 0).
544
No. size
Pn031 Gain Switch 2 Sets the trigger for gain switching. 2 --- 0 to 10 Online Settings
Setting (RT) The details depend on the control mode. can be
changed
0 Always Gain 1 when the
axes are
1 Always Gain 2 stopped
2 Switching from the network (Busy
Flag for
3 Amount of change in torque command each axis
= 0).
4 Always Gain 1
5 Speed command
6 Amount of position deviation
7 Position command pulses received
8 Positioning Completed Signal (INP) OFF
9 Actual Servomotor speed
10 Combination of position command pulses received and
speed
Pn032 Gain Switch 2 Enabled when the Gain Switch Setting (Pn031) is set to 3, or 5 to 30 ×166 0 to 10000 Online
Time (RT) 10. Sets the lag time from the trigger detection to actual gain µs
switching when switching from gain 2 to gain 1.
Pn033 Gain Switch 2 Sets the judgment level to switch between Gain 1 and Gain 2 600 -- 0 to 20000 Online
Level Set- when the Gain Switch Setting (Pn031) is set to 3, 5, 6, 9, or 10.
ting (RT) The unit for the setting depends on the condition set in the Gain
Switch Setting (Pn031).
Pn034 Gain Switch 2 Sets the hysteresis of the judgment level for the Gain Switch Level 50 --- 0 to 20000 Online
Hysteresis Setting (Pn033) when the Gain Switch Setting (Pn031) is set to 3,
Setting (RT) 5, 6, 9, or 10. The unit for the setting depends on the condition set
in the Gain Switch Setting (Pn031).
Pn035 Position 2 This parameter can prevent the position loop gain from increasing 20 ×166 0 to 10000 Online
Loop Gain suddenly when the position loop gain and position loop gain 2 dif- µs
Switching fer by a large amount.
Time (RT) When the position loop gain increases, it takes the duration of (set
value + 1) × 166 µs.
Pn03D Jog Speed 2 Sets the jog operation speed with the Parameter Unit or CX-Drive. 200 r/min 0 to 500 Online Settings
Note Jog operation is only available when the network is not can be
established. Do not try to establish the network while changed
using jog operation. Otherwise, command alarm (alarm when the
code 27) will occur. axes are
stopped
(Busy
Flag for
each axis
= 0).
Pn041 Emergency 2 Enables the Emergency Stop Input (STOP). 1 --- 0, 1 Offline
Stop Input Note If this function is disabled, the response status will always
Setting be 0 (disabled).
0 Disabled.
Pn042 Origin Prox- 2 Sets the logic for the Origin Proximity Input (DEC). 1 --- 0, 1 Offline
imity Input
Logic Set- 0 N.C contact (origin proximity detected on OPEN)
ting 1 N.O contact (origin proximity detected on CLOSE)
Pn043 Operating 2 Sets the relationship between polarity of operation data sent over 1 --- 0, 1 Offline
Direction the network and the direction of Servomotor rotation.
Setting Note In RS-232C communications and on the analog monitor
(SP, IM) on the front panel, forward direction is always
positive (+), and reverse rotation is always negative (−).
0 Disabled.
545
No. size
Pn044 Input Sig- 2 Sets the terminal assignment for Drive Prohibit Input. 1 --- 0, 1 Offline
nal Selec-
tion 0 Sets CN1 pin 19 to POT, CN1 pin 20 to NOT.
1 Sets CN1 pin 19 to NOT, CN1 pin 20 to POT.
Pn053 Speed Limit 2 Sets the speed limit for torque control mode. (The value is an 50 r/min −20000 to Online Settings
absolute value) 20000 can be
This parameter is limited by the Overspeed Detection Level Set- changed
ting (Pn073). when the
axes are
stopped
(Busy
Flag for
each axis
= 0).
Pn058 Soft Start 2 Sets the acceleration time for speed control mode. 0 ×2 ms 0 to 5000 Online Settings
Accelera- Acceleration time [s] from 0 r/min to maximum speed [r/min] = Set can be
tion Time value × 2 ms changed
when the
Pn059 Soft Start 2 Sets the deceleration time for speed control mode. 0 ×2 ms 0 to 5000 Online axes are
Decelera- Deceleration time [s] from maximum speed [r/min] to 0 r/min = Set stopped
tion Time value × 2 ms (Busy
Flag for
each axis
= 0).
Pn05B 2 Selects the speed limit for torque control mode. 0 --- 0, 1 Online Settings
can be
0 Use the Speed Limit (Pn053) changed
1 Use the speed limit value via MECHATROLINK-II or the when the
Speed Limit (Pn053), whichever is smaller. axes are
stopped
(Busy
Flag for
each axis
= 0).
Pn05E No. 1 2 Sets the No. 1 Torque Limit for the Servomotor output torque. 300 % 0 to 500 Online Settings
Torque Refer to information on the Torque Limit Selection (Pn003) to can be
Limit select the torque limit. changed
when the
The maximum value of the setting range depends on the applica- axes are
ble Servomotor. stopped
Pn05F No. 2 2 Sets the No. 2 torque limit for the Servomotor output torque. 100 % 0 to 500 Online (Busy
Torque Flag for
Refer to information on the Torque Limit Selection (Pn003) to each axis
Limit select the torque limit.
= 0).
The maximum value of the setting range depends on the applica-
ble Servomotor.
Completion tion 1 (INP1) Output is selected. mand
Range 1 Positioning is complete when all positioning command pulses are units
exhausted, and the absolute value of the position deviation con-
verted into command units is less than this setting.
546
No. size
Pn061 Speed Con- 2 Sets the detection width for the speed conformity detection 20 r/min 10 to 20000 Online
formity Sig- (VCMP) signal.
nal Output Speed conformity is achieved when the absolute value of the dif-
Width ference between the internal speed command (before acceleration
and deceleration limits are applied) and the Servomotor speed is
less than the set speed.
Note This setting has a hysteresis of 10 r/min.
Pn062 Rotation 2 Sets the threshold level for the speed reached (TGON) signal. 50 r/min 10 to 20000 Online
Speed for Speed reached is determined when the absolute value of the Ser-
Motor Rota- vomotor speed is greater than the setting speed.
tion Detec-
tion Note Speed reached detection has a hysteresis of 10 r/min.
Completion tion 2 (INP2) is selected. mand
Range 2 Positioning is complete when the absolute value of the position units
deviation converted into command units is less than this setting,
regardless of whether position command pulses are still being pro-
cessed.
Pn064 Motor 2 Enables or disables the offset component readjustment function of 0 --- 0, 1 Online
Phase Cur- the Motor Phase Current Detector (CT) for Servo ON command
rent Offset inputs. The readjustment is made when control power is turned
Re-adjust- ON.
ment Set- Note This adjustment is inaccurate if the offset is measured
ting while the Servomotor is rotating. To enable this function,
do not rotate the Servomotor when inputting the Servo ON
command.
0 Disabled (only when turning ON control power)
1 Enabled (when turning ON control power, or at Servo
ON)
Pn065 Undervolt- 2 Selects whether to activate the main power supply undervoltage 1 --- 0, 1 Online Settings
age Alarm function (alarm code 13) when the main power supply is inter- can be
Selection rupted for the duration of the Momentary Hold Time (Pn06D) dur- changed
ing Servo ON. when the
axes are
0 Turns the Servo OFF according to the setting for stopped
the Stop Selection with Main Power OFF (Pn067), (Busy
interrupting the positioning command generation Flag for
each axis
process (positioning operation) within the Servo
= 0).
Drive. When the main power supply is turned back
ON, Servo ON will resume. Restart the positioning
operation after performing the positioning operation
and recovering from Servo OFF.
1 Causes an error due to main power supply
undervoltage (alarm code 13).
This parameter is disabled if Pn06D = 1,000.
If Pn06D is set too long and the voltage between
P and N in the main power supply converter drops
below the specified value before a main power
supply interruption is detected, a main power
supply undervoltage (alarm code 13) will occur.
547
No. size
Pn066 Stop Selec- 2 Sets the deceleration stop operation to be performed after the For- 0 --- 0 to 2 Offline
tion for ward Drive Prohibit Input (POT) or Reverse Drive Prohibit Input
Drive Prohi- (NOT) is enabled.
bition
Input During After stopping Deviation counter
deceleration (30 r/min or
less)
0 Dynamic Disables torque Cleared while decel-
brake command in erating with dynamic
drive prohibited brake. Retained after
direction stopping.
1 Disables Disables torque Cleared while decel-
torque command in erating. Retained
drive prohibited after stopping.
direction
2 Emergency Servo locked Retained while decel-
Stop Torque erating, cleared upon
(Pn06E) completion of decel-
eration, and retained
after stopping.
Note 1. The positioning command generation process (positioning

operation) within the Servo Drive will be forcibly stopped
once it enters the deceleration mode. Also, when the
deceleration mode is activated during speed control or
torque control, it will switch to position control. If a posi-
tioning operation command is received during decelera-
tion, the internal positioning command generation process
will be retained, and after deceleration is complete, posi-
tioning operation will be activated.
Note 2. When the Servomotor rotation speed is 30 r/min or less
(stopped), the deceleration mode will not be activated
even if the drive prohibit input is enabled.
Note 3. When the parameter is set to 2 and an operation com-
mand in the drive prohibited direction is received after
stopping, a command warning (warning code 95h) will be
issued. When the parameter is set to 0 or 1, the operation
command in the prohibited direction after stopping will be
accepted, but the Servomotor will not operate and the
position deviation will accumulate because the torque
command is 0. Take measures such as issuing a com-
mand in the reverse direction from the host controller.
Note 4. When the parameter is set to 2, MECHATROLINK-II com-
munications are interrupted, and either Forward or
Reverse Drive Prohibit Input (POT or NOT) is turned ON,
receiving an operation command (jog operation or normal
mode autotuning) via RS232 will cause a Drive Prohibit
Input Error (alarm code 38). A Drive Prohibit Input Error
(alarm code 38) will also occur if either POT or NOT is
turned ON while operating on an operation command
received via RS232.
P067 Stop Selec- 2 Sets the operation to be performed during deceleration and after 0 --- 0 to 7 Online Settings
tion with stopping after the main power supply is turned OFF with the Und- can be
Main Power ervoltage Alarm Selection (Pn065) set to 0. The deviation counter changed
OFF will be reset when the power OFF is detected. when the
axes are
0 and 4 Use dynamic brake to decelerate and remain stopped stopped
with dynamic brake. (Busy
1 and 5 Use free-run to decelerate and remain stopped with Flag for
dynamic brake. each axis
= 0).
2 and 6 Use dynamic brake to decelerate, but free the motor
when stopped.
3 and 7 Use free-run to decelerate, and free the motor when
stopped.
Pn068 Stop Selec- 2 Sets the deceleration process and stop status after an alarm is 0 --- 0 to 3 Online
tion for issued by the protective function. The deviation counter will be
Alarm Gen- reset when an alarm is issued.
eration
0 Use dynamic brake to decelerate and remain stopped
with dynamic brake.
1 Use free-run to decelerate and remain stopped with
dynamic brake.
2 Use dynamic brake to decelerate, but free the motor
when stopped.
3 Use free-run to decelerate, and free the motor when
stopped.
Pn069 Stop Selec- 2 Sets the operational conditions to apply during deceleration and 0 --- 0 to 7 Online
tion with after stopping when the Servo is turned OFF.
Servo OFF The relationship between set values, operation, and deviation
counter processing for this parameter is the same as for the Stop
Selection with Main Power OFF (Pn067).
548
No. size
Pn06A Brake Tim- 2 Sets the duration from when the Brake Interlock (BKIR) signal 10 2 ms 0 to 1000 Online Settings
ing When turns OFF to when the Servomotor is de-energized when the RUN can be
Stopped command is turned OFF with the Servomotor stopped. changed
Note The brake interlock signal is the logical OR of the brake when the
release request from the network and the release request axes are
from the Servo controller. Note, the brake release request stopped
from the network is OFF (operation request is ON) at (Busy
power ON. Flag for
each axis
Pn06B Brake Tim- 2 When the run command (RUN) is turned OFF during the Servo- 50 2 ms 0 to 1000 Online = 0).
ing during motor rotation, the Servomotor will decelerate reducing the rota-
Operation tion speed and the Brake Interlock Signal (BKIR) will turn OFF
after the time set by this parameter has elapsed.
BKIR turns OFF if the Servomotor speed drops below 30 r/min
before the set time.
Note The brake interlock signal is the logical OR of the brake
release request from the network and the release request
from the Servo controller. Note, the brake release request
from the network is OFF (operation request is ON) at
power ON.
Pn06C Regenera- 2 Sets the regeneration resistor operation and the regeneration 0 --- 0 to 3 Offline
tion Resis- overload (alarm code 18) operation.
tor Set this parameter to 0 if using the built-in regeneration resistor.
Selection
If using an external regeneration resistor, be sure to turn OFF the
main power when the built-in thermal switch is activated.
0 Sets the regeneration overload to match the built-in
regeneration resistor. (regeneration load ratio below
1%)
1 The regeneration overload (alarm code 18) occurs
when the load ratio of the external regeneration resistor
exceeds 10%.
2 The regeneration processing circuit by the external
regeneration resistor is activated, but the regeneration
overload (alarm code 18) does not occur.
3 The regeneration processing circuit is not activated.
All regenerative energy is absorbed by the built-in
capacitor.
Pn06D Momentary 2 Sets the amount of time required to detect shutoff when the main 35 2 ms 35 to 1000 Offline
Hold Time power supply continues to shut off.
The main power OFF detection will be disabled if this parameter is
set to 1000.
Pn06E Emergency 2 Sets the torque limit during deceleration because of the Drive Pro- 0 % 0 to 300 Online Settings
Stop Torque hibition Input when the Stop Selection for Drive Prohibition Input can be
(Pn066) is set to 2. changed
When this parameter is set to 0, the normal torque limit will be set. when the
axes are
The maximum value of the setting range depends on the Servo- stopped
motor. (Busy
Flag for
each axis
= 0).
Pn072 Overload 2 Sets the overload detection level. The overload detection level will 0 % 0 to 500 Online
Detection be set at 115% if this parameter is set to 0. Normally, use a setting
Level Set- of 0, and set the level only when reducing the overload detection
ting level.
Pn073 Overspeed 2 Sets the overspeed detection level. The overspeed detection level 0 r/min 0 to 20000 Online
Detection is 1.2 times the maximum Servomotor rotation speed when the
Level Set- parameter is set to 0. Normally, use a setting of 0, and set the level
ting only when reducing the overspeed detection level.
Note The detection margin of error for the setting is ±3 r/min for
a 7-core absolute encoder and ±36 r/min for a 5-core
549
No. size
Pn100 Backlash 2 Enables or disables the backlash compensation for position con- 0 --- 0 to 2 Offline
Compensa- trol, and sets the compensation direction.
tion Selec-
tion 0 Disabled
1 Compensates in the initial positive direction after the
Servo ON.
2 Compensates in the initial negative direction after the
Servo ON.
Pn101 Backlash 2 Sets the backlash compensation amount for position control. 0 Com- −32768 to Online Settings
Compensa- mand 32767 can be
tion units changed
when the
Pn102 Backlash 2 Sets the backlash compensation time constant for position 0 0.01 0 to 6400 Online axes are
Compensa- control. ms stopped
tion (Busy
Time Con- Value Pn101 = Positive Pn101 = Negative Flag for
stant of number number each axis
Pn100 = 0).
rotation in positive rotation in positive
direction direction
rotation in negative rotation in negative
direction direction

Pn104 Soft Limit 2 Enables or disables the soft limit. 0 --- 0 to 3 Online
When enabled, the soft limit values are set in Forward Software
Limit (Pn201) and Reverse Software Limit (Pn202).
Note The response value for limit signals disabled by this set-
ting will be set to 0. The response value for limit signals is
also set to 0 when the Servomotor does not complete its
return to origin.
0 Enable both the Forward / Reverse Software Limits
(Pn201 and Pn202)
1 Disable the Forward Software Limit (Pn201), enable the
2 Enable the Forward Software Limit (Pn201), disable the
3 Disable both the Forward / Reverse Software Limits
(Pn201 and Pn202)
Pn105 Origin 2 Sets the threshold for detecting the origin (ZPOINT) in absolute 10 Com- 0 to 250 Online
Range values. mand
ZPOINT = 1 when the return to origin completes (coordinate sys- units
tem setup is complete) and the feedback position is within the set-
ting range of this parameter.
Pn107 Linear 2 Sets the acceleration for positioning operations. 100 × −32768 to Online Settings
Accelera- A setting of "0" is regarded as "1". 10000 32767 can be
tion [com- changed
The setting will be handled after conversion to an unsigned 16-bit mand when the
Constant data (0 to 65535). units/ axes are
−1 → FFFFh = 65535 (Busy
Flag for
each axis
= 0).
Pn10A Linear 2 Sets the deceleration for positioning operations. 100 × −32768 to Online Settings
Decelera- A setting of "0" is regarded as "1". 10000 32767 can be
tion Con- [com- changed
stant The setting will be handled after conversion to an unsigned 16-bit mand when the
data (0 to 65535). units/ axes are
−1 → FFFFh = 65535 (Busy
Flag for
each axis
= 0).
550
No. size
Pn10E Moving 2 Sets the moving average time for position commands. 0 ×0.1 0 to 5100 Online Settings
Average Note If the Moving Average Time is set, commands may not be ms can be
Time executed seamlessly when switching the control mode, changed
and when switching between interpolation feed motions when the
and positioning motions (motions wherein the command axes are
waveforms are generated inside the Servo Drive). stopped
(Busy
Pn10F Origin 2 Sets the direction for origin return. 0 --- 0, 1 Online Flag for
Return each axis
Mode Set- 0 Positive direction = 0).
tings 1 Negative direction
Pn110 Origin 2 Sets the operating speed for origin return from when the origin 50 100 1 to 32767 Online
Return proximity signal is turned ON, to when it is turned OFF and the [com-
Approach latch signal is detected. mand
Pn111 Origin 2 Sets the operating speed for origin return, from when the point 5 100 1 to 32767 Online
Return after the latch signal is detected to when the Origin Return Final [com-
Approach Distance (Pn204) is reached. mand
Pn112 General- 2 Selects the function for general-purpose output 1 (OUTM1). 7 --- 0 to 9 Offline Standard
purpose setting
Output 1 0 Always OFF
Function 1 INP1 output.
Selection
Turn ON when position deviation is equal to or less
than Pn060 for position control. Undefined when not
using position control.
2 VCMP output.
Turn ON when the deviation between the Servomotor
speed and commanded speed is within the range set
by Pn061 for speed control. Undefined when not using
speed control.
3 TGON output.
Turn ON when the absolute value of the Servomotor
speed exceeds Pn062 setting in all control modes.
4 READY output.
Turn ON when the main power is supplied, there is no
alarm, and Servo SYNC with a host controller is estab-
lished in all control modes.
5 CLIM output.
Turn ON when torque limit is activated in all control
modes.
6 VLIM output.
Turn ON when the Servomotor speed reaches the
speed limit for torque control. Undefined when not
using torque control.
7 BKIR output.
Turn ON with the release timing of the brake release
signal in all control modes.
8 WARN output.
Turn ON when a warning is issued in all control modes.
9 INP2 output.
Turn ON when the position deviation is equal to or less
than the Positioning Completion Range 2 (Pn063) for
position control. Undefined when not using position
control.
Function
Selection
Function
Selection
to
Pn13F
Pn200 Absolute 4 Sets the offset amount for the encoder position and the mechani- 0 Com- −1073741823 Offline
Origin Off- cal coordinate system position when using an absolute encoder. mand to
set units 1073741823
551
No. size
Pn201 Forward 4 Sets the soft limit in the forward direction. 500000 Com- −1073741823 Online
Limit (PSOT) will turn ON (=1). units 1073741823
Note PSOT is not turned ON when origin return is incomplete.
Pn202 Reverse 4 Sets the soft limit for the reverse direction. −500000 Com- −1073741823 Online
Limit (NSOT) will turn ON (=1). units 1073741823
Note NSOT is not turned ON when origin return is incomplete.
Pn203 Final Dis- 4 Sets the distance to travel after detecting the latch signal input 100 Com- −1073741823 Online Settings
tance for position when performing external input positioning. mand to can be
External The operation after detecting the latch signal input position will be units 1073741823 changed
Input Posi- determined by the external input positioning direction and this when the
tioning parameter as follows. axes are
stopped
(Busy
External Sign
input Flag for
positioning Positive Negative each axis
= 0).
direction
moves in the nega-
tive direction and
stops
Negative Decelerates to a Moves in the nega-
direction stop, reverses, then tive direction and
moves in the positive stops*1
direction and stops
*1. Reverses after decelerating to a stop if the final distance for

external input positioning is short in comparison to the deceler-
ation distance.
Pn204 Origin 4 Sets the distance from the latch signal input position to the origin 100 Com- −1073741823 Online
Return when performing origin return. mand to
Final Dis- The operation after detecting the latch signal input position will be units 1073741823
tance determined by the origin return direction and this parameter as fol-
lows.
Origin Sign
return
direction Positive Negative

moves in the nega-
tive direction and
stops
Negative Moves in the nega- Decelerates to a
direction tive direction and stop, reverses, then
stops*1 moves in the positive
direction and stops
*1. Reverses after decelerating to a stop if the final travel distance

for origin return is short in comparison to the deceleration dis-
tance.
Pn205 Electronic 4 Sets the numerator for the electronic gear ratio. 1 --- 0 to 131072 Offline
Gear Ratio Setting this parameter to 0 automatically sets the encoder resolu-
1 (Numera- tion as the numerator. (131072 for a 17-bit absolute encoder, or
tor) 10000 for a 2,500-p/r incremental encoder).
Note Set the electronic gear ratio within the range of 1/100 to
100 times. A parameter setting alarm (alarm code 93) will
occur if the ratio is set outside of this range.
Pn206 Electronic 4 Sets the denominator for the electronic gear ratio. 1 --- 1 to 65535 Offline
Gear Ratio Note Set the electronic gear ratio within the range of 1/100 to
2 (Denomi- 100 times. A parameter setting alarm (Alarm code 93) will
nator) occur if the ratio is set outside of this range.
Pn209 Deviation 4 Sets the deviation counter overflow level. 20000 Com- 0 to Online
Counter mand 2147483647
Overflow The value will become saturated at 134217728 (= 227) pulses after units
multiplying with the electronic gear ratio.
Level
Setting this parameter to 0 will disable deviation counter overflow.
to
Pn21F
552
R88D-WT@ W-series Servo Drive Equipped with JUSP-NS115

No. ting
basic command.
switch
1 CW direction is
taken for positive
command.
1 Not used. --- The setting is dis- 1 --- --- --- ---
abled. (Do not
change the set-
ting.)
munications unit
number setting
when using per-
sonal computer
monitoring soft-
ware
setting.)
Pn001 Function 2 0 Select stop if 0 Servomotor 2 --- --- Offline ---
selection an alarm stopped by
tion switch Servomotor is
1 OFF 1 Servomotor
stopped by
dynamic brake.
Dynamic brake
released after stop-
ping.
2 Servomotor
stopped with free
run.
input tor after stopping).
1 Stop Servomotor
using torque set in
Pn406, and lock
Servomotor after
stopping.
2 Stop Servomotor
using torque set in
Pn406, and release
Servomotor after
stopping.
2 Select AC/DC 0 AC power supply: 0 --- --- Offline ---
power input AC power supplied
from L1, L2, (L3)
terminals
1 DC power supply:
DC power supplied
from +1, − termi-
nals
3 Select warning 0 Alarm code only 1 --- --- Offline ---
code output output from ALO1,
ALO2, ALO3
1 Alarm code and
warning code both
output from ALO1,
ALO2, ALO3
553

No. ting
selection mand input value not used.
2 trol) value 1 used as
torque limit input.
2 Option command
value 1 used as the
torque feed for-
ward input.
3 Option command
values 1 and 2
used as torque limit
inputs according to
the forward/reverse
rotation current
limit setting.
change (dur-
speed limit input.
using absolute
tal encoder.
3 Fully-closed 0 Fully-closed 0 --- --- Offline ---
encoder usage encoder is not
method used.
1 Fully-closed
encoder is used
without phase Z.
2 Fully-closed
encoder is used
with phase Z.
3 Fully-closed
encoder is used in
Reverse Rotation
Mode without
phase Z.
4 Fully-closed
encoder is used in
Reverse Rotation
Mode with phase Z.
554

No. ting
Pn003 Function 2 0 Analog moni- 0 Servomotor rota- 2 --- --- Online ---
selection tor 1 (AM) allo- tion speed:
applica- cation 1 V/1,000 r/min
tion switch
3 1 Speed command:
1 V/1,000 r/min
2 Torque command:
1 V/100%
0.05 V/1 command
unit
0.05 V/100 com-
mand units
5 Command pulse
frequency:
1 V/1,000 r/min
6 Servomotor rota-
tion speed:
1 V/250 r/min
7 Servomotor rota-
tion speed:
1 V/125 r/min
8 to F Not used.
1 Analog moni- 0 to F Same as Pn003.0 0 --- --- Online ---
tor 2 (NM) allo-
cation
setting.)
Pn004 Not used. --- --- --- --- (Do not change the 0200 --- --- --- Fixed
setting.) setting:
0200
Pn005 Not used. --- --- --- --- (Do not change the 0000 --- --- --- ---
setting.)

No. ting
Pn100 Speed 2 Adjusts speed loop responsiveness. 80 Hz 1 to Online ---
loop gain 2000
Pn101 Speed 2 Speed loop integral time constant 2000 ×0.01 15 to Online ---
loop inte- ms 51200
gration
constant
Pn102 Position 2 Adjusts position loop responsiveness. 40 1/s 1 to Online ---
loop gain 2000
Pn103 Inertia 2 Sets using the ratio between the machine system 300 % 0 to Online ---
ratio inertia and the Servomotor rotor inertia. 20000
Pn104 Speed 2 Adjusts speed loop responsiveness (enabled by auto- 80 Hz 1 to Online ---
loop gain 2 matic gain switching input). 2000
Pn105 Speed 2 Speed loop integral time constant (enabled by auto- 2000 ×0.01 15 to Online ---
loop inte- matic gain switching input) ms 51200
gration
constant 2
Pn106 Position 2 Adjusts position loop responsiveness (enabled by 40 1/s 1 to Online ---
loop gain 2 automatic gain switching input). 2000
tional
speed
unit
ward
amount
555

No. ting
ward com- ms 6400
mand filter
Pn10B Speed 2 0 P control 0 Sets internal torque 4 --- --- Online ---
control switching con- command value
setting ditions conditions
(Pn10C).
1 Sets speed com-
mand value condi-
tions (Pn10D).
2 Sets acceleration
command value
conditions
(Pn10E).
3 Sets deviation
pulse value condi-
tions (Pn10F).
4 No P control
switching function
loop switching
1 IP control
2 Automatic gain 0 Automatic gain 0 --- --- Offline ---
switching switching disabled
1 Gain switching
using position com-
mands
2 Gain switching
using position devi-
ation
3 Gain switching
using position com-
mands and position
deviation
setting.)
(torque
command)
(speed
command)
Pn10E P control 2 Sets level of acceleration command to switch from PI 0 10 r/ 0 to Online ---
switching control to P control. min/s 3000
(accelera-
tion com-
mand)
(deviation unit
pulse)
556

No. ting
Pn110 Online 2 0 Select online 0 Autotunes initial 2 --- --- Offline ---
autotun- autotuning operations only
ing setting after power is
turned ON.
1 Always autotunes.
2 No autotuning
1 Select speed 0 ON 1 --- --- Online ---
feedback com-
pensation 1 OFF
function
2 Select adhe- 0 Friction compensa- 0 --- --- Online ---
sive friction tion: OFF
compensation
function 1 Friction compensa-
tion: Rated torque
ratio small
2 Friction compensa-
tion: Rated torque
ratio large
setting.)
feedback
compen-
sation gain
to
Pn123
Pn124 Automatic 2 Sets the switching delay after conditions have been 100 ms 1 to Online ---
gain met, when the automatic gain switching function is 10000
switching used.
timer (Pn10B.2 = 1 to 3).
Pn125 Automatic 2 Sets the position deviation used as the switching con- 7 Com- 1 to 250 Online ---
gain dition when the automatic gain switching function by mand
switching position deviation (Pn10B.2 = 2, 3) is used. unit
width
(amount of
position
deviation)

No. ting
control setting.)
setting 1
setting.)
setting.) setting:
1
setting.)
Pn201 Encoder 2 Sets the number of output pulses from the Servo 1000 Pulses 16 to Offline ---
divider rate Drive. /rota- 16384
tion
Pn202 Electronic 2 Sets the pulse rate for the command pulses and Ser- 4 --- 1 to Offline ---
G1 0.01 ≤ G1/G2 ≤ 100
(numera-
tor)
gear ratio 65535
G2
(denomi-
nator)
557

No. ting
Pn205 Absolute 2 Sets the limit to the rotation speed when using a Ser- 65535 Rota- 0 to Offline ---
encoder vomotor with an absolute encoder. tions 65535
multi-turn
limit set-
ting
Pn206 Number of 2 Sets the number of fully-closed encoder pulses for 16384 Pulses 513 to Offline ---
fully- each motor rotation. /rota- 32768
closed tion
encoder
pulses
control setting.)
setting 2
setting.) setting:
1
setting.)
setting.)
control setting.)
setting 3
setting.)
setting.)
setting.)

size
Pn304 Jog speed 2 Sets the rotation speed used during jog 500 r/min 0 to Online ---
operation (executed from the Servo 10000
Drive's Parameter Unit).
Pn305 Soft start acceleration 2 Sets acceleration time during speed 0 ms 0 to Online ---
Pn306 Soft start deceleration 2 Sets deceleration time during speed 0 ms 0 to Online ---
Pn308 Speed feedback filter time 2 Sets filter time constant for speed feed- 0 ×0.01 0 to Online ---
constant back. ms 65535

No. ting
Pn401 Torque 2 Sets the filter time constant for the internal torque 40 ×0.01 0 to Online ---
command command. ms 65535
filter time
constant
558

No. ting
external
current
limit
external
current
limit
gency stop torque ratio).
torque
limit 10000
command filter 1 function used.
setting
for torque com-
mands.
setting.)
filter 2 function used.
for torque com-
mands.
setting.)
ter 1 fre- 2000
quency
ter 1 Q 400
value
Pn40B Notch fil- 2 Sets notch filter 2 frequency for torque command. 2000 Hz 50 to Online ---
ter 2 fre- 2000
quency
Pn40C Notch fil- 2 Sets Q value of notch filter 2. 70 ×0.01 50 to Online ---
ter 2 Q 400
value

No. ting
Pn500 Position- 2 Sets the width of the positioning completed range. 3 Com- 0 to 250 Online ---
ing command
pletion unit
range 1
Pn502 Rotation 2 Sets the number of rotations for detecting the Zero 20 r/min 1 to Online ---
speed for Speed Flag. 10000
motor rota-
tion detec-
tion
Pn503 Speed 2 Sets the allowable fluctuation range (rotation speed) 10 r/min 0 to 100 Online ---
conformity for the Speed Conformity Flag.
signal out-
put width
559

No. ting
Pn504 Position- 2 Sets the proximity range for the Positioning Proximity 3 Com- 1 to 250 Online ---
ing com- Flag. mand
pletion unit
range 2
Pn505 Deviation 2 Sets the detection level for the deviation counter over 1024 ×256 1 to Online ---
counter alarm. pulses 32767
overflow
level
Pn506 Brake tim- 2 Sets the delay from the brake command to the Servo- 0 ×10 0 to 50 Online ---
ing 1 motor turning OFF. ms
Pn507 Brake 2 Sets the rotation speed for outputting the brake com- 100 r/min 0 to Online ---
command mand. 10000
speed
Pn508 Brake tim- 2 Sets the delay from the Servomotor turning OFF to 50 ×10 10 to Online ---
ing 2 the brake command output. ms 100
Pn509 Momen- 2 Sets the time during which alarm detection is disabled 20 ms 20 to Online ---
tary hold when a power failure occurs. 1000
time
560

No. ting
tion 1 1
setting.) setting:
8
setting.) setting:
8
input terminal 2
input
2 Allocated to CN1,
input
3 Allocated to CN1,
input
4 Allocated to CN1,
input
5 Allocated to CN1,
input
6 Allocated to CN1,
input
7 Always valid.
8 Always invalid.
9 Allocated to CN1,
pin 40: Valid for
high input
A Allocated to CN1,
pin 41: Valid for
high input
B Allocated to CN1,
pin 42: Valid for
high input
C Allocated to CN1,
pin 43: Valid for
high input
D Allocated to CN1,
pin 44: Valid for
high input
E Allocated to CN1,
pin 45: Valid for
high input
F Allocated to CN1,
pin 46: Valid for
high input
561

No. ting
tion 2 input) signal setting:
input terminal 3
allocation
setting.) setting:
8
2 PCL (forward 0 to F Same as Pn50A.3 5 --- --- Offline Stan-
rotation cur- dard
nal input 8
terminal alloca-
tion
3 NCL (reverse 0 to F Same as Pn50A.3 6 --- --- Offline Stan-
rotation cur- dard
nal input 8
terminal alloca-
tion
Pn50C Input sig- 2 0 Not used. 8 (Do not change the 8 --- --- --- Fixed
tion 3 8
setting.) setting:
8
setting.) setting:
8
setting.) setting:
8
Pn50D Input sig- 2 0 Not used. 8 (Do not change the 8 --- --- --- Fixed
tion 4 8
setting.) setting:
8
setting.)
setting.)
Pn50E Output sig- 2 0 INP1 (position- 0 No output 1 --- --- Offline Stan-
tion 1 1) signal output 1 Allocated to CN1, setting:
tion 2 Allocated to CN1,
pins 27, 28
3 Allocated to CN1,
pins 29, 30
conformity) dard
terminal alloca- 0
tion
motor rotation dard
nal output ter- 0
minal
allocation
vomotor war- dard
signal output 3
terminal alloca-
tion
562

No. ting
tion 2 tion) signal setting:
output termi- 0
nal allocation
terminal alloca- 0
tion
minal 2
allocation
allocation 0
tion 3 2) signal output setting:
terminal alloca- 0
tion
setting.)
setting.)
setting.)
563

No. ting
nal selec- input terminal pin 40: Valid for low dard
tion 5 allocation input setting:
1
1 Allocated to CN1,
input
2 Allocated to CN1,
input
3 Allocated to CN1,
input
4 Allocated to CN1,
input
5 Allocated to CN1,
input
6 Allocated to CN1,
input
7 Always enabled.
8 Always disabled.
9 Allocated to CN1,
pin 40: Valid for
high input
A Allocated to CN1,
pin 41: Valid for
high input
B Allocated to CN1,
pin 42: Valid for
high input
C Allocated to CN1,
pin 43: Valid for
high input
D Allocated to CN1,
pin 44: Valid for
high input
E Allocated to CN1,
pin 45: Valid for
high input
F Allocated to CN1,
pin 46: Valid for
high input
564

No. ting
tion 5 allocation 4 Allocated to CN1, setting:
input
5 Allocated to CN1,
input
6 Allocated to CN1,
input
7 Always enabled.
8 Always disabled.
D Allocated to CN1,
pin 44: Valid for
high input
E Allocated to CN1,
pin 45: Valid for
high input
F Allocated to CN1,
pin 46: Valid for
high input
input terminal dard
allocation setting:
5
input terminal dard
allocation setting:
6
26
reverse for
CN1 pins 27,
28
reverse for
CN1 pins 29,
30
setting.)
tion 6
setting.)
setting.)
setting.)
Pn51A Motor-load 2 Sets the allowable range for the number of pulses for 0 Pulse 0 to Online ---
deviation fully-closed encoders and semi-closed encoders. 32767
over level
Pn51E Deviation 2 Sets the detection level for the deviation counter over- 0 % 0 to 100 Online ---
counter flow warning.
overflow
warning
level
565
Other Parameters
size
Pn600 Regeneration resistor 2 Setting for the regeneration resistance 0 ×10 W From 0 Online ---
capacity load ratio monitoring calculations. (Varies
by Unit.)
Pn601 Not used. 0 (Do not change the setting.) --- --- --- --- ---
566

No. ting
mask (A.E5).
1 Ignores communi-
cations errors
(A.E6).
zation errors
(A.E5).
3 Ignores both com-
munications errors
(A.E6) and syn-
chronization errors
(A.E5).
TROLINK com-
mand warnings
(A.95), and com-
munications errors
(A.96).
1 Ignores parame-
ters setting warn-
ings (A.94).
2 Ignores MECHA-
TROLINK-II com-
mand warnings
(A.95).
3 Ignores both
parameter setting
warnings (A.94)
and MECHA-
TROLINK-II com-
mand warnings
(A.95).
4 Ignores communi-
cations errors
(A.96).
5 Ignores both
parameter setting
warnings (A.94)
and communica-
6 Ignores both
MECHATROLINK-
II command warn-
ings (A.95) and
communications
errors (A.96).
7 Ignores parameter
setting warnings
(A.94), MECHA-
TROLINK-II com-
mand warnings
(A.95), and com-
munications errors
(A.96).
2 Communica- 0 to F Detects a commu- 0 --- --- Online ---
tions error nications error
count at single (A.E6) when the
transmission number of errors
specified by the set
value + 2 have
occurred continu-
ously.
setting.)
567

No. ting
Pn801 Software 2 0 Software limit 0 Software limit 0 --- --- Online ---
limits function enabled.
1 Forward software
limit disabled.
2 Reverse software
limit disabled.
tions.
setting.)
references ences.
1 Software limit
check using refer-
ences.
setting.)
size
ting.)
Pn803 Zero point width 2 Sets the detection range 10 Com- 0 to 250 Online ---
for the Origin Stop Flag. mand unit
Pn804 Forward soft- 4 Sets the forward soft- 819,191,808 Com- −1,073,741,823 to Online ---
ware limit ware limit. mand unit 1,073,741,823
Pn806 Reverse soft- 4 Sets the reverse soft- −819,191,808 Com- −1,073,741,823 to Online ---
ware limit ware limit. mand unit 1,073,741,823
Pn808 Absolute 4 Sets the offset for the 0 Com- −1,073,741,823 to Offline ---
encoder zero mechanical origin from mand unit 1,073,741,823
Pn80A First-step linear 2 Sets the first-step accel- 100 ×10,000 1 to 65535 Online Settings
acceleration eration speed for the command can be
stopped
(Busy Flag
for each
axis = 0).
Pn80B Second-step lin- 2 Sets the second-step 100 ×10,000 1 to 65535 Online Settings
ear acceleration acceleration speed for command can be
stopped
(Busy Flag
for each
axis = 0).
acceleration for the when the
for each
axis = 0).
568
size
Pn80D First-step linear 2 Sets the first-step decel- 100 ×10,000 1 to 65535 Online Settings
deceleration eration speed for the command can be
stopped
(Busy Flag
for each
axis = 0).
Pn80E Second-step lin- 2 Sets the second-step 100 ×10,000 1 to 65535 Online Settings
ear deceleration deceleration speed for command can be
stopped
(Busy Flag
for each
axis = 0).
deceleration for the when the
for each
axis = 0).
Pn810 Exponential 2 Sets the exponential 0 Com- 0 to 32767 Online Settings
acceleration/ acceleration/decelera- mand can be
deceleration tion bias speed for the units/s changed
(Busy Flag
for each
axis = 0).
stopped
(Busy Flag
for each
axis = 0).
Pn812 Movement aver- 2 Sets the S-curve accel- 0 ×0.1 ms 0 to 5100 Online Settings
age time eration/deceleration can be
moving average time for changed
the acceleration/deceler- when the
ation curve used in posi- axes are
(Busy Flag
for each
axis = 0).
ting.)
Pn814 Final travel dis- 4 Sets the final travel dis- 100 Com- −1,073,741,823 to Online Settings
tance for exter- tance for external posi- mand unit 1,073,741,823 can be
nal positioning tioning when executing changed
INTERRUPT FEEDING when the
using direct operation. axes are
stopped
(Busy Flag
for each
axis = 0).
569
No. ting
mode set- origin
ting search
direction set
in the Axis
Parameters.
Settings can
be changed
when the
axes are
stopped
(Busy Flag
for each
axis = 0).
1 to 3 Not used. 0 (Do not 0 --- --- --- ---
change the
setting.)
speed 1 stopped
(Busy Flag
for each
axis = 0).
approach gin search. units/s axes are
speed 2 stopped
(Busy Flag
for each
axis = 0).
Pn819 Final 4 Sets the amount of compensation positioning 100 Com- −1,073,741,823 Online Settings can
travel dis- used after the origin input signal has been mand to be changed
tance to detected in an origin search. unit 1,073,741,823 when the
return to axes are
zero point stopped
(Busy Flag
for each
axis = 0).
Pn81B Backlash 2 Sets the amount of backlash compensation. 0 ×0.1 −32,768 to Online ---
compen- com- 32,767
sation mand
amount unit
Pn81D Compen- 2 0 Backlash 0 Compen- 0 --- --- Offline ---
sation compensa- sates in for-
function tion selec- ward
selection tion direction.
1 Compen-
sates in
reverse
direction.
1 to 3 Not used. 0 (Do not 0 --- --- --- ---
change the
setting.)
to
Pn823
570
R88D-WN@-ML2 W-series Servo Drive with Built-in MECHATROLINK-II

Communications
No. ting
basic command
switches
1 CW direction is
taken for positive
command
2 to 3 Not used.
setting.)
munications unit
number setting
(necessary for mul-
tiple Servo Drive
connections when
using personal
computer monitor-
ing software)
setting.)
Pn001 Function 2 0 Stop selection 0 Servomotor 2 --- --- Offline ---
selection if an alarm stopped by
tion Servomotor is
switches 1 OFF 1 Dynamic brake
OFF after Servo-
motor stopped
2 Servomotor
stopped with free
run
1 Stop selection 0 Stop according to 0 --- --- Offline ---
when drive Pn001.0 setting
prohibited is (release Servomo-
1 Stop Servomotor
using torque set in
Pn406, and lock
Servomotor after
stopping
2 Stop Servomotor
using torque set in
Pn406, and release
Servomotor after
stopping
2 AC/DC power 0 AC power supply: 0 --- --- Offline ---
input selection AC power supplied
from L1, L2, (L3)
terminals
1 DC power supply:
DC power from +, −
(2) terminals
setting.)
571

No. ting
Pn002 Function 2 0 Torque com- 0 Do not use option 0 --- --- Offline ---
selection mand input command value.
tion ing speed con- 1 Use option com-
switches 2 trol) mand value 1 as
the torque limit
value.
2 Use option com-
mand value 1 as
the torque feed for-
ward command
value.
3 Use option com-
mand value 1 or 2
as the torque limit
value, according to
the forward and
reverse torque lim-
its that are speci-
fied.
1 Speed com- 0 Do not use option 0 --- --- Offline ---
mand input command value.
change (dur-
ing torque con- 1 Use option com-
trol) mand value 1 as
the speed limit
value.
switch when encoder
using absolute
tal encoder
setting.)
Pn004 Function 2 0 Not used. 0 (Do not change the 0 --- --- --- ---
selection setting.)
applica-
tion 1 Not used. 1 (Do not change the 1 --- --- --- ---
switches 4 setting.)
setting.)
setting.)
572

No. ting
selection tor 1 (AM) sig- tion speed: 1 V/
tion
1 V/1000 r/min
02 Torque command:
gravity compensa-
tion torque (Pn422)
(1 V per 100%)
0.05 V/1 command
unit
deviation (after
electronic gear)
(0.05 V per
encoder pulse unit)
05 Position command
speed
(1 V/1,000 r/min)
06 Not used.
07 Not used.
08 Positioning com-
pleted command
(Positioning com-
pleted: 5 V; posi-
tioning not
completed: 0 V
(1 V/1,000 r/min)
0A Torque feed for-
ward (1 V per
100%)
0B to Not used.
1F
tor 1 signal
multiplier 1 10x
selection 2 100x
3 1/10x
4 1/100x
setting.)
573

No. ting
selection tor 2 (NM) sig- tion speed: 1V/
tion
1 V/1000 r/min
02 Torque command:
gravity compensa-
tion torque (Pn422)
(1 V per 100%)
0.05 V/1 command
unit
deviation (after
electronic gear)
(0.05 V per
encoder pulse unit)
05 Position command
speed
(1 V/1,000 r/min)
06 Not used.
07 Not used.
08 Positioning com-
pleted command
(Positioning com-
pleted: 5 V; posi-
tioning not
completed: 0 V
(1 V/1,000 r/min)
0A Torque feed for-
ward (1 V per
100%)
0B to Not used.
1F
tor 2 signal
multiplier 1 10x
selection 2 100x
3 1/10x
4 1/100x
setting.)
Pn008 Function 2 0 Lowered bat- 0 Regard battery 0 --- --- Offline ---
selection tery voltage voltage drop as
applica- alarm/warning alarm (A.830).
tion selection
switches 8 1 Regard battery
voltage drop as
warning (A.930).
setting.)
2 Warning detec- 0 Warnings detected. 0 --- --- Offline ---
tion selection
1 Warnings not
detected.
setting.)
574

No. ting
Pn100 Speed loop 2 Adjusts speed loop response. 800 ×0.1 10 to Online ---
gain Hz 20000
Pn101 Speed loop 2 Speed loop integral time constant 2000 ×0.01 15 to Online ---
integration ms 51200
constant
Pn102 Position 2 Adjusts position loop response. 400 ×0.1/s 10 to Online ---
loop gain 20000
Pn103 Inertia ratio 2 Set using the ratio between the machine system iner- 300 % 0 to Online ---
tia and the Servomotor rotor inertia. 20000
Pn104 Speed loop 2 Adjusts speed loop response (enabled by automatic 800 ×0.1 10 to Online ---
gain 2 gain switching input). Hz 20000
Pn105 Speed loop 2 Speed loop integral time constant (enabled by auto- 2000 ×0.01 15 to Online ---
integration matic gain switching input). ms 51200
constant 2
Pn106 Position 2 Adjusts position loop response (enabled by automatic 400 ×0.1/s 10 to Online ---
loop gain 2 gain switching input). 20000
tional
speed
unit
ward
amount
ward com- ms 6400
mand filter
Pn10B Speed con- 2 0 P control 0 Sets internal torque 4 --- --- Online ---
trol setting switching con- command value
ditions conditions
(Pn10C).
1 Sets speed com-
mand value condi-
tions (Pn10d).
2 Sets acceleration
command value
conditions
(Pn10E).
3 Sets deviation
pulse value condi-
tions (Pn10F).
4 No P control
switching function
loop switching
1 IP control
2 to 3 Not used.
2 Position loop 0 Standard position 0 --- --- Offline ---
control method control
1 Less deviation con-
trol
2 to 3 Not used.
setting.)
(torque
command)
(speed
command)
575

No. ting
Pn10E P control 2 Sets level of acceleration command to switch from PI 0 r/min/s 0 to Online ---
switching control to P control. 30000
(accelera-
tion com-
mand)
(deviation unit
pulse)
Pn110 Normal 2 0 Not used. 2 (Do not change the 2 --- --- Offline ---
autotuning setting.)
switches
1 Speed feed- 0 ON 1 --- --- Offline ---
back compen-
sation function 1 OFF
selection 2 to 3 Not used.
setting.)
setting.)
feedback
compen-
sating gain
Pn11F Position 2 Position loop integral time constant 0 ×0.1 0 to Online ---
integral ms 50000
time con-
stant
Pn12D Not used. --- (Do not change the setting.) 400 --- --- --- ---
Pn12F Not used. --- (Do not change the setting.) 2000 --- --- --- ---
switching 65535
time 1
switching 65535
time 2
Pn135 Gain 2 The time from when gain switching condition A is sat- 0 ms 0 to Online ---
waiting gain begins.
time 1
Pn136 Gain 2 The time from when gain switching condition B is sat- 0 ms 0 to Online ---
waiting gain begins.
time 2
576

No. ting
Pn139 Automatic 2 0 Gain switching 0 Manual gain 0 --- --- Offline ---
gain selection switching (auto-
changeover switch matic gain switch-
related ing not used)
switches 1
1 Automatic switch-
ing pattern 1
Automatic switch-
ing from No. 1 gain
to No. 2 gain when
gain switching con-
dition A is satisfied.
Automatic switch-
ing from No. 2 gain
to No. 1 gain when
gain switching con-
dition B is satisfied.
2 to 4 Not used.
1 Gain switching 0 Positioning com- 0 --- --- Offline ---
condition A pleted output 1
(INP1) ON
1 Positioning com-
pleted output 1
(INP1) OFF
2 Positioning com-
pleted output 2
(INP2) ON
3 Positioning com-
pleted output 2
(INP2) OFF
4 The position com-
mand filter output is
0, and also the
position command
input is 0.
5 The position com-
mand input is not 0.
2 Gain switching 0 to 5 Same as Pn139.1 0 --- --- Offline ---
condition B
setting.)
Pn150 Predictive 2 0 Predictive con- 0 Predictive control 0 --- --- Offline ---
control trol selection not used.
selection
switches 1 Predictive control
used.
2 Not used.
1 Predictive con- 0 Predictive control 1 --- --- Offline ---
trol type for tracking
1 Predictive control
for positioning
setting.)
setting.)
Pn151 Predictive 2 Adjusts acceleration and deceleration response for 100 % 0 to 300 Online ---
control predictive control.
accelera-
tion/decel-
eration gain
Pn152 Predictive 2 Adjusts position deviation for predictive control. 100 % 0 to 300 Online ---
control
weighting
ratio
rigidity
rigidity 2
577

No. ting
Pn1A2 Speed 2 Sets the filter time constant for No. 1 gain speed feed- 72 ×0.01 30 to Online ---
filter time
constant
Pn1A3 Speed 2 Sets the filter time constant for No. 2 gain speed feed- 72 ×0.01 30 to Online ---
filter time
constant 2
Pn1A4 Torque 2 Sets the filter time constant for the torque command. 36 ×0.01 0 to Online ---
command ms 2500
filter time
constant 2
Pn1A7 Utility con- 2 0 Integral com- 0 Integral compensa- 1 --- --- Online ---
trol pensation pro- tion processing not
switches cessing executed.
tion processing
executed.
No. 1 gain and not
for No. 2 gain for
less-deviation gain
switching.
No. 2 gain and not
for No. 1 gain for
less-deviation gain
switching.
setting.)
setting.)
setting.)
Pn1A9 Utility inte- 2 Adjusts the auxiliary integral responsive. 37 Hz 0 to 500 Online ---
gral gain
Pn1AA Position 2 Adjusts the position proportional responsive. 60 Hz 0 to 500 Online ---
propor-
tional gain
Pn1AB Speed inte- 2 Adjusts the speed integral responsive. 0 Hz 0 to 500 Online ---
gral gain
Pn1AC Speed pro- 2 Adjusts the speed proportional responsive. 120 Hz 0 to Online ---
portional 2000
gain
Pn1B5 Not used. --- (Do not change the setting.) 150 --- --- --- ---
578

No. ting
Pn200 Not used. 2 0 Not used. 0 (Do not change the 0 --- --- --- ---
setting.)
setting.)
setting.)
setting.)
Pn205 Absolute 2 Sets the multi-turn limit for when a Servomotor with 65535 Rota- 0 to 65535 Offline ---
encoder an absolute encoder is used. tion
multi-turn
limit set-
ting
control setting.)
settings 2
setting.)
compensa-
tion selection 1 Compensates to
forward rotation
side.
2 Compensates to
reverse rotation
side.
3 INP 1 output 0 When the position 0 --- --- Offline ---
timing deviation is below
the INP1 range
(Pn522).
1 When the position
deviation is below
the INP1 range
(Pn522) and also
the command after
the position com-
mand filter is 0.
2 When the absolute
value for the posi-
tion deviation is
below the INP1
range (Pn522) and
also the position
command input is
0.
Pn20E Electronic 4 Sets the pulse rate for the command pulses and 4 --- 1 to Offline ---
gear ratio Servomotor movement distance. 1073741824
G1 0.001 ≤ G1/G2 ≤ 1000
(numera-
tor)
gear ratio 1073741824
G2
(denomi-
nator)
Pn212 Encoder 4 Sets the number of output pulses per Servomotor 1000 Pulses 16 to Offline ---
divider rate rotation. /rota- 1073741824
tion
Pn214 Backlash 2 Mechanical system backlash amount (the mechani- 0 Com- −32767 to Online ---
compen- cal gap between the drive shaft and the shaft being mand 32767
sation driven) unit
amount
Pn215 Backlash 2 Sets the backlash compensation time constant. 0 ×0.01 0 to 65535 Online ---
compen- ms
sation time
constant
579

No. ting

No. ting
Pn304 Jog speed 2 Sets rotation speed during jog operation (using Servo 500 r/min 0 to Online ---
Drive’s personal computer monitoring software) 10000
Pn305 Soft start 2 Sets acceleration time during speed control soft start. 0 ms 0 to Online ---
accelera- 10000
tion time
Pn306 Soft start 2 Sets deceleration time during speed control soft start. 0 ms 0 to Online ---
decelera- 10000
tion time
Pn308 Speed 2 Sets constant during filter of speed feedback. 0 ×0.01 0 to Online ---
feedback ms 65535
filter time
constant
Pn310 Vibration 2 0 Vibration 0 Vibration detection 0 --- --- Online ---
detection detection not used.
switches selection
1 Gives warning
(A.911) when vibra-
tion is detected.
2 Gives alarm
(A.520) when vibra-
tion is detected.
setting.)
setting.)
setting.)
Pn311 Vibration 2 Sets the vibration detection sensitivity. 100 % 50 to Online ---
detection 500
sensitivity
Pn312 Vibration 2 Sets the vibration detection level 50 r/min 0 to 500 Online ---
detection
level
580

No. ting
Pn401 1st step 2 Sets the filter time constant for internal torque com- 40 ×0.01 0 to Online ---
1st torque mands. ms 65535
command
filter time
constant
external
current
limit
external
current
limit
gency stop torque ratio)
torque
limit 10000
command filter 1 function. used.
setting
for torque com-
mands.
setting.)
filter 2 function. used.
for torque com-
mands.
setting.)
ter 1 fre- 2000
quency
ter 1 Q 1000
value
Pn40C Notch fil- 2 Sets the notch filter 2 frequency for torque com- 2000 Hz 50 to Online ---
ter 2 fre- mands. 2000
quency
Pn40D Notch fil- 2 Sets Q value of notch filter 2. 70 ×0.01 50 to Online ---
ter 2 Q 1000
value
Pn40F 2nd step 2 Sets the filter frequency for internal torque com- 2000 Hz 100 to Online ---
2nd torque mands. 2000
command
filter fre-
quency
Pn410 2nd step 2 Sets the torque command filter Q value. 70 ×0.01 50 to Online ---
2nd torque 1000
command
filter Q
value
Pn411 3rd step 2 Sets the filter time constant for internal torque com- 0 µs 0 to Online ---
torque mands. 65535
command
filter time
constant
581

No. ting
Pn412 1st step 2 Sets the filter time constant for No. 2 gain internal 100 ×0.01 0 to Online ---
2nd torque torque commands. ms 65535
command
filter time
constant
Pn420 Damping 2 Sets the vibration suppression value while stopped. 100 % 10 to Online ---
for vibra- 100
tion sup-
pression
on stop-
ping
Pn421 Vibration 2 Sets the time from when the position command 1000 ms 0 to Online ---
suppres- becomes 0 until damping for vibration suppression on 65535
sion start- stopping begins.
ing time
Pn422 Gravity 2 Sets the gravity compensation torque. 0 ×0.01 −20000 Online ---
compen- % to
sation 20000
torque
Pn456 Sweep 2 Sets the sweep torque command amplitude. 15 % 1 to 800 Online ---
torque
command
amplitude

No. ting
motor rota-
tion detec-
tion
signal out-
put width
Pn506 Brake tim- 2 Sets the delay from the brake command to the Ser- 0 ×10 0 to 50 Online ---
ing 1 vomotor turning OFF. ms
Pn507 Brake 2 Sets the number of rotations for outputting the brake 100 r/min 0 to 10000 Online ---
command command.
speed
Pn508 Brake tim- 2 Sets the delay time from the Servomotor turning 50 ×10 10 to 100 Online ---
ing 2 OFF to the brake command output. ms
Pn509 Momen- 2 Sets the time during which alarm detection is dis- 20 ms 20 to 1000 Online ---
tary hold abled when a power failure occurs.
time
582

No. ting
tions 1
setting.)
setting.)
ited input) input setting:
signal Input 1
input
2 Allocated to CN1,
input
3 Allocated to CN1,
input
4 Allocated to CN1,
input
5 Allocated to CN1,
input
6 Allocated to CN1,
input
7 Always enabled.
8 Always disabled.
9 Allocated to CN1,
pin 13: Valid for
high input
A Allocated to CN1,
input
B Allocated to CN1,
input
C Allocated to CN1,
input
D Allocated to CN1,
pin 10: Valid for
high input
E Allocated to CN1,
pin 11: Valid for
high input
F Allocated to CN1,
pin 12: Valid for
high input
Pn50B Input sig- 2 0 NOT 0 to F Same as Pn50A.3 2 --- --- Offline Stan-
nal selec- (reverse dard
tions 2 drive prohib- setting:
ited input) 2
signal Input
terminal allo-
cation
setting.)
setting.)
setting.)
583

No. ting
Pn50C Input sig- 2 0 Not used. 8 (Do not change the 8 --- --- --- ---
tions 3
setting.)
setting.)
setting.)
Pn50D Input sig- 2 0 Not used. 8 (Do not change the 8 --- --- --- ---
tions 4
setting.)
setting.)
setting.)
Pn50E Output sig- 2 0 INP1 (posi- 0 Not used. 0 --- --- Offline Stan-
tions 1 pleted 1) 1 Allocated to CN1 setting:
signal output pins 1, 2 0
terminal allo- 2 Allocated to CN1
cation pins 23, 24
3 Allocated to CN1
pins 25, 26
1 VCMP 0 to 3 Same as Pn50E.0 0 --- --- Offline Stan-
(speed con- dard
formity) sig- setting:
nal output 0
terminal allo-
cation
2 TGON (ser- 0 to 3 Same as Pn50E.0 0 --- --- Offline Stan-
vomotor rota- dard
tion setting:
detection) 0
signal output
terminal allo-
cation
3 READY 0 to 3 Same as Pn50E.0 0 --- --- Offline Stan-
(servo ready) dard
terminal allo- 0
cation
nal selec- rent limit dard
tions 2 detection) setting:
signal output 0
terminal allo-
cation
1 VLIMT 0 to 3 Same as Pn50E.0 0 --- --- Offline Stan-
(speed limit dard
detection) setting:
signal output 0
terminal allo-
cation
interlock) dard
terminal allo- 1
cation
3 WARN 0 to 3 Same as Pn50E.0 0 --- --- Offline Stan-
(warning) dard
terminal allo- 0
cation
584

No. ting
Pn510 Output sig- 2 0 INP2 (posi- 0 to 3 Same as Pn50E.0 0 --- --- Offline Stan-
tions 3 pleted 2) setting:
signal output 0
terminal allo-
cation
setting.)
setting.)
setting.)
nal selec- input termi- pin 13: Valid for low dard
tions 5 nal allocation input setting:
3
1 Allocated to CN1,
input
2 Allocated to CN1,
input
3 Allocated to CN1,
input
4 Allocated to CN1,
input
5 Allocated to CN1,
input
6 Allocated to CN1,
input
7 Always enabled.
8 Always disabled.
9 Allocated to CN1,
pin 13: Valid for
high input
A Allocated to CN1,
input
B Allocated to CN1,
input
C Allocated to CN1,
input
D Allocated to CN1,
pin 10: Valid for
high input
E Allocated to CN1,
pin 11: Valid for
high input
F Allocated to CN1,
pin 12: Valid for
high input
585

No. ting
nal selec- input termi- dard
tions 5 nal allocation 4 Allocated to CN1, setting:
input
5 Allocated to CN1,
input
6 Allocated to CN1,
input
7 Always enabled.
8 Always disabled.
D Allocated to CN1,
pin 10: Valid for
high input
E Allocated to CN1,
pin 11: Valid for
high input
F Allocated to CN1,
pin 12: Valid for
high input
input termi- dard
5
input termi- dard
6
2
reverse for
CN1 pins 23,
24
reverse for
CN1 pins 25,
26
setting.)
Pn51E Deviation 2 Sets the detection level for the deviation counter 100 % 10 to 100 Online ---
counter overflow warning.
overflow
warning
level
counter level. mand 1073741823
overflow unit
level
pleted unit
range 1
pleted unit
range 2
586

No. ting
counter level for Servo ON. mand 1073741823
overflow unit
level at
Servo-ON
Pn528 Deviation 2 Sets the deviation counter overflow warning detec- 100 % 10 to 100 Online ---
counter tion level for Servo ON.
overflow
warning
level at
Servo-ON
Pn529 Speed 2 Sets the speed limit for when the Servo turns ON 10000 r/min 0 to 10000 Online ---
limit level with position deviation accumulated.
at Servo-
ON
Pn52F Not used. --- (Do not change the setting.) FFF --- --- --- ---
587

No. ting
Pn530 Program 2 0 Program 0 (Waiting time 0 --- --- Online ---
JOG oper- JOG operat- Pn535 → Forward
ation ing pattern movement Pn531)
related × Number of move-
switches ment operations
Pn536
1 (Waiting time
Pn535 → Reverse
movement Pn531)
× Number of move-
ment operations
Pn536
2 Waiting time Pn535
→ Forward move-
ment Pn531) ×
Number of move-
ment operations
Pn536
(Waiting time
Pn535 → Reverse
movement Pn531)
× Number of move-
ment operations
Pn536
3 (Waiting time
Pn535 → Reverse
movement Pn531)
× Number of move-
ment operations
Pn536
(Waiting time
Pn535 → Forward
movement Pn531)
× Number of move-
ment operations
Pn536
4 (Waiting time
Pn535 → Forward
movement Pn531
→ Waiting time
Pn535 → Reverse
movement Pn531)
× Number of move-
ment operations
Pn536
5 (Waiting time
Pn535 → Reverse
movement Pn531
→ Waiting time
Pn535 → Forward
movement Pn531)
× Number of move-
ment operations
Pn536
setting.)
setting.)
setting.)
Pn531 Program 4 Sets the program JOG movement distance. 32768 Com- 1 to Online ---
JOG mand 1073741824
movement unit
distance
Pn533 Program 2 Sets the program JOG operation movement speed. 500 r/min 1 to 10000 Online ---
JOG
movement
speed
588

No. ting
Pn534 Program 2 Sets the acceleration/deceleration time for program 100 ms 2 to 10000 Online ---
JOG JOG operation.
accelera-
tion/decel-
eration
time
Pn535 Program 2 Sets the delay time from the program JOG opera- 100 ms 0 to 10000 Online ---
JOG wait- tion start input until operation starts.
ing time
Pn536 Number of 2 Sets the number of repetitions of the program JOG 1 Times 1 to 1000 Online ---
program operations.
JOG
move-
ments
Pn540 Gain limit 2 Sets the gain limit. 2000 ×0.1 10 to 2000 Online ---
Hz
Pn550 Analog 2 Sets the analog monitor 1 offset voltage. 0 ×0.1 V −10000 to Online ---
monitor 1 10000
offset volt-
age
Pn551 Analog 2 Sets the analog monitor 2 offset voltage. 0 ×0.1 V −10000 to Online ---
monitor 2 10000
offset volt-
age
Other Parameters
size
Pn600 Regeneration resistor 2 Setting for regeneration resistance 0 ×10 W 0 to Online ---
capacity load ratio monitoring calculations (varies
by
model)
589

No. ting
cations TROLINK communications errors set to 0.
control munications (A.E6@) and syn-
check mask chronization errors
(A.E5@).
1 Ignores communi-
cations errors
(A.E6@).
zation errors
(A.E5@).
3 Ignores communi-
cations errors
(A.E6@) and syn-
chronization errors
(A.E5@).
(A.94@), MECHA- or 0.
TROLINK com-
mand warnings
(A.95@), and com-
munications errors
(A.96@).
1 Ignores parameter
setting warning (A.
94@).
2 Ignores command
warning (A. 95@).
3 Ignores parameter
setting warning (A.
94@) and com-
mand warning (A.
95@).
4 Ignores communi-
cations warning
(A. 96@).
5 Ignore setting
warning (A. 94@)
and communica-
tions warning
(A. 96@).
6 Ignores command
warning (A. 95@)
and communica-
tions warning
(A. 96@).
7 Ignores setting
warning (A. 94@),
command warning
(A. 95@), and com-
munications warn-
ing (A. 96@).
2 Communica- 0 to F Detects communi- 0 --- --- Online ---
tions error cations errors
count at single (A.E60) if they
transmission occur consecutively
for the set value
plus two times.
setting.)
590

No. ting
applica-
limit disabled.
3 Forward/reverse
abled.
setting.)
reference ence
1 Software limit
check using refer-
ence
setting.)
Param- Parameter Param- Contents Default Unit Setting range Enable Details
eter No. name eter setting setting
size
ting.)
Pn803 Zero point width 2 Sets the origin position 10 Command 0 to 250 Online ---
detection range. unit
Pn804 Forward soft- 4 Sets the software limit 819,191,808 Command −1,073,741,823 Online ---
ware limit for the positive direction. unit to
1,073,741,823
Pn806 Reverse soft- 4 Sets the software limit −819,191,808 Command −1,073,741,823 Online ---
ware limit for the negative direc- unit to
tion. 1,073,741,823
Pn808 Absolute 4 Sets the encoder posi- 0 Command −1,073,741,823 Offline ---
encoder zero tion and machine coordi- unit to
point position nate system offsets for 1,073,741,823
offset when an absolute
encoder is used.
Pn80A First step linear 2 Sets the step 1 accelera- 100 ×10,000 1 to 65535 Online Settings can
acceleration tion for when two-step command be changed
constant acceleration is used. units/s2 when the
axes are
stopped
(Busy Flag for
each axis =
0).
Pn80B Second step lin- 2 Sets the step 2 accelera- 100 ×10,000 1 to 65535 Online Settings can
ear acceleration tion for when two-step command be changed
constant acceleration is exe- units/s2 when the
acceleration constant for stopped
when one-step accelera- (Busy Flag for
0).
Pn80C Acceleration 2 Sets the switching speed 0 ×100 com- 0 to 65535 Online Settings can
ing speed acceleration when two- units/s when the
step acceleration is exe- axes are
cuted. stopped
(Busy Flag for
each axis =
0).
591
Param- Parameter Param- Contents Default Unit Setting range Enable Details
eter No. name eter setting setting
size
Pn80D First step linear 2 Sets the step 1 decelera- 100 ×10,000 1 to 65535 Online Settings can
deceleration tion for when two-step command be changed
constant deceleration is used. units/s2 when the
axes are
stopped
(Busy Flag for
each axis =
0).
Pn80E Second step lin- 2 Sets the step 2 decelera- 100 ×10,000 1 to 65535 Online Settings can
ear deceleration tion for when two-step command be changed
constant deceleration is exe- units/s2 when the
deceleration constant for stopped
when one-step decelera- (Busy Flag for
0).
Pn80F Deceleration 2 Sets the switching speed 0 ×100 com- 0 to 65535 Online Settings can
ing speed deceleration when two- units/s when the
step deceleration is exe- axes are
cuted. stopped
(Busy Flag for
each axis =
0).
Pn810 Exponential 2 Sets the bias for when 0 Command 0 to 32767 Online Settings can
acceleration/ an exponential filter is units/s be changed
deceleration used for the position when the
bias command filter. axes are
stopped
(Busy Flag for
each axis =
0).
Pn811 Exponential 2 Sets the time constant 0 ×0.1 ms 0 to 5100 Online Settings can
acceleration/ for when an exponential be changed
deceleration filter is used for the posi- when the
time constant tion command filter. axes are
stopped
(Busy Flag for
each axis =
0).
Pn812 Moving average 2 Sets the average move- 0 ×0.1 ms 0 to 5100 Online Settings can
time ment time for when S- be changed
curve acceleration/ when the
deceleration is used, and axes are
an average movement stopped
filter is used for the posi- (Busy Flag for
tion command filter. each axis =
0).
Pn813 Reserved. --- (Do not change the set- 0 --- --- --- ---
ting.)
Pn814 Final travel dis- 4 Sets the distance from 100 Command −1,073,741,823 Online Settings can
tance for exter- the external signal input unit to be changed
nal positioning position when external 1,073,741,823 when the
positioning is executed. axes are
stopped
(Busy Flag for
each axis =
0).
592
No. ting
point return direc- direction same direc-
return tion tion as the
mode set- 1 Reverse origin
tings direction search
direction set
in the Axis
Parameters.
Settings can
be changed
when the
axes are
stopped
(Busy Flag
for each axis
= 0).
1 to 3 Not used. 0 (Do not 0 --- --- --- ---
change the
setting.)
speed 1 stopped
(Busy Flag
for each axis
= 0).
speed 2 stopped
(Busy Flag
for each axis
= 0).
Pn819 Final 4 Sets the distance from the latch signal input 100 Com- −1,073,741,823 Online Settings can
travel dis- position to the origin, for when origin search mand to be changed
tance to is executed. unit 1,073,741,823 when the
return to axes are
zero point stopped
(Busy Flag
for each axis
= 0).
to
Pn825
to
Pn910
Pn920 Not used. --- (Do not change the setting.) ---- --- --- --- ---
to
Pn95F
593
R7D-ZN@-ML2 SMARTSTEP Junior Servo Drive with Built-in

MECHATROLINK-II Communications
No. ting
basic command
switches
1 CW direction is
taken for negative
command
2 to 3 Not used.
setting.)
setting.)
setting.)
Pn00A Filter set- 2 Sets the filter time constants. 0000 --- 0000 to Online ---
tings 000F
When using this parameter, turn ON bit 4 of SW2 on
the SMARTSTEP Junior Servo Drive.

size
Pn20E Electronic 4 Sets the pulse rate for the command pulses and Ser- 1 --- 1 to Offline ---
G1(numer- 0.01 ≤ G1/G2 ≤ 100 1824
ator)
gear ratio 107374
G2 1824
(denomi-
nator)

No. ting
tion 1
setting.)
setting.)
input terminal 2
allocation
8 Always invalid.
Pn50B Input sig- 2 0 NOT (reverse 3 Allocated to CN1, 3 --- --- Offline Stan-
nal selec- drive prohibited pin 3: Valid for low dard
tion 2 input) signal input setting:
input terminal 3
allocation 8 Always invalid.
setting.)
setting.)
setting.)
594

No. ting
tion 7
setting.)
2 Emergency 4 Allocated to CN1, 4 --- --- Offline Stan-
stop (STOP) pin 6: Valid for low dard
signal input pin input setting:
allocation 4
8 Always invalid. 8
setting.)
Pn522 Position- 4 Sets the width of the positioning completed range. 10 Com- 0 to Online ---
ing command 1,073,7
pletion unit 41,824
range 1
Pn524 Position- 4 Sets the allowable fluctuation range (rotation speed) 100 Com- 0 to Online ---
ing com- for the Speed Conformity Flag. mand 1,0737,
pletion unit 41,824
range 2
595

No. ting
Pn800 Communi- 2 0 Not used. 0 (Do not change the 0 --- --- --- ---
cations setting.)
control
TROLINK com-
mand warnings
(A.95), and com-
munications errors
(A.96).
1 Ignores parameter
setting warning (A.
94).
2 Ignores command
warning (A.95).
3 Ignores setting
warning (A.94) and
command warning
(A.95).
4 Ignores communi-
cations warning
(A.96).
5 Ignore setting
warning (A.94) and
communications
errors (A.96).
6 Ignores command
warnings (A.95)
and communica-
7 Ignores setting
warning (A.94,
command warning
(A.95), and com-
munications errors
(A.96).
setting.)
setting.)
applica-
limit disabled.
3 Forward/reverse
abled.
setting.)
reference ence
1 Software limit
check using refer-
ence
setting.)
Pn803 Zero point 2 Sets the origin position detection range. 10 Com- 0 to 250 Online ---
width mand
unit
596

No. ting
Pn804 Forward 4 Sets the software limit for the positive direction. 1,073,7 Com- −1,073, Online ---
software 41,823 mand 741,823
limit unit to
1,073,7
41,823
Pn806 Reverse 4 Sets the software limit for the negative direction. −1,073, Com- −1,073, Online ---
software 741,823 mand 741,823
limit unit to
1,073,7
41,823
Pn80B Linear 2 Sets the acceleration constant for the acceleration/ 100 ×10,0 1 to Online Set-
accelera- deceleration curves for positioning. 00 65535 tings
tion con- com- can be
stant mand change
units/ d when
s2 the
axes
are
stopped
(Busy
Flag for
each
axis =
0).
Pn80E Linear 2 Sets the deceleration constant for the acceleration/ 100 ×10,0 1 to Online Set-
decelera- deceleration curves for positioning. 00 65535 tings
tion con- com- can be
stant mand change
units/ d when
s2 the
axes
are
stopped
(Busy
Flag for
each
axis =
0).
Pn814 Final travel 4 Sets the distance from the external signal input posi- 100 Com- −1,073, Online Set-
distance tion when external positioning is executed. mand 741,823 tings
for exter- unit to can be
nal posi- 1,073,7 change
tioning 41,823 d when
the
axes
are
stopped
(Busy
Flag for
each
axis =
0).
597

No. ting
Pn816 Zero point 2 0 Zero point 0 Forward direction 0 Set the
return return direction same
mode set- 1 Reverse direction direc-
tings tion as
the ori-
gin
search
direc-
tion set
in the
Axis
Param-
eters.
Set-
tings
can be
change
d when
the
axes
are
stopped
(Busy
Flag for
each
axis =
0).
setting.)
Pn817 Zero point 2 Sets the origin search speed after the deceleration 50 ×100 0 to Online Set-
return limit switch signal turns ON. com- 65535 tings
approach mand can be
speed 1 units/s change
d when
the
axes
are
stopped
(Busy
Flag for
each
axis =
0).
Pn818 Zero point 2 Sets the origin search speed after the deceleration 5 ×100 0 to Online Set-
return limit switch signal turns ON. com- 65535 tings
approach mand can be
speed 2 units/s change
d when
the
axes
are
stopped
(Busy
Flag for
each
axis =
0).
Pn819 Final travel 4 Sets the distance from the latch signal input position 100 Com- −1,073, Online Set-
distance to to the origin, for when origin search is executed. mand 741,823 tings
return to unit to can be
zero point 1,073,7 change
41,823 d when
the
axes
are
stopped
(Busy
Flag for
each
axis =
0).
Pn820 Not used. --- (Do not change the setting.) 0000 --- ---- --- ---
to
Pn823
598
Appendix C
Operation Area I/O Allocations

Common Operating Output Memory Area Allocations
Output n 00 --- UNIT ERROR : Clears the Unit common error that occurred.
(CPU RESET
Unit to 01 Data trans- WRITE DATA : Starts writing data.
PCU) fer com-
02 mands READ DATA : Starts reading data
03 SAVE DATA : Starts saving data
04 to 15 --- Not used (reserved ---
by the system).
n+1 00 Communi- CONNECT : Establishes connection.
cations
control : Releases connection.
01 to 05 commands Reserved by the sys- ---
tem.
06 WRITE BACKUP : Starts writing backup data.
DATA
07 READ BACKUP : Starts reading backup data.
DATA
08 to 14 Not used (reserved ---
by the system).
15 REJOIN (See note.) : Starts processing for axes to rejoin the connec-
tion.
n+2 --- Axes to connect Sets the following for the axes registered in the scan
(See note.) list (bits 0 to 15 correspond to axes 1 to 16).
0: Start MECHATROLINK communications.
1: Do no start MECHATROLINK communications.
n+3 to --- --- Not used (reserved ---
n+5 by the system).
599
Operation Area I/O Allocations Appendix C

Output n+6 --- Operating Number of write Specifies the number of words to be written to the
(CPU data for words PCU.
Unit to n+7 --- data trans- Write source area Specifies the area of the data to be written to the
PCU) fer PCU.
00B0 hex: CIO Area
00B1 hex: WR Area
00B2 hex: HR Area
00B3 hex: AR Area
0082 hex: DM Area
005@ hex: EM Area
n+8 --- Write source word Specifies in hexadecimal the beginning word of the
area for the data to be written to the PCU.
n+9 --- Write destination Specifies the write destination address in the PCU.
address
n+10 --- Number of read Specifies the number of words to be read from the
words PCU.
n+11 --- Read source Specifies the read source address in the PCU.
address
n+12 --- Read destination Specifies the area used to store the data read from
area the PCU.
00B0 hex: CIO Area
00B1 hex: WR Area
00B2 hex: HR Area
00B3 hex: AR Area
0082 hex: DM Area
005@ hex: EM Area
n+13 --- Read destination Specifies in hexadecimal the beginning word of the
word area where the data read from the PCU is stored.
n+14 --- --- Not used (reserved ---
by the system).
Note The REJOIN Bit and the Axes to Connect parameter are supported for unit version 2.0 or later. The allo-
cated bit and word are not used for earlier unit versions.
600
Common Operating Input Memory Area Allocations

Input n+15 00 to 11 PCU com- Not used (reserved ---
(PCU mon status by the system).
to CPU 12 words Unit Error Flag 0: Unit common error has not occurred.
Unit) 1: Unit common error has occurred.
13 Not used (reserved ---
by the system).
14 Data Transferring 0: Powerup, transfer completed, or transfer failed.
Flag 1: Transferring data.
by the system).
n+16 00 to 11 Reserved by the sys- ---
tem.
12 Memory Card Trans- 0: No Memory Card transfer error has occurred.
fer Error 1: A Memory Card transfer error has occurred.
13 Reserved by the sys- ---
tem.
14 Unit Busy Flag 0: PCU is not busy.
1: PCU is busy.
15 Connection Status 0: MECHATROLINK communications stopped.
Flag 1: MECHATROLINK communications executing.
n+17 to --- --- Reserved by the sys- ---
n+20 tem.
n+21 --- Unit error code Shows the error code for the Unit common error that
occurred.
601

Input n+22 00 Axis com- Axis 1 communica- Bits 00 to 15 correspond to the communications sta-
(PCU munications status tus for axes 1 to 16.
to CPU 01 tions status Axis 2 communica- The bits will turn ON if the corresponding axes regis-
Unit) bits tions status tered in the scan list are communicating normally.
02 Axis 3 communica- 0: Communications for the corresponding axis have
tions status stopped, or the axis not registered in scan list.
03 Axis 4 communica- 1: The corresponding axis is communicating.
tions status
tions status
tions status
tions status
tions status
tions status
tions status
tions status
tions status
tions status
tions status
tions status
tions status
n+23 to --- --- Not used (reserved ---
n+24 by the system).
602
Axis Operating Output Memory Area Allocations

a = Beginning word of Axis Operating Output Memory Areas specified in Common Parameters + (Axis No. −1)
× 25
Output a 00 Direct oper- LINEAR INTERPO- : Starts setting linear interpolation.
(CPU ation com- LATION SETTING
Unit to mands (See note 1.)
PCU) 01 LINEAR INTERPO- : Starts linear interpolation.
LATION START (Valid only when LINEAR INTERPOLATION SET-
(See note 1.) TING = 1.)
by the system).
03 ABSOLUTE MOVE- : Starts absolute movement.
MENT
04 RELATIVE MOVE- : Starts relative movement.
MENT
05 INTERRUPT FEED- 1: Enables interrupt feeding.
ING
06 Origin posi- ORIGIN SEARCH : Starts origin search.
tioning
07 commands ORIGIN RETURN : Starts origin return.
08 PRESENT POSI- : Starts present position preset.
TION PRESET
09 Com- JOG : Starts jogging.
mands for
special : Stops jogging.
10 functions Direction designation 0: Forward rotation direction
1: Reverse rotation direction
by the system).
12 ERROR RESET : Clears the axis error that occurred.
13 DEVIATION : Starts DEVIATION COUNTER RESET.
COUNTER RESET
(See note 4.)
14 Override Enable Bit 0: Override disabled.
1: Override enabled.
15 DECELERATION : Starts deceleration stop.
STOP
a+1 00 Com- SERVO LOCK : Starts SERVO LOCK.
mands for
01 special SERVO UNLOCK : Starts SERVO UNLOCK.
02 functions SPEED CONTROL : Starts speed control.
03 TORQUE CON- : Starts torque control.
TROL
by the system).
11 Servo DEVICE SETUP : Starts device setup for the Servo Drive.
Parameter
12 transfer WRITE SERVO : Starts writing Servo Parameter.
commands PARAMETER
13 READ SERVO : Starts reading Servo Parameter.
PARAMETER
14 SAVE SERVO : Starts writing Servo Parameter to non-volatile
PARAMETER memory.
15 Special EMERGENCY : Starts emergency stop.
command STOP
603

Output a+2 --- Operating Position command Position command value (rightmost word)
(CPU data for value (rightmost Position command value (leftmost word)
Unit to position word) Unit: command unit
PCU) a+3 --- control Position command
a+4 --- Speed command Speed command value (rightmost word)
value (rightmost Speed command value (leftmost word)
word) Unit: Command units/s
a+5 --- Speed command
a+6 --- Speed con- Speed command Speed command value (rightmost word)
trol data value for speed con- Speed command value (leftmost word)
trol (rightmost word) Unit: 0.001%
a+7 --- Speed command
value for speed con-
trol (leftmost word)
a+8 --- Torque Torque command Torque command value (rightmost word)
control data value Torque command value (leftmost word)
(rightmost word) Unit: 0.001%
a+9 --- Torque command
a+10 --- Position/ Option command Linear interpolation:
speed/ value 1 Interpolation acceleration time, Unit: ms
torque con- (rightmost word) Speed control:
a+11 --- trol data Option command Torque limit/torque feed forward, Unit: %
value 1 Torque control:
(leftmost word) Speed limit, Unit: 0.001%
a+12 --- Option command Linear interpolation:
value 2 Interpolation deceleration time, Unit: ms
(rightmost word) Speed control:
a+13 --- Option command Torque limit, Unit: %
value 2
(leftmost word)
a+14 --- Operating Override Override ratio (unit: 0.01%)
data for
special
function
a+15 00 to 03 Operating Monitor 1 type Specifies monitor type for monitor 1.
04 to 07 data for Monitor 2 type Specifies monitor type for monitor 2.
expanded
08 to 15 monitoring Not used (reserved ---
by the system).
604

Output a+16 00 to 02 --- Reserved by the sys- ---
(CPU tem.
Unit to 03 Accelera- Exponential curve 1: Use exponential acceleration/deceleration curve.
PCU) tion/decel- designation
04 eration S-curve designation 1: Use S-curve acceleration/deceleration curve.
curves
05 to 13 --- Reserved by the sys- ---
tem.
14 Torque limit Forward rotation cur- 1: Use forward torque limit.
rent limit designation
15 Reverse rotation cur- 1: Use reverse torque limit.
rent limit designation
a+17 --- Operating Servo Parameter No. Specifies the parameter number of the Servo Drive
data for that will transfer the data.
a+18 --- transferring Parameter size Specifies the data length of the parameter to be
Servo transferred in byte units.
Parameters
a+19 --- Write data Specifies the data to be written to the Servo Drive.
(rightmost word)
a+20 --- Write data
(leftmost word)
a+21 00 Linear inter- Interpolation axis Specify the axes for linear interpolation for combina-
polation designation for axis tions of axes 1 to 4. Bits 00 to 03 correspond to axes
data 1 (See note 2.) 1 to 4.
01 Interpolation axis 0: Not an interpolation axis.
designation for axis 1: Interpolation axis.
2 (See note 2.)
02 Interpolation axis
designation for axis
3 (See note 2.)
4 (See note 2.)
04 Interpolation axis Specify the axes for linear interpolation for combina-
designation for axis tions of axes 5 to 8. Bits 04 to 07 correspond to axes
5 (See note 3.) 5 to 8.
05 Interpolation axis 0: Not an interpolation axis.
designation for axis 1: Interpolation axis.
6 (See note 3.)
7 (See note 3.)
8 (See note 3.)
by the system).
605

Output a+22 00 Linear inter- Interpolation posi- Specify absolute or relative positioning for the axes
(CPU polation tion designation for for linear interpolation. Bits 00 to 03 correspond to
Unit to data axis 1 (See note 2.) axes 1 to 4.
PCU) 01 Interpolation posi- 0: Absolute positioning
tion designation for 1: Relative positioning
axis 2 (See note 2.)
02 Interpolation posi-
04 Interpolation posi- Specify absolute or relative positioning for the axes
tion designation for for linear interpolation. Bits 04 to 07 correspond to
axis 5 (See note 3.) axes 5 to 8.
05 Interpolation posi- 0: Absolute positioning
tion designation for 1: Relative positioning
by the system).
a+23 --- Interpolation speed Interpolation speed command value
command value (rightmost word)
(rightmost word)
(See note 1.)
a+24 --- Interpolation speed Interpolation speed command value
command value (leftmost word)
(leftmost word) Unit: Command units/s
(See note 1.)
Note (1) Allocated in Axis Operating Output Memory Areas for axis 1 and axis 5 for Position Control Unit Ver.
1.1 or later. These bits are not used in the Axis Operating Output Memory Areas for other axes.
(2) Allocated in Axis Operating Output Memory Area for axis 1 for Position Control Unit Ver. 1.1 or later.
These bits are not used in the Axis Operating Output Memory Areas for other axes.
(3) Allocated in Axis Operating Output Memory Area for axis 5 for Position Control Unit Ver. 1.1 or later.
These bits are not used in the Axis Operating Output Memory Areas for other axes.
(4) The DEVIATION COUNTER RESET can be used with unit version 1.3 or later. This bit is not used
for earlier unit versions.
606
Axis Operating Input Memory Area Allocations

Input b 00 Axis Con- Receiving Com- 0: Command reception enabled.
(PCU trol Status mand Flag : Command reception started.
to CPU Flags
Unit) 1: Receiving command (command reception dis-
abled)
by the system).
05 PCU Positioning : Positioning is completed.
Completed Flag
06 No Origin Flag 0: Origin established.
07 Origin Stop Flag 0: Outside origin range.
by the system).
11 Warning Flag 0: No warning has occurred.
1: Warning has occurred.
12 Error Flag 0: No axis error has occurred.
13 Busy Flag 0: Axis is not busy.
1: Axis is busy.
14 Servo Parameter 0: Powerup, transfer completed, or transfer failed.
Transferring Flag 1: Servo Parameter transferring.
15 Stop Execution Flag : Stop operation completed.
607

Input b+1 00 to 02 Servo Sta- Reserved by the sys- Used by the PCU system.
(PCU tus Flags tem.
to CPU 03 Servo ON Flag 0: Servo unlocked.
Unit) (SVON) 1: Servo locked.
04 Main Power ON Flag 0: Main circuit power supply OFF
(PON) 1: Main circuit power supply ON
05 and 06 Reserved by the sys- Used by the PCU system.
tem.
07 Position Completed During position control: Position Completed Flag
(PSET) Flag/Speed 0: Servo Drive executing position control command
Conformity (V-CMP) or the position is outside Positioning Completion
Flag Range 1.
1: Servo Drive finished executing position control
command and the position is within Positioning
Completion Range 1.
During speed control: Speed Conformity Flag
0: Speed does not match the speed designation for
speed control.
1: Speed matches the speed designation for speed
control.
08 Distribution Com- During position control: Distribution Completed Flag
pleted (DEN) Flag/ 0: Servo Drive is executing a position control com-
Zero Speed (ZSPD) mand.
Flag 1: Servo Drive has completed executing a position
control command.
During speed control: Zero Speed Flag
0: Not at zero speed.
1: Detecting zero speed.
09 Torque Limit (T_LIM) 0: Torque limit function disabled.
Status Flag 1: Torque limit function enabled.
10 Reserved by the sys- Used by the PCU system.
tem.
11 Positioning Proxim- During position control: Positioning Proximity Flag
ity (NEAR) Flag/ 0: Outside Positioning Completion Range 2.
Speed Limit (V_LIM) 1: Within Positioning Completion Range 2.
Status Flag During torque control: Speed Limit Status Flag
0: Speed limit function disabled.
1: Speed limit function enabled.
12 Forward Software 0: Within forward software limit range.
Limit Flag (P_SOT) 1: Forward software limit range exceeded.
13 Reverse Software 0: Within reverse software limit range.
Limit Flag (N_SOT) 1: Reverse software limit range exceeded.
14 to 15 Reserved by the sys- Used by the PCU system.
tem.
b+2 --- --- Reserved by the sys- Used by the PCU system.
tem.
608

Input b+3 00 External I/O Forward rotation limit Returns the status of I/O signals for each axis.
(PCU status input 1: Signal valid
to CPU 01 Reverse rotation limit 0: Signal invalid
Unit) input The external I/O status shows the enabled/disabled
02 Origin proximity input status of signals used for PCU control.
03 Encoder Phase A This status is different from the electrical ON/OFF
input status of the I/O signals.
04 Encoder Phase B
input
05 Encoder Phase Z
input
1 input
2 input
3 input
09 Brake output
10 Emergency stop
input (See note 2.)
11 to 15 Reserved by the sys-
tem.
b+4 --- Errors Axis error code Displays axis error code/warning code for each axis.
b+5 00 to 03 Expanded Monitor 1 type Shows monitor type for monitor 1.
04 to 07 monitoring Monitor 2 type Shows monitor type for monitor 2.
by the system).
b+6 --- Present Feedback present Present position:
position position (rightmost Feedback present position (rightmost word)
word) Feedback present position (leftmost word)
b+7 --- Feedback present
position (leftmost
word)
b+8 --- Command present Present position:
position (rightmost Command position (rightmost word)
word) Command position (leftmost word)
b+9 --- Command present
position (leftmost
word)
b+10 --- Expanded Monitor 1 (rightmost Monitor value specified for monitor 1 type.
monitoring word)
b+11 --- Monitor 1 (leftmost
word)
b+12 --- Monitor 2 (rightmost Monitor value specified for monitor 2 type.
word)
b+13 --- Monitor 2 (leftmost
word)
b+14 --- Servo Read data (rightmost Contains the Servo Parameter that was read.
Parameter word)
b+15 --- data Read data (leftmost
word)
b+16 to --- --- Not used (reserved Always 0.
b+23 by the system).
609

Input b+24 00 Linear inter- Linear interpolation 0: Linear interpolation setting will be accepted.
(PCU polation setting completed : Linear interpolation setting accepted.
to CPU status (See note 1.)
Unit) 1: Linear interpolation setting completed. (New
setting not accepted.)
by the system).
13 Linear interpolation 1: Linear interpolation operation in progress or linear
executing interpolation command in progress.
(See note 1.)
14 and 15 Not used (reserved Always 0.
by the system).
Note (1) Allocated in Axis Operating Input Memory Areas for axis 1 and axis 5 for Position Control Unit Ver.
1.1 or later. These bits are not used in the Axis Operating Output Memory Areas for other axes.
(2) The emergency stop input status is input only for SMARTSTEP Junior Servo Drives. This status is
not used (reserved by the system) for W-series Servo Drives.
610
Appendix D
List of Error Codes
PCU Common Errors

Indicator status Category Error name Error code
RUN ERC ERH ERM MLK
Errors at Not lit Not lit Not lit Not lit Not lit CPU Unit power interrup- Power Interruption ---
powerup tion
Unit system error Watchdog Timer Opera- ---
tion
Not lit Not lit Lit Not lit Not lit Setting error Unit Number Error ---
Unit Recognition Incom- ---
plete
Data Transfer Error ---
Not lit Lit Not lit Not lit Not lit Unit malfunction Common Memory Error ---
Not lit Lit Lit Not lit Not lit Unit recognition error Unit Recognition Error ---
CPU Lit Flash- Lit Not lit Not lit CPU Unit error CPU Fatal Error 000A
Unit ing CPU Unit Watchdog 000B
errors Timer Error
CPU Unit Monitor Error 000C
Bus Error 000D
PCU Lit Lit Not lit Not lit Not lit Unit error MLK Device Error 0026
internal MLK Device Initialization 0030
errors Error
Data corrupted Memory Error 00F1
MECHA- Lit Flash- Not lit Lit Unde- Scan list mismatch MLK Initialization Error 0020
TROLINK ing ter- Communications error MLK Communications 0025
commu- mined Error
nications
errors
PCU set- Lit Flash- Not lit Not lit Unde- Illegal operation Multistart Error 0021
tings and ing ter- FINS Command Monitor- 0024
opera- mined ing Error
tions
errors Illegal data Write Transfer Error 0022
Read Transfer Error 0023
Transfer Cycle Setting 0027
Error
Initialization Common 0028
Parameter Check Error
Data Transfer Common 0029

RUN ERC ERH ERM MLK
MECHA- Lit Flash- Not lit Lit Unde- Communications error Synchronous Communi- 3010
TROLINK ing ter- cations Alarm
commu- mined Communications Alarm 3011
nications
errors Command Timeout 3012
611
List of Error Codes Appendix D

RUN ERC ERH ERM MLK
PCU set- Lit Flash- Not lit Not lit Lit Illegal operation Present Position 3030
tings and ing Unknown Error
opera- Servo Unlock Error 3040
tions
errors Multistart Error 3050
PCU set- Lit Flash- Not lit Not lit Lit Illegal data Position Designation 3060
tings and ing Error
opera- Speed Designation Error 3061
tions
errors Speed Control Speed 3062
Designation Error
Torque Command Value 3063
Error
Option Command Value 3064
1 Error
Option Command Value 3065
2 Error
Override 3070
Initialization Axis Param- 3090
eter Check Error
Data Transfer Axis 3091
Data Setting Error 3099
MECHA- Lit Flash- Not lit Flash- Lit External sensor input Forward Rotation Limit 3000
TROLINK ing ing Input
slave sta- Reverse Rotation Limit 3001
tion Input
device
errors Forward Software Limit 3002
Reverse Software Limit 3003
Emergency Stop Signal 3004
Input
Origin search error No Origin Proximity or 3020
Origin Input Signal
Limit Input Already ON 3021
Limit Input Signal ON in 3022
Both Directions
Servo Drive error Drive Main Circuit OFF 3080
Error
MECHATROLINK device 4000 +
alarm Alarm code
for each
device
Alarm Displays for Servo Drives

The following table lists the alarm displays for Servo Drives.
When an alarm or warning occurs for one of the connected MECHATROLINK slave station devices, the PCU
turns ON the Error Flag or Warning Flag and returns the following error code.
G5-series Servo Drives/G-series Servo Drives
Error code: 4@@@ hex
The numbers in the boxes of the error codes displayed for alarms are given as decimal numbers for the Servo
Drives and as hexadecimal numbers for the Position Control Units.
The same numbers are given in the boxes of the error codes displayed for warnings for the Servo Drives and
the Position Control Units.
612

Servo Drive alarm display: A.24
Example: Battery warning
Servo Drive warning display: A.92
For details on alarm display and warning display numbers, and the difference between Servo Drives and Posi-
tion Control Units, refer to the list in Appendix D List of Error Codes.
W-series and SMARTSTEP Junior Servo Drives
Error code: 40@@ hex
The boxes (@@) indicate the alarm/warning display number for the Servo Drive.
When using an R88D-WN@-ML2 W-series Servo Drive with built-in MECHATROLINK-II communications, how-
ever, only the upper two digits of the display number's three digits will be displayed.
The alarms that occur in the Servo Drive correspond to error codes that are detected by the PCU when a
MECHATROLINK communications connection has been established, as shown in the following table.
When using an R88D-WT@ Servo Drive, the two digits following “A.” in the Servo Drive’s display number in the
table are displayed. When using an R88D-WN@-ML2 W-series Servo Drive, three digits are displayed (the
value indicated by the display number box is used to further classify the alarm).
For details on each alarm and countermeasures, refer to the operation manual for the Servo Drive being used.
List of G5-series Alarm Displays

The Servo Drive has built-in protective functions. When a protective function is activated, the Servo Drive turns
OFF the alarm output signal (ALM) and switches to the Servo OFF status.
The alarm code will be displayed on the front panel.
Alarm type Description
--- Protective function that allows the alarm to be reset, and leaves record in the alarm history.
PR Protective function that does not allow the alarm to be reset, and requires the control power supply
to be turned OFF and turned ON again after resolving the problem.
X Protective function that does not leave record in the alarm history.
Servo PCU Alarm Error detection function Detected error or cause of error
Drive error type
display code
11 400B X Control power supply und- The DC voltage of the main circuit has dropped below the
ervoltage specified value.
12 400C --- Overvoltage The DC voltage of the main circuit is abnormally high.
13 400D X Main power supply under- The DC voltage of the main circuit is low.
voltage
14 400E PR Overcurrent Overcurrent flowed to the IGBT. Servomotor power line
ground fault or short circuit.
15 400F PR Servo Drive overheat The temperature of the Servo Drive radiator exceeded the
specified value.
16 4010 --- Overload Operation was performed with torque significantly exceed-
ing the rating for several seconds to several tens of sec-
onds.
18 4012 PR Regeneration overload The regenerative energy exceeded the processing capacity
of the regeneration resistor.
21 4015 PR Encoder communications Communications between the encoder and the Servo Drive
error failed for a specified number of times, thereby activating the
error detection function.
23 4017 PR Encoder communications Communications error occurred for the data from the
data error encoder.
613
Drive error type
display code
24 4018 --- Error counter overflow The number of position deviation pulses exceeded the Error
25 4019 PR Excessive hybrid error The difference between the position of load from external
encode and the position of motor due to encoder was larger
than the number of pulses set by Internal/External Feedback
Pulse Error Counter Overflow Level (Pn328).
26 401A --- Overspeed The rotation speed of the Servomotor exceeded the setting
of the Overspeed Detection Level Setting at Emergency
Stop (Pn615) or Overspeed Detection Level Setting
(Pn513).
27 401B PR Command error The operation command resulted in an error.
29 401D --- Internal error counter over- The value of the internal deviation counter (internal control
flow unit) exceeded 227 (134217728).
30 401E PR Safety input error Safety input signal turned OFF.
33 4021 --- Interface duplicate alloca- A duplicate setting for the interface I/O signals was
tion error detected.
34 4022 --- Overrun limit error The Servomotor exceeded the allowable operating range
set in the Overrun Limit Setting (Pn514) with respect to the
position command input.
36 4024 PR Parameter error Data in the parameter save area was corrupted when the
X data was read from the EEPROM at power-ON.
37 4025 PR Parameter destruction The EEPROM write verification data was corrupted when
X the data was read from the EEPROM at power-ON.
38 4026 X Drive prohibition input error Forward and Reverse Drive Prohibit Inputs (NOT and POT)
both became OPEN.
40 4028 PR Absolute encoder system The voltage supplied to the absolute encoder dropped
down error below the specified value.
41 4029 PR Absolute encoder counter The multi-turn counter of the absolute encoder exceeded
overflow error the specified value.
42 402A PR Absolute encoder over- The Servomotor rotation speed exceeded the specified
speed error value when power to the absolute encoder is supplied by the
battery only.
43 402B PR Encoder initialization error An encoder initialization error was detected.
44 402C PR Absolute encoder 1-rota- A one-turn counter error was detected.
tion counter error
45 402D PR Absolute encoder multi- A multi-turn counter error or phase-AB signal error was
rotation counter error detected.
47 402F --- Absolute encoder status The rotation of the absolute encoder is higher than the spec-
error ified value.
48 4030 PR Encoder phase Z error A phase-Z pulse was not detected regularly.
49 4031 PR Encoder CS signal error A logic error was detected in the CS signal.
50 4032 PR External encoder error An error was detected in external encoder connection or
communications data.
51 4033 PR External encoder status An external encoder error code was detected.
error
55 4037 PR External encoder connec- An error was detected in the external encoder phase A, B,
tion error or Z connection.
82 4052 PR Node address setting error The rotary switch for setting the node address of the Servo
Drive was set out of range.
83 4053 --- Communications error Data received during each MECHATROLINK-II communica-
tions cycle repeatedly failed, exceeding the number of times
set in the Communications Control (Pn800).
614
Drive error type
display code
84 4054 --- Transmission cycle error While actuating MECHATROLINK-II communications, syn-
chronization frames (SYNC) were not received according to
the transmission cycle.
86 4056 --- Watchdog data error Synchronization data exchanged between the master and
slave nodes during each MECHATROLINK-II communica-
tions cycle resulted in an error.
87 4057 X Forced alarm input error The Forced alarm input signal was input.
90 405A --- Transmission cycle setting The transmission cycle setting error when the MECHA-
error TROLINK-II CONNECT command is received.
91 405B --- SYNC command error A SYNC-related command was issued while MECHA-
TROLINK-II was in asynchronous communications mode.
92 405C --- Encoder data restoration The initialization process of the internal position information
error was not performed properly.
93 405D PR Parameter setting error Parameter setting exceeded the allowable range.
95 405F PR Motor non-conformity The combination of the Servomotor and Servo Drive is not
X appropriate.
Others Others PR Other errors The control circuit malfunctioned due to excessive noise.
An error occurred within the Servo Drive due to the activa-
tion of its self-diagnosis function.
List of G5-series Warning Displays

Priority Servo Drive PCU error Warning detection Warning details
display code function
94 4094 Data setting warn- • Command argument setting is out of the range.
ing • Parameter write failure.
• Command settings are wrong, and others.
95 4095 Command warning • Command output conditions are not satisfied.
• Received unsupported command.
• Subcommand output conditions are not satisfied.
96 4096 ML-II communica- One or more MECHATROLINK-II communications error
High tions warning occurred.
A.0 40A0 Overload warning 85% of the overload alarm trigger level has been exceeded.
A.1 40A1 Regeneration over- 85% of the regeneration overload alarm trigger level has
load warning been exceeded.
A.2 40A2 Battery warning Voltage of absolute encoder battery has dropped below
3.2 V.
A.3 40A3 Fan lock warning The internal cooling fan stop status continued for 1 second.
A.4 40A4 Encoder communi- An encoder communications error occurred for 3 consecu-
cations warning tive times.
A.5 40A5 Encoder overheat The encoder temperature exceeded 95°C.
error
Low A.6 40A6 Vibration detection Vibrations were detected.
warning
A.7 40A7 Limit detection The limit of the capacitor or the fan fell below the specified
warning value.
A.8 40A8 External scale error The external scale detected a warning.
warning
A.9 40A9 External scale com- An external scale communications error occurred 3 consec-
munications warn- utive times.
ing
Note (1) All warnings are retained. After resolving the problem, clear the alarms and the warnings.
615
(2) When multiple warnings occur, the warning codes are displayed on the front panel in the order of
their priority (shown above). The value read from the network is set.
List of G-series Alarm Displays

The Servo Drive has built-in protective functions. When a protective function is activated, the Servo Drive turns
OFF the alarm output signal (ALM) and switches to the Servo OFF status.
The alarm code will be displayed on the front panel.
Alarm type Description
--- Protective function that allows the alarm to be reset, and leaves record in the alarm history.
PR Protective function that does not allow the alarm to be reset, and requires the control power supply
to be turned OFF and turned ON again after resolving the problem.
X Protective function that does not leave record in the alarm history.
Drive error type
display code
A.11 400B X Control power supply und- The DC voltage of the main circuit has dropped below the
ervoltage specified value.
A.12 400C --- Overvoltage The DC voltage of the main circuit is abnormally high.
A.13 400D X Main power supply under- The DC voltage of the main circuit is low.
voltage
A.14 400E PR Overcurrent Overcurrent flowed to the IGBT. Servomotor power line
ground fault or short circuit.
A.15 400F PR Servo Drive overheat The temperature of the Servo Drive radiator exceeded the
specified value.
A.16 4010 --- Overload Operation was performed with torque significantly exceed-
ing the rating for several seconds to several tens of sec-
onds.
A.18 4012 PR Regeneration overload The regenerative energy exceeded the processing capacity
of the regeneration resistor.
A.21 4015 PR Encoder communications Communications between the encoder and the Servo Drive
error failed for a specified number of times, thereby activating the
error detection function.
A.23 4017 PR Encoder communications Communications error occurred for the data from the
data error encoder.
A.24 4018 --- Deviation counter overflow The number of position deviation pulses exceeded the Devi-
ation Counter Overflow Level (Pn209).
A.26 401A --- Overspeed The rotation speed of the Servomotor exceeded the setting
of the Overspeed Detection Level Setting (Pn073).
A.27 401B PR Command error The operation command resulted in an error.
A.29 401D --- Internal deviation counter The value of the internal deviation counter (internal control
overflow unit) exceeded 227 (134217728).
A.34 4022 --- Overrun limit error The Servomotor exceeded the allowable operating range
set in the Overrun Limit Setting (Pn026) with respect to the
position command input.
A.36 4024 PR Parameter error Data in the parameter save area was corrupted when the
X data was read from the EEPROM at power-ON.
A.37 4025 PR Parameter corruption The EEPROM write verification data was corrupted when
X the data was read from the EEPROM at power-ON.
A.38 4026 X Drive prohibit input error Forward and Reverse Drive Prohibit Inputs (NOT and POT)
both became OPEN.
A.40 4028 PR Absolute encoder system The voltage supplied to the absolute encoder dropped
down error below the specified value.
A.41 4029 PR Absolute encoder counter The multi-turn counter of the absolute encoder exceeded
overflow error the specified value.
616
Drive error type
display code
A.42 402A PR Absolute encoder over- The Servomotor rotation speed exceeded the specified
speed error value when power to the absolute encoder is supplied by the
battery only.
A.44 402C PR Absolute encoder one-turn A one-turn counter error was detected.
counter error
A.45 402D PR Absolute encoder multi-turn A multi-turn counter error or phase-AB signal error was
counter error detected.
A.47 402F --- Absolute encoder status The rotation of the absolute encoder is higher than the spec-
error ified value.
A.48 4030 PR Encoder phase Z error A phase-Z pulse was not detected regularly.
A.49 4031 PR Encoder PS signal error A logic error was detected in the PS signal.
A.82 4052 PR Node address setting error The rotary switch for setting the node address of the Servo
Drive was set out of range.
A.83 4053 --- Communications error Data received during each MECHATROLINK-II communica-
tions cycle repeatedly failed, exceeding the number of times
set in the Communications Control (Pn005).
A.84 4054 --- Transmission cycle error While actuating MECHATROLINK-II communications, syn-
chronization frames (SYNC) were not received according to
the transmission cycle.
A.86 4056 --- Watchdog data error Synchronization data exchanged between the master and
slave nodes during each MECHATROLINK-II communica-
tions cycle resulted in an error.
A.87 4057 X Emergency stop input error The emergency stop input became OPEN.
A.90 405A --- Transmission cycle setting The transmission cycle setting error when the MECHA-
error TROLINK-II CONNECT command is received.
A.91 405B --- SYNC command error A SYNC-related command was issued while MECHA-
TROLINK-II was in asynchronous communications mode.
A.93 405D PR Parameter setting error Parameter setting exceeded the allowable range.
A.95 405F PR Servomotor non-conformity The combination of the Servomotor and Servo Drive is not
X appropriate.
Others Others PR Other errors The control circuit malfunctioned due to excessive noise.
An error occurred within the Servo Drive due to the activa-
tion of its self-diagnosis function.
List of G-series Warning Displays

Priority Servo Drive PCU error Warning detection Warning details
A.94 4094 Data setting warn- • Command argument setting is out of the range.
High ing • Parameter write failure.
• Command settings are wrong, and others.
A.95 4095 Command warning • Command output conditions are not satisfied.
• Received unsupported command.
• Subcommand output conditions are not satisfied.
A.96 4096 ML-II communica- One or more MECHATROLINK-II communications error
tions warning occurred.
A.90 4090 Overload warning 85% of the overload alarm trigger level has been exceeded.
A.91 4091 Regeneration over- 85% of the regeneration overload alarm trigger level has
load warning been exceeded.
A.92 4092 Battery warning Voltage of absolute encoder battery has dropped below
Low 3.2 V.
A.93 4093 Fan lock warning The built-in cooling fan stopped, or rotated abnormally.
Note (1) All warnings are retained. After resolving the problem, clear the alarms and the warnings.
617
(2) When multiple warnings occur, the warning codes are displayed on the front panel in the order of
their priority (shown above). The value read from the network is set.
618
List of W-series and SMARTSTEP Junior Alarm Display

Servo Drive PCU error Error detection function Detected error or cause of error
display code
A.02@ 4002 Parameter corrupted Parameter checksum read from EEPROM does not match.
A.03@ 4003 Main circuit detection Error in detection data for power supply circuit
error
A.04@ 4004 Parameter setting error The parameter setting is incorrect.
A.05@ 4005 Servomotor mismatch The Servomotor and Servo Drive combination is incorrect.
A0b@ (See 400B Servo ON command dis- The PCU sent a SERVO LOCK command when the Servo ON
note 3.) abled function was being used from personal computer monitoring soft-
ware
A.10@ 4010 Overcurrent An overcurrent has occurred or the radiation shield has over-
heated (1.5- to 3-kW models only).
A.28 (See (See note Emergency stop The emergency stop signal was input while the motor was oper-
note 4.) 4.) ating.
A.30@ (See 4030 Regeneration error The regenerative circuit is damaged due to large regenerative
note 5.) energy.
A.32@ (See 4032 Regeneration overload The regenerative energy has exceeded the regeneration resistor
note 5.) capacity.
A.33@ (See 4033 Main-circuit power sup- The setting of Pn001.2 (AC/DC input selection) and the AC/DC
note 5.) ply setting error wiring method used for the main circuit power supply are not the
same.
A.40@ 4040 Overvoltage The main circuit DC voltage has exceeded the specified values.
A.41@ 4041 Undervoltage The main circuit DC voltage is under the specified values.
A.51@ 4051 Overspeed The Servomotor rotation speed has exceeded the maximum
rotation speed.
A52@ (See 4052 Fluctuation or autotuning An abnormal fluctuation was detected in the Servomotor rotation
note 3.) alarm speed, or the inertia ratio calculation during autotuning was
abnormal.
A.71@ 4071 Overload Operating with output torque exceeding 245% of the rated torque
for a W-series Servo Drive or exceeding 200% of the rated
torque for a SMARTSTEP Junior Servo Drive.
A.72@ 4072 Overload Operation continuing with output torque at 120% to 245% of the
rated torque for a W-series Servo Drive or at 115% to 200% of
the rated torque for a SMARTSTEP Junior Servo Drive.
A.73@ 4073 Dynamic brake overload The rotary energy has exceeded the dynamic brake resistor
capacity during dynamic brake operation.
A.74@ (See 4074 Inrush resistance over- The inrush current when power was turned ON exceeded the
note 5.) load inrush resistor capacity.
A.7A@ 407A Overheat Overheating in the radiation shield was detected or the cooling
fan in the Servo Drive has stopped.
A.81@ (See 4081 Backup error The encoder's backup power supply has fallen.
note 5.) (Absolute encoders only)
A.82@ (See 4082 Checksum error An encoder memory checksum error has occurred.
A.83@ (See 4083 Battery error The encoder's battery voltage has fallen (to 2.7 V or lower).
A.84@ (See 4084 Absolute error An internal encoder data error has occurred.
A.85@ (See 4085 Overspeed error The Servomotor is rotating at 200 r/min. or more when the
note 5.) (Absolute encoders only) encoder power supply is turned ON.
A.86@ (See 4086 Encoder overheating Overheating in the encoder was detected.
A.b1 (See 40B1 Speed command input The A/D completion signal from the A/D converter is not being
note 2.) reading error output within the fixed interval.
619
Servo Drive PCU error Error detection function Detected error or cause of error
display code
A.b2 (See 40B2 Torque command input The A/D completion signal from the A/D converter is not being
note 2.) reading error output within the fixed interval.
A.b3@ (See 40B3 Current detection error The Servo Drive’s current detector is faulty.
note 3.)
A.b6@ 40B6 LSI for communications The LSI used for MECHATROLINK communications is cor-
corrupted rupted.
A.bF@ 40BF System error A system error in the control circuit was detected.
A.C1@ 40C1 Runaway detected The Servomotor rotated in the opposite direction to the com-
mand.
A.C2 (See 40C2 Phase detection error A Servomotor magnetic pole signal was incorrectly detected.
note 4.)
A.C5 (See 40C5 Magnetic pole detection A Servomotor magnetic pole signal was incorrectly detected.
note 4.) error
A.C8@ (See 40C8 Multi-turn data error The absolute encoder setup is incorrect.
A.C9@ 40C9 Encoder communica- Communications between the encoder and Servo Drive are not
tions error possible.
A.CA@ (See 40CA Encoder parameter error The parameter settings in the encoder are corrupted.
note 5.)
A.Cb@ (See 40CB Encoder data error Data from the encoder is corrupted.
note 5.)
A.CC@ (See 40CC Multi-turn limit discrep- The absolute encoder multi-turn limit for the encoder and Servo
note 5.) ancy Drive do not match.
(Absolute encoders only)
A.d0@ (See 40D0 Deviation counter over- The number of pulses in the deviation counter has exceeded the
note 5.) flow deviation counter overflow level set in Pn505 (R88D-WT@) or
Pn520 (R88D-WN@-ML2).
A.d1@ (See 40D1 Motor-load deviation over The deviation between the fully-closed encoder and semi-closed
note 5.) encoder has reached or exceeded the command unit set in
Pn51A.
A.E0@ See note 1. No option or Servo Drive The MECHATROLINK-II I/F Unit is not installed, or the Servo
error Drive has malfunctioned.
A.E1 (See See note 1. Option timeout There is no response from the MECHATROLINK-II I/F Unit.
note 2.)
A.E2 (See See note 1. Option WDC error An error has occurred in the MECHATROLINK-II I/F Unit.
note 2.) (MECHATROLINK-II I/F Unit's watchdog timer count)
A.E4@ (See 40E4 Transfer cycle setting MECHATROLINK-II transfer cycle setting is incorrect.
notes 3 and error
4.)
A.E5@ 40E5 Synchronization error MECHATROLINK-II synchronization error
A.E6@ 40E6 Communications error MECHATROLINK-II communications error
(Continuous communications errors have occurred.)
A.EA@ 40EA Servo Drive malfunction The Servo Drive has malfunctioned.
A.EB (See 40EB Servo Drive initial access The Servo Drive initial processing cannot be executed from the
note 2.) error MECHATROLINK-II I/F Unit.
A.EC (See 40EC Servo Drive error An error has occurred in the Servo Drive.
note 2.) (Servo Drive's watchdog timer count)
A.Ed@ 40ED Command execution MECHATROLINK communications command aborted during
incomplete execution.
A.F1@ (See 40F1 Missing phase detected Main circuit power supply phase is missing, or the wire is burnt
note 5.) out.
A.F5 (See 40F5 Motor current error The current to the Servomotor is too small for the torque com-
note 2.) mand from the Servo Drive.
A.F6 (See 40F6 Motor conduction error The Servo is ON, but the Servomotor is not conducting current
note 2.) regardless of the Servo Drive settings and external input.
620
Note (1) Errors that occur in the MECHATROLINK-II I/F Unit cannot be detected by the PCU because the
communications connection is not established. The PCU is not able to detect the corresponding axis
during execution of CONNECT, so an MLK Initialization Error (Unit error code: 0020 hex) will occur.
(2) This alarm occurs when using an R88D-WT@ W-series Servo Drive together with the FNY-NS115
MECHATROLINK-II I/F Unit.
(3) This alarm occurs when using an R88D-WN@-ML2 W-series Servo Drive.
(4) This alarm may occur when a SMARTSTEP Junior Servo Drive (R7D-ZN@-ML2) is being used. The
A.28 (emergency stop) alarm is treated as an emergency stop signal input error (axis error code:
3004 (hex) in the Position Control Unit and the Servo will be unlocked for the axis.
(5) This alarm is not detected for SMARTSTEP Junior Servo Drives (R7D-ZN@-ML2).
List of W-series and SMARTSTEP Junior Warning Displays

Servo Drive PCU error Warning detection Warning details
A.90@ (See 4090 Deviation counter over- The number of pulses in the deviation counter has exceeded the
note 1.) flow deviation counter overflow level set in Pn505 (when using R88D-
WT@) or Pn520 (when using R88D-WN@-ML2) multiplied by the
rate (%) set in Pn51E.
A.91@ 4091 Overload or fluctuation This warning occurs before the Overload Alarm (A.71@, A.72@)
occurs. If operation is continued in this state, an alarm may
occur. This warning also occurs when an abnormal fluctuation is
detected in the Servomotor rotation speed.
A.92@ (See 4092 Regeneration overload This warning occurs before the Regeneration Overload Alarm
note 1.) (A.32) occurs. If operation is continued in this state, an alarm
may occur.
A.93@ (See 4093 Battery warning This warning occurs before the Battery Error (A.83) occurs. If the
note 1.) (Absolute encoders only) power is turned OFF, an alarm may occur the next time the
power is turned ON. (Replace the battery while the control circuit
power supply is ON.)
A.94@ See note 2. Parameter setting warn- A value outside the setting range has been set for the MECHA-
ing TROLINK slave station device.
A.95@ See note 2. MECHATROLINK-II com- An illegal communications command or unsupported communi-
mand warning cations command has been sent to the MECHATROLINK slave
station device.
A.96@ 4096 Communications warning A single MECHATROLINK-II communications error has
occurred. (See note 3.)
Note (1) This warning is not detected for SMARTSTEP Junior Servo Drives (R7D-ZN@-ML2).
(2) If a Parameter Setting Warning or MECHATROLINK-II Command Warning occurs in the Servo
Drive, a data setting error (axis error code: 3099 hex) will occur at the PCU, and the active axis in
which the error occurred will decelerate to a stop.
(3) If a MECHATROLINK-II communications error occurs once independently, a communications warn-
ing occurs, and the PCU will perform a communications retry. If the communications warning occurs
continually, a communications error will occur.
621
622
Appendix E
Changing to CS1W/CJ1W-NC271/471/F71
from CS1W/CJ1W-
NC113/133/213/233/413/433
The settings and methods for using CS1W/CJ1W-NC271/471/F71 Position Control Units include those that are
different from the pulse-output models (CS1W/CJ1W-NC113/133/213/233/413/433).
The following information is important when replacing equipment that uses pulse-output PCUs and pulse-input
Servo Drives or Stepping Motor Drives with the CS1W/CJ1W-NC271/471/F71 PCU and MECHATROLINK-II-
compatible Servo Drive.
Installation
• The FNY-NS115 MECHATROLINK-II I/F Unit must be installed when using an R88D-WT@ OMRON W-
series Servo Drive (without built-in MECHATROLINK-II communications). The FNY-NS115 is installed on
the right side of the Servo Drive, so make sure that sufficient space is provided around the Servo Drive.
• R88D-WT@ W-series Servo Drives must be Ver.39 or later. The Servo Drive must be changed if an earlier
version is being used. The Servomotor, power cables, and encoder cables, however, can be used as is
without changing.
Wiring
• MECHATROLINK-II Cables are used for the connection between the PCU and Servo Drive (MECHA-
TROLINK-II I/F Unit). The cables for pulse-output PCUs and Servo Relay Units cannot be used.
• The external sensor signals, such as limit inputs and origin proximity inputs, are connected to the Servo
Drive's control I/O connector (CN1). The Servo Drive's CN1 connector must be wired.
• Emergency stop input signals are not provided as external input signals for the PCU or Servo Drive. To
ensure safety in the system, provide safety measures in external circuits (i.e., not in the Programmable
Controller or Position Control Unit), such as using a breaker for the Servo Drive's main circuit power supply.
• To perform an origin search, the origin proximity input signal must be used. Make sure that the dog width of
the limit input signal and origin proximity input signal remains at the length of the MECHATROLINK-II com-
munications cycle or longer.
System Configuration
Pulse-output PCUs are classified as CS/CJ-series Special I/O Units, whereas CS1W/CJ1W-NC271/471/F71
PCUs are classified as CS/CJ-series CPU Bus Units. Make sure that the PCU's unit number is not already
used by another CPU Bus Unit and that the area allocated to the PCU in the PLC is not occupied by another
Unit.
623
Changing to CS1W/CJ1W-NC271/471/F71 from CS1W/CJ1W-NC113/133/213/233/413/433 Appendix E
PCU Parameters and Operating Data

The functions and classification of the PCU's parameters and operating data are shown in the following table.
CS1W/CJ1W-NC113/133/213/233/413/433 CS1W/CJ1W-NC271/471/F71
Item Setting Item Setting
Common Parame- Used to allocate the Operating Data Common Parame- Used to allocate the Axis Operating
ter Area Area and designates the Axis Param- ter Area Memory Areas and MECHA-
eters. TROLINK communications settings.
The area is set in the PLC's DM Area The settings are written to the PCU's
words allocated to Special I/O Units. internal memory using the data trans-
fer functions.
Axis Parameter Used to allocate each Axis's operat- Axis Parameter The Axis Parameter Areas are used
Area ing mode, maximum speed, and soft- Areas to select operating modes (origin
ware limits. Axis Operating search) and input signals.
The area is set in the PLC's DM Area Memory Area The settings are written to the PCU's
words allocated to Special I/O Units Servo Parameter internal memory using the data trans-
or in the PCU’s internal memory. Area fer functions.
Some Axis Parameters are set as
command values in the Axis Operat-
ing Memory Areas and are used as
operating data.
Other existing PCU Axis Parameters
are set to the corresponding Servo
Parameters.
Operating Memory Used to input and output bit data, Axis Operating The I/O information (bit and word
Area such as operating command outputs Memory Area data) is handled in the Axis Operating
and status (flags) inputs. Servo Parameter Output Memory Areas and Axis Oper-
The area is allocated in the Special Area ating Input Memory Areas as output
I/O Unit Area and is determined data and input data, respectively.
according to the unit number set for The Axis Operating Output Memory
the PCU. Areas and Axis Operating Input Mem-
Operating Memory Used to input and output parameter ory Areas are allocated in the PLC's
Data data, such as position command memory according to the settings in
value outputs and present position the Common Parameters.
inputs. Acceleration/deceleration data is set
The area is allocated in the PLC's DM in the Servo Parameters.
Area according to the setting in the
Common Parameter Area.
Memory operation Used to set the position/speed data --- Memory operation functions are not
data for memory operations. provided.
The settings are written to the PCU's
internal memory using the data trans-
fer functions.
Zone data Used to set the zones. --- A zone function is not provided.
The settings are written to the PCU's
internal memory using the data trans-
fer functions.
--- --- Common Operating Performs operations common to the
Memory Area PCU such as MECHATROLINK com-
munications control.
The allocated area is contained in the
PLC's CPU Bus Unit Memory Area
according to the PCU's unit number.
A comparison of individual parameters and operating data, and operating precautions are provided in the fol-
lowing pages.
624

Setting Setting
m Operating Data Area designation Common Used to allocate Axis Operating Memory Areas and
m+1 Beginning word of the Operating Data Area Parameter to perform MECHATROLINK communications set-
Area tings.
m+2 Axis Parameters designation The settings are written to the PCU's internal mem-
ory using the data transfer functions.
Axis Parameter Area

To use data in the CS1W/CJ1W-NC271/471/F71 that was set as Axis Parameters in the earlier PCUs, the data
must be converted either to corresponding settings in the Axis Parameter Area and Servo Parameter Area, or
assigned in the Axis Operating Output Memory Area as command values used as operating data.
The setting location in the CS1W/CJ1W-NC271/471/F71 corresponding to the Axis Parameters in earlier PCUs
and the differences between the different parameters is shown in the following table.
The Axis Parameter addresses shown for CS1W/CJ1W-NC113/133/213/233/413/433 are those for the X axis.
The setting locations in the CS1W/CJ1W-NC271/471/F71 indicated as word d in the Axis Parameters and word
a in the Axis Operating Output Memory Area can be calculated using the following equations.
d = 1860 hex + (Axis No. −1) × 14 hex
a = Beginning word of Axis Operating Output Memory Areas specified in Common Parameters + (Axis
No. −1) × 25
625
G-series Servo Drives

Word Name Bit Setting Setting location Difference
0004 I/O set- 00 Output pulse selec- --- --- Output pulse selection is not pro-
tings tion vided, so this parameter setting is not
available.
01 to Not used. --- --- ---
03
04 Limit input signal Servo Parame- Pn404 Sets input allocations for the for-
type ter Area ward/reverse drive prohibited signals.
The input signal logic cannot be set.
05 Origin proximity input Servo Parame- Pn042 Sets the input signal logic using the
signal type ter Area input allocations for the origin return
deceleration LS signals.
06 Origin input signal --- --- The input signal logic cannot be set.
type
07 Emergency stop --- --- The input signal logic cannot be set.
input signal
08 Origin undefined --- --- This parameter setting is not avail-
designation able.
The Servo Drive's feedback position
is obtained. Therefore, the origin is
not lost even when operation stops
due to an external sensor.
09 to Not used. --- --- ---
15
0005 Opera- 00 to Operation mode Axis Parameter Bits Not used.
tion 03 Area 00 to 03 Operation mode selection is not pro-
mode word d+1 vided, so this parameter setting is not
selection available.
04 to Origin search opera- Bits This parameter setting is the same.
07 tion 04 to 07
08 to Origin detection Bits Not used.
11 method 08 to 11 Origin searches always use the origin
proximity input signal.
The origin detection method is fixed
as the method that receives the origin
input signal after the origin proximity
input signal turns from ON to OFF.
(This method corresponds with the
setting when the origin detection
method in the earlier PCUs is set to
0.)
12 to Origin search direc- Bits This parameter setting is the same.
15 tion 12 to 15 Servo Parameter Pn10F (Origin
Return Mode Settings), however,
must be set at the same time to the
same setting as for this parameter.
(For details, refer to 8-2-3 Data Set-
tings Required for Origin Search.)
0006 Maximum speed (rightmost word) --- --- A maximum speed setting is not pro-
0007 Maximum speed (leftmost word) vided.
The maximum speed is clamped at
approximately 110% when a speed
command is sent for a value that is
equal or higher than the Servo
Drive's (Servomotor's) maximum
speed.
626
0008 Initial speed (rightmost word) --- --- An initial speed setting is not pro-
0009 Initial speed (leftmost word) vided.
The acceleration/deceleration set-
tings, however, enable two-step
acceleration/deceleration curves and
exponential acceleration/decelera-
tion curves with bias. (For details,
refer to 7-4 Acceleration and Deceler-
ation Operations.)
000A Origin search high speed (rightmost Axis Operating Word a+4 The origin search high speed is the
word) Output Memory Word a+5 speed command value for origin
000B Origin search high speed (leftmost word) Areas searches and is designated with the
operating command in the Axis Oper-
ating Output Memory Areas.
000C Origin search proximity speed (rightmost Servo Parame- Pn110 Sets the Servo Parameters Pn110
word) ter Area Pn111 (Origin Return Approach Speed 1)
000D Origin search proximity speed (leftmost and Pn111 (Origin Return Approach
word) Speed 2). The setting unit is ×100
command units/s. (For details, refer
to 8-2-3 Data Settings Required for
Origin Search.)
000E Origin compensation value (rightmost Servo Parame- Pn204 The amount of compensation posi-
word) ter Area tioning after detection of the origin
000F Origin compensation value (leftmost input signal is set in Servo Parameter
word) Pn204 (Origin Return Final Dis-
tance). (For details, refer to 8-2-3
Data Settings Required for Origin
Search.)
0010 Backlash compensation Servo Parame- Pn100 The backlash compensation is set in
ter Area Pn101 Servo Parameters Pn101 (Backlash
Compensation) and Pn100 (Backlash
Compensation Selection). (For
details, refer to 10-7 Backlash Com-
pensation.)
0011 Backlash compensation speed (right- --- --- Backlash compensation is executed
most word) by adding it to the amount of move-
0012 Backlash compensation speed (leftmost ment for positioning, so these param-
word) eter settings are not supported.
0013 Acceleration/deceleration curves Axis Operating Word a+16, The acceleration/deceleration curves
Output Memory bits 03 to are designated with the operating
Areas 04 command in the Axis Operating Out-
put Memory Areas as command val-
ues for executing positioning
operations.
0014 Origin search acceleration time (right- Servo Parame- Pn107 The acceleration used for origin
most word) ter Area searches is the same as that used in
0015 Origin search acceleration time (leftmost other positioning operations and is
word) set according to the combination of
settings in Servo Parameter Pn107
(Linear Acceleration Constant). (For
details, refer to 7-4 Acceleration and
Deceleration Operations.)
0016 Origin search deceleration time (right- Servo Parame- Pn10A The deceleration used for origin
most word) ter Area searches is the same as that used in
0017 Origin search deceleration time (leftmost other positioning operations and is
settings in Servo Parameter Pn10A
(Linear Deceleration Constant). (For
details, refer to 7-4 Acceleration and
Deceleration Operations.)
627
0018 Positioning monitor time --- --- A positioning monitor is not provided,
so this parameter setting is not avail-
able.
Refer to the programming examples
and set a timing monitor in the user
program. (Refer to 11-2-6 Positioning
(Absolute Movement or Relative
Movement).)
0019 CCW software limit (rightmost word) Servo Parame- Pn201 The forward software limit is set in
001A CCW software limit (leftmost word) ter Area Servo Parameter Pn201 (Forward
Software Limit) in command units.
(For details, refer to 10-8 Software
Limits.)
001B CW software limit (rightmost word) Servo Parame- Pn202 The reverse software limit is set in
001C CW software limit (leftmost word) ter Area Servo Parameter Pn202 (Reverse
Software Limit) in command units.
(For details, refer to 10-8 Software
Limits.)
001D Reserved by the system. --- --- ---
001E Reserved by the system. --- --- ---
001F Initial pulse designation --- --- Initial pulse designation is not pro-
vided, so this parameter setting is not
available.
628
W-series Servo Drives

0004 I/O set- 00 Output pulse selec- --- --- Output pulse selection is not pro-
tings tion vided, so this parameter setting is not
available.
01 to Not used. --- --- ---
03
04 Limit input signal Servo Parame- Pn50A.3 Sets the input signal logic using the
type ter Area Pn50B.0 input allocations for the for-
ward/reverse drive prohibited signals.
05 Origin proximity input Servo Parame- Pn511.0 Sets the input signal logic using the
signal type ter Area input allocations for the origin return
deceleration LS signals.
06 Origin input signal Servo Parame- Pn511.1 Sets the input signal logic according
type ter Area Pn511.2 to the input allocations for the exter-
Pn511.3 nal latch signal when external latch
signal is selected as the origin input
signal. This setting is not available
when the Servomotor phase Z signal
is selected as the origin input signal.
07 Emergency stop --- --- An emergency stop input signal is not
input signal provided, so this parameter is not
available.
The stop methods used for limit
inputs and software limits, however,
can be specified in Servo Parameter
Pn001.1. (For details, refer to 7-5
Limit Input Operations.)
08 Origin undefined --- --- This parameter setting is not avail-
designation able.
The Servo Drive's feedback position
is obtained. Therefore, the origin is
not lost even when operation stops
due to an external sensor.
09 to Not used. --- --- ---
15
0005 Opera- 00 to Operation mode Axis Parameter Bits Not used.
tion 03 Area 00 to 03 Operation mode selection is not pro-
mode word d+1 vided, so this parameter setting is not
selection available.
04 to Origin search opera- Bits This parameter setting is the same.
07 tion 04 to 07
08 to Origin detection Bits Not used.
11 method 08 to 11 Origin searches always use the origin
proximity input signal.
The origin detection method is fixed
as the method that receives the origin
input signal after the origin proximity
input signal turns from ON to OFF.
(This method corresponds with the
setting when the origin detection
method in the earlier PCUs is set to
0.)
12 to Origin search direc- Bits This parameter setting is the same.
15 tion 12 to 15 Servo Parameter Pn816 (zero point
return direction), however, must be
set at the same time to the same set-
ting as for this parameter. (For
details, refer to 8-2-3 Data Settings
Required for Origin Search.)
629
0006 Maximum speed (rightmost word) --- --- A maximum speed setting is not pro-
0007 Maximum speed (leftmost word) vided.
The maximum speed is clamped at
approximately 110% when a speed
command is sent for a value that is
equal or higher than the Servo
Drive's (Servomotor's) maximum
speed.
0008 Initial speed (rightmost word) --- --- An initial speed setting is not pro-
0009 Initial speed (leftmost word) vided.
The acceleration/deceleration set-
tings, however, enable two-step
acceleration/deceleration curves and
exponential acceleration/decelera-
tion curves with bias. (For details,
refer to 7-4 Acceleration and Deceler-
ation Operations.)
000A Origin search high speed (rightmost Axis Operating Word a+4 The origin search high speed is the
word) Output Memory Word a+5 speed command value for origin
000B Origin search high speed (leftmost word) Areas searches and is designated with the
operating command in the Axis Oper-
ating Output Memory Areas.
000C Origin search proximity speed (rightmost Servo Parame- Pn817 Sets the Servo Parameters Pn817
word) ter Area Pn818 (zero point return approach speed 1)
000D Origin search proximity speed (leftmost and Pn818 (zero point return
word) approach speed 2). The setting unit
is ×100 command units/s. (For
details, refer to 8-2-3 Data Settings
Required for Origin Search.)
000E Origin compensation value (rightmost Servo Parame- Pn819 The amount of compensation posi-
word) ter Area Pn81A tioning after detection of the origin
000F Origin compensation value (leftmost input signal is set in Servo Parameter
word) Pn819 (final travel distance to return
to zero point). (For details, refer to 8-
2-3 Data Settings Required for Origin
Search.)
0010 Backlash compensation Servo Parame- Pn81B The backlash compensation is set in
ter Area Pn81D.0 Servo Parameters Pn81B (backlash
Pn207.2 compensation amount) and Pn81D.0
Pn214 (backlash compensation direction)
when using R88D-WT@ Servo Drives
and in Pn207.2 (backlash compensa-
tion selection) and Pn214 (backlash
compensation amount) when using
R88D-WN@-ML2 Servo Drives. (For
details, refer to 10-7 Backlash Com-
pensation.)
0011 Backlash compensation speed (right- --- --- Backlash compensation is executed
most word) by adding it to the amount of move-
0012 Backlash compensation speed (leftmost ment for positioning, so these param-
word) eter settings are not supported.
0013 Acceleration/deceleration curves Axis Operating Word a+16, The acceleration/deceleration curves
Output Memory bits 03 to are designated with the operating
Areas 04 command in the Axis Operating Out-
put Memory Areas as command val-
ues for executing positioning
operations.
630
0014 Origin search acceleration time (right- Servo Parame- Pn80A The acceleration used for origin
most word) ter Area Pn80B searches is the same as that used in
0015 Origin search acceleration time (leftmost Pn80C other positioning operations and is
settings in Servo Parameters Pn80A,
Pn80B, and Pn80C. (For details, refer
to 7-4 Acceleration and Deceleration
Operations.)
0016 Origin search deceleration time (right- Servo Parame- Pn80D The deceleration used for origin
most word) ter Area Pn80E searches is the same as that used in
0017 Origin search deceleration time (leftmost Pn80F other positioning operations and is
settings in Servo Parameters Pn80D,
Pn80E, and Pn80F. (For details, refer
to 7-4 Acceleration and Deceleration
Operations.)
0018 Positioning monitor time --- --- A positioning monitor is not provided,
so this parameter setting is not avail-
able.
Refer to the programming examples
and set a timing monitor in the user
program. (Refer to 11-2-6 Positioning
(Absolute Movement or Relative
Movement).)
0019 CCW software limit (rightmost word) Servo Parame- Pn804 The forward software limit is set in
001A CCW software limit (leftmost word) ter Area Pn805 Servo Parameters Pn804 and Pn805
in command units. (For details, refer
to 10-8 Software Limits.)
001B CW software limit (rightmost word) Servo Parame- Pn806 The reverse software limit is set in
001C CW software limit (leftmost word) ter Area Pn807 Servo Parameters Pn806 and Pn807
in command units. (For details, refer
to 10-8 Software Limits.)
001D Reserved by the system. --- --- ---
001E Reserved by the system. --- --- ---
001F Initial pulse designation --- --- Initial pulse designation is not pro-
vided, so this parameter setting is not
available.
631
Operating Memory Area

In the CS1W/CJ1W-NC271/471/F71 PCU, the Operating Memory Area allocations and functions have
changed, as shown in the following table.
A comparison of the functions of these words is provided in the following table. The differences between the
functions, such as in axis operations executed by the Operating Memory Area words, are explained later in this
appendix.
Operating Memory Area words for CS1W/CJ1W-NC113/133/213/233/413/433 PCUs are shown in the follow-
ing table as those for the X axis of the CS1W/CJ1W-NC113 PCU, and the beginning word n is calculated using
n = 2000 + (unit number × 10)
The Operating Memory Area words for CS1W/CJ1W-NC271/471/F71 PCUs are calculated for each axis using
No. −1) × 25
I/O CS1W/CJ1W-NC113/133/213/233/413/433 CS1W/CJ1W-NC271/471/F71
Word Bits Category Name Word Bits Differences
Output n 00 Memory Sequence Number a 00 Used as linear interpolation command
(CPU operation Enable bits.
Unit to 01 com- START 01 Memory operation functions are not
PCU) mands provided, so memory operation com-
02 INDEPENDENT 02 mand bits are not allocated.
START
03 Direct ABSOLUTE MOVE- 03 The function of this bit is the same.
operation MENT
04 com- RELATIVE MOVE- 04 The function of this bit is the same.
mands MENT
05 INTERRUPT FEED- 05 The method for starting interrupt feed-
ING ing has been changed.
This bit is an Interrupt Feeding Desig-
nation Bit for ABSOLUTE/RELATIVE
MOVEMENT, and is used together with
ABSOLUTE/RELATIVE MOVEMENT
bits.
06 Origin ORIGIN SEARCH 06 The function of this bit is the same.
07 position- ORIGIN RETURN 07 The function of this bit is the same.
ing com-
08 mands PRESENT POSI- 08 The function of this bit is the same.
TION PRESET When the DECELERATION STOP Bit
is ON, however, PRESENT POSITION
PRESET cannot be received.
632

Output n 09 Com- JOG a 09 The function of this bit is the same.
(CPU 10 mands for Direction designation 10 The function of this bit is the same for
Unit to special JOG direction. The rotation direction
PCU) functions cannot be designated for interrupt feed-
ing.
11 TEACH 11 Not used.
A teaching function is not provided, so
this bit is not allocated.
12 ERROR 12 The function of this bit is the same for
RESET/RELEASE resetting errors that occur in individual
PROHIBIT axes.
The function to release prohibit on
pulse outputs is not provided.
The function to reset Unit common
errors is allocated in the Common
13 Deviation counter 13 Same bit function as the deviation
reset output/origin- counter reset for PCUs with unit ver-
adjustment com- sions 1.3 or later. This function, how-
mand output ever, does not turn on the deviation
counter reset output but rather starts
the DEVIATION COUNTER RESET
command.
(For PCUs with unit versions 1.2 or ear-
lier, counter reset output and origin-
adjustment command output functions
are not provided, so this bit is not allo-
cated.)
14 Override Enable 14 The function of this bit is the same.
15 (DECELERATION) 15 The function of this bit is the same.
STOP
n+1 00 Not used. a+1 00 Used as the SERVO LOCK Bit.
01 Not used. 01 Used as the SERVO UNLOCK Bit.
02 Not used. 02 Used as the SPEED CONTROL Bit.
03 Not used. 03 Used as the TORQUE CONTROL Bit.
04 to Not used. 04 to Not used.
07 07
08 FORCED INTER- 08 Not used.
RUPT A forced interrupt start function is not
provided, so this bit is not allocated.
09 to Not used. 09 to Not used.
10 10
11 Not used. 11 Used as the DEVICE SETUP Bit.
12 Data WRITE DATA 12 Used as the WRITE SERVO PARAME-
transfer TER Bit.
com- The PCU's WRITE DATA Bit is allo-
mands cated in the Common Operating Mem-
ory Area.
13 READ DATA 13 Used as the READ SERVO PARAME-
TER Bit.
The PCU's READ DATA Bit is allocated
in the Common Operating Memory
Area.
14 SAVE DATA 14 Used as the SAVE SERVO PARAME-
TER Bit.
The PCU's SAVE DATA Bit is allocated
Area.
633

Output n+1 15 Data Not used. a+1 15 Used as the EMERGENCY STOP Bit.
(CPU transfer The Servomotor stops after moving for
Unit to com- the amount of pulses remaining the
PCU) mands Servo Drive's deviation counter when
this bit turns ON.
Input n+2 00 PCU sta- Not used. b 00 Used as the Receiving Command Flag.
(PCU to 01 to tus Not used. 01 to Not used.
CPU 03 03
Unit)
04 Waiting for Memory 04 Not used.
Operation Flag Memory operation functions are not
provided, so this bit is not allocated.
05 Positioning Com- 05 The function of this bit is the same.
pleted Flag Name: PCU Positioning Completed
Flag
06 No Origin Flag 06 The function of this bit is the same.
The conditions whereby the origin is
lost after being established are different
from earlier PCUs.
07 Origin Stop Flag 07 This flag functions in the same way,
showing whether the present position is
within the origin positioning range (zero
point width). This flag turns ON when
the origin is passed, which is different
from earlier PCUs.
08 Zone 0 Monitor Flag 08 Not used.
09 Zone 1 Monitor Flag 09 A zone function is not provided, so
these bits are not allocated.
10 Zone 2 Monitor Flag 10
11 Teaching Completed 11 A teaching function is not provided.
Flag This bit is used as a Warning Flag.
12 Error Flag 12 The function of this bit is the same for
errors that occur in individual axes.
The error flags for Unit common errors
are allocated as Unit Error Flags in the
13 Busy Flag 13 The function of this bit is the same for
indicating busy status of functions for
individual axes.
The busy status for Unit common func-
tions (including Unit initial processing)
is allocated as Unit Busy Flags in the
14 Data Transferring 14 Used as the Servo Parameter Transfer-
Flag ring Flag.
The PCU's Data Transferring Flag is
allocated as the Data Transferring Flag
Area.
15 Deceleration Stop 15 The function of this bit is the same.
Execution Flag The EMERGENCY STOP Bit is turned
ON by executing EMERGENCY STOP,
however, and not by an external input
(the CS1W/CJ1W-NC271/471/F71
does not have emergency stop inputs).
634

Input n+3 00 External Not used. b+3 00 Used as the forward rotation limit input
(PCU to I/O status signal status.
CPU 01 Not used. 01 Used as the reverse rotation limit input
Unit) signal status.
02 Not used. 02 Used as the origin proximity input sig-
nal status.
03 Not used. 03 Used as the encoder phase A input sig-
nal status.
04 Not used. 04 Used as the encoder phase B input sig-
nal status.
05 Not used. 05 Used as the encoder phase Z input sig-
nal status.
06 Not used. 06 Used as the external latch signal 1
input signal status.
07 Not used. 07 Used as the external latch signal 2
08 CW limit input signal 08 Used as the external latch signal 3
The forward rotation limit input signal
status is allocated to bit 00 of this word
(b+3).
09 CCW limit input sig- 09 Used as the brake output signal status.
nal The reverse rotation limit input signal
status is allocated to bit 01 of this word
(b+3).
10 Origin proximity input 10 This bit is reserved by the system.
signal The origin proximity input signal status
is allocated to bit 02 of this word (b+3).
11 Origin input signal 11 This bit is reserved by the system.
The origin input status is provided
either in bit 05 of this word (b+3) when
phase Z input signal is set or in bits 06
to 08 of this word when the external
latch signal is set, according to the
selected signal.
12 Interrupt input signal 12 This bit is reserved by the system.
The interrupt input signal status is pro-
vided in bits 06 to 08 of this word (b+3)
according to the external latch signal.
13 Emergency stop 13 An emergency stop input signal is not
input signal provided.
This bit is reserved by the system.
14 Positioning com- 14 This bit is reserved by the system.
pleted input signal The Servo Drive's positioning com-
pleted signal status (indicating that the
deviation counter is within the Position-
ing Completion Range 1) is allocated
as the Position Completed (PSET) Flag
in bit 07 of word b+2 (Servo Status
Flags) in the Axis Operating Input
Memory Area.
15 Deviation counter 15 An deviation counter reset output/ori-
reset output/origin- gin-adjustment command output is not
adjustment com- provided as an external output.
mand output This bit is reserved by the system.
635

Input n+4 --- Error Error code b+4 --- The function of this word is the same
(PCU to code for errors that occur in individual axes.
CPU The error codes for Unit common
Unit) errors are allocated as Unit error codes
Area.
Operating Data Area

The operating data designated in the data memory of earlier PCUs is allocated in the CS1W/CJ1W-
NC271/471/F71 in either the Common Operating Memory Area or Axis Operating Memory Area, as shown in
the following table.
A comparison of the functions for these words is provided in the following table. The differences between these
functions, such as in axis operations executed by the Operating Memory Area bits, are explained later in this
appendix.
Operating Data Area words for CS1W/CJ1W-NC113/133/213/233/413/433 PCUs are shown in the following
table for the X axis of the CS1W/CJ1W-NC113 PCU. The beginning word “I” is allocated in either the Special
I/O Unit Area or a user-specified DM/EM Area using settings in the Common Parameters.
The Operating Memory Area words for CS1W/CJ1W-NC271/471/F71 PCUs are allocated either to the Com-
mon Operating Memory Area or Axis Operating Memory Area, which are calculated using the following equa-
tions.
No. −1) × 25
Word Category Name Word Differences
Output l Operat- Number of write words n+6 The function is the same as data for WRITE DATA
(CPU l+1 ing data Write source area n+7 used to transfer PCU parameters.
Unit to for data The data transferring method for the WRITE SERVO
PCU) l+2 transfer Write source word n+8 PARAMETER function is different.
l+3 Write destination address n+9
l+4 Number of read words n+10 The function is the same as data for READ DATA
l+5 Read source address n+11 used to transfer PCU parameters.
The data transferring method for the READ SERVO
l+6 Read destination area n+12 PARAMETER function is different.
l+7 Read destination word n+13
l+8 Operat- Position (rightmost word) a+2 The function of these words is the same.
l+9 ing data Position (leftmost word) a+3 The data unit, however, is the command unit deter-
for direct mined according to the setting for the electronic gear.
l+10 operation Speed (rightmost word) a+4 The function of these words is the same.
l+11 Speed (leftmost word) a+5 The data unit, however, is the command unit/s deter-
mined according to the setting for the electronic gear.
l+12 Acceleration time (right- --- The acceleration and deceleration times cannot be
most word) set in the PLC's memory area as operating data.
l+13 Acceleration time (left- The acceleration/deceleration constants are set by
most word) transferring them as Servo Parameters using the
Servo Parameter transferring functions.
l+14 Deceleration time (right-
most word)
l+15 Deceleration time (left-
most word)
636

Word Category Name Word Differences
Output l+16 Operat- Sequence number --- Memory operation functions are not provided, so this
(CPU ing data data is not allocated.
Unit to for mem-
PCU) ory oper-
ation
l+17 Operat- Override a+14 Override ratio (unit: 0.01%)
l+18 ing data Teaching address --- Memory operation functions are not provided, so this
for special data is not allocated.
functions
l+19 Not used. --- ---
Input l+20 PCU sta- Present position (right- b+6 This word functions as a feedback present position
(PCU to tus most word) (rightmost word).
CPU The command present position (rightmost word) is
Unit) allocated in word b+8.
l+21 Present position (left- b+7 This word functions as a feedback present position
most word) (leftmost word).
The command present position (leftmost word) is
allocated in word b+9.
l+22 Sequence number --- Memory operation functions are not provided, so this
data is not allocated.
l+23 Output code --- Output code functions are not provided, so this data
is not allocated.
Functions
The main functions of the W-series Servo Drives are explained here.
ORIGIN SEARCH
Acceleration/Deceleration Settings
The acceleration/deceleration settings for origin searches are set in the parameters for each axis in earlier
PCUs, but they are set in the Servo Parameters (using Servo Parameter transfer functions) of the
CS1W/CJ1W-NC271/471/F71.
CS1W/CJ1W-NC113/133/213/233/413/433
The time from the initial speed until the maximum speed is reached is set in the following axis parameters.
Origin search acceleration time (ms)
Origin search deceleration time (ms)
Each parameter setting is transferred to the PCU using data transfer functions (data transfer bit or IOWR
instruction), or transferred automatically from the DM Area allocated to Special I/O Units when the PCU power
637
CS1W/CJ1W-NC271/471/F71
The rate of increase or decrease in speed within a specified time unit is set in the following Servo Parameters.
No. size setting
Acceler- Pn80A First-step linear accel- 10,000 command 1 to 65535 2 100
ation/ eration constant units/s2
deceler-
ation Pn80B Second-step linear 10,000 command 1 to 65535 2 100
con- acceleration constant units/s2
stants Pn80C Acceleration constant 100 command 0 to 65535 2 0
switching speed units/s
Pn80D First-step linear decel- 10,000 command 1 to 65535 2 100
eration constant units/s2
Pn80E Second-step linear 10,000 command 1 to 65535 2 100
deceleration constant units/s2
Pn80F Deceleration constant 100 command 0 to 65535 2 0
Each parameter is set in the Servo Drive via the PCU using the PCU's Servo Parameter transfer functions
(WRITE/SAVE SERVO PARAMETER Bits).
When using a trapezoidal curve (linear acceleration/deceleration) with the initial speed set to 0 (pulses/s), the
set values for the origin search acceleration time and origin search deceleration time used in the earlier PCUs
are converted to the following settings.
Pn80A (first-step linear acceleration constant):
The origin search uses a first-step acceleration/deceleration curve, so this parameter setting is not
used.
Pn80B (second-step linear acceleration constant):
The maximum speed, initial speed, and origin search acceleration time in the axis parameters of ear-
lier PCUs are converted to the value determined from the following equation.
Maximum speed − Initial speed (0)

Pn80B = (×10,000 pulses/s2)
Origin search acceleration time × 10
Pn80C (acceleration constant switching speed):
The origin search uses a first-step acceleration/deceleration curve, so this parameter is set to 0
(default setting).
Pn80D (first-step linear deceleration constant):
The origin search uses a first-step acceleration/deceleration curve, so this parameter setting is not
used.
Pn80E (second-step linear deceleration constant):
The maximum speed, initial speed, and origin search deceleration time in the axis parameters of ear-
lier PCUs are converted to the value determined from the following equation.
Pn80E = (×10,000 pulses/s2)
Origin search deceleration time × 10
Pn80F (deceleration constant switching speed):
The origin search uses a first-step acceleration/deceleration curve, so this parameter is set to 0
(default setting).
638
CS1W/CJ1W-NC113/133/213/233/413/433
Speed
Maximum speed
(pulses/s)
Initial speed = 0
(pulses/s)
Time
Origin search acceleration time (ms) Origin search deceleration time (ms)
CS1W/CJ1W-NC271/471/F71
Pn80B (second-step linear acceleration constant)
= (×10,000 pulses/s2)
Speed Origin search acceleration time × 10
Pn80E (second-step linear deceleration constant)
= Maximum speed − Initial speed (0) (×10,000 pulses/s2)
Origin search deceleration time × 10
Time
Pn80C (acceleration constant switching speed) = 0 Pn80F (deceleration constant switching speed) = 0
Origin Search High Speed

The origin search high speed (speed until detection of the origin proximity input signal) is set in the axis param-
eters in earlier PCUs. In the CS1W/CJ1W-NC271/471/F71, however, this parameter value is set as the Speed
Command Value for origin searches in the Axis Operating Output Memory Area when the origin search is
started.
Origin Search Proximity Speed

The origin search proximity speed (speed after detection of the origin proximity input signal until detection of
the origin input signal) is set in the axis parameters in earlier PCUs. In the CS1W/CJ1W-NC271/471/F71, how-
ever, this parameter value is set as the Zero Point Return Approach Speed 1 (Pn817) in the Servo Parameter
Area.
The setting unit for the Zero Point Return Approach Speed 1 parameter is 100 command units/s. Therefore, to
set the command unit to pulses, the set value for earlier PCUs must be multiplied by 1/100 to obtain the set
value required for CS1W/CJ1W-NC271/471/F71 PCUs.
Origin Compensation
When using origin compensation in earlier PCUs, positioning was executed for the amount of origin compensa-
tion data at the origin search proximity speed. This operation is performed after first stopping the search oper-
ation using origin input signal detection.
For CS1W/CJ1W-NC271/471/F71 PCUs, origin compensation is performed following origin input signal detec-
tion by executing positioning using the Servo Parameters Zero Point Return Approach Speed 2 (Pn818) and
Final Travel Distance to Return to Zero Point (Pn819).
639
CS1W/CJ1W-NC113/133/213/233/413/433
Origin proximity 1
input signal 0
(or phase Z signal) 0
Origin search high speed

Origin search proximity speed
Speed
Origin compensation data
Start Stop Origin search direction
CS1W/CJ1W-NC271/471/F71
Origin proximity 1
input signal 0
(or phase Z signal) 0
Speed command value

Speed

Start Stop
Origin Established and No Origin Status

The No Origin Flag in both earlier PCUs and the CS1W/CJ1W-NC271/471/F71 indicates whether the origin
has been established or not. The differences in the conditions whereby the No Origin Flag turns ON or OFF are
as follows:
Initial status (After PCU's initial processing is completed) Same as left
(when power is turned ON) ON status (origin not established)
ON condition • At power up, or restart • At power up, or restart
(Origin is lost) • When executing ORIGIN SEARCH (See • When connection is released (if CON-
note.) NECT Bit is turned OFF or the connection
• When the emergency stop input signal or is released due to an error)
limit input signal is input (if origin unde- • When DEVICE SETUP is executed
fined designation of I/O settings (for x axis,
word 0004 bit 08) in the axis parameters is
set so)
OFF condition • When ORIGIN SEARCH execution is com- • When ORIGIN SEARCH execution is com-
(Origin is established) pleted pleted
• When PRESENT POSITION PRESET is • When PRESENT POSITION PRESET is
executed executed
When using absolute encoders:
• When connection is established
• When SERVO LOCK is executed
640
Note In earlier PCUs, if ORIGIN SEARCH is executed again after establishing the origin, the origin will be lost
(until ORIGIN SEARCH execution is completed). In the CS1W/CJ1W-NC271/471/F71, however, once
the origin has been established, the origin will not be lost, even if ORIGIN SEARCH is executed again. If
ORIGIN SEARCH is executed again, the search operation will be executed using the coordinates based
on the previous origin until the new origin is established. When the software limits are enabled at this
point, the software limits will apply to the origin search operation, causing operation to stop due to an
error. (Positioning will not be reversed at the software limits when origin searches are performed in rever-
sal mode.)
Position Control (Direct Operation)

The acceleration/deceleration settings for position control (direct operation) are specified in the Operating Data
Area at start up in earlier PCUs. In CS1W/CJ1W-NC271/471/F71 PCUs, however, these settings are set in the
Servo Parameters (using Servo Parameter transfer functions).
CS1W/CJ1W-NC113/133/213/233/413/433:
The following operation data is designated for the time from the initial speed until the maximum speed is
reached.
Acceleration time (ms)
Deceleration time (ms)
For each parameter, the data that has been set in the Operating Data Area is enabled when the direct opera-
tion (ABSOLUTE MOVEMENT or RELATIVE MOVEMENT) is started.
CS1W/CJ1W-NC271/471/F71
The rate of increase or decrease in speed within a specified time unit is set in the following Servo Parameters.
No. size setting
Acceler- Pn80A First-step linear accel- 10,000 command 1 to 65535 2 100
ation/ eration constant units/s2
deceler-
ation Pn80B Second-step linear 10,000 command 1 to 65535 2 100
con- acceleration constant units/s2
stants Pn80C Acceleration constant 100 command 0 to 65535 2 0
Pn80D First-step linear decel- 10,000 command 1 to 65535 2 100
eration constant units/s2
Pn80E Second-step linear 10,000 command 1 to 65535 2 100
deceleration constant units/s2
Pn80F Deceleration constant 100 command 0 to 65535 2 0
Each parameter is set in the Servo Drive via the PCU using the PCU's Servo Parameter transfer functions
(WRITE/SAVE SERVO PARAMETER Bits).
When a trapezoidal curve (linear acceleration/deceleration) is used with the initial speed set to 0 (pulses/s), the
set values for the acceleration time and deceleration time in the Operating Data Area of the earlier PCUs are
converted to the following settings.
Pn80A (first-step linear acceleration constant):
The operation uses a first-step acceleration/deceleration curve, so this parameter setting is not used.
Pn80B (second-step linear acceleration constant):
The maximum speed and initial speed in the axis parameters and the acceleration time in the Oper-
ating Data Area of earlier PCUs are converted to the value determined from the following equation.

Pn80B = (×10,000 pulses/s2)
Acceleration time × 10
641
Pn80C (acceleration constant switching speed):

The operation uses a first-step acceleration/deceleration curve, so this parameter is set to 0 (default
setting).
Pn80D (first-step linear deceleration constant):
The operation uses a first-step acceleration/deceleration curve, so this parameter setting is not used.
Pn80E (second-step linear deceleration constant):
The maximum speed and initial speed in the axis parameters and the deceleration time in the Oper-
ating Data Area of earlier PCUs are converted to the value determined from the following equation.
Pn80E = (×10,000 pulses/s2)
Deceleration time × 10
Pn80F (deceleration constant switching speed):
The operation uses a first-step acceleration/deceleration curve, so this parameter is set to 0 (default
setting).
CS1W/CJ1W-NC113/133/213/233/413/433
Speed
Maximum speed
(pulses/s)
Initial speed = 0
(pulses/s)
Time
Acceleration time (ms) Deceleration time (ms)
CS1W/CJ1W-NC271/471/F71
Pn80B (second-step linear acceleration constant)
= (×10,000 pulses/s2)
Speed Acceleration time × 10
Pn80E (second-step linear deceleration constant)

= Maximum speed − Initial speed (0) (×10,000 pulses/s2)
Deceleration time × 10
Time
Pn80C (acceleration constant switching speed) = 0 Pn80F (deceleration constant switching speed) = 0
Changing Target Position and Changing Target Speed

The target position and target speed can be changed during axis operation in the same way for both earlier
PCUs and the CS1W/CJ1W-NC271/471/F71 PCU by using the following operation.
Changing target position:Set the new target position in Position Command Value and send an operation
command again. (Strictly speaking, the new target position is to be set in Posi-
tion of the Operating Data Area for earlier PCUs while it is set in Position Com-
mand Value in the Axis Operating Output Memory Area for CS1W/CJ1W-
NC271/471/F71 PCUs.)
Changing target speed: Change Speed Command Value during axis operation to immediately change
the target speed. (Strictly speaking, the new target speed is to be set in Speed
of the Operating Data Area for earlier PCUs while it is set in Speed Command
Value in the Axis Operating Output Memory Area for CS1W/CJ1W-
NC271/471/F71 PCUs.)
When changing the target position with a CS1W/CJ1W-NC271/471/F71 PCU, however, the Receiving Com-
mand Flag must be used to control the ON/OFF timing for the operation command bits.
642
Interrupt Feeding
Interrupt feeding in earlier PCUs is executed by independently operating individual start bits. With
CS1W/CJ1W-NC271/471/F71 PCUs, however, interrupt feeding is an additional function for the direct opera-
tion (ABSOLUTE MOVEMENT or RELATIVE MOVEMENT).
To execute interrupt feeding, turn ON the Interrupt Feeding Designation Bit in the Axis Operating Output Mem-
ory Area and execute ABSOLUTE MOVEMENT or RELATIVE MOVEMENT.
When using earlier PCUs, interrupt feeding functions by switching from speed control to position control (posi-
tioning is performed for the amount of interrupt feeding after detection of the interrupt input signal). With
CS1W/CJ1W-NC271/471/F71 PCUs, however, interrupt feeding functions by switching from one position con-
trol operation (ABSOLUTE MOVEMENT or RELATIVE MOVEMENT) to another position control operation
(positioning is performed for the amount of interrupt feeding after detection of the interrupt input signal), and if
an interrupt input signal is not input, the original positioning operation is completed.
Memory Operation
Memory operation functions are not provided in CS1W/CJ1W-NC271/471/F71 PCUs.
The teaching function, forced interrupt operation, and output codes, which are related to memory operations,
are also not provided.
Operations that use automatic patterns and continuous patterns must be created in the user program.
Jogging
In earlier PCUs, the acceleration/deceleration settings for jogging are specified as operation data in the Oper-
ating Data Area when jogging is started. In CS1W/CJ1W-NC271/471/F71 PCUs, however, these settings are
set in the Servo Parameters (using Servo Parameter transfer functions).
Details on acceleration/deceleration settings are the same as those provided for position control (direct opera-
tion), so refer to the section on position control (direct operation).
Changing Target Speed

The target speed can be changed during jogging operations in the same way for both earlier PCUs and the
CS1W/CJ1W-NC271/471/F71 PCU by using the following operation.
Changing target speed: Change the Speed Command Value parameter during jogging operations to
immediately change the target speed. (Strictly speaking, the new target speed
is to be set in Speed of the Operating Data Area for earlier PCUs while it is set
in Speed Command Value in the Axis Operating Output Memory Area for
CS1W/CJ1W-NC271/471/F71 PCUs.)
Present Position
Earlier PCUs use open-loop control, and monitor the command position (PCU's output pulses) as the present
position. CS1W/CJ1W-NC271/471/F71 PCUs exchange data with Servo Drives that have a semi-closed loop
configuration. Therefore, both the feedback present position (total of feedback pulses from the Servomotor's
encoder) and command present position (total of PCU's position command values) are monitored as the
present position.
Data Transfer
In earlier PCUs, all the parameters set by the PCU are in the Unit, and data is transferred using the PCU's data
transfer functions (data transfer bit or IOWR instruction).
In CS1W/CJ1W-NC271/471/F71 PCUs, however, data is classified into three types: Common Parameters, Axis
Parameters, and Servo Parameters. Common Parameters and Axis Parameters are configured in the PCU,
and Servo Parameters are configured in the Servo Drive. Therefore, the transfer functions used to transfer the
parameters in the PCU are different than those used to transfer the parameters in the Servo Drive.
643
• Common Parameters and Axis Parameters

These parameters are transferred to the PCU using the data transfer bits (WRITE DATA, READ DATA, and
SAVE DATA) in the Common Operating Memory Area.
• Servo Parameters
These parameters are transferred to each axis using the Servo Parameter transfer bits (WRITE SERVO
PARAMETER, READ SERVO PARAMETER, and SAVE SERVO PARAMETER) in the Axis Operating Out-
put Memory Area. Parameters are transferred between the PLC and Servo Drive by executing these Servo
Parameter transfer functions.
The IOWR and IORD instructions are not supported by the CS1W/CJ1W-NC271/471/F71 PCUs.
644
Appendix F
Additional Functions for the CJ1W-NCF71-MA
Overview
The following functions have been added to those of the CJ1W-NCF71 Position Control Unit to produce the
CJ1W-NCF71-MA Position Control Unit.
• Interpolation axis stop mode setting for linear interpolation
• Allowed interaxial deviation setting for linear interpolation
Note The CS1W-NC271/471/F71 and CJ1W-NC271/471/F71 do not have the functions described in this
appendix. To use these functions, use the CJ1W-NCF71-MA. If data is backed up from a CJ1W-NCF71
Position Control Unit on a Memory Card mounted in the CPU Unit (using either the CPU Unit's simple
backup function or the Position Control Unit's backup function), do not read that data to a CJ1W-NCF71-
MA Position Control Unit. It will not be possible to use the additional functions if data backed up from a
CJ1W-NCF71 is downloaded to a CJ1W-NCF71-MA. To move CJ1W-NCF71 setting data to the CJ1W-
NCF71-MA, be sure to use the parameter transfer function or CX-Motion-NCF Support Software to read,
write, and save to memory the data in the Common Operating Memory Area. Also, do not download
CJ1W-NCF71-MA Memory Card backup data to the CJ1W-NCF71.
Interpolation Axis Stop Mode Setting for Linear Interpolation

With the linear interpolation function of the CJ1W-NCF71, the other interpolation axes will decelerate to a stop
if an error occurs on any of the interpolation axes, an axis is stopped (deceleration stop or emergency stop), or
SERVO UNLOCK is executed during linear interpolation. The CJ1W-NCF71-MA enables selecting the stop
mode of the other interpolation axes when this occurs with settings in the Axis Operating Output Memory Areas
of axis 2 (for the combination of axes 1 to 4) or axis 6 (for the combination of axes 5 to 8).
Operating Output Memory Area for Axis 2 and Axis 6

Name Word Bits Description
Interpolation Axis a+21 00 to 03 Axis 1 stop mode in linear interpolation for
Stop Mode (Axis Operating Output Mem- combinations of axes 1 to 4.
ory Area for Axis 2) 0: Deceleration stop (default)
1: Emergency stop
2: Servo unlock
04 to 07 Same as above for axis 2 stop mode
a+21 00 to 03 Axis 5 stop mode in linear interpolation for
(Axis Operating Output Mem- combinations of axes 5 to 8.
ory Area for Axis 6) 0: Deceleration stop (default)
1: Emergency stop
2: Servo unlock
a = Beginning word of Axis Operating Output Memory Areas in Common Parameters + (Axis No. −1) × 25
Select the stop operation for other interpolation axes if an error occurs on any of the interpolation axes, the axis
is stopped (deceleration stop or emergency stop), or SERVO UNLOCK is executed during operation of linear
interpolation. The setting can be made for each axis of linear interpolation combinations of axes 1 to 4 or for
each axis of linear interpolation combinations of axes 5 to 8.
645
Additional Functions for the CJ1W-NCF71-MA Appendix F
If a value outside the range is set, the system will treat it as if 0 was selected (i.e., deceleration stop). The inter-
polation axis stop mode setting is enabled when the LINEAR INTERPPOLATION START Bit turns ON.
Example:
If the beginning word of the Axis Operating Output Memory Areas is set to CIO 4000, the interpolation stop
mode for linear interpolation of a combination of axes 1 to 4 will be set in a+21 (CIO 4046) of the Operating
Output Memory Area of axis 2.
The first word of the Operating Output Memory Area of axis 2 is calculated as follows:
a = 4000 + (2−1) × 25 = CIO 4025
In this case, the following settings will be used for the interpolation axis stop mode of each axis from 1 to 4.
Axis 1 interpolation axis stop mode: CIO 4046.00 to CIO 4046.03
In the same way, the interpolation stop mode for linear interpolation of a combination of axes 5 to 8 will be set
in a+21 (CIO 4146) of the Operating Output Memory Area of axis 6.
a = 4000 + (6 − 1) × 25 = CIO 4125
The following settings will be used for the interpolation axis stop mode of each axis.
Allowed Interaxial Deviation Setting for Linear Interpolation

If the deviation in feedback present positions between axes 1 and 2 or axes 5 and 6 exceeds the allowed devi-
ation that is set in the parameters for each axis, both axes 1 and 2 or both axes 5 and 6 will be decelerated to
a stop. It is thus possible to automatically stop axis operation in response to deviation that occurs, for example,
because of an error for one of the axes, when bilateral operation is performed with two axes.
The allowed deviation between axes is specified in the Axis Operating Output Memory Area of axis 2 for linear
interpolation operation using combinations of axes 1 to 4 and in Axis Operating Output Memory Area of axis 6
for linear interpolation operation using combinations of axes 5 to 8.
Axis Operating Output Memory Areas for Axis 2 and Axis 6

Allowed Interaxial a+23 --- Allowed deviation between axes 1 and 2 (a+23: lower
Deviation a+24 word, a+24: upper word)
(Axis Operating Output Mem- Unit: Command unit
ory Area for Axis 2) Setting range: 0 to 2,147,483,647
The allowed deviation between axes 1 and 2 in linear
interpolation for a combination of axes 1 to 4 will be set
in 32-bit signed hexadecimal. The allowed deviation
between axes 1 and 2 will not be detected if the setting
is 0 (default) or a negative value.
a+23 --- Allowed deviation between axes 5 and 6 (a+23: lower
a+24 word, a+24: upper word)
(Axis Operating Output Mem- Unit: Command unit
ory Area for Axis 6) Setting range: 0 to 2,147,483,647
The allowed deviation between axes 5 and 6 in linear
interpolation for a combination of axes 5 to 8 will be set
in 32-bit signed hexadecimal. The allowed deviation
between axes 5 and 6 will not be detected if the setting
is 0 (default) or a negative value.
a = Beginning word of Axis Operating Output Memory Areas in Common Parameters + (Axis No. −1) × 25
646
Example:
If the beginning word of the Axis Operating Output Memory Areas is set to CIO 4000, the allowed interaxial
deviation for linear interpolation of a combination of axes 1 to 4 will be set in a+23 (CIO 4048) and a+24 (CIO
4049) of the Operating Output Memory Area of axis 2.
a = 4000 + (2−1) × 25 = CIO 4025
In the same way, the allowed interaxial deviation for linear interpolation of a combination of axes 5 to 8 will be
set in a+23 (CIO 4148) anda+24 (CIO 4149) of the Operating Output Memory Area of axis 6.
a = 4000 + (6−1) × 25 = CIO 4125
The allowed deviation is found by comparing the difference in feedback present positions. Make settings so
that operation starts from same present positions for axes 1 and 2 or axes 5 and 6 if detecting interaxial devia-
tion is to be enabled (i.e., if the interaxial deviation is set to a positive number). Also, if either axis 1 or 2 or
either axis 5 or 6 will be used for linear interpolation, set the allowed interaxial deviation of each axis to 0 (i.e.,
do not detect interaxial deviation). The setting of the allowed interaxial deviation becomes enabled when the
setting is written to memory.
Note The CJ1W-NCF71-MA is treated as the CJ1W-NCF71 in the CX-Programmer, CX-Motion-NCF, and
other Support Software. Select the CJ1W-NCF71 to make settings for the CJ1W-NCF71-MA when
using Support Software.
647
648
Index
Axis Operating Input Memory Area, 77, 228, 230, 232,

A 235
absolute encoder allocations, 95, 195, 607
operating procedure, 327 beginning word, 98
origin, 8, 326 designation, 18, 98
origin position offset, 332 monitoring, 213
overview, 326 overview, 194
parameters, 298, 299 Servo Parameter Transferring Flag, 23
PCU data settings, 329 Servo Status Flags, 406
setup, 331 Axis Operating Memory Area, 6, 22
absolute movement, 4, 8 Axis Operating Output Memory Area, 77, 227, 230, 232,
sample program, 441 234, 257
ABSOLUTE MOVEMENT Bit, 94, 186 allocations, 94, 186, 603
beginning word, 97
acceleration
designation, 18, 97
during speed control, 285, 391
Forward Rotation External Current Limit Designation Bit,
filter settings, 280
356
operations, 277
operating commands, 213
parameters, 279, 300
overview, 185
settings, 278
priority, 190
speeds, 10
RELATIVE MOVEMENT Bit, 26
acceleration/deceleration curves, 7, 8, 10 Reverse Rotation External Current Limit Designation Bit,
alarm displays, 612 356
applications SERVO LOCK Bit, 25
precautions, xxiv SERVO UNLOCK Bit, 28
area allocations, 241 Axis Parameter Area, 77, 522
allocations, 79
auxiliary functions, 7, 8
overview, 101
acceleration/deceleration curves, 7
replacing PCUs, 625
backlash compensation, 7
monitoring function, 7 Axis Parameters, 10, 218
override, 7 setting, 20
servo parameter transfer, 7
software limits, 7
torque limit, 7 B
Axis Communications Status, 21 backlash compensation, 7
axis communications status, 94 data settings, 408
axis communications status bits, 184 overview, 407
Axis Communications Status Flags, 249 procedure, 407
Axis Control Status Flags backup functions

Busy Flag, 200, 204 at CPU Unit, 514
Error Flag, 200 at PCU, 515
No Origin Flag, 200, 203 baud rate, 35
Origin Stop Flag, 200, 203 MECHATROLINK, 238
PCU Positioning Completed Flag, 200, 201 BKIR, 50
Receiving Command Flag, 200 BKIRCOM, 50
Servo Parameter Transferring Flag, 200 brake output, 95
Stop Execution Flag, 200, 205
Busy Flag, 95, 196, 204
Warning Flag, 200
axis error code, 198
Axis Error Flag, 22
649
Index
compatible devices, 6
C
CONNECT Bit, 21, 25, 93, 181
C2 master connection, 101, 244 Connection Status Flag, 21, 25, 93, 183, 249
CJ1W-NC113/133/213/233/413/433, 9 connections
replacing with CJ1W-NC271/471/F71/CS1W-NC271/ establishing, 248
471/F71, 623
Connector Terminal Block Cables, 65
CN1, 43, 47, 50
control command range, 7
CN1 (Servo Drive), 53
control function parameters, 89, 147, 170, 590
command present position, 95, 198, 276
control functions, 7
command response time, 517
interrupt feeding, 7
command units, 275 jogging, 7
setting example, 274 origin determination, 7
commands position control, 7
DECELERATION STOP, 5 servo lock/unlock, 7
DEVICE SETUP, 234 speed control, 7
EMERGENCY STOP, 5 stop functions, 7
PRESENT POSITION PRESET, 5 torque control, 7
RELATIVE MOVEMENT, 16, 26 Control I/O Connector, 43, 47, 50, 61
Common Operating Input Memory Area control I/O signals, 49
allocations, 601 input
Common Operating Memory Area, 18, 77, 221, 223, 225, +24 VDC control power supply, 49
248, 249, 251, 256 external latch inputs, 49
allocated words, 33 forward drive prohibit input, 49
allocations, 93, 181 origin return deceleration LS, 49
CONNECT Bit, 21, 25 reverse drive prohibit input, 49
Connection Status Flag, 21, 25 output
Data Transferring Flag, 20 brake interlock output, 50, 52
overview, 179 frame ground, 50, 53
SAVE DATA Bit, 20 positioning completed output 1, 50
Common Operating Output Memory Area servo ready output, 50
allocations, 599 wiring, 58
Common Parameter Area, 77, 521 components, 61
allocations, 79 control method, 6
overview, 96 control mode
replacing PCUs, 625 switching, 398
Common Parameters, 18, 19, 218 control panel
Axis Operating Input Memory Areas, 19 installation, xxvi
Axis Operating Output Memory Areas, 19
control system
Beginning word of Axis Operating Input Memory Areas,
configuration, 272
19
Beginning word of Axis Operating Output Memory Ar- control units, 6
eas, 19 for position control, 273
scan list setting (axes 1 and 2), 19 for speed control, 274
scan list setting (axes 3 to 16), 19 for torque control, 274
writing to PCU, 19 controlled axes, 6
Communications Alarm, 256 coordinate system, 276
communications cycle, 100, 244 CPU Unit, 17
setting, 245 CPU Unit cycle time, 10
communications protocol, 238 current consumption, 6
communications retries, 101, 244 cycle time
650
Index
at CPU Unit, 520 PCU common errors, 491, 611

error counter reset, 10
error detection functions, 8
D Error Flag, 95, 196
data areas, 79 error reset, 508
Data Transfer Bit, 10 ERROR RESET Bit, 94, 186
data transfer function, 8 errors
Data Transferring Flag, 20, 93, 183 at CPU Unit, 488, 510
deceleration at PCU, 488
during speed control, 285, 391 at powerup, 487
filter settings, 280 indicator display, 487
operations, 277 MECHATROLINK communications, 485
parameters, 279, 300 overview, 482
settings, 278 PCU settings and operations, 489
speeds, 10 resetting, 508, 509
troubleshooting, 486
deceleration stop, 8, 414
sample program, 447 expanded monitoring, 212
DECELERATION STOP Bit, 94, 186 exponential acceleration/deceleration curve, 282
DEVICE SETUP, 234 exponential curve designation, 94, 189
timing chart, 235 external I/O, 7, 39
DEVICE SETUP Bit, 94, 187 External I/O Status Bits, 95, 211
dimensions, 6, 38, 39 external latch signal inputs, 95, 198
DIP switch, 34
direct operation, 2, 4, 8, 26
overview, 340
F
PCU data settings, 341 FALS instruction, xxiii
procedure, 341 feedback present position, 95, 198, 276
starting, 345
FG, 50
timing charts, 346
forward drive prohibited signal input, 286
Distribution Completed Flag, 197, 209
forward rotation current limit, 94
Distribution Completed Flag/Zero Speed Flag, 95
forward rotation current limit designation, 189
Forward Rotation External Current Limit Designation Bit,
E 356
forward rotation limit input, 95, 198, 286
EC Directives, xxvi
Forward Software Limit Flag, 95, 197, 211
electromagnetic fields, xxiv
function selection parameters, 81, 133, 151, 553, 571, 594
EMC Directives, xxvi
emergency stop, 8, 10
emergency stop, 416 G
sample program, 447
General-purpose Control Cable, 62
EMERGENCY STOP Bit, 94
ground, xxiv
EMI Standard, xxvi
EMS Standard, xxvi
encoder phase inputs, 95, 198 I
encoder type, 104
I/O allocations, 6
error codes, 490
Axis Operating Memory Area, 6
individual axis errors, 495, 611
Common Operating Memory Area, 6
651
Index
number of write words, 19 error display, 488

parameter size, 23 error displays, 487
position command value, 26 errors
Servo Parameter No., 23 at MECHATROLINK device, 490
speed command value, 26 errors in PCU settings and operations, 489
write data, 23 MECHATROLINK errors, 489
write destination address, 19 MECHATROLINK-II Application Module, 34
write source area, 19 PCU errors, 488
write source word, 19
I/O parameters, 82, 139, 162, 559, 582, 594
I/O signals, 40 M
control, 49 MECHATROLINK, 12
MECHATROLINK standard settings, 266, 268 communications, 12
Servo Drive, 43, 47 control, 248
status, 211 ending, 25
Individual Axis Errors, 256 errors, 254, 485, 489
Initial PCU Settings, 450 settings, 243
INP1, 50 starting, 21, 25, 430
status, 249
INP1COM, 50
stopping, 28, 430
input signal selection 1, 22
communications error, 8
input signal selection 2, 22 communications settings, 10
input signal selection 3, 22 compatible devices, 238
inspection, 512 device
installation, 35 errors, 490
location, xxiii overview, 238
precautions, xxvi, 37 scan list, 239
replacing PCUs, 623 settings, 239
interrupt feeding, 5, 7, 8 specifications, 238
data settings, 354 MECHATROLINK Connector, 40
overview, 353 MECHATROLINK-compatible devices, 238
present position, 356 MECHATROLINK-II
procedure, 353 communications
timing chart, 355 connections, 57
INTERRUPT FEEDING Bit, 94, 186 wiring, 56
interrupt input signal selection, 103 high-speed field network, 2
interface port, 7
Servo Drives, 2
J synchronous communications, 9
MECHATROLINK-II Application Module, 17, 33
JOG Bit, 94, 186
compatible versions, 33
jogging, 5, 7, 8 LED indicators, 34
operation procedure, 373 part names, 33
PCU data settings, 374 station address, 17
starting, 377
MECHATROLINK-II Communications Connector, 33
timing chart, 377
MECHATROLINK-II Connection Cable, 17, 56
MECHATROLINK-II Terminator, 17, 56
L memory areas
Axis Operating Input Memory Areas, 77
LED indicators, 32
Axis Operating Output Memory Areas, 77
652
Index
Axis Parameter Areas, 77 deceleration, 284

Common Operating Memory Area, 77 direction, 104
Common Parameter Area, 77 operation, 103
Memory Card operation mode, 306
backup, 514 operation summary, 305
Memory Card transfer error, 183 overview, 293
parameters, 301, 302
MLK Communications Error, 255
procedure, 294
MLK Device Alarm/Warning, 257
sample program, 440
MLK Device Error, 255 starting, 314
MLK Device Initialization Error, 254 ORIGIN SEARCH Bit, 94, 186
MLK Initialization Error, 255 Origin Stop Flag, 95, 196, 203
monitor 1, 95, 199 outputs
monitor 1 type, 94, 188, 198 precautions, xxiii
monitor 2, 95, 199 override, 5, 7, 9, 94, 188
monitor 2 type, 94, 188, 198 operation, 378
monitor types, 213 timing chart, 379
monitoring function, 7 Override Enable Bit, 94, 186
N P
No Origin Flag, 95, 196, 203 parameter size, 94, 189
noise, xxiv parameters

Axis Parameters, 20
number of read words, 93, 182
control status, 303
number of write words, 93, 182
part names, 32
MECHATROLINK-II Application Module, 33
O PCU Parameters, 218
reading, 223
online editing, xxiii replacing PCUs, 624
Operating Data Area saving, 225
replacing PCUs, 636 transferring, 220
operating environment, xxiv sample program, 425
precautions, xxiii writing, 220
Operating Memory Area PCU Positioning Completed Flag, 95, 195, 201
replacing PCUs, 632 phase Z margin
option command value, 94, 188 calculating, 324
during speed control, 392 description, 324
during torque control, 403 position command range, 9
origin determination, 7, 8 position command value, 94, 187
origin input signal selection, 102 Position Completed Flag/Speed Conformity Flag, 95
origin proximity input, 95, 198 position control, 2, 4, 7, 9, 272
origin return, 8, 319 control units, 273
data settings, 319 parameters, 81, 137, 158, 557, 579
timing chart, 323 switching, 468
ORIGIN RETURN Bit, 94, 186 positioning
origin search, 5, 8, 10, 284 sample program, 441
acceleration, 284 Positioning Completed Flag, 197, 207
data settings, 295 Positioning Proximity Flag, 95, 197, 210
653
Index
power supply, xxiv installation, 623

precautions, xxiv operating data, 624
Power Supply Unit, 17 Operating Data Area, 636
power up time, 517 Operating Memory Area, 632
PCU Parameters, 624
precautions, xxi
procedure, 513
applications, xxiv
system configuration, 623
general, xxii
wiring, 623
handling, 513
installation, 37 replacing Units
operating environment, xxiii precautions, xxv
safety, xxii resetting errors, 509
system configuration, 35 resetting warnings, 509
wiring, 73 response time, 10
present position commands from CPU Unit, 518
during interrupt feeding, 356 external input, 520
upper/lower limits, 276 reflecting Servo Drive status changes in CPU Unit, 519
present position preset, 5, 8, 317 Restart Bit, 21
data settings, 317 restarting, 21
timing chart, 318 PCU, 510
PRESENT POSITION PRESET Bit, 94, 186 reversal mode, 306
present position range, 9 using limit inputs, 313
present positions, 276 reverse drive prohibited signal input, 286
Programming Console, 17, 25 reverse rotation current limit, 94
Programming Console Connecting Cable, 17 reverse rotation current limit designation, 189
Reverse Rotation External Current Limit Designation Bit,
356
R reverse rotation limit input, 95, 198, 286
radiated emission, xxvi Reverse Software Limit Flag, 95, 197, 211
radioactivity, xxiv
READ BACKUP DATA Bit, 93, 181
S
read data, 95, 199
READ DATA Bit, 93, 181 safety precautions, xxii
read destination area, 93, 182 SAVE DATA Bit, 20, 93, 181
read destination word, 182 SAVE SERVO PARAMETER Bit, 22, 94, 187
READ SERVO PARAMETER Bit, 94, 187 saving

PCU settings, 20
read source address, 93, 182
saving data, 10
reading data from the PCU, 224
saving data to the PCU, 226
READY, 50
scan list, 239
READYCOM, 50
allocations, 241
Receiving Command Flag, 95, 195, 200
setting, 18
relative movement, 4, 8
S-curve acceleration/deceleration curve, 282
sample program, 441
S-curve designation, 94, 189
RELATIVE MOVEMENT Bit, 16, 26, 94, 186
self-diagnostic functions, 8
replacing PCUs
Servo, 555
Axis Parameter Area, 625
Common Parameter Area, 625 Servo Drive, 16, 17
functions, 637 Servo Drive Parameters, 218
transferring, 219
654
Index
servo gain parameters, 135, 155, 555, 575 torque limit, 206
SERVO LOCK Bit, 25, 94, 187 Torque Limit Status Flag, 210
servo lock/unlock, 7, 25, 28 Zero Speed Flag, 206, 209
operation, 372 SERVO UNLOCK Bit, 28, 94, 187
sample program, 438 Servomotor, 17
timing chart, 373 Servomotor Encoder Cable, 17
Servo ON (SVON) Flag, 197 Servomotor Power Cable, 17
Servo Parameter Area, 77, 104, 523 Servomotors
allocations, 80 with absolute encoders, 2
control function parameters, 567 short-circuits
function selection parameters, 553 precautions, xxiv
I/O and status parameters, 559, 594
signals
position control parameters, 557
precautions, xxiv
servo gain parameters, 555
Simple, 514
speed control parameters, 558
torque control parameters, 558 simple backup function, 514
Servo Parameter No., 94, 189 simultaneous execution, 191

multiple functions, 192
servo parameter transfer, 7
single-direction mode, 306
Servo Parameter Transferring Flag, 23, 196
software limits, 7
Servo Parameters, 10, 218
data settings, 411
acceleration constant switching speed, 27
operation, 412
automatic setting, 265
overview, 410
backup
procedure, 410
sample program, 456
deceleration constant switching speed, 27 specifications, 6
first-step linear acceleration constant, 27 speed command range, 9
first-step linear deceleration constant, 27 speed command value, 94, 187, 188
limit input operations, 287 Speed Conformity Flag, 197, 207
reading, 229
speed control, 2, 5, 7, 9
timing chart, 230
acceleration/deceleration, 285, 391
saving, 231
control units, 274
timing chart, 233
monitoring, 398
second-step linear acceleration constant, 27
option command value, 392
second-step linear deceleration constant, 27
overview, 387
setting, 22
parameters, 82, 85, 138, 159, 558, 580
transferring, 22, 226
sample program, 444
sample program, 431
starting, 387
writing, 23, 227
status, 398
timing chart, 228
switching, 468
Servo parameters
SPEED CONTROL Bit, 94, 187
reading/writing, 8
Speed Limit Status Flag, 95, 197, 210
Servo Parameters Transferring Flag, 95
standards, 6
Servo Status Flags, 95, 206, 406
start times, 520
Distribution Completed Flag, 206, 209
Forward Software Limit Flag, 206, 211 static electricity, xxiv
Positioning Completed Flag, 206, 207 precautions, xxv
Positioning Proximity Flag, 206, 210 station address
Reverse Software Limit Flag, 206, 211 setting switch, 34
Speed Conformity Flag, 206, 207 status parameters, 82, 139, 162, 175, 559, 582, 594
Speed Limit Status Flag, 206, 210 Stop Execution Flag, 95, 196, 205
655
Index
stop functions, 5, 7, 8 timing chart, 384

deceleration stop, 414 Torque Limit Status Flag, 95, 197, 210
emergency stop, 416 Transfer, 514
overview, 414
transfer cycle, 100, 243
timing chart, 417
setting, 245
system configuration, 3
Transfer Cycle Setting Error, 255
precautions, 35
transferring data, 10
replacing PCUs, 623
transferring programs, xxiii
troubleshooting, 503
T communications errors, 506
during PCU operations, 504
target position
procedure, 486
changing, 350
operation pattern, 351
target speed U
changing, 352
Unit Busy Flag, 93, 183
terminal arrangement
CN1, 43, 47, 50 Unit classification, 6
timing charts, 252 unit error code, 93, 183
changing target position/speed, 352 Unit Error Flag, 22, 93, 183
direct operation, 346 UNIT ERROR RESET Bit, 93, 181
Error Warning Flag, 348 unit numbers
errors or warnings, 348 setting, 17
interrupt feeding, 355 setting switch, 33
jogging, 377
origin search, 314
override, 379 W
servo lock/unlock, 373
stop functions, 417 Warning Flag, 95, 196
torque control, 405 warnings
torque limit, 384 displays, 621
zero/minute travel distance, 347 resetting, 509
torque command range, 9 weight, 6
torque command value, 94, 188 wiring, 16, 18
torque control, 2, 5, 7, 9 I/O signals, 58
control units, 274 MECHATROLINK-II communications, 56
monitoring, 406 precautions, 73
option command value, 403 replacing PCUs, 623
overview, 400 WRITE BACKUP DATA Bit, 93, 181
parameters, 82, 138, 160, 558, 581 write data, 94, 189
sample program, 445 WRITE DATA Bit, 18, 24, 93, 181
starting, 400
write destination address, 19, 93, 182
status, 406
WRITE SERVO PARAMETER Bit, 94, 187
switching, 468
timing chart, 405 write source area, 19, 93, 182
TORQUE CONTROL Bit, 94, 187 write source word, 19, 93, 182
torque limit, 7, 8, 356 writing data to PCU, 222

constant, 380 W-series Servo Drives, 33
overview, 379 alarm displays, 612
setting with operating commands, 381 compatible versions, 33
656
Index
Control I/O Connector, 43, 47, 50

warning displays, 621
W-series Servomotor, 16
Z
Zero Speed Flag, 197
Zone Data, 10
zone range, 9
657
Index
658
Revision History
A manual revision code appears as a suffix to the catalog number on the front cover of the manual.
Cat. No. W426-E1-11
Revision code
The following table outlines the changes made to the manual during each revision. Page numbers refer to the
previous version.
Revision code Date Revised content
01 July 2004 Original production
02 September 2004 Information was expanded and revised to include new functionality, and corrections
were made, as follows:
Page xii: Information on unit versions added.
Page 5: Information on linear interpolation added.
Pages 6, 9, 122, 164, 240, 243, 245, and 300: Information on torque corrected.
Pages 64, 65, 66, 97, 98, 99, 100, 107, 371, 372, 375, and 388: Tables expanded
and notes added.
Page 149: Notes added.
Pages 165, 233, and 241: Table revised.
Page 206: Information on ABSOLUTE MOVEMENT added.
Page 218: Subsection on linear interpolation added.
Pages 336 and 337: Information added.
Page 342: Note added.
03 April 2005 Revisions were made throughout the manual to include new functionality for the
upgrade to unit version 1.2 and information on R88D-WN@-ML2 W-series Servo
Drives with built-in MECHATROLINK-II communications that differs from information
for R88D-WT@ W-series Servo Drives equipped with Yaskawa JUSP-NS115
MECHATROLINK-II Application Modules.
04 February 2006 Revisions were made throughout the manual to include new functionality for the
upgrade to unit version 1.3 and to include the new CS-series PCU.
05 December 2006 Revisions were made throughout the manual to include new functionality for the
upgrade to unit version 2.0 and to support SMARTSTEP Junior Servo Drives (R7D-
ZN@-ML2).
06 August 2007 Pages 202 and 274: Information added on setting the transfer cycle and communi-
cations cycle when setting an absolute encoder zero point position offset for an ori-
gin search.
07 February 2008 New functionality for the upgrade to unit version 2.1 were added, additional descrip-
tions were added, and errors were corrected.
08 August 2008 Added information on G-series Servo Drives (R88D-GN@ML2).
Added explanations and corrected mistakes.
09 October 2008 Added the CS1W-NC271/471, CJ1W-NC271/471, and CJ1W-NCF71-MA and cor-
rected mistakes.
10 December 2009 Added the G5 Series Servo Drive R88D-KN@-ML2 and corrected mistakes.
659
Revision History
Revision code Date Revised content

11 October 2014 Updated copyright and trademark information.
Pages xii, 2, 32, 38, and 218: Changed illustration of product.
Pages xix to xxi: Updated Read and Understand this Manual and Warranty and
Limitations of Liability information.
Page xxv: Changed or added four precautions in top part of page.
Page xxvii: Added precaution toward bottom of page.
Page 40: Changed illustration in table.
Page 104: Changed paragraph toward bottom of page.
Page 336: Added paragraph before figure, changed line for Servo ON in the figure,
and added information at bottom of page.
Page 379: Added information after first paragraph and before table at bottom of
page.
Page 386: Corrected parameter number from Pn003 to Pn521 after first table.
Page 533: Changed rightmost column for parameter 611.
Page 613: Changed "G" to "G5" in heading in middle of page.
660
OMRON Corporation Industrial Automation Company Authorized Distributor:
Tokyo, JAPAN
Contact: www.ia.omron.com
Regional Headquarters
OMRON EUROPE B.V. OMRON ELECTRONICS LLC
Wegalaan 67-69, 2132 JD Hoofddorp 2895 Greenspoint Parkway, Suite 200
The Netherlands Hoffman Estates, IL 60169 U.S.A
Tel: (31)2356-81-300/Fax: (31)2356-81-388 Tel: (1) 847-843-7900/Fax: (1) 847-843-7787
OMRON ASIA PACIFIC PTE. LTD. OMRON (CHINA) CO., LTD. © OMRON Corporation 2014 All Rights Reserved.
No. 438A Alexandra Road # 05-05/08 (Lobby 2), Room 2211, Bank of China Tower, In the interest of product improvement,
Alexandra Technopark, 200 Yin Cheng Zhong Road, specifications are subject to change without notice.
Singapore 119967 PuDong New Area, Shanghai, 200120, China
Tel: (65) 6835-3011/Fax: (65) 6835-2711 Tel: (86) 21-5037-2222/Fax: (86) 21-5037-2200 Cat. No. W426-E1-11 1014

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Cat. No.

OMRON Product References

Lot No. 040401 0000 Ver.1.0

OMRON Corporation MADE IN JAPAN

Unit Version 1.1 to Unit Version 1.2

Unit Version 1.2 to Unit Version 1.3

Unit Version 1.3 to Unit Version 2.0

(Refer to 8-2-4 Origin Search Operation.)

Note Changes in Axis Communications Status Flags

Warranty, Limitations of Liability

● Limitations OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR

See http://www.omron.com/global/ or contact your Omron representative for

Limitation on OMRON COMPANIES SHALL NOT BE LIABLE FOR SPECIAL, INDIRECT,

1 Intended Audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxii

!Caution Confirm safety at the destination node before transferring a program to

4 Operating Environment Precautions

• Locations subject to direct sunlight.

!Caution Take appropriate and sufficient countermeasures when installing systems in

• Locations subject to static electricity or other forms of noise.

• Fail-safe measures must be taken by the customer to ensure safety in the

6-3 Conformance to EC Directives

6-4 Installation within Control Panels

1-2 System Configuration

System Configuration Example

Forward rotation limit input signal

Forward rotation limit input signal

1-3 Basic Operations

1-3-1 Position Control (Direct Operation)

Position changed, start

Start Speed changed

Specified amount of movement (a

1-3-2 Speed Control and Torque Control

1-3-3 Other Operations

Speed Override set value: 150%

1-4 List of Functions and Specifications

Specifications not listed above conform to general CS/CJ Series specifica-

1-4-2 List of Functions and Specifications

1-5 List of Functions by Purpose

Purpose Category Name Basic function Details

1-6 Comparison with Existing Models

Functions and CJ1W-NC@71 CJ1W-NC@13/@33

2-1 Basic Flow of Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

2-1 Basic Flow of Operations

3-2 Installing the Position

Install the PCU. Control Unit

Connect the Servomotors to the Servo Drives. (See note 1.)

Connect the Servo Drives to the external input

Connect the Servo Drives to the PCU.

Turn ON the power to the PLC.

Transfer only the axis parameters 5-2-3 Saving PCU

Save the transferred common parameters and

Restart the PCU or cycle the power to the PLC.

The PCU can now communicate

(Continued on next page.)

Flow of operation Details

(Continued from previous page.)

Turn ON the power to the Servo Drives.

4-5 Servo Parameter Area

Unit to the PCU using the WRITE SERVO PA-