SERVO DRIVE SV-E3 SERIES. INSTRUCTION MANUAL (v1.5)

■Troubleshooting 4 (Motor operation is not steady)

The motor operates unsteadily.

Table 9.3.4

Cause

What to do

FG and GND connection is wrong.

Connect FG and GND correctly.

Speed and position command is not steady.

Check the contact of cables and connectors.

Misadjustment

Adjust the parameters.

The motor rotate without host command input.

Set the appropriate values for No.33.0 「Pulse train command - Input filter

selection」in position control mode.

Adjust parameter No.60.0 「Analog speed command

- Fixed offset

value」 in speed control mode.

Adjust parameter No.300.0 「Analog torque command Fixed offset value」

in torque control mode.

Command is interfered.

The shielded twisted-pair cable is used for I/O cable in a vulnerable

environment. So is the encoder cable. The encoder cable should be 20m

or less.

Position deviation occurs.

Set the appropriate values for No.33.0 「Pulse train command - Input filter

selection」in position control/pulse train command mode. Check whether

the pulse output of host control device (such as PLC) is beyond the limit

value. Check whether the product of ①No.33(Pulse command

input(position) and host control device output, ②No.65(Position

command) and No.67(Position feedback), ③No.67 and parameter

No.276.0/278.0(Encoder pulse output division and multiplication) is

consistent with the position feedback of host control device. If inconsistent,

it may be interfered. Then connect FG correctly and adjust parameter

No.33.0.

Please use shielded twisted-pair for I/O cable.

Deviation occurs when home position reset.

Check the command input of host control device. Check whether to get the

Z-phase correctly from the host control device. If the Z-phase pulse

amplitude is small, adjust No.276.0 and 278.0 「Encoder output division

and multiplication」to increase the pulse amplitude.

■Troubleshooting 5(Vibration and sound)

Vibration and sound occurs when the motor operates.

Table 9.3.5

Cause

What to do

Large gain

Adjust the gain.

The machine or devices loosen.

Check the installment of motor, reducer and coupling.

Interference occurs.

Check the cables’ length and shielding.

The high-voltage cable(motor power cable) should be isolated from the

signal cable (encoder cable).

Resonance occurs between motor and device.

Adjust position command smoothing filter at low-vibration; Adjust low-pass

filter or notch filter at high-vibration.

160

The drive and motor do not match.

If the drive and motor do not match, clear the EEPROM parameter and

change the motor models.

Appendix

Appendix 1 Recommended wire/cable

Cable name

AWG

Heat-resistance

Remark

Motor power cable (750W or less)

2517

105℃

Motor power cable (1KW or less)

14 Note 1)

2501

105℃

200VAC input (750W or less)

1015

105℃

FG cable Note 2)

200VAC input

(1KW or more)

14 Note 1)

1015

105℃

FG cable Note 2)

Encoder

Power：22

20276

80℃

Max.20m for shielded cable of 5P(10

Signal：24

cores) (when using shielded

twisted-pair cable)

User I/O

1007

80℃

Shielded twisted-pair cable

Recommended length: 50m or less

Regenerative resistor connection

1015

105℃

Brake

2517

105℃

1P(2 cores)

Main circuit DC power (750W or

1015

105℃

less) Note 2)

Main circuit DC power (1KW or

14 Note 1)

1015

105℃

more) Note 2)

Communication between the drives

20539

80℃

Ribbon cable 10 cores

Note 2)

Accessories ((2.54mm spacing)

The length of cable depends on the actual situation.

Note 1) AWG16 cable can be used for 1kW motor.

Note 2)For multi-axial drives

Appendix 2 SV- E3 positioner function

1. Overview

This product has the positioning function of using point table.

Preset the data by the point table in the drive and set the Point No. to be started through I/O input by the upper controller. After

inputting the start signal, the positioning will be done according to the selected Point No.

2. Basic setting

[2.1 User I/O connector (CN1) wiring]

Table 2.1 User I/O connector CN1 connector pins arrangements

Name

Symbol

Pin No.

Signal name

Contents

User I/O

CN1

24V

Drive control power supply 24V input

161

●24V power

G24V

Drive control power supply GND

supply input

COM+

I/O power supply 24V input

●Parallel I/O

(SVON) Servo ON input

●Pulse train

(RESET/PCLR)Alarm reset/ deviation counter clearing input

Command

(PCSTART1)CW start input

input

(PCSEL1)Point NO. 1 input

●ABZ output

(PCSEL2) Point NO. 2 input

(PCSEL3) Point NO. 3 input

(PCSEL4) Point NO. 4 input

(ORG)Home position sensor input

COM-

I/O power supply GND

(MBRK) Brake release output

(SERVO) Servo status output

(MEND)Action completion output

(HEND)Home position return completion output

(T-LIMIT) Torque limit output

(OCZ )Encoder Z-phase output (open collector)

O7+

(SRDY+) Servo ready output +

O7-

(SRDY-) Servo ready output -

O8+

(ALM+) Servo alarm output+

O8-

(ALM-) Servo alarm output-

NC1

Reserved (Disconnected)

SP1

Reserved

SP2

Reserved

CMD_PLS

Reserved

/CMD_PLS

Pulse command Pulse, orthogonal phase difference A-phase,

CCW

CC-P

Pulse command 24V of PLS

CC-D

Pulse command 24V of DIR

CMD_DI R

Reserved

/CMD_DI R

Pulse command Direction, orthogonal phase difference

B-phase, CW

A SPEED

Reserved

A_GND

Reserved

A_TRQ

Reserved

A_GND

Reserved

OUT_A

Encoder A phase output

162

/OUT_A

Encoder /A phase output

OUT_B

Encoder B phase output

/OUT_B

Encoder /B phase output

OUT_Z

Encoder Z phase output

/OUT_Z

Encoder /Z phase output

Signal ground

485

RS-485 communication data

/485

RS-485 communication /data

Signal ground

NC2

Reserved(Disconnected)

SP3

Reserved

SP4

Reserved

EDM+

Reserved

EDM-

Reserved

[2.2 Basic parameters setting]

Set the basic parameters.

The following parameters must be set if using the positioning function.

Table 2.2 Parameter of control mode change

Parameter No.

Parameter

Description

2.0

Select control mode.

Set to “0”.

3.0

Select command mode.

Set to “3”.

Selection method for different operation modes.

Table 2.3

Operation modes

Internal position command

Selection of operation

Starting method

Selection of operation modes

modes

（No. 642. 0）

(No. 9. 0）

Point table

I /O input（PCSTART1）

Manual pulse input

Arbitrary

I /O input（pulse command input）

[2.3 User I/O description]

The user I/O related to the positioning function are shown below.

■Input

ON when connection with COM- is close; OFF when open.

1) PCSEL1. . . 4 Point NO. selection

・Specify the Point No. and home position return to be started

・Select home position return or Point No.0 for starting Point No.0 according to the setting 「Point No.0 function selection（No.

646. 3）.

Table 2.4

PCSEL4

PCSEL3

PCSEL2

PCSEL1

Description

163

OFF

Home position return or Point No.0

OFF

Point No.1

OFF

Point No.2

OFF

Point No.3

---

------

OFF

Point No.7

---

------

Point No.15

2) PCSTART1 CW start

・The action and home position return of Point No. can be specified when the connection with COM- from OFF to ON.

・When set the 「Point No.0 function selection」（No. 646. 3）to “0= Return to home position” and specify 0 to the Point No.,

the home position return can be started by inputting PCSTART1.

3) ORG home position sensor

・Input the home position sensor signal at home position return by home position sensor.

For details, refer to 「8. 9 Home position return」.

4) HOME position return start

・Set the input signal of “Position control/internal generation command dedication 1” to the special I/O. About the special I/O

setting, refer to 「Appendix 3 SV-E3 special I /O setting」.

・The home position return starts when the connection with COM- from open-circuit to close-circuit.

■Output

ON when connection with COM- is close; OFF when open.

1) MEND completion

・If the action of Point table and home position return completed and ready for the next operation, it will become close-circuit.

・OFF when the operation from starts to pauses.

・Make sure the MEND is close-circuit before inputting PCSTART 1. The start command will be ignored when MEND is

open-circuit.

・It is open-circuit at servo OFF.

2) HEND home position return completion

・Close-circuit when home position return completed

・When the command method is absolute, home position return must be done if HEND is open-circuit.

・For details, refer to 「8. 9Home position return」.

3) P M1. . . 3 Point No. output

・Set the input signal of “Position control/internal generation command dedication 1” to the special I/O. About the special I/O

setting, refer to 「Appendix 3 SV-E3 special I /O setting」.

・Point No. that output starts or ends

・Select the Point No. output time and description in 「Point No. output method」（No. 644. 0）.

・Open-circuit (Point NO.0) at servo OFF and home position return after power ON to the drive.

Table 2.5

PM3

PM2

PM1

Description

OFF

Point No.0 and 8

OFF

Point No.1 and 9

OFF

Point No.2 and 8

OFF

Point No.3 and 7

164

---

Point No.7 and 15

The running operation and dwell time of Point NO. output in 「Point No. output method」 are shown below.

Table 2.6

Point No.

Running operation

Dwell time

Continuous

Single

Arbitrary value

3. Point table operation

[3.1 Point table data]

The Point table setting are shown below.

Table 3.1 Point table data

Items

Description

Unit

Setting range

Command

Absolute value: Take the position data as the target position

Absolute value and

method

Relative value: Take the travel distance from current position to target

relative value

position as the position data

Running

Single: Executing the selected one Point No.

Single, continuous

operation

Continuous: Execute the next Point No. continuously

Position

1)Select absolute value according to command method

[Command

-1, 073, 741, 823

Set the target position

unit]

～ 1, 073, 741, 823

2) Select relative value according to command method

Set travel distance. Positive value: CCW rotation

Negative value: CW rotation

Speed

Set the motor speed at positioning. And the setting value must not be

[ rpm]

1~ max.speed of the

outside the max. speed of the motor.

motor

Acceleration

Set the acceleration time for the motor, that is the time from 0rpm to

[ms/

0～5000

time

1000rpm

1000rpm]

Deceleration

Set the deceleration time for the motor, that is the time from 1000rpm

[ms/

0～5000

time

to 0rpm

1000rpm]

Dwell time

Set the dwell time for pause after the positioning completion has been

[ms]

0～20, 000

detected by Point no. positioning completion (range). Execute the

position command for the next Point No. after the dwell time. When

set the running operation to 「Continuous」,the dwell time is 「0」 and

the next Point No. continues.

Positioning

Set the position deviation value to determine positioning completion.

[pulse]

0～32, 767

completion

The dwell time begins after the position command completed

specified by the Point No. and the position deviation is within the

setting range. The unit is same to the encoder pulse unit.

Valid/ invalid

Set the valid or invalid to the operation. When set the operation to

Valid/ invalid

invalid, the Point No. will not execute until the next valid Point No.

[3.2 Command unit setting]

165

The command unit is the unit used for position and distance between upper controller and drives. The mini. Command unit is 1.

The function of command division and multiplication is to change the position data from command unit to encoder pulse unit.

Set the command division and multiplication b「command division and multiplicatio（Numerator）」No. 34. 0）and 「command

division and multiplicatio（Denominator）

No. 36. 0）.Save the parameters if the command division and multiplication changes

and execute the home position return after the power ON again.

Make sure the range for the ratio of command division and multiplication is 1 to 1000. (In pulse command mode, the range is 0.

001 to 1000).

[3.3 Operation range for position and position command overflow detection]

The operation range for position (ABS position command) of Point table:

Absolute position: -1, 073, 741, 823～+1, 073, 741, 823 [command unit]

Whether the「Position command overflow/ home position return failure」alarms or not, after the position of Point table (ABS

position command value) exceeds the range described above, can be selected by「Internal speed command - Overflow

detection option」(No. 643. 0）. When set it to “0=Disable”, the absolute value cannot be specified to the command method. For

details, refer to「Parameter description Internal speed command - Overflow detection option」.

[3.4 Parameter description]

No.

Name

Unit

642. 0

Internal speed command - Operation mode

Set Operation mode for internal position command.

0 = Point Table

1 = Communication operation

2 = Manual pulse input

No.

Name

Unit

643. 0

Internal speed command - Overflow detection option

Enable/Disable Internal position command Overflow detection function

0 = Disable

1 = Enable (Initial setting)

The function of Internal speed command - Overflow detection option is to prevent the target position of Point table and

communication operation(test run) exceeding the absolute position range to make the absolute position disappear. If the target

position (ABS position command value) exceeds absolute position range（-1, 073, 741, 823～+1, 073, 741, 823）, here can be

set for「Position command overflow/ home position return failure」to alarm or not.

Set it to “0= Disable” when outside the absolute position range and have the relative position command to the same direction

repeatedly.

■Conditions for alarm occurrence

1）Set to “1=Enable”

The alarm occurs when the target position of ABS position command value exceed the range of -1, 073, 741, 823～+1, 073,

741, 823.

The alarm occurs when the ABS position command value exceeds the range of -1,073,741,823 to +1,073,741,823 after servo

On and the travel distance exceeds the range of -2,147,483,647 to +2,147,483,647.

166

2）Set to “0=Disable”

In the relative command, no alarm occurs even if the ABS position command value exceeds the absolute position range. But

alarm occurs in the absolute command.

The alarm occurs when “Absolute value” exist in the command method of Point table.

■Time for alarm occurrence

No alarm occurs when the ABS position command value exceed absolute position range at servo ON.

The alarm occurs when the operation starts in a single operation setting.

In the continuous operation setting, after the operation starts, the alarm occurs before the Point No. of which the ABS position

command value exceeds the range.

No.

Name

Unit

644. 0

Point No. output method

Set Point No. output method to the user I/O PM1. . . 3.

0 = Output Operation start point at Operation start

1 = Output Operation start point at Operation end

2 = Output each point No.at each operation start

For details, refer to 「2-3 User I/O description PM1. . . 3 Point No. output」

Appendix 3 SV- E3 special I/O setting

1. Preface

The parallel I/O setting changes automatically after setting the control mode and command mode for the drive.

2. Special I/O setting

The parallel I/O can be set specially based on the control mode and command mode. The setting are shown below. There is

only the default I/O setting when no special settings.

[2. 1 Position control mode（pulse command input）]

As shown in Table 3.1 to set the parameters and Table 3.2 to set the special I/O.

For signal details, refer to 「8.7.1 Signal description」.

Table 3.1 Parameter setting at position control mode(pulse command input)

Parameter No.

Parameter

Description

2.0

Select control mode.

Set to “0”.

3.0

Select command mode.

Set to “1”.

Table 3.2 Special I/O setting(dedication 1) at position control mode(pulse command input)

Pin No.

Signal name

Description

Function

SVON

Servo ON

RESET

Alarm reset

HOLD

Command input restriction

PCLR

Deviation counter clearing

HOME

Home position return start

167

CCW

CCW drive restriction

CWL

CW drive restriction

TLSEL1

Torque limit selection 1

Reserved

MBRK

Break release

SERVO

Servo status output

POSIN

Positioning completion output

Reserved

HEND

Home position return completion

MEND/T-LIMIT

Operation completion/ torque limit

OCZ

Encoder phase Z output

SRDY

Servo ready

ALM

Alarm status

[2. 2 Position control mode（internal position command）]

As shown in Table 3.3 to set the parameters and Table 3.4 to set the special I/O.

For signal details, refer to 「8.7.1 Signal description」.

Table 3.3 Parameter setting at position control mode(internal position command)

Parameter No.

Parameter

Description

2.0

Select control mode.

Set to “0”.

3.0

Select command mode.

Set to “3”.

Table 3.4 Special I/O setting(dedication 1) at position control mode(internal position command)

Pin No.

Signal name

Description

Function

SVON

Servo ON

RESET/PCLR

Alarm reset/deviation counter clearing

PCSTART1

CW start

PCSEL1

Point No.1

PCSEL2

Point No.2

PCSEL3

Point No.3

HOME

Home position return start

TLSEL1

Torque limit selection 1

Reserved

PM1

Point No. 1 output

PM2

Point No. 2 output

PM3

Point No. 3 output

Reserved

HEND

Home position return completion

168

2) Press down the crowbar to push down the spring.

3) Insert the peeled cable while pressing down the lever, until it hits

the insertion

4)Release the crowbar.

Appendix 5 SV-E3 series absolute system description

1. Overview

This product constitutes the absolute system by using the unique magnetic absolute encoder. Have the encoder clearing after

home position return and no need for home position return when restarting the power supply.

The following procedures are ready for the absolute system:

①Use the motor equipped with the absolute encoder and drive with absolute specifications

②Connecting the encoder battery.

③The upper controller can get the absolute data by RS-485.

2. Applicable models

Use the following motor and drive combination when using absolute system.

Table 1 Applicable motor and drive

Output

Drive

50W

SV-E3P005A2-A

100W

SV-E3P010A2-A

200W

SV-E3P020A2-A

170

400W

SV-E3P040A2-A

750W

SV-E3P075A2-A

1KW

SV-E3P100A2-A

1.5KW

SV-E3P150A2-A

2KW

SV-E3P200A2-A

3. Setting

[3.1 Setting for absolute system]

■Parameter setting is needed for absolute system of the drive.

■Change the Selection of an encoder system (No.257.0) from 0 (initial setting, incremental system) to “1(absolute system).

This can be set by the set panel.

■Refer to 「5 Absolute encoder initialization」 for the operation procedures.

[3.2 RS-485 communication setting]

Parameter setting must be done for the upper controller to get the absolute data of the drive by RS- 485 communication.

Change the Communication address (No.4.0) from “1(initial value) to the desired address No and the setting range is 1 to 32.

Change the Selection of host communication method(No.8.0) from “0(initial value” to “1(485 asynchronous serial

communication). The parameter change can be done by the set panel.

Refer to 「5 Absolute encoder initialization」 for the operation procedures.

Table Parameter setting

No.

Parameter

Description

Whether to

restart the

24VDC power

4.0

Communication

Set the communication address of servo drive.

Yes

address

Set to “1” when not the multi-station communication. If using multi-station

communication, set different values for each axis.

[Initial value] 1

[Setting range] 1 to 32

8.0

Selection of host

Select host communication mode.

Yes

communication

0= Disable

method

1= RS-485 asynchronous serial communication

When connecting RS-485 signal cable and using RS-485 asynchronous

serial communication, select to “1”. If not, select to “0”.

When use USB, it is irrelevant to this setting and can communicate

anytime.

[Initial value] 0 (Disable)

[Setting range] 0 or 1

257. 0

Selection of an

Select an option for Absolute system or Incremental system.

Yes

encoder system

0 = Incremental system

1 = Absolute system

[Initial value] 0 (Incremental system)

[Setting range] 0 to 2

4 The installation of battery box cable(Optional)

[4.1 Installation of battery box cable]

171

Figure 1 Installation of battery box cable

Install the battery box on the cable between the drive and motor encoder.

①Cut off 200VAC and 24VDC, take off the encoder cable from the motor

②Connect the battery box after check the connection direction

③Operate as the「5 Absolute encoder initialization」

[4.2 Battery specification]

The battery for absolute system are recommended as below:

Table 3 Basic specifications(recommended battery)

Items

Description

Remark

Battery

CR-AGB/C23P

Made by Panasonic Note 1)

Series : CR-AG

Nominal voltage

3. 0V

Nominal capacity

2400mAh

Capacity at the temperature of 20℃,

standard discharge current, voltage 1.8V

Standard discharge

2. 5mA

current,

Max. continuous

At the temperature of 20℃

discharge current

Appearance

As shown in the <Appearance>

Note 2)

Weight

24g

Temperature

Working temperature：-40℃ ～ +70℃

No condensation

Storage temperature：-20℃ ～ +45℃

Recommended

Temperature：5℃ ～ 35℃

storage condition

Humidity：70%RH or less

Note 1) Primary lithium battery. Do not charge to avoid the burst.

Note 2) No significant appearance damage and have the obvious identification.

172

Figure 2 Recommended battery

[4.3 Battery box wiring]

Figure 3 Battery wiring

< When you make your own cable for absolute encoder >

Caution

Please use the battery recommended by our company.

To avoid the electric shock, injury,

Wire correctly.

malfunction or damage.

Please follow the wiring diagram as above. End user prepare the connectors and cables.

The batteries recommended by the company must be used. Using the battery, which does not meet the specifications, may

damage the battery in the worst situation.

For the operating and storage location

・Indoors, free from rain and direct sunlight

・Free from the corrosive gas, oil mist, iron powder

・Good ventilation, no moisture

・No excessive pollution and dust

・No vibration

・No impact to the battery

[4.4 Battery change]

When the battery voltage is too low, the alarm occurs.

At this time, it is necessary to change the battery, which should be done under the condition that the 24V control power for the

servo drive is ON. If not, the multi-rotation data will be lost and need to operate the mechanical home position return once

again.

Caution

・Check the polarity of the battery

To avoid the electric shock, injury,

・Do not disassemble the battery

malfunction or damage.

173

・Do not short-circuit the battery

・Do not charge the recommended battery

5 Absolute encoder initialization

Absolute encoder initialization is the encoder clearing. This can be done by the set panel . After encoder clearing, switch off

the 24VDC power. The multi-rotation data has been cleared after switch on the control power again.

[5.1 Method for encoder clearing by set panel]

1) Change the drive parameters(set absolute system and RS-485 communication)

1. Turn on 24VDC power when not connected with the encoder. Change the parameters if no alarm occurs.

2. Change the Parameter No.4.0 Communication address from “initial value 1” to the expected communication address

No. . The setting range is from 1 to 32. Change Parameter No.8.0 Selection of host communication method from “initial value

0” to “1(RS-485 asynchronous serial communication)”. Change the parameterNo.257.0 from “initial value 0 (Incremental

system) to “1(Absolute system)”. For the parameter change method, refer to SV-E3 User Manual「5-6

Parameter setting

mode」

3. Refer to SV-E3 User Manual「5-8

Parameter saving mode」to save the parameters. If not save the parameters, the

changed parameters will be invalid when power ON next time.

4. Switch off the control power (24V).

2) Restart the power

1. Refer to「4-1 Battery box cable installation 」to connect the battery box to the encoder and turn on the control power.

2. When restart the control power, the encoder error (

) will display on the set panel. Simultaneously, the

multi-rotation data error ( Er r . 20) and encoder low-voltage error occur (Err. 21).

3) Move to the home position

Move the axis which does not set the home position to the home position. When moving to the home position by manual is

possible, move it to the home position. This should be done at servo ON. Move them around the home position and perform

the operation of 4) to 6), then 4) to 5).

4) Operating the encoder clearing by set panel

1. Make the panel display

. When display

, press the MODE(

) button for seven times.

2. Refer to the following figure to press the SET (

) button once and UP(

) button once to display

3. Press the SET(

) button to display

4. After long-press the LEFT(

) button to show

displays and the multi-rotation data

become 0.

5.Switch off the control power. Until now, the absolute encoder initialization has been completed.

The operation procedures to have the encoder clearing by set panel are shown blow.

Operate the encoder clearing at servo OFF. If servo ON, the alarm

will occur.

174

Figure 4 Operation procedures by set panel

5) Check if the encoder clearing succeeds

1. Turn on the control power

2. No alarm occurs and

display. No need for home position return even though switch off the power, unless

remove the battery.

3. Check the following items if alarm occurs.

★Install the battery or not.

★The battery voltage is normal or not.

★Cable connection is correct or not.

★Wiring is correct or not

After check the items above, do the 3) operation.

4. When determine the home position by manual, the absolute encoder setting completes. When the servo drive determines

the home position, after performing 6) operation procedures, then 4) and 5). The setting completes.

6) The servo drive moves to the home position(cannot move to the home position by manual)

1. The drive moves to the home position at servo ON. Please note that the current absolute data will change as the encoder

clearing will be done later.

2. Servo OFF. The alarm of

will occur at servo ON.

3. The absolute encoder setting completes after operation procedures of 4) and 5).

6) The servo drive moves to the home position(cannot move to the home position by manual)

1. The drive moves to the home position at servo ON. Please note that the current absolute data will change as the encoder

clearing will be done later.

2. Servo OFF. Cannot select [Encoder clearing] at servo ON.

3. The absolute encoder setting completes after operation procedures of 4) and 5).

175

6. Method of obtaining absolute data

The upper controller device can get the absolute data from the drive by RS-485 communication.

[6.1 Wiring for RS-485 communication]

Refer to 「4. 4 RS-485 communication 」for RS-485 communication wiring.

[6.2 About the communication between the upper controller and servo drive]

The upper controller device send communication command GET_STATE_VALUE_4 to read the encoder data by RS-485

communication. This communication command read the state value in 4 bytes.

STEP1) GET_STATE_VALUE_4 Send command

STEP2) G ET_STATE_VALUE_4 Answer the response data to the command from the drive

[6.3 Communication command description]

The absolute data are recorded by “Encoder/ rotor mechanical angle (integrate)”. The upper controller device get the

“Encoder/ rotor mechanical angle (integrate)”, that is the absolute data, from the communication data GET_STATE_VALUE_4.

The sending and receiving method are shown in the following data example. Take the communication address (target address)

“01” as the example.

1. Execute the communication command GET_STATE_VALUE_4. The command code for GET_STATE_VALUE_4 is “11”.

2. The “Encoder/ rotor mechanical angle (integrate)” is used as the transmission data to input. The state variable code for

“Encoder/ rotor mechanical angle (integrate)” is “00C3”.

Sending data Example: Encoder / rotor mechanical angle (integrate)

3. Receives data with the specified state number.

Example of data reception

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7. About alarms

The alarms in absolute system are shown below.

Relative to the incremental system alarm items, the absolute system adds the items of encoder error(( Err. 18)), multi-rotation

data error ((Er r. 2 0) and encoder low-voltage error(Err. 21). These alarms cannot be cleared by alarm resetting or restarting

the 24VDC control power. Restart the control power supply after encoder clearing.

Check the alarms on the [State display] screen

Table 9 Check the alarms on the [State display] screen

No.

Alarm items

Description・handling ways

Encoder error

The encoder itself error occurs.

Multi-rotation data error

☆The multi-rotation data changes sharply.

☆Check the encoder cable wiring and PIN contact

☆Perform FG grounding and countermeasures such as separation of power

cable and encoder cable.

Encoder low-voltage error

☆The multi-rotation data changes sharply.

☆Check if the battery voltage is too low for the absolute or battery cable loosen

For alarm details of the encoder, refer to the [Encoder] on the [Auxiliary function] screen.

Table 10 Alarm details for the encoder

No.

Alarm items

Description・handling ways

Speed error

The multi-rotation ABS sensor conversion error occurs at backup or speed error

occurs at power ON

Low battery voltage warning

Multi-rotation ABS

Sensor communication error, cannot get the multi-rotation data at power ON.

Position error

The sensor error results in the different value between the 1-rotation ABS sensor

and multi-rotation ABS sensor, which unable to confirm the encoder position.

Low -voltage error

Only for multi-rotation ABS encoder

The supply voltage is under the voltage specification described in the manual at

power OFF.

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SERVO DRIVE SV-E3 SERIES. INSTRUCTION MANUAL (v1.5) - page 9