YASKAWA MP2000 Series User manual

Model: JAPMC-MC2300 (-E)
SVA-01 Motion Module
Machine Controller MP2000 Series
USER’S MANUAL
MANUAL NO. SIEP C880700 32F
1
2
3
4
5
6
7
8
9
10
11
12
Overview
Settings and Installation
Setup
Operation Modes
Motion Parameters
Motion Parameter Setting Examples
Motion Commands
Switching Commands during Execution
Control Block Diagram
Absolute Position Detection
Utility Functions
Troubleshooting
Appendices
App
SVA-01
RUN
CH1
CH2
DC IN
ON
+24V
ERR

Copyright © 2007 YASKAWA ELECTRIC CORPORATION
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or
transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or other-
wise, without the prior written permission of Yaskawa. No patent liability is assumed with respect to
the use of the information contained herein. Moreover, because Yaskawa is constantly striving to
improve its high-quality products, the information contained in this manual is subject to change without
notice. Every precaution has been taken in the preparation of this manual. Nevertheless, Yaskawa
assumes no responsibility for errors or omissions. Neither is any liability assumed for damages result-
ing from the use of the information contained in this publication.

iii
Using this Manual
Read this manual to ensure correct usage of the MP2000-series Machine Controller (hereinafter referred to as Machine
Controller unless otherwise specified) and the SVA-01 Module. Keep this manual in a safe place so that it can be
referred to whenever necessary.
Manual Configuration
Read the chapters of this manual as needed.
Symbols Used in this Manual
The symbols used in this manual indicate the following type of information.
Terms Used to Describe “Torque”
Although the term “torque” is commonly used when describing rotary servomotors and “force” or “thrust” are used
when describing linear servomotors, this manual uses “torque” when describing both (excluding parameters).
Indication of Reverse Signals
In this manual, the names of reverse signals (ones that are valid when low) are written with a forward slash (/) before
the signal name, as shown in the following example:
Notation Examples
• S-ON = /S-ON
• P-CON = /P-CON
Purpose
Chapter
Selecting Models and
Peripheral Devices
System Design
Panel Configuration and Wiring
Trial Operation
Maintenance and Inspection
1Overview 
2Settings and Installation 
3Setup 
4Operation Modes 
5Motion Parameters 
6Motion Parameter Setting Examples 
7Motion Commands 
8Switching Commands during Execution 
9Control Block Diagram 
10 Absolute Position Detection 
11 Utility Functions 
12 Troubleshooting 
This symbol is used to indicate important information that should be memorized or minor precautions,
such as precautions that will result in alarms if not heeded.

iv
Related Manuals
The following table lists the manuals relating to the SVA-01 Module. Refer to these manuals as required.
Manual Name Manual Number Contents
Machine Controller MP2100/MP2100M
User’s Manual Design and Maintenance SIEP C880700 01 Describes how to use the MP2100 and MP2100M
Machine Controllers.
Machine Controller MP2200 User’s Manual SIEP C880700 14 Describes how to use the MP2200 Machine Controller
and the modules that can be connected.
Machine Controller MP2300 Basic Module
User’s Manual SIEP C880700 03 Describes how to use the MP2300 Basic Module and the
modules that can be connected.
Machine Controller MP2500/MP2500M/
MP2500D/MP2500MD User’s Manual SIEP C880752 00 Describes how to use the MP2500, MP2500M,
MP2500D, and MP2500MD Machine Controllers.
Machine Controller MP2000 Series
Motion Module User’s Manual
Built-in SVB/SVB-01 Module
SIEP C880700 33
Provides a detailed description on the MP2000-series
Machine Controller built-in SVB Module and slot-
mounting optional SVB-01 Module.
Machine Controller MP2000 Series
Communication Module
User’s Manual
SIEP C880700 04
Provides the information on the Communication Module
that can be connected to MP200 Machine Controller
and the communication methods.
Machine Controller MP900/MP2000 Series
User’s Manual, Ladder Programming SIEZ-C887-1.2 Describes the instructions used in MP900/MP2000 lad-
der programming.
Machine Controller MP900/MP2000 Series
User’s Manual
Motion Programming
SIEZ-C887-1.3 Describes the instructions used in MP900/MP2000
motion programming.
Engineering Tool for MP2000 Series
Machine Controller
MPE720 Version 6 User’s Manual
SIEP C880700 30
Describes how to install and operate the programming
tool MPE720 version 6 for MP2000-series Machine
Controllers.
Machine Controller MP900/MP2000 Series
MPE720 Software for Programming Device
User’s Manual
SIEP C880700 05 Describes how to install and operate the MP900/MP2000
Series programming system (MPE720).
ΣSeries SGM/SGD
User’s Manual SIE-S800-26.3 Describes the Σ−Ι Series SERVOPACK models, specifi-
cations, and capacity selection methods.
Σ-II Series SGMH/SGDH
User’s Manual SIEP S800000 05
Describes the installation, wiring, trial operation, func-
tion applications methods, maintenance, and inspection
of the Σ-II Series SERVOPACKs.
Σ-II Series SGMH/SGDM
User’s Manual SIEP S800000 15
Describes the installation, wiring, trial operation, func-
tion applications methods, maintenance, and inspection
of the Σ-II Series SERVOPACKs.
AC Servo Drives
Σ-III Series SGM/SGDS
User’s Manual
SIEP S800000 00
Describes the models, specifications, wiring, trial opera-
tion, adjustment, function application methods, mainte-
nance, and inspection of the Σ-III Series SERVOPACKs
and Servomotors.
AC Servodrive
Σ-VSeries SGM/SGDV
User's Manual
Design and Maintenance
Rotational Motor
Analog Voltage and Pulse Train Reference
SIEP S800000 45
Describes the models, specifications, wiring, trial opera-
tion, adjustment, function application methods, mainte-
nance, and inspection of the Σ-V Series SERVOPACKs
and Servomotors.
AC Servodrive Σ-VSeries
User's Manual
Design and Maintenance
Linear Motor
Analog Voltage and Pulse Train Reference
SIEP S800000 47
Describes the models, specifications, wiring, trial opera-
tion, adjustment, function application methods, mainte-
nance, and inspection of the Σ-V Series SERVOPACKs
and Linear Servomotors.
Σ-7-Series AC Servo Drive
Σ-7S SERVOPACK with Analog
Voltage/Pulse Train References
Product Manual
SIEP S800001 26
Describes the selection of Σ-7-Series SERVOPACKs and
the installation, connection, settings, trial operation, tun-
ing, and monitoring of Servo Drives.

v
Copyrights
Σ-III Series SGMS/SGDS
Digital Operator Instructions TOBP S800000 01 Describes the operating methods of the JUSP-OP05A
Digital Operator.
Machine Controller MP900/MP2000 Series
User’s Manual For Linear Servomotors SIEP C880700 06 Describes the connection methods, setting methods, and
other information for Linear Servomotors.
Machine Controller MP900/MP2000 Series
New Ladder Editor Programming Manual SIEZ-C887-13.1
Describes the programming instructions of the New Lad-
der Editor, which assists MP900/MP2000 Series design
and maintenance.
Machine Controller MP900/MP2000 Series
New Ladder Editor User’s Manual SIEZ-C887-13.2
Describes the operating methods of the New Ladder Edi-
tor, which assists MP900/MP2000 Series design and
maintenance.
(cont’d)
Manual Name Manual Number Contents
Product names and company names are the trademarks or registered trademarks of the respective company.
“TM” and the
® mark do not appear with product or company names in this manual.

vi
Safety Information
The following conventions are used to indicate precautions in this manual. These precautions are provided to ensure
the safe operation of the Machine Controller and connected devices. Information marked as shown below is important
for the safety of the user. Always read this information and heed the precautions that are provided.
The conventions are as follows:
Indicates precautions that, if not heeded, could possibly result in loss of life, serious inju-
ry, or property damage.
Indicates precautions that, if not heeded, could result in relatively serious or minor injury,
or property damage.
If not heeded, even precautions classified under can lead to serious results
depending on circumstances.
Indicates prohibited actions. Specific prohibitions are indicated inside .
For example, indicates prohibition of open flame.
Indicates mandatory actions. Specific actions are indicated inside .
For example, indicates mandatory grounding.
WARNING
CAUTION
CAUTION
PROHIBITED
MANDATORY

vii
Safety Precautions
The following precautions are for checking products on delivery, storage, transportation, installation, wiring, operation,
inspection, and disposal. These precautions are important and must be observed.
General Precautions
Before connecting the machine and starting operation, ensure that an emergency stop procedure has been
provided and is working correctly.
There is a risk of injury.
Do not touch anything inside the Machine Controller.
There is a risk of electrical shock.
Always keep the front cover attached when power is being supplied.
There is a risk of electrical shock.
Observe all procedures and precautions given in this manual for trial operation.
Operating mistakes while the servomotor and machine are connected may damage the machine or even cause acci-
dents resulting in injury or death.
Do not remove the front cover, cables, connectors, or options while power is being supplied.
There is a risk of electrical shock.
Do not damage, pull on, apply excessive force to, place heavy objects on, or pinch cables.
There is a risk of electrical shock, operational failure or burning of the Machine Controller.
Do not attempt to modify the Machine Controller in any way.
There is a risk of injury or device damage.
Do not approach the machine when there is a momentary interruption to the power supply. When power is
restored, the Machine Controller and the device connected to it may start operation suddenly. Provide
safety measures in advance to ensure human safety in the event that operation restarts suddenly.
There is a risk of injury.
Do not allow installation, disassembly, or repairs to be performed by anyone other than specified person-
nel.
There is a risk of electrical shock or injury.
WARNING

viii
Storage and Transportation
Installation
Do not store or install the Machine Controller in the following locations.
There is a risk of fire, electrical shock, or device damage.
• Direct sunlight
• Ambient temperature exceeds the storage or operating conditions
• Ambient humidity exceeds the storage or operating conditions
• Rapid changes in temperature or locations subject to condensation
• Corrosive or flammable gas
• Excessive dust, dirt, salt, or metallic powder
• Water, oil, or chemicals
• Vibration or shock
Do not overload the Machine Controller during transportation.
There is a risk of injury or an accident.
If disinfectants or insecticides must be used to treat packing materials such as wooden frames, pallets, or
plywood, the packing materials must be treated before the product is packaged, and methods other than
fumigation must be used.
Example: Heat treatment, where materials are kiln-dried to a core temperature of 56°C for 30 minutes or
more.
If the electronic products, which include stand-alone products and products installed in machines, are packed with
fumigated wooden materials, the electrical components may be greatly damaged by the gases or fumes resulting from
the fumigation process. In particular, disinfectants containing halogen, which includes chlorine, fluorine, bromine, or
iodine can contribute to the erosion of the capacitors.
Never use the Machine Controller in locations subject to water, corrosive atmospheres, or flammable gas,
or near burnable objects.
There is a risk of electrical shock or fire.
Do not step on the Machine Controller or place heavy objects on the Machine Controller.
There is a risk of injury.
Do not block the air exhaust port or allow foreign objects to enter the Machine Controller.
There is a risk of element deterioration inside, an accident, or fire.
Always mount the Machine Controller in the specified orientation.
There is a risk of an accident.
Do not subject the Machine Controller to strong shock.
There is a risk of an accident.
CAUTION
CAUTION

ix
Wiring
Selecting, Separating, and Laying External Cables
Check the wiring to be sure it has been performed correctly.
There is a risk of motor overrun, injury, or an accident.
Always use a power supply of the specified voltage.
There is a risk of burning.
In places with poor power supply conditions, take all steps necessary to ensure that the input power supply
is within the specified voltage range.
There is a risk of device damage.
Install breakers and other safety measure to provide protection against shorts in external wiring.
There is a risk of fire.
Provide sufficient shielding when using the Machine Controller in the following locations.
There is a risk of device damage.
Noise, such as from static electricity
Strong electromagnetic or magnetic fields
Radiation
Near to power lines
When connecting the battery, connect the polarity correctly.
There is a risk of battery damage or explosion.
Only qualified safety-trained personnel should replace the battery.
If the battery is replaced incorrectly, machine malfunction or damage, electric shock, or injury may result.
When replacing the battery, do not touch the electrodes.
Static electricity may damage the electrodes.
Consider the following items when selecting the I/O signal lines (external cables) to connect the Machine
Controller to external devices.
• Mechanical strength
• Noise interference
• Wiring distance
• Signal voltage, etc.
Separate the I/O signal lines from the power lines both inside and outside the control box to reduce the
influence of noise from the power lines.
If the I/O signal lines and power lines are not separated properly, malfunctioning may result.
CAUTION
CAUTION
Example of Separated External Cables
Steel separator
Power
circuit
cables
General
control
circuit
cables
Digital I/O
signal
cables

x
Maintenance and Inspection Precautions
Disposal Precautions
General Precautions
Do not attempt to disassemble the Machine Controller.
There is a risk of electrical shock or injury.
Do not change wiring while power is being supplied.
There is a risk of electrical shock or injury.
When replacing the Machine Controller, restart operation only after transferring the programs and parame-
ters from the old Module to the new Module.
If the data has not been transferred to the new module before the operation of the machine controller starts, damage to
the device may result.
Dispose of the Machine Controller as general industrial waste.
Observe the following general precautions
to ensure safe application.
The products shown in illustrations in this manual are sometimes shown without covers or protective
guards. Always replace the cover or protective guard as specified first, and then operate the products in
accordance with the manual.
The drawings presented in this manual are typical examples and may not match the product you received.
If the manual must be ordered due to loss or damage, inform your nearest Yaskawa representative or one
of the offices listed on the back of this manual.
CAUTION
CAUTION

xi
Warranty
( 1 ) Details of Warranty
Warranty Period
The warranty period for a product that was purchased (hereinafter called “delivered product”) is one year from the time
of delivery to the location specified by the customer or 18 months from the time of shipment from the Yaskawa factory,
whichever is sooner.
Warranty Scope
Yaskawa shall replace or repair a defective product free of charge if a defect attributable to Yaskawa occurs during the
warranty period above. This warranty does not cover defects caused by the delivered product reaching the end of its
service life and replacement of parts that require replacement or that have a limited service life.
This warranty does not cover failures that result from any of the following causes.
1. Improper handling, abuse, or use in unsuitable conditions or in environments not described in product catalogs or
manuals, or in any separately agreed-upon specifications
2. Causes not attributable to the delivered product itself
3. Modifications or repairs not performed by Yaskawa
4. Abuse of the delivered product in a manner in which it was not originally intended
5. Causes that were not foreseeable with the scientific and technological understanding at the time of shipment from
Yaskawa
6. Events for which Yaskawa is not responsible, such as natural or human-made disasters
( 2 ) Limitations of Liability
1. Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer that arises due to
failure of the delivered product.
2. Yaskawa shall not be responsible for any programs (including parameter settings) or the results of program execu-
tion of the programs provided by the user or by a third party for use with programmable Yaskawa products.
3. The information described in product catalogs or manuals is provided for the purpose of the customer purchasing
the appropriate product for the intended application. The use thereof does not guarantee that there are no infringe-
ments of intellectual property rights or other proprietary rights of Yaskawa or third parties, nor does it construe a
license.
4. Yaskawa shall not be responsible for any damage arising from infringements of intellectual property rights or other
proprietary rights of third parties as a result of using the information described in catalogs or manuals.

xii
( 3 ) Suitability for Use
1. It is the customer’s responsibility to confirm conformity with any standards, codes, or regulations that apply if the
Yaskawa product is used in combination with any other products.
2. The customer must confirm that the Yaskawa product is suitable for the systems, machines, and equipment used by
the customer.
3. Consult with Yaskawa to determine whether use in the following applications is acceptable. If use in the application
is acceptable, use the product with extra allowance in ratings and specifications, and provide safety measures to
minimize hazards in the event of failure.
• Outdoor use, use involving potential chemical contamination or electrical interference, or use in conditions or
environments not described in product catalogs or manuals
• Nuclear energy control systems, combustion systems, railroad systems, aviation systems, vehicle systems,
medical equipment, amusement machines, and installations subject to separate industry or government regula-
tions
• Systems, machines, and equipment that may present a risk to life or property
• Systems that require a high degree of reliability, such as systems that supply gas, water, or electricity, or sys-
tems that operate continuously 24 hours a day
• Other systems that require a similar high degree of safety
4. Never use the product for an application involving serious risk to life or property without first ensuring that the sys-
tem is designed to secure the required level of safety with risk warnings and redundancy, and that the Yaskawa
product is properly rated and installed.
5. The circuit examples and other application examples described in product catalogs and manuals are for reference.
Check the functionality and safety of the actual devices and equipment to be used before using the product.
6. Read and understand all use prohibitions and precautions, and operate the Yaskawa product correctly to prevent
accidental harm to third parties.
( 4 ) Specifications Change
The names, specifications, appearance, and accessories of products in product catalogs and manuals may be changed at
any time based on improvements and other reasons. The next editions of the revised catalogs or manuals will be pub-
lished with updated code numbers. Consult with your Yaskawa representative to confirm the actual specifications
before purchasing a product.

xiii
Contents
Using this Manual - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iii
Safety Information - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - vi
Safety Precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - vii
Warranty - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - xi
1 Overview- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-1
1.1 SVA-01 Module Overview and Features - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.1.1 Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.1.2 Features - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3
1.1.3 System Configuration Example - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4
1.2 Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5
1.2.1 Hardware Specifications- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5
1.2.2 Functional Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7
1.2.3 Performance Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-8
1.2.4 Applicable SERVOPACKs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-9
2 Settings and Installation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-1
2.1 External Appearance and LED Indicators - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
2.1.1 External Appearance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
2.1.2 LED Indicators - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
2.1.3 SVA-01 Module Status Indication - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-3
2.2 Applicable Machine Controllers for SVA-01 Modules - - - - - - - - - - - - - - - - - - - 2-4
2.3 Mounting/Removing SVA-01 Modules- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-5
2.3.1 Mounting a SVA-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-5
2.3.2 Removing SVA-01 Modules for Replacement - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-7
2.4 SVA-01 Module Connections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-9
2.4.1 Connectors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-9
2.4.2 Connection Procedure for 24-V Input Cable - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-10
2.4.3 CN1 and CN2 Connector Pin Arrangement - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-11
2.5 Cable Specifications and Connections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-12
2.5.1 Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-12
2.5.2 JEPMC-W2040--E Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-12
2.5.3 JEPMC-W2041--E Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-14
2.6 Restrictions for Feedback Pulse Inputs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-17
2.6.1 Restrictions for SERVOPACK Pulse Output Frequency- - - - - - - - - - - - - - - - - - - - - - - - - - - 2-17
2.6.2 Restrictions in SVA-01 Module Pulse Input Frequency - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-18
3 Setup - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-1
3.1 Setting Items - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2
3.2 Module Configuration Definition of Machine Controller - - - - - - - - - - - - - - - - - - 3-3
3.2.1 How to Execute Self-configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3
3.2.2 Opening the Module Configuration Window - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-4
3.2.3 Module Configuration Window - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-5
3.2.4 Manually Allocating Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-6

xiv
3.3 SVA Definition - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-7
3.3.1 Opening the SVA Definition Window - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-7
3.3.2 Setting the SVA-01 Module Fixed Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-9
3.4 SERVOPACK Parameter Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-10
3.4.1 SGDA SERVOPACK Parameter Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-10
3.4.2 SGDB SERVOPACK Parameter Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-11
3.4.3 SGDM, SGDH, SGDS, SGDV, and SGD7S SERVOPACK Parameter Settings- - - - - - - - - - 3-12
3.5 SERVOPACK Reference Offset Adjustment - - - - - - - - - - - - - - - - - - - - - - - - - 3-13
3.5.1 Automatic Adjustment of the Analog Reference Offset - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-13
3.5.2 Manual Servo Tuning of the Speed Reference Offset - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-14
4 Operation Modes- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-1
4.1 SVA-01 Module Operation Mode Selection - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-2
4.2 Normal Operation Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
4.2.1 Motion Parameters That Can be Used in Normal Operation Mode- - - - - - - - - - - - - - - - - - - - 4-3
4.2.2 DI/DO Signals in Normal Operation Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
4.3 Simulation Mode- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4
4.3.1 Motion Parameters That Can be Used in Simulation Mode - - - - - - - - - - - - - - - - - - - - - - - - - 4-4
4.3.2 Position and Speed in Simulation Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4
4.3.3 Torque in Simulation Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4
4.3.4 Functions That Cannot be Simulated - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4
4.3.5 Output Signals in Simulation Mode- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5
4.4 General-purpose I/O Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-6
4.4.1 Motion Parameters That Can be Used in General-purpose I/O Mode- - - - - - - - - - - - - - - - - - 4-6
4.4.2 Correspondence Between Motion Parameter and Connector Pin Number - - - - - - - - - - - - - - 4-8
4.4.3 General-purpose I/O Signal Connection Example - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-9
4.4.4 Pulse Input Modes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-10
4.4.5 Pulse Counter Connection Example - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-12
5 Motion Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-1
5.1 Motion Parameters Register Numbers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2
5.1.1 Motion Parameter Register Numbers for MP2000 Series Machine Controllers - - - - - - - - - - - 5-2
5.2 Motion Parameters Setting Window - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-3
5.2.1 How to Open the Motion Parameter Setting Windows - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-3
5.2.2 Selecting a Motor Type - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-4
5.3 Motion Parameter Lists - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-5
5.3.1 Fixed Parameter List- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-5
5.3.2 Setting Parameter List- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-8
5.3.3 Monitoring Parameter List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-13
5.4 MP2000 Series Machine Controller Parameter Details - - - - - - - - - - - - - - - - - - 5-17
5.4.1 Motion Fixed Parameter Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-17
5.4.2 Motion Setting Parameter Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-25
5.4.3 Motion Monitoring Parameter Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-43

xv
6 Motion Parameter Setting Examples - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-1
6.1 Example Setting of Motion Parameters for the Machine - - - - - - - - - - - - - - - - - 6-2
6.1.1 Reference Unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2
6.1.2 Electronic Gear - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2
6.1.3 Axis Type Selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-4
6.1.4 Position Reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-5
6.1.5 Speed Reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-9
6.1.6 Acceleration/Deceleration Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-11
6.1.7 Acceleration/Deceleration Filter Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-13
6.1.8 Linear Scale Pitch and Rated Motor Speed - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-15
7 Motion Commands- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-1
7.1 Motion Commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2
7.1.1 Motion Command Table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2
7.2 Motion Command Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3
7.2.1 Positioning (POSING) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3
7.2.2 External Positioning (EX_POSING) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-9
7.2.3 Zero Point Return (ZRET) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-15
7.2.4 Interpolation (INTERPOLATE) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-57
7.2.5 Latch (LATCH) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-60
7.2.6 JOG Operation (FEED) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-63
7.2.7 STEP Operation (STEP) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-67
7.2.8 Zero Point Setting (ZSET) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-71
7.2.9 Speed Reference (VELO)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-73
7.2.10 Torque Reference (TRQ) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-77
7.2.11 Phase References (PHASE) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-81
7.3 Motion Subcommands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-85
7.3.1 No Command (NOP) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-85
7.3.2 Read Fixed Parameters (FIXPRM_RD) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-86
8 Switching Commands during Execution - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-1
8.1 Switchable Motion Commands- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-2
8.1.1 Switching Between Motion Commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-2
8.1.2 Switching from POSING- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-3
8.1.3 Switching from EX_POSING - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-7
8.1.4 Switching from ZRET - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-11
8.1.5 Switching from INTERPOLATE - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-13
8.1.6 Switching from ENDOF_INTERPOLATE or LATCH - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-16
8.1.7 Switching from FEED- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-17
8.1.8 Switching from STEP- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-21
8.1.9 Switching from ZSET - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-24
8.1.10 Switching from VELO- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-25
8.1.11 Switching from TRQ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-30
8.1.12 Switching from PHASE - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-36
9 Control Block Diagram - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-1
9.1 SVA-01 Module Control Block Diagram- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2
10 Absolute Position Detection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-1
10.1 Absolute Position Detection Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-2
10.1.1 Outline of the Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-2
10.1.2 Reading Absolute Data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-2
10.1.3 Finite Length/Infinite Length Axes and Absolute Position Detection - - - - - - - - - - - - - - - - - 10-3

xvi
10.2 Setting Procedure of Absolute Position Detection Function- - - - - - - - - - - - - - 10-4
10.2.1 System Startup Flowchart - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-4
10.2.2 Initializing the Absolute Encoder- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-5
10.3 Absolute Position Detection for Finite Length Axes - - - - - - - - - - - - - - - - - - - 10-6
10.3.1 Parameter Settings for Finite Length Axes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-6
10.3.2 Detailed Descriptions on Parameter Settings for Finite Length Axes - - - - - - - - - - - - - - - - 10-8
10.3.3 Setting the Zero Point for a Finite Length Axis - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-10
10.3.4 Turning ON the Power after Setting the Zero Point of Machine Coordinate System - - - - - 10-13
10.4 Absolute Position Detection for Infinite Length Axes- - - - - - - - - - - - - - - - - - 10-14
10.4.1 Simple Absolute Infinite Length Position Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-14
10.4.2 Parameters Setting for Simple Absolute Infinite Length Position Control - - - - - - - - - - - - 10-16
10.4.3 Detailed Descriptions on Parameter Settings for Simple Absolute Infinite Length Axes - - 10-18
10.4.4 Setting the Zero Point and Turning ON Power as Simple Absolute Positions - - - - - - - - - 10-20
10.4.5 Turning ON the Power after Setting the Zero Point for Simple Absolute Infinite
Length Axes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-21
10.4.6 Infinite Length Position Control without Simple Absolute Positions- - - - - - - - - - - - - - - - - 10-22
11 Utility Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-1
11.1 Controlling Vertical Axes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-2
11.1.1 Holding Brake Function of the SERVOPACK - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-2
11.1.2 Connections to Σ-II, Σ-III, Σ-V, or Σ-7 Series SGDM, SGDH, SGDS, SGDV,
and SGD7S SERVOPACKs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-2
11.1.3 Connections to Σ-ISeries SGDB SERVOPACK - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-4
11.1.4 Connections to Σ-ISeries SGDA SERVOPACK - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-6
11.2 Overtravel Function- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-8
11.2.1 Connections to Σ-II, Σ-III, Σ-V, or Σ-7 Series SGDH, SGDS, SGDV,
and SGD7S SERVOPACKs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-8
11.2.2 Connections to Σ-ISeries SGDB or SGDA SERVOPACK - - - - - - - - - - - - - - - - - - - - - - - 11-10
11.2.3 Rotation Direction Selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-12
11.3 Software Limit Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-13
11.3.1 Parameter Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-13
11.3.2 Software Limit Detection Function- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-13
11.3.3 Axis Stopping Operation at Alarm Occurrence - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-14
11.3.4 Processing after an Alarm Occurs- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-14
11.4 Other Utility Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-15
11.4.1 Modal Latch Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-15
11.4.2 Reading Absolute Data After Power is Turned ON - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-16
11.4.3 Reading Absolute Data Online - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-16
11.4.4 General-purpose DO_2 Signal Selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-17
12 Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-1
12.1 Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-2
12.1.1 Basic Flow of Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-2
12.1.2 MP2000 Series Machine Controller Error Check Flowchart - - - - - - - - - - - - - - - - - - - - - - 12-3
12.1.3 LED Indicators (MP2200/MP2300) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-4
12.2 Troubleshooting System Errors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-6
12.2.1 Outline of System Errors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-6
12.2.2 Troubleshooting Flowchart for System Errors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-9
12.2.3 Correcting User Program Errors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-10
12.2.4 System Register Configuration and Error Status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-11

xvii
12.3 Motion Program Alarms- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-27
12.3.1 Motion Program Alarm Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-27
12.3.2 Motion Program Alarm Code List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-27
12.4 Troubleshooting Motion Errors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-28
12.4.1 Overview of Motion Errors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-28
12.4.2 Axis Alarm Details and Corrections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-29
12.4.3 Analog Servo Alarm List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-32
Appendices- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-1
Appendix A System Registers Lists - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-2
A.1 System Service Registers- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-2
A.2 Scan Execution Status and Calendar - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-4
A.3 Program Software Numbers and Remaining Program Memory Capacity - - - - - - - - - - - - - - - - - A-4
Appendix B Initializing the Absolute Encoder - - - - - - - - - - - - - - - - - - - - - - - - - - - A-5
B.1 Σ-III, Σ-V, or Σ-7 Series SERVOPACK - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-5
B.2 Σ-II Series SERVOPACKs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-6
B.3 Σ-ISeries SERVOPACK - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-8
Appendix C Fixed Parameter Setting According to Encoder Type
and Axis Type - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-10
Appendix D Terminology - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-12
INDEX
Revision History

1-1
1
Overview
1
Overview
This chapter provides an overview and the features of the SVA-01 Module.
1.1 SVA-01 Module Overview and Features - - - - - - - - - - - - - - - - - - - - - - - - -1-2
1.1.1 Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.1.2 Features - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3
1.1.3 System Configuration Example - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4
1.2 Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-5
1.2.1 Hardware Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5
1.2.2 Functional Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7
1.2.3 Performance Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-8
1.2.4 Applicable SERVOPACKs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-9

1.1 SVA-01 Module Overview and Features
1.1.1 Overview
1-2
1.1 SVA-01 Module Overview and Features
1.1.1 Overview
The SVA-01 Module is a motion control module with analog outputs. Each Module can control Servos or Invert-
ers for up to 2 axes.
The Module has two connectors (CN1 and CN2) for connecting SERVOPACKs and external I/O. Each connector
provides analog outputs for speed references and torque references, analog inputs for feedback speed monitoring
and torque monitoring, pulse input phases A, B, and C (5-V differential), and general-purpose digital I/O inter-
faces.
The control cycle is fixed at 500 μs.
Servo Controls
•Speed references
•Position control
•Torque
references
•Phase control
•Zero point returns
Monitor Functions
Same as above
System bus interface
SERVOPACK parameters
OW
I W
System bus connector
Servo connector
CN2
CN1
2 analog outputs: Speed reference
Torque reference
Pulse inputs: Phase A/B/C (5-V differential)
6 general-purpose digital inputs (of which 2 are latch inputs)
6 general-purpose digital outputs
2 analog inputs: Speed monitor
Sensor ON output, 5 V/24 V
CN3
Torque reference
monitor
Same
as
above

1.1 SVA-01 Module Overview and Features
1.1.2 Features
1-3
1
Overview
1.1.2 Features
The SVA-01 Module has the following features.
• Servo control module with analog outputs to control up to two axes
• You can connect two axes with an Inverter or Analog Servo Drive (SGDA, SGDB, SGDM, SGDH, SGDS,
SGDV, or SGD7S).
• The control cycle is fixed at 500μs, enabling high-precision control without being affected by the high-speed
scan cycle.
• Position control, speed reference outputs, torque reference outputs, or phase control can be performed inde-
pendently for each axis.
Inverters
or
Analog servos
SVA-01
MM
SGDA
SGDB
SGDM
SGDH
SGDS
SGDV
SGD7S
SVA-01 SERVOPACK
Speed, Position, and Phase Control
Speed reference
Torque limit
Speed monitor
Torque monitor
Encoder pulses
D/A
D/A
A/D
A/D
Counter
M
PG
SVA-01 SERVOPACK
Torque Control
Torque reference
Speed limit
Speed monitor
Torque monitor
Encoder pulses
D/A
D/A
A/D
A/D
Counter
M
PG