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EZZ023535 - Synchronous Control

This document provides specifications and instructions for using synchronous control mode on a Yaskawa AC Drive CR700. There are two synchronous control modes: speed synchronization and position synchronization. Speed synchronization synchronizes the speed of the master and slave motors, while position synchronization also synchronizes their position using encoders and compensation parameters. The gear ratio must match the mechanical setup. Synchronous control requires closed loop vector control and monitoring motor ready signals. Safety measures like brakes must simultaneously engage both motors during faults or stops.

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0% found this document useful (0 votes)
66 views36 pages

EZZ023535 - Synchronous Control

This document provides specifications and instructions for using synchronous control mode on a Yaskawa AC Drive CR700. There are two synchronous control modes: speed synchronization and position synchronization. Speed synchronization synchronizes the speed of the master and slave motors, while position synchronization also synchronizes their position using encoders and compensation parameters. The gear ratio must match the mechanical setup. Synchronous control requires closed loop vector control and monitoring motor ready signals. Safety measures like brakes must simultaneously engage both motors during faults or stops.

Uploaded by

JefersonStreit
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
You are on page 1/ 36

Quote No.

2017 / 08 / 31

Order No.

VS-616F7 Parameters Manual


Ordered by

End User

CR700 Supplemental Manual


- - (Synchronous Control) - -

This page does not need to be packaged with the product.


Use the following and subsequent pages when the manual will be packaged with the product.

Notes Distribution List & Quantities Department in Charge

Ordered by Development Section

Technology & Engineering Dept.

(copies) (copies) Drives Div.

End User

(copies) (copies)
Created on 2017-08-31

(copies) (copies) Approved by Checked by Created by

(copies) (copies) Tomonaga Terazono Fukumaru

(copies) (copies)
Drawing No.

(copies) (copies)

EZZ023535
(copies) (copies)

1/1
YASKAWA AC Drive CR700
Supplemental Manual
(Synchronous Control)
(Software Version PRG: 010XX)

Table of Contents
1. Revision History ..........................................................................................................................2
2. Basic Specifications ................................................................................................................3
3. Synchronous Control ............................................................................................................4
3.1 . Overview .......................................................................................................................................... 4

3.2 . Application Precautions ....................................................................................................... 4

3.3 . System Configuration............................................................................................................. 5

3.4 . Block Diagram.............................................................................................................................. 6

3.5 . Descriptions of Parameters ............................................................................................... 7

4. Parameter List ......................................................................................................................... 26


4.1 . F1: PG Option Setup (Encoder) .................................................................................. 26

4.2 . H1: Multi-Function Digital Input Settings ............................................................. 26

4.3 . H2: Multi-Function Digital Output Settings ........................................................ 28

4.4 . H3: Multi-Function Analog Input Settings


(H3-02/H3-06/H3-10) .......................................................................................... 28

4.5 . SA: Crane Special Func .................................................................................................... 28

4.6 . U9: Crane Monitors .............................................................................................................. 33

4.7 . Troubleshooting ...................................................................................................................... 35

EZZ023535
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1. Revision History
Revision Revised Content Date
- First Edition 2017/08

EZZ023535
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2. Basic Specifications
The CR700 is a drive designed especially for use with cranes. The basic specifications of the
CR700 are based on the information described in the CR700 Technical Manual. Refer to the
CR700 Technical Manual for more information about how to use the keypad and Auto-Tuning.

 Precautions before Use


When using the drive with a hoisting and lowering shaft, wire the drive so that hoisting
direction of the machine is the Forward Run command and the lowering direction of the machine
is the Reverse Run command (all control modes). If the movement of the machine and the
direction of the Run commands do not match, the functions and performance of the crane
software will be adversely affected, and it will not be possible to obtain sufficient performance
from the machine. If the direction of motor rotation does not match the machine, swap two
phases of the power lines to the motor and change F1-05 (Encoder 1 Rotation Selection) if the
motor has an encoder to set the hoisting direction of the machine to the Forward Run command
and the lowering direction of the machine to the Reverse Run
command.
Install a fall detector or overspeed detector for safety.

 General Safety
• Install a holding brake.
• Implement safety measures such as fall prevention on the machine side.
• Ensure that the holding brake will be applied by an external sequence when there is an
emergency or the power supply is turned OFF.
• Implement a safety circuit that uses the fault relay of this product to apply the holding brake
when a fault occurs.

EZZ023535
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3. Synchronous Control
3.1 Overview
Synchronous Control synchronizes the operation of two motors when the machine will be
operated using two independent motors.
This function can control tilting of the transported load caused by unsynchronized operation
and stress applied to the movement mechanism of the crane.
Synchronous Control has the following two modes:
 Speed Synchronization Mode (SA-31 = 1)
The crane is operated by synchronizing the speed of the master and slave. The result of
multiplying the speed of the master by the gear ratio is used as the speed reference of the
slave.
 Position Synchronization Mode (SA-31 = 2)
The crane is operated by synchronizing the speed and position of the master and slave.
Position Synchronization mode uses multi-function digital inputs, and the deviation in position
between the master and slave can be compensated using parameter setting values
(Advance/Retard Compensation) and detected value (Alignment).

◆ Applicable Control Modes


• Closed Loop Vector (A1-02=3)

Speed synchronizer

Slave
Master encoder
Gear calculation frequency
speed
reference

SA-31 = 2
Position synchronizer

Master encoder
Gear calculation Position controller
pulse count

Slave encoder
pulse count

Figure 3.1 Simplified Block Diagram of Synchronous Control

3.2 Application Precautions


・ Construct a system that can monitor the READY signals and simultaneously run and stop
the motors. Additionally, simultaneously stop the motors when stopping the machine, such
as when a fault or Fast Stop occurs. If locking the motors with brakes or other equipment,
construct a system that simultaneously releases and applies the brakes. In a system where
the motors are mechanically locked, the machine may be damaged if only one motor is locked.
・ Set the gear ratio (mechanical gear ratio × digital gear ratio) to match the speed standard
for master and slave. If there is an error in the gear ratio, a deviation will occur in the positions
of the master and slave over time. The error in the mechanical gear ratio can be adjusted in
a stepless manner with the digital gear ratio. Position compensation can also be performed
with Advance/Retard Compensation and Alignment using multi-function digital inputs.
・ Set Maximum Output Frequency (E1-04) of the slave to a value that is about 10% (Position
Control Output Limit) larger than the maximum output frequency of the master.
・ In high-speed regions, the accuracy of position compensation using multi-function digital
inputs (Advance/Retard Compensation and Alignment) decreases.
EZZ023535
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・ When Pos Err Reset is enabled by multi-function digital input, the frequency reference of the
drive may change in steps.
・ When the slave is LOCAL mode or for Forward/Reverse Run JOG operations, the frequency
reference is restored to the standard frequency reference and the set acceleration and
deceleration times (C1-01 and C1-02) are used.

3.3 System Configuration


The master encoder signal is input to the PG option card attached to the CN5-B port of the
slave. The slave encoder signal is input to the PG option card attached to the CN5-C port of
the slave.

Figure 3.2 Example of Master and Slave Connections

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Master Fref After Fref After
PG Fref Gear Adj
Master encoder Slave mode
(U9-12) (U9-13) (U9-15)
speed (SA-31)
MFI Alignment
Calculation of Calculation of from standard frequency
Encoder 2 parameter Calculation of frequency frequency deviation Frequency
(F1-31) master reference reference reference
encoder speed
3.4 Block Diagram

(mechanical (digital
Encoder 1 parameter standard gear ratio) gear ratio)
(F1-01)
Ratio 2 Select SpdProp LowerLim (SA-56) Pos Trim Mode
MFDI (SA-55)
Position P Gain (SA-51)

Position I Time (SA-52)

Pos Filter Time (SA-53)

Pos PI Limit (SA-54)

Position error Position error Position


Master pulse count Reset MFDI integration control
Slave pulse count Position Error Reset MFDI output
(U9-18) (U9-21)
Encoder 2 Pulse Count (PPR) (F1-31)
Encoder 1 Pulse Count (PPR) (F1-01)
Digital gear ratio Position controller
Calculation of
Advance/Retard MFDI
position deviation
Position error MFDI delete

Communications advance/retard count


Position P Out Position I Out
(U9-19) (U9-20)
Alignment command
Simple MFI
Master Trigger Alignment
switch

Figure 3.3 Block Diagram of Synchronous Control


Master Slave
Slave Trigger
Cts/5ms Cts/5ms
switch
(U9-16) (U9-17)

MFI Alignment
to standard frequency
deviation

6 / 35
EZZ023535
3.5 Descriptions of Parameters
The table below lists terms and symbols used in this section to indicate which parameters are
available in which control modes.
Table 3.1 Symbols and Icons Used in Parameter Descriptions
Symbol Description

The parameter is available when operating the drive with V/f Control.

The parameter is available when operating the drive with V/f Control w/ PG.

The parameter is available when operating the drive with Open Loop Vector.

The parameter is available when operating the drive with Closed Loop Vector.

The parameter is available when operating the drive with Advanced Open Loop Vector.

The parameter is NOT available when operating the drive in the control mode.

RUN The parameter can be changed settings during run.

Refers to a second motor when the drive is operating two motors. Switch between motor 1 and
Motor 2
motor 2 using the multi-function input terminals.

Expert The parameter that is available in Expert mode only. * 1


*1 When A1-01 = 3 [Access Level Selection = Expert Level], Expert mode parameters can be displayed on and set
with the keypad.

 SA-31 Slave Mode


No. Default Setting
Name Description
(Hex.) (Range)

SA-31 0
Slave Mode
(1ABA) Selects the Slave mode. (0 - 2)

0: Disabled
1: Speed
The slave follows the speed of the master.
The direction of motor rotation depends on the direction of motor rotation of the master and
the Run command direction of the slave.
2: Position
The slave follows the speed and position of the master.
The direction of motor rotation is always the same direction as the master.

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Table 3.2 Slave Settings and Direction of Slave Motor Rotation Corresponding to Direction of
Master
b1-04 Multi- SA-31 = 1 SA-31 = 2
Reverse Function
Master: Master: Master: Master:
Operation Digital
Forward Reverse Forward Reverse
Selection Input
Forward
Run Forward Reverse Forward Reverse
command
b1-04 = 0
Reverse
Run Reverse Forward Forward Reverse
command
Forward
Run Forward Stop Forward Stop
command
b1-04 = 1
Reverse
Run Stop Stop Stop Stop
command

 SA-32 Speed/Position Sync Control @Dec


No. Default Setting
Name Description
(Hex.) (Range)

SA-32 Speed/Position Sync Selects whether or not to perform speed and position 1
(1ADF) Control @Dec synchronization during ramp to stop. (0, 1)

0: Disabled
1: Enabled

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 SA-33 Ratio Num High
No. Default Setting
Name Description
(Hex.) (Range)

SA-33
1000
(1ABB) Ratio Num High Sets the upper four digits of the numerator of mechanical (0 - 9999)
RUN gear ratio 1.

When the mechanical speed of the master and slave with the same frequency reference is
different due to differences in the gear ratio and other factors, the mechanical speed of the
master and slave can be matched by setting mechanical gear ratio 1 (SA-33 to SA-36).
Mechanical gear ratio 2 (SA-37 and SA-38) can also be used by setting a multi-function digital
input to 55 (Ratio 2 Select).
The calculation formula of the mechanical gear ratio is presented next.

• Detected Frequency of Master Motor Used as Standard for Slave Motor

Motor Pole Count (E2- 04)


Master PG Fref (U9-12) = ×
Number of master encoder pulses 2
(Set the slave to F1-31)

• Frequency Reference after Applying Mechanical Gear Ratio

Mechanical gear ratio 1

SA-33 SA-35
XXXX XXXX
Fref After Gear (U9-13) = Master PG Fref (U9-12) ×
XXXX XXXX
SA-34 SA-36

In the calculation of the mechanical gear ratio, if the number of gears in the numerator or
denominator is set to five or more digits, set the upper four digits of the numerator to SA-33,
the lower four digits of the numerator to SA-35, the upper four digits of the denominator to
SA-34, and the lower four digits of the denominator to SA-36. If the number of gears in the
numerator or denominator is set to four or fewer digits, use SA-33 (numerator) and SA-34
(denominator). The gear ratio can be switched with a multi-function digital input. SA-37
(numerator) and SA-38 (denominator) are used in this case.
When accuracy is not maintained with only the mechanical gear ratio settings, the gear ratio can
be finely adjusted using the digital gear ratio.

Fref After Adj (U9-15) = Fref After Gear (U9-13) × (Digital Gear Ratio + 100%)

The digital gear ratio (%) is the total value of the parameter setting value (SA-41), analog input
value, communication input value, and MOP adjustment value. 100% is added to the digital gear
ratio and that result is multiplied by U9-13.

 SA-34 Ratio Den High


No. Default Setting
Name Description
(Hex.) (Range)

SA-34
1000
(1ABC) Ratio Den High Sets the upper four digits of the denominator of mechanical (0 - 9999)
RUN gear ratio 1.

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 SA-35 Ratio Num Low
No. Default Setting
Name Description
(Hex.) (Range)

SA-35
0
(1ABD) Ratio Num Low Sets the lower four digits of the numerator of mechanical (0 - 9999)
RUN gear ratio 1.

 SA-36 Ratio Den Low


No. Default Setting
Name Description
(Hex.) (Range)

SA-36
0
(1ABE) Ratio Den Low Sets the lower four digits of the denominator of mechanical (0 - 9999)
RUN gear ratio 1.

 SA-37 Ratio 2 Num


No. Default Setting
Name Description
(Hex.) (Range)

SA-37
Sets the numerator of mechanical gear ratio 2. This gear 1
(1ABF) Ratio 2 Num
ratio is enabled when a multi-function digital input is set to (0 - 65535)
RUN
55 (Ratio 2 Select) and that digital input is turned ON.

When switching between mechanical gear ratio 1 and mechanical gear ratio 2 during run, the
mechanical gear ratio will be switched in the set time of Acceleration Time 2/Deceleration Time
2 (C1-03/C1-04).
When Position Synchronization mode [SA-31=2] is selected, the position deviation is kept as 0
from when the gear ratio first starts to be switched until the drive reaches Speed Agree (refer
to SA-57) again.

 SA-38 Ratio 2 Den


No. Default Setting
Name Description
(Hex.) (Range)

SA-38
Sets the denominator of mechanical gear ratio 2. This gear 1
(1AC0) Ratio 2 Den
ratio is enabled when a multi-function digital input is set to (0 - 65535)
RUN
55 (Ratio 2 Select) and that digital input is turned ON.

 SA-39 Pos Accum Select


No. Default Setting
Name Description
(Hex.) (Range)

Selects how to accumulate position deviation of the slave


SA-39 drive. 0
Pos Accum Select
(1AC1) (0, 1)
Note: Enabled only when set to Position Synchronization
mode.

0: Only During Run


Accumulates the position deviation only when the slave drive is running (excluding during High
Slip Braking).
Position deviation is cleared when High-Slip Braking is enabled.
1: Always
Accumulates the position deviation when the power supply to the drive is turned ON.

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 SA-40 Position Units
No. Default Setting
Name Description
(Hex.) (Range)

SA-40 Selects the unit for Position Error (U9-18). 0


(1AC2) Position Units
Note: Enabled only when set to Position Synchronization (0 - 3)
RUN
mode.

0: cnts
Displays the position deviation as an encoder pulse count value.
1: rev
Displays the position deviation as the number of revolutions of the slave motor (0.001
revolutions).
2: deg
Displays the position deviation as the rotation angle of the slave motor (0.1 degrees).
3: rad
Displays the position deviation as the electrical angle of the slave motor (0.001 degrees).

 SA-41 Digital RatioAdj


No. Default Setting
Name Description
(Hex.) (Range)

Sets the digital gear ratio adjustment parameter for the


SA-41 slave. The digital gear ratio is the total value of the
parameter setting value, analog input value, MOP output 0.00%
(1AC3) Digital RatioAdj
value, and communication input value. 100% is added to (-99.99 - 99.99%)
RUN
the digital gear ratio and that result is multiplied by the
mechanical gear ratio.

 SA-42 MOP Adjust Time


No. Default Setting
Name Description
(Hex.) (Range)

SA-42
Sets the time until the MOP output value changes 100%. 50.0 s
(1AC4) MOP Adjust Time
The output value can be increased and decreased by (0.0 - 6000.0 s)
RUN
switching between multi-function digital inputs.
The MOP output can be changed with MOP Adjust Inc (58) and MOP Adjust Dec (59) as
multi-function digital inputs to make fine adjustments to the digital gear ratio when online. The
increase and decrease time of MOP output is set as the time until the gear ratio changes by 1
(100%).
100% adjustment

MOP time MOP time

Figure 3.4 MOP Adjust Time

EZZ023535
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 SA-43 Ratio Adj Ramp
No. Default Setting
Name Description
(Hex.) (Range)
SA-43
10.0 s
(1AC5) Ratio Adj Ramp
Sets the time until the digital gear ratio changes 100%. (0.0 - 6000.0 s)
RUN
The digital gear ratio is the total value of the following setting values:
• Parameter setting value: Adjustment value by setting of SA-41 [Digital RatioAdj].
• MOP adjustment value: Value adjusted using the MOP Adjust Inc (58) and MOP Adjust Dec
(59) as multi-function digital inputs.
• Analog input value: Adjustment value using the Analog Ratio Adj (29) as multi-function
analog input.
• Communication input value: MEMOBUS communications gear ratio adjustment value
(register: 15DDH)
Shock due to changing the gear ratio can be reduced by setting the time until the digital gear
ratio changes 100%.
100% adjustment

Ratio Adj Ratio Adj


Ramp Ramp
SA-43 SA-43

Figure 3.5 Ratio Adj Ramp

EZZ023535
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 SA-44 Adv/Ret Mode Sel
No. Default Setting
Name Description
(Hex.) (Range)

SA-44 Selects the Advance/Retard Compensation mode for the 0


Adv/Ret Mode Sel slave drive.
(1AC6) (0, 1)
Note: Enabled only when set to Position Synchronization
mode.

0: Continuous
Compensates the position of the slave in the advance/retard direction for one second with the
compensation amount set to SA-45 when the multi-function digital input terminal that has been
allocated to Advance Slave or Retard Slave is turned ON.
1: Step
Compensates the position of the slave in the advance/retard direction one time with the
compensation amount set to SA-45 when the multi-function digital input terminal that has been
allocated to Advance Slave or Retard Slave is turned ON.

Forward Run Command Reverse Run Command


Master Slave Master Slave
Forward Forward Forward Forward

Reverse Reverse Reverse Reverse


SA-31 = 2

Figure 3.6 Slave Direction and Advance/Retard Operation

 SA-45 Adv/Ret Amount


No. Default Setting
Name Description
(Hex.) (Range)

SA-45 Sets the amount of compensation that is used for


Advance/Retard Compensation of the slave drive. The 2048 cnt
(1AC7) Adv/Ret Amount
Compensation mode can be set with SA-44. (0 to 65535 cnt)
RUN
Note: Enabled only when set to Position Synchronization
mode.

 SA-46 Slave Dev Lvl


No. Default Setting
Name Description
(Hex.) (Range)

SA-46 4096 cnt


Slave Dev Lvl
(1AC8) Sets the position deviation detection level. (0 to 65535 cnt)

EZZ023535
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 SA-47 Slave Dev Sel
No. Default Setting
Name Description
(Hex.) (Range)

SA-47 2
Slave Dev Sel Selects the slave drive operation when position deviation
(1AC9) (0 - 2)
exceeds the setting value of SA-46.

0: No Detection
The drive continues operation.
1: Alarm Only
The FdEv alarm is displayed, but the drive continues operation.
2: Coast to Stop
The FdEv alarm is displayed, and the motor coasts to stop.

 SA-48 MOP Mem @Pwr Off


No. Default Setting
Name Description
(Hex.) (Range)

SA-48 0
MOP Mem @Pwr Off Selects the handling of the MOP adjustment value when
(1ACA) (0, 1)
the power supply is turned OFF.

0: Disabled
Resets the MOP adjustment value when the power supply is turned OFF.
1: Enabled
Retains the MOP adjustment value even after the power supply is turned OFF.

 SA-51 Position P Gain


No. Default Setting
Name Description
(Hex.) (Range)

Sets proportional gain for the position controller. Position P


SA-51 Gain (SA-51) is set based on Maximum Output Frequency
(E1-04) of the drive. 5.00
(1ACB) Position P Gain
Note: Enabled only when set to Position Synchronization (0.00 - 100.00)
RUN
mode.
Note: When the setting of E1-04 is changed, position
controller output will be affected.

 SA-52 Position I Time


No. Default Setting
Name Description
(Hex.) (Range)

SA-52
Sets integral time for the position controller. 0.00 s
(1ACC) Position I Time
Note: Enabled only when set to Position Synchronization (0.00 - 50.00 s)
RUN
mode.

 SA-53 Pos Filter Time


No. Default Setting
Name Description
(Hex.) (Range)

SA-53
Pos Filter Time Sets the filter time for position controller output. 0.00 s
(1ACD)
Note: Enabled only when set to Position Synchronization (0.00 - 1.50 s)
RUN
mode.

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 SA-54 Pos PI Limit
No. Default Setting
Name Description
(Hex.) (Range)

SA-54 Sets the limit (+/-) on position controller output at maximum 8.00%
(1ACE) Pos PI Limit output frequency (E1-04) %. (0.00 - 10.00%)
RUN Note: Enabled only when set to Position Synchronization
mode.

 SA-55 Pos Trim Mode


No. Default Setting
Name Description
(Hex.) (Range)
SA-55
0
(1ACF) Pos Trim Mode
Selects how to adjust output of the position controller. (0, 1)
RUN

0: Constant
Position controller output does not depend on the speed level of the master.
1: Speed Prop
Position controller output is directly proportional to the speed level of the master.
Example: When EA-04 is set to 60 Hz, SA-56 is set to 10%, and position controller output is
10%:
• SA-55 = 0
The PI output amount added to the frequency reference is 60 Hz × 10% = 6 Hz, regardless of
the speed level of the master.
• SA-55 = 1
① When the slave frequency reference (30 Hz) is larger than 6 Hz (E1-04 (60 Hz) × SA-56
(10%)):

Position controller output after adjustment =


Frequency
E1-04 × Position controller output (10%) × =
E1-04
30 Hz
60 Hz × 10% × = 3 Hz
60 Hz

② When the slave frequency reference is smaller than 6 Hz (E1-04 (60 Hz) × SA-56
(10%)):
Position controller output after adjustment =
E1-04 × Position controller output (10%) × SA-56 (10%) = 0.6 Hz
Position controller output is limited by SA-56.

 SA-56 SpdProp LowerLim


No. Default Setting
Name Description
(Hex.) (Range)

SA-56
10.00%
(1AD0) SpdProp LowerLim Sets the lower limit value of the speed controller adjustment (0.00 - 100.00%)
RUN when SA-55 is set to 1.

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 SA-57 RatioChg SpdAgrF
No. Default Setting
Name Description
(Hex.) (Range)

Sets the frequency width that determines Speed Agree


SA-57 when the drive accelerates or decelerates for the following
reasons. 0.5 Hz
(1AD1) RatioChg SpdAgrF
• Gear ratio change (0.0 - 20.0 Hz)
RUN
• The multi-function digital input terminal allocated to
Slave Disable changed between ON and OFF
• Run command changed between ON and OFF

 SA-61 Alignment Sel


No. Default Setting
Name Description
(Hex.) (Range)

Enables and disables Alignment. Alignment compensates


the position of the slave using the position deviation amount
when the Master Trigger and Slave Trigger signals are input.
SA-61 The position deviation when the triggers are input is 0
Alignment Sel continuously accumulated.
(1AD2) (0 - 4)
When enabling Alignment, allocate Master Trigger and Slave
Trigger to H1-□□ (multi-function digital input) and set
parameter SA-61 (Alignment Sel) to a value other than 0.
Note: Input of slave Alignment command is detected with
the rise of the input signal (15 ms or longer).

0: Alignment Disable
1: Manual Align
Performs position compensation with Alignment when Align Cmd (H1-□□ = 5F) is input.
Position compensation is not performed until the Alignment command is input.
2: Auto Align at Start
Input of Align Cmd (multi-function digital input) for the initial Alignment operation at start is not
required. Alignment operates when Slave Trigger and Master Trigger are input. Alignment
operations after the initial operation require input of Align Cmd (multi-function digital input) in
the same manner as manual Alignment.
3: Continuous Align
Input of Align Cmd is not required. Alignment operates when Slave Trigger and Master Trigger
are input.
If the Alignment command is set to a multi-function digital input (H1-xx = 5F), Alignment will not
operate until the Alignment command is input.
4: Window Align
Increments U9-23 (Window Counts) if the distance between the triggers is larger than SA-69
(Align Trg Window) when Slave Trigger and Master Trigger are input. Alignment will operate if
U9-23 (Window Counts) is larger than SA-70 (Align Trig Count). If the Alignment command is
set to a multi-function digital input (H1-xx = 5F), Alignment will not operate until the Alignment
command is input.

EZZ023535
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Alignment will not operate in the following cases:
• Fault occurred on drive.
• Drive is not running.
• Forward Run command and Reverse Run command for the slave are switched at high speed.
• Position Synchronization mode is disabled by multi-function digital input (H1-□□ = 54).
• Position Synchronization mode is disabled by parameter setting (SA-31 = 1).
• Drive is set to LOCAL mode.
• Slave drive has received JOG command.
• Drive speed has drastically changed due to gear ratio change or re-engagement of drive axis.
• Position deviation was cleared by multi-function digital input terminal (H1-□□ = 5B).

(Caution)
• Alignment assumes low speed operation. However, the drive recognizes that a trigger signal
has been input when the trigger signal continues for 15 ms.
• When the slave accelerates to follow the master, the maximum Alignment speed of the slave
is 95% of maximum output frequency. Alignment will not function if the master is already
running at a speed of 95% of maximum output frequency or higher.
• When the slave decelerates to follow the master, the slave may run in reverse. However, when
reverse run is disabled (b1-04 = 1) for the slave, the slave drive is limited at zero speed and it
does not run in reverse.
• The acceleration and deceleration rates are fixed during Alignment operation. The creep
speed for a 1024 PPR encoder is approximately 20 Hz/second. However, the acceleration
and deceleration range can be adjusted with SA-62.

Slave
Slave Trigger switch

Gear
box motor
CR700
Slave encoder
Slave motor

PG-X3

PG-X3
Master
motor
Master Trigger switch

Master motor
Master encoder

CR700

PG-X3

Figure 3.7 Simple Automatic Alignment Diagram

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Master run input

Slave run input


Alignment input

Master Trigger input

Slave Trigger input

Master motor speed

Align Trim Rate


(SA-62)
Slave motor speed

Align complete output

In Alignment output

Figure 3.8 Forward Run - Alignment - Master ahead of Slave

Master run input

Slave run input


Alignment input

Master Trigger input

Slave Trigger input

Master motor speed

Align Trim Rate


Slave motor speed (SA-62)

Align complete output


In Alignment output
Figure 3.9 Forward Run - Alignment - Slave ahead of Master

Note: The Alignment input is edge triggered. (At least 15 ms.)

Master run input

Slave run input


Alignment input

Master Trigger input

Slave Trigger input

Master motor speed

SA-62 SA-62
SA-62
Slave motor speed

Align complete output

Figure 3.10 Continuous Align (SA-61 = 3)

Note: The Alignment input is edge triggered. (At least 15 ms.)

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 SA-62 Align Trim Rate
No. Default Setting
Name Description
(Hex.) (Range)

SA-62 Sets the speed variation range when compensating


for the deviation in position between Master Trigger 6.0 Hz
(1AD3) Align Trim Rate
and Slave Trigger. Increasing the setting value (0.1 - 30.0 Hz)
RUN shortens the compensation time, and decreasing the
setting value lengthens the compensation time.

 SA-63 Align Offset


No. Default Setting
Name Description
(Hex.) (Range)

Sets the offset value of the trigger position. Position


deviation is compensated by the offset. When the
SA-63 0.00 rev
Align Offset Forward Run command is used and the offset is
(1AD4) positive, the position of the slave is compensated by (-99.99 - 99.99 rev)
the offset in the advancing direction. If the offset is
negative, the position of the slave is compensated by
the offset in the retarding direction.

Master conveyor
Forward

Forward

Master
Trigger
switch
Mark
Slave conveyor
Forward
SA-63 Align Offset
+3.00 rev

Forward

Slave
Trigger
switch

Figure 3.11 Alignment Offset Compensation

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 SA-64 Alignment Check
No. Default Setting
Name Description
(Hex.) (Range)

SA-64 Sets the detection range for Alignment.


If the deviation between the pulse count when Master 100 cnt
(1AD5) Alignment Check Trigger is input and the pulse count when Slave (0 - 65535 cnt)
RUN Trigger is input is smaller than the total value of
SA-64 and SA-63, multi-function digital output
terminal H2-xx = 55 (In Alignment) turns ON.

Slave run input SA-64 SA-64 SA-64


SA-64 SA-64

Master Trigger input

Slave Trigger input

In Alignment

Figure 3.12 In Alignment (Multi-Function Digital Output) without Offset (SA-63 = 0.00 rev and SA-64 = 4096 cnt)

Slave run input

SA-63 SA-63 SA-63 SA-63


SA-64 SA-64 SA-64 SA-64
Master Trigger input

Slave Trigger input

In Alignment

Figure 3.13 In Alignment (Multi-Function Digital Output) with Offset (SA-63 = +3.00 rev and SA-64 = 4096 cnt)

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 SA-65 Trigger Sw Type
No. Default Setting
Name Description
(Hex.) (Range)

SA-65 Trigger Sw 0
(1AD6) Type Selects N.O. and/or N.C. for the inputs of the Master (0 - 3)
and Slave Trigger switches.

0: Both NO
1: Master NO Slave NC
2: Master NC Slave NO
3: Both NC

Master run input

Slave run input

Alignment input
Master Trigger input

Slave Trigger input

Master motor speed

SA-62 Align Trim Rate


Slave motor speed (SA-62) SA-62

Align complete output

In Alignment output

Figure 3.14 N.O. Trigger Input (SA-65 = 0)

Master run input


Slave run input

Alignment input
Master Trigger input
Slave Trigger input

Master motor speed

Align Trim Rate


Slave motor speed (SA-62)

Align complete output

In Alignment output

Figure 3.15 NC Trigger Input (SA-65 = 3)

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 SA-66 Align Fault Sel
No. Default Setting
Name Description
(Hex.) (Range)

Sets the operation when an Alignment fault is detected. An


Alignment fault is detected when the interval between
SA-66 Master Trigger and Slave Trigger inputs exceeds the setting 0
Align Fault Sel value of SA-67.
(1AD7) (0 - 2)
Note: 268,435,456 is the maximum encoder pulse count
value between Master Trigger and Slave Trigger inputs. (For
a motor with a 1024 PPR encoder, this is equivalent to
65,536 revolutions.)

0: Disabled
1: Ignore First Trigger
Disables the position deviation between the first triggers. Use this to prevent the mistaken
detection of the two trigger patterns used for Alignment. For this setting, set SA-67 to a distance
between the sensors of 50% to 70%.
2: Fault
Detects AF (Alignment Fault) and coasts to stop when the position deviation between the
triggers exceeds the setting value of SA-67. When using this mode, it is effective to set the
deviation of SA-67 larger than the normal distance between triggers.

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Master run input
Slave
run input

Alignment input
Master Trigger
input
Slave Trigger
input

Master motor
speed
Slave decelerates for a long period of time.

Slave motor Align Trim Rate (SA-62)


speed
SA-67
Max Align Dist
Align complete output
Figure 14 Align Fault Sel = Disabled (SA-66 =
0) Sel = Disabled (SA-66 = 0)
Figure 3.16 Align Fault

Master run input


Slave
run input

Alignment input
Master Trigger
input
Slave Trigger
input

Master motor After distance of SA-67 has


speed
been surpassed, first Slave
Trigger pulse is ignored. Align Trim Rate (SA-62)
Slave motor
speed

SA-67
Align complete output Max Align Dist

Figure 3.17 Align Fault Sel = Ignore First Trigger (SA-66 = 1)


Master run input
Slave
run input

Alignment input
Master Trigger
input
Slave Trigger
input

Master motor
speed
The drive detects the fault when the
distance set by SA-67 has been surpassed
Slave motor Coast to stop
once.
speed

SA-67
Align complete output Max Align Dist

AF - Alignment Fault

Figure 3.18 Align Fault Sel = Fault (SA-66 = 2)

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 SA-67 Max Align Dist
No. Default Setting
Name Description
(Hex.) (Range)

SA-67 Sets the maximum distance between Master Trigger 1000 rev
Max Align Dist and Slave Trigger as the number of revolutions of the
(1AD8) (1 - 5000 rev)
slave motor. AF (Alignment Fault) is detected when
this distance is surpassed.

 SA-68 Max Align Speed


No. Default Setting
Name Description
(Hex.) (Range)

SA-68 Sets the maximum Alignment speed.


Alignment processing will not be performed when the 0.0 Hz
(1AD9) Max Align Speed motor is running at the speed of the setting value or (0.0 - 400.0 Hz)
RUN greater. Use this parameter to restrict Alignment
processing at high speeds where accuracy decreases.
Setting this parameter to 0.0 Hz disables the function.

 SA-69 Align Trg Window


No. Default Setting
Name Description
(Hex.) (Range)

SA-69 Sets the judgment condition of U9-23 [Window


Counts] when SA-61=4. U9-23 is incremented when 2.00 rev
(1ADA) Align Trg Window the Alignment error exceeds the setting value of (0.00 - 100.00 rev)
RUN SA-69 during Alignment operation. The monitor value
is decremented when the Alignment error is the
setting value of SA-69 or lower.

 SA-70 Align Trig Count


No. Default Setting
Name Description
(Hex.) (Range)

SA-70
Sets the count to trigger Alignment when SA-61=4. 3 times
(1ADB) Align Trig Count When U9-23 is the setting value of SA-70, Alignment (1 - 100 times)
will operate, and then U9-23 will be cleared after the
completion of Alignment.

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Master Trigger input
Slave Trigger input
SA-69 SA-69 SA-69 SA-69 SA-69
Align Align Align Align Align
Trg Window Trg Window Trg Window Trg Window Trg Window
3
Align
Align
Counts 2
Trig Count
(U9-23) 1 (SA-70 = 3)
0
Alignment is not performed because U9-23 has not reached SA-70.

Last Trigger (SA-71 = 0)

Master Trigger input


Slave Trigger input
SA-69 SA-69 SA-69 SA-69
Align Align Align Align
Trg Window Trg Window Trg Window Trg Window
3
Align Align
2
Counts Trig Count
(U9-23) 1
(SA-70 = 3)
0

Figure 3.19 SA-61 = 4 and Window Alignment Mode

 SA-71 Repeat Trig Sel


No. Default Setting
Name Description
(Hex.) (Range)

SA-71 0
Repeat Trig Sel Selects how to process the trigger when the Master
(1ADC) (0, 1)
and Slave Trigger counts do not match.

0: Last Trigger
When multiple Master Triggers (or Slave Triggers) are input before the Slave Trigger (or Master
Trigger) input, only the last Master Trigger (or Slave Trigger) is valid.
1: First Trigger
When multiple Master Triggers (or Slave Triggers) are input before the Slave Trigger (or Master
Trigger) input, only the first Master Trigger (or Slave Trigger) is valid.

Last Trigger (SA-71 = 0)

Master Trigger input


Slave Trigger input

Alignment
distance

In Alignment First Trigger (SA-71 = 1)

Master Trigger input


Slave Trigger input

Alignment Alignment Alignment


distance distance distance

In Alignment

Figure 3.20 Last and First Triggers

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4. Parameter List
4.1 F1: PG Option Setup (Encoder)
No. Default Setting
Name Description
(Hex.) (Range)

F1-01 Encoder 1 Pulse Determined by A1-02 *4


Count (PPR) Sets the number of output pulses per revolution of (1 - 60000 ppr)
(380H)
the encoder.

0: Ramp to Stop (Stop in C1-02 deceleration time.)


1: Coast to Stop
2: Fast Stop (Ramp to stop in C1-09 Fast Stop time.) 1
F1-02 PG Open Circuit 3: Alarm Only (Do not normally use this setting value (0 - 4)
(381H) Detection Select in order to protect the motor and machine.)
4: No Alarm Display (Do not normally use this setting
value.)
Note: Faults such as ov and oC may occur depending
on the run speed and load conditions.

F1-05 Encoder 1 Rotation Determined by A1-02 *4


Selection 0: Pulse A leads in FWD Direction (0, 1)
(384H)
1: Pulse B leads in FWD Direction

F1-14 Encoder Open-Circuit 2.0 s


Detect Time Sets the detection time of PGo (Encoder (0.0 - 10.0 s)
(38DH)
Disconnection).

F1-21 Encoder 1 Signal 0


Selection 0: A Pulse Detection (0, 1)
(3BCH)
1: AB Pulse Detection

F1-31 Encoder 2 Pulse 600 ppr


Count (PPR) Sets the number of output pulses per revolution of (1 - 60000 ppr)
(3B0H)
the encoder.

F1-32 PG 2 Rotation 0
Selection 0: Pulse A leads in FWD Direction (0, 1)
(3B1H)
1: Pulse B leads in FWD Direction

F1-36 Encoder 2 PCB 1


Disconnect Detect 0: Disable PG-X3 Hardware Disconnect Detect (0, 1)
(3B5H)
1: Enable PG-X3 Hardware Disconnect Detect

F1-37 Encoder 2 Signal 0


Selection 0: A Pulse Detection (0, 1)
(3BDH)
1: AB Pulse Detection

4.2 H1: Multi-Function Digital Input Settings


Setting Value Function Description

ON: Disables Slave Mode (SA-31). The slave drive will run according to
54 Slave Disable the normal frequency reference (setting of b1-01) and use the normal
acceleration and deceleration times.
Note: Enabled only when set to ELS mode.

ON: Selects gear ratio 2 (SA-37 and SA-38). For Position


55 Ratio 2 Select Synchronization Mode (SA-31 = 2), the slave drive clears the position
deviation and transitions to the new ratio according to the acceleration
and deceleration times set to C1-03 and C1-04. When the speed agrees,
the position loop is once again engaged.

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Setting Value Function Description

ON: Performs advance compensation on the slave position. Position


56 Advance Slave deviation is not accumulated. Refer to SA-44 and SA=45 for the direction
and amount to advance.
Note: Enabled only when set to Position Synchronization mode.

ON: Retards the slave position from the master encoder. Position deviation
57 Retard Slave is not accumulated. Refer to the descriptions of parameter SA-44 and
SA-45 for more information.
Note: Enabled only when set to Position Synchronization mode.

58 MOP Adjust Inc ON: Increases the MOP ratio adjustment value. Refer to the descriptions
of parameter SA-42 and SA-48 for more information.

59 MOP Adjust Dec ON: Decreases the MOP ratio adjustment value. Refer to the descriptions
of parameter SA-42 and SA-48 for more information.

5A MOP Adj Reset ON: Resets the MOP ratio adjustment value to 0. Refer to the descriptions
of parameter SA-42 and SA-48 for more information.

5B Pos Err Reset ON: Resets position deviation to 0.


Note: Enabled only when set to Position Synchronization mode.

5C Pos Reg I Reset ON: Resets the integral value of the position controller to 0.
Note: Enabled only when set to Position Synchronization mode.

5D Slave Trigger Inputs the position detection switch for the slave.
Select whether to input the switch as N.O. or N.C. with SA-65.

5E Master Trigger Inputs the position detection switch for the master.
Select whether to input the switch as N.O. or N.C. with SA-65.

Starts operation of Alignment. Start of the operation is triggered by the


rise of the signal. This is enabled when SA-61=1 or 2.
When SA-61=3 or 4 and the multi-function digital input terminal is ON,
this command is used to enable and disable Alignment (OFF = disabled
5F Align Cmd and ON = enabled). When set to OFF, the Alignment error is measured and
displayed for U9-22, but no position compensation is performed by the
Alignment of the drive.
When SA-61=3 or 4 and the Alignment command is set to a multi-
function digital input, Alignment will not operate until the Alignment
command is input.

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4.3 H2: Multi-Function Digital Output Settings
Setting Value Function Description

53 Slave Pos Dev ON: Position deviation has exceeded Slave Dev Lvl (SA-46).
Note: Enabled only when set to Position Synchronization mode.

The output turns ON when Alignment processing has completed.


The output turns OFF under the following circumstances.
• The accumulated distance has exceeded the total value of SA-63 and
SA-64 when the first trigger was detected.
54 Align Complete • A fault occurred and the slave stopped. Or position deviation was cleared
or disabled.
• The Advance Slave or Retard Slave command was input.
• The multi-function digital input terminal allocated to Align Cmd was turned
ON when SA-61 was set to 1 or 2.
• The multi-function digital input terminal allocated to Master Trigger or Slave
Trigger was turned ON when SA-61 was set to 3 or 4.

The output turns ON when the deviation between the two triggers is the
setting value of SA-64 or less.
The output turns OFF under the following circumstances.
55 In Alignment • The accumulated distance has exceeded the total value of SA-63 and
SA-64 when the first trigger was detected.
• A fault occurred and the slave stopped. Or position deviation was cleared
or disabled.
• The Advance Slave or Retard Slave command was input.

4.4 H3: Multi-Function Analog Input Settings (H3-02/H3-06/H3-10)


Setting Value Function Description Analog Output Scale

Adjusts the analog input value of the digital gear


29 Analog Ratio Adj ratio. The digital gear ratio is the total value of the 10 V: 100.00%
parameter setting value, analog input value, MOP
output value, and communication input value.

4.5 SA: Crane Special Func


No. Default Setting
Name Description Ref.
(Hex.) (Range)

SA-31 Selects the Slave mode.


0
(1ABA) Slave Mode 7
0: Disabled (0 - 2)
Expert 1: Speed
2: Position

SA-32
Speed/Position Sync Selects whether or not to perform speed and 1
(1ADF) position synchronization during ramp to stop. 8
Control @Dec (0, 1)
Expert 0: Disabled
1: Enabled

SA-33
(1ABB) Sets the upper four digits of the numerator of
Ratio Num 1000
the mechanical gear ratio. 9
RUN High (0 - 9999)

Expert

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No. Default Setting
Name Description Ref.
(Hex.) (Range)

SA-34
(1ABC) Sets the upper four digits of the denominator of
Ratio Den 1000
the mechanical gear ratio. 9
RUN High (0 - 9999)

Expert

SA-35
(1ABD) Sets the lower four digits of the numerator of
Ratio Num 0
the mechanical gear ratio. 10
RUN Low (0 - 9999)

Expert

SA-36
(1ABE) Sets the lower four digits of the denominator of
Ratio Den 0
the mechanical gear ratio. 10
RUN Low (0 - 9999)

Expert

SA-37
(1ABF) Sets the numerator of gear ratio 2. This gear
1
Ratio 2 Num ratio is enabled when a multi-function digital 10
RUN (0 - 65535)
input is set to 55 (Ratio 2 Select) and that digital
Expert input is turned ON.

SA-38
(1AC0) Sets the denominator of gear ratio 2. This gear
1
Ratio 2 Den ratio is enabled when a multi-function digital 10
RUN (0 - 65535)
input is set to 55 (Ratio 2 Select) and that digital
Expert input is turned ON.

SA-39 Selects how to accumulate position deviation of


the slave drive. 0
(1AC1) Pos Accum Select 10
(0, 1)
Expert 0: Only During Run
1: Always

SA-40 Selects the unit for Position Error (U9-18).

(1AC2) 0: cnts 0
Position Units 1: rev 11
RUN (0 - 3)
2: deg
Expert 3: rad
Note: Enabled only when set to Position
Synchronization mode.

SA-41 Sets the digital gear ratio adjustment parameter


for the slave drive. The digital gear ratio is the
(1AC3) 0.00%
Digital RatioAdj total value of the parameter setting value, 11
RUN analog input value, MOP output value, and (-99.99 - 99.99%)
communication input value. 100% is added to
Expert
the digital gear ratio and that result is multiplied
by the mechanical gear ratio.

SA-42
(1AC4) Sets the time until the MOP output value
50.0 s
MOP Adjust Time changes 100.00%. The output value can be 11
RUN (0.0 - 6000.0 s)
increased and decreased by switching between
Expert multi-function digital inputs.

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No. Default Setting
Name Description Ref.
(Hex.) (Range)

SA-43
(1AC5) Sets the time until the digital gear ratio changes
10.0 s
Ratio Adj Ramp 100%. 12
RUN (0.0 - 6000.0 s)

Expert

Selects the Advance/Retard Compensation


SA-44 mode for the slave drive.
0
(1AC6) Adv/Ret Mode Sel 13
0: Continuous (0, 1)
Expert 1: Step
Note: Enabled only when set to Position
Synchronization mode.

SA-45
Sets the amount of compensation that is used
(1AC7) for Advance/Retard Compensation of the slave 2048 cnt
Adv/Ret Amount drive. The compensation mode can be set with 13
RUN (0 to 65535 cnt)
SA-44.
Expert Note: Enabled only when set to Position
Synchronization mode.

SA-46
Sets the position deviation detection level. 4096 cnt
(1AC8) Slave Dev Lvl 13
Note: Enabled only when set to Position (0 to 65535 cnt)
Expert Synchronization mode.

SA-47 Selects the slave drive operation when position


deviation exceeds the setting value of SA-46. 2
(1AC9) Slave Dev Sel 14
(0 - 2)
Expert 0: No Detection
1: Alarm Only
2: Coast to Stop

SA-48 Selects the handling of the MOP adjustment


value when the power supply is turned OFF. 0
(1ACA) MOP Mem @Pwr Off 14
(0, 1)
Expert 0: Disabled
1: Enabled

SA-51
(1ACB) Sets proportional gain for the position controller.
5.00
Position P Gain Note: Enabled only when set to Position 14
RUN (0.00 - 100.00)
Synchronization mode.
Expert

SA-52
(1ACC) Sets integral time for the position controller.
0.00 s
Position I Time Note: Enabled only when set to Position 14
RUN (0.00 - 50.00 s)
Synchronization mode.
Expert

SA-53
(1ACD) Sets the filter time for position controller output.
0.00 s
Pos Filter Time Note: Enabled only when set to Position 14
RUN (0.00 - 1.50 s)
Synchronization mode.
Expert

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No. Default Setting
Name Description Ref.
(Hex.) (Range)

SA-54
Sets the limit (+/-) on position controller output
(1ACE) 8.00%
Pos PI Limit as a percentage of Maximum Output Frequency 15
RUN (E1-04). (0.00 - 10.00%)
Note: Enabled only when set to Position
Expert
Synchronization mode.

SA-55 Selects how to adjust output of the position


controller.
(1ACF) 0
Pos Trim Mode 15
RUN 0: Constant (0, 1)
1: Speed Prop
Expert
Note: Enabled only when set to Position
Synchronization mode.

SA-56
(1AD0) Sets the lower limit value of the speed controller
10.00%
SpdProp LowerLim adjustment when SA-55 is set to 1. 15
RUN (0.00 - 100.00%)

Expert

Selects the frequency width that determines


SA-57 Speed Agree when the drive accelerates or
decelerates for the following reasons.
(1AD1) 0.5 Hz
RatioChg SpdAgrF • Gear ratio change 16
RUN • The multi-function digital input terminal (0.0 - 20.0 Hz)
allocated to Slave Disable changed between
Expert
ON and OFF
• Run command changed between ON and
OFF

Enables and disables Alignment.


SA-61
0: Alignment Disable 0
(1AD2) Alignment Sel 16
1: Manual Align (0 - 4)
Expert 2: Auto Align at Start
3: Continuous Align
4: Window Align

SA-62
Sets the speed variation range when
(1AD3) compensating for the deviation in position 6.0 Hz
Align Trim Rate between Master Trigger and Slave Trigger. 19
RUN (0.1 - 30.0 Hz)
Increasing the setting value shortens the
Expert compensation time, and decreasing the setting
value lengthens the compensation time.

Sets the offset value of the trigger position.


SA-63 Position deviation is compensated by the offset.
When the Forward Run command is used and 0.00 rev
(1AD4) Align Offset the offset is positive, the position of the slave is 19
(-99.99 - 99.99 rev)
Expert compensated by the offset in the advancing
direction. If the offset is negative, the position of
the slave is compensated by the offset in the
retarding direction.

SA-64
Sets the detection range for Alignment. If the
(1AD5) deviation between the pulse count when Master 100 cnt
Alignment Check Trigger is input and the pulse count when Slave 20
RUN (0 to 65535 cnt)
Trigger is input is smaller than the setting value
Expert of SA-64, multi-function digital output terminal
H2-xx = 55 (In Alignment) turns ON.

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No. Default Setting
Name Description Ref.
(Hex.) (Range)

Selects N.O. and/or N.C. for the inputs of the


SA-65 Master and Slave Trigger switches.
0
(1AD6) Twigger Sw Type 21
0: Both NO (0 - 3)
Expert 1: Master NO Slave NC
2: Master NC Slave NO
3: Both NC

Sets the operation when an Alignment fault is


detected. An Alignment fault is detected when
SA-66 the interval between Master Trigger and Slave
Trigger inputs exceeds the setting value of 0
(1AD7) Align Fault Sel 22
SA-67. (0 - 2)
Expert
0: Disabled
1: Ignore First Trigger
2: Fault

SA-67 Sets the maximum distance between Master


Trigger and Slave Trigger as the number of 1000 rev
(1AD8) Max Align Dist 24
revolutions of the slave motor. AF (Alignment (1 - 5000 rev)
Expert fault) is detected when this distance is
surpassed.

SA-68 Sets the maximum Alignment speed.


Alignment processing will not be performed
(1AD9) when the motor is running at the speed of the 0.0 Hz
Max Align Speed setting value or greater. Use this parameter to 24
RUN (0.0 - 400.0 Hz)
restrict Alignment processing at high speeds
Expert where accuracy decreases.
Setting this parameter to 0.0 Hz disables the
function.

SA-69 Sets the judgment condition of U9-23 (Window


Counts) when SA-61=4.
(1ADA) 2.00 rev
Align Trg Window U9-23 is incremented when the Alignment error 24
RUN exceeds the setting value of SA-69 during (0.00 - 100.00 rev)
Alignment. The monitor value is decremented
Expert
when the Alignment error is the setting value of
SA-69 or lower.

SA-70
(1ADB) Sets the count to trigger Alignment when
3 times
Align Trig Count SA-61=4. When U9-23 is the setting value of 24
RUN (1 - 100 times)
SA-70, Alignment will operate, and then U9-23
Expert will be cleared.

SA-71 Selects how to process the trigger when the


Master and Slave Trigger counts do not match. 0
(1ADC) Repeat Trig Sel 25
(0, 1)
Expert 0: Last Trigger
1: First Trigger

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4.6 U9: Crane Monitors
No. MFAO Signal
Name Description Unit
(Hex.) Level

U9-12 Displays the detected frequency of the master


motor before the gear ratio (mechanical gear 10 V: Maximum
(82B) Master PG Fref ratio × digital gear ratio) is applied (slave 0.1 Hz
frequency
Expert standard).
Note: Display of Modbus values is limited to
between -3276.8 and 3276.7.* 1

U9-13 Displays the slave frequency reference after the


mechanical gear ratio (SA-33 to SA-38) has 10 V: Maximum
(82C) Fref After Gear 0.1 Hz
been applied. frequency
Expert Note: Display of MEMOBUS values is limited to
between -3276.8 and 3276.7.* 1

U9-14 Displays the digital gear ratio.


The digital gear ratio is the total value of the 10 V:
(82D) Gear Ratio Adj 0.01%
analog input value, parameter setting value, MOP 100.00%
Expert adjustment value, and communication input
value.

U9-15
Displays the frequency reference after the digital 10 V: Maximum
(82E) Fref After Adj gear ratio has been applied. 0.1 Hz
frequency
Expert Note: Modbus values are displayed between -
3276.8 and 3276.7.* 1

10 V:
U9-16 Displays the count value every 5 ms of the cnt/5 ms @
master encoder pulses input to the slave. Maximum
(82F) Master Cts/5ms This monitor can be used to check the receive cnt
Output
Expert status of encoder pulses. Frequency (E1-
Note: Enabled only when set to Position 04)
Synchronization mode.

Displays the count value every 5 ms from the 10 V:


U9-17 encoder of the slave drive. cnt/5 ms @
This monitor is used only to check the encoder Maximum
(1A70) Slave Cts/5ms count is being received. cnt
Output
Expert Note: • Enabled only when set to Position Frequency (E1-
Synchronization mode. 04)
• The count value is that after the gear
ratio has been applied.

Displays the deviation between the master and 10 V:


U9-18 slave encoder pulse counts. cnt/5 ms @
Note: • Enabled only when set to Position Maximum SA-40
(1A71) Position Error
Synchronization mode. Output *2*3
Expert • Modbus values are between -3276.8 Frequency (E1-
and 3276.7. The display range is 04)
between -9999 and 99999.* 1

U9-19
Displays proportional control output of the 10 V:
(1A72) Position P Out position controller. 0.01%
100.00%
Expert Note: Enabled only when set to Position
Synchronization mode.

U9-20
Displays integral control output of the position 10 V:
(1A73) Position I Out controller. 0.01%
100.00%
Expert Note: Enabled only when set to Position
Synchronization mode.

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No. MFAO Signal
Name Description Unit
(Hex.) Level

U9-21
Displays the output of the position controller. 10 V:
(1A74) Position PI Out 0.01%
Note: Enabled only when set to Position 100.00%
Expert Synchronization mode.

10 V:
U9-22 cnt/5 ms @
Displays the deviation in the number of
Maximum
(1A75) Alignment Error revolutions between the master and slave when rev
Output
Alignment error was judged. The value is positive
Expert Frequency (E1-
when the master is ahead of the slave.
04)

U9-23 Enabled when SA-61 = 4. Displays the count for


(1A76) Window Counts which position deviation exceeded SA-69 when No cnt
judging Alignment error.
Expert The count of U9-23 is cleared after Alignment
has completed.
*1 When the internal value exceeds the range of maximum and minimum values that can be
displayed on the keypad, "OVER" and the monitor name will be alternately displayed and
flashing.
*2 The unit is dependent on the setting of Position Units (SA-40).
*3 The unit is fixed to encoder pulse count when reading the value over network
communications (register 1A71).
*4 Refer to the manual for a description of parameters determined by A1-02.

Table 4.1 MEMOBUS Registers


Register No. Description Unit

Gear ratio adjustment over network communications.


Allows the gear ratio to be adjusted over network communications.
The digital gear ratio (%) is the total value of the parameter setting
value (SA-41), analog input value, communication input value, and
MOP adjustment value.
15DDH 1 = 0.01%
The setting value of the parameter is differentiated by positive and
negative, so the setting range of the adjustment value is between -
327.67% and 327.67%.
Note: The ENTER command is not required when writing to this
register.
Network communications advance/retard count.
Allows advance/retard over network communications for the slave
drive.
The setting value of the parameter is differentiated by positive and
negative, so the setting range of the advance/retard count is
15DEH between -32768 and 32767. This value is set by the slave encoder 1 = 1 encoder pulse
count. When this register has finished being set, its data is
automatically reset to 0.
Note: • Enabled only when set to Position Synchronization mode.
• The ENTER command is not required when writing to this
register.

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4.7 Troubleshooting
Table 4.2 Display of Faults, Causes, and Possible Solutions

Code Name Causes Possible Solutions

SA-31 was set to 2 (Position


Synchronization Mode), but two PG-X3 or
PG-B3 option cards were not attached to Connect the PG (PG) option cards to the
PG Opt Card connectors CN5-B and CN5-C. appropriate option card connectors. Select the
oPE27
Err SA-31 was set to 1, but one PG-X3 or appropriate Position Synchronization mode
PG-B3 option card was not attached to (SA-31).
connector CN5-B.

The slave motor is locked. Check if the machine runs normally and if the
slave motor is locked.
Slave Dev Lvl (SA-46) is low. Increase the setting value of SA-46.
When Pos Accum Select (SA-39) is set to If the master encoder rotates even though the
FdEv Slave Pos Dev 1, the slave stops while the master encoder slave is stopped by the application, set SA-39
is rotating. to 0 (Only During Run).
The master input frequency is larger than Set E1-04 to a value 10% larger than the
Maximum Output Frequency (E1-04) of the maximum input frequency of the master.
slave.
The slave motor is locked. Check if the machine runs normally and if the
slave motor is locked.
When Pos Accum Select (SA-39) is set to If the master encoder rotates even though the
PL Loss of Position 1, the slave stops while the master encoder slave is stopped by the application, set SA-39
is rotating. to 0 (Only During Run).
The set speed of the slave is too high for Replace the encoder of the slave motor with a
the PPR of the encoder being used. low PPR type.
Deviation between the master and slave A fault has occurred or the trigger switches are
has exceeded the allowable amount connected wrong.
AF Alignment Fault (SA-67).
There is a problem with the trigger switches Check if the trigger switches are connected and
and/or wiring. whether or not the machine runs correctly.

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