The following shows correspondences between virtual devices for servo amplifier and data of the servo amplifier used with the GOT.

(a) Servo amplifier request

Device

Item

Symbol

name

 

 

SP0

Status display data clear

―

SP1

Current alarm clear

―

SP2

Alarm history clear

―

 

 

 

SP3

External input signal prohibited

―

 

 

 

SP4

External output signal prohibited

―

SP5

External input signal resumed

―

 

 

 

SP6

External output signal resumed

―

(b) Operation mode selection

Device

Item

Symbol

name

 

 

OM0

Normal mode (not test operation mode)

―

OM1

JOG operation

―

 

 

 

OM2

Positioning operation

―

OM3

Motorless operation

―

 

 

 

OM4

Output signal (DO) forced output

―

(c) Instruction demand (for test operation)

Device name

Item

Symbol

TMB0

Clears acceleration/

―

deceleration time constant

 

 

 

 

 

TMB1

Temporary stop command

―

(d) Basic parameter/expansion parameter

Device name

Item

Symbol*1

PRM0, PRM1000

Control mode, regenerative

*STY

brake option selection

 

 

 

 

 

PRM1, PRM1001

Function selection 1

*OP1

 

 

 

PRM2, PRM1002

Auto tuning

ATU

 

 

 

 

Electronic gear numerator

 

PRM3, PRM1003

(Command pulse multiplying

CMX

 

factor numerator)

 

 

 

 

 

Electronic gear denominator

 

PRM4, PRM1004

(Command pulse multiplying

CDV

 

factor denominator)

 

 

 

 

PRM5, PRM1005

In-position range

INP

 

 

 

PRM6, PRM1006

Position loop gain 1

PG1

 

 

 

 

Position command

 

PRM7, PRM1007

acceleration/deceleration time

PST

 

constant

 

 

 

 

PRM8, PRM1008

Internal speed command1/limit1

SC1

 

 

 

PRM9, PRM1009

Internal speed command2/limit2

SC2

 

 

 

PRM10, PRM1010

Internal speed command3/limit3

SC3

 

 

 

PRM11, PRM1011

Acceleration time constant

STA

PRM12, PRM1012

Deceleration time constant

STB

 

 

 

PRM13, PRM1013

S-pattern acceleration/

STC

deceleration time constant

 

 

 

 

 

PRM14, PRM1014

Torque command time constant

TQC

PRM15, PRM1015

Station number setting

*SNO

 

 

 

PRM16, PRM1016

Serial communication function

*BPS

selection, alarm history clear

 

 

 

 

 

PRM17, PRM1017

Analog monitor output

MOD

PRM18, PRM1018

Status display selection

*DMD

 

 

 

PRM19, PRM1019

Parameter block

*BLK

 

 

 

PRM20, PRM1020

Function selection 2

*OP2

PRM21, PRM1021

Function selection 3

*OP3

(Command pulse selection)

 

 

Device name

Item

Symbol*1

PRM22, PRM1022

Function selection 4

*OP4

PRM23, PRM1023

Feed forward gain

FFC

 

 

 

PRM24, PRM1024

Zero speed

ZSP

 

 

 

 

Analog speed command

 

PRM25, PRM1025

maximum speed

VCM

 

/limit maximum speed

 

 

 

 

PRM26, PRM1026

Analog torque command

TLC

maximum output

 

 

 

 

 

PRM27, PRM1027

Encoder output pulses

*ENR

 

 

 

PRM28, PRM1028

Internal torque limit 1

TL1

 

 

 

PRM29, PRM1029

Analog speed command offset

VCO

/limit offset

 

 

 

 

 

PRM30, PRM1030

Analog torque command offset

TLO

/limit offset

 

 

 

 

 

PRM31,PRM1031

Analog monitor 1 offset

MO1

 

 

 

PRM32, PRM1032

Analog monitor 2 offset

MO2

 

 

 

PRM33, PRM1033

Electromagnetic brake

MBR

sequence output

 

 

 

 

 

PRM34, PRM1034

Ratio of load inertia moment to

GD2

servo motor inertia moment

 

 

 

 

 

PRM35, PRM1035

Position loop gain 2

PG2

 

 

 

PRM36, PRM1036

Speed loop gain 1

VG1

 

 

 

PRM37, PRM1037

Speed loop gain 2

VG2

 

 

 

PRM38, PRM1038

Speed integral compensation

VIC

 

 

 

PRM39, PRM1039

Speed differential compensation

VDC

 

 

 

PRM40, PRM1040

For manufacturer setting

―

 

 

 

PRM41, PRM1041

Input signal automatic ON

*DIA

selection

 

 

 

 

 

PRM42, PRM1042

Input signal selection 1

*DI1

 

 

 

PRM43, PRM1043

Input signal selection 2 (CN1B-5)

*DI2

 

 

 

PRM44, PRM1044

Input signal selection 3 (CN1B-14)

*DI3

 

 

 

PRM45, PRM1045

Input signal selection 4 (CN1A-8)

*DI4

 

 

 

PRM46, PRM1046

Input signal selection 5 (CN1B-7)

*DI5

 

 

 

PRM47, PRM1047

Input signal selection 6 (CN1B-8)

*DI6

 

 

 

PRM48, PRM1048

Input signal selection 7 (CN1B-9)

*DI7

 

 

 

PRM49, PRM1049

Output signal selection 1

*DO1

 

 

 

PRM50, PRM1050

For manufacturer setting

―

 

 

 

PRM51, PRM1051

Function selection 6

*OP6

 

 

 

PRM52, PRM1052

For manufacturer setting

―

 

 

 

PRM53, PRM1053

Function selection 8

*OP8

 

 

 

PRM54, PRM1054

Function selection 9

*OP9

 

 

 

PRM55, PRM1055

Function selection A

*OPA

 

 

 

PRM56, PRM1056

Serial communication

SIC

time-out selection

 

 

 

 

 

PRM57, PRM1057

For manufacturer setting

―

 

 

 

PRM58, PRM1058

Machine resonance

NH1

suppression filter 1

 

 

 

 

 

PRM59, PRM1059

Machine resonance

NH2

suppression filter 2

 

 

 

 

 

PRM60, PRM1060

Low-pass filter, adaptive

LPF

vibration suppression control

 

 

 

 

 

PRM61, PRM1061

Ratio of load inertia moment

GD2B

to servo motor inertia moment 2

 

 

 

 

 

PRM62, PRM1062

Position control gain 2

PG2B

changing ratio

 

 

 

 

 

PRM63, PRM1063

Speed control gain 2 changing

VG2B

ratio

 

 

 

 

 

PRM64, PRM1064

Speed integral compensation

VICB

changing ratio

 

 

 

 

 

PRM65, PRM1065

Gain changing selection

*CDP

PRM66, PRM1066

Gain changing condition

CDS

 

 

 

PRM67, PRM1067

Gain changing time constant

CDT

 

 

 

PRM68, PRM1068

For manufacturer setting

―

PRM69, PRM1069

Command pulse multiplying

CMX2

factor numerator 2

 

 

(Continued to next page)

9

TO CONNECTIONPLC MELSECNET/H(PLCNETWORK)

10

MELSECNET/10 CONNECTION (PLC TO PLC NETWORK)

11

CC-Link IE CONTROLLER NETWORK CONNECTION

12

CC-Link IE FIELD NETWORK CONNECTION

13

CC-Link CONNECTION (INTELLIGENT DEVICE STATION)

14

CC-Link CONNECTION (Via G4)

15

CONNECTION

INVERTER

16

CONNECTION

SERVO AMPLIFIER

16. SERVO AMPLIFIER CONNECTION

16 - 23

16.6 Device Range that Can Be Set