SYSMAC CS/CJ Series

Position Control Units

CS1W-NCF71/CJ1W-NCF71
Unit Version V2.0
Inverter Operation Guide

Rev. 01

OMRON Corporation
 Table of Contents
1. Features..................................................................................................................................4
2. Specifications .........................................................................................................................4
3. Installation and Wiring ...........................................................................................................5
4. Operation Overview ................................................................................................................6
5. Data Configuration and Setting ..............................................................................................7
5.1 Common Parameter Area ............................................................................................................................. 7
5.2 Axis Parameter Area..................................................................................................................................... 8
5.3 Inveter Parameter Area................................................................................................................................. 8
5.4 Axis Operating Output Memory Area............................................................................................................. 9
5.4.1 Axis Operating Output Memory Area Allocations .................................................................................... 9
5.4.2 Details of Operation with a difference from Servo Drives ...................................................................... 12
5.5 Axis Operating Input Memory Area ............................................................................................................. 15
5.5.1 Axis Operating Input Memory Area Allocations ..................................................................................... 15

6. Troubleshooting ...................................................................................................................18
Revision History .......................................................................................................................19

2
About this Document:
This domument describes the operation for Inveter control of the CS1W/CJ1W-NCF71 Position Control
Units with unit version 2.0 or later. This document explains only differences from the operation for Servo
Drives. The information common to the Servo Drives and Inverters has been described in the operation
manual of the CS1W/CJ1W-NCF71 Position Control Units. For details of the functions or parameter
settings of Inverters, the Inverters’ operation manuals and the MECHATROLINK communications interface
card / unit’s operation manual should be referred to.
Please read this document carefully together with these operation manuals and be sure you understand
the information provided before attempting to install and operate the CS1W/CJ1W-NCF71 Position Control
Units.

3
1. Features
The Position Control Units (PCU) with unit version 2.0 or later support MECHATROLINK-II
compatible Inverters developed by OYMC. The PCU receives commands from the CPU
Units’s I/O Memory Area and outputs operating commands to MECHATROLINK-II
compatible Inverters.

• Compatible with the MECHATROLINK-II Highspeed Field Network

A MECHATROLINK-II high-speed (10 Mbps) communications interface is used to control
Servo Drives and Inverters for up to 16 axes with a single CS/CJ-series Unit. Shielded
twisted-pair cables in daisy-chain formation make wiring simple and enable multi-axis
systems that require less wiring and are smaller in size.

• Complex system of Servo Drives and Inverters

One PCU can control Servo Drives and Inverters up to 16 axes. It will provide the complex
system of Servo Drives and Inverters.

• Direct Operation from the CPU Unit

The Inveter's speed can be controlled by directly specifying the target speed from the CPU
Unit.

• Transfer Data between Host PLC and Inverter

The Inverter's parameters and monitors can be set from the CPU Unit. All the data for the
multi-axis system can be centrally controlled from the host PLC. This removes the difficulty
in starting up devices or setting data when replacing a Unit.

2. Specifications
The following table shows the compatible devices of the Inverters.
The other general specifications except functions for Servo Drives are shown in the PCU’s
operation manual.

Item Specifications
Compatible OYMC Varispeed G7 and Varispeed F7 with the MECHATROLINK
devices communications interface card ST-I
OYMC Varispeed V7 with the MECHATROLINK communications interface
unit ST-I/V7

Note The MECHATROLINK communications interface card / unit is applicable for the specific
software version of inveters. For details, see the MECHATROLINK communications
interface card / unit’s user’s manual.

4
3. Installation and Wiring
Installation of the MECHATROLINK communications interface card / unit to Inverters is
shown in the MECHATROLINK communications interface card / unit’s user’s manual.
About wiring between the PCU and Inverters (with the MECHATROLINK communications
interface card / unit) MECHATROLINK-II compatible Inverter, see the PCU’s operation
manual.

Note When using the MECHATROLINK-II compatible Inverter with the PCU, the following
Inverter parameters should be changed.

For Varispeed G7 / F7:

Parameter No. Name Setting Default
b1-01 Reference selection Sets the frequency reference input method. 1
0: Digital Operator
1: Control circuit terminal (Analog input)
2: MEMOBUS (RS-422A/485) communications
3: Option Card
4: Pulse train input
b1-02 Operation method Sets the operation command input method. 1
selection 0: Digital Operator
1: Control circuit terminal (Sequence input)
2: MEMOBUS (RS-422A/485) communications
3: Option Card

For Varispeed V7:

Parameter No. Name Setting Default
n003 Operation method Sets the frequency reference input method. 0
selection 0: Operator
1: Control circuit terminal
2: MEMOBUS (RS422A/485) Communications
3: Communications Card (Option)
n004 Reference selection Sets the operation command input method. 0
0: Operator
1: Frequency reference 1 (n024)
2: Control circuit terminal (0-10 V)
3: Control circuit terminal (4-20 mA)
4: Control circuit terminal (0-20 mA)
5: Pulse train
6: MEMOBUS (RS422A-485) communications
7: Operator circuit terminal (0-10 V)
8: Operator circuit terminal (4-20 mA)
9: Communications Card (Option)

5
4. Operation Overview
The overview of the operation is shown below:

1) Allocate inveters to the axis configuration with the CX-Motion-NCF (Ver.1.40 or later) or by
setting the Scan List in the common parameters of the PCU.
2) Set the MECHATROLINK communications settings with the CX-Motion-NCF (Ver.1.40 or
later) or by setting the Scan List in the common parameters of the PCU.

Note For connecting Inverters, the Transfer Cycle and the Communications Cycle of the
MECHATROLINK communications settings are specified as follows.
- Communications Cycle is '1' (multiplied by 1):
Transfer Cycle may be from 1 to 8 (ms).
- Communications Cycle is not '1' (greater than 1):
Transfer Cycle should be 2 (ms) or greater.

3) Set the Inveter parameters with the CX-Drive (Ver.x.xx or later) or by PCU’s Inverter
parameter transferring functions.
4) Operate Inverters with the Axis Operating Output Memory Area.

6
5. Data Configuration and Setting

5.1 Common Parameter Area

The diffrences of the common parameter area for suppoting inveters are shown below.

• Overview

PCU’s Contents Setting

address Bits 08 to 15 Bits 00 to 07
183C hex to Scan list Sets the axis allocations for axes 1 to 16 with 8
1843 hex bytes per axis, as follows:
00 hex: Axis not used (default setting)
20 hex: Allocates axis to the Inverters.
40 hex: Allocates axis to the Servo Drive.
1856 hex Transfer cycle Communication Transfer cycle:
s cycle 00 hex: 1 ms (default setting)
01 hex: 1 ms 02 hex: 2 ms 03 hex: 3 ms
04 hex: 4 ms 05 hex: 5 ms 06 hex: 6 ms
07 hex: 7 ms 08 hex: 8 ms
Communications cycle:
Sets a multiplier used to obtain integer
multiples of the transfer
cycle.
Set value: 00 to 20 hex
The default setting 00 is the same as when the
cycle is set to 3.
Set as follows:
Transfer cycle x communications cycle
(multiplier) ≤ 32 ms

• Scan List

Details Data configuration 15 08 07 00 Data setting range Default

183C hex 00, 20 or 40 0000
Axis 2 allocation Axis 1 allocation
183D hex 00, 20 or 40 0000
Axis 4 allocation Axis 3 allocation
183E hex 00, 20 or 40 0000
Axis 6 allocation Axis 5 allocation
183F hex 00, 20 or 40 0000
Axis 8 allocation Axis 7 allocation
1840 hex 00, 20 or 40 0000
Axis 10 allocation Axis 9 allocation
1841 hex 00, 20 or 40 0000
Axis 12 allocation Axis 11 allocation
1842 hex 00, 20 or 40 0000
Axis 14 allocation Axis 13 allocation
1843 hex 00, 20 or 40 0000
Axis 16 allocation Axis 15 allocation

Data Details Set the allocations for the MECHATROLINK devices connected to the PCU.
Make the following settings using eight bits per axis for axes 1 to 16.
00 hex: Axis not used (no allocation).
20 hex: Axis allocated to the Inveters.
40 hex: Axis allocated to the Servo Drive.

7
• MECHATROLINK Communications Settings

Details Data configuration 15 08 07 00 Data setting range Default

1856 hex Transfer cycle: 0000
Transfer cycle Communications cycle 00 to 08
Communications
cycle:
00 to 20 hex

Data Details Transfer Cycle

This parameter is used to set the cycle for sending and receiving data with
MECHATROLINK communications.
00: 1 ms (default setting)
01: 1 ms 05: 5 ms
02: 2 ms 06: 6 ms
03: 3 ms 07: 7 ms
04: 4 ms 08: 8 ms

Note For connecting Inverters, the Transfer Cycle of A2 hex (0.25 ms) or A5 hex (0.5 ms) is not
available.

Communications Cycle
This parameter sets the cycle for refreshing data in the PCU and MECHATROLINK device.
The communications cycle is set in the Common Parameters by setting the factor used to
obtain integer multiples of the transfer cycle.
Set value: 00 to 20 hex
The default setting 00 is the same as when the cycle is set to 3. The communications cycle,
however, is set as follows:
Transfer cycle x communications cycle (multiplier) ≤ 32 ms

Note For connecting Inverters, the Transfer Cycle and the Communications Cycle of the
MECHATROLINK communications settings are specified as follows.
- Communications Cycle is '1' (multiplied by 1):
Transfer Cycle may be from 1 to 8 (ms).
- Communications Cycle is not '1' (greater than 1):
Transfer Cycle should be 2 (ms) or greater.

5.2 Axis Parameter Area

The Axis Parameter Area is not used for inveters. These parameters should be used with
default values.

5.3 Inveter Parameter Area

The Inveter parameters are shown in the operation manuals for OYMC Varispeed G7,
Varispeed F7 or Varispeed V7 inveters. These parameters are transferred from / to PLC
with same operation as Servo Drives. ‘Parameter No.’ is corresponding to the ‘MEMOBUS
Register No.’

8
5.4 Axis Operating Output Memory Area
The Axis Operating Output Memory Areas contain outputs used to set operation for the
Inveter axes that are connected using MECHATROLINK communications. These outputs
include operating commands, such as direct operation, Forward running, Reverse running,
and related speed command values.

The Axis Operating Output Memory Areas are allocated 25 words per axis in the CPU
Unit's memory area set in the PCU's Common Parameters (Axis Operating Output Memory
Area designation, beginning word of Axis Operating Output Memory Area) same as Servo
Drives.

5.4.1 Axis Operating Output Memory Area Allocations

The memory allocation of the Axis Operating Output Memory Areas is shown in the
following table.

a = Beginning word of Axis Operating Output Memory Areas specified in

Common Parameters + (Axis No. −1) × 25
I/O Word Bits Category Name Operation Details
Output a 00 to 11 Commands Not used (reserved by These bits are reserved by the ---
(CPU for special the system). system. Do not use.
Unit to 12 functions ERROR RESET Resets (turns OFF) the error 12-6 Error Reset
PCU) status for each axis when this in the PCU’s
bit turns ON. operation manual
13 to 15 Not used (reserved by These bits are reserved by the ---
the system). system. Do not use.
a+1 00 to 10 Inverter Not used (reserved by These bits are reserved by the ---
Parameter the system). system. Do not use.
11 transfer ENTER Applies written data of the 5.4.2 Details of
commands Inverter to operation when this Operation with a
bit turns ON. difference from
Servo Drives
12 WRITE INVERTER Writes data to the Inverter 5-3-1 Writing
PARAMETER from the CPU Unit when this Servo Parameters
bit turns ON. in the PCU’s
operation manual
13 READ INVERTER Reads data from the Inverter 5-3-2 Reading
PARAMETER to the CPU Unit when this bit Servo Parameters
turns ON. in the PCU’s
operation manual
14 SAVE INVERTER Stores all written data to 5.4.2 Details of
PARAMETER Inverter’s non-volatile memory Operation with a
when this bit turns ON. difference from
Servo Drives
15 Not used (reserved by These bits are reserved by the ---
the system). system. Do not use.

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I/O Word Bits Category Name Operation Details
Output a+2 00 Inverter Forward operation Forward running is executed 5.4.2 Details of
(CPU operating while this bit is ON. Operation with a
Unit to 01 commands Reverse operation Reverse running is executed difference from
PCU) while this bit is ON. Servo Drives
02 INV multi-function Executes the function
terminal 3 corresponding to the Inverter’s
multifunction terminal 3.
03 INV multi-function Executes the function
terminal 4 corresponding to the Inverter’s
multifunction terminal 4.
04 INV multi-function Executes the function
terminal 5 corresponding to the Inverter’s
multifunction terminal 5.
05 INV multi-function Executes the function
terminal 6 corresponding to the Inverter’s
multifunction terminal 6.
06 INV multi-function Executes the function
terminal 7 corresponding to the Inverter’s
multifunction terminal 7.
07 INV multi-function Executes the function
terminal 8 corresponding to the Inverter’s
multifunction terminal 8.
(G7 only)
08 External fault (EFO) Brings fault (EFO) while this
bit is ON.
09 Fault reset Resets the fault status when
(not available) this bit turns ON, but this
function is not available,
because Inverter Operating
Commands will be invalid
when any error occurs.
10 INV multi-function Executes the function
terminal 9 corresponding to the Inverter’s
multifunction terminal 9.
(G7 only)
11 INV multi-function Executes the function
terminal 10 corresponding to the Inverter’s
multifunction terminal 10.
(G7 only)
12 INV multi-function Executes the function
terminal 11 corresponding to the Inverter’s
multifunction terminal 11.
(G7 only)
13 INV multi-function Executes the function
terminal 12 corresponding to the Inverter’s
multifunction terminal 12.
(G7 only)
14 Fault history trace Makes the fault history trace
clear clear when this bit turns ON.
15 External BB Makes Base-blocking while
command this bit is ON.
a+3 00 to 03 Operating SEL REF1 Specifies the option command
data for type for Option command
option value 1 of the word a+10.
04 to 07 command SEL REF2 Specifies the option command
data type for Option command
value 2 of the word a+12.
08 to 15 Not used (reserved by These bits are reserved by the
the system). system. Do not use.
a+4 --- --- Not used (reserved by These bits are reserved by the ---
a+5 --- the system). system. Do not use.

10
I/O Word Bits Category Name Operation Details
Output a+6 --- Speed data Speed command Specifies the target speed as 5.4.2 Details of
(CPU for Inverteer value (rightmost the frequency reference for Operation with a
Unit to operating word) forward / reverse operation. difference from
PCU) a+7 --- Speed command Servo Drives
value (leftmost word)
a+8 --- Torque limit Torque (limit) Specifies the torque limit for ---
data for command value forward / reverse operation.
Inverter (rightmost word)
a+9 --- operating Torque (limit)
command value
(leftmost word)
a+10 --- Option Option command Set the command value 5.4.2 Details of
command value 1 (rightmost specified by the SEL REF1, bit Operation with a
data for word) 00 to 03 of the word a+3. difference from
a+11 --- Inverter Option command Servo Drives
operating value 1 (leftmost
word)
a+12 --- Option command Set the command value
value 2 (rightmost specified by the SEL REF2, bit
word) 04 to 07 of the word a+3.
a+13 --- Option command
value 2 (leftmost
word)
a+14 --- --- Not used (reserved by These bits are reserved by the ---
the system). system. Do not use.
a+15 00 to 03 Operating Monitor 1 type Specifies the monitor type for 5.4.2 Details of
data for monitor 1 in the Axis Operation with a
expanded Operating Input Memory difference from
monitoring Areas. Servo Drives
04 to 07 Monitor 2 type Specifies the monitor type for
monitor 2 in the Axis
Operating Input Memory
Areas.
08 to 11 Monitor 3 type Specifies the monitor type for
monitor 3 in the Axis
Operating Input Memory
Areas.
12 to 15 Monitor 4 type Specifies the monitor type for
monitor 4 in the Axis
Operating Input Memory
Areas.
a+16 --- --- Not used (reserved by These bits are reserved by the ---
the system). system. Do not use.
a+17 --- Operating Inverter Parameter Specifies the parameter 5-3 Transferring
data for No. number for the Inverter Servo Parameters
transferring Parameters, same to the in the PCU’s
Inverter MODBUS address, to be operation manual
Parameters written from or read to the
CPU Unit.
a+18 --- Parameter size Specifies the parameter size
for the Inverter Parameters to
be written from or read to the
CPU Unit.
a+19 --- Write data (rightmost Specifies the data to be written 5-3-1 Writing
word) to the Inverter from the CPU Servo Parameters
a+20 --- Write data (leftmost Unit. in the PCU’s
word) operation manual
a+21 --- --- Not used (reserved by These bits are reserved by the ---
to the system). system. Do not use.
a+24

11
5.4.2 Details of Operation with a difference from Servo Drives
• Inverter Parameter transfer commands
ENTER (Word a+1, bit 11)
With Varispeed G7 / F7 Inverter, written parameters are temporarily stored when the
WRITE INVERTER PARAMETER is executed. These parameters are applied to operation
executing ENTER.

ENTER can be executed when the Inverter Parameter Transferring Flag for the
corresponding axis is OFF. ENTER, WRITE INVERTER PARAMETER, READ INVERTER
PARAMETER, and SAVE INVETER PARAMETER cannot be executed on one axis at the
same time. If ENTER is executed while a Inverter Parameter is being transferred, a
Multistart Error (axis error code: 3050) will occur and the ENTER operation will halt.

Inverter Parameter applying starts when the ENTER Bit in the Axis Operating Output
Memory Area turns ON. When executing ENTER, make sure that the ENTER Bit remains
ON until the Inverter Parameter Transferring Flag turns ON. When ENTER execution is
completed, the Inverter Parameter Transferring Flag (word b, bit 14) turns OFF.

Timing Chart ENTER Bit (Word a+1, bit 11)

The Inverter Parameter Transferring
Inverter Parameter Transferring Flag Flag turns ON for at least one cycle
(Word b, bit 14) time when the command is received.

Note With Varispeed V7 Inverter, the ENTER operation is not needed. Written parameters will be
applied to operation immediately when the WRITE INVERTER PARAMETER is executed.

SAVE INVERTER PARAMETER (Word a+1, bit 14)

To store the written parameters to Inverter’s non-volatile memory, SAVE INVERTER
PARAMETER should be executed. One execution of SAVE INVERTER PARAMETER
stores all parameters written to the Inverter’s non-volatile memory.

SAVE INVERTER PARAMETER can be executed when the Inverter Parameter

Transferring Flag for the corresponding axis is OFF. ENTER, WRITE INVERTER
PARAMETER, READ INVERTER PARAMETER, and SAVE INVETER PARAMETER
cannot be executed on one axis at the same time. If SAVE INVERTER PARAMETER is
executed while a Inverter Parameter is being transferred, a Multistart Error (axis error code:
3050) will occur and the SAVE INVERTER PARAMETER operation will halt.

Inverter Parameter saving starts when the SAVE INVERTER PARAMETER Bit in the Axis
Operating Output Memory Area turns ON. When executing SAVE INVERTER
PARAMETER, make sure that the SAVE INVERTER PARAMETER Bit remains ON until
the Inverter Parameter Transferring Flag turns ON. When SAVE INVERTER PARAMETER
execution is completed, the Inverter Parameter Transferring Flag (word b, bit 14) turns
OFF.

Timing Chart SAVE INVERTER PARAMETER Bit

(Word a+1, bit 14)
The Inverter Parameter Transferring
Inverter Parameter Transferring Flag Flag turns ON for at least one cycle
(Word b, bit 14) time when the command is received.

12
• Inverter operating commands
The PCU operates the Inverter running with the Inverter operating commands (Word a+2).
The word is corresponding to the ‘Operation Signals’ data of the MECHATROLINK
command for the Inverter control (INV_CTL). Details for the function of each bit are shown
in the each Inverters’ operation manuals and the MECHATROLINK communications
interface card / unit’s operation manual.

The Busy Flag remains ON while any Inverter operating commands is executed, and turns
OFF when the Inverter operating commands is cleared or any axis error occurs.

Timing Chart Inverter operating

commands (Word a+2) 0001 hex 0002 hex 0000 hex
(Forward operation) (Reverse operation) (No operation: Stopping)
Speed

Time

The Receiving Command Flag will

Receiving Command remains ON for at least one cycle
Flag (Word b, bit 00) time after the change of command
Busy Flag is received.
(Word b, bit 13) After the inverter operation starts,
the Busy Flag remains ON while the
operation command is valid (except
0000(Hex)), for at least one cycle
time.

The Speed command value, the Torque (limit) command value, the Option command
values (specified by the SEL REF1/2 settings) and the Monitor type settings can always be
changed during operation.

If an axis error occurs during Inverter operation, the Inverter operating commands are
cleared PCU internally and the Inverter operation stops. Recovery from the error is done
setting the Inverter operating commands zero (0000 hex) and executing ERROR RESET.

13
• Operating data for option command data
The Option command value 1 (Word a+10, a+11) and 2 (Word a+12, a+13) are specified
by the setting of SEL REF1 (Word a+3, bit 00 to 03) and SEL REF2 (Word a+3, bit 00 to
03) respectively. SEL REF1/2 is to be selected with the following table.

Setting Varispeed G7 / F7 Varispeed V7 Remarks

0 No selection
1 Torque compensation [0.1%]
2 INV Analog FM Terminal Output
-726 to 726 / -11V to 11V
Enabled when H4-01=1F
3 INV Analog AM Terminal Output
-726 to 726 / -11V to 11V
Enabled when H4-04=1F
4 INV Terminal Output
Bit0: Terminal M1-M2
(Enabled when H2-01 = F)
Bit1: Terminal P1
(Enabled when H2-02 = F)
Bit2: Terminal P2
(Enabled when H2-03 = F)
5 to F Not used.
No selection
Not used.
Not used. H4-01 is a parameter on the
Inverter.
Not used. H4-04 is a parameter on the
Inverter.
INV Terminal Output H2-01, H2-02, H2-03, n057,
Bit0: Terminal MA-MB n058, and n059 are
(Enabled when n057 = 18) parameters on the Inverter.
Bit1: Terminal P1
(Enabled when n058 = 18)
Bit2: Terminal P2
(Enabled when n059 = 18)
Not used. Ignored.

Details for the function of each setting are shown in the each Inverters’ operation manuals
and the MECHATROLINK communications interface card / unit’s operation manual.

• Operating data for expanded monitoring

The Expanded Monitoring for Inveters can be selected by the following table.

Setting Varispeed G7 / F7 Varispeed V7 Remarks

Monitor 1, 2 : No selection
0 Monitor 3 : Output Frequency
Monitor 4 : Output Current
Output Frequency [follows O1-03]
1
Torque Reference (U1-09) [0.1%]
2
3 Detected speed from PG counter
Frequency Reference (U1-01)
4
[follows O1-03]
5 INV Analog Input A2 [0.1%]
6 Main circuit DC voltage [1V]
7 Inverter alarm code
8 Inverter warning code
9 Not used.
A INV Analog Input A3 [0.1%]
INV terminal DI input
B
Bit0~7: Input terminal S1~S8
C INV analog input S1 [0.1%]
D PG counter value
E, F Not used.
Monitor 1, 2 : No selection
Monitor 3 : Output Frequency
Monitor 4 : Output Current
Output frequency [follows n035] O1-03 and n035 are
parameters on the Inverter.
Torque Reference (U-08) [0.1%]
Output only in Vector Control
Not used.
Frequency Reference (U-01) O1-03 and n035 are
[follows n035] parameters on the Inverter.
Pulse train Reference RP [0.1%]
Main circuit DC voltage [1V]
Inverter alarm code
Inverter warning code
Not used.
Not used.
INV terminal DI input
Bit0~7: Terminal S1~S7
INV analog input FR [0.1%]
Not used.
Not used. Always 0.

Details for the function of each setting are shown in the each Inverters’ operation manuals
and the MECHATROLINK communications interface card / unit’s operation manual.

14
5.5 Axis Operating Input Memory Area
The Axis Operating Input Memory Areas are allocated inputs for monitoring the status of
axis operations of the Inverter axes that are connected using MECHATROLINK
communications. These include acutual frequency, output current and axis operating
status.

The Axis Operating Input Memory Areas are allocated 25 words for each axis in the CPU
Unit's memory area set in PCU's Common Parameters (Axis Operating Input Memory Area
designation and beginning word of Axis Operating Input Memory Area) same as Servo
Drives.

5.5.1 Axis Operating Input Memory Area Allocations

The memory allocation of the Axis Operating Input Memory Areas is shown in the following
table.

b = Beginning word of Axis Operating Input Memory Areas specified in

Common Parameters + (Axis No. −1) × 25
I/O Word Bits Category Name Function Details
Input b 00 Axis Control Receiving Command ON when the PCU is in the 5.4.2 Details of
(PCU Status Flag process of receiving an Operation with a
to CPU Flags operating command. difference from
Unit) 1: Receiving command Servo Drives
If another operating command
with the same priority level is
started while this flag is ON, a
Multistart Error (axis error
code: 3050) will occur.
The Receiving Command Flag
remains ON (1) for at least
one cycle time, and turns OFF
(0) when the command
reception processing is
completed.
01 to 10 Not used (reserved by Always 0. ---
the system).
11 Warning Flag ON when an axis warning has 12-1 Overview of
occurred. PCU Errors in the
12 Error Flag ON when an axis error has PCU’s operation
occurred. manual
13 Busy Flag ON during axis operation or 5.4.2 Details of
processing. Operation with a
difference from
Servo Drives
14 Inverter Parameter ON during transfer of Inverter 5-3 Transferring
Transferring Flag Parameters. Servo Parameters
in the PCU’s
operation manual
15 Not used (reserved by Always 0. ---
the system).

15
I/O Word Bits Category Name Function Details
Input b+1 00 Inverter Alarm Flag (ALM) 0: No alarm has occurred in Details for each bit
(PCU Status the Inverter. are shown in the
to CPU Flags 1: An alarm has occurred in each Inverters’
Unit) the Inverter. operation manuals
01 Warning Flag 0: No warning has been and the
(WARNG) detected in the Inverter. MECHATROLINK
1: A warning has been communications
detected in the Inverter. interface card /
02 Command Ready 0: Command busy unit’s operation
Flag (CMDRDY) 1: Command ready manual.
03 Baseblock OFF (BB 0: During Base-block
OFF) 1: Base-block released
04 Main Power ON Flag 0: Main Power OFF
(PON) 1: Main Power ON
05 Running Flag (RUNX) 0: Not running
1: Running
06 Zero Speed Flag 0: Zero speed not detected.
(0SP) 1: Zero speed detected.
07 Reverse Flag (REV) 0: In Forward Running
1: In Reverse Running
08 Fault Reset Signal 0: Fault Reset Signal not being
Input Flag (RESET) input.
1: Fault Reset Signal being
input.
09 Speed Conformity 0: Not meeting to the target
Flag (AGREE) speed.
1: Meeting to the target speed.
10 Inverter Ready Flag 0: Inverter not ready
(INV_READY) 1: Inverter ready
11 OPE Fault Flag 0: An OPE error has not
(OPE) occurred.
1: An OPE error has occurred.
12 Recovery from PF 0: Recovered from power loss
Flag (UV_R) condition.
1: Recovered from momentary
power loss condition.
13 Local / Remote 0: Local operation mode
(REMOTE) 1: Remote operation mode
14 Reserved by the Used by the PCU system. ---
15 system.
b+2 --- --- Reserved by the Used by the PCU system. ---
b+3 --- system.
b+4 --- Errors Axis error code Returns the error code for the 12-4 Error Codes
axis error. in the PCU’s
operation manual
and 6.
Troubleshooting

16
I/O Word Bits Category Name Function Details
Input b+5 00 to 03 Expanded Monitor 1 type Indicates the monitor type for 5.4.2 Details of
(PCU monitoring the present monitor 1 (b+10, Operation with a
to CPU b+11). difference from
Unit) 04 to 07 Monitor 2 type Indicates the monitor type for Servo Drives
the present monitor 2 (b+12,
b+13).
08 to 11 Monitor 3 type Indicates the monitor type for
the present monitor 3 (b+6,
b+7).
12 to 15 Monitor 4 type Indicates the monitor type for
the present monitor 4 (b+8,
b+9).
b+6 --- Monitor 3 (rightmost Returns the value for the
word) monitor specified as monitor 3
b+7 --- Monitor 3 (leftmost type in the Axis Operating
word) Output Memory Areas.
b+8 --- Monitor 4 (rightmost Returns the value for the
word) monitor specified as monitor 4
b+9 --- Monitor 4 (leftmost type in the Axis Operating
word) Output Memory Areas.
b+10 --- Monitor 1 (rightmost Returns the value for the
word) monitor specified as monitor 1
b+11 --- Monitor 1 (leftmost type in the Axis Operating
word) Output Memory Areas.
b+12 --- Monitor 2 (rightmost Returns the value for the
word) monitor specified as monitor 2
b+13 --- Monitor 2 (leftmost type in the Axis Operating
word) Output Memory Areas.
b+14 --- Inverter Read data (rightmost Returns the data read to the 5-3-2 Reading
Parameter word) CPU Unit from the Inverter. Servo Parameters
b+15 --- data Read data (leftmost in the PCU’s
word) operation manual
b+16 --- --- Not used (reserved by Always 0. ---
to the system).
b+24

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6. Troubleshooting
When the inveters are connected to the PCU, the following error codes and causes are added to the
original troubleshootings of the PCU. The other errors with the error codes from 0000 to 3099 are same to
the servo drives’ shown in the operation manual of the PCU. And about the ‘MECHATROLINK device
alarm’, the device-specific errors indicated as 40**, the alarms and warnings in Inverters are to be referred
to the operation manual for the Inverters.

• Error Code List (Additional causes)

PCU Common Errors

Indicator status Category Error Error Additional Clearing method Operation
RUN ERC ERH ERM MLK name code probable cause after error
Lit Flash- Not Lit Unde- Scan list MLK 0020 The combination Set and save values of Maintains
ing lit ter- mis- Initiali- of the set values the Transfer Cycle and
MECHATROLINK Communications Errors

mined match zation for the Transfer the Communications

error Cycle and the Cycle in the Common
Communications Parameters that meet to
Cycle set in the the following conditions
PCU's Common and then restart the
Parameters is not PCU;
proper for the - Communications Cycle
Inverters. is 1:
Transfer Cycle may be
from 1 to 8 (ms).
- Communications Cycle
is greater than 1:
Transfer Cycle should
be 2 (ms) or greater.

• Problems and Countermeasures

No. Problem Probable causes Item to check Remedy

1 Inverter cannot be operated
through the MECHATROLINK
communications.
2 Frequency reference cannot be
specified through the
MECHATROLINK
communications.
The MECHATROLINK Varispeed G7/F7: b1-02 setting Select ‘Option Card’ /
communications is not selected for Varispeed V7: n003 setting ‘Communications Card’.
the operation method in the (See 3. Installation and
parameter on Inverter. Wiring.)
The MECHATROLINK Varispeed G7/F7: b1-01 setting Select ‘Option Card’ /
communications is not selected for Varispeed V7: n004 setting ‘Communications Card’.
the frequency reference in the (See 3. Installation and
parameter on Inverter. Wiring.)

18
 Revision History

The following table outlines the changes made to the manual during each revision. Page numbers refer to
the previous version.

Revision code Date Revised content

01 December 2006 Original production

19