15 mechatrolink application module – Yaskawa Sigma II Series SGMVH User Manual

Page 122

5.5 Peripheral Devices

Specifications and Dimensional Drawings of Cables and Peripheral Devices

5-41

5.5.15 MECHATROLINK Application Module

(1) Model : JUSP-NS100 (for MECHATROLINK-I communications)

: JUSP-NS115 (for MECHATROLINK-I/II communications)

(2) Specifications

(3) Dimensional Drawings (JUSP-NS100/NS115)

Item

Details

JUSP-NS100

JUSP-NS115

Applicable SERVOPACK

All SGDH-EB models

SGDH-EB models
(except for 90 kW model)

Installation Method

Mounted on the SGDH SERVOPACK side: CN10.

Basic
Specifications

Power Supply Method

Supplied from the SERVOPACK control power supply.

Power Consumption

2 W

MECHA-
TROLINK Com-
munications

Baud Rate/
Transmission Cycle

4 Mbps / 2 ms

10Mbps/500

μs or more (4Mbps/2ms

when using MECHATROLINK-I)

Command Format

Operation Specification

Positioning using MECHA-
TROLINK-I communications.

Positioning using MECHA-
TROLINK-I/II communications.

Reference Input

MECHATROLINK-I
communications
Commands: Motion commands (posi-

tion, speed), Interpola-
tion commands,
Parameter read/write,
Monitor output

MECHATROLINK-I/II
communications
Commands: Motion commands (posi-

tion, speed), Interpolation
commands, Parameter
read/write, Monitor out-
put

Position Control
Functions

Acceleration/
Deceleration Method

Linear first/second-step, asymmetric, exponential, S-curve

Fully-closed Control

Impossible

Input Signals

Signal Allocation Changes
Possible

Forward/reverse run prohibited, Zero point return deceleration LS
External latch signals 1, 2, 3
Forward/reverse external torque limit

Internal Functions

Position Data Latch
Function

Position data latching is possible using phase C, and external signals 1, 2, 3

Protection

Parameters damage, Parameter setting errors, Communications errors,
WDT errors

LED Indicators

A: Alarm
R: MECHATROLINK-I
Communicating

A: Alarm
R: MECHATROLINK-I/II
Communicating

(24)

CN6A

Units: mm
Approx. mass: 0.2 kg

NS100

142

(100)

(2)

A
R

C
N
6
A

C
N
6
B

C
N
4

Nameplate

CN6B

CN4

FG terminal

Connector

to SERVOPACK

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