SV-NET

CONTROLLER

SV Programmer

Software Manual
■ Introduction

Thank you very much for purchasing the SV-NET Controller.

The SV-NET Controller is a motion controller that is compliant with the Tamagawa Seiki original motion network (SV-NET).

You can architect a compact motion control system by using this product in combination with our SV-NET drivers.

This manual describes how to use the SV Programmer (a programming tool designed specifically for the SV-NET

Controller). The SV Programmer helps you create your own servo systems. Make sure you thoroughly understand the use

and functions of the SV Programmer as well as the techniques behind the product before using it for control of your system.

■ Abbreviations

This manual uses the abbreviations shown in the following table:

Abbreviation Meaning

SV-NET controller or controller SV-NET Controller

SV-NET driver or driver SV-NET driver

Servo motor or motor AC Servo motor

Program SV-NET Controller motion program

■ Manual Number of this Manual

Manual number: MNL000318Y00

■ Revision History

Version Date Item Description Page

1.0 2007/11/21 New

Safety Safety
The item “Technical Personnel Dispatching Service” is added.
Precautions Precautions

Main Form Description of the status bar is changed. Page 4

Controller Setup Description of network configuration is added. Page 42

JOG Operation Description of stop operation from the Tool Pane is deleted. Page 51

Description of the File Pane is added. Page 57

Description of the array variable list is added. Page 66

Descriptions of the Jog Pane and the DIO Pane are added to Pages 76 and
the Subpane. 77
Program Grid Description of starting status monitoring from the Supervision
Pane, Monitor Pane, or Task Pane of the Subpane with the Pages 73 to 75
[Start] button is deleted.
2.0 2008/9/2 “Debug” has been changed to “Debug.” Page 59

A list of monitor variables is added. Page 82

Descriptions of the oscilloscope, X-Y representation, and file

Page 86
are added to the Tool Pane.
Servo Monitor
Description of a pulldown menu is added to the description of Pages 89 and
graphical display of information. 90
Description of setting the Array Variable List window is added
Page 99
as a part of description of program grid window setting.
Utilities
Pages 103 and
Description of label definition is added.
104
Pages 105 and
Description of file handling items is added to the program grid.
106
Menu Items of forward rotation, reverse rotation, and stop operation Pages 114 and
Configuration are deleted from JOG Operation. 121
Descriptions of the oscilloscope and X-Y representation are Pages 116 and
added to the Servo Monitor. 122
■ Safety Precautions

z Warranty

O Period of Warranty
This warranty covers repair or replacement of the product only if the customer contacts us or returns the defective
product within one year after shipment.
O Scope of Warranty
Please note that we are not liable for any quality deterioration of the product resulting from use or storage that differs in
the following manner from that described in this manual, even if the pertinent product is still under warranty:
• The product is used under any condition, in any environment, or by any method other than those described in the
product specifications, manuals, or others.
• The product is modified or repaired by any person other than our service engineers.
• The product is used in a way not originally intended.
• The problem in question could not be predicted with the technology available at the time the product was shipped.
O Limitations of Warranty
• We are not liable for any damage to others arising from our products.
• We are not liable for any results caused by programs prepared by any person other than our representatives.

z Conditions of Use

O This product is designed and manufactured for general industrial applications. It cannot be used with equipment and
systems operated under conditions where there is a risk to life.
O This product is not intended for use in applications which require extremely high reliability.
If this product is used in any of the applications listed below, consult specifications, manuals, or other documents to
narrow your questions and then contact our sales representatives.
Be sure to take necessary safety measures, including implementation of safety circuits to minimize danger in case of a
failure.
• Atomic energy control equipment, spaceships, trains, airplanes, vehicle equipment, medical equipment, safety devices,
and incinerators
• Systems, machines, and equipment that may endanger human life or property
• Facilities that require high reliability such as gas, water, and power utilities, and equipment used for 24-hour continuous
operation
• Outdoor use or use under conditions not described in the manuals or other documents
• Other applications comparable to the above that require high reliability
O We make continuous efforts to improve the quality and reliability of this product. However, there is always a possibility
that this product may malfunction.
For the use of this product, we recommend you take numerous safety measures to prevent a malfunction of this product
from propagating or escalating.
O Program samples and application examples shown in the manuals and other documents are for reference only.
Please make sure of the safety and functions of the systems, machines, and equipment in which this product is to be
used before use.
z Changes to Specifications

The specifications, manuals, data sheets, and other documents for this product may be changed as needed for

improvement of performance, expansion of specifications, or addition of accessories. For the latest technical data, please

contact our sales representatives.

z Upgrading

The software for the main unit of this product may be upgraded for improvement of performance or expansion of

specifications.

Please check that you have the latest software version installed before use. If an update is required, consult our sales

representative.

z Service Limitations

The price of this product does not include fees for dispatching technical personnel or other services.

Consult our sales representative for details if necessary.

z Technical Personnel Dispatching Service

We offer the technical personnel dispatching service for a modest fee to help customers to launch their equipment.

This service covers:

• Adjusting servo gains

• Preparing programs to operate the SV-NET controller

• Explaining how to adjust servo gains

• Explaining how to handle the SV Programmer

It will take some time to initially start equipment or implement a new system.
It is particularly recommended to use our technical personnel dispatching service if you want to implement a new system or

change an existing system.

If you have any questions about service fees or details of the service, please contact our sales representative.
Contents

OUTLINE OF THIS SOFTWARE..............................................................................................................................................1

What Is the SV Programmer? ...............................................................................................................................................1

Software Operating Environment ..........................................................................................................................................2

Starting the SV Programmer .................................................................................................................................................3

Operation ...........................................................................................................................................................................3

MAIN FORM .............................................................................................................................................................................4

Configuration of the Initial Window ........................................................................................................................................4

Main Toolbar..........................................................................................................................................................................4

Form Display Area.................................................................................................................................................................5

Status Bar..............................................................................................................................................................................6

Project File Selection Box .....................................................................................................................................................8

DEVICE SETUP........................................................................................................................................................................9

Device Setup Functions ........................................................................................................................................................9

Description of the Device Setup Window ............................................................................................................................10

[Tool Pane]....................................................................................................................................................................... 11

[Parameter Pane].............................................................................................................................................................12

[Net List] .......................................................................................................................................................................12

[MAC-ID: *] Tab Page [List Display]..............................................................................................................................13

[MAC-ID: *] Tab Page [Category Display].....................................................................................................................17

[SV-NET Driver Information] .....................................................................................................................................17

[Servo FeedBack] .....................................................................................................................................................18

[Control Mode] ..........................................................................................................................................................18

[Servo Command].....................................................................................................................................................20

[Servo Status] ...........................................................................................................................................................22

[Profile Data].............................................................................................................................................................23

[Servo Gain]..............................................................................................................................................................24

[Help Pane] ......................................................................................................................................................................25

CONTROLLER SETUP ..........................................................................................................................................................26

Controller Setup Functions ..................................................................................................................................................26

Description of the Controller Setup Window........................................................................................................................27

[Tool Pane].......................................................................................................................................................................28

[Parameter Pane].............................................................................................................................................................29

[System] Tab Page .......................................................................................................................................................29

[SV-NET Controller Information] ...............................................................................................................................29

 [Memory Switch] .......................................................................................................................................................30

[SV-NET Baudrate] ...................................................................................................................................................31

[MCH Configuration] Tab Page.....................................................................................................................................32

[MCH Cpnfiguration] .................................................................................................................................................32

[Display of Information of Each Axis by Categories] .................................................................................................35

[I/O] Tab Page ..............................................................................................................................................................40

[Task] Tab Page............................................................................................................................................................41

[Network] Tab Page ......................................................................................................................................................42

[List of Parameters] ......................................................................................................................................................46

[Help Pane] ......................................................................................................................................................................48

JOG OPERATION ..................................................................................................................................................................49

JOG Operation Functions....................................................................................................................................................49

Description of the JOG Operation Window..........................................................................................................................50

[Tool Pane].......................................................................................................................................................................51

[JOG Control Pane] .........................................................................................................................................................52

[Servo Status] ...........................................................................................................................................................52

[Alarm Status] ...........................................................................................................................................................52

[Servo Feed Back] ....................................................................................................................................................52

[Speed Level]............................................................................................................................................................52

[Mode] ......................................................................................................................................................................53

[Tool Button]..............................................................................................................................................................53

[Mechanism/IO Monitor Pane] .........................................................................................................................................54

[MCH Status] ............................................................................................................................................................54

[I/O Status]................................................................................................................................................................54

PROGRAM GRID ...................................................................................................................................................................55

Program Grid Functions ......................................................................................................................................................55

Description of the Program Grid Window ............................................................................................................................56

[File Pane] .......................................................................................................................................................................57

Program File Menu (Right Click) ..................................................................................................................................57

Split File Menu (Right Click) .........................................................................................................................................57

[Tool Pane].......................................................................................................................................................................58

[Grid Pane] ......................................................................................................................................................................61

Program Step Grid .......................................................................................................................................................62

Argument List Grid .......................................................................................................................................................63

Variable List Grid..........................................................................................................................................................64

Array Variable List ........................................................................................................................................................66

[Subpane] ........................................................................................................................................................................67

1. Comment Pane ........................................................................................................................................................67

2. Help Pane ................................................................................................................................................................68

 3. Find Pane.................................................................................................................................................................69

·Toolbar .....................................................................................................................................................................69

·Grid ..........................................................................................................................................................................69

·Searchable ranges...................................................................................................................................................69

4. Output Pane .............................................................................................................................................................70

5. Error Information Pane .............................................................................................................................................71

·Grid ..........................................................................................................................................................................71

6. Gain Pane ................................................................................................................................................................72

·Toolbar .....................................................................................................................................................................72

·Slider........................................................................................................................................................................72

7. Watch Pane..............................................................................................................................................................73

·Toolbar .....................................................................................................................................................................73

·Grid ..........................................................................................................................................................................73

8. Monitor Pane............................................................................................................................................................74

·Toolbar .....................................................................................................................................................................74

9. Task Pane ................................................................................................................................................................75

·Task monitor ............................................................................................................................................................75

10. DIO Pane ...............................................................................................................................................................76

11. JOG Pane...............................................................................................................................................................77

·Speed Level .............................................................................................................................................................77

·Mode........................................................................................................................................................................77

·Tool Button...............................................................................................................................................................77

Details of the Edit Functions of the Program Grid............................................................................................................78

Operations Disabled in Debug Mode ...............................................................................................................................81

Monitor Variable...............................................................................................................................................................82

Shortcut Keys ..................................................................................................................................................................83

SERVO MONITOR .................................................................................................................................................................84

Servo Monitor Functions .....................................................................................................................................................84

Description of the Servo Monitor Window ...........................................................................................................................85

[Tool Pane].......................................................................................................................................................................86

[Servo Monitor Pane] .......................................................................................................................................................88

1. When the ［View Form］ button is clicked.............................................................................................................88

2. When the ［View Form］ button is clicked.............................................................................................................89

[Mechanism/IO Monitor Pane] .........................................................................................................................................92

[MCH Status] ............................................................................................................................................................92

[I/OStatus].................................................................................................................................................................92

UTILITIES...............................................................................................................................................................................93

Utility Functions ...................................................................................................................................................................93

Description of the Utility Window .........................................................................................................................................94

 Environment.....................................................................................................................................................................95

·General Setting ........................................................................................................................................................95

·Controller Configuration ...........................................................................................................................................96

Setting the Device Setup Window ................................................................................................................................97

Setting the SVC Setup Window....................................................................................................................................98

Setting the Program Grid Window................................................................................................................................99

Parameter Writing ......................................................................................................................................................100

Program Writing .........................................................................................................................................................101

Manufacturing Menu ......................................................................................................................................................102

Label Setup ...................................................................................................................................................................103

MCH Name Setting.................................................................................................................................................103

Task Name Setting .................................................................................................................................................103

I/O Name Setting ....................................................................................................................................................104

Axis Name Setting ..................................................................................................................................................104

MENU CONFIGURATION ....................................................................................................................................................105

Menu Bar Functions ..........................................................................................................................................................105

File.................................................................................................................................................................................105

View...............................................................................................................................................................................108

Edit ................................................................................................................................................................................ 110

Debug ............................................................................................................................................................................ 111

Tool ................................................................................................................................................................................ 112

<During Device Setup Operation> ............................................................................................................................. 112

<During Controller Setup Operation>......................................................................................................................... 113

<During JOG Operation> ........................................................................................................................................... 114

<During Program Grid Operation> ............................................................................................................................. 115

<During Servo Monitor Operation> ............................................................................................................................ 116

Window.......................................................................................................................................................................... 118

Help ............................................................................................................................................................................... 119

Toolbar Functions ..............................................................................................................................................................120

Device Setup Toolbar.....................................................................................................................................................120

Controller Setup Toolbar ................................................................................................................................................120

JOG Operation Toolbar ..................................................................................................................................................121

Program Grid Toolbar (1/2) ............................................................................................................................................121

Program Grid Toolbar (2/2) ............................................................................................................................................121

Servo Monitor Toolbar....................................................................................................................................................122

Outline of This Software

What Is the SV Programmer?

The SV Programmer is PC application software that is connected to the SV-NET controller through USB.

The SV Programmer has the following functions:

• Function to handle the parameters of the SV-NET driver

• Function to handle parameters of the SV-NET controller

• Motor test-run function

• Programming function

• Various monitoring functions

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Copyright© 2008 Tamagawa Seiki CO.,LTD

Software Operating Environment

The following is a description of this software:

PC PC/AT-compatible machine

Supported OS Windows2000/XP/Vista

Required memory 256 MB or more

Hard disk 500 MB or more

Communication USB

Required software Microsoft .NET Framework 2.0

* Notes:

1. If Microsoft .NET Framework 2.0 is not installed on your PC, it is automatically installed by the installer.

If you do not want the automatic installation, download Microsoft .NET Framework 2.0 from the Microsoft Web site for

installation on your PC.

2. If this application is executed on Windows Vista, do not use the Windows Aero function.

→ Otherwise, some functions including the monitor function may not provide proper display depending in the environment of

your PC.

*Note: For the Windows Aero function, refer to the Windows Vista manual.

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Copyright© 2008 Tamagawa Seiki CO.,LTD

Starting the SV Programmer

The following is a description of how to start this software:

Operation
1. Select [SV-NET Controller Software]-[SV Programmer] from the Start menu.

2. A splash window is displayed.

3. “ON LINE” is displayed at USB Status in the status bar.

4. A project file selection box is displayed.

5. This software is now usable.

* Note:

If “ON LINE” is displayed at USB Status in the status bar, the SV-NET controller is not connected.

In this status, some functions cannot be used.

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Copyright© 2008 Tamagawa Seiki CO.,LTD

Main Form

When this software is started, the main toolbar and the status bar are displayed in the initial window. When you click a

button in the main toolbar, the associated window is displayed in the form display area.

Configuration of the Initial Window

Main Toolbar

When you click a button in the main toolbar, the associated form window is started.

[Device Setup] button

Starts [Device Setup], which allows you to reference and set parameters of the SV-NET driver.

[Controller Setup] button

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Copyright© 2008 Tamagawa Seiki CO.,LTD

 Starts [Controller Setup], which allows you to reference and set parameters of the SV-NET controller.

[Jog Operation] button

Starts [Jog Operation], which performs a test run of the servo motor.

[Program Grid] button

Starts [Program Grid], which creates, edits, and executes a program.

[Servo Monitor] button

Starts [Servo Monitor], which monitors the feedback data of the SV-NET driver and the status of the SV-NET controller.

[Utility] button

Starts [Utility], which makes display settings and operates special functions of each window.

Form Display Area

The form display area is a client area where a form window is displayed.

When you click a button in the main toolbar, the associated form is displayed.

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Copyright© 2008 Tamagawa Seiki CO.,LTD

Status Bar

The status bar displays the execution status of this software as the status.

[USB Status]
Displays the connection status between the PC and the SV-NET controller.

When the two are being connected, “ON LINE” is displayed on a green background.

When the two are not connected, “OFF LINE” is displayed on a gray background.

[Controller Type]
Displays the controller type.

[Controller Version]
Displays the controller version.

[Override]
Displays the present speed override value.

[Ready Alarm Status]

Displays “Ready” on a light blue background if no alarm exists while the PC and the SV-NET controller are being

connected.

Blinks “Alarm” on a pink background if an alarm exists.

[Task Status]
Displays “RUN” on a yellow background when a task is being executed.

[Debug Status]
Displays “NORMAL” if a task is executed in the normal mode; displays “DEBUG” if a task is executed in the debug mode.

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Copyright© 2008 Tamagawa Seiki CO.,LTD

[Progress Bar]
Indicates the progress of communication with the SV-NET controller.

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Copyright© 2008 Tamagawa Seiki CO.,LTD

Project File Selection Box

Selects whether to create a new project file or to read a saved project file. In the project file, the window configurations

changed by the user and the folders containing the program files are recorded.

* You can operate each function of the main toolbar with no project file selected.

You do not necessarily create a project file.

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Copyright© 2008 Tamagawa Seiki CO.,LTD

Device Setup
You can reference and set parameters of the SV-NET driver.

Device Setup Functions

• Function to obtain SV-NET controller connection information and parameters

1. Searches for the drivers connected to the SV-NET controller.

2. Obtains the parameters of only the specified SV-NET driver.

3. Obtains the parameters of the SV-NET drivers of all axes at a time.

• Function to manage SV-NET driver parameter files

1. Obtains parameters from a text file.

2. Saves parameters in a text file.

3. Saves parameters in the SV-NET driver.

• Switch Data Type Display function

1. Displays parameter values in decimal or hexadecimal notation.

• Switch Parameter Display function

1. Displays the parameters in a list.

2. Displays parameters by categories.

• Print function
1. Prints the parameter list on the printer.

2. Displays the preview of a print image.

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Copyright© 2008 Tamagawa Seiki CO.,LTD

Description of the Device Setup Window

The configuration of the Device Setup window is as follows:

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Copyright© 2008 Tamagawa Seiki CO.,LTD

[Tool Pane]
The following table describes each tool button used for device setup.

Group Button Description of function

Search Starts communication with the SV-NET controller and displays the

number of presently connected axes.

Obtains the parameters from all the connected SV-NET drivers.

Obtains the parameters from the selected SV-NET driver.

Writes all the parameters to the selected SV-NET driver. *Note:

File Reads a parameter file.

Saves a parameter file.

Prints a parameter list on the printer.

Displays the print image of parameters.

Saves parameters in the flash memory of the SV-NET driver.

Data Displays the parameter values in decimal or hexadecimal notation.

View Displays all the parameters in a list.

Displays parameters by categories.

* Note:

When you click the [Write One] button, all parameters with a rewritable data ID are changed.

Make sure that all the parameters displayed in the list are correct before clicking the [Write One] button.

-> List of All Parameters Including Writable Parameters

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Copyright© 2008 Tamagawa Seiki CO.,LTD

[Parameter Pane]
This section describes the contents of the parameter pane.

[Net List]

This page displays the product information of the presently connected SV-NET driver.

When you click a specific “Device (No.) ” the detailed data of that SV-NET driver is displayed.

Outline of Driver Product Information

＜MAC-ID＞

MAC-ID number of the SV-NET driver

＜Device＞

Device number of the device

＜Product＞

Product model of the SV-NET driver

＜Revision＞

Software version of the SV-NET driver

＜Serial＞

Serial number of the SV-NET driver

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Copyright© 2008 Tamagawa Seiki CO.,LTD

[MAC-ID: *] Tab Page [List Display]

This page displays the parameter list for each MAC-ID number set in the SV-NET driver.

Outline of Parameters
＜Data ID＞

Displays the parameter ID numbers.

＜Data Name＞

Displays the parameter names.

＜Data Value＞

Displays the parameter set values.

＜Data Type＞

Switches the notation of parameter values between decimal and hexadecimal.

(Unchecked: Decimal, Checked: Hexadecimal)

＜Data Length＞

Displays the length of each parameter in bytes.

＜Write Enable＞

“O” indicates that the parameter is rewritable; “x” indicates that the parameter is not rewritable.

＜Save Enable＞

“O” indicates that the parameter can be saved in the flash memory; “x” indicates that the parameter cannot be saved in the

flash memory.
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Copyright© 2008 Tamagawa Seiki CO.,LTD

* Note:

The tab text on the [MAC-ID: *] Tab Page contains the MAC-ID numbers set in the SV-NET driver.

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Copyright© 2008 Tamagawa Seiki CO.,LTD

List of All Parameters Including Writable Parameters

ID Parameter name

50 Kp1

51 Kv1

52 Ki1

53 LPF_f

54 NF_f

55 NF_d

56 Kcp1

57 Kci1

58 Phase-Advance Gain

59 Load Inertia

60 Kp2

61 Kv2

62 Ki2

70 Position Resolution_n

71 Position Resolution_m

72 Reference Direction

73 Position Feedback Select

74 Position Instruction Select

75 Velocity Instruction Select

76 Torque Instruction Select

77 InPosition Signal Range

78 Smoothing Function Select

79 Smoothing Time Constant

80 Gain Change Select

81 Gain Change Point_H

82 Gain Change Point_L

83 Soft Limit Select

84 Positive Position Limit

85 Negative Position Limit

86 Positive Current Limit

87 Negative Current Limit

88 Velocity Limit

90 Homing Type

91 Preset Value

92 Homing Start Direction

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Copyright© 2008 Tamagawa Seiki CO.,LTD

93 Homing Velocity

94 Creep Velocity

95 Bump Time

96 Bump Torque

100 Parameter IN-1

101 Parameter IN-2

102 Parameter IN-3

103 Parameter IN-4

104 Parameter IN-5

105 Parameter IN-6

110 Parameter OUT-1

111 Parameter OUT-2

118 Monitor1

119 Monitor2

120 Pulse Input Mode

121 Pulse Input Resolution_n

122 Pulse Input Resolution_m

130 Analog Velocity Scale

131 Analog Current Scale

140 Abs Mode

141 Servo Select

143 Servo Off Delay

145 Tuning-KV

146 Tuning-KI

147 Brake off Delay

148 Enable Off Time

200 Over Load

201 Over Velocity

202 Alarm Pulse1

203 Alarm Pulse2

204 Over Temp

206 Low Voltage

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Copyright© 2008 Tamagawa Seiki CO.,LTD

[MAC-ID: *] Tab Page [Category Display]
This page displays the parameters by categories for each MAC-ID number set in the SV-NET driver.

[SV-NET Driver Information]

Displays the product information of the driver.

＜MAC-ID＞

Displays the MAC-ID of the driver. If the rotary DIP switch is set to any of the positions other than [0], the set value of the

switch is displayed.

＜Device Code＞

Displays the type of the connected device.

＜Product Code＞

Displays the model of the connected device.

＜Revison＞

Displays the revision of the connected device.

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Copyright© 2008 Tamagawa Seiki CO.,LTD

＜Serial Number＞

Displays the serial number of the connected device.

[Servo FeedBack]
Displays the feedback information of the driver.

＜Position＞

Displays the present position of the driver (unit: pulse).

＜Velocity＞

Displays the present speed of the driver (unit: rpm).

＜Current＞

Displays the present electric current of the driver (unit: 0.01 A).

[Control Mode]
Changes the control mode for the driver.

＜Position Control＞

Sets the driver to the position control mode.

＜Velocity Control＞

Sets the driver to the speed control mode.

＜Torque Control＞

Sets the driver to the electric current control mode.

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Copyright© 2008 Tamagawa Seiki CO.,LTD

＜Auto Tuning＞

Sets the driver to the auto-tuning mode.

If settings are changed in the Servo ON status, tuning starts automatically.

＜No Select＞

Sets the driver to a mode other than the above.

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Copyright© 2008 Tamagawa Seiki CO.,LTD

[Servo Command]
You can set commands to the driver by clicking the checkboxes.

＜Servo On＞

Turns the servo ON.

＜Clear Alarm＞

Clears the driver alarm.

＜Smooth Stop＞

Decelerates and stops the motor rotation.

＜Hard Stop＞

Immediately stops the motor rotation.

＜Accel Limit On＞

Enables the acceleration/deceleration function in the speed control mode.

＜Direction＞

Changes the rotation direction.

＜Clear P-error＞

Clears the position deviation counter. (This counter is used when pulse strings are input.)

＜Position Reset＞

Resets the position information.

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Copyright© 2008 Tamagawa Seiki CO.,LTD

* Supplementary information about “Servo Command”
“Servo Command” contains items to which a function is added that turns those items OFF automatically after their

checkboxes are checked.

These items are [Clear Alarm], [Clear P-error], and [Position Reset]. Since these items need not always be turned ON, the SV

Programmer turns them OFF automatically after data is transferred to the driver.

The items [Smooth Stop], [Hard Stop], and [Accel Limit On] turn ON or OFF automatically when you click the [Stop], [Set], or

[Start] button on [Command Data] and [Profile Data] described in the next section.

[Stop] button: When you click this button, [Smooth Stop] and [Accel Limit On] turn ON automatically.

[Set] button: When you click this button, [Accel Limit On] turns ON automatically; [Smooth Stop] and [Hard Stop] turn OFF

automatically.

[Start] button: When you click this button, [Smooth Stop] and [Hard Stop] turn OFF automatically.

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Copyright© 2008 Tamagawa Seiki CO.,LTD

[Servo Status]
Displays the servo status. The red steady light indicates the Status ON status.

＜Servo On＞

Turns the status ON during Servo ON.

＜Profile＞

Turns the status ON while profile operation is in progress.

＜InPosition＞

Turns the status ON when in-position is achieved.

＜Fault＞

Turns the status ON when an alarm is detected.

＜Forward Limit＞

Turns the status ON when the forward direction soft limit is reached.

＜Reverse Limit＞

Turns the status ON when the reverse direction soft limit is reached.

＜Torque Limit＞

Turns the status ON when the torque limit is reached.

＜Velocity Limit＞

Turns the status ON when the speed limit is reached.

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Copyright© 2008 Tamagawa Seiki CO.,LTD

[Profile Data]
Sets the profile operation. The profiling status of the servo status remains ON while the profile operation is in progress.

＜TGT Position＞

Sets the target position (ID:32) of the profile operation (unit: pulse).

＜TGT Velocity＞

Sets the target speed (ID:33) of the profile operation (unit: rpm).

＜Acceleration＞

Sets the acceleration (ID:34) of the profile operation (unit: 10 rpm/sec).

The value of ID:34 is used for both acceleration and deceleration of profile operation.

[Start] button: Starts the profile operation.

[Stop] button: Stops the profile operation.

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Copyright© 2008 Tamagawa Seiki CO.,LTD

[Servo Gain]
Sets the servo gains.

＜Kp1＞

Sets the position loop proportional gain 1 [1/s].

* The unit [1/s] applies when the load inertia is set properly.

＜Kv1＞

Sets the speed loop proportional gain 1 [1/s].

＜Ki1＞

Sets the speed loop integral gain 1 [1/s].

＜Load＞

Sets the load inertia [g•cm2].

＜LPF_f＞

Sets the lowpass filter frequency [Hz].

＜NF_f＞

Sets the notch filter center frequency [Hz].

＜NF_d＞

Sets the notch filter attenuation.

[Read] button: Sets the present servo gain values to the driver.

[Set] button: Sets the present servo gain values to the driver.

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Copyright© 2008 Tamagawa Seiki CO.,LTD

[Help Pane]
Descriptions of the parameters selected in the List of Parameters are displayed.

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Copyright© 2008 Tamagawa Seiki CO.,LTD

Controller Setup

You can reference and set parameters of the SV-NET controller.

Controller Setup Functions

• Function to start SV-NET controller connection and obtain SV-NET controller parameters
1. Starts connection with the SV-NET controller.

2. Obtains the parameters of the SV-NET controller.

• Function to manage SV-NET controller parameter files

1. Obtains parameters from a text file.

2. Saves parameters in a text file.

3. Saves parameters in the SV-NET controller.

• Switch Data Type Display function

1. Displays the parameter values in decimal or hexadecimal notation.

• Switch Parameter Display function

1. Displays the parameters in a list.

2. Displays parameters by categories.

• Print function
1. Prints the parameter list on the printer.

2. Displays the preview of a print image.

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Copyright© 2008 Tamagawa Seiki CO.,LTD

Description of the Controller Setup Window

The configuration of the Controller Setup window is as follows:

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Copyright© 2008 Tamagawa Seiki CO.,LTD

[Tool Pane]
The following table describes each tool button used for controller setup.

Group Button Description of function

Search Starts communication with the SV-NET controller

and obtains the controller product information.

Obtains parameters from the SV-NET controller.

Reads parameters to the SV-NET controller. *Note

File Reads a parameter file.

Saves a parameter file.

Prints a parameter list on the printer.

Displays the print image of a parameter list.

Saves parameters in the flash memory of the

SV-NET controller.

Data Displays parameter values in decimal or

hexadecimal notation.

View Displays all the parameters in a list.

Displays parameters by categories.

* Note:

When you click the [Write All] button, all parameters with a rewritable data ID are changed.

Make sure that all the parameters displayed in the list are correct before clicking the [Write All] button.

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Copyright© 2008 Tamagawa Seiki CO.,LTD

[Parameter Pane]
This section describes the contents of the parameter pane.

[System] Tab Page

[SV-NET Controller Information]

This tag page displays the product information of the SV-NET controller.

Outline of SV-NET Controller Product Information

＜Hardware-ID＞

Displays the product type of the SV-NET controller.

＜Software-ID＞

Displays the software ID of the SV-NET controller.

＜Version＞

Displays the software version of the SV-NET controller.

＜Model Number＞

Displays the product model of the SV-NET controller.

＜Serial Number＞

Displays the serial number of the SV-NET controller.

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Copyright© 2008 Tamagawa Seiki CO.,LTD

[Memory Switch]
You can reference and set the memory switch of the SV-NET controller.

The memory switch is used to determine the operation to be started after the SVC is powered on.

Items other than “Auto run task number 0” are inaccessible.

Outline of Each Item

＜Auto run task number 0＞

Executes Task 0 automatically on startup of the SV-NET controller.

The setting of the memory switch must be saved to flash memory.

＜Read＞

Obtains the memory switch data.

＜Set＞

Sets the memory switch data.

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Copyright© 2008 Tamagawa Seiki CO.,LTD

[SV-NET Baudrate]
Sets the baud rates for the SV-NET controller.

Outline of Each Item

<SV-NET CH1>

Sets the baud rate for SV-NET Channel 1.

The baud rate options are 250 kbps, 500 kbps, and 1 Mbps.

The default value is 1 Mbps.

* Note:
The default baud rate of the SV-NET driver is 1 Mbps.

Communication is disabled if the baud rate is changed.

Ordinarily, the baud rate need not be changed.

<SV-NET CH2>

Sets the baud rate for SV-NET Channel 2.

The baud rate options are 250 kbps, 500 kbps, and 1 Mbps.

The default value is 250 Mbps.

Some SV-NET controller models do not support SV-NET Channel 2.

＜Read＞

Obtains the SV-NET baud rate value.

＜Set＞

Sets the SV-NET baud rate value.

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Copyright© 2008 Tamagawa Seiki CO.,LTD

[MCH Configuration] Tab Page

[MCH Cpnfiguration]
This tag page is used to set the mechanism configuration.

[MCH Type / Max Axis]

＜MCH Type＞

Mechanism type (0: Not used; 1: Simple mechanism)

This item cannot be set.

＜Max Axis＞

Sets the maximum number of axes permitted to belong to the mechanism.

This item cannot be set.

[Axis Number]
Sets the driver axis number for an axis that belongs to the mechanism.

The driver axis number is different from the MAC-ID. This item cannot be set.

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Copyright© 2008 Tamagawa Seiki CO.,LTD

[Emergency Limit]
Sets the emergency stop limit.

＜Limit Action＞

Sets the operation after stop caused by the emergency stop limit. Select any of the following operation options:

[Options]

Ignore

Smooth

Hard

Smooth2

Hard2

Alarm + Smoth

Alarm + Hard

Alarm + Smooth2

Alarm + Hard2

＜DIO Number＞

Sets the DIO number to which the emergency stop limit is assigned.

＜LS Number＞

Sets the LS number to which the emergency stop limit is assigned by a bit pattern.

[Starting Home Mode]

Sets the origin mode at power-on.

＜Home Mode＞

Select any of the following mode options:

[Options]

Home

Not Home

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Copyright© 2008 Tamagawa Seiki CO.,LTD

[Argument Check Level]
Sets the move to be performed if 0 is given as the argument for speed or time.

＜Level＞

Select any of the following options:

[Options]

Ignore

Warning

Alarm + Smooth

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Copyright© 2008 Tamagawa Seiki CO.,LTD

[Display of Information of Each Axis by Categories]
This window is used to set each axis belonging to the mechanism.

[Mortor Type]
＜Sensor Pulse＞

Sets the number of encoder pulses per rotation of the motor.

＜Max Speed＞

Sets the maximum speed value (unit: rpm) for the motor.

[ACC/DEC]
＜ACC/DEC Time1＞

Sets the length of the 1st acceleration/deceleration buffer (unit: msec).

＜ACC/DEC Time2＞

Sets the length of the 2nd acceleration/deceleration buffer (unit: msec).

[Axis Type]
＜Axis Type＞

Sets the axis type.

The instruction units are mm for the linear-motion axis and deg for the rotation axis.

Select any of the following options:

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Copyright© 2008 Tamagawa Seiki CO.,LTD

 [Options]

Linear

Rotation

Linear2

Rotation2

＜Pulse Rate_n＞

Sets the numerator value (unit: deg or mm) for the pulse rate.

＜Pulse Rate_d＞

Sets the denominator value (unit: pulse) for the pulse rate.

＜Velocity Unit＞

Sets the speed unit.

Select any of the following options:

[Options]

0.01%

[deg/sec]

Rpm

* A speed unit of 0.01% is based on the set value for “Max Speed” of the motor type.

[Speed Limit]
＜Limit Action＞

Sets the move to be performed when the speed limit is reached.

Select any of the following options:

[Options]

Ignore

Smooth Stop

Hard Stop

Clamp

Warning + Clamp

Alarm + Smooth Stop

Alarm + Hard Stop

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Copyright© 2008 Tamagawa Seiki CO.,LTD

＜Speed Limit＞

Sets the speed limit (unit: speed unit).

＜HEX＞

Displays the value in hexadecimal notation.

[Positive Soft Limit]

＜Limit Action＞

Sets the move to be performed when the forward direction soft limit is reached.

Select any of the following options:

[Options]

Ignore

Smooth Stop

Alarm + Smooth Stop

＜+Soft Limit＞

Sets the forward direction soft limit (unit: instruction unit).

[Negative Soft Limit ]

Limit Action＞

Sets the move to be performed when the reverse direction soft limit is reached.

Select any of the following options:

[Options]

Ignore

Smooth Stop

Alarm + Smooth Stop

＜-Soft Limit＞

Sets the reverse direction soft limit (unit: instruction unit).

[Infinity Reset]
＜Infinity Reset＞

Sets the coordinate reset value for an infinite length axis. The setting is valid if the axis type is set to infinite rotation axis or

infinite linear-motion axis.

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Copyright© 2008 Tamagawa Seiki CO.,LTD

[Positive Hard Limit]
＜Limit Action＞

Sets the move to be performed when the forward direction stroke limit is reached.

Select any of the following options:

[Options]

Ignore

Smooth Stop

Hard Stop

Alarm + Smooth Stop

Alarm + Hard Stop

＜DIO Number＞

Sets the DIO number to which the forward direction stroke limit is assigned.

＜LS Number＞

Sets the LS number to which the forward direction stroke limit is assigned by a bit pattern.

[Negative Hard Limit]

＜Limit Action＞

Sets the move to be performed when the reverse direction stroke limit is reached.

Select any of the following options:

[Options]

Ignore

Smooth Stop

Hard Stop

Alarm + Smooth Stop

Alarm + Hard Stop

＜DIO Number＞

Sets the DIO number to which the reverse direction stroke limit is assigned.

＜LS Number＞

Sets the LS number to which the reverse direction stroke limit is assigned by a bit pattern.

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Copyright© 2008 Tamagawa Seiki CO.,LTD

[Read]
Obtains the data of each axis.

[Set]
Sets the data for each axis.

* Note:

The axis number indicated at the top of this window is the axis number in the mechanism.

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Copyright© 2008 Tamagawa Seiki CO.,LTD

[I/O] Tab Page
This tab page displays the I/O information.

＜Label [A]＞

Sets inputs to contact A.

Clicking this label causes contacts A and B to switch.

＜Label [B]＞

Sets inputs to contact B.

Clicking this label causes contacts A and B to switch.

＜Read＞

Obtains the I/O information.

＜Set＞

Sets the I/O information.

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Copyright© 2008 Tamagawa Seiki CO.,LTD

[Task] Tab Page
This tag page displays the task information of each axis.

＜Local Variable＞

Displays the number of local variables available for the task.

＜Stack Size＞

Displays the number of stack sizes available for the task.

＜Alarm Level＞

Sets the task stop operation to be performed when an alarm is issued.

Select either of the following options:

[Options]

Stop.

Run

＜Read＞

Obtains the task information.

＜Set＞

Sets the task information.

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Copyright© 2008 Tamagawa Seiki CO.,LTD

[Network] Tab Page
This tab page is used to set the RS232C communication with the connected device.

RS232C Basic Setup

Makes the basic settings for RS232C communication with the connected device.

＜Baudrate＞

Sets the communication speed.

[Settable Speeds]

9600 bps/19200 bps/38400 bps/57600 bps

＜Data Bit＞

Sets the data bits.

[Options]

8bit

7bit

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Copyright© 2008 Tamagawa Seiki CO.,LTD

＜Stop Bit＞

Sets the stop bit(s).

[Options]

1bit

2bit

＜Parity＞

Sets the parity.

[Options]

none

odd

even

＜Alarm Action＞

Sets the operation to be performed when an alarm is issued.

[Options]

Error happened, Not stop RS-232C communication

Error happened, Stop RS-232C communication

＜Protocol Type＞

Sets the communication protocol with the connected device.

[Options]

No Connect Equipment

Digital Memory Link (ASCII 1:1)

Keyence serial communication ASCII

Keyence serial communication Binary

MITSUBISHI GOT-A900 Type1

MITSUBISHI GOT-A900 Type2

Computer Link Type1

Computer Link Type4

＜Time Out＞

Sets the wait time (msec) until an alarm is issued after communication is disconnected.

＜Response Wait＞

Sets the reception wait time (msec).

This item must be set when the communication type is the computer link protocol.

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Copyright© 2008 Tamagawa Seiki CO.,LTD

RS232C Auto Communication Setting
Makes the settings for automatic reading and writing to and from the device area of the connected device.

＜Auto Mode＞

Sets the automatic send/receive mode.

[Options]

Read/Write Always reads and writes to and from the specified device area of the connected device.

Read Always only reads from the specified device area of the connected device.

Write Always only writes to the specified device area of the connected device.

＜RS232C Device Read Top Address＞

Sets the first address of the connected device at which reading begins.

＜RS232C Device Write Top Address＞

Sets the first address of the connected device at which writing begins.

＜Data Number＞
Sets the number of data items to be read and written per communication session.

＜Repeat Number＞

Sets how many times read and write are repeated.

The data amount calculated by ＜Data Number＞ x ＜Repeat Number＞ is the total amount of read and written data.

＜Network Variable Read Top Address＞

Sets the starting address of the destination where the network variables are read at the time of data reading.

＜Network Variable Write Top Address＞

Sets the starting address of the source where the network variables are written at the time of data writing.

＜Com Interval＞

Sets the communication interval (msec).

＜Device Number1, Device Number2＞

These items are used by the computer link protocol.

Example: 1st character: D (0x44), 2nd character: not used

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Copyright© 2008 Tamagawa Seiki CO.,LTD

＜Read＞

Obtains the task information.

＜Set＞

Sets the task information.

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Copyright© 2008 Tamagawa Seiki CO.,LTD

[List of Parameters]

Displays a list of the SV-NET controller parameters.

Outline of Parameters
＜Class name＞

Displays the parameter class names.

Example: SVD_1 = Axis 1 of the driver, MCH_1 = Mechanism 1

＜Class ID＞

Displays the class IDs of the parameters.

＜Group ID＞

Displays the group IDs belonging to the parameter classes.

<ID>

Displays the item IDs in the group IDs.

＜Data Name＞

Displays the parameter names.

＜Data Value＞

Displays the parameter set values.

＜Data Type＞

Switches the notation of parameter values between decimal and hexadecimal.

(Unchecked: Decimal, Checked: Hexadecimal)

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Copyright© 2008 Tamagawa Seiki CO.,LTD

＜Write Enable＞

“O” indicates that the parameter is rewritable; “x” indicates that the parameter is not rewritable.

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Copyright© 2008 Tamagawa Seiki CO.,LTD

[Help Pane]

When you place the mouse pointer on a group box, description of the associated parameter is displayed.

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Copyright© 2008 Tamagawa Seiki CO.,LTD

JOG Operation

This window is used to perform a test run of the motor after the parameters are set by device setup and controller setup.

JOG Operation Functions

• SV-NET controller connection

1. Searches for the drivers connected to the SV-NET controller and displays JOG control for each of the connected axes.

• JOG operation function

1. Executes JOG operation (constant-speed continuous feed) for all axes.

2. Executes Servo ON, Servo OFF, and Servo FREE for all axes.

• Speed override function

1. Executes speed override in the range of 0% to 100%.

* The rpm of the motor is changed with respect to the reference rpm.

• Switch JOG Control Display function

1. Switches the JOG control display for all axes and that for each axis.

• JOG control function

1. Executes JOG operation (constant-speed continuous feed) for each axis.

2. Executes step operation (fixed-distance feed) for each axis.

3. Executes Servo ON and Servo OFF for each axis.

4. Executes Reset Alarm for each axis.

5. Executes Reset Position for each axis.

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Copyright© 2008 Tamagawa Seiki CO.,LTD

Description of the JOG Operation Window

The configuration of the JOG Operation window is as follows:

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Copyright© 2008 Tamagawa Seiki CO.,LTD

[Tool Pane]
The following table describes each tool button used for JOG operation:

Toolbar group Button Description of function

Search Starts communication with the SV-NET controller and displays

the number of currently connected axes.

CMD Executes Servo ON for all axes.

Executes Servo OFF for all axes.

Executes Servo FREE for all axes.

Executes Reset Alarm for all axes.

JOG Executes JOG operation in forward direction for all axes.

Executes JOG operation in reverse direction for all axes.

Override Executes speed override for all axes.

View Displays JOG control for all axes in a list.

Displays JOG control for each axis in tabular form.

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Copyright© 2008 Tamagawa Seiki CO.,LTD

[JOG Control Pane]
The JOG operation information pane displays JOG control for each of the axes connected to the SV-NET controller.

[Servo Status]
Displays the servo status of the SV-NET driver.
Status name Description of status ON OFF
Servo On Servo ON „ „
Profile Profile operation is in progress. „ „
In Position In-position „ „
Fault An alarm is detected. „ „
Foward Limit The forward direction soft limit is detected. „ „
Reverse Limmit The reverse direction soft limit is detected. „ „
Torque Limit The torque limit is detected. „ „
Velocity Limit The speed limit is detected. „ „

[Alarm Status]
Displays the alarm status of the SV-NET driver.

[Servo Feed Back]

Displays the servo feedback information of the SV-NET driver.
Feedback name Feedback information
Position Present position
Velocity Present speed
Current Present electric current

[Speed Level]
Specifies the reference rpm of the motor (for 100% override).

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Copyright© 2008 Tamagawa Seiki CO.,LTD

 Number of rotations
Speed level
Unit: rpm

High 3000

Mid 1500

Def 500

Low 100

[Mode]
Sets the mode of test run.

Item name Description

Jog / Step Selects JOG operation or step operation.

Step Inputs a move distance in step operation mode.

Changes the instruction unit for the move distance.

Unit [Command]: Instruction unit of move specified by controller setup

[Pulse]: Pulse unit

[Tool Button]
Executes an operation for the JOG control-target driver.

Button Description

Executes Servo ON.

Executes Servo OFF.

Executes Reset Alarm.

Resets the position information.

Rotates the motor in the forward direction.

The motor remains rotating while this button is held down.

Rotates the motor in the reverse direction.

The motor remains rotating while this button is held down.

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Copyright© 2008 Tamagawa Seiki CO.,LTD

[Mechanism/IO Monitor Pane]
This pane displays the mechanism status and general I/O information of the SV-NET controller.

[MCH Status]
Status name Description of status

Interpolation Interpolation calculation is in progress.

De Acceleration Acceleration/deceleration is in progress.

Moving Axis is moving.

Homing Homing

Velocity Limit The speed limit is detected.

+Soft Limit The forward direction soft limit is detected.

- Soft Limit The reverse direction soft limit is detected.

Alarm An alarm is detected.

Warning A warning is detected.

Stop Status A stop processing instruction is input.

Home Status The origin is fixed.

[I/O Status]
Displays general I/O information of the SV-NET controller.

Status name Description of status ON OFF

IN Input status „ „
OUT Output status „ „

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Copyright© 2008 Tamagawa Seiki CO.,LTD

Program Grid

This window is used to perform operations ranging from creating to executing and debugging a program designed specifically

for the SV-NET controller.

Program Grid Functions

• Program editor function

• Program download and check function

• Program debug function

• Servo monitor function

• Variable supervision function

• Task monitor function

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Copyright© 2008 Tamagawa Seiki CO.,LTD

Description of the Program Grid Window

The configuration of the Program Grid window is as follows:

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Copyright© 2008 Tamagawa Seiki CO.,LTD

[File Pane]
This pane is used to create new program files and add or delete existing program files.

Program File Menu (Right Click)

Name Description of function

New File Creates a new program file.

Open File Opens an existing program file.

Save File Saves a created program file.

Adds a program to the file pane.

Add File
A maximum of four program files can be added.

Delete File Deletes a program from the file pane.

Build Builds a created program.

Download Downloads the program data to the SV-NET controller after the program is built.

Split File Menu (Right Click)

Name Description of function

ReName Changes the name of a split file.

Adds a split file to the tree.

Add Asm
A maximum of 100 split files can be added.

Delete Asm Deletes a split file from the tree.

Move On Moves a split file to the upper tree.

Move Under Moves a split file to the lower tree.

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Copyright© 2008 Tamagawa Seiki CO.,LTD

[Tool Pane]
The following table describes each tool button used for the program grid:

Group Button Description of function

File Creates a new program file.

Reads an existing program file.

Saves a program file.

Saves a program in the flash memory of the SV-NET

controller.

Build Builds a created program.

Writes the object file to the SV-NET controller after

building a program.

Reads a program from the SV-NET controller and checks

it against the currently edited program.

Executes a program.

Starts Task 0.

Stops a program.

Override Executes speed override.

Speed override is possible even during program

execution.

Edit Undoes an edit.

* Refer to the “Details of Redoes an edit.

the Edit Functions of the

Program Grid.” Copies the selected range.

Cuts the selected range.

Pastes the copied data.

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Copyright© 2008 Tamagawa Seiki CO.,LTD

 Pastes the copied data after inserting a line.

Inserts a line.

Deletes a line.

CMD Executes Servo ON for all axes.

Executes Servo OFF for all axes.

Executes Servo FREE for all axes.

Executes Reset Alarm for all axes.

Executes Deceleration Stop for all axes.

デバッグ Sets the mode of program execution.

Normal Normal mode of program execution

Mode in which the debug functions

including step execution and task

Debug display are enabled.

Some functions such as Edit Grid and

Copy & Paste are disabled.

Sets the Trace Program.

Task
Starts Trace Program.
View

Non
Stops Trace Program.
Display

Sets a breakpoint in the currently selected program step.

Breakpoints can be set only in Task 0.

Resets the currently set breakpoints.

Restarts the currently stopped program.

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Copyright© 2008 Tamagawa Seiki CO.,LTD

 Executes the currently stopped program step and stops

the program before executing the following step.

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Copyright© 2008 Tamagawa Seiki CO.,LTD

[Grid Pane]
You can create programs by editing data in the grid pane. The grid pane consists of three grids: “Program Step Grid” to

create the program instructions, “Argument List Grid” to set the detailed information for the instructions, and “Variable List

Grid” to edit the variables. A maximum of 5000 program instructions can be created.

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Copyright© 2008 Tamagawa Seiki CO.,LTD

Program Step Grid
The program step grid displays a program list.

＜No.＞
Displays the line numbers in the program list. The program is executed in ascending order (starting from the top line).

＜Label＞

Sets the branch labels for branch instructions and others.

＜CMG＞
Selects the type of command. A list in which commands are categorized by types is displayed to allow you to select

commands for setting a command group.

＜CMD＞
Displays a list of the commands selected in the “CMG” column. Commands are set when they are selected from the list.

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Copyright© 2008 Tamagawa Seiki CO.,LTD

Argument List Grid
The argument list grid is used to set the data of the command arguments.

＜No.＞

Displays the line numbers in the argument list. The number of arguments varies according to the command.

＜Name＞

Displays the argument names in the argument list.

＜Value＞

Displays argument values. Enter argument values.

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Copyright© 2008 Tamagawa Seiki CO.,LTD

Variable List Grid
The Variable List Grid displays a list of the variables to be used in the program.

The variable is a place to save numerical information.

Variables are used for the simplification of entering argument data to the argument list and for additions and subtractions of

variable data in the program depending on the condition.

＜No.＞

Displays the line numbers in the variable list.

＜Name＞

Displays the variable names. Enter variable names.

Restrictions on Variable Names

You can use any variable names as long as the following restrictions are observed:

• Only 1-byte alphanumeric characters and underscores (_) are allowed.

• Variable names are not case-sensitive.

• The variable name cannot begin with a numeric.

• Spaces cannot be placed in the middle of the variable name.

• Reserved words cannot be used as variable names.

Array

An array allows you to handle multiple variables in a batch.

An array can be specified by enclosing a numerical value in square brackets (example: [3]) following a variable name. This

numerical value indicates the number of variables to be handled.

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Copyright© 2008 Tamagawa Seiki CO.,LTD

＜Value＞

Displays the initial values of variables. Only numerical values can be specified for initial values of variables.

When “Array Variable List” is selected from the menu displayed when an initial value is double-clicked or right-clicked, the

Array Variable List window is displayed.

＜Comment＞

Displays comments. Enter comments.

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Copyright© 2008 Tamagawa Seiki CO.,LTD

Array Variable List
The array variable list allows you to edit the initial values of an array in a list.

When “Value” of a variable name defined by the Variable List Grid is double-clicked, an array variable list is displayed.

＜No.＞

Displays the argument numbers of the array.

＜Value＞

Displays the initial values stored in the array.

＜OK＞

Confirms the edited values.

＜Cancel＞

Closes the Array Variable List window without confirming the edited values.

Edit Menu (Right Click)

Name Description of function

Copy Copies the values of the selected lines.

Cut Cuts the values of the selected lines.

Paste Pastes the values of the copied or cut lines.

Insert Row Inserts the selected lines.

Delete Row Deletes the selected lines.

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Copyright© 2008 Tamagawa Seiki CO.,LTD

[Subpane]
The subpane has the following functions:

1. Comment Pane
The comment pane is a text editor in which comments can be input. Input comments for each program step. The comment

text is automatically switched when another program step is selected.

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Copyright© 2008 Tamagawa Seiki CO.,LTD

2. Help Pane
The help pane is used to display help for the currently selected command. Help information is automatically switched when

another command is selected.

* Turn ON the Help Display function of “Utilities” to use this function.

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Copyright© 2008 Tamagawa Seiki CO.,LTD

3. Find Pane
The search pane is used to search a program for a character string. Enter a search string in the combo list and then click

the [Find] button. For the searchable ranges, see the following table:

·Toolbar

Item name Description

[Find] button Starts search for the contents currently displayed in the search list box.

Search list box Used to enter the character string to be searched for.

When the list box is expanded, a list of the character strings searched for thus far is displayed.

·Grid

Item name Description

No. Displays the search result number.

Value Displays the phrases containing the search string.

Grid Displays the grids of the strings that matched the search condition.

Step No. Displays the program line numbers of the strings that matched the search condition.

Arg No. Displays the argument numbers of the strings that matched in the argument list.

Var No. Displays the line numbers of the strings that matched in the variable list.

·Searchable ranges

Program step Argument list Variable list

Labels, command types, and Argument values can be searched Variable names and initial values can

commands can be searched for a character string. (Argument be searched for a character string.

for a character string. (Line numbers and argument names are (Variable line numbers and comments

numbers are excluded from excluded from the search range.) are excluded from the search range.)

the search range.)

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Copyright© 2008 Tamagawa Seiki CO.,LTD

4. Output Pane
The output pane displays the results of a build and check.

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Copyright© 2008 Tamagawa Seiki CO.,LTD

5. Error Information Pane
The error information pane displays information about the errors found during a build.

Double-click the cell where the content of a build error is described, you can go to the line where the build error occurred.

·Grid

Item name Description

Icon Displays the error icons.

Error Code Displays the associated error codes.

Explanation Displays the descriptions of the error contents.

Error Word Displays the character strings that caused the error.

Row Displays the program line numbers in which the error occurred.

Note Displays the supplementary explanations of the error contents.

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Copyright© 2008 Tamagawa Seiki CO.,LTD

6. Gain Pane
The gain pane is used to adjust the gain of each axis. Gains can be changed even during program execution.

·Toolbar

Item name Description

Axis selection list Selects an axis for which the gain is adjusted.

[SAVE FLASH] Saves the changed gain data in the flash memory of the driver.

button Note: Stop any running program before saving gain data.

·Slider

Item name Description

Kp1 Changes the value of position loop proportional gain 1.

Kv1 Changes the value of speed loop proportional gain 1.

Ki1 Changes the value of speed loop integral gain 1.

LPF_f Changes the value of the lowpass filter cutoff frequency.

NF_f Changes the value of the notch filter center frequency.

NF_d Changes the value of the notch filter attenuation.

Load Changes the value of the load inertia.

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Copyright© 2008 Tamagawa Seiki CO.,LTD

7. Watch Pane
The supervision pane is used to monitor the values of variables used in the program. Variables can be monitored after the

program has been downloaded.

·Toolbar

Item name Description

COUNT Displays the number of predefined variables.

[B] button Up to 100 variables can be monitored at a time. This button displays the previous list.

If the first list is being displayed, pressing this button has no effect.

Variable list Displays the number of the currently displayed variable list. Variable list numbers are

assigned according to the order in which the variables are defined.

[G] button Up to 100 variables can be monitored at a time. This button displays the next list.

If the last list is being displayed, pressing this button has no effect.

[HEX] button Displays all variable values in hexadecimal notation.

[DEC] button Displays all variable values in decimal notation.

·Grid

Item name Description

No. Displays the variable list numbers.

Name Displays the names of the predefined variables.

Value Displays the variable values after data has been read.

Data Type Switches the data type of a variable value.

Checked: Hexadecimal

Unchecked: Decimal

Note Displays the comments on the variables.

– 73 –

Copyright© 2008 Tamagawa Seiki CO.,LTD

8. Monitor Pane
The monitor pane is used to monitor various information items such as the feedback data of the SV-NET driver and the

mechanism and I/O information of the controller.

For more information, see the [Servo Monitor] window.

·Toolbar

Item name Description

UNIT Switches the position data of the servo monitor between “Command”

(controller instruction unit) and “Pulse” (pulse unit).

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Copyright© 2008 Tamagawa Seiki CO.,LTD

9. Task Pane
The task pane displays the status of each task during program execution.

·Task monitor

Monitor window Status item Description

STATUS Displays “RUN” when the task is being executed.

INDEX Displays the current index of the task.

STACK Displays the current stack pointer of the task.

Debug Color Description

Color Displays the background color for the debug mode.

– 75 –

Copyright© 2008 Tamagawa Seiki CO.,LTD

10. DIO Pane
The DIO pane is used to monitor the DIO I/O statuses.

When a label in the OUT group is clicked, the status is output directly to the I/O device.

– 76 –

Copyright© 2008 Tamagawa Seiki CO.,LTD

11. JOG Pane
The JOG pane is used to perform JOG operation of each axis.

·Speed Level

Selects a speed from among 10, 50, 100, and 300 rpm.

·Mode

Item name Description

Jog / Step Selects JOG operation or step operation.

Step Specifies the move distance in step operation mode.

Position Displays the current position of the motor.

Unit Selects the display unit of the current value between “Command”

(instruction unit) and “Pulse” (pulse unit).

·Tool Button

Executes an operation for the JOG control-target driver.

Button Description

Executes Servo ON.

Executes Servo OFF.

Executes Reset Alarm.

Resets the position information.

Rotates the motor in the forward direction.

The motor remains rotating while this button is held down.

Rotates the motor in the reverse direction.

The motor remains rotating while this button is held down.

– 77 –

Copyright© 2008 Tamagawa Seiki CO.,LTD

Details of the Edit Functions of the Program Grid
Results of edit operations on the program grid differ depending on the items selected for editing.

The following table shows the results of edit operations by items selected for editing:

Command Condition Program step Argument list Variable list

Select a single cell. The step data of the The argument values of The selected cell is
selected cell line is the selected cell are copied. (Excluding the
copied. copied. (Excluding the [No.] column.)
[No.] and [Argument
Name] columns.)
Select a line header. The step data of the The [Value] column The values of all
selected lines is copied. values of the selected columns except [No.]
lines are copied. of the selected lines
are copied.
Select multiple cells. The step data of the The argument values of The values of the
(Contiguous) selected cells is copied. the selected cells are selected cells are
copied. (Selection of the copied. (Selection of
[No.] and [Argument the [No.] column is
Name] columns is invalid.)
Copy invalid.)
Select multiple cells. Error. The argument values of The values of the
(Non-contiguous) the selected cells are selected cells are
copied. (Selection of the copied. (Selection of
[No.] and [Argument the [No.] column is
Name] columns is invalid.)
invalid.)
Select multiple line The step data of the The [Value] column The values of all
headers. selected lines is copied. values of the selected columns except [No.]
(Contiguous) lines are copied. of the selected lines
are copied.
Select multiple line Error. The [Value] column The values of all
headers. values of the selected columns except [No.]
(Non-contiguous) lines are copied. of the selected lines
are copied.

Command Condition Program step Argument list Variable list

Select a single cell. After the step data of the The argument values of The selected cell is
selected cell line has the selected cell are copied. (Excluding the
been copied, the copied. (Excluding the [No.] column.) After
selected line is deleted. [No.] and [Argument the copy operation,
Cut
Name] columns.) After the values of the
the copy operation, the selected cells are
[Value] column value is cleared.
initialized to 0.
Select a line header. After the step data of the After the [Value] column After the values of all
selected line has been value of the selected columns except [No.]
copied, the selected line line has been copied, of the selected line
is deleted. the [Value] column value have been copied, the
is initialized to 0. values of the selected
cells are cleared.

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Copyright© 2008 Tamagawa Seiki CO.,LTD

 Select multiple cells. After the step data of the The argument values of The values of the
(Contiguous) selected cells has been the selected cells are selected cells are
copied, the selected copied. (Selection of the copied. (Selection of
lines are deleted. [No.] and [Argument the [No.] column is
Name] columns is invalid.) After the copy
invalid.) After the copy operation, the values
operation, the values of of the selected cells
the selected cells are are cleared.
initialized to 0.
Select multiple cells. Error. The argument values of The values of the
(Non-contiguous) the selected cells are selected cells are
copied. (Selection of the copied. (Selection of
[No.] and [Argument the [No.] column is
Name] columns is invalid.) After the copy
invalid.) After the copy operation, the values
operation, the values of of the selected cells
the selected cells are are cleared.
initialized to 0.
Select multiple line After the step data of the After the [Value] column After the values of all
headers. selected lines has been values of the selected columns except [No.]
(Contiguous) copied, the selected lines have been copied, of the selected lines
lines are deleted. they are initialized to 0. have been copied,
they are cleared.
Select multiple line Error. After the [Value] column After the values of all
headers. values of the selected columns except [No.]
(Non-contiguous) lines have been copied, of the selected lines
they are initialized to 0. have been copied,
they are cleared.

Command Condition Program step Argument list Variable list

Always paste data The copied step data is The copied argument The copied values are
based on the position pasted starting from the value data is pasted pasted starting from
of the current cell. current cell. starting from the current the current cell.
Paste cell. (Selection of the (Selection of the [No.]
[No.] and [Argument column is invalid.)
Name] columns is
invalid.)

Command Condition Program step Argument list Variable list

Insert the line of the Permitted. Invalid. Permitted.
selected cell. (If
multiple cells have
been selected, insert
the lines of those
Insert cells.) Note that this
function permits
contiguous selection
only. Non-contiguous
selection is not
permitted.
Delete the line of the Permitted. Invalid. Permitted.
selected cell. (If
multiple cells have
Delete
been selected, use
the same operation
as that for “Insert.”)

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Copyright© 2008 Tamagawa Seiki CO.,LTD

 Command Condition Program step Argument list Variable list
Select a single cell. The data of the selected The data of the selected The data of the
cell is cleared. If a cell in cell is cleared to 0. (This selected cell is
the [Label] column is applies only to the cleared. (The [No.]
selected, the label is [Value] column.) column cannot be
cleared. If one cell in cleared.)
either the [CMG] column
or the [CMD] column is
selected, the cells of
both columns are
cleared. (The [No.]
column cannot be
cleared.)
Select a line header. All the values of all The [Value] column All the values of all
columns except [No.] of values of the selected columns except [No.]
the selected line are line are cleared to 0. of the selected line
cleared. are cleared.
Select multiple cells. The values of the The same operation as The same operation
DEL Key (Contiguous) selected cells are that for “Select a single as that for “Select a
cleared. (For the cell” is used. single cell” is used.
selection of [CMG] and
[CMD] columns, the
same operation as that
for “Select a single cell”
is used.)
Select multiple cells. All the values of all The [Value] column All the values of all
(Non-contiguous) columns except [No.] of values of the selected columns except [No.]
the selected line are line are cleared to 0. of the selected line
cleared. are cleared.
Select multiple line The same operation as The same operation as The same operation
headers. that for “Select a line that for “Select a line as that for “Select a
(Contiguous) header” is used. header” is used. line header” is used.

Select multiple line The same operation as The same operation as The same operation
headers. that for “Select a line that for “Select a line as that for “Select a
(Non-contiguous) header” is used. header” is used. line header” is used.

• Undo and Redo Functions

These functions are enabled for the commands shown in the following table:
No. Program step Argument list Variable list Comment
Edit Label Line Edit Argument Value Edit Variable Value Edit Comments
1 (Including deletion by (Including deletion by (Including deletion by
the DEL key) the DEL key) the DEL key)
Change Command Paste Argument Paste Variable
2
Group Combo
3 Paste Step Insert Variable Line
4 Insert Step Line Delete Variable Line
Delete Step Line Paste After Add Variable
5
Line
Paste After Insert Add Last Variable Line
6
Step Lines
7 Add Last Step Line

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Copyright© 2008 Tamagawa Seiki CO.,LTD

Operations Disabled in Debug Mode
The following table shows the operations that are disabled in debug mode:

Group Operation

New

Open
File
Save

Flash

Build

Build Download

Collation

Undo

Redo

Copy

Cut
Edit
Paste

Insert Paste

Inset

Delete

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Copyright© 2008 Tamagawa Seiki CO.,LTD

Monitor Variable
A monitor variable can be used for argument OP* of an arithmetic instruction or others. Monitor variables can cause a

branch to occur in a program according to the condition of the motor. The following is a list of monitor variables:

Variable name Description Meaning of the index

DI[*] Actual input DIO number

DO[*] Actual output DIO number

AI[*] Analog input AIN_CH number

AO[*] Analog output AOUT_CH number

TIM[*] Timer Timer number

TASK_STS[*] Task start status Task number

SVD_CPLS[*] Instructed position pulse (with no origin offset) SVD number

SVD_FPLS[*] Present position pulse (with no origin offset) SVD number

SVD_FVEL[*] Present actual speed (rpm) SVD number

SVD_FCUR[*] Present actual electric current (0.01 A) SVD number

SVD_STS[*] Servo status SVD number

SVD_ALM[*] Servo alarm SVD number

SVD_LOAD[*] Overload monitor (0.1%) SVD number

SVD_TEMP[*] Driver temperature (0.1°C) SVD number

SVD_PWR[*] Driving power voltage (0.1 V) SVD number

MCH_CPLS[*][*] Instructed position (pulses) Mechanism number and axis number

MCH_FPLS[*] [*] Present position (pulses) Mechanism number and axis number

MCH_FCUR[*][*] Present actual electric current (0.01 A) Mechanism number and axis number

MCH_FVEL[*] [*] Present actual speed (rpm) Mechanism number and axis number

MCH_FSPD[*] [*] Present actual speed (speed unit) Mechanism number and axis number

MCH_CPOS[*][*] Instructed position (instruction unit) Mechanism number and axis number

MCH_FPOS[*] [*] Present position (instruction unit) Mechanism number and axis number

MCH_SVSTS[*] [*] Servo status of each axis Mechanism number and axis number

MCH_SVALM[*] [*] Servo alarm of each axis Mechanism number and axis number

MCH_JSTS[*] [*] Move status of each axis Mechanism number and axis number

MCH_STS[*] Mechanism status Mechanism number

MCH_ALM[*] Mechanism alarm Mechanism number

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Copyright© 2008 Tamagawa Seiki CO.,LTD

Shortcut Keys
The following table describes the shortcut keys available in the Program Grid window:

Key operation Operation

CTRL+Z Undo

CTRL+Y Redo

CTRL+C Copy

CTRL+X Cut

CTRL+V Paste

CTRL+I Insert Paste

Insert Inset

SHIFT + Delete Delete

F5 Start Program

F6 Download

F7 Display Task Trace Line At Beginning

F8 Display Task Trace

F9 Set/Reset Breakpoint

F11 Step-in

F12 Switch To Debug Mode

SHIFT+F5 Stop Program

– 83 –

Copyright© 2008 Tamagawa Seiki CO.,LTD

Servo Monitor

The Servo Monitor is used to execute the program created by the “Program Grid” and to monitor various information items

such as the feedback data of the SV-NET driver and the mechanism and I/O information of the controller.

Servo Monitor Functions

• Function to handle programs

1. Executes and stops a program.

• Monitor functions
1. Function to monitor the servo status and servo feedback of each axis

2. Function to monitor the mechanism and I/O information of the SV-NET controller

3. Function to display the servo feedback data in graphical form

• Graphical function
1. Displays data of positions, speeds, and electric currents

2. Changes the scale of each item.

3. Graphically displays a maximum of three axes, allowing them to be compared.

4. Can display the X-Y plane.

5. Logging function (up to 8 sec at an interval of 8 msec)

6. Real time display function on an oscilloscope

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Copyright© 2008 Tamagawa Seiki CO.,LTD

Description of the Servo Monitor Window

The configuration of the Servo Monitor window is as follows:

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Copyright© 2008 Tamagawa Seiki CO.,LTD

[Tool Pane]
The following table describes each tool button used for the servo monitor:

Group Button Description of function

Search Starts communication with the SV-NET controller and

displays the number of currently connected axes.

Task Executes a program.

Stops a program.

LOG Starts or stops log data acquisition.

Log Start Starts logging feedback data.

Log Stop Stops logging feedback data to

obtain the log.

Switches the monitor display.

View Displays log data in graphical

Wave form.

View Displays the servo status and

Form servo feedback information.

Switches graphical display to X-Y display.

Switches graphical display to oscilloscope display.

Pauses oscilloscope display.

Unit Sets the display unit for each monitor (position, speed,

and electric current).

Electric
Unit Position Speed
current

Pulse Pulse rpm 0.01 A

mm rpm 0.01 A
Command
deg rpm 0.01 A

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Copyright© 2008 Tamagawa Seiki CO.,LTD

 File Opens saved log data.

Saves the obtained log data.

Saves the present graph in an image file.

Select bitmap or JPEG format as the image file format.

CMD Executes Servo ON for all axes.

Executes Servo OFF for all axes.

Executes Reset Alarm for all axes.

Executes Deceleration Stop for all axes.

Override Executes speed override for all axes.

* Notes:

1. The [Log Start] button and the [Log Stop] button in the tool pane are disabled in graphical display mode.

2. The instruction unit changes depending on the type of the parameter value of the SV-NET controller.

– 87 –

Copyright© 2008 Tamagawa Seiki CO.,LTD

[Servo Monitor Pane]
The information displayed in the servo monitor pane changes by switching between the ［View Wave］ and ［View Form］

buttons.

1. When the ［View Form］ button is clicked

The servo status and servo feedback information for each of the currently connected axes is displayed.

[Servo Status]

Displays the servo status of the SV-NET driver.

Status name Description of status ON OFF

Servo ON Servo ON „ „
Profile Profile operation is in progress. „ „
In Position In-position „ „
Fault An alarm is detected. „ „
Forward Limit The forward direction soft limit is detected. „ „
Reverse Limit The reverse direction soft limit is detected. „ „
Torque Limit The torque limit is detected. „ „
Velocity Limit The speed limit is detected. „ „

[Servo Feed Back]

Displays the servo feedback information of the SV-NET driver.

Feedback name Feedback information

Position Present position

Velocity Present speed

Current Present electric current

– 88 –

Copyright© 2008 Tamagawa Seiki CO.,LTD

2. When the ［View Form］ button is clicked

Each information item of servo feedback is displayed in graphical form.

The following table describes the button of each pulldown menu used for graphical display:

Pulldown menu Description of function

Specifies the display mode of position data.

[Feedback]: Displays presently monitored position.

[Command]: Displays the instructed position.

[Feedback＋Commnad]:Displays both the present position and the instructed position.

[Command]: Displays the deviation between the present position and the

instructed position.

Specifies the display position of in-position line in the range of +4 to −4.

Sets the scale of position data.

Sets the scale of speed data.

Sets the scale of electric current data.

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Copyright© 2008 Tamagawa Seiki CO.,LTD

Sets the scale of time interval.

[Single Window]: Displays [View Axis], [Comp Axis1], and [Comp Axis2] in one window.

[Split Window]: Splits the display of [View Axis] and [Comp Axis1] and that of [Comp

Axis2] into different windows.

Sets an axis number to be displayed in graphical form.

Selects an axis to be compared against the axis set by [View Axis] and displays the

graph by dashed line when the label part is double-clicked.

Selects an axis to be compared against the axis set by [View Axis] and displays the

graph by gray line when the label part is double-clicked.

This button is set for X-Y display.

Specifies an axis number to be displayed along the X axis of the graph.

This button is set for X-Y display.

Specifies an axis number to be displayed along the Y axis of the graph.

– 90 –

Copyright© 2008 Tamagawa Seiki CO.,LTD

• Example of a graph in which three axes are compared

• Example of X-Y display (arc interpolation move)

– 91 –

Copyright© 2008 Tamagawa Seiki CO.,LTD

[Mechanism/IO Monitor Pane]
This pane displays the mechanism status and general I/O information of the SV-NET controller.

[MCH Status]

Status name Description of status

Interpolation Interpolation calculation is in progress.

DeAcceleratiom Acceleration/deceleration is in progress.

Moving Axis is moving.

Homing Homing

Velocity Limit The speed limit is detected.

+ Soft Limit The forward direction soft limit is detected.

- Soft Limit The reverse direction soft limit is detected.

Alarm An alarm is detected.

Warning A warning is detected.

Stop Status A stop processing instruction is input.

Home Status The origin is fixed.

[I/OStatus]
Displays general I/O information of the SV-NET controller.

Status name Description of status ON OFF

IN Input status „ „
OUT Output status „ „

– 92 –

Copyright© 2008 Tamagawa Seiki CO.,LTD

Utilities

This software includes utilities for customization of each window and handling of special functions.

Utility Functions

• Customizing each window

• Setting forced parameter write

• Writing an SV-NET controller program

– 93 –

Copyright© 2008 Tamagawa Seiki CO.,LTD

Description of the Utility Window

The configuration of the Utility window is as follows:

Contents of the menu

·Environment
·Device Setup

·SVC Setup

·Program Grid

·Parameter Writing

·Program Writting

·Label Setup

– 94 –

Copyright© 2008 Tamagawa Seiki CO.,LTD

Environment
This utility sets the general configuration of this software.

·General Setting

·Selecting a language

＜Displays the language selection dialog at startup＞

Displays a language selection dialog box at startup.

·Menu Bar

＜The icon menu is displayed at all times.＞

Always displays the toolbar of each window.

·Command Help

＜Displays command help in the program grid window＞

Displays command help in the help pane of the program grid.

·Default

Resets all changes made in the Utility window to their defaults.

·Save

Saves the changed values.

·Cancel

Closes the Utility window. Changed values are not saved.

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Copyright© 2008 Tamagawa Seiki CO.,LTD

·Controller Configuration

·CPU Type

<SV Controller CPU Type>

Selects the CPU type of the SV Controller from among SVCT, SVCC, and SVCW.

·Enhancing Type

＜Enhancing Board1–4＞

Sets each expansion board.

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Copyright© 2008 Tamagawa Seiki CO.,LTD

Setting the Device Setup Window
Device Setup You can set the parameter list grid window for device setup.

·Parameter Grid Line

＜Height＞

Adjust the height of the parameter list grid.

·Parameter Grid Back Color

＜Odd number line＞

Changes the background color for the odd-numbered lines of the parameter list grid.

＜Even number line＞

Changes the background color for the even-numbered lines of the parameter list grid.

·Parameter Grid Font

Changes the type and size of the font used in the parameter list grid.

Press the “Save” button to enable the changed settings.

– 97 –

Copyright© 2008 Tamagawa Seiki CO.,LTD

Setting the SVC Setup Window
SVC Setup You can set the parameter list grid window for controller setup.

The description of the set items is the same as that for Parameter List Grid Window for Device Setup.

– 98 –

Copyright© 2008 Tamagawa Seiki CO.,LTD

Setting the Program Grid Window

1. Program Step Grid

2. Argument List Grid

3. Variable List Grid

Program Grid You can set each grid window in the program grid.

The description of the set items is the same as that for Parameter List Grid Window for Device Setup.

4. Debug

You can set the display colors for Program Tasks 1 to 8.

Press the “Save” button to enable the changed settings.

5. Array Variable List

You can set the array variable list window.

The description of the set items is the same as that for Parameter List Grid Window for Device Setup.

* Note:

After you changed settings of the Device Setup, SVC Setup, or Program Grid window, close the window and open it again

for those changes to take effect.

– 99 –

Copyright© 2008 Tamagawa Seiki CO.,LTD

Parameter Writing
Parameters of the SV-NET drivers and SV-NET controller, which are normally write-disabled, can be write-enabled forcibly.

Press the “Authentication” button and then the “OK” button after entering a password, and the Forced Write Parameters

function is enabled.

– 100 –

Copyright© 2008 Tamagawa Seiki CO.,LTD

Program Writing
The firmware for the main unit of the SV-NET controller can be upgraded by using this function. Use the serial port for this

purpose.

·Communication setting

＜COM Port＞

Select the port number for data transfer from among COM1 to COM16.

＜Baud Rate＞

Select the transfer speed from among the following values.

-> 9600 bps, 19200 bps, 57600 bps

·The program file is opened

Select the program file of the SV-NET controller main unit firmware.

·Program writing

Writes the program file to the SV-NET controller.

– 101 –

Copyright© 2008 Tamagawa Seiki CO.,LTD

Manufacturing Menu
This function cannot be used.

– 102 –

Copyright© 2008 Tamagawa Seiki CO.,LTD

Label Setup
You can define mechanism names, task names, names of individual I/O bits, and axis names.

MCH Name Setting

Sets a mechanism name.

The mechanism name for the mechanism status is changed.

Task Name Setting

Sets task names.

The task names in the program grid are changed.

– 103 –

Copyright© 2008 Tamagawa Seiki CO.,LTD

I/O Name Setting
Sets the names of individual I/O bits.

The bit names for I/O status are changed.

Axis Name Setting

Sets axis names.

The axis names in the Program Grid, JOG Operation, and Servo Monitor windows are changed.

– 104 –

Copyright© 2008 Tamagawa Seiki CO.,LTD

Menu Configuration

This section describes the functions selectable by the menu bar and the toolbar.

Menu Bar Functions

File
·Project File -> New

Discards the current project file and creates a new one.

·Project File -> Open

Opens a saved project file.

·Project File -> Save

Saves the current project file.

·Project File -> Save as

Saves the present project file under a specified name.

·Program File -> New

Creates a new program file.

-> Window to be used: Program Grid

·Program File -> Open

Opens an existing program file.

-> Window to be used: Program Grid

·Program File -> Save

Saves a created program file.

-> Window to be used: Program Grid

·Program File -> Add

Adds a program to the file pane.

-> Window to be used: Program Grid

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Copyright© 2008 Tamagawa Seiki CO.,LTD

·Program File -> Delete

Deletes a program from the file pane.

-> Window to be used: Program Grid

·Program File -> ReName

Changes the name of a program file.

-> Window to be used: Program Grid

·Program File -> Add Asm

Adds a split file to the tree.

-> Window to be used: Program Grid

·Program File -> Delete Asm

Deletes a split file from the tree.

-> Window to be used: Program Grid

·Program File -> Move On

Moves a split file to the upper tree.

-> Window to be used: Program Grid

·Program File -> Move Under

Moves a split file to the lower tree.

-> Window to be used: Program Grid

·Program File -> Save Flash

Saves a program file in the flash memory of the SV-NET controller.

-> Window to be used: Program Grid

·Log File -> Open

Reads a saved log file and displays it in graphical form.

-> Window to be used: Servo Monitor

·Log File -> Save

Saves the obtained log data in a file.

-> Window to be used: Servo Monitor

·Log File -> Image

Saves the current graph in an image file.

-> Window to be used: Servo Monitor

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Copyright© 2008 Tamagawa Seiki CO.,LTD

·Exit

Exit the SV Programmer.

·Recent File -> Project Name

Selects and opens a recently used project file.

– 107 –

Copyright© 2008 Tamagawa Seiki CO.,LTD

View
·Icon Menu

Toggles the display of the toolbar ON and OFF.

The change is reflected on all target windows.

-> Windows to be used: Device Setup, Controller Setup, JOG Operation, Program Grid, Servo Monitor

·File Explorer

Toggles the display of the supervise tab of the Program Grid ON and OFF.

-> Window to be used: Program Grid

·Tool Explorer

Toggles the display of the toolbar of the currently handled window ON and OFF.

-> Windows to be used: Device Setup, Controller Setup, JOG Operation, Program Grid, Servo Monitor

·Variable List

Toggles the display of the variable list of the Program Grid ON and OFF.

-> Window to be used: Program Grid

·Comment

Toggles the display of the comment tab of the Program Grid ON and OFF.

-> Window to be used: Program Grid

·Help

Toggles the display of the help tab of the Program Grid ON and OFF.

-> Window to be used: Program Grid

·Find

Toggles the display of the search tab of the Program Grid ON and OFF.

-> Window to be used: Program Grid

·Output

Toggles the display of the output tab of the Program Grid ON and OFF.

-> Window to be used: Program Grid

·Error List

Toggles the display of the error information tab of the Program Grid ON and OFF.

-> Window to be used: Program Grid

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Copyright© 2008 Tamagawa Seiki CO.,LTD

·Gain

Toggles the display of the gain tab of the Program Grid ON and OFF.

-> Window to be used: Program Grid

·Watch

Toggles the display of the supervise tab of the Program Grid ON and OFF.

-> Window to be used: Program Grid

·Monitor

Toggles the display of the monitor tab of the Program Grid ON and OFF.

-> Window to be used: Program Grid

·Task

Toggles the display of the task tab of the Program Grid ON and OFF.

-> Window to be used: Program Grid

·DIO

Toggles the display of the DIO tab of the Program Grid ON and OFF.

-> Window to be used: Program Grid

·Jog

Toggles the display of the JOG tab of the Program Grid ON and OFF.

-> Window to be used: Program Grid

·Tool Collapse

Reduces the size of the group box in the tool pane of the currently handled window.

-> Windows to be used: Device Setup, Controller Setup, JOG Operation, Program Grid, Servo Monitor

·Tool Expand

Expands the group box in the tool pane of the currently handled window.

-> Windows to be used: Device Setup, Controller Setup, JOG Operation, Program Grid, Servo Monitor

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Copyright© 2008 Tamagawa Seiki CO.,LTD

Edit
This menu item allows you to edit the program grid.

·Undo

Undoes the last edit.

·Redo

Cancels the last “Undo” operation.

·Copy

Copies the currently selected program steps, variables, and arguments.

·Cut

Cuts the currently selected program steps, variables, and arguments.

·Paste

Pastes the copied or cut data to the currently selected items.

The currently selected items are overwritten.

·Insert Paste

Inserts and pastes the copied or cut program list to the currently selected steps.

·Insert

Inserts blank step lines into the currently selected program step.

Inserts blank lines into the currently selected variable list.

·Delete

Deletes the currently selected program step lines.

Deletes the currently selected variable list lines.

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Copyright© 2008 Tamagawa Seiki CO.,LTD

Debug
This menu item allows you to debug the program grid.

·Program Mode -> Normal / Debug

Changes the program mode.

·Task View

Selects display or non-display of task in debug mode.

·Break Point

Sets a breakpoint in the currently selected program step.

·Break Release

Resets the currently set breakpoints.

·Restart

Restarts the currently stopped program.

·Step In

Executes the currently stopped program step and stops the program before executing the following step.

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Copyright© 2008 Tamagawa Seiki CO.,LTD

Tool
This menu item allows you to execute the content of the tool pane of the currently handled window.

<During Device Setup Operation>

· Connect to SV-NET Controller

Refer to [Net Search] in the tool pane of the Device Setup window.

· Read Parameters for All Axes

Refer to [Read All] in the tool pane of the Device Setup window.

· Read Parameters
Refer to [Read One] in the tool pane of the Device Setup window.

· Write Parameters
Refer to [Write One] in the tool pane of the Device Setup window.

· Parameter File -> Open

Refer to [Open] in the tool pane of the Device Setup window.

· Parameter File -> Save

Refer to [Save] in the tool pane of the Device Setup window.

· Parameter File -> FLASH Memory Save

Refer to [Flash] in the tool pane of the Device Setup window.

· Display Category
Refer to [Category] in the tool pane of the Device Setup window.

· Display List
Refer to [All] in the tool pane of the Device Setup window.

·Switch Parameter Display -> Decimal/hexadecimal

Refer to [Data] in the tool pane of the Device Setup window.

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Copyright© 2008 Tamagawa Seiki CO.,LTD

<During Controller Setup Operation>

· Connect to SV-NET Controller

Refer to [Net Search] in the tool pane of the Controller Setup window.

· Read Parameters
Refer to [Read All] in the tool pane of the Controller Setup window.

· Write Parameters
Refer to [Write All] in the tool pane of the Controller Setup window.

· Open Parameter File -> Open

Refer to [Open] in the tool pane of the Controller Setup window.

· Parameter File -> Save

Refer to [Save] in the tool pane of the Controller Setup window.

· Parameter File -> FLASH Memory Save

Refer to [Flash] in the tool pane of the Controller Setup window.

· Display Category
Refer to [Category] in the tool pane of the Controller Setup window.

· Display List
Refer to [All] in the tool pane of the Controller Setup window.

·Switch Parameter Display -> Decimal/hexadecimal

Refer to [Data] in the tool pane of the Controller Setup window.

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Copyright© 2008 Tamagawa Seiki CO.,LTD

<During JOG Operation>

· Connect to SV-NET Controller

Refer to [Net Search] in the tool pane of the JOG Operation window.

· Operate Servo -> Servo ON

Refer to [SV ON] in the tool pane of the JOG Operation window.

· Operate Servo -> Servo OFF

Refer to [SV OFF] in the tool pane of the JOG Operation window.

· Operate Servo -> Servo FREE

Refer to [SV FREE] in the tool pane of the JOG Operation window.

· Operate Servo -> Reset Alarm

Refer to [ALM RST] in the tool pane of the JOG Operation window.

· Display Each Axis

Refer to [Tab] in the tool pane of the JOG Operation window.

· Display All Axes

Refer to [All] in the tool pane of the JOG Operation window.

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Copyright© 2008 Tamagawa Seiki CO.,LTD

<During Program Grid Operation>

· Task -> Build

Refer to [Build] in the tool pane of the Program Grid window.

· Task -> Download

Refer to [Download] in the tool pane of the Program Grid window.

· Task -> Check

Refer to [Collation] in the tool pane of the Program Grid window.

· Task -> Execute Program

Refer to [Start] in the tool pane of the Program Grid window.

· Task -> Stop Program

Refer to [Stop] in the tool pane of the Program Grid window.

· Servo Command -> Servo ON

Refer to [SV ON] in the tool pane of the Program Grid window.

· Servo Command -> Servo OFF

Refer to [SV OFF] in the tool pane of the Program Grid window.

· Servo Command -> Servo FREE

Refer to [SV FREE] in the tool pane of the Program Grid window.

· Servo Command -> Reset Alarm

Refer to [ALM RST] in the tool pane of the Program Grid window.

· Servo Command -> Deceleration Stop

Refer to [Stop] in the tool pane of the Program Grid window.

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Copyright© 2008 Tamagawa Seiki CO.,LTD

<During Servo Monitor Operation>

· Connect to SV-NET Controller

Refer to [Net Search] in the tool pane of the Servo Monitor window.

· Execute Program
Refer to [Start] under the “Task” group in the tool pane of the Servo Monitor window.

· Stop Program
Refer to [Stop] under the “Task” group in the tool pane of the Servo Monitor window.

· Operate Servo -> Servo ON for All Axes

Refer to [SV ON] in the tool pane of the Servo Monitor window.

· Operate Servo -> Servo OFF for All Axes

Refer to [SV OFF] in the tool pane of the Servo Monitor window.

· Operate Servo -> Reset Alarm for All Axes

Refer to [ALM RST] in the tool pane of the Servo Monitor window.

· Operate Servo -> Deceleration Stop

Refer to [Stop] in the tool pane of the Servo Monitor window.

· Operate Log -> Start Log

Refer to [Log Start] in the tool pane of the Servo Monitor window.

· Operate Log -> Stop Log

Refer to [Log Stop] in the tool pane of the Servo Monitor window.

· Operate Log -> Graph

Refer to [View Wave] in the tool pane of the Servo Monitor window.

· Operate Log -> X-Y Display

Refer to [View X-Y] in the tool pane of the Servo Monitor window.

· Operate Log -> Oscilloscope

Refer to [Oscillo] in the tool pane of the Servo Monitor window.

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Copyright© 2008 Tamagawa Seiki CO.,LTD

· Operate Log -> Pause
Refer to [Hold] in the tool pane of the Servo Monitor window.

·Monitor Unit

Refer to [Unit] in the tool pane of the Servo Monitor window.

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Copyright© 2008 Tamagawa Seiki CO.,LTD

Window
This menu item allows you to change the configuration of the currently displayed window.

·Cascade

Cascades windows from the upper left corner.

·Close All Windows

Closes all windows.

·Tile Vertically

Tiles windows vertically.

·Tile Horizontally

Tiles windows horizontally.

·A checkmark is placed next to the window currently in use.

Displays the selected window in the forefront.

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Copyright© 2008 Tamagawa Seiki CO.,LTD

Help
This menu item allows you to display the help menu.

·Contents

Starts the help function to display the contents.

·About SV Programmer

Displays the version of this software.

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Copyright© 2008 Tamagawa Seiki CO.,LTD

Toolbar Functions

This section shows the icons associated with the functions contained in “Tool” of the menu bar.

Device Setup Toolbar

Controller Setup Toolbar

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Copyright© 2008 Tamagawa Seiki CO.,LTD

JOG Operation Toolbar

Program Grid Toolbar (1/2)

Program Grid Toolbar (2/2)

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Copyright© 2008 Tamagawa Seiki CO.,LTD

Servo Monitor Toolbar

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Copyright© 2008 Tamagawa Seiki CO.,LTD

Index

ACC/DEC, 47 Description of the Utility Window, 129

Alarm Reset, 67, 80, 118 Details of the Edit Functions, 106
Alarm Status, 69 Device List Display, 18
All View, 14, 38 Device Setup, 10
Argument Check Level, 46 Device Setup Functions, 10
Argument List Grid, 85 Device Setup Information Pane, 16
Array, 86 Display All Axes, 67
Array Variable List, 88 Display Each Axis, 67
Axis Number, 44 Display of Information of Each Axis by Categories, 47
Axis Type, 47 Download, 79
Break, 80 Edit (Menu Bar), 151
Build, 79 Emergency Limit, 45
Category View, 14, 38 Environment, 131
CCW, 67 Error Information Pane, 95
Collation, 79 Exit (Menu Bar), 147
Comment Pane, 90 File (Menu Bar), 145
Connection Information, 16 File Pane, 77
Control Mode, 24 Find Pane, 92
Controller Configuration, 132 Flash, 14, 38, 79
Controller Setup, 34 Form Display Area, 6
Controller Setup Functions, 34 Functions of the SV Programmer, 1
Controller Setup Information Pane, 40 Gain Pane, 96
Controller Type, 7 Grid Pane, 82
Controller Version, 7 Help (Menu Bar), 165
Copy, 79 Help Pane (Controller Setup), 62
Create New Project File (Menu Bar), 145 Help Pane (Device Setup), 33
Cut, 79 Help Pane (Program Grid), 91
CW, 67 Hold, 117
Debug (Menu Bar), 153 I/O Status, 72, 126
Debug Status, 7 Image, 118
Dec/Hex, 14, 38 Infinity Reset, 49

Delete, 80 Insert, 80

Description of the Controller Setup Window, 36 Insert Paste, 80

Description of the Device Setup Window, 12 JOG Control Pane, 69

Description of the JOG Operation Window, 65 JOG Operation Functions, 63

Description of the Servo Monitor Window, 115 JOG Operation Window, 63

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Copyright© 2008 Tamagawa Seiki CO.,LTD

JOG Pane, 104 Print, 14, 38

Label Setup, 142 Profile Data, 30

List of All Parameters Including Writable Parameters, 20 Program File Menu, 77

List of Parameters, 60 Program Grid Functions, 74

Log Start, 117 Program Grid Window, 74

Log Stop, 117 Program Step Grid, 83

MAC-ID Tab Category Click, 23 Program Writing, 139

Main Form, 5 Progress Bar, 8

Main Toolbar, 5 Project File Selection Box, 9

MCH Configuration, 44 Read All, 14, 38

MCH Information Tab Page, 44 Read One, 14

MCH Status, 72 Ready Alarm Status, 7

MCH Type / Max Axis, 44 Recent File (Menu Bar), 147

Mechanism/IO Monitor Pane, 72 Redo, 79

Memory Switch Information, 41 Release, 80

Menu Bar Functions, 145 ReStart, 80

Menu Configuration, 145 Restrictions on Variable Names, 86

Mode, 70 RS232C Auto Communication Setting, 58

Monitor Function, 110 RS232C Basic Setup, 56

Monitor Pane, 100 Save Log Data, 118

Motor Type, 47 Save Parameter File, 14, 38

Negative Hard Limit, 50 Save Program File, 79

Negative Soft Limit, 49 Save Project File (Menu Bar), 145

Net Search, 14, 38, 67, 117 Save Project File with Name (Menu Bar), 145

New, 79 Selecting a language, 131

Normal, 80 Servo Command, 26

Open Log Data, 118 Servo feedback, 120

Open Parameter File, 14, 38 Servo Feedback, 69

Open Program File, 79 Servo FeedBack, 24

Open Project File (Menu Bar), 145 Servo Free, 67, 80

Operations Disabled in Debug Mode, 109 Servo Gain, 31

Oscillo, 117 Servo Monitor, 113

Output Pane, 94 Servo Monitor Functions, 113

Override, 7, 67, 79 Servo Monitor Pane, 120

Parameter Writing, 138 Servo OFF, 67, 80, 118

Paste, 79 Servo ON, 67, 80, 118

Positive Hard Limit, 50 Servo status, 120

Positive Soft Limit, 49 Servo Status, 28, 69

Preview, 14, 38 Setting the Device Setup Window, 133

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Copyright© 2008 Tamagawa Seiki CO.,LTD

Setting the Program Grid Window, 136 Tool (Menu Bar), 154

Setting the SVC Setup Window, 135 Tool Button, 70

Shortcut Keys, 112 Tool Pane (Controller Setup), 38

Smooth Stop, 80, 118 Tool Pane (Device Setup), 14

Software Operating Environment, 2 Tool Pane (JOG Operation), 67

Speed Level, 69 Tool Pane (Program Grid), 79

Speed Limit, 48 Tool Pane (Servo Monitor), 117

Split File Menu, 77 Toolbar Functions (Menu Bar), 166

Start, 79, 117 Undo, 79

Starting Home Mode, 45 Unit, 117

Starting the SV Programmer, 4 USB Status, 7

Status Bar, 7 Utilities, 128

Step In, 81 Utility Functions, 128

Stop, 79, 117 Variable, 86

Subpane, 90 Variable List Grid, 86

SV-NET Baudrate, 42 View (Menu Bar), 148

SV-NET Controller Product Information, 40 View Wave, 117

SV-NET Driver Information, 23 View X-Y, 117

System Information, 40 Watch Pane, 98

Task Pane, 101 Window (Menu Bar), 163

Task Status, 7 Write All, 38

Task View, 80 Write One, 14

The icon menu is diplayed at all times, 131

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Copyright© 2008 Tamagawa Seiki CO.,LTD

 Trading Company

TAMAGAWA TRADING CO., LTD.

Headquarters: 1-595-1 Haba-cho, Iida City, Nagano Prefecture, 395-0063 Japan
■ Eastern Japan Regional Headquarters (Responsible for: Niigata Pref., Nagano Pref., Yamanashi Pref., Kanagawa Pref.
and areas eastward)
•Kita-Kanto Sales 338-001 3rd Floor, Yahata Bldg., 3-8-8 Kamiochiai, Chuo-ku, Saitama TEL: +81-48-851-4560 FAX: +81-48-851-4580
Office City, Saitama Prefecture, Japan
•Hachioji Sales Office 191-0011 2nd Floor, Central Green Bldg., 2-15-1 Hino-honmachi, Hino TEL: +81-42-581-9961 FAX: +81-42-581-9963
City, Tokyo, Japan
•Kanagawa Sales 252-0804 Rm. 302, Narita Bldg., 2-7-9 Shonandai, Fujisawa City, TEL: +81-466-41-1830 FAX: +81-466-41-1831
Office Kanagawa Prefecture, Japan
■ Western Japan Regional Headquarters (Responsible for: Toyama Pref., Gifu Pref., Aichi Pref., Shizuoka Pref. and areas
westward)
•Nagoya Sales Office 486-0916 5-10 Hakko-cho, Kasugai City, Aichi Prefecture, Japan TEL: +81-568-35-3533 FAX: +81-568-35-3534
•Chubu Sales Office 444-0834 Rm. 303, Device Bldg., 210 Higashi-Arako, Hashira-cho, TEL: +81-564-71-2550 FAX: +81-564-71-2551
Okazaki City, Aichi Prefecture, Japan
•Hokuriku Sales 920-0036 Sion Furumura 301, 17-55 Motogiku-cho, Kanazawa City, TEL: +81-76-263-3731 FAX: +81-76-263-3732
Office Ishikawa Prefecture, Japan
•Osaka Sales Office 532-0011 Rm. 401, Osaka-hamamiya Bldg., 5-6-24 Nishi-Nakajima, TEL: +81-6-6307-5570 FAX: +81-6-6307-5670
Yodogawa-ku, Osaka City, Osaka Prefecture, Japan
•Fukuoka Sales 812-0014 Maison MI306, 12-25 Hie-machi, Hakata-ku , Fukuoka City, TEL: +81-92-437-5566 FAX: +81-92-437-5533
Office Fukuoka Prefecture, Japan
■ Special Equipment Business Headquarters (Sales of aviation-, space- and defense-related equipment)
•Tokyo Sales Office 144-0054 3-19-9 Shin-Kamata, Ota-ku, Tokyo, Japan TEL: +81-3-3731-2131 FAX: +81-3-3738-3134
•Kanagawa Sales 252-0804 Rm. 302, Narita Bldg., 2-7-9 Shonandai, Fujisawa City, TEL: +81-466-41-1830 FAX: +81-466-41-1831
Office Kanagawa Prefecture, Japan
•Nagoya Sales Office 486-0916 5-10 Hakko-cho, Kasugai City, Aichi Prefecture, Japan TEL: +81-568-35-3453 FAX: +81-568-35-3534
•Osaka Sales Office 532-0011 Rm. 401, Osaka-hamamiya Bldg., 5-6-24 Nishi-Nakajima, TEL: +81-6-6307-5580 FAX: +81-6-6307-3670
Yodogawa-ku, Osaka City, Osaka Prefecture, Japan
■ Overseas Sales Department
Sales Office : 1020 Kega, Iida City, Nagano Prefecture, 395-8520 Japan TEL: +81-265-56-5423 FAX : +81-265-56-5427

■ Inquiries
• Phone center: 1-595-1 Haba-cho, Iida City, Nagano Prefecture, 395-0063 Japan TEL: +81-265-56-5421 ,5422 FAX: +81-265-56-5426

Manufacturer

Tamagawa Seiki Co., Ltd.

Headquarters & First 395-8515 1879 Oyasumi, Iida City, Nagano Prefecture, Japan TEL: +81-265-21–1800 FAX: +81-265-21-1861
Plant (Main No.)
Second Plant 395-8520 1020 Kega, Iida City, Nagano Prefecture, Japan TEL: +81-265-56-5411 FAX: +81-265-56-5412
Third Plant 399-3303 3174-22 Motohshima Matsukawa-machi, TEL: +81-265-34-7811 FAX: +81-265-34-7812
Shimoina-gun, Nagano Prefecture, Japan
Hachinohe Plant 039-2245 1-3-47 Kita-Inter Kogyo-danchi, Hachinohe City, TEL: +81-178-21-2611 FAX: +81-178-21-2615
Aomori Prefecture, Japan
Fukuchi Factory, 039-0811 1-1 Aza Kan-emonyama, Oaza Hoshioka, TEL: +81-178-60-1050 FAX: +81-178-60-1155
Hachinohe Plant Nambu-cho, Sannohe-gun, Aomori Prefecture, Japan
Tokyo Plant 144-0054 3-19-9 Shin-Kamata, Ota-ku, Tokyo, Japan TEL: +81-3-3738-3233 FAX: +81-3-3738-3175

Please note that this manual may be changed without prior notice.

Manual number: MNL000318Y00

z Company Web site: http://www.tamagawa-seiki.co.jp

z SV-NET Web site: http://sv-net.tamagawa-seiki.com