Section Mgr.
APPROVALS:
Design Eng.
H.Ogi
MITSUBISHI
General Purpose AC Servo
MELSERVO-J2S-S099
Equivalent to CC-Link with index advance and retard
Specifications and Instruction Manual
For Engineering Sample
MITSUBISHI
ELECTRIC
BCN-B11127-478*
Table of Contents
1. FUNCTION AND CONFIGURATION
1.1 Overview
2
2
2. STANDARD SPECIFICATIONS
2.1 Servo amplifier standard specifications
3
3
3. BLOCK DIAGRAM
4
4. CC-LINK COMMUNICATION FUNCTIONS
4.1 Communication specifications
4.2 System configuration
4.3 Functions
4.4 Servo amplifier setting
4.5 I/O Signals transferred to/from the PLC CPU
4.6 Data communication timing charts
5
5
6
11
12
13
34
5. STANDARD CONNECTION EXAMPLE
41
6. I/O SIGNALS
6.1 Signal explanations
6.2 Additional function devices
6.3 Detailed description of the signals
43
43
45
48
7. INTERFACES
54
8. POWER SUPPLY SYSTEM CIRCUIT
8.1 Connection example
8.2 Terminals
8.3 Power-on sequence
56
56
57
58
9. DISPLAY AND OPERATION
9.1 Display flowchart
59
59
10. PARAMETERS
60
11. TROUBLESHOOTING
11.1 Alarms and warning list
11.2 Operation performed at alarm/warning occurrence
11.3 CC-Link communication alarm
80
80
81
82
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BCN-B11127-478*
1. Functions and Configuration
1.1 Overview
The MR-J2S- CP-S099 servo amplifier connects with CC-Link via MR-J2S-T01 CC-Link interface unit.
Up to 42 axes of servo amplifiers can be controlled/monitored from the PLC side.
The MR-J2S- CP-S099 servo amplifier having index advance and retard function allows you to perform
positioning operation by merely setting the indexing data, motor speeds, acceleration/deceleration time
constants, etc. in point blocks (position blocks, speed blocks) like making parameter setting. It is the most
appropriate for you to configure up a simple positioning system without programs or simplify your system.
<Functions added to standard product>
• Synchronous control function with pulse train input.
• Encoder A/B phase output function.
<Functions eliminated from standard product>
• Absolute value, Incremental value command system.
• Manual pulse generator operation.
• Zeroing function.
• Absolute position detection system.
• Follow-up for absolute value command in incremental system.
• Override, torque limit offset function.
• Rough match signal output.
• Position range output
• S-pattern acceleration / deceleration filter.
• Software stroke limit function.
• Gain changing function
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BCN-B11127-478*
2. Standard specifications
2.1 Servo amplifier standard specifications
Servo Amplifier
MR-J2S- CP-S099
10
20
40
60
70
100
200
350
500
700
Item
Power supply
Voltage/frequency
3-phase 200 to 230VAC, 50/60Hz or 1-phase
230VAC, 50/60Hz
3-phase 200 to 230VAC, 50/60Hz
3-phase 200 to 230VAC:
170 to 253VAC
1-phase 230VAC: 207 to 253VAC
3-phase 170 to 253VAC
Permissible voltage fluctuation
Permissible frequency fluctuation
Within 5%
Power supply capacity
Refer to Section12.2
System
Sine-wave PWM control, current control system
Dynamic brake
Built-in
Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic
thermal relay), servo motor overheat protection, encoder error protection, regenerative
brake error protection, undervoltage, instantaneous power failure protection, overspeed
protection, excessive error protection
Protective functions
Structure
Environment
Ambient
temperature
Ambient
humidity
Self-cooled, open (IP00)
Operation
Storage
Force-cooling, open (IP00)
[ ]
0 to 55 (non-freezing)
[ ]
32 to 131 (non-freezing)
[ ]
20 to 65 (non-freezing)
[ ]
4 to 149 (non-freezing)
Operation
90%RH or less (non-condensing)
Storage
Ambient
Indoors (no direct sunlight)
Free from corrosive gas, flammable gas, oil mist, dust and dirt
Altitude
Max. 1000m (3280ft) above sea level
5.9 [m/s2] or less
Vibration
Weight
19.4 [ft/s2] or less
[kg]
0.7
0.7
1.1
1.1
1.7
1.7
2.0
2.0
4.9
7.2
[lb]
1.5
1.5
2.4
2.4
3.75
3.75
4.4
4.4
10.8
15.87
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BCN-B11127-478*
3. Block Diagram
Synchronous
pulse
PLG
Pr 46,47
Pr 49
Pr 48
Electric
gear
Smoothing
Filter
Acc. / Dec.
Filter
Synchronous
operation
(STS)
Synchronous
completion
(SYC)
Point table No.1 or No.3
POS: Advance and retard value
SPD: Advance and retard speed
Pr 4,5
Point table No.1 or No.3
STA: Acceleration time
STB: Deceleration time
+
Acc. / Dec.
Filter
Electric
gear
Start
(ST1 / ST2)
+
Position
Control
SM
Index advance and
retard profile generate
PLG
Overlapping
completion
(SYF)
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BCN-B11127-478*
4. CC-LINK Communication Functions
4.1 Communication specifications
POINT
The MR-J2S-T01 option module is equivalent to a remote device station.
For details of the PLC side specifications, refer to the CC-Link system master module manual.
Item
Specifications
Applicable CPU card
QnA(H), QnAS(H), A1S, A1SH, AnUS(H), AnN, AnA, AnU(H)
Communication speed
10M/5M/2.5M/625k/156kbps
Communication system
Broadcast polling system
Synchronization system
Frame synchronization system
Transmission path format
Bus format (conforming to EIA RS485)
Transmission format
Conforming to HDLC
PLC side master station
Remote station number
[bps]
156K
625K
2.5M
Overall distance
[ft]
3937
1969
656
(Note) Max.
transmission
distance
1 to 64
Communication
speed
Interstation
distance
Between
master/local
station and
preceding/
subsequent
station
Between
remote I/O
stations/
remote
device
stations
492
10M
360
328
262
164
39in
or
more
23in
to
39in
11in
to
23in
6.557ft. or more
11in
or
more
11in
or
more
Error control system
Servo Amp.
5M
11in
or
more
23in
or
more
11in
to
23in
CRC
Connection cable
Twisted pair cable (3-wire type)
Adaptable servo amplifier for CC-Link
MR-J2S-…A-S084
Power supply to CC-Link option unit
5Vdc from the servo amplifier
Number of servo amplifiers connected
Max. 42 nodes (In case of 1 station)
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BCN-B11127-478*
4.2 System configuration
4.2.1 Configuration example
(1) PLC side
Fit “Type AJ61BT11”, “Type A1SJ61BT”, “Type AJ61QBT11” or “Type A1SJ61QBT” “Control &
Communication Link system master/local module” to the main or extension base unit which is loaded
with the PLC CPU used as the master station.
(2) Wiring
Connect the PLC CC-Link module master station and servo amplifier by a twisted pair cable (3-wire
type).
(3) For the CPU having the automatic refresh function (Example: QnA series CPU)
Transfer of data to/from the corresponding devices is performed from a sequence ladder and the
devices are automatically refreshed by the refresh buffer of the master station at the END instruction
to make communications with the remote devices.
(4) For the CPU having no automatic refresh function (Example: AnA series CPU)
Transfer of data to/from the refresh buffer of the master station is performed directly from a sequence
ladder to make communications with the remote devices.
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BCN-B11127-478*
4.2.2 Wiring method
(1) Connection example
The MR-J2S-T01 CC-Link option unit with MR-J2S-…CP-S099 Servo amplifier and PLC CC-Link
master module are wired as shown below.
PLC CC-Link
Master Module
Servo amplifier
Main power
L1
U
L2
V
L3
W
Servo Motor
MR-J2S-T01
DA
DB
DG
SLD
FG
DA
DB
DG
SLD
C
N
3
0
C
N
3
(2) Example of connecting multiple servo units
As the remote I/O stations of CC-Link, servo amplifiers share the link system and can be
controlled/monitored using PLC user programs.
CC-Link
Termination register PLC
master module
DA
(Note1) Termination
MR-J2S-T01
CC-Link connector (CN10)
MR-J2S-T01
CC-Link connector (CN10)
DB
DG
SLD
FG
1 DA
1 DA
2 DB
2 DB
3 DG
3 DG
4 SLD
4 SLD
5 FG
5 FG
Max number of axes : 42 stations
(When 1 station is occupied)
Shielded twisted cable (3-wire type)
Note 1. Use the termination resistor supplied with the PLC. The resistance of the termination resistor depends on the cable used. For
details, refer to the open field network CC-Link catalog (L(NA)74108143).
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BCN-B11127-478*
(3) How to wire the CC-Link terminal block (CN10)
(a) Strip the sheath of the cable and separate the internal wires and braided shield.
(b) Strip the sheaths of the braided shield and internal wires and twist the cores.
Braided shield
Approx. 10mm (0.394in.)
3-core twisted pair cable
(c) Match and twist the wires and braided shield of the cable connected to the preceding axis or PLC
and the corresponding wires and braided shield of the cable connected to the subsequent axis.
(d) For the last axis, work the termination resistor supplied to the CC-Link module as shown below.
Termination register
(10mm (0.394in.))
(10mm (0.394in.))
Remove sheath
Remove sheath
Fold lead wire
Cut
Cut
(e) Insert the core of the cable into the opening and tighten it with a flat-blade screwdriver so that it
will not come off. (Tightening torque: 0.5 to 0.6N m) When inserting the wire into the opening,
make sure that the terminal screw is fully loose.
CC-Link terminal block
Opening
Loosen Tighten
Wire
To the next
station
To the preceding station
or PLC
Flat blade screwdriver
Tip thickness 0.4 to 0.6mm (0.016 to 0.024in.)
Full wide 2.5 to 3.5mm (0.098 to 0.138in.)
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BCN-B11127-478*
4.2.3 Station number setting
(1) How to number the stations
Set the servo station numbers before powering on the servo amplifiers. Note the following points when
setting the station numbers:
(a) Station numbers may be set within the range 1 to 64.
(b) One servo amplifier occupies 1 or 2 stations. (One station of PLC remote device station)
(c) Max. number of connected units: 42
Note that the following conditions must be satisfied:
{(1 a) (2 B) (3 d) (4 d)} 64
a: Number of 1-station occupying units
b: Number of 2-station occupying units
c: Number of 3-station occupying units (not available for MR-J2S-T01)
d: Number of 4-station occupying units (not available for MR-J2S-T01)
{(16 A) (54 B) (88 C)} 2304
A: Number of remote I/O stations 64
B: Number of remote device stations 42
C: Number of local stations 26
(d) When the number of units connected is 4, station numbers can be set as shown below:
CC-Link
master module
PLC remote I/O
station
(1 station occupied)
Servo amplifier No.1
(When 2 stations are
occupied)
Remote device station
Servo amplifier No.2
(When 2 stations are
occupied)
Remote device station
Servo amplifier No.3
(When 2 stations are
occupied)
Remote device station
Station No.1
Station No.2
Station No.4
Station No.6
Number of connected units is 4.
(2) Station number setting method
Set the station number with the station number switches (SW1, SW2) on the servo amplifier front.
The station number that may be set is any of 1 to 64 in decimal. In the initial status, the station
number is set to station 1.
SW1
2
3
1
4
5
0
9
8
Set the tens. (initial value: 0)
6
7
SW2
2
3
1
4
5
0
9
8
Set the units. (initial value: 1)
6
7
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BCN-B11127-478*
4.2.4 Communication baudrate setting
Set the transfer baudrate of CC-Link with the transfer baudrate switch (SW3) on the servo amplifier
front. The initial value is set to 156kbps.
The overall distance of the system changes with the transfer speed setting. For details, refer to the CCLink system master/local module user's manual.
SW3
2
3
1
4
0
5
9
8
6
7
No.
Baudrate
0 (initial value)
1
2
3
4
156kbps
5 to 9
Not used
625kbps
2.5Mbps
5Mbps
10Mbps
4.2.5 Occupied station count setting
Set the number of occupied stations with the occupied station count switch (SW1,SW2) on the servo
amplifier front. The usable I/O signals and the number of connectable units change with the set number
of occupied stations. In the initial status, the number of stations occupied is set to 1.
SW1,SW2 setting
OFF 1
OFF
Number of occupied stations
1 station occupied
2
OFF
(Initial value)
OFF 1
2
OFF
ON
2 stations occupied
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BCN-B11127-478*
4.3 Functions
4.3.1 Function block diagram
This section explains the transfer of I/O data to/from the servo amplifier in PLC link, using function
blocks.
(1) Between the master station and servo amplifier in the CC-Link system, link refresh is normally
performed at intervals of 3.5 to 18ms (512 points). The link scan time of link refresh changes with the
communication speed. For details, refer to the CC-Link system master/local module user's manual.
(2) The I/O refresh and master station sequence program are executed asynchronously. Some PLCs allow
link scans to be synchronized with PLC scans.
(3) The FROM instruction from the buffer memory of the CC-Link system master/local module is used to
read data from the servo amplifier, and the TO instruction is used to write data. Some PLCs allow
automatic refresh to be set to omit the FROM and TO instructions.
Servo amplifier
I/O interface
Input
Output
Servo amplifier CPU
Buffer
memory
3) Twisted pair
cable
(3-wire type)
CC-Link interface
2) Buffer memory access
CPU
CC-Link interface
PLC CPU
1) AJ61BT11
I/O signal
Interface with PLC
PLC CC-Link module
4.3.2 Functions
The following table lists the functions that may be performed from the PLC in the CC-Link system in the CCLink operation mode or parameter unit test operation mode.
Item
Operation mode
CC-Link operation mode
Parameter unit test operation mode
Monitor
Operation
Parameter write
Parameter read
Position block data write
Position block data read
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BCN-B11127-478*
4.4 Servo amplifier setting
4.4.1 Servo amplifier side operation modes
The MR-J2S-T01 with MR-J2S-…CP-S099 has the following operation modes:
Operation mode
Description
CC-Link communication functions are used to operate the servo with the PLC programs.
CC-Link operation mode
The configuration S/W or push button on the front panel in the servo amplifier is
operated to test-run the servo.
Test operation mod
4.4.2 Operation mode changing
(1) Operation mode changing conditions
Change the operation mode after making sure that:
(a) The servo motor is at a stop.
(b) The forward rotation start (RYn1) or reverse rotation start (RYn2) is “0” (OFF).
(2) Operation mode changing method
CC-Link
operation mode
Change with parameter unit
A
Test operation
mode
B
Symbol
Changing
Description
CC-Link operation mode
Select the test operation mode via configuration
S/W or use push button on the front panel.
A
Test operation mode
Test operation mode
Deselect the test operation mode via configuration
S/W or use push button on the front panel
B
CC-Link operation mode
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BCN-B11127-478*
4.5 I/O Signals transferred to/from the PLC CPU
4.5.1 I/O signals
(1) Positioning system
The input signals may be used as either the CC-Link or CN1 external input signals. Make selection in
parameter No. 116,117,118. The output signals can be used as both the CC-Link and CN1 external
input signals.
(a) When 1 station is occupied
RX/RY: 32 points each, RWR/W: 4 points each
PLC
Device No.
RYn0
RYn1
RYn2
RYn3
RYn4
RYn5
RYn6
RYn7
RYn8
RYn9
RYnA
RYnB
RYnC
RYnD
RYnE
RYnF
RY(n+1)0
to
RY(n+1)9
RY(n+1)A
RY(n+1)B
to
RY(n+1)F
Servo amplifier (RY)
Signal name
Servo amplifier
Device No.
RXn0
RXn1
RXn2
RXn3
RXn4
RXn5
RXn6
RXn7
RXn8
RXn9
RXnA
RXnB
RXnC
RXnD
RXnE
RXnF
RX(n+1)0
to
RX(n+1)9
RX(n+1)A
RX(n+1)B
RX(n+1)C
to
RX(n+1)F
Servo on
Forward rotation start
Reverse rotation start
RESERVED
Forward rotation stroke end
Reverse rotation stroke end
Automatic operation / manual drive mode
Temporary stop / Restart
Monitor output execution demand
Instruction code execution demand
Position block number selection bit0
Position block number selection bit1
Position block number selection bit2
Position block number selection bit3
Position block number selection bit4
Synchronous operation start
RESERVED
Reset
RESERVED
PLC
Servo amplifier (RW W )
Address No.
Ready
In position
Rough match
RESERVED
Limiting torque
Overlapping completion
Electromagnetic brake interlock
Temporary stopping
Monitoring
Instruction code execution completion
Warning
REASERVED
Moving complete
Dynamic break interlock
Position range
Synchronous completion
RESERVED
Trouble
Remote bureau communication ready
RESERVED
Servo amplifier
Signal name
PLC (RX)
Signal name
Address No.
PLC (RW R)
Signal name
RWWn
Monitor 1
RWRn
Monitor 1 data
RWWn+1
Monitor 2
RWRn+1
Monitor 2 data
RWWn+2
Instruction code
RWRn+2
Answer code
RWWn+3
Writing data
RWRn+3
Reading data
Note1: Following signals can be used as the external I/O only.
1)
Servo emergency stop signal (DI: EMG)
2)
Encoder feedback pulses output (DO: open collector and line driver)
Note2: “n” depends on the station number.
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BCN-B11127-478*
(b) When 2 stations are occupied
RX/RY: 32 points each (possible to extend to 64 points), RWR/W: 8 points each
PLC
Device No.
RYn0
RYn1
RYn2
RYn3
RYn4
RYn5
RYn6
RYn7
RYn8
RYn9
RYnA
RYnB
RYnC
RYnD
RYnE
RYnF
RY(n+1)0
to
RY(n+1)F
RY(n+2)0
RY(n+2)1
RY(n+2)2
RY(n+2)3
RY(n+2)4
RY(n+2)5
RY(n+2)6
RY(n+2)7
RY(n+2)8
RY(n+2)9
RY(n+2)A
RY(n+2)B
RY(n+2)C
to
RY(n+2)F
RY(n+3)0
to
RY(n+3)9
RY(n+3)A
RY(n+3)B
to
RY(n+3)F
Servo amplifier (RY)
Signal name
Servo amplifier
Device No.
RXn0
RXn1
RXn2
RXn3
RXn4
RXn5
RXn6
RXn7
RXn8
RXn9
RxnA
RXnB
RXnC
RXnD
RynE
RXnF
RX(n+1)0
to
RX(n+1)F
RX(n+2)0
RX(n+2)1
RX(n+2)2
RX(n+2)3
RX(n+2)4
RY(n+2)5
RX(n+2)6
RX(n+2)7
RX(n+)8
RX(n+2)9
RX(n+2)A
Servo on
Forward rotation start
Reverse rotation start
RESERVED
Forward rotation stroke end
Reverse rotation stroke end
Automatic operation / manual drive mode
Temporary stop
Monitor output execution demand
Instruction code execution demand
Position block number selection bit0
Position block number selection bit1
Position block number selection bit2
Position block number selection bit3
Position block number selection bit4
Synchronous operation start
RESERVED
Position instruction demand
Speed instruction demand
Note 1
Note 1
RESERVED
Internal torque limit (second selection)
Proportion control
RESERVED
Point block / Position instruction changing
Absolute / Incremental selection in direct position
instruction mode
RX(n+2)B
RX(n+2)C
to
RX(n+2)F
RX(n+3)0
to
RX(n+3)9
RX(n+3)A
RX(n+3)B
RX(n+3)C
to
RX(n+3)F
RESERVED
RESERVED
Reset
RESERVED
PLC (RX)
Signal name
Ready
In position
Rough match
RESERVED
Limiting torque
Overlapping completion
Electromagnetic brake interlock
Temporary stopping
Monitoring
Instruction code execution completion
Warning
RESERVED
Moving complete
Dynamic brake inter lock
Position range output
Synchronous completion
RESERVED
Position instruction execution completion
Speed instruction execution completion
Point block No. output bit 0
Point block No. output bit 1
Point block No. output bit 2
Point block No. output bit 3
Point block No. output bit 4
RESERVED
RESERVED
Trouble
Remote bureau communication ready
RESERVED
Note 1: Select the instruction mode at parameter # 41.
Note 2: “n” depends on the station number.
PLC
Address No.
RWWn
RWWn+1
RWWn+2
RWWn+3
RWWn+4
RWWn+5
RWWn+6
RWWn+7
Servo amplifier (RW W )
Signal name
Servo amplifier
Address No.
RWRn
RWRn+1
RWRn+2
RWRn+3
Monitor 1
Note 1
Monitor 2
Note 1
Instruction code
Writing data
Position block No./Position instruction data under
16bit
Note 2
Position instruction data upper 16bit
Speed block No./Speed instruction data Note 3
Reserved
PLC (RW R)
Signal name
Monitor 1 data under 16bit
Monitor 1 data upper 16bit
Answer code
Reading data
RWRn+4
Reserved
RWRn+5
RWRn+6
RWRn+7
Monitor 2 data under 16bit
Monitor 2 data upper 16bit
Reserved
Note 1: Sets the lower 16bit in case of 32bit data code.
Note 2: Sets the point table # at RWwn+4 in case the parameter #41 is ………0. Set the point data at RWwn+4 and RWwn+5 in case
the parameter #41 is ………1 and ………2. Then turn on the position instruction demand signal (RY(n+2)0).
Note 3: Sets the point table # at RWwn+6 in case the parameter #41 is ………1, Sets the speed data in case the parameter #41 is
………2. Then turn on the speed instruction demand signal (RY(n+2)1). No data need at RWwn+6 when the parameter #41 is
………0.
Note 4: “n” depends on the station number.
14
BCN-B11127-478*
(1) Input signals
Signal name
Servo on
Forward
rotation start
Reverse
rotation start
Forward
rotation
stroke end
Reverse
rotation
stroke end
Automatic
operation/
Manual
drive mode
Device #
1 station
2 stations
occupied
occupied
Description
Turning RY0 to “1” (ON) powers on the base circuit, making operation
ready to start.
Turning it to “0” (OFF) powers off the base circuit, coasting the servo
motor.
In incremental value command system
Turning this signal to “1” (ON) in the automatic operation mode starts
forward rotation.
Turning this signal to “1” (ON) in the zeroing mode starts zeroing.
Turning this signal to “1” (ON) in the JOG operation mode performs
forward rotation while it is shorted.
Turning this signal from “0” (OFF) to “1” (ON) during a temporary stop
resumes operation over the remaining distance.
Forward rotation indicates the address increasing direction.
In absolute value command system
Turning this signal to “1” (ON) in the automatic operation mode starts
operation.
Turning this signal to “1” (ON) in the zeroing mode starts zeroing.
Turning this signal to “1” (ON) in the JOG operation mode performs
forward rotation while it is shorted.
Turning this signal from “0” (OFF) to “1” (ON) during a temporary stop
resumes operation over the remaining distance.
Forward rotation indicates the address increasing direction.
In the factory-shipped status, the forward rotation stroke end is valid
as the external input signal (CN1B-16) and the reverse rotation stroke
end is valid as the external input signal (CN1B-17).
When starting operation, short CN1B-16 - SG and CN1B-17 - SG.
Opening them causes a sudden stop, resulting in servo lock.
For use in CC-Link, make it usable in parameter No. 116 (bit 4 and bit
5).
When starting operation, turn RY4/RY5 to “1” (ON). Turning it to “0”
(OFF) causes a sudden stop, resulting in servo lock.
When not using the forward/reverse rotation stroke end, set “Automatic
ON internally” in parameter No. 84.
(Note) Input signal
Operation
RYn4
RYn5
CCW direction
CW direction
1
1
Enable
Enable
0
1
Disable
Enable
1
0
Enable
Disable
0
0
Disable
Disable
0: Manual drive mode
1: Automatic operation
Note
RYn0
RYn0
1
RYn1
RYn1
1
RYn2
RYn2
1
RYn4
RYn4
1
RYn5
RYn5
1,2
PYn6
PYn6
1,2
Note1: These signals may be used as either the CC-Link or CN1A/CN1B external input signals. Make selection in parameter No. 116 to
118.
Note2: No need of external wiring when automatic turn on function was enabled in parameter No. 84 to 86.
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BCN-B11127-478*
Signal name
Temporary
stop
Monitor output
execution
demand
Instruction code
execution
demand
Position block #
selection (bit0)
Position block #
selection (bit1)
Position block #
selection (bit2)
Position block #
selection (bit3)
Position block #
selection (bit4)
Device #
1 station
2 stations
occupied
occupied
Description
Turning RY7 from “0” (OFF) to “1” (ON) and keeping it in that status
for longer than 5ms suspends operation. Turning the start signal RY1
or RY2 from “0” (OFF) to “1” (ON) again resumes operation from where
it stopped.
Turning RY8 to “1” (ON) sets the following data/signals. At the same
time, RX8 turns to “1” (ON). While RY8 is “1” (ON), the monitor values
are always updated.
1) When 1 station is occupied
Remote register RWRn: Data requested by monitor 1 (RWWn)
Remote register RWRn+1: Data requested by monitor 2 (RWWn+1)
Remote register RWRn+2: Normal or error answer code
2) When 2 stations are occupied
Remote register RWRn: Lower 16 bits of data requested by monitor 1
(RWWn)
Remote register RWRn+1: Upper 16 bits of data requested by monitor 1
(RWWn)
Remote register RWRn+5: Lower 16 bits of data requested by monitor 2
(RWWn+2)
Remote register RWRn+6: Upper 16 bits of data requested by monitor 2
(RWWn+2)
Remote register RWRn+2: Normal or error answer code
Turning RY9 to “1” (ON) executes the processing corresponding to the
instruction code set to the remote register RWWn+2.
After completion of instruction code execution, a normal or error
answer code is set to RWRn+2. At the same time, RXD turns to “1” (ON).
RYnA, RYnB, RYnC, RynD and RYnE are combined to choose the
position table #. Total point table number are up to 31 points.
Point table#
1
2
3
4
:
29
30
31
RYnE
0
0
0
0
:
1
1
1
RYnD
0
0
0
0
:
1
1
1
RYnC
0
0
0
1
:
1
1
1
RYnB
0
1
1
0
:
0
1
1
RYnA
1
0
1
0
:
1
0
1
Synchronous
operation start
Turning RYF to “1” (ON) executes the processing synchronous
operation.
Reset
Keeping this signal “1” (ON) for longer than 20ms deactivates any of
the following alarms. The base circuit is off while the signal is “1” (ON).
Indication
Name
Indication
Name
AL.45
Main circuit
device overheat
AL.46
Servo motor
overheat
Over voltage
AL.52
Error excessive
Command pulse
frequency alarm
AL.8D
CC-Link alarm
AL.8E
RS-232C alarm
Feedback alarm
AL.8F
RS-422 alarm
AL.10
Under voltage
AL.24
Ground fault
AL.31
Over speed
AL.32
Over current
AL.33
AL.35
AL.42
Note
RYn7
RYn7
RYn8
RYn8
RYn9
RYn9
RYnA
RYnA
1,2
RYnB
RYnB
1,2
RYnC
RYnC
1,2
RYnD
RYnD
1,2
RYnE
RYnE
1,2
RYnF
RYnF
RY(n+1)A
RY(n+3)A
1
1
Note1: These signals may be used as either the CC-Link or CN1A/CN1B external input signals. Make selection in parameter No. 116 to
118.
Note2: No need of external wiring when automatic turn on function was enabled in parameter No. 84 to 86.
16
BCN-B11127-478*
Signal name
Position
instruction
demand
Device #
1 station
2 stations
occupied
occupied
Description
Internal torque
limit selection
In case of “
0” in parameter No.41:
Turning RY(n+2) to “1” (ON) sets the position block No. set to the
remote register RWwn+4.
In case of “
1” or “
2” in parameter No.41:
Turning RY(n+2) to “1” (ON) sets the position command data set to the
remote register RWWn+4/RWWn+5.
When it is set to the servo amplifier, the normal or error answer code is
set to RWR2. At the same time, RX(n+2)0 turns to “1” (ON).
The registered data will be enabled at next automatic operation.
In case of “
0” in parameter No.41:
This function will be disabled.
1” in parameter No.41:
In case of “
Turning RY(n+2)1 to “1” (ON) sets the position block No. set to the
remote register RWwn+6.
In case of “
2” in parameter No.41:
Turning RY(n+2)1 to “1” (ON) sets the speed command data set to the
remote register RWwn+6.
When it is set to the servo amplifier, the normal or error answer code is
set to RWR2. At the same time, RX(n+2)1 turns to “1” (ON).
The registered data will be enabled at next automatic operation.
0(OFF): Depends on the setting in parameter No. 28.
1(ON): Depends on the setting in parameter No. 29.
Proportional
control
0(OFF): Proportional-Integral control will be selected.
1(ON): Proportional control will be selected.
Point block /
Position
instruction
changing
selection
Position direct
command
selection
(Absolute /
Incremental)
0(OFF): Point block mode
1(ON): Direct position instruction mode
Speed
instruction
demand
Note
RY(n+2)0
RY(n+2)1
RY(n+2)6
1
RY(n+2)7
1,2
RY(n+2)A
0(OFF): Absolute
1(ON): Incremental
This function will be enabled when parameter No.0 sets “
parameter No.2 sets “1
” are selected.
1” and
RY(n+2)B
1
Note1: These signals may be used as either the CC-Link or CN1A/CN1B external input signals. Make selection in parameter No. 116 to
118.
Note2: No need of external wiring when automatic turn on function was enabled in parameter No. 84 to 86.
17
BCN-B11127-478*
(b) Output signals
The device number whose Device No. field has an oblique line cannot be used in CC-Link.
Signal name
Ready
In position
Rough match
Limiting torque
Device #
1 station
2 stations
occupied
occupied
Description
This signal turns to “1” (ON) when the servo amplifier is ready to
operate without any failure after servo-on.
This signal turns to “1” (ON) when the droop pulse value has become
less than the in-position range set in the parameter.
This signal is not output while the base circuit is off.
This signal turns to “1” (ON) when the command remaining distance
has become less than the rough match output range set in the
parameter.
This signal is not output while the base circuit is off.
This signal turns to “1” (ON) when the torque limit value set internally
or externally is reached.
RXn0
RXn0
RXn1
RXn1
RXn2
RXn2
RXn4
RXn4
Overlapping
completion
This signal turns to “1” (ON) when the servo motor speed is reached to
the overlap speed.
RXn5
RXn5
Electromagnetic
brake inter lock
The electromagnetic brake interlock signal is output.
RX6 turns to “0” (OFF) at servo-off or alarm occurrence.
RXn6
RXn6
In temporary
stop
This signal turns to “1” (ON) in deceleration operation when the
temporary stop signal is detected.
Refer to Monitor output execution demand.
Refer to Instruction code execution demand.
RXn7
RXn7
RXn8
RXn8
RXn9
RXn9
RXnA
RXnA
RXnC
RXnC
RXnD
RXnD
RXnE
RXnE
RXnF
RXnF
RX(n+1)A
RX(n+3)A
RX(n+1)B
RX(n+3)B
Monitoring
Instruction code
execution
completion
Warning
Moving
complition
Dynamic break
interlock
Position range
output
Synchronous
completion
Trouble
Remote bureau
communication
ready
Position
instruction
execution
completion
Speed
instruction
execution
completion
RXA turns to “0” (OFF) if a warning occurs in the servo amplifier.
This signal turns to “1” (ON) when in-position and rough much signals
turned on.
This signal turns to “1” (ON) within dynamic break interlock.
This signal turns to “1” (ON) within the actual position is in the range
of parameter No. 55 to 53.
This signal will be turns to “0” (OFF) in case of Zeroing in-completion or
servo off.
This signal turns to “1” (ON) when the servo motor speed is reached to
the synchronous speed.
This signal turns to “0” (OFF) in normal status.
It will be turns to “1” in temporary stop using external dynamic brake.
Refer to the alarm code for alarm number.
This signal turns to “1” (ON) in normal status and will be turns to “0”
(OFF) within servo alarm occurs or reset operation.
Note
Refer to the position instruction execution demand.
RX(n+2)0
Refer to the speed instruction execution demand.
RX(n+2)1
18
BCN-B11127-478*
Signal name
Point block
output (bit 0)
Point block
output (bit 1)
Point block
output (bit 2)
Point block
output (bit 3)
Point block
output (bit 4)
Device #
1 station
2 stations
occupied
occupied
Description
Point block No. is set after position complete.
This signal will be turns off if;.
1) Power off
2) Servo off
3) In zeroing
4) After zeroing completion
RX(n+2)2
RX(n+2)3
Also is will be hold previous status if;
1) Changed operation mode
2) In manual operation
3) In fast zeroing
The data table is as follows;
Point table#
RY26
1
0
2
0
3
0
4
0
:
:
29
1
30
1
31
1
RY25
0
0
0
0
:
1
1
1
Note
RX(n+2)4
RY24
0
0
0
1
:
1
1
1
RY23
0
1
1
0
:
0
1
1
RY22
1
0
1
0
:
1
0
1
RX(n+2)5
RX(n+2)6
19
BCN-B11127-478*
c) Remote registers
The signal whose Remote Register field has an oblique line cannot be used.
1) Input (PLC servo amplifier)
Remote register
1 station
2 stations
occupied
occupied
RWWn
RWWn
Monitor 1
RWWn+1
RWWn+1
Monitor 2
RWWn+2
RWWn+2
Instruction code
RWWn+3
RWWn+3
Writing data
RWWn+4
Position block No./
Position instruction
data under 16bit
Signal name
RWWn+5
Position block No./
Position instruction
data upper 16bit
RWWn+6
Speed instruction
data
Description
Demands the status indication data of the servo
amplifier.
1) When 1 station is occupied
Setting the code of the status indication item to
be monitored to RWwn and turning RYn8 to “1”
(ON) sets data to RWrn.
2) When 2 stations are occupied
Setting the code of the status indication item to
be monitored to RWwn and turning RYn8 to “1”
(ON) sets data to RWrn.
When demanding 32-bit data, specifying the
lower 16-bit code No. and turning RYn8 to “1”
(ON) sets the lower 16-bit data to RWrn and the
upper 16-bit data to RWrn+1.
Demands the status indication data of the servo
amplifier.
1) When 1 station is occupied
Setting the code of the status indication item to
be monitored to RWwn+1 and turning RYn8 to
“1” (ON) sets data to RWrn+1.
2) When 2 stations are occupied
When demanding 32-bit data, specifying the
lower 16-bit code No. and turning RYn8 to “1”
(ON) sets the lower 16-bit data to RWrn+5 and
the upper 16-bit data to RWrn+6.
Sets the instruction code used to perform
parameter or point table data read, alarm
reference or the like.
Setting the instruction code to RWWn+2 and
turning RYn9 to “1” (ON) executes the instruction.
RXn9 turns to “1” (ON) on completion of
instruction execution.
Sets the written data used to perform parameter
or point table data write, alarm history clear or
the like.
Setting the written data to RWWn+3 and turning
RYn9 to “1” (ON) writes the data to the servo
amplifier. RXn9 turns to “1” (ON) on completion of
write.
Sets the position block No. to be executed in the
automatic operation mode when 2 stations are
occupied.
Setting the position block No. to RWWn+4 and
turning RY(n+2)0 to “1” (ON) sets the position
block No. to the servo amplifier.
When the point table is not used, set the position
command data.
Setting the lower 16 bits to RWW4 and the upper
16 bits to RWWn+5 and turning RY(n+2)0 to “1”
(ON) writes the upper and lower 16-bit position
command data
Use parameter No. 41 to set the position block No.
and position command data.
Setting the position block No. to RWWn+5 and
turning RY(n+2)1 to “1” (ON) writes the speed
command data to the servo amplifier.
Setting range
0000 to 001A
0000 to 001A
Refer to instruction
code definitions
Refer to write
instruction code
Refer to parameter
list
Refer to point table.
Position command
data:
Pr No.0 = ………0:
-999999 to 999999
Pr No.0 = ………1:
0 to 999999
Speed command
data:
0 to permissible
speed
20
BCN-B11127-478*
2) Output (Servo amplifier PLC)
Note that the data set to RWrn and RWrn+1 depends on whether 1 station or 2 stations are occupied.
If you set inappropriate code No. or data to the remote register input, the error code is set to Answer
code (RWrn+2). Refer to the error code.
When 1 station is occupied
Remote register
Signal name
Description
RWrn
Monitor 1 data
The data of the status indication item set to RWwn is set.
RWrn+1
Monitor 2 data
The data of the status indication item set to RWwn+1 is set.
RWrn+2
Answer code
“0000” is set when the codes set to RWwn
normally.
RWrn+3
Reading data
Data corresponding to the read code set to RWwn+2 is set.
RWwn+3 are executed
When 2 stations are occupied
Remote register
Signal name
Description
RWrn
Monitor 1 data under 16bit
The lower 16 bits of the data of the status indication item set to RWWn
are set.
RWrn+1
Monitor 1 data upper 16bit
The upper 16 bits of the data of the status indication item set to RWWn
are set. A sign is set if there are no data in the upper 16 bits.
RWrn+2
Answer code
“0000” is set when the codes set to RWWn
normally.
RWrn+3
Reading data
Data corresponding to the read code set to RWWn+2 is set.
RWrn+5
Monitor 2 data under 16bit
The lower 16 bits of the data of the status indication item set to RWWn+1
are set.
RWrn+6
Monitor 2 data upper 16bit
The upper 16 bits of the data of the status indication item set to RWWn+1
are set. A sign is set if there are no data in the upper 16 bits.
RWWn+6 are executed
RWrn+4
21
BCN-B11127-478*
4.5.2 Monitor codes
To demand 32-bit data when 2 stations are occupied, specify the lower 16-bit code No. Use any of the
instruction codes 0101 to 0127 to read the decimal point position (multiplying factor) of the status
indication.
Setting any code No. that is not given in this section will set the error code (……1…) to Answer code
(RWrn+2). At this time, “0000” is set to RWrn, RWrn+1, RWrn+5 and RWrn+6.
Code No.
Answer data (Servo amplifier
Monitored item
1 station
occupied
2 stations
occupied
0000
0000
Not monitored.
0000
0001
0001
Current position under 16bit
16bit
0002
0003
0003
0004
0005
0005
0006
Data length
Current position upper 16bit
16bit
Command position under 16bit
16bit
Command position upper 16bit
16bit
Command remaining distance under 16bit
16bit
Command remaining distance upper 16bit
16bit
PLC)
Unit
x10STM[mm]
0007
0007
Override
16bit
[%]
0008
0008
Position block
16bit
[No.]
000A
Feedback pulse value under 16bit
16bit
[pulse]
Feedback pulse value upper 16bit
16bit
[pulse]
0009
000A
16bit
000B
000C
16bit
000D
000E
16bit
000E
000F
Droop pulse value under 16bit
16bit
[pulse]
Droop pulse value upper 16bit
16bit
[pulse]
0010
0010
Torque limit command voltage
16bit
x0.01[V]
0011
0011
Regenerative load factor
16bit
[%]
0012
0012
Effective load factor
16bit
[%]
0013
0013
Peak load factor
16bit
[%]
0014
0014
Momentary torque
16bit
[%]
0015
0015
ABS counter
16bit
[rev]
0016
0016
Motor speed under 16bit
16bit
x0.1[rev/min]
x0.1[rev/min]
0017
Motor speed upper 16bit
16bit
0018
0018
Bus voltage
16bit
[V]
0019
0019
ABS position reading under 16bit
16bit
[pulse]
[pulse]
001A
ABS position reading middle 16bit
16bit
001B
001B
ABS position reading upper 16bit
16bit
[pulse]
001C
001C
Cycle counter under 16bit
16bit
[pulse]
Cycle counter upper 16bit
16bit
[pulse]
001D
001E
16bit
001F
0020
16bit
0020
0021
0022
0022
0023
0024
0024
0025
0026
0026
0027
0028
0029
0028
Current position under 16bit
16bit
Current position upper 16bit
16bit
Command position under 16bit
16bit
Command position upper 16bit
16bit
Command remaining distance under 16bit
16bit
Command remaining distance upper 16bit
16bit
Motor speed under 16bit
16bit
[pulse]
80000001h
to
7FFFFFFFh
[pulse/sec]
Motor speed upper 16bit
16bit
[pulse/sec]
Command speed under 16bit
16bit
[pulse/sec]
Command speed upper 16bit
16bit
[pulse/sec]
Note: Monitor scale value can read at command code (from 0100h)
22
BCN-B11127-478*
4.5.3 Instruction codes (RW W2 RW W3)
Refer to the instruction code timing charts.
(1) Read instruction codes
Set the code No. corresponding to the item to RWWn+2. The codes and answer data are all 4-digit
hexadecimal numbers.
Setting any code No. that is not given in this section will set the error code (
1 ) to Answer code
(RWrn+2). At this time, “0000” is set to Reading data (RWrn+3).
Code No.
Reading data (RW R3) contents
(Servo amplifier
PLC)
Item/Function
0000
Operation mode
Reads the operation mode.
0000: CC-Link operation mode
0001: Test operation mode via personal computer
0002
Travel multiplying factor
Reads the multiplying factor of the
position data in the position block set in
parameter No. 01.
0300: x1000
0200: x100
0100: x10
0000: x1
0010
Current alarm (warning) reading
Reads the alarm No. or warning No.
occurring currently.
0 0
Occurring alarm No./warning No.
0020
to
0025
Alarm number in alarm history (most
recent alarm)
0 0
Alarm No. that occurred in past
Note : The latest alarm number is in code 0020.
23
BCN-B11127-478*
Code No.
Item/Function
0030
to
0035
Alarm occurrence time in alarm history
(most recent alarm)
Reading data (RW R3) contents
(Servo amplifier
PLC)
Occurrence time of alarm that occurred in past
0040
Input signal status 0
Reads the statuses (0 or 1) of the input
signals.
Note : The latest alarm number is in code 0030.
bit 0 to bit F indicate the statuses OFF/ON (0/1) of the
corresponding input signals.
The statuses will be indicating external I/O when the parameter
No.116, No. 117 and No. 118 are changed to external I/O.
bitF
bit0: SON
bit1: ST1
bit2: ST2
bit3:
0041
Input signal status 1
Reads the statuses (0 or 1) of the input
signals.
bit0
bit4: LSP
bit5: LSN
bit6: MD0
bit7: STP
bit8: MOR bitC: DI2
bit9: COR bitD: DI3
bitA: DI0 bitE: DI4
bitB: DI1 bitF: STS
bit 0 to bit F indicate the statuses OFF/ON (0/1) of the
corresponding input signals.
The statuses will be indicating external I/O when the parameter
No. 116, No. 117 and No. 118 are changed to external I/O.
bitF
bit0
bit0: PSR bit4:
bit1: SPR bit5:
bit2:
bit6: TL1
bit3:
bit7: PC
0042
Input signal status 2
Reads the statuses (0 or 1) of the input
signals.
bit8: CDP
bit9:
bitA: CSL
bitB: INC
bitC:
bitD:
bitE:
bitF:
bit 0 to bit F indicate the statuses OFF/ON (0/1) of the
corresponding input signals.
The statuses will be indicating external I/O when the parameter
No. 116, No. 117 and No. 118 are changed to external I/O.
bitF
bit0:
bit1:
bit2:
bit3:
bit0
bit4:
bit5:
bit6:
bit7:
bit8:
bit9:
bitA: RES
bitB:
bitC:
bitD:
bitE:
bitF:
24
BCN-B11127-478*
Code No.
Item/Function
0050
Output signal status 0
Reads the statuses (0 or 1) of the Output
signals.
Reading data (RW R3) contents
(Servo amplifier
PLC)
bit 0 to bit F indicate the statuses (0 or 1) of the corresponding
output signals.
bitF
bit0: RD
bit1: INP
bit2:
bit3: ZP
0051
Output signal status 1
Reads the statuses (0 or 1) of the Output
signals.
Output signal status 2
Reads the statuses (0 or 1) of the Output
signals.
bit4: TLC
bit5: SYF
bit6: MBR
bit7: PUS
bit8: MOF
bit9: COF
bitA: WNG
bitB:
bitC: MEND
bitD: DBR
bitE: POT
bitF: SYC
bit 0 to bit F indicate the statuses (0 or 1) of the corresponding
output signals.
bitF
bit0: PSF
bit1: SPF
bit2: PT0
bit3: PT1
0052
bit0
bit0
bit4: PT2
bit5: PT3
bit6: PT4
bit7:
bit8:
bit9:
bitA:
bitB:
bitC:
bitD:
bitE:
bitF:
bit 0 to bit F indicate the statuses (0 or 1) of the corresponding
output signals.
bitF
bit0:
bit1:
bit2:
bit3:
bit0
bit4:
bit5:
bit6:
bit7:
bit8:
bit9:
bit A: ALM
bitB: CRD
bitC:
bitD:
bitE:
bitF:
25
BCN-B11127-478*
Code No.
Reading data (RW R3) contents
(Servo amplifier
PLC)
Item/Function
0081
Energization time
Reads the energization time from
shipment.
Returns the energization time [h].
0082
Power ON frequency
Reads the number of power-on times from
shipment.
Returns the number of power-on times.
00A0
Ratio load inertia
Reads the estimated ratio of load inertia
moment to servo motor shaft inertia
moment.
Returns the estimated ratio of load inertia moment to servo motor
shaft inertia moment [times].
00B0
Within-1-revolution position data (CYC0)
Cycle counter value of absolute home
position
under 16 bit
Return unit [pulses]
00B1
Within-1-revolution position data (CYC0)
Cycle counter value of absolute home
position
upper 16 bit
Return unit [pulses]
00C0
Error parameter No./Point block No.
reading
0
Parameter No. or block No.
1: Parameter
2: Position block
3: Speed block
Ex. : The data will be “0209” when position block No.9 has an
error.
0200
to
027C
Parameter setting
Reads the values set in parameter No. 0 to
124.
The decimal value converted from the 2
lower digits of the code No. corresponds to
the parameter No.
The setting of the requested parameter No. is returned.
For parameter No. 1, “F” enters the blank digits. For example,
setting of “13” will be “FF13”.
The range of reading parameters depends on the setting in
parameter No. 19. An error code will be respond when try to read
blocking parameter in No.19.
26
BCN-B11127-478*
Code No.
Item/Function
0300
to
037C
Data form of parameter setting
Reads the data format of the values set in
parameter No. 0 to 124.
The decimal value converted from the 2
lower digits of the code No. corresponds to
the parameter No.
Reading data (RW R3) contents
(Servo amplifier
PLC)
The setting of the requested parameter No. is returned.
Data format
0: Used unchanged
as hexadecimal
1: Must be converted
into decimal
Decimal point position
0: Without decimal point
1: First least significant digit
(without decimal point)
2: Second least significant digit
3: Third least significant digit
4: Fourth least significant digit
Parameter write type
0: Valid after write
1: Valid when power is switched on again after write
0400
to
041F
0500
to
051F
Position data of position block
Reads the position data of position block
No. 00 to 31.
The lower 16 bits are read in even code
and the upper 16 bits in odd code.
Example
Instruction code 0413:
Lower 16 bits of position block No. 19
Instruction code 0513:
Upper 16 bits of position block No. 19
An error code will be respond when try to read blocking
parameter in No.19.
The position data (upper 16 bits or lower 16 bits) set in the
requested position block No. is returned.
0600
to
061F
Rotational speed of position block
Reads the speeds of position block No. 00
to 31.
The decimal value converted from the 2
lower digits of the code No. corresponds to
the position block No.
The speed set to the requested position block No. is returned.
0700
to
071F
Acceleration time constant of position
block
Reads the acceleration time constants of
position block No. 00 to 31.
The decimal value converted from the 2
lower digits of the code No. corresponds to
the position block No.
The acceleration time constant set to the requested position block
No. is returned.
0800
to
081F
Deceleration time constant of position
block
Reads the deceleration time constants of
position block No. 00 to 31.
The decimal value converted from the 2
lower digits of the code No. corresponds to
the position block No.
The deceleration time constant set to the requested position block
No. is returned.
0900
to
091F
Dwell time of position block
Reads the dwell time of position block
No.00 to 31.
The decimal value converted from the 2
lower digits of the code No. corresponds to
the position block No.
The dwell time set to the requested position block No. is returned.
27
BCN-B11127-478*
Code No.
Item/Function
0A00
to
0A1F
Advanced function of position block
Read the advanced function of position
block No.00 to 31.
The decimal value converted from the 2
lower digit of the code No. corresponds to
the position block No.
Reading data (RW R3) contents
(Servo amplifier
PLC)
The advanced function set to the requested position block No. is
returned.
28
BCN-B11127-478*
(2) Write instruction codes
Set the code No. corresponding to the item to Instruction code (RWwn+2) and the written data to
Writing data (RWwn+3). The codes and answer data are all 4-digit hexadecimal numbers.
Setting any code No. that is not given in this section will set the error code (
1 ) to Answer code
(RWrn+2).
Code No.
Writing data (RW wn+3) contents
(PLC
Servo amplifier)
Item
8000
to
800F
Empty
8010
Alarm reset command
Deactivates the alarm that occurred.
This function is the same as that of the input signal of
device No. RY(n+1)A or RY(n+3)A.
8100
Empty
8101
Feedback pulse value display data is clear
Resets the display data of the status indication
“feedback pulse value” to 0.
1EA5
8200
to
827C
Parameter setting (RAM)
Writes the values set in parameter No. 00 to 124 to
RAM. These values are cleared when power is
switched off.
The decimal value converted from the 2 lower digits of
the code No. corresponds to the parameter No.
Convert the decimal values into hexadecimal before
making setting.
Parameter setting (EEP-ROM)
Writes the values set in parameter No. 00 to 124 to
EEP-ROM. Written to EEP-ROM, these values are
held if power is switched off.
The decimal value converted from the 2 lower digits of
the code No. corresponds to the parameter No.
Convert the decimal values into hexadecimal before
making setting.
Position data of position block (RAM)
Writes the position data of position block No. 00 to 31
to RAM. These values are cleared when power is
switched off.
The usable position block Nos. depend on the feeding
system and the number of occupied stations.
The lower 16 bits are written in even code and the
upper 16 bits in odd code.
Example
Instruction code 8413:
Lower 16 bits of position block No. 19
Instruction code 8513:
Upper 16 bits of position block No. 19
Convert the values into hexadecimal before making
setting.
8300
to
837C
8400
to
841F
8500
to
851F
1EA5
For parameter No. 1, “F” enters the blank digits. For
example, setting of “13” must be “FF13”.
The range of writing parameters depends on the
setting in parameter No. 19. An error code will be
respond when try to write blocking parameter in
No.19.
For parameter No. 1, “F” enters the blank digits. For
example, setting of “13” must be “FF13”.
The range of writing parameters depends on the
setting in parameter No. 19. An error code will be
respond when try to write blocking parameter in
No.19.
29
BCN-B11127-478*
Writing data (RW wn+3) contents
(PLC
Servo amplifier)
Code No.
Item
8600
to
861F
Speed data of position block (RAM)
Writes the speed data Nos. of position block No. 00 to
31 to RAM. These values are cleared when power is
switched off.
The decimal value converted from the 2 lower digits of
the code No. corresponds to the position block No.
Convert the values into hexadecimal before making
setting.
8700
to
871F
Acceleration time constant of position block (RAM)
Writes the acceleration time constants of position
block No. 00 to 31 to RAM. These values are cleared
when power is switched off.
The decimal value converted from the 2 lower digits of
the code No. corresponds to the position block No.
Convert the values into hexadecimal before making
setting.
8800
to
881F
Deceleration time constant of position block (RAM)
Writes the deceleration time constants of position
block No. 00 to 31 to RAM. These values are cleared
when power is switched off.
The decimal value converted from the 2 lower digits of
the code No. corresponds to the position block No.
Convert the values into hexadecimal before making
setting.
8900
to
891F
Dwell time of position block (RAM)
Writes the dwell time constants of position block No.
00 to 31 to RAM. These values are cleared when
power is switched off.
The decimal value converted from the 2 lower digits of
the code No. corresponds to the position block No.
Convert the values into hexadecimal before making
setting.
8A00
to
8A1F
Advanced function of position block (RAM)
Writhes the advanced function of position block No. 00
to 31 to RAM. These values are cleared when power is
switched off.
The decimal value converted from the 2 lower digits of
the code No. corresponds to the position block No.
Convert the values into hexadecimal before making
setting.
8B00
to
8B1F
Position data of position block (EEP-ROM)
Writes the position data of position block No. 00 to 31
to EEP-ROM. Written to EEP-ROM, these values are
held if power is switched off.
The lower 16 bits are written in even code and the
upper 16 bits in odd code.
Example
Instruction code 8B13:
Lower 16 bits of position block No. 19
Instruction code 8C13:
Upper 16 bits of position block No. 19
Convert the values into hexadecimal before making
setting.
8C00
to
8C1F
30
BCN-B11127-478*
Writing data (RW W3) contents
(PLC
Servo amplifier)
Code No.
Item
8D00
to
8D1F
Speed data of position block (EEP-ROM)
Writes the speed block Nos. of position block No. 00 to
31 to EEP-ROM. Written to EEP-ROM, these values
are held if power is switched off.
The decimal value converted from the 2 lower digits of
the code No. corresponds to the position block No.
Convert the values into hexadecimal before making
setting.
8E00
to
8E1F
Acceleration time constant of position block (EEPROM)
Writes the acceleration time constants of position
block No. 00 to 31 to EEP-ROM. Written to EEPROM, these values are held if power is switched off.
The decimal value converted from the 2 lower digits of
the code No. corresponds to the position block No.
Convert the values into hexadecimal before making
setting.
8F00
to
8F1F
Deceleration time constant of position block (EEPROM)
Writes the deceleration time constants of position
block No. 00 to 31 to EEP-ROM. Written to EEPROM, these values are held if power is switched off.
The decimal value converted from the 2 lower digits of
the code No. corresponds to the position block No.
Convert the values into hexadecimal before making
setting.
9000
to
901F
Dwell time of position block (EEP-ROM)
Writes the dwell time of position block No. 00 to 31 to
EEP-ROM. Written to EEP-ROM, these values are
held if power is switched off.
The decimal value converted from the 2 lower digits of
the code No. corresponds to the position block No.
Convert the values into hexadecimal before making
setting.
9100
to
911F
Advanced function of position block (EEP-ROM)
Writes the advanced function of position block No. 00
to 31 to held if power is switched off.
The decimal value converted from the 2 lower digits of
the code No. corresponds to the position block No.
Convert the values into hexadecimal before making
setting.
31
BCN-B11127-478*
4.5.4 Answer codes (RWrn+2)
If any of the monitor codes, instruction codes, position block Nos. set to the remote register is outside the
setting range, the corresponding error code is set to Answer code (RWrn+2). “0000” is set if they are
normal.
Error related to Monitor code1 and 2
Instruction code
Position command
Speed command
Code No.
0
Error
Normal answer
Code error
The monitor code not in the specifications was set to
RWwn RWwn+1.
The instruction code not in the specifications was set to RWwn+2.
Read/write of the position block data of No. 32 or later was set to
RWwn+2.
Parameter selection error
The parameter No. disabled for reference was set to RWwn+2.
Write of acceleration/deceleration time constant was set when Spattern acceleration/deceleration was selected, or write of S-pattern
acceleration/deceleration time constant was set when linear
acceleration/deceleration was selected.
Write range error
An attempt was made to write the parameter or point table value
outside the setting range to RWwn+3.
The position command data/position block No./speed command
data/speed block No. outside the setting range was set to
RWwn+4 RWwn+5 RWwn+6.
1
2
3
Details
Instruction was completed normally.
32
BCN-B11127-478*
4.5.5 Setting the external input signals
Using parameter No. 116, 117 and 118, you can assign the input signals as the external input signals.
The signals assigned as the external input signals cannot be used in CC-Link.
Parameter No. 116
BIN 0: Used in CC-Link
BIN 1: Used as CN1A/CN1B external input signal
Initial value
Signal name
BIN HEX
0
0
0
0
Servo On
0
Alarm Reset
Initial value
Signal name
BIN HEX
0
Forward rotation stroke end
0
Reverse rotation stroke end
0
0
Forward rotation start
Reverse rotation start
0
Initial value
Signal name
BIN HEX
Automatic/manual operation mode
0
0
0
0
0
0
Parameter No. 117
0 0
BIN 0: Used in CC-Link
BIN 1: Used as CN1A/CN1B external input signal
Signal name
Internal torque limit selection
Proportion control
Temporary stop / Re-start
Signal name
Cynchronous operation start
Initial value
BIN HEX
0
0
0
0
0
Initial value
BIN HEX
0
0
0
0
0
Parameter No. 118
0 0
BIN 0: Used in CC-Link
BIN 1: Used as CN1A/CN1B external input signal
Signal name
Position block No. Selection 1
Position block No. Selection 2
Position block No. Selection 3
Position block No. Selection 4
Signal name
Position block No. Selection 5
Initial value
BIN HEX
0
0
0
0
0
Initial value
BIN HEX
0
0
0
0
0
33
BCN-B11127-478*
4.6 Data communication timing charts
4.6.1 Monitor codes
(1) When 1 station is occupied
Monitor 1
(RWw0)
Monitor 2
(RWw1)
Monitor executionON
demand (RY8) OFF
Monitoring
(RX8)
ON
OFF
Monitor 1 data
(RWr0)
Monitor 2 data
(RWr1)
Answer code
(RWr2)
Data HOLD
Set the monitor codes to Monitor 1 (RWW0) and Monitor 2 (RWW1) and turn Monitor output execution
demand (RY8) to “1” (ON). Turning RY8 to “1” (ON) sets the next data. Data are all hexadecimal numbers.
At this time, Monitoring (RX8) turns to “1” (ON) at the same time.
Monitor data 1 (RWR0): Data demanded by Monitor 1 (RWW0)
Monitor data 2 (RWR1): Data demanded by Monitor 2 (RWW1)
Answer code (RWR2): Normal or error answer code
For 32-bit data, set the lower 16 bits of the monitor code to Monitor 1 (RWW0) and the upper 16 bits to
Monitor 2 (RWW1) and read them simultaneously.
The monitor data set to the remote register are always updated while RX8 is “1” (ON).
When RX8 turns to “0” (OFF), the data set to Monitor data RWR0, RWR1 are held. If the monitor code not
in the specifications is set to either Monitor 1 (RWW0) or Monitor 2 (RWW1), the corresponding error code
(
1) is set to Answer code.
34
BCN-B11127-478*
(2) When 2 stations are occupied
Monitor 1
(RWw0)
Monitor 2
(RWw1)
Monitor executionON
demand (RY8) OFF
Monitoring
(RX8)
ON
OFF
Monitor 1 data
Under 16bit (RWr0)
Monitor 1 data
Upper 16bit (RWr1)
Monitor 2 data
Under 16bit (RWr5)
Monitor 2 data
Under 16bit (RWr6)
Answer code
(RWr2)
Data HOLD
Set the monitor codes to Monitor 1 (RWW0) and Monitor 2 (RWW1) and turn Monitor output execution
demand (RY8) to “1” (ON). Turning RY8 to “1” (ON) sets the next data. 32-bit data are all divided into the
upper 16 bits and lower 16 bits, and set to the remote register. Data are all hexadecimal numbers. At this
time, Monitoring (RX8) turns to “1” (ON) at the same time.
Monitor data 1 under 16 bit (RWR0): Lower 16 bits of data demanded by Monitor 1 (RWW0)
Monitor data 1 upper 16 bit (RWR1): Upper 16 bits of data demanded by Monitor 1 (RWW0)
Monitor data 2 under 16 bit (RWR5): Lower 16 bits of data demanded by Monitor 2 (RWW1)
Monitor data 2 upper 16 bit (RWR6): Upper 16 bits of data demanded by Monitor 2 (RWW1)
A sign is set if data does not exist in RWR1 RWR6. A “ ” sign is indicated by “0000”, and “ ” by “FFFF”.
The monitor data set to the remote register are always updated while RX8 is “1” (ON).
When RX8 turns to “0” (OFF), the data set to Monitor data RWR0, RWR1, RWR5, RWR6 are held.
If the monitor code not in the specifications is set to either Monitor 1 (RWW0) or Monitor 2 (RWW1), the
corresponding error code (
1) is set to Answer code.
35
BCN-B11127-478*
4.6.2 Instruction codes
(1) Read instruction codes (0000 to 7FFFh)
Instruction code
(RWw2)
Instruction code
execution demand
(RY9)
Instruction code
execution completion
(RX9)
Reading data
(RWr3)
Answer code
(RWr2)
Data read period
Set the read instruction code to Instruction code (RWW2) and turn Instruction code execution demand
(RY9) to “1” (ON). Turning RY9 to “1” (ON) sets the data corresponding to the preset read code to
Reading data (RWR3). Data are all hexadecimal numbers. At this time, Instruction code execution
completion (RX9) turns to “1” (ON) at the same time.
Read the read data set to RWR3 while RX9 is “1” (ON). The data set to Reading data (RWR3) is held
until the next read instruction code is set and RY9 is turned to “1” (ON).
If the instruction code not in the specifications is set to Instruction code (RWW2), the corresponding
error code (
1 ) is set to Answer code. If any unusable parameter, position block or speed block is
2 ) is set.
read, the corresponding error code (
Turn Instruction code execution demand (RY9) to “0” (OFF) after completion of data read.
36
BCN-B11127-478*
(2) Write instruction codes (80000 to FFFFh)
Instruction code
(RWw2)
Writing data
(RWw3)
Instruction code
execution demand
(RY9)
Instruction code
processing
Write in execution
Instruction code
execution completion
(RX9)
Answer code
(RWr2)
Set the write instruction code to Instruction code (RWW2) and the data to be written (data to be
executed) to Writing data (RWW3) in hexadecimal, and turn Instruction code execution demand (RY9)
to “1” (ON).
Turning RY9 to “1” (ON) sets the data set in Wiring data (RWW3) to the item corresponding to the
write instruction code. When write is executed, Instruction code execution completion (RX9) turns to
“1” (ON).
If the instruction code not in the specifications is set to Instruction code (RWW2), the corresponding
error code (
1 ) is set to Answer code.
Turn Instruction code execution demand (RY9) to “0” (OFF) after Instruction code execution
completion (RX9) has turned to “1” (ON).
37
BCN-B11127-478*
4.6.3 Direct Specified Mode
The functions in this section are usable only when 2 stations are occupied.
The direct specified mode will be enabled when the automatic mode (RYn6) is turned on and the position
instruction function (RY(n+2)A) is turned on. The direct specified mode has:
1) Point Block No. Specified Mode
2) Position Instruction and Block No. Specified of speed and acceleration / deceleration
3) Instruction of position and speed
The setting of parameter No. 41 determine above mode.
The position block No. (RYnA to RYnE) will be disabled during the direct specified mode.
The servomotor will be stopped when the manual drive mode selected within the operation.
Incremental and absolute operation can be select via ABS/INC select signal (OFF: absolute operation,
ON: incremental operation) within direct position command mode. In this case absolute value command
mode must be selected in parameter No. 0.
ABS/INC select signal will be disabled in incremental value command mode.
(1) When specifying the position block No.
Preset “
1” (initial value) in parameter No. 41 to enable position block No.-specified operation.
Position block No.
(RWw4)
Position instructionON
demand
(RY(n+2)0)
OFF
Position block No.
designation
(Note) Data reserved
Position instructionON
execution
completion
OFF
(RX(n+2)0)
Answer code
(RWrn+2)
5ms
Forward/reverse ON
rotation start
OFF
(RYn1/RYn2)
Note. This data is stored into RAM of the servo amplifier. Hence, the data is cleared when power is switched off.
Set the position block No. to RWW4 and turn Position instruction demand (RY(n+2)0) to “1” (ON).
Turning RY(n+2)0 to “1” (ON) stores the position block No. into RAM of the servo amplifier.
When the data is stored, Position instruction execution completion (RX(n+2)0) turns to “1” (ON).
If data outside the setting range is set to Position block No. (RWW4), the error code (…3……) is set to
Answer code.
Turn Forward rotation start (RYn1)/Reverse rotation start (RYn2) to “1” (ON) after Position
instruction execution completion (RX(n+2)0) has turned to “1” (ON).
The advance function in point block will be disabled in position block No. instruction in direct
instruction mode. Turning RY(n+2)A to “0” (OFF) for advance function.
38
BCN-B11127-478*
(2) When setting the position command data and specified of speed and acceleration / deceleration in the
block No.
Preset “
2 in parameter No. 41 to enable position command data-set and specified of speed and
acceleration / deceleration in the block No.
Position instruction data
Lower 16bit (RWw4)
Position instruction data
Upper 16bit (RWw5)
Position block No.
(RWw6)
Position instructionON
demand
OFF
(RY(n+2)0
Speed instruction ON
demand
OFF
(RY(n+2)1)
Position data setting
Position block No.
designation
Position instructionON
execution
completion
OFF
(RX(n+2)0)
Speed instruction ON
execution
completion
(RX(n+2)1)
Answer code
(RWr2)
(Note) Data reserved
5ms
Forward rotation /
Reverse rotation ON
start
OFF
(RYn1 / RYn2)
Note. This data is stored into RAM of the servo amplifier. Hence, the data is cleared when power is switched off.
Set the lower 16 bits of the position instruction data to Position instruction data under 16 bit
(RWwn+4), the upper 16 bits of the position instruction data to Position instruction data upper 16 bit
(RWwn+5), and position block No. to RWwn+6, and turn Position instruction demand (RY(n+2)0) and
Speed instruction demand (RY(n+2)1) to “1” (ON).
Turning RY(n+2)0 and RY(n+2)1 to “1” (ON) stores the position command data and specified of speed
data and acceleration / deceleration data in the block No. into RAM of the servo amplifier.
When the data are stored, Position instruction execution completion (RX(n+2)0) and specified of speed
data and acceleration / deceleration data in the block No. execution completion (RX(n+2)1) turn to “1”
(ON).
If data outside the setting range is set to any of Position instruction data under 16 bit (RWwn+4),
Position instruction data upper 16 bit (RWwn+5) and Speed, Acceleration / Deceleration data in the
block No. (RWwn+6), the error code is set to Answer code.
Turn Forward rotation start (RYn1) / Reverse rotation start (RYn2) to “1” (ON) after Position
instruction execution completion (RX(n+2)0) and Speed, Acceleration / Deceleration data in the block
No. execution completion (RX(n+2)1) have turned to “1” (ON).
Latest data will be used when Forward rotation start (RYn1) / Reverse rotation start (RYn2) is
turned on during execution completion signals (RX(n+2)0 / RX(n+2)1) are turning on.
39
BCN-B11127-478*
(3) When setting the position command data and speed command data
Preset “
3” in parameter No. 41 to enable position command data and speed command data set
operation. As the acceleration / deceleration time constant for operation, use the setting of speed block
No. 1.
Position instruction data
Lower 16bit (RWw4)
Position instruction data
Upper 16bit (RWw5)
Speed instruction data
(RWw6)
Position instruction ON
demand
OFF
(RY(n+2)0)
Speed instruction
demand
(RY(n+2)
ON
OFF
Position / speed
data setting
(Note) Data reserved
Position instruction ON
execution completion
OFF
(RX(n+2)0)
Speed instruction ON
execution completion
OFF
(RX(n+2)1)
Answer code
(RWr2)
Forward rotation /
Reverse rotation
start
(RYn1 / RYn2)
5ms
ON
OFF
Note. This data is stored into RAM of the servo amplifier. Hence, the data is cleared when power is switched off.
Set the lower 16 bits of the position instruction data to Position instruction data under 16 bit (RWw4),
the upper 16 bits of the position instruction data to Position instruction data upper 16 bit (RWw5), and
speed instruction data to Speed instruction data (RWw6), and turn Position instruction demand
(RY(n+2)0) and Speed instruction demand (RY(n+2)1) to “1” (ON).
Turning RY(n+2)0 and RY(n+2)1 to “1” (ON) stores the position command data and speed command
data into RAM of the servo amplifier.
When the data are stored, Position instruction execution completion (RX(n+2)0) and Speed instruction
execution completion (RX(n+2)1) turn to “1” (ON).
If data outside the setting range is set to any of Position instruction data under 16 bit (RWw4),
Position instruction data upper 16 bit (RWw5) and Speed command data (RWw6), the error code is set
to Answer code.
Turn Forward rotation start (RYn1) / Reverse rotation start (RYn2) to “1” (ON) after Position
instruction execution completion (RX(n+2)0) and Speed instruction execution completion (RX(n+2)1)
have turned to “1” (ON).
Latest data will be used when Forward rotation start (RYn1) / Reverse rotation start (RYn2) is
turned on during execution completion signals (RX(n+2)0 / RX(n+2)1) are turning on.
40
BCN-B11127-478*
5. Standard Connection Example
NFB
Servo amplifier
MR-J2S-‡‡CP-S084
MC
L1
L2
L3
3-phase 200VAC
or
single-phase 230VAC
(Note 10)
TE1
U(Red)
U
V
W
V(White)
W(Black)
L11
L12
C TE2
Regenerative
brake option
(Green)
(Note 1)
B1
When connecting the external regenerative
brake option, always disconnect
10m(39.37inch) max. (Note 4)
the jumper from across P-D.
CN1A
COM 9
Moving completion
RA1
MEND 18
RA2
RD 19
PP
PG
NP
NG
Synchronous encoder
input
SM
Electromagnetic
brake
B2
D
P
(Note 3)
Emergency stop
(Note 4) To be shut off when servo on signal
CN2 switches off or alarm occurs.
Encoder
Encoder cable
(Available as option or to be fabricated)
3
13
2
12
LA 6
LAR 16
Encoder A-phase output
(Line driver)
Encoder B-phase output
(Line driver)
LB 7
LBR 17
SD Plate
10m(39.37inch) max.
Forced stop
Servo on
(Note 6)
Synchronous operation start
Forward rotation start
Reverse rotation start
EMG
SON
STS
ST1
ST2
DI1
Point block No. selection 2
Automatic/manual selection
(Note 7)
(Note 8)
Servo motor
MOD
(Note 2, 5)
Trouble
Synchronous completion
Overlapping completion
RA3
RA4
RA5
(Note 4)
CN3
4
3
14
13
(Note 4)
CN1B
15
5
14
8
9
17
7
10
SG
SG 20
VDD 3
COM 13
ALM 18
MO1
LG
MO2
LG
Plate SD
A
A
Monitor output 1
10k
Monitor output 2
10k
(Note 4)
CN3
SYC 19
SYF 6
2m(78.74in)max.
41
BCN-B11127-478*
Note: 1. To prevent an electric shock, always connect the protective earth (PE) terminal of the servo
amplifier to the protective earth (PE) of the control box.
2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be
faulty and will not output signals, disabling the emergency stop and other protective circuits.
3. The emergency stop switch must be installed.
4. CN1A, CN1B, CN2 and CN3 have the same shape. Wrong connection of the connectors will lead
to a fault.
5. The sum of currents that flow in the external relays should be 80mA max. If it exceeds 80mA,
supply interface power from external.
6. When starting operation, always connect the forward/reverse rotation stroke end signal (LSN/LSP)
with SG. (Normally closed contacts)
7. Trouble (ALM) is connected with COM in normal alarm-free condition.
8. The connection method changes with the servo motor series.
9. The pins with the same signal name are connected in the servo amplifier.
10. A single-phase 230V power supply may be used with the servo amplifier of MR-J2S-70CP-S099
or less. However, it cannot be used when the servo amplifier is combined with the HC-SF52/53
servo motor. Connect the power supply to L1 and L2 terminals and leave L3 open.
11. When using override (VC), make the override selection (OVR) device available.
12. When using torque limit (TLA), make the external torque limit selection (TL) devices available.
42
BCN-B11127-478*
6. I/O Signals
6.1 Signal explanations
1) CN1A
Signal Name
Symbol Pin No.
Description
I/O Division
Digital I/F power supply
input
COM
9
Used to input 24VDC±10% for input interface.
Driver power input terminal for digital interface.
COM of each connector is connected in the servo amplifier.
When using an external power supply, connect a power supply of
24VDC, 200mA or more to this terminal.
Open collector power
input
OPC
11
When using a manual pulse generator, supply 24VDC to this
terminal.
Digital I/F common
SG
10, 20
Control common
LG
1
Common terminal for VC, TLA, MO1, MO2 and P15R.
Synchronous
pulse input
PP
3
PG
13
Used to connect the synchronous encoder.
This interface is for line drive and capable up to 400kpps input
frequency.
Ready
Moving completion
Shield
Common terminal for VDD and COM and isolated from LG.
NP
2
NG
12
RD
19
RD-SG are connected when the servo amplifier is ready to operate
without failure after servo-on.
DO-1
MEND
18
MEND-SG are connected when the in-position and rough match
signal turned on
DO-1
SD
Plate
Connect one end of the shielded cable.
43
BCN-B11127-478*
2) CN1B
Signal Name
Symbol Pin No.
Description
I/O Division
I/F Internal power
supply
VDD
3
Used to output 24V 10% to across VDD-COM.
When using this power supply for digital interface, connect it with
COM.
Permissible current: 80mA
Digital I/F power supply
input
COM
13
Used to input 24VDC 10% for input interface.
Driver power input terminal for digital interface.
COM of each connector is connected in the servo amplifier.
When using an external power supply, connect a power supply of
24VDC, 200mA or more to this terminal.
Digital I/F Common
SG
10, 20
Servo on
SON
15
When SON-SG are connected, the base circuit is switched on and the
servo amplifier is ready to operate.
When they are disconnected, the base circuit is shut off and the servo
motor coasts.
24VDC common terminal for VDD, COM, etc. and isolated from LG.
DI-1
Synchronous operation
start
STS
14
To start synchronous operation, connect STS-SG.
DI-1
Forward rotation start
ST1
8
Forward rotation start signal input terminal.
In automatic operation mode, the servo motor rotates in the advance
rotation direction as soon as ST1-SG are connected.
In JOG operation mode, the servo motor rotates in the forward rotation
direction while ST1-SG are connected.
DI-1
Reverse rotation start
ST2
9
DI-1
Point block No. selection
DI1
17
Automatic/manual
selection
MOD
7
Reverse rotation start signal input terminal.
In automatic operation mode, the servo motor rotates in the retard rotation
direction as soon as ST2-SG are connected.
In JOG operation mode, the servo motor rotates in the reverse rotation
direction while ST2-SG are connected.
Point table No. selection signal input terminal.
The following table lists the point blcok numbers which may be chosen by
the DI1:
DI1
Selected Point Table #
0
Point block No.1
1
Point block No.3
Note: 0: DI1-SG open
1: DI1-SG connected
DI0 is connected in parameter No.86 as the factory default.
Short MDO-SG to choose the automatic operation mode, or open them
to choose the manual operation mode.
Trouble
ALM
18
ALM-SG are disconnected when the protective circuit is activated to
shut off the base circuit at power off.
They are connected in normal condition at power off.
DO-1
Synchronous completion
SYC
19
SYC-SG are connected when the motor speed reaches at a synchronous
speed.
DO-1
Overlap completion
SYF
6
SYF-SG are connected when the motor speed reached advanced / retard
speed after ST1-SG or ST2-SG are connected
DO-1
DI-1
DI-1
3) CN3
Signal Name
Symbol Pin No.
Description
I/O Division
Analog monitor 1
MO1
4
Used to output the data set in parameter No.17 to across MO1-LG in
terms of voltage. Resolution 8 bits
Analog
output
Analog monitor 2
MO2
14
Used to output the data set in parameter No.17 to across MO2-LG in
terms of voltage. Resolution 8 bits
Analog
output
Monitor common
LG
1, 3,
11, 13
Monitoring common for control common
Ground
SD
Plate
Connect one end of the shielded cable.
44
BCN-B11127-478*
6.2 Additional function devices
By using the parameter No.78 to 90 setting, you can assign the signals given in this section to the pins of
connectors CN1A and CN1B.
(1) Pins which accept different signals
Pin Type
Input-only pins
I/O pin
Output-only pins
Connector Pin No.
Device in Initial Status
Device Symbol
CN1A-8
Empty
CN1B-5
Servo on
SON
CN1B-7
Automatic / manual selection
MOD
CN1B-8
Forward rotation start
ST1
CN1B-9
Reverse rotation start
ST2
CN1B-14
Synchronous operation start
STS
CN1B-15
Forced stop
EMG
CN1B-16
Empty
CN1B-17
Point block No.2 selection
DI1
CN1A-19
Synchronous completion
SYC
CN1A-18
Moving completion
CN1B-4
Empty
MEND
CN1B-6
Overlap completion
SYF
CN1B-18
Trouble
ALM
45
BCN-B11127-478*
(2) Assignable devices
1) Input devices
Device Name
Symbol
No assigned function
Description
I/O Division
No function is assigned.
Alarm reset
RES
Short RES-SG to deactivate the alarm.
If RES-SG are shorted in no alarm status, the base circuit is not shut off. Set
1 in parameter No. 55 to shut off the base circuit.
Some alarms cannot be deactivated by the reset signal.
Since this device is not designed for stopping, do not switch it on during
operation.
DI-1
Forward rotation stroke
end
LSP
DI-1
Reverse rotation stroke
end
LSN
To start operation, short LSP-SG or LSN-SG. When they are opened, the
servo motor is stopped suddenly and servo-locked.
Operation
LSP-SG
LSN-SG
CCW direction
CW direction
1
1
Enable
Enable
0
1
Disable
Enable
1
0
Enable
Disable
0
0
Disable
Disable
DI-1
Note 0: Disconnected
1: Connected
Internal torque limit
selection
TL1
Open TL1-SG to make the torque limit value set in parameter No.28 (TL1)
valid, or short them to make the value set in parameter No.29 (TL2) valid.
DI-1
Proportion control
PC
Short PC-SG to switch the speed amplifier from proportional integral type to
proportional type.
DI-1
Temporary stop/Restart
STP
Short STP-SG during automatic operation to make a temporary stop.
Short STP-SG again to make a restart.
Shorting the forward/reverse rotation start signal during a temporary stop is
ignored.
Switching from automatic mode to manual mode during a temporary stop
clears the remaining moving distance.
During zeroing and jog operation, the temporary stop/restart input is ignored.
DI-1
Point block No. selection
DI0
DI2
DI3
DI4
Valid in the automatic mode.
The following table lists the point block numbers that may be chosen by the
combinations of DI0, DI1, DI2, DI3 and DI4:
DI4
DI3
DI2
DI1
DI0
Selected Point Block No.
0
0
0
0
1
Point block No.1
0
0
0
1
0
Point block No.2
0
0
0
1
1
Point block No.3
0
0
1
0
0
Point block No.4
DI-1
1
1
1
1
1
1
1
1
1
1
1
1
0
0
1
1
0
1
0
1
Point block No.28
Point block No.29
Point block No.30
Point block No.31
Note 0: DI4/DI3/DI2/DI1/DI0-SG Disconnected
1: DI4/DI3/DI2/DI1/DI0-SG Connected
46
BCN-B11127-478*
2) Output devices
Device Name
Symbol
No assigned function
Description
I/O Division
No function is assigned.
In-position
INP
INP-SG are connected when the droop pulses fall within the parameter-set inposition range.
This signal is not output while the base circuit is off.
DO-1
Rough match
CPO
CPO-SG are connected when the remaining command distance falls within
the parameter-set rough match output range.
This signal is not output while the base circuit is off.
DO-1
Electromagnetic brake
interlock
MBR
Used to output the interlock signal for electromagnetic brake.
MBR-SG are disconnected at servo-off or alarm occurrence.
DO-1
Warning
WNG
WNG-SG are connected when warning occurs.
Open in normal condition.
DO-1
Limiting torque
TLC
TLC-SG are connected when the internally or externally set torque limit
value is reached.
DO-1
Temporary stop
PUS
DO-1
Point block No. output
PT0
PT1
PT2
PT3
PT4
PUS-SG are connected when deceleration to a stop is started by the
temporary stop signal. PUS-SG is disconnected when operation is resumed by
making the temporary stop signal valid again.
The following table lists the point block numbers that may be chosen by the
combinations of PT0, PT1, PT2,TP3 and PT4 after positioning complete:
PT4
0
0
0
0
PT3
0
0
0
0
PT2
0
0
0
0
PT1
0
0
1
1
PT0
0
1
0
1
1
1
1
1
1
1
1
1
1
1
1
1
0
0
1
1
0
1
0
1
DO-1
Point block No.
Point block No.1
Point block No.2
Point block No.3
Point block No.28
Point block No.29
Point block No.30
Point block No.31
These signals will be turned off while Powered off, Servo off, In zeroing
operation and after zeroing complete.
It will be hold previous status if changed operation mode, in manual
operation and in fast zeroing
47
BCN-B11127-478*
6.3 Detailed description of the signals
Index advanced and retard operation
The synchronous operation will start when synchronous operation signal (STS) become enabel.
The index advance and retard operation will start when advance or retard operation signal (ST1/ST2)
are turn on.
In-position
ON
(INP)
OFF
Synchronous
ON
completion (SYC) OFF
Overlapping
ON
completion (SYF) OFF
Synchronous speed
(Synchronous pulse input)
Motor speed
Less than 10ms
Synchronous
operation
(STS)
ON
OFF
More than
5ms
Advance Start
ON
(ST1)
OFF
More than
5ms
Retard Start
ON
(ST2)
OFF
Note: 1.The speed of advance or retard operation can not change within the indexing. It will change next
operation.
2. ST1 / ST2 signals are effective after synchronous operation compliting.
48
BCN-B11127-478*
6.3.1 Start and stop signals
(1) Make up a sequence so that the start signal is switched on after the main circuit has been established.
The start signal is invalid if it is switched on before the main circuit is established.
Normally, it is interlocked with the ready signal (RD).
(2) A start in the servo amplifier is made when the external start signal changes from OFF to ON. The
delay time of the servo amplifier's internal processing is max. 3ms. The delay time of other signals is
max. 10ms.
3ms max.
Servo motor speed
Start
10ms
max.
3ms
max.
5ms or
longer
Temporary stop
(3) When a programmable controller is used, the ON time of the start/stop signal should be 5ms or longer
to prevent a malfunction.
(4) During operation, the start signal (ST1, ST2) is not accepted. The next operation should always be
started after the rough match signal is output with the rough match output range set to 0 or after the
in-position signal is output.
6.3.2 Rough match, in-position
The following chart shows the output timings of the rough match and in-position signals:
Motor speed
3ms
max.
Command
Servo motor speed
In-position
output range
Start
Rough match output
(CPO)
In-position output
(PF)
49
BCN-B11127-478*
6.3.3 Alarm Occurrence Timing Chart
When an alarm occurs in the servo amplifier, the base circuit is shut off and the servo motor is coated to a
stop. Switch off the main circuit power supply in the external sequence. To reset the alarm, switch the
control circuit power supply off, then on.
However, the alarm cannot be reset unless its cause of occurrence is removed.
Power supply
ON
OFF
Base circuit
ON
OFF
Dynamic brake
Power off
Valid
Invalid
Servo on
(SON)
ON
OFF
Ready
(RD)
ON
OFF
Trouble
(ALM)
ON
OFF
Reset
(RES)
ON
OFF
Brake operation
Power on
Brake operation
0.8s
Instantaneous power fallure alarm
50ms or
more
Alarm occurs.
100ms or more
Remove cause of trouble.
Precautions for alarm occurrence
1) Overcurrent, overload 1 or overload 2
If operation is repeated by switching control circuit power off, then on to reset the overcurrent (A.32),
overload 1 (A.50) or overload 2 (A.51) alarm after its occurrence, without removing its cause, the
servo amplifier and servo motor may become faulty due to temperature rise. Securely remove the
cause of the alarm and also allow about 30 minutes for cooling before resuming operation.
2) Regenerative alarm
If operation is repeated by switching control circuit power off, then on to reset the regenerative
(A.30) alarm after its occurrence, the external regenerative brake resistor will generate heat,
resulting in an accident.
3) Instantaneous power failure
Undervoltage (A.10) occurs if control power is restored after a 100ms or longer power failure or
power is restored after the bus voltage has dropped to 200VDC or less. If the power failure further
continues, control power is switched off. When the power failure is reset in this state, the alarm is
reset and the servo motor will start suddenly if the servo-on signal (SON) is on. To prevent hazard,
make up a sequence which will switch off the servo-on signal (SON) if an alarm occurs.
4) Incremental system
When an alarm occurs, the home position is lost. When resuming operation after deactivating the
alarm, make a return to home position.
50
BCN-B11127-478*
6.3.4 Electromagnetic Brake output
(a) Servo on signal command (from controller) ON/OFF
Tb (ms) after servo on (SON) is switched off, servo lock is released and the servo motor coasts.
If the electromagnetic brake is made valid in the servo lock status, the brake life may be shorter.
For use in vertical lift and similar applications, therefore, set Tb to the time which is about equal to
the electromagnetic brake operation delay time and during which the load will not drop.
Coasting
0 r/min
Servo motor speed
Tb
(80ms)
Base circuit
ON
OFF
(80ms)
Invalid(ON)
Electromagnetic brake
operation delay time
Electromagnetic
brake interlock(MBR) Valid(OFF)
Servo-on(SON)
ON
OFF
(b) Emergency stop signal (EMG) ON/OFF
Servo motor speed
(10ms)
Base circuit
Dynamic brake
Dynamic brake
Electromagnetic brake
Electromagnetic brake
Electromagnetic brake release
(180ms)
ON
OFF
Electromagnetic
brake interlock (MBR)
Invalid (ON)
Valid (OFF)
(180ms)
Electromagnetic brake
operation delay time
Invalid (ON)
Emergency stop (EMG)
Valid (OFF)
51
BCN-B11127-478*
(c) Alarm occurrence
Dynamic brake
Dynamic brake
Electromagnetic brake
Servo motor speed
Electromagnetic brake
(10ms)
Base circuit
ON
OFF
Invalid(ON)
Electromagnetic
brake interlock (MBR)
Valid(OFF)
Electromagnetic brake
operation delay time
No(ON)
Trouble (ALM)
Yes(OFF)
(d) Both main and control circuit power supplies off
(10ms)
(Note)
15 to 100ms
Servo motor speed
Dynamic brake
Dynamic brake
Electromagnetic brake
Electromagnetic brake
ON
Base circuit
OFF
Invalid(ON)
Electromagnetic
brake interlock(MBR) Valid(OFF)
(10ms or less)
Electromagnetic brake
operation delay time
No(ON)
Trouble (ALM)
Yes(OFF)
Main circuit
ON
power
Control circuit
OFF
Note: Changes with the operating status.
(e) Only main circuit power supply off (control circuit power supply remains on)
(10ms)
(Note 1)
15ms or more
Servo motor speed
Dynamic brake
Dynamic brake
Electromagnetic brake
Electromagnetic brake
ON
Base circuit
OFF
Electromagnetic
brake interlock
(MBR)
10ms or less
Invalid(ON)
Valid(OFF)
Electromagnetic brake
operation delay time
(Note 2)
No(ON)
Trouble (ALM)
Yes(OFF)
ON
Main circuit power
OFF
supply
Note: 1. Changes with the operating status.
2. When the main circuit power supply is off in a motor stop status,
the main circuit off warning (A.E9) occurs and the ALM signal does not turn off.
52
BCN-B11127-478*
6.3.5 Forward stroke limit / Reverse stroke limit
Motor speed
Forward
rotation
0r/min
Reverse
rotation
Forward stroke limit (LSP)
ON
OFF
Reverse stroke limit (LSN)
ON
OFF
FWD stroke limit
REV stroke limit
Note: Limit action can be select in parameter No. 20
53
BCN-B11127-478*
7. Interfaces
This section gives the details of the I/O signal interfaces.
(1) Digital input interface DI-1
Give a signal with a relay or open collector transistor.
Source input is also possible. Refer to (5) in this section.
For use of internal power supply
For use of external power supply
Servo amplifier
Do not connect
VDD-COM.
24VDC
Servo amplifier
VDD
R: Approx. 4.7k
COM
(Note)
For a transistor
24VDC
200mA or more
VDD
COM
R: Approx. 4.7k
SON, etc.
SON, etc.
Approx. 5mA
Switch
TR
Switch
SG
SG
VCES 1.0V
ICEO 100 A
Note: This also applies to the use of the external power supply.
(2) Digital output interface DO-1
A lamp, relay or photocoupler can be driven. Provide a diode (D) for an inductive load, or an inrush
current suppressing resister (R) for a lamp load. (Permissible current: 40mA or less, inrush current:
100mA or less)
1) Inductive load
For use of internal power supply
For use of external power supply
Servo amplifier
Servo amplifier
24VDC
VDD
VDD
COM
COM
Load
Load
ALM, etc.
ALM, etc.
SG
Do not connect
VDD-COM.
If the diode is not
connected as shown,
the servo amplifier
will be damaged.
27VDC or
less
SG
If the diode is not
connected as shown,
the servo amplifier
will be damaged.
54
BCN-B11127-478*
For use of internal power supply
For use of external power supply
Servo amplifier
24VDC
VDD
Servo amplifier
Do not connect
VDD-COM.
VDD
COM
COM
R
R
ALM, etc.
ALM, etc.
27VDC or
less
SG
(3) Analog output
Output 10V
Max. 1mA
Servo amplifier
10k
MO1
(MO2)
Reading in one or
A
both directions
1mA meter
LG
SD
(5) Source input interface
When using the input interface of source type, all DI-1 input signals are of source type.
Source output cannot be provided.
For use of internal power supply
For use of external power supply
Servo amplifier
Servo amplifier
SG
COM
(Note)
For a transistor
SG
COM
R: Approx. 4.7k
SON,
etc.
Approx. 5mA
Switch
Switch
TR
24VDC
200mA or more
R: Approx. 4.7k
SON, etc.
24VDC
VDD
VCES 1.0V
ICEO 100 A
Note: This also applies to the use of the external power supply.
55
BCN-B11127-478*
8. Power Supply System Circuit
8.1 Connection example
Wire the power supply and main circuits as shown below. A no-fuse breaker (NFB) must be used with the
input cables of the power supply.
Design the circuit so that the servo on signal also turns off as soon as the power is shut off on detection of
alarm occurrence.
RA
Emergency
stop
OFF
ON
MC
MC
SK
(Note 1) Three-phase
200 to 230VAC
or
Single-Phase
230VAC
MC
NFB
L1 Servo amplifier
L2
L3
L11
L21
External
emergency stop
Servo on
RA
Trouble
EMG
SON
SG
VDD
COM
ALM
Note : For a single-phase 230VAC power supply, connect the power supply to L1
and L2 and keep L3 open.
56
BCN-B11127-478*
8.2 Terminals
The positions and signal arrangements of the terminal blocks change with the capacity of the servo
amplifier.
Symbol
Signal
Description
Main circuit power input terminals
Supply L1, L2 and L3 with the following power.
For a single-phase 230VAC power supply, connect the power supply to L1 and
L2 and keep L3 open:
Servo amplifier
L1, L2, L3
Main circuit power supply
Power supply
MR-J2S-10A-S084
to 70A-S084
3-phase 200 to 230VAC,
50/60Hz
Single-phase 230VAC,
50/60Hz
MR-J2S-100A-S084
to 350A-s084
L1•L2•L3
L1•L2
Cannot be used for combination with the servo motor HC-SF52•53.
U, V, W
Servo motor output
L11, L21
Control circuit power supply
P, C, D
Regenerative brake option
N
Servo motor power output terminals
Connect to the servo motor power supply terminals (U, V, W).
Control circuit power input terminals
Supply L11 and L21 with single-phase 200-230VAC, 50/60Hz power.
Regenerative brake option connection terminals
C and D are factory-connected.
When using the regenerative brake option, always remove wiring from across
P-D and connect the regenerative brake option across P-C.
Do not connect.
Protective earth (PE)
Ground terminal
Connect this terminal to the protective earth (PE) terminals of the servo
motor and control box for grounding.
57
BCN-B11127-478*
8.3 Power-on sequence
(1) Power-on procedure
1) Always wire the power supply as shown in above Section 3.7.1 using the magnetic contactor with
the main circuit power supply (three-phase 200V: L1, L2, L3, single-phase 230V: L1, L2). Configure
up an external sequence to switch off the magnetic contactor as soon as an alarm occurs.
2) Switch on the control circuit power supply L11, L21 simultaneously with the main circuit power
supply or before switching on the main circuit power supply. If the main circuit power supply is not
on, the display shows the corresponding warning. However, by switching on the main circuit power
supply, the warning disappears and the servo amplifier will operate properly.
3) The servo amplifier can accept the servo-on signal (SON) about 1 second after the main circuit
power supply is switched on. Therefore, when SON is switched on simultaneously with the threephase power supply, the base circuit will switch on in about 1 second, and the ready signal (RD) will
switch on in further about 20ms, making the servo amplifier ready to operate.
4) When the reset signal (RES) is switched on, the base circuit is shut off and the servo motor shaft
coasts.
(2) Timing chart
SON accepted
(1s)
Power sypply
ON
OFF
Base circuit
ON
OFF
Servo on
(SON)
ON
OFF
Reset
(RES)
ON
OFF
Ready
(RD)
ON
OFF
10ms
60ms
10ms
60ms
20ms
10ms
20ms
10ms
20ms
10ms
58
BCN-B11127-478*
9. Display and Operation
9.1 Display Flowchart
Use the display (5-digit, 7-segment LED) on the front panel of the servo amplifier for status display,
parameter setting, etc. Set the parameters before operation, diagnose an alarm, confirm external
sequences, and/or confirm the operation status. Press the "MODE" "UP" or "DOWN" button once to move
to the next screen.
To refer to or set the expansion parameters, make them valid with parameter No. 19 (parameter write
disable).
button
MODE
Status display
Diagnosis
Alarm
Point table
Basic
parameters
Expansion
parameters 3
Current position
[pulse]
Sequence
Current alarm
Point table No.1
Parameter No. 0
Parameter No. 50
Command position
[pulse]
External I/O
signal display
Last alarm
Point table No.2
Parameter No. 1
Parameter No. 51
Command remaining
distance [pulse]
Output signal
forced output
Second alarm in past
Test operation
Jog feed
Third alarm in past
Test operation
Positioning operation
Fourth alarm in past
Point table No. 30
Parameter No. 18
Parameter No. 89
Test operation
Motor-less operation
Fifth alarm in past
Point table No. 31
Parameter No. 19
Parameter No. 90
Test operation
Machine analyzer operation
Sixth alarm in past
Software version L
Parameter error No.
Cumulative feedback
pules [pulse]
Motor speed
[r/min]
Droop pulses
[pulse]
UP
DOWN
UP or DOWN
button
SET button
Regenerative load
ratio [%]
Software version H
Effective load ratio
[%]
Network I/F unit
S/W version L
Peak load ratio
[%]
Network I/F unit
S/W version H
Target position
Motor speed
Instantaneous torque
[%]
Acc. time
Motor series ID
Within one-revolution
position low [pulse]
Dec. time
Motor type ID
Within one-revolution
position high [pulse]
Dwell time
Encoder ID
ABS counter
[rev]
Auxiliary function
Load inertia moment
Ratio [times]
Bus voltage [V]
Communication status
59
BCN-B11127-478*
10. Parameters
For any parameter whose symbol is preceded by *, set the parameter value and switch power off once,
then switch it on again to make that parameter setting valid.
For details of the parameters, refer to the corresponding items.
(1) Item list
Basic parameters
Class
No.
Symbol
Name and Function
Initial Value
0
*STY
Control mode, regenerative brake option selection
1
*FTY
Feeding function selection
0000
2
*OP1
Function selection 1
0004
Auto tuning
0105
Unit
Customer
Setting
0010
3
AUT
4
*CMX
Electronic gear numerator
1
5
*CDV
Electronic gear denominator
1
6
INP
Movement completion output range
100
pulse
7
PG1
Position loop gain 1
36
rad/s
8
ZTY
9
ZRF
0014
10
CRF
11
ZST
12
CRP
Rough match output range
13
JOG
JOG speed
14
*STC
S-Curve acceleration/deceleration time constant
0
ms
15
*SNO
Station number setting
0
station
16
*BPS
Alarm history clear
0000
17
MOD
For manufacture setting
0100
18
*DMD
Status display selection
0000
19
*BLK
Parameter block
000E
500
For manufacture setting
10
0
0
100
10STM m
r/min
60
BCN-B11127-478*
Expansion parameters
Class
No.
Symbol
Name and Function
Initial Value
Unit
20
*OP2
Function selection 2
0000
21
*OP3
For manufacturer setting
0000
22
*OP4
Function selection 4
0000
23
*SIC
Serial communications time-out selection
0
sec
24
FFC
Feed forward gain
0
%
25
VCO
26
TLO
27
*ENR
Encoder output pulses
4000
Pulse
28
TL1
Internal torque limit 1
100
%
29
TL2
Internal torque limit 2
100
%
30
*BKC
Backlash compensation
0
pulse
31
MO1
Analog monitor ch1 offset
0
mV
32
MO2
Analog monitor ch2 offset
0
mV
33
MBR
Electromagnetic brake sequence output
100
ms
34
DG2
Ratio of load inertia moment to motor inertia moment
70
× 0.1 times
0
For manufacturer setting
0
35
PG2
Position loop gain 2
35
rad/s
36
VG1
Speed loop gain 1
177
rad/s
37
VG2
Speed loop gain 2
817
rad/s
ms
38
VIC
Speed integral compensation
48
39
VDC
Speed differential compensation
980
40
OVA
For manufacture setting
41
DSS
Direct addressing selection
42
*ZPS
0
0000
0
43
DCT
44
ZTM
45
ZTT
46
SMX
Electronic gear numerator
8192
47
SDV
Electronic gear denominator
1024
48
STD
Synchronous encoder Acc. / Dec. time constant
500
ms
49
1000
STE
Synchronous encoder smoothing time constant
0
ms
For manufacturer setting
100
30
50
51
52
Customer
Setting
0
0
For manufacturer setting
0
53
0
61
BCN-B11127-478*
Class
No.
Symbol
Name and Function
Initial Value
54
*OP5
Function selection 5
0000
55
*OP6
Function selection 6
0000
56
*OP7
Function selection 7
0000
57
*OP8
Function selection 8
0000
58
*OP9
For manufacture setting
0000
59
*OPA
Function selection A
0000
60
ORP
Manual zeroing selection
0000
61
NH1
Machine resonance suppression filter 1
0000
62
NH2
Machine resonance suppression filter 2
0000
63
LPF
Low-pass filter / adaptive vibration suppression control
0000
64
GD2B
70
65
PG2B
100
66
VG2B
100
67
VICB
100
68
*CDP
0000
69
CDS
10
70
CDT
71
VPI
72
VLI
10000
73
ERZ
10
Unit
Customer
Setting
1
For manufacture setting
0
74
ER2
10
75
SRT
100
76
TRT
100
77
DBT
78
*DI0
Input/Output device selection (CN1A-19)
0000
79
*DI1
Input device selection 1 (CN1A-19,8)
0000
80
*DI2
Input device selection 2 (CN1B-5,7)
0802
81
*DI3
Input device selection 3 (CN1B-8,9)
0706
82
*DI4
Input device selection 4 (CN1A-14,15)
011F
83
*DI5
Input device selection 5 (CN1B-16,17)
2100
84
*DI6
Input device selection 6 (Automatic ON)
0030
85
*DI7
Input device selection 7 (Automatic ON)
0000
86
*DI8
Input device selection 8 (Automatic ON)
0001
87
DI9
Emergency stop / Stroke limit pole selection
0000
100
88
*DO1
Output device selection 1 (CN1A-18,19)
010D
89
*DO2
Output device selection 2 (CN1B-4,6)
2600
90
*DO3
Output device selection 3 (CN1B-18,19)
2702
62
BCN-B11127-478*
Class
No.
Symbol
Name and Function
Initial Value
91
*OPB
0000
92
*FCT
0000
93
BC1
94
BC2
95
*FCM
1
96
*FCD
1
97
OSL
98
ZSP
Zero speed
99
DSP
For manufacture setting
100
0
50
*DIS
0000
*DOS
0000
102
*AP1
0000
103
*AP2
0000
104
CMS
1
105
CDS1
1
106
0
107
0
108
0
109
0
0
For manufacture setting
0
112
0
113
0
114
0
115
*SCD
116
*IN1
External I/O function selection 1
0000
117
*IN2
External I/O function selection 2
0000
118
*IN3
External I/O function selection 3
0001
0000
119
0
120
0
121
122
r/min
0000
101
111
Customer
Setting
400
For manufacture setting
100
110
Unit
0
For manufacture setting
0
123
0
124
0
63
BCN-B11127-478*
(2) Detail list
Class
No
0
Symbo
l
Name and function
*STY Control mode, Regenerative brake option selection
Use to select regenerative brake option.
0
Initial
Value
Unit
Setting Rnge
0010
0000h
to
0A10h
0000
0000h
to
0131h
0004
0000h
to
0006h
1 0
Selection of regenerative brake option
0: Not used
1: Spare (do not set)
2: MR-RB032
3: MR-RB12
4: MR-RB32
5: MR-RB30
6: MR-RB50
7: Spare (do not set)
8: MR-RB31
9: MR-RB51
Basic parameters
1
*FTY Feeding system selection
Used to set the feed length multiplication factor and
External pulse multiplication factor.
0
ST1 coordinate system selection
0: Address is incremented in CCW direction
1: Address is incremented in CW direction
Feed length multiplication factor (STM)
0: 1 time
1: 10 times
2: 100 times
3: 1000 times
Synchronous signal direction selection
0: CCW at A-phase advance
1: CW at A-phase advance
2
*OP1 Function selection 1
Used to select the input filter and absolute position detection system.
0 0 0
Input filter
If external input signal causes chattering due
To noise, etc., input filter is used to suppress
it.
0: None
1: 0.888msec
2: 1.777msec
3: 2.666msec
4: 3.555msec
5: 4.444msec
6: 5.333msec
64
BCN-B11127-478*
Class
No. Symbol
3
ATU
Name and Function
Initial Value
Auto tuning
Used to set the response level, etc. for execution of auto tuning.
0
Unit
Setting Range
0105
0000h
to
0215h
1
1 to 65535
0
Auto tuning response level setting
Set
value
Basic parameters
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
Response
level
Machine resonance
Frequency guideline
15Hz
20Hz
25Hz
30Hz
35Hz
45Hz
55Hz
70Hz
85Hz
105Hz
130Hz
160Hz
200Hz
240Hz
300Hz
Low
Response
Middle
response
High
response
If the machine hunts or generates
large gear sound, decrease the
set value.
To improve performance, e.g.
shorten the settling time, increase
the set value.
Gain adjustment mode selection
(For more information, refer to Section 7.1.1.)
Set
Value
4
Gain adjustment
mode
Description
0
Interpolation mode
Fixes position control gain 1
1
Auto tuning mode 1
Ordinary auto tuning.
2
Auto tuning mode 2
Ordinary auto tuning.
Fixes the load inertia moment
ratio set in parameter No. 34.
Response level setting can be
changed.
3
Manual mode 1
Simple manual adjustment.
4
Manual mode 2
Manual adjustment of all
gains.
*CMX Electronic gear numerator
1
CMX
<
<20 .
Note: Set in the range of
20 CDV
1
CMX
If
<
<100 is exceeded, a parameter error will occur.
100 CDV
65
BCN-B11127-478*
Class
No. Symbol
5
Name and Function
Unit
1
*CDV Electronic gear denominator
Setting example
Initial Value
Setting Range
1 to 65535
Roll diameter: 50mm
Reduction ratio: 3/7
Number of pulses: 16384 pulses
Number of pulses (CMX)
16384
=
Moving distance (CDV )
50 × π× 3 7 × 1000
7168
9375π
7168
=
29452
Hence, set 7168 to CMX and 29452 to CDV.
Basic parameters
=
Note: When there is a fraction, perform a carry within the setting
range and round off that fraction.
6
INP
Movement completion output rang
Used to set the droop pulse range when the movement completion
(INP) signal is output.
100
pulse
0 to 10000
7
PG1
Position loop gain 1
Used to set the gain of position loop 1.
Increase the gain to improve tracking performance in response to the
position command.
35
rad/s
4 to 2000
8
ZTY
For manufacture setting
9
ZRF
500
10
CRF
10
11
ZST
0
0014
66
BCN-B11127-478*
Class
No. Symbol
Name and Function
12
CRP Rough match output range
Used to set the command remaining distance range where the rough match
(CPO) signal is output.
13
JOG Jog speed
Used to set the jog speed command.
14
*STC For manufacture setting
15
*SNO
16
*BPS Alarm history clear
Used to alarm history clear.
Initial Value
0
100
Unit
10STM
m
r/min
Setting Range
0
to
65535
0
to
65535
0
0
0000
0000h
to
10E6h
0100
0000h
to
4B4Bh
RS-422/RS-232C baudrate selection
0: 9600 [bps]
1: 19200 [bps]
2: 38400 [bps]
3: 57600 [bps]
4: 4800 [bps] (for MR-DP60)
Alarm history clear
0: Invalid (not cleared)
1: Valid (cleared)
When alarm history clear is made valid, the
Alarm history is cleared at next power-on.
After the alarm history is cleared, the setting
is automatically made invalid (reset to 0)
Serial communication I/F selection
0: RS-232C
1: RS-422
Communication response delay time
0: Invalid, reply sent in less than 400us
1: Valid, reply sent in 400us or more
17
MOD For manufacturer setting
0
0
Setting
0
1
2
3
4
5
6
7
8
9
A
B
Analog Monitor Output Selection
Ch2
Ch1
Servo motor sped (+/- 8V/max. speed)
Generated torque (+/- 8V/max. torque)
Motor speed (+8V/max. torque)
Generated torque (+8V/max. torque)
Current command (+/- 8V/max. current command)
Speed command (+/- 8V/max. speed)
Droop pulses (+/-10V/128 pulses)
Droop pulses (+/- 10V/2048 pulses)
Droop pulses (+/- 10V/8192 pulses)
Droop pulses (+/- 10V/32768 pulses)
Droop pulses (+/- 10V/131072 pulses)
Bus voltage (+8V / 400V)
67
BCN-B11127-478*
Class No.
Symbol
18
*DMD
Name and Function
Initial Value
Status display selection
Used to select the status display shown at power-on .
Setting Range
0000h
to
10E6h
0000
0000h
to
000Eh
0 0
Basic parameters
Unit
0000
Status display shown at power-on
00: Current position
01: Command position
02: Command remaining distance
03: Spare
04: Cumulative feedback pulses
05: Motor speed
06: Droop pulses
07: Spare
08: Spare
09: Regenerative load ratio
0A: Effective load ratio
0B: Peak load ratio
0C: Instantaneous torque
0D: Within one-revolution position (low)
0E: Within one-revolution position (high)
0F: Spare
10: Leak inertia moment ratio
11: Bus voltage
12: Communication status
19
*BLK
Parameter block
Used to select the reference and write ranges of the parameters.
Set Value
0000
(Initial value)
000A
000B
000C
000E
000F
00AB
Parameter No.
#20
#54
to
to
#53
#90
#00
to
#18
#19
#91
to
#99
#100
to
#124
Reference
{
{
×
Write
{
{
×
×
×
×
×
×
Reference
×
{
×
×
×
×
Write
×
×
{
×
×
×
Reference
×
{
{
{
×
×
×
Write
{
{
×
×
×
×
Reference
{
{
{
×
×
×
Write
{
{
{
×
×
×
Reference
{
{
{
{
×
×
Write
{
{
{
{
×
×
Reference
{
{
{
{
{
×
Operation
Write
{
{
{
{
{
×
Reference
{
{
{
{
{
{
Write
{
{
{
{
{
{
68
BCN-B11127-478*
Class
No. Symbol
20
*OP2
Name and Function
Function selection 2
Used to select slight vibration suppression control.
Initial Value Unit
Setting Range
0000
0000h
to
1133h
0002
0000h
to
0112h
0000
0000h
to
0033h
0
H/W limit stop selection
0: Sudden stop (loose home position data)
1: Mild stop (loose home position data)
2: Mild stop (keep home position data)
3: Sudden stop (keep home position data)
S/W limit stop selection
0: Sudden stop (loose home position data)
1: Mild stop (loose home position data)
2: Mild stop (keep home position data)
3: Sudden stop (keep home position data)
Slight vibration suppression control selection
0: Invalid
1: Valid
Parameter No.2 must be “03……” or “04……” for activate this function.
21
*OP3
Function selection 3
Used to select the synchronous encoder signal type
Expansion parameters
0
Synchronous encoder signal type
0: FWD / REV pulse train
1: Signed pulse train
2: A / B phase pulse train
Synchronous encoder logic selection
0: Positive logic
1: Negative logic
Synchronous encoder input filter selection
0: Valid
1: Invalid
22
*OP4
Function selection 4
0 0
H/W limit stop selection
0: Sudden stop (loose home position data)
1: Mild stop (loose home position data)
2: Mild stop (keep home position data)
3: Sudden stop (keep home position data)
S/W limit stop selection
0: Sudden stop (loose home position data)
1: Mild stop (loose home position data)
2: Mild stop (keep home position data)
3: Sudden stop (keep home position data)
23
*SIC
Serial communication time-out selection
0
s
0 to 60
0
%
0 to 100
0
0
4000
pulse
5
to
16384
Used to choose the time-out period of communication protocol
0 means not time-out check.
24
25
26
27
FFC
Feed forward gain
Used to set the feed forward gain.
When it is set to 100%, droop pulses will not be generated in constant
speed operation. Note that sudden acceleration/deceleration will
increase overshoot.
For manufacturing setting
VCO
TL0
*ENR Encoder output pulses
Used to set the encoder pulses output by the servo amplifier.
Set the value 4 times greater than the A-phase or B-phase pulses.
69
BCN-B11127-478*
Class
No. Symbol
Name and Function
Initial Value Unit
Setting Range
28
TL1
Internal torque limit 1
Used to limit servo motor-generated torque on the assumption that the
maximum torque is 100%. When 0 is set, torque is not produced.
This setting value will be 8V for torque monitor in monitor output.
100
%
0 to 100
29
TL2
Internal torque limit 2
Used to limit servo motor-generated torque on the assumption that the
maximum torque is 100%. When 0 is set, torque is not produced.
Made valid by switching on the internal torque limit selection signal.
100
%
0 to 100
30
*BKC Backlash compensation
Used to set the backlash compensation made when the command direction
is reversed.
This function compensates for the number of backlash pulses in the
opposite direction to the zeroing direction. In the absolute position
detection system, this function compensates for the backlash pulse
count in the direction opposite to the operating direction at power-on.
0
pulse
0 to 1000
31
MO1
Analog monitor ch1 offset
Used to set the offset voltage of the analog monitor ch1 output (MO1).
0
mV
-999 to 999
32
MO2
Analog monitor ch2 offset
Used to set the offset voltage of the analog monitor ch2 output (MO2)
0
mV
-999 to 999
33
MBR
Electromagnetic brake sequence output
Used to set the delay time between when the electromagnetic brake
interlock signal (MBR) switches off and when the base circuit is shut
off.
100
ms
0 to 1000
34
GD2
Ratio of load inertia moment to motor inertia moment:
Used to set the ratio of the load inertia moment to the servo motor
shaft inertia moment.
When auto tuning is selected, the result of auto tuning is
automatically set.
70
×0.1
times
0 to 3000
35
PG2
Position loop gain 2
Used to set the gain of the position loop.
Set this parameter to increase the position response level to load
disturbance. Higher setting increases the response level but is liable
to generate vibration and/or noise.
When auto tuning is selected, the result of auto tuning is
automatically set.
35
rad/s
1 to 1000
36
VG1
Speed loop gain 1
Normally this parameter setting need not be changed.
Higher setting increases the response level but is liable to generate
vibration and/or noise.
When auto tuning is selected, the result of auto tuning is
automatically set.
177
rad/s
20 to 8000
37
VG2
Speed loop gain 2
Set this parameter when vibration occurs on machines of low rigidity
or large backlash.
Higher setting increases the response level but is liable to generate
vibration and/or noise.
When auto tuning is selected, the result of auto tuning is
automatically set.
817
rad/s
20 to 20000
38
VIC
Speed integral compensation
Used to set the integral time constant of the speed loop.
When auto tuning is selected, the result of auto tuning is
automatically set.
48
ms
1 to 1000
39
VDC
Speed differential compensation
Used to set the differential compensation.
Made valid when the proportion control signal is switched on.
980
0 to 1000
70
BCN-B11127-478*
Class
No.
Symbol
40
OVA
For manufacturing setting
41
DSS
Direct specified mode selection
0: Point block No. specified mode
1: Point instruction and block No. specified of speed and acc. / dec.
2: Instruction of position and speed
42
*ZPS Zeroing position data
Used to set the current position on completion of zeroing.
43
DCT
Name and Function
Initial Value Unit
Setting Range
0
0000
0
0000 to 0002
10S
m
−32768
to
32767
10S
m
0 to 65535
TM
Moving distance after proximity dog
Used to set the moving distance after proximity dog in count type zeroing.
1000
TM
44
ZTM
Stopper type zeroing stopper time
In stopper type zeroing, used to set the time from when the machine part
is pressed against the stopper and the torque limit set in parameter
No.45(ZTT) is reached to when the home position is set.
100
ms
5 to 1000
45
ZTT
Stopper type zeroing torque limit
Used to set the torque limit value relative to the max. torque in [%] in
stopper type zeroing.
15
%
1 to 100
46
SMX
Electronic gear numerator for synchronous encoder input
8192
1
to
16384
47
SDV
Electronic gear denominator for synchronous encoder input
1024
1
to
16384
48
STD
Synchronous encoder Acc. / Dec. time constant
Set the Acc. / Dec. time reach to rated speed of servo motor.
This parameter will be disabled while “SYC” signal is turning on.
500
ms
0
to
20000
49
STE
Synchronous encoder smoothing time constant
Set the smoothing filter for synchronous operation.
0
ms
0
to
20
For manufacturing setting
0
50
51
0
52
0
53
0
71
BCN-B11127-478*
Class
No. Symbol
54
Name and Function
*OP5 Function selection 5
In-position unit selection.
0 0
Initial
Value
Unit
Setting Range
0000
0000h
to
1812h
0000
0000h
to
1111h
0
In-position unit selection
0: command pulse unit
1: Encoder pulse unit
55
*OP6 Optional function 6
Servo on response in alarm reset operation.
Used to select the operation to be performed when the alarm reset signal
switches on.
0
0 0
Operation to be performed when the
alarm reset signal switches on
0: Base circuit not switched off
1: Base circuit switched off
56
*OP7 For manufacturing setting
0000
57
*OP8
0000
Function selection 8
Used to select the protocol of serial communication.
0
0
Protocol checksum selection
0: Yes (checksum added)
1: No (checksum not added)
Protocol checksum selection
0: With station numbers
1: No station numbers
58
*OP9 For manufacturing setting
0000
72
BCN-B11127-478*
Expansion parameters
Class
No. Symbol
59
Initial
Value
Name and Function
*OPA Function selection A
Alarm code output function selection
Unit
Setting Range
0000
0000h
to
0211h
0000
0000h
to
0001h
0000
0000h
to
031Fh
0 0 0
Alarm code output
0: Invalid
1: Valid
60
ORP Manual zeroing function selection
0 0 0
Manual zeroing prohibition
0: Disable
1: Enable
61
NH1 Machine resonance suppression filter 1
Used to selection the machine resonance suppression filter.
(Refer to Section 8.1.)
0
Notch frequency selection
Set "00" when you have set adaptive vibration
suppression control to be "valid" or "held"
(parameter No. 60: 1
or 2
).
Setting Frequency Setting Frequency Setting Frequency Setting Frequency
value
value
value
value
00
Invalid
08
562.5
10
281.3
18
187.5
01
4500
09
500
11
264.7
19
180
02
2250
0A
450
12
250
1A
173.1
03
1500
0B
409.1
13
236.8
1B
166.7
04
1125
0C
375
14
225
1C
160.1
05
900
0D
346.2
15
214.3
1D
155.2
06
750
0E
321.4
16
204.5
1E
150
07
642.9
0F
300
17
195.7
1F
145.2
Notch depth selection
62
Setting
value
Depth
Gain
0
Deep
40dB
1
to
14dB
2
3
Shallow
8dB
4dB
NH2 Machine resonance suppression filter 2
Used to set the machine resonance suppression filter.
0000
0
Notch frequency
Same setting as in parameter No. 58
However, you need not set "00" if you have
set adaptive vibration suppression control to
be "valid" or "held".
Notch depth
Same setting as in parameter No. 58
73
BCN-B11127-478*
Expansion parameters
Class
No. Symbol
63
Initial
Value
Name and Function
LPF Low-pass filter/adaptive vibration suppression control
Used to selection the low-pass filter and adaptive vibration suppression
control.
0000
Unit
Setting Range
0000h
to
1217h
0
Low-pass filter selection
0: Valid (Automatic adjustment)
1: Invalid
VG2 setting 10
2 (1 GD2 setting 0.1)
bandwidth filter is set automatically.
When you choose "valid",
[H z]
Adaptive vibration suppression control selection
Choosing "valid" or "held" in adaptive vibration
suppression control selection makes the machine
resonance control filter 1 (parameter No. 58) invalid.
0: Invalid
1: Valid
Machine resonance frequency is always detected
and the filter is generated in response to resonance to
suppress machine vibration.
2: Held
The characteristics of the filter generated so far are held,
and detection of machine resonance is stopped.
Adaptive vibration suppression control sensitivity selection
Used to set the sensitivity of machine resonance detection.
0: Normal
1: Large sensitivity
64
GD2B
65
PG2B
100
66
VG2B
100
67
VICB
100
68
*CDP
0000
69
CDS
10
70
CDT
1
71
VPI
100
72
VLI
10000
73
ERZ
10
74
ER2
10
75
STR
100
76
TRT
100
77
DBT
*DI0 Input / Output device selection
Used to select the CN1A-19 pin to output or input device
0000
78
70
For manufacturing setting
0 0 0
100
0000h
to
0001h
CN1A-19 pin
0: Output device
1: Input device
74
BCN-B11127-478*
Expansion parameters
Class
No. Symbol
79
Initial
Value
Name and Function
*DI1 Input device selection 1
Used to select the function of CN1A-8 pin and CN1A-19 pin
Unit
Setting Range
0000
0000h
to
3F3Fh
0802
0000h
to
3F3Fh
0706
0000h
to
3F3Fh
011F
0000h
to
3F3Fh
Set to the function of CN1A-8 pin
Set to the function of CN1A-19 pin
Setting
00
01
02
03
04
05
06
07
08
09
0A
0B
0C
0D
0E
0F
10
11
12
13
14
15
16
80
Input function
No function
Forced stop
Servo on
Alarm reset
FWD stroke limit
REV stroke limit
FWD rotation start
REV rotation start
Auto. / Manu.
Internal torque limit
Proportional control
Temp. stop / Restart
Setting
17
18
19
1A
1B
1C
1D
1E
1F
20
21
22
23
34
25
26
27
28
29
2A
2B
2C
2D
Input function
Synchronous op. start
Point block # selection 1
Point block # selection 2
Point block # selection 3
Point block # selection 4
Point block # selection 5
*DI2 Input device selection 2
Used to select the function of CN1B-5 pin and CN1B-7 pin
Set to the function of CN1B-5 pin
Set to the function of CN1B-7 pin
81
*DI3 Input device selection 3
Used to select the function of CN1B-8 pin and CN1B-9 pin
Set to the function of CN1B-8 pin
Set to the function of CN1B-9 pin
82
*DI4
Input device selection 4
Used to select the function of CN1B-14 pin and CN1B-15 pin
Set to the function of CN1B-14 pin
Set to the function of CN1B-15 pin
75
BCN-B11127-478*
Class
No.
Symbol
83
*DI5
Name and Function
Input device selection 5
Used to select the function of CN1B-16 pin and CN1B-17 pin
Initial Value Unit
Setting Range
2100
0000h
to
3F3F
0030
0000h
to
FFFFh
0000
0000h
to
FFFFh
0001
0000h
to
FFFFh
Set to the function of CN1B-16 pin
Set to the function of CN1B-17 pin
84
*DI6
Input device selection 6
Used to set automatically ON of function device
Forced stop
Servo on
Forward stroke limit
Reverse stroke limit
Automatic / Manual selection
85
*DI7
Input device selection 7
Used to set automatically ON of function device
Proportional control
86
*DI8
Input device selection 8
Used to set automatically ON of function device
Point block # selection 1
Point block # selection 2
Point block # selection 3
Point block # selection 4
Point block # selection 5
76
BCN-B11127-478*
Class
No.
Symbol
87
DI9
Name and Function
Initial Value Unit
Polarity selection of Forced stop and H/W stroke limit
Setting Range
0000
0000h
to
0011
010D
0000h
to
3F3Fh
2600
0000h
to
3F3Fh
2702
0000h
to
3F3Fh
Forced stop
0: Normally close
1: Normally open
H/W stroke limit
0: Normally close
1: Normally open
88
*DO1
Output device selection 1
Used to select the function of CN1A-18 pin and CN1A-19 pin
Set to the function of CN1A-18 pin
Set to the function of CN1A-19 pin
Setting
00
01
02
03
04
05
06
07
08
09
0A
0B
0C
0D
0E
0F
10
11
12
13
14
89
*DO2
Input function
No function
Ready
Trouble
In position
Rough mach
Electro magnetic brake
Position range output
Warning output
In torque limit
In temporally stop
Moving complete
Setting
15
16
17
18
19
1A
1B
1C
1D
1E
1F
20
21
22
23
24
25
26
27
28
29
Input function
Point block # output 1
Point block # output 2
Point block # output 3
Point block # output 4
Point block # output 5
Overlapping completion
Synchronous completion
Output device selection 2
Used to select the function of CN1B-6 pin and CN1B-4 pin
Set to the function of CN1B-4 pin
Set to the function of CN1B-6 pin
90
*DO3
Output device selection 3
Used to select the function of CN1B-18 pin and CN1B-19 pin
Set to the function of CN1B-18 pin
Set to the function of CN1B-19 pin
77
BCN-B11127-478*
No.
Symbol
Name and Function
91
92
93
94
95
96
97
*OPB
*FCT
BC1
BC2
FCM
FCD
OSL
Initial Value Unit
98
ZSP
99
*DSP
For manufacturing setting
0000
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
*DIS
*DOS
*AP1
*AP2
CMS
CDS1
For manufacturing setting
0000
0000
0000
0000
1
1
0
0
0
0
116
*IN1
For manufacturing setting
Setting Range
0000
0000
400
100
1
1
0
Zero speed
Used to set the zero speed output
50
r/min
0 to 10000
0
0
0
0
0001
*SCD
0000
External I/O function selection 1
Used to set the external I/O function
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
Setting value
1
0
Function
Servo on
Alarm reset
FWD stroke limit
REV stroke limit
FWD rotation start
REV rotation start
Auto. / Manu.
Assign for CC-Link
Bit
Assign for CN1A / CN1B
Class
Initial value
BIN
HEX
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
78
BCN-B11127-478*
*IN2
External I/O function selection 2
Used to set the external I/O function
Bit
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
118
*IN3
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
Setting Range
0000
Setting value
1
0
Function
Internal torque limit
Proportional control
TEMP. stop / re-start
Synchronous op. start
Initial value
BIN
HEX
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
External I/O function selection 3
Used to set the external I/O function
Bit
119
120
121
122
123
124
Initial Value Unit
Assign for CC-Link
117
Name and Function
0000
Setting value
1
0
Function
Point block # selection 1
Point block # selection 2
Point block # selection 3
Point block # selection 4
Point block # selection 5
Assign for CC-Link
Symbol
Assign for CN1A / CN1B
No.
Assign for CN1A / CN1B
Class
For manufacturing setting
Initial value
BIN
HEX
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
79
BCN-B11127-478*
11. Trouble Shooting
11.1 Alarms and warning list
Alarm code (Note 2)
Display
CN1B-19
CN1A-18
Name
CN1A-19
Alarm deactivation
Alarm
Power
reset
OFF ON
(RES)
signal
Warnings
Alarms
AL.10
0
1
0
Undervoltage
AL.12
0
0
0
Memory error 1
AL.13
0
0
0
Clock error
AL.15
0
0
0
Memory error 2
AL.16
1
1
0
Encoder error 1
AL.17
0
0
0
Board error
AL.19
0
0
0
Memory error 3
AL.1A
1
1
0
Motor combination error
AL.20
1
1
0
Encoder error 2
AL.24
1
0
0
Main circuit error
AL.25
1
1
0
Absolute position erase
AL.30
0
0
1
Regenerative error
AL.31
1
0
1
Overspeed
AL.32
1
0
0
Overcurrent
AL.33
0
0
1
Overvoltage
AL.35
1
0
1
Command pulse frequency error
AL.37
0
0
0
Parameter error
AL.45
0
1
1
Main circuit device overheat
AL.46
0
1
1
Servo motor overheat
AL.50
0
1
1
Overload 1
(Note 1)
(Note 1)
AL.51
0
1
1
Overload 2
(Note 1)
(Note 1)
AL.52
1
0
1
Error excessive
(Note 1)
(Note 1)
AL.72
Option module communication error
AL.76
Option module ID error
AL.8A
0
0
0
Serial communication time-out error
AL.8D
CC-Link communication alarm
AL.8E
0
0
0
Serial communication error
88888
0
0
0
Watchdog
AL.90
Zeroing incomplete
AL.92
Open battery cable warning
AL.96
Home position setting warning
AL.9D
CC-Link communication warning
Removing the cause of
AL.9F
Battery warning
occurrence
AL.E0
Excessive regenerative warning
deactivates the alarm
AL.E1
Overload warning
automatically.
AL.E3
Absolute position counter warning
AL.E6
Servo emergency stop warning
AL.E9
Main circuit off warning
AL.EA
ABS servo-on warning
Note: 1. Deactivate the alarm about 30 minutes of cooling time after removing the cause of occurrence.
2. 0: Pin-SG off (open)
1: Pin-SG on (short)
80
BCN-B11127-478*
11.2 Operation performed at alarm/warning occurrence
Fault location
Operation mode
Description
Servo operation
Servo alarm
occurrence
Data communication
(Between amplifier and option module)
Data communication
(Between option module and master module)
Servo operation
Option module
Communication
alarm occurrence
Data communication
(Between amplifier and option module)
Data communication
(Between option module and master module)
Servo operation
CC-Link
communication alarm
occurrence
Data communication
(Between amplifier and option module)
Data communication
(Between option module and master module)
Servo operation
PLC alarm or stop
occurrence
Data communication
(Between amplifier and option module)
Data communication
(Between option module and master module)
Test operation
CC-Link operation
Stopped
Stopped
Continued
Continued
Continued
Continued
Stopped
Stopped
Stopped
Stopped
Stopped
Stopped
Stopped
Stopped
Continued
Continued
Stopped
Stopped
Continued
Stopped
Continued
Continued
Stopped
Stopped
Note: AL72 or 76 that is displayed on the servo amplifier will be occurred when MR-J2S-T01 option
module has an alarm. The receiving data RX, RWw are cleared while alarm status. The details of
these alarms are as follows;
Display
AL72
AL76
Name
Option module
communication
error
Option module
ID error
Description
No option module or
disconnected the
option module
Option module ID
mismatch
Cause
1. No option module
2. Fault parts in the
option module
Wrong option
module connected
Action
1.Connect correctly
2.Change the option module
1.Use correct servo amplifier
2.Change the option module
AL8D or AL9D that is displayed on the servo amplifier will be occurred when MR-J2S-T-1 option
module directed an alarm. The receiving data RX, RWw are cleared while alarm or warning status.
The details of these alarms are as follows;
Display
AL8D
Name
CC-Link
communication
error
Description
Option module
could not
communicate
master module
AL9D
CC-Link
communication
warning
Station number
switch or baudrate
switch was changed
while power on
Cause
1.Wrong station #
setting
2.Wrong baudrate
setting
3.Miss wiring
1.Station number
switch was changed
2.Baudrate switch
was changed
3.Station occupation
switch was changed
Action
1.Set the correct station #
2.Set the correct baudrate
setting
3.Correct the wiring
1. Back to the previous setting
81
BCN-B11127-478*
11.3 CC-Link communication alarm
Any of the following indications is provided on the communication alarm display.
(Note) Communication alarm display LEDs
L.RUN
SD
RD
Operation
L.ERR
Normal communications are made but CRC error sometimes occurs due to
noise.
Normal communications
Hardware fault
Hardware fault
Receive data resulted in CRC error and response cannot be made.
Data does not reach host station.
Hardware fault
Hardware fault
Polling response is made but refresh receive is in CRC error.
Hardware fault
Hardware fault
Hardware fault
Data addressed to host station resulted in CRC error.
Data does not reach host station or data addressed to host station cannot be
received due to noise.
Hardware fault
Baudrate setting unauthorized
Station number setting unauthorized
Baud rate or station number setting changed at any point (ERROR flickers
for about 0.4s)
Data cannot be received due to power-off, power supply section failure, open
cable or like.
WDT error occurrence (hardware fault)
Note.
: On
: Off
: Flickering
82
BCN-B11127-478*
REVISIONS
Print Date
‘02/01/09
Document #
BCN-B11127-478*
Revision
First edition
Editor
H.Ogi
83
BCN-B11127-478*