Mitsubishi Electric MELSERVO-J2S-S061 Specifications And Instruction Manual

Section Design Eng.

MITSUBISHI

General Purpose AC Servo

MELSERVO-J2S-S061

Built-In Positioning Function

Specifications and Instruction Manual

For Engineering Sample

MITSUBISHI

ELECTRIC

BCN-B11127-479*

1. FUNCTION AND CONFIGURATION

1.1 Overview

1.2 Features

1.3 System configuration

2. WIRING DIAGRAM

3. TERMINALS

Table of Contents

3.2 Connection example

3.3 Power-on sequence

3.4 Signal explanations

3.5 Additional function devices

4. INTERFACES

5. AUTOMATIC OPERATION MODE

5.1 Positioning via point table with digital input

5.2 Positioning operation in accordance with point tables

5.3 Positioning operation via communication

5.4 Manual operation mode

6. DISPLAY AND OPERATION

6.1 Display flowchart

7. PARAMETERS

8. COMMUNICATIONS

8.1Configuration

8.2 Communication specifications

8.3 Protocol

8.4 Character codes

8.5 Error codes

8.6 Checksum

8.7 Time-out operation

8.8 Retry operation

8.9 Initialization

8.10 Communication procedure example

8.11 Command and data No. list

8.12 Detailed explanation of commands

REVISIONS

16

18

18

22

23

24

26

27

27

28

2

2

3

3

5

7

7

8

8

12

14

53

53

54

54

55

55

56

66

47

47

49

50

52

85

1

BCN-B11127-479*

1. FUNCTIONS AND CONFIGURATION

1.1 Overview

The MR-J2SA-S061 AC servo amplifier with built-in positioning functions is the MR-J2S-A generalpurpose AC servo amplifier which incorporate single-axis positioning functions. These functions perform positioning operation by merely setting the position data (target positions), motor speeds, acceleration and deceleration time constants, etc. to point tables as if setting them in parameters. The servo amplifier is the most appropriate to configure a program-free, simple positioning system or to simplify a system, for example.

There are up to 31 points. You can choose a configuration suitable for your purpose, e.g. simple positioning system using external I/O signals (DI/O), operation using DI/O and RS-422 serial communication, or multi drop operation using RS-422 serial communication.

All servo motors are equipped with an absolute position encoder as standard. An absolute position detection system can be configured by merely adding a battery to the servo amplifier. Once the home position has been set, zeroing is not required at power on, alarm occurrence, etc.

2

BCN-B11127-479*

1.2 Features

(1) Up to 31 point tables

(2) Stopper type zeroing operation

(3) Point table output function

1.3 System configuration

1) Several (up to 32) servo amplifiers are connected with the personal computer by RS-422.

External I/O signals

Personal computer Set-up

Software

Servo amplifier (axis 1)

CN1A CN1B

Power supply

3-phase 200VAC or single-phase

230VAC

CN2 CN3

RS–232C

RS–422

RS–232C/RS-422 converter

(to be prepared by the customer)

Servo motor

RS–422


Servo amplifier (axis 2)

CN1A CN1B

Power supply


230VAC

CN2 CN3

To the next axis

Servo motor

Communication data

PC to Servo amplifier

- Positioning data to point table

- Control signals

- Parameter data

Servo amplifier to PC

- Status monitor

- Parameter data

- Alarm information and so on

3

BCN-B11127-479*

2) The following configuration uses external I/O signals. The external input signals are used to control all signals (devices) that response delay is less than 15msec.


Servo amplifier

CN1A CN1B

Power supply


230VAC

CN2 CN3

Servo motor

3) Function list

Contents Description

Point block # input

Position data input

Operation specification

Position command input

Speed command input

System

Operation specification

Position command input

Speed command input

System

- Positioning up to 31 point via point block #

- Setting at point block

- Setting range for positioning: +/- 1 [um] to +/- 999.999 [um]

- Setting at point block

- Set at the point block for acc. / dec. time

- Parameter # 14 is for S-Curve acc. / dec. time constant

- Absolute value command with sign or incremental value command

- Positioning via RS-422(232C) communication

- Setting via RS-422(232C) communication

- Setting range for positioning : +/- 1 [um] to +/- 999.999 [um]

- Setting via RS-422(232C) communication

- Set the acc. / dec. time via RS-422(232C) communication

- Parameter # 14 is for S-Curve acc. / dec. time constant

- Absolute value command with sign or incremental value command

Automatic mode

Manual mode

Manual zeroing

Function on positioning control

JOG

Stopper type zeroing

- Select the required ones from among 31 preset point blocks and perform operation in accordance with the set value

(Position block # input, Position data input)

- Jogging operation among preset jog speed via RS-422(232C) communication or external input

- Stopper type zeroing

Capable set the zero address at parameter setting

- Absolute position detection system

- Backlash compensation

- External stroke limit function

- Software stroke limit function

- Teaching function

- Roll feeding function (equivalent)

4

BCN-B11127-479*

2. Wiring Diagram

NFB MC

Servo amplifier

MR-J2S-A-S061

3-phase 200VAC

L1

L 2

L 3

L11

L12

C

D

TE2

Regenerative brake option

P

When connecting the external regenerative brake option, always disconnect the jumper from across P-D.

10m(39.37inch) max.

Zeroing completion

Proximity dog

RA 1

COM

ZP

DOG

SG

SG

CN1 A

9

18

8

10

20

TE1

CN 2

U

V

W

U (Red)

V (White)

W (Black)

(Green)

B1

B2

Emergency stop

To be shut off when servo on signal switches off or alarm occurs.

Encoder cable

(Available as option or to be fabricated)

Servo motor

SM

Electromagnetic brake

Encoder

Servo on

Forward rotation stroke end

Reverse rotation stroke end

Automatic/manual selection

Point table No. selection 1


Forward rotation start

Reverse rotation start

10m (39.37inch) max.

SON

LSP

LSN

MD0

CN1B

15

16

17

7

Rough match

In position

Trouble

Ready

Upper limit setting

RA2

RA3

RA4

RA5

DI0

DI1

ST1

ST2

SG

SG

VDD

COM

CPO

INP

ALM

RD

P15R

VC

13

4

6

18

19

11

5

14

8

9

10

20

3

2

Upper limit setting LG 1

External torque limit

TLA 12

SD Plate

2m(78.74inch) max.

CN3

Communication cable

(Available as option or to be fabricated)

CN3

4 MO1

3 LG

14 MO2

13

Plate

LG

SD

A

A

Monitor output 1

10 k

Monitor output 2

10 k

5

BCN-B11127-479*

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. CN1A, CN1B, CN2 and CN3 have the same shape. Wrong connection of the connectors will lead to a fault.

4. The sum of currents that flow in the external relays should be 80mA max. If it exceeds 80mA, supply interface power from external.

5. When starting operation, always connect the forward/reverse rotation stroke end signal (LSN/LSP) with SG. (Normally closed contacts)

6. Trouble (ALM) is connected with COM in normal alarm-free condition.

7. The pins with the same signal name are connected in the servo amplifier.

6

BCN-B11127-479*

3. Terminals

3.1 Terminal blocks

L

Symbol Signal Description

Main circuit power input terminals

1) 200V Class

Supply L

1

, L

2

and L

3

with the following power.

For a single-phase 230VAC power supply, connect the power supply to L1 and

L2 and keep L3 open:

1

U, V, W

L

, L

11

2

, L

P, C, D

N

, L

21

3

Main circuit power supply

Servo motor output

Control circuit power supply

Regenerative brake option

Protective earth (PE)

Servo amplifier

Power supply

3-phase 200 to 230VAC,

50/60Hz

Single-phase 230VAC,

50/60Hz

MR-J2-10A to 70A

L

1

•L

2

L

1

•L

2

MR-J2-100A to 700A

•L

3

Cannot be used for combination with the servo motor HC-SFS52•53.

2) 100V Class

Supply L1, L2 with the single-phase 100 to 120V 50/60Hz power.

Servo motor power output terminalss

Connect to the servo motor power supply terminals (U, V, W).

Control circuit power input terminals

1) 200V Class

Supply L11 and L21 with single-phase 200-230VAC, 50/60Hz power.

2) 100V Class

Supply L11 and L21 with single-phase 100-120VAC, 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.

Ground terminal

Connect this terminal to the protective earth (PE) terminals of the servo motor and control box for grounding.

7

BCN-B11127-479*

3.2 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

NFB MC

(Note 1) Three-phase

200 to 230VAC

or

Single-Phase

230VAC

L1

L2

L3

L11

L21

Servo amplifier

External emergency stop

Servo on

Trouble RA

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.

3.3 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: L

1

, L

2

, L

3

, single-phase 230V: L

1

, L

2

). 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 L

11

, L

21

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.

8

BCN-B11127-479*

(2) Timing chart

Power sypply

Base circuit

Servo on

(SON)

Reset

(RES)

Ready

(RD)

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

SON accepted

(1s)

10ms

20ms 10ms

60ms

20ms

10ms

10ms

60ms

20ms 10ms

9

BCN-B11127-479*

3.4 Signal explanations

1) CN1A

Signal Name

Digital I/F power supply input

Open collector power input

Digital I/F common

DC15V power supply

Control common

Proximity dog

Symbol Pin No.

COM

OPC

SG

P15R

LG

DOG

9

24VDC, 200mA or more to this terminal.

11 When using a manual pulse generator, supply 24VDC to this terminal.

10, 20 Common terminal for VDD and COM and isolated from LG.

4 Used to output 15VDC. Power supply terminal for VC and TLA.

1

8

Description

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

Common terminal for VC, TLA, MO1, MO2 and P15R.

When terminals DOG-SG are shorted, the proximity dog signal is detected. The polarity of dog detection input can be changed with the parameter.

I/O Division

DI-1

Zeroing completion ZP

Parameter No.8 Polarity of Proximity Dog Detection Input

0 DOG-SG are opened.

1 (initial value) DOG-SG are shorted.

18 ZP-SG are connected on completion of zeroing.

In the absolute position system, ZP-SG are connected when the servo amplifier is ready to operate but are disconnected if:

1) SON-SG are opened;

2) EMG-SG are opened;

3) RES-SG are shorted;

4) Alarm occurs;

5) Limit switch opens;

6) Zeroing has not been made after the purchase of the product;

7) Zeroing has not been made after the occurrence of absolute position erasure (A. 25) or absolute position counter warning

(A. E3);

8) Zeroing has not been made after the changing of the electronic gear value;

9) Zeroing has not been made after the absolute position system was made valid; or

10) The ST1 coordinate system (000 in parameter No.1) has been changed.

DO-1

DI-1

DO-1

Shield SD Plate Connect one end of the shielded cable.

10

BCN-B11127-479*

2) CN1B

I/F Internal power supply

Digital I/F power supply input

Signal Name

DC15V power supply

Digital I/F Common

Control common

Servo on


Symbol Pin No.

VDD 3

Description

Used to output 24V 10% to across VDD-COM.

When using this power supply for digital interface, connect it with

COM.

Permissible current: 80mA

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.

P15R

SG 10, 20 24VDC common terminal for VDD, COM, etc. and isolated from LG.

LG 1 Common terminal for VC, TLA, MO1, MO2 and P15R.

SON

11 Used to output 15VDC to across P15R-LG. Used for VC/TLA power supply.

15 When SON-SG are shorted, the base circuit is switched on and the servo amplifier is ready to operate.

When they are opened, the base circuit is shut off and the servo motor coasts.

LSP 16 To start operation, short LSP-SG or LSN-SG. When they are opened, the servo motor is stopped suddenly and servo-locked.

I/O Division

DI-1

DI-1


LSN 17

Across Across Operation

DI-1



ST1

ST2

LSP-SG LSN-SG CCW direction CW direction

1 1

0 1

1 0

0 0

8

Note. 0:Open,1:Short

This signal serves as a forward rotation start signal for the incremental value command system.

In automatic operation mode, the servo motor rotates in the forward rotation direction as soon as ST1-SG are shorted.

In zeroing mode, zeroing starts as soon as ST1-SG are shorted.

In jog operation mode, the servo motor rotates in the forward rotation direction while ST1-SG are shorted.

Forward rotation denotes the direction in which the address is incremented.

This signal serves as a start signal for the absolute value command system. In automatic operation mode, operation starts as soon as

ST1-SG are shorted.

In zeroing mode, zeroing starts as soon as ST1-SG are shorted.

In jog operation mode, the servo motor rotates in the forward rotation direction while ST1-SG are shorted.

Forward rotation denotes the direction in which the address is incremented.

9 In automatic operation mode, the servo motor rotates in the reverse rotation direction as soon as ST2-SG are shorted. (Incremental value command only)

In jog operation mode, the servo motor rotates in the reverse rotation direction while ST2-SG are shorted.

Reverse rotation denotes the direction in which the address is decremented.

DI-1

DI-1

11

BCN-B11127-479*

Signal Name

Automatic/manual selection

Symbol Pin No.

MDO

Point table No. selection DI0

DI1

Description

7 Short MDO-SG to choose the automatic operation mode, or open them to choose the manual operation mode.

5

14

The following table lists the point table numbers which may be chosen by the combinations of DI0 and DI1:

I/O Division

DI-1

DI-1

DI1 DI0 Selected Point Table No.

Rough match

In position

Trouble

Ready


CPO

INP

ALM

RD

4 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.

6

Note: 0: DI1/DI0-SG open

1: DI1/DI0-SG shorted

INP-SG are connected when the droop pulses fall within the parameter-set in-position range.

This signal is not output while the base circuit is off.

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.

19 RS-SG are connected when the servo amplifier is ready to operate without failure after servo-on.

DO-1

DO-1

DO-1

DO-1

Analog input

TLA

SD speed. Apply 10[V] for 0[%] override, 0[V] for 100[%], or 10[V] for

200[%].

12 0 to 10V is applied to across TLA-LG to limit the servo motorgenerated torque.

Apply 0[V] for 0 torque or 10[V] for max. torque.

Plate Connect one end of the shielded cable.

Analog input

Shield

3) CN3

Signal Name

Analog monitor 1

Analog monitor 2

RS-422 I/F

Symbol Pin No.

MO1

MO2

4

Description

Used to output the data set in parameter No.17 to across MO1-LG in terms of voltage. Resolution 8 bits

14 Used to output the data set in parameter No.17 to across MO2-LG in terms of voltage. Resolution 8 bits

I/O Division

Analog output

Analog output

RDN 15

TRE 10

RS-232C I/F

Monitor common

Ground

LG

SD

1, 3,

11, 13

Monitoring common for control common

Plate Connect one end of the shielded cable.

12

BCN-B11127-479*

3.5 Additional function devices

By parameter setting, you can assign the signals given in this section to the pins of connectors CN1A and

CN1B, in addition to the signals in Section 3.2.

(1) Pins which accept different signals

Pin Type

Input-only pins

I/O pin

Output-only pins

Connector Pin No.

CN1B-5

CN1B-14

CN1B-16

CN1B-17

CN1B-8

CN1B-9

CN1A-19

Device in Initial Status







Empty

CN1B-18 Trouble

CN1B-19 Ready

Device Symbol

DI0

DI1

DOG

SON

LSP

LSN

MDO

ST1

ST2

CPO

INP

ALM

RD

ZP

(2) Assignable devices

1) Input devices

Device Name Symbol Description

No assigned function

Emergency stop

Alarm reset

No function is assigned.

EMG When EMG-SG are opened, the servo amplifier is placed in the emergency stop status, the servo switches off, and the dynamic brake is operated to bring the servo motor to a sudden stop.

Short EMG-SG in the emergency stop status to cancel the emergency stop status.

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 0 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.

Point table No. selection DI2

DI3

DI4

Valid in the automatic mode.

The following table lists the point table numbers that may be chosen by the combinations of DI0, DI1, DI2, DI3 and DI4:

I/O Division

DI-1

DI-1

DI-1

0 0 0 0 0 Zeroing

0 0 0 0 1

0 0 0 1 0

Point

Point

No.1

No.2

0 0 0 1 1

: : : : :

Point No.3

:

1 1 1 0 1 Point No.28

1 1 1 0 1 Point No.29

1 1 1 1 0 Point No.30

1 1 1 1 1 Point No.31

Note:0: DI3/DI2/DI1/DI0-SG open

1: DI3/DI2/DI1/DI0-SG shorted

TL0 Short TL0-SG to make external analog torque limit valid. DI-1 External torque limit selection

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

13

BCN-B11127-479*

Device Name Symbol Description

Proportion control PC Short PC-SG to switch the speed amplifier from proportional integral type to proportional type.

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.

Gain changing CDP Gain changing device

Short CDP-SG to switch the gain that changing condition depends on the setting in parameter No. 68

2) Output devices

I/O Division

DI-1

DI-1

DI-1

Device Name

No assigned function

Electromagnetic brake interlock

Dynamic brake interlock

Position range

Symbol Description

No function is assigned.

MBR Used to output the interlock signal for electromagnetic brake.

MBR-SG are disconnected at servo-off or alarm occurrence.

DBR Dynamic brake interlock output device.

I/O Division

DO-1

DO-1

DO-1

Warning

Battery warning

Limiting torque

Temporary stop

Moving completion

POT POT-SG are connected when the actual current position is within the parameter-set range.

The output is open when zeroing is incomplete or the base circuit is off.

WNG WNG-SG are connected when warning occurs.

Open in normal condition.

BWNG BWNG-SG are connected when the open battery cable warning (A. 92) or battery warning (A. 9F) occurs.

Open in normal condition.

TLC TLC-SG are connected when the internally or externally set torque limit value is reached.

PUS 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

MEND

PT0

PT1 making the temporary stop signal valid again.

MEND-SG are connected when the in-position and rough match signal turned on

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:

PT2

PT3

0 0 0 0 0

PT4

DO-1

DO-1

DO-1

DO-1

DO-1

DO-1

Point table No. output

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

14

BCN-B11127-479*

(4) Device setting of control mode

Operation mode

Signal

Automatic operation

Absolute command

Incremental command

Manual drive

Manual zeroing

Automatic/Manual MD0

Point block No.

DI0 to

DI4

1 to 31 1 to 31 0



ST1

ST2

5ms

5ms

ON

5ms

(FWD. JOG)

5ms

ON

(REV. JOG)

Note: The start signal will respond within 3 ms.

Servo motor will be stopped and cleared moving remain distance when Automatic/Manual signal changed in positioning.

15

BCN-B11127-479*

4. 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

24VDC

VDD

R: Approx. 4.7k

COM

Do not connect

VDD-COM.

Servo amplifier

24VDC

200mA or more

VDD

COM

R: Approx. 4.7k

(Note)

For a transistor

Approx. 5mA

SON, etc.

SON, etc.

Switch

Switch

TR SG

SG

V

CES

1.0V

I

CEO

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


Servo amplifier

24VDC

VDD

COM

Servo amplifier

VDD

COM

Do not connect

VDD-COM.

Load 27VDC or less

ALM, etc.

Load

ALM, etc.

SG

SG

If the diode is not connected as shown, the servo amplifier will be damaged.

If the diode is not connected as shown, the servo amplifier will be damaged.

16

BCN-B11127-479*

For use of internal power supply

Servo amplifier

24VDC VDD

COM

ALM, etc.

R

For use of external power supply

Servo amplifier

VDD

COM

ALM, etc.

SG

Do not connect

VDD-COM.

R

27VDC or less

(3) Analog output

Output 10V

Max. 1mA

Servo amplifier

MO1

(MO2)

LG

10k

Reading in one or both directions

1mA meter

A

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.


(Note)

For a transistor

Approx. 5mA

Servo amplifier

SG

R: Approx. 4.7k

COM

SON,

etc.

24VDC

200mA or more

Switch

Servo amplifier

SG

R: Approx. 4.7k

COM

SON, etc.

Switch

24VDC

VDD

TR

V

CES

1.0V

I

CEO

100 A

Note: This also applies to the use of the external power supply.

17

BCN-B11127-479*

5. Automatic Operation Mode

5.1 Positioning via point table with digital input

(1) Parameter setting

Set the following parameters to perform automatic operation:

(a) Command mode selection (parameter No.0)

Select the absolute value command system or incremental value command system.

Parameter No. 0 Setting Positioning System

1 Incremental value command

(b) Operation system selection (parameter No.1)

Choose the servo motor rotation direction at the time when the forward rotation start (ST1) signal or reverse rotation start (ST2) signal is switched on.

Parameter No. 1 Setting

0

1

Servo Motor Rotation Direction

When Forward Rotation Start (ST1) Is Switched On

CCW rotation with position data

CW rotation with position data

CW rotation with position data

CCW rotation with position data

CCW

CW

18

BCN-B11127-479*

(c) Feed length multiplication selection (parameter No.1)

Set the unit multiplication factor (STM) of position data. The actual moving distance is the result of multiplying the entered position data by the unit multiplication factor.

Parameter No.1 Setting Feed Length Multiplication STM [Times]

(2) Point table

(a) Point table setting

Up to 31 point tables may be set. The following table lists what to set:

Position data

Motor speed

Acceleration time constant

Deceleration time constant

Dwell time

Auxiliary function

999999 to 999999 [ 10 SM m]

0 to permissible speed

0 to 20000

0 to 20000

0 to 20000

0 • 1 r/min ms ms ms

Description

In the absolute value command system, motion is made to the set address.

In the incremental value command system, motion is made over the set distance.

Use the parameter to select the incremental value command or absolute value command.

A negative value cannot be set to the incremental value command.

Set the command speed of the servo motor for execution of positioning.

The setting should be equal to or less than the instantaneous permissible speed of the servo motor.

Set the acceleration time constant.

Set the time until the rated speed of the servo motor is reached.

Set the deceleration time constant.

Set the time until the servo motor running at rated speed comes to a stop.

Set the dwell time.

Set "0" in the auxiliary function to make the dwell time invalid.

Set "1" in the auxiliary function and 0 in the dwell time to perform continuous operation.

When the dwell time is set, the position command of the selected point table is completed, and after the set dwell time has elapsed, the position command of the next point table is started.

Set the auxiliary function.

Set "1" to execute point tables consecutively without a stop.

0: Automatic operation is performed in accordance with a single point table chosen.

1: Operation is performed in accordance with consecutive point tables without a stop.

When a different rotation direction is set, smoothing zero (command output) is confirmed and the rotation direction is then reversed.

Setting "1" in point table No.15 results in an error.

For full information, refer to Section 4.2.5.

19

BCN-B11127-479*

(b) Descriptions of auxiliary function

a) Auxiliary function setting “0”

Point block No. 1

Servo motor speed

Start signal

(ST1 or ST2)

Point block No. 2

b) Auxiliary function setting “1” and dwell time is “0”

Servo motor speed

0

Position block

No. 1

Position block

No.2

Point block

Start signal

(ST1 or ST2)

Rough match

(CPO)

In position (INP)

ON

O

O

ON

ON

FF

FF

O FF

No.1

c) Auxiliary function setting “1” and dwell time is not “0”

Point block No.1

Servo motor speed

Point block selection

Start signal

(ST1 or ST2)

Rough match

(CPO)

In position

(INP)

Point table No. 2

Dwell time

No.1

Point block No.3

Position block

No.3

Point table No. 3

Dwell time

20

BCN-B11127-479*

(3) Timing chart

Servo on (SON)

ON

OFF

Ready (RD)

Trouble (ALM)

Automatic/manual selection (MDO)

In position (INP)

Rough match (CPO)

Point table No.

Motor speed


(ST1)


(ST2)

(Note)

ON

ON

OFF

ON

OFF

Forward rotation

0r/min

OFF

ON

OFF

ON

OFF

Reverse rotation

ON

OFF

No.1

Point table No. 1

1.5ms or less

4ms or more

ON

OFF

Note: Reverse rotation start (ST2) is invalid for absolute value command system.

No.2

Point table No. 2

21

BCN-B11127-479*

5.2 Positioning operation in accordance with point tables

By selecting the point table No. and switching on the start signal (ST1, ST2) using the communication function, positioning operation in accordance with point tables can be started.

(1) Selection of point tables

Using the device forced output from the controller (command [9][2], data No. [6][0]), choose point tables from among No.1 to 31

(2) Timing chart

Transmission data

1) 4) 5) 2) 4) 5) 3) 4) 5)

Servo motor speed

5ms

Point table No. 2

No. Transmission Data

1) Point table No.2 selection



4) Forward rotation start (ST1) ON

5) Forward rotation start (ST1) OFF

Point table No. 1

Command

[9] [2]

[9] [2]

[9] [2]

[9] [2]

[9] [2]

Point table No. 3

Data No.

[6] [0]

[6] [0]

[6] [0]

[6] [0]

[6] [0]

22

BCN-B11127-479*

5.3 Positioning operation via communication

Positioning operation can be performed by changing the point table settings and making a start. For example, positioning operation can be performed by writing the data of point table No.1, then specifying point table No.1, and making a start.

Transmission data 1) 2) 3) 4) 5) 6) 7) 8)

Servo motor speed

5ms

Values set with transmission data 1) to 5) are used for operation.

No. Transmission Data

1) Point table No.1 position data write

2) Point table No.1 speed

3) Point table No.1 acceleration time constant

4) Point table No.1 deceleration time constant

5) Point table No.1 auxiliary function


7) Forward rotation start (ST1) ON

8) Forward rotation start (ST1) OFF

Command

[C] [0]

[C] [6]

[C] [7]

[C] [8]

[C] [B]

[9] [2]

[9] [2]

[9] [2]

Data No.

[0] [1]

[0] [1]

[0] [1]

[0] [1]

[0] [1]

[6] [0]

[6] [0]

[6] [0]

23

BCN-B11127-479*

5.4 Manual operation mode

For machine adjustment, home position matching, etc., jog operation or a manual pulse generator may be used to make a motion to any position.

5.4.1 Jog operation

(1) Setting

Set the input signal and parameters as follows according to the purpose of use. In this case, the point table No. selection 1 to 5 signals (DI0 to DI4) are invalid:

Manual operation mode selection

Servo motor rotation direction

Jog speed

Automatic/manual selection signal (MDO) Open MDO-SG (OFF).

Parameter No.1 Refer to (2) in this section.

Parameter No.13

Acceleration/deceleration time constant Point table No.1

Set the speed of the servo motor.

Use the acceleration/deceleration time constants in point table No.1.

(2) Servo motor rotation direction

Parameter No. 1 Setting

0

1

Servo Motor Rotation Direction

Forward Rotation Start (ST1) ON

CCW rotation

CW rotation

Reverse Rotation Start (ST2) ON

CW rotation

CCW rotation

ST1:ON

CCW

CW

ST2:ON

Parameter No. 1 0

ST2:ON

CCW

CW

ST1:ON

Parameter No. 1 1

24

BCN-B11127-479*

(3) Operation

By shorting ST1-SG, operation is performed under the conditions of the jog speed set in the parameter and the acceleration and deceleration time constants in set point table No.1. For the rotation direction, refer to (2) in this section. By shorting ST2-SG, the servo motor rotates in the reverse direction to ST1.

(4) Timing chart

Servo on (SON)

Ready (RD)

Trouble (ALM)

Automatic/manual mode selection (MDO)

In position (INP)

Rough match (CPO)

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

100ms

Motor speed

Forward rotation

0r/min

Reverse rotation

Forward rotation start (ST1)

Reverse rotation start (ST2)

ON

OFF

ON

OFF

Forward rotation jog

Reverse rotation jog

25

BCN-B11127-479*

5.5 Zeroing

5.5.1 Stopper type zeroing

In stopper type zeroing, a machine part is pressed against a stopper or the like by jog operation, manual pulse generator operation or the like to make a home position return and that position is defined as a home position.

(1) Signals, parameters

Set the input signals and parameters as follows:

Manual zeroing mode selection

Stopper type zeroing

Zeroing direction

Zeroing speed

Zeroing position data

Stopper time

Stopper type zeroing torque limit

Zeroing acceleration time constant

(2) Timing chart

Description

Automatic/manual selection signal (MDO) Short MDO-SG (ON).

Point table No. selection 1 (DI0)

Point table No. selection 2 (DI1)

Parameter No.8

Parameter No.8

Parameter No.9

Parameter No.42

Parameter No.44

Parameter No.45

Open DI0-SG (OFF).

Open DI1-SG (OFF).

3 : Stopper type zeroing is selected.

Refer to the parameter No.8

Set the speed till contact with the stopper.

Used to set the current position on completion of zeroing

Time from when the part makes contact with the stopper to when zeroing data is obtained to output zeroing completion (ZP)

Set the servo motor torque limit value for execution of stopper type zeroing.

Point table No.1

Use the acceleration time constant of point table No.1.

Automatic/manual

ON mode selection

(MDO)

OFF

ON

In position (INP) OFF

Rough match

(CPO)

Zeroing completion (ZP)

ON

OFF

ON

OFF

Point table No.1

Acceleration time constant

Zeroing speed

Parameter No.9

Zero address

Parameter No. 42

Servo motor speed

5ms or less

Stopper

Forward rotation start (ST1)

Reverse rotation start (ST2)

Limiting torque (TLC)

ON

OFF

ON

OFF

ON

OFF

Torque limit value

Parameter No. 28

10ms or more

Stopper time

Parameter No. 44

Parameter No. 45 Parameter No. 28

The address on completion of zeroing is the value automatically set in parameter No.42 (zeroing position data).

Parameter No.14 (STC) will be disabled during zeroing.

26

BCN-B11127-479*

6. Display and Operation

6.1 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).

Status display Diagnosis Alarm button

MODE

Point table

Basic parameters

Expansion parameters 3

Current position

[pulse]

Command position

[pulse]

Command remaining distance [pulse]

Sequence

External I/O signal display

Output signal forced output

Current alarm

Last alarm

Second alarm in past

Test operation

Jog feed

Third alarm in past

Cumulative feedback pules [pulse]

Motor speed

[r/min]

Droop pulses

[pulse]

Test operation

Positioning operation

Fourth alarm in past

Test operation

Motor-less operation

Fifth alarm in past

Test operation

Machine analyzer operation

Sixth alarm in past

Point table No.1

Point table No.2

Point table No. 30

Point table No. 31

Software version L

Regenerative load ratio [%]

Effective load ratio

[%]

Software version H

Network I/F unit

S/W version L

Peak load ratio

[%]

Instantaneous torque

[%]

Within one-revolution position low [pulse]

Network I/F unit

S/W version H

Motor series ID

Motor type ID

Within one-revolution position high [pulse]

Encoder ID

ABS counter

[rev]

Load inertia moment

Ratio [times]

Bus voltage [V]

Parameter error No.

SET button

Parameter No. 0

Parameter No. 1

Parameter No. 18

Parameter No. 19

UP or DOWN button

Target position

Motor speed

Acc. time

Dec. time

Dwell time

Auxiliary function

Parameter No. 50

Parameter No. 51

Parameter No. 89

UP

DOWN

Parameter No. 90

Communication status

27

BCN-B11127-479*

7. 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

Class No. Symbol

0

1

2

*STY

Name and Function

Control mode, regenerative brake option selection

*FTY Feeding function selection

*OP1 Function selection 1

6

7

11

12

INP Movement completion output range

PG1 Position loop gain 1

ZST Zero shift distance

CRP Rough match output range

14 *STC S-Curve acceleration/deceleration time constant

15 *SNO Station number setting

16 *BPS Alarm history clear

17 MOD For manufacture setting

Customer

Initial Value Unit

0010

0000

0002

0105

1

1

100

36

0013 pulse rad/s

500 r/min

10 r/min

0

0

Um

10 STM m

100

0

0

0000 r/min

Ms station

0100

0000

0000

Setting

28

BCN-B11127-479*

Class No.

23

24

28

29

31

32

33

34

35

36

37

Symbol

*SIC

FFC

Serial communications time-out selection

Feed forward gain

TL1 Internal torque limit 1

TL2 Internal torque limit 2

MO1 Analog monitor ch1 offset

MO2 Analog monitor ch2 offset

MBR Electromagnetic brake sequence output

DG2 Ratio of load inertia moment to motor inertia moment

PG2 Position loop gain 2

VG1 Speed loop gain 1

VG2 Speed loop gain 2

41 DSS

43

44

49

50

51

52

45

46

47

48

53

DCT

ZTM

ZTT

*LPP

Name and Function

Moving distance after proximity dog

Stopper type zeroing stopper time

Stopper type zeroing torque limit value

Position range output address +

*LNP Position range output address -

Customer

Initial Value Unit

0000

0000

0000

0

0

0

0

4000

100

Sec

% mV mV

%

Setting

100

0

0

0

100

70

35

177

% pulse mV mV ms

× 0.1 times rad/s rad/s

817

48

980

0 rad/s ms

0

0

1000

100

10 STM m

10 STM m ms

30 %

0

STM m

0

0

0

STM m

0

0

STM m

0

STM m

0

29

BCN-B11127-479*

Class No. Symbol Name and Function

60 For manufacturing setting

61

62

NH1 Machine resonance suppression filter 1

NH2 Machine resonance suppression filter 2

63 LPF Low-pass filter, adaptive vibration suppression control

64 GD2B Ratio of load inertia moment to Servo motor inertia moment 2

65 PG2B Position control gain 2 changing ratio

66 VG2B Speed control gain 2 changing ratio

67 VICB Speed integral compensation changing ratio

69

70

CDS Gain changing condition

CDT Gain changing time constant

72 VLI

83

84

85

86

87

88

79

80

81

82

75 SRT

76 TRT

77 DBT

78 *DI0 Input/Output device selection (CN1A-19)

*DI1

*DI2

*DI3

*DI4

Input device selection 1 (CN1A-19,8)

Input device selection 2 (CN1B-5,7)


Input device selection 4 (CN1A-14,15)

*DI5

*DI6

*DI7

*DO1

*DO2

*DO3


Input device selection 6 (Automatic ON)

Input device selection 7 (Automatic ON)

Output device selection 1 (CN1A-18,19)

Output device selection 2 (CN1B-4,6)

Output device selection 3 (CN1B-18,19)

90

Initial Value Unit

Customer

Setting

0000

0000

0000

0000

0000

0000

0000

0000

0000

0000

70

100

100

100

0000

× 0.1 time

%

%

%

10

1

0 ms

10000 pulse

10 rev

10 rev

100

100 r/min ms

100 ms

0001

0009

080A

0706

020B

0504

0002

0000

0005

0304

0102

0

0

30

BCN-B11127-479*

(2) Detail list

Class

No Symbo l

Name and function

0 *STY Control mode, Regenerative brake option selection

Use to select regenerative brake option.

0 0

Selection of command mode

0: Absolute value command

1: Incremental value command

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)

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

SON-off, EMG-off follow-up for absolute value

Command in incremental system

0: Invalid

1: Valid

2 *OP1 Function selection 1

Used to select the input filter and absolute position detection system.

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

Selection of absolute position detection system

0: Incremental system

1: Absolute position detection system

Initial

Value

Unit Setting

0000 0000h to

0710h

0000 0000h to

1013h

0002 0000h to

1006h

31

BCN-B11127-479*


3 ATU Auto tuning

Used to set the response level, etc. for execution of auto tuning.

0 0

Auto tuning response level setting

Set value

C

D

E

F

8

9

A

B

1

2

3

4

5

6

7

Response level

Low

Response

Middle response

High response

Machine resonance

Frequency guideline

70Hz

85Hz

105Hz

130Hz

160Hz

200Hz

240Hz

300Hz

15Hz

20Hz

25Hz

30Hz

35Hz

45Hz

55Hz

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

Gain adjustment mode

Description

0

1

Interpolation mode

Auto tuning mode 1

2 Auto tuning mode 2

Fixes position control gain 1

Ordinary auto tuning.

3 Manual mode 1

Ordinary auto tuning.

Fixes the load inertia moment ratio set in parameter No. 34.

Response level setting can be changed.

Simple manual adjustment.

4 Manual mode 2 Manual adjustment of all gains.

4 *CMX Electronic gear numerator

Note: Set in the range of

1

20

＜

CMX

CDV

＜

20 .

If

1

100

＜

CMX

CDV

＜

100 is exceeded, a parameter error will occur.

Initial Value Unit Setting Range

0105 0001h to

042Fh

1 1 to 65535

32

BCN-B11127-479*


Setting example Roll diameter: 50mm

Number of pulses: 16384 pulses

Number

Moving of pulses distance

( CMX

( CDV )

)

=

50 ×

π

16384

× 3 7 × 1000

=

7168

9375

π

Hence, set 7168 to CMX and 29452 to CDV.

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.

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.

8 ZTY Zeroing type

Used to set the zeroing system, zeroing direction and proximity dog input polarity.

0 3

0013 0000h to

0117h

Zeroing direction

0: Address increment direction

1: Address decrement direction

Proximity dog input polarity

0: Dog is detected when DOG-SG are opened

1: Dog is detected when DOG-SG are shorted

Used to set the motor speed for zeroing.

Used to set the creep speed after proximity dog detection.

11 ZST Zero shift distance

Used to set the shift distance starting at the Z-phase pulse detection position inside the encoder.

500 r/min 0 to

Max. speed

10 r/min 0 to

Max. speed

0 um 0 to

Max. speed

33

BCN-B11127-479*


12 CRP Rough match output range

Used to set the command remaining distance range where the rough match

(CPO) signal is output.

Used to set the jog speed command.

14 *STC S-pattern acceleration/deceleration time constant

Set when inserting an S-pattern time constant into the acceleration/deceleration time constant of the point table.

This time constant is invalid for zeroing.

15 *SNO RS-485 station number setting

Used to specify the station number for RS-485 multidrop communication.

Always set one station to one axis of servo amplifier. If one station number is set to two or more stations, normal communication cannot be made.

16 *BPS Alarm history clear

Used to alarm history clear.


0 10 STM m

0 to

65535

100 r/min 0 to

Max. speed

0 ms 0 to

100

0 station 0 to

31

0000 0000h

to

1214h

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 888us or more

17 MOD For manufacturer setting

0 0

Setting Analog Monitor Output Selection

Ch2

0

Ch1

Servo motor sped (+/- 8V/max. speed)

1

2

3

4

5

6

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)

7

8

9

A

B

Droop pulses (+/- 10V/2048 pulses)




Bus voltage (+8V / 400V)

0100 0000h

to

4B4Bh

34

BCN-B11127-479*


Used to select the status display shown at power-on .

0 0

Status display shown at power-on

00: Current position

01: Command position

02: Command remaining distance

03: Point table No.

04: Cumulative feedback pulses

05: Motor speed

06: Droop pulses

07: Override voltage

08: Limiting torque voltage

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: ABS counter

10: Load inertia moment ratio

11: Bus voltage

Used to select the reference and write ranges of the parameters.

Set Value Operation

0000

(Initial value)

000A

000B

000C

000E

Reference

Write

Reference

Write

Reference

Write

Reference

Write

Reference

Write

#00 to

#18

{

{

{

{

{

{

{

×

×

{

Parameter No.

#19

{

{

{

#20 to

#53

×

×

×

{

{

{

{

×

{

×

{

{

{

{

{

{

{

×

×

×

×

×

{

#54 to

#90

×

×

×

{


0000 0000h

to

1F1Fh

0000 0000h

to

FFFFh

35

BCN-B11127-479*



Used to select slight vibration suppression control.

0 0 0

Slight vibration suppression control selection

0: Invalid

1: Valid

Parameter No.2 must be “03 ” or “04” for activate this function.


0000 0000h

to

1111h


0 0 0

H/W limit stop selection

0: Sudden stop

1: Slow stop

23 *SIC Serial communication time-out selection

Used to choose the time-out period of communication protocol

0 means not time-out check.

0002

0000 0000h

to

0001h

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.

Used to set the offset voltage to analog override.

Used to set the offset voltage to analog torque limit.

Encoder output pulses

Used to set the encoder pulses (A-phase, B-phase) output by the servo amplifier.

Set the value 4 times greater than the A-phase or B-phase pulses.

You can use parameter No. 58 to choose the output pulse setting or output division ratio setting.

The number of A/B-phase pulses actually output is 1/4 times greater than the preset number of pulses.

The maximum output frequency is 1.3Mpps (after multiplication by 4). Use this parameter within this range.

0 mV -999 to

999

0 mV -999 to

999

4000 pulse 1 to

65535

36

BCN-B11127-479*


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.

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.

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.

31 MO1 Analog monitor ch1 offset

Used to set the offset voltage of the analog monitor ch1 output (MO1).

32 MO2 Analog monitor ch2 offset

Used to set the offset voltage of the analog monitor ch2 output (MO2)

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.

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.

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.


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.


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.


38 VIC Speed integral compensation

Used to set the integral time constant of the speed loop.


39 VDC Speed differential compensation

Used to set the differential compensation.

Made valid when the proportion control signal is switched on.

37


0

100

70

35

817

48

980 pulse ms

× 0.1 times rad/s

0 to 1000

0 to 1000

0 to 3000

1 to 1000 rad/s 20 to 20000 ms 1 to 1000

0 to 1000

BCN-B11127-479*

Class No. Symbol

41

Name and Function

Used to set the current position on completion of zeroing.

43 DCT Moving distance after proximity dog

Used to set the moving distance after proximity dog in count type zeroing.

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.

45 ZTT Stopper type zeroing torque limit

Used to set the torque limit value relative to the max. torque in [%] in stopper type zeroing.

46

47

LMP Software limit

Used to set the address increment side software stroke limit. The software limit is made invalid if this value is the same as in "software limit ".

Set the same sign to parameters No.46 and 47. Setting of different signs will result in a parameter error.

Set address:

Upper 3 digits

Lower 3 digits

48

49

50

51

Parameter No. 47

Parameter No. 46

LMN Software limit

Used to set the address decrement side software stroke limit. The software limit is made invalid if this value is the same as in "software limit ".

Set the same sign to parameters No.48 and 49. Setting of different signs will result in a parameter error.

Set address:

Upper 3 digits

Lower 3 digits

Parameter No. 49

Parameter No. 48

LPP Position range output address

Used to set the address increment side position range output address. Set the same sign to parameters No.50 and 51. Setting of different signs will result in a parameter error.

Set address:

Upper 3 digits

Lower 3 digits

Parameter No. 51

Parameter No. 50


0

0

0

TM

10 S m

− 32768

to

32767

1000 0 to 65535

TM

10 S m

100 ms 5 to 1000

0

0

0

M

10 ST m

M

10 ST m

M

10 ST m

999999 to

999999

999999 to

999999

999999 to

999999

38

BCN-B11127-479*

Class No. Symbol

52

53

Name and Function

LNP Position range output address

Used to set the address decrement side position range output address. Set the same sign to parameters No.52 and 53. Setting of different signs will result in a parameter error.

Set address:

Upper 3 digits

Lower 3 digits

Parameter No. 53

Parameter No. 52

Initial

Value

0 10 STM m

999999 to

999999

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 Optional function 7

Used to select the current position display mode.

0 0

Electric gear cal. error clear selection

0: Invalid

1: Valid

Current position / Commanded position display selection

0: Display of positioning

1: Display of role feeding

Item

Current position

Comman ded position

Current position

Comman ded position

Display of positioning Display of role feeding

Display actual position from machine home position

Display actual position from power on

Display commanded Display target position in position from machine home position stop motion.

Count start from 0 at start signal turned on.

And display commanded position till target position


Count start from 0 at start signal turned on.

And display commanded position till target position


And display selected position data at start signal turned on.

0000

0000 0000h to

1111h

0000 0000h to

1111h

39

BCN-B11127-479*



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

Initial

Value

0000


Use to select the command pulse rotation direction, encoder output pulse direction and encoder pulse output setting.

0

Servo motor rotation direction changing

Changes the servo motor rotation direction for the input pulse train.

Set value

0

1


At forward rotation pulse input (Note)

CCW

CW

At reverse rotation pulse input (Note)

CW

C C W

Encoder pulse output phase changing

Changes the phases of A, B-phase encoder pulses output .

Set value


CCW CW

0

1

A phase

B phase

A phase

B phase

Encoder output pulse setting selection (refer to parameter No. 27)

0: Output pulse setting

1: Division ratio setting

A phase

B phase

A phase

B phase

0000

59 *OPA Function selection A

Alarm code output function selection

0 0 0

Alarm code output

0: Invalid

1: Valid

60 For manufacture setting

0000

0000

40

0000h to

1112h

0000h to

1101h

0000h to

0211h

BCN-B11127-479*

Class No. Symbol

61 NH1 Machine resonance suppression filter 1

Used to selection the machine resonance suppression filter.

0

Setting value

04

05

06

07

00

01

02

03

Notch frequency selection

Frequency Setting Frequency Setting

Invalid

4500

2250

1500

1125

900

750

642.9

value

0C

0D

0E

0F

08

09

0A

0B

562.5

500

450

409.1

375

346.2

321.4

300 value

14

15

16

17

10

11

12

13

281.3

264.7

250

236.8

225

214.3

204.5

195.7

Frequency Setting value

18

19

1A

1B

1C

1D

1E

1F

Frequency

187.5

180

173.1

166.7

160.1

155.2

150

145.2

Notch depth selection

Setting value

Depth Gain

0

1

2

3

Deep to

Shallow

40 d B

14 d B

8 d B

4 d B

62 NH2 Machine resonance suppression filter 2

Used to set the machine resonance suppression filter.

0

Notch frequency

Same setting as in parameter No. 61

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. 61

Initial value

0000

0000

.0000h to

031Fh

0000h to

031Fh

41

BCN-B11127-479*

Class No. Symbol

63 LPF Low-pass filter/adaptive vibration suppression control

Used to selection the low-pass filter and adaptive vibration suppression control.

0

Low-pass filter selection

0: Valid (Automatic adjustment)

1: Invalid

When you choose "valid",

VG2 setting 10

2 (1 GD2 setting 0.1) bandwidth filter is set automatically.

Adaptive vibration suppression control selection

Choosing "valid" or "held" in adaptive vibration suppression control selection makes the machine

[H z ] 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 Ratio of load inertia moment to servo motor inertia moment 2

Used to set the ratio of load inertia moment to servo motor inertia moment when gain changing is valid.

65 PG2B Position control gain 2 changing ratio

Used to set the ratio of changing the position control gain 2 when gain changing is valid.

Made valid when auto tuning is invalid.

66 VG2B Speed control gain 2 changing ratio

Used to set the ratio of changing the speed control gain 2 when gain changing is valid.

Made valid when auto tuning is invalid.

67 VICB Speed integral compensation changing ratio

Used to set the ratio of changing the speed integral compensation when gain changing is valid. Made valid when auto tuning is invalid.

Initial value

0000 0000h to

1217h

70 0.1 times

0 to

3000

100 % 10 to

200

100 % 10 to

200

100 %

50 to

1000

0000 0000h to

0004h

68 *CDP Gain changing selection

Used to select the gain changing condition.

0 0 0

Gain changing selection

Gains are changed in accordance with the settings of parameters No. 64 to 67 under any of the following conditions:

0: Invalid

1: Gain changing (CDP) signal is ON

2: Command frequency is equal to higher than

parameter No. 69 setting

3: Droop pulse value is equal to higher than


4: Servo motor speed is equal to higher than


42

BCN-B11127-479*

Class No. Symbol

69 CDS Gain changing condition

Used to set the value of gain changing condition (command frequency, droop pulses, servo motor speed) selected in parameter No. 68.The set value unit changes with the changing condition item.

Initial value

10 kpps pulse r/min

0 to

9999

70 CDT Gain changing time constant

Used to set the time constant at which the gains will change in response

71

VPI to the conditions set in parameters No. 68 and 69.

For manufacture setting

72 VLI

73 ERZ

74 ER2

75 SRT

76 TRT

77 DBT

78

*DI0

Input / Output device selection

Used to select the CN1A-19 pin to output or input device

0 0 0

CN1A-19 pin

0: Output device

1: Input device

1 ms 0 to

100

100

10000

10

10

100

100

100

0000 0000h to

0001h

79 *DI1 Input device selection 1

Used to select the function of CN1A-8 pin and CN1A-19 pin

Set to the function of CN1A-8 pin


Setting Input function Setting Input function

00

04

05

06

No function

FWD stroke limit

REV stroke limit

FWD rotation start

17

1B

1C

1D

Gain changing selection

07

08

REV rotation start

Auto. / Manu.

1E

1F

09 20

0A Point table # selection 1 21

0B

0C

Point table # selection 2

Point table # selection 3

22

23

0D Point table # selection 4 34

0E 25

0F

10


Internal torque limit

26

27

12 Temp. stop / Restart 29

13 2A

14 2B

15 Point table # selection 5 2C

16 2D

0009

0000h to

1F1Fh

43

BCN-B11127-479*



Used to select the function of CN1B-5 pin and CN1B-7 pin

Set to the function of CN1B-5 pin














Initial

Value

080A

0000h to

1F1Fh

0706

0000h to

1F1Fh

020B

0000h to

1F1Fh

0504 0000h to

1F1F

44

BCN-B11127-479*



Used to set automatically ON of function device

Forced stop

Servo on

Forward stroke limit

Reverse stroke limit

Automatic / Manual selection





External torque limit selection


Used to set automatically ON of function device

Proportional control


0002 0000h to

FFFFh

0000 0000h to

FFFFh

45

BCN-B11127-479*


86 *DO1 Output device selection 1

Used to select the function of CN1A-18 pin and CN1A-19 pin



Setting Input function Setting Input function

01 Ready 16

02 Trouble 17

06

07

08

0B

0C

Electro magnetic brake

Dynamic brake interlock

Position range output

In torque limit

In temporally stop

1B

1C

1D

20

21

0E

0F

10

11

Point table # output 1




23

24

25

26

12 Point table # output 5 27

13 28

14 29






0005 0000h to

1F1Fh

0304 0000h to

0F0Fh





0102 0000h to

0F0Fh

90

0

0

46

BCN-B11127-479*

8. Communication Functions

The MR-J2S-A-S061 has the RS-422 and RS-232C serial communication functions. These functions can be used to perform servo operation, parameter changing, monitor function, etc.

However, the RS-422 and RS-232C communication functions cannot be used together. Select between RS-

422 and RS-232C with parameter No.16.

8.1 Configuration

8.1.1 RS-422 configuration

(1) Outline

Up to 32 axes of servo amplifiers from stations 0 to 31 can be operated on the same bus.

Servo amplifier

MITSUBISHI

Servo amplifier

MITSUBISHI

Servo amplifier

MITSUBISHI

Controller such as personal computer

CHARGE To

CN3

CHARGE To

CN3

RS-232C/

RS-422 converter

Axis 1 (Station 0) Axis 2 (Station 1)

RS-422

Unavailable as option.

To be prepared by customer.

(2) Cable connection diagram

Wire as shown below:

(Note 3) 30m(1181.10inch) max.

(Note 1)

Axis 1 servo amplifier

CN3 connector

(Note 1)

Axis 2 servo amplifier

CN3 connector

Plate SD

9

19

5

15

10

11

1

SDP

SDN

RDP

RDN

TRE

LG

LG

Plate SD

9

19

5

15

10

11

1

SDP

SDN

RDP

RDN

TRE

LG

LG

RS-422 output unit

RDP

RDN

SDP

SDN

GND

GND

Note: 1. 3M's CN3 connector

Connector: 10120-3000VE

Shell kit: 10320-52F0-008

2. In the last axis, connect TRE and RDN.

3. 30m(1181.10inch) max. in environment of little noise.

47

CHARGE To

CN3

Axis 32 (Station 31)

(Note 1)

Axis 32 (last axis) servo amplifier

CN3 connector

9

19

5

15

10

11

1

Plate SD

SDP

SDN

RDP

RDN

TRE (Note 2)

LG

LG

8.1.2 RS-232C configuration

(1) Outline

A single axis of servo amplifier is operated.

Servo amplifier

MR-J2S-A-S061

MITSUBISHI

CHARGE

To CN3

RS-232C

Controller such as personal computer

(2) Cable connection diagram

Wire as shown below. The communication cable for connection with the personal computer (MR-

CPCATCBL3M) is available.

Personal computer connector D-SUB25 (socket)

(Note 4)

TXD 3

(Note 3) 15m(590.55inch) max.

RXD

GND

RTS

CTS

DSR

7

8

6

2

5

SD

DTR 4

RD

SG

RS

D-SUB29 (socket) for PC-98 compatible controller

(Note 2)

CS

2

4

5

3

7

(Note 1)

Servo amplifier

CN3 connector

Plate FG

12

11

2

1

RXD

GND

TXD

GND

CN3 connector 2

CN3 connector 1

CN3 connector 12

CN3 connector 11

RXD

GND

TXD

GND

Note: 1. 3M's CN3 connector

Connector: 1020-3000VE

Shell kit: 10320-52F0-008

2. For the PC-98 series. The PC-98 series also has the half-pitch type.

3. 15m (590.55inch) max. in environment of little noise.

4. For the PC-AT compatible.

48

8.2 Communication specifications

The MELSERVO-J2S series is designed to send a reply on receipt of an instruction. The device which gives this instruction (e.g. personal computer) is called a master station and the device which sends a reply in response to the instruction (e.g. MR-J2S-A-S061 servo amplifier) is called a slave station. When fetching data successively, the master station repeatedly commands the slave station to send data.

Item Description

Baudrate

Transfer code

9.6k/19.2k/38.4k/57.6k asynchronous system

Start bit : 1 bit

Data bit : 8 bits

Parity bit : 1 bit (even)

Stop bit : 1 bit

Transfer protocol Character system, half-duplex communication system

(LSB) (MSB)

Start

0 1 2 6 7 Parity Stop

Next start

3 4

Data

1 frame (11 bits)

5

8.2.1 Parameter setting

When the RS-422/RS-232C communication function is used to operate the servo, choose the communication specifications with parameter No.16.

(1) Communication baudrate

Choose the communication speed. Match this value to the communication speed of the sending end

(master station).

(2) Checksum

The checksum added to data can be deleted. When the checksum is not needed for the communication specifications of the master station, delete the checksum at parameter No.57

49

(3) RS-422/RS-232C serial interface selection

Select the RS-422 or RS-232C communication standard. RS-422 and RS-232C cannot be used together.

Parameter No. 16

− − −

RS-422/RS-232C communication standard selection

0: RS-422 used

1: RS-232C used

(4) Communication delay time

Set the time from when the servo amplifier (slave station) receives communication data to when it sends back data. Set "0" to send back data in less than 888 s or "1" to send back data in 888 s or more.

Parameter No. 16

− − −

Communication delay time

0: Invalid, reply sent in less than 888

µ s

1: Valid, reply sent in 888

µ s or more

(5) Serial communication time-out

No communication for a given period of time between the master and slave stations may be judged as a communication cable or master station fault to stop the servo motor.

Setting Description

0

1 to 60

No time-out check

Time-out check period setting

Check period setting (S)

8.3 Protocol

Since up to 32 axes may be connected to the bus, add a station number or group to the command, data No., etc. to determine the destination servo amplifier of data communication. Set the station number to each servo amplifier using the parameter and set the group to each station using the communication command.

Transmission data is valid for the servo amplifier of the specified station number or group.

When " " is set as the station number added to the transmission data, the transmission data is made valid for all servo amplifiers connected. However, when return data is required from the servo amplifier in response to the transmission data, set "0" to the station number of the servo amplifier which must provide the return data.

(1) Transmission of data from the controller to the servo

Controller side

(Master station)

S

O

H

S

T

X

Data

No.

Data

E

T

X

Check sum

10 frames (data)

Station number or group

Servo side

(Slave station)


S

T

X

E

T

X

Check sum

6 frames

Positive response: Error code A

Negative response: Error code other than A

50

(2) Transmission of data request from the controller to the servo

10 frames

Controller side

S

O

H

S

T

X

Data

No.

E

T

X

Check sum

Servo side


S

T

X


Data

6 frames (data)

E

T

X

Check sum

(3) Recovery of communication status by time-out

Controller side

E

O

T

EOT causes the servo to return to the receive neutral status.

Servo side

Data: Choose the data length from among 4, 8, 12 and 16 frames (data length depends on the command).

or Data or 12 frames or 16 frames Data

4 frames 8 frames

51

8.4 Character codes

(1) Control codes

Code Name

SOH

STX

ETX

EOT

Hexadecimal

(ASCII code)

01H

02H

03H

04H

(2) Codes for data

JIS8 unit codes are used.

Description start of head start of text end of text end of transmission

Personal Computer Terminal Key Operation

(General) ctrl A ctrl B ctrl C ctrl D b

8

0 0 0 0 0 0 0 0 b

7

0 0 0 0 1 1 1 1 b

6

0 0 1 1 0 0 1 1 b

5

0 1 0 1 0 1 0 1 b

8 to b

5 b

4

b

3

b

2

b

1

0 0 0 0

0 0 0 1

0 0 1 0

0 0 1 1

0 1 0 0

0 1 0 1

0 1 1 0

0 1 1 1

1 0 0 0

1 0 0 1

1 0 1 0

1 0 1 1

1 1 0 0

1 1 0 1

1 1 1 0

1 1 1 1

R

C

0 NUL DLE Space 0 @ P ` p

1 SOH DC

1

! 1 A Q a q

2 STX DC

2

" 2 R

3 ETX DC

3

# 3 C S c s

4 $ 4 D T d t

5

6

% 5 E U e u

& 6 F V f v

7

8

9

10

11

12

13

14

' 7 G W g w

( 8 H X h x

) 9 I Y i y

, L ¥ l |

- M ] m }

. N ^ n ¯

15 / ? O _ o DEL

(3) Station numbers

You may set 32 station numbers from station 0 to station 31 and the JIS8 unit codes are used to specify the stations.

Station number

JIS8 code

0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15

0 1 2 3 4 5 6 7 8 9 A B C D E F

Station number

16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31

JIS8 code

G H I J K L M N O P Q R S T U V

For example, "30H" is transmitted in hexadecimal when the station number is "0" (first axis).

(4) Group

Group

JIS8 code a b c d e f

For example, "61H" is transmitted in hexadecimal for group a.

52

8.5 Error codes

Error codes are used in the following cases and an error code of single-code length is transmitted.

On receipt of data from the master station, the slave station sends the error code corresponding to that data to the master station. The code transmitted in uppercase indicates that the servo is normal and the one in lowercase indicates that an alarm has occurred.

Error Code

Servo normal Servo alarm

[A]

[B]

[C]

[a]

[b]

[c]

Error Name Description

Normal operation Data transmitted was processed properly.

Parity error Parity error occurred in the transmitted data.

Checksum error Checksum error occurred in the transmitted data.

Remarks

Positive response

Negative response

Data No. error

Data No. not existing in the specifications was transmitted.

[F]

8.6 Checksum

Checksum range

[f]


STX or

SOH

ETX Check

Checksum range

The checksum is sent as a JIS8-coded hexadecimal code representing the lower two digits of the sum of

JIS8-coded hexadecimal values up to ETX, with the exception of the first control code (STX or SOH).

S

T

X

[0] [A] [1] [2] [5] [F]

E

T

X

02H 30H 41H 31H 32H 35H 46H 03H

[5] [2]

30H 41H 31H 32H 35H 46H 03H

152H

Lower 2 digits 52 is sent after conversion into ASCII code [5][2].

53

8.7 Time-out operation

The master station transmits EOT when the slave station does not start reply operation (STX is not received) 300[ms] after the master station has ended communication operation. 100[ms] after that, the master station retransmits the message. Time-out occurs if the slave station does not answer after the master station has performed the above operation three times. (Communication error)

300ms

100ms

300ms

100ms

300ms

100ms

300ms

Time-out

Controller

(Master station)

E

O

T

E

O

T

E

O

T

Servo

(Slave station)

8.8 Retry operation

When a fault occurs in communication between the master and slave stations, the error code in the response data from the slave station is a negative response code ([B] to [F], [b] to [f]). In this case, the master station retransmits the message which was sent at the occurrence of the fault (Retry operation). A communication error occurs if the above operation is repeated and results in the error three or more consecutive times.

Communication error

Controller

(Master station)

Servo

(Slave station)

S

T

X

S

T

X

S

T

X




Similarly, when the master station detects a fault (e.g. checksum, parity) in the response data from the slave station, the master station retransmits the message which was sent at the occurrence of the fault. A communication error occurs if the retry operation is performed three times.

54

8.9 Initialization

After the slave station is switched on, it cannot reply to communication until the internal initialization processing terminates. Hence, at power-on, ordinary communication should be started after:

1) 1s or more time has elapsed after the slave station is switched on; and

2) Making sure that normal communication can be made by reading the parameter or other data which does not pose any safety problems.

8.10 Communication procedure example

The following example reads the set value of parameter No.2 "function selection 1" from the servo amplifier of station 0:

Data Item

Station number

Value

0

Description

Servo amplifier station 0

Data No. 02 Parameter No.2

Axis No. Command Data No.

Procedure

Data make-up

Checksum calculation and addition

Addition of SOH to make up transmission data

Data [0] 0 5 STX 0 2 ETX

ETX

Checksum 30H 30H 35H 02H 30H 32H 03H FCH

Transmission data SOH 0 5 STX 0 2 ETX F C 46H 43H

Master station slave station

Data transmission


Data receive

No

Is there receive data?

Yes

No

300ms elapsed?

Yes

No

Yes

3 consecutive times?

Other than error code

[A] [a]?

No

Yes

Receive data analysis

Error processing

End

Error processing

No

3 consecutive times?

Yes

100ms after EOT transmission


55

8.11 Command and data No. list

8.11.1 Read commands

(1) Status display (Command [0][1])

Command Data No. Description Display Item

[0][1]

[0][1]

[8][2]

[8][3]

[0][1] [8][4]

[0][1] [8][5]

[0][1] [8][6]

[0][1] [8][7]

[0][1] [8][8]

[0][1]

[0][1]

[8][9]

[8][A]

[0][1] [8][B]

[0][1] [8][C]

[0][1] [8][D]

[0][1] [8][E]

[0][1] [8][F]

[0][1] [9][0]

(2) Parameter (Command [0][5])

Command remaining distance

Point table No.

Cumulative feedback pulses

Override

Torque limit voltage

Regenerative load ratio


Peak load ratio

Within one-revolution position

Load inertia moment ratio

Bus voltage

Command Data No. Description

[0][5]

[0][0] to

[5][A]

Current value of each parameter

(Decimal number of data No. corresponds to the parameter number.)

(3) External I/O signals (Command [1][2])

Command Data No.

[1][2]

[1][2]

[1][2]

[1][2]

[1][2]

[0][0]

[4][0]

[6][0]

[8][0]

[C][0]

Input device statuses

External input pin statuses

Description

Statuses of input devices switched on through communication

Output device statuses

External output pin statuses

Frame Length

12

12

12

12

12

12

12

12

12

12

12

12

12

12

12

12

12

Frame Length

8

Frame Length

8

8

8

8

8

56

(4) Alarm history (Command [3][3])

Command Data No.

[3][3]

[3][3]

[1][0]

[1][1]

Description

Alarm number in alarm history

[3][3]

[3][3]

[3][3] [1][4]

[3][3] [1][5]

[3][3]

[3][3]

[1][2]

[1][3]

[2][0]

[2][1]

Alarm occurrence time in alarm history

[3][3]

[3][3]

[3][3]

[2][2]

[2][3]

[2][4]

[3][3] [2][5]

(5) Current alarm (Command [0][2]•[3][5])

Description Command Data No.

[0][2] [0][0] Current alarm number


Alarm Occurrence Sequence

Most recent alarm

First alarm in past


Third alarm in past


Fifth alarm in past

Most recent alarm

First alarm in past


Third alarm in past


Fifth alarm in past

Status Display Item

Frame Length

4

4

8

8

8

8

8

4

4

4

4

8

[3][5]

[3][5]

[8][2]

[8][3] occurrence

[3][5] [8][4]

[3][5] [8][5]

[3][5] [8][6]

[3][5] [8][7]

[3][5]

[3][5]

[3][5]

[3][5]

[8][8]

[8][9]

[8][A]

[8][B]

[3][5] [8][C]

[3][5] [8][D]

[3][5] [8][E]

[3][5] [8][F]

[3][5] [9][0]

Command remaining distance

Point table No.

Cumulative feedback pulses

Override

Torque limit voltage

Regenerative load ratio


Peak load ratio

Within one-revolution position

Load inertia moment ratio

Bus voltage

Frame Length

4

Frame Length

12

12

12

12

12

12

12

12

12

12

12

12

12

12

12

12

12

57

(6) Point table/position data (Command [4][0])

Command Data No.

[4][0]

[4][0]

[0][1]

[0][2]

[4][0]

[4][0]

[4][0]

[4][0]

[4][0]

[4][0]

[4][0]

[4][0]

[4][0]

[0][3]

[0][4]

[0][5]

[0][6]

[0][7]

[0][8]

[0][9]

[0][A]

[0][B]

Description

Position data read

[4][0]

[4][0]

[4][0]

[4][0]

[0][C]

[0][D]

[0][E]

[0][F]

[4][0] [1][0]

: :

[4][0] [1][F]

(7) Point table/speed data (Command [5][0])


[5][0]

[5][0]

[5][0]

[5][0]

[5][0]

[5][0]

[5][0]

[5][0]

[5][0]

[5][0]

[5][0]

[5][0]

[5][0]

[5][0]

[5][0]

[5][0]

[0][1]

[0][2]

[0][3]

[0][4]

[0][5]

[0][6]

[0][7]

[0][8]

[0][9]

[0][A]

[0][B]

[0][C]

[0][D]

[0][E]

[0][F]

[1][0]

Speed data read

: :

[5][0] [1][F]

Point table No.

Point table No.1

Point table No.2

Point table No.3

Point table No.4

Point table No.5

Point table No.6

Point table No.7

Point table No.8

Point table No.9

Point table No.10

Point table No.11

Point table No.12

Point table No.13

Point table No.14

Point table No.15

Point table No.16

:

Point table No.31

Frame Length

8

8

8

8

8

8

8

8

8

8

8

8

8

8

8

8

:

8

Point table No.

Point table No.1

Point table No.2

Point table No.3

Point table No.4

Point table No.5

Point table No.6

Point table No.7

Point table No.8

Point table No.9

Point table No.10

Point table No.11

Point table No.12

Point table No.13

Point table No.14

Point table No.15

Point table No.16

:

Point table No.31

Frame Length

8

8

8

8

8

8

8

8

8

8

8

8

8

8

8

8

:

8

58

(8) Point table/acceleration time constant (Command [5][4])

Command Data No.

[5][4]

[5][4]

[0][1]

[0][2]

[5][4]

[5][4]

[5][4]

[5][4]

[5][4]

[5][4]

[5][4]

[5][4]

[5][4]

[0][3]

[0][4]

[0][5]

[0][6]

[0][7]

[0][8]

[0][9]

[0][A]

[0][B]

Description

Acceleration time constant read

Point table No.

Point table No.1

Point table No.2

Point table No.3

Point table No.4

Point table No.5

Point table No.6

Point table No.7

Point table No.8

Point table No.9

Point table No.10

Point table No.11

[5][4]

[5][4]

[5][4]

[5][4]

[0][C]

[0][D]

[0][E]

[0][F]

[5][4] [1][0]

: :

[5][4] [1][F]

(9) Point table/deceleration time constant (Command [5][8])

Point table No.12

Point table No.13

Point table No.14

Point table No.15

Point table No.16

:

Point table No.31


[5][8]

[5][8]

[5][8]

[5][8]

[5][8]

[5][8]

[5][8]

[5][8]

[5][8]

[5][8]

[5][8]

[5][8]

[5][8]

[5][8]

[5][8]

[5][8]

[0][1]

[0][2]

[0][3]

[0][4]

[0][5]

[0][6]

[0][7]

[0][8]

[0][9]

[0][A]

[0][B]

[0][C]

[0][D]

[0][E]

[0][F]

[1][0]

Deceleration time constant read

: :

[5][8] [1][F]

Point table No.

Point table No.1

Point table No.2

Point table No.3

Point table No.4

Point table No.5

Point table No.6

Point table No.7

Point table No.8

Point table No.9

Point table No.10

Point table No.11

Point table No.12

Point table No.13

Point table No.14

Point table No.15

Point table No.16

:

Point table No.31

Frame Length

8

8

8

8

8

8

8

8

8

8

8

8

8

8

8

8

:

8

Frame Length

8

8

8

8

8

8

8

8

8

8

8

8

8

8

8

8

:

8

59

(10) Point table/dwell time (Command [6][0])

Command Data No.

[6][0]

[6][0]

[0][1]

[0][2]

[6][0]

[6][0]

[6][0]

[6][0]

[6][0]

[6][0]

[6][0]

[6][0]

[6][0]

[0][3]

[0][4]

[0][5]

[0][6]

[0][7]

[0][8]

[0][9]

[0][A]

[0][B]

Description

Dwell time read

[6][0]

[6][0]

[6][0]

[6][0]

[0][C]

[0][D]

[0][E]

[0][F]

[6][0] [1][0]

: :

[6][0] [1][F]

(11) Point table/auxiliary function (Command [6][4])


[6][4]

[6][4]

[6][4]

[6][4]

[6][4]

[6][4]

[6][4]

[6][4]

[6][4]

[6][4]

[6][4]

[6][4]

[6][4]

[6][4]

[6][4]

[6][4]

[0][1]

[0][2]

[0][3]

[0][4]

[0][5]

[0][6]

[0][7]

[0][8]

[0][9]

[0][A]

[0][B]

[0][C]

[0][D]

[0][E]

[0][F]

[1][0]

Auxiliary function read

: :

[6][4] [1][F]

Point table No.

Point table No.1

Point table No.2

Point table No.3

Point table No.4

Point table No.5

Point table No.6

Point table No.7

Point table No.8

Point table No.9

Point table No.10

Point table No.11

Point table No.12

Point table No.13

Point table No.14

Point table No.15

Point table No.16

:

Point table No.31

Frame Length

8

8

8

8

8

8

8

8

8

8

8

8

8

8

8

8

:

8

Point table No.

Point table No.1

Point table No.2

Point table No.3

Point table No.4

Point table No.5

Point table No.6

Point table No.7

Point table No.8

Point table No.9

Point table No.10

Point table No.11

Point table No.12

Point table No.13

Point table No.14

Point table No.15

Point table No.16

:

Point table No.31

Frame Length

8

8

8

8

8

8

8

8

8

8

8

8

8

8

8

8

:

8

60

(12) Group setting (Command [1][F])


[1][F] [0][0] Reading of group setting value

8.11.2 Write commands

(1) Status display (Command [8][1])


[8][1] [0][0] Status display data clear

(2) Parameter (Command [8][4])

Setting Range

1EA5


[8][4]

[0][0] to

[5[A

Each parameter write

(Decimal number of data No. corresponds to the parameter number.)

(3) External I/O signal (Command [9][2])

Setting Range

Depends on the parameter.

Setting Range Command Data No. Description

[9][2] [6][0] Communication input device signal

(4) Alarm history (Command [8][2])


[8][2] [2][0] Alarm history clear

(5) Current alarm (Command [8][2])


Setting Range

1EA5

Setting Range

1EA5

Frame Length

4

Frame Length

4

Frame Length

8

Frame Length

8

Frame Length

4

Frame Length

4

61

(6) Point table/position data (Command [C][0])

Command Data No.

[C][0]

[C][0]

[0][1]

[0][2]

[C][0]

[C][0]

[C][0]

[C][0]

[C][0]

[C][0]

[C][0]

[C][0]

[C][0]

[0][3]

[0][4]

[0][5]

[0][6]

[0][7]

[0][8]

[0][9]

[0][A]

[0][B]

Description

Position data write

[C][0]

[C][0]

[C][0]

[C][0]

[0][C]

[0][D]

[0][E]

[0][F]

[C][0] [1][0]

: :

[C][0] [1][F]

(7) Point table/speed data (Command [C][6])


[C][6]

[C][6]

[C][6]

[C][6]

[C][6]

[C][6]

[C][6]

[C][6]

[C][6]

[C][6]

[C][6]

[C][6]

[C][6]

[C][6]

[C][6]

[C][6]

[0][1]

[0][2]

[0][3]

[0][4]

[0][5]

[0][6]

[0][7]

[0][8]

[0][9]

[0][A]

[0][B]

[0][C]

[0][D]

[0][E]

[0][F]

[1][0]

Speed data write

: :

[C][6] [1][F]

Point table No.

Point table No.1

Point table No.2

Setting Range Frame Length

8

8

Point table No.3

Point table No.4

Point table No.5

Point table No.6

Point table No.7

Point table No.8

Point table No.9

Point table No.10

Point table No.11

Point table No.12

Point table No.13

Point table No.14

Point table No.15

Point table No.16

:

Point table No. 31

8

8

8

8

8

8

8

8

8

8

8

8

8

8

:

8

Point table No. Setting Range Frame Length

Point table No.1

Point table No.2

Point table No.3

Point table No.4

Point table No.5

Point table No.6

Point table No.7

Point table No.8

Point table No.9

Point table No.10

Point table No.11

Point table No.12

Point table No.13

Point table No.14

Point table No.15

Point table No.16

:

Point table No. 31

8

8

8

8

8

8

8

8

8

8

8

8

8

8

8

8

:

8

62

(8) Point table/acceleration time constant (Command [C][7])

Command Data No.

[C][7]

[C][7]

[0][1]

[0][2]

[C][7]

[C][7]

[C][7]

[C][7]

[C][7]

[C][7]

[C][7]

[C][7]

[C][7]

[0][3]

[0][4]

[0][5]

[0][6]

[0][7]

[0][8]

[0][9]

[0][A]

[0][B]

Description

Acceleration time constant write

Point table No.

Point table No.1

Point table No.2

Point table No.3

Point table No.4

Point table No.5

Point table No.6

Point table No.7

Point table No.8

Point table No.9

Point table No.10

Point table No.11

[C][7]

[C][7]

[C][7]

[C][7]

[0][C]

[0][D]

[0][E]

[0][F]

[C][7] [1][0]

: :

[C][7] [1][F]

(9) Point table/deceleration time constant (Command [C][8])

Point table No.12

Point table No.13

Point table No.14

Point table No.15

Point table No.16

:

Point table No.31


8

8

8

8

8

8

8

8

8

8

8

8

8

8

8

8

:

8


[C][8]

[C][8]

[C][8]

[C][8]

[C][8]

[C][8]

[C][8]

[C][8]

[C][8]

[C][8]

[C][8]

[C][8]

[C][8]

[C][8]

[C][8]

[C][8]

[0][1]

[0][2]

[0][3]

[0][4]

[0][5]

[0][6]

[0][7]

[0][8]

[0][9]

[0][A]

[0][B]

[0][C]

[0][D]

[0][E]

[0][F]

[1][0]

Deceleration time constant write

: :

[C][8] [1][F]

Point table No.

Point table No.1

Point table No.2

Point table No.3

Point table No.4

Point table No.5

Point table No.6

Point table No.7

Point table No.8

Point table No.9

Point table No.10

Point table No.11

Point table No.12

Point table No.13

Point table No.14

Point table No.15

Point table No.16

:

Point table No.31


8

8

8

8

8

8

8

8

8

8

8

8

8

8

8

8

:

8

63

(10) Point table/dwell time (Command [C][A])

Command Data No.

[C][A]

[C][A]

[0][1]

[0][2]

[C][A]

[C][A]

[C][A]

[C][A]

[C][A]

[C][A]

[C][A]

[C][A]

[C][A]

[0][3]

[0][4]

[0][5]

[0][6]

[0][7]

[0][8]

[0][9]

[0][A]

[0][B]

Description

Dwell time write

[C][A]

[C][A]

[C][A]

[C][A]

[0][C]

[0][D]

[0][E]

[0][F]

[C][A] [1][0]

: :

[C][A] [1][F]

(11) Point table/auxiliary function (Command [C][B])


[C][B]

[C][B]

[C][B]

[C][B]

[C][B]

[C][B]

[C][B]

[C][B]

[C][B]

[C][B]

[C][B]

[C][B]

[C][B]

[C][B]

[C][B]

[C][B]

[0][1]

[0][2]

[0][3]

[0][4]

[0][5]

[0][6]

[0][7]

[0][8]

[0][9]

[0][A]

[0][B]

[0][C]

[0][D]

[0][E]

[0][F]

[1][0]

Auxiliary function write

: :

[C][B] [1][F]

Point table No.

Point table No.1

Point table No.2

Point table No.3

Point table No.4

Point table No.5

Point table No.6

Point table No.7

Point table No.8

Point table No.9

Point table No.10

Point table No.11

Point table No.12

Point table No.13

Point table No.14

Point table No.15

Point table No.16

:

Point table No.31


8

8

8

8

8

8

8

8

8

8

8

8

8

8

8

8

:

8

Point table No.

Point table No.1

Point table No.2

Point table No.3

Point table No.4

Point table No.5

Point table No.6

Point table No.7

Point table No.8

Point table No.9

Point table No.10

Point table No.11

Point table No.12

Point table No.13

Point table No.14

Point table No.15

Point table No.16

:

Point table No.31


8

8

8

8

8

8

8

8

8

8

8

8

8

8

8

8

:

8

64

(12) Operation mode selection (Command [8][B])


[8][B] [0][0] Operation mode changing

0000: Exit from test operation mode

0001: Jog operation

0002: Positioning operation

0003: Motor-less operation

0004: Output signal (DO) forced output

(13) External input signal disable (Command [9][0])

Setting range Frame length

0000 to 0004 4


[9][0]

[9][0]

[9][0]

[9][0]

[0][0] Turns off the external input signals (DI), external analog input signals and pulse train inputs with the exception of

EMG, LSP and LSN, independently of the external ON/OFF statuses.

[0][3] Changes the external output signals (DO) into the value of command [8][B] or command [A][0] data No. [0][1].

[1][0] Enables the disabled external input signals (DI), external analog input signals and pulse train inputs with the exception of EMG, LSP and LSN.

[1][3] Enables the disabled external output signals (DO).

(14) Data for test operation mode (Command [9][2] [A][0])


1EA5 4

1EA5 4

1EA5 4

1EA5 4

Command Data No.

[9][2]

[9][2]

[0][0]

[A][0]

Description

Input signal for test operation

Forced output from signal pin


8

8


[A][0]

[A][0]

[A][0]

[A][0]

[1][0] Writes the speed of the test operation mode (jog operation, positioning operation).

[1][1] Writes the acceleration/deceleration time constant of the test operation mode (jog operation, positioning operation).

[1][2] Clears the acceleration/deceleration time constant of the test operation mode (jog operation, positioning operation).

[1][3] Writes the moving distance (in pulses) of the test operation mode (jog operation, positioning operation).

[A][0] [1][5] Temporary stop command of the test operation mode (jog operation, positioning operation)

(15) Group setting (Command [9][F])


0000 to 7FFF 4

00000000 to

7FFFFFFF

8

1EA5 4

80000000 to

7FFFFFFF

8

1EA5 4

Command Data No.

[9][F] [0][0] Setting of group

Description Setting range Frame length

4

65

8.12 Detailed explanations of commands

8.12.1 Data processing

When the command + data number or the command + data number + data are sent from the master station to a slave station, a reply or data is returned from the servo amplifier according to the purpose.

In these send data and receive data, numerical values are represented in decimal, hexadecimal, etc.

Hence, data must be processed to meet their purposes.

Follow the corresponding explanation since whether data must be processed or not and how to process them changes with monitoring, parameters, etc.

How to process send/receive data when reading and writing data will be described below.

(1) Processing read data

For the display type of 0, eight-character data is converted from a hexadecimal number to a decimal number and a decimal point is provided from the decimal point information.

For the display type of 1, eight-character data is used as-is.

How to process receive data "003000000929" to show the status is explained here by way of example.

Receive data is as follows:

0 0 3 0 0 0 0 0 0 9 2 9

Data 32 bits long (represented in hexadecimal)

(Data conversion into display type is required)

Display type

0: Conversion into decimal required

1: Used unchanged in hexadecimal

Decimal point position

0: No decimal point

1: Lower first digit (usually not used)

2: Lower second digit

3: Lower third digit

4: Lower fourth digit

5: Lower fifth digit

6: Lower sixth digit

As the display type is "0" in this case, the hexadecimal data is converted into a decimal number.

00000929H 2345

Since the decimal point position is "3", the decimal point is put in the third lower digit.

Hence, "23.45" appears.

66

(2) Writing processed data

When written data is handled as a decimal number, the decimal point position must be specified. If it is not specified, data cannot be written. When data is handled as a hexadecimal number, specify "0" for the decimal point position.

The data to be sent is as follows:

0

Data is transferred in hexadecimal.


0: No decimal point

1: Lower first digit





How to process set data to the value of "15.5" is explained here by way of example.

Since the decimal point position is the second digit, the decimal point data is "2".

As the data to be transmitted is a hexadecimal number, the decimal data is converted into a hexadecimal number.

115 9B

Hence, "0200009B" is sent.

67

8.12.2 Status display

(1) Status display data read

When the master station transmits the data No. (refer to the following table for assignment) to the slave station, the slave station sends back the data value and data processing information.

(a) Transmission

Transmit command [0][1] and the data No. corresponding to the status display item to be read.

(b) Reply

The slave station sends back the status display data requested.

0 0



Display type




0: No decimal point







(2) Status display data clear

The cumulative feedback pulse data of the status display is cleared. Send this command immediately after reading the status display item. The data of the status display item transmitted is cleared to zero.

Command Data Data

[8][1] [0][0] 1EA5

For example, after sending command [0][1] and data No. [8][0] and receiving the status display data, send command [8][1], data No. [0][0] and data [1EA5] to clear the cumulative feedback pulse value to zero.

68

8.12.3 Parameter

(1) Parameter read

Read the parameter setting.

1) Transmission

Transmit command [0][5] and the data No. corresponding to the parameter No.

Command Data No. Data No. Definition

[0][5]

[0][0] to

[5][A]

Corresponds to the parameter No.

2) Reply

The slave station sends back the data and processing information of the requested parameter No.


0


0: No decimal point






Display type



Parameter write type

0: Valid after write

1: Valid when power is switched on again after write

Read enable/disable

0: Read enable

1: Read disable

Enable/disable information changes according to the setting of parameter No.19 "parameter write inhibit". When the enable/disable setting is read disable, ignore the parameter data part and process it as unreadable.

69

(2) Parameter write

Write the parameter setting.

Write the value within the setting range.

Transmit command [8][4], the data No., and the set data.

The data number is represented in hexadecimal. The decimal value converted from the data number value corresponds to the parameter number. Refer to (1)(a) in this section.

When the data to be written is handled as decimal, the decimal point position must be specified. If it is not specified, data cannot be written. When the data is handled as hexadecimal, specify 0 as the decimal point position.

Write the data after making sure that it is within the upper/lower limit value range. Read the parameter data to be written, confirm the decimal point position, and create transmission data to prevent error occurrence. On completion of write, read the same parameter data to verify that data has been written correctly.

Set Data Command Data No.

[8][4]

[0][0] to

[5][A]

See below.

0



0: No decimal point






70

8.12.4 External I/O signal statuses

(1) Reading of input device statuses

Read the statuses of the input devices.

(a) Transmission

Transmit command [1][2] and data No. [0][0].

[1][2] [0][0]

(b) Reply

The slave station sends back the statuses of the input pins. b31 b1 b0

1:ON

0:OFF

Command of each bit is transmitted to the master station as hexadecimal data.

0 Servo on (SON) 10

1 Forward rotation stroke limit (LSP) 11 Forward rotation start (ST1)

2 Reverse rotation stroke limit (LSN) 12 Reverse rotation start (ST2)

3 External torque limit selection (TL) 13

20 Point table selection 2 (DI1)



23

4 Internal torque limit selection (TL2) 14

5 Proportion control selection (PC) 15

6 Alarm reset (RES)

7

16 Emergency stop (EMG)

24 Temporary stop/restart (STP)

25

26

17 Automatic/manual selection (MDO) 27 Gain changing (CDP)

8

9

18 Proximity dog (DOG)


28


(2) External input pin status read

Read the ON/OFF statuses of the external output pins.

(a) Transmission


[1][2] [4][0]

(b) Reply

The ON/OFF statuses of the input pins are sent back. b31 b1 b0

1:ON

0:OFF


bit External Input Pin

0 CN1B-16

1 CN1B-17

2 CN1B-15

3 CN1B-5

4 CN1B-14 bit External Input Pin

5 CN1A-8

6 CN1B-7

7 CN1B-8

8 CN1B-9

9 CN1A-19

71

(3) Read of the statuses of input devices switched on through communication

Read the ON/OFF statuses of the input devices switched on through communication.

(a) Transmission


[1][2] [6][0]

(b) Reply

The slave station sends back the statuses of the input pins. b31 b1 b0

1:ON

0:OFF


0 Servo on (SON) 10





5 Proportion control selection (PC)

6 Alarm reset (RES)

15

16 Emergency stop (EMG)

7

8

9




23


25

26


18 Proximity dog (DOG) 28

19 Point table selection 1 (DI0) 29 Point table selection 5 (DI4)

(4) External output pin status read

Read the ON/OFF statuses of the external output pins.

(a) Transmission

Transmit command [1][2] and data No. [C][0].

[1][2] [C][0]

(b) Reply

The slave station sends back the ON/OFF statuses of the output pins. b31 b1 b0

1:ON

0:OFF


bit External output Pin

0 CN1A-19

1 CN1A-18

2 CN1B-19

3 CN1B-6

4 CN1B-4 bit External output Pin

5 CN1B-18

6 CN1A-14

72

(5) Read of the statuses of output devices

Read the ON/OFF statuses of the output devices.

(a) Transmission


[1][2] [8][0]

(b) Reply

The slave station sends back the statuses of the output devices. b31 b1 b0

1:ON

0:OFF


0 Ready (RD)

1

2

3 Limiting torque (TLC)

4

5 In position (INP)

6

7 Warning (WNG)

8 Trouble (ALM)

9

10 Electromagnetic brake (MBR)

8.12.5 Device ON/OFF

11 Dynamic brake (DBR)

12

13

14

15 Battery warning (BWNG)

16 Rough match (CPO)

17 Zeroing completion (ZP)

18 Position range output (POT)

19 Temporary stop (PUS)

20 Point table No. output 1 (PT0)





25

26

27

28 Moving complete (MEND)

29

30

31

32

Each input device can be switched on/off. However, when the device to be switched off exists in the external input signal, also switch off that input signal.

Send command [9][2], data No. [6][0] and data.

Command Data No. Set Data

[9][2] [6][0] below. b31 b1 b0

1:ON

0:OFF

Command of each bit is transmitted to the slave station as hexadecimal data.

0 Servo on (SON) 10







23


5 Proportion control selection (PC) 15

6 Alarm reset (RES)

7


25

16 Emergency stop (EMG) 26


8

9

18 Proximity dog (DOG)


28


73

8.12.6 Alarm history

(1) Alarm No. read

Read the alarm No. which occurred in the past. The alarm numbers and occurrence times of No.0 (last alarm) to No.5 (sixth alarm in the past) are read.

(a) Transmission

Send command [3][3] and data No. [1][0] to [1][5].

(b) Reply

The alarm No. corresponding to the data No. is provided.

0 0

Alarm No. is transferred in decimal.

For example, "0032" means A.32 and "00FF" A._ (no alarm).

(2) Alarm occurrence time read

Read the occurrence time of alarm which occurred in the past.

The alarm occurrence time corresponding to the data No. is provided in terms of the total time beginning with operation start, with the minute unit omitted.

(a) Transmission

Send command [3][3] and data No. [2][0] to [2][5].

Refer to Section 8.11.1.

(b) Reply

The alarm occurrence time is transferred in decimal.

Hexadecimal must be converted into decimal.

For example, data [0][1][F][5] indicates that the alarm occurred 501 hours after start of operation.

74

(3) Alarm history clear

Erase the alarm history.

Send command [8][2] and data No. [2][0].

Command Data Data

8.12.7 Current alarm

(1) Current alarm read

Read the alarm No. which is occurring currently.

(a) Transmission


[0][2] [0][0]

(b) Reply

The slave station sends back the alarm currently occurring.

0 0

Alarm No. is transferred in decimal.

For example, "0032" means A.32 and "00FF" A._ (no alarm).

(2) Read of the status display at alarm occurrence

Read the status display data at alarm occurrence. When the data No. corresponding to the status display item is transmitted, the data value and data processing information are sent back.

(a) Transmission

Send command [3][5] and any of data No. [8][0] to [8][E] corresponding to the status display item to be read. Refer to Section 8.11.1.

(b) Reply

The slave station sends back the requested status display data at alarm occurrence.

75

0 0



Display type




0: No decimal point







(3) Current alarm clear

As by the entry of the RES signal, reset the servo amplifier alarm to make the servo amplifier ready to operate. After removing the cause of the alarm, reset the alarm with no command entered.

Transmission

Command Data Data

76

8.12.8 Point table

(1) Position data read

Read the position data of the point table.

(a) Transmission

Transmit command [4][0] and any of data No. [0][1] to [1][F] corresponding to the point table to be read. Refer to Section 8.11.1.

(b) Reply

The slave station sends back the position data of the requested point table.

Hexadecimal data

0


0: No decimal point







Display type






Read enable/disable

0: Read enable

1: Read disable

When the enable/disable setting is read disable, ignore the data part and process it as unreadable.

(2) Speed data read

Read the speed data of the point table.

(a) Transmission


(b) Reply

The slave station sends back the speed data of the requested point table.

0

Hexadecimal data

0

Display type






Read enable/disable

0: Read enable

1: Read disable


77

(3) Acceleration time constant read

Read the acceleration time constant of the point table.

(a) Transmission


(b) Reply

The slave station sends back the acceleration time constant of the requested point table.

0

Hexadecimal data

0

Display type






Read enable/disable

0: Read enable

1: Read disable


(4) Deceleration time constant read

Read the deceleration time constant of the point table.

(a) Transmission


(b) Reply

The slave station sends back the deceleration time constant of the requested point table.

0

Hexadecimal data

0

Display type






Read enable/disable

0: Read enable

1: Read disable


78

(5) Dwell time read

Read the dwell time of the point table.

(a) Transmission


(b) Reply

The slave station sends back the dwell time of the requested point table.

0

Hexadecimal data

0

Display type






Read enable/disable

0: Read enable

1: Read disable


(6) Auxiliary function read

Read the auxiliary function of the point table.

(a) Transmission


(b) Reply

The slave station sends back the auxiliary function of the requested point table.

0

Hexadecimal data

0

Display type






Read enable/disable

0: Read enable

1: Read disable


79

(7) Position data write

Write the position data of the point table.

Transmit command [C][0], any of data No. [0][1] to [1][F] corresponding to the point table to be written to, and the data. Refer to Section 8.11.2.

Command Data Data

[C][0]

[0][1] to

[1][F]

See below.

Hexadecimal data


0: No decimal point







Write mode

0: EEP-ROM, RAM write

1: RAM write

The decimal point position should be the same as the feed length multiplication (STM) set in parameter

No. 1. The slave station will not accept the decimal point position which is different from the STM setting.

When the positioning address is changed frequently through communication, set "1" to the write mode to change only the RAM data in the servo amplifier.

If the EEP-ROM value is changed frequently, EEP-ROM fault will occur due to the excess of the permissible EEP-ROM write times.

(8) Speed data write

Write the speed data of the point table.


Command Data Data

[C][6]

[0][1] to

[1][F]

See below.

0

Hexadecimal data

Write mode


1: RAM write



80

(9) Acceleration time constant write

Write the acceleration time constant of the point table.


Command Data Data

[C][7]

[0][1] to

[1][F]

See below.

0

Hexadecimal data

Write mode


1: RAM write



(10) Deceleration time constant write

Write the deceleration time constant of the point table.


Command Data Data

[C][8]

[0][1] to

[1][F]

See below.

0

Hexadecimal data

Write mode


1: RAM write



81

(11) Dwell time write

Write the dwell time of the point table.

Transmit command [C][A], any of data No. [0][1] to [1][F] corresponding to the point table to be written to, and the data. Refer to Section 8.11.2.

Command Data Data

[C][A]

[0][1] to

[1][F]

See below.

0

Hexadecimal data

Write mode


1: RAM write



(12) Auxiliary function write

Write the auxiliary function of the point table.

Transmit command [C][B], any of data No. [0][1] to [1][F] corresponding to the point table to be written to, and the data. Refer to Section 8.11.2.

Command Data Data

[C][B]

[0][1] to

[1][F]

See below.

0

Hexadecimal data

Write mode


1: RAM write



82

8.12.9 Servo amplifier group designation

With group setting made to the slave stations, data can be transmitted simultaneously to two or more slave stations set as a group through RS-422 communication.

(1) Group setting write

Write the group designation value to the slave station.

Transmission

Transmit command [9][F], data No. [0][0] and data.

Command Data Data

0 0

Group designation

0: No group designation

1: Group a

2: Group b

3: Group c

4: Group d

5: Group e

6: Group f

Response command enable

Set whether data can be sent back or not in

response to the read command of the master station.

0: Response disable

Data cannot be set back.

1: Response enable

Data can be set back.

(2) Group setting read

Read the set group designation value from the slave station.

(a) Transmission

Transmit command [1][F] and data No. [0][0].

[1][F] [0][0]

(b) Reply

The slave station sends back the group setting of the point table requested.

0 0

Group designation

0: No group designation

1: Group a

2: Group b

3: Group c

4: Group d

5: Group e

6: Group f

Response command enable

0: Response disable

1: Response enable

83

8.12.10 Other commands

(1) Servo motor end pulse unit absolute position

Read the absolute position in the servo motor end pulse unit.

(a) Transmission


[0][2] [9][0]

(b) Reply

The slave station sends back the requested servo motor end pulses.

Absolute value is sent back in hexadecimal in the servo motor end pulse unit.

(Must be converted into decimal)

For example, data "000186A0" is 100000 [pulse] in the motor end pulse unit.

(2) Command unit absolute position

Read the absolute position in the command unit.

(a) Transmission


[0][2] [9][1]

(b) Reply

The slave station sends back the requested command pulses.

Absolute value is sent back in hexadecimal in the command unit.

(Must be converted into decimal)

Fot example, data "000186A0" is 100000 [pulse] in the command unit.

84

REVISIONS

Print Date Document # Revision Editor

H.Ogi

85

Mitsubishi Electric MELSERVO-J2S-S061 Specifications And Instruction Manual

General Purpose AC Servo

Built-In Positioning Function

Specifications and Instruction Manual

For Engineering Sample

MITSUBISHI

ELECTRIC

Table of Contents

− − −

− − −

Related manuals

Mitsubishi

MR-J2S-CP

Mitsubishi

Melservo-J2-SUPER series

Mitsubishi Electronics

MR-J2S- CL

Mitsubishi Electronics

Car Amplifier MR-J2S- A

Mitsubishi Electric

MR-J2-03C5

Mitsubishi Electronics

MR-J2S- A

Mitsubishi Electric

MR-J2S-*A series

Mitsubishi

MR-J2S-_A

Mitsubishi Electric

MELSERVO MR-J2S- A

Mitsubishi

Melservo-J2-SUPER series