Mitsubishi Electric MR-JE-_A SERVO AMPLIFIER Instruction Manual

MODEL

MODEL

CODE

MR-JE-A

INSTRUCTIONMANUAL(ITIGIME)

1CW707

HEAD OFFICE: TOKYO BLDG MARUNOUCHI TOKYO 100-8310

SH(NA)030150ENG-C(1708)MEE Printed in Japan

This Instruction Manual uses recycled paper.

Specifications are subject to change without notice.

General-Purpose AC Servo

General-Purpose Interface AC Servo

MODEL

MR-JE-_A

SERVO AMPLIFIER

INSTRUCTION MANUAL

(POSITIONING MODE)

C

Safety Instructions

Please read the instructions carefully before using the equipment.

To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the equipment until you have read through this Instruction Manual, Installation guide, and appended documents carefully. Do not use the equipment until you have a full knowledge of the equipment, safety information and instructions.

In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION".

WARNING Indicates that incorrect handling may cause hazardous conditions, resulting in death or severe injury.

CAUTION Indicates that incorrect handling may cause hazardous conditions, resulting in medium or slight injury to personnel or may cause physical damage.

Note that the CAUTION level may lead to a serious consequence depending on conditions.

Please follow the instructions of both levels because they are important to personnel safety.

What must not be done and what must be done are indicated by the following diagrammatic symbols.

Indicates what must not be done. For example, "No Fire" is indicated by .

Indicates what must be done. For example, grounding is indicated by .

In this Instruction Manual, instructions at a lower level than the above, instructions for other functions, and so on are classified into "POINT".

After reading this Instruction Manual, keep it accessible to the operator.

A - 1

1. To prevent electric shock, note the following

WARNING

Before wiring and inspections, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier.

Ground the servo amplifier and servo motor securely.

Any person who is involved in wiring and inspection should be fully competent to do the work.

Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, it may cause an electric shock.

Do not operate switches with wet hands. Otherwise, it may cause an electric shock.

The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it may cause an electric shock.

To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo amplifier to the protective earth (PE) of the cabinet.

To avoid an electric shock, insulate the connections of the power supply terminals.

2. To prevent fire, note the following

CAUTION

Install the servo amplifier, servo motor, and regenerative resistor on incombustible material. Installing them directly or close to combustibles will lead to smoke or a fire.

Always connect a magnetic contactor between the power supply and the power supply (L1/L2/L3) of the servo amplifier, in order to configure a circuit that shuts down the power supply on the side of the servo amplifier’s power supply. If a magnetic contactor is not connected, continuous flow of a large current may cause smoke or a fire when the servo amplifier malfunctions.

Always connect a molded-case circuit breaker, or a fuse to each servo amplifier between the power supply and the power supply (L1/L2/L3) of the servo amplifier, in order to configure a circuit that shuts down the power supply on the side of the servo amplifier’s power supply. If a molded-case circuit breaker or fuse is not connected, continuous flow of a large current may cause smoke or a fire when the servo amplifier malfunctions.

When using the regenerative resistor, switch power off with the alarm signal. Otherwise, a regenerative transistor malfunction or the like may overheat the regenerative resistor, causing smoke or a fire.

When you use a regenerative option with an MR-JE-40A to MR-JE-100A, remove the built-in regenerative resistor and wiring from the servo amplifier.

Provide adequate protection to prevent screws and other conductive matter, oil and other combustible matter from entering the servo amplifier and servo motor.

3. To prevent injury, note the following

CAUTION

Only the power/signal specified in the Instruction Manual must be supplied/applied to each terminal.

Otherwise, an electric shock, fire, injury, etc. may occur.

Connect cables to the correct terminals. Otherwise, a burst, damage, etc. may occur.

Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc. may occur.

The servo amplifier heat sink, regenerative resistor, servo motor, etc., may be hot while the power is on and for some time after power-off. Take safety measures such as providing covers to avoid accidentally touching them by hands and parts such as cables.

A - 2

4. Additional instructions

The following instructions should also be fully noted. Incorrect handling may cause a malfunction, injury, electric shock, fire, etc.

(1) Transportation and installation

CAUTION

Transport the products correctly according to their mass.

Stacking in excess of the specified number of product packages is not allowed.

Do not hold the lead of the built-in regenerative resistor, cables, or connectors when carrying the servo amplifier. Otherwise, it may drop.

Install the servo amplifier and the servo motor in a load-bearing place in accordance with the Instruction

Manual.

Do not get on or put heavy load on the equipment. Otherwise, it may cause injury.

The equipment must be installed in the specified direction.

Leave specified clearances between the servo amplifier and the cabinet walls or other equipment.

Do not install or operate the servo amplifier and servo motor which have been damaged or have any parts missing.

Do not block the intake and exhaust areas of the servo amplifier. Otherwise, it may cause a malfunction.

Do not drop or apply heavy impact on the servo amplifiers and the servo motors. Otherwise, injury, malfunction, etc. may occur.

Do not strike the connector. Otherwise, a connection failure, malfunction, etc. may occur.

When you keep or use the equipment, please fulfill the following environment.

Item Environment

Ambient temperature

Ambient

Operation

Storage

Operation

0 °C to 55 °C (non-freezing)

-20 °C to 65 °C (non-freezing)

5 %RH to 90 %RH (non-condensing)

Ambience

Altitude

Vibration resistance

Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt

2000 m or less above sea level (Contact your local sales office for the altitude for options.)

5.9 m/s 2 , at 10 Hz to 55 Hz (directions of X, Y and Z axes)

When the product has been stored for an extended period of time, contact your local sales office.

When handling the servo amplifier, be careful about the edged parts such as corners of the servo amplifier.

The servo amplifier must be installed in a metal cabinet.

When fumigants that contain halogen materials such as fluorine, chlorine, bromine, and iodine are used for disinfecting and protecting wooden packaging from insects, they cause malfunction when entering our products. Please take necessary precautions to ensure that remaining materials from fumigant do not enter our products, or treat packaging with methods other than fumigation (heat method). Additionally, disinfect and protect wood from insects before packing products.

To prevent a fire or injury from occurring in case of an earthquake or other natural disasters, securely install, mount, and wire the servo motor in accordance with the Instruction Manual.

A - 3

(2) Wiring

CAUTION

Before removing the CNP1 connector of MR-JE-40A to MR-JE-100A, disconnect the lead wires of the regenerative resistor from the CNP1 connector.

Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly.

Make sure to connect the cables and connectors by using the fixing screws and the locking mechanism.

Otherwise, the cables and connectors may be disconnected during operation.

Do not install a power capacitor, surge killer, or radio noise filter (optional FR-BIF) on the servo amplifier output side.

To avoid a malfunction, connect the wires to the correct phase terminals (U/V/W) of the servo amplifier and servo motor.

Connect the servo amplifier power output (U/V/W) to the servo motor power input (U/V/W) directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.

Servo amplifier

U

V

W

U

Servo motor

V

M

W

Servo amplifier

U

V

W

U

Servo motor

V

M

W

The connection diagrams in this instruction manual are shown for sink interfaces, unless stated otherwise.

The surge absorbing diode installed to the DC relay for control output should be fitted in the specified direction. Otherwise, the emergency stop and other protective circuits may not operate.

Servo amplifier Servo amplifier

24 V DC 24 V DC

DOCOM DOCOM

Control output signal

For sink output interface

RA

Control output signal

For source output interface

RA

When the cable is not tightened enough to the terminal block, the cable or terminal block may generate heat because of the poor contact. Be sure to tighten the cable with specified torque.

Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction.

Configure a circuit to turn off EM2 or EM1 when the power supply is turned off to prevent an unexpected restart of the servo amplifier.

To prevent malfunction, avoid bundling power lines (input/output) and signal cables together or running them in parallel to each other. Separate the power lines from the signal cables.

(3) Test run and adjustment

CAUTION

When executing a test run, follow the notice and procedures in this instruction manual. Otherwise, it may cause a malfunction, damage to the machine, or injury.

Before operation, check the parameter settings. Improper settings may cause some machines to operate unexpectedly.

A - 4

CAUTION

Never adjust or change the parameter values extremely as it will make operation unstable.

Do not get close to moving parts during the servo-on status.

(4) Usage

CAUTION

When it is assumed that a hazardous condition may occur due to a power failure or product malfunction, use a servo motor with an external brake to prevent the condition.

For equipment in which the moving part of the machine may collide against the load side, install a limit switch or stopper to the end of the moving part. The machine may be damaged due to a collision.

Do not disassemble, repair, or modify the product. Otherwise, an electric shock, fire, injury, etc. may occur. Disassembled, repaired, and/or modified products are not covered under warranty.

Before resetting an alarm, make sure that the run signal of the servo amplifier is off in order to prevent a sudden restart. Otherwise, it may cause an accident.

Use a noise filter, etc. to minimize the influence of electromagnetic interference. Electromagnetic interference may be given to the electronic equipment used near the servo amplifier.

Burning or breaking a servo amplifier may cause a toxic gas. Do not burn or break it.

Use the servo amplifier with the specified servo motor.

Correctly wire options and peripheral equipment, etc. in the correct combination. Otherwise, an electric shock, fire, injury, etc. may occur.

The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be used for ordinary braking.

For such reasons as incorrect wiring, service life, and mechanical structure (e.g. where a ball screw and the servo motor are coupled via a timing belt), the electromagnetic brake may not hold the motor shaft.

To ensure safety, install a stopper on the machine side.

If the dynamic brake is activated at power-off, alarm occurrence, etc., do not rotate the servo motor by an external force. Otherwise, it may cause a fire.

(5) Corrective actions

CAUTION

Ensure safety by confirming the power off, etc. before performing corrective actions. Otherwise, it may cause an accident.

If it is assumed that a power failure, machine stoppage, or product malfunction may result in a hazardous situation, use a servo motor with an electromagnetic brake or provide an external brake system for holding purpose to prevent such hazard.

When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before restarting operation.

If the molded-case circuit breaker or fuse is activated, be sure to remove the cause and secure safety before switching the power on. If necessary, replace the servo amplifier and recheck the wiring.

Otherwise, it may cause smoke, fire, or an electric shock.

Provide an adequate protection to prevent unexpected restart after an instantaneous power failure.

A - 5

CAUTION

Configure an electromagnetic brake circuit which is interlocked with an external emergency stop switch.

Contacts must be opened when ALM

(Malfunction) or MBR (Electromagnetic brake interlock) turns off.

Contacts must be opened with the emergency stop switch.

Servo motor

RA

B 24 V DC

U

Electromagnetic brake

To prevent an electric shock, injury, or fire from occurring after an earthquake or other natural disasters, ensure safety by checking conditions, such as the installation, mounting, wiring, and equipment before switching the power on.

(6) Maintenance, inspection and parts replacement

CAUTION

Make sure that the emergency stop circuit operates properly such that an operation can be stopped immediately and a power is shut off by the emergency stop switch.

It is recommended that the servo amplifier be replaced every 10 years when it is used in general environment.

When using a servo amplifier whose power has not been turned on for a long time, contact your local sales office.

(7) General instruction

To illustrate details, the equipment in the diagrams of this Instruction Manual may have been drawn without covers and safety guards. When the equipment is operated, the covers and safety guards must be installed as specified. Operation must be performed in accordance with this Instruction Manual.

A - 6

DISPOSAL OF WASTE

Please dispose a servo amplifier and other options according to your local laws and regulations.

EEP-ROM life

The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If the total number of the following operations exceeds 100,000, the servo amplifier may malfunction when the

EEP-ROM reaches the end of its useful life.

Write to the EEP-ROM due to parameter setting changes

Write to the EEP-ROM due to device changes

Write to the EEP-ROM due to point table changes

Write to the EEP-ROM due to program changes

Compliance with global standards

For the compliance with global standards, refer to app. 2 of "MR-JE-_A Servo Amplifier Instruction Manual".

«About the manual»

You must have this Instruction Manual and the following manuals to use this servo. Ensure to prepare them to use the servo safely.

Relevant manuals

Manual name

MELSERVO MR-JE-_A Servo Amplifier Instruction Manual

MELSERVO MR-JE-_A Servo Amplifier Instruction Manual (Modbus RTU Protocol)

MELSERVO-JE Servo amplifier Instruction Manual (Troubleshooting)

MELSERVO HG-KN_/HG-SN_ Servo Motor Instruction Manual

MELSERVO EMC Installation Guidelines

Manual No.

SH(NA)030128ENG

SH(NA)030177ENG

SH(NA)030166ENG

SH(NA)030135ENG

IB(NA)67310ENG

This Instruction Manual does not describe the following items. For the details of the items, refer to each chapter/section indicated in the detailed explanation field. "MR-JE-_A" means "MR-JE-_A Servo Amplifier

Instruction Manual".

Installation

Normal gain adjustment

Special adjustment functions

Dimensions

Characteristics

MR-JE-_A Chapter 2

MR-JE-_A Chapter 6

MR-JE-_A Chapter 7

MR-JE-_A Chapter 9

MR-JE-_A Chapter 10

«Cables used for wiring»

Wires mentioned in this Instruction Manual are selected based on the ambient temperature of 40 ˚ C.

A - 7

«U.S. customary units»

U.S. customary units are not shown in this manual. Convert the values if necessary according to the following table.

Quantity SI (metric) unit U.S. customary unit

Length

Torque

Moment of inertia

Load (thrust load/axial load)

Temperature

1 [mm]

1 [N•m]

1 [(× 10 -4 kg•m 2

1 [N]

N [°C] × 9/5 + 32

0.03937 [inch]

141.6 [oz•inch]

0.2248 [lbf]

N [°F]

A - 8

CONTENTS

1. FUNCTIONS AND CONFIGURATION 1- 1 to 1- 8

1.1 For proper use of the positioning mode ............................................................................................ 1- 1

1.2 Positioning mode specification list .................................................................................................... 1- 2

1.3 Function list ....................................................................................................................................... 1- 4

1.4 Configuration including peripheral equipment .................................................................................. 1- 7

2. SIGNALS AND WIRING 2- 1 to 2-28

2.1 I/O signal connection example .......................................................................................................... 2- 3

2.2 Connectors and pin assignment ....................................................................................................... 2- 7

2.3 Signal (device) explanations ............................................................................................................ 2-11

2.4 Analog override ................................................................................................................................ 2-23

2.5 Internal connection diagram ............................................................................................................ 2-25

2.6 Power-on sequence ......................................................................................................................... 2-27

3. DISPLAY AND OPERATION SECTIONS 3- 1 to 3-24

3.1 MR-JE-_A ......................................................................................................................................... 3- 1

3.1.1 Display flowchart ........................................................................................................................ 3- 1

3.1.2 Status display mode ................................................................................................................... 3- 3

3.1.3 Diagnostic mode ........................................................................................................................ 3- 8

3.1.4 Alarm mode ............................................................................................................................... 3-11

3.1.5 Point table setting ...................................................................................................................... 3-13

3.1.6 Parameter mode ....................................................................................................................... 3-17

3.1.7 External I/O signal display ......................................................................................................... 3-19

3.1.8 Output signal (DO) forced output .............................................................................................. 3-20

3.1.9 Single-step feed ........................................................................................................................ 3-21

3.1.10 Teaching function .................................................................................................................... 3-23

4. HOW TO USE THE POINT TABLE 4- 1 to 4-72

4.1 Startup .............................................................................................................................................. 4- 2

4.1.1 Power on and off procedures ..................................................................................................... 4- 2

4.1.2 Stop ............................................................................................................................................ 4- 3

4.1.3 Test operation ............................................................................................................................ 4- 4

4.1.4 Parameter setting ....................................................................................................................... 4- 5

4.1.5 Point table setting ....................................................................................................................... 4- 6

4.1.6 Actual operation ......................................................................................................................... 4- 6

4.1.7 Troubleshooting at start-up ........................................................................................................ 4- 6

4.2 Automatic operation mode ................................................................................................................ 4- 8

4.2.1 Automatic operation mode ......................................................................................................... 4- 8

4.2.2 Automatic operation using point table ....................................................................................... 4-13

4.3 Manual operation mode ................................................................................................................... 4-43

4.3.1 JOG operation ........................................................................................................................... 4-43

4.3.2 Manual pulse generator operation ............................................................................................ 4-45

4.4 Home position return mode ............................................................................................................. 4-46

4.4.1 Outline of home position return ................................................................................................. 4-47

4.4.2 Dog type home position return .................................................................................................. 4-49

1

4.4.3 Count type home position return ............................................................................................... 4-51

4.4.4 Data set type home position return ........................................................................................... 4-53

4.4.5 Stopper type home position return ............................................................................................ 4-54

4.4.6 Home position ignorance (servo-on position as home position) ............................................... 4-56

4.4.7 Dog type rear end reference home position return ................................................................... 4-57

4.4.8 Count type front end reference home position return ............................................................... 4-59

4.4.9 Dog cradle type home position return ....................................................................................... 4-61

4.4.10 Dog type last Z-phase reference home position return .......................................................... 4-62

4.4.11 Dog type front end reference home position return type ........................................................ 4-64

4.4.12 Dogless Z-phase reference home position return type ........................................................... 4-66

4.4.13 Automatic retract function used for the home position return ................................................. 4-67

4.4.14 Automatic positioning to home position function ..................................................................... 4-68

4.5 Roll feed mode using the roll feed display function ......................................................................... 4-69

4.6 Point table setting method ............................................................................................................... 4-70

4.6.1 Setting procedure ...................................................................................................................... 4-70

4.6.2 Detailed setting window ............................................................................................................ 4-72

5. HOW TO USE THE PROGRAM 5- 1 to 5-68

5.1 Startup .............................................................................................................................................. 5- 1

5.1.1 Power on and off procedures ..................................................................................................... 5- 2

5.1.2 Stop ............................................................................................................................................ 5- 2

5.1.3 Test operation ............................................................................................................................ 5- 3

5.1.4 Parameter setting ....................................................................................................................... 5- 4

5.1.5 Actual operation ......................................................................................................................... 5- 5

5.1.6 Troubleshooting at start-up ........................................................................................................ 5- 5

5.2 Program operation method ............................................................................................................... 5- 6

5.2.1 Program operation method ........................................................................................................ 5- 6

5.2.2 Program language ...................................................................................................................... 5- 7

5.2.3 Basic settings of signals and parameters ................................................................................. 5-30

5.2.4 Timing chart of the program operation ...................................................................................... 5-32

5.3 Manual operation mode ................................................................................................................... 5-34

5.3.1 JOG operation ........................................................................................................................... 5-34

5.3.2 Manual pulse generator operation ............................................................................................ 5-35

5.4 Home position return mode ............................................................................................................. 5-37

5.4.1 Outline of home position return ................................................................................................. 5-37

5.4.2 Dog type home position return .................................................................................................. 5-40

5.4.3 Count type home position return ............................................................................................... 5-42

5.4.4 Data set type home position return ........................................................................................... 5-44

5.4.5 Stopper type home position return ............................................................................................ 5-45

5.4.6 Home position ignorance (servo-on position as home position) ............................................... 5-46

5.4.7 Dog type rear end reference home position return ................................................................... 5-47

5.4.8 Count type front end reference home position return ............................................................... 5-49

5.4.9 Dog cradle type home position return ....................................................................................... 5-51

5.4.10 Dog type last Z-phase reference home position return .......................................................... 5-53

5.4.11 Dog type front end reference home position return type ........................................................ 5-55

5.4.12 Dogless Z-phase reference home position return type ........................................................... 5-57

5.4.13 Automatic retract function used for the home position return ................................................. 5-58

5.5 Serial communication operation ...................................................................................................... 5-59

5.5.1 Positioning operation using the program .................................................................................. 5-59

5.5.2 Multi-drop method (RS-422 communication) ............................................................................ 5-60

2

5.5.3 Group specification ................................................................................................................... 5-61

5.6 Incremental value command method .............................................................................................. 5-63

5.7 Roll feed mode using the roll feed display function ......................................................................... 5-64

5.8 Program setting method .................................................................................................................. 5-65

5.8.1 Setting procedure ...................................................................................................................... 5-65

5.8.2 Window for program edit ........................................................................................................... 5-66

5.8.3 Indirect addressing window ....................................................................................................... 5-67

6. APPLICATION OF FUNCTIONS 6- 1 to 6-62

6.1 Simple cam function.......................................................................................................................... 6- 1

6.1.1 Outline of simple cam function ................................................................................................... 6- 1

6.1.2 Simple cam function block ......................................................................................................... 6- 2

6.1.3 Simple cam specification list ...................................................................................................... 6- 3

6.1.4 Control of simple cam function ................................................................................................... 6- 4

6.1.5 Operation in combination with the simple cam .......................................................................... 6- 5

6.1.6 Setting list ................................................................................................................................... 6- 7

6.1.7 Data to be used with simple cam function ................................................................................. 6- 8

6.1.8 Function block diagram for displaying state of simple cam control .......................................... 6-26

6.1.10 Cam No. setting method ......................................................................................................... 6-37

6.1.11 Stop operation of cam control ................................................................................................. 6-38

6.1.12 Restart operation of cam control ............................................................................................. 6-40

6.1.13 Cam axis position at cam control switching ............................................................................ 6-41

6.1.14 Clutch ...................................................................................................................................... 6-48

6.1.15 Cam position compensation target position ............................................................................ 6-50

6.1.16 Cam position compensation time constant ............................................................................. 6-51

6.2 Mark detection ................................................................................................................................. 6-52

6.2.1 Current position latch function .................................................................................................. 6-52

6.2.2 Interrupt positioning function ..................................................................................................... 6-58

7. PARAMETERS 7- 1 to 7-72

7.1 Parameter list .................................................................................................................................... 7- 1

7.1.1 Basic setting parameters ([Pr. PA_ _ ]) ...................................................................................... 7- 2

7.1.2 Gain/filter setting parameters ([Pr. PB_ _ ]) ............................................................................... 7- 3

7.1.3 Extension setting parameters ([Pr. PC_ _ ]) .............................................................................. 7- 5

7.1.4 I/O setting parameters ([Pr. PD_ _ ]) ......................................................................................... 7- 7

7.1.5 Extension setting 2 parameters ([Pr. PE_ _ ]) ............................................................................ 7- 9

7.1.6 Extension setting 3 parameters ([Pr. PF_ _ ]) ........................................................................... 7-11

7.1.7 Positioning control parameters ([Pr. PT_ _ ]) ............................................................................ 7-13

7.2 Detailed list of parameters ............................................................................................................... 7-15

7.2.1 Basic setting parameters ([Pr. PA_ _ ]) ..................................................................................... 7-15

7.2.2 Gain/filter setting parameters ([Pr. PB_ _ ]) .............................................................................. 7-25

7.2.3 Extension setting parameters ([Pr. PC_ _ ]) ............................................................................. 7-37

7.2.4 I/O setting parameters ([Pr. PD_ _ ]) ........................................................................................ 7-47

7.2.5 Extension setting 2 parameters ([Pr. PE_ _ ]) ........................................................................... 7-57

7.2.6 Extension setting 3 parameters ([Pr. PF_ _ ]) ........................................................................... 7-58

7.2.7 Positioning control parameters ([Pr. PT_ _ ]) ............................................................................ 7-60

7.3 How to set the electronic gear ......................................................................................................... 7-69

7.4 Software limit ................................................................................................................................... 7-70

3

7.5 Stop method for LSP (Forward rotation stroke end) off or LSN (Reverse rotation stroke end) off 7-71

7.6 Stop method at software limit detection ........................................................................................... 7-72

8. TROUBLESHOOTING 8- 1 to 8- 8

8.1 Explanations of the lists .................................................................................................................... 8- 1

8.2 Alarm list ........................................................................................................................................... 8- 2

8.3 Warning list ....................................................................................................................................... 8- 6

9. OPTIONS AND PERIPHERAL EQUIPMENT 9- 1 to 9- 4

9.1 MR-HDP01 manual pulse generator ................................................................................................ 9- 2

10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL) 10- 1 to 10-32

10.1 Command and data No. list .......................................................................................................... 10- 1

10.1.1 Reading command ................................................................................................................. 10- 2

10.1.2 Writing commands ................................................................................................................ 10-10

10.2 Detailed explanations of commands ............................................................................................ 10-14

10.2.1 External I/O signal status (DIO diagnosis) ............................................................................ 10-14

10.2.2 Input device on/off ................................................................................................................. 10-19

10.2.3 Input device on/off (for test operation) .................................................................................. 10-20

10.2.4 Test operation mode ............................................................................................................. 10-21

10.2.5 Output signal pin on/off (output signal (DO) forced output) .................................................. 10-23

10.2.6 Point table ............................................................................................................................. 10-24

4

1. FUNCTIONS AND CONFIGURATION


The following items are the same as MR-JE-_A servo amplifiers. For details, refer to each section indicated in the detailed explanation field. "MR-JE-_A" means "MR-JE-_A Servo Amplifier Instruction Manual".

Combinations of servo amplifiers and servo motors

Model designation

Structure (parts identification)

1.1 For proper use of the positioning mode

MR-JE-_A section 1.4



(1) Servo amplifier/MR Configurator2

The positioning mode is available with the servo amplifier and MR Configurator2 with the following software versions.

Product name Model Software version

Servo amplifier

MR Configurator2

MR-JE-_A

SW1DNC-MRC2-_

B7 or later

1.37P or later

(2) Parameter setting

(a) Selection of the positioning mode

Select a positioning mode with [Pr. PA01 Operation mode].

[Pr. PA01]

Control mode selection

6: Positioning mode (point table method)

7: Positioning mode (program method)

(b) Positioning control parameters ([Pr. PT_ _ ])

To enable read/write the positioning control parameters ([Pr. PT_ _ ]), set [Pr. PA19 Parameter writing inhibit] to "0 0 A B".

(c) Assigning recommended input/output devices

Assign recommended input/output devices to the pins of CN1 in accordance with each chapter of point table/program method.

1 - 1


1.2 Positioning mode specification list

Only the specifications of the positioning mode are listed here. For other specifications, refer to section 1.3 of

"MR-JE-A Servo Amplifier Instruction Manual".

Item Description

Servo amplifier model

Operational specifications

Position command input

(Note 1)

System

Analog override

Torque limit

Absolute value command method

Incremental value command method

Speed command input

MR-JE-_A

Positioning by specifying the point table No. (31 points when using the communication function, and 15 points when assigning input signals) (Note 2)

Set in the point table.

Setting range of feed length per point: -999999 to 999999 [×10 STM μ m], -99.9999 to 99.9999 [×10 STM inch], -999999 to 999999 [pulse], Setting range of rotation angle: -360.000 to 360.000 [degree]

Set in the point table.

Setting range of feed length per point: 0 to 999999 [×10 STM μ m], 0 to 99.9999 [×10 STM inch], 0 to 999999

[pulse], Setting range of rotation angle: 0 to 999.999 [degree]

Set the acceleration/deceleration time constants in the point table.

Set the S-pattern acceleration/deceleration time constants with [Pr. PC03].

Signed absolute value command method/incremental value command method

0 V DC to ±10 V DC/0% to 200%

Set with parameter or external analog input (0 V DC to +10 V DC/maximum torque)

Setting of position command data with RS-422/RS-485 communication

Setting range of feed length per point: -999999 to 999999 [×10 STM μ m], -99.9999 to 99.9999 [×10 STM inch], -999999 to 999999 [pulse], Setting range of rotation angle: -360.000 to 360.000 [degree]

Setting of position command data with RS-422/RS-485 communication

Setting range of feed length per point: 0 to 999999 [×10 STM μ m], 0 to 99.9999 [×10 STM inch], 0 to 999999

[pulse], Setting range of rotation angle: 0 to 999.999 [degree]

Speed command input

System

Operational specifications

Position command input

(Note 1)



Speed command input

System

Analog override

Torque limit

Selects the rotation speed and acceleration/deceleration time constant through RS-422/RS-485 communication. Set the S-pattern acceleration/deceleration time constants with [Pr. PC03].

Signed absolute value command method/incremental value command method

Program language (program with MR Configurator2)

Program capacity: 480 steps (16 programs)

Set with program language.

Setting range of feed length: -999999 to 999999 [×10 STM μ m], -99.9999 to 99.9999 [×10 STM inch], -

999999 to 999999 [pulse], Setting range of rotation angle: -360.000 to 360.000 [degree]

Set with program language.

Setting range of feed length: -999999 to 999999 [×10 STM μ m], -99.9999 to 99.9999 [×10 STM inch], -

999999 to 999999 [pulse], Setting range of rotation angle: -999.999 to 999.999 [degree]

Set servo motor speed, acceleration/deceleration time constants, and S-pattern acceleration/deceleration time constants with program language.

S-pattern acceleration/deceleration time constants are also settable with [Pr. PC03].

Signed absolute value command method/signed incremental value command method

Set with external analog input (0 V DC to ±10 V DC/0% to 200%)

Set with parameter or external analog input (0 V DC to +10 V DC/maximum torque)

1 - 2


Item Description

Point table

Each positioning operation

Automatic continuous positioning operation

Point table No. input method/position data input method

Operates each positioning based on position command and speed command.

Varying-speed operation (2 to 31 speeds)/automatic continuous positioning operation (2 to 31 points)/ automatic continuous operation to the point table selected at start/automatic continuous operation to point table No. 1.

Program

JOG operation

Point table/program

Manual pulse generator operation

Depends on settings of program language.

Executes a contact input or an inching operation with the RS-422/RS-485 communication function based on speed command set with parameters.

Manual feeding is executed with a manual pulse generator.

Command pulse multiplication: select from ×1, ×10, and ×100 with a parameter.

Dog type

Count type

Returns to home position upon Z-phase pulse after passing through the proximity dog. home position address settable/home position shift amount settable/home position return direction selectable

Automatic retract on dog back to home position/automatic stroke retract function

Returns to home position upon the encoder pulse count after touching the proximity dog.

Home position return direction selectable/home position shift amount settable/home position address settable


Data set type

Stopper type

Returns to home position without dog.

Sets any position as a home position using manual operation, etc./home position address settable

Returns to home position upon hitting the stroke end.

Home position return direction selectable/home position address settable

Home position ignorance

(servo-on position as home position)

Sets a home position where SON (Servo-on) signal turns on.

Home position address settable

Dog type rear end reference

Count type front end reference

Dog cradle type

Dog type last Z-phase reference

Dog type front end reference

Dogless Z-phase reference

Returns to home position based on the rear end of the proximity dog.



Returns to home position based on the front end of the proximity dog.



Returns to home position upon the first Z-phase pulse based on the front end of the proximity dog.



Returns to home position upon the Z-phase pulse right before the proximity dog based on the front end of the proximity dog.



Returns to home position to the front end of the dog based on the front end of the proximity dog.



Returns to home position to the Z-phase pulse with respect to the first Z-phase pulse.


Automatic positioning to home position function (Note 3)

High-speed automatic positioning to a defined home position

Absolute position detection/backlash compensation/overtravel prevention with external limit switch

Other functions

(LSP/LSN)/software stroke limit/mark detection function/override

Note 1. STM is the ratio to the setting value of the position data. STM can be changed with [Pr. PT03 Feeding function selection].

2. Up to four points of DO are available; therefore, PT0 (Point table No. output 1) to PT4 (Point table No. output 5) cannot be outputted simultaneously.

3. The automatic positioning to home position function is not available with the program method.

1 - 3


1.3 Function list

POINT

The symbols in the control mode column mean as follows.

CP: Positioning mode (point table method)

CL: Positioning mode (program method)

The following table lists the functions of this servo. For details of the functions, refer to each section indicated in the detailed explanation field. "MR-JE-_A" means "MR-JE-_ A Servo Amplifier Instruction

Manual".

Control

CP CL

Detailed explanation

Model adaptive control

Positioning mode (point table method)

Positioning mode

(program method)

Roll feed display function

This function achieves a high response and stable control following the ideal model. The two-degrees-of-freedom model adaptive control enables you to set a response to the command and response to the disturbance separately.

Additionally, this function can be disabled. To disable this function, refer to section 7.4 of "MR-JE-A_ Servo Amplifier Instruction Manual".

Set 1 to 31 point tables in advance, and select any point table to perform operation in accordance with the set values. To select point tables, use external input signals or communication function.

Set 1 to 16 programs in advance and select any program to perform operation in accordance with the programs. To select programs, use external input signals or communication function.

Positions based on specified travel distance from a status display "0" of current/command positions at start.

Chapter

Chapter 5

Section 4.5

Mark detection

Current position latch function

Interrupt positioning function

When the mark detection signal turns on, the current position is latched. The latched data can be read with communication commands.

Section

6.6.2

Section

6.2.3

Home position return

High-resolution encoder

Gain switching function

When MSD (Mark detection) turns on, this function converts the remaining distance to the travel distance set in [Pr. PT30] and [Pr. PT31] (Mark sensor stop travel distance).

Dog type/count type/data setting type/stopper type/home position ignorance/dog type rear end reference/count type front end reference/dog cradle type/dog type last Z-phase reference/dog type Z-phase reference/dogless Z-phase reference

High-resolution encoder of 131072 pulses/rev is used as the encoder of the rotary servo motor compatible with the MELSERVO-JE series.

You can switch gains during rotation/stop, and can use input devices to switch gains during operation.

Section 4.4

Section 5.4

Advanced vibration suppression control II

Machine resonance suppression filter

Shaft resonance suppression filter

Adaptive filter II

Low-pass filter

This function suppresses vibration at an arm end or residual vibration.

This filter function (notch filter) decreases the gain of the specific frequency to suppress the resonance of the mechanical system.

When a load is mounted to the servo motor shaft, resonance by shaft torsion during driving may generate a mechanical vibration at high frequency. The shaft resonance suppression filter suppresses the vibration.

The servo amplifier detects mechanical resonance and sets filter characteristics automatically to suppress mechanical vibration.

Suppresses high-frequency resonance which occurs as the servo system response is increased.

MR-JE-_A

Section 7.2

MR-JE-_A

Section

7.1.5

MR-JE-_A

Section

7.1.1

MR-JE-_A

Section

7.1.3

MR-JE-_A

Section

7.1.2

MR-JE-_A

Section

7.1.4

1 - 4


Machine analyzer function

Robust filter

Analyzes the frequency characteristic of the mechanical system by simply connecting an MR Configurator2 installed personal computer and the servo amplifier.

MR Configurator2 is necessary for this function.

For roll feed axis, etc. of which a response level cannot be increased because of the large load to motor inertia ratio, this function improves a disturbance response.

Slight vibration suppression control

Suppresses vibration of ±1 pulse generated at a servo motor stop.

Electronic gear

Auto tuning

Regenerative option

Alarm history clear

Position commands can be multiplied by 1/864 to 33935.

Automatically adjusts the gain to optimum value if load applied to the servo motor shaft varies.

Use a regenerative option when the built-in regenerative resistor of the servo amplifier does not have sufficient regenerative capacity for a large regenerative power generated.

Clears alarm histories.

Control

CP CL


[Pr. PE41]

Input signal selection

(device settings)

Output signal selection

(device settings)

Output signal (DO) forced output

ST1 (Forward rotation start), ST2 (Reverse rotation start), and SON (Servoon) and other input device can be assigned to certain pins of the CN1 connector.

The output devices including MBR (Electromagnetic brake interlock) can be assigned to certain pins of the CN1 connector.

Turns on/off the output signals forcibly independently of the servo status.

Use this function for checking output signal wiring, etc.

Command pulse selection Supports only A-phase/B-phase pulse trains.

Torque limit

Status display

Alarm code output

Test operation mode

Analog monitor output

MR Configurator2

One-touch tuning

Limits the servo motor torque.

Shows servo status on the 5-digit, 7-segment LED display

External I/O signal display Shows on/off statuses of external I/O signals on the display.

If an alarm has occurred, the corresponding alarm number is outputted in 3bit code.

Jog operation/positioning operation/motor-less operation/DO forced output/program operation/single-step feed

Note that MR Configurator2 is necessary for positioning operation, program operation, and single-step feed.

Outputs servo status with voltage in real time.

Using a personal computer, you can perform the parameter setting, test operation, monitoring, and others.

Adjusts gains just by pressing buttons on the servo amplifier or by clicking a button on MR Configurator2.

Chapter 8

Section

3.1.8

Section

3.1.9

MR-JE-_A

Section

4.5.8

Section

4.5.9

[Pr. PC14]

[Pr. PC15]

MR-JE-_A

Section

11.7

MR-JE-_A

Section 6.2

[Pr. PB24]

[Pr. PA06]

[Pr. PA07]

MR-JE-_A

Section 6.3

MR-JE-_A

Section

11.2

[Pr. PC18]

[Pr. PD04]

[Pr. PD12]

[Pr. PD14]

[Pr. PD18]

[Pr. PD20]

[Pr. PD44]

[Pr. PD46]

[Pr. PD24]

[Pr. PD25]

[Pr. PD28]

Section

3.1.8

MR-JE-_A

Section

4.5.8

[Pr. PA13]

[Pr. PA11]

[Pr. PA12]

Section

3.1.2

Section

3.1.7

1 - 5


Tough drive function

Drive recorder function

Servo amplifier life diagnosis function

Power monitoring function

Machine diagnosis function

Lost motion compensation function

Limit switch

S-pattern acceleration/deceleration

Software limit

Analog override

Teaching function

Simple cam function

This function makes the equipment continue operating even under the condition that an alarm occurs.

The tough drive function includes two types: the vibration tough drive and the instantaneous power failure tough drive.

This function continuously monitors the servo status and records the status transition before and after an alarm for a fixed period of time. You can check the recorded data on the drive recorder window on MR Configurator2 by clicking the "Graph" button.

However, the drive recorder is not available when:

1. The graph function of MR Configurator2 is being used.

2. The machine analyzer function is being used.

3. [Pr. PF21] is set to "-1".

You can check the cumulative energization time and the number of on/off times of the inrush relay. This function gives an indication of the replacement time for parts of the servo amplifier including a capacitor and a relay before they malfunction.


This function calculates the power running energy and the regenerative power from the data in the servo amplifier such as speed and current. Power consumption and others are displayed on MR Configurator2.

From the data in the servo amplifier, this function estimates the friction and vibrational component of the drive system in the equipment and recognizes an error in the machine parts, including a ball screw and bearing.


This function improves the response delay occurred when the machine moving direction is reversed. This is used with servo amplifiers with software version C5 or later. Check the software version of the servo amplifier using

MR Configurator2.

Limits travel intervals using LSP (Forward rotation stroke end) and LSN

(Reverse rotation stroke end).

Enables smooth acceleration and deceleration.

Set S-pattern acceleration/deceleration time constants with [Pr. PC03].

As compared with linear acceleration/deceleration, the acceleration/deceleration time will be longer for the S-pattern acceleration/deceleration time constants regardless of command speed.

Limits travel intervals by address using parameters.

Enables the same function with the limit switch by setting parameters.

Limits a servo motor speed with analog inputs.

A value can be changed from 0% to 200% for a set speed.

After an operation travels to a target position with a JOG operation or manual pulse generator operation, pushing the SET button of the operation part or turning on TCH (Teach) will import position data.

This function enables synchronous control by using software instead of controlling mechanically with cam. This function enables the encoder following function, mark sensor input compensation function, synchronous operation using positioning data, and synchronous interpolation operation.

Control

CP CL


MR-JE-_A

Section 7.3

[Pr. PA23]

MR-JE-_A

Section 7.5

[Pr. PC03]

Section

5.2.2

Section 7.4

Section 2.4

Section

3.1.10

Section 6.1

Modbus RTU communication function

The Modbus protocol uses dedicated message frames for the serial communication between a master and slaves.

Using the functions in the message frames enables to read or write data from/to parameters, write input commands, and check operation status of servo amplifiers.

MR-JE-_A

Servo

Amplifier

Instruction

Manual

(Modbus

RTU

Protocol)

1 - 6


1.4 Configuration including peripheral equipment

CAUTION


POINT

Equipment other than the servo amplifier and servo motor are optional or recommended products.

(1) MR-JE-100A or less

The diagram shows MR-JE-40A.

(Note 1)

Power supply

R S T

Molded-case circuit breaker (MCCB)

CN3

MR Configurator2

Personal computer

(Note 2)

Magnetic contactor

(MC)

Power factor improving AC reactor

(FR-HAL)

Line noise filter

(FR-BSF01)

CN1

CN2

Junction terminal block

L1

L2

L3

Servo motor U

V

W

Note 1. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open. For power supply specifications, refer to section 1.3 of "MR-JE-_A Servo Amplifier Instruction Manual".

2. Depending on the power supply voltage and operation pattern, a bus voltage may drop, causing dynamic brake deceleration during forced stop deceleration. When dynamic brake deceleration is not required, delay the time to turn off the magnetic contactor.

1 - 7


(2) MR-JE-200A or more

The diagram shows MR-JE-200A.

R S T

(Note 1)

Power supply

Molded-case circuit breaker

(MCCB)

(Note 2)

Magnetic contactor

(MC)


(FR-HAL)

Line noise filter

(FR-BSF01)

L1

L2

L3

U

V

W

CN3

MR Configurator2

Personal computer

CN1

Junction terminal block

CN2

Servo motor

Note 1. A 1-phase 200 V AC to 240 V AC power supply may be used with the servo amplifier of MR-JE-200A. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L2. Leave L3 open. For power supply specifications, refer to section 1.3 of

"MR-JE-_A Servo Amplifier Instruction Manual".

2 Depending on the power supply voltage and operation pattern, a bus voltage may drop, causing dynamic brake deceleration during forced stop deceleration. When dynamic brake deceleration is not required, delay the time to turn off the magnetic contactor.

1 - 8

2. SIGNALS AND WIRING


WARNING

A person who is involved in wiring should be fully competent to do the work.

Before wiring, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier.

Ground the servo amplifier and servo motor securely.

Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, it may cause an electric shock.

The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it may cause an electric shock.

To avoid an electric shock, insulate the connections of the power supply terminals.

CAUTION

Before removing the CNP1 connector from MR-JE-40A to MR-JE-100A, disconnect the lead wires of the regenerative resistor from the CNP1 connector.

Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly, resulting in injury.

Connect cables to the correct terminals. Otherwise, a burst, damage, etc. may occur.

Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc. may occur.

The surge absorbing diode installed to the DC relay for control output should be fitted in the specified direction. Otherwise, the emergency stop and other protective circuits may not operate.

Servo amplifier Servo amplifier

24 V DC 24 V DC

DOCOM DOCOM

Control output

signal

For sink output interface

RA

Control output

signal

For source output interface

RA

Use a noise filter, etc. to minimize the influence of electromagnetic interference.

Electromagnetic interference may be given to the electronic equipment used near the servo amplifier.

Do not install a power capacitor, surge killer or radio noise filter (optional FR-BIF) with the power line of the servo motor.

When using a regenerative resistor, shut the power off with the alarm signal.

Otherwise, a transistor fault or the like may overheat the regenerative resistor, causing a fire.

Do not modify the equipment.

Connect the servo amplifier power outputs (U/V/W) to the servo motor power inputs (U/V/W) directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.

Servo amplifier

U

V

W

U

Servo motor

V

M

W

Servo amplifier

U

V

W

U

Servo motor

V

M

W

2 - 1


CAUTION


Before wiring, switch operation, etc., eliminate static electricity. Otherwise, it may cause a malfunction.


Input power supply circuit

Explanation of power supply system (except for section

2.6 Power-on sequence)

Detailed explanation of signals

Forced stop deceleration function

Alarm occurrence timing chart

Interface (except for section 2.5 Internal connection)

Servo motor with an electromagnetic brake

Grounding









2 - 2


2.1 I/O signal connection example

(1) Point table method

POINT

Assign the following output device to CN1-23 pin with [Pr. PD24].

CN1-23: ZP (Home position return completion)

Servo amplifier

(Note 6)

CN1

46 DOCOM

24 V DC (Note 4)

10 m or shorter

(Note 3) Forced stop 2

Servo-on

(Note 12, 13) Operation mode selection 1

Forward rotation start

Reverse rotation start

(Note 12, 13) Proximity dog

Point table No. selection 1

Point table No. selection 2

24 V DC

(Note 9)

Power supply

(Note 4)

EM2

SON

MD0

ST1

ST2

DOG 35

DI0

DI1

DICOM

19

41

20

DICOM 21

OPC

(Note 6)

CN1

42

15

10

43

44

12

Analog override

±10 V/0 to 200%

Upper limit setting

VC

LG

2

28

(Note 7)

Analog torque limit

+10 V/maximum torque

Upper limit setting

TLA 27

SD Plate

2 m or shorter

47

DOCOM

48

23

24

49

8

9

4

5

6

7

3

33

34

Plate

(Note 6)

CN1

ALM

ZP

INP

RD

LZ

LZR

LA

LAR

LB

LBR

LG

OP

LG

SD

RA1

RA2

RA3

RA4

(Note 2)

10 m or shorter

2 m or shorter

Malfunction (Note 5)

Home position return completion

In-position

Ready

(Note 11)

Encoder Z-phase pulse

(differential line driver)

Encoder A-phase pulse


Encoder B-phase pulse


Control common


(Open collector)

Control common

26 MO1 Analog monitor 1

± 10 V DC (Note 8)

MR Configurator2

Personal computer

30 LG

29 MO2

(Note 10)

USB cable

(option)

CN3

Plate SD

± 10 V DC

Analog monitor 2

2 m or shorter

(Note 1)

2 - 3


Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo amplifier to the protective earth (PE) of the cabinet.

2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will malfunction and will not output signals, disabling EM2 (Forced stop 2) and other protective circuits.

3. The forced stop switch (normally closed contact) must be installed.

4. Supply 24 V DC ± 10% to interfaces from outside. The total current capacity of these power supplies must be 300 mA or lower.

300 mA is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points. Refer to section 3.9.2 (1) of "MR-JE-_A Servo Amplifier Instruction Manual" that gives the current value necessary for the interface. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they can be configured by one.

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

7. TLA will be available when TL (External torque limit selection) is enabled with [Pr. PD03], [Pr. PD11], [Pr. PD13], [Pr. PD17], and [Pr. PD19]. (Refer to section 3.6.1 (5) of "MR-JE-_A Servo Amplifier Instruction Manual".)

8. Use SW1DNC MRC2-_. (Refer to section 11.4 of "MR-JE-_A Servo Amplifier Instruction Manual".)

9. To prevent an unexpected restart of the servo amplifier, configure a circuit to turn off EM2 when the power is turned off.

10. The USB communication function and RS-422/RS-485 communication function are mutually exclusive. They cannot be used together.

11. Recommended device assignments are shown. The device can be changed by [Pr. PD24] to [Pr. PD25], and [Pr. PD28].

12. MD0 and DOG are assigned to the CN1-10 and CN1-35 pins by default. When connecting a manual pulse generator, change them with [Pr. PD44] and [Pr. PD46]. Refer to section 9.1 for details of the manual pulse generator.

13. Supply + of 24 DC V to OPC (Power input for open-collector sink interface) when input devices are assigned to the CN1-10 pin and the CN-35 pin. They cannot be used with source input interface. For the positioning mode, input devices (MD0 and DOG) are assigned by default.

2 - 4


(2) Program method

POINT

Assign the following output device to CN1-23 pin with [Pr. PD24].


Servo amplifier

(Note 6)

CN1

46 DOCOM

24 V DC (Note 4)

(Note 3)

(Note 12, 13)

(Note 12, 13)

Forced stop 2

Servo-on

Operation mode selection 1



Proximity dog

Program No. selection 1

Program No. selection 2

10 m or shorter

(Note 9)

Power supply

EM2

SON

MD0

ST1

ST2

(Note 6)

CN1

42

15

10

43

44

DOG 35

24 V DC (Note 4)

DI0

DI1

DICOM

DICOM

19

41

20

21

OPC 12

Analog override

±10 V/0 to 200%

(Note 7)

Analog torque limit

+10 V/maximum torque

Upper limit setting

Upper limit setting

VC

LG

TLA

SD

2

28

27

Plate

(Note 8)

MR Configurator2

Personal computer

2 m or shorter

(Note 10)

USB cable

(option)

CN3

47 DOCOM

48

23

24

49

8

9

4

5

6

7

3

33

34

Plate

2 m or shorter

(Note 6)

CN1

26 MO1

30

29

Plate

ALM

ZP

INP

RD

LZ

LZR

LA

LAR

LB

LBR

LG

OP

LG

SD

LG

MO2

SD

RA1

RA2

RA3

RA4

(Note 2)

10 m or shorter

Malfunction (Note 5)


In-position

Ready

(Note 11)



Encoder A-phase pulse


Encoder B-phase pulse


Control common


(Open collector)

Control common

Analog monitor 1

± 10 V DC

± 10 V DC

Analog monitor 2

2 m or shorter

(Note 1)

2 - 5


Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo amplifier to the protective earth (PE) of the cabinet.

2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will malfunction and will not output signals, disabling EM2 (Forced stop 2) and other protective circuits.

3. The forced stop switch (normally closed contact) must be installed.

4. Supply 24 V DC ± 10% to interfaces from outside. The total current capacity of these power supplies must be 300 mA or lower.

300 mA is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points. Refer to section 3.9.2 (1) of "MR-JE-_A Servo Amplifier Instruction Manual" that gives the current value necessary for the interface. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they can be configured by one.

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

7. TLA will be available when TL (External torque limit selection) is enabled with [Pr. PD03], [Pr. PD11], [Pr. PD13], [Pr. PD17], and [Pr. PD19]. (Refer to section 3.6.1 (5) of "MR-JE-_A Servo Amplifier Instruction Manual".)

8. Use SW1DNC MRC2-_. (Refer to section 11.4 of "MR-JE-_A Servo Amplifier Instruction Manual".)

9. To prevent an unexpected restart of the servo amplifier, configure a circuit to turn off EM2 when the power is turned off.

10. The USB communication function and RS-422/RS-485 communication function are mutually exclusive. They cannot be used together.

11. Recommended device assignments are shown. The device can be changed by [Pr. PD24] to [Pr. PD25], and [Pr. PD28].

12. MD0 and DOG are assigned to the CN1-10 and CN1-35 pins by default. When connecting a manual pulse generator, change them with [Pr. PD44] and [Pr. PD46]. Refer to section 9.1 for details of the manual pulse generator.

13. Supply + of 24 DC V to OPC (Power input for open-collector sink interface) when input devices are assigned to the CN1-10 pin and the CN-35 pin. They cannot be used with source input interface. For the positioning mode, input devices (MD0 and DOG) are assigned by default.

2 - 6


2.2 Connectors and pin assignment

POINT

The pin assignment of the connectors is as viewed from the cable connector wiring section.

For the CN1 connector, securely connect the external conductor of the shielded cable to the ground plate and fix it to the connector shell.

Screw

Cable

Screw

Ground plate

PP (CN1-10 pin) /NP (CN1-35 pin) and PP2 (CN1-37 pin) /NP2 (CN1-38 pin) are exclusive. They cannot be used together.

2 - 7


The following is the front view of MR-JE-40A or less. For external appearance, connector arrangements, and details of other servo amplifiers, refer to chapter 9 of "MR-JE-_A Servo Amplifier Instruction Manual".

CN3 (USB connector)

Refer to section 11.4 of

"MR-JE-_A Servo Amplifier Instruction Manual".

CN1

CN2

2

LG 4

MRR

1

P5 3

MR

6

5

8

MDR

10

9

7

MD

This is a connector of 3M.

The frame of the CN1 connector is connected to the protective earth terminal in the servo amplifier.

2

4

6

8

10

12

18

20

14

16

22

24

13

15

9

11

5

7

1

3

21

23

17

19

25

38

40

34

36

30

32

26

28

46

48

42

44

50

27

29

31

33

35

37

43

45

39

41

47

49

The device assignment of the CN1 connector pins changes depending on the control mode. For the pins which are given parameters in the related parameter column, their devices can be changed using those parameters.

2 - 8


Pin No.

(Note 1)

I/O

(Note 2) I/O signals in control modes

CP CL

1

Related parameter

10 I (Note 4) (Note 4) PD44

16

17

18

22

25

32

35

37 (Note 6)

38 (Note 6)

I

I

I

(Note 7)

ZP

(Note 3)

TLA

(Note 4) (Note 4)

(Note 5) (Note 5)

(Note 5) (Note 5)

PD12

PD24

PD25

PD14

PC15

PD46

PD44

PD46

45

50

PD28

2 - 9


Note 1. I: input signal, O: output signal

2. CP: Positioning mode (point table method)


3. TLA will be available when TL (External torque limit selection) is enabled with [Pr.

PD04], [Pr. PD12], [Pr. PD14], [Pr. PD18], [Pr. PD20], and [Pr. PD44].

4. This is used with sink interface. Input devices are not assigned by default. Assign the input devices with [Pr. PD44] and [Pr. PD46] as necessary. In addition, supply

+ of 24 DC V to the CN1-12 pin of OPC (Power input for open-collector sink interface).

5. This is used with source interface. Input devices are not assigned by default.

Assign the input devices with [Pr. PD44] and [Pr. PD46] as necessary.

6. These pins are available with servo amplifiers manufactured in May, 2015 or later.


2 - 10


2.3 Signal (device) explanations

The connector pin No. column in the table lists the pin Nos. which devices are assigned to by default.

For the I/O interfaces (symbols in I/O division column in the table), refer to section 3.9.2 of "MR-JE-_A Servo

Amplifier Instruction Manual". The symbols in the control mode field of the table show the followings.



" " and " " of the table show the followings.

: Usable device by default.

: Usable device by setting the following parameters.

[Pr. PA04], [Pr. PD04], [Pr. PD12], [Pr. PD14], [Pr. PD18], [Pr. PD20], [Pr. PD24], [Pr. PD25], [Pr. PD28],

[Pr. PD44], [Pr. PD46]

(1) I/O device

(a) Input device

Function and application

I/O division

Control mode

CP CL

Forced stop 2 EM2 CN1-42 Turn off EM2 (open between commons) to decelerate the servo motor to a stop with commands.

Turn EM2 on (short between commons) in the forced stop state to reset that state.

The following shows the setting of [Pr. PA04].

[Pr. PA04] setting

EM2/EM1

Deceleration method

EM2 or EM1 is off Alarm occurred

0 _ _ _ EM1

MBR

(Electromagnetic brake interlock) turns off without the forced stop deceleration.

MBR

(Electromagnetic brake interlock) turns off without the forced stop deceleration.

2 _ _ _ EM2

MBR

(Electromagnetic brake interlock) turns off after the forced stop deceleration.

MBR

(Electromagnetic brake interlock) turns off after the forced stop deceleration.

DI-1

Forced stop 1

Servo-on

Reset

EM1 (CN1-42) When using EM1, set [Pr. PA04] to "0 _ _ _" to enable EM1.

When EM1 is turned off (open between commons), the base circuit shuts off, and the dynamic brake operates to decelerate the servo motor to a stop.

The forced stop will be reset when EM1 is turned on (short between commons).

SON

EM2 and EM1 are mutually exclusive.

CN1-15 Turn SON on to power on the base circuit, and make the servo amplifier ready to operate. (servo-on status)

Turn it off to shut off the base circuit, and coast the servo motor.

Setting [Pr. PD01] to "_ _ _ 4" turns the signal on automatically (always connected) in the servo amplifier.

RES CN1-19 Turn on RES for more than 50 ms to reset the alarm.

Some alarms cannot be deactivated by RES (Reset). Refer to chapter 8.

Turning RES on in an alarm-free status shuts off the base circuit. The base circuit is not shut off when [Pr. PD30] is set to " _ _ 1 _ ".

This device is not designed to make a stop. Do not turn it on during operation.

DI-1

DI-1

DI-1

2 - 11


Forward rotation stroke end

Reverse rotation stroke end

LSP

External torque limit selection

Internal torque limit selection

TL

TL1


MD0



CN1-43 To start the operation, turn on LSP and LSN. Turn it off to bring the servo motor to a sudden stop and make it servo-locked.

I/O division

DI-1

Control mode

CP CL erased)".

(Note) Input device

LSP LSN

Operation

CCW direction CW direction

1 1

0 1

1 0

0 0

Note. 0: Off

1: On

The stop method can be changed with [Pr. PD30].

Setting [Pr. PD01] as follows turn the signals on automatically (always connected) in the servo amplifier.

[Pr. PD01]

Status

LSP LSN

_ 4 _ _

_ 8 _ _

_ C _ _

Automatic on

Automatic on

Automatic on Automatic on

When LSP or LSN is turned off, [AL. 99 Stroke limit warning] occurs, and

WNG (Warning) turns on. When using WNG, enable it by setting [Pr.

PD24], [Pr. PD25] and [Pr. PD28].

Turning off TL will enable [Pr. PA11 Forward torque limit] and [Pr. PA12

Reverse torque limit], and turning on it will enable TLA (Analog torque limit). For details, refer to section 3.6.1 (5) of "MR-JE-_A Servo Amplifier


To select [Pr. PC35 Internal torque limit 2], enable TL1 with [Pr. PD04],

[Pr. PD12], [Pr. PD14], [Pr. PD18], [Pr. PD20], [Pr. PD44], and [Pr.

PD46]. For details, refer to section 3.6.1 (5) of "MR-JE-_A Servo

Amplifier Instruction Manual".

CN1-10 Point table method/program method

Automatic operation mode is set by turning MD0 on, and manual operation mode by turning it off. Changing the operation mode during

DI-1

DI-1

DI-1

DI-1 motor will decelerate to stop.

MD1 cannot be used.

2 - 12



ST1


ST2


CN1-17 Point table method

1. Absolute value command method

Turning on ST1 during automatic operation will execute one positioning based on the position data set in the point tables.

Turning on ST1 during home position return will also start home position return.

Turning on ST1 during JOG operation will rotate the servo motor in the forward rotation direction while it is on.

The forward rotation means address increasing direction.

Turning on both ST1 and ST2 during JOG operation will stop the servo motor.

2. Incremental value command method

Turning on ST1 during automatic operation will execute one positioning in the forward rotation direction based on the position data set in point tables.

Turning on ST1 during home position return will also start home position return.

Turning on ST1 during JOG operation will rotate the servo motor in the forward rotation direction while it is on.



Program method

1. Automatic operation mode

Turning on ST1 will execute a program operation selected with DI0 to

DI3.


Turning on both ST1 and ST2 during manual operation mode will stop the servo motor.

2. Manual operation mode

Turning on ST1 will rotate the servo motor in the forward rotation direction while it is on.


Turning on both ST1 and ST2 during manual operation mode will stop the servo motor.


Use this device with the incremental value command method. Turning on

ST2 during automatic operation will execute one positioning in the reverse rotation direction based on the position data set in point tables.

Turning on ST2 during JOG operation will rotate the servo motor in the reverse rotation direction while it is on. Turning on both ST1 and ST2 will stop the servo motor.

Turning on ST2 during in the home position return mode will execute an automatic positioning to the home position.

The reverse rotation means address decreasing direction.


Program method

Turning on ST2 with JOG operation in the manual operation mode will rotate the servo motor in the reverse rotation direction while it is on.

Turning on both ST1 and ST2 will stop the servo motor.

The reverse rotation means address decreasing direction.

Turning on both ST1 and ST2 during manual operation mode will stop the servo motor. ST2 will be disabled in the automatic operation mode.

I/O division

DI-1

Control mode

CP CL

DI-1

2 - 13


Temporary stop/ restart

Proximity dog

Manual pulse generator multiplication 1



TSTP

DOG

Turning on TSTP during automatic operation will temporarily stop the servo motor.

Turning on TSTP again will restart.

Turning on ST1 (Forward rotation start)/ST2 (Reverse rotation start) during a temporary stop will not rotate the servo motor.

Changing the automatic operation mode to manual operation mode during a temporary stop will erase a travel remaining distance.

The temporary stop/restart input does not function during a home position return or JOG operation.

CN1-45 Turning off DOG will detect a proximity dog. The polarity for dog detection can be changed with [Pr. PT29].

Polarity for proximity dog

[Pr. PT29] detection

_ _ _ 0

_ _ _ 1

Detection with off

Detection with on

TP0 Select a multiplication of the manual pulse generator.

When a multiplication is not selected, the setting of [Pr. PT03] will be enabled.

TP1

0 0 [Pr. PT03] setting

I/O division

Control mode

CP CL

DI-1

DI-1

DI-1

DI-1

0 10

Note. 0: Off

1: On

Turning on OVR will enable VC (Analog override). DI-1 Analog override selection

Teach

OVR

TCH DI-1

Program input 1

Program input 2

Program input 3

Current position latch input

PI1

PI2

PI3

LPS

Use this for teaching. Turning on TCH in the point table method will rewrite a position data of the selected point table No. to the current position.

Turning on PI1 will restart a step which was suspended with the SYNC

(1) command during programming.





Turning on LPS during execution of the LPOS command will latch a current position with its rising edge. The latched current position can be read with communication commands.

DI-1

DI-1

DI-1

DI-1

2 - 14


Point table No./ program No. selection 1




DI0

DI1

Point table No. 5 DI4


I/O division

Control mode

CP CL


Select point tables and home position return mode with DI0 to DI4.

CN1-41 Device (Note 1)

DI-1

DI4

(Note 2)

CN1-35 0 0 0 1 0 position return mode table table table

Note 1. 0: Off

1: On

2. DI4 is available only with the communication function. This device cannot be assigned as an input signal.

Program method

Select program Nos. with DI0 to DI3.

Mark detection MSD

Proportional control

PC

Note. 0: Off

1: On

The current position latch function by sensor input can be used. For the current position latch function, refer to section 6.2.1. For the current position latch function, refer to section 6.2.2.

Turn PC on to switch the speed amplifier from the proportional integral type to the proportional type.

If the servo motor at a stop is rotated even one pulse due to any external factor, it generates torque to compensate for a position shift. When the servo motor shaft is to be locked mechanically after positioning completion (stop), switching on the PC (Proportion control) upon positioning completion will suppress the unnecessary torque generated to compensate for a position shift.

When the shaft is to be locked for a long time, switch on the PC

(Proportion control) and TL (External torque limit selection) at the same time to make the torque less than the rated by TLA (Analog torque limit).

DI-1

DI-1

2 - 15

Gain switching

Cam control command

CDP

CAMC

Cam position compensation request

CPCD

Clutch command CLTC

Cam No. selection 0

Cam No. selection 1

Cam No. selection 2

Cam No. selection 3

CI0

CI1

CI2

CI3


Clear CR


Turn CR on to clear the position control counter droop pulses on its leading edge. The pulse width should be 10 ms or longer.

The delay amount set in [Pr. PB03 Position command acceleration/deceleration time constant] is also cleared. When " _ _ _1 " is set to [Pr. PD32], the pulses are always cleared while CR is on.

Turn on CDP to use the values of [Pr. PB29] to [Pr. PB36] and [Pr. PB56] to [Pr. PB60] as the load to motor inertia ratio and gain values.

When using CAMC, set [Pr. PT35] to ”_ 1 _ _” to enable it. Turning

CAMC on switches the control from the normal positioning control to the cam control.

Turning CPCD on compensates the cam axis one cycle current value to be in the position set in [Cam control data No. 60 - Cam position compensation target position].

This is used to turning on/off the main shaft clutch command.

This is used when [Cam control data No. 36 - Main shaft clutch control setting] is set to "_ _ _ 1".

Select cam No.

This is enabled when [Cam control data No. 49 - Cam No.] is set to "0".

Set the cam control data on the cam setting window of MR Configurator2.

Device (Note 1)

I/O division

Control mode

CP CL

DI-1

DI-1

DI-1

DI-1

DI-1

DI-1

1 0 0 1

Setting prohibited

1 1 1 1

Note 1. 0: Off

(Note 2)

1: On

2 - 16


(b) Output device


Malfunction ALM

Alarm/warning ALM

WNG

CN1-48 When an alarm occurs, ALM turns off.

When an alarm is not occurring, turning on the power will turn on ALM after 4 s to 5 s.

When [Pr. PD34] is set to "_ _ 1 _", an alarming or warning will turn off

ALM.

When an alarm occurs, ALMWNG turns off.

When a warning occurs (except for [AL. 9F Battery warning]), ALMWNG turns on and off repeatedly approximately every 1 s.

When an alarm or a warning is not occurring, turning on the power will turn on ALMWNG after 4 s to 5 s.

Warning WNG

Ready

In-position

Limiting torque

Under cam control

Cam position compensation execution completed

Clutch on/off status

RD

INP

TLC

CAMS

CPCC

CLTS

When a warning occurs, WNG turns on. When a warning is not occurring,

WNG will turn off in 4 s to 5 s after power-on.

CN1-49 When the servo-on is on and the servo amplifier is ready to operate, RD turns on.

CN1-24 When the number of droop pulses is in the preset in-position range, INP turns on. The in-position range can be changed with [Pr. PA10]. When the in-position range is increased, INP may be always on during lowspeed rotation.

INP turns on with servo-on.

TLC turns on when a generated torque reaches a value set with any of

[Pr. PA11 Forward torque limit], [Pr. PA12 Reverse torque limit], or TLA

(Analog torque limit).

It turns on when the control switches to the cam control.

It turns off when the control switches to the normal positioning control.

It turns on when the cam compensation execution is enabled.

It turns on when the position compensation is not being executed during the cam control.

Clutch smoothing status

CLTSM

It turns on with clutch-on.

It is always off when [Cam control data No. 36 - Main shaft clutch control setting] is set to "_ _ _ 0".

It outputs clutch smoothing status.

The output depends on the setting in [Cam control data No. 42 - Main shaft clutch smoothing system] as follows:

0: Direct

Always off

1: Time constant method (index)

Always on in clutch-on status

It turns off when the clutch is off and the smoothing is complete.

I/O division

DO-1

Control mode

CP CL

DO-1

DO-1

DO-1

DO-1

DO-1

DO-1

DO-1

DO-1

DO-1

2 - 17


Zero speed detection

Speed command reached


Rough match

Position range output

During a temporary stop

Travel completion

ZSP

Electromagnetic brake interlock

MBR

SA

ZP

CPO

POT

PUS

MEND


CN1-23 ZSP turns on when the servo motor speed is at zero speed or less. Zero speed can be changed with [Pr. PC17].

I/O division

DO-1

Control mode

CP CL

OFF level

70 r/min

ON level

50 r/min

1)

2)

3)

20 r/min

(Hysteresis width)

[Pr. PC17]

Servo motor speed

0 r/min

ZSP

(Zero speed detection)

ON level

-50 r/min

OFF level

-70 r/min

ON

OFF

4)

[Pr. PC17]

20 r/min

(Hysteresis width)

ZSP turns on when the servo motor is decelerated to 50 r/min (at 1)), and turns off when the servo motor is accelerated to 70 r/min again (at 2)).

ZSP turns on when the servo motor is decelerated again to 50 r/min (at

3)), and turns off when the servo motor speed has reached -70 r/min (at

4)).

The range from the point when the servo motor speed has reached the on-level, and ZSP turns on, to the point when it is accelerated again and has reached the off-level is called hysteresis width.

Hysteresis width is 20 r/min for this servo amplifier.

When using the device, set an operation delay time of the electromagnetic brake in [Pr. PC16].

When a servo-off status or alarm occurs, MBR turns off.

SA turns on when the command speed reaches the target speed in servo-on status.

SA is always on when the command speed is 0 r/min in servo-on status.

SA turns off in servo-off status or when the command speed is in acceleration/deceleration.

When a home position return completes normally, ZP (Home position return completion) turns on.

It turns off with the following conditions in the incremental system.

1) SON (Servo-on) is off.

2) EM2 (Forced stop 2) is off.

3) RES (Reset) is on.

4) At alarm occurrence

5) LSP (Forward rotation stroke end) or LSN (Reverse rotation stroke end) is off.

6) Home position return is not being executed.

7) Software limit is being detected.

8) Home position return is in progress.

When a command remaining distance is lower than the rough match output range set with [Pr. PT12], CPO turns on. This is not outputted during base circuit shut-off. CPO turns on with servo-on.

When an actual current position is within the range set with [Pr. PT21] and [Pr. PT22], POT turns on. This will be off when a home position return is not completed or base circuit shut-off is in progress.

When a deceleration begins for a stop, PUS turns on by TSTP

(Temporary stop/restart). When TSTP (Temporary stop/restart) is enabled again and an operation is restarted, PUS turns off.

When the droop pulses are within the in-position output range set with

[Pr. PA10] and the command remaining distance is "0", MEND turns on.

MEND turns on with servo-on.

MEND is off at servo-off status.

DO-1

DO-1

DO-1

DO-1

DO-1

DO-1

DO-1

2 - 18


Position end

SYNC synchronous output

Program output 1

Program output 2

Program output 3

Point table No. output 1





Mark detection rising latch completed

Mark detection falling latch completed

Alarm code


I/O division

Control mode

CP CL

PED

SOUT

OUT1

OUT2

OUT3

When the droop pulses are within the position end output range set with

[Pr. PA10] and the command remaining distance is "0", PED turns on.

When MEND (Travel completion) is on and ZP (Home position return completion) is on, PED (Position end) turns on.

When ZP (Home position return completion) is on with servo-on status,

PED turns on.

PED is off at servo-off status.

When the status is waiting for input of the program SYNC (1 to 3), SOUT turns on. When PI1 (Program input 1) to PI3 (Program input 3) turn on,

SOUT turns off.

OUT1 turns on with the OUTON (1) command during programming.

The OUTOF (1) command turns off OUT1.

You can also set time to turn off with [Pr. PT23].







PT0 The signals output point table Nos. in 5-bit code simultaneously with

MEND (Travel completion) on.

PT1

PT2

PT3

PT4

DO-1

DO-1

DO-1

DO-1

DO-1

DO-1

Device (Note 1, 2)

PT4 PT3 PT2 PT1 PT0

Description table table table

MSDH

Note 1. 0: Off

1: On

2. Up to four points of DO are available; therefore, PT0 to PT4 cannot be outputted simultaneously.

Turning on MSD (Mark detection) will turn on MSDH. DO-1

DO-1

DO-1

Variable gain selection

During tough drive

MSDL After MSD (Mark detection) is turned on, turning off MSD will turn on

MSDL.

ACD0 (CN1-24) To use these signals, set [Pr. PD34] to " _ _ _ 1".

This signal is outputted when an alarm occurs. outputted.

CDPS

MTTR

When [Pr. PD34] is set to "_ _ _ 1" while MBR or ALM is assigned to

CN1-23, CN1-24, or CN1-49 pin, [AL. 37 Parameter error] will occur.

CDPS turns on during gain switching.

When a tough drive is "Enabled" in [Pr. PA20], activating the instantaneous power failure tough drive will turn on MTTR.

DO-1

DO-1

2 - 19


M code 1 (bit 0) MCD00









This device can be used in the point table method.

This device will be available in the future.

These signals can be checked with output devices of the communication function. (Refer to section 10.2 (1).)

To use these signals, set in [Pr. Po12] to " _ _ 1 _".

The signals output M code simultaneously with CPO (Rough match) on.

Set M code with point tables.

The code represents one digit of decimal using four digits of binary.

The following shows correspondence of each digit and device.

Second digit First digit bit 3 bit 2 bit 1 bit 0 bit 3 bit 2 bit 1 bit 0

DO-1

DO-1

DO-1

DO-1

DO-1

DO-1

DO-1

DO-1

I/O division

Control mode

CP CL

MCD00

MCD01

MCD02

MCD03

MCD10

MCD11

MCD12

MCD13

M code

First/second digit

MCD03/

MCD13

Device (Note)

MCD02/

MCD12

MCD01/

MCD11

MCD00/

MCD10

0

1

2

3

4

5

6

7

8

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 9

Note. 0: Off

1: On

MCD00 to MCD03 and MCD10 to MCD13 turn off with the following status.

Power on

Servo-off

Manual operation mode

At alarm occurrence

2 - 20


(2) Input signal

Manual pulse generator

Analog torque limit

Analog override

PP

TLA

VC


(CN1-10) Connect the manual pulse generator (MR-HDP01).

I/O division

Control mode

CP CL

DI-2

PD46].

CN1-27 When using the signal, enable TL (External torque limit selection) with

[Pr. PD04], [Pr. PD12], [Pr. PD14], [Pr. PD18], [Pr. PD20], [Pr. PD44], and [Pr. PD46].

When TLA is enabled, torque is limited in the full servo motor output torque range. Apply 0 V to +10 V DC between TLA and LG. Connect + of the power supply to TLA. The maximum torque is generated at +10 V.

(Refer to section 3.6.1 (5) of "MR-JE-_A Servo Amplifier Instruction

Manual".)

If a value equal to or larger than the maximum torque is inputted to TLA, the value will be clamped at the maximum torque.

Resolution: 10 bits

CN1-2 The signal controls the servo motor setting speed by applying -10 V to

+10 V to between VC and LG. The percentage will be 0% with -10 V,

100% with 0 V, and 200% with +10 V to the setting speed of the servo motor.

Resolution: 14 bits or equivalent

Analog input

Analog input

(3) Output signal

Encoder Aphase pulse


Encoder Bphase pulse


Encoder Zphase pulse


Encoder Zphase pulse

(open-collector)

LA

LAR

LB

LBR

LZ

LZR

OP

Analog monitor 1 MO1

CN1-4

CN1-5

CN1-6

CN1-7


These devices output pulses of encoder output pulse set in [Pr. PA15] in the differential line driver type.

In CCW rotation of the servo motor, the encoder B-phase pulse lags the encoder A-phase pulse by a phase angle of π /2.

The relation between rotation direction and phase difference of the Aphase and B-phase pulses can be changed with [Pr. PC19].

I/O division

DO-2

Control mode

CP CL

CN1-8

CN1-9

The encoder zero-point signal is outputted in the differential line driver type. One pulse is outputted per servo motor revolution. This turns on when the zero-point position is reached. (negative logic)

The minimum pulse width is about 400 μ s. For home position return using this pulse, set the creep speed to 100 r/min or less.

CN1-33 The encoder zero-point signal is outputted in the open-collector type.

DO-2

DO-2

Analog monitor 2 MO2

CN6-3 This is used to output the data set in [Pr. PC14] to between MO1 and LG in terms of voltage.

Output voltage: ±10 V


CN6-2 This signal outputs the data set in [Pr. PC15] to between MO2 and LG in terms of voltage.

Output voltage: ±10 V


Analog output

Analog output

2 - 21


(4) Communication


RS-422/RS-485

I/F

SDP CN3-5 These are terminals for RS-422/RS-485 communication.

SDN CN3-4

TRE CN1-31

I/O division

Control mode

CP CL

2 - 22


2.4 Analog override

POINT

When using the analog override in the point table method or program method, enable OVR (Analog override selection).

The following shows functions whether usable or not with the analog override.

(1) Analog override usable

Automatic operation mode (point table method/program method)

JOG operation in the manual operation mode

Automatic positioning to home position function in the point table method

Manual pulse generator operation in the manual operation mode

Home position return mode

Test operation mode using MR Configurator2 (positioning operation/JOG operation)

You can change the servo motor speed by using VC (Analog override). The following table shows signals and parameters related to the analog override.

Item Name Remark

Analog input signal VC (Analog override)

Contact input signal

Parameter

OVR (Analog override selection)

[Pr. PC37 Analog override offset]

Turning on OVR enables VC (Analog override) setting value.

-9999 to 9999 [mV]

(1) VC (Analog override)

You can continuously set changed values from outside by applying voltage (-10 to +10 V) to VC (Analog override). The following shows percentage of the actual speed to input voltage and set speed.

[%]

200

Servo amplifier

100


VC (Analog override)

24 V DC

-10 V to +10 V

OVR

DICOM

VC

LG

SD

(Note)

0

-10 0 10 [V]

VC (Analog override voltage) applied voltage

Note. This diagram shows sink input interface.

2 - 23


(2) OVR (Analog override selection)

Enable or disable VC (Analog override).

Servo amplifier

Position control

Analog override

Speed control

Servo motor


VC (Analog override)

-10 V to +10 V

Select a changed value by using OVR (Analog override selection).

(Note) External input signal Speed change value

1 Setting of VC (Analog override) is enabled.

Note. 0: Off

1: On

(3) Analog override offset ([Pr. PC37])

You can set an offset voltage to the input voltage of VC (Analog override) with [Pr. PC37]. The setting value ranges from -9999 to +9999 [mV].

2 - 24


2.5 Internal connection diagram

POINT

For details of interface and source I/O interface, refer to section 3.9 of "MR-JE-

_A Servo Amplifier Instruction Manual".

The following shows an example of internal connection diagram of the point table method.

2 - 25


Servo amplifier

(Note 2)

(Note 1)

24 V DC

SON

ST1

ST2

EM2

LSP

LSN

OPC

DICOM

DICOM

DI2

PP2

PG

DI3

NP2

NG

21

10

37

11

43

44

12

20

CN1

15

19

41

42

35

38

36

Approx.

6.2 k Ω

Approx.

6.2 k Ω

Approx. 100 Ω

Approx. 1.2 k Ω

Approx. 100 Ω

Approx. 1.2 k Ω

Approx.

1.2 k Ω

Approx.

1.2 k Ω

Insulated

24

48

49

CN1

46

47

23

DOCOM

DOCOM

ZSP

SA

ALM

RD

(Note 3)

24 V DC

RA

RA

(Note 2)

USB

VC

TLA

LG

SD

D-

D+

GND

CN1

2

27

3

Case

CN3

2

3

5

CN1

26

29

30

CN2

7

8

3

4

2

CN1

13

14

39

40

28

31

7

8

9

33

34

CN1

4

5

6

LA

LAR

LB

LBR

LZ

LZR

OP

LG

SDP

SDN

RDP

RDN

LG

TRE

MO1

MO2

LG

MD

MDR

MR

MRR

LG

Differential line driver output

(35 mA or lower)

Open-collector output

RS-422/

RS-485

(Note 4)

Analog monitor

± 10 V DC

± 10 V DC

Servo motor

Encoder

E

M

Note 1. Refer to section 9.1 for the connection of a manual pulse generator.

2. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.9.3 of "MR-JE-_A Servo Amplifier Instruction

Manual".

3. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they can be configured by one.

4. To use the RS-422/RS-485 communication function, connect between TRE and RDN of the final axis servo amplifier. (Refer to section 12.1.1 of "MR-JE-_A Servo Amplifier Instruction Manual").

2 - 26


2.6 Power-on sequence

POINT

The voltage of analog monitor output, output signal, etc. may be unstable at power-on.

(1) Power-on procedure

1) Always use a magnetic contactor for the power supply wiring (L1/L2/L3) as shown in section 3.1 of "MR-JE-_A Servo Amplifier Instruction Manual". Configure an external sequence to switch off the magnetic contactor as soon as an alarm occurs.

2) The servo amplifier receives the SON (Servo-on) in 4 s to 5 s after the power supply is switched on. Therefore, when SON (Servo-on) is switched on simultaneously with the power supply, the base circuit will switch on in about 4 s to 5 s, and the RD (Ready) will switch on in further about 5 ms, making the servo amplifier ready to operate. (Refer to (2) in this section.)

3) When RES (Reset) is switched on, the base circuit is shut off and the servo motor shaft coasts.

(2) Timing chart

SON (Servo-on) accepted

(4 s to 5 s)

Power supply

Base circuit

SON (Servo-on)

RES (Reset)

RD (Ready)

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ALM (Malfunction)

No alarming (ON)

Alarming (OFF)

5 ms

4 s to 5 s

10 ms

95 ms

10 ms 5 ms

10 ms 95 ms

10 ms 5 ms 10 ms

2 - 27


MEMO

2 - 28

3. DISPLAY AND OPERATION SECTIONS



Test operation mode

3.1 MR-JE-_A

3.1.1 Display flowchart

MR-JE-_A section 4.5.9

Press the "MODE" button once to shift to the next display mode. Refer to section 3.1.2 and later for the description of the corresponding display mode.

3 - 1


Display mode transition

Status display

One-touch tuning

Diagnosis

Alarm

Point table setting

Initial display Function

Servo status display.

For the point table method and program method, "PoS" is displayed at power-on.

One-touch tuning

Select this when performing the one-touch tuning.

Sequence display, drive recorder enabled/disabled display, external I/O signal display, output signal (DO) forced output, test operation, software version display, VC automatic offset, servo motor series ID display, servo motor type ID display, servo motor encoder ID display, teaching function

Current alarm display, alarm history display, and parameter error No./point table error No. display

Reference

Section

3.1.2

MR-JE-_A

Servo

Amplifier

Instruction

Manual section 6.2

Section

3.1.3

Section

3.1.4

Display and setting of point table data.

This is displayed only in the point table method, not in other control modes.

Display and setting of basic setting parameters.

Section

3.1.5

Section

3.1.6 button

MODE

Basic setting parameters

Display and setting of gain/filter parameters.

Gain/filter parameters

Extension setting parameters

Display and setting of extension setting parameters.

Display and setting of I/O setting parameters.

I/O setting parameters

Extension setting 2 parameters

Display and setting of extension setting 2 parameters.


Display and setting of extension setting 3 parameters.

Positioning control parameters

Display and setting of positioning control parameters.

Note. When the axis name is set to the servo amplifier using MR Configurator2, the servo status is displayed after the axis name is displayed.

3 - 2


3.1.2 Status display mode

The servo status during operation is shown on the 5-digit, 7-segment LED display. Press the "UP" or

"DOWN" button to change the display data as desired. When a servo status is selected, the corresponding symbol is displayed. Press the "SET" button to display its data. However, only when the power is turned on, the data will be displayed after the status symbol selected with [Pr. PC36] is displayed for 2 s.

(1) Display transition

After selecting the status display mode with the "MODE" button, pressing the "UP" or "DOWN" button changes the display as follows:

3 - 3


Main axis one cycle current position

Cumulative feedback pulses Number of tough drive operations

Servo motor speed

Droop pulses

Cumulative command pulses

Unit power consumption 1

(1 W unit)


(1 kW unit)

Unit total power consumption 1

(1 Wh unit)


(100 kWh unit)

Command pulse frequency

Analog speed command voltage

Analog speed limit voltage

Analog torque limit voltage

Analog torque command voltage

Regenerative load ratio

Current position

Command position

Command remaining distance

Point table/Program No.

Effective load ratio

Peak load ratio

Instantaneous torque

Within one-revolution position (1 pulse unit)

Within one-revolution position (1000 pulses unit)

UP

DOWN

ABS counter

Load to motor inertia ratio

Bus voltage

Internal temperature of encoder

Settling time

Oscillation detection frequency

Step No.

Analog override voltage

Override level

Cam axis one cycle current value

Cam standard position

Cam axis feed current value

Cumulative feedback pulses

Cam No. in execution

Cam stroke amount in execution

Main axis current value

(Note)

Main axis one cycle current value

3 - 4


(2) Status display list

The following table lists the servo statuses that may be shown.

Status display Symbol Unit Description

Feedback pulses from the servo motor encoder are counted and displayed.

The values in excess of ±99999 can be counted. However, the

Control mode

(Note 1)

CP CL


Servo motor speed

Droop pulses







Regenerative load ratio r

E

P n

L r/min pulse pulse kpulse/s

%

Press the "SET" button to reset the display value to "0".

The decimal points in the upper four digits are lit for negative value.

The servo motor speed is displayed.

It is displayed rounding off 0.1 r/min unit.

The number of droop pulses in the deviation counter are displayed.

The decimal points in the upper four digits are lit for reverse rotation pulses.

The values in excess of ±99999 can be counted. However, the counter shows only the lower five digits of the actual value since the servo amplifier display is five digits.

The number of pulses displayed is in the encoder pulse unit.

Not used with the positioning mode. "0" is always displayed.

Not used with the positioning mode. "0" is always displayed.

Not used with the positioning mode. An applied voltage to the


Peak load ratio


J b

T

%

%

%

Voltage of TLA (Analog torque limit) is displayed.

The ratio of regenerative power to permissible regenerative power is displayed in %.

The continuous effective load current is displayed.

The effective value in the past 15 s is displayed, with the rated current being 100 %.

The maximum torque generated is displayed.

The highest value in the past 15 s is displayed, with the rated torque being 100 %.

The instantaneous torque is displayed.

The torque generated is displayed in real time, with the rated torque being 100%.

Position within one revolution is displayed in encoder pulses.

The values in excess of ±99999 can be counted. However, the


When the servo motor rotates in the CCW direction, the value is added.

The within one-revolution position is displayed in 1000 pulse


ABS counter


LS dC

Pn rev

Multiplier

V added.

Travel distance from power on is displayed by counter value.

The estimated ratio of the load inertia moment to the servo motor shaft inertia moment is displayed.

The voltage of main circuit converter (between P+ and N-) is displayed.

Bus voltage

Encoder inside temperature

Settling time


Number of tough drive operations

ST oF

Td ms

Hz times

Settling time is displayed. When it exceeds 1000 ms, "1000" will be displayed.

Frequency at the time of oscillation detection is displayed.

The number of tough drive functions activated is displayed.

3 - 5


No.

Status display


(1 W unit)


(1 kW unit)


(1 Wh unit)


(100 kWh unit)

Current position

Command position


Point table No./Program

Step No.


Override level



Symbol

PoS

CPoS rn

Sno oru or

CCyC

CbAS

10 STM μ m

10 (STM-4) inch

10 -3 degree pulse

(Note 2)

10 STM μ m

10 (STM-4) inch

10 -3 degree pulse

(Note 2)

10 STM μ m

10 (STM-4) inch

10 -3 degree pulse

(Note 2)

10

10 -3

Unit

V

%

10 (STM-4)

(Note 3)

10

STM

degree pulse

STM

10 (STM-4)

10 -3

μ

inch

μ m m

inch degree pulse

(Note 2)

Description

Unit power consumption is displayed by increment of 1 W.

Positive value indicates power running, and negative value counted. However, the counter shows only the lower five digits of the actual value since the servo amplifier display is five digits.

Unit power consumption is displayed by increment of 1 kW.

Control mode

(Note 1)

CP CL indicates regeneration.

Unit total power consumption is displayed by increment of 1 Wh.

Positive value is cumulated during power running and negative digits of the actual value since the servo amplifier display is five digits.

Unit total power consumption is displayed by increment of 100 negative value during regeneration.

When "_ _ 0 _" (positioning display) is set in [Pr. PT26], the current position is displayed as machine home position is 0.

When "_ _ 1 _" (roll feed display) is set in [Pr. PT26], the actual current position is displayed as start position is 0.


When "_ _ 0 _" (positioning display) is set in [Pr. PT26], the command current position is displayed as machine home position is 0.

When "_ _ 1 _" (roll feed display) is set in [Pr. PT26], turning on the start signal starts counting from 0 and a command current position to the target position is displayed in the automatic mode.

The command positions of the selected point table are displayed at a stop. At the manual mode, the command positions of the selected point table are displayed.


The remaining distance to the command position of the currently selected point table/program is displayed.


The point table No./program No. currently being executed is stop or manual operation.

The step No. of the program currently being executed is displayed. At a stop, 0 is displayed.

The analog override voltage is displayed.

The setting value of the override is displayed.

When the override is disabled, 100% is displayed.

The current position in one cycle of CAM axis is displayed with the range of "0 to (cam axis one cycle length - 1)", the cam axis one cycle current value which is calculated from the travel distance inputted to the cam axis.


When the simple cam function is disabled, 0 is always displayed.

Refer to section 6.1.8 for detecting point.

A feed current value which is the standard position of the cam operation is displayed.




3 - 6


Status display Symbol Unit Description

Control mode

(Note 1)

CP CL






CCMd

Cno

CSTK

MCMd

MCyC

10 STM μ m

10 (STM-4) inch

10 -3 degree pulse

(Note 2)

10 STM μ m

10 (STM-4) inch

10 -3 degree pulse

(Note 2)

10 STM μ m

10 (STM-4) inch

10 -3 degree pulse

(Note 3)

10 STM μ m

10 (STM-4) inch

10 -3 degree pulse

(Note 3)

A feed current value during the cam axis control is displayed.




Cam No. in execution is displayed.



Cam stroke amount in execution is displayed.




A current value of the input axis (synchronous encoder axis or servo input axis) is displayed. Unit is increment of input axis position.




The input travel distance of the input axis in a range between 0 and (cam axis one cycle length setting - 1) is displayed. Unit is an increment of cam axis one cycle.



Note 1. CP: Positioning mode (point table method)


2. The unit can be selected from μ m/inch/degree/pulse with [Pr. PT01].

3. Depending on the setting of [Cam control data No. 30 Main shaft input axis selection], the parameters used to set the unit and feed length multiplication will change as follows. For details of each parameter, refer to section

6.1.7 (3) and 7.2.7.

Setting of [Cam control data No. 30]

"0" or "1"

"2"

Parameter for the unit setting

[Pr. PT01]

[Cam control data No. 14]

Parameter for the feed length multiplication setting

[Pr. PT03]


(3) Changing the status display screen

The status display on the servo amplifier at power-on can be changed with [Pr. PC36]. The status displayed by default varies depending on the control mode as follows:

Control mode Status display

Position

Position/speed

Speed

Speed/torque

Torque

Torque/position


Cumulative feedback pulses/servo motor speed

Servo motor speed

Servo motor speed/analog torque command voltage


Analog torque command voltage/cumulative feedback pulses

Positioning (point table method/program method)

Current position

3 - 7


3.1.3 Diagnostic mode

Diagnosis contents can be displayed on the display. Press the "UP" or "DOWN" button to change the display data as desired.


Sequence

Drive recorder enabled/ disabled display

External I/O signal display


JOG operation

Positioning operation

Motor-less operation

UP

DOWN

Machine analyzer operation

For manufacturer adjustment

Single-step feed

Software version: lower

Software version: upper

Automatic VC offset

Servo motor series ID

Servo motor type ID

Servo motor encoder ID



Teaching function

3 - 8


(2) Diagnosis display list

Name Display Description

Not ready

Indicates that the servo amplifier is being initialized or an alarm has occurred.

Sequence

Ready

Indicates that initialization is completed, and the servo amplifier is in servo-on state and ready to operate.

Drive recorder enabled/disabled display

External I/O signal display


JOG operation

Positioning operation

Motor-less operation

Test operation mode

Machine analyzer operation


Single-step feed

Refer to section 3.1.7.

Drive recorder enabled

When an alarm occurs in this state, the drive recorder will operate and record the status of occurrence.

Drive recorder disabled

The drive recorder will not operate on the following conditions.

1. The graph function of MR Configurator2 is being used.

2. The machine analyzer function is being used.

3. [Pr. PF21] is set to "-1".

This Indicates the on/off status of external I/O signal.

The upper segments correspond to the input signals and the lower segments to the output signals.

This allows digital output signal to be switched on/off forcibly.

Refer to section 3.1.8 for details.

JOG operation can be performed when there is no command from an external controller.

For details, refer to section 4.5.9 (2) of "MR-JE-_A Servo


Positioning operation can be performed when there is no command from an external controller.

MR Configurator2 is required to perform positioning operation.



Without connecting the servo motor, output signals or status display can be provided in response to the input device as if the servo motor is actually running.



Merely connecting the servo amplifier allows the resonance point of the mechanical system to be measured.

MR Configurator2 is required to perform machine analyzer operation.

For details, refer to section 11.4 of "MR-JE-_A Servo


This is for manufacturer adjustment.

When the positioning operation is executed in accordance with the point table or program set by MR Configurator2, the diagnosis display changes to "d-06" during single-step feed. Refer to section 3.1.9 for details.

The status will be displayed with the "MODE" button. The

"UP" and "DOWN" buttons are disabled.

3 - 9


Name Display Description

Indicates the version of the software.

Software version: lower

Software version: upper

Automatic VC offset (Note)

Servo motor series ID

Servo motor type ID

Servo motor encoder ID


Indicates the system number of the software.

If offset voltages in the analog circuits inside and outside the servo amplifier cause the servo motor setting speed not to be the designated value at VC of 0 V, a zero-adjustment of offset voltages will be automatically performed. When using the VC automatic offset, enable it in the following procedures. When it is enabled, [Pr. PC37] value changes to the automatically adjusted offset voltage.

1) Press the "SET" button once.

2) Set the number in the first digit to "1" with the "UP" button.

3) Press the "SET" button.

This function cannot be used if the input voltage of VC is -

0.4 V or less, or +0.4 V or more.

Push the "SET" button to show the series ID of the servo motor currently connected.

For indication details, refer to app. 1 of "HF-KN/HF-SN servo Motor Instruction Manual".

Push the "SET" button to show the type ID of the servo motor currently connected.


Push the "SET" button to show the encoder ID of the servo motor currently connected.





Teaching function Refer to section 3.1.10.

After an operation travels to a target position (MEND

(Travel completion) is turned on) with a JOG operation or manual pulse generator operation, pushing the "SET" button of the operation part or turning on TCH (Teach) will import position data. This function is available only in the point table method. In other control modes, the display remains the same.

Note. Even if VC automatic offset is performed and 0 V is inputted, the speed may not completely be the set value.

3 - 10


3.1.4 Alarm mode

The current alarm, past alarm history and parameter error are displayed. The lower 2 digits on the display indicate the alarm No. that has occurred or the parameter No. in error.

Name Display (Note 1) Description

Indicates no occurrence of an alarm.

Current alarm

Indicates the occurrence of [AL. 33.1 Main circuit voltage error].

Blinks at alarm occurrence.

Indicates that the last alarm is [AL. 50.1 Thermal overload error 1 during operation].

Indicates the second last alarm is [AL. 33.1 Main circuit voltage error].

Indicates the third last alarm is [AL. 10.1 Voltage drop in the power].

Alarm history

Indicates that there is no tenth alarm in the past.

Indicates that there is no eleventh alarm in the past.

Indicates that there is no twelfth alarm in the past.

Indicates that there is no sixteenth alarm in the past.

This indicates no occurrence of [AL. 37 Parameter error].

The data content error of [Pr. PA12 Reverse rotation torque limit].

Parameter error No./point table error No.

(Note 2)

The value of the point table is over the setting range.

The error point table No. (intermediate digit "2") and item (lower digit

"d") are displayed.

The following shows the items.

P: position data, d: motor speed, A: acceleration time constant, b: deceleration time constant, n: dwell, H: auxiliary function, M: M code

Note 1. If a parameter error and point table error occur simultaneously, the display shows the parameter error.

2. The display shows only when the current alarm is [AL. 37 Parameter error].

3 - 11


The following is additional information of alarm occurrence:

(1) The current alarm is displayed in any mode.

(2) Even during an alarm occurrence, the other display can be viewed by pressing the button in the operation area. At this time, the decimal point in the fourth digit remains blinking.

(3) Remove the cause of the alarm and clear it in any of the following methods. (Refer to chapter 8 for the alarms that can be cleared.)

(a) Cycle the power.

(b) Press the "SET" button on the current alarm display.

(c) Turn on RES (Reset).

(4) Use [Pr. PC18] to clear the alarm history.

(5) Press the "UP" or "DOWN" button to move to the next history.

3 - 12


3.1.5 Point table setting

You can set the target position, servo motor speed, acceleration time constant, deceleration time constant, dwell, auxiliary function and M code.


Point table transition Setting item transition

Point table No. 1 Target position

Point table No. 2

Point table No. 3

UP

DOWN

SET

Point table No. 29

MODE

Point table No. 30

Point table No. 31

Servo motor speed

Acceleration time constant

Deceleration time constant

UP

DOWN

Dwell

Auxiliary function

M code

3 - 13


(2) Setting list

The following point table setting can be displayed.

Status display Symbol Unit

Point table No.

Target position

Servo motor speed



Auxiliary function

M code

Po001

PoS

SPd

STA

STb

H

MCd

Description

Indication range

10 STM μ m

10 (STM-4) inch

10 -3 degree pulse

(Note)

Set the travel distance. r/min ms ms

Specify the point table to set the target position, servo motor speed, acceleration time constant, deceleration time constant, dwell, auxiliary function and M code.

1 to 31

-999999 to

999999

Set the command speed of the servo motor for execution of positioning. The setting value must be within the permissible speed of the servo motor used. If a value equal to or larger than the permissible speed is set, the value will be clamped at the permissible speed.

Set a time for the servo motor to reach the rated speed.

Set a time for the servo motor to stop from the rated speed.

This function is enabled when you select the point table by input signal.

To disable the dwell, set "0" or "2" to the auxiliary function. To perform

0 to

Permissible speed

0 to 20000

0 to 20000

0 to 20000 the selected point table is completed. After the set dwell has elapsed, start the position command of the next point table.

This function is enabled when you select the point table by input signal.

(1) When using the point table in the absolute value command method

0: Executes automatic operation for a selected point table.

1: Executes automatic continuous operation without stopping for the next point table.

8: Executes automatic continuous operation without stopping for the point table selected at the start.

9: Executes automatic continuous operation without stopping for the point table No. 1.

(2) When using the point table in the incremental value command method





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

When "1" or "3" is set to the point table No. 31, [AL. 61] will occur at the time of point table execution.

This is the code output at the completion of positioning.

This code will be available in the future.

Outputs the first digit and the second digit of the M code in 4-bit binary respectively.

0 to 3, 8 to 11

0 to 99

Note. The unit can be selected from μ m/inch/degree/pulse with [Pr. PT01].

3 - 14


(3) Operation method

POINT

After changing and defining the setting values of the specified point table, the defined setting values of the point table are displayed. To discard the changed setting, press the "MODE" button for 2 s or more. The setting before the change will be displayed. Keep pressing the "UP" or "DOWN" button to continuously change the most significant digit of the setting values.

(a) Setting of 5 or less digits

The following example is the operation method at power-on to set "1" to the auxiliary function of the point table No. 1.

Press "MODE" four times.

……… A point table No. is displayed.

Press "UP" or "DOWN" to select point table No. 1.

Press "SET" once.

Press "UP" five times.

Press "SET" twice.

……… The setting value of the auxiliary function of the specified point table No. blinks.

Press "UP" once.

……… During blinking, the set value can be changed.

Set using the "UP" or "DOWN" button.

Press "SET" to enter.

To the next item setting

Press the "UP" or "DOWN" button to switch to other item of the same point table No.

Press the "MODE" button to switch to the next point table No.

3 - 15


(b) Setting of 6 or more digits

The following example is the operation method to change the position data of the point table No. 1 to

"123456".

Press "MODE" four times.

……… A point table No. is displayed.

Press "UP" or "DOWN" to select point table No. 1.

Press "SET" once.

Setting of upper 1 digit

Press "SET" once.

Press "MODE" once.

Setting of

lower 4 digits

Press "SET" once.

…… The display blinks.

……

Change the setting with

"UP" or "DOWN".

Press "SET" once.

……… Enter the setting.

……

Press "MODE" once.

3 - 16


3.1.6 Parameter mode

(1) Parameter mode transition

After selecting the corresponding parameter mode with the "MODE" button, pressing the "UP" or

"DOWN" button changes the display as shown below.

From alarm mode To status display mode

Basic setting parameters

Gain/filter parameters

Extension setting parameters

MODE

I/O setting parameters



Positioning control parameters

[Pr. PA01]

[Pr. PA02]

[Pr. PB01]

[Pr. PB02]

[Pr. PC01]

[Pr. PC02]

[Pr. PD01]

[Pr. PD02]

[Pr. PE01]

[Pr. PE02]

[Pr. PF01]

[Pr. PF02]

[Pr. PT01]

[Pr. PT02]

UP

DOWN

[Pr. PA31]

[Pr. PA32]

[Pr. PB63]

[Pr. PB64]

[Pr. PC79]

[Pr. PC80]

[Pr. PD47]

[Pr. PD48]

[Pr. PE63]

[Pr. PE64]

[Pr. PF47]

[Pr. PF48]

[Pr. PT47]

[Pr. PT48]


(a) Parameters of 5 or less digits

The following example shows the operation procedure performed after power-on to change the control mode to the positioning mode (point table method) with [Pr. PA01 Operation mode]. Press

"MODE" to switch to the basic setting parameter display.

……

The parameter number is displayed.

Press "UP" or "DOWN" to change the number.

Press "SET" twice.

……

The set value of the specified parameter number blinks.

Press "UP" six times.

……

During blinking, the set value can be changed.

Use "UP" or "DOWN".

( _ _ _ 6: Positioning mode (point table method))

To decide the value , press "SET".

To shift to the next parameter, press the "UP" or "DOWN" button.

After changing [Pr. PA01], cycle the power to enable the setting.

3 - 17


(b) Parameters of 6 or more digits

The following example gives the operation procedure to change the electronic gear numerator to

"123456" with [Pr. PA06 Electronic gear numerator].

Press "MODE" to switch to the basic parameter screen.

Press "UP" or "DOWN" to select [Pr. PA06].

Setting of upper 1 digit

Press "SET" once.

Press "MODE" once.

Setting of

lower 4 digits

Press "SET" once.

…… The display blinks.

……

Change the setting with

"UP" or "DOWN".

Press "SET" once.

……… Enter the setting.

……

Press "MODE" once.

3 - 18


3.1.7 External I/O signal display

POINT

The I/O signal settings can be changed using I/O setting parameters [Pr. PD04] to [Pr. PD28].

The on/off states of the digital I/O signals connected to the servo amplifier can be confirmed.

(1) Operation

The display at power-on. Switch to the diagnostic display with the "MODE" button.

Press "UP" twice.

…… External I/O signal display screen

(2) Display definition

The 7-segment LED segments and CN1 connector pins correspond as shown below.

CN1-42

CN1-10

(Note 2)/

CN1-37

(Note 1, 2)

CN1-35

(Note 2)/

CN1-38

(Note 1, 2)

CN1-41 CN1-19 CN1-15 CN1-44

Input signals

Always lit

Output signals

CN1-33 CN1-48

CN1-43

CN1-23 CN1-24 CN1-49

Light on: on

Light off: off

Note 1. This is available with servo amplifiers manufactured in May 2015 or later.

2. CN1-10 pin and CN1-37 pin are mutually exclusive, and CN1-35 pin and CN1-38 pin are mutually exclusive.

The LED segment corresponding to the pin is lit to indicate on, and is extinguished to indicate off.

For each pin signal in control modes, refer to section 2.2.

3 - 19


3.1.8 Output signal (DO) forced output

POINT

When the servo system is used in a vertical lift application, turning on MBR

(Electromagnetic brake interlock) by the DO forced output after assigning it to connector CN1 will release the electromagnetic brake, causing a drop. Take drop preventive measures on the machine side.

Output signals can be switched on/off forcibly independently of the servo status. This function can be used for output signal wiring check, etc. This operation must be performed in the servo off state by turning off

SON (Servo-on).

The display screen at power-on. Switch to the diagnostic display with the "MODE" button.

Press "UP" three times.

CN1-33 CN1-48

Press "SET" for 2 s or more.

CN1-23

CN1-24

CN1-49

…… Switch on/off the signal below the lit segment.

Always lit

…… Indicates on/off of output signal. Definitions of on/off are the same as those for the external I/O signals.

(Light on: on, light off: off)

Press "MODE" once.

……

The lit LED moves to the upper LED of CN1-24.

Press "UP" once.

…… CN1-24 switches on. (Between CN1-24 and DOCOM are connected.)

Press "DOWN" once.

…… CN1-24 switches off.

Press "SET" for 2 s or more.

3 - 20


3.1.9 Single-step feed

CAUTION

The test operation mode is designed for checking servo operation. Do not use it for actual operation.

If the servo motor operates unexpectedly, use EM2 (Forced stop 2) to stop it.

POINT

MR Configurator2 is required to perform single-step feed.

Test operation cannot be performed if SON (Servo-on) is not turned off.

The positioning operation can be performed in accordance with the point table No. or the program No. set by

MR Configurator2.

Select the test operation/single-step feed from the menu of MR Configurator2. When the single-step feed window is displayed, input the following items and operate.

(a) (b)

(1-31) (1-16)

(c) (d) (e) (f)

(c) (d) (e) (f)

(1) Point table No. or program No. setting

Enter a point table No. in the input box (a) "Point table No.", or a program No. in the input box (b)

"Program No.".

(2) Forward/reverse the servo motor

Click "Operation Start" (c) to rotate the servo motor.

(3) Pause the servo motor

Click "Pause" (d) to temporarily stop the servo motor.

While the servo motor is temporarily stopped, click "Operation Start" (c) to restart the rotation of the travel remaining distance.

While the servo motor is temporarily stopped, click "Stop" (e) to clear the travel remaining distance.

(4) Stop the servo motor

Click "Stop" (e) to stop the servo motor. At this time, the travel remaining distance will be cleared. Click

"Operation Start" (c) to restart the rotation.

3 - 21


(5) Forced stop of the servo motor software

Click "Forced Stop" (f) to make an instantaneous stop. When "Forced Stop" is enabled, the servo motor does not drive even if "Operation Start" is clicked. Click "Forced Stop" again to enable "Operation Start" to be clicked.

(6) Switch to the normal operation mode

Before switching from the test operation mode to the normal operation mode, turn off the servo amplifier.

3 - 22


3.1.10 Teaching function

After an operation travels to a target position (MEND (Travel completion) is turned on) with a JOG operation or manual pulse generator operation, pushing the "SET" button of the operation area or turning on TCH

(Teach) will import the position data. This function is available only in the point table method. In other control modes, the display remains the same.

(1) Teaching preparation

Teaching setting initial display

Press the "SET" button for approximately 2 s to switch to the teaching setting mode.

When the lower three digits blink, press the "UP" or "DOWN" button to select the point table.

When the lower three digits blink, press the "SET" button to complete the teaching setting preparation. The upper two digits on the display will blink on completion of proper preparation

(2) Position data setting method

After an operation travels to a target position (MEND (Travel completion) is turned on) with a JOG operation or manual pulse generator operation, pushing the "SET" button of the operation part or turning on TCH (Teach) will set the positioning address as position data.

When the upper two digits blink, the current position is written to the selected point table by pressing the "SET" button.

When the upper two digits or the lower two digits blink, the display returns to the teaching setting initial screen by pressing the "MODE" button.

The following shows the conditions for when the teaching function operates.

(a) When the "positioning command method" of [Pr. PT01] is set to absolute value command method (_

_ _ 0)

(b) Home position return completion (ZP (Home position return completion) is turned on)

(c) While the servo motor is stopped (command output = 0, MEND (Travel completion) is turned on)

3 - 23


MEMO

3 - 24

4. HOW TO USE THE POINT TABLE



Switching power on for the first time MR-JE-_A section 4.1

POINT

For the mark detection function (Current position latch), refer to section 6.2.2.

For the mark detection function (Interrupt positioning), refer to section 6.2.3.

There are the following restrictions on the number of gear teeth on machine side

([Pr. PA06 Number of gear teeth on machine side]) and the servo motor speed

(N).

When CMX ≤ 2000, N < 3076.7 r/min

When CMX > 2000, N < (3276.7 - CMX)/10 r/min

When the servo motor is operated at a servo motor speed higher than the limit value, [AL. E3 Absolute position counter warning] will occur.

4 - 1


4.1 Startup

WARNING


Do not operate the switches with wet hands. Otherwise, it may cause an electric shock.

CAUTION

Before starting operation, check the parameters. Improper settings may cause some machines to operate unexpectedly.


During operation, never touch the rotor of the servo motor. Otherwise, it may cause injury.


4.1.1 Power on and off procedures

When the servo amplifier is powered on for the first time, the control mode is set to position control mode.

(Refer to section 4.2.1 of "MR-JE-_A Servo Amplifier Instruction Manual".)

This section provides a case where the servo amplifier is powered on after setting the positioning mode.

(1) Power-on

Switch the power on in the following procedure. Always follow this procedure at power-on.

1) Switch off SON (Servo-on).

2) Make sure that ST1 (Forward rotation start) and ST2 (Reverse rotation start) are off.

3) Turn on the power.

The display shows "PoS" and 2 s later shows data.

(2) Power-off

1) Switch off ST1 (Forward rotation start) and ST2 (Reverse rotation start).


3) Shut off the power.

4 - 2


4.1.2 Stop

Turn off SON (Servo-on) after the servo motor has stopped, and then switch the power off.

If any of the following situations occurs, the servo amplifier suspends and stops the operation of the servo motor.

Refer to section 3.10 of "MR-JE-_A Servo Amplifier Instruction Manual" for the servo motor with an electromagnetic brake.

Switch off SON (Servo-on).

Alarm occurrence

EM2 (Forced stop 2) off

The base circuit is shut off, and the servo motor coasts.

The servo motor decelerates to a stop. With some alarms; however, the dynamic brake operates to stop the servo motor. (Refer to chapter 8. (Note))

The servo motor decelerates to a stop with the command. [AL. E6 Servo forced stop warning] occurs. Refer to section 2.3 for EM1.

LSP (Forward rotation stroke end) off or LSN The servo motor stops immediately and will be servo locked. Operation in the

(Reverse rotation stroke end) off opposite direction is possible.

Note. Only a list of alarms and warnings is listed in chapter 8. Refer to "MELSERVO-JE Servo Amplifier Instruction Manual

(Troubleshooting)" for details of alarms and warnings.

4 - 3


4.1.3 Test operation

Before starting an actual operation, perform a test operation to make sure that the machine operates normally.

Refer to section 4.1 for how to power on and off the servo amplifier.

Test operation of the servo motor alone in JOG operation of test operation mode

In this step, confirm that the servo amplifier and the servo motor operate normally.

With the servo motor disconnected from the machine, use the test operation mode and check whether the servo motor rotates correctly at the slowest speed. For the test operation mode, refer to section 3.1.8 and 3.1.9 in this manual, and section 4.5.9 of "MR-JE-_A Servo Amplifier Instruction Manual".

Manual operation of the servo motor alone in test operation mode

In this step, confirm that the servo motor rotates correctly at the slowest speed in the manual operation mode.

Make sure that the servo motor rotates in the following procedure.

1) Switch on EM2 (Forced stop 2) and SON (Servo-on). When the servo amplifier is in a servo-on status, RD (Ready) switches on.

2) Switch on LSP (Forward rotation stroke end) and LSN (Reverse rotation stroke end).

3) When MD0 (Operation mode selection 1) is switched off from the

Test operation with the servo motor and machine connected

Automatic operation using the point table controller and ST1 (Forward rotation start) or ST2 (Reverse rotation start) is switched on in the manual operation mode, the servo motor starts rotating. Set a low speed to the point table at first, operate the servo motor, and check the rotation direction of the servo motor, etc. If the servo motor does not operate in the intended direction, check the input signal.

In this step, connect the servo motor with the machine and confirm that the machine operates normally with the commands from the controller.




3) When MD0 (Operation mode selection 1) is switched off from the controller and ST1 (Forward rotation start) or ST2 (Reverse rotation start) is switched on in the manual operation mode, the servo motor starts rotating. Set a low speed to the point table at first, operate the servo motor, and check the rotation direction of the machine, etc. If the servo motor does not operate in the intended direction, check the input signal. In the status display, check for any problems of the servo motor speed, load ratio, etc.

Check automatic operation from the controller.

4 - 4


4.1.4 Parameter setting

POINT

The following encoder cables are of four-wire type. When using any of these encoder cables, set [Pr. PC22] to "1 _ _ _" to select the four-wire type. Incorrect setting will result in [AL. 16 Encoder initial communication error 1].

MR-EKCBL30M-L

MR-EKCBL30M-H

MR-EKCBL40M-H

MR-EKCBL50M-H

Assign the following output devices to the CN1-23 pin with [Pr. PD24].


When you use the servo in the point table method, set [Pr. PA01] to "_ _ _ 6" (Positioning mode (point table method)). In the point table method, the servo can be used by merely changing the basic setting parameters

([Pr. PA _ _ ]) and the positioning control parameters ([Pr. PT _ _ ]) mainly.

As necessary, set other parameters.

The following table shows the necessary setting of [Pr. PA _ _ ] and [Pr. PT _ _ ] in the point table method.

Operation mode selection item Parameter setting Input device setting

Operation mode

[Pr. PA01] [Pr. PT04]

MD0

(Note 1)

DI0 to DI4

(Note 1, 2)

Automatic operation mode in point table method



Each positioning operation

Varying-speed operation

Automatic continuous operation

JOG operation


Dog type

Automatic continuous positioning operation

Count type

Data set type

Stopper type

Home position ignorance (servoon position as home position)



Dog cradle type




_ _ _ 6

_ _ _ 0

_ _ _ 1

_ _ _ 2

_ _ _ 3

_ _ _ 4

_ _ _ 5

_ _ _ 6

_ _ _ 7

_ _ _ 8

_ _ _ 9

_ _ _ A

On

Set the point table

No. (Refer to section

4.2.1 (2) (b).)

Off

Note 1. MD0: Operation mode selection 1, DI0 to DI4: Point table No. selection 1 to Point table No. selection 5


4 - 5


4.1.5 Point table setting

Set the data for operation to the point table. The following shows the items to be set.

Position data

Servo motor speed

Set the position data for movement.

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



M code

Set the acceleration time constant.

Set the deceleration time constant.

Dwell Set the waiting time when performing automatic continuous operation.

Auxiliary function Set when performing automatic continuous operation.

The first digit and the second digit of the M code are outputted in 4-bit binary respectively.

M code will be available in the future.

Refer to section 4.2.2 for details of the point table.

4.1.6 Actual operation

Start actual operation after confirmation of normal operation by test operation and completion of the corresponding parameter settings.

4.1.7 Troubleshooting at start-up

CAUTION


POINT

Using MR Configurator2, you can refer to the reason for rotation failure, etc.

The following faults may occur at start-up. If any of such faults occurs, take the corresponding action.

"MR-JE-_A" means "MR-JE-_A Servo Amplifier Instruction Manual".

Fault

The 7-segment LED display does not turn on.

The 7-segment LED display blinks.

Alarm occurs.

Not solved even if CN1, CN2, and

CN3 connectors are disconnected.

1. Power supply voltage fault

2. The servo amplifier is malfunctioning.

Solved when CN1 connector is disconnected.


Power supply of CN1 cabling is shorted.

1. Power supply of encoder cabling is shorted.

2. Encoder is malfunctioning.



Refer to chapter 8 and remove the cause.

2 Switch on SON

(Servo-on).

Alarm occurs.

Servo motor shaft is not servo-locked.

(Servo motor shaft is free.)


1. Check the display to see if the servo amplifier is ready to operate.

2. Check the external I/O signal indication (section 3.1.7) to see if SON (Servo-on) is on.

1. SON (Servo-on) is not input.

(wiring mistake)

2. 24 V DC power is not supplied to DICOM.

Chapter 8

(Note)

Chapter 8

(Note)

Section

3.1.7

4 - 6


Fault

3 Perform a home position return.

4 Switch on ST1

(Forward rotation start) or ST2

(Reverse rotation start).

Servo motor does not rotate.

The home position return is not completed.

Servo motor does not rotate. fluctuations) are large at low speed.

Check the on/off status of the input signal with the external I/O signal display. (Refer to section

3.1.7.)

Check [Pr. PA11 Forward rotation torque limit] and [Pr.

PA12 Reverse rotation torque limit].

When TLA (Analog torque limit) is usable, check the input voltage on the status display.

Check the on/off status of input signal DOG with the external I/O signal display. (Refer to section

3.1.7.)

Check the on/off status of the input signal with the external I/O signal display (section 3.1.7).

LSP, LSN, and ST1 are off.

Torque limit level is too low for the load torque.


The proximity dog is set incorrectly.


Check [Pr. PA11 Forward rotation torque limit] and [Pr. PA12

Reverse rotation torque limit].




Gain adjustment fault Make gain adjustment in the following procedure.

1. Increase the auto tuning response level.

2. Repeat acceleration and deceleration several times to complete auto tuning.

Large load inertia moment causes the servo motor shaft to

If the servo motor may be driven with safety, repeat acceleration and deceleration three times or

Gain adjustment fault oscillate side to side. more to complete the auto tuning.



Section

3.1.7

Section

7.2.1

Section

3.1.2

Section

3.1.7

Section

3.1.7

Section

7.2.1

Section

3.1.2

MR-JE-_A

Chapter 6

MR-JE-_A

Chapter 6

4 - 7


4.2 Automatic operation mode

4.2.1 Automatic operation mode

(1) Command method

Set point tables in advance, and select any point table by using an input signal or RS-422/RS-485 communication. Start the operation using ST1 (Forward rotation start) or ST2 (Reverse rotation start).

Absolute value command method and incremental value command method are available in automatic operation mode.

(a) Absolute value command method

As position data, set the target address to be reached.

1) mm, inch, and pulse unit

Setting range: -999999 to 999999 [×10 STM μ m] (STM = Feed length multiplication [Pr. PT03])

-999999 to 999999 [×10 (STM-4) inch] (STM = Feed length multiplication [Pr. PT03])

-999999 to 999999 [pulse]

-999999 999999

Setting range of the position data

[×10 STM μ m] / [×10 (STM-4) inch] / [pulse]

2) Degree unit

Set the target position by indicating the CCW direction with a "+" sign and the CW direction with a

"-" sign.

In the absolute value command method, the rotation direction can be specified with a "+" or "-" sign.

An example of setting is shown below.

0

(-360)

Coordinate system in degrees

The coordinate is determined by referring to the position

90

(-270)

Setting range of the position data

[degree]

270

(-90) of 0 degree.

+ direction: 0 → 90 → 180 → 270 → 0

- direction: 0 → -90 → -180 → -270 → -360

The positions of 270 degrees and -90 degrees are the same.

The positions of 0 degree, 360 degrees and -360 degrees are the same.

180

(-180)

The travel direction to the target position is set with [Pr. PT03].

[Pr. PT03] setting

_ 0 _ _

_ 1 _ _

Servo motor rotation direction

The servo motor rotates to the target position in a direction specified with a sign of the position data.

The servo motor rotates from the current position to the target position in the shorter direction.

If the distances from the current position to the target position are the same for CCW and CW, the servo motor rotates in the CCW direction.

4 - 8

4. HOW TO USE THE POINT TABLE a) When using the Rotation direction specifying ([Pr. PT03] = "_ 0 _ _")

When the position data of 270.000 degrees is specified, the servo motor rotates in the CCW direction.

Target position

(270)

Current position

When the position data of -90.000 degrees is specified, the servo motor rotates in the CW direction.

Target position

(-90)

Current position

When the position data of -360.000 degrees is specified, the servo motor rotates in the CW direction. (A)

When the position data of 360.000 degrees or 0 degree is specified, the servo motor rotates in the CCW direction. (B)

Target position

(-360)

(B)

(A)

Current position

4 - 9

4. HOW TO USE THE POINT TABLE b) When using the shortest rotation specification ( [Pr. PT03] = _ 1 _ _)

When the position data of 270.000 degrees is specified, the servo motor rotates in the CCW direction.

Target position

(270)

Current position

When the position data of -90.000 degrees is specified, the servo motor rotates in the CCW direction.

Target position

(-90)

Current position

If the position data of 270.000 degrees is specified when the current position is at 90, the distances in the CCW and CW are the same. In such a case, the servo motor rotates in the

CCW direction.

Current position

(90)

Target position

(270)

4 - 10


(b) Incremental value command method

As position data, set the travel distance from the current address to the target address.

1) mm, inch, and pulse unit

Setting range: 0 to 999999 [×10 STM μ m] (STM = Feed length multiplication [Pr. PT03])

0 to 999999 [×10 (STM-4) inch] (STM = Feed length multiplication [Pr. PT03])

0 to 999999 [pulse]

Current address Target address

Position data = |Target address - Current address|

2) Degree unit

Current address

80 degrees

0 degree

Position data = Target address - Current address

Here, Travel distance = -170 degrees

Target address

270 degrees

4 - 11


(2) Point table

(a) Point table setting

1 to 31 point tables can be set. To use point table No. 4 to 31, enable DI2 (Point table No. selection

3) to DI4 (Point table No. selection 5) with "Device Setting" on MR Configurator2.

Set point tables using MR Configurator2 or the operation section of the servo amplifier.

The following table lists what to set. Refer to section 4.2.2 for details of the settings.

Position data

Servo motor speed

Set the position data for movement.



M code



Dwell


Set the waiting time when performing automatic continuous operation.

Auxiliary function Set when performing automatic continuous operation.

The first digit and the second digit of the M code are outputted in 4-bit binary respectively.


(b) Selection of point tables

Using the input signal or the communication function, select the point table No. with the communication command from the controller such as a personal computer.

The following table lists the point table No. selected in response to the input signal and the communication command.

However, when using the input signal to select the point table No., you can only use point table No. 1 to 3 in the initial status.

To use point table No. 4 to 31, enable DI2 (Point table No. selection 3) to DI4 (Point table No. selection 5) with "Device Setting" on MR Configurator2.

When using the communication function to select the point table No., refer to chapter 10.

Input signal (Note 1)

DI4

(Note 2)

Selected point table No.

0 0 0 0 1

0 0 0 1 0

0 0 0 1 1

0 0 1 0 0

1 1 1 1 0

1 1 1 1 1

1

2

3

4

30

31

Note 1. 0: Off

1: On


4 - 12


4.2.2 Automatic operation using point table

(1) Absolute value command method

This method allows to select absolute value command or incremental value command with the auxiliary function of the point table.

(a) Point table

Set the point table values using MR Configurator2 or the operation section.

Set the position data, servo motor speed, acceleration time constant, deceleration time constant, dwell, auxiliary function, and M code to the point table.

To use the point table with the absolute value command method, set "0", "1", "8", or "9" to the auxiliary function. To use the point table with the incremental value command method, set "2", "3",

"10", or "11" to the auxiliary function.

When you set a value outside the setting range to the point table, the set value will be clamped with the maximum or minimum value. If the value becomes out of the range because of the changes in the command unit or the connected servo motor, [AL. 37] will occur.

Servo motor speed

0 to permissible speed

10

10

STM

(STM-4)

μ m

inch

10 -3 degree pulse

(Note 2) r/min

Description

(1) When using this point table with the absolute value command method

Set the target address (absolute value).

The teaching function is also available for setting this value.

(2) When using this point table with the incremental value command method

Set the travel distance. A "-" sign indicates a reverse rotation command.

The teaching function is not available. When teaching is executed, the setting will not be completed.


The setting value must be the permissible instantaneous speed or less of the servo motor used.

Acceleration time constant 0 to 20000

Deceleration time constant 0 to 20000 ms ms



Dwell

Auxiliary function

0 to 20000

0 to 3, 8 to 11 ms

Set the dwell.

To disable the dwell, set "0" or "2" to the auxiliary function.

To perform a continuous operation, set "1", "3", "8", "9", "10", or "11" to the auxiliary function and "0" to the dwell.

When the dwell is set, a positioning of the next point table will be started after the positioning of the selected data is completed, and the set dwell has elapsed.

Set the auxiliary function.

(1) When using this point table with the absolute value command method





(2) When using this point table with the incremental value command method





When an opposite rotation direction is set, the servo motor rotates in the opposite direction after smoothing zero (command output) is confirmed.

Setting "1" or "3" to point table No. 31 results in an error.

For details, refer to (3) (b) in this section.

M code 0 to 99



Note. The setting range of the position data in degrees is -360.000 to 360.000. When the unit of the position data is μ m or inch, the location of the decimal point is changed according to the STM setting.

4 - 13


(b) Parameter setting

Set the following parameters to perform automatic operation.

1) Command method selection ([Pr. PT01])

Select the absolute value command method as shown below.

[Pr. PT01]

0


2) Rotation direction selection ([Pr. PA14])

Select the servo motor rotation direction when ST1 (Forward rotation start) is switched on.

[Pr. PA14] setting

0

1

Servo motor rotation direction when ST1

(Forward rotation start) 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

Set the unit of the position data.

[Pr. PT01] setting

_ 0 _ _

_ 1 _ _

_ 2 _ _

_ 3 _ _

Position data unit mm inch degree pulse

4) Feed length multiplication ([Pr. PT03])

Set the feed length multiplication factor (STM) of the position data.

[Pr. PT03] setting

Position data input range

[mm] [degree] (Note 1) [pulse] (Note 1)

_ _ _ 0 - 999.999 to + 999.999 - 99.9999 to + 99.9999

_ _ _ 1

_ _ _ 2

- 9999.99 to + 9999.99

- 99999.9 to + 99999.9

- 999.999 to + 999.999

- 9999.99 to + 9999.99

- 360.000 to + 360.000

(Note 2)

_ _ _ 3 - 999999 to + 999999 - 99999.9 to + 99999.9

Note 1. The feed length multiplication setting ([Pr. PT03]) is not applied to the unit multiplication factor.

- 999999 to + 999999

Adjust the unit multiplication factor in the electronic gear setting ([Pr. PA06] and [Pr. PA07]).

2. The "-" sign has different meanings under the absolute value command method and the incremental value command method.


4 - 14


(c) Operation

Selecting DI0 to DI4 for the point table and switching on ST1 starts positioning to the position data at the set speed, acceleration time constant and deceleration time constant. At this time, ST2 (Reverse rotation start) is disabled.

Item Device to be used

Automatic operation mode selection MD0 (Operation mode selection 1)

Point table selection

Start

DI0 (Point table No. selection 1)





ST1 (Forward rotation start)

Setting

Switch on MD0.

Refer to section 4.2.1 (2) (b).

Switch on ST1 to start.

(2) Incremental value command method

(a) Point table

Set the point table values using MR Configurator2 or the operation section.

Set the position data, servo motor speed, acceleration time constant, deceleration time constant, dwell, auxiliary function, and M code to the point table.

When you set a value outside the setting range to the point table, the set value will be clamped with the maximum or minimum value. If the value becomes out of the range because of the changes in the command unit or the connected servo motor, [AL. 37] will occur.

Description

Position data 0 to 999999 (Note)

Servo motor speed


×10 STM μ m

×10 (STM-4) inch

×10 -3 degree pulse r/min

Set the travel distance.

The teaching function is not available. When teaching is executed, the setting will not be completed.

The unit can be changed by [Pr. PT03] (Feed length multiplication).





0 to 20000

0 to 20000 ms ms



Dwell

Auxiliary function

0 to 20000

0, 1, 8, 9 ms

Set the dwell.

To disable the dwell, set "0" to the auxiliary function.

To perform varying-speed operation, set "1", "8" or "9" to the auxiliary function and "0" to the dwell.

When the dwell is set, a positioning of the next point table will be started after the positioning of the selected data is completed, and the set dwell has elapsed.

Set the auxiliary function.





Setting "1" to point table No. 31 results in an error.

For details, refer to (3) (b) in this section.

M code 0 to 99



Note. The setting range of the position data in degrees is 0 to 999.999. When the unit of the position data is μ m or inch, the location of the decimal point is changed according to the STM setting.

4 - 15


(b) Parameter setting

Set the following parameters to perform automatic operation.

1) Command method selection ([Pr. PT01])

Select the incremental value command method as shown below.

[Pr. PT01]

1


2) Rotation direction selection ([Pr. PA14])

Select the servo motor rotation direction when ST1 (Forward rotation start) or ST2 (Reverse rotation start) is switched on.

[Pr. PA14] setting

0

1


ST1 (Forward rotation start) ST2 (Reverse rotation start)

CCW rotation (address increase)

CW rotation (address increase)

CW rotation (address decrease)

CCW rotation (address decrease)

ST1: on

CCW

CW

ST2: on

[Pr. PA14]: 0

Set the unit of the position data.

[Pr. PT01] setting

_ 0 _ _

_ 1 _ _

_ 2 _ _

_ 3 _ _

Position data unit mm inch degree pulse

4) Feed length multiplication ([Pr. PT03])



[Pr. PT03] setting

_ _ _ 0

_ _ _ 1

_ _ _ 2

0 to + 999.999

0 to + 9999.99

0 to + 99999.9

0 to + 99.9999

0 to + 999.999

0 to + 9999.99

0 to + 999.999

_ _ _ 3 0 to + 999999 0 to + 99999.9

Note. The feed length multiplication setting ([Pr. PT03]) is not applied to the unit multiplication factor.

Adjust the unit multiplication factor in the electronic gear setting ([Pr. PA06] and [Pr. PA07]).

ST2: on

CCW

CW

ST1: on

[Pr. PA14]: 1

[pulse] (Note)

0 to + 999999

4 - 16


(c) Operation

Selecting DI0 to DI4 for the point table and switching on ST1 starts a forward rotation of the motor over the travel distance of the position data at the set speed, acceleration time constant and deceleration time constant.

Switching on ST2 starts a reverse rotation of the motor in accordance with the values set to the selected point table.

When the positioning operation is performed consecutively with the incremental value command method, the servo motor rotates in the same direction only.

To change the travel direction during the continuous operation, perform the operation with the absolute value command method.

Item Device to be used Setting

Automatic operation mode selection MD0 (Operation mode selection 1) Switch on MD0.

Point table selection

Start







ST2 (Reverse rotation start)

Refer to section 4.2.1 (2) (b).



4 - 17


(3) Automatic operation timing chart

(a) Automatic individual positioning operation

1) Absolute value command method ([Pr. PT01] = _ _ _ 0)

While the servo motor is stopped under servo-on state, switching on ST1 (Forward rotation start) starts the automatic positioning operation.

The following shows a timing chart.

MD0

(Operation mode selection 1)

SON (Servo-on)

ST1

(Forward rotation start)

ST2

(Reverse rotation start)

ON

OFF

ON

OFF

ON

OFF

ON

OFF

(Note 1)

3 ms or longer

5 ms or longer

3 ms or longer

5 ms or longer

Point table No.

1

3 ms or shorter

2

Servo motor speed

Forward rotation

0 r/min

Reverse rotation

INP (In-position)

CPO (Rough match)

MEND

(Travel completion)

PT0 (Point table No.

output 1) to PT4 (Point table No. output 5)

(Note 2)

ON

OFF

ON

OFF

ON

OFF

RD (Ready)

ALM (Malfunction)

ON

OFF

ON

OFF

M code output (Note 3)

Point table No. 1

1

Point table No. 2

M code of point table No. 1

2

Note 1. The detection of external input signals is delayed by the set time in the input filter setting of [Pr. PD29].

Considering the output signal sequence from the controller and signal variations due to hardware, configure a sequence that changes the point table selection earlier.

2. For MR-JE-_A servo amplifiers, up to four points of DO are available; therefore, PT0 to PT4 cannot be outputted simultaneously.

3. M code will be available in the future.

4 - 18



While the servo motor is stopped under servo-on state, switching on ST1 (Forward rotation start) or ST2 (Reverse rotation start) starts the automatic positioning operation.

The following shows a timing chart.

MD0


SON (Servo-on)

ST1


ST2


ON

OFF

ON

OFF

ON

OFF

ON

OFF

(Note 1)

3 ms or longer

5 ms or longer 3 ms or longer

Point table No.

1

3 ms or shorter

5 ms or longer

2

Servo motor speed

Forward rotation

0 r/min

Reverse rotation

Point table No. 1

Point table No. 2

INP (In-position)

CPO (Rough match)

MEND

(Travel completion)

PT0 (Point table No.

output 1) to PT4 (Point table No. output 5)

(Note 2)

ON

OFF

ON

OFF

ON

OFF

RD (Ready)

ALM (Malfunction)

ON

OFF

ON

OFF


1

M code of point table No. 1

2

Note 1. The detection of external input signals is delayed by the set time in the input filter setting of [Pr. PD29].

Considering the output signal sequence from the controller and signal variations due to hardware, configure a sequence that changes the point table selection earlier.



4 - 19


(b) Automatic continuous positioning operation

By merely selecting a point table and switching on ST1 (Forward rotation start) or ST2 (Reverse rotation start), the operation can be performed in accordance with the point tables having consecutive numbers.


By specifying the absolute value command or the incremental value command in the auxiliary function of the point table, the automatic continuous operation can be performed.

The following shows how to set.

Dwell

1 or more

Point table setting

Auxiliary function

When the position data is absolute value When the position data is incremental value

1 3

Point table

No. a) Positioning in a single direction

The following shows an operation example with the set values listed in the table below.

In this example, point table No. 1 and No. 3 are set to the absolute value command method, and point table No. 2 the incremental value command method.

Position data

[10 STM μ m]

Servo motor speed [r/min]


[ms]


[ms]

Dwell [ms]

Auxiliary function

M code

(Note 2)

Note 1. Always set "0" or "2" to the auxiliary function of the last point table of the consecutive point tables.

0: When using the point table with the absolute value command method

2: When using the point table with the incremental value command method


Acceleration/deceleration time constant of point table No. 1

Acceleration/deceleration time constant of point table No. 2 Acceleration/deceleration time constant of point table No. 3

Servo motor speed

Forward rotation

0 r/min

Reverse rotation

Speed

(3000)

Dwell time

100 ms

Speed

(2000)

5.00

Speed (1000)

Dwell time

200 ms

Position address

0 5.00

10.00

15.00

15


ST1


ON

OFF

PT0 (Point table No. output 1) to PT4 (Point table No. output 5)

(Note 1)


1

Note 1. For MR-JE-_A servo amplifiers, up to four points of DO are available; therefore, PT0 to PT4 cannot be outputted simultaneously.


1

05

4 - 20


Point table

No. b) Positioning in the reverse direction midway



Position data

[10 STM μ m]



[ms]


[ms]

Dwell [ms]

Auxiliary function

M code

(Note 2)

Position address

0

15

Note. 1. Always set "0" or "2" to the auxiliary function of the last point table of the consecutive point tables.





Acceleration/deceleration time constant of point table

No. 2

Servo motor speed

Forward rotation

0 r/min

Reverse rotation

Speed

(3000)

Dwell time

100 ms

5.00

Speed

(2000)

Dwell time

200 ms

Speed (1000)

7.00


8.00

12.00


ST1


ON

OFF


(Note 1)


1

1

05



4 - 21


Point table

No. c) Position data in degrees


In this example, point table No. 1, No. 2, and No. 4 are set to the absolute value command method, and point table No. 3 the incremental value command method.

Position data

[degree]



[ms]


[ms]

Dwell [ms]

Auxiliary function

M code

(Note 2)

2 150

20





0

40

(-320)

0

120

(-240)

40

(-320)

0

230

120

(-240)

70

(-290)

0

Servo motor speed

Forward rotation

0 r/min

Reverse rotation

170

(-190)

Point table No. 1

Point table No. 3

Point table No. 2


ST1


ON

OFF


(Note 1)


1

170

(-190)

Point table No. 4

1

05



4 - 22


2) Incremental value command method ([Pr. PT01] = _ _ _ 1)

The position data of the incremental value command method is the sum of the position data of consecutive point tables.

The following shows how to set.

Point table setting

1 or more 1

Point table



Position data

[10 STM μ m]



[ms]


[ms]

Dwell [ms]

Auxiliary function

M code

(Note 2)

15

Note 1. Always set "0" to the auxiliary function of the last point table among the consecutive point tables.





Speed

(2000) Speed (1000)

Servo motor speed

Forward rotation

0 r/min

Reverse rotation

Speed

(3000)

6.00

3.00

Position address

0 5.00

11.00

14.00


ST1


(Note 1)

ON

OFF


(Note 2)


1

Note 1. Switching on ST2 (Reverse rotation start) starts positioning in the reverse rotation direction.



1

05

4 - 23


Point table

No. b) Position data in degrees


Position data

[degree]



[ms]


[ms]

Dwell [ms]

Auxiliary function

M code

(Note 2)

0 (Note 1) 15





0

Servo motor speed


Forward rotation

0 r/min

Reverse rotation

ST1


ON

OFF


(Note 1)


120

Point table

No. 1

120

(-240)

60 90

180

(-180)

Point table

No. 2

Point table No. 1

Point table No. 2

Point table

No. 3

270

(-90)

Point table No. 3

1

1

05



4 - 24


(c) Varying-speed operation

By setting the auxiliary function of the point table, the servo motor speed during positioning can be changed. Point tables are used by the number of the set speed.


Set "1" or "3" to the auxiliary function to execute the positioning at the speed set in the following point table.

At this time, the position data selected at start is enabled, and the acceleration/deceleration time constant set in the next and subsequent point tables is disabled.

By setting "1" or "3" to sub functions until point table No. 30, the operation can be performed at maximum 31 speeds.

Always set "0" or "2" to the auxiliary function of the last point table.

To perform varying-speed operation, always set "0" to the dwell.

Setting "1" or more enables the automatic continuous positioning operation.

The following table shows an example of setting.

Point table No. Dwell [ms] (Note 1) Auxiliary function Varying-speed operation

1 0 1

3 Disabled 0 (Note 2)

4 0 3

6 Disabled

Note 1. Always set "0".

2 (Note 2) consecutive point tables.

4 - 25


Point table




Position data

[10 STM μ m]



[ms]


[ms]

Dwell [ms]

(Note 1)

Auxiliary function

M code

(Note 3)

2000 Disabled

Disabled 2 (Note 2)






(100) of point table No. 1

Speed

(2000)


(150) of point table No. 1

Speed

(1000)

Servo motor speed

Forward rotation

0 r/min

Reverse rotation

Speed

(3000)

Position address

0 5.00

3.00

8.00

10.00

6.00

20

Speed

(500)

16.00


ST1


ON

OFF


(Note 1)


1

1

05



4 - 26


Point table

No. b) Positioning in the reverse direction midway



Position data

[10 STM μ m]



[ms]


[ms]

Dwell [ms]

(Note 1)

Auxiliary function

M code

(Note 3)

2000

15





Acceleration time constant of point table No. 1 (100)

Deceleration time constant of point table No. 1 (150)

Servo motor speed

Forward rotation

0 r/min

Reverse rotation

Position address

0

Speed

(3000)

5.00

Speed

(2000)

7.00

8.00

Speed (1000)


12.00


ST1


ON

OFF


(Note 1)


1

1

05



4 - 27



Setting "1" to the auxiliary function executes positioning at the speed set in the following point table.

At this time, the position data selected at start is enabled, and the acceleration/deceleration time constant set in the next and subsequent point tables is disabled.

By setting "1" to sub functions until point table No. 30, the operation can be performed at maximum 31 speeds.

Always set "0" to the auxiliary function of the last point table.

To perform varying-speed operation, always set "0" to the dwell.

Setting "1" or more enables the automatic continuous positioning operation.

The following table shows an example of setting.

Point table No. Dwell [ms] (Note 1) Auxiliary function Varying-speed operation

1 0 1

3 Disabled 0 (Note 2)

4 0 1

6 Disabled


2. consecutive point tables.

0 (Note 2)

Point table

No.


Position data

[10 STM μ m]



[ms]


[ms]

Dwell [ms]

(Note 1)

Auxiliary function

M code

(Note 3)


2000

1000

Disabled 0 (Note 2) 20


4 - 28



Servo motor speed

Forward rotation

0 r/min

Reverse rotation

Speed

(3000)

Speed

(2000)


Speed

(1000)

Position address

0

5.00

5.00

3.00

2.00

8.00

10.00

6.00

Speed

(500)

16.00


ST1


ON

OFF


(Note 1)


1

1

05



(d) Automatic repeat positioning operation

By setting the auxiliary function of the point table, the operation pattern of the set point table No. can be returned to, and the positioning operation can be performed repeatedly.


Setting "8" or "10" to the auxiliary function performs an automatic continuous operation or a varying-speed operation until that point table, and after the completion of positioning, performs the operation again from the operation pattern of the point table No. used at start-up.

Setting "9" or "11" to the auxiliary function performs an automatic continuous operation or a varying-speed operation until that point table, and after the completion of positioning, performs the operation again from the operation pattern of point table No. 1. a) Automatic repeat positioning operation by absolute value command method

Example 1. Operations when "8" is set to the auxiliary function of point table No. 4

Point table

No.

Position data

[10 STM μ m]



[ms]


[ms]

Dwell [ms]

Auxiliary function

M code

(Note)

Note. M code will be available in the future.

4 - 29


Operation sequence

1) Starting with point table No. 2

2) Executing point table No. 3


4) Executing again point table No. 2 used at start-up when "8" is set to the auxiliary function of point table No. 4

5) Repeating the above execution in the sequence of 2) to 3) to 4) to 2) to 3) to 4)

Point table No. 2 Point table No. 3

1)

2)

Servo motor speed

Forward rotation

0 r/min

Reverse rotation

Speed

(3000)

Speed

(2000)

Point table No. 4

3)

Speed (1000)

Speed

(3000)

4)

Point table No. 2

5.00

Position address

0 5.00

10.00

15.00


ST1


ON

OFF


(Note 1)

M code output (Note 1, 2)

2

Note 1. PT0 to PT4 and M code are not outputted in automatic continuous operation.


Point table

No.


Position data

[10 STM μ m]



[ms]


[ms]

Dwell [ms]

Auxiliary function

M code

(Note)


4 - 30


Operation sequence



3) Executing point table No. 1 when "9" is set to the auxiliary function of point table No. 3


Point table No. 2

Point table No. 3

Servo motor speed

Forward rotation

0 r/min

Reverse rotation

1)

Speed

(2000)

2)

Speed (1000)

Speed

(3000)

3)

Point table No. 1

5.00

Position address

0 5.00

15.00


ST1


ON

OFF


(Note 1)


2


2. M code will be available in the future. b) Automatic repeat positioning operation by incremental value command method


Point table

No.

Position data

[10 STM μ m]



[ms]


[ms]

Dwell [ms]

Auxiliary function

M code

(Note)

1 4.00 1500 200 100 150 1 01


4 - 31


Servo motor speed

Operation sequence





5) Repeating the above execution in the sequence of 1) to 2) to 3) to 4) to 2) to 3) to 4)

Point table No. 2 Point table No. 3 Point table No. 2

Forward rotation

0 r/min

Reverse rotation

1)

Speed

(3000)

2)

Speed

(2000)

Point table No. 4

3)

Speed (1000)

Speed

(2000)

Speed

(3000)

4)

2)

Point table No. 3

5.00

5.00

5.00

Position address

0 5.00

10.00

15.00


ST1


ON

OFF


(Note 1)


2




Point table

No.

Position data

[10 STM μ m]



[ms]


[ms]

Dwell [ms]

Auxiliary function

M code

(Note)


4 - 32


Servo motor speed

Operation sequence





Point table No. 2 Point table No. 1

Forward rotation

0 r/min

Reverse rotation

Speed

(2000)

1)

Point table No. 3

2)

Speed (1000)

Speed

(2000)

1)

Speed

(3000)

3)

Point table No. 2

5.00

5.00

Position address

0 10.00

15.00


ST1


ON

OFF


(Note 1)


2


2. M code will be available in the future. c) Varying-speed operation by absolute value command method

Example. Operations when "8" is set to the auxiliary function of point table No. 3

Point table

No.

Position data

[10 STM μ m]



[ms]


[ms]

Dwell [ms]

Auxiliary function

M code

(Note)


4 - 33


Operation sequence


2) Varying the speed and executing point table No. 2


4) Executing point table No. 1 used at start-up in CW direction when "8" is set to the auxiliary function of point table No. 3


Servo motor speed


1)

Forward rotation

0 r/min

Reverse rotation

Speed

(3000)

Point table No. 1


Point table No. 2

Point table No. 3

2)

Speed

(2000) Speed (1000)

3)

Speed

(3000) 4)

Position address

0


5.00

5.00

10.00


15.00


ST1


ON

OFF


(Note 1)


1



Point table

No. d) Varying-speed operation by incremental value command method


Position data

[10 STM μ m]



[ms]


[ms]

Dwell [ms]

Auxiliary function

M code

(Note)


4 - 34


Servo motor speed

Operation sequence




4) Varying the speed, and executing point table No. 1 when "10" is set to the auxiliary function of point table No. 3




Point table No. 1

Point table No. 2

Point table No. 3

Forward rotation

0 r/min

Reverse rotation

1)

Speed

(3000)

Point table No. 1

2)

Speed

(2000)


Speed (1000)

Speed

(2000)

3)

2)

Speed

(3000)

4)

5.00

Point table No. 2

5.00


5.00

Position address

0 5.00

10.00

15.00


ST1


ON

OFF


(Note 1)


1




Setting "8" to the auxiliary function performs automatic continuous operation or varying-speed operation until that point table, and after the completion of positioning, performs the operation again from the operation pattern of the set point table.

Setting "9" to the auxiliary function performs automatic continuous operation or varying-speed operation until that point table, and after the completion of positioning, performs the operation again from the operation pattern of point table No. 1. b) Automatic repeat positioning operation by incremental value command method


Point table

No.

Position data

[10 STM μ m]



[ms]


[ms]

Dwell [ms]

Auxiliary function

M code

(Note)


4 - 35


Servo motor speed

Operation sequence




4) Repeating the above execution in the sequence of 1) to 2) to 3) to 2) to 3)

Point table No. 2

3)

Forward rotation

0 r/min

Reverse rotation

1)

Speed

(3000)

2)

Speed

(2000)

Speed

(3000)

2)

Speed

(2000)

5.00

Point table No. 3

6.00

5.00

Position address

0 5.00

11.00

16.00


ST1


ON

OFF


(Note 1)


2




Point table

No.

Position data

[10 STM μ m]



[ms]


[ms]

Dwell [ms]

Auxiliary function

M code

(Note)

1 5.00 3000 100 150 100 1 05

2 6.00 2000 150 200 200 9 10


4 - 36


Servo motor speed

Operation sequence



3) Repeating the above execution in the sequence of 1) to 2) to 1) to 2)

Point table No. 1

Forward rotation

0 r/min

Reverse rotation

1)

Speed

(2000)

Point table No. 2

6.00

2)

Speed

(3000)

5.00

1)

Speed

(2000)

6.00

2)

Speed

(3000)

Position address

0 6.00

11.00

17.00


ST1


ON

OFF


(Note 1)


2


2. M code will be available in the future. b) Varying-speed operation by incremental value command method


Point table

No.

Position data

[10 STM μ m]



[ms]


[ms]

Dwell [ms]

Auxiliary function

M code

(Note)

1 5.00 3000 100 150 0 1 05


4 - 37


Servo motor speed

Operation sequence




4) Repeating the above execution in the sequence of 1) to 2) to 3) to 2) to 3)

Point table No. 1

3)

Forward rotation

0 r/min

Reverse rotation

1)

Speed

(3000)

2)

Speed

(2000)

Speed

(3000)

2)

Speed

(2000)

5.00

Point table No. 2

6.00

5.00

Position address

0 5.00

11.00

16.00


ST1


ON

OFF


(Note 1)


1



4 - 38


(e) Temporary stop/restart

When TSTP (Temporary stop/restart) is switched on during automatic operation, the servo motor decelerates with the deceleration time constant of the point table being executed, and then stops temporarily.

Switching on TSTP (Temporary stop/restart) again starts the servo motor rotation for the remaining travel distance.

During a temporary stop, ST1 (Forward rotation start) or ST2 (Reverse rotation start) does not function even if it is switched on.

When any of the following conditions is satisfied during a temporary stop, the travel remaining distance is cleared.

The operation mode is switched from the automatic mode to the manual mode.

The servo motor enters the servo-off status.

The clear signal is input.


The temporary stop/restart input functions in the following states.

Operation status

During a stop

During acceleration

At a constant speed

During deceleration

During a temporary stop

Automatic operation

Manual operation


Pause

Pause

Restart

1) When the servo motor is rotating

Acceleration time constant of point table No. n

Deceleration time constant of point table No. n

Servo motor speed

Forward rotation

0 r/min

Reverse rotation

Point table

ST1 (Forward rotation start) or


TSTP (Temporary stop/restart)

PUS (Temporary stop)

CPO (Rough match)

INP (In-position)

ON

OFF

ON

OFF

MEND (Travel completion)


(Note)

ON

OFF

ON

OFF

ON

OFF

ON

OFF

No. n

Remaining distance

No. n

Note. For MR-JE-_A servo amplifiers, up to four points of DO are available; therefore, PT0 to PT4 cannot be outputted simultaneously.

4 - 39


2) During dwell

Servo motor speed

Forward rotation

0 r/min

Reverse rotation

Point table





ON

OFF

ON

OFF

ON

OFF

CPO (Rough match)

INP (In-position)

ON

OFF

ON

OFF



(Note)

ON

OFF

Point table No. n ta

Dwell = ta + tb tb

Point table No. n + 1

No. n

No. n


(f) Suspension of automatic operation

To suspend the automatic operation or change the operation pattern, stop the servo motor with

TSTP (Temporary stop/restart), switch off MD0 (Operation mode selection 1), and then set the mode to the manual mode. The travel remaining distance is cleared.

Point table No. n

Remaining distance

Servo motor speed

Forward rotation

0 r/min

Reverse rotation

Point table No.




ON

OFF

ON

OFF


MD0 (Operation mode selection)

ON

OFF

ON

OFF

No. n

Remaining distance clear

4 - 40


(g) Using a control unit of "degree"

1) Current position/command position address

The current position/command position address is of ring-address type.

359.999

359.999

0 0 0

2) Software limit activation/deactivation setting

POINT

After changing the "+" or "-" sign of an axis with the software limit activation setting, perform a home position return.

When activating the software limit in an incremental system, perform a home position return after power-on. a) Setting range

When the unit is set to "degree", the setting range of the software limit is from 0 degree (lower limit) to 359.999 degrees (upper limit).

When you set a value other than 0 degree to 359.999 degrees in [Pr. PT15] to [Pr. PT18], the set value is converted as follows. (It will be clamped between 0 degree and 359.999 degrees.)

Software limit value

360.000 degrees to 999.999 degrees

-0.001 degrees to -359.999 degrees


After conversion

The remainder of the set value divided by 360

The sum of the set value and 360

The sum of 360 and the quotient of the set value divided by 360 b) When the software limit is enabled

Set the software limit - ([Pr. PT17] and [Pr. PT18]) for the start position and the software limit +

([Pr. PT15] and [Pr. PT16]) for the end position.

The movable range is the section from - to + in the CCW direction.

0 0

CCW CCW

315 315

Section A

90 90

Section B

Set the movable range of section A as follows:

Software limit - … 315.000 degrees

Software limit + … 90.000 degrees

Set the movable range of section B as follows:

Software limit - … 90.000 degrees

Software limit + … 315.000 degrees

4 - 41

4. HOW TO USE THE POINT TABLE c) When the software limit is disabled

When deactivating the software limit, set the same values to the software limit - ([Pr. PT17] and [Pr. PT18]) and the software limit + ([Pr. PT15] and [Pr. PT16]).

Control can be performed independently of the software limit setting.

3) Position range output enabling/disabling setting a) Setting range

When the unit is set to "degree", the setting range of the position range output is from 0 degree

(lower limit) to 359.999 degrees (upper limit).

When you set a value other than 0 degree to 359.999 degrees in [Pr. PT19] to [Pr. PT22], the set value is converted as follows. (It will be clamped between 0 degree and 359.999 degrees.)

Position range output address After conversion

360.000 degrees to 999.999 degrees The remainder of the set value divided by 360



The sum of the set value and 360

The sum of 360 and the quotient of the set value divided by 360 b) Effective setting of position range output

Set the position range output address - ([Pr. PT21] and [Pr. PT22]) for the start position and the position range output address + ([Pr. PT19] and [Pr. PT20]) for the target position.

The movable range is the section from - to + in the CCW direction.

0 0

CCW CCW

315 315

Section A

90 90

Section B

Set the movable range of section A as follows:

Position range output address - … 315.000 degrees

Position range output address + … 90.000 degrees

Set the movable range of section B as follows:

Position range output address - … 90.000 degrees

Position range output address + … 315.000 degrees

4 - 42


4.3 Manual operation mode

For the machine adjustment, home position adjustment, and others, positioning to any point is possible using the JOG operation or the manual pulse generator.

4.3.1 JOG operation

(1) Setting

According to the purpose of use, set input devices and parameters as shown below. In this case, DI0

(Point table No. selection 1) to DI4 (Point table No. selection 5) are disabled.

Item Device/parameter to be used Setting

Manual operation mode selection

MD0 (Operation mode selection 1)

Servo motor rotation direction [Pr. PA14]

Switch off MD0.

Refer to (2) in this section.

Set the servo motor speed.

Acceleration time constant/Deceleration time constant

Point table No. 1

The acceleration/deceleration time constant of point table No. 1 is used.

(2) Servo motor rotation direction

[Pr. PA14] setting


ST1 (Forward rotation start) on ST2 (Reverse rotation start) on

1 CW rotation CCW rotation

ST1: on

CCW

ST2: on

CCW

CW

ST2: on

[Pr. PA14]: 0

CW

ST1: on

[Pr. PA14]: 1

(3) Operation

Switching on ST1 (Forward rotation start) performs the operation at the JOG speed set by a parameter and the acceleration/deceleration constant of point table No. 1. For the rotation direction, refer to (2) of this section. Switching on ST2 (Reverse rotation start) starts the rotation in the reverse direction of ST1

(Forward rotation start).

Simultaneously switching on or off ST1 (Forward rotation start) and ST2 (Reverse rotation start) stops the operation.

4 - 43


(4) Timing chart

SON (Servo-on)

RD (Ready)

ON

OFF

ON

OFF

ALM (Malfunction)

ON

OFF

MD0


ON

OFF

MEND

(Travel completion)

CPO (Rough match)

ON

OFF

ON

OFF

Servo motor speed

80 ms

Forward rotation

0 r/min

Reverse rotation

ST1

(Forward rotation direction)

ST2

(Reverse rotation direction)

ON

OFF

ON

OFF

Forward rotation JOG

Reverse rotation JOG

4 - 44


4.3.2 Manual pulse generator operation

(1) Setting

POINT

To enhance noise tolerance, set "_ 2_ _" to [Pr. PA13] when the command pulse frequency is 500 kpulses/s or less, or set "_3_ _" to [Pr. PA13] when the command pulse frequency is 200 kpulses/s or less.

According to the purpose of use, set input devices and parameters as shown below. In this case, DI0

(Point table No. selection 1) to DI4 (Point table No. selection 5) are disabled.

Item


Device/parameter to be used

MD0 (Operation mode selection 1) Switch off MD0.

Setting

Manual pulse generator multiplication

[Pr. PT03]

Set the multiplication factor for the pulses generated from the manual pulse generator.

For details, refer to (3) in this section.

Refer to (2) in this section. Servo motor rotation direction [Pr. PA14]

Command input pulse train input form

Pulse train filter selection

[Pr. PA13]

[Pr. PA13]


[Pr. PA14] setting

Set "_ _ _ 2" (A/B-phase pulse train).

Set other than "0" and "1".


Manual pulse generator operation: forward rotation

Manual pulse generator operation: reverse rotation

1 CW rotation CCW rotation

Forward rotation

CCW

CW

4 - 45


(3) Manual pulse generator multiplication

(a) Using the input signals (devices) for setting

In "Device setting" of MR Configurator2, set TP0 (Pulse generator multiplication 1) and TP1 (Pulse generator multiplication 2) to input signals.

TP1 (Pulse generator multiplication 2)

(Note)


(Note)

Servo motor rotation multiplication factor for manual pulse generator rotation amount

Travel distance

0 0 [Pr. PT03] setting enabled

0 1

1 0 10 0.01

Note. 0: Off

1: On

(b) Using the parameter for setting

Using [Pr. PT03], set the servo motor rotation multiplication to the rotation amount of the manual pulse generator.

Travel distance

[Pr. PT03] setting

Servo motor rotation multiplication to manual pulse generator rotation amount

_ _ 0 _

_ _ 1 _

_ _ 2 _

1 time

10 times

100 times

0.001

(4) Operation

Turning the manual pulse generator rotates the servo motor. For the rotation direction of the servo motor, refer to (2) in this section. When you turn the manual pulse generator during a JOG operation, the commands inputted from the manual pulse generator are adjusted by the commands of JOG operation.

4.4 Home position return mode

POINT

Before performing the home position return, make sure that the limit switch operates.

Check the home position return direction. An incorrect setting will cause a reverse running.

Check the input polarity of the proximity dog. Otherwise, it may cause an unexpected operation.

4 - 46


4.4.1 Outline of home position return

A home position return is performed to match the command coordinates with the machine coordinates. The home position return is required every time the input power is on.

This section shows the home position return methods of the servo amplifier. Select the optimum method according to the configuration and uses of the machine.

This servo amplifier has the home position return automatic retract function. When the machine stops beyond or on a proximity dog, this function automatically moves the machine back to the proper position to perform the home position return. Manual operation with JOG operation, etc. is unnecessary.

(1) Home position return types

Select the optimum home position return type according to the machine type or others.

Dog type

Count type

Type

Data set type

Stopper type

Deceleration starts from the front end of the proximity dog. A position of the first Z-phase signal after the rear end is passed or a position moved by the home position shift amount from the Z-phase signal is set as the home position.

Home position return method Feature

Typical home position return method using a proximity dog

The repeatability of the home position return is high.

The machine is less loaded.

Use this when the width of the proximity dog can be set equal to or greater than the deceleration distance of the servo motor.

Deceleration starts from the front end of the proximity dog. After the proximity dog is passed, the motor travels the specified travel distance. Then, the position specified by the first Z-phase signal, or the position of the first Z-phase signal shifted by the home position shift distance is used as the home position.

An arbitrary position is set as the home position.

This is a home position return method using a proximity dog.

Use this to minimize the length of the proximity dog.

A workpiece is pressed against a mechanical stopper, and the position where it is stopped is set as the home position.

No proximity dog is required.

Since the workpiece collides with the mechanical stopper, the home position return speed must be low enough.

The strength of the machine and stopper must be increased.



Servo-on position is set as the home position.



Dog cradle type




Deceleration starts from the front end of the proximity dog. After the rear end is passed, the position is shifted by the travel distance after proximity dog and the home position shift distance. The position after the shifts is set as the home position.

Deceleration starts from the front end of the proximity dog. A position moved by the moving amount after the proximity dog and the home position shift amount is set as the home position.

After the front end of the proximity dog is detected, the position specified by the first Z-phase signal is used as the home position.

After the front end of the proximity dog is detected, the position is shifted away from the proximity dog in the reverse direction. Then, the position specified by the first Z-phase signal or the position of the first Z-phase signal shifted by the home position shift distance is used as the home position.

Starting from the front end of the proximity dog, the position is shifted by the travel distance after proximity dog and the home position shift distance. The position after the shifts is used as the home position.

The position specified by the first Z-phase signal, or the position of the first Z-phase signal shifted by the home position shift distance is used as the home position.

The Z-phase signal is not required.



4 - 47


(2) Parameters for home position return

To perform the home position return, set each parameter as follows.

(a) Select the home position return type with [Pr. PT04 Home position return type].

0

[Pr. PT04]

0 0

Home position return method

0: Dog type (rear-end detection Z-phase reference)

1: Count type (front-end detection Z-phase reference)

2: Data set type

3: Stopper type

4: Home position ignorance (servo-on position as home position)

5: Dog type (rear-end detection, rear-end reference)

6: Count type (front-end detection, front-end reference)

7: Dog cradle type

8: Dog type (front-end detection, Z-phase reference)

9: Dog type (front-end detection, front-end reference)

A: Dogless type (Z-phase reference)

(b) Select the starting direction for the home position return with [Pr. PT04 Home position return type].

Setting "0" starts the home position return in a direction of increasing the address from the current position. Setting "1" starts the home position return in a direction of decreasing the address from the current position.

0

[Pr. PT04]

0 0

Home position return direction

0: Address increasing direction

1: Address decreasing direction

(c) Select the polarity where the proximity dog is detected with the DOG (Proximity dog) polarity selection of [Pr. PT29 Function selection T-3].

Setting "0" detects a proximity dog when DOG (Proximity dog) is switched off. Setting "1" detects a proximity dog when DOG (Proximity dog) is switched on.

0

[Pr. PT29]

0 0

DOG (Proximity dog) polarity selection

0: Detection with off

1: Detection with on

4 - 48


4.4.2 Dog type home position return

This is a home position return method using a proximity dog. Deceleration starts at the front end of the proximity dog. After the rear end is passed, the position specified by the first Z-phase signal, or the position of the first Z-phase signal shifted by the specified home position shift distance is used as the home position.

(1) Device/parameter

Set input devices and parameters as follows.


Switch on MD0.

Home position return mode selection


DI0 (Point table No. selection 1) to


Switch off DI0 to DI4.

Dog type home position return


[Pr. PT04]

[Pr. PT04]

_ _ _ 0: Select the dog type.

Dog input polarity [Pr. PT29]

Home position return speed [Pr. PT05]

Creep speed [Pr. PT06]

Home position shift distance [Pr. PT07]

Refer to section 4.4.1 (2) to select the home position return direction.

Refer to section 4.4.1 (2) to select the proximity dog input polarity.

Set the rotation speed specified until a dog is detected.

Set the rotation speed specified after a dog is detected.

Set this item to shift the home position, which is specified by the first Z-phase signal after the rear end of a proximity dog is passed.


Home position return position data

Point table No. 1

[Pr. PT08]


Set the current position at the home position return completion.

(2) Length of the proximity dog

To generate the Z-phase signal of the servo motor during the detection of DOG (Proximity dog), set the length of the proximity dog that satisfies equations (4.1) and (4.2).

L

1

≥

V

60

• td

2

··············································································································· (4.1)

L

1

: Length of the proximity dog

V: Home position return speed [mm/min] td: Deceleration time [s]

L

2

≥ 2 • ∆ S ··················································································································· (4.2)

L

2

: Length of the proximity dog

∆ S: Travel distance per servo motor revolution [mm]

4 - 49


(3) Timing chart

MD0


MEND

(Travel completion)

CPO (Rough match)

ZP

(Home position return completion)

ON

OFF

ON

OFF

ON

OFF

ON

OFF

Servo motor speed

Forward rotation

0 r/min

Reverse rotation


Home position return speed


Creep speed

3 ms or shorter td

Proximity dog

Home position shift distance

Home position


Z-phase

DOG (Proximity dog)

ST1


ST2


ON

OFF

ON

OFF

ON

OFF

ON

OFF

5 ms or longer

The setting value of [Pr. PT08 Home position return position data] is used as the position address at the home position return completion.

(4) Adjustment

For the dog type home position return, adjust the setting so that the Z-phase signal is always generated during the detection of a dog. Make an adjustment so that the rear end of DOG (Proximity dog) is positioned almost at the center between the positions specified by a Z-phase signal and the next Zphase signal.

The generation position of the Z-phase signal can be checked with "Position within one-revolution" of

"Status display" on MR Configurator2.

0 Resolution/2 0

Servo motor Z-phase

Proximity dog

4 - 50


4.4.3 Count type home position return

For the count type home position return, after the front end of a proximity dog is detected, the position is shifted by the distance set in [Pr. PT09 Travel distance after proximity dog]. Then, the position specified by the first Z-phase signal is used as the home position. Therefore, when the on-time of DOG (Proximity dog) is

10 ms or more, the length of the proximity dog has no restrictions. When the required proximity dog length for using the dog type home position return cannot be reserved, or when DOG (Proximity dog) is entered electrically from the controller or the like, use the count type home position return.




Switch on MD0.






Count type home position return


[Pr. PT04]

[Pr. PT04]

_ _ _ 0: Select the count type.






Refer to section 4.4.1 (2) to select the dog input polarity.



After the front end of a proximity dog is passed, the position is shifted by the travel distance and then is specified by the first Zphase signal. Set this item to shift the position of the first Z-phase signal.

Set the travel distance specified after the front end of the proximity dog is passed.

Travel distance after proximity dog



[Pr. PT09]

Point table No. 1

[Pr. PT08]



4 - 51


(2) Timing chart

MD0


MEND

(Travel completion)

CPO (Rough match)

ZP


Servo motor speed

ON

OFF

ON

OFF

ON

OFF

ON

OFF

Forward rotation

0 r/min

Reverse rotation




Creep speed

3 ms or shorter

Proximity dog




Home position

Z-phase

DOG (Proximity dog)

ST1


ST2


ON

OFF

ON

OFF

ON

OFF

ON

OFF

5 ms or longer


4 - 52


4.4.4 Data set type home position return

To set an arbitrary position as the home position, use the data set type home position return. The JOG operation, the manual pulse generator operation, and others can be used for the travel. The data set type home position return can be performed at servo-on only.




Switch on MD0.






Data set type home position return


[Pr. PT04]

[Pr. PT08]

_ _ _ 2: Select the data set type.


(2) Timing chart

SON (Servo-on)

MD0


MEND

(Travel completion)

CPO (Rough match)

ZP


ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

Home position return position data Servo motor speed

Forward rotation

0 r/min

Reverse rotation

ST1


ST2


ON

OFF

ON

OFF

3 ms or shorter

5 ms or longer

Travel to home position Execution of data set type home position return


4 - 53


4.4.5 Stopper type home position return

For the stopper type home position return, the home position is set where the workpiece is pressed against the stopper of the machine by using the JOG operation, the manual pulse generator operation, or others.




Switch on MD0.






Stopper type home position return


[Pr. PT04]

[Pr. PT04]

_ _ _ 3: Select the stopper type.


Stopper time

Stopper type home position return torque limit value

Acceleration time constant of home position return


[Pr. PT10]

[Pr. PT11]

Point table No. 1

[Pr. PT08]


Set the rotation speed until the workpiece is pressed against the mechanical stopper.

Set the time from when the home position data is obtained after the workpiece is pressed against the stopper until when ZP

(home position return completion) is outputted.

Set the servo motor torque limit value when executing the stopper type home position return.

The acceleration/deceleration time constant of point table No. 1. is used.

Set the current position when the home position return is complete.

4 - 54


(2) Timing chart

MD0


MEND

(Travel completion)

CPO (Rough match)

ZP


Servo motor speed

ON

OFF

ON

OFF

ON

OFF

ON

OFF

Forward rotation

0 r/min

Reverse rotation


ST1


ST2


TLC (Limiting torque)

ON

OFF

ON

OFF

ON

OFF

Torque limit value [Pr. PC35]


3 ms or shorter

5 ms or longer

Stopper time

[Pr. PT11] (Note 1)


Stopper

(Note 2)

[Pr. PC35]

Note 1. The following torque limits are enabled.

Input device (0: off, 1: on)

TL1 TL

0 0

0 1

TLA

1 0

Pr. PC35

Pr. PC35

1 1

TLA

Limit value status

> Pr. PT11

>

<

>

Pr. PT11

Pr. PT11

Pr. PT11

Enabled torque limit value

Pr. PT11

TLA

Pr. PT11

Pr. PC35

Pr. PT11

TLA

2. TLC turns on when a generated torque reaches a value set with any of [Pr. PA11 Forward rotation torque limit], [Pr. PA12

Reverse rotation torque limit], or [Pr. PC35 Internal torque limit 2].


4 - 55


4.4.6 Home position ignorance (servo-on position as home position)

POINT

When you perform this home position return, it is unnecessary to switch to the home position return mode.

Servo-on position is set as the home position.



Item Parameter to be used



[Pr. PT04]

[Pr. PT08]

(2) Timing chart

SON (Servo-on)

RD (Ready)

ON

OFF

ON

OFF

MEND

(Travel completion)

ON

OFF

CPO

(Rough match)

ZP


ON

OFF

ON

OFF

Setting

_ _ _ 4: Select the home position ignorance.



Servo motor speed

Forward rotation

0 r/min

Reverse rotation


4 - 56


4.4.7 Dog type rear end reference home position return

POINT

This home position return method depends on the timing of reading DOG

(Proximity dog) that has detected the rear end of a proximity dog. Therefore, when a home position return is performed at a creep speed of 100 r/min, the home position has an error of 200 pulses (for HG series servo motor). The higher the creep speed, the greater the error of the home position.

Deceleration starts from the front end of a proximity dog. After the rear end is passed, the position is shifted by the travel distance after proximity dog and the home position shift distance. The position after the shifts is set as the home position. The home position return is available independently of the Z-phase signal.

Changing the creep speed may change the home position.




Switch on MD0.






Dog type rear end reference home position return


Dog input polarity

Creep speed

[Pr. PT04]

[Pr. PT04]

[Pr. PT29]


[Pr. PT06]


[Pr. PT09]

_ _ _ 5: Select the dog type (rear end detection/rear end reference).





Set this to shift the home position, which is specified after the rear end of a proximity dog is passed.

Set the travel distance after the rear end of a proximity dog is passed.


Acceleration time constant/deceleration time constant of home position return


Point table No. 1

[Pr. PT08]



4 - 57


(2) Timing chart

MD0


MEND

(Travel completion)

CPO (Rough match)

ZP


ON

OFF

ON

OFF

ON

OFF

ON

OFF

Servo motor speed

Forward rotation

0 r/min

Reverse rotation




Creep speed

3 ms or shorter

Proximity dog


+



DOG (Proximity dog)

ST1


ST2


ON

OFF

ON

OFF

ON

OFF

5 ms or longer


4 - 58


4.4.8 Count type front end reference home position return

POINT


(Proximity dog) that has detected the front end of a proximity dog. Therefore, when a home position return is performed with the creep speed of 100 r/min, the home position has an error of 200 pulses (for HG series servo motor). The higher the creep speed, the greater the error of the home position.

After the front end of a proximity dog is detected, if a home position return ends without reaching the creep speed, [AL. 90.2] occurs. Set the travel distance after proximity dog and the home position shift distance enough for deceleration from the home position return speed to the creep speed.

Deceleration starts from the front end of a proximity dog. The position is shifted by the travel distance after proximity dog and the home position shift distance. The position after the shifts is set as the home position.

The home position return is available independently of the Z-phase signal. Changing the creep speed may change the home position.




Switch on MD0.






Count type front end reference home position return


[Pr. PT04]

[Pr. PT04]

_ _ _ 6: Select the count type (front end detection/front end reference).









Set this to shift the home position, which is specified after the front end of a proximity dog is passed.





[Pr. PT09]

Point table No. 1

[Pr. PT08]



4 - 59


(2) Timing chart

MD0


MEND

(Travel completion)

CPO (Rough match)

ZP


ON

OFF

ON

OFF

ON

OFF

ON

OFF

Servo motor speed

Forward rotation

0 r/min

Reverse rotation




Creep speed

3 ms or shorter


+



Proximity dog

DOG (Proximity dog)

ST1


ST2


ON

OFF

ON

OFF

ON

OFF

5 ms or longer


4 - 60


4.4.9 Dog cradle type home position return

A position, which is specified by the first Z-phase signal after the front end of a proximity dog is detected, is set as the home position.








Switch on MD0.


Dog cradle type home position return


[Pr. PT04]

[Pr. PT04]

_ _ _ 7: Select the dog cradle type.









Set this to shift the home position, which is specified by the Z-phase signal.



(2) Timing chart

Point table No. 1

[Pr. PT08]



MD0


MEND

(Travel completion)

CPO (Rough match)

ZP


ON

OFF

ON

OFF

ON

OFF

ON

OFF

Servo motor speed

Forward rotation

0 r/min

Reverse rotation

Acceleration time constant Deceleration time constant


Creep speed

3 ms or shorter

Proximity dog



Z-phase

DOG (Proximity dog)

ST1


ST2


ON

OFF

ON

OFF

ON

OFF

ON

OFF

5 ms or longer


4 - 61


4.4.10 Dog type last Z-phase reference home position return

After the front end of a proximity dog is detected, the position is shifted away from the proximity dog at the creep speed in the reverse direction and then specified by the first Z-phase signal. The position of the first Zphase signal is set as the home position.




Switch on MD0.






Dog type last Z-phase reference home position return


[Pr. PT04]

[Pr. PT04]

_ _ _ 8: Select the dog type last Z-phase reference.









Set this item to shift the home position, which is specified by the Z-phase signal.



Point table No. 1

[Pr. PT08]



4 - 62


(2) Timing chart

MD0


MEND

(Travel completion)

CPO (Rough match)

ZP


ON

OFF

ON

OFF

ON

OFF

ON

OFF





Servo motor speed

Forward rotation

0 r/min

Reverse rotation 3 ms or shorter


Creep speed

Proximity dog

Z-phase

DOG (Proximity dog)

ST1


ST2


ON

OFF

ON

OFF

ON

OFF

ON

OFF

5 ms or longer


4 - 63


4.4.11 Dog type front end reference home position return type

POINT


(Proximity dog) that has detected the front end of a proximity dog. Therefore, when a home position return is performed at a creep speed of 100 r/min, the home position has an error of 200 pulses (for HG series servo motor). The higher the creep speed, the greater the error of the home position.

A position, which is shifted by the travel distance after proximity dog and the home position shift distance from the front end of a proximity dog, is set as the home position.





Switch on MD0.






Dog type front end reference home position return


Dog input polarity

[Pr. PT04]

[Pr. PT04]

[Pr. PT29]




_ _ _ 9: Select the dog type front end reference.








Point table No. 1

[Pr. PT08]



4 - 64


(2) Timing chart

MD0


MEND

(Travel completion)

ON

OFF

ON

OFF

CPO (Rough match)

ZP


Servo motor speed

ON

OFF

ON

OFF

Forward rotation

0 r/min

Reverse rotation





+



3 ms or shorter

Creep speed

Proximity dog

DOG (Proximity dog)

ST1


ST2


ON

OFF

ON

OFF

ON

OFF

5 ms or longer


4 - 65


4.4.12 Dogless Z-phase reference home position return type

A position, which is shifted to by the home position shift distance from a position specified by the Z-phase pulse right after the start of the home position return, is set as the home position.




Switch on MD0.






Dogless Z-phase reference home position return


[Pr. PT04]

[Pr. PT04]




_ _ _ A: Select the dogless type (Z-phase reference).


Set the rotation speed specified until the Zphase is detected.

Set the rotation speed specified after the Zphase is detected.




Point table No. 1

[Pr. PT08]



(2) Timing chart

MD0


MEND

(Travel completion)

CPO

(Rough match)

ZP


ON

OFF

ON

OFF

ON

OFF

ON

OFF





Servo motor speed

Forward rotation

0 r/min


Creep speed


Z-phase

ST1


ST2


ON

OFF

ON

OFF

ON

OFF

5 ms or longer


4 - 66


4.4.13 Automatic retract function used for the home position return

For a home position return using a proximity dog, if the home position return starts from or beyond the proximity dog, this function executes the home position return after the position is shifted back to where the home position return is possible.

(1) When the current position is on the proximity dog

When the current position is on the proximity dog, the position is shifted back automatically to execute the home position return.

Home position return direction Proximity dog

Servo motor speed 0 r/min

Reverse rotation

After the position shifts to the position before the proximity dog, the home position return starts from here.

Note. The software limit cannot be used instead of LSP (Forward stroke end) and LSN (Reverse stroke end).

Home position return start position

(2) When the current position is beyond the proximity dog

The position is shifted in a direction of the home position return. When LSP (Forward rotation stroke end) or LSN (Reverse rotation stroke end) is detected, the position is shifted back automatically. The position will be shifted passing the proximity dog, and the travel will stop. The home position return will be restarted from that position. If the proximity dog is not detected, the travel stops at LSP or LSN on the opposite side, and [AL. 90 Home position return incomplete warning] occurs.


LSP (Forward rotation stroke end) or

LSN (Reverse rotation stroke end) (Note)

Servo motor speed

Forward rotation

0 r/min

Reverse rotation



4 - 67


4.4.14 Automatic positioning to home position function

POINT

The automatic positioning to the home position cannot be performed from outside the setting range of position data. In this case, perform the home position return again using the home position return.

If the home position is fixed by returning to the home position after the power-on, this function enables a high-speed automatic positioning to the home position. For the absolute position detection system, the home position return is unnecessary after the power-on.

If the automatic positioning to the home position is executed without completing the home position return,

[AL. 90.1] will occur.

After the power-on, perform the home position return in advance.



Switch on MD0.







Set the servo motor speed to travel to the home position.



Point table No. 1

[Pr. PT04]


Set the rotation direction in degrees.

Set the home position return speed of the automatic positioning to home position function with [Pr. PT05].

The data of point table No. 1 is used for acceleration/deceleration time constants. Switching on ST2

(Reverse rotation start) enables high-speed automatic return.

Set the rotation direction with home position return direction of [Pr. PT04] when the unit is set to degree.


ON

OFF


Home position return speed Deceleration time constant

Servo motor speed

Forward rotation

0 r/min

Reverse rotation



ON

OFF

ON

OFF

3 ms or shorter

5 ms or longer

Home position

4 - 68


4.5 Roll feed mode using the roll feed display function

The roll feed display function changes the display method of the current position and the command position in the status monitor.

By using the roll feed display function, the servo amplifier can be used in the roll feed mode. The roll feed mode is compatible with the incremental system. Additionally, the feed speed can be changed by the override function during an operation. Refer to section 2.4 for details.


No. Name Setting digit Setting item Setting value Setting

PT26 Current position/command position display selection fraction clear selection

_ _ x _

_ _ _ x

Current position/command position display selection

Electronic gear fraction clear selection

_ _ 1 _

_ _ _ 1

Select the roll feed display.

Clear a fraction of the previous command by the electronic gear at start of the automatic operation. Always set "_ _ _ 1" (enabled) in the electronic gear fraction clear.

(2) Roll feed display function

When the roll feed display function is used, the status display of the current position and the command position at start will be 0.

INP (In-position)

Servo motor speed

ST1


ON

OFF

Forward rotation

0 r/min

Reverse rotation

ON

OFF

TSTP

(Temporary stop/restart)

CR (Clear)

ON

OFF

ON

OFF

Display of current/ command position

0 10.00

8.00

0 8.00

0


5.90

0

Quick stop by

CR input


6.50

Starting renews the display from 0.

A point table whose feed length is set to

8 is selected.

The temporary stop position is displayed.

Remaining distance clear will not change the display.

Next starting renews the display from 0.

(3) Position data unit

The display unit is expressed in the unit set in [Pr. PT26], and the feed length multiplication is expressed in the unit set in [Pr. PT03].

When the unit is set in degrees, the roll feed display function is disabled.



Only the status display of the current position and command position changes. The operation method is the same as each operation mode.

Operation mode Detailed explanation

Automatic operation

Manual operation

Automatic operation using the point table Section 4.2.2

JOG operation Section 4.3.1



Section 4.3.2

Section 4.4

4 - 69


4.6 Point table setting method

The following shows the setting method of point tables using MR Configurator2.

4.6.1 Setting procedure

Click "Positioning-data" in the menu bar, and click "Point Table" in the menu.

The following window will be displayed.

(i) (l) (m) (c) (d) (e)

(h)

(f)

(j)

(k)

(g) (a) (b) (n)

(1) Writing point table data (a)

Select changed point table data, and click "Selected Items Write" to write the changed point table data to the servo amplifier.

(2) Writing all point table data (b)

Click "Write All" to write all the point table data to the servo amplifier.

(3) Reading all point table data (c)

Click "Read" to read all the point table data from the servo amplifier and display them.

4 - 70


(4) Initial setting of point table data (d)

Click "Set to default" to initialize all the data of point table No. 1 to 31. This function also initializes data currently being edited.

(5) Verifying point table data (e)

Click "Verify" to verify all the data displayed and data of the servo amplifier.

(6) Detailed setting of point table data (f)

Click "Detailed Setting" to change position data range and unit in the point table window. Refer to section 4.6.2 for details.

(7) Single-step feed (g)

Click "Single-step Feed" to perform the single-step feed test operation. Refer to section 3.1.9 for details.

(8) Copy and paste of point table data (h)

Click "Copy" to copy the selected point table data. Click "Paste" to paste the copied point table data.

(9) Inserting point table data (i)

Click "Insert" to insert a block before the selected point table No. The selected block and later will be shifted down by one. The selected point table No. and lower rows will be shifted down one by one.

Click "Delete" to delete the selected block of the point table No. The selected block and later will be shifted up by one.

After selecting the data to be changed, enter a new value, and click "Enter". You can change the displayed range and unit with "(6) Detailed setting of point table data" in this section.

(12) Reading point table data (l)

Click "Open" to read the point table data.

Click "Save As" to save the point table data.

Click "Update Project" to update the point table data to a project.

4 - 71


4.6.2 Detailed setting window

The position data range and unit can be changed with the detailed setting in the point table window. For the position data range and unit of [Pr. PT01] setting, refer to section 4.2.2. To reflect the setting for the corresponding parameter, click "Update Project" in the point table window.

1)

2)

3)

(1) Command method selection (PT01 *CTY): 1)

Select either the absolute position command method or the incremental value command method.

(2) Others

(a) Feed length multiplication parameter setting STM (PT03 *FTY): 2)

Select a feed length multiplication from 1/10/100/1000.

(b) Position data unit setting (PT01 *CTY): 3)

Select a unit of position data from mm/inch/degree/pulse. When degree or pulse is selected for the unit, the setting of feed length multiplication will be disabled.

4 - 72

5. HOW TO USE THE PROGRAM



Switching power on for the first time MR-JE-_A section 4.1

POINT

For the mark detection function (Current position latch), refer to section 6.2.2.

For the mark detection function (Interrupt positioning), refer to section 6.2.3.

5.1 Startup

WARNING


Do not operate the switches with wet hands. Otherwise, it may cause an electric shock.

CAUTION

Before starting operation, check the parameters. Improper settings may cause some machines to operate unexpectedly.


During operation, never touch the rotor of the servo motor. Otherwise, it may cause injury.


5 - 1


5.1.1 Power on and off procedures

When the servo amplifier is powered on for the first time, the control mode is set to position control mode.

(Refer to section 4.2.1 of "MR-JE-_A Servo Amplifier Instruction Manual".)

This section provides a case where the servo amplifier is powered on after setting the positioning mode.

(1) Power-on

Switch the power on in the following procedure. Always follow this procedure at power-on.


2) Make sure that ST1 (Forward rotation start) is off.

3) Turn on the power.

The display shows "PoS" and 2 s later shows data.

(2) Power-off

1) Switch off ST1 (Forward rotation start).


3) Shut off the power.

5.1.2 Stop

Turn off SON (Servo-on) after the servo motor has stopped, and then switch the power off.

If any of the following situations occurs, the servo amplifier suspends and stops the operation of the servo motor.

Refer to section 3.10 of "MR-JE-_A Servo Amplifier Instruction Manual" for the servo motor with an electromagnetic brake.

Switch off SON (Servo-on).

Alarm occurrence

EM2 (Forced stop 2) off

The base circuit is shut off, and the servo motor coasts.

The servo motor decelerates to a stop. With some alarms; however, the dynamic brake operates to stop the servo motor. (Refer to chapter 8. (Note))

The servo motor decelerates to a stop. [AL. E6 Servo forced stop warning] occurs.

Refer to section 2.3 for EM1.

LSP (Forward rotation stroke end) off or LSN The servo motor stops immediately and will be servo locked. Operation in the

(Reverse rotation stroke end) off opposite direction is possible.



5 - 2


5.1.3 Test operation

Before starting an actual operation, perform a test operation to make sure that the machine operates normally.

Refer to section 5.1.1 for how to power on and off the servo amplifier.

Test operation of the servo motor alone in JOG operation of test operation mode

In this step, confirm that the servo amplifier and the servo motor operate normally.

With the servo motor disconnected from the machine, use the test operation mode and check whether the servo motor rotates correctly at the slowest speed. For the test operation mode, refer to section 3.1.8 and 3.1.9 in this manual, and section 4.5.9 of "MR-JE-_A Servo Amplifier Instruction Manual".

Test operation of the servo motor alone

In this step, confirm that the servo motor rotates correctly at the slowest speed in the manual operation mode.




3) When MD0 (Operation mode selection 1) is switched off from the

Test operation with the servo motor and machine connected

Automatic operation with programming controller and ST1 (Forward rotation start) or ST2 (Reverse rotation start) is switched on in the manual operation mode, the servo motor starts rotating. Give a low speed command at first and check the rotation direction, etc. of the servo motor. If the servo motor does not operate in the intended direction, check the input signal.

In this step, connect the servo motor with the machine and confirm that the machine operates normally with the commands from the controller.




3) When MD0 (Operation mode selection 1) is switched off from the controller and ST1 (Forward rotation start) or ST2 (Reverse rotation start) is switched on in the manual operation mode, the servo motor starts rotating. Give a low speed command at first and check the operation direction, etc. of the machine. If the servo motor does not operate in the intended direction, check the input signal. In the status display, check for any problems of the servo motor speed, load ratio, etc.

Select a program from the controller, and check automatic operation.

5 - 3


5.1.4 Parameter setting

POINT

The following encoder cables are of four-wire type. When using any of these encoder cables, set [Pr. PC22] to "1 _ _ _" to select the four-wire type. Incorrect setting will result in [AL. 16 Encoder initial communication error 1].

MR-EKCBL30M-L

MR-EKCBL30M-H

MR-EKCBL40M-H

MR-EKCBL50M-H

Assign the following output devices to the CN1-23 pin with [Pr. PD24].


When you use the servo in the program method, set [Pr. PA01] to "_ _ _ 7" (Positioning mode (program method)). For the program method, the servo can be used by merely changing the basic setting parameters

([Pr. PA _ _ ]) and positioning control parameters ([Pr. PT _ _ ]) mainly.

As necessary, set other parameters.

The following table shows the necessary setting of [Pr. PA _ _ ] and [Pr. PT _ _ ] in the program method.

Operation mode selection item Parameter setting Input device setting

Operation mode

[Pr. PA01] [Pr. PT04]

MD0

(Note 1)

DI0 to DI4

(Note 1)

Automatic operation mode of the program method


JOG operation


Dog type

Count type


Data set type

Stopper type

Home position ignorance (servo-on position as home position)



Dog cradle type



_ _ _ 7

_ _ _ 0

_ _ _ 1

_ _ _ 2

_ _ _ 3

_ _ _ 4

_ _ _ 5

_ _ _ 6

_ _ _ 7

_ _ _ 8

_ _ _ 9

Dogless Z-phase reference _ _ _ A

Note 1. MD0: Operation mode selection 1, DI0 to DI3: Program No. selection 1 to Program No. selection 4

On Any

Off

On Any (Note 2)

2 Select a program containing a "ZRT" command, which performs the home position return.

5 - 4


5.1.5 Actual operation

Start actual operation after confirmation of normal operation by test operation and completion of the corresponding parameter settings.

5.1.6 Troubleshooting at start-up

CAUTION


POINT

Using MR Configurator2, you can refer to the reason for rotation failure, etc.

The following faults may occur at start-up. If any of such faults occurs, take the corresponding action.

"MR-JE-_A" means "MR-JE-_A Servo Amplifier Instruction Manual".

Fault

The 7-segment LED display does not turn on.

The 7-segment LED display blinks.

Not solved even if CN1, CN2, and CN3 connectors are disconnected.

1. Power supply voltage fault

2. The servo amplifier is malfunctioning.

Alarm occurs.




1. Power supply of encoder cabling is shorted.

2. Encoder is malfunctioning.




2 Switch on SON

(Servo-on).

Alarm occurs.

Servo motor shaft is not servo-locked.

(Servo motor shaft is free.)


Chapter 8

(Note)

Chapter 8

(Note)

Section

3.1.7

3 Perform a home position return.


The home position return is not completed.

1. Check the display to see if the servo amplifier is ready to operate.

2. Check the external I/O signal indication (section 3.1.7) to see if SON (Servo-on) is on.

Check the on/off status of the input signal with the external I/O signal display. (Refer to section

3.1.7.)

1. SON (Servo-on) is not input.

(wiring mistake)

2. 24 V DC power is not supplied to DICOM.







Check the on/off status of input signal DOG with the external I/O signal display. (Refer to section

3.1.7.)

The proximity dog is set incorrectly.

Section

3.1.7

Section

7.2.1

Section

3.1.2

Section

3.1.7

5 - 5


Fault

4 Switch on ST1

(Forward rotation start).


Check the on/off status of the input signal with the external I/O signal display (section 3.1.7).




Torque limit level is too low for the load torque. fluctuations) are large at low speed.


Make gain adjustment in the following procedure.

1. Increase the auto tuning response level.

2. Repeat acceleration and deceleration several times to complete auto tuning.


Gain adjustment fault

Large load inertia moment causes the servo motor shaft to oscillate side to side.

If the servo motor may be driven with safety, repeat acceleration and deceleration three times or

Gain adjustment fault more to complete the auto tuning.



5.2 Program operation method

Section

3.1.7

Section

7.2.1

Section

3.1.2

MR-JE-_A

Chapter 6

MR-JE-_A

Chapter 6

5.2.1 Program operation method

Select a program created in advance on MR Configurator2 by using an input signal or communication, and start an operation with ST1 (Forward rotation start).

This servo amplifier is set to the absolute value command method by factory setting.

For the position data, you can set the absolute value travel command ("MOV" command), which specifies the target address, and the incremental value travel command ("MOVI" command), which specifies the travel distance. Refer to section 4.2.1 (1) and 5.2.3 (1) (a) for the movable range and the setting unit.

5 - 6


5.2.2 Program language

The maximum number of steps of a program is 480. Up to 16 programs can be created; however, the total number of the steps of all programs must be 480 or less.

A set program is selectable by using DI0 (Program No. selection 1) to DI3 (Program No. selection 4).

(1) Command list

Command Name Setting Unit

Indirect specification

(Note 7)

Description

SPN

(Note 2)

STA

(Note 2)

STB

(Note 2)

STC

(Note 2)

Servo motor speed



Acceleration/ deceleration time constant

STD

(Note 2, 5)

S-pattern acceleration/ deceleration time constant

SPN (Setting value)

0 to permissible instantaneous speed

STA (Setting value)

STB (Setting value)

STC (setting value)

STD (Setting value)

3000 r/min

0 to 20000 ms

0 to 20000

0 to 20000

0 to 1000

ms ms

ms

Set the servo motor command speed for positioning.


If the setting value is unspecified, the servo motor rotates at 50 r/min.

Set the acceleration time constant. The setting value is a time period which the servo motor takes from a stop to the rated speed.

The value cannot be changed during a command output.

If the setting value is unspecified, 1000 ms is applied.

Set the deceleration time constant. The setting value is a time period which the servo motor takes from the rated speed to a stop.



Set the acceleration/deceleration time constants.

The setting value is a time period which the servo motor takes from a stop to the rated speed, and from the rated speed to a stop.

When this command is used, the same value is applied for both the acceleration time constant and the deceleration time constant.

To set the acceleration/deceleration time constants individually, use the "STA" and

"STB" commands.



Set the S-pattern acceleration/deceleration time constants.

Set this command to insert S-pattern acceleration/deceleration time constants to the acceleration/deceleration time constants of the program.

MOV

MOVA

Absolute value travel command

Absolute value continuous travel command

MOV

(setting value)

MOVA

(setting value)

-999999 to 999999

(Note 6)

-999999 to 999999

(Note 6)

×10 STM μ m

(Note 6)

×10 STM μ m

(Note 6)

The servo motor rotates using the set value as the absolute value.

The servo motor rotates continuously using the set value as the absolute value. Make sure to describe this command after the "MOV" command.

5 - 7


Indirect

Command Name Setting Setting specification

(Note 7)

MOVI

MOVIA

SYNC

(Note 1)

OUTON

(Note 1, 3)

External signal on output

OUTON

(Note 1)

TRIP

(Note 1)

TRIPI

(Note 1)

ITP

(Note 1, 4)

Interrupt positioning

COUNT

(Note 1)

Incremental value travel command

Incremental value continuous travel command

Waiting for external signal to switch on

External signal off output

Absolute value

Trip point specification

Incremental value


External pulse count

MOVA

(setting value)

MOVIA

(setting value)

SYNC

(setting value)

OUTON

(setting value)

OUTON

(setting value)

TRIP

(setting value)

TRIPI

(setting value)

ITP (setting value)

COUNT

(setting value)

-999999 to 999999

(Note 6)

-999999 to 999999

(Note 6)

1 to 3

1 to 3

1 to 3

-999999 to 999999

(Note 6)

-999999 to 999999

(Note 6)

0 to 999999

(Note 6)

-999999 to 999999

×10 STM μ m

(Note 6)

×10 STM μ m

(Note 6)

×10 STM μ m

(Note 6)

×10 STM μ m

(Note 6)

×10 STM μ m

(Note 6)

Description

The servo motor rotates using the set value as the incremental value.

When a negative value is set, the servo motor rotates in the reverse rotation direction.

For the reverse rotation, the servo motor rotates in a direction of decreasing the address.

The servo motor rotates continuously using the set value as the incremental value. Make sure to describe this command after the

"MOVI" command.

After SOUT (SYNC synchronous output) is outputted, the following steps will be stopped until PI1 (Program input 1) to PI3 (Program input 3) are switched on.

Setting value Input signal

1

2

3

PI1 (Program input 1)



Switch on OUT1 (Program output 1) to OUT3

(Program output 3).

By setting the on-time with [Pr. PT23] to [Pr.

PT25], you can switch off the input signals after the set time elapses.

Setting value Input signal

1

2

3

OUT1 (Program output 1)



Switch off OUT1 (Program output 1) to OUT3

(Program output 3), which have been on with the "OUTON" command.

Setting value

1

Input signal


2

3



When the servo motor rotates for the travel distance set by the "TRIP" command after the

"MOV" or "MOVA" command is initiated, the next step is executed. Make sure to describe this command after the "MOV" or "MOVA" command.

When the servo motor rotates for the travel distance set by the "TRIPI" command after the

"MOVI" or "MOVIA" command is initiated, the next step is executed. Make sure to describe this command after the "MOVI" or "MOVIA" command.

An interrupt signal stops the servo motor when the motor rotates the set travel distance. Make sure to describe this command after the

"SYNC" command.

When the pulse counter value becomes larger

(0)" clears the pulse counter to 0.

5 - 8


Indirect

Command Name Setting Setting specification

(Note 7)

FOR

NEXT

LPOS

(Note 1)

Step repeat command

Current position

Latch

TIM Dwell

FOR (setting value)

NEXT

TIM (setting value)

0, 1 to 10000

LPOS

1 to 20000 times ms

Description

The steps between the "FOR (Setting value)" and the "NEXT" commands are repeated for the set number of times.

Setting "0" repeats the operation endlessly.

Do not describe another set of "FOR" and

"NEXT" command between the "FOR" and

"NEXT" commands. Otherwise, an error occurs.

Latch the current position at the rising edge of

LPS (Current position latch).

The latched current position data can be read with communication commands.

When the servo motor starts rotating, the latched position varies according to the motor speed and the sampling of input signals.

Waits for the next step until the set time elapses.

ZRT


ZRT Performs a manual home position return.

TIMES

STOP

TLP

(Note 8)

TLN

(Note 8)

TQL

(Note 8)

Program count command

Program stop

Forward rotation torque limit

Reverse rotation torque limit

Torque limit

TIMES

(setting value)

TLP (setting value)

TLN (setting value)

TQL (setting value)

0, 1 to 10000

STOP

0, 1 to 1000

0, 1 to 1000

0, 1 to 1000 times

0.1 %

0.1 %

0.1 %

Set the number of program executions by writing "TIMES (setting value)" command at the start of the program. To execute the program only one time, no setting is required.

Setting "0" repeats the operation endlessly.

Stop the running program.

Make sure to describe this command in the final line.

Using the maximum torque as 100%, limit the generated torque of the servo motor in the

CCW power running or CW regeneration.

The setting value is enabled until the program stops.

Specifying the setting value to "0" enables the

[Pr. PA11] setting.

Using the maximum torque as 100%, limit the generated torque of the servo motor in the CW power running or CCW regeneration.



[Pr. PA12] setting.

Using the maximum torque as 100%, limit the generated torque of the servo motor.



[Pr. PA11] and [Pr. PA12] settings.

5 - 9


Note 1. The "SYNC", "OUTON", "OUTOF", "TRIP", "TRIPI", "COUNT", "LPOS", and "ITP" commands are enabled even during a command output.

2. The "SPN" command is enabled while the "MOV", "MOVA", "MOVI", or "MOVIA" command is executed. The "STA", "STB",

"STC", and "STD" commands are enabled while the "MOV" or "MOVI" command is executed.

3. When the on-time is set with [Pr. PT23] to [Pr. PT25], the next command is executed after the set time elapses.

4. When the remaining distance is equal to or less than the set value, or while the servo motor is being stopped or decelerating, the program skips the "ITP" command and proceeds to the next step.

5. The parameter value is enabled normally. However, the value set for the command is enabled after the command is executed until the program stops.

6. The unit of the position command data input can be changed with [Pr. PT01]. For the setting range of each unit, refer to section 5.2.3 (1) (a).

7. For the explanation of the indirect specification, refer to section 5.2.2 (2) (j).

8. The parameter value is enabled normally. However, the value set for the command is enabled after the command is executed until the program stops.

(2) Detailed explanations of commands

(a) Positioning conditions (SPN/STA/STB/STC/STD)

POINT

Once values are set for the "SPN", "STA", "STB" and "STC" commands, the values are enabled without resetting them. (The values are not initialized at the program startup.) The settings are enabled in the other programs.

The value set for the "STD" command is enabled in the same program only. The value is initialized to the setting value of [Pr. PC03] at the program startup, and therefore the value is disabled in the other programs.

The "SPN", "STA", "STB", "STC", and "STD" commands are enabled while the "MOV" or "MOVIA command is executed.

5 - 10


1) Program example 1

When executing two operations with the same servo motor speeds, acceleration time constants, and deceleration time constants while the travel commands are different

Command Description

SPN (1000) Servo motor speed 1000 [r/min] a)

STA (200)

STB (300)



200 [ms]

300 [ms] b) c)

MOV (1000)

TIM (100)

MOV (2000)


Dwell


1000 [×10

100 [ms]

STM

2000 [×10 STM

μ m] d) e)

μ m] f) b) Acceleration time constant

(200 ms) c) Deceleration time constant

(300 ms) b) Acceleration time constant

(200 ms) a) Servo motor speed

(1000 r/min) a) Servo motor speed

(1000 r/min)

Servo motor speed

Forward rotation

0 r/min

Reverse rotation d) Absolute value travel command

(1000 × 10 STM μ m) e) Dwell

(100 ms) c) Deceleration time constant

(300 ms) f) Absolute value travel command

(2000 × 10 STM μ m)


When executing two operations with different servo motor speeds, acceleration time constants, deceleration time constants, and travel commands.

Command Description


STA (200)

STB (300)



200 [ms]

300 [ms] b) c)

MOV (1000)

TIM (100)

SPN (500)

STC (200)

MOV (1500)


Dwell

Servo motor speed

Acceleration/deceleration time constant


1000 [×10

100 [ms]

STM

500 [r/min]

200 [ms]

μ m] d) e) f) g)

1500 [×10 STM μ m] h)

Servo motor speed

Forward rotation

0 r/min

Reverse rotation b) Acceleration time constant (200 ms) c) Deceleration time constant (300 ms) a) Servo motor speed

(1000 r/min) d) Absolute value travel command

(1000 × 10 STM μ m) e) Dwell

(100 ms) g) Acceleration/ deceleration time constant

(200 ms) f) Servo motor speed (500 r/min) h) Absolute value travel command

(1500 × 10 STM μ m)

5 - 11



Using the S-pattern acceleration/deceleration time constants reduces abrupt movements at acceleration or deceleration. When the "STD" command is used, [Pr. PC03 S-pattern acceleration/deceleration time constant] does not function.

Command Description


STC (100)

STD (10)

MOV (2000)


S-pattern acceleration/deceleration time constant


1000 [ms]

10 [ms]

2000 [×10 STM μ b) c) m] d) c) c) b) Acceleration/ deceleration time constant


(1000 r/min) b) Acceleration/deceleration time constant

(1000 ms) d) Absolute value travel command

(2000 × 10 STM μ m)

Servo motor speed

Forward rotation

0 r/min

Reverse rotation c) S-pattern acceleration/ deceleration time constant

(10 ms)

(b) Continuous travel commands (MOVA/MOVIA) c)

POINT

A combination of "MOV" and "MOVIA" commands, and a combination of "MOVI" and "MOVA" commands are not available.

The "MOVA" command is a continuous travel command for the "MOV" command. After the travel with the "MOV" command is executed, the travel with "MOVA" command will be executed continuously without a stop.

The speed specified by the "MOVA command" is enabled from the deceleration start point of the preceding "MOV" or "MOVA" command.

The acceleration/deceleration time constants for the preceding "MOV" command is also applied to those for the "MOVA" command.

The "MOVIA" command is a continuous travel command for the "MOVI" command. After the travel with the "MOVI" command is executed, the travel with "MOVIA" command will be executed continuously without a stop.

The speed specified by the "MOVIA command" is enabled from the deceleration start point of the preceding "MOVI" or "MOVIA" command.

5 - 12


The acceleration/deceleration time constants for the preceding "MOVI" command is also applied to those for the "MOVIA" command.

Command Name

MOV

MOVA

MOVI


Absolute value continuous travel command

Incremental value travel command continuous travel command

Setting Unit Description

MOV

(setting value)

MOVA

(setting value)

MOVI

(setting value)

MOVIA

(setting value)

×10

×10

STM

STM

×10 STM

×10 STM

μ

μ m Absolute value travel command m Absolute value continuous travel command

μ m Incremental value travel command

μ m Incremental continuous travel command

5 - 13



When using the absolute value travel command under the absolute value command method

Command Description

SPN (500)

STA (200)

STB (300)

MOV (500)

SPN (1000)

MOVA (1000)

MOVA (0)

Servo motor speed




Servo motor speed

500 [r/min]

200 [ms]

300 [ms] a) b) c)

500 [×10 STM μ m] d)

1000 [r/min] e)

Absolute value continuous travel command 1000 [×10 STM μ m] f)

Absolute value continuous travel command 0 [×10 STM μ m] g)

Servo motor speed b) Acceleration time constant (200 ms)

Forward rotation

0 r/min

Reverse rotation c) Deceleration time constant (300 ms) e) Servo motor speed

(1000 r/min) a) Servo motor speed (500 r/min) d) Absolute value travel command

(500 × 10 STM μ m) f) Absolute value continuous travel command

(1000 × 10 STM μ m) b) Acceleration time constant

(200 ms) e) Servo motor speed

(1000 r/min) g) Absolute value continuous travel command

(0 × 10 STM μ m)

2) Program example 2 (Incorrect usage)

For continuous operations, the acceleration time constant and the deceleration time constant cannot be changed for each different speed. Therefore, even if the "STA", "STB", and "STD" commands are written at a speed change, the commands are invalid.

Command Description


STA (200)

STB (300)



200 [ms]

300 [ms] b) c)

MOV (500)

SPN (1000)

STC (500)

MOVA (1000)

SPN (1500)

STC (100)

MOVA (0)


Servo motor speed

500 [×10 STM μ m] d)

1000 [r/min] e)

Acceleration/deceleration time constant 500 [ms] f)

Absolute value continuous travel command 1000 [×10 STM μ m] g)

Disabled

Servo motor speed 1500 [r/min] h)

Acceleration/deceleration time constant 100 [ms] i)

Disabled

Absolute value continuous travel command 0 [×10 STM μ m] j)

Servo motor speed b) Acceleration time constant (200 ms)

Forward rotation

0 r/min

Reverse rotation a) Servo motor speed (500 r/min) e) Servo motor speed

(1000 r/min) d) Absolute value travel command

(500 × 10 STM μ m) c) Deceleration time constant (300 ms) g) Absolute value continuous travel command

(1000 × 10 STM μ m) b) Acceleration time constant

(200 ms) h) Servo motor speed

(1500 r/min) j) Absolute value continuous travel command

(0 × 10 STM μ m)

5 - 14


(c) Input/output commands (OUTON/OUTOF) and trip point commands (TRIP/TRIPI)

POINT

Using [Pr. PT23] to [Pr. PT25], you can set the time until OUT1 (Program output

1) to OUT3 (Program output 3) are switched off. The commands are switched off under the following conditions.

The commands are switched off by the OUTOF command.

The commands are switched off by a program stop.

The "TRIP" and "TRIPI" commands have the following restrictions.

The "MOV" or "MOVA" command cannot be used in combination with the

"TRIPI" command.

The "MOVI" or "MOVIA" command cannot be used in combination with the

"TRIP" command.

The "TRIP" and "TRIPI" commands do not execute the next step until the servo motor passes the set address or travel distance. Set the commands within the travel command range.

Whether the servo motor has passed the set address or travel distance is determined by checking the actual position (for each command). It is also determined by checking both edges of the address increasing/decreasing directions.


OUT1 (Program output 1) is switched on upon a program execution. When the program ends,

OUT1 (Program output 1) is switched off.

Command Description

SPN (1000)

STA (200)

STB (300)

MOV (500)

OUTON (1)

TIM (100)

MOV (250)

TIM (50)

Servo motor speed




Switch on OUT1 (Program output 1).

Dwell


Dwell

1000 [r/min]

200 [ms]

300 [ms]

100 [ms]

50 [ms]

500 [×10 STM μ m] a)

250 [×10 STM μ m]

b)

Servo motor speed

Forward rotation

0 r/min

Reverse rotation

OUT1

(Program output 1)

ON

OFF a)

Dwell

(100 ms) b)

Dwell

(50 ms)

5 - 15



Using [Pr. PT23] to [Pr. PT25], you can switch off OUT1 (Program output 1) to OUT3 (Program output 3) automatically.

Parameter Name Setting Description

Pr. PT23 OUT1 output setting time



20

10

50

Switch off OUT1 200 [ms] later. a)

Switch off OUT2 100 [ms] later. b)

Switch off OUT3 500 [ms] later. c)

Command Description

SPN (500)

STA (200)

STB (300)

MOV (1000)

OUTON (1)

OUTON (2)

OUTON (3)

Servo motor speed







500 [r/min]

200 [ms]

300 [ms]

1000 [×10 STM μ m]

Servo motor speed

Forward rotation

0 r/min

Reverse rotation

OUT1

(Program output 1)

OUT2

(Program output 2)

OUT3

(Program output 3)

ON

OFF

ON

OFF

ON

OFF a) 200 ms b) 100 ms c) 500 ms

5 - 16



When setting the position address where the "OUTON" or "OUTOF" command is executed by using the "TRIP" or "TRIPI" command

Command Description

SPN (1000)

STA (200)

STB (300)

MOV (500)

TRIP (250)

OUTON (2)

TRIP (400)

OUTOF (2)

TIM (100)

MOVI (500)

TRIPI (300)

OUTON (2)

Servo motor speed




Absolute value trip point specification


Absolute value trip point specification

Switch off OUT2 (Program output 2).

Dwell


1000 [r/min]

200 [ms]

1: 300 [ms]

100 [ms]

500 [×10 STM μ m]

250 [×10 STM μ m] a) b)

400 [×10 STM μ m] c) d)

500 [×10 STM μ m]

Incremental value trip point specification 300 [×10 STM μ m] e)

Switch on OUT2 (Program output 2). f)

g) a) 250 × 10 STM μm c) 400 × 10

STM μm e) 300 × 10

STM μm

Servo motor speed

Forward rotation

0 r/min

Reverse rotation

OUT2

(Program output 2)

ON

OFF

100 ms b) d) f) g)

5 - 17



Command Description

SPN (500)

STA (200)

STB (300)

MOVI (600)

TRIPI (300)

OUTON (3)

SPN (700)

MOVIA (700)

TRIPI (300)

OUTOF (3)

Servo motor speed





Servo motor speed


500 [r/min]

200 [ms]

300 [ms]

600 [×10 STM

700 [r/min]

700 [×10 STM

μ m] a)

Incremental value trip point specification 300 [×10 STM μ m] b) c)

μ m] d)

Incremental value trip point specification 300 [×10 STM μ m] e)

Switch off OUT3 (Program output 3). f) a) Incremental value travel command

(600 × 10 STM μ m) b) 300 × 10

STM μ m

Servo motor speed

Forward rotation

0 r/min

Reverse rotation

900 × 10

STM μ m

(a) MOVI (600) + e) TRIPI (300)) d) Incremental value continuous travel command

(700 ×10 STM μ m)

OUT3

(Program output 3)

ON

OFF c) f)

(d) Dwell (TIM)

Using the "TIM (setting value)" command, set the time from when the remaining distance under the command is "0" until when the next step is executed.

The following shows operation examples of using this command in combination with the other commands for reference.


Command Description

TIM (200)

SPN (1000)

STC (20)

MOV (1000)

Dwell

Servo motor speed



200 [ms]

1000 [r/min]

20 [ms] a)

1000 [×10 STM μ m] a) 200 ms

Servo motor speed

Forward rotation

0 r/min

Reverse rotation

ST1


ON

OFF

5 - 18



Command Description

SPN (1000)

STC (20)

MOVI (1000)

TIM (200)

OUTON (1)

MOVI (500)

Servo motor speed



Dwell



1000 [r/min]

1: 200 [ms]

20 [ms]

1000 [×10 STM μ m] a) b)

500 [×10 STM μ m] a) 200 ms

Servo motor speed

Forward rotation

0 r/min

Reverse rotation

OUT1

(Program output 1)

ON

OFF b)


Command Description

SPN (1000)

STC (20)

MOVI (1000)

OUTON (1)

TIM (200)

MOVI (500)

Servo motor speed




Dwell


1000 [r/min]

20 [ms]

1000 [×10 STM μ m]

200 [ms] a) b)

500 [×10 STM μ m] b) 200 ms

Servo motor speed

Forward rotation

0 r/min

Reverse rotation

OUT1

(Program output 1)

ON

OFF a)

5 - 19



Command Description

SPN (1000)

STC (20)

MOVI (1000)

TIM (200)

OUTON (1)

TIM (300)

MOVI (500)

Servo motor speed



Dwell


Dwell


1000 [r/min]

200 [ms]

20 [ms]

1000 [×10 STM μ m] a) b)

300 [ms] c)

500 [×10 STM μ m] a) 200 ms c) 300 ms

Servo motor speed

Forward rotation

0 r/min

Reverse rotation

OUT1

(Program output 1)

ON

OFF b)


Command Description

SPN (1000)

STC (20)

MOVI (1000)

TIM (200)

SYNC (1)

MOVI (500)

Servo motor speed



Dwell


1000 [r/min]

20 [ms]

1000 [×10 STM μ m]

200 [ms]

Suspend the step until PI1 (Program input 1) is switched on.

500 [×10 STM μ a) m]

Servo motor speed

Forward rotation

0 r/min

Reverse rotation

PI1

(Program output 1)

ON

OFF a) Accepts PI1 after 200 ms.

5 - 20



Command Description

SPN (1000)

STC (20)

MOVI (1000)

SYNC (1)

TIM (200)

MOVI (500)

Servo motor speed



Dwell


1000 [r/min]

20 [ms]

1000 [×10 STM μ m]


200 [ms]

500 [×10 STM μ a) m] a) 200 ms

Servo motor speed

Forward rotation

0 r/min

Reverse rotation

PI1

(Program output 1)

ON

OFF

5 - 21


(e) Interrupt positioning (ITP)

POINT

For positioning with the ITP command, the stop position varies depending on the servo motor speed when the "ITP" command becomes enabled.

In the following cases, the program does not execute the "ITP" command and proceeds to the next step.

When the setting value of the "ITP" command is smaller than that of the travel command set by the "MOV", "MOVI", "MOVA" or "MOVIA" command

When the remaining distance is equal to or less than the travel distance specified by the "ITP" command

While the servo motor is decelerating

When an "ITP" command is used in the program, starting from the position where PI1 (Program input

1) to PI3 (Program input 3) are switched on, the servo motor rotates for a distance of the set value and stops.

When using the "ITP" command, make sure to describe the "SYNC" command right before the "ITP" command.


Command Description

SPN (500)

STA (200)

STB (300)

MOV (600)

SPN (100)

MOVA (600)

SYNC (1)

ITP (200)

Servo motor speed




Servo motor speed

Continuous travel command

500 [r/min]

200 [ms]

300 [ms]

600 [×10 STM μ m]

100 [r/min]

600 [×10 STM μ m]


Interrupt positioning 200 [×10 STM μ a) m] b)

P1

Servo motor speed

Forward rotation

0 r/min

Reverse rotation

PI1

(Program input 1)

ON

OFF

P1 + b) (200 × 10 STM μ m)

Waiting for PI1 on (a)) by SYNC (1)

5 - 22



When the travel distance set by the "ITP" command is smaller than the travel distance required for deceleration, the actual deceleration time constant becomes smaller than the setting value of the "STB" command.

Command Description

SPN (500)

STA (200)

STB (300)

MOV (1000)

SYNC (1)

ITP (50)

Servo motor speed




Interrupt positioning

500 [r/min]

200 [ms]

300 [ms]

1000 [×10

50 [×10

STM


STM μ

μ m] a) m] b)

P1

Servo motor speed

Forward rotation

0 r/min

Reverse rotation P1 + b) (50 × 10 STM μ m)

PI1

(Program input 1)

ON

OFF

Waiting for PI1 on (a)) by SYNC (1)

(f) External pulse count (COUNT)

When the number of input pulses of the manual pulse generator becomes larger than the value set for the "COUNT" command, the next step is executed. Setting "0" clears the cumulative input pulses.

Command Description

COUNT (500)

SPN (500)

STA (200)

STB (300)

MOV (1000)

TRIP (500)

COUNT (0)

Wait for the next step until the number of input pulses of the manual pulse generator reaches 500

[pulse].

Servo motor speed





Clear cumulative input pulses.

500 [r/min]

200 [ms]

300 [ms]

1000 [×10 STM

500 [×10 STM

μ a) m]

μ m] b) c) b) 500 [×10

STM μ m]

Servo motor speed

Forward rotation

0 r/min

Reverse rotation


Cumulative input pulses a) 500 [pulse] c) Clear cumulative input pulses.

5 - 23


(g) Step repeat instruction (FOR...NEXT)

POINT

You cannot insert "FOR...NEXT" commands between the "FOR" and "NEXT" commands.

The steps between the "FOR (Setting value)" and the "NEXT" commands are repeated for the set number of times. Setting "0" repeats the operation endlessly.

For how to stop the program in this status, refer to section 5.2.4 (4).

Command Description

SPN (1000)

STC (20)

MOV (1000)

TIM (100)

FOR (3)

MOVI (100)

TIM (100)

NEXT

FOR (2)

MOVI (200)

TIM (100)

NEXT

Servo motor speed



Dwell

Start of step repeat instruction


Dwell

End of step repeat instruction

Start of step repeat instruction


Dwell

End of step repeat instruction

1000 [r/min]

20 [ms]

100 [ms]

3 [time]

100 [ms]

2 [time]

1000 [×10 STM μ m] a)

100 [×10 STM μ m] b) c) d)

200 [×10 STM μ m] e)

100 [ms] f) b) Incremental value travel command

(100 × 10 STM μ m) d) Incremental value travel command

(200 × 10 STM μ m)

Servo motor speed

Forward rotation

0 r/min

Reverse rotation 1000 1100 1200 a) c)

1300 1500 e) f)

1700

5 - 24


(h) Number of program executions command (TIMES)

A program can be executed repeatedly by setting the number of program executions in the "TIMES

(setting value) command" placed at the start of the program. To execute the program one time, the

"TIMES" command is not required. Setting "0" repeats the operation endlessly. For how to stop the program in this status, refer to section 5.2.4 (4).

Command Description

TIMES (2)

SPN (1000)

STC (20)

MOVI (1000)

TIM (100)

Number of program executions command 2 [time]

Servo motor speed



Dwell

1000 [r/min]

20 [ms]

1000 [×10 STM

100 [ms] a)

μ m] b) b) Incremental value travel command

(100 × 10 STM μ m)

Servo motor speed

Forward rotation

0 r/min

Reverse rotation 1000 a)

1200

5 - 25


(i) Current position latch (LPOS)

POINT

When the current position is stored using LPS (Current position latch input), the value varies depending on the servo motor speed at switch-on of LPS.

The program does not proceed to the next step until LPS (Current position latch input) is switched on.

The stored data will not be cleared unless the servo amplifier is switched off.

After the input of LPS (Current position latch input) becomes enabled by the

"LPOS" command, the input is cleared in the following conditions.

When the rising edge of LPS (Current position latch input) is detected

When the program ends

When the operation mode is changed

When the servo motor forcibly stopped

When an alarm occurs

When the servo motor enters the servo-off status

The current position upon switch-on of LPS (Current position latch input) is stored. The stored position data can be read with the communication function.

The current position latch function, which is set during the execution of the program, will be canceled when the program ends. The function is also canceled with an operation mode change, forced stop, alarm occurrence, or servo-off. The function will not be canceled by only a temporary stop.

Command Description

SPN (500)

STA (200)

STB (300)

MOV (1000)

LPOS

Servo motor speed




Set a current position latch.

500 [r/min]

200 [ms]

300 [ms]

1000 [×10 STM μ m] a)

Current position 300 [×10

STM is memorized.

μ m]

Servo motor speed

Forward rotation

0 r/min

Reverse rotation

Current position

LPS (Latch input)

ON

OFF

1000

Latches LPS on edge by LPOS. (a))

5 - 26


(j) Indirect specification with general purpose registers (R1-R4, D1-D4)

You can indirectly specify the setting values of the "SPN", "STA", "STB", "STC", "STD", "MOV",

"MOVI", "MOVA", "MOVIA", "TIM", and "TIMES" commands.

The value, which is stored in each general purpose register (R1-R4, D1-D4), is used as the setting value of each command.

Change the general purpose registers by using MR Configurator2 or a communication command while the program is not executed by a communication command

The data of the general purpose registers is erased at power-off of the servo amplifier. Note that the data of the general purpose registers (R1-R4) can be stored in EEP-ROM.

The setting range of each general purpose register is that of the command for which each register is used.

The following explains a case where the general purpose registers are set as shown below before the execution of the program.

General purpose register Setting

R1 1000

R2 2000

D1 200

D2 300

Command Description

SPN (1000)

STA (D1)

STB (D2)

MOVI (R1)

TIM (100)

MOVI (R2)

Servo motor speed




Dwell


1000 [r/min]

D1 = 200 [ms]

D2 = 300 [ms] a) b) c)

R1 = 1000 [×10 STM μ m] d)

100 [ms] e)

R2 = 2000 [×10 STM μ m] f) a) 1000 r/min b) D1 = 200 ms c) D2 = 300 ms b) D1 = 200 ms c) D2 = 300 ms

Servo motor speed

Forward rotation

0 r/min

Reverse rotation d) R1 = 1000 × 10 STM μ m e) Dwell

(100 ms) f) R2 = 2000 × 10 STM μ m

5 - 27


(k) Home position return command (ZRT)

Performs a home position return.

Set the home position with parameters. (Refer to section 5.4.)

With the "ZRT" command, the program proceeds to the next step after the home position return completion.

POINT

If the home position return has not completed successfully, [AL. 96 Home position return incomplete warning] occurs. In this case, the program proceeds to the next step without a stop. Since the home position return is incomplete, the travel command is disabled.

Command Description

SPN (500)

STA (200)

STB (300)

ZRT

MOV (500)

Servo motor speed





500 [r/min]

200 [ms]

300 [ms] a) b) c) d)

500 [×10 STM μ m] e)




[Pr. PT04]

[Pr. PT04]






Deceleration time constant of home position return


[Pr. PC30]

[Pr. PC31]

[Pr. PT08]

"_ _ _ 0"

"_ _ 0 _" (Address increasing direction)

"_ _ _ 1" (Detects dog when DOG (proximity dog) is on.)

100 [r/min]

50 [r/min]

0 [×10 STM μ m]

100 [ms]

200 [ms]

0

Setting

Servo motor speed


(100 ms)

Forward rotation

0 r/min

Reverse rotation


(200 ms)

Creep speed

(50 r/min) b) Acceleration time constant


(500 r/min)

Home position return speed (100 r/min)

Proximity dog c) Deceleration time constant

(300 ms)

Z-phase

Position address d) Home position return command

0 e) Absolute value travel command

(500 × 10 STM μ m)


500

5 - 28


(l) Torque limit value switching (TLP/TLN/TQL)

Using the maximum torque as 100.0%, limit the generated torque of the servo motor.

1) Program example

Command Description

SPN (1500)

STA (100)

STB (200)

MOV (1000)

SYNC (1)

TLP (800)

SYNC (2)

TLN (500)

TIM (100)

MOV (500)

SYNC (3)

TQL (300)

STOP

Servo motor speed





1500 [r/min]

100 [ms]

1: 200 [ms]

10 STM μ m


Forward rotation torque limit 800 [0.1%]



Dwell

500 [0.1%]

100 [ms]

1000 [×10 STM μ m]


Torque limit

Program stop

300 [0.1%] a) b) c) d) e) f) g) h) h) Program stop e) 100 ms

Servo motor speed

Forward rotation

0 r/min

Reverse rotation

Forward rotation torque limit [Pr. PA11] setting





ON

OFF

ON

OFF

ON

OFF

[Pr. PA12] setting

80.0% b) Forward rotation torque limit

50.0% d) Reverse rotation torque limit

30.0% g) Torque limit

30.0%

[Pr. PA11] setting

[Pr. PA12] setting g) Torque limit The torque limit value returns to the parameter setting value by program stop.

a) PI1-on c) PI2-on f) PI3-on

5 - 29


5.2.3 Basic settings of signals and parameters

(1) Parameter

(a) Setting range of the position data

The following shows the setting of [Pr. PT01].

[Pr. PT01]

Command method Travel command Positioning command method

Position data unit




("MOV", "MOVA")


("MOVI", "MOVIA")


("MOVI", "MOVIA")

_ _ _ 0

_ _ _ 1

_ 0 _ _

_ 1 _ _

_ 2 _ _

_ 3 _ _

_ 0 _ _

_ 1 _ _

_ 2 _ _

_ 3 _ _

_ 0 _ _

_ 1 _ _

_ 2 _ _

_ 3 _ _


[mm] -999999 to 999999 [×10 STM μ m]

[inch] -999999 to 999999 [×10 (STM-4) inch]

[degree] -360.000 to 360.000

[pulse] -999999 to 999999

[mm] -999999 to 999999 [×10 STM μ m]

[inch] -999999 to 999999 [×10 (STM-4) inch]

[degree] -999.999 to 999.999

[pulse] -999999 to 999999

[mm] -999999 to 999999 [×10 STM μ m]

[inch] -999999 to 999999 [×10 (STM-4) inch]

[degree] -999.999 to 999.999

[pulse] -999999 to 999999

(c) Rotation direction selection/travel direction selection ([Pr. PA14])

Select the servo motor rotation direction when ST1 (Forward rotation start) is switched on.

[Pr. PA14] setting

0

(initial value)

1

Servo motor rotation direction when ST1 (Forward rotation start) is switched on





Forward rotation (CCW)

Reverse rotation (CW)

5 - 30


(c) Feed length multiplication ([Pr. PT03])


[Pr. PT03] setting

[mm]

MD0 (Operation mode selection 1) Switch on MD0.

[pulse] (Note)

_ _ _ 0

(initial value)

_ _ _ 1

_ _ _ 2

_ _ _ 3

-999.999 to 999.999 -99.9999 to 99.9999

-9999.99 to 9999.99 -999.999 to 999.999

-99999.9 to 99999.9 -9999.99 to 9999.99

-999999 to 999999 -99999.9 to 99999.9

-360.000 to 360.000 -999999 to 999999

Note. The feed length multiplication setting ([Pr. PT03]) is not applied to the unit multiplication factor. Adjust the unit multiplication factor in the electronic gear setting ([Pr. PA06] and [Pr. PA07]).

(2) Signal

Selecting a program with DI0 to DI3 and switching on ST1 perform the positioning operation according to the set program. At this time, ST2 (Reverse rotation start) is disabled.

Item Device to be used Setting

Program operation method selection


[inch] [degree] (Note)

Program selection

Start

DI0 (Program No. selection 1)





Refer to section 2.3 (1).

Switch on ST1 to execute the program operation.

5 - 31


5.2.4 Timing chart of the program operation

(1) Operation condition

The following shows a timing chart when the program below is executed after the home position return completion under the absolute value command method.

Program No. Description

SPN (1000)

STC (100)

MOV (5000)

SYNC (1)

STC (50)

MOV (7500)

Servo motor speed


1000 [r/min]

100 [ms]

Absolute value travel command 5000 [×10 STM μ m] Travel command 1




50 [ms]

7500 [×10 STM μ m] Travel command 2

Program No.

SPN (1000)

STC (100)

MOV (2500)

SYNC (1)

STC (50)

MOV (5000)

Description

Servo motor speed


1000 [r/min]

100 [ms]




(2) Timing chart

MD0


SON (Servo-on)



ON

OFF

ON

OFF

ON

OFF

ON

OFF

(Note)

3 ms or longer

5 ms or longer

(Note)

3 ms or longer

5 ms or longer

5 ms or longer 5 ms or longer

Program No.

Servo motor speed

Forward rotation

0 r/min

Reverse rotation

1

3 ms or shorter

Travel command 1

3 ms or shorter

Travel command 2

2

3 ms or shorter

Travel command 3

3 ms or shorter

Travel command 4

PED (Position end)

RD (Ready)

ALM (Malfunction)

ON

OFF

ON

OFF

ON

OFF

Note. The detection of external input signals is delayed by the time set in the input filter setting of [Pr. PD29]. Considering the output signal sequence from the controller and signal variations due to hardware, configure a sequence that changes the program selection earlier.

5 - 32


When TSTP is switched on during the automatic operation, deceleration is performed using the deceleration time constant under the executing travel command to make a temporary stop. An operation for the remaining travel distance will be started by switching TSTP off and on (on-edge detection).

ST1 (Forward rotation start) does not function even if it is switched on during the temporary stop. When the operation mode is switched from the automatic mode to the manual mode during the temporary stop, the remaining travel distance will be cleared, and the program will end. Switching on TSTP again will not restart the program. To start the program, switch on ST1 (Forward rotation start) again.


The timing chart is the same as that of the point table operation mode. Refer to section 4.2.2 (3) (e).

(4) How to stop the program

To stop the program in execution, switch on TSTP (Temporary stop/restart) to stop the positioning operation, and then switch on CR (Clear). At this time, the remaining distance will be cleared, and the program will end.

Switching on TSTP again will not restart the positioning operation.

To start the program, switch on ST1 (Forward rotation start) again.

(5) Program termination condition

The following shows the conditions for terminating the program in execution.

Execution of STOP (Program stop)

When the automatic operation mode is switched to the manual operation mode

When the hardware stroke limit is detected

When the software stroke limit is detected ([Pr. PT15] to [Pr. PT18])

At base circuit shut-off

Switch on ST1 (Forward rotation start). The program starts from the beginning.

After switching to the automatic operation mode, switch on ST1. The program starts from the beginning.

After LSP and LSN are switched on, switch on ST1. The program starts from the beginning.

After the machine travels to within the software stroke limit range, switch on

ST1. The program starts from the beginning.

After resetting the base circuit shut-off, switch on ST1. The program starts from the beginning.

5 - 33


5.3 Manual operation mode

For the machine adjustment, home position adjustment, and others, you can shift the position to any position with a JOG operation or manual pulse generator.

5.3.1 JOG operation

(1) Setting

According to the purpose of use, set input signals and parameters as shown below. At this time, DI0

(Program No. selection 1) to DI3 (Program No. selection 4) are disabled.




JOG speed [Pr. PT13]



S-pattern acceleration/deceleration time constant


[Pr. PC01]

[Pr. PC02]

[Pr. PC03]

Switch off MD0.


Set the servo motor speed.



Set the S-pattern acceleration/deceleration time constants.


[Pr. PA14] setting

1


ST1 (Forward rotation start) on ST2 (Reverse rotation start) on

CW rotation

CW rotation

CCW rotation

ST1: on


ST2: on



ST2: on

[Pr. PA14]: 0


ST1: on

[Pr. PA14]: 1

(3) Operation

When ST1 is switched on, the servo motor rotates using the JOG speed set in [Pr. PT13] and the acceleration/deceleration constants set with [Pr. PC02] and [Pr. PC03]. For the rotation direction, refer to

(2) in this section. Switching on ST2 rotates the servo motor opposite to the direction of ST1 (Forward rotation start).

5 - 34


(4) Timing chart

SON (Servo-on)

RD (Ready)

ALM (Malfunction)

MD0


PED

(Position end)

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

Servo motor speed

Forward rotation

0 r/min

Reverse rotation

80 ms



ON

OFF

ON

OFF

Forward rotation

JOG

Reverse rotation

JOG

5.3.2 Manual pulse generator operation

(1) Setting

POINT

To enhance noise tolerance, set "_ 2_ _" to [Pr. PA13] when the command pulse frequency is 500 kpulses/s or less, or set "_3_ _" to [Pr. PA13] when the command pulse frequency is 200 kpulses/s or less.

According to the purpose of use, set input signals and parameters as shown below. At this time, DI0

(Program No. selection 1) to DI3 (Program No. selection 4) are disabled.

Item


Device/parameter to be used


Manual pulse generator multiplication

[Pr. PT03]


Command input pulse train input form

Pulse train filter selection

[Pr. PA13]

[Pr. PA13]

Setting

Switch off MD0.

Set the multiplication factor for the pulses generated from the manual pulse generator.

For details, refer to (3) in this section.


Set "_ _ _ 2" (A/B-phase pulse train).

Set other than "_ 0 _ _" and "_ 1 _ _".

5 - 35



[Pr. PA14] setting

1


Manual pulse generator operation: forward rotation

Manual pulse generator operation: reverse rotation

CW rotation

CW rotation

CCW rotation


Forward rotation


(3) Manual pulse generator multiplication

(a) Setting with input signals

In "Device Setting" of MR Configurator2, set TP0 (Manual pulse generator multiplication 1) and TP1

(Manual pulse generator multiplication 2) for input signals.


(Note)


(Note)

Servo motor rotation multiplication factor for manual pulse generator rotation amount

Travel distance

0 0 [Pr. PT03] setting enabled

0 1

1 0 10 0.01

Note. 0: Off

1: On

(b) Using the parameter for setting

Using [Pr. PT03], set the servo motor rotation multiplication factor for the rotation amount of the manual pulse generator.

Travel distance

[Pr. PT03] setting

Servo motor rotation multiplication to manual pulse generator rotation amount

_ _ 0 _

_ _ 1 _

_ _ 2 _

1 time

10 times

100 times

0.001

(4) Operation

Turning the manual pulse generator rotates the servo motor. For the rotation direction of the servo motor, refer to (2) in this section.

5 - 36


5.4 Home position return mode

POINT

Before performing the home position return, make sure that the limit switch operates.

Check the home position return direction. An incorrect setting will cause a reverse running.

Check the proximity dog input polarity. Otherwise, it may cause an unexpected operation.

5.4.1 Outline of home position return

A home position return is performed to match the command coordinates with the machine coordinates. The home position return is required every time the input power is on.

This section shows the home position return methods of the servo amplifier. Select the optimum method according to the configuration and uses of the machine.

This servo amplifier has the home position return automatic retract function. When the machine stops beyond or on a proximity dog, this function automatically moves the machine back to the proper position to perform the home position return. Manual operation with JOG operation, etc. is unnecessary.

5 - 37


(1) Home position return types

Select the optimum home position return type according to the machine type or others.

Type Home position return method Feature

Dog type

Count type

Data set type

Stopper type

Deceleration starts from the front end of the proximity dog. After the rear end is passed, the position specified by the first Z-phase signal, or the position of the first Z-phase signal shifted by the specified home position shift distance is used as the home position.

The servo amplifier internally recognizes the

Z-phase signal one time per servo motor revolution. The Z-phase signal cannot be used as an output signal.

Deceleration starts from the front end of the proximity dog. After the front end is passed, the position specified by the first Z-phase signal after the set distance or the position of the Z-phase signal shifted by the set home position shift distance is set as a home position.

The position shifted by any distance manually is used as the home position.

A workpiece is pressed against a mechanical stopper, and the position where it is stopped is set as the home position.

Typical home position return method using a proximity dog

The repeatability of the home position return is high.

The machine is less loaded.

Use this when the width of the proximity dog can be set equal to or greater than the deceleration distance of the servo motor.

This is a home position return method using a proximity dog.

Use this to minimize the length of the proximity dog.

No proximity dog is required.

Since the workpiece collides with the mechanical stopper, the home position return speed must be low enough.

The strength of the machine and stopper must be increased.



The position at servo-on is used as the home position.

Dog type rear end reference Deceleration starts from the front end of the proximity dog. After the rear end is passed, the position is shifted by the travel distance after proximity dog and the home position shift distance. The position after the shifts is used as the home position.


Deceleration starts from the front end of the proximity dog. The position is shifted by the travel distance after proximity dog and the home position shift distance. The position after the shifts is used as the home position.

Dog cradle type


After the front end of the proximity dog is detected, the position specified by the first

Z-phase signal is used as the home position.

After the front end of the proximity dog is detected, the position is shifted away from the proximity dog in the reverse direction.

Then, the position specified by the first Zphase signal or the position of the first Zphase signal shifted by the home position shift distance is used as the home position.

Dog type front end reference Starting from the front end of the proximity dog, the position is shifted by the travel distance after proximity dog and the home position shift distance. The position after the shifts is used as the home position.

Dogless Z-phase reference The position specified by the first Z-phase signal, or the position of the first Z-phase signal shifted by the home position shift distance is used as the home position.




5 - 38


(2) Parameters for home position return

To perform the home position return, set each parameter as follows.

(a) Select the home position return type with [Pr. PT04 Home position return type].

0

[Pr. PT04]

0 0

Home position return method

0: Dog type (rear-end detection Z-phase reference)

1: Count type (front-end detection Z-phase reference)

2: Data set type

3: Stopper type


5: Dog type (rear-end detection, rear-end reference)

6: Count type (front-end detection, front-end reference)

7: Dog cradle type

8: Dog type (front-end detection, Z-phase reference)

9: Dog type (front-end detection, front-end reference)


(b) Select the starting direction for the home position return with [Pr. PT04 Home position return type].

Setting "0" starts the home position return in a direction of increasing the address from the current position. Setting "1" starts the home position return in a direction of decreasing the address from the current position.

0

[Pr. PT04]

0 0



1: Address decreasing direction

(c) Select the polarity where the proximity dog is detected with the DOG (Proximity dog) polarity selection of [Pr. PT29 Function selection T-3].

Setting "0" detects a proximity dog when DOG (Proximity dog) is switched off. Setting "1" detects a proximity dog when DOG (Proximity dog) is switched on.

0

[Pr. PT29]

0 0


0: Detection with off

1: Detection with on

(3) Program example

Select a program containing a "ZRT" command, which performs the home position return.

5 - 39


5.4.2 Dog type home position return

This is a home position return method using a proximity dog. Deceleration starts at the front end of the proximity dog. After the rear end is passed, the position specified by the first Z-phase signal, or the position of the first Z-phase signal shifted by the specified home position shift distance is used as the home position.


Set input devices and parameters as follows:






[Pr. PT04]

[Pr. PT04]

Switch on MD0.

Dog input polarity


Creep speed





Program

[Pr. PT29]

[Pr. PT06]

[Pr. PC30]

[Pr. PC31]

[Pr. PT08]

DI0 (Program No. selection 1) to


_ _ _ 0: Select dog type (rear end detection Zphase reference)





Set this to shift the home position, which is specified by the first Z-phase signal after the rear end of the proximity dog is passed.

The acceleration time constant set for [Pr. PC30] is used.

The deceleration time constant set for [Pr. PC31] is used.

Set the current position when the home position return completed.


(2) Length of the proximity dog

To generate the Z-phase signal of the servo motor during the detection of DOG (Proximity dog), set the length of the proximity dog that satisfies equations (5.1) and (5.2).

V

L

1

≥

60 td

2

·············································································································· (5.1)

L

1

: Length of the proximity dog [mm]

V: Home position return speed [mm/min] td: Deceleration time [s]

L

2

≥ 2 ∆ S ················································································································· (5.2)

L

2

: Length of the proximity dog [mm]

∆ S: Travel distance per servo motor revolution [mm]

5 - 40


(3) Timing chart

The following shows a timing chart after a program containing a "ZRT" command is selected.

MD0



PED (Position end)

CPO (Rough match)

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ZP


ON

OFF

Servo motor speed

Forward rotation

0 r/min

Reverse rotation





Creep speed

3 ms or shorter td

Proximity dog

Home position


Z-phase

DOG (Proximity dog)



ON

OFF

ON

OFF

ON

OFF

ON

OFF

5 ms or longer


(4) Adjustment

For the dog type home position return, adjust the setting so that the Z-phase signal is always generated during the detection of a dog. Make an adjustment so that the rear end of DOG (Proximity dog) is positioned almost at the center between the positions specified by a Z-phase signal and the next Zphase signal.

The generation position of the Z-phase signal can be checked with "Position within one-revolution" of

"Status Display" on MR Configurator2.

0 Resolution/2 0

Servo motor Z-phase

Proximity dog

DOG (Proximity dog)

ON

OFF

5 - 41


5.4.3 Count type home position return

For the count type home position return, after the front end of the proximity dog is detected, the position is shifted by the distance set in [Pr. PT09 Travel distance after proximity dog]. Then, the position specified by the first Z-phase signal is used as the home position. Therefore, when the on-time of DOG (Proximity dog) is

10 ms or more, the length of the proximity dog has no restrictions. Use the count type home position return when you cannot use the dog type home position return because the length of the proximity dog cannot be reserved, when you input DOG (Proximity dog) electrically from the controller, or other cases.





Count type home position return



[Pr. PT04]

[Pr. PT04]

Switch on MD0.

Dog input polarity


Creep speed






Program

[Pr. PT29]

[Pr. PT06]

[Pr. PT09]

[Pr. PC30]

[Pr. PC31]

[Pr. PT08]



_ _ _ 1: Select the count type (front end detection

Z-phase reference).





After the front end of the proximity dog is passed, the position is shifted by the travel distance and then is specified by the first Z-phase signal. Set this to shift the position of the first Z-phase signal.






5 - 42


(2) Timing chart


MD0



ON

OFF

ON

OFF

PED (Position end)

ON

OFF

CPO (Rough match)

ON

OFF

ZP


ON

OFF

Servo motor speed

Forward rotation

0 r/min

Reverse rotation




Creep speed

3 ms or shorter

Proximity dog




Home position

Z-phase

DOG (Proximity dog)



ON

OFF

ON

OFF

ON

OFF

ON

OFF

5 ms or longer


5 - 43


5.4.4 Data set type home position return

To set an arbitrary position as the home position, use the data set type home position return. The JOG operation, the manual pulse generator operation, and others can be used for the travel. The data set type home position return can be performed only at servo-on.





Data set type home position return


Program


[Pr. PT04]

[Pr. PT08]



Switch on MD0.

_ _ _ 2: Select the data set type.



(2) Timing chart

SON (Servo-on)

MD0



PED (Position end)

CPO (Rough match)

ON

OFF

ON

OFF

ZP


ON

OFF

ON

OFF

ON

OFF

ON

OFF


Servo motor speed

Forward rotation

0 r/min

Reverse rotation



ON

OFF

ON

OFF

3 ms or shorter

5 ms or longer

Travel to home position Execution of data set type home position return


5 - 44


5.4.5 Stopper type home position return

For the stopper type home position return, the home position is set where the workpiece pressed against the stopper of the machine by using the JOG operation, the manual pulse generator operation, or others.





Stopper type home position return



[Pr. PT04]

[Pr. PT04]

Switch on MD0.

_ _ _ 3: Select the stopper type.


Stopper time





Program

[Pr. PT10]

[Pr. PT11]

[Pr. PC30]

[Pr. PC31]

[Pr. PT08]




Set the rotation speed until the workpiece is pressed against the mechanical stopper.

Set the time from when the home position data is obtained after the workpiece pressed against the stopper until when ZP (Home position return completion) is outputted.

Set the servo motor torque limit value at the execution of the stopper type home position return.





(2) Timing chart


MD0



PED (Position end)

ON

OFF

ON

OFF

ON

OFF

CPO (Rough match)

ON

OFF

ZP


ON

OFF


Servo motor speed

Forward rotation

0 r/min

Reverse rotation


3 ms or shorter Stopper




TLC (Limiting torque)

ON

OFF

ON

OFF

ON

OFF

5 ms or longer

Stopper time

Torque limit value [Pr. PC35] [Pr. PT11] (Note) [Pr. PC35]

Note. The following torque limits are enabled.

5 - 45


Input device (0: off, 1: on)

TL1 TL

0 0

Limit value status Enabled torque limit value

0 1

TLA

1 0

Pr. PC35

Pr. PC35

1 1

TLA

> Pr. PT11

>

<

>

Pr. PT11

Pr. PT11

Pr. PT11

Pr. PT11

TLA

Pr. PT11

Pr. PC35

Pr. PT11

TLA


5.4.6 Home position ignorance (servo-on position as home position)

POINT

To perform a home position return by using the home position ignorance, selecting a program containing a "ZRT" command is not required.

The position at servo-on is used as the home position.



Item Device/parameter to be used

Home position ignorance [Pr. PT04]

Setting

_ _ _ 4: Select the home position ignorance

(servo-on position as home position).



(2) Timing chart

[Pr. PT08]

SON (Servo-on)

RD (Ready)


PED (Position end)

ON

OFF

ON

OFF

ON

OFF

ON

OFF

CPO (Rough match)

ON

OFF

ON

ZP (Home position return completion)

OFF


Servo motor speed

Forward rotation

0 r/min

Reverse rotation


5 - 46


5.4.7 Dog type rear end reference home position return

POINT


(Proximity dog) that has detected the rear end of the proximity dog. Therefore, when a home position return is performed at a creep speed of 100 r/min, the home position has an error of 200 pulses (for HG series servo motor). The higher the creep speed, the greater the error of the home position.

Deceleration starts from the front end of the proximity dog. After the rear end is passed, the position is shifted by the travel distance after proximity dog and the home position shift distance. The position after the shifts is set as the home position. The home position return is available independently of the Z-phase signal.





Dog type rear end reference home position return



[Pr. PT04]

[Pr. PT04]

Switch on MD0.

Dog input polarity


Creep speed






Program

[Pr. PT29]

[Pr. PT06]

[Pr. PT09]

[Pr. PC30]

[Pr. PC31]

[Pr. PT08]



_ _ _ 5: Select the dog type (rear end detection/rear end reference).





Set this to shift the home position, which is specified after the rear end of the proximity dog is passed.

Set the travel distance after the rear end of the proximity dog is passed.





5 - 47


(2) Timing chart


MD0



PED (Position end)

ON

OFF

ON

OFF

ON

OFF

CPO (Rough match)

ZP


ON

OFF

ON

OFF




Creep speed


+


Servo motor speed

Forward rotation

0 r/min


Proximity dog


DOG (Proximity dog)



ON

OFF

ON

OFF

ON

OFF

5 ms or longer


5 - 48


5.4.8 Count type front end reference home position return

POINT


(Proximity dog) that has detected the front end of the proximity dog. Therefore, when a home position return is performed at a creep speed of 100 r/min, the home position has an error of 200 pulses (for HG series servo motor). The higher the creep speed, the greater the error of the home position.

After the front end of the proximity dog is detected, if a home position return ends without reaching the creep speed, [AL. 90.2] occurs. Set the travel distance after proximity dog and the home position shift distance enough for deceleration from the home position return speed to the creep speed.



Item Device/parameter to be used


Count type front end reference home position return



[Pr. PT04]

[Pr. PT04]

Switch on MD0.

Setting

_ _ _ 6: Select the count type (front end detection/front end reference).

Dog input polarity


Creep speed






[Pr. PT09]

[Pr. PC30]

[Pr. PC31]

[Pr. PT08]

Program

[Pr. PT29]

[Pr. PT06]







Set this to shift the home position, which is specified after the rear end of the proximity dog is passed.

Set the travel distance after the rear end of the proximity dog is passed.

The acceleration time constant set for [Pr.

PC30] is used.

The deceleration time constant set for [Pr.

PC31] is used.



5 - 49


(2) Timing chart


MD0



PED (Position end)

ON

OFF

ON

OFF

ON

OFF

CPO (Rough match)

ZP


ON

OFF

ON

OFF

Servo motor speed

Forward rotation

0 r/min

Reverse rotation




Creep speed

3 ms or shorter


+



Proximity dog

DOG (Proximity dog)



ON

OFF

ON

OFF

ON

OFF

5 ms or longer


5 - 50


5.4.9 Dog cradle type home position return

A position, which is specified by the first Z-phase signal after the front end of the proximity dog is detected, is set as the home position.





Dog cradle type home position return



[Pr. PT04]

[Pr. PT04]

Switch on MD0.

_ _ _ 7: Select the dog cradle type.

Dog input polarity


Creep speed





Program

[Pr. PT29]

[Pr. PT06]

[Pr. PC30]

[Pr. PC31]

[Pr. PT08]












5 - 51


(2) Timing chart


MD0



PED (Position end)

CPO (Rough match)

ZP


ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF




Creep speed


Servo motor speed

Forward rotation

0 r/min

Reverse rotation

3 ms or shorter

Proximity dog


Z-phase

DOG (Proximity dog)



ON

OFF

ON

OFF

ON

OFF

ON

OFF

5 ms or longer


5 - 52


5.4.10 Dog type last Z-phase reference home position return

After the front end of the proximity dog is detected, the position is shifted away from the proximity dog at the creep speed in the reverse direction and then specified by the first Z-phase signal. The position of the first Zphase signal is set as the home position.





Dog type last Z-phase reference home position return



[Pr. PT04]

[Pr. PT04]

Switch on MD0.

_ _ _ 8: Select the dog type (rear end detection/Zphase reference).

Dog input polarity


Creep speed





Program

[Pr. PT29]

[Pr. PT06]

[Pr. PC30]

[Pr. PC31]

[Pr. PT08]












5 - 53


(2) Timing chart


MD0



PED (Position end)

CPO (Rough match)

ZP






Servo motor speed

Forward rotation

0 r/min



Creep speed

Proximity dog

Z-phase

DOG (Proximity dog)



5 ms or longer


5 - 54


5.4.11 Dog type front end reference home position return type

POINT


(Proximity dog) that has detected the front end of the proximity dog. Therefore, when a home position return is performed at a creep speed of 100 r/min, the home position has an error of 200 pulses (for HG series servo motor). The higher the creep speed, the greater the error of the home position.

A position, which is shifted by the travel distance after proximity dog and the home position shift distance from the front end of the proximity dog, is set as the home position.






Dog type front end reference home position return



[Pr. PT04]

[Pr. PT04]

Switch on MD0.

Dog input polarity


Creep speed





Program

[Pr. PT29]

[Pr. PT06]

[Pr. PC30]

[Pr. PC31]

[Pr. PT08]



_ _ _ 9: Select the dog type (front end detection/front end reference).










5 - 55


(2) Timing chart


MD0



PED (Position end)

CPO (Rough match)

ZP


ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF






+


Servo motor speed

Forward rotation

0 r/min


Creep speed

Proximity dog

DOG (Proximity dog)



ON

OFF

ON

OFF

ON

OFF

5 ms or longer


5 - 56


5.4.12 Dogless Z-phase reference home position return type

A position, which is shifted to by the home position shift distance from a position specified by the Z-phase pulse right after the start of the home position return, is set as the home position.





Dogless Z-phase reference home position return



[Pr. PT04]

[Pr. PT04]

Switch on MD0.

Dog input polarity


Creep speed





Program

[Pr. PT29]

[Pr. PT06]

[Pr. PC30]

[Pr. PC31]

[Pr. PT08]



_ _ _ A: Select the dogless type (Z-phase reference).










(2) Timing chart


MD0



PED (Position end)

CPO (Rough match)

ZP


ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF





Servo motor speed

Forward rotation

0 r/min


Creep speed


Z-phase



ON

OFF

ON

OFF

ON

OFF

5 ms or longer


5 - 57


5.4.13 Automatic retract function used for the home position return

For a home position return using a proximity dog, if the home position return starts from or beyond the proximity dog, this function executes the home position return after the position is shifted back to where the home position return is possible.

(1) When the current position is on the proximity dog

When the current position is on the proximity dog, the position is shifted back automatically to execute the home position return.


Servo motor speed 0 r/min

Reverse rotation


Note. The software limit cannot be used instead of LSP (Forward stroke end) and LSN (Reverse stroke end).


(2) When the current position is beyond the proximity dog

The position is shifted in a direction of the home position return. When LSP (Forward rotation stroke end) or LSN (Reverse rotation stroke end) is detected, the position is shifted back automatically. The position will be shifted passing the proximity dog, and the travel will stop. The home position return will be restarted from that position. If the proximity dog is not detected, the travel stops at LSP or LSN on the opposite side, and [AL. 90 Home position return incomplete warning] occurs.


LSP (Forward rotation stroke end) or

LSN (Reverse rotation stroke end) (Note)

Servo motor speed

Forward rotation

0 r/min

Reverse rotation



5 - 58


5.5 Serial communication operation

Using the RS-422 communication function, the servo amplifier can be operated from a controller such as a personal computer.

This section explains the data communication procedure. Refer to chapter 10 for details of the connection between the controller and servo amplifier and of communication data.

5.5.1 Positioning operation using the program

The communication function enables to select program No., and positioning operation using program is possible by switching on ST1.

(1) Program selection

Select program No. 1 to 16 by using the forced output (command [9] [2] and data No. [6] [0]) of the device from the controller.

(2) Timing chart

5 ms or longer 5 ms or longer 5 ms or longer

Transmission data 1) 4) 5) 2) 4) 5) 3) 4) 5)

Servo motor speed

3 ms

Program No. 2

No. Transmission data description

1) Select program No. 2.



4) ST1 (Forward rotation start) on

5) ST1 (Forward rotation start) off

Program No. 1

Command

[9] [2]

[9] [2]

[9] [2]

[9] [2]

Data No.

[6] [0]

[6] [0]

[6] [0]

[6] [0]

Program No. 3

5 - 59


5.5.2 Multi-drop method (RS-422 communication)

The RS-422 communication function enables to operate multiple servo amplifiers on the same bus. In this method, set station Nos. to the servo amplifiers so that the controller recognizes which servo amplifier is receiving the data currently being sent. Set the station Nos. with [Pr. PC20 Station number setting].

Be sure to set one station No. to one servo amplifier. Setting one station No. to multiple servo amplifiers will disable a normal communication. When operating multiple servo amplifiers with one command, use the group specification function mentioned in section 5.5.3. For the cable connection, refer to section 12.1.1 (2) of "MR-JE-_A Servo Amplifier Instruction Manual".

Servo amplifier Servo amplifier Servo amplifier

CN1 CN1 CN1

RS-422 communication controller

Axis No. 1

(station 0)

Axis No. 2

(station 1)

Axis No. n (station n - 1)

(n = 1 to 32)

5 - 60


5.5.3 Group specification

CAUTION

Set only one servo amplifier capable of returning data in a group. If multiple servo amplifiers return data simultaneously after receiving a command from the controller, the servo amplifiers may malfunction.

When using multiple servo amplifiers, you can set parameters with commands per group.

Up to six groups of a to f can be set. Set groups for each station with the communication commands of

Mitsubishi Electric general-purpose AC servo protocol.

(1) Group setting example

Group a Group b

CN1 CN1 CN1 CN1 CN1

Controller compatible with RS-422/RS-485

Axis No. 1

(station 0)

Axis No. 2

(station 1)

Axis No. 3

(station 2)

Axis No. 4

(station 3)

Axis No. 5

(station 4)

CN1 CN1 CN1 CN1

Axis No. 10

(station 9)

Axis No. 9

(station 8)

Group d

Servo amplifier station No.

Station 0

Station 1

Station 2

Station 3

Station 4

Station 5

Station 6

Station 7

Station 8

Station 9

Axis No. 8

(station 7) c d

Axis No. 7

(station 6)

Group c

Group setting a b

5 - 61

CN1

Axis No. 6

(station 5)


(2) Timing chart

The following shows a timing chart of operation for each group performed with setting values set in program No. 1.

Transmission data 1) 2) 3) 4) 5) 6) 7) 8) 9) 10) 11) 12)

Group a

Group b

Group c

Group d

Station 0

Servo motor speed

Station 1

Servo motor speed

Station 2

Servo motor speed

Station 3

Servo motor speed

Station 4

Servo motor speed

Station 5

Servo motor speed

Station 6

Servo motor speed

Station 7

Servo motor speed

Station 8

Servo motor speed

Station 9

Servo motor speed

No. Transmission data description

1) Select program No. 1 in group a.


4) Select program No. 1 in group b.

5) ST1 (Forward rotation start) on


7) Select program No. 1 in group c.


10) Select program No. 1 in group d.


Command

[9] [2]

[9] [2]

[9] [2]

[9] [2]

[9] [2]

[9] [2]

[9] [2]

[9] [2]

[9] [2]

[9] [2]

[9] [2]

[9] [2]

Data No.

[6] [0]

[6] [0]

[6] [0]

[6] [0]

[6] [0]

[6] [0]

[6] [0]

[6] [0]

[6] [0]

[6] [0]

[6] [0]

[6] [0]

Besides this, you can perform simultaneous writing of common parameters to stations of each group, reset alarms, etc.

5 - 62


5.6 Incremental value command method

When using this servo amplifier in incremental value command method, change the setting of [Pr. PT01].

As position data, set the travel distance from the current address to the target address. The incremental value command method enables infinitely long constant rate of feeding.

Setting range: -999999 to 999999 [×10 STM μ m] (STM = Feed length multiplication [Pr. PT03])

-999999 to 999999 [×10 (STM-4) inch] (STM = Feed length multiplication [Pr. PT03])

-999999 to 999999 [pulse]

Current address Target address

Position data = |Target address - Current address|

This section indicates contents different from the absolute value command method (factory setting) when this servo amplifier is used under the incremental value command method.


Set [Pr. PT01] to select the incremental value command method as shown below.

[Pr. PT01]

1


(2) Command

The command contents of "MOV" and "MOVA" are changed as follows. There is no change in other commands. Thus, the command contents are the same between "MOV" and "MOVI", and between

"MOVA" and "MOVIA".

Command Name Setting

Setting range

Unit

Indirect specification

Description

MOV

MOVA



MOV

(setting value)

-999999 to

999999

MOVA

(setting value)

-999999 to

999999

×10 STM μ m

×10 STM μ m

The servo motor rotates using the set value as the incremental value.

The same as "MOVI" command

The servo motor rotates continuously as the set incremental value.

Make sure to describe this command after the

"MOV" command. If this command is described after other command, an error will occur.

The same as "MOVIA" command

5 - 63


(3) Program example

Command Description

SPN (1000)

STA (200)

STB (300)

MOVI (1000)

TIM (100)

SPN (500)

STA (200)

STB (300)

MOVI (1000)

SPN (1000)

MOVIA (1000)

Servo motor speed




Dwell

Servo motor speed




Servo motor speed


1000 [r/min]

200 [ms] a) b)

300 [ms] c)

1000 [×10 STM μ m] d)

100 [ms]

500 [r/min]

200 [ms]

300 [ms] e) f) g) h)

1000 [×10 STM μ m] i)

1000 [r/min] j)

1000 [×10 STM μ m] k)

Servo motor speed b) Acceleration time constant


(1000 r/min) c) Deceleration time constant

(300 ms) g) Acceleration time constant

(200 ms) f) Servo motor

speed (500 r/min)

Forward rotation

0 r/min

Reverse rotation d) Incremental value travel command

(1000 × 10 STM μ m) e) Dwell

(100 ms) j) Servo motor speed

(1000 r/min) i) Incremental value travel command

(1000 × 10 STM μ m) h) Deceleration time constant

(300 ms) k) Incremental value travel command

(1000 × 10 STM μ m)

5.7 Roll feed mode using the roll feed display function

Refer to section 4.5 for parameter settings of roll feed display function, position data unit and operation method.

When the roll feed display function is used, the status display of the current position at start will be 0.

INP (In-position)

ON

OFF


Quick stop by CR input

Servo motor speed

Forward rotation

0 r/min

Reverse rotation

ST1


TSTP

(Temporary stop/restart)

CR (Clear)

ON

OFF

ON

OFF

ON

OFF


Current position Always "0"

5 - 64


5.8 Program setting method

The following shows the setting method of programs using MR Configurator2.

5.8.1 Setting procedure

Click "Positioning-data" in the menu bar and "Program" in the menu.

The following window will be displayed.

(g)

(h)

(e)

(a) (c) (d) (i)

(b)

(j)

(f)

(1) Reading program (a)

Click "Read" to read and display programs from the servo amplifier.

(2) Writing program (b)

Click "Write" to write the changed programs to the servo amplifier.

(3) Verifying program (c)

Click "Verify" to verify the contents of programs in the personal computer and the servo amplifier.

(4) Single-step feed (d)

Click "Single-step Feed" to perform the single-step feed test operation. Refer to section 3.1.9 for details.

(5) Number of steps (e)

The numbers of steps used in all programs and the remained steps are displayed.

(6) Editing program (f)

Selected programs can be edited. Click "Edit" to open the program editing window. For the editing window, refer to section 5.8.2.

5 - 65


(7) Reading program file (g)

Click "Open" to read the program table data.

(8) Saving program file (h)

Click "Save As" to save the program table data.

(9) Indirect addressing (i)

Click "Indirect addressing" to open the indirect addressing window. Refer to section 5.8.3 for details.

(10) Updating project (j)

Click "Update Project" to update the program to a project.

5.8.2 Window for program edit

Programs can be created on the program editing window.

(b) (c) (d)

(a)

(g)

(e) (f)

(1) Program edit (a)

Input commands to the program edit area (a) in text format.

(2) Cutting text (b)

Select any text in the program edit area, and click "Cut" to cut the selected text.

(3) Copying text (c)

Select any text in the program edit area, and click "Copy" to copy the selected text to the clipboard.

5 - 66


(4) Pasting text (d)

Click "Paste" to paste the copied text on the clipboard to a specified place in the program edit area.

(5) Ending program data window (e)

Click "OK" to execute the edit check. When no error is found in the program, the edit ends and the program data window will be closed. If an error is found in the program after the edit check, the error will be displayed.

(6) Canceling window for program edit (f)

Click "Cancel" to close the window for program edit without saving the program currently being edited.

(7) Displaying error (g)

When the edit check of (5) detects an error in the program, the line No. and content of the error will be displayed. Click the error content, the cursor will move to the line of the corresponding program.

5.8.3 Indirect addressing window

Set general purpose registers (D1 to D4 and R1 to R4) in this window.

(b)

(a)

(c)

(1) Register edit field (a)

Set general purpose register values of D1 to D4 and R1 to R4.

(2) Register reference field (b)

The last register value read from the servo amplifier is displayed.

(3) ROM writing (c)

Write register values (D1 to D4 and R1 to R4) stored in the servo amplifier to the servo amplifier.

5 - 67


MEMO

5 - 68

6. APPLICATION OF FUNCTIONS


This chapter explains about application of using positioning function of servo amplifier.

CAUTION

Note that the number of write times to the Flash-ROM where the cam data is stored is limited to approximately 10000. If the total number of write times exceeds 10000, the servo amplifier may malfunction when the Flash-ROM reaches the end of its useful life.

6.1 Simple cam function

POINT

When [AL. F5.2 Cam data miswriting warning] occurs during cam data writing, set [Pr. PT34] to "5010" to initialize the cam data.

When using simple cam function, execute operation so that the machine speed of the input axis is less than "([Cam control data No. 48 - Cam axis one cycle length] × 1/2) / 100 [command unit/s]". When [Cam control data No. 30] is set to

"1", the unit of the Cam axis length per cycle will be changed to [mm], [inch],

[degree], or [pulse] with the setting of [Pr. PT01]. When [Cam control data No.

30] is set to "2", the unit of the Cam axis length per cycle will be changed to

[mm], [inch], [degree], or [pulse] with the setting of [Cam control data No. 14].

6.1.1 Outline of simple cam function

Simple cam function enables synchronous control by using software instead of controlling mechanically with cam.

The following shows a movement trajectory when the cam below is used and the input axis is rotated once.

Input axis


360°

Output axis Cam one cycle length

0

Input axis

3

2

1

8

7

Cam stroke amount

Bottom dead center

Feed current value

Output axis

Cam stroke amount

4

5

6

1 2 3 4 5 6 7 8 1

0° 45° 90° 135° 180° 225° 270° 315° 360°

Cam axis one cycle

By setting cam data and cam control data, the simple cam function enables synchronous control with an input axis (external pulse command input, point table command, or program positioning command) with a start of positioning.

6 - 1


6.1.2 Simple cam function block

The function block diagram of the simple cam is shown below. Use MR Configurator2 to set the cam data and the cam control data.

Cam data and cam control data

External pulse command input

Electronic gear

([Cam control data No. 15]/

[Cam control data No. 16])

Point table


Command pattern generation

Disabled

Cam pattern selection

Input device CI0 to CI3 or


Simple cam function

Main shaft input axis selection

Cam control command

CAMC

Input axis

Clutch

Cam axis compensation processing

Output axis

Normal positioning control

Cam stroke amount

Cam axis one cycle

Command after cam conversion F Δ T

Electronic gear

([Pr. PA06]/

[Pr. PA07])

Deviation counter

Servo motor

M

Encoder

6 - 2


6.1.3 Simple cam specification list

(1) Specification list

Item MR-JE-_A

Memory capacity (Note 1)

Number of registration

Comment

Stroke ratio data type


Coordinate data type

Cam curve

Storage area for cam data

Working area for cam data

8 Kbytes (Flash-ROM)

8 Kbytes (RAM) (Note 2)

Max. 8

Max. 32 single-byte characters for each cam data

Cam resolution 256/512/1024/2048

-100.000 to 100.000 [%] Stroke ratio

Number of coordinate

2 to 1024

Coordinate data

Input value: 0 to 999999

Output value: -999999 to 999999

12 types (constant speed/constant acceleration/5th curve/single hypotenuse/cycloid/distorted trapezoid/distorted sine/distorted constant speed/trapecloid/reverse trapecloid/double hypotenuse/reverse double hypotenuse)

Note 1. The memory capacity includes a use area (storage area for cam data) for storing in the servo amplifier and an actual operation area (working area for cam data).

2. This can be always changed by using Modbus RTU communication during servo-off.

Refer to section 6.1.7 (5) for the registers used for writing data via Modbus RTU communication.

(2) Cam resolution

(a) Stroke ratio data type

Cam resolution

Max. number of registration

256 8

512 4

1024 2

2048 1

(b) Coordinate data type


Max. number of registration

128 8

256 4

512 2

1024 1

6 - 3


6.1.4 Control of simple cam function

The following three cam controls are available by setting the cam data and the cam control data with MR

Configurator2.

Cam control method


Cam axis one cycle current value (Input)

To-and-fro control

Reciprocates within a specified cam stroke.

Cam conversion processing

(Cam created by users)

Feed current value (Output) t t

Feed control

Updates a cam standard position per cycle.




(Cam created by users)

Feed current value (Output)


(First cycle)


(Second cycle)


(Third cycle) t t

Linear control



Performs linear control to keep the one-cycle stroke ratio as

100%.


(Linear cam: Cam No. 0)

Feed current value (Output)


(First cycle)


(Second cycle)


(Third cycle) t t

Stroke amount × 100%

6 - 4


6.1.5 Operation in combination with the simple cam

(1) Encoder following function

The servo amplifier receives A/B-phase output signal from a synchronous encoder and starts the servo motor with the signal.

Up to 4 Mpulses/s can be inputted from the synchronous encoder to use with the servo amplifier.

MR-JE-A servo amplifier

CN1

CN2

A/B-phase output

Cam axis

Synchronous encoder Servo motor for driving the cam axis

(2) Command pulse input through function

POINT

It takes about 150 µs at a maximum per axis to execute the function from inputting to outputting of pulses.

Example) When the final axis is n

Maximum delay time [µs] = 150 µs × (n-1)

The command pulse input through function allows the first axis to output A/B-phase pulses received from the synchronous encoder to the next axis, enabling a system in which the second and later axes are synchronized with the conveyor axis.


A/B-phase output

(Command pulse through output setting)


A/B-phase output

(Command pulse through output setting)


CN1

CN2

To other axis CN1

To other axis

CN2

CN1

CN2

A/B-phase output

Synchronous encoder

Cam axis

Servo motor 2 for driving the cam axis



6 - 5


(3) Mark sensor input compensation function

The servo amplifier receives input signals from a mark sensor, calculates compensation amounts, and corrects position errors of the rotary knife axis.


2) Calculates a compensation amount in the servo amplifier

CN1

CN2

A/B-phase output

1) Turns on the cam position compensation request by detection of mark sensor

Mark sensor

Cam axis

Synchronous encoder

Servo motor for driving the cam axis

(4) Synchronous operation using positioning data

A synchronous operation is enabled by setting the same positioning data, using a contact input or

Modbus RTU communication, and starting the positioning simultaneously. Refer to section 5.8.4 of "MR-

J4-_A_-RJ Servo Amplifier Instruction Manual (Modbus RTU communication)" for the simultaneous start with Modbus RTU communication.

Controller

Contact input or Modbus RTU communication



CN1

CN2

Servo motor for driving the vertical axis

CN1

CN2

Servo motor for driving the horizontal axis

6 - 6


6.1.6 Setting list

(1) List of items set with MR Configurator2

Set the following on the cam setting window of MR Configurator2.

Setting item Setting

Cam control data


Cam No. selection

Resolution setting

Cam axis one cycle length

Cam stroke amount

Cam data

Select a command input method for the cam axis.

Select from "encoder following (external pulse input)" and "internal point table".

Select the number to create the cam control data.

Set the cam resolution. Select from 256/512/1024/2048.

Set a travel distance of cam one cycle. Command unit is used as an input unit.

Set a cam stroke amount for the stroke ratio of 100% when using the stroke ratio data type cam control.

Create the cam data on the cam creating window of MR Configurator2. After the data is created, write the cam data to the servo amplifier.

(2) List of items set with parameters of the servo amplifier

Set the following with the parameters of the servo amplifier.


Operation mode selection Select "Positioning mode (point table method or program method)" with [Pr. PA01 Operation mode].

Cam function setting

Cam data selection

Device setting

Enable the cam function with [Pr. PT35 Function selection T-5].

Select the cam data to be executed with CI0 (Cam No. selection 0) to CI3 (Cam No. selection 3).

Selecting the cam data for execution is also possible with [Cam control data No. 49 - Cam No.].

Assign CAMC (Cam control command input), CAMS (Output in cam control), and CI0 (Cam No. selection 0) to CI3 (Cam No. selection 3) with I/O setting parameters ([Pr. PD_ _ ]).

6 - 7


6.1.7 Data to be used with simple cam function

CAUTION

Note that the number of write times to the Flash-ROM where the cam control data and cam data are stored is limited to approximately 10000. If the total number of write times exceeds 10000, the servo amplifier may malfunction when the Flash-

ROM reaches the end of its useful life. If data needs to be changed very frequently, use the temporal writing function and write the data to the RAM, not to the Flash-ROM.

(1) Memory configuration of cam control data and cam data

POINT

When [AL. F5.2 Cam data miswriting warning] occurs during cam data writing, set [Pr. PT34] to "5010" to initialize the cam data.

The cam control data and the cam data used for the simple cam are stored in Flash-ROM inside the servo amplifier. When the power is turned on, the cam data and the cam control data are copied from the Flash-ROM to the RAM inside the servo amplifier, and then cam control will be executed.

MR-JE-_A Servo amplifier

Flash-ROM (64 Kbytes) RAM Cam data used for actual cam control is stored

Writing

MR Configurator2

Cam storage area

8 Kbytes

(Note) Working area for cam data 8 Kbytes

Reading

Cam control data storage area

(Note) Working area for cam control data

Cam control

Temporary writing

Programmable controller

Reading

Note. When the power is turned on, the cam data and the cam control data are copied from the Flash-ROM to the RAM.

Use MR Configurator2 or Modbus RTU communication to write the cam data and the cam control data.

Be sure to write the cam data and the cam control data in servo-off state.

When writing the data via Modbus RTU communication, transfer the cam data created using MR

Configurator2.

Modbus RTU communication uses Request store CAM (2D88h), CAM area (2D89h), and CAM data in

CAM area (2D8Bh). Refer to section 6.1.7 (5) for details of each register.

6 - 8


Two writing methods are available.

Writing method Description

Data transmission method (Note)

MR Configurator2

Modbus RTU communication

Temporary writing

Writing

Write the cam control data and the cam data to the RAM of the servo amplifier. After writing, the cam control data and the cam data will be reflected.

The written data will be disabled if the power is turned off.

Use this when creating and adjusting the cam control data and the cam data.

Write the cam control data and the cam data to the Flash-ROM. The data will be enabled when the power is cycled after writing

After cycling the power, control is performed based on the written data.

Conduct this after the cam control data and the cam data are finalized.

Note. : Supported, : Unsupported

(2) Cam data

POINT

If the cam data is set incorrectly, the position command and speed command may increase and may cause machine interference or [AL. 31 Overspeed].

When you have created and changed cam data, make sure to perform test operations and make appropriate adjustments.

The following two types are available for the cam data.

Cam data type

Stroke ratio data type

Coordinate data type

Description

Cam curve of one cycle is divided equally by the number of cam resolution and defined.

The cam curve will be created according to the stroke ratio data of the number of cam resolution.

Data in which cam curve of one cycle is defined with two or more points. The coordinate data is defined as (input value, output value). The input value will be the cam axis one cycle current value, and the output value will be the stroke value from the cam standard position.

(a) Stroke ratio data type

The following are set in the stroke ratio data type. Set the following items on the cam setting window of MR Configurator2. When "Cam No." is set to "0", straight-line control is performed so that the stroke ratio at the last point of the cam data becomes 100%.

Setting item

Cam No.

Setting method

Cam resolution

Cam data start position

Stroke ratio data

Set a Cam No.

Setting

Set "1: Stroke ratio data type".

Set the number of divisions for the cam curve of one cycle.

Set the positions of the cam data and cam control data to the position of when "Cam axis one cycle current value" is "0".

Set the stroke ratio from the first to the last point.

Setting range

0: Linear cam

1 to 8: User-created cam

Select from

256/512/1024/2048.

0 to "Cam resolution - 1"

-100.000 to 100.000

6 - 9


The following is a setting example for "cam resolution = 512" in the stroke ratio data type.

Stroke ratio [%] (Can be set within the range of -100.000% and 100.000%)

Cam axis one cycle length [Cam axis cycle unit]

100.000

0

(Cam standard position)

-100.000

Zeroth point 512th point

(Last point)

1) Feed current value

The feed current value of the cam axis is calculated as follows:

Feed current value = Cam standard position + (Cam stroke amount × Stroke ratio to cam axis one cycle current value)

When the cam axis one cycle current value is in the middle of the specified stroke ratio data, the intermediate value is calculated using the cam data before and after the value.

Cam axis one cycle current value An intermediate value is calculated using the data before and after the value.

Cam data

One resolution or between two coordinates

6 - 10


2) Cam standard position

The cam standard position is calculated as follows:

Cam standard position = The preceding cam standard position + (Cam stroke amount × Stroke ratio at the last point)


Feed current value


(First cycle)


(Second cycle) t

Cam standard position (Third cycle) t

Cam stroke amount × Stroke ratio at the last point

For to-and-fro control, create the cam data in which the stroke ratio at the last point is 0%.

Cam axis one cycle current value t

Feed current value t


(Does not change because the stroke ratio is 0%.)

6 - 11


3) Cam data start position

This setting is available only for the stroke ratio data type cam data.

The cam data position where the "cam axis one cycle current value" becomes "0" can be set as the cam data start position.

The initial value of the cam data start position is "0". The cam axis is controlled with the cam data from the 0th point (stroke ratio = 0%).

When a value other than "0" is set as the cam data start position, cam control is started from the point where the stroke ratio is not 0%.

Set the cam data start position for each cam data within the setting range of "0 to (Cam resolution

- 1)".



(Second cycle)


(Third cycle)

Feed current value


(First cycle) t


Zeroth point Last point

4) Timing of applying cam control data

New values are applied to "Cam No." and "Cam stroke amount" when CAMC (Cam control command) turns on.

"Cam standard position" is updated when "Cam axis one cycle current value" passes through the

0th point of the cam data.

6 - 12


(b) Coordinate data type

The following are set in the coordinate data type. Set the following items on the cam setting window of MR Configurator2. When "Cam No." is set to "0", straight-line control is performed so that the stroke ratio at the last point of the cam data becomes 100%.


Cam No.

Set a Cam No.

Setting method Set "2: Coordinate data type".


Set the number of coordinates for the cam curve of one cycle.

The number of coordinates includes 0th point.

Cam data start position Setting is not necessary.

Coordinate data

Set the coordinate data (input value Xn and output value Yn) for the number of coordinates.

Set from the 0th coordinate data (X0 and Y0).

Set an input value larger than that of the coordinate data.

Setting range

0: Linear cam

1 to 8: User-created cam

2 to 1024

-999.999 to 999.999

The following is a setting example for the coordinate data type.

Output value: Y

[Output axis position unit]

999.999

0

(Cam standard position) (X 0

, Y

0

)

(X

3

, Y

3

)

(X

1

, Y

1

)

(X

2

, Y

2

)

(X

4

, Y

4

)

(X

5

, Y

5

)

(X

10

, Y

10

)

(X

9

, Y

9

)

Input value: X

-999.999

(X

6

, Y

6

)

(X

7

, Y

7

)

(X

8

, Y

8

)


If "input value = 0" and "input value = cam axis one cycle length" are not set in the coordinate data, a control is executed by the line created from the closest two points.

Output value: Y

[Output axis position unit]

999.999

Line created based on

(X

0

, Y

0

) and (X

1

, Y

1

)

(X

3

, Y

3

)

(X

0

, Y

0

)

(X

1

, Y

1

)

(X

2

, Y

2

)

0

(Cam standard position)

(X

4

, Y

4

)

Line created based on

(X

9

, Y

9

) and (X

10

, Y

10

)

(X

5

, Y

5

)

(X

9

, Y

9

)

(X

10

, Y

10

)

Input value: X

(X

6

, Y

6

)

(X

7

, Y

7

)

(X

8

, Y

8

)

-999.999


6 - 13


1) Feed current value

The feed current value of the cam axis is calculated as follows:

Feed current value = Cam standard position + Output value to cam axis one cycle current value

When the cam axis one cycle current value is in the middle of the specified stroke ratio data, the intermediate value is calculated using the cam data before and after the value.

Cam axis one cycle current value An intermediate value is calculated using the data before and after the value.

Cam data

One resolution or between two coordinates

2) Cam standard position

The cam standard position is calculated as follows:

Cam standard position =

The preceding cam standard position + Output value corresponding to "Input value = Cam axis one cycle length" - Output value corresponding to "Input value = 0"


Feed current value


(First cycle)


(Second cycle) t

Cam standard position (Third cycle) t

Output value corresponding to

"Input value = Cam axis one cycle length"

- Output value corresponding to "Input value = 0"

For to-and-fro control, use the output value corresponding to "Input value = Cam axis one cycle length" that is equal to output value corresponding to "Input value = 0".


Feed current value t


(Does not change because the output value is 0.)

6 - 14


3) Cam data start position

The cam data start position is not used in the coordinate data type.

4) Timing of applying cam control data

A new value is applied to "Cam No." when CAMC (Cam control command) turns on.

"Cam standard position" is updated when the cam axis one cycle current value passes through

"0".

(3) List of cam control data

The following table lists the cam control data added for the simple cam function.

Set the cam control data in the cam control data window of MR Configurator2.

POINT

Once the servo amplifier is powered off, the temporarily written data will be deleted. To store the temporarily written data, be sure to write it to the Flash-

ROM before powering off the servo amplifier.

To enable the cam control data whose symbol is preceded by *, cycle the power after setting. The cam control data is not applied by the temporal writing of MR

Configurator2.

No. Symbol

(Note)

Name

Initial value

0

Unit

Control mode

CP CL

0

(Note)

0

(Note)

0

(Note)

(Note)

(Note)

0

0

0

[µm]/

10 -4 [inch]/

10 -3 [degree]/

[pulse]

[µm]/

10 -4 [inch]/

10 -3 [degree]/

[pulse]

(Note)

13

14

15

16

9

10

11

12

*ETYP Synchronous encoder axis unit

*ECMX Synchronous encoder axis unit conversion: Numerator

*ECDV Synchronous encoder axis unit conversion: Denominator

0

0

0

0

0

0

0000h

0

0

6 - 15


No. Symbol Name

38

39

40

41

23

24

25

26

27

28

29

18

19

20

21

22

30

31

32

*MAX Main shaft input axis selection

For manufacturer setting

MMIX Main shaft input method

34

35

36 CLTMD Main shaft clutch control setting

(Note)

(Note)

45

46

47

(Note)

50

(Note)


(Note)

53

54

55

56

57

58

59

6 - 16

Initial value

0

0

0000h

0

0

0

0000h

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

Unit

Control mode

CP CL

0

0

0

0

0

0

0

0

0

0

0

[ms]

0

0

0000h

0

0

0

[µm]/

10 -4 [inch]/

10 -3 [degree]/

[pulse]

[µm]/

10 -4 [inch]/

10 -3 [degree]/

[pulse]


No. Symbol

60

Name

CPHV Cam position compensation target position

Initial value

0

Unit

[µm]/

10 -4 [inch]/

10 -3 [degree]/

[pulse]

[ms]

Control mode

CP CL

61 CPHT Cam position compensation time constant

Note. The data is updated at cam control switching.

(4) Detailed list of cam control data

No./symbol/ name

Setting digit

Function

1

*MCYSM

Main axis one cycle current value setting method

2

*CPRO

Cam axis position restoration target

3

*CBSSM

Cam standard position setting method

Select a setting method for the main axis one cycle current value.

0: Previous value

1: Main axis one cycle current value (initial setting value)

2: Calculated from input axis

Select a target whose cam axis position is restored.

0: Cam axis one cycle current value

1: Cam standard position

2: Cam axis feed current value

4

*CCYSM

Cam axis one cycle current value setting method

5

*MICYS

Main axis one cycle current value (initial setting value)

0

Initial value

[unit]

0

0

Select a setting method for the cam standard position used to restore the cam axis one cycle current value.

0: Feed current value

1: Cam standard position (initial setting value)

2: Previous value

The cam standard position of the last cam control is stored in the previous value.

The feed current value is stored when the cam standard position of the last cam control has not been saved. Turning off the power clears the previous value.

Select a setting method for the cam axis one cycle current value used for restoration when "Cam standard position" and "Cam axis feed current value" have been set as the cam axis position restoration targets.

0: Previous value

1: Cam axis one cycle current value (initial setting value)

2: Main axis one cycle current value

The cam axis one cycle current value of the last cam control is stored in the previous value.

Turning off the power clears the previous value.

Set the initial value of the main axis one cycle current value.

When [Cam control data No. 30] is set to "1"

The unit will be changed to [ μ m], 10 -4 [inch], 10 -3 [degree], or [pulse] with the setting of [Pr. PT01].


The unit will be changed to [ μ m], 10 -4 [inch], 10 -3 [degree], or [pulse] with the setting of [Cam control data No. 14].

Setting range: 0 to [Cam control data No. 48] - 1

0

0

0

Refer to

Function column for unit.

Control mode

CP CL

6 - 17


No./symbol/ name

Setting digit

Function

6

*CIBSS


(initial setting value)

7

*CICYS

Cam axis one cycle current value (initial setting value)

14

*ETYP

Synchronous encoder axis unit

15

*ECMX

Synchronous encoder axis unit conversion:

Numerator

16

*ECDV


Denominator

30

*MAX


This is enabled when [Cam control data No. 3] is set to "1". Set the initial value of the cam standard position in the output axis position unit.


Setting range: -999999 to 999999

Set the position to start the search processing to restore the cam axis one cycle current value. Set this item when restoring the position of the return path with the toand-fro control cam pattern.






_ _ _ x Control unit

0: mm

1: inch

2: degree

3: pulse

_ _ x _ Feed length multiplication

0: × 1

1: × 10

2: × 100

3: × 1000

This digit is disabled when [Cam control data No. 14] is set to "_ _ _ 2" or "_ _ _ 3".

_ x _ _ For manufacturer setting x _ _ _

Set a numerator used to convert encoder pulses of the synchronous encoder axis into the synchronous encoder axis unit.

Set the numerator within the following range.

1

16000

≤

ECMX

ECDV

≤ 6000

Setting a value out of the range will trigger [AL. F6 Cam control warning].

When "0" is set, handle the numerator in the same way as when "1" is set.

Setting range: 0 to 16777215

Set a denominator used to convert encoder pulses of the synchronous encoder axis into the synchronous encoder axis unit.

Set a value within the range of [Cam control data No. 15].

Setting a value out of the range will trigger [AL. F6 Cam control warning].

When "0" is set, handle the denominator in the same way as when "1" is set.


Select an input axis of the main shaft input.

0: Disabled

1: Servo input axis

2: Synchronous encoder axis

Initial value

[unit]

0

Refer to


Control mode

CP CL

0

Refer to


0h

0h

0h

0h

0

0

0

6 - 18


No./symbol/ name

Setting digit

Function

Initial value

[unit]

0h

Control mode

CP CL

32

*MMIX

Main shaft input method

36

*CLTMD

Main shaft clutch control setting

42

*CLTSMM

Main shaft clutch smoothing system

43

*CLTSMT

Main shaft clutch smoothing time constant

48

*CCYL


49

*CNO

Cam No.

51

*CSTK

Cam stroke amount

60

*CPHV

Cam position compensation target position

_ _ _ x Main input method

0: Input +

1: Input -

2: No input

_ _ x _ For manufacturer setting

_ x _ _ x _ _ _

_ _ _ x ON control mode

0: No clutch

1: Clutch command ON/OFF


_ x _ _ x _ _ _

Select a clutch smoothing system.

0: Direct

1: Time constant method (index)

This is enabled when [Cam control data 42] is set to "1". Set the smoothing time constant.


Set an input amount required for cam one cycle.

When [Cam control data No. 30] is set to "0" or "1"





Set the cam No. of the cam to be executed.

When "0" is set, the selections of the input devices CI0 to CI3 will be prioritized.

When a value other than "0" is set, the selections of the input devices CI0 to CI3 will be disabled.


Set a cam stroke amount for the stroke ratio of 100% when using the stroke ratio data type cam.



Set a compensation target position to the input axis of the cam axis.

Set the mark sensor position with the cam axis one cycle current value.






0h

0h

0h

0h

0h

0h

0h

0

0

[ms]

0

Refer to


0

0

Refer to


0

Refer to


6 - 19


No./symbol/ name

61

*CPHT

Cam position compensation time constant

Setting digit

Function

Set the time to apply the position compensation for the input axis of the cam axis.


Initial value

[unit]

0

[ms]

Control mode

CP CL

(a) Relation among the main shaft input axis, position data unit, and feed length multiplication setting

The parameters used to set the position data unit and feed length multiplication differ depending on the setting of [Cam control data No. 30 Main shaft input axis selection].

Main axis one cycle current value setting method

([Cam control data No. 5])

Item

Cam standard position (initial setting value)


Cam axis one cycle current value (initial setting value)



Numerator



Denominator




Cam stroke amount


Cam position compensation amount


Unit

Multipli cation

Main shaft input axis selection ([Cam control data No. 30])

0

(Disabled)

1

(Servo input axis)

2

(Synchronous encoder axis)

[Pr. PT01]

[Pr. PT03]

Unit [Pr. PT01]

Multipli cation

[Pr. PT03]

Unit [Pr. PT01]

Multipli cation

[Pr. PT03]

Unit [Pr. PT01]

Multipli cation

[Pr. PT03]

Unit [Pr. PT01]

Multipli cation

[Pr. PT03]

Unit [Pr. PT01]

Multipli cation

[Pr. PT03]

Unit [Pr. PT01]

Multipli cation

[Pr. PT03]

Unit [Pr. PT01]

Multipli cation

[Pr. PT03]

[Pr. PT01]

[Pr. PT03]

[Pr. PT01]

[Pr. PT03]

[Pr. PT01]

[Pr. PT03]

[Pr. PT01]

[Pr. PT03]

[Pr. PT01]

[Pr. PT03]

[Pr. PT01]

[Pr. PT03]

[Pr. PT01]

[Pr. PT03]

[Pr. PT01]

[Pr. PT03]


[Pr. PT01]

[Pr. PT03]


[Pr. PT01]

[Pr. PT03]


(b) Synchronous encoder axis unit conversion gear setting

The input travel distance of the synchronous encoder is in encoder pulse units. You can convert the unit into a desired unit through unit conversation by setting [Cam control data No. 15 Synchronous encoder axis unit conversion: Numerator] and [Cam control data No. 16 Synchronous encoder axis unit conversion: Denominator].

Set [Cam control data No. 15] and [Cam control data No. 16] according to the control target machine.

Synchronous encoder axis travel distance

(after unit conversion)

=

Synchronous encoder input travel distance

(encoder pulse unit)

×



The travel distance (number of pulses) set in [Cam control data No. 16] is set in [Cam control data

No. 15] in synchronous encoder axis position units.

Set [Cam control data No. 16] in encoder pulse units of the synchronous encoder.

6 - 20


(5) Modbus register

The following explains the main registers for the Modbus RTU communications used by the simple cam function. Refer to "MR-JE-_A Servo Amplifier Instruction Manual (Modbus RTU communication)" for the registers not described in this section.

(a) Related registers

Address Name

Data type

Read/write

No. of points/

No. of Registers

Continuous read/ continuous write

2D80h Target CAM No.

2D82h CAM actual No.

2D84h One cycle length of CAM axis

2D85h Stroke movement of CAM

2D88h Request store CAM

2D89h CAM area

2D8Bh CAM data in CAM area

1 byte

1 byte

4 bytes

4 bytes

1 byte

2 bytes

64 bytes

Read/write

Read

Write

Write

Write

Read/write

Read/write

1

1

2

2

1

1

32

Impossible

Impossible

Impossible

Impossible

Impossible

Impossible

Impossible

(b) Details of registers

1) Cam number setting (2D80h)

Address Name

2D80h Target CAM No.

Data type

1 byte

Read/write

Read/write

No. of points/

No. of Registers

1


Impossible

A cam number can be read using the function code "03h" (Read Holding Registers).

A cam number can be set using the function code "10h" (Preset Multiple Registers).

If [Cam control data No. 49 - Cam No.] is "0", the cam number set with this register is enabled.

If the cam number is not "0", the setting of [Cam control data No. 49] is enabled and this register is disabled.

2) Current cam number (2D82h)

Address Name

2D82h CAM actual No.

Data type

1 byte

Read/write

Read

No. of points/

No. of Registers

1


Impossible

While a cam control operation is being performed (when "1" is set in bit 5 of 2D12h), the cam number being used in the operation can be read using the function code "03h" (Read Holding

Registers).

6 - 21


3) Cam axis one cycle length setting (2D84h)

Address Name

Data type

2D84h One cycle length of CAM axis 4 bytes

Read/write

Write

No. of points/

No. of Registers

2


Impossible

The cam axis one cycle length can be written in the RAM space in the servo amplifier using the function code "10h" (Preset Multiple Registers).

The values set with this register are deleted at power-off.

4) Cam stroke length setting (2D85h)

Address Name

Data type

2D85h Stroke movement of CAM 4 bytes

Read/write

Write

No. of points/

No. of Registers

2


Impossible

A cam stroke length can be written in the RAM space in the servo amplifier using the function code "10h" (Preset Multiple Registers).


5) Request store CAM (2D88h)

Address Name

Data type

2D88h Request store CAM 1 byte

Read/write

Write

No. of points/

No. of Registers

1


Impossible

Cam data can be written in the RAM space in the servo amplifier using the function code "10h"

(Preset Multiple Registers). Always set "0" in this register.


6 - 22


6) CAM area (2D89h)

Address Name

Data type

2D89h CAM area 2 bytes

Read/write

Read/write

No. of points/

No. of Registers

1


Impossible

The storage area of cam data to be read or written can be set using the function code "10h"

(Preset Multiple Registers).

The following table shows the relation between a value set in this register and cam data storage area.

Setting value Cam data storage area [byte]

0

1

2

0 to 63

64 to 127

128 to 191

130

131

8320 to 8383

8384 to 8447 (Note)

Note. Data of up to 8388 bytes can be stored in the cam data storage area. The value "0" is stored in the

8388th cam data storage area or later.

7) CAM data in CAM area (2D8Bh)

Address Name

Data type

2D8Bh CAM data in CAM area 64 bytes

Read/write

No. of points/

No. of Registers


Read/write 32 Impossible

Cam data in the area specified with CAM area (2D89h) can be read using the function code "03h"

(Read Holding Registers).

Cam data can be written in the RAM space in the servo amplifier using the function code "10h"

(Preset Multiple Registers).

Specify the space in which cam data is written with the CAM area (2D89h).

6 - 23


(6) How to use Modbus RTU communication

When using cam data for the maximum number of registrations or more, save the cam data in the controller with the following method. By writing the stored cam data from the controller, the user can use the cam data for the maximum number of registrations or more.

However, note the following restrictions.

The cam data written from the controller cannot be read with MR Configurator2.

Write the cam data and the cam control data in the servo-off state and when CAMC (Cam control command) is off.

1) Create cam data with

MR Configurator2.

Controller

MR Configurator2

3) Save (read) the cam data in the controller.

Modbus RTU communication

Servo amplifier

USB communication

CN1

2) Write the created cam data to the servo amplifier.

4) Write the saved cam data to the servo amplifier (Writing to

RAM).

CN1

The cam No., cam axis one cycle length, and cam stroke amount of the cam control data can be written to the servo amplifier from the controller. Set them using Cam number setting (2D80h), Cam axis one cycle length setting (2D84h), and Cam stroke length setting (2D85h). Refer to section 6.1.7 (1) for the cam control data.

6 - 24


(a) Reading

Since cam data is 8 Kbytes, the cam data is divided by 64 bytes and read via Modbus RTU communication. The following shows the procedure for reading cam data with the register addresses

2D88h, 2D89h, and 2D8Bh.

Reading starts.

N = 0

Set "0" in Request store CAM (address: 2D88h).

Set "N" in CAM area (address: 2D89h).

N = N + 1

Use the address 2D8Bh to read the cam data (64 bytes) in

CAM area (2D89h).

N == 131? (Note)

Yes

Reading is completed.

No

Note. The size of cam data is fixed to 8388 bytes. Thus, N, the setting range of the cam storage area is 0 to 131. Only a part of cam data cannot be read. Read the cam data stored in all areas.

6 - 25


(b) Writing

Since cam data is 8 Kbytes, the cam data is divided by 64 bytes and written via Modbus RTU communication. The following shows the procedure for writing cam data with the register addresses

2D88h, 2D89h, and 2D8Bh.

Writing starts.

N = 0

Set "0" in Request store CAM (address: 2D88h).

Set "N" in CAM area (address: 2D89h).

N = N + 1

Use the address 2D8Bh to read the cam data (64 bytes) in

CAM area (2D89h).

No

N == 131? (Note)

Yes

Writing is completed.

Note. The size of cam data is fixed to 8388 bytes. Thus, N, the setting range of the cam storage area is 0 to 131. Only a part of cam data cannot be written. Write the cam data stored in all areas.

6.1.8 Function block diagram for displaying state of simple cam control



Cam No. in execution Cam axis one cycle current value




Input pulse of synchronous encoder

ECMX

ECDV Clutch

+

-


CMX

CDV

+

-

Servo motor

M

Point table command

Cam position compensation processing

Encoder

6 - 26


6.1.9 Operation

POINT

When using simple cam function, execute operation so that the machine speed of the input axis is less than "([Cam control data No. 48 - Cam axis one cycle length] × 1/2) / 100 [command unit/s]". When [Cam control data No. 30] is set to

"1", the unit of the Cam axis length per cycle will be changed to [mm], [inch],

[degree], or [pulse] with the setting of [Pr. PT01]. When [Cam control data No.

30] is set to "2", the unit of the Cam axis length per cycle will be changed to

[mm], [inch], [degree], or [pulse] with the setting of [Cam control data No. 14].

This section explains an operation using the simple cam function with concrete examples.

(1) Example of a rotary knife device

(a) Configuration example

The rotary knife cuts the sheet conveyed by the conveyor at a constant speed into a desired length.

To prevent variations in the sheet length and a cutting position mismatch, this device reads registration marks that have been printed on the sheet, and compensates cutting positions.


CN1 Connect to PP-PG and NP-NG.

Assign the CPPD input signal and connect.

CN2

A/B-phase output

Machine speed (Note)

Mark sensor

Rotary knife axis

Synchronous encoder

Conveyor axis

A belt conveyor is driven by an inverter or another servo amplifier.

Servo motor for driving the cam axis

Note. Set the machine speed of the input axis to a value that satisfies the following equation.

The machine speed axis ≤ [Cam control data No. 48 Cam axis one cycle length] × 1/2 × 1000 [command unit/s]

With the graph function of MR Configurator2, you can check the machine speed by observing the waveform of the main axis current value.

The machine speed can be calculated by the following equation.

The machine speed = (L2 - L1)/(T2-T1)

L2

L1

T1 T2


Time

Fig. 6.1 System configuration example

6 - 27


Setting example: When the sheet length is 200.0 mm, the circumferential length of the rotary knife axis (synchronous axis length) is 600.0 mm, and the sheet synchronous width is 10.0 mm

Cycle length of the rotary knife axis

(600.0 mm)

Sheet synchronous width

(10.0 mm)

Sheet length

(200.0 mm)


Rotary knife axis (cam axis) speed

Synchronous speed

(Sheet feed speed)

Cam stroke ratio

(Cam data created by users)

100%

(600.0 mm)

0°

Rotary knife axis

(Cam axis)

(5.0 mm)

0°

(0.0 mm)

Home position

Sheet feeding

(5.0 mm)

180°

(100.0 mm)

360°

(200.0 mm)

Fig. 6.2 Driving example

Basic settings require to use the simple cam function

Item Setting value

Operation mode selection ([Pr.

PA01])

Simple cam function setting

([Pr. PT35])

Select "Point table method".

Enable the simple cam function.

"1006"

"_ 1 _ _"

Device setting Assign CAMC (Cam control command input),

CAMS (Output in cam control), and CI0 to CI3

(Cam No. selection 0 to 3) with I/O setting parameters

([Pr. PD_ _ ]).

Refer to section

7.2.4.

Sheet length

(200.0 mm) t t t

When the conveyor axis (main axis) feeds a sheet by the set length, the rotary knife makes one rotation (360 degrees) to cut the sheet. Set the following items as follows.

Item Setting value

Set the sheet length. 200.000 Cam axis one cycle length


Cam stroke amount ([Cam control data No.

51])

Synchronous encoder axis unit


Unit of rotary knife axis ([Pr.

PT01])

Cam data

Set the rotation amount per rotation in "degree".

Set the unit of the sheet length.

Set "degree" as the unit of position data.

Create the cam data with the operation pattern shown in Fig. 6.2.

360.000

0 (mm)

"_ 2 _ _"

Set the following items as follows to use the encoder following function.

Item Setting value

Select the synchronous encoder axis.

2 Main shaft input axis selection


Synchronous encoder axis unit multiplication:

Numerator


Synchronous encoder axis unit multiplication:

Denominator


Refer to the synchronous encoder axis unit conversion gear setting in section 6.1.7 (3) (b).

Refer to section

6.1.7 (3)

(b).

6 - 28


(b) Operation

The following table shows an example of the procedure before operation.

Step Setting and operation

1. Data setting

2. Initial position adjustment

3. Selecting cam data

4. Servo-on

5. Switching cam control

Refer to the setting example on the previous page and set the data.

Adjust the synchronous positions of the conveyor axis and rotary knife axis.

When the position of the conveyor axis (main axis current value) is "0", set the position of the rotary knife axis (feed current value) to "0".

Since the position at power-on is "0", the home position return of the conveyor axis is not required.

Perform the home position return on the rotary knife axis at the point where the blade of the cutter becomes the top.

Adjust the conveyor axis and rotary knife axis so that the 0 position of both axes is located at the center of the sheet length.

Select the cam data to be executed with CI0 to CI3 (Cam No. selection 0 to 3). The user can use [Cam control data No. 49 - Cam No.] to select the cam data. (Note 1)

Switch on SON (Servo-on).

Switch on CAMC (Cam control command) to switch the control to the cam control. (Note 2)

6. Starting the conveyor axis Check that CAMS (During cam control) is on and start the conveyor axis. (Note 2)

The rotary knife axis is driven in synchronization with the conveyor axis.

Note 1. Use Cam number setting (2D80h) to select a cam No. via the Modbus RTU communication.

2. Use C_CAMC (Control input (bit 5 of 2D02h)) to input a cam control command via the Modbus RTU communication. The output status during cam control can be read with S_CAMS (Control output (bit 5 of 2D12h)).

MD0


SON (Servo-on)

ON

OFF

ON

OFF

Cam No.

CAMC

(Cam control command)

CAMS

(Under cam control)

ON

OFF

ON

OFF

0 1

Max. 20 ms

Cam one cycle Cam one cycle Cam one cycle Cam one cycle

Conveyor axis travel distance

(Main axis current value)


Rotary knife angle

(Cam axis feed current value)

360°

180°

0°

Sheet

Cutting position Cutting position Cutting position Cutting position

Fig. 6.3 Timing chart

6 - 29


(c) Compensation with mark sensor input

This system detects registration marks that have been equally printed on the sheet, and compensates the difference between the actual cam axis one cycle current value and the ideal cam axis one cycle current value (set value of the cam position compensation target position) by shifting the synchronous phase of the rotary knife axis and the conveyor axis.

Setting example: When the ideal registration mark position is 150 mm and the mark is not detected unless the conveyor feeds the sheet by 151 mm due to stretch

By executing compensation, the rotary knife cuts the sheet keeping the distance of

50 mm between the ideal position for detecting the registration mark and the position for cutting the sheet.

Item

Assignment of CPCD (Cam position compensation request)



Cam position compensation time constant


Setting and operation

Assign "CPCD" for an input signal pin with the input device selection parameter. Refer to section 7.2.4 for details.

In this example, the ideal position for detecting the registration mark is 150 mm position from the cam axis one cycle current value. Set "150" for the cam position compensation target position.

In this example, the position compensation is executed by one-shot. Set "0" for the cam position compensation time constant.


The difference (1 mm) between the registration mark detection position (151 mm) and the cam position compensation target position (150 mm) is compensated.

(Note) Cam axis one cycle current value 151 mm

150 mm

Rotary knife angle

(Cam axis feed current value)

Conveyor travel distance

(Cam axis input amount)

360°

180°

0°

200 mm

150 mm

200 mm

150 mm

201 mm

151 mm

201 mm

151 mm

Sheet

Registration mark

Cutting position

50 mm 50 mm 50 mm

CPCD

(Cam position compensation request)

ON

OFF

Note. The dot-and-dash line in the above figure shows a waveform of when compensation is not executed.

Fig. 6.4 Control example of cam position compensation

6 - 30


(d) Details of cam position compensation

POINT

Adjust the sensor position and cam position compensation target position so that the sensor position is detected before the cam axis one cycle current value exceeds the cam axis one cycle length.

If the sensor position is detected after the cam axis one cycle current value exceeds the cam axis one cycle length, the sheet length may be determined as extremely short, causing a rapid movement such as the cam axis feed current value is increased in a short time. cpos - CPHV CPHV - cpos

Sheet

Cam axis one cycle current value cpos

CPHV ([Cam control data No. 60]) ccyl' ccyl' = CCYL + (cpos - CPHV) cpos

CPHV ([Cam control data No. 60]) ccyl' ccyl' = CCYL - (CPHV - cpos)

The cam position compensation processing compensates the difference between the target position for detecting the sensor and the actual position for detecting the sensor by shifting the cam axis one cycle current value. ccyl', the cam axis one cycle length (sheet length) after compensation, is calculated as follows:

CCYL: Cam axis one cycle length ([Cam control data No. 48])

CPHV: Cam position compensation target position ([Cam control data No. 60]) ccyl': Cam axis one cycle length (after compensation) cpos: Cam axis one cycle current value at sensor detection

CPHV - cpos: Distance between the target sensor detection position and actual sensor detection position

6 - 31


When the sensor detection position is before the target position (CPHV ≥ cpos): ccyl' = CCYL -

(CPHV - cpos)

CPHV - cpos

Sheet


CPHV ([Cam control data No. 60])

CCYL ([Cam control data No. 48]) ccyl'

Increase the conveyor travel distance by adding the difference (CPHV - cpos) to the cam axis one cycle current value. Adjust the filter time constant for acceleration/deceleration at compensation with

[Cam control data No. 61 Cam position compensation time constant].

When the sensor detection position is after the target position (CPHV < cpos): ccyl' = CCYL +

(cpos - CPHV) cpos - CPHV

Sheet


CPHV ([Cam control data No. 60])

CCYL ([Cam control data No. 48]) ccyl'

Decrease the conveyor travel distance by subtracting the difference (cpos - CPHV) from the cam axis one cycle current value. Adjust the filter time constant for acceleration/deceleration at compensation with [Cam control data No. 61 Cam position compensation time constant].

6 - 32


(2) Example of the simultaneous start function with contact input or via the Modbus RTU communication

(a) Configuration example

To synchronize the vertical motion of the vertical axis (axis 2) with the position of the horizontal axis

(axis 1) as shown below, input the positioning commands for axis 1 to axis 2 as well. (Set the same point table data for the axis 1 and 2.)

Axis 2 (vertical axis)

Axis 1 (horizontal axis)

Flow of belt conveyors

Fig. 6.5 System configuration example

6 - 33


Setting example: When the movable range of the axis 1 (horizontal axis) is 600.0 mm and the axis 2

(vertical axis) is 200.0 mm

Set the same point table for the axis

1 and 2.(Note)

Servo motor speed

Point table setting

Travel distance

(600.0 mm)

Execute the simultaneous start with contact input or via broadcast communication.

Axis 1

Positioning control

Start the axis 1 and 2 simultaneously.

Axis 2

Cam control

Travel distance

(600.0 mm)

Axis 1 operation (normal positioning)

Command position

600

0

Command position

Axis 2 operation (cam operation)


600.0 mm

Cam data created by users

0

200.0 mm

Axis 2 moves vertically in synchronization with the to-and-fro control of axis 1. The back and forth motions are symmetrical.

Note. Input the same positioning commands (point table data) to the driven shaft (axis 2) as those for the main shaft (axis 1).

Fig. 6.6 Driving example

Set the following items as follows to move up and down the axis 2 in synchronization with the to-andfro control using absolute value commands with point table No. 1 and 2 of the axis 1.

Setting example of axis 1


PA01])

Positioning command method selection ([Pr. PT01])

Command unit ([Pr. PT01])


Point table No. 1


Select "Absolute value command method".

Set "mm" as the unit of position data.

Select "Servo input axis".

Set the target position (outward path in the to-and-fro control).

Set "Absolute value command method" for the sub function.

Point table No. 2 Set the target position (return path in the to-and-fro control).

Set "Absolute value command method" for the sub function.

"1006"

"_ _ _ 0"

"_ 0 _ _"

1

600.000

"0", "1", "8", or "9"

0.000

"0", "1", "8", or "9"

6 - 34


Setting example of axis 2


PA01])

Simple cam function setting ([Pr.

PT35])

Device setting


Enable the simple cam function.

"1006"

"_ 1 _ _"

Command unit ([Pr. PT01])

Cam axis one cycle length ([Cam control data No. 30])

Cam stroke amount ([Cam control data No. 51])


Point table No. 1

Assign CAMC (Cam control command input), CAMS (Output in cam control), and

CI0 to CI3 (Cam No. selection 0 to 3) with I/O setting parameters ([Pr. PD_ _ ]).

Set "mm" as the unit of position data.

Set the travel distance of the axis 1 (horizontal axis).

Set the travel distance of the axis 2 (vertical axis).

Select "Servo input axis".

Refer to section

7.2.4.

"_ 0 _ _"

600.000

200.000

1

Point table No. 2

Cam data

Set the same target position as that of the point table No. 1 of the axis 1.

Set the same servo motor speed and acceleration/deceleration time constants for the point table No. 1 of the axis 1.

Set the same target position as that of the point table No. 2 of the axis 1.

Set the same servo motor speed and acceleration/deceleration time constants for the point table No. 2 of the axis 1.

Create a cam pattern according to the axis 1 position. (Refer to Fig. 6.6.)

600.000

0.000

(b) Operation

The following table shows an example of the procedure before operation.

Step

1. Data setting

2. Initial position adjustment

Setting and operation

3. Point table selection

4. Selecting cam data

5. Servo-on

6. Switching cam control

7. Starting the simultaneous start function

Refer to the setting example on the previous page and set the data.

Adjust the synchronous positions of the axis 1 and 2.

In this example, when the position of the axis 1 (command position) is "0", adjust the synchronous position so that the position of the axis 2 (feed current value) becomes "0".

Select the point table No. 1 for both axis 1 and 2.

Select the cam data to be executed with CI0 to CI3 (Cam No. selection 0 to 3) of the axis 2.

The user can use [Cam control data No. 49 - Cam No.] to select the cam data.

Switch on SON (Servo-on) for both axis 1 and 2.

Switch on CAMC (Cam control command) of the axis 2 to switch the control to the cam control.

Check CAMS (During cam control) of the axis 2 is on and start the operations of the axis 1 and 2 simultaneously. The axis 2 is driven in synchronization with the axis 1.

6 - 35


«Axis 1/Axis 2»

MD0


SON (Servo-on)

ON

OFF

ON

OFF

Point table No.

«Axis 1»

ST1


ON

OFF

Command speed

Forward rotation

0 r/min

Reverse rotation

Command position

«Axis 2»

Cam No.

ST1


CAMC


Command speed

1

5 ms or longer

3 ms or shorter

Point table No. 1

ON

OFF

ON

OFF

Forward rotation

0 r/min

Reverse rotation

3 ms or longer

1

0.888 ms or shorter

3 ms or shorter

Point table No. 1

Command position



CAMS

(Under cam control)

INP (In-position)

MEND

(Travel completion)

ON

OFF

ON

OFF

ON

OFF

Max. 20 ms

Fig. 6.7 Timing chart

Input start commands simultaneously with the DI signal or serial communication from controllers such as programmable controllers. The start delay time of the main shaft and driven shaft is 888 µs at a maximum because it depends on the fetch cycle of the start signal. The detection of external input signals is delayed by the time set in the input filter setting of [Pr. PD29].

Even though CAMC turns on, the command is not reflected after ST1 turns on (during point table operation or JOG operation). The command is not also reflected even though CAMC turns on in the servo-off state.

CAMC is determined at the on edge, not on level. Even though CAMC turns off or on before CAMS turns on, the command is not reflected.

6 - 36


6.1.10 Cam No. setting method

POINT

When the cam No. is set to a value other than "0" to "8", [AL. F6.5 Cam No. external error] will occur. If the cam data of a specified cam No. does not exist,

[AL. F6.3 Cam unregistered error] occurs. At this time, the cam control is not executed and the servo motor does not start. Turning off the cam control command clears [AL. F6.3] and [AL. F6.5].

You can use external input signals or serial communication commands to set and change the cam No. in the same way as the method specified with [Cam control data No. 49] or the method for selecting a point table

No.

Use CI0 (Cam No. selection 0) to CI3 (Cam No. selection 3) as external input signals.

Use commands [92] [61] (Writing DI function bit map) as communication commands.

Modbus RTU communication uses Cam number setting (2D80h). Refer to section 5.8.12 of "MR-JE-_A

Servo Amplifier Instruction Manual (Modbus RTU communication)" for how to set a cam No.

The following table lists the priority of each parameter, external input signal, and communication command.

[Cam control

External input

[Pr. PT35] setting data No. 49] signal

Communicati

Setting setting on command

_ 0 _ _

(Simple cam function disabling setting)

The cam function will be disabled with the setting of [Pr.

PT35].

_ 1 _ _

(Simple cam function enable setting)

"0" (initial value)

Other than "0"

The cam No. is set with the setting of external input signals or communication commands.

The cam No. is set with the setting of [Cam control data

No. 49]. The cam No. setting with external input signals or communication commands is disabled.

Note 1. : Enable, : Disable

2. The on/off state of CI0 to CI3 is determined with OR of external input signals and communication command settings.

On: Either of an external input signal or a communication command turns on.

Off: Both of the external input signal and communication command turn off.

6 - 37


6.1.11 Stop operation of cam control

If one of the following stop causes occurs on the output axis during cam control, the cam control stops after the output axis is stopped. (CAMS turns off.)

To restart the cam control, adjust the synchronous position of the output axis.

Stop cause Command stop processing Remark

Software stroke limit detection

Stroke limit detection

Stop due to forced stop 1 or 2, or alarm occurrence

Cam control command (CAMC) OFF

Servo-off

Instantaneous stop

Instantaneous stop

Instantaneous stop or deceleration to a stop

Instantaneous stop

Instantaneous stop

Refer to (1).

Refer to (1).

Stop due to base circuit shut-off Refer to (1).

Stop by the forced stop deceleration function Refer to

(2).

Refer to (1).

Coasting state

(1) Instantaneous stop

The operation stops without deceleration. The servo amplifier immediately stops the command.


Feed current value

Feed speed t t t

Instantaneous stop

6 - 38


(2) Deceleration stop

The output axis decelerates to stop according to [Pr. PC51 Forced stop deceleration time constant].

After a deceleration stop starts, the cam axis one cycle current value and feed current value are not updated. The path of the feed current value is drawn, and the stop is made regardless of the cam control.

Decelerate the input axis to stop when decelerating the output axis to stop in synchronization with the input axis.


Feed current value

Feed speed t t t

Deceleration to a stop

When using a positioning command (internal command) for the input axis, inputting a temporary stop or switching the operation mode decelerates the input axis to stop. Since the output axis stops in synchronization with the input axis, the synchronous relationship is kept and the cam control does not stop.

When the control mode is switched to the home position return mode, the cam control will stop.

6 - 39


6.1.12 Restart operation of cam control

When the cam control is stopped during operation, a gap is generated in the synchronization between the main shaft and the driven shaft. To solve the gap, return the main shaft and the driven shaft to the synchronization starting point and then start the synchronous operation.

«Main shaft/driven shaft»

MD0


SON (Servo-on)

ST1


ON

OFF

ON

OFF

ON

OFF

Point table in which the command position 0 is set as the target position

Point table No.

5 ms or longer

1 2

3 ms or shorter

«Main shaft»

Point table No. 1

Positioning to the synchronization start position (Command position 0)

Command speed

Forward rotation

0 r/min

Reverse rotation

Command position

«Driven shaft»

ST1


CAMC


Command speed

ON

OFF

Forward rotation

0 r/min

Reverse rotation

(Note 1)

3 ms or shorter

Point table No. 1

Positioning to the synchronization start position (Feed current value

0 (= Command position 0))

If the cam control stops during operation, the synchronous position relationship with the main shaft is broken.

Command position

(Note 1)


(Note 1)


CAMS

(Under cam control)

ON

OFF

(Note 1)

5 ms or shorter

The above shows an example for when the synchronization starting point is the point where both command position and feed current value are "0".

6 - 40


6.1.13 Cam axis position at cam control switching

The cam axis position is determined by the positional relationship of three values of "Cam axis one cycle current value", "Cam axis standard position" and "Cam axis feed current value". When the control has been switched to the cam control (CAMC (Cam control command) is on), defining the positions of two of these values restores the position of the remaining one value.




The following table lists the parameters required to be set for the cam axis position restoration. Refer to section 6.1.7 (3) for the settings.

Cam axis position restoration target

([Cam control data

No. 2])

Cam standard position setting method ([Cam control data No. 3])

Cam standard position (initial setting value) ([Cam control data No. 6])

Cam axis one cycle current value setting method ([Cam control data No. 4])

Cam axis one cycle current value (initial setting value) ([Cam control data No. 7])

Restoration processing details



2: Cam axis feed current value

(Note)

(Note)

(Used as the search starting point of cam pattern.)

(Note)

(Note)

"Cam axis one cycle current value" is restored based on

"Cam standard position" and "Cam axis feed current value".

"Cam standard position" is restored based on "Cam axis one cycle current value" and "Cam axis feed current value".

"Cam axis feed current value" is restored based on

"Cam axis one cycle current value" and

"Cam standard position".

: Required

Note. Set this parameter when [Cam control data No. 3] is set to "1".

6 - 41


(1) Cam axis one cycle current value restoration

POINT

For the cam pattern of to-and-fro control, if no corresponding cam axis one cycle current value is found, [AL. F6.1 Cam axis one cycle current value restoration failed] will occur and cam control cannot be executed.

For the cam pattern of feed control, if no corresponding cam axis one cycle current value is found, the cam standard position will automatically change and the value will be searched again.

If the cam resolution of the cam used is large, search processing at cam control switching may take a long time.

When CAMC (Cam control command) turns on, "Cam axis one cycle current value" is restored based on

"Cam standard position" and "Cam axis feed current value" and the control is switched to the cam control. Set the "cam standard position" used for the restoration with cam control data. The feed current value at cam control switching is used as "Cam axis feed current value".

The cam axis one cycle current value is restored by searching for a corresponding value from the beginning to the end of the cam pattern.

Set the starting point for searching the cam pattern with "[Cam control data No. 7 Cam axis one cycle current value (initial setting value)]". (It is also possible to search from the return path in the cam pattern of to-and-fro control.)




Searching for the cam pattern

(It is also possible to search from a value in the middle of the cam axis one cycle current value).

6 - 42


(a) Cam pattern of to-and-fro control

1) Searching from "Cam axis one cycle current value = 0" (Cam data start position = 0)


Search from "Cam axis one cycle current value = 0".


(Feed current value)


The cam axis one cycle current value is restored with the first feed current value that matched.

(The cam axis one cycle current value is not restored with the second and subsequent feed current values that matched.)

2) Searching from a value in the middle of the cam axis one cycle current value (Cam data start position = 0)

Cam axis one cycle current value (Initial setting)




Search from a value in the middle of the cam axis one cycle current value.

(Preceding feed current values are searched later.)

Search from a value in the middle, and the cam axis one cycle current value is restored with the first feed current value that matched.

(The cam axis one cycle current value is restored with the second feed current value that matched.)


3) Searching from a value in the middle of the cam axis one cycle current value (Cam data start position ≠ 0)









6 - 43


4) Searching fails




When no feed current value that matched is found within one cycle, the restoration fails.


(b) Cam pattern of feed control

1) Searching from "Cam axis one cycle current value = 0" (Cam data start position = 0)




Search from "Cam axis one cycle current value = 0".

The cam axis one cycle current value is restored with the first feed current value that matched.

(The cam axis one cycle current value is not restored with the second and subsequent feed current values that matched.)


2) Searching from a value in the middle of the cam axis one cycle current value (Cam data start position = 0)





New cam standard current value

Cam standard position at the start of the restoration

The cam standard position is automatically updated to the one in the next cycle.

Search from a value in the middle, and the cam axis one cycle current value is restored with the first feed current value that matched in the next cycle.

6 - 44


3) Searching from a value in the middle of the cam axis one cycle current value (Cam data start position ≠ 0)









The cam standard position is automatically updated to the one in the next cycle.

(Updated at the cam data 0th point.)


4) The first searching has failed and the second searching starts

POINT

If the first searching has failed, the second searching may not be processed in the next cycle for a cam pattern with a feed stroke smaller than 100%. By setting or positioning a cam standard position in advance, an intended cam axis one cycle current value can be found in the first searching.






Feed stroke

The cam axis one cycle current value is restored with the first feed current value that matched and is found in the second search.

Once the first search fails, the cam standard position is automatically updated and the second search starts so that "Feed current value - New cam standard position" is within the feed stroke amount.

6 - 45


(2) Cam standard position restoration

If the cam axis position restoration target is set to "Cam standard position restoration" and CAMC (Cam control command) turns on, the "cam standard position" will be restored based on "Cam axis one cycle current value" and "Cam axis feed current value" and the control is switched to the cam control.

Set the "cam axis one cycle current value" used for restoration with cam control data. The feed current value of when CAMC (Cam control command) is on is used as the "cam axis feed current value".




The cam standard position is restored to the cam stroke position that corresponds to

"Feed current value - Cam axis one cycle current value".

The following shows an example for restoring the cam standard position to start an operation from a point where both the feed current value and the cam axis one cycle current value are 0" in the cam whose cam data start position is not "0".

Cam axis one cycle current value 0

0 Cam axis feed current value




Cam data

6 - 46


(3) Cam axis feed current value restoration

POINT

When the restored cam axis feed current value differs from the feed current value at cam control switching, the cam axis feed current value moves to the value restored just after cam control switching.

If the difference between the restored cam axis feed current value and the feed current value is larger than the value set in [Pr. PA10 In-position range], [AL.

F6.2 Cam axis feed current value restoration failed] will occur and the control cannot be switched to the cam control. Note that, if increasing the value of the in-position range may lead to a rapid cam switching.

If the cam axis position restoration target is set to "Cam axis feed current value restoration" and CAMC

(Cam control command) turns on, "Cam axis feed current value" is restored based on "Cam axis one cycle current value" and "Cam standard position" and the control is switched to the cam control.

Set the "cam axis one cycle current value" and "cam standard position" used for the restoration with cam control data.




6 - 47


6.1.14 Clutch

POINT

Use C_CLTC (Clutch command (bit 11 of 2D02h)) to input a clutch command via the Modbus RTU communication.

Use S_CLTS (Clutch on/off status (bit 11 of 2D12h)) to read the output status of the clutch on/off status.

Use S_CLTSM (Clutch smoothing status (bit 12 of 2D12h)) to read the output status of the clutch smoothing status via the Modbus RTU communication.

C_CLTC, S_CLTS, and S_CLTSM are available with servo amplifiers with software version C1 or later. For details, refer to "MR-JE-_A Servo Amplifier

Instruction Manual (Modbus RTU communication)".

The clutch is used to transmit/disengage command pulses from the main shaft input side to the output axis module through turning the clutch ON/OFF, controlling start/stop of the servo motor operation.

Set whether or not to use the clutch control with [Cam control data No. 36 - Main shaft clutch control setting].

Although the clutch ON/OFF can be changed during cam control, the setting of [Cam control data No. 36] cannot be changed from "1 (Clutch command ON/OFF)" to "0 (No clutch)" during cam control.

When the clutch ON condition and the clutch OFF condition are simultaneously established within the DI scan cycle, both clutch ON processing and clutch OFF processing are executed within the DI scan cycle.

Therefore, the clutch status changes from OFF to ON and OFF again when the conditions are established in the clutch OFF status, and the status changes from ON to OFF and ON again when the conditions are established in the clutch ON status.

6 - 48


(1) ON control mode

(a) "No clutch"

When [Cam control data No. 36 - Main shaft clutch control setting] is set to "0 (No clutch)", other clutch parameters are not used due to direct coupled operation.

(b) Clutch command ON/OFF

Turning on/off CLTC (Clutch command) turns on/off the clutch.

(Settings in the OFF control mode are not used in the clutch command ON/OFF mode.)

Clutch command


CLTC

CLTS

Current value before clutch input t

Travel distance after clutch output t

(2) Clutch smoothing method

Smoothing is processed with the time constant set in [Cam control data No. 43 Main shaft clutch smoothing time constant] at clutch ON/OFF. After clutch ON smoothing is completed, smoothing is processed with the set time constant when the speed of the input values changes.

The travel distance from turning on to off of the clutch does not change with smoothing.

Travel distance after clutch smoothing = Travel distance before clutch smoothing

Time constant method exponential curve smoothing

Set [Cam control data No. 42 - Main shaft clutch smoothing system] to "1 (Time constant method

(index))".


Clutch smoothing status

CLTS

CLTSMS

Speed before clutch processing t

63%

Speed after clutch smoothing

63% t

Clutch smoothing time constant

6 - 49


6.1.15 Cam position compensation target position

Perform compensation to match the cam axis one cycle current value with the cam position compensation target position ([Cam control parameter No. 60]) by inputting a cam position compensation request.

C_CPCD




After compensation

Before compensation

Cam feed current value

6 - 50


6.1.16 Cam position compensation time constant

POINT

Use C_CPCD (Cam position compensation request (bit 13 of 2D02h)) to input a cam position compensation request via the Modbus RTU communication. Use

S_CPCC (Cam position compensation execution completed (bit 13 of 2D12h)) to read the output status of Cam position compensation execution completed.

C_CPCD and S_CPCC are available with servo amplifiers with software version

C1 or later. For details, refer to "MR-JE-_A Servo Amplifier Instruction Manual

(Modbus RTU communication)".

The compensation amount calculated when cam position compensation is requested is divided into the time set in [Cam control data No. 61 Cam position compensation time constant] and used for compensation.

C_CPCD


S_CPCC

(Cam position compensation execution completed)

Cam position compensation

time constant



With time constant

Without time constant

6 - 51


6.2 Mark detection

6.2.1 Current position latch function

POINT

The current position latch function can be used with the point table method and the program method. However, the current position latch function is disabled in the following condition.


Manual operation (excluding home position return)

The latched actual current position data can be read with communication commands.

For the servo amplifiers with software version B6 or earlier, the latched position data is not compatible with the current position of the state monitor when the roll feed display function is enabled. Disable the roll feed display function to compare the current data of the state monitor and the latched position data.

The read latched position data is equal to the travel distance as the starting point is set to "0" when the roll reed display function is enabled. The output value is the same as the current position of the state monitor.

When the mark detection signal turns on, the current position is latched. The latched data can be read with communication commands.

(1) Communication command

Reads mark detection data.

Control mode

Description CP/

BCD

C

L

P

S

Frame length

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

[0] [1]

[0] [2]

[0] [3]

MSD (Mark detection) rising latch data (data part)

MSD (Mark detection) falling latch data (data part)

MSD (Mark detection) rising latch data (data part + additional information)

MSD (Mark detection) falling latch data (data part + additional information)

8

12

6 - 52


(2) Reading data

(a) Rising latch data or falling latch data (data part)

Reads MSD (Mark detection) rising latch data or MSD (Mark detection) falling latch data.

1) Transmission

Transmit command [1] [A] and data No. [0] [0] or [0] [1] corresponding to the point tables to read.


2) Return

The slave station returns the position data of point table requested.

Data will be received in hexadecimal per set command.

Hexadecimal should be changed to decimal.

Example

Data "000186A0" will be 100.000 mm in the command-side unit.

A decimal point position depends on setting contents of [Pr. PT01] and [Pr. PT03].

(b) Rising latch data or falling latch data (data part + additional information)

Reads MSD (Mark detection) rising latch data or MSD (Mark detection) falling latch data.

1) Transmission

Transmit command [1] [A] and data No. [0] [2] or [0] [3] corresponding to the point tables to read.


2) Return

The slave station returns the speed data of point table requested.

Data will be received in hexadecimal per set command.

Hexadecimal should be changed to decimal.

Example

Data "000186A0" will be 100.000 mm in the command-side unit.

A decimal point position depends on setting contents of [Pr. PT01] and [Pr. PT03].

Display type

0: Data must be converted into decimal

1: Data is used unchanged in hexadecimal

Decimal point position

0: No decimal point

1: First least significant digit (not used normally)

2: Second least significant digit

3: Third least significant digit

4: Forth least significant digit

5: Fifth least significant digit

6 - 53


(3) Parameter

Set the parameter as follows:

Item

Mark detection function selection

Parameter to be used

[Pr. PT26]

Mark detection range + (lower three digits)

[Pr. PC66]

Mark detection range +

(upper three digits)

[Pr. PC67]

Mark detection range - (lower three digits)

[Pr. PC68]

Mark detection range - (upper three digits)

[Pr. PC69]

Setting

Set the mark detection function selection as follows:

0 _ _ _: Current position latch function

Set the upper limit of the latch data in the current position latch function. When the roll feed display is enabled, set a valid range with the travel distance from the starting position.

Set a same sign for [Pr. PC66] and [Pr. PC67]. A different sign will be recognized as minus sign data.

When changing the direction to address decreasing, change it from the - side of the mark detection ([Pr. PC68] and [Pr.

PC69]). An incorrect order of the setting will trigger [AL. 37].

Therefore, cycling power may be required after [Pr. PC66] to

[Pr. PC69] are all set.

Set the lower limit of the latch data in the current position latch function. When the roll feed display is enabled, set a valid range with the travel distance from the starting position.


When changing the direction to address increasing, change it from the + side of the mark detection ([Pr. PC66] and [Pr.

PC67]). An incorrect order of the setting will trigger [AL. 37].

Therefore, cycling power may be required after [Pr. PC66] to

[Pr. PC69] are all set.

6 - 54


(4) Latch data range setting

The current position is latched only within the range set in [Pr. PC66] to [Pr. PC69].

When a same value is set for the upper and lower limits, the current value will be latched for a whole range.

(a) mm, inch, and pulse unit

The current position latch function is enabled when Upper limit value > Lower limit value. The valid range is the same for the absolute value command method ([Pr. PT01]: _ _ _ 0) and the incremental value command method ([Pr. PT01]: _ _ _ 1).

[AL. 37 occurs] when Upper limit value < Lower limit value.

-999999 99999

Lower limit value Upper limit value

1) When the roll feed display is disabled ([Pr. PT26]: _ _ 0 _)

Set the valid range with the distance from the home position.

When the starting position is at 100000, [Pr. PC66] and [Pr. PC67] are set to 500000, and [Pr.

PC68] and [Pr. PC69] are set to 300000, the valid range is between the actual current position of

300000 and 500000 as set in the parameters.

Actual current position

0 100000 300000 500000 90000

Home position

Lower limit value

Start position

Upper limit value

Target position

2) When the roll feed display is enabled ([Pr. PT26]: _ _ 1 _)

When the roll feed display is enabled, the valid range is calculated as the starting position is 0.

Set the valid range with the travel distance from the starting position.

When the starting position is at 100000, [Pr. PC66] and [Pr. PC67] are set to 500000, and [Pr.

PC68] and [Pr. PC69] are set to 300000, the valid range is between the feed current position of

300000 and 500000 from the start position (between the actual current position of 400000 and

600000).

Actual current position

Feed current position

0 100000

0

400000

300000

600000

500000

90000

80000

Home position

Start position

Lower limit value Upper limit value

Target position

6 - 55


(b) Degree unit

When the unit is set to "degree", the setting range of the current position latch is from 0 degree

(upper limit) to 359.999 degrees (lower limit).

When you set a value other than 0 degree to 359.999 degrees in the current position latch +/- [Pr.

PC66] to [Pr. PC69], the set value is converted as follows.

Current position latch range

360.000 degrees to 999.999 degrees

After conversion

(Setting value) % 360

-0.001 degrees to -359.999 degrees 360 + (setting value)

-360.000 degrees to -999.999 degrees (setting value) % 360 + 360

The valid range of the current position latch varies depending on the setting of the upper and lower limits.

The valid range remains unchanged even if the rotation direction is reversed.

0 0

CCW

Upper limit value

CCW

Lower limit value

Effective range

Lower limit value

90

270

Upper limit value

90

270

Effective range

180 180

Upper limit value > Lower limit value Lower limit value > Upper limit value

To enable the current position latch function of section A in the figure, set the parameters as follows:

Current position latch range -: 315.000 [degrees] ([Pr. PC68]: 0, [Pr. PC69]: 315)

Current position latch range +: 90.000 [degrees] ([Pr. PC66]: 0, [Pr. PC67]: 90)

To enable the current position latch function of section B in the figure, set the parameter as follows:

Current position latch range -: 90.000 [degrees] ([Pr. PC68]: 0, [Pr. PC69]: 90)

Current position latch range +: 315.000 [degrees] ([Pr. PC66]: 0, [Pr. PC67]: 315)

0

CCW

315

Section A

90

Section B

6 - 56


(5) Timing chart

Device rising position data

0

Device falling position data

A E

Device falling position data

MSD (Mark detection)

MSDH

(Mark detection rising latch completed)

MSDL

(Mark detection falling latch completed)

ON

OFF

ON

OFF

ON

OFF

0 B

0.4 ms or longer

Disabled

(Note 2)

Within 5 ms (Note 1)

Within 3 ms

Within 3 ms

Within 5 ms (Note 1)

(Note 3)

Not changed

Disabled

(Note 2)

Not changed

F

Current position data

A

B E

F

Latch data range

Upper limit value

Latch data range

Lower limit value

C D

Note 1. When MSD (Mark detection) is assigned to the CN1-10 pin with [Pr. PD44], a current position data can be obtained in high speed (within 0.4 ms). When assigning MSD (Mark detection) to the CN1-10 pin, set "Mark detection fast input signal filter selection" in [Pr. PD31].

2. The position data will not be changed from the previous value.

3. MSDH (Latch completed at rising edge of mark detection) turns off at the same time as MSDL (Latch completed at falling edge of mark detection) turns on. Set as MSDL turns on/off within the range of the latch data.

If MSD (Mark detection) was turned on again when the previous falling was out of the valid range,

MSDH (Latch completed at rising edge of mark detection) will not change, but the position data will be updated. Refer to the following timing chart.

Device rising position data

0 A C

D 0

Disabled


ON

OFF

MSDH

(Mark detection rising latch completed)

MSDL

(Mark detection falling latch completed)

ON

OFF

ON

OFF

Not changed

Not changed

Current position data

A

B

C

Latch data range

Upper limit value

D

Latch data range

Lower limit value

6 - 57


6.2.2 Interrupt positioning function

The interrupt positioning function executes an operation by changing the remaining distance to the travel distance that is set with [Pr. PT31] (Mark sensor stop travel distance) when MSD (Mark detection) is turned on. The interrupt positioning function is enabled by setting [Pr. PT26] to "1 _ _ _".

POINT

The interrupt positioning function can be used with the point table method and the program method. However, the interrupt positioning function is disabled in the following condition.

During home position return

During manual operation

During stop

During deceleration or stop with TSTP (Temporary stop/restart)

An error may occur depending on the droop pulses at the time of MSD (Mark detection) is turned on and a minimum stopping distance required for deceleration.

(1) Parameters

Set the parameters as follows:


Control mode selection

MSD (Mark detection) Polarity selection

Mark sensor stop travel distance

(lower three digits)



[Pr. PA01]

Mark detection function selection [Pr. PT26]

[Pr. PT29]

[Pr. PT30]

[Pr. PT31]

Setting

Select a control mode.

_ _ _ 6 (Positioning mode (point table method))

_ _ _ 7 (Positioning mode (program method))

Set the mark detection function selection as follows:

1 _ _ _: Interrupt positioning function

Starts the interrupt positioning function at rising of MSD (Mark detection).

The polarity of MSD (Mark detection) can be changed with

[Pr. PT29].

Starts the interrupt positioning function at rising of MSD

(Mark detection) if "_ _ _ x" bit 3 of [Pr. PT29] is off.

Starts the interrupt positioning function at falling of MSD

(Mark detection) if "_ _ _ x" bit 3 of [Pr. PT29] is on.

Set the lower three digits of the travel distance after the mark detection.

The travel distance starts from the current position regardless of the setting of absolute value command method or incremental value command method.

Set the upper three digits of the travel distance after the mark detection.

The travel distance starts from the current position regardless of the setting of absolute value command method or incremental value command method.

Mark detection range + (lower three digits)

Mark detection range + (upper three digits)


Mark detection range - (upper three digits)

[Pr. PC66]

[Pr. PC67]

[Pr. PC68]

[Pr. PC69]

Set the upper and lower limits of the interrupt positioning function. If a sign for the upper and lower differ, [AL. 37] occurs. When the roll feed display is enabled, set a valid range with the travel distance from the starting position.

6 - 58


(2) Rotation direction

[Pr. PA14] setting

_ _ _ 0

_ _ _ 1


ST1 (Forward rotation start) on





(3) Operation

Travels for the interrupt positioning travel distance ([Pr. PT30] and [Pr. PT31]) starting from the position where MSD (Mark detection) is turned on. The operation after a stop complies with the operation mode and the operation pattern.

(4) Timing chart

MD0


ON

OFF Interrupt positioning travel distance

Deceleration time constant (Note)

Servo motor speed

Forward rotation

0 r/min

Reverse rotation


ST1


ON

OFF

ON

OFF

0.888 ms

Note. Deceleration time constant of the point table at the time of start is applied for the point table method, and deceleration time constant set by the program in execution is applied for the program method.

The movement other than above is as follows:

(a) The interrupt positioning travel distance is smaller than the travel distance required for the deceleration, the actual deceleration time constant will be shorter than the set time constant.

MD0


ON

OFF Interrupt positioning travel distance

Servo motor speed

Forward rotation

0 r/min

Reverse rotation


ST1


ON

OFF

ON

OFF

0.888 ms

Recalculated deceleration time constant

6 - 59


(b) If the interrupt travel distance is large during acceleration, the servo motor stops with the deceleration time constant after rotating with the command speed at which MSD (Mark detection) turned on.

MD0


ON

OFF

Interrupt positioning travel distance ([Pr. PT30] and [Pr. PT31])

Speed when MSD is on


Servo motor speed

Forward rotation

0 r/min

Reverse rotation


ST1


ON

OFF

ON

OFF

0.888 ms


(c) If the interrupt travel distance is large during deceleration, the servo motor stops with the deceleration time constant after rotating with the command speed at which MSD (Mark detection) turned on.

MD0


ON

OFF

Speed when MSD is on


Servo motor speed

Forward rotation

0 r/min

Reverse rotation


ST1


ON

OFF

ON

OFF

0.888 ms

Interrupt positioning travel distance


(d) Input will be disabled if MSD (Mark detection) is turned on again during the interrupt positioning.

MD0


ON

OFF

Interrupt positioning travel distance


(Note)

Servo motor speed

Forward rotation

0 r/min

Reverse rotation

0.888 ms Disabled


ST1


ON

OFF

ON

OFF


6 - 60


(5) Using together with other functions

Availability of other functions during the interrupt positioning is as follows:

Function

S-pattern acceleration/deceleration

Stroke limit

Software limit

Temporary stop/restart

Speed change value

Analog override

Backlash

Rough match

Electronic gear

Roll feed display function

Mark detection function (current position latch function)

Note 1. : enabled, : disabled, : enabled with condition

2 Enabled only in a constant speed

Available

(Note 1)

(Note 2)

ITP (Interrupt positioning) is available with the program function.

Because the interrupt positioning function with MSD (Mark detection) input signal is prioritized, the interrupt positioning function with MSD (Mark detection) can be used during the interrupt positioning function with ITP (Interrupt positioning). However, ITP (Interrupt positioning) cannot be used during the interrupt positioning with MSD (Mark detection).

6 - 61


MEMO

6 - 62

7. PARAMETERS

7. PARAMETERS

CAUTION

Never make a drastic adjustment or change to the parameter values as doing so will make the operation unstable.

Do not change the parameter settings as described below. Doing so may cause an unexpected condition, such as failing to start up the servo amplifier.

Changing the values of the parameters for manufacturer setting

Setting a value out of the range

Changing the fixed values in the digits of a parameter

7.1 Parameter list

POINT

To enable a parameter whose symbol is preceded by *, turn off the power for 1 s or more after setting and turn it on again. However, the time will be longer depending on a setting value of [Pr. PF25 Instantaneous power failure tough drive - Detection time] when "instantaneous power failure tough drive selection" is enabled in [Pr. PA20].

The symbols in the control mode column mean as follows:



Setting a value out of the setting range in each parameter will trigger [AL. 37

Parameter error].

7 - 1

7. PARAMETERS

7.1.1 Basic setting parameters ([Pr. PA_ _ ])

POINT

To enable the following parameters in the positioning mode, turn off the power for 1 s or more after setting and turn it on again. However, the time will be longer depending on a setting value of [Pr. PF25 Instantaneous power failure tough drive - Detection time] when "instantaneous power failure tough drive selection" is enabled in [Pr. PA20].

[Pr. PA06 Electronic gear numerator (command pulse multiplication numerator)/Number of gear teeth on machine side]

[Pr. PA07 Electronic gear denominator (command pulse multiplication denominator)/Number of gear teeth on servo motor side]

The following parameter cannot be used in the positioning mode.

[Pr. PA05 Number of command input pulses per revolution]

No. Symbol Name

PA03 For manufacturer setting

PA04 *AOP1 Function selection A-1

PA05 *FBP Number of command input pulses per revolution

PA06 *CMX Electronic gear numerator (command pulse multiplication numerator)

PA07 *CDV Electronic gear denominator (command pulse multiplication denominator)

PA08 ATU Auto tuning mode

PA09 RSP Auto tuning response

Initial value

Unit

Control mode

CP CL

1000h

0000h

0000h

2000h

10000

1

1

PA11

PA12

TLP Forward rotation torque limit

TLN Reverse rotation torque limit

PA13 *PLSS Command pulse input form

PA14 *POL Rotation direction selection

PA15 *ENR Encoder output pulses

PA16 *ENR2 Encoder output pulses 2


PA18

PA19 *BLK Parameter writing inhibit

PA20 *TDS Tough drive setting



PA23 DRAT Drive recorder arbitrary alarm trigger setting

PA24 AOP4 Function selection A-4

PA25 OTHOV One-touch tuning - Overshoot permissible level



PA28

PA29

PA30

PA31

PA32

0001h

16

100 [ μ m]/

10 -4 [inch]/

10 -3 [degree]/

[pulse]

100.0

100.0

0100h

0

[%]

[%]

4000

1

[pulse/rev]

0000h

0000h

00AAh

0000h

0001h

0000h

0000h

0000h

0

0000h

0000h

[%]

0000h

0000h

0000h

0000h

0000h

7 - 2

7. PARAMETERS

7.1.2 Gain/filter setting parameters ([Pr. PB_ _ ])

No. Symbol Name

Initial value

Unit

Control mode

CP CL

PB01 FILT Adaptive tuning mode (adaptive filter II)

PB02 VRFT

Vibration suppression control tuning mode (advanced vibration suppression control II)

PB03 PST

Position command acceleration/deceleration time constant

(position smoothing)

PB04 FFC Feed forward gain

PB05

PB12 OVA


Overshoot amount compensation

PB13 NH1 Machine resonance suppression filter 1

0000h

0000h

0 [ms]

0

500

[%]

PB06 GD2 Load to motor inertia ratio

PB07

PB08

PG1

PG2

Model loop gain

Position loop gain

7.00

15.0

[Multiplier]

[rad/s]

PB09 VG2 Speed loop gain 823

PB10 VIC Speed integral compensation

PB11 VDC Speed differential compensation

33.7 [ms]

980

0 [%]

PB14

PB15

PB17

PB18

PB21

NHQ1

NH2

NHF

LPF

Notch shape selection 1

Machine resonance suppression filter 2


Low-pass filter setting

PB19 VRF11 Vibration suppression control 1 - Vibration frequency

PB20 VRF12 Vibration suppression control 1 - Resonance frequency

VRF13 Vibration suppression control 1 - Vibration frequency damping

PB22 VRF14

Vibration suppression control 1 - Resonance frequency damping

0000h

4500 [Hz]

0000h

0000h

3141

100.0

[rad/s]

[Hz]

100.0 [Hz]

0.00

0.00

PB24

PB26

PB27

PB28

PB29

*MVS

*CDP

CDL

CDT

GD2B



Gain switching condition

Gain switching time constant

Load to motor inertia ratio after gain switching

0100h

0000h

0000h

0000h

10 [kpulse/s]/

[pulse]/

[r/min]

1 [ms]

7.00 [Multiplier]

0.0 [rad/s] PB30 PG2B Position loop gain after gain switching

PB31 VG2B Speed loop gain after gain switching

PB32 VICB Speed integral compensation after gain switching 0.0 [ms]

PB33 VRF1B

Vibration suppression control 1 - Vibration frequency after gain switching

PB34 VRF2B

Vibration suppression control 1 - Resonance frequency after gain switching

PB35 VRF3B

Vibration suppression control 1 - Vibration frequency damping after gain switching

PB36 VRF4B

Vibration suppression control 1 - Resonance frequency damping after gain switching

PB37 For manufacturer setting

PB38

PB39

PB40

PB41

PB42

PB43

PB44

PB45 CNHF Command notch filter

0.00

0.00

1600

0.00

0.00

0.00

0000h

0000h

0000h

0.00

0000h

PB46 NH3 Machine resonance suppression filter 3 4500 [Hz]

7 - 3

7. PARAMETERS

No. Symbol Name

Initial value

Unit

Control mode

CP CL

PB47 Notch shape selection 3 0000h

PB48

PB49

PB50 NH5

PB51




[Hz]

0000h

4500 [Hz]

0000h

100.0 [Hz]

100.0 [Hz]

0.00

0.00 damping

PB56 VRF21B Vibration suppression control 2 - Vibration frequency after gain switching

0.0 [Hz] gain switching

PB58 VRF23B Vibration suppression control 2 - Vibration frequency damping after gain switching

0.00

0.00 damping after gain switching

PB60 PG1B Model loop gain after gain switching

PB61 For manufacturer setting

PB62

PB63

PB64

0.0

0.0

[rad/s]

0000h

0000h

0000h

7 - 4

7. PARAMETERS

7.1.3 Extension setting parameters ([Pr. PC_ _ ])

POINT

To enable the following parameters in the positioning mode, turn off the power for 1 s or more after setting and turn it on again. However, the time will be longer depending on a setting value of [Pr. PF25 Instantaneous power failure tough drive - Detection time] when "instantaneous power failure tough drive selection" is enabled in [Pr. PA20].

[Pr. PC03 S-pattern acceleration/deceleration time constant]


[Pr. PC04 Torque command time constant]

[Pr. PC08 Internal speed command 4/internal speed limit 4]




[Pr. PC12 Analog speed command - Maximum speed/Analog speed limit -

Maximum speed]

[Pr. PC13 Analog torque/thrust command maximum output]

[Pr. PC23 Function selection C-2]

[Pr. PC32 Command input pulse multiplication numerator 2]



The following parameters are used for Modbus RTU communication. For details, refer to "MR-JE-_A Servo Amplifier Instruction Manual (Modbus RTU communication)".

[Pr. PC70 Modbus RTU communication station number setting]

[Pr. PC71 Function selection C-F]

[Pr. PC72 Function selection C-G]

No. Symbol Name

Initial value

Unit

Control mode

CP CL

PC01

PC02

PC04

STA

STB

TQC

JOG operation acceleration time constant

JOG operation deceleration time constant

Torque command time constant

PC05 For manufacturer setting

PC06

PC07

0

0

0

0

[ms]

[ms]

[ms]

100

500

1000

200

[r/min]

300

[r/min]

PC09

Internal speed limit 4

SC5 Internal speed command 5


PC10

PC11

SC6

SC7

Internal speed command 6


Internal speed command 7


PC12 VCM Analog speed command - Maximum speed

Analog speed limit - Maximum speed

500

800

0

[r/min]

[r/min]

[r/min]

PC13 TLC Analog torque command maximum output 100.0 [%]

PC14 MOD1 Analog monitor 1 output 0000h

7 - 5

7. PARAMETERS

No. Symbol Name

Initial value

Unit

Control mode

CP CL

PC15 MOD2 Analog monitor 2 output 0001h

0 [ms]

50 [r/min]

PC18 *BPS Alarm history clear 0000h

PC19 *ENRS Encoder output pulse selection 0000h

PC20 *SNO Station number setting

PC21 *SOP RS-422 communication function selection

0

0000h

0020h

[station]

PC23 *COP2 Function selection C-2 0000h

0000h

0000h PC25 For manufacturer setting

PC26 *COP5 Function selection C-5

PC27 *COP6 Function selection C-6


PC29

PC30 STA2 Home position return acceleration time constant

0000h

0000h

0000h

0000h

PC32 CMX2 Command input pulse multiplication numerator 2

PC33 CMX3 Command input pulse multiplication numerator 3

1

1

PC34 CMX4 Command input pulse multiplication numerator 4 1

PC35 TL2 [%]

PC36 *DMD Status display selection

PC37 VCO Analog override offset

PC38 TPO Analog torque limit offset

PC39 MO1 Analog monitor 1 offset

PC41

PC42

PC43 ERZ

PC44


Error excessive alarm detection level


PC45

PC46

PC47

PC48

PC49

PC50

0000h

0 [mV]

0 [mV]

0 [mV]

0

0

0 [rev]

0000h

0000h

0

0

0

0

0000h

100 [ms]

0

0


PC53

PC54 RSUP1 Vertical axis freefall prevention compensation amount


PC56

PC57

PC58

PC59

PC60 *COPD Function selection C-D


PC62

PC63

PC64

PC65

0 [0.0001rev]

0

100

0000h

0

0000h

0000h

0000h

0000h

0000h

0000h

0000h

7 - 6

7. PARAMETERS

No. Symbol Name

PC66 LPSPL Mark detection range + (lower three digits)

PC67 LPSPH Mark detection range + (upper three digits)

PC68 LPSNL Mark detection range - (lower three digits)

PC69 LPSNH Mark detection range - (upper three digits)

Initial value

0

0

0

0

PC70 *SNOM Modbus RTU communication station number setting

PC71 *COPF Function selection C-F

PC72 *COPG Function selection C-G

PC73 ERW Error excessive warning level


PC75

PC76

PC77

PC78

PC79

PC80

0

0040h

0000h

0

0000h

0000h

0000h

0000h

0000h

0000h

0000h

7.1.4 I/O setting parameters ([Pr. PD_ _ ])

POINT


[Pr. PD03 Input device selection 1L]







Unit

10 STM [ μ m]/

10 (STM-4)

[inch]/

10 -3 [degree]/

[pulse]

10 STM [ μ m]/

10 (STM-4)

[inch]/

10 -3 [degree]/

[pulse]

10 STM [ μ m]/

10 (STM-4)

[inch]/

10 -3 [degree]/

[pulse]

10 STM [ μ m]/

10 (STM-4)

[inch]/

10 -3 [degree]/

[pulse]

[rev]

Control mode

CP CL

7 - 7

7. PARAMETERS

No. Symbol Name

Initial value

Unit

Control mode

CP CL

PD01 *DIA1

PD02

Input signal automatic on selection 1


PD03 *DI1L Input device selection 1L

0000h

0000h

0202h

PD04 *DI1H Input device selection 1H 0202h

PD05 For manufacturer setting 0000h

PD06

PD07

PD08

0000h

0000h

0000h

PD09

PD10

PD11

PD12

*DI5L

*DI5H

Input device selection 5L

Input device selection 5H

0000h

0000h

0703h

3807h

0806h

3908h

0000h

0000h

0A0Ah


PD14 *DI6H Input device selection 6H

PD15 For manufacturer setting

PD16






PD22

0700h

0B0Bh

0800h

0000h

0000h

PD23 0000h

PD24 *DO2 Output device selection 2 000Ch

PD25 *DO3 Output device selection 3 0004h


PD27

0000h

0003h

PD28

PD29

PD30

*DO6

*DIF

Output device selection 6

Input filter setting

*DOP1 Function selection D-1

0002h

0004h

0000h

PD31

PD32



0000h

0000h

PD33 *DOP4 Function selection D-4 0000h

PD34 DOP5 Function selection D-5 0000h


PD36

PD37

0000h

0000h

0000h

PD38

PD39

PD40

PD41 *DIA3 Input signal automatic on selection 3

PD42 *DIA4 Input signal automatic on selection 4






PD48

0

0

0

0000h

0000h

0000h

2000h

0000h

2B00h

0000h

0000h

7 - 8

7. PARAMETERS

7.1.5 Extension setting 2 parameters ([Pr. PE_ _ ])

No. Symbol

PE01 For manufacturer setting

PE02

PE03

PE04

PE05

PE06

PE07

PE08

PE09

PE10

PE11

PE12

PE13

PE14

PE15

PE16

PE17

PE18

PE19

PE20

PE21

PE22

PE23

PE24

PE25

PE26

PE27

PE28

PE29

PE30

PE31

PE32

PE33

PE34

PE35

PE36

PE37

PE38

PE39

PE40

PE41 EOP3 Function selection E-3


PE43

PE44 LMCP Lost motion compensation positive-side compensation value selection

PE45 LMCN Lost motion compensation negative-side compensation value selection

PE46 LMFLT Lost motion filter setting

PE48

PE49

PE50

Name

*LMOP Lost motion compensation function selection

LMCD

LMCT

Lost motion compensation timing

Lost motion compensation non-sensitive band

Initial value

Unit

Control mode

CP CL

0000h

0000h

0000h

0

0

0

0

0

0000h

0000h

0000h

0000h

0000h

0111h

20

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0

0

0.0

0.00

0.00

0

0000h

0000h

0

0.0

0 [0.01%]

0 [0.01%]

0

0

0000h

0

0

[0.1 ms]

[0.01%]

[0.1 ms]

[pulse]/

[kpulse]

7 - 9

7. PARAMETERS

No. Symbol


PE52

PE53

PE54

PE55

PE56

PE57

PE58

PE59

PE60

PE61

PE62

PE63

PE64

Name

Initial value

Unit

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0.00

0.00

0.00

0.00

Control mode

CP CL

7 - 10

7. PARAMETERS

7.1.6 Extension setting 3 parameters ([Pr. PF_ _ ])

POINT


[Pr. PF45 Function selection F-12]

[Pr. PF46 Modbus RTU communication time out selection]

No. Symbol Name

PF01 For manufacturer setting

PF02

PF03

PF04

PF05

PF06

PF07

PF08

PF09 *FOP5 Function selection F-5


PF11

PF12

PF13

PF14

PF15

PF16

PF17

PF18

PF19

PF20

PF21 DRT Drive recorder switching time setting

PF24 *OSCL2 Vibration tough drive function selection

PF25 CVAT Instantaneous power failure tough drive - Detection time


PF27

PF28

PF29

PF30

PF31 FRIC Machine diagnosis function - Friction judgment speed

PF32

PF33


PF34

PF35

PF36

PF37

PF38

PF39

PF40

PF41

PF42

PF43

Initial value

Unit

Control mode

CP CL

0000h

0000h

0000h

0

0

0000h

1

1

0000h

0000h

0000h

10000

100

100

2000

0000h

10

0000h

0000h

0000h

200

0000h

200 [ms]

0

0

0

0000h

0

0 [r/min]

50

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0

0

0

0

7 - 11

7. PARAMETERS

No. Symbol Name


PF45 *FOP12 Function selection F-12

PF46 MIC Modbus RTU communication time out selection


PF48

Initial value

Unit

0

0000h

0

0000h

0000h

Control mode

CP CL

7 - 12

7. PARAMETERS

7.1.7 Positioning control parameters ([Pr. PT_ _ ])

POINT


[Pr. PT45 Home position return type 2]

No. Symbol

PT01 *CTY Command mode selection

PT02 *TOP1 Function selection T-1

PT03 *FTY Feeding function selection

PT04 *ZTY Home position return type

PT05 ZRF Home position return speed

Name

PT08 *ZPS Home position return position data

PT09 DCT Travel distance after proximity dog

PT10 Stopper type home position return stopper time

PT11 ZTT

Initial value

Unit

Control mode

CP CL

0000h

0000h

0000h

0010h

100 [r/min]

10 [r/min]

0

10 -4 [inch]/

10 -3 [degree]/

[pulse]

10 STM [ μ m]/

10 (STM-4) [inch]/

10 -3 [degree]/

[pulse]

1000 10 STM [ μ m]/

10 (STM-4) [inch]/

10 -3 [degree]/

[pulse]

100

0

[ms]

[%]

10 STM [ μ m]/

10 (STM-4) [inch]/

10 -3 [degree]/

[pulse]

100 [r/min]

PT15 LMPL Software limit +

PT16 LMPH

PT17 LMNL Software limit -

PT18 LMNH

PT19 *LPPL Position range output address +

PT20 *LPPH

PT21 Position range output address -

PT22 *LNPH

PT23 OUT1 output setting time

PT24 OUT2 OUT2 output setting time

PT25 OUT3 OUT3 output setting time


0 10 STM [ μ m]/

10 (STM-4) [inch]/

10 -3 [degree]/

[pulse]

0 μ m]/

10 (STM-4) [inch]/

10 -3 [degree]/

[pulse]

0 10 STM [ μ m]/

10 (STM-4) [inch]/

10 -3 [degree]/

[pulse]

0 μ m]/

10 (STM-4) [inch]/

10 -3 [degree]/

[pulse]

0

0

0000h

[ms]

[ms]

7 - 13

7. PARAMETERS

No. Symbol

PT27 For manufacturer setting

PT28


Name

PT31 MSTH


PT33

PT34 *PDEF Point table/program default



PT37

PT38

PT39

PT40

PT41 ORP Home position return inhibit function selection


PT43

PT44

PT45 *CZTY Home position return type 2


PT47

PT48

Initial value

Unit

Control mode

CP CL

0000h

0000h

0000h

0 10 STM [ μ m]/

10 (STM-4) [inch]/

0 10 -3 [degree]/

[pulse]

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

7 - 14

7. PARAMETERS

7.2 Detailed list of parameters

POINT

Set a value to each "x" in the "Setting digit" columns.

7.2.1 Basic setting parameters ([Pr. PA_ _ ])

No./symbol/ name

Setting digit

Function

PA01

*STY

Operation mode

PA02

*REG

Regenerative option

PA04

*AOP1

Function selection A-1

_ _ _ x Control mode selection

Select a control mode.

0 to 5: Not used for positioning mode.




_ x _ _ x _ _ _

_ _ x x Regenerative option

Select a regenerative option.

Incorrect setting may cause the regenerative option to burn.

If a selected regenerative option is not for use with the servo amplifier, [AL. 37

Parameter error] occurs.

00: Regenerative option is not used.

For a servo amplifier of 200 W or less, no regenerative resistor is used.

For servo amplifier of 0.4 kW to 3 kW, built-in regenerative resistor is used.

02: MR-RB032

03: MR-RB12

04: MR-RB32

05: MR-RB30

06: MR-RB50 (Cooling fan is required.)


_ _ _ x For manufacturer setting

_ _ x _

_ x _ _ x _ _ _ Forced stop deceleration function selection

0: Forced stop deceleration function disabled (EM1)

2: Forced stop deceleration function enabled (EM2)

Refer to table 7.1 for details.

Table 7.1 Deceleration method

Setting value

0 _ _ _

2 _ _ _

EM2/EM1

EM1

EM2

Deceleration method

EM2 or EM1 is off Alarm occurred

MBR (Electromagnetic brake interlock) turns off without the forced stop deceleration.

MBR (Electromagnetic brake interlock) turns off after the forced stop deceleration.

MBR (Electromagnetic brake interlock) turns off without the forced stop deceleration.

MBR (Electromagnetic brake interlock) turns off after the forced stop deceleration.

Initial value

[unit]

0h

Control mode

CP CL

0h

0h

1h

00h

0h

0h

0h

0h

0h

2h

7 - 15

7. PARAMETERS

No./symbol/ name

Setting digit

PA06

*CMX

Electronic gear numerator

(command pulse multiplication numerator)

PA07

*CDV

Electronic gear denominator

(command pulse multiplication denominator)

Function

Set an electronic gear numerator. (Refer to section 7.3.1.)

To enable the parameter value in the positioning mode, turn off the power for 1 s or more after setting and turn it on again. However, the time will be longer depending on a setting value of [Pr. PF25 Instantaneous power failure tough drive - Detection time] when "instantaneous power failure tough drive selection" is enabled in [Pr.

PA20].

To enable the parameter, select "Electronic gear (0 _ _ _)" of "Electronic gear selection" in [Pr. PA21].

Set the electronic gear within the following range. Setting out of the range will trigger

[AL. 37 Parameter error].

1/27649 < CMX/CDV < 8484


Set an electronic gear denominator. (Refer to section 7.3.1.)

To enable the parameter value in the positioning mode, turn off the power for 1 s or more after setting and turn it on again. However, the time will be longer depending on a setting value of [Pr. PF25 Instantaneous power failure tough drive - Detection time] when "instantaneous power failure tough drive selection" is enabled in [Pr.

PA20].

To enable the parameter, select "Electronic gear (0 _ _ _)" of "Electronic gear selection" in [Pr. PA21].

Set the electronic gear within the range of [Pr. PA06].

Setting out of the range will trigger [AL. 37 Parameter error].


Initial value

[unit]

1

Control mode

CP CL

1

7 - 16

7. PARAMETERS

No./symbol/ name

Setting digit

PA08

ATU

Auto tuning mode

Function

_ _ _ x Gain adjustment mode selection

Select the gain adjustment mode.

0: 2 gain adjustment mode 1 (interpolation mode)

1: Auto tuning mode 1

2: Auto tuning mode 2

3: Manual mode

4: 2 gain adjustment mode 2

Refer to table 7.2 for details.


_ x _ _ x _ _ _

Table 7.2 Gain adjustment mode selection value mode

Automatically adjusted parameter

_ _ _ 0 2 gain adjustment mode 1 (interpolation mode)

[Pr. PB06 Load to motor inertia ratio]

[Pr. PB08 Position loop gain]

[Pr. PB09 Speed loop gain]

[Pr. PB10 Speed integral compensation]

_ _ _ 1 Auto tuning mode 1 [Pr. PB06 Load to motor inertia ratio]

[Pr. PB07 Model loop gain]




_ _ _ 2 Auto tuning mode 2 [Pr. PB07 Model loop gain]




_ _ _ 3 Manual mode

_ _ _ 4 2 gain adjustment mode 2




Initial value

[unit]

1h

Control mode

CP CL

0h

0h

0h

7 - 17

7. PARAMETERS

No./symbol/ name

PA09

RSP

Auto tuning response

PA10

INP

In-position range

PA11

TLP

Forward rotation torque limit

Setting digit

Function

Initial value

[unit]

16 Set the auto tuning response.

Setting

Machine characteristic

2

3

4

5

6

7

8

9

10

11

12

13

14

15

16

17

18

19

Guideline for machine frequency

[Hz]

2.7

59.6

Setting

Machine characteristic

Guideline for machine frequency

[Hz]

21

Middle response

67.1

40

High response

75.6

85.2

95.9

108.0

121.7

137.1

154.4

173.9

195.9

220.6

248.5

279.9

315.3

355.1

400.0

446.6

501.2

571.5

642.7


Set an in-position range in a command unit.

To change it to the servo motor encoder pulse unit, set [Pr. PC24].

In-position setting range

_ _ _ 6 (Positioning mode (point table method))

_ _ _ 7 (Positioning mode (program method))

The range where MEND

(Travel completion), PED

(Position end) and INP (Inposition) are outputted.

When [Pr. PC24] is set to "_ _ _ 0", the unit can be changed to [ μ m], 10 -4 [inch], 10 -3 [degree], or [pulse] with the setting of [Pr. PT01]. When [Pr. PC24] is set to "_ _ _ 1", the unit is fixed to

[pulse].


You can limit the torque generated by the servo motor. Set this parameter referring to section 3.6.1 (5) of "MR-JE-_A Servo Amplifier Instruction Manual".

When the torque is outputted with the analog monitor output, the setting of [Pr. PA11

Forward rotation torque limit] or [Pr. PA12 Reverse rotation torque limit], whichever is larger, will be the maximum output voltage (8 V).

Set the parameter on the assumption that the maximum torque is 100 [%]. The parameter is for limiting the torque of the servo motor in the CCW power running or

CW regeneration. No torque is generated when this parameter is set to "0.0".

Setting range: 0.0 to 100.0

100

Refer to


100.0

[%]

Control mode

CP CL

7 - 18

7. PARAMETERS

No./symbol/ name

Setting digit

PA12

TLN


PA13

*PLSS

Command pulse input form

Function

You can limit the torque generated by the servo motor. Set this parameter referring to section 3.6.1 (5) of "MR-JE-_A Servo Amplifier Instruction Manual".

When the torque is outputted with the analog monitor output, the setting of [Pr. PA11

Forward rotation torque limit] or [Pr. PA12 Reverse rotation torque limit], whichever is larger, will be the maximum output voltage (8 V).

Set the parameter on the assumption that the maximum torque is 100.0 [%]. The parameter is for limiting the torque of the servo motor in the CW power running or

CCW regeneration. No torque is generated when this parameter is set to "0.0".


_ _ _ x Command input pulse train form selection

0: Forward/reverse rotation pulse train

1: Signed pulse train

2: A-phase/B-phase pulse train (The servo amplifier imports input pulses after multiplying by four.)

When connecting the manual pulse generator MR-HDP01 in the positioning mode, set "2" to this digit.

Refer to table 7.3 for settings.

_ _ x _ Pulse train logic selection

0: Positive logic

1: Negative logic

Match the logic of the command pulse train received from a connected controller.

Refer to POINT of section 3.6.1 of "MR-JE-_A Servo Amplifier Instruction Manual" for logic of MELSEC iQ-R series/MELSEC-Q series/MELSEC-L series/MELSEC-F series. When connecting the manual pulse generator MR-HDP01 in the positioning mode, set "0" to this digit.


Initial value

[unit]

100.0

[%]

Control mode

CP CL

0h

0h

7 - 19

7. PARAMETERS

No./symbol/ name

PA13

*PLSS

Command pulse input form

Setting digit

Function

_ x _ _ Command input pulse train filter selection

Selecting proper filter enables to enhance noise tolerance.

0: Command input pulse train is 4 Mpulses/s or less.

1: Command input pulse train is 1 Mpulses/s or less.

2: Command input pulse train is 500 kpulses/s or less.

3: Command input pulse train is 200 kpulses/s or less.

1 Mpulse/s or lower commands are supported by "1". When inputting commands over 1 Mpulse/s and 4 Mpulses/s or lower, set "0".

When connecting the manual pulse generator MR-HDP01 in the positioning mode, set "2" or "3" to this digit.

Incorrect setting may cause the following malfunctions.

Setting a value higher than actual command will lower noise tolerance.

Setting a value lower than actual command will cause a position mismatch. x _ _ _ For manufacturer setting

Table 7.3 Command input pulse train form selection

Setting value

Pulse train form

Forward rotation command

PP

Reverse rotation command

_ _ 10h

Forward rotation pulse train

Reverse rotation pulse train

NP

Initial value

[unit]

1h

0h

PP

Control mode

CP CL

_ _ 11h Signed pulse train

NP

L H

_ _ 12h

A-phase pulse train

B-phase pulse train

PP

NP

_ _ 00h

Forward rotation pulse train

Reverse rotation pulse train

PP

NP

PP

_ _ 01h Signed pulse train

NP

H

L

_ _ 02h

A-phase pulse train

B-phase pulse train

PP

NP

Arrows in the table indicate the timing of importing pulse trains. A-phase/B-phase pulse trains are imported after they have been multiplied by 4.

When connecting the manual pulse generator MR-HDP01 in the positioning mode, set "_ _ 02h".

7 - 20

7. PARAMETERS

No./symbol/ name

Setting digit

PA14

*POL

Rotation direction selection

Function

Select the servo motor rotation direction when ST1 (Forward rotation start) or ST2

(Reverse rotation start) is switched on.


Setting value

When positioning address When positioning address increases decreases

0

1

CCW

CW

CW

CCW

The following shows the servo motor rotation directions.

Initial value

[unit]

0

Control mode

CP CL


PA15

*ENR

Encoder output pulses

PA16

*ENR2

Encoder output pulses

2


Setting range: 0, 1

Set the encoder output pulses from the servo amplifier by using the number of output pulses per revolution, dividing ratio, or electronic gear ratio. (after multiplication by 4)

Set a numerator of the electronic gear when selecting "A-phase/B-phase pulse electronic gear setting (_ _ 3 _)" of "Encoder output pulse setting selection" in [Pr.

PC19].

The maximum output frequency is 4.6 Mpulses/s. Set the parameter within this range.


Set a denominator of the electronic gear for the A/B-phase pulse output.

Set a denominator of the electronic gear when selecting "A-phase/B-phase pulse electronic gear setting (_ _ 3 _)" of "Encoder output pulse setting selection" in [Pr.

PC19].


4000

[pulse/ rev]

1

7 - 21

7. PARAMETERS

No./symbol/ name

Setting digit

Function

Initial value

[unit]

00AAh PA19

*BLK

Parameter writing inhibit

Select a reference range and writing range of the parameter.

For the positioning mode, set [Pr. PA19] to "0 0 A B" to enable read/write the positioning control parameters ([Pr. PT_ _ ]).


Table 7.4 [Pr. PA19] setting value and reading/writing range

PA19

Setting operation

PA PB PC PD PE PF PT

Reading than below

Writing

000Ah

Writing 19

000Bh

Reading

Writing

000Ch

Reading

Writing

100Ch

Writing

(Initial value)

00ABh

100Bh

Reading

Writing

Reading

Writing 19

Reading

Writing 19

10AAh

10ABh

Reading

Writing 19

Reading

Writing 19

Control mode

CP CL

7 - 22

7. PARAMETERS

No./symbol/ name

PA20

*TDS

Tough drive setting

PA21

*AOP3


PA23

DRAT

Drive recorder arbitrary alarm trigger setting

Setting digit

Function

Initial value

[unit]

Control mode

CP CL

Alarms may not be avoided with the tough drive function depending on the situations of the power supply and load fluctuation.

You can assign MTTR (During tough drive) to pins CN1-23, CN1-24, and CN1-49 with [Pr. PD24], [Pr. PD25], and

[Pr. PD28].

_ _ _ x For manufacturer setting 0h

0h _ _ x _ Vibration tough drive selection

0: Disabled

1: Enabled

Selecting "1" enables to suppress vibrations by automatically changing the setting values of [Pr. PB13 Machine resonance suppression filter 1] and [Pr. PB15 Machine resonance suppression filter 2] in case that the vibration exceeds the value of the oscillation level set in [Pr. PF23].

To output the oscillation detection alarm as a warning, set [Pr. PF24 Vibration tough drive function selection].

For details, refer to section 7.3 of "MR-JE-_A Servo Amplifier Instruction Manual".

0h _ x _ _ Instantaneous power failure tough drive selection

0: Disabled

1: Enabled

Selecting "1" enables to avoid triggering [AL. 10 Undervoltage] by using the electrical energy charged in the capacitor in the servo amplifier in case that an instantaneous power failure occurs during operation. Set the time until the occurrence of [AL. 10.1 Voltage drop in the power] with [Pr. PF25 Instantaneous power failure tough drive - Detection time].

When "1" is selected for this digit, the power should be off for the setting value of [Pr.

PF25] + 1 s or more before cycling the power to enable a parameter whose symbol is preceded by "*". x _ _ _ For manufacturer setting

_ _ _ x One-touch tuning function selection

0: Disabled

1: Enabled

When the digit is "0", the one-touch tuning is not available.


_ x _ _

0h

1h

0h

0h

0h x _ _ _ Electronic gear selection

When this digit is changed, the home position will be changed. Execute the home position return again.

0: Electronic gear ([Pr. PA06] and [Pr. PA07])

1: Not used for positioning mode.

Setting this will trigger [AL. 37 Parameter error].

_ _ x x Alarm detail No. setting

Set the digits when you execute the trigger with arbitrary alarm detail No. for the drive recorder function.

When these digits are "0 0", only the arbitrary alarm No. setting will be enabled. x x _ _ Alarm No. setting

Set the digits when you execute the trigger with arbitrary alarm No. for the drive recorder function.

When "0 0" are set, arbitrary alarm trigger of the drive recorder will be disabled.

00h

00h

To activate the drive recorder when [AL. 50 Overload 1] occurs, set "5 0 0 0".

To activate the drive recorder when [AL. 50.3 Thermal overload error 4 during operation] occurs, set "5 0 0 3".

7 - 23

7. PARAMETERS

No./symbol/ name

Setting digit

Function

PA24

AOP4


PA25

OTHOV

One-touch tuning -

Overshoot permissible level

PA26

*AOP5


_ _ _ x Vibration suppression mode selection

0: Standard mode

1: 3 inertia mode

2: Low response mode

When you select the standard mode or low response mode, "Vibration suppression control 2" is not available.

When you select the 3 inertia mode, the feed forward gain is not available.


_ x _ _ x _ _ _

Set a permissible value of overshoot amount for one-touch tuning as a percentage of the in-position range.

However, setting "0" will be 50%.


_ _ _ x Torque limit function selection at instantaneous power failure

0: Disabled

1: Enabled

Selecting "1" for this digit will limit torques to save electric energy when an instantaneous power failure occurs during operation and will make [AL. 10

Undervoltage] less likely to occur.

The torque limit function at instantaneous power failure is enabled when

"instantaneous power failure tough drive selection" in [Pr. PA20] is "Enabled (_ 1 _

_)".


_ x _ _ x _ _ _

Initial value

[unit]

0h

Control mode

CP CL

0h

0h

0h

0

[%]

0h

0h

0h

0h

7 - 24

7. PARAMETERS

7.2.2 Gain/filter setting parameters ([Pr. PB_ _ ])

No./symbol/ name

Setting digit

Function

PB01

FILT

Adaptive tuning mode

(adaptive filter II)

PB02

VRFT

Vibration suppression control tuning mode

(advanced vibration suppression control II)

_ _ _ x Filter tuning mode selection

Set the adaptive tuning.

Select the adjustment mode of the machine resonance suppression filter 1. For details, refer to section 7.1.2 of "MR-JE-_A Servo Amplifier Instruction Manual".

0: Disabled

1: Automatic setting

2: Manual setting


_ x _ _ x _ _ _ Tuning accuracy selection

0: Standard

1: High accuracy

The frequency is estimated more accurately in the high accuracy mode compared to the standard mode. However, the tuning sound may be larger in the high accuracy mode.

For details, refer to section 7.1.2 of "MR-JE-_A Servo Amplifier Instruction Manual".

This digit is available with servo amplifier with software version C5 or later.

_ _ _ x Vibration suppression control 1 tuning mode selection

Select the tuning mode of the vibration suppression control 1. For details, refer to section 7.1.5 of "MR-JE-_A Servo Amplifier Instruction Manual".

0: Disabled


2: Manual setting

_ _ x _ Vibration suppression control 2 tuning mode selection

Select the tuning mode of the vibration suppression control 2. To enable the digit, select "3 inertia mode (_ _ _ 1)" of "Vibration suppression mode selection" in [Pr.

PA24]. For details, refer to section 7.1.5 of "MR-JE-_A Servo Amplifier Instruction

Manual".

0: Disabled


2: Manual setting


Initial value

[unit]

0h

Control mode

CP CL

0h

0h

0h

0h

0h

0h

0h

7 - 25

7. PARAMETERS

No./symbol/ name

Setting digit

PB03

PST

Position command acceleration/ deceleration time constant

(position smoothing)

Function

Set the constant of a primary delay to the position command.

You can select a control method from "Primary delay" or "Linear acceleration/deceleration" of "Position acceleration/deceleration filter type selection" in [Pr. PB25]. The setting range of "Linear acceleration/deceleration" is 0 ms to 10 ms. Setting of longer than 10 ms will be recognized as 10 ms.

(Example) When a command is given from a synchronous encoder, a synchronous operation will start smoothly even if it starts during line operation.

Synchronizing encoder

Initial value

[unit]

0

[ms]

Control mode

CP CL

Start

Servo amplifier

Servo motor

PB04

FFC

Feed forward gain

PB06

GD2


Without time constant setting

Servo motor

speed

Start

ON

OFF

With time constant setting t


Set the feed forward gain.

When the setting is 100%, the droop pulses during operation at constant speed are nearly zero. However, sudden acceleration/deceleration will increase the overshoot.

As a guideline, when the feed forward gain setting is 100%, set 1 s or more for the acceleration time constant to the rated speed.


Set the load to motor inertia ratio.

Setting a value considerably different from the actual load moment of inertia may cause an unexpected operation such as an overshoot.

The setting of this parameter will be automatic or manual depending on the setting of

[Pr. PA08]. Refer to the following table for details. When the parameter is set to automatic, the value will vary between 0.00 and 100.00.


0

[%]

7.00

[times]

Automatic setting _ _ _ 0 (2 gain adjustment mode 1

(interpolation mode)

_ _ _ 1 (Auto tuning mode 1)


_ _ _ 3 (Manual mode)

_ _ _ 4 (2 gain adjustment mode 2)

Manual setting

7 - 26

7. PARAMETERS

No./symbol/ name

Setting digit

PB07

PG1

Model loop gain

PB08

PG2

Position loop gain

PB09

VG2

Speed loop gain

PB10

VIC

Speed integral compensation

PB11

VDC

Speed differential compensation

Function

Set the response gain to the target position.

Increasing the setting value will also increase the response level to the position command but will be liable to generate vibration and noise.

For the vibration suppression control tuning mode, the setting range of [Pr. PB07] is limited. Refer to section 7.1.5 (4) of "MR-JE-_A Servo Amplifier Instruction Manual" for details.

The setting of this parameter will be automatic or manual depending on the setting of

[Pr. PA08]. Refer to the following table for details.


Pr. PA08 This parameter

_ _ _ 0 (2 gain adjustment mode 1

(interpolation mode)





Manual setting

Automatic setting

Manual setting

Set the gain of the position loop.

Set this parameter to increase the position response to level load disturbance.

Increasing the setting value will also increase the response level to the load disturbance but will be liable to generate vibration and noise.

The setting of the parameter will be the automatic setting or manual setting depending on the [Pr. PA08] setting. Refer to the following table for details.


This parameter

Automatic setting

Pr. PA08

_ _ _ 0 (2 gain adjustment mode 1

(interpolation mode))





Manual setting

Automatic setting

Set the gain of the speed loop.

Set this parameter when vibration occurs on machines of low rigidity or with large backlash. Increasing the setting value will also increase the response level but will be liable to generate vibration and noise.

The setting of the parameter will be automatic or manual depending on the setting of

[Pr. PA08]. Refer to the table of [Pr. PB08] for details.


Set the integral time constant of the speed loop.

Decreasing the setting value will increase the response level but will be liable to generate vibration and noise.

The setting of the parameter will be automatic or manual depending on the setting of

[Pr. PA08]. Refer to the table of [Pr. PB08] for details.


Set the differential compensation.

To enable the setting value, turn on PC (proportional control).


Initial value

[unit]

15.0

[rad/s]

Control mode

CP CL

37.0

[rad/s]

823

[rad/s]

33.7

[ms]

980

7 - 27

7. PARAMETERS

No./symbol/ name

PB12

OVA

Overshoot amount compensation

PB13

NH1


PB14

NHQ1


PB15

NH2


PB16

NHQ2


Setting digit

Function

Initial value

[unit]

Control mode

CP CL

Set a viscous friction torque in percentage to the rated torque at servo motor rated speed.

When the response level is low, or when the torque is limited, the efficiency of the parameter can be lower.


Set the notch frequency of the machine resonance suppression filter 1.

When "Filter tuning mode selection" is set to "Automatic setting (_ _ _ 1)" in [Pr.

PB01], this parameter will be adjusted automatically by adaptive tuning.

0

[%]

4500

[Hz]

When "Filter tuning mode selection" is set to "Manual setting (_ _ _ 2)" in [Pr. PB01], the setting value will be enabled.


Set forms of the machine resonance suppression filter 1.

When "Filter tuning mode selection" is set to "Automatic setting (_ _ _ 1)" in [Pr. PB01], this parameter will be adjusted automatically by adaptive tuning.

When "Filter tuning mode selection" is set to "Manual setting (_ _ _ 2)" in [Pr. PB01], the setting value will be enabled.

_ _ _ x For manufacturer setting 0h

0h _ _ x _ Notch depth selection

0: -40 dB

1: -14 dB

2: -8 dB

3: -4 dB

_ x _ _ Notch width selection

0: α = 2

1: α = 3

2: α = 4

3: α = 5

0h

0h

4500

[Hz] x _ _ _ For manufacturer setting


To enable the setting value, select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 2 selection" in [Pr. PB16].



_ _ _ x Machine resonance suppression filter 2 selection

0: Disabled

1: Enabled

_ _ x _ Notch depth selection

0: -40 dB

1: -14 dB

2: -8 dB

3: -4 dB


0: α = 2

1: α = 3

2: α = 4

3: α = 5 x _ _ _ For manufacturer setting

0h

0h

0h

0h

7 - 28

7. PARAMETERS

PB18

LPF

Low-pass filter setting

No./symbol/ name

PB17

NHF


Setting digit

Function

Initial value

[unit]

Control mode

CP CL

Set the shaft resonance suppression filter.

This is used to suppress a low-frequency machine vibration.

When "Shaft resonance suppression filter selection" is set to "Automatic setting (_ _ _ 0)" in [Pr. PB23], the value will be calculated automatically from the servo motor you use and load to motor inertia ratio. When "Manual setting

(_ _ _ 1)" is selected, the setting written to the parameter is used.

When "Shaft resonance suppression filter selection" is set to "Disabled (_ _ _ 2)" in [Pr. PB23], the setting value of this parameter will be disabled.

When "Machine resonance suppression filter 4 selection" is set to "Enabled (_ _ _ 1)" in [Pr. PB49], the shaft resonance suppression filter is not available.

_ _ x x Shaft resonance suppression filter setting frequency selection


Set the value closest to the frequency you need.

00h

0h _ x _ _ Notch depth selection

0: -40 dB

1: -14 dB

2: -8 dB

3: -4 dB x _ _ _ For manufacturer setting 0h

Table 7.5 Shaft resonance suppression filter setting frequency selection

_ _ 0 7

_ _ 0 8

_ _ 0 9

_ _ 0 A

_ _ 0 B

_ _ 0 C

_ _ 0 D

_ _ 0 E

_ _ 0 F value

_ _ 0 0

_ _ 0 1

_ _ 0 2

_ _ 0 3

_ _ 0 4

_ _ 0 5

_ _ 0 6

Disabled

Disabled

4500

3000

2250

1800

1500

1285

1125

1000

900

818

750

692

642

600

Setting value

_ _ 1 0

_ _ 1 1

_ _ 1 2

_ _ 1 3

_ _ 1 4

_ _ 1 5

_ _ 1 6

_ _ 1 7

_ _ 1 8

_ _ 1 9

_ _ 1 A

_ _ 1 B

_ _ 1 C

_ _ 1 D

_ _ 1 E

_ _ 1 F

Frequency [Hz]

562

529

500

473

450

428

409

391

375

360

346

333

321

310

300

290

Set the low-pass filter.

The following shows a relation of a required parameter to this parameter.


[Pr. PB23] [Pr. PB18]

_ _ 0 _ (Initial value) Automatic setting

_ _ 1 _

_ _ 2 _

Setting value enabled

Setting value disabled

3141

[rad/s]

7 - 29

7. PARAMETERS

No./symbol/ name

Setting digit

Function

PB19

VRF11

Vibration suppression control 1 -

Vibration frequency

PB20

VRF12


Resonance frequency

PB21

VRF13


Vibration frequency damping

PB22

VRF14


Resonance frequency damping

PB23

VFBF

Low-pass filter selection

PB24

*MVS


Set the vibration frequency for vibration suppression control 1 to suppress lowfrequency machine vibration.

When "Vibration suppression control 1 tuning mode selection" is set to "Automatic setting (_ _ _ 1)" in [Pr. PB02], this parameter will be set automatically. When

"Manual setting (_ _ _ 2)" is selected, the setting written to the parameter is used.

The setting range of this parameter varies, depending on the value in [Pr. PB07]. If a value out of the range is set, the vibration suppression control will be disabled. For details, refer to section 7.1.5 of "MR-JE-_A Servo Amplifier Instruction Manual".


Set the resonance frequency for vibration suppression control 1 to suppress lowfrequency machine vibration.



The setting range of this parameter varies, depending on the value in [Pr. PB07]. If a value out of the range is set, the vibration suppression control will be disabled. For details, refer to section 7.1.5 of "MR-JE-_A Servo Amplifier Instruction Manual".


Set a damping of the vibration frequency for vibration suppression control 1 to suppress low-frequency machine vibration.





Set a damping of the resonance frequency for vibration suppression control 1 to suppress low-frequency machine vibration.





_ _ _ x Shaft resonance suppression filter selection

Select the shaft resonance suppression filter.


1: Manual setting

2: Disabled

When you select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 4 selection" in [Pr. PB49], the shaft resonance suppression filter is not available.

_ _ x _ Low-pass filter selection

Select the low-pass filter.


1: Manual setting

2: Disabled


_ _ _ x Slight vibration suppression control selection

Select the slight vibration suppression control.

0: Disabled

1: Enabled

To enable the slight vibration suppression control, set "Gain adjustment mode selection" to "Manual mode (_ _ _ 3)" in [Pr. PA08].


_ x _ _ x _ _ _

Initial value

[unit]

100.0

[Hz]

100.0

[Hz]

0.00

0.00

0h

0h

1h

Control mode

CP CL

0h

0h

0h

0h

0h

7 - 30

7. PARAMETERS

No./symbol/ name

PB25

*BOP1

Function selection B-1

Setting digit

Function

PB26

*CDP


PB27

CDL

Gain switching condition

PB28

CDT

Gain switching time constant

PB29

GD2B

Load to motor inertia ratio after gain switching

PB30

PG2B

Position loop gain after gain switching

PB31

VG2B

Speed loop gain after gain switching

_ _ _ x Gain switching selection

0: Disabled

1: Input device (gain switching (CDP))

2: Command frequency

3: Droop pulses

4: Servo motor speed

_ _ x _ Gain switching condition selection

0: Gain after switching is enabled with gain switching condition or more

1: Gain after switching is enabled with gain switching condition or less


Set the value of the gain switching (command frequency, droop pulses, or servo motor speed) selected in [Pr. PB26].

The set value unit differs depending on the switching condition item. (Refer to section 7.2.3 of "MR-JE-_A Servo Amplifier Instruction Manual".)


Set the time constant until the gains switch in response to the conditions set in [Pr.

PB26] and [Pr. PB27].


Set the load to motor inertia ratio for when gain switching is enabled.

This parameter is enabled only when "Gain adjustment mode selection" is set to

"Manual mode (_ _ _ 3)" in [Pr. PA08].


Set the position loop gain for when the gain switching is enabled.

When a value less than 1.0 rad/s is set, the value will be the same as that of [Pr.

PB08].




Set the speed loop gain for when the gain switching is enabled.

When a value less than 20 rad/s is set, the value will be the same as that of [Pr.

PB09].




Initial value

[unit]

0h

0h

0h

0h

10

[kpulse/s]/

[pulse]/

[r/min]

1

[ms]

7.00

[times]

0.0

[rad/s]

0

[rad/s]

Control mode

CP CL


_ _ x _ Position acceleration/deceleration filter type selection

Select the position acceleration/deceleration filter type.

0: Primary delay

1: Linear acceleration/deceleration

_ x _ _ For manufacturer setting

0h

0h

0h x _ _ _

Select the gain switching condition.

0h

Set conditions to enable the gain switching values set in [Pr. PB29] to [Pr. PB36] and [Pr. PB56] to [Pr. PB60].

7 - 31

7. PARAMETERS

No./symbol/ name

Setting digit

PB32

VICB

Speed integral compensation after gain switching

PB33

VRF1B


Vibration frequency after gain switching

PB34

VRF2B


Resonance frequency after gain switching

PB35

VRF3B


Vibration frequency damping after gain switching

PB36

VRF4B


Resonance frequency damping after gain switching

Function

Set the speed integral compensation for when the gain switching is enabled.

When a value less than 0.1 ms is set, the value will be the same as that of [Pr.

PB10].




Set the vibration frequency of the vibration suppression control 1 for when the gain switching is enabled.

When a value less than 0.1 Hz is set, the value will be the same as that of [Pr.

PB19].

This parameter is enabled only when the following conditions are fulfilled.

"Gain adjustment mode selection" is set to "Manual mode (_ _ _ 3)" in [Pr. PA08].

"Vibration suppression control 1 tuning mode selection" is set to "Manual setting (_

_ _ 2)" in [Pr. PB02].

"Gain switching selection" is set to "Input device (gain switching (CDP)) (_ _ _ 1)" in [Pr. PB26].

Switching during driving may cause a shock. Be sure to switch them after the servo motor stops.


Set the resonance frequency for vibration suppression control 1 for when the gain switching is enabled.


PB20].

This parameter will be enabled only when the following conditions are fulfilled.

"Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)".


_ _ 2)" in [Pr. PB02].




Set a damping of the vibration frequency for vibration suppression control 1 when the gain switching is enabled.




_ _ 2)" in [Pr. PB02].




Set a damping of the resonance frequency for vibration suppression control 1 when the gain switching is enabled.




_ _ 2)" in [Pr. PB02].




Initial value

[unit]

0.0

[ms]

Control mode

CP CL

0.0

[Hz]

0.0

[Hz]

0.00

0.00

7 - 32

7. PARAMETERS

No./symbol/ name

PB45

CNHF

Command notch filter

Setting digit

Function

Set the command notch filter.

_ _ x x Command notch filter setting frequency selection

Refer to table 7.6 for the relation of setting values to frequency.

_ x _ _ Notch depth selection

Refer to table 7.7 for details. x _ _ _ For manufacturer setting

Table 7.6 Command notch filter setting frequency selection value

_ _ 0 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

_ _ 1 1

_ _ 1 2

_ _ 1 3

_ _ 1 4

_ _ 1 5

_ _ 1 6

_ _ 1 7

_ _ 1 8

_ _ 1 9

_ _ 1 A

_ _ 1 B

_ _ 1 C

_ _ 1 D

_ _ 1 E

_ _ 1 F

Frequency [Hz]

Disabled

2250

1125

750

562

450

375

150

140

132

125

118

112

107

102

321

281

250

225

204

187

173

160

83

80

77

75

72

97

93

90

86

Table 7.7 Notch depth selection value

Depth [dB]

_ 0 _ _

_ 1 _ _

_ 2 _ _

_ 3 _ _

_ 4 _ _

_ 5 _ _

_ 6 _ _

_ 7 _ _

-40.0

-24.1

-18.1

-14.5

-12.0

-10.1

-8.5

-7.2

Setting value

_ _ 2 0

_ _ 2 1

_ _ 2 2

_ _ 2 3

_ _ 2 4

_ _ 2 5

_ _ 2 6

_ _ 2 7

_ _ 2 8

_ _ 2 9

_ _ 2 A

_ _ 2 B

_ _ 2 C

_ _ 2 D

_ _ 2 E

_ _ 2 F

_ _ 3 0

_ _ 3 1

_ _ 3 2

_ _ 3 3

_ _ 3 4

_ _ 3 5

_ _ 3 6

_ _ 3 7

_ _ 3 8

_ _ 3 9

_ _ 3 A

_ _ 3 B

_ _ 3 C

_ _ 3 D

_ _ 3 E

_ _ 3 F

Setting value

_ 8 _ _

_ 9 _ _

_ A _ _

_ B _ _

_ C _ _

_ D _ _

_ E _ _

_ F _ _

36

35.2

33.1

31.3

29.6

28.1

26.8

25.6

41

40

38

37

48

46

45

43

24.5

23.4

22.5

21.6

20.8

20.1

19.4

18.8

18.2

70

66

62

59

56

53

51

Depth [dB]

-6.0

-5.0

-4.1

-3.3

-2.5

-1.8

-1.2

-0.6

9.1

8.8

8.3

7.8

7.4

7.0

6.7

6.4

12.2

11.7

11.3

10.8

10.4

10

9.7

9.4

6.1

5.9

5.6

5.4

5.2

5.0

4.9

4.7

4.5

17.6

16.5

15.6

14.8

14.1

13.4

12.8

Setting value

_ _ 4 0

_ _ 4 1

_ _ 4 2

_ _ 4 3

_ _ 4 4

_ _ 4 5

_ _ 4 6

_ _ 4 7

_ _ 4 8

_ _ 4 9

_ _ 4 A

_ _ 4 B

_ _ 4 C

_ _ 4 D

_ _ 4 E

_ _ 4 F

_ _ 5 0

_ _ 5 1

_ _ 5 2

_ _ 5 3

_ _ 5 4

_ _ 5 5

_ _ 5 6

_ _ 5 7

_ _ 5 8

_ _ 5 9

_ _ 5 A

_ _ 5 B

_ _ 5 C

_ _ 5 D

_ _ 5 E

_ _ 5 F

Initial value

[unit]

00h

0h

0h

Frequency [Hz]

Control mode

CP CL

7 - 33

7. PARAMETERS

No./symbol/ name

Setting digit

Function

PB46

NH3


PB47

NHQ3


PB48

NH4


PB49

NHQ4


PB50

NH5



To enable the setting value, set "Machine resonance suppression filter 3 selection" to "Enabled (_ _ _ 1)" in [Pr. PB47].




0: Disabled

1: Enabled


0: -40 dB

1: -14 dB

2: -8 dB

3: -4 dB


0: α = 2

1: α = 3

2: α = 4







0: Disabled

1: Enabled

When "Enabled" is set, [Pr. PB17 Shaft resonance suppression filter] is not available.


0: -40 dB

1: -14 dB

2: -8 dB

3: -4 dB


0: α = 2

1: α = 3

2: α = 4





Initial value

[unit]

4500

[Hz]

Control mode

CP CL

0h

0h

0h

0h

4500

[Hz]

0h

0h

0h

0h

4500

[Hz]

7 - 34

7. PARAMETERS

No./symbol/ name

PB51

NHQ5


PB52

VRF21


Vibration frequency

PB53

VRF22


Resonance frequency

PB54

VRF23


Vibration frequency damping

Setting digit

Function

Initial value

[unit]

Control mode

CP CL


When "Robust filter selection" is set to "Enabled (_ _ _ 1)" in [Pr. PE41], the machine resonance suppression filter

5 is not available.

0h _ _ _ x Machine resonance suppression filter 5 selection

0: Disabled

1: Enabled

0h _ _ x _ Notch depth selection

0: -40 dB

1: -14 dB

2: -8 dB

3: -4 dB


0: α = 2

1: α = 3

2: α = 4

3: α = 5

0h x _ _ _ For manufacturer setting

Set the vibration frequency for vibration suppression control 2 to suppress lowfrequency machine vibration.

When "Vibration suppression control 2 tuning mode selection" is set to "Automatic setting (_ _ 1 _)" in [Pr. PB02], this parameter will be set automatically. When

"Manual setting (_ _ 2 _)" is selected, the setting written to the parameter is used.

The setting range of this parameter varies, depending on the value in [Pr. PB07]. If a value out of the range is set, the vibration suppression control will be disabled. Refer to section 7.1.5 of "MR-JE-_A Servo Amplifier Instruction Manual" for details.

To enable the setting value, set "Vibration suppression mode selection" to "3 inertia mode (_ _ _ 1)" in [Pr. PA24].


Set the resonance frequency for vibration suppression control 2 to suppress lowfrequency machine vibration.



The setting range of this parameter varies, depending on the value in [Pr. PB07]. If a value out of the range is set, the vibration suppression control will be disabled. Refer to section 7.1.5 of "MR-JE-_A Servo Amplifier Instruction Manual" for details.



Set a damping of the vibration frequency for vibration suppression control 2 to suppress low-frequency machine vibration.



Refer to section 7.1.5 of "MR-JE-_A Servo Amplifier Instruction Manual" for details.



0h

100.0

[Hz]

100.0

[Hz]

0.00

7 - 35

7. PARAMETERS

No./symbol/ name

Setting digit

PB55

VRF24


Resonance frequency damping

PB56

VRF21B


Vibration frequency after gain switching

PB57

VRF22B


Resonance frequency after gain switching

PB58

VRF23B


Vibration frequency damping after gain switching

Function

Set a damping of the resonance frequency for vibration suppression control 2 to suppress low-frequency machine vibration.



Refer to section 7.1.5 of "MR-JE-_A Servo Amplifier Instruction Manual" for details.



Set the vibration frequency for vibration suppression control 2 for when the gain switching is enabled.


PB52].



"Vibration suppression mode selection" is set to "3 inertia mode (_ _ _ 1)" in [Pr.

PA24].


_ 2 _)" in [Pr. PB02].




Set the resonance frequency for vibration suppression control 2 for when the gain switching is enabled.


PB53].




PA24].


_ 2 _)" in [Pr. PB02].




Set a damping of the vibration frequency for vibration suppression control 2 when the gain switching is enabled.




PA24].


_ 2 _)" in [Pr. PB02].




Initial value

[unit]

0.00

Control mode

CP CL

0.0

[Hz]

0.0

[Hz]

0.00

7 - 36

7. PARAMETERS

No./symbol/ name

Setting digit

Function

Initial value

[unit]

0.00 PB59

VRF24B


Resonance frequency damping after gain switching

PB60

PG1B

Model loop gain after gain switching

Set a damping of the resonance frequency for vibration suppression control 2 when the gain switching is enabled.




PA24].


_ 2 _)" in [Pr. PB02].




Set the model loop gain for when the gain switching is enabled.

When a value less than 1.0 rad/s is set, the value will be the same as that of [Pr.

PB07].






7.2.3 Extension setting parameters ([Pr. PC_ _ ])

0.0

[rad/s]

Control mode

CP CL

No./symbol/ name

PC01

STA

JOG operation acceleration time constant

Setting digit

Function

Set an acceleration time constant for the JOG operation of the program method.

Set an acceleration time from 0 r/min to the rated speed.

Speed

Rated speed

If the preset speed command is lower than the rated speed, acceleration/deceleration time will be shorter.

Initial value

[unit]

0

[ms]

Control mode

CP CL

PC02

STB

JOG operation deceleration time constant

0 r/min

[Pr. PC01] setting [Pr. PC02] setting

Time

For example for the servo motor of 3000 r/min rated speed, set 3000 (3 s) to increase speed from 0 r/min to 1000 r/min in 1 s.

Additionally, when 20000 ms or more value is set, it will be clamped to 20000 ms.


Set a deceleration time constant for the JOG operation of the program method.

Set a deceleration time from the rated speed to 0 r/min.



0

[ms]

7 - 37

7. PARAMETERS

No./symbol/ name

Setting digit

PC03

*STC


Function

This parameter is used to smooth start/stop of the servo motor.

Set the time of the arc part for S-pattern acceleration/deceleration.

Setting "0" will make it linear acceleration/deceleration.

Servo is usually operated with linear acceleration and deceleration; however, smooth start and stop are enabled by setting [Pr. PC03 S-pattern acceleration/deceleration time constants]. When the S-pattern acceleration/deceleration time constants are set, smooth positioning is enabled as shown in the following figure. Note that when it is set, a time period from the start to output of MEND (Travel completion) is longer by the S-pattern acceleration/deceleration time constants.



Rated speed

Initial value

[unit]

0

[ms]

Control mode

CP CL

Set speed

Servo motor speed

0 [r/min]

Ta

Ta + STC

Tb + STC

Tb

Ta: Time period until the

servo motor reaches

the set speed

Tb: Time period until the

servo motor stops

When the STC value is set longer than the constant speed time, the speed may not reach to the command speed.



7 - 38

7. PARAMETERS

No./symbol/ name

PC14

MOD1

Analog monitor 1 output

Setting digit

Function

_ _ x x Analog monitor 1 output selection

Select a signal to output to MO1 (Analog monitor 1). Refer to app. 8.3 of "MR-JE-_A

Servo Amplifier Instruction Manual" for detection point of output selection.

Refer to table 7.8 or 7.9 for settings.


Table 7.8 Analog monitor setting value

Setting value

Item

_ _ 0 0 Servo motor speed (±8 V/max. speed) (Note 1)

_ _ 0 1 Torque (±8 V/max. torque) (Note 3)

_ _ 0 2 Servo motor speed (+8 V/max. speed) (Note 1)

_ _ 0 3 Torque (+8 V/max. torque) (Note 3)

_ _ 0 4 Current command (±8 V/max. current command)

_ _ 0 5 Command pulse frequency (±10 V/±4 Mpulses/s)

_ _ 0 6 Servo motor-side droop pulses (±10 V/100 pulses) (Note 2)




_ _ 0 D Bus voltage (+8 V/400 V)

_ _ 0 E Speed command 2 (±8 V/max. speed) (Note 1)

_ _ 1 7 Internal temperature of encoder (±10 V/±128 °C)

Initial value

[unit]

00h

0h

0h

Control mode

CP CL

PC15

MOD2

Analog monitor 2 output

PC16

MBR

Electromagne tic brake sequence output

PC17

ZSP

Zero speed

Note 1. The maximum speed of the HF-KN series servo motor is 4500 r/min and that of the HG-KN series is 5000 r/min. Please watch out when using an HG-KN series servo motor as a replacement for the HF-KN series servo motor because HG-KN series outputs 8 V at 5000 r/min. HG-KN series servo motors output 8 V at 6000 r/min when you set "_ _ _ 1" in [Pr. PA28] to change the maximum speed to 6000 r/min.

2. Encoder pulse unit

3. The value in [Pr. PA11] or [Pr. PA12] whichever is higher is applied for the maximum torque.

_ _ x x Analog monitor 2 output selection

Select a signal to output to MO2 (Analog monitor 2). Refer to app. 8.3 of "MR-JE-_A

Servo Amplifier Instruction Manual" for detection point of output selection.

Refer to [Pr. PC14] for settings.

01h


Set the delay time from when MBR (Electromagnetic brake interlock) turns off until when the base drive circuit is shut-off.


0h

0h

0

[ms]

Set an output range of ZSP (Zero speed detection).

ZSP (Zero speed detection) has hysteresis of 20 r/min.


50

[r/min]

7 - 39

7. PARAMETERS

No./symbol/ name

PC18

*BPS

Alarm history clear

PC19

*ENRS

Encoder output pulse selection

PC20

*SNO

Station number setting

Setting digit

Function

Initial value

[unit]

0h

Control mode

CP CL

_ _ _ x Alarm history clear selection

This parameter is used to clear the alarm history.

0: Disabled

1: Enabled

When "Enabled" is set, the alarm history will be cleared at the next power-on. Once the alarm history is cleared, the setting becomes disabled automatically.


_ x _ _ x _ _ _

_ _ _ x Encoder output pulse phase selection

Select an encoder pulse direction.

0: Increasing A-phase 90° in CCW

1: Increasing A-phase 90° in CW

Setting value


CCW CW

A-phase

0

B-phase

A-phase

B-phase

1

A-phase

B-phase

A-phase

B-phase

0h

0h

0h

0h

_ _ x _ Encoder output pulse setting selection

0: Output pulse setting

1: Division ratio setting

2: The same output pulse setting as the command pulse

3: A-phase/B-phase pulse electronic gear setting

5: Command pulse input through output setting

When "1" is set, the settings of [Pr. PA16 Encoder output pulses 2] will be disabled.

When "2" is set, the settings of [Pr. PA15 Encoder output pulses] and [Pr. PA16

Encoder output pulses 2] will be disabled. When using this setting, do not change the settings in [Pr. PA06] and [Pr. PA07] after the power-on.

When "5" is set, the settings of [Pr. PA15 Encoder output pulses] and [Pr. PA16

Encoder output pulses 2] will be disabled. "Encoder output pulse phase selection (_

_ _ x)" will be also disabled. When [Pr. PA01] is set to other than "Point table method (_ _ _ 6)" and "Program method (_ _ _ 7)", [AL. 37 Parameter error] occurs.

When "5" is set, assign PP/PP2 with [Pr. PD44] and NP/NP2 with [Pr. PD46].


Specify a station Number of the servo amplifier for RS-422 and USB communication.

Always set one station to one axis of the servo amplifier. Setting one station Number to two or more stations will disable a normal communication.


0h

0h

0h

0

[Station]

7 - 40

7. PARAMETERS

No./symbol/ name

Setting digit

Function

PC21

*SOP

RS-422 communicatio n function selection

PC22

*COP1

Function selection C-1

PC24

*COP3


PC26

*COP5


PC27

*COP6


Select the details of RS-422 communication function.


_ _ x _ RS-422 communication baud rate selection

0: 9600 [bps]

1: 19200 [bps]

2: 38400 [bps]

3: 57600 [bps]

4: 115200 [bps]

6: 4800 [bps]

_ x _ _ RS-422 communication response delay time selection

0: Disabled

1: Enabled (responding after 800 μ s or longer delay time) x _ _ _ For manufacturer setting


_ _ x _

_ x _ _ x _ _ _ Encoder cable communication method selection

Select the encoder cable communication method.

0: Two-wire type

1: Four-wire type

If the setting is incorrect, [AL. 16 Encoder initial communication error 1] or [AL. 20

Encoder normal communication error 1] occurs.

_ _ _ x In-position range unit selection

Select a unit of in-position range.

0: Command unit

1: Servo motor encoder pulse unit


_ x _ _ x _ _ _ Error excessive alarm/error excessive warning level unit selection

Select units for the error excessive alarm level setting with [Pr. PC43] and for the error excessive warning level setting with [Pr. PC73].

0: 1 rev unit

1: 0.1 rev unit

2: 0.01 rev unit

3: 0.001 rev unit

_ _ _ x [AL. 99 Stroke limit warning] selection

Enable or disable [AL. 99 Stroke limit warning].

0: Enabled

1: Disabled


_ x _ _ x _ _ _


_ _ x _

_ x _ _ Undervoltage alarm selection

Select the alarm and warning that occurs when the bus voltage drops to the undervoltage alarm level.

0: [AL. 102] regardless of servo motor speed

1: [AL. E9.1] occurs when the servo motor speed is 50 r/min or less, and [AL. 10.2] occurs when the servo motor speed is over 50 r/min. x _ _ _ For manufacturer setting

Initial value

[unit]

Control mode

CP CL

0h

0h

0h

0h

0h

2h

0h

0h

0h

0h

0h

0h

0h

0h

0h

0h

0h

0h

0h

0h

7 - 41

7. PARAMETERS

No./symbol/ name

Setting digit

PC30

STA2

Home position return acceleration time constant

PC31

STB2

Home position return deceleration time constant

PC35

TL2

Internal torque limit 2

Function

This parameter is used when a home position return is executed with the program method. Set the acceleration time constant for the home position return. Set an acceleration time from 0 r/min to the rated speed.

Additionally, when a value of 20000 ms or more is set, it will be clamped to 20000 ms.


This parameter is used when a home position return is executed with the program method. Set the deceleration time constant at the home position return. Set a deceleration time from the rated speed to 0 r/min.

Additionally, when a value of 20000 ms or more is set, it will be clamped to 20000 ms.


Set the parameter on the assumption that the maximum torque is 100.0 %. The parameter is for limiting the torque of the servo motor.

No torque is generated when this parameter is set to "0.0".

When TL1 (Internal torque limit selection) is turned on, internal torque limit 1 and internal torque limit 2 are compared and the lower value will be enabled.

Set the parameter referring to section 3.6.1 (5) of "MR-JE-_A Servo Amplifier



Initial value

[unit]

0

[ms]

Control mode

CP CL

0

[ms]

100.0

[%]

7 - 42

7. PARAMETERS

No./symbol/ name

Setting digit

Function

PC36

*DMD

Status display selection

PC37

VCO

Analog override

Offset

_ _ x x Status display selection at power-on

Select a status display shown at power-on.

00: Cumulative feedback pulse

01: Servo motor speed

02: Droop pulses

03: Cumulative command pulses

04: Command pulse frequency

05: Analog speed command voltage (not used for the positioning mode)

06: Analog torque limit voltage

07: Regenerative load ratio

08: Effective load ratio

09: Peak load ratio

0A: Instantaneous torque

0B: Position within one-revolution/virtual position within one-revolution (1 pulse unit)

0C: Position within one-revolution/virtual position within one-revolution (1000 pulses unit)

0D: ABS counter/virtual ABS counter

0E: Load to motor inertia ratio

0F: Bus voltage

10: Internal temperature of encoder

11: Settling time

12: Oscillation detection frequency

13: Number of tough drives

14: Unit power consumption (1 W unit)

15: Unit power consumption (1 kW unit)

16: Unit total power consumption (1 Wh unit)

17: Unit total power consumption (100 kWh unit)

21: Current position

22: Command position

23: Command remaining distance

24: Point table No./Program No.

25: Step No.

26: Override voltage

27: Override level



2A: Cam axis feed current value

2B: Cam No. in execution

2C: Cam stroke amount in execution

2D: Main axis current value

2E: Main axis one cycle current value

_ x _ _ Status display at power-on in corresponding control mode

0: Depends on the control mode

Control mode

Positioning (point table method)

Positioning (program method)

Status display at power-on

Current position

Current position

1: Depends on the setting in the lower two digits of this parameter x _ _ _ For manufacturer setting

Set an offset voltage of VC (Override input).

This will be automatic setting by executing VC automatic offset.


Initial value

[unit]

00h

Control mode

CP CL

0h

0h

0

[mV]

7 - 43

7. PARAMETERS

No./symbol/ name

Setting digit

PC38

TPO

Analog torque limit offset

PC39

MO1

Analog monitor 1 offset

PC40

MO2

Analog monitor 2 offset

PC43

ERZ

Error excessive alarm level

PC51

RSBR

Forced stop deceleration time constant

Function

Set the offset voltage of TLA (Analog torque limit).


Set the offset voltage of MO1 (Analog monitor 1).


Set the offset voltage of MO2 (Analog monitor 2).


Set an error excessive alarm level.

You can change the setting unit with "Error excessive alarm/error excessive warning level unit selection" in [Pr. PC24].

However, setting "0" will be 3 rev. Setting over 200 rev will be clamped to 200 rev.


Set a deceleration time constant for the forced stop deceleration function.

Set the time taken from the rated speed to 0 r/min in a unit of ms.

Setting "0" will be 100 ms.

Rated speed

Servo motor speed

Forced stop deceleration

Dynamic brake deceleration

Initial value

[unit]

0

[mV]

Control mode

CP CL

0

[mV]

0

[mV]

0

[rev]

100

[ms]

0 r/min

[Pr. PC51]

[Precautions]

If the servo motor torque is saturated at the maximum torque during a forced stop deceleration because the set time is too short, the time to stop will be longer than the set time constant.

[AL. 50 Overload alarm 1] or [AL. 51 Overload alarm 2] may occur during forced stop deceleration, depending on the set value.

After an alarm that leads to a forced stop deceleration, if an alarm that does not lead to a forced stop deceleration occurs or if the power supply is cut, dynamic braking will start regardless of the deceleration time constant setting.


7 - 44

7. PARAMETERS

No./symbol/ name

Setting digit

Upper 3 digits

Lower 3 digits

Function

Initial value

[unit]

0

[0.0001 rev]

Control mode

CP CL

PC54

RSUP1

Vertical axis freefall prevention compensation amount

PC60

*COPD

Function selection C-D

PC66

LPSPL



Set the compensation amount of the vertical axis freefall prevention function.

Set the amount in a unit of the servo motor rotation.

The servo motor pulls up in a rotation direction of increasing address for the positive value and in a direction of decreasing address for the negative value in a unit of the servo motor rotation.

For example, when [Pr. PA14 Rotation direction selection/travel direction selection] is set to "1" and a positive value is set for the compensation amount, the servo motor pulls up in the CW direction.

The vertical axis freefall prevention function is performed when all of the following conditions are met.

1) The setting value of this parameter is other than "0".

2) The forced stop deceleration function is enabled.

3) Alarm has occurred or EM2 has turned off when the servo motor rotates at the zero speed or less.

4) MBR (Electromagnetic brake interlock) was enabled in [Pr. PD24], [Pr. PD25], and [Pr. PD28], and the base circuit shut-off delay time was set in [Pr. PC16].


_ _ _ x Motor-less operation selection

Set the motor-less operation.

0: Disabled

1: Enabled


_ x _ _ x _ _ _ [AL. 9B Error excessive warning] selection

0: [AL. 9B Error excessive warning] is disabled.

1: [AL. 9B Error excessive warning] is enabled.

Set the upper limit of the mark detection.

Upper and lower are a set.

Setting address:

0h

0h

0h

0h

0

Refer to


PC67

LPSPH



[Pr. PC66]

[Pr. PC67]

The unit will be changed to 10 STM [ μ m], 10 (STM-4) [inch], 10 -3 [degree], or [pulse] with the setting of [Pr. PT01].


When changing the direction to address decreasing, change it from the - side of the mark detection ([Pr. PC68] and [Pr. PC69]). An incorrect order of the setting will trigger [AL. 37]. Therefore, cycling power may be required after [Pr. PC66] to [Pr.

PC69] are all set.


7 - 45

7. PARAMETERS

No./symbol/ name

PC68

LPSNL


PC69

LPSNH

Mark detection range -


PC73

ERW

Error excessive warning level

Setting digit

Function

Set the lower limit of the mark detection.


Setting address:

Upper 3 digits

Lower 3 digits

[Pr. PC68]

[Pr. PC69]


Set a same sign for [Pr. PT68] and [Pr. PT69]. A different sign will be recognized as minus sign data.

When changing the direction to address increasing, change it from the + side of the mark detection ([Pr. PC66] and [Pr. PC67]). An incorrect order of the setting will trigger [AL. 37]. Therefore, cycling power may be required after [Pr. PC66] to [Pr.

PC69] are all set.


Set an error excessive warning level.

To enable the parameter, set "[AL. 9B Error excessive warning] selection" to

"Enabled (1 _ _ _)" in [Pr. PC60].

The setting unit can be changed with "Error excessive alarm/error excessive warning level unit selection" in [Pr. PC24].

Set the level in rev unit. When "0" is set, 1 rev will be applied. Setting over 200 rev will be clamped to 200 rev.

When an error reaches the set value, [AL. 9B Error excessive warning] will occur.

When the error decreases lower than the set value, the warning will be canceled automatically. The minimum pulse width of the warning signal is 100 [ms].

Set as follows: [Pr. PC73 Error excessive warning level] < [Pr. PC43 Error excessive alarm level] When you set as [Pr. PC73 Error excessive warning level] ≥ [Pr. PC43

Error excessive alarm level], [AL. 52 Error excessive] will occur earlier than the warning.


Initial value

[unit]

0

Refer to


Control mode

CP CL

0

[rev]

7 - 46

7. PARAMETERS

7.2.4 I/O setting parameters ([Pr. PD_ _ ])

No./symbol/ name

Setting digit

Function

PD01

*DIA1


Select input devices to turn on automatically.

_ _ _ x

(HEX)

_ _ _ x (BIN): For manufacturer setting

_ _ x _ (BIN): For manufacturer setting

_ x _ _ (BIN): SON (Servo-on)

_ _ x _

(HEX)

_ x _ _

(HEX) x _ _ _

(HEX)

0: Disabled (Use for an external input signal.)

1: Enabled (automatic on) x _ _ _ (BIN): For manufacturer setting

_ _ _ x (BIN): PC (Proportional control)


1: Enabled (automatic on)

_ _ x _ (BIN): TL (External torque limit selection)



_ x _ _ (BIN): For manufacturer setting x _ _ _ (BIN): For manufacturer setting

_ _ _ x (BIN): For manufacturer setting


_ x _ _ (BIN): LSP (Forward rotation stroke end)


1: Enabled (automatic on) x _ _ _ (BIN): LSN (Reverse rotation stroke end)



_ _ _ X (BIN): EM2 (Forced stop 2)





Initial value

[unit]

0h

0h

0h

0h

Control mode

CP CL

7 - 47

7. PARAMETERS

No./symbol/ name

Setting digit

Function

PD01

*DIA1


Convert the setting value into hexadecimal as follows.

Input device

SON (Servo-on)

Input device

PC (Proportional control)

TL (External torque limit selection)

Input device

LSP (Forward rotation stroke end)

LSN (Reverse rotation stroke end)

Input device

EM2 (Forced stop 2)

BIN 0: Use for an external input signal.

BIN 1: Automatic on

Initial value

BIN HEX

0

0

0

0

0

Initial value

BIN HEX

0

0

0

0

0

Initial value

BIN HEX

0

0

0

0

0

Initial value

BIN HEX

0

0

0

0

0

Initial value

[unit]

Control mode

CP CL

7 - 48

7. PARAMETERS

No./symbol/ name

Setting digit

PD04

*DI1H


PD12

*DI5H


Function

Any input device can be assigned to the CN1-15 pin.

_ _ x x Not used with the positioning mode. x x _ _ Positioning mode - Device selection


Table 7.9 Selectable input devices

Setting Input device (Note)

1 2 _ _

1 E _ _

1 F _ _

2 0 _ _

2 1 _ _

2 3 _ _

2 4 _ _

2 5 _ _

2 6 _ _

2 7 _ _

2 9 _ _

2 A _ _

2 B _ _

3 0 _ _

3 1 _ _

3 4 _ _

3 5 _ _

3 6 _ _

3 7 _ _

3 8 _ _

3 9 _ _

3 A _ _

3 B _ _

3 C _ _

0 2 _ _

0 3 _ _

0 4 _ _

0 5 _ _

0 6 _ _

0 7 _ _

0 8 _ _

0 9 _ _

0 A _ _

0 B _ _

0 D _ _

SON

RES

PC

TL

CR

ST1

ST2

TL1

LSP

LSN

CDP

MSD

CLTC

CPCD

MD0

CAMC

TCH

TP0

TP1

OVR

TSTP

CI0

CI1

DOG

CI2

CI3

DI0

DI1

DI2

DI3

DI4

SON

RES

PC

TL

CR

ST1

ST2

TL1

LSP

LSN

CDP

MSD

CLTC

CPCD

MD0

CAMC

TP0

TP1

OVR

TSTP

CI0

CI1

DOG

LPS

CI2

PI1

PI2

PI3

CI3

DI0

DI1

DI2

DI3

Note. CP: Positioning mode (point table method)


The diagonal lines indicate manufacturer settings. Never change the setting.



Refer to table 7.9 in [Pr. PD04] for settings.

Initial value

[unit]

02h

02h

Control mode

CP CL

07h

38h

7 - 49

7. PARAMETERS

No./symbol/ name

Setting digit

Function

PD14

*DI6H


PD18

*DI8H


PD20

*DI9H











Initial value

[unit]

08h

39h

Control mode

CP CL

00h

07h

00h

08h

7 - 50

7. PARAMETERS

No./symbol/ name

Setting digit

Function

PD24

*DO2


_ _ x x Device selection

Any output device can be assigned to the CN1-23 pin.



Table 7.10 Selectable output devices

Setting value

_ _ 0 F

_ _ 1 F

_ _ 2 3

_ _ 2 4

_ _ 2 5

_ _ 2 6

_ _ 2 7

_ _ 2 9

_ _ 2 B

_ _ 2 C

_ _ 2 D

_ _ 0 0

_ _ 0 2

_ _ 0 3

_ _ 0 4

_ _ 0 5

_ _ 0 7

_ _ 0 8

_ _ 0 A

_ _ 0 B

_ _ 0 C

_ _ 0 D

_ _ 2 E

_ _ 2 F

_ _ 3 0

_ _ 3 1

_ _ 3 3

_ _ 3 4

_ _ 3 7

_ _ 3 8

_ _ 3 9

_ _ 3 A

_ _ 3 B

Output device (Note)

CP CL

CDPS

CPCC

CPO

ZP

POT

PUS

MEND

CLTS

CLTSM

PED

Always off

RD

ALM

INP

MBR

TLC

WNG

SA

Always off

ZSP

MTTR

ALMWNG

MSDH

MSDL

CAMS

PT0

PT1

PT2

PT3

OUT1

OUT2

OUT3

ALMWNG

MSDH

MSDL

CAMS

CDPS

CPCC

CPO

ZP

POT

PUS

MEND

CLTS

CLTSM

PED

SOUT

Always off

RD

ALM

INP

MBR

TLC

WNG

SA

Always off

ZSP

MTTR

PD25

*DO3


Note. CP: Positioning mode (point table method)


The diagonal lines indicate manufacturer settings. Never change the setting.





Initial value

[unit]

0Ch

Control mode

CP CL

0h

0h

04h

0h

0h

7 - 51

7. PARAMETERS

No./symbol/ name

Setting digit

Function

PD28

*DO6


PD29

*DIF

Input filter setting

PD30

*DOP1

Function selection D-1





Select a filter for the input signal.

_ _ _ x Input signal filter selection

If external input signal causes chattering due to noise, etc., input filter is used to suppress it.

0: None

1: 0.888 [ms]

2: 1.777 [ms]

3: 2.666 [ms]

4: 3.555 [ms]

5: 4.444 [ms]

6: 5.333 [ms]

_ _ x _ RES (Reset) dedicated filter selection

0: Disabled

1: Enabled (50 [ms])

_ x _ _ CR (Clear) dedicated filter selection

0: Disabled

1: Enabled (50 [ms]) x _ _ _ For manufacturer setting

_ _ _ x Stop method selection for LSP (Forward rotation stroke end) off or LSN (Reverse rotation stroke end) off

Select a stop method for LSP (Forward rotation stroke end) off or LSN (Reverse rotation stroke end) off. (Refer to section 7.5.)

0: Quick stop (home position erased)

1: Slow stop (home position erased)

2: Slow stop (deceleration to a stop by deceleration time constant)

3: Quick stop (stop by clearing remaining distance)

_ _ x _ Base circuit status selection for RES (Reset) on

0: Base circuit shut-off

1: No base circuit shut-off

_ x _ _ Stop method selection at software limit detection

Select a stop method selection at software limit detection. (Refer to section 7.6.)




3: Quick stop (stop by clearing remaining distance) x _ _ _ For manufacturer setting

Initial value

[unit]

02h

Control mode

CP CL

0h

0h

4h

0h

0h

0h

0h

0h

0h

0h

7 - 52

7. PARAMETERS

No./symbol/ name

Setting digit

Function

PD31

*DOP2


PD32

*DOP3


PD33

*DOP4



_ _ x _

_ x _ _ x _ _ _ Mark detection fast input signal filter selection

0: Standard 0.166 [ms]

1: 0.055 [ms]

2: 0.111 [ms]

3: 0.166 [ms]

4: 0.222 [ms]

5: 0.277 [ms]

6: 0.333 [ms]

7: 0.388 [ms]

8: 0.444 [ms]

9 to E: Disabled (Setting this will be the same as "F".)

F: Non-filter

This digit will be enabled when MSD (Mark detection) is assigned to the CN1-10 pin with [Pr. PD44].

_ _ _ x CR (Clear) selection

This is used to set CR (Clear).

0: Deletes droop pulses by turning on the device

1: Always deletes droop pulses during the device on

2: Disabled


_ x _ _ x _ _ _


_ _ x _

_ x _ _ Rotation direction selection for enabling torque limit

Select a rotation direction which enables the internal torque limit 2 and the external torque limit.

Refer to section 3.6.1 (5) of "MR-JE-_A Servo Amplifier Instruction Manual" for details.

0: Enabled in both CCW or positive direction and CW or negative direction

1: Enabled in CCW or positive direction

2: Enabled in CW or negative direction x _ _ _ For manufacturer setting

Initial value

[unit]

Control mode

CP CL

0h

0h

0h

0h

0h

0h

0h

0h

0h

0h

0h

0h

7 - 53

7. PARAMETERS

No./symbol/ name

PD34

*DOP5


Setting digit

Function

_ _ _ x Alarm code output

Select an alarm code output.

When an alarm occurs, the alarm code is outputted to CN1-23, CN1-24, and CN1-49 pins.

0: Disabled

1: Enabled

For details of the alarm codes, refer to chapter 8.

When "1" is set to this digit while MBR or ALM is assigned to CN1-23, CN1-24, or

CN1-49 pin, [AL. 37 Parameter error] will occur.

_ _ x _ Selection of output device at warning occurrence

Select ALM (Malfunction) output status for a warning occurrence. value

0

WNG

ALM

ON

OFF

ON

OFF

Warning occurrence

1

WNG

ALM

ON

OFF

ON

OFF

Warning occurrence


Initial value

[unit]

0h

0h

Control mode

CP CL

0h

0h

7 - 54

7. PARAMETERS

No./symbol/ name

Setting digit

Function

PD41

*DIA3



_ _ _ x _ _ _ x (BIN): MD1 (operation mode selection 2)

(HEX) 0: Disabled (Use for an external input signal.)




_ _ x _ _ _ _ x (BIN): For manufacturer setting

(HEX) _ _ x _ (BIN): For manufacturer setting

_ x _ _ (BIN): OVR (Analog override selection)


1: Enabled (automatic on) x _ _ _ (BIN): For manufacturer setting



0 0

Input device


Input device


BIN 0: Use for an external input signal.

BIN 1: Automatic on

Initial value

BIN HEX

0

0

0

0

0

Initial value

BIN HEX

0

0

0

0

0

Initial value

[unit]

Control mode

CP CL

0h

0h

0h

0h

7 - 55

7. PARAMETERS

No./symbol/ name

Setting digit

Function

PD42

*DIA4




_ _ x _

_ x _ _

(HEX)

_ _ _ x (BIN): DI0 (Point table No./program No. selection 1)



_ _ x _ (BIN): DI1 (Point table No./Program No. selection 2)



_ x _ _ (BIN): DI2 (Point table No./Program No. selection 3)


1: Enabled (automatic on) x _ _ _ (BIN): DI3 (Point table No./Program No. selection 4)


1: Enabled (automatic on) x _ _ _ For manufacturer setting


0 0 0

Input device

DI0 (Point table No./Program No. 1)




Initial value

BIN HEX

0

0

0

0

0

PD44

*DI11H


PD46

*DI12H


Any input device can be assigned to the CN1-10 pin and the CN1-37 pin.



When "00" is set, PP/PP2 (Forward rotation pulse/Manual pulse generator) will be assigned.

The CN1-37 pin is available with servo amplifiers manufactured in May, 2015 or later.

Any input device can be assigned to the CN1-35 pin and the CN1-38 pin.



When "00" is set, NP/NP2 (Reverse rotation pulse/Manual pulse generator) will be assigned.

The CN1-38 pin is available with servo amplifiers manufactured in May, 2015 or later.

00h

20h

00h

2Bh

Initial value

[unit]

Control mode

CP CL

0h

0h

0h

0h

7 - 56

7. PARAMETERS

7.2.5 Extension setting 2 parameters ([Pr. PE_ _ ])

No./symbol/ name

Setting digit

Function

Initial value

[unit]

0h

Control mode

CP CL

PE41

EOP3

Function selection E-3

PE44

LMCP

Lost motion compensation positive-side compensation value selection

PE45

LMCN

Lost motion compensation negative-side compensation value selection

PE46

LMFLT

Lost motion filter setting

PE47

TOF

Torque offset

PE48

*LMOP

Lost motion compensation function selection

PE49

LMCD

Lost motion compensation timing

_ _ _ x Robust filter selection

0: Disabled

1: Enabled

When "Enabled" is set, the machine resonance suppression filter 5 that is set in [Pr.

PB51] is not available.


_ x _ _ x _ _ _

Set the lost motion compensation for when reverse rotation (CW) switches to forward rotation (CCW) in increments of 0.01% assuming the rated torque as 100%.

This parameter is available with servo amplifiers with software version C5 or later.


Set the lost motion compensation for when forward rotation (CCW) switches to reverse rotation (CW) in increments of 0.01% assuming the rated torque as 100%.



Set the time constant of the lost motion compensation filter in increments of 0.1 ms.

If the time constant is "0", the torque is compensated with the value set in [Pr. PE44] and [Pr. PE45]. If the time constant is other than "0", the torque is compensated with the high-pass filter output value of the set time constant, and the lost motion compensation will continue.



Set this when canceling unbalanced torque of vertical axis. Set this assuming the rated torque of the servo motor as 100%. The torque offset does not need to be set for a machine not generating unbalanced torque.



_ _ _ x Lost motion compensation selection

0: Disabled

1: Enabled


_ _ x _ Unit setting of lost motion compensation non-sensitive band

0: 1 pulse unit

1: 1 kpulse unit



Set the lost motion compensation timing in increments of 0.1 ms.

You can delay the timing to perform the lost motion compensation for the set time.



0h

0h

0h

0

[0.01%]

0

[0.01%]

0

[0.1 ms]

0

[0.01%]

0h

0h

0h

0h

0

[0.1 ms]

7 - 57

7. PARAMETERS

No./symbol/ name

Setting digit

Function

PE50

LMCT

Lost motion compensation non-sensitive band

Set the lost motion compensation non-sensitive band. When the fluctuation of droop pulses equals to or less than the setting value, the speed will be "0".The setting unit can be changed in [Pr. PE48].Set this parameter per encoder.



7.2.6 Extension setting 3 parameters ([Pr. PF_ _ ])

Initial value

[unit]

0

[pulse]/

[kpulse]

Control mode

CP CL

No./symbol/ name

Setting digit

PF09

*FOP5

Function selection F-5

Function

Electronic dynamic brake selection

0: Disabled

3: Automatic (enabled only for specified servo motors)

Refer to the following table for the specified servo motors.

Series

Initial value

[unit]

0h

Control mode

CP CL

0h

0h

0h

0

[s]

PF21

DRT

Drive recorder switching time setting

PF23

OSCL1

Vibration tough drive -

Oscillation detection level

PF24

*OSCL2

Vibration tough drive function selection


_ x _ _ x _ _ _

Set a drive recorder switching time.

When a graph function is terminated or a USB communication is cut during using a graph function, the function will be changed to the drive recorder function after the setting time of this parameter.

When a value from "1" to "32767" is set, the function will be switched to the drive recorder function after the set time.

However, when "0" is set, it will be switched after 600 s.

When "-1" is set, the drive recorder function is disabled.


Set a filter readjustment sensitivity of [Pr. PB13 Machine resonance suppression filter 1] and [Pr. PB15 Machine resonance suppression filter 2] while the vibration tough drive is enabled.

Note that setting "0" will be 50%.

Example: When "50" is set to this parameter, the filter will be readjusted at the time of the oscillation level reaching 50% or more.


_ _ _ x Oscillation detection alarm selection

Select whether to generate an alarm or a warning when an oscillation continues at a filter readjustment sensitivity level of [Pr. PF23].

The setting is always enabled regardless of the vibration tough drive in [Pr. PA20].

0: [AL. 54 Oscillation detection] will occur at oscillation detection.

1: [AL. F3.1 Oscillation detection warning] will occur at oscillation detection.

2: Oscillation detection function disabled


_ x _ _ x _ _ _

50

[%]

0h

0h

0h

0h

7 - 58

7. PARAMETERS

No./symbol/ name

Setting digit

PF25

CVAT

Instantaneous power failure tough drive -

Detection time

PF31

FRIC

Machine diagnosis function -

Friction judgment speed

Function

Set the time until the occurrence of [AL. 10.1 Voltage drop in the power].

When "instantaneous power failure tough drive selection" is set to "Disabled (_ 0 _

_)" in [Pr. PA20], this parameter is disabled.

When "Instantaneous power failure tough drive selection" is set to "Enabled (_ 1 _

_)" in [Pr. PA20], the power should be off for the setting value of this parameter +1 s or more before turning on the power to enable a parameter whose symbol is preceded by "*".


Set a servo motor speed to divide a friction estimation area into high and low for the friction estimation process of the machine diagnosis.

However, setting "0" will be the value half of the rated speed.

When your operation pattern is under rated speed, we recommend that you set half value to the maximum speed with this.

Maximum speed in operation

Forward rotation direction

[Pr. PF31] setting

Servo motor speed

0 r/min

(0 mm/s)

Initial value

[unit]

200

[ms]

Control mode

CP CL

0

[r/min]

Operation pattern

Reverse rotation direction

Setting range: 0 to permissible speed

7 - 59

7. PARAMETERS

7.2.7 Positioning control parameters ([Pr. PT_ _ ])

No./symbol/ name

PT01

*CTY

Command mode selection

Setting digit

Function

_ _ _ x Positioning command method selection

0: Absolute value command method

1: Incremental value command method


PT02

*TOP1

Function selection T-1

PT03

*FTY

Feeding function selection

_ x _ _ Position data unit

0: mm

1: inch

2: degree

3: pulse x _ _ _ For manufacturer setting

_ _ _ x Follow-up of SON (Servo-on) off/EM2 (Forced stop 2) off with absolute value command method in incremental system

0: Disabled (Home position is erased at servo-off or EM2 off.)

1: Enabled (Home position is not erased even if servo-off, EM2 off, or alarm occurrence which can be canceled with reset. The operation can be continued.)


_ x _ _ x _ _ _ Point table/program writing inhibit

0: Allow

1: Inhibit

_ _ _ x Feed length multiplication [STM]

0: × 1

1: × 10

2: × 100

3: × 1000

This digit will be disabled when [degree] or [pulse] of "Position data unit" is set in [Pr.

PT01].

_ _ x _ Manual pulse generator multiplication

0: × 1

1: × 10

2: × 100

_ x _ _ Shortest rotation selection per degree

0: Rotation direction specifying

1: Shortest rotation x _ _ _ For manufacturer setting

Initial value

[unit]

0h

Control mode

CP CL

0h

0h

0h

0h

0h

0h

0h

0h

0h

0h

0h

7 - 60

7. PARAMETERS

No./symbol/ name

PT04

*ZTY

Home position return type

PT05

ZRF


PT06

CRF

Creep speed

PT07

ZST


PT08

*ZPS


Setting digit

Function

Initial value

[unit]

0h _ _ _ x Home position return method

0: Dog type (rear end detection, Z-phase reference)

1: Count type (front end detection, Z-phase reference)

2: Data set type

3: Stopper type


5: Dog type (rear end detection, rear end reference)

6: Count type (front end detection, front end reference)

7: Dog cradle type

8: Dog type (front end detection, Z-phase reference)

9: Dog type (front end detection, front end reference)


_ _ x _ Home position return direction


1: Address decreasing command

Setting "2" or more to this digit will be recognized as "1: Address decreasing direction".

_ x _ _ Home position shift distance multiplication

Set a multiplication of [Pr. PT07 Home position shift distance].

0: × 1

1: × 10

2: × 100

3: × 1000

When [degree] of "Position data unit" is set in [Pr. PT01] in the point table method or program method, only "0" and "1" are enabled. x _ _ _ For manufacturer setting

Set the servo motor speed for the home position return..

Setting range: 0 to permissible instantaneous speed

Set a creep speed after proximity dog at home position return.


Set a shift distance from the Z-phase pulse detection position in the encoder.


When "Home position shift distance multiplication" is set in [Pr. PT04], it is used with

"×10n".




Additionally, when the following parameters are changed, the home position return position data will be changed. Execute the home position return again.

"Position data unit" in [Pr. PT01]

"Feed length multiplication (STM)" in [Pr. PT03]

"Home position return type" in [Pr. PT04]


1h

0h

0h

100

[r/min]

10

[r/min]

0

Refer to


0

Refer to


Control mode

CP CL

7 - 61

7. PARAMETERS

No./symbol/ name

PT09

DCT


PT10

ZTM

Stopper type home position return stopper time

PT11

ZTT


PT12

CRP

Rough match output range

PT13

JOG

JOG speed

PT14

*BKC

Backlash compensation

PT15

LMPL

Software limit

+


Setting digit

Function

Set a travel distance after proximity dog at home position return for the count type, dog type rear end reference, count type front end reference, and dog type front end reference.



Set a time from a moving part touches the stopper and torques reaches to the torque limit of [Pr. PT11 Stopper type home position return - Torque limit value] to a home position is set for the stopper type home position return.


Set a torque limit value with [%] to the maximum torque at stopper type home position return.


Set a range of the command remaining distance which outputs CPO (Rough match).



Set a JOG speed.


Set a backlash compensation for reversing command direction.

This parameter compensates backlash pulses against the home position return direction.

For the home position ignorance (servo-on position as home position), this turns on

SON (Servo-on) and decides a home position, and compensates backlash pulses against the first rotation direction.


Set an address increasing side of the software stroke limit.


Setting address:

Initial value

[unit]

0

Refer to


100

[ms]

15.0

[%]

0

Refer to


100

[r/min]

0

[pulse]

0

Refer to


Control mode

CP CL

Upper 3 digits

Lower 3 digits

PT16

LMPH

Software limit

+


[Pr. PT15]

[Pr. PT16]

The stop method depends on "Stop method selection at software limit detection" of

[Pr. PD30]. The initial value is "Quick stop (home position erased)".

Setting a same value with "Software limit -" will disable the software stroke limit.

(Refer to section 7.4.)


When changing the direction to address decreasing, change it from the - side of the software limit ([Pr. PT17] and [Pr. PT18]). An incorrect order of the setting will trigger

[AL. 37]. Therefore, cycling power may be required after [Pr. PT15] to [Pr. PT18] are all set.



7 - 62

7. PARAMETERS

No./symbol/ name

PT17

LMNL

Software limit

-


PT18

LMNH

Software limit

-


PT19

*LPPL

Position range output address +


Setting digit

Set an address decreasing side of the software stroke limit.


Setting address:

Function

Initial value

[unit]

0

Refer to


Control mode

CP CL

Upper 3 digits

Lower 3 digits

[Pr. PT17]

[Pr. PT18]

The stop method depends on "Stop method selection at software limit detection" of

[Pr. PD30]. The initial value is "Quick stop (home position erased)".

Setting a same value with "Software limit +" will disable the software stroke limit.

(Refer to section 7.4.)


When changing the direction to address increasing, change it from the + side of the software limit ([Pr. PT15] and [Pr. PT17]). An incorrect order of the setting will trigger

[AL. 37]. Therefore, cycling power may be required after [Pr. PT15] to [Pr. PT18] are all set.



Set an address increasing side of the position range output address.

Upper and lower are a set. Set a range which POT (Position range) turns on with [Pr.

PT19] to [Pr. PT22].

Setting address:

0

Refer to


PT20

*LPPH

Position range output address +


Upper 3 digits

Lower 3 digits

[Pr. PT19]

[Pr. PT20]


Set a same sign for [Pr. PT19] and [Pr. PT20]. Setting a different sign will trigger [AL.

37 Parameter error].

When changing the setting, be sure to set the lower three-digit data first and then the upper three-digit data.

When changing the direction to address decreasing, change it from the - side of the position range output address ([Pr. PT21] and [Pr. PT22]). An incorrect order of the setting will trigger [AL. 37]. Therefore, cycling power may be required after [Pr. PT19] to [Pr. PT22] are all set.


7 - 63

7. PARAMETERS

No./symbol/ name

PT21

*LNPL

Position range output address -


PT22

*LNPH

Position range output address -


PT23

OUT1

OUT1 output setting time

PT24

OUT2


PT25

OUT3


Setting digit

Function

Set an address decreasing side of the position range output address.

Upper and lower are a set. Set a range which POT (Position range) turns on with [Pr.

PT19] to [Pr. PT22].

Setting address:

Initial value

[unit]

0

Refer to


Control mode

CP CL

Upper 3 digits

Lower 3 digits

[Pr. PT21]

[Pr. PT22]


Set a same sign for [Pr. PT21] and [Pr. PT22]. Setting a different sign will trigger [AL.

37 Parameter error].

When changing the setting, be sure to set the lower three-digit data first and then the upper three-digit data.

When changing the direction to address increasing, change it from the + side of the position range output address ([Pr. PT19] and [Pr. PT20]). An incorrect order of the setting will trigger [AL. 37]. Therefore, cycling power may be required after [Pr. PT19] to [Pr. PT22] are all set.


Set an output time for when OUT1 (Program output 1) is turned on with the OUTON command.

Setting "0" will keep the on-state. To turn it off, use the OUTOF command.








0

[ms]

0

[ms]

0

[ms]

7 - 64

7. PARAMETERS

No./symbol/ name

PT26

*TOP2


Setting digit

Function

_ _ _ x Electronic gear fraction clear selection

0: Disabled

1: Enabled

Selecting "Enabled" will clear a fraction of the previous command by the electronic gear at start of the automatic operation.

Setting "2" or more to this digit will be "Disabled".

_ _ x _ Current position/command position display selection

Select how to display a current position and command position.

Setting Displayed Operation Status display value data mode Current position Command position

0

1

Positionin g display

Roll feed display

Auto/Manua l

Automatic

Manual

Actual current position is displayed as machine home position is 0.

Actual current position will be displayed as automatic operation start position is 0.

Command current position is displayed as machine home position is 0.

When ST1

(Forward rotation start) or ST2

(Reverse rotation start) is turned on, counting starts from 0 and a command current position to the target position is displayed.

When a stop, a point table command position is displayed for the point table method and 0 is always displayed for the program method.

"0" is always displayed.

This digit will be disabled when [degree] of "Position data unit" is set in [Pr. PT01].

Additionally, setting "2" or more will be "positioning display".

_ x _ _ For manufacturer setting x _ _ _ Mark detection function selection

0: Current position latch function

1: Interrupt positioning function

Initial value

[unit]

0h

0h

0h

0h

Control mode

CP CL

7 - 65

7. PARAMETERS

No./symbol/ name

Setting digit

Function

PT29

*TOP3


Set a polarity of DOG, SIG, PI1, PI2, and PI3.

_ _ _ x

(HEX)

_ _ _ x (BIN): DOG (Proximity dog) polarity selection

0: Dog detection with off

1: Dog detection with on


_ _ x _

(HEX)

_ x _ _ (BIN): For manufacturer setting x _ _ _ (BIN): Mark detection input polarity

Select MSD (Mark detection) input polarity.

0: Normally closed contact

1: Normally open contact

_ _ _ x (BIN): PI1 (Program input 1) polarity selection

0: Positive logic

1: Negative logic

_ _ x _ (BIN): PI2 (Program input 2) polarity selection

0: Positive logic

1: Negative logic

_ x _ _ (BIN): PI3 (Program input 3) polarity selection

0: Positive logic

1: Negative logic x _ _ _ (BIN): For manufacturer setting

_ x _ _ For manufacturer setting x _ _ _ For manufacturer setting


0 0

Setting


Mark detection input polarity

Setting

PI1 (Program input 1) polarity selection



Initial value

BIN HEX

0

0

0

0

0

Initial value

BIN HEX

0

0

0

0

0

Initial value

[unit]

0h

Control mode

CP CL

0h

0h

0h

7 - 66

7. PARAMETERS

No./symbol/ name

Setting digit

Function

PT30

MSTL



PT31

MSTH



PT34

*PDEF

Point table/program default

PT35

*TOP5


Set a mark sensor stop travel distance.


When MSD (Mark detection) is on, the remaining distance will be changed to the travel distance that is set with this parameter.

Setting address:

Upper 3 digits

Lower 3 digits

[Pr. PT30]

[Pr. PT31]

When changing the setting, be sure to set the lower three digits first. Then, set the upper three digits. An incorrect order of the setting will trigger [AL. 37]. Therefore, cycling power may be required after [Pr. PT30] and [Pr. PT31] are all set.



Use this parameter when initializing point tables, programs, and cam data.

The point tables, the programs, and the cam data will be the following status by being initialized.

Point table: All "0"

Program: Erased

Cam data: Erased

Initialize the point tables and the programs with the following procedures:

1) Set "5001h" to this parameter.

2) Cycle the power of the servo amplifier.

After the servo amplifier power is on, the initialization completes in about 20 s. "dEF" will be displayed on the display (five-digit, seven-segment LED) during the initialization. After the initialization, the setting of this parameter will be "0000h" automatically.

Initialize the cam data with the following procedures:



After the initialization, the setting of this parameter will be "0000h" automatically.

Initialize the point tables, the programs and the cam data with the following procedures:



After the servo amplifier power is on, the initialization completes in about 20 s. "dEF" will be displayed on the display (five-digit, seven-segment LED) during the initialization. After the initialization, the setting of this parameter will be "0000h" automatically.


_ _ x _

_ x _ _ Simple cam function selection

0: Disabled

1: Enabled

This digit is enabled when the control mode is in the point table method or the program method. Enabling this digit in other control modes will trigger [AL. 37

Parameter error]. x _ _ _ For manufacturer setting

Initial value

[unit]

0

Refer to


Control mode

CP CL

0000h

0h

0h

0h

0h

7 - 67

7. PARAMETERS

No./symbol/ name

PT41

ORP

Home position return inhibit function selection

Setting digit

Function

_ _ _ x Home position return inhibit selection

0: Disabled (home position return allowed)

1: Enabled (home position return inhibited)

Selecting "1" for this digit will disable the home position return regardless of turning on ST1 in the home position return mode.


_ x _ _ x _ _ _

Initial value

[unit]

0h

Control mode

CP CL

0h

0h

0h

7 - 68

7. PARAMETERS

7.3 How to set the electronic gear

(1) Setting [mm], [inch], or [pulse] with "Position data unit" of [Pr. PT01].

Adjust [Pr. PA06] and [Pr. PA07] to match the servo amplifier setting with the travel distance of the machine.

Electronic gear

([Pr. PA06]/[Pr. PA07])

Servo motor

Travel distance

CMX

CDV

+

-

Deviation counter M

Encoder

Pt: Servo motor encoder revolution 131072 [pulse/rev]

Δ S: Travel distance per servo motor revolution [mm/rev]/[inch/rev]/[pulse/rev]

CMX/CDV = Pt/ Δ S

Set the electronic gear within the following range. Setting out of the range will trigger [AL. 37 Parameter error].

Electronic gear setting range

1/865 < CMX/CDV < 271471

(2) Setting [degree] with "Position data unit" of [Pr. PT01].

Set the number of gear teeth on machine side to [Pr. PA06] and the number of gear teeth on servo motor side to [Pr. PA07].

Electronic gear

([Pr. PA06]/[Pr. PA07])

Servo motor

Travel distance

CMX

CDV

Pt

360000

+

-

Deviation counter M

Pt: Servo motor encoder encoder revolution 131072 [pulse/rev] Encoder

Set the electronic gear within the following range. Setting out of the range will trigger [AL. 37 Parameter error].

(a) Set values to make numerator and denominator 16384 or lower if the electronic gear (CMX/CDV) is reduced to its lowest terms.

(b) Set values to make numerator and denominator 16777216 or lower if (CMX × Pt)/(CDV × 360000) is reduced to its lowest terms.

The following shows a setting example of the electronic gear.

The number of gear teeth on machine side: 25, and the number of gear teeth on servo motor side:

11

Set [Pr. PA06] = 25 and [Pr. PA07] = 11.

Machine

Servo motor

Z2

Z1

Pt (Servo motor resolution): 131072 pulses/rev

Z1: Number of gear teeth on servo motor side

Z2: Number of gear teeth on machine side

Z1: Z2 = 11:25

7 - 69

7. PARAMETERS

7.4 Software limit

The limit stop with the software limit ([Pr. PT15] to [Pr. PT18]) is the same as the motion of the stroke end.

Exceeding a setting range will stop and servo-lock the shaft. This will be enabled at power-on and will be disabled at home position return. Setting a same value to "Software limit +" and "Software limit -" will disable this function. Setting a larger value to "Software limit -" than "Software limit +" will trigger [AL. 37.2 Parameter combination error].

Inhibited range

Travel impossible

Movable range

Travel possible

Software limit

Current position

7 - 70

7. PARAMETERS

7.5 Stop method for LSP (Forward rotation stroke end) off or LSN (Reverse rotation stroke end) off

Select a servo motor stop method for when LSP (Forward rotation stroke end) or LSN (Reverse rotation stroke end) is off with the first digit of [Pr. PD30].

[Pr. PD30]

Stop method selection for LSP (Forward rotation stroke end) off or LSN

(Reverse rotation stroke end) off





[Pr. PD30] setting

_ _ _ 0

(initial value)

_ _ _ 1

_ _ _ 2

_ _ _ 3

Servo motor speed

LSP or

LSN

0 r/min

Without S-pattern acceleration/ deceleration

With S-pattern acceleration/ deceleration

Servo motor speed

LSP or

LSN

0 r/min



Servo motor speed

LSP or

LSN

Servo motor speed

LSP or

LSN

Operation status

During rotation at constant speed



ON

OFF

0 r/min

ON

OFF

ON

OFF



0 r/min

ON

OFF


+



Decelerates to stop.

LSP or

LSN

LSP or

LSN

LSP or

LSN

LSP or

LSN



Servo motor speed

Part of droop pulses

Servo motor speed

ON

OFF



ON

OFF



Servo motor speed

0 r/min

0 r/min

0 r/min

ON

OFF

Part of S-pattern acceleration/ deceleration time constants

+





Servo motor speed

0 r/min

ON

OFF

Remark

During deceleration to a stop


Erases the droop pulses and stops the servo motor.

Erases the home position.

A difference will be generated between the command position and the current position.

Perform a home position return again.

Travels for the droop pulses portion and stops the servo motor.




Continues deceleration to stop.

Decelerates to a stop with the deceleration time constant currently selected with the point table or the program.

Continues operation for a delay portion of the S-pattern acceleration/decelera tion time constants.

Maintains the home position.


+






7 - 71

7. PARAMETERS

7.6 Stop method at software limit detection

Select a stop method of the servo motor for when a software limit ([Pr. PT15] to [Pr. PT18]) is detected with the setting of the third digit in [Pr. PD30]. The software limit limits a command position controlled in the servo amplifier. Therefore, actual stop position will not reach the set position of the software limit.

[Pr. PD30]

Stop method selection at software limit detection





[Pr. PD30] setting

_ 0 _ _

(initial value)

_ 1 _ _

_ 2 _ _

_ 3 _ _

Operation status

During rotation at constant speed During deceleration to a stop

Remark



Servo motor speed



Servo motor speed

0 r/min

0 r/min

Software limit detection





Servo motor speed

Servo motor speed

0 r/min



0 r/min


Erases the droop pulses and stops the servo motor.












Servo motor speed

0 r/min




Servo motor speed

0 r/min


+





Servo motor speed

0 r/min

Decelerates to stop.


+






Servo motor speed

0 r/min

Continues deceleration to stop.



+




Decelerates to a stop with the deceleration time constant currently selected with the point table or the program.






7 - 72

8. TROUBLESHOOTING

8. TROUBLESHOOTING

POINT

Refer to "MELSERVO-JE Servo Amplifier Instruction Manual (Troubleshooting)" for details of alarms and warnings.

As soon as an alarm occurs, turn SON (Servo-on) off and interrupt the power.

[AL. 37 Parameter error] and warnings (except [AL. F0 Tough drive warning]) are not recorded in the alarm history.

When an error occurs during operation, the corresponding alarm or warning is displayed. When an alarm or the warning displayed, refer to "MELSERVO-JE Servo Amplifier Instruction Manual (Troubleshooting)" to remove the failure. When an alarm occurs, ALM (Malfunction) will turn off.

8.1 Explanations of the lists

(1) No./Name/Detail No./Detail name

Indicates the No./name/detail No./detail name of alarms or warnings.

(2) Stop method

For the alarms and warnings in which "SD" is written in the stop method column, the servo motor stops with the dynamic brake after forced stop deceleration. For the alarms and warnings in which "DB" or

"EDB" is written in the stop method column, the servo motor stops with the dynamic brake without forced stop deceleration.

(3) Alarm deactivation

After the cause of the alarm has been removed, the alarm can be deactivated by any of the methods marked in the alarm deactivation column. Warnings are automatically canceled after the cause of occurrence is removed. Alarms are deactivated by alarm reset or power cycling.

Alarm deactivation Explanation

Alarm reset

Power cycling

1. Turn on RES (Reset) with an input device.

2. Push the "SET" button while the display of the servo amplifier is in the current alarm display mode.

3. Click "Occurring Alarm Reset" in the "Alarm Display" window of MR Configurator2.

Turn off the power, check that the 5-digit, 7-segment LED display is off, and then turn on the power.

(4) Alarm code

To output alarm codes, set [Pr. PD34] to "_ _ _ 1". Alarm codes are outputted by turning on/off bit 0 to bit

2. Warnings ([AL. 90] to [AL. F3]) do not have alarm codes. The alarm codes in the following table will be outputted when they occur. The alarm codes will not be outputted in normal condition.

8 - 1

8. TROUBLESHOOTING

8.2 Alarm list

No. Name

Detail

No.

Detail name

13

10 Undervoltage

10.1 Voltage drop in the power

10.2 Bus voltage drop

12.1 RAM error 1

12.2 RAM error 2

12 Memory error 1 (RAM)

12.3 RAM error 3

Clock error

12.4 RAM error 4

12.5 RAM error 5

12.6 RAM error 6

13.1 Clock error 1

13.2 Clock error 2

13.3 Clock error 3

14.1 Control process error 1

14

15

Control process error

Memory error 2

(EEP-ROM)









14.A Control process error 10

14.C Control process error 12

14.D Control process error 13

15.1 EEP-ROM error at power on

15.2 EEP-ROM error during operation

15.4 Home position information read error

Stop method

(Note 2,

3)

EDB

SD

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

DB

Alarm deactivation

Alarm reset

Power cycling

Alarm code

ACD2

(Bit 2)

ACD1

(Bit 1)

ACD0

(Bit 0)

0 1 0

0 0 0

0 0 0

0 0 0

0 0 0

DB

DB

DB

DB

DB

DB

16

Encoder initial communication error 1

16.7

16.A

Encoder initial communication -

Transmission data error 3

Encoder initial communication -

Process error 1

DB

DB

1 1 0

DB

DB

DB

DB

17.1 Board error 1

17.3 Board error 2 error

17.4 Board error 3

17.5 Board error 4

17.6 Board error 5

17.7 Board error 7

DB

DB

DB

DB

DB

DB

DB

0 0 0

8 - 2

8. TROUBLESHOOTING

No. Name

Detail

No.

Detail name

19

1A

1E

1F

Memory error 3

(Flash-ROM)

Servo motor combination error



19.1 Flash-ROM error 1




1A.1 Servo motor combination error 1

1A.4 Servo motor combination error 2

Stop method

(Note 2,

3)

DB

DB

DB

DB

DB

DB

DB

Alarm deactivation

Alarm reset

Power cycling

Alarm code

ACD2

(Bit 2)

ACD1

(Bit 1)

ACD0

(Bit 0)

0 0 0

1 1 0

1 1 0

20

Encoder normal communication error 1

20.5

20.6

Encoder normal communication -


Encoder normal communication -


21

24

25

Encoder normal communication error 2

Main circuit error

Absolute position erased

21.1 Encoder data error 1

21.2 Encoder data update error

21.3 Encoder data waveform error

21.5 Encoder hardware error 1

21.6 Encoder hardware error 2

21.9 Encoder data error 2

24.1

Ground fault detected at hardware detection circuit

24.2

25.1

Ground fault detected at software detection function

Servo motor encoder - Absolute position erased

30.1 Regeneration heat error

30 Regenerative error 30.2 Regeneration signal error

31 Overspeed 31.1 Abnormal motor speed

DB 1 1 0

EDB

EDB

EDB

EDB

1 1 0

EDB

EDB

EDB

EDB

EDB

EDB

EDB

EDB

EDB

EDB

DB

DB

1 1 0

1 0 0

DB

DB

DB

DB

SD

(Note 1) (Note 1)

(Note 1) (Note 1)

(Note 1) (Note 1)

DB

0 0 1

1 0 1

32 Overcurrent

32.2

32.3

Overcurrent detected at software detection function (during operation)

Overcurrent detected at hardware detection circuit (during a stop)

33

34

35

Overvoltage

SSCNET receive error

1

Command frequency error

33.1 Main circuit voltage error

34.1 SSCNET receive data error

34.2

SSCNET connector connection error

34.3

SSCNET communication data error

34.4 Hardware error signal detection

35.1 Command frequency error

DB

DB

DB

EDB

SD

SD

SD

SD

SD

1 0 0

0 0 1

1 0 1

8 - 3

8. TROUBLESHOOTING

No. Name

Detail

No.

Detail name

Stop method

(Note 2,

3)

Alarm deactivation

Alarm reset

Power cycling

36

37

45

SSCNET receive error

2

Parameter error

Main circuit device overheat

36.1

Continuous communication data error

37.1 Parameter setting range error

37.2 Parameter combination error

37.3 Point table setting error

3A

39.2 Instruction argument external error error 39.3 Register No. error

39.4

Non-correspondence command error

Inrush current suppression circuit error

3A.1

Inrush current suppression circuit error

3E.1 Operation mode error

3E Operation mode error

3E.6 Operation mode switch error

45.1 Main circuit device overheat error 1

SD

DB

DB

DB

DB

DB

DB

DB

EDB

DB

DB

SD

(Note 1) (Note 1)

46 Servo motor overheat

46.1

Abnormal temperature of servo motor 1

Abnormal temperature of servo motor 3

SD

DB

(Note 1)

(Note 1)

(Note 1)

(Note 1)

Alarm code

ACD2

(Bit 2)

ACD1

(Bit 1)

ACD0

(Bit 0)

0 0 0

0 0 0

0 0 0

0 0 0

0 1 1

0 1 1

47 Cooling fan error 47.2 Cooling fan speed reduction error

50.3

50.4

Thermal overload error 4 during operation

Thermal overload error 1 during a stop

DB

SD

SD

SD

SD

SD

(Note 1) (Note 1)

(Note 1) (Note 1)

(Note 1) (Note 1)

(Note 1) (Note 1)

0 1 1

0 1 1

51.1

Thermal overload error 3 during operation

51.2

Thermal overload error 3 during a stop

52.1 Excess droop pulse 1

52.3 Excess droop pulse 2 excessive

52.4

Error excessive during 0 torque limit

52.5 Excess droop pulse 3

54 Oscillation Oscillation detection error

56

61

Forced stop error

Operation error

56.2 Over speed during forced stop

56.3

Estimated distance over during forced stop

61.1 Point table setting range error

SD

SD

DB

DB

SD

SD

SD

EDB

EDB

EDB

EDB

DB

SD

(Note 1) (Note 1)

(Note 1) (Note 1)

(Note 1) (Note 1)

(Note 1) (Note 1)

(Note 1) (Note 1)

0 1 1

1 0 1

0 1 1

1 1 0

1 0 1

69.2

69.3

Reverse rotation-side software limit detection - Command excess error

Forward rotation stroke end detection - Command excess error

SD

SD

1 0 1

86

Network communication error

86.1 Network communication error 1



SD

SD

SD

SD

0 0 0

8 - 4

8. TROUBLESHOOTING

No. Name

Detail

No.

Detail name

Stop method

(Note 2,

3)

Alarm deactivation

Alarm reset

Power cycling

Alarm code

ACD2

(Bit 2)

ACD1

(Bit 1)

ACD0

(Bit 0)

8A

USB communication time-out error/serial communication timeout error/Modbus RTU communication timeout error

8A.1

8A.2

USB communication time-out error/serial communication timeout error

Modbus RTU communication timeout error

SD

SD

0 0 0

SD

SD

8C.3

Network module communication error 3

SD communication error

SD 0 0 0

SD

SD

8E

888/

88888

USB communication error/serial communication error/Modbus RTU communication error

Watchdog

SD

8E.1

8E.2

8E.3

8E.4

8E.5

8E.6

8E.7

8E.8

USB communication receive error/serial communication receive error

USB communication checksum error/serial communication checksum error

USB communication character error/serial communication character error

USB communication command error/serial communication command error

USB communication data number error/serial communication data number error

Modbus RTU communication receive error

Modbus RTU communication message frame error

Modbus RTU communication CRC error

SD

SD

SD

SD

SD

SD

SD

SD

0 0 0

88._/

8888._

Watchdog DB

Note 1. After resolving the source of trouble, cool the equipment for approximately 30 minutes.

2. The following shows three stop methods of DB, EDB, and SD.

DB: Dynamic brake stop (For a servo amplifier without the dynamic brake, the servo motor coasts.)

EDB: Electronic dynamic brake stop (available with specified servo motors)

Refer to the following table for the specified servo motors. The stop method for other than the specified servo motors is DB.

For MR-JE_A, setting [Pr. PF09] to "(_ _ _ 3)" enables the electronic dynamic brake.

HG-KN HG-KN053/HG-KN13/HG-KN23/HG-KN43

HG-SN HG-SN52

SD: Forced stop deceleration

3. This is applicable when [Pr. PA04] is set to the initial value. The stop method of SD can be changed to DB using [Pr. PA04].

8 - 5

8. TROUBLESHOOTING

8.3 Warning list

No. Name

Detail

No.

Detail name

90

Home position return incomplete warning

90.1 Home position return incomplete

90.2

Home position return abnormal termination

91

92

Servo amplifier overheat warning

(Note 1)

Battery cable

91.1

92.1

Main circuit device overheat warning

Encoder battery cable disconnection warning

96.1

In-position warning at home positioning

Home position setting warning

97

Positioning specification warning

98 Software limit warning

97.1

98.1

Program operation disabled warning

Forward rotation-side software stroke limit reached

99 Stroke limit warning

99.1 Forward rotation stroke end off

99.2 Reverse rotation stroke end off

9B

Error excessive warning

9B.3 Excess droop pulse 2 warning

Error excessive warning during 0 torque limit

9F

E0

Battery warning

Excessive regeneration warning

9B.1 Excess droop pulse 1 warning

9F.1 Low battery

E0.1 Excessive regeneration warning

E1.1

Thermal overload warning 1 during operation

(Note 4)

(Note 4)

E1 Overload warning 1

Absolute position counter warning

E3.1

Multi-revolution counter travel distance excess warning

E3.2 Absolute position counter warning

E6

Servo forced stop warning

E7

Controller forced stop warning

E8

Cooling fan speed reduction warning

E6.1 Forced stop warning

E7.1 Controller forced stop input warning

E8.1

Decreased cooling fan speed warning

SD

SD

Stop method

(Note 2,

3)

8 - 6

8. TROUBLESHOOTING

No. Name

Detail

No.

Detail name

E9 Main circuit off warning

E9.1

E9.2

Servo-on signal on during main circuit off

Bus voltage drop during low speed operation

Stop method

(Note 2,

3)

DB

DB

DB

EC

ED

Overload warning 2

Output watt excess warning

F0

F2

Tough drive warning

Drive recorder -

EC.1 Overload warning 2

ED.1 Output watt excess warning

F0.1

Instantaneous power failure tough drive warning

F0.3 Vibration tough drive warning

F2.1

Drive recorder - Area writing timeout warning

F3

Oscillation detection warning

F3.1 Oscillation detection warning

F4.6

Acceleration time constant setting range error warning

F5

Simple cam function -

Cam data miswriting warning

F5.1

Cam data - Area writing time-out warning

F5.2 Cam data - Area miswriting warning

F5.3 Cam data checksum error

F6

Simple cam function -

Cam control warning

F6.2

Cam axis feed current value restoration failed

F6.3 Cam unregistered error

F6.4 Cam control data setting range error

F6.5 Cam No. external error

F6.6 Cam control inactive

Note 1. After resolving the source of trouble, cool the equipment for approximately 30 minutes.

2. The following shows two stop methods of DB and SD.

DB: Dynamic brake stop (For a servo amplifier without the dynamic brake, the servo motor coasts.)

SD: Forced stop deceleration

3. This is applicable when [Pr. PA04] is set to the initial value. The stop method of SD can be changed to DB using [Pr. PA04].

4. Quick stop or slow stop can be selected using [Pr. PD30] for the MR-JE-_A or using [Pr. PD35] for the MR-

JE-_C (except in the profile mode).

8 - 7

8. TROUBLESHOOTING

MEMO

8 - 8

9. OPTIONS AND PERIPHERAL EQUIPMENT


WARNING

Before connecting options and peripheral equipment, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier.

CAUTION

Use the specified peripheral equipment and options to prevent a malfunction or a fire.


Cable/connector sets

Regenerative option

Junction terminal block MR-TB50

MR Configurator2

Selection example of wires

Molded-case circuit breakers, fuses, magnetic contactors


Relay (recommended)

Noise reduction techniques

Earth-leakage current breaker

EMC filter (recommended)












9 - 1


9.1 MR-HDP01 manual pulse generator

POINT

When using an MR-HDP01, set [Pr. PA13 Command pulse input form] to "_ 2 _

2" or "_ 3 _ 2".

Configure MR-HDP01 with sink interface.

You can operate servo motors by using MR-HDP01 manual pulse generator. A multiplication to pulse signals which MR-HDP01 generates with external input signals can be changed with TP0 (Manual pulse generator multiplication 1) and TP1 (Manual pulse generator multiplication 2).

(1) Specifications

Item Specifications

Power supply

Voltage

Consumption current

Interface

Pulse signal form

Pulse resolution

Maximum speed

Temperature range for operation

Temperature range for storage

4.5 V DC to 13.2 V DC

60 mA or less

Maximum output current: 20 mA for open collector output

A-phase/B-phase, 2 signals of 90 ˚ phase difference

100 pulses/rev

Instantaneous maximum: 600 r/min, normal: 200 r/min

-10 °C to 60 °C

-30 °C to 80 °C

(2) Connection example



Servo amplifier

CN1

TP0 (Note 2)

TP1 (Note 2)

DICOM 20

24 V DC

24 V DC

OPC

CN1

12

MR-HDP01


+5 to

12 V

A

5 V DC

0 V

B

DOCOM

PP

NP

SD

46

10 (Note 1)

35

Plate

(Note 1)

Note 1. To assign PP and NP, set [Pr. PD44] and [Pr. PD46] to "0 0 _ _".

2. To use this as an input device, assign to specified pin of the CN1 connector with [Pr.

PD04] to [Pr. PD22].

9 - 2


(3) Terminal assignment

+5 to

12 V 0 V A B

Signal name

+5 to 12 V

0 V

A

B

Description

Power supply input

Common for power and signal

A-phase output pulse

B-phase output pulse

(4) Mounting

Panel cut

[Unit: mm]

3φ 4.8

Equal intervals

+2 0

φ

62

φ 72 ± 0

.2

(5) Dimensions

16 20

3.6

Packing t2.0

0.27 ± 0.5

8.89

3-M4 stud L10

P.C.D72

Equal intervals

[Unit: mm]

7.6

Invalid to use except

M3 × 6

9 - 3


MEMO

9 - 4

10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL)

10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC

SERVO PROTOCOL)


Structure

Communication specifications

Protocol

Data processing

Status display

Parameter

Prohibiting/canceling I/O devices (DIO)

Alarm history

Current alarm

Software version











POINT

Creating and reading programs are not available with Mitsubishi Electric general-purpose AC servo protocol (RS-422 communication). Use MR

Configurator2.

10.1 Command and data No. list

POINT

Even if a command or data No. is the same between different model servo amplifiers, its description may differ.

The symbols in the control mode column mean as follows:



10 - 1

[2] [0]

[2] [1]

[2] [2]

[2] [3]

[2] [8]

[2] [9]

[2] [A]

[2] [B]

[2] [C]

[2] [D]

[2] [E]

[0] [7]

[0] [8]

[0] [9]

[0] [A]

[0] [B]

[0] [C]

[0] [D]

[0] [E]

[2] [F]

[3] [0]

[3] [3]

[3] [4]

[3] [5]

[3] [6]

[3] [7]

[3] [8]

[3] [9]


10.1.1 Reading command

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

Command Data No. Description

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

[0] [1]

[0] [2]

Status display symbol and unit

Status display

Control mode

CP CL

Frame length

16

[0] [3]

[0] [4]

[0] [5]

[0] [6]


Servo motor speed

Droop pulses

Servo motor-side droop pulses









Peak load ratio


Position within one-revolution

ABS counter


Bus voltage


Settling time



Unit power consumption

Unit total power consumption

Current position

Command position


Point table No./Program No.

Step No.


Override level








10 - 2


Command

[0] [1]

Data No.

[8] [0]

[8] [1]

[8] [2]

[8] [3]

[8] [4]

[8] [5]

[8] [6]

[8] [7]

[8] [8]

[8] [9]

[8] [A]

[8] [B]

[8] [C]

[8] [D]

[8] [E]

[A] [0]

[A] [1]

[A] [2]

[A] [3]

[A] [8]

[A] [9]

[A] [A]

[A] [B]

[A] [C]

[A] [D]

[A] [E]

[A] [F]

[B] [0]

[B] [3]

[B] [4]

[B] [5]

[B] [6]

[B] [7]

[B] [8]

[B] [9]

Description

Status display data value and processing information

Status display


Servo motor speed

Droop pulses









Peak load ratio



ABS counter


Bus voltage


Settling time





Current position

Command position



Step No.


Override level








Control mode

CP CL

Frame length

12

10 - 3


(2) Parameter (command [0] [4], [1] [5], [1] [6], [1] [7], [0] [8], and [0] [9])

[0] [4]

[1] [5]

[1] [6]

[1] [7]

[0] [8]

[0] [9]

Description

[0] [1] Parameter group reading

0000: Basic setting parameters ([Pr. PA_ _ ])

0001: Gain/filter parameters ([Pr. PB_ _ ])

0002: Extension setting parameters ([Pr. PC_ _ ])

0003: I/O setting parameters ([Pr. PD_ _ ])

0004: Extension setting 2 parameters ([Pr. PE_ _ ])

0005: Extension setting 3 parameters ([Pr. PF_ _ ])

000C: Positioning control parameters ([Pr. PT_ _ ])

Reads the parameter group specified with the command [8] [5] + data No. [0]

[0]. Therefore, be sure to specify the parameter group with the command [8] [5]

+ data No. [0] [0] before reading the current values.

[0] [1] to [F] [F] Current value of each parameter

Reads the current values of the parameters in the parameter group specified with the command [8] [5] + data No. [0] [0]. Therefore, be sure to specify the parameter group with the command [8] [5] + data No. [0] [0] before reading the current values.

The data No. (hexadecimal) value which is converted to decimal corresponds to the parameter No.

[0] [1] to [F] [F] Upper limit value of each parameter setting range

Reads the permissible upper limit values of the parameters in the parameter group specified with the command [8] [5] + data No. [0] [0]. Therefore, be sure to specify the parameter group with the command [8] [5] + data No. [0] [0] before reading the upper limit values.


[0] [1] to [F] [F] Lower limit value of each parameter setting range

Reads the permissible lower limit values of the parameters in the parameter group specified with the command [8] [5] + data No. [0] [0]. Therefore, be sure to specify the parameter group with the command [8] [5] + data No. [0] [0] before reading the lower limit values.


[0] [1] to [F] [F] Each parameter symbol

Reads the symbols of the parameters in the parameter group specified with the command [8] [5] + data No. [0] [0]. Therefore, be sure to specify the parameter group with the command [8] [5] + data No. [0] [0] before reading the symbol.


[0] [1] to [F] [F] Writing enable/disable of parameters

Reads writing enable/disable of the parameters in the parameter group specified with the command [8] [5] + data No. [0] [0]. Therefore, be sure to specify the parameter group with the command [8] [5] + data No. [0] [0] before reading the writing enable/disable.

0000: Writing enabled

0001: Writing disabled

Control mode

Frame length

CP CL

4

12

4

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

[1] [2]

Description

[0] [0] to [0] [2] Input device status

[4] [0] External input pin status

[6] [0] to [6] [2] Status of input device turned on by communication

[8] [0] to [8] [3] Output device status

[C] [0] External output pin status

Control mode

CP CL

Frame length

8

10 - 4


(4) Current position latch display (command [1] [A])

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

[0] [1]

[0] [2]

[0] [3]

MSD (Mark detection) rising latch data (data part)

MSD (Mark detection) falling latch data (data part)

MSD (Mark detection) rising latch data (data part + additional information)

MSD (Mark detection) falling latch data (data part + additional information)

(5) Alarm history (command [3] [3])

Description

Control mode

CP CL

Frame length

8

12

Command Data No.

[1] [B]

[1] [C]

[1] [D]

[1] [E]

[1] [F]

[2] [0]

[2] [1]

[2] [2]

[2] [3]

[2] [4]

[2] [5]

[2] [6]

[2] [7]

[2] [8]

[2] [9]

[1] [0]

[1] [1]

[1] [2]

[1] [3]

[1] [4]

[1] [5]

[1] [6]

[1] [7]

[1] [8]

[1] [9]

[1] [A]

[2] [A]

[2] [B]

[2] [C]

[2] [D]

[2] [E]

[2] [F]

[3] [3]

Description

Alarm No. in alarm history

Alarm occurrence time in alarm history

(6) Current alarm (command [0] [2])

Alarm occurrence sequence

Most recent alarm

One alarm ago

Two alarms ago

Three alarms ago

Four alarms ago

Five alarms ago

Six alarms ago

Seven alarms ago

Eight alarms ago

Nine alarms ago

Ten alarms ago

Eleven alarms ago

Twelve alarms ago

Thirteen alarms ago

Fourteen alarms ago

Fifteen alarms ago

Most recent alarm

One alarm ago

Two alarms ago

Three alarms ago

Four alarms ago

Five alarms ago

Six alarms ago

Seven alarms ago

Eight alarms ago

Nine alarms ago

Ten alarms ago

Eleven alarms ago

Twelve alarms ago

Thirteen alarms ago

Fourteen alarms ago

Fifteen alarms ago

8

4

Control mode

CP CL

Frame length

[0] [2] [0] [0] Current alarm No.

Description

Control mode

CP CL

Frame length

4

10 - 5

[2] [3]

[2] [8]

[2] [9]

[2] [A]

[2] [B]

[2] [C]

[2] [D]

[2] [E]

[2] [F]

[3] [0]

[0] [7]

[0] [8]

[0] [9]

[0] [A]

[0] [B]

[0] [C]

[0] [D]

[0] [E]

[2] [0]

[2] [1]

[2] [2]

[3] [3]

[3] [4]

[3] [5]

[3] [6]

[3] [7]

[3] [8]

[3] [9]


(7) Status display at alarm occurrence (command [3] [5])

Command

[3] [5]

Data No.

[0] [0]

[0] [1]

[0] [2]

[0] [3]

[0] [4]

[0] [5]

[0] [6]

Description

Status display symbol and unit

Status display


Servo motor speed

Droop pulses









Peak load ratio



ABS counter


Bus voltage


Settling time





Current position

Command position



Step No.


Override level








Control mode

CP CL

Frame length

16

10 - 6


Command

[3] [5]

Data No.

[8] [0]

[8] [1]

[8] [2]

[8] [3]

[8] [4]

[8] [5]

[8] [6]

[A] [A]

[A] [B]

[A] [C]

[A] [D]

[A] [E]

[A] [F]

[B] [0]

[B] [3]

[B] [4]

[B] [5]

[B] [6]

[B] [7]

[B] [8]

[B] [9]

[8] [7]

[8] [8]

[8] [9]

[8] [A]

[8] [B]

[8] [C]

[8] [D]

[8] [E]

[A] [0]

[A] [1]

[A] [2]

[A] [3]

[A] [8]

[A] [9]

Description

Status display data value and processing information

Status display


Servo motor speed

Droop pulses









Peak load ratio



ABS counter


Bus voltage


Settling time





Current position

Command position



Step No.


Override level








Control mode

CP CL

Frame length

12

10 - 7


(8) Point table setting data (command [4] [0], [4] [5], [5] [0], [5] [4], [5] [8], [6] [0], [6] [4])

[4] [0]

[4] [5]

[5] [0]

[5] [4]

[5] [8]

[6] [0]

[6] [4]

Description

[0] [1] to [1] [F] Reading position data of each point table

The data No. (hexadecimal) value which is converted to decimal corresponds to the point table No.

[0] [1] to [1] [F] Reading M code of each point table

This command will be available in the future.


[0] [1] to [1] [F] Reading speed data of each point table


[0] [1] to [1] [F] Reading acceleration time constant of each point table


[0] [1] to [1] [F] Reading deceleration time constant of each point table


[0] [1] to [1] [F] Reading dwell of each point table


[0] [1] to [1] [F] Reading auxiliary function of each point table


Control mode

CP CL

Frame length

8

(9) Position data unit/Current position latch data (command [6] [C])

[6] [C] [0] [0]

Description

Control mode

CP CL

Frame length

4

[0] [1]

Reading position data unit

_ _ _ x 0: mm, 1: inch, 2: pulse, 3: degree

_ _ x _ 0: Enabled, 1: Disabled

Reading current position latch data

Reads data latched at rising edge of LPS signal using LPOS command in the program operation.

12

(10) General purpose register (Rx) value (command [6] [D])

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

[0] [2]

[0] [3]

[0] [4]

Description

Reading general purpose register (R1) value




(11) General purpose register (Dx) value (command [6] [E])

Control mode

CP CL

Frame length

8

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

[0] [2]

[0] [3]

[0] [4]

Description

Reading general purpose register (D1) value




Control mode

CP CL

Frame length

8

10 - 8


(12) Number of general purpose register (command [6] [F])

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

[0] [1]

Reading the number of general purpose register (Rx)

Reading the number of general purpose register (Dx)

(13) Others (command [0] [0], [0] [2])

Description

Control mode

CP CL

Frame length

8

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

Description

Control mode

CP CL

Frame length

4

[0] [2]

[1] [D]

[1] [E]

[9] [0]

[9] [1]

[7] [0]

Reading test operation mode

0000: Normal mode (not test operation mode)

0001: JOG operation

0002: Positioning operation

0004: Output signal (DO) forced output

0005: Single-step feed operation

Reading EEP-ROM stored data type

0000: Initial state

0001: Point table method

0002: Program method

Reading control mode



Servo motor-side pulse unit absolute position

Command unit absolute position

Software version

8

16

10 - 9


10.1.2 Writing commands

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

Command Data No. Description Setting range

1EA5

Control mode

CP CL

Frame length

4 [8] [1] [0] [0] Deleting status display data

(2) Parameter (command [9] [4], [8] [5])


Varies depending on the parameter

Control mode

CP CL

Frame length

12 [9] [4]

[8] [5]

[0] [1] to [F] [F] Writing each parameter

Writes the values of the parameters in the parameter group specified with the command [8] [5] + data No. [0] [0].

Therefore, be sure to specify the parameter group with the command [8] [5] + data No. [0] [0] before writing the values.


[0] [0] Writing parameter group

0000: Basic setting parameters ([Pr. PA_ _ ])

0001: Gain/filter parameters ([Pr. PB_ _ ])

0002: Extension setting parameters ([Pr. PC_ _ ])

0003: I/O setting parameters ([Pr. PD_ _ ])

0004: Extension setting 2 parameters ([Pr. PE_ _ ])

0005: Extension setting 3 parameters ([Pr. PF_ _ ])

000C: Positioning control parameters ([Pr. PT_ _ ])

(3) External I/O signals (command [9] [2])

Command Data No. Description

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

0000 to 000C

Setting range


Control mode

CP CL

4

Frame length

8

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


1EA5

Control mode

CP CL

Frame length

4 [8] [2] [2] [0] Clearing alarm history

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

Command Data No.

[8] [2] [0] [0] Clearing alarm

Description Setting range

1EA5

Control mode

CP CL

Frame length

4

10 - 10


(6) I/O device prohibition (command [9] [0])


1EA5

Control mode

CP CL

Frame length

4 [9] [0] [0] [0]

[0] [3]

[1] [0]

Turns off the input devices except EM2, LSP and LSN, external analog input signals, and pulse train inputs, independently of the external on/off status.

Prohibits all output devices (DO).

Cancels the prohibition of the input devices except EM2, LSP and LSN, external analog input signals and pulse train inputs.

Cancels the prohibition of the output device. [1] [3]

(7) Operation mode selection (command [8] [B])

1EA5

1EA5

1EA5

Command

[8] [B]

Data No.

[0] [0]

Description

Selecting test operation mode

0000: Test operation mode cancel

0001: JOG operation



0005: Single-step feed operation

Setting range

0000 to 0002,

0004, 0005

Control mode

CP CL

Frame length

4

10 - 11


(8) Test operation mode data (command [9] [2], [A] [0])

Command

[9] [2]

[A] [0]

Data No.

[A] [0]

[1] [0]

Description

[0] [0] to [0] [2] Input signal for test operation

Forced output of signal pin

Setting range

Refer to section

14.5.7 of "MR-

JE-_A Servo

Amplifier

Instruction

Manual".

Refer to section 14.5.9 of "MR-JE-_A

Servo Amplifier

Instruction

Manual".

0000 to 7FFF

Control mode

CP CL

Frame length

8

4

[1] [1]

[2] [0]

[2] [1]

Write the servo motor speed in the test operation mode (JOG operation and positioning operation).

Write the acceleration/deceleration time constant in the test operation mode (JOG operation and positioning operation).

Set the travel distance of the test operation mode (positioning operation).

Select the positioning direction of the test operation

(positioning operation).

00000000 to

7FFFFFFF

00000000 to

7FFFFFFF

0000 to 0101

8

4

0 0

0: Forward rotation direction

1: Reverse rotation direction

0: Command pulse unit

1: Encoder pulse unit

[4] [0]

[4] [1]

This is a start command of the test operation (positioning operation).

Use this to make a temporary stop during test operation

(positioning operation). " □ " in the data indicates a blank.

STOP: Temporary stop

GO □□ : Restart for remaining distance

CLR □ : Remaining distance clear

1EA5

STOP

GO □□

CLR □

10 - 12


(9)


-999999 to

999999

Control mode

CP CL

Frame length

8 [C] [0]

[C] [2]

[C] [6]

[C] [7]

[C] [8]

[C] [A]

[C] [B]

[0] [1] to [1] [F] Writing position data of each point table


[0] [1] to [1] [F] Writing M code of each point table

This command will be available in the future.


[0] [1] to [1] [F] Writing speed data of each point table


[0] [1] to [1] [F] Writing acceleration time constant of each point table


[0] [1] to [1] [F] Writing deceleration time constant of each point table


[0] [1] to [1] [F] Writing dwell of each point table


[0] [1] to [1] [F] Writing auxiliary function of each point table


(10) General purpose register (Rx) value (command [B] [9])

0 to 99


0 to 20000

0 to 20000

0 to 20000

0 to 3, 8 to 11

Command

[B] [9]

Data No.

[0] [1]

[0] [2]

[0] [3]

[0] [4]

Description

Writing general purpose register (R1) value




(11) General purpose register (Dx) value (command [B] [A])

Setting range

Varies depending on the commands

(Refer to section 5.2.2.)

Control mode

CP CL

Frame length

8

Command

[B] [A]

Data No.

[0] [1]

[0] [2]

[0] [3]

[0] [4]

Description

Writing general purpose register (D1) value




Setting range

Varies depending on the commands

(Refer to section 5.2.2.)

Control mode

CP CL

Frame length

8

10 - 13


10.2 Detailed explanations of commands

10.2.1 External I/O signal status (DIO diagnosis)

(1) Reading input device status

The current input device status can be read.

(a) Transmission

Transmit command [1] [2] + data No. [0] [0] to [0] [2].

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

(b) Return

The slave station returns the status of the input devices. b31 b1b0

1: On

0: Off

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

Bit

Data No. [0] [0]

0 SON

1 LSP

2 LSN

3 TL

4 TL1

5 PC

6 RES

7 CR

8 SP1

9 SP2

10 SP3

11 ST1/RS2

12 ST2/RS1

13 CMX1

14 CMX2

15 LOP

16

17

18 EM2/EM1

19

20 STAB2

21

22

23

24 TSTP

25

26

27 CDP

28

29

30

31

Symbol

Data No. [0] [1]

MSD

PI1

PI2

PI3

CAMC

CI0

CI1

CI2

CI3

CLTC

CPCD

Data No. [0] [2]

MD0

TCH

TP0

TP1

OVR

DOG

LPS

DI0

DI1

DI2

DI3

DI4

10 - 14


(2) Reading external input pin status

Reads the on/off statuses of the external input pins.

(a) Transmission

Transmit command [1] [2] + data No. [4] [0].

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

(b) Return

The on/off statuses of the input pins are returned. b31 b1b0

1: On

0: Off


Bit CN1 connector pin Bit

0 43

1 44

2 42

3 15

4 19

5 41

8

9

10

11

12

13

14

15

CN1 connector pin

16

17

18

19

20

21

22

23

24

25

26

27

28

29

30

31

Note. When the pulse train input is selected with [Pr. PD44] or [Pr. PD46], this bit will be always "0" (off).

10 - 15


(3) Reading the status of input devices switched on with communication

Reads the on/off statuses of the input devices switched on with communication.

(a) Transmission


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

(b) Return

The slave station returns the status of the input devices. b31 b1b0

1: On

0: Off


Bit

Data No. [6] [0]

0 SON

1 LSP

2 LSN

3 TL

4 TL1

5 PC

6 RES

7 CR

8 SP1

9 SP2

10 SP3

11 ST1/RS2

12 ST2/RS1

13 CMX1

14 CMX2

15 LOP

16

17

18 EM2/EM1

19

20 STAB2

21

22

23

24 TSTP

25

26

27 CDP

28

29

30

31

Symbol

Data No. [6] [1]

MSD

PI1

PI2

PI3

CAMC

CI0

CI1

CI2

CI3

CLTC

CPCD

Data No. [6] [2]

MD0

TCH

TP0

TP1

OVR

DOG

LPS

DI0

DI1

DI2

DI3

DI4

10 - 16


(4) Reading external output pin status

Reads the on/off statuses of the external output pins.

(a) Transmission

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

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

(b) Return

The slave station returns the status of the output devices. b31 b1b0

1: On

0: Off



0 49

1 24

2 23

3

4

5 48

6 33

7

8

9

10

11

12

13

14

15

CN1 connector pin

16

17

18

19

20

21

22

23

24

25

26

27

28

29

30

31

10 - 17


(5) Reading output device status

Reads the on/off statuses of the output devices.

(a) Transmission


[1] [2] [8] [0] to [8] [3]

(b) Return

The slave station returns the status of the input/output devices. b31 b1b0

1: On

0: Off


Bit

Data No. [8] [0] Data No. [8] [1]

Symbol

Data No. [8] [2] Data No. [8] [3]

0 RD

1 SA

2 ZSP

3 TLC

4 VLC

5 INP

6

7 WNG

8 ALM

9 OP

10 MBR

11

12 ALCD0

13 ALCD1

14 ALCD2

15

CPO

ZP

POT

PUS

MEND

PED

MCD00

MCD01

MCD02

MCD03

MCD10

MCD11

MCD12

MCD13

16

17 ALMWNG

18

19

20

21 SOUT

22

23

24

25 CDPS

26

27

28

CAMS

CLTS PT2

29

30

31 MTTR


10 - 18


10.2.2 Input device on/off

POINT

The on/off status of all devices in the servo amplifier are the status of the data received at last. Therefore, when there is a device which must be kept on, transmit data which turns the device on every time.

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


Command Data No. Setting data

[9] [2] [6] [0] to [6] [2] See below. b31 b1b0

1: On

0: Off


Bit

Data No. [6] [0]

0 SON

1 LSP

2 LSN

3 TL

4 TL1

5 PC

6 RES

7 CR

8 SP1

9 SP2

10 SP3

11 ST1/RS2

12 ST2/RS1

13 CMX1

14 CMX2

15 LOP

16

17

18 EM2/EM1

19

20 STAB2

21

22

23

24 TSTP

25

26

27 CDP

28

29

30

31

Symbol

Data No. [6] [1]

MSD

PI1

PI2

PI3

CAMC

CI0

CI1

CI2

CI3

CLTC

CPCD

Data No. [6] [2]

MD0

TCH

TP0

TP1

OVR

DOG

LPS

DI0

DI1

DI2

DI3

DI4

10 - 19


10.2.3 Input device on/off (for test operation)

Each input devices can be turned on/off for test operation. However, when the device to be switched off is in the external input signal, also switch off the input signal.


Command Data No. Setting data

[9] [2] [0] [0] to [0] [2] See below. b31 b1b0

1: On

0: Off


Bit

Data No. [0] [0]

0 SON

1 LSP

2 LSN

3 TL

4 TL1

5 PC

6 RES

7 CR

8 SP1

9 SP2

10 SP3

11 ST1/RS2

12 ST2/RS1

13 CMX1

14 CMX2

15 LOP

16

17

18 EM2/EM1

19

20 STAB2

21

22

23

24 TSTP

25

26

27 CDP

28

29

30

31

Symbol

Data No. [0] [1]

MSD

PI1

PI2

PI3

CAMC

CI0

CI1

CI2

CI3

CLTC

CPCD

Data No. [0] [2]

MD0

TCH

TP0

TP1

OVR

DOG

LPS

DI0

DI1

DI2

DI3

DI4

10 - 20


10.2.4 Test operation mode

POINT

The test operation mode is for checking an operation. Do not use it for an actual operation.

If communication stops for 0.5 s or longer during the test operation, the servo motor decelerates to a stop, resulting in servo-lock. To prevent this, keep the communication all the time by checking the status display, etc.

The test operation mode can be started even in operation. In this case, switching to the test operation mode will shut off the base circuit to coast the servo motor.

(1) How to prepare and cancel the test operation mode

(a) Preparation of the test operation mode

Set the test operation mode type with the following procedure.

1) Setting of test operation mode

Transmit the command [8] [B] + data No. [0] [0] + data to set the test operation mode.

Command Data No. Transmission data Setting test operation mode

0004 Output signal (DO) forced output (Note)

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

Note. Refer to section 10.2.5 for the output signal (DO) forced output.

2) Check of test operation mode

Read the test operation mode set for the slave station, and check that it is set correctly. a) Transmission

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

[0] [0] [1] [2] b) Return

The slave station returns the preset operation mode.

0 0 0

Reading test operation mode

0: Normal mode (not test operation mode)

1: JOG operation


3: Motor-less operation


5: Single-step feed

(b) Cancel of test operation mode

To stop the test operation mode, transmit the command [8] [B] + data No. [0] [0] + data. Turn off the servo amplifier before switching the operation mode from the test to the normal.

Command Data No. Transmission data

[8] [B] [0] [0] 0000

Setting test operation mode

Test operation mode cancel

10 - 21


(2) Single-step feed

Set each value of target point tables for the single-step feed before executing single-step feed. Transmit command and data No. to execute single-step feed.

Start

Command: [8] [B]

Data No.: [0] [0]

Data: 0005 (Single-step feed)

Select the single-step feed in the test operation mode.

Point table No. setting

Command: [9] [2]

Data No.: [0] [2]

Data: Writes point table No.

in hexadecimal.

When LSP/LSN are turned off with an external input signal...

When LSP/LSN are turned on or automatically turned on...

Set a point table No.

Enabling input devices

Command: [9] [2]

Data No.: [0] [0]

Data: 00000007

(SON/LSP/LSN are on.)

Command: [9] [2]

Data No.: [0] [2]

Data: _ _ 000001 (Note 2)

(MD0 is on.)

Start (Note 1)

Command: [9] [2]

Data No.: [0] [0]

Data: 00000807

(ST1 is on.)

Enabling input devices

Command: [9] [2]

Data No.: [0] [0]

Data: 00000001

(SON is on.)

Command: [9] [2]

Data No.: [0] [2]

Data: _ _ 000001 (Note 2)

(MD0 is on.)

Start (Note 1)

Command: [9] [2]

Data No.: [0] [0]

Data: 00000801

(ST1 is on.)

Turn on SON (Servo-on) to make the servo amplifier ready.

Start.

End

Command: [8] [B]

Data No.: [0] [0]

Data: 0000

(Single-step feed canceled)

Turn the power off/on of the servo amplifier.

Cancel the single-step feed.

Cancel the test operation mode.

Note 1. Start it after checking ZP (Home position return completion). See the 4 bit of the read data with the command [1] [2] and data

No. [8] [2].

10 - 22


10.2.5 Output signal pin on/off (output signal (DO) forced output)

In the test operation mode, the output signal pins can be turned on/off regardless of the servo status. Disable the external input signals in advance with command [9] [0].

(1) Selecting the output signal (DO) forced output of the test operation mode

Transmit command + [8] [B] + data No. [0] [0] + data "0004" to select the output signal (DO) forced output.

0 0 0 4

Setting test operation mode


(2) External output signal on/off

Transmit the following communication commands.

Command Data No.

[9] [2] [A] [0] b31

See below.

Setting data b1b0


1: On

0: Off


0 49

CN1 connector pin

16

1 24

2 23

17

18

3

4

5 48

6 33

19

20

21

22

7

8

9

10

11

12

13

14

15

23

24

25

26

27

28

29

30

31

(3) Output signal (DO) forced output

To stop the output signal (DO) forced output, transmit command [8] [B] + data No. [0] [0] + data. Turn off the servo amplifier before switching the operation mode from the test to the normal.

Command Data No. Transmission data Setting test operation mode

[8] [B] [0] [0] 0000 Test operation mode cancel

10 - 23


10.2.6 Point table

(1) Reading data

(a) Position data

Reads position data of point tables.

1) Transmission

Transmits the command [4] [0] + the data No. [0] [1] to [1] [F] corresponding to the point tables to read. Refer to section 10.1.1.

2) Return

The slave station returns the position data of point table requested.

Data is transferred in hexadecimal.

0 0


0: No decimal point

1: First least significant digit

(not used normally)





Display type

6: Sixth least significant digit



Position data writing type

0: Enabled after writing

1: Enabled when power is cycled after writing

(b) Speed data

Reads speed data of point tables.

1) Transmission


2) Return

The slave station returns the speed data of point table requested.

0


0 0

Display type






10 - 24


(c) Acceleration time constant

Reads acceleration time constant of point tables.

1) Transmission


2) Return

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

0


0 0

Display type






(d) Deceleration time constant

Reads deceleration time constant of point tables.

1) Transmission


2) Return

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

0


0 0

Display type

0: Data is used unchanged in hexadecimal.





10 - 25


(e) Dwell

Reads dwell of point tables.

1) Transmission


2) Return

The slave station returns the dwell of point table requested.

0


0 0

Display type






(f) Auxiliary function

Reads auxiliary function of point tables.

1) Transmission


2) Return

The slave station returns the auxiliary function of point table requested.

0


0 0

Display type






10 - 26


(g) M code

Reads M code of point tables.


1) Transmission


2) Return

The slave station returns the M code of point table requested.

0


0 0

Display type






10 - 27


(2) Writing data

CAUTION

If setting values need to be changed with a high frequency (i.e. once or more per hour), write the setting values to the RAM, not to the EEP-ROM. The EEP-ROM has a limitation in the number of write times, and exceeding this limitation causes the servo amplifier to malfunction. Note that the number of write times to the EEP-

ROM is limited to approximately 100,000.

(a) Position data

Writes position data of point tables.

Transmits the command [C] [0] + the data No. [0] [1] to [1] [F] corresponding to the point tables to write. Refer to section 10.1.1.

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

Data

Refer to the following:



0: No decimal point

1: First least significant digit (not used normally)





6: Sixth least significant digit

Select the same decimal point position as the set feed length multiplication

(STM) in [Pr. PT03].

If a different decimal point position is set, slave stations will not receive data.

Writing mode

0: Writing to EEP-ROM/RAM

1: Writing to RAM

When changing the position data frequently using communication, set "1" to the write mode to change only the RAM data in the servo amplifier.

When changing data once or more within an hour, do not write it to the EEP-ROM.

10 - 28


(b) Speed data

Writes speed data of point tables.


[C] [6] [0] [1] to [1] [F]

Data


0

Hexadecimal data

Writing mode


1: Writing to RAM

When changing the speed data frequently using communication, set "1" to the write mode to change only the RAM data in the servo amplifier.


(c) Acceleration time constant

Writes acceleration time constant of point tables.


[C] [7] [0] [1] to [1] [F]

Data


0

Hexadecimal data

Writing mode


1: Writing to RAM

When changing the acceleration time constant frequently using communication, set "1" to the write mode to change only the RAM data in the servo amplifier.


10 - 29


(d) Deceleration time constant

Writes deceleration time constant of point tables.


[C] [8] [0] [1] to [1] [F]

Data


0

Hexadecimal data

Writing mode


1: Writing to RAM

When changing the deceleration time constant frequently using communication, set "1" to the write mode to change only the RAM data in the servo amplifier.


(e) Dwell

Writes dwell of point tables.

Transmits the command [C] [A] + the data No. [0] [1] to [1] [F] corresponding to the point tables to write. Refer to section 10.1.1.

Data

[C] [A] [0] [1] to [1] [F] Refer to the following diagram.

0

Hexadecimal data

Writing mode


1: Writing to RAM

When changing the dwell frequently using communication, set "1" to the mode to change only the

RAM data in the servo amplifier.


10 - 30


(f) Auxiliary function

Writes auxiliary function of point tables.

Transmits the command [C] [B] + the data No. [0] [1] to [1] [F] corresponding to the point tables to write. Refer to section 10.1.1.

[C] [B] [0] [1] to [1] [F]

Data


0

Hexadecimal data

Writing mode


1: Writing to RAM

When changing the auxiliary function frequently using communication, set "1" to the write mode to change only the RAM data in the servo amplifier.


(g) M code

Writes M code of point tables.



[C] [2] [0] [1] to [1] [F]

Data


0

Hexadecimal data

Writing mode


1: Writing to RAM

When changing the M code frequently using communication, set "1" to the write mode to change only the RAM data in the servo amplifier.


10 - 31


MEMO

10 - 32

REVISIONS

*The manual number is given on the bottom left of the back cover.

Revision Date

May. 2015

*Manual Number

SH(NA)030150ENG-A First edition

Revision

Dec. 2016 SH(NA)030150ENG-B The details of the simple cam function are added.

3. To prevent injury, note the Partially changed. following

4. Additional instructions


Partially changed.

(2) Wiring

(5) Corrective actions

(6) Maintenance, inspection and parts replacement

Partially added.

Partially added.

Partially added and partially changed.

The contents are entirely changed.

Deleted.

DISPOSAL OF WASTE

Servo amplifier harmonic suppression measures

Compliance with global standards

About the manual

Section 1.2

Section 1.3

Section 1.4

Section 2.2

Section 2.3

Section 2.6

Section 3.1.1

Section 3.1.2 (2)

Section 3.1.7

Section 3.1.9

Chapter 4

Section 4.1.1

Section 4.1.4

Section 4.2.1 (1) (b)

Section 4.2.2 (3) (e)

Section 4.2.2 (3) (f)

Section 4.4.8

Section 4.6

Section 5.1.1

Section 5.1.4

Section 5.2.2 (1)

Section 5.2.2 (2) (g)

Section 5.2.2 (2) (h)

Section 5.4.4

Section 5.8

Section 6.1

Section 7.1

Section 7.2

Section 8.2

Partially changed.

The manual numbers are changed.

Partially changed.



Partially changed.

Partially changed.

Partially changed.

Partially changed.

Note is changed.

Notes are added.

Partially changed.

Sentences are added in the POINT.

Partially changed.


Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.


Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

The composition is changed. The contents are added.

[Pr. PE44] to [Pr. PE50] are added and partially changed.

[Pr. PE44] to [Pr. PE50] are added and partially changed.

The composition is changed.

Section 10.2.1

Section 10.2.2

Section 10.2.3

Partially changed.

Partially changed.

Partially changed.

Aug. 2017 SH(NA)030150ENG-C A maximum altitude of 2000 m above sea level is supported.

3. To prevent injury, note the Partially changed. following

Revision Date *Manual Number

Aug. 2017 SH(NA)030150ENG-C 4. Additional instructions


Revision

Partially changed.

Partially changed.

Partially changed.

Relevant manuals

Chapter 2

Section 2.1

Section 4.1

Section 4.2.2

Section 5.1

Section 6.1

Section 6.1.9

Section 6.2.2

Chapter 7

Section 7.2.2

Section 7.2.3

Section 7.2.4

Section 8.2

Section 8.3

Partially changed.

Partially changed.

CAUTION is added.

Partially changed.

WARNING and CAUTION are added. Partially changed.

Partially changed.

WARNING and CAUTION are added. Partially changed.

POINT is added. Partially changed.

POINT is added. Partially changed.

Partially changed.

CAUTION is changed.

Partially changed. Partially added.

Partially added.

Partially changed.

Partially changed.

Partially changed.

This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses.

Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.

 2015 MITSUBISHI ELECTRIC CORPORATION

MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and/or other countries.

All other product names and company names are trademarks or registered trademarks of their respective companies.

Warranty

1. Warranty period and coverage

We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product" arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider. However, we will charge the actual cost of dispatching our engineer for an on-site repair work on request by customer in Japan or overseas countries. We are not responsible for any on-site readjustment and/or trial run that may be required after a defective unit are repaired or replaced.

[Term]

The term of warranty for Product is twelve (12) months after your purchase or delivery of the Product to a place designated by you or eighteen (18) months from the date of manufacture whichever comes first (“Warranty Period”). Warranty period for repaired Product cannot exceed beyond the original warranty period before any repair work.

[Limitations]

(1) You are requested to conduct an initial failure diagnosis by yourself, as a general rule.

It can also be carried out by us or our service company upon your request and the actual cost will be charged. However, it will not be charged if we are responsible for the cause of the failure.

(2) This limited warranty applies only when the condition, method, environment, etc. of use are in compliance with the terms and conditions and instructions that are set forth in the instruction manual and user manual for the Product and the caution label affixed to the Product.

(3) Even during the term of warranty, the repair cost will be charged on you in the following cases;

(i) a failure caused by your improper storing or handling, carelessness or negligence, etc., and a failure caused by your hardware or software problem

(ii) a failure caused by any alteration, etc. to the Product made on your side without our approval

(iii) a failure which may be regarded as avoidable, if your equipment in which the Product is incorporated is equipped with a safety device required by applicable laws and has any function or structure considered to be indispensable according to a common sense in the industry

(iv) a failure which may be regarded as avoidable if consumable parts designated in the instruction manual, etc. are duly maintained and replaced

(v) any replacement of consumable parts (battery, fan, smoothing capacitor, etc.)

(vi) a failure caused by external factors such as inevitable accidents, including without limitation fire and abnormal fluctuation of voltage, and acts of God, including without limitation earthquake, lightning and natural disasters

(vii) a failure generated by an unforeseeable cause with a scientific technology that was not available at the time of the shipment of the Product from our company

(viii) any other failures which we are not responsible for or which you acknowledge we are not responsible for

2. Term of warranty after the stop of production

(1) We may accept the repair at charge for another seven (7) years after the production of the product is discontinued. The announcement of the stop of production for each model can be seen in our Sales and Service, etc.

(2) Please note that the Product (including its spare parts) cannot be ordered after its stop of production.

3. Service in overseas countries

Our regional FA Center in overseas countries will accept the repair work of the Product. However, the terms and conditions of the repair work may differ depending on each FA Center. Please ask your local FA center for details.

4. Exclusion of loss in opportunity and secondary loss from warranty liability

Regardless of the gratis warranty term, Mitsubishi shall not be liable for compensation to:

(1) Damages caused by any cause found not to be the responsibility of Mitsubishi.

(2) Loss in opportunity, lost profits incurred to the user by Failures of Mitsubishi products.

(3) Special damages and secondary damages whether foreseeable or not, compensation for accidents, and compensation for damages to products other than Mitsubishi products.

(4) Replacement by the user, maintenance of on-site equipment, start-up test run and other tasks.

5. Change of Product specifications

Specifications listed in our catalogs, manuals or technical documents may be changed without notice.

6. Application and use of the Product

(1) For the use of our General-Purpose AC Servo, its applications should be those that may not result in a serious damage even if any failure or malfunction occurs in General-Purpose AC Servo, and a backup or fail-safe function should operate on an external system to General-Purpose AC Servo when any failure or malfunction occurs.

(2) Our General-Purpose AC Servo is designed and manufactured as a general purpose product for use at general industries.

Therefore, applications substantially influential on the public interest for such as atomic power plants and other power plants of electric power companies, and also which require a special quality assurance system, including applications for railway companies and government or public offices are not recommended, and we assume no responsibility for any failure caused by these applications when used

In addition, applications which may be substantially influential to human lives or properties for such as airlines, medical treatments, railway service, incineration and fuel systems, man-operated material handling equipment, entertainment machines, safety machines, etc. are not recommended, and we assume no responsibility for any failure caused by these applications when used.

We will review the acceptability of the abovementioned applications, if you agree not to require a specific quality for a specific application. Please contact us for consultation.

SH(NA)030150ENG-C

MODEL

MODEL

CODE

MR-JE-A

INSTRUCTIONMANUAL(ITIGIME)

1CW707

HEAD OFFICE: TOKYO BLDG MARUNOUCHI TOKYO 100-8310

SH(NA)030150ENG-C(1708)MEE Printed in Japan

This Instruction Manual uses recycled paper.

Specifications are subject to change without notice.

General-Purpose AC Servo

General-Purpose Interface AC Servo

MODEL

MR-JE-_A

SERVO AMPLIFIER

INSTRUCTION MANUAL

(POSITIONING MODE)

C

Mitsubishi Electric MR-JE-_A SERVO AMPLIFIER Instruction Manual

General-Purpose AC Servo

General-Purpose Interface AC Servo

MODEL

MR-JE-_A

SERVO AMPLIFIER

INSTRUCTION MANUAL

(POSITIONING MODE)

EEP-ROM life

Compliance with global standards

1. FUNCTIONS AND CONFIGURATION

2. SIGNALS AND WIRING

3. DISPLAY AND OPERATION SECTIONS

6. APPLICATION OF FUNCTIONS

7. PARAMETERS

0 0

8. TROUBLESHOOTING

9. OPTIONS AND PERIPHERAL EQUIPMENT

10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC

SERVO PROTOCOL)

0 0

General-Purpose AC Servo

General-Purpose Interface AC Servo

MODEL

MR-JE-_A

SERVO AMPLIFIER

INSTRUCTION MANUAL

(POSITIONING MODE)

Related manuals

Table of contents

Mitsubishi Electric MR-JE-_A SERVO AMPLIFIER Instruction Manual

General-Purpose AC Servo

General-Purpose Interface AC Servo

MODEL

MR-JE-_A

SERVO AMPLIFIER

INSTRUCTION MANUAL

(POSITIONING MODE)

EEP-ROM life

Compliance with global standards

1. FUNCTIONS AND CONFIGURATION

2. SIGNALS AND WIRING

3. DISPLAY AND OPERATION SECTIONS

6. APPLICATION OF FUNCTIONS

7. PARAMETERS

0 0

8. TROUBLESHOOTING

9. OPTIONS AND PERIPHERAL EQUIPMENT

10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC

SERVO PROTOCOL)

0 0

General-Purpose AC Servo

General-Purpose Interface AC Servo

MODEL

MR-JE-_A

SERVO AMPLIFIER

INSTRUCTION MANUAL

(POSITIONING MODE)

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Table of contents