General-Purpose AC Servo Parameter Unit MODEL MR-PRU03 INSTRUCTION MANUAL (MR-J4) MODEL MODEL CODE HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310 SH (NA) 030186-A (1503) MEE Printed in Japan This Instruction Manual uses recycled paper. Specifications are subject to change without notice. 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 CAUTION Indicates that incorrect handling may cause hazardous conditions, resulting in death or severe injury. 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 according to 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 DISPOSAL OF WASTE Please dispose a parameter unit according to your local laws and regulations. «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 Mass Length Torque Moment of inertia Load (thrust load/axial load) Temperature SI (metric) unit 1 [kg] 1 [mm] 1 [N•m] 1 [(× 10-4 kg•m2)] 1 [N] N [°C] × 9/5 + 32 A- 2 U.S. customary unit 2.2046 [lb] 0.03937 [inch] 141.6 [oz•inch] 5.4675 [oz•inch2] 0.2248 [lbf] N [°F] CONTENTS 1. INTRODUCTION 1- 1 to 1- 2 2. EXTERNAL APPEARANCE AND KEY EXPLANATIONS 2- 1 to 2- 2 3. SPECIFICATIONS 3- 1 to 3- 2 4. DIMENSIONS 4- 1 to 4- 2 5. CONNECTION WITH SERVO AMPLIFIER 5- 1 to 5- 4 5.1 Single axis ......................................................................................................................................... 5- 1 5.2 Multi-drop connection ....................................................................................................................... 5- 2 6. DISPLAY 6.1 6.2 6.3 6.4 6.5 6.6 6.7 6- 1 to 6-16 Outline of screen transition ............................................................................................................... 6- 1 Parameter unit setting ....................................................................................................................... 6- 2 Monitor mode (status display)........................................................................................................... 6- 3 Alarm/diagnosis mode ...................................................................................................................... 6- 8 Parameter mode .............................................................................................................................. 6-10 Point table mode .............................................................................................................................. 6-11 Test operation mode ........................................................................................................................ 6-12 7. ERROR/MESSAGE LIST 7- 1 to 7- 2 1 MEMO 2 1. INTRODUCTION 1. INTRODUCTION POINT The parameter unit cannot be used with MR Configurator2. When using the parameter unit, set [Pr. PF34] to "1 _ _ _". The point table mode can be used when the servo amplifier is set to the positioning mode (point table method). The MR-PRU03 parameter unit cannot be used with MR-J4-03A6(-RJ) servo amplifier. This instruction manual explains a case where the MR-PRU03 parameter unit is used with MELSERVO-J4 series. When using it with MELSERVO-J3 series, refer to each servo amplifier instruction manual. Connecting the parameter unit to the servo amplifier enables simple execution of such as data setting, test operation, and parameter setting without using MR Configurator2. The following shows combinations with servo amplifiers. MR-J4-_A(-RJ) MR-J4-_A4(-RJ) MR-J4-_A1(-RJ) Software version B2 or Software version B3 or earlier later MR-PRU03 Software version A3 or earlier Software version B0 or later 1- 1 MR-J4-DU_A(-RJ) MR-J4-DU_A4(-RJ) 1. INTRODUCTION MEMO 1- 2 2. EXTERNAL APPEARANCE AND KEY EXPLANATIONS 2. EXTERNAL APPEARANCE AND KEY EXPLANATIONS The following shows the external appearance and how to set the keys. Key explanation Monitor mode key Displays the monitor screen. Alarm/diagnosis mode key Displays the alarm/output signal (DO) forced output/diagnosis selection screen. Parameter mode key Displays parameter selection screen. Pressing this key with pressing down the "SHIFT" key displays the point table setting screen. Test operation mode key Displays the selection screen for the test operation mode. Operation key Function key Used to operate the test operation mode. Displays the parameter range and point table setting range. SHIFT key When entering hexadecimal values, pressing the "4" to "9" keys with pressing down this key will enter A to F. Pressing the " " keys with pressing down this key will switch the screen to the previous or next screen. ESC key Switches the screen to the upper hierarchy. (not to the previous screen) Displays the setting selection screen (initial screen) in the monitor mode, etc. Scroll key Moves the cursor across the screen or scrolls the screen. Pressing this key with pressing down the "SHIFT" key will switch the screen to the previous or next screen. Changes the parameter No. or point table No. Test operation key Forward rotation key Starts the forward rotation during the test operation (JOG operation/ positioning operation). Symbol key/reverse rotation key Starts the reverse rotation during the test operation (JOG operation/ positioning operation). Used together with the "SHIFT" key to enter negative numbers. To exit the negative number mode, press the "SHIFT" key with this key again. ("-" disappears.) Stop/reset key Stops temporarily in the JOG operation/Positioning operation/ Single-step feed. Used as the "RESET" key while the "Fn" key is not pressed (i.e. at a stop). Resets alarms or alarm history, or clears cumulated monitor data or inputs. This key is not for stopping normal operation. Numerical key Enter key Display LCD screen (16 characters × 4 lines) shows such as Parameter settings, Monitors, etc. Mode key Key Enter key Determines the selection, numerical values. Determines to exit the test operation mode. Switches outputs on/off of the output signal (DO) forced output. to Numerical key Enters numbers such as the parameter Nos., setting values. Pressing the "4" to "9" keys with pressing down the "SHIFT" key will enter A to F. Decimal point key Used to enter a decimal point. Starts the single-step feed. 2- 1 2. EXTERNAL APPEARANCE AND KEY EXPLANATIONS MEMO 2- 2 3. SPECIFICATIONS 3. SPECIFICATIONS Item Description Function Model Power supply Parameter mode Monitor mode (status display) MR-PRU03 Supplied from servo amplifier Refer to section 6.5. Refer to section 6.3. Diagnostic mode Alarm mode Test operation mode Point table mode Environment Display Ambient temperature Ambient humidity Ambience Mass Operation Storage Operation Storage [g] External I/O signal (DIDO) display, software No. VC automatic offset, motor information, cumulative power-on Current alarm, alarm history JOG operation, positioning operation, output signal (DO) forced output, single-step feed Position data, speed, acceleration time constant, deceleration time constant, dwell, sub function, M code LCD (16 characters × 4 lines) -10 °C to 55 °C (non-freezing) -20 °C to 65 °C (non-freezing) 90 %RH or less (non-condensing) Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist or dust 130 3- 1 3. SPECIFICATIONS MEMO 3- 2 4. DIMENSIONS 4. DIMENSIONS [Unit: mm] 16.5 24 13 1.5 1.25 81.5 14.5 Punched hole 80 125 23.75 11.75 1.5 13 17 48 20 10.5 18.5 15 21.5 72 5-M3 screw 5- φ4 hole Front 40 Back Side 4- 1 40 Mounting hole dimension 4. DIMENSIONS MEMO 4- 2 5. CONNECTION WITH SERVO AMPLIFIER 5. CONNECTION WITH SERVO AMPLIFIER 5.1 Single axis (1) Configuration diagram This is for operation of the single-axis servo amplifier. It is recommended to use the following cable. Servo amplifier Parameter unit CN3 10BASE-T cable, etc. (EIA568-compliant) (2) Internal wiring diagram Parameter unit-side connector GND +5V TXD+ RXDRXD+ TXDGND NC Servo amplifier CN3 connector (RJ45 connector) 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 10 m or shorter 5- 1 LG P5D RDP SDN SDP RDN LG NC 5. CONNECTION WITH SERVO AMPLIFIER 5.2 Multi-drop connection (1) Configuration diagram Up to 32 axes of servo amplifiers from stations 0 to 31 can be operated on the same bus. Servo amplifier Servo amplifier CN3 Servo amplifier CN3 CN3 Parameter unit (Note 2) (Note 2) (Note 1) (Note 1) (Note 2) (Note 2) (Note 2) (Note 1) (Note 2) (Note 3) Note 1. The BMJ-8 (Hachiko Electric) is recommended as the branch connector. 2. Use one such as 10BASE-T cable (EIA568-compliant). 3. The final axis must be terminated between RDP (pin No.3) and RDN (pin No.6) on the receiving side (servo amplifier) with a 150 Ω resistor. 5- 2 5. CONNECTION WITH SERVO AMPLIFIER (2) Internal wiring diagram Wire the cables as follows. (Note 3) 30 m or shorter Parameter unit GND 1 +5V 2 SDP 3 RDN 4 RDP 5 SDN 6 GND 7 NC 8 (Note 5) (Note 1) (Note 1) The first axis servo amplifier The second axis servo amplifier Connector for CN3 Connector for CN3 (RJ45 connector) (RJ45 connector) (Note 4) (Note 4, 5) 1 LG 1 LG 2 P5D 2 P5D 3 RDP 3 RDP 4 SDN 4 SDN 5 SDP 5 SDP 6 RDN 6 RDN 7 LG 7 LG 8 NC 8 NC (Note 1, 7) The n axis servo amplifier Connector for CN3 (RJ45 connector) (Note 4) 1 LG 2 P5D 3 RDP 4 SDN 5 SDP 6 RDN 7 LG 8 NC 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 (Note 5) (Note 6) Branch connector 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 (Note 6) Branch connector (Note 5) 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 RDP (Note 2) 150 Ω RDN (Note 6) Branch connector Note 1. Recommended connector (Hirose Electric) Plug: TM10P-88P Connection tool: CL250-0228-1 2. The final axis must be terminated between RDP (pin No.3) and RDN (pin No.6) on the receiving side (servo amplifier) with a 150 Ω resistor. 3. The overall length is 30 m or less in low-noise environment. 4. The wiring between the branch connector and servo amplifier should be as short as possible. 5. Use the EIA568-compliant cable (10BASE-T cable, etc.). 6. Recommended branch connector: BMJ-8 (Hachiko Electric) 7. n ≤ 32 (Up to 32 axes can be connected.) 5- 3 5. CONNECTION WITH SERVO AMPLIFIER MEMO 5- 4 6. DISPLAY 6. DISPLAY Connect the parameter unit to the servo amplifier and turn on the power of servo amplifier. The following shows the screen transition of the parameter unit and operation procedures of each mode. 6.1 Outline of screen transition Servo amplifier power on Parameter unit setting Initializing (Note) Normal transition Monitor mode Alarm/ diagnosis mode Parameter mode + Point table mode Test operation mode Note. If communication does not complete during initialization, a communication error is displayed. Press the "ESC" key to return to the parameter unit setting screen. 6- 1 6. DISPLAY 6.2 Parameter unit setting Parameter unit setting Station No. setting (Note) Input a station No. (e.g. 31st axis) Baud rate selection Select with the " with the " " key. " keys and set Select with the " 63 and set with the " " keys from 0 to " key. Contrast adjustment Buzzer Select on with the " " key and off with the " " key and set with the " " key. Version information Displays the software version of the parameter unit. Note. Press the "SHIFT" + "ESC" keys to return to the station No. setting screen from any screen. 6- 2 6. DISPLAY 6.3 Monitor mode (status display) The servo status during operation is shown on the parameter unit display. Press the "MON" key and select any content with the "▼" or "▲" key. (1) Combinations of the control mode and operation mode Status display items that can be checked vary depending on combinations of the control mode and operation mode. In cases where there are " " both in the control mode and operation mode of the following table, the status display can be checked. In cases where there is a diagonal line in either mode, the status display can be shown. However, the status cannot be checked. P 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 Cumulative feedback pulses Servo motor speed/linear servo motor speed Droop pulses Cumulative command pulses Command pulse frequency Analog speed command voltage Analog speed limit voltage Analog torque command voltage Analog torque limit voltage Regenerative load ratio Effective load ratio Peak load ratio Instantaneous torque Position within one-revolution ABS counter Load to motor inertia ratio Bus voltage Load-side encoder cumulative feedback pulses Load-side encoder droop pulses Load-side encoder information 1 Load-side encoder information 2 For manufacturer setting Temperature of motor thermistor Cumulative feedback pulses (motor-side unit) Electrical angle 6- 3 C P C L P S Speed Cmd Trq Limit Regn Load Effc Load Peak Load Instn Trq Cyc posit Abs count Moment Rt P-N Volt Opt plsFB Opt Droop Opt Cycpo Opt Abscn Moni Out1 Moni Out2 Abpls F/B Motor Thm Ele Cycpo Reserved Reserved Reserved Reserved Reserved Posit Dev Speed Dev In Enc Thm Set Time Oscil Frq Tough Drv Motor-side/load-side position deviation Motor-side/load-side speed deviation Encoder inside temperature Settling time Oscillation detection frequency Number of tough drive operations T Pulse F/B Speed F/B Droop Pls Pulse Cmd Pulse Frq Pls F/B M For manufacturer setting S (Note 3) Lin. Display name Name Full. Display order Standard Operation mode (Note 2) Control mode (Note 1) D D 6. DISPLAY P 37 38 For manufacturer setting 39 40 41 42 43 44 45 46 47 48 49 50 51 Unit power consumption Unit total power consumption Current position Command position Command remaining distance Point table No./Program No./Station position No. Step No. Analog override voltage Override level For manufacturer setting S T C P C L P S Lin. Display name Name Full. Display order Standard Operation mode (Note 2) Control mode (Note 1) D D Drive Rec In Amp Thm Am Amp Thm Fan Speed Power1 Total Pc1 Cur Posit Cmd Posit Cmdremin PntPrgNo PrgStpNo Ord volt Ord level DmoniOut1 DmoniOut2 Note 1. P: Position control mode S: Speed control mode T: Torque control mode CP: Positioning mode (point table method) CL: Positioning mode (program method) PS: Positioning mode (indexer method) 2. Standard: Standard (semi closed loop system) use of the rotary servo motor Full.: Fully closed loop system use of the rotary servo motor Lin.: Linear servo motor use DD: Direct drive (DD) motor use 3. It is displayed when a servo motor with thermistor is used. The display shows "9999" when a servo motor without thermistor is used. (2) Status display The display of the parameter unit switches screen depending on the status selected. The following example shows the cumulative feedback pulses is selected. For other status displays, refer to table 6.1. Display name Axis No. Value (Note) Display unit Note. The numbers will be smaller when exceeding ±999999. 6- 4 6. DISPLAY Table 6.1 Monitor mode list Display order Name Display name Display unit 1 Cumulative feedback pulses Pulse F/B pulse 2 Servo motor speed/ Linear servo motor speed Speed F/B r/min 3 Droop pulses Droop Pls pulse 4 Cumulative command pulses Pulse Cmd pulse 5 Command pulse frequency Pulse Frq kpps Speed Cmd volt 6 7 Analog speed command voltage Analog speed limit voltage Analog torque command voltage Analog torque limit voltage Input voltage of VLA (Analog speed limit) voltage is displayed. Voltage of TC (Analog torque command) voltage is displayed. Trq Limit volt Voltage of TLA (Analog torque limit) voltage is displayed. Regenerative load ratio Regn Load % 9 Effective load ratio Effc Load % 10 Peak load ratio Peak Load % 11 Instantaneous torque Instn Trq % 12 Position within onerevolution Cyc posit pulse 13 ABS counter Abs count rev 15 16 17 18 Load to motor inertia ratio Bus voltage Load-side encoder cumulative feedback pulses Load-side encoder droop pulses Load-side encoder information 1 Feedback pulses from the servo motor encoder are counted and displayed. Pressing the "RESET" key of the parameter unit will be "0". The servo motor speed or linear servo motor speed is displayed. "-" is shown for reverse rotation. It is displayed rounding off 0.1 r/min (0.1 mm/s) unit. Droop pulses of the deviation counter between a command and servo motor encoder are displayed. "-" is shown for reverse rotation pulses. The number of pulses displayed is in the encoder pulse unit. Position command input pulses are counted and displayed. As the value displayed is not yet multiplied by the electronic gear (CMX/CDV), it may not match the indication of the cumulative feedback pulses. Pressing the "RESET" key of the parameter unit will be "0". The frequency of position command input pulses is counted and displayed. The value displayed is not multiplied by the electronic gear (CMX/CDV). Input voltage of VC (Analog speed command) voltage is displayed 8 14 Description Moment Rt P-N Volt volt Opt plsFB pulse Opt Droop pulse Opt Cycpo pulse 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 relative to the rated current of 100%. The maximum occurrence torque is displayed. The highest value in the past 15 s is displayed relative to the rated torque of 100%. The instantaneous torque is displayed. The value of torque being occurred is displayed in real time considering a rated torque as 100%. The position within one revolution of the servo motor is displayed by pulses. When the value exceeds the maximum number of pulses, it resets to 0. When the servo motor rotates in the CCW direction, the value is added. The travel distance from the home position is displayed as multirevolution counter value of the absolution position encoder in the absolution position detection system. 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. Feedback pulses from the load-side encoder are counted and displayed. Droop pulses of the deviation counter between a load-side encoder and a command are displayed. When an incremental encoder is used for the load-side encoder, the Zphase counter of the load-side encoder is displayed by encoder pulses. When an absolute position linear encoder is used for the load-side encoder, the encoder absolute position is displayed. 6- 5 6. DISPLAY Display order Name Display name Display unit Description When an incremental encoder is used for the load-side encoder, the display shows 0. When an absolute position linear encoder is used for the load-side encoder, the display shows 0. When a rotary encoder is used for the load-side encoder, the display shows the multi-revolution counter value of the encoder. 19 Load-side encoder information 2 Opt Abscn rev 20 21 22 For manufacturer setting Moni Out1 Moni Out2 Abpls F/B volt volt pulse Motor Thm deg Pls F/B M pulse Feedback pulses from the servo motor encoder are counted and displayed for the fully closed loop control. Ele Cycpo Reserved Reserved Reserved Reserved Reserved pulse The servo motor electrical angle is displayed. Posit Dev pulse Speed Dev r/min In Enc Thm deg Set Time msec Oscil Frq Hz 23 24 25 26 27 28 29 30 31 32 33 34 35 36 Temperature of motor thermistor Cumulative feedback pulses (motor-side unit) Electrical angle For manufacturer setting Motor-side/load-side position deviation Motor-side/load-side speed deviation Encoder inside temperature Settling time Oscillation detection frequency Number of tough drive operations 37 38 Tough Drv For manufacturer setting 41 Unit power consumption Power1 W 42 Unit total power consumption Total Pc1 Wh 43 Current position Cur Posit mm 44 Command position Cmd Posit mm Cmdremin mm 40 45 46 Command remaining distance Point table No./Program No./Station position No. PntPrgNo Displays a position deviation between motor-side encoder and loadside encoder during fully closed loop control. Displays a speed deviation between motor side and load side during fully closed loop control. Inside temperature of encoder detected by the encoder is displayed. Displays the settling time in the position control mode. Displays vibration frequency at the time of oscillation detection. The number of tough drive functions activated is displayed. Drive Rec In Amp Thm Am Amp Thm Fan Speed 39 Displays the temperature of motor thermistor. deg deg Unit power consumption is displayed by increment of 1 W. Positive value indicate power running, and negative value indicate regeneration. Unit total power consumption is displayed by increment of 1 kWh. Positive value indicate power running, and negative value indicate regeneration. When "_ _ 0 _" (positioning display) is set in [Pr. PT26], the actual 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. In the manual mode, the command positions of the selected point table are displayed. Displays the remaining distance to the command position of the currently selected point table. Displays the point table No./program No./station position No. currently executed. 6- 6 6. DISPLAY Display order Name Display name Display unit 47 48 Step No. Analog override voltage PrgStpNo Ord volt volt 49 Override level Ord level % 50 51 For manufacturer setting DmoniOut1 DmoniOut2 Volt Volt Description The step No. of the program currently being executed 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 override function has two types. One is analog override by using analog voltage input and another is digital override by using parameter settings. 6- 7 6. DISPLAY 6.4 Alarm/diagnosis mode (1) Alarm display The following shows setting procedures of alarm, alarm history, external I/O signal (DIDO) display, and diagnosis. Alarm Current alarm [AL. 10.1 Voltage drop in the control circuit power] is occurring. [AL. 37.1 Parameter setting range error] is occurring. Currently occurring alarm No. is displayed. When an alarm occurs, this screen will be displayed regardless of the display mode. Alarm history DIDO display An abnormal parameter No. is displayed for the [AL. 37 Parameter error]. When a point table setting has an error, [AL. 37.3 Point table setting error] will occur. (Refer to (3) of this section.) Release the alarm with the error reset command. Execute with the " " key or cancel with the " " key. Displays sixteen alarm histories (0H to FH) including the latest alarm by alarm No. and applying-current time until the alarm occurrence. You can also delete alarm histories. (Refer to (2) of this section.) Displays on/off of DIDO. Diagnosis Software No. Automatic VC offset Motor information Displays the software version of the servo amplifier. Displays the contents of VC automatic offset. Displays the motor information. Cumulative power-on Displays power-on time (P-on) and number of power-on times (SW.) from factory setting. 6- 8 6. DISPLAY (2) Alarm history clear The servo amplifier stores last sixteen alarms from when its power is switched on at first. To control the alarms that will occur for regular operation, clear the alarm history before starting regular operation. Select "ALM Hist". Displays sixteen alarm histories (0H to FH) including the latest alarm by alarm No. and applying-current time until the alarm occurrence. Displays menu to clear alarm histories. To clear alarm histories, select "1". (3) Point table error When a point table setting has an error, [AL. 37.3 Point table setting error] will occur. After [AL. 37.3], the content of the point table error will be displayed. Point table error detail When the position data error at the point table No. 1... Point table No. which an error is occurring Error item Pos: Position data Spd: Speed Acc: Acceleration time constant Dec: Deceleration time constant Dwl: Dwell Aux: Sub function Mcd: M code 6- 9 6. DISPLAY 6.5 Parameter mode Displays setting procedures of parameters. Parameter group selection When selecting a gain/filter parameter... Displays the parameter groups. A Basic: [Pr. PA_ _ ] B Gain: [Pr. PB_ _ ] C Ext.: [Pr. PC_ _ ] D I/O: [Pr. PD_ _ ] E Ext.2: [Pr. PE_ _ ] F Ext.3: [Pr. PF_ _ ] L LM/DDM: [Pr. PL_ _ ] O Option: [Pr. Po_ _ ] T Pos ctl: [Pr. PT_ _ ] When selecting [Pr. PB10]... The first parameter No. is displayed. When setting "1234"... The parameter No., symbol, and setting value are displayed. "Fn" key displays range. Writing Writing completes. When cycling the power is required to enable the setting, the following message will appear. 6 - 10 6. DISPLAY 6.6 Point table mode Displays setting procedures of point table data. + Select any item with When setting the the " " keys When setting "4567.89"... point table No. to or number keys. "255". Table reading screen Position data display Point table No. selection Point table data are displayed. POS: Position data SPD: Speed ACC: Acceleration time constant DEC: Deceleration time constant DWELL: Dwell AUX: Sub function MCD: M code Speed display Decision Acceleration time constant display Deceleration time constant display (Note) Dwell display Sub function display M code display When setting "99"... "Fn" key displays range. Note. The setting procedures for each data are all the same. 6 - 11 Decision 6. DISPLAY 6.7 Test operation mode CAUTION The test operation mode is designed for checking servo operation. Do not use it for actual operation. Before using the test operation mode for operation checks of the machine, check safety devices such as EM2 (Forced stop 2) operate properly. If the servo motor operates unexpectedly, use EM2 (Forced stop 2) to stop it. POINT Test operation cannot be performed if SON (Servo-on) is not turned off. The single-step feed operation is only for the point table operation. The motor-less operation cannot be used with the parameter unit although it is displayed when the test operation mode is selected. In this mode, you can execute the test cancel, JOG operation, positioning operation, output signal (DO) forced output, and single-step feed. The following shows setting procedures of each operation. When using a servo motor with an electromagnetic brake, be sure to configure the sequence so that the electromagnetic brake operates by the MBR (Electromagnetic brake interlock) of the servo amplifier. JOG operation Positioning operation Motor-less operation (Note) Output signal (DO) forced output Single-step feed Note. The motor-less operation cannot be used with the parameter unit although it is displayed when the test operation mode is selected. 6 - 12 6. DISPLAY (1) JOG operation POINT When performing JOG operation, turn on EM2, LSP and LSN. LSP and LSN can be set to automatic on by setting [Pr. PD01] to " _ C _ _ ". JOG operation can be performed when there is no command from the controller. (a) Operation/drive/release You can change the operation conditions with the parameter unit. The initial operation condition and setting range for operation are listed below. Item Initial setting Setting range Speed [r/min] 200 0 to permissible instantaneous speed (Note) Acceleration/deceleration time constant [ms] 1000 0 to 20000 Note. Acceleration time constant is time from stop status (0 r/min) to reach the rated speed, and deceleration time constant is time from the rated speed to reach the stop status. The following shows the operation condition settings and the operation methods. JOG operation When setting 4000 r/min... Speed Displays the servo motor speed of the JOG operation. Acceleration/deceleration time constant When setting 4000 ms... Displays acceleration/deceleration time constants of the JOG operation. Operation screen The motor rotates to the forward rotation direction while the " "+" " keys are pressed down. The motor rotates to the reverse rotation direction while the " "+" " keys are pressed down. Releasing the " Releasing the " " key or " " key with keep pressing the " " key will stop the motor normally. " key will quickly stop the motor. Test operation mode release completed Test operation mode release Returns to the initial screen of the test operation mode. Select "RESTORE". Selecting "RESTORE" on the initial screen of the test operation mode without execution of the test operation will also displays this screen. If a parameter unit cable is disconnected during JOG operation, the servo motor will decelerate to a stop. (b) Status display The status display can be monitored during JOG operation. At this time, the "FWD", "REV", and "STOP" keys are available. 6 - 13 6. DISPLAY (2) Positioning operation POINT Turn on EM2 (forced stop 2) when performing positioning operation. One positioning operation can be performed when there is no command from the controller. (a) Operation/drive/release You can change the operation conditions with the parameter unit. The initial operation condition and setting range for operation are listed below. Item Speed [r/min] (Note 2) Acceleration/deceleration time constant [ms] (Note 1) Travel distance [pulse] Initial setting Setting range 200 0 to permissible instantaneous speed 1000 0 to 20000 4000 0 to 99999999 Note 1. The number of command input pulses per revolution of the servo motor can be changed with [Pr. PA05]. 2. Acceleration time constant is time from stop status (0 r/min) to reach the rated speed, and deceleration time constant is time from the rated speed to reach the stop status. 6 - 14 6. DISPLAY The following shows the operation condition settings and the operation methods. Positioning operation Speed When setting 1500 r/min... Displays the servo motor speed of the positioning operation. Acceleration/deceleration time constant When setting 2000 ms... Displays acceleration/deceleration time constants of the positioning operation. Pulse unit Specify the travel distance unit of pulses. 0: CMD (command pulse unit) 1: ENC (encoder pulse unit) Travel distance When setting the travel distance to "10000"... Displays the travel distance. Operation screen When the " "+" " keys are pressed down, the motor starts to the forward rotation direction for the set travel distance and stops. When the " "+" " keys are pressed down, the motor starts to the reverse rotation direction for the set travel distance and stops. Pressing the " " will temporarily stop the motor and " " or " " key will restart. Releasing the " " key will quickly stop the motor and remaining distance will be cleared. Test operation mode release completed Test operation mode release Returns to the initial screen of the test operation mode. Select "RESTORE". Selecting "RESTORE" on the initial screen of the test operation mode without execution of the test operation will also displays this screen. If a parameter unit cable is disconnected during positioning operation, the servo motor will stop quickly. (b) Status display The status display can be monitored during positioning operation. At this time, the "FWD", "REV", and "STOP" keys are available. 6 - 15 6. DISPLAY (3) Output signal (DO) forced output Output signals can be switched on/off forcibly independently of the servo status. This function is used for output signal wiring check, etc. This operation must be performed in the servo off state by turning off SON (Servo-on). The following shows operation methods. When turning on CN1-3... Select with the " " keys and set with the " " key. Output signal (DO) forced output Displays output pins and their status. : Output on : Output off Test operation mode release completed Test operation mode release Returns to the initial screen of the test operation mode. Select "RESTORE". Selecting "RESTORE" on the initial screen of the test operation mode without execution of the test operation will also displays this screen. (4) Single-step feed POINT Turn on EM2 (forced stop 2) when performing single-step feed. The operation is performed based on set point table No. The following shows the operation condition settings and the operation methods. Single-step feed When specifying point table No. 255... The setting screen of the point table No. is displayed. Pressing the " "+ " " keys will start. After the start, pressing the " " key with keep pressing the " " key will temporarily stop the motor. Releasing the " " key will quickly stop the motor. When the motor stops, remaining distance will be cleared. Test operation mode release completed Test operation mode release Returns to the initial screen of the test operation mode. Select "RESTORE". 6 - 16 Selecting "RESTORE" on the initial screen of the test operation mode without execution of the test operation will also displays this screen. 7. ERROR/MESSAGE LIST 7. ERROR/MESSAGE LIST The following errors and messages may be displayed when you use the parameter unit. If an error/message has been displayed, refer to this chapter and remove its cause. (1) Error Item Display Cause Communication error 1. Hardware malfunction 2. Mismatch in station No. 3. Mismatch in baud rate Setting error Incorrect input, etc. Writing error A value was written while writing was disabled. EEP-ROM writing error 1. A part in the parameter unit is failure. 2. The number of writing times to EEPROM exceeded 100,000 times in the parameter unit. 7- 1 7. ERROR/MESSAGE LIST (2) Message Display Description A parameter which was enabled at power-off was written. A station No. was set to transit using the parameter unit during the test operation mode. The test operation has not been released. The test mode was changed due to external factor. An invalid parameter to read in [Pr. PA19 Parameter writing inhibit] was attempted to read. In the test operation, the "ESC" key was pressed while the "Fn" key was pressed down to switch the screen to the parameter unit setting screen. RD (Ready) cannot be turned on due to alarm, etc. The mode was attempted to be the test operation mode at servoon. A station No. was attempted to change during the test operation. A point table No. was attempted to change during the single-step feed operation. A point table No. was attempted to set to the servo amplifier other than point table method was selected. 7- 2 REVISION *The manual number is given on the bottom left of the back cover. Print Data *Manual Number Mar. 2015 SH(NA)030186-A Revision First edition 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 MEMO MEMO MEMO Country/Region Sales office Tel/Fax USA MITSUBISHI ELECTRIC AUTOMATION, INC. 500 Corporate Woods Parkway, Vernon Hills, IL 60061, U.S.A. Tel : +1-847-478-2100 Fax : +1-847-478-2253 Mexico MITSUBISHI ELECTRIC AUTOMATION, INC. Mexico Branch Mariano Escobedo #69, Col.Zona Industrial, Tlalnepantla Edo, C.P.54030, México Tel : +52-55-9171-7600 Fax : +52-55-9171-7649 Brazil MITSUBISHI ELECTRIC DO BRASIL COMÉRCIO E SERVIÇOS LTDA. Rua Jussara, 1750- Bloco B Anexo, Jardim Santa Cecilia, CEP 06465-070, Barueri - SP, Brasil Tel : +55-11-4689-3000 Fax : +55-11-4689-3016 Germany MITSUBISHI ELECTRIC EUROPE B.V. German Branch Gothaer Strasse 8, D-40880 Ratingen, Germany Tel : +49-2102-486-0 Fax : +49-2102-486-1120 UK MITSUBISHI ELECTRIC EUROPE B.V. 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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) (iv) (v) 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 a failure which may be regarded as avoidable if consumable parts designated in the instruction manual, etc. are duly maintained and replaced 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 responsibility for compensation against loss of opportunity, secondary loss, etc. Whether under or after the term of warranty, we assume no responsibility for any damages arisen from causes for which we are not responsible, any losses of opportunity and/or profit incurred by you due to a failure of the Product, any damages, secondary damages or compensation for accidents arisen under a specific circumstance that are foreseen or unforeseen by our company, any damages to products other than the Product, and also compensation for any replacement work, readjustment, start-up test run of local machines and the Product and any other operations conducted by you. 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)030186-A General-Purpose AC Servo Parameter Unit MODEL MR-PRU03 INSTRUCTION MANUAL (MR-J4) MODEL MODEL CODE HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310 SH (NA) 030186-A (1503) MEE Printed in Japan This Instruction Manual uses recycled paper. Specifications are subject to change without notice.