Mitsubishi Electric MELSERVO MR-J4-03A6-RJ Instruction Manual Download Page 190

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4. HOW TO USE THE POINT TABLE

4 - 63

(2) Timing chart

ON
OFF

MEND (Travel completion)

ON
OFF

CPO (Rough match)

ON
OFF

Servo motor speed

MD0
(Operation mode selection 1)

Forward rotation

0 r/min

Reverse rotation

ON
OFF

DOG (Proximity dog)

ZP
(Home position return completion)

ON
OFF

ON
OFF
ON
OFF

ST1 (Forward rotation start)

ST2 (Reverse rotation start)

3 ms or shorter

Home position return speed

Deceleration time constant

Home position shift distance

Home position return position data

5 ms or longer

Acceleration time
constant

ON
OFF

Z-phase

Proximity dog

Creep speed

The setting value of [Pr. PT08 Home position return position data] is used as the position address at the
home position return completion.

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Summary of Contents for MELSERVO MR-J4-03A6-RJ

Page 1: ...r MODEL MODEL CODE General Purpose AC Servo MR J4 _A_ RJ MR J4 03A6 RJ SERVO AMPLIFIER INSTRUCTION MANUAL POSITIONING MODE HEAD OFFICE TOKYO BLDG MARUNOUCHI TOKYO 100 8310 MODEL MR J4 _A_ RJ MR J4 03A6 RJ C General Purpose Interface AC Servo 1CW819 SERVO AMPLIFIER INSTRUCTION MANUAL POSITIONING MODE MR J4 A RJ INSTRUCTIONMANUAL ITIGIME C ...

Page 2: ...ury 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 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 ...

Page 3: ...E 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 a fire or smoke generation Always c...

Page 4: ...not get on or put heavy load on the equipment 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...

Page 5: ...o not let a magnetic contactor etc intervene Otherwise it may cause a malfunction U Servo motor M V W U V W U M V W U V W Servo amplifier Servo motor Servo amplifier 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 ...

Page 6: ...ectromagnetic brake on the servo motor is designed to hold the motor shaft and should not be used for ordinary braking For such reasons as 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 5 Corrective actions CAUTION Ensure safe...

Page 7: ...ed in accordance with this Instruction Manual DISPOSAL OF WASTE Please dispose a servo amplifier battery primary battery 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...

Page 8: ... necessary for using a direct drive motor 4 It is necessary for using a fully closed loop system 5 It is necessary for using the Modbus RTU communication function 6 It is necessary for using the MR J4 DU_A_ RJ drive unit or MR CR55K_ converter unit This Instruction Manual does not describe the following items The followings are the same as MR J4 _A_ RJ Servo amplifiers For details of the items ref...

Page 9: ...essary according to the following table Quantity SI metric unit U S customary unit Mass 1 kg 2 2046 lb Length 1 mm 0 03937 inch Torque 1 N m 141 6 oz inch Moment of inertia 1 10 4 kg m2 5 4675 oz inch2 Load thrust load axial load 1 N 0 2248 lbf Temperature N C 9 5 32 N F www kavrammuhendislik com tr ...

Page 10: ...ION SECTIONS 3 1 to 3 54 3 1 MR J4 _A_ RJ 100 W or more 3 1 3 1 1 Display sequence 3 1 3 1 2 Status display 3 3 3 1 3 Diagnostic mode 3 12 3 1 4 Alarm mode 3 15 3 1 5 Point table setting 3 17 3 1 6 Parameter mode 3 21 3 1 7 External I O signal display 3 23 3 1 8 Output signal DO forced output 3 24 3 1 9 Single Step feed 3 25 3 1 10 Teaching function 3 27 3 2 MR J4 03A6 RJ 3 28 3 2 1 Display flowch...

Page 11: ...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 4 15 Precautions for using linear servo motors 4 69 4 4 16 Precautions for using the fully closed loop syste...

Page 12: ...pecification 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 HOW TO USE INDEXER 6 1 to 6 30 6 1 Startup 6 2 6 1 1 Power on and off procedures 6 2 6 1 2 Stop 6 2 6 1 3 Test operation 6 3 6 1 4 Parameter se...

Page 13: ...ar 7 93 7 3 1 Electronic gear settings in the point table method and program method 7 93 7 3 2 Electronic gear setting in the indexer method 7 96 7 4 Software limit 7 97 7 5 Stop method for LSP Forward rotation stroke end off or LSN Reverse rotation stroke end off 7 98 7 6 Stop method at software limit detection 7 99 8 TROUBLESHOOTING 8 1 to 8 14 8 1 Explanation for the lists 8 1 8 2 Alarm list 8 ...

Page 14: ...nit is connected to a servo amplifier 11 70 11 9 Options and peripheral equipment 11 71 11 9 1 Combinations of cable connector sets 11 71 11 9 2 MR DS60 6 digit digital switch 11 72 11 9 3 PS7DW 20V14B F Junction terminal block recommended 11 75 11 9 4 MR TB50 Junction terminal block 11 77 12 APPLICATION OF FUNCTIONS 12 1 to 12 62 12 1 Simple cam function 12 1 12 1 1 Outline of simple cam function...

Page 15: ...6 12 2 2 Interrupt positioning function 12 59 12 3 Infinite feed function setting degree 12 62 www kavrammuhendislik com tr ...

Page 16: ...sed by the servo amplifier and MR Configurator2 with the following software versions Product name Model Software version Servo amplifier MR J4 _A_ RJ 100 W or more B3 or later MR J4 03A6 RJ Does not depend on the software version MR Configurator2 SW1DNC MRC2 _ 1 34L or later 2 Parameter setting a Selection of the positioning mode Select a positioning mode with Pr PA01 Operation mode to use Control...

Page 17: ... the S pattern acceleration deceleration time constants with Pr PC03 System Signed absolute value command method incremental value command method Position command data input RS 422 RS 485 communication Note 5 Position command input Note 1 Absolute value command method Setting of position command data with RS 422 RS 485 communication Setting range of feed length per point 999999 to 999999 10STM μm ...

Page 18: ...n etc home position address settable Stopper type 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 Returns to home position based on the rear end of ...

Page 19: ... direct drive motors and incremental linear encoders 5 For MR J4 _A_ RJ servo amplifiers with a capacity of 100 W or more the RS 485 communication is available with the servo amplifiers manufactured in November 2014 or later 6 For MR J4 03A6 RJ servo amplifiers point table No 1 to No 99 can be set with the operation section 4 push buttons Use MR Configurator2 to set point table No 100 to 255 Refer...

Page 20: ...ion positions To select station positions use external input signals or communication function Chapter 6 Roll feed display function Positions based on specified travel distance from a status display 0 of current command positions at start Section 4 5 Mark detection Current position latch function When the mark detection signal turns on the current position is latched The latched data can be read w...

Page 21: ...teristics automatically to suppress mechanical vibration MR J4 _A_ section 7 1 2 Low pass filter Suppresses high frequency resonance which occurs as servo system response is increased MR J4 _A_ section 7 1 4 Machine analyzer function Analyzes the frequency characteristic of the mechanical system by simply connecting an MR Configurator2 installed personal computer and servo amplifier MR Configurato...

Page 22: ...ut program operation single step feed However MR Configurator2 is necessary for positioning operation program operation and single step feed Section 3 1 8 Section 3 1 9 Section 3 2 8 Section 3 2 9 MR J4 _A_ section 4 5 8 section 4 5 9 section 18 5 9 section 18 5 10 Analog monitor output Servo status is outputted in terms of voltage in real time Pr PC14 Pr PC15 MR Configurator2 Using a personal com...

Page 23: ...unction 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 Machine diagnosis function 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 i...

Page 24: ...ated 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 When the indexer method is used there are functional restrictions This function is supported by MR J4 _A_ RJ servo amplifiers with a capacity of 100 W or more manuf...

Page 25: ...ion is an example of MR J4 20A RJ CN4 Line noise filter FR BSF01 CN5 Regenerative option P C L11 L21 P3 P4 Personal computer MR Configurator2 CN3 CN6 CN8 CN1 CN2 W V U L1 L2 L3 Note 3 Magnetic contactor MC Note 1 Power factor improving DC reactor FR HEL Molded case circuit breaker MCCB To safety relay or MR J3 D05 safety logic unit Analog monitor Junction terminal block Manual pulse generator Note...

Page 26: ... off the magnetic contactor 4 When using MR J4 _A_ RJ servo amplifiers with a capacity of 100 W or more in the linear servo system or in the fully closed loop system connect an external encoder to this connector Refer to Table 1 1 of MR J4 _A_ RJ Servo Amplifier Instruction Manual and Linear Encoder Instruction Manual for the connectible external encoders 5 Always connect between P and D terminals...

Page 27: ...1 FUNCTIONS AND CONFIGURATION 1 12 MEMO www kavrammuhendislik com tr ...

Page 28: ...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 DOCOM DOCOMD Control output signal Servo amplifier or MR D01 RA For sink output interface 24 V DC DOCOM DOCOMD Control output signal 24 V DC Servo amplifier or MR D01 RA For source output interfac...

Page 29: ..._ section 18 3 1 Explanation of power supply system except section 2 6 Power on sequence MR J4 _A_ section 3 3 MR J4 _A_ section 18 3 2 Detailed explanation of signals MR J4 _A_ section 3 6 Forced stop deceleration function MR J4 _A_ section 3 7 Alarm occurrence timing chart MR J4 _A_ section 3 8 MR J4 _A_ section 18 3 8 Interface except for section 2 5 Internal connection diagram MR J4 _A_ sectio...

Page 30: ...A6 42 15 16 44 19 41 10 17 18 EM2 SON MD0 LSN DI0 DI1 DI2 ST1 ST2 Reverse rotation stroke end Forced stop 2 Servo on Forward rotation stroke end Note 3 5 Note 5 10 V DC 10 V DC Analog monitor 1 Analog monitor 2 Encoder A phase pulse differential line driver Encoder B phase pulse differential line driver Control common Encoder Z phase pulse open collector Encoder Z phase pulse differential line dri...

Page 31: ...ection 11 7 of MR J4 _A_ RJ Servo Amplifier Instruction Manual 10 Controllers or parameter units can also be connected via the CN3 connector with the RS 422 RS 485 communication Note that using the USB communication function CN5 connector prevents the RS 422 RS 485 communication function CN3 connector from being used and vice versa They cannot be used together PRU03 MR PRU03 parameter unit CN3 Ser...

Page 32: ...18 EM2 SON MD0 LSN DI0 DI1 DI2 ST1 ST2 Reverse rotation stroke end Forced stop 2 Servo on Forward rotation stroke end Note 3 5 Note 5 10 V DC 10 V DC Analog monitor 1 Analog monitor 2 Encoder A phase pulse differential line driver Encoder B phase pulse differential line driver Control common Encoder Z phase pulse open collector Encoder Z phase pulse differential line driver Malfunction Note 6 10 m...

Page 33: ...ection 11 7 of MR J4 _A_ RJ Servo Amplifier Instruction Manual 10 Controllers or parameter units can also be connected via the CN3 connector with the RS 422 RS 485 communication Note that using the USB communication function CN5 connector prevents the RS 422 RS 485 communication function CN3 connector from being used and vice versa They cannot be used together PRU03 MR PRU03 parameter unit CN3 Ser...

Page 34: ...A6 42 15 16 44 19 41 10 17 18 EM2 SON MD0 LSN DI0 DI1 DI2 ST1 MD1 Reverse rotation stroke end Forced stop 2 Servo on Forward rotation stroke end Note 3 5 Note 5 10 V DC 10 V DC Analog monitor 1 Analog monitor 2 Encoder A phase pulse differential line driver Encoder B phase pulse differential line driver Control common Encoder Z phase pulse open collector Encoder Z phase pulse differential line dri...

Page 35: ...l 9 Use SW1DNC MRC2 _ Refer to section 11 7 of MR J4 _A_ RJ Servo Amplifier Instruction Manual 10 Controllers or parameter units can also be connected via the CN3 connector with the RS 422 RS 485 communication Note that using the USB communication function CN5 connector prevents the RS 422 RS 485 communication function CN3 connector from being used and vice versa They cannot be used together PRU03...

Page 36: ...T2 Reverse rotation stroke end Forced stop 2 Servo on Forward rotation stroke end Note 3 5 Note 5 5 V DC 4 V DC 5 V DC 4 V DC Analog monitor 1 Analog monitor 2 Encoder A phase pulse differential line driver Encoder B phase pulse differential line driver Control common Encoder Z phase pulse open collector Encoder Z phase pulse differential line driver Malfunction Note 6 10 m or less Note 12 Main ci...

Page 37: ...me signal name are connected in the servo amplifier 8 TLA will be available when TL External torque limit selection is enabled with Pr PD04 Pr PD06 Pr PD08 Pr PD10 Pr PD12 Pr PD14 Pr PD18 Pr PD20 Pr PD22 Pr PD44 and Pr PD46 Refer to section 3 6 1 5 of MR J4 _A_ RJ Servo Amplifier Instruction Manual 9 Use SW1DNC MRC2 _ Refer to MR J4 _A_ RJ Servo Amplifier Instruction Manual section 11 7 10 The USB...

Page 38: ...Reverse rotation stroke end Forced stop 2 Servo on Forward rotation stroke end Note 3 5 Note 5 5 V DC 4 V DC 5 V DC 4 V DC Analog monitor 1 Analog monitor 2 Encoder A phase pulse differential line driver Encoder B phase pulse differential line driver Control common Encoder Z phase pulse open collector Encoder Z phase pulse differential line driver Malfunction Note 6 10 m or less Note 12 Main circu...

Page 39: ...me are connected in the servo amplifier 8 TLA will be available when TL External torque limit selection is enabled with Pr PD04 Pr PD06 Pr PD08 Pr PD10 Pr PD12 Pr PD14 Pr PD18 Pr PD20 Pr PD22 Pr PD44 and Pr PD46 Refer to section 3 6 1 5 of MR J4 _A_ RJ Servo Amplifier Instruction Manual 9 Use SW1DNC MRC2 _ Refer to MR J4 _A_ RJ Servo Amplifier Instruction Manual section 11 7 10 The USB communicati...

Page 40: ...D0 LSN DI0 DI1 DI2 ST1 MD1 Reverse rotation stroke end Forced stop 2 Servo on Forward rotation stroke end Note 3 5 Note 5 5 V DC 4 V DC 5 V DC 4 V DC Analog monitor 1 Analog monitor 2 Encoder A phase pulse differential line driver Encoder B phase pulse differential line driver Control common Encoder Z phase pulse open collector Encoder Z phase pulse differential line driver Malfunction Note 6 10 m...

Page 41: ... The pins with the same signal name are connected in the servo amplifier 8 TLA will be available when TL External torque limit selection is enabled with Pr PD04 Pr PD06 Pr PD08 Pr PD10 Pr PD12 Pr PD14 Pr PD18 Pr PD20 Pr PD22 Pr PD44 and Pr PD46 Refer to section 3 6 1 5 of MR J4 _A_ RJ Servo Amplifier Instruction Manual 9 Use SW1DNC MRC2 _ Refer to MR J4 _A_ RJ Servo Amplifier Instruction Manual se...

Page 42: ...nector CN8 refer to chapter 13 of MR J4 _A_ RJ Servo Amplifier Instruction Manual 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 Screw Ground plate Cable PP CN1 10 pin NP CN1 35 pin and PP2 CN1 37 pin NP2 CN1 38 pin are exclusive They cannot be used together www kavrammuhendislik com tr ...

Page 43: ... 33 35 37 39 41 43 45 47 49 26 28 30 32 34 36 38 40 42 44 46 48 25 50 CN8 For the STO I O signal connector refer to chapter 13 2 of MR J4 _A_ RJ Servo Amplifier Instruction Manual CN4 battery connector Refer to MR J4 _A_ RJ Servo Amplifier Instruction Manual section 11 8 4 MRR2 2 LG 8 6 1 P5 5 10 3 MR2 7 9 Note 1 2 CN2L using serial encoder MXR2 THM2 THM1 MX2 BAT 4 PAR 2 LG 8 6 1 P5 PBR PSEL PB 5 ...

Page 44: ... DI0 PD12 20 DICOM DICOM DICOM 21 DICOM DICOM DICOM 22 O Note 6 CPO Note 6 CPO Note 6 CPO PD23 23 O Note 6 ZP Note 6 ZP Note 6 ZP PD24 24 or less O INP INP INP PD25 25 O Note 6 MEND Note 6 MEND Note 6 MEND PD26 26 27 I Note 3 TLA Note 3 TLA Note 3 TLA 28 LG LG LG 29 30 LG LG LG 31 32 33 O OP OP OP 34 LG LG LG 35 Note 8 I Note 10 Note 10 Note 10 PD46 Note 9 36 I NG NG NG 37 Note 12 I Note 11 Note 1...

Page 45: ...Pr PD26 CN1 22 CPO Rough match CN1 23 ZP Home position return completion CN1 25 MEND Travel completion 7 For BCD input refer to chapter 12 8 Supply of 24 V DC to OPC power input for open collector sink interface when using the CN1 10 pin and CN1 35 pin for DI 9 This parameter is available with servo amplifiers with software version B7 or later 10 This signal is used with sink interface Input devic...

Page 46: ... 33 31 29 25 23 21 19 17 15 13 11 9 7 5 3 24 22 20 18 16 14 12 10 8 6 4 27 2 26 1 The frame of the CN1 connector is connected to the noiseless grounding terminal in the servo amplifier CN4 Battery connector Refer to MR J4 _A_ RJ Servo Amplifier Instruction Manual section 11 8 CN3 USB connector Refer to MR J4 _A_ RJ Servo Amplifier Instruction Manual section 11 7 1B CN2 MRR 2B 3B 4B LG 5B BAT 4A P5...

Page 47: ...I ST1 ST1 ST1 PD08 18 I ST2 ST2 Note 4 MD1 PD10 19 I DI0 DI0 DI0 PD12 20 DICOM DICOM DICOM 21 DICOM DICOM DICOM 22 O Note 5 CPO Note 5 CPO Note 5 CPO PD23 23 O Note 5 ZP Note 5 ZP Note 5 ZP PD24 24 O INP INP INP PD25 25 O Note 5 MEND Note 5 MEND Note 5 MEND PD26 26 O MO1 MO1 MO1 PC14 27 I Note 3 TLA Note 3 TLA Note 3 TLA 28 LG LG LG 29 O MO2 MO2 MO2 PC15 30 LG LG LG 31 I TRE TRE TRE 32 33 O OP OP ...

Page 48: ...pins with Pr PD23 Pr PD24 and Pr PD26 CN1 22 CPO Rough match CN1 23 ZP Home position return completion CN1 25 MEND Travel completion 6 Supply of 24 V DC to OPC power input for open collector sink interface when using the CN1 10 and CN1 35 pins for DI 7 This is available with servo amplifiers with software version B7 or later 8 This is used with sink interface Input devices are not assigned by defa...

Page 49: ...4 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 fo...

Page 50: ...G enable it by setting Pr PD23 to Pr PD26 Pr PD28 and Pr PD47 However Pr PD47 is not available with MR J4 03A6 RJ servo amplifiers External torque limit selection TL 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 J4 _A_ RJ Servo Amplifier Instruction Manual For...

Page 51: ...ecelerate to stop MD1 cannot be used Indexer method Select an operation mode with combinations of MD0 and MD1 Refer to the following table for combinations Changing an operation mode during operation will clear the command remaining distance and the motor will decelerate to stop DI 1 Operation mode selection 2 MD1 DI 1 Device Note Operation mode MD1 MD0 0 0 Home position return mode 0 1 Manual ope...

Page 52: ...on mode will stop the servo motor Indexer method 1 Automatic operation mode 1 or automatic operation mode 2 Turning on ST1 will execute one positioning to the specified station No 2 Manual operation mode Turning on ST1 with the station JOG operation will rotate the motor in the specified direction with SIG only while it is on Turning off ST1 will execute a positioning to a station which can be dec...

Page 53: ...ome position return type of the torque limit changing dog type is selected 2 Manual operation mode MD1 0 MD0 1 You can use this as an input device for specifying a rotation direction of the servo motor The rotation direction varies depending on the setting of Pr PA14 Rotation direction selection Refer to section 2 1 3 Automatic operation mode 1 rotation direction specifying indexer MD1 1 MD0 0 You...

Page 54: ...with communication commands DI 1 Point table No program No selection 1 DI0 CN1 19 Point table method Select point tables and home position return mode with DI0 to DI7 DI 1 Point table No program No selection 2 DI1 CN1 41 Device Note Selection contents DI7 DI6 DI5 DI4 DI3 DI2 DI1 DI0 0 0 0 0 0 0 0 0 Home position return mode Point table No program No selection 3 DI2 CN1 10 0 0 0 0 0 0 0 1 Point tab...

Page 55: ... time constants set with Pr PC01 Acceleration time constant 1 and Pr PC02 Deceleration time constant 1 Turning on ST1 with RT on will select acceleration deceleration time constants set with Pr PC30 Acceleration time constant 2 and Pr PC31 Deceleration time constant 2 RT will not be accepted during operation DI 1 Device Note Description RT Acceleration time constant Deceleration time constant 0 Pr...

Page 56: ... DI 1 Digital override selection 2 OV1 Digital override selection 3 OV2 Digital override selection 4 OV3 Device Note Description OV3 OV2 OV1 OV0 0 0 0 0 100 of command speed 0 0 0 1 50 of command speed 0 0 1 0 55 of command speed 0 0 1 1 60 of command speed 0 1 0 0 65 of command speed 0 1 0 1 70 of command speed 0 1 1 0 75 of command speed 0 1 1 1 80 of command speed 1 0 0 0 85 of command speed 1 ...

Page 57: ...load side deviation counter clear MECR Turn on MECR to clear the motor side load side position deviation counter to zero It operates during the fully closed loop control It does not affect the position control droop pulses Turning on this device during the semi closed loop control does not affect the operation Turning on this device while the fully closed loop control error detection function is d...

Page 58: ...mplifier of 7 kW or less it is not necessary to use this device DO 1 Ready RD CN1 49 Enabling servo on to make the servo amplifier ready to operate will turn on RD DO 1 In position INP CN1 24 When the number of droop pulses is in the preset in position range INP will turn on The in position range can be changed using Pr PA10 When the in position range is increased INP may be on during low speed ro...

Page 59: ... Absolute position detection system selection was changed from Disabled to Enabled 12 Pr PA14 Rotation direction selection travel direction selection was changed 13 Pr PA01 Operation mode was changed 14 Pr PT08 Home position return position data or Pr PT28 Number of stations per rotation was changed DO 1 Rough match CPO When a command remaining distance is lower than the rough match output range s...

Page 60: ...0 0 0 0 1 0 Point table No 2 Point table No output 5 PT4 0 0 0 0 0 0 1 1 Point table No 3 Point table No output 6 PT5 Point table No output 7 PT6 1 1 1 1 1 1 1 0 Point table No 254 Point table No output 8 PT7 1 1 1 1 1 1 1 1 Point table No 255 Note 1 0 Off 1 On 2 For MR J4 03A6 RJ servo amplifiers up to six points of DO are available therefore PT0 to PT7 cannot be outputted simultaneously Station ...

Page 61: ...ng shows correspondence of each digit and device bit3 bit2 bit1 bit0 bit3 bit2 bit1 bit0 MCD00 MCD01 MCD02 MCD03 MCD10 MCD11 MCD12 MCD13 Second digit First digit DO 1 M code 2 bit 1 MCD01 DO 1 M code 3 bit 2 MCD02 DO 1 M code 4 bit 3 MCD03 DO 1 M code 5 bit 4 MCD10 DO 1 M code 6 bit 5 MCD11 DO 1 M code 7 bit 6 MCD12 DO 1 M code 8 bit 7 MCD13 DO 1 M code Device Note First second digit MCD03 MCD13 M...

Page 62: ...This device is not available with MR J4 03A6 RJ servo amplifiers DO 1 During fully closed loop control CLDS CLDS turns on during fully closed loop control This device is not available with MR J4 03A6 RJ servo amplifiers DO 1 Under cam control CAMS It turns on when the control switches to the cam control It turns off when the control switches to the normal positioning control DO 1 Cam position comp...

Page 63: ...re Device Symbol Connector pin No Function and application I O division Control mode CP BCD CL PS Encoder A phase pulse differential line driver LA LAR CN1 4 CN1 5 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 bet...

Page 64: ...idth is about 400 μs For home position return using this pulse set the creep speed to 100 r min or less DO 2 Encoder Z phase pulse open collector OP CN1 33 The encoder zero point signal is outputted in the open collector type DO 2 Analog monitor 1 MO1 CN1 26 This is used to output the data set in Pr PC14 to between MO1 and LG in terms of voltage Output voltage 5 V 4 V Resolution 10 bits or equival...

Page 65: ...int table method 2 Analog override unusable 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 Anal...

Page 66: ...plifier Position control Speed control Select a changed value using OVR Analog override selection Note External input signal Speed change value 0 No change 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 is from 9999 to 9999 mV www kavrammuhendislik co...

Page 67: ... I O interface refer to section 3 9 of MR J4 _A_ RJ Servo Amplifier Instruction Manual For the CN8 connector refer to section 13 3 1 of MR J4 _A_ RJ Servo Amplifier Instruction Manual The following shows an example of internal connection diagram of the point table method www kavrammuhendislik com tr ...

Page 68: ...1 Differential line driver output 35 mA or lower Open collector output Approx 100 Ω Approx 1 2 kΩ Approx 100 Ω Approx 1 2 kΩ CN1 2 VC 27 TLA 1 P15R 3 LG 28 LG 30 LG Case SD Note 2 Insulated 15 V DC Approx 6 2 kΩ Approx 6 2 kΩ RS 422 RS 485 Analog monitor Servo amplifier Note 4 24 V DC Note 4 24 V DC CN2 2 4 7 8 MR MRR MX MXR LG Encoder E Servo motor Note 3 Note 3 USB D GND D 2 3 5 CN5 10 V DC 10 V...

Page 69: ...ows sink I O interface For source I O interface refer to section 3 9 3 of MR J4 _A_ RJ Servo Amplifier Instruction Manual 4 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 5 For the connection with external encoders refer to table 1 1 of MR J4 _A_ RJ Servo Amplifier Instruction Manual www kavrammuh...

Page 70: ...SDP SDN RDP RDN LG TRE CN1 MO1 MO2 LG 26 29 28 Differential line driver output 35 mA or lower Open collector output Approx 100 Ω Approx 1 2 kΩ Approx 100 Ω Approx 1 2 kΩ CN1 2 VC 27 TLA 1 P15R 3 LG Case SD Note 1 Insulated 15 V DC Approx 6 2 kΩ Approx 6 2 kΩ RS 422 Analog monitor Servo amplifier Note 3 24 V DC Note 3 24 V DC CN2 4B 1B MR MRR LG Encoder Servo motor Note 2 Note 2 USB D GND D 2 3 5 C...

Page 71: ...tion of the 24 V DC power supply is divided between input signal and output signal for convenience However they can be configured by one For 24 V DC power for I O signal use power other than 24 V DC power of servo amplifier control circuit power supply 4 To use the RS 422 communication function connect between TRE and RDN of the final axis servo amplifier Refer to MR J4 _A_ RJ Servo Amplifier Inst...

Page 72: ... disappears and the servo amplifier will operate properly 3 The servo amplifier receives the SON Servo on 4 s to 5 s after the main circuit power supply is switched on Therefore when SON Servo on is switched on simultaneously with the main circuit 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 ...

Page 73: ...operate properly 3 The servo amplifier receives the SON Servo on within 4 s to 5 s after the main circuit power supply is switched on Therefore when SON Servo on is switched on simultaneously with the main circuit 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 of this sect...

Page 74: ..._ means MR J4 _A_ RJ Servo Amplifier Instruction Manual Item Detailed explanation MR J4 _A_ RJ 100 W or more MR J4 03A6 RJ Test operation mode MR J4 _A_ section 4 5 9 MR J4 _A_ section 18 5 10 3 1 MR J4 _A_ RJ 100 W or more 3 1 1 Display sequence 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 www k...

Page 75: ...display VC automatic offset servo motor series ID display servo motor type ID display servo motor encoder ID display teaching function Section 3 1 3 Current alarm display alarm history display and parameter error No point table error No display Section 3 1 4 Display and setting of point table data The screen is displayed only in the point table method and is not displayed in other control mode Sec...

Page 76: ...the required data is selected the corresponding symbol is displayed Press the SET button to display that data At only power on however data appears after the symbol of the status display selected in Pr PC36 has been shown 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 shown below www kavrammuhendislik ...

Page 77: ...consumption 2 1 kW unit Unit total power consumption 2 100 kWh unit Current position Command position Command remaining distance Point table program No command station position Step No Analog override voltage Override level Cam axis one cycle current value Cam standard position Cam axis feed current value Cam No in execution Cam stroke amount in execution Note Main axis current value Cumulative fe...

Page 78: ...ad side encoder droop pulses Load side encoder information 1 1 pulse unit Load side encoder information 1 100000 pulses unit Load side encoder information 2 Cumulative feedback pulses Note 1 The displays in the frames are from the cumulative feedback pulses of positioning mode to unit total power consumption 2 100 kWh unit with some displays omitted 2 The displays in the frames are from the curren...

Page 79: ...Electrical angle high Cumulative feedback pulses Z phase counter low Z phase counter high Main axis one cycle current value Note 1 The displays in the frames are from the cumulative feedback pulses of positioning mode to unit total power consumption 2 100 kWh unit with some displays omitted 2 The displays in the frames are from the current position of positioning mode to override level with some d...

Page 80: ...age Voltage of TLA Analog torque limit voltage is displayed Regenerative load ratio L The ratio of regenerative power to permissible regenerative power is displayed in Effective load ratio J The continuous effective load current is displayed The effective value in the past 15 s is displayed relative to the rated current of 100 Peak load ratio b The maximum occurrence torque is displayed The highes...

Page 81: ...e SET button to reset the display value to zero The value of minus is indicated by the lit decimal points in the upper four digits Load side encoder Droop pulses FE pulse Droop pulses of the deviation counter between a load side encoder and a command are displayed When the count exceeds 99999 it starts from 0 Negative value is indicated by the lit decimal points in the upper four digits The displa...

Page 82: ...e the servo amplifier display is five digits Command remaining distance rn 10STM μm 10 STM 4 inch 10 3 degree pulse Note 2 Indicates the remaining distance to the command position of the currently selected point table program and station 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 di...

Page 83: ...r shows only the lower five digits of the actual value since the servo amplifier display is five digits Refer to section 12 1 8 for detecting point Main axis one cycle current value MCyC 10STM μm 10 STM 4 inch 10 3 degree pulse Note 4 The input travel amount of the input axis is displayed within the range of 0 and cam axis one cycle length setting 1 Unit is an increment of cam axis one cycle When ...

Page 84: ...llows Control mode Status display Position Cumulative feedback pulses Position speed Cumulative feedback pulses servo motor speed Speed Servo motor speed Speed torque Servo motor speed analog torque command voltage Torque Analog torque command voltage Torque position Analog torque command voltage cumulative feedback pulses Positioning point table method program method Current position Positioning ...

Page 85: ...turer adjustment Single step feed Software version lower Software version upper Drive recorder enabled disabled display External I O signal display Output signal DO forced output JOG operation Automatic VC offset Servo motor series ID Servo motor type ID Servo motor encoder ID For manufacturer adjustment For manufacturer adjustment Teaching function Positioning operation Motor less operation UP DO...

Page 86: ...J Servo Amplifier Instruction Manual Positioning operation Positioning operation can be performed when there is no command from an external controller MR Configurator2 is required to perform positioning operation For details refer to section 4 5 9 3 of MR J4 _A_ RJ Servo Amplifier Instruction Manual Motor less operation Without connecting the servo motor output signals or status display can be pro...

Page 87: ...side Servo motor series ID Push the SET button to show the series ID of the servo motor currently connected For indication details refer to app 1 of Servo Motor Instruction Manual Vol 3 Servo motor type ID Push the SET button to show the type ID of the servo motor currently connected For indication details refer to app 1 of Servo Motor Instruction Manual Vol 3 Servo motor encoder ID Push the SET b...

Page 88: ... 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 Parameter error No point table error No Note 2 This indicates no occurrence of AL 37 Parameter error The data content error of Pr PA12 Reverse rotation torque limit The value of the point table is...

Page 89: ...the operation area At this time the decimal point in the fourth digit remains flickering 3 For any alarm remove its cause and clear it in any of the following methods Refer to chapter 8 for the alarms that can be cleared a Switch power off then on b Push the SET button on the current alarm screen c Turn on RES Reset 4 Use Pr PC18 to clear the alarm history 5 Push UP or DOWN to move to the next his...

Page 90: ... function and M code 1 Display transition Target position Servo motor speed Deceleration time constant Dwell Auxiliary function M code Acceleration time constant UP DOWN Point table No 1 Point table transition Point table No 2 Point table No 253 Point table No 254 Point table No 255 Point table No 3 UP DOWN SET button MODE button Setting item transition www kavrammuhendislik com tr ...

Page 91: ...ble is completed After the set dwell has elapsed start the position command of the next point table 0 to 20000 Auxiliary function H This function is enabled when you select the point table by input signal 1 When using this point table under the absolute value command method 0 Automatic operation is performed in accordance with a single point table selected 1 Executes automatic continuous operation...

Page 92: ...ing example is the operation method at power on to set 1 to the auxiliary function of the point table No 1 The setting value of auxiliary function of specified point table No flickers During flickering the set value can be changed Set using the UP or DOWN button Press the MODE button four times A point table No is displayed Press the UP or DOWN button to select point table No 1 Press the SET butto...

Page 93: ...ET button once Press the SET button once Setting of upper 1 digit Change the setting with the UP or DOWN button Press the SET button once Enter the setting Press the MODE button once Press the MODE button once Setting of lower 4 digits Press the MODE button four times A point table No is displayed Press the UP or DOWN button to select point table No 1 Press the SET button once www kavrammuhendisli...

Page 94: ...Pr PL02 Pr PL47 Pr PL48 UP DOWN From alarm mode Option setting parameters Pr Po01 Pr Po02 Pr Po31 Pr Po32 2 Operation method 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 screen The para...

Page 95: ... The screen flickers Press the MODE button to switch to the basic setting parameter screen Press the UP or DOWN button to select Pr PA06 Press the SET button once Press the SET button once Setting of upper 1 digit Change the setting with the UP or DOWN button Press the SET button once Enter the setting Press the MODE button once Press the MODE button once Setting of lower 4 digits www kavrammuhend...

Page 96: ...hown below Input signals Output signals Always lit CN1 16 CN1 41 CN1 22 CN1 48 CN1 19 CN1 15 CN1 44 CN1 43 CN1 23 CN1 25 CN1 49 CN1 24 Light on on Light off off CN1 18 CN1 17 CN1 33 CN1 45 CN1 42 CN1 10 Note 1 CN1 37 Note 2 CN1 35 Note 1 CN1 38 Note 2 CN1 13 CN1 14 Note 1 This pin is available with servo amplifiers having software version B3 or later and manufactured in November 2014 or later 2 Th...

Page 97: ...ed in the servo off state by turning off SON Servo on The display screen at power on Using the MODE button display the diagnostic screen Switch on off the signal below the lit segment 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 the UP button three times Press the SET button for 2 s or more CN1 33 CN1 48 ...

Page 98: ...the following items and operate c d e f a c d e f b Point table operation Program operation 1 Point table No or program No setting Input a point table No into the input box a Point table No or a program No into 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 Whil...

Page 99: ...p 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 www kavrammuhendislik com tr ...

Page 100: ...will flicker 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 flicker the current position is wr...

Page 101: ...ve 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 Section 3 2 3 Current alarm display alarm history display and parameter error No point table error No display Section 3 2 4 Display and s...

Page 102: ...n 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 www kavrammuh...

Page 103: ...thin one revolution 1 pulse unit Position within one revolution 1000 pulses unit Position within one revolution 1000000 pulses unit ABS counter 1 rev unit DOWN UP DOWN Unit total power consumption 2 1 kWh unit Unit total power consumption 3 1000 kWh unit Unit power consumption 1 1 W unit Unit power consumption 2 1 kW unit Unit total power consumption 1 1 Wh unit Cumulative feedback pulses 1 pulse ...

Page 104: ...ed with the positioning mode 0 is always displayed Command pulse frequency 1000 kpulses s unit nh 1000 kpulses s Analog speed command voltage Analog speed limit voltage F V Not used with the positioning mode An applied voltage to the CN1 connector is displayed Analog torque command voltage U V Not used with the positioning mode An applied voltage to the CN1 connector is displayed Analog torque lim...

Page 105: ...its Unit power consumption 2 1 kW unit PC2 kW Unit power consumption is displayed by increment of 1 kW Positive value indicate power running and negative value indicate regeneration The values in excess of 99 can be counted However the counter shows only the lower three digits of the actual value since the servo amplifier display is three digits Negative value is indicated by the lit decimal point...

Page 106: ... program method the point table and program No currently being executed are displayed The selected number is displayed during a temporary stop or manual operation For the indexer method the command next station position is displayed Step No Sno The step No of the program currently being executed is displayed At a stop 0 is displayed Analog override voltage oru V The analog override voltage is disp...

Page 107: ...ngle step feed Software version lower Software version upper Drive recorder enabled disabled display External I O signal display Output signal DO forced output Positioning operation Motor less operation Machine analyzer operation DOWN UP JOG operation Automatic VC offset Servo motor series ID Servo motor type ID Servo motor encoder ID For manufacturer adjustment For manufacturer adjustment Teachin...

Page 108: ...eration Positioning operation can be performed when there is no command from an external controller MR Configurator2 is required to perform positioning operation For details refer to section 4 5 9 3 of MR J4 _A_ RJ Servo Amplifier Instruction Manual Motor less operation Without connecting the servo motor output signals or status display can be provided in response to the input device as if the ser...

Page 109: ...agnosis menu Automatic VC offset 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 Analog override of 0 V a zero adjustment of offset voltages will be automatically performed When using this function enable the function in the following procedure When it is enabled Pr PC37 value changes to the a...

Page 110: ...ervo motor encoder ID SET Displays the servo motor encoder ID of the servo motor currently connected Press the SET button to show the lower 3 digits of servo motor encoder ID For indication details refer to app 1 of Servo Motor Instruction Manual Vol 3 Press the UP or DOWN button to shift to the next diagnosis menu For manufacturer adjustment This is for manufacturer adjustment For manufacturer ad...

Page 111: ...history SET Indicates that the last alarm is AL 50 1 Thermal overload error 1 during operation When an alarm is recorded to alarm history the second digit decimal point flickers Press the SET button to display the detail number of AL 50 SET Indicates the second last alarm is AL 33 1 Main circuit voltage error When an alarm is recorded to alarm history the second digit decimal point flickers Press ...

Page 112: ...or 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 Functions at occurrence of an alarm 1 The current alarm is displayed in any mode 2 Even during an alarm occurrenc...

Page 113: ...ervo motor speed acceleration time constant deceleration time constant dwell auxiliary function and M code 1 Display transition Target position Servo motor speed Deceleration time constant Dwell Auxiliary function M code Acceleration time constant UP DOWN Point table No 1 Point table transition Point table No 2 Point table No 98 Point table No 99 Point table No 3 UP DOWN SET button MODE button Set...

Page 114: ...able is completed After the set dwell has elapsed start the position command of the next point table 0 to 20000 Auxiliary function H This function is enabled when you select the point table by input signal 1 When using the point table with the absolute value command method 0 Executes automatic operation for a selected point table 1 Executes automatic continuous operation without stopping for the n...

Page 115: ...e operation method at power on to set 1 to the auxiliary function of the point table No 1 The setting value of auxiliary function of specified point table No flickers During flickering the set value can be changed Set using the UP or DOWN button Press the MODE button four times A point table No is displayed Press the UP or DOWN button to select point table No 1 Press the SET button once Press the ...

Page 116: ...WN button to select point table No 1 Press the SET button once Note 1 Pressing the SET button in either upper or lower 3 digit display makes the display flicker 2 Press the SET button to confirm on upper 3 digits or lower 3 digits screen The display can be switched between upper and lower 3 digit by pressing the MODE button Switching the display between upper and lower 3 digit is also possible by ...

Page 117: ...ay mode Basic setting parameters Extension setting 2 parameters Extension setting 3 parameters Gain filter parameters MODE Positioning control parameters From alarm mode Option setting parameters Pr PB01 Pr PA02 Pr PA01 Pr PD01 Pr PD02 Pr PD47 Pr PD48 Pr PC01 Pr PC02 Pr PC79 Pr PC80 Pr PB02 Pr PB63 Pr PB64 Pr PA31 Pr PA32 Pr PE01 Pr PE02 Pr PE63 Pr PE64 Pr PF01 Pr PF02 Pr PF47 Pr PF48 Pr Po01 Pr P...

Page 118: ...nging the parameter contents Press the UP or DOWN button to change the value and press the SET button to fix the setting The setting will be displayed as it is after the setting is fixed To cancel the setting data press the MODE button for 2 s while the display is flickering The setting before the change will be displayed Press and hold the UP or DOWN button to change the data continuously In that...

Page 119: ...s the MODE button once Lower 3 digits Note 1 Note 1 Pressing the SET button in either upper or lower 3 digit display makes the display flicker 2 Press the SET button to confirm on upper 3 digits or lower 3 digits screen The display can be switched between upper and lower 3 digit by pressing the MODE button Switching the display between upper and lower 3 digit is also possible by pressing the MODE ...

Page 120: ...ess the SET button once The setting is determined Note 2 Press the MODE button once Lower 3 digits Note 1 Note 1 Pressing the SET button in upper middle or lower 3 digit display makes the display flicker 2 Pressing the SET button in upper middle or lower 3 digit display fixes the setting The display can be switched among upper middle and lower 3 digits by pressing the MODE button Switching the dis...

Page 121: ...Note 1 Pressing the SET button in upper middle or lower 2 digit display makes the display flicker 2 Press the SET button to confirm on upper 2 digits or lower 2 digits screen The display can be switched among upper middle and lower 2 digits by pressing the MODE button Switch the display between upper middle and lower 2 digit is also possible by pressing the MODE button while the display is flicker...

Page 122: ...ternal I O signal display screen 2 Display definition The 7 segment LED segments and CN1 connector pins correspond as shown below Input signals Output signals CN1 35 CN1 38 CN1 15 CN1 43 CN1 49 CN1 23 Light on on Light off off CN1 16 CN1 19 CN1 22 CN1 17 CN1 45 CN1 48 CN1 33 CN1 10 CN1 37 CN1 42 CN1 25 CN1 18 CN1 41 CN1 44 CN1 24 The LED segment corresponding to the pin is lit to indicate on and i...

Page 123: ...performed in the servo off state by turning off SON Servo on The display at power on Use the MODE button to display the diagnostic screen Switch on off the signal below the lit segment 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 the UP button three times Press the SET button for 2 s or more CN1 33 CN1 48...

Page 124: ...ut the following items and operate c d e f a c d e f b Point table operation Program operation 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 Starting the servo motor Click Operation Start c to rotate the servo motor 3 Temporarily stopping the servo motor Click Pause d to temporarily stop the servo mot...

Page 125: ...ake an instantaneous stop When Forced Stop is enabled Operation Start cannot be used Click Forced Stop again to enable Operation Start 6 Switching to the normal operation mode Before switching from the test operation mode to the normal operation mode turn off the servo amplifier www kavrammuhendislik com tr ...

Page 126: ...he first digit on the display is lit and the third digit flickers 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 third digit on the display flicker...

Page 127: ...3 DISPLAY AND OPERATION SECTIONS 3 54 MEMO www kavrammuhendislik com tr ...

Page 128: ...ad to motor inertia ratio Load to motor mass ratio Torque Thrust Servo motor speed Linear servo motor speed For the mark detection function Current position latch refer to section 12 2 1 For the mark detection function Interrupt positioning refer to section 12 2 2 For the infinite feed function setting degree refer to section 12 3 There are the following restrictions on the number of gear teeth on...

Page 129: ... servo amplifier suspends the running of the servo motor and brings it to a stop Refer to section 3 10 of MR J4 _A_ RJ Servo Amplifier Instruction Manual for the servo motor with an electromagnetic brake Operation command Stopping condition SON Servo on off The base circuit is shut off and the servo motor coasts Alarm occurrence The servo motor decelerates to a stop with the command With some alar...

Page 130: ...verse rotation stroke end 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 make the servo motor operate and check the rotation direction of the motor etc If the motor does not operate in the int...

Page 131: ... table shows the necessary setting of Pr PA _ _ and Pr PT _ _ under the point table method Operation mode selection item Operation mode Parameter setting Input device setting Pr PA01 Pr PT04 MD0 Note DI0 to DI7 Note Automatic operation mode under point table method Each positioning operation _ _ _ 6 On Set the point table No to be reached Refer to 2 b of 4 2 1 Automatic continuous operation Varyin...

Page 132: ...or rotation failure etc The following faults may occur at start up If any of such faults occurs take the corresponding action MR J4 _A_ means MR J4 _A_ RJ Servo Amplifier Instruction Manual No Start up sequence Fault Investigation Possible cause Reference 1 Power on The 7 segment LED display does not turn on The 7 segment LED display flickers Not improved even if CN1 CN2 and CN3 connectors are dis...

Page 133: ...l display section 3 1 7 or 3 2 7 and check the on off status of the input signal LSP LSN ST1 and ST2 are off Section 3 1 7 Section 3 2 7 Check Pr PA11 Forward rotation torque limit and Pr PA12 Reverse rotation torque limit Torque limit level is too low as compared to the load torque Section 7 2 1 When TLA Analog torque limit is usable check the input voltage on the status display Torque limit leve...

Page 134: ...ign Under the absolute value command method the rotation direction can be specified with a or sign An example of setting is shown below 0 360 180 180 Setting range of the position data degree 90 270 270 90 Coordinate system in degrees The coordinate is determined by referring to the position of 0 degree direction 0 90 180 270 0 direction 0 90 180 270 360 The positions of 270 degrees and 90 degrees...

Page 135: ...osition When the position data of 90 000 degrees is specified the servo motor rotates in the CW direction Target position Current position When the position data of 360 000 degrees is specified the servo motor rotates in the CW direction A When you specify 360 000 degrees or 0 degree to the position data the servo motor rotates in the CCW direction B Target position 360 Current position B A www ka...

Page 136: ...70 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 Target position 270 Current position 90 www kavrammu...

Page 137: ...9 10STM μm 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 Target address Here Travel distance 170 degrees Position data Travel distance from current address to target address 270 degrees 80 degrees 0 degree Current address www kavrammu...

Page 138: ...tion M code Outputs the first digit and the second digit of the M code 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 comman...

Page 139: ...ng this point table under the absolute value command method Set the target address absolute value The teaching function is available for setting this value 2 When using this point table under 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 Serv...

Page 140: ...ifferent rotation direction is set smoothing zero command output is confirmed and then the rotation direction is reversed Setting 1 or 3 to point table No 255 results in an error Refer to 3 b of this section M code 0 to 99 Outputs the first digit and the second digit of the M code in 4 bit binary respectively Note 1 The setting range of the position data in degrees is 360 000 to 360 000 When the u...

Page 141: ...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 Refer to section 4 2 1 for details c Operation Selecting DI0 to DI7 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 ti...

Page 142: ...tates at the rated speed Deceleration time constant 0 to 20000 ms Set a time from when the servo motor rotates at the rated speed until when the motor stops Dwell 0 to 20000 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 the position command of the selected poin...

Page 143: ...rease CCW rotation address decrease Pr PA14 0 Pr PA14 1 CW ST2 on CW ST1 on ST2 on CCW ST1 on CCW 3 Position data unit Pr PT01 Set the unit of the position data Pr PT01 setting Position data unit _ 0 _ _ mm _ 1 _ _ inch _ 2 _ _ degree _ 3 _ _ pulse 4 Feed length multiplication Pr PT03 Set the feed length multiplication STM of the position data Pr PT03 setting Position data input range mm inch degr...

Page 144: ... motor rotates in the same direction only To change the travel direction during continuous operation perform the operation under the absolute value command method Item Used device Description Automatic operation mode selection MD0 Operation mode selection 1 Switch on MD0 Point table selection DI0 Point table No selection 1 DI1 Point table No selection 2 DI2 Point table No selection 3 DI3 Point tab...

Page 145: ...ON OFF CPO Rough match MEND Travel completion ON OFF PT0 Point table No output 1 to PT7 Point table No output 8 Note 2 M code output ON OFF RD Ready ALM Malfunction ON OFF Note 1 3 ms or longer 3 ms or longer Point table No 1 Point table No 2 1 2 1 2 M code of point table No 1 3 ms or shorter 5 ms or longer 5 ms or longer Note 1 The detection of external input signals is delayed by the set time in...

Page 146: ...END Travel completion ON OFF PT0 Point table No output 1 to PT7 Point table No output 8 Note 2 M code output ON OFF RD Ready ALM Malfunction ON OFF Note 1 3 ms or longer 3 ms or longer Point table No 1 Point table No 2 1 2 1 2 M code of point table No 1 3 ms or shorter 5 ms or longer 5 ms or longer Note 1 The detection of external input signals is delayed by the set time in the input filter settin...

Page 147: ...int table No Position data 10 STM μm Servo motor speed r min Acceleration time constant ms Deceleration time constant ms Dwell ms Auxiliary function M code 1 5 00 3000 100 150 100 1 05 2 5 00 2000 150 200 200 3 10 3 15 00 1000 300 100 Disabled 0 Note 15 Note Always set 0 or 2 to the auxiliary function of the last point table among the consecutive point tables 0 When using the point table under the...

Page 148: ...ast point table among the consecutive point tables 0 When using the point table under the absolute value command method 2 When using the point table under the incremental value command method Servo motor speed Forward rotation 0 r min Reverse rotation Position address Point table No to select ST1 Forward rotation start ON OFF PT0 Point table No output 1 to PT7 Point table No output 8 Note M code o...

Page 149: ...set 0 or 2 to the auxiliary function of the last point table among the consecutive point tables 0 When using the point table under the absolute value command method 2 When using the point table under the incremental value command method Home position Point table No 1 120 240 40 320 230 Point table No 2 No 3 170 190 70 290 170 190 Point table No 3 No 4 120 240 40 320 Point table No 1 No 2 0 0 0 0 S...

Page 150: ...Disabled 0 Note 15 Note Always set 0 to the auxiliary function of the last point table among the consecutive point tables Servo motor speed Forward rotation 0 r min Reverse rotation Position address Point table No to select ST1 Forward rotation start Note 1 ON OFF PT0 Point table No output 1 to PT7 Point table No output 8 Note 2 M code output Speed 3000 Acceleration deceleration time constant of p...

Page 151: ...among the consecutive point tables 0 When using the point table under the absolute value command method 2 When using the point table under the incremental value command method 120 240 0 90 60 120 Point table No 1 270 90 Point table No 3 180 180 Point table No 2 Servo motor speed Forward rotation 0 r min Reverse rotation Point table No to select ST1 Forward rotation start PT0 Point table No output ...

Page 152: ...s is invalid By setting 1 or 3 to sub functions until point table No 254 the operation can be performed at maximum 255 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 will enables the automatic continuous positioning operation The following table shows an example of setting Point table No Dwel...

Page 153: ...e 2 20 Note 1 Always set 0 2 Always set 0 or 2 to the auxiliary function of the last point table among the consecutive point tables 0 When using the point table under the absolute value command method 2 When using the point table under the incremental value command method Deceleration time constant 150 of point table No 1 Servo motor speed Position address Point table No to select ST1 Forward rota...

Page 154: ...Always set 0 or 2 to the auxiliary function of the last point table among the consecutive point tables 0 When using the point table under the absolute value command method 2 When using the point table under the incremental value command method Servo motor speed Forward rotation 0 r min Reverse rotation Position address Point table No to select ST1 Forward rotation start ON OFF PT0 Point table No o...

Page 155: ...ction of the last point table among the consecutive point tables The following shows an operation example with the set values listed in the table below Point table No Position data 10 STM μm Servo motor speed r min Acceleration time constant ms Deceleration time constant ms Dwell ms Note 1 Auxiliary function M code 1 5 00 3000 100 150 0 1 05 2 3 00 2000 Disabled Disabled 0 1 10 3 2 00 1000 Disable...

Page 156: ...ns when 8 is set to the auxiliary function of point table No 4 Point table No Position data 10 STM μm Servo motor speed r min Acceleration time constant ms Deceleration time constant ms Dwell ms Auxiliary function M code 1 4 00 1500 200 100 150 1 01 2 5 00 3000 100 150 100 1 05 3 5 00 2000 150 200 200 3 10 4 15 00 1000 300 100 150 8 15 Operation sequence 1 Starting with point table No 2 2 Executin...

Page 157: ...ng point table No 3 3 Executing point table No 1 when 9 is set to the auxiliary function of point table No 3 4 Repeating the above execution in the sequence of 1 to 2 to 3 to 1 to 2 to 3 Servo motor speed Forward rotation 0 r min Reverse rotation Position address Point table No to select ST1 Forward rotation start ON OFF PT0 Point table No output 1 to PT7 Point table No output 8 Note M code output...

Page 158: ...e No 3 3 Executing point table No 4 4 Executing again point table No 2 used at start up when 10 is set to the auxiliary function of point table No 4 5 Repeating the above execution in the sequence of 1 to 2 to 3 to 4 to 2 to 3 to 4 Servo motor speed Forward rotation 0 r min Reverse rotation Position address Point table No to select ST1 Forward rotation start ON OFF PT0 Point table No output 1 to P...

Page 159: ... 3 3 Executing point table No 1 when 11 is set to the auxiliary function of point table No 3 4 Repeating the above execution in the sequence of 1 to 2 to 3 to 1 to 2 to 3 Servo motor speed Forward rotation 0 r min Reverse rotation Position address Point table No to select ST1 Forward rotation start ON OFF PT0 Point table No output 1 to PT7 Point table No output 8 Note M code output Note Point tabl...

Page 160: ...tart up in CW direction when 8 is set to the auxiliary function of point table No 3 5 Repeating the above execution in the sequence of 1 to 2 to 3 to 4 to 2 to 3 to 4 Servo motor speed Forward rotation 0 r min Reverse rotation Position address Point table No to select ST1 Forward rotation start ON OFF PT0 Point table No output 1 to PT7 Point table No output 8 Note M code output Note Speed 3000 Acc...

Page 161: ...the auxiliary function of point table No 3 5 Repeating the above execution in the sequence of 1 to 2 to 3 to 4 to 2 to 3 to 4 Servo motor speed Forward rotation 0 r min Reverse rotation Position address Point table No to select ST1 Forward rotation start ON OFF PT0 Point table No output 1 to PT7 Point table No output 8 Note M code output Note Speed 3000 Acceleration time constant 100 of point tabl...

Page 162: ... Position data 10 STM μm Servo motor speed r min Acceleration time constant ms Deceleration time constant ms Dwell ms Auxiliary function M code 1 4 00 1500 200 100 150 1 01 2 5 00 3000 100 150 100 1 05 3 6 00 2000 150 200 200 8 10 Operation sequence 1 Starting with point table No 2 2 Executing point table No 3 3 Executing again point table No 2 used at start up when 8 is set to the auxiliary funct...

Page 163: ...g point table No 1 when 9 is set to the auxiliary function of point table No 2 3 Repeating the above execution in the sequence of 1 to 2 to 1 to 2 Servo motor speed Forward rotation 0 r min Reverse rotation Position address Point table No to select ST1 Forward rotation start ON OFF PT0 Point table No output 1 to PT7 Point table No output 8 Note M code output Note Speed 3000 Point table No 1 Speed ...

Page 164: ...ed and executing point table No 2 3 Executing again point table No 1 used at start up when 8 is set to the auxiliary function of point table No 2 4 Repeating the above execution in the sequence of 1 to 2 to 3 to 2 to 3 Servo motor speed Forward rotation 0 r min Reverse rotation Position address Point table No to select ST1 Forward rotation start ON OFF PT0 Point table No output 1 to PT7 Point tabl...

Page 165: ... not function during a home position return or JOG operation The temporary stop restart input functions in the following states Operation status Automatic operation Manual operation Home position return During a stop During acceleration Temporary stop At a constant speed Temporary stop During deceleration During a temporary stop Restart 1 When the servo motor is rotating ON OFF ON OFF ON OFF Decel...

Page 166: ... 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 remaining travel distance is cleared Remaining distance clear Remaining distance Point table No n No n Forward rotation 0 r min Reverse rotation Point tabl...

Page 167: ...egrees Software limit value After conversion 360 000 degrees to 999 999 degrees The remainder of the set value divided by 360 0 001 degrees to 359 999 degrees The sum of the set value and 360 360 000 degrees to 999 999 degrees The sum of 360 and the quotient of the set value divided by 360 b When the software limit is activated Set the software limit Pr PT17 and Pr PT18 for the start position and ...

Page 168: ...ress After conversion 360 000 degrees to 999 999 degrees The remainder of the set value divided by 360 0 001 degrees to 359 999 degrees The sum of the set value and 360 360 000 degrees to 999 999 degrees 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 th...

Page 169: ...leration deceleration time constant Point table No 1 Use the acceleration deceleration time constant of point table No 1 2 Servo motor rotation direction Pr PA14 setting Servo motor rotation direction ST1 Forward rotation start on ST2 Reverse rotation start on 0 CCW rotation CW rotation 1 CW rotation CCW rotation Pr PA14 0 Pr PA14 1 CW ST2 on CW ST1 on ST2 on CCW ST1 on CCW 3 Operation Switching o...

Page 170: ...ravel completion CPO Rough match ON OFF ON OFF SON Servo on Servo motor speed ON OFF Forward rotation 0 r min Reverse rotation ON OFF ON OFF 80 ms Forward rotation JOG Reverse rotation JOG ST1 Forward rotation start ST2 Reverse rotation start MD0 Operation mode selection 1 www kavrammuhendislik com tr ...

Page 171: ... MD0 Operation mode selection 1 Switch off MD0 Manual pulse generator multiplication Pr PT03 Set the multiplication factor for the pulses generated from the manual pulse generator For details refer to 3 of this section Servo motor rotation direction Pr PA14 Refer to 2 of this section Command input pulse train input form Pr PA13 Set _ _ _ 2 A B phase pulse train Pulse train filter selection Pr PA13...

Page 172: ...0 1 0 01 0 1 100 Note 0 Off 1 On b Using the parameter for setting Use Pr PT03 to set the servo motor rotation multiplication to the rotation amount of the manual pulse generator Pr PT03 setting Servo motor rotation multiplication to manual pulse generator rotation amount Travel distance mm inch degree pulse _ _ 0 _ 1 time 0 001 0 0001 0 001 1 _ _ 1 _ 10 times 0 01 0 001 0 01 10 _ _ 2 _ 100 times ...

Page 173: ...near encoder Direct drive motor control mode Setting Pr PT04 Home position return type to _ _ _ 8 or _ _ _ A will trigger AL 37 Parameter error For precautions for using linear servo motors or fully closed loop system refer to section 4 4 15 and 4 4 16 4 4 1 Outline of home position return A home position return is performed to match the command coordinates with the machine coordinates Under the i...

Page 174: ...pper must be increased Home position ignorance servo on position as home position The position where the servo is switched on is used as the home position Dog type rear end reference Deceleration starts at the proximity dog front end 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 ...

Page 175: ...end reference A Dogless type Z phase reference 0 Pr PT04 0 0 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 the address increase direction from the current position Setting 1 starts the home position return in the address decrease direction from the current position Home position return direction 0 Ad...

Page 176: ...imity dog input polarity Home position return speed Pr PT05 Set the rotation speed until the dog is detected Creep speed Pr PT06 Set the rotation speed after the dog is detected Home position shift distance Pr PT07 Set this item to shift the home position specified by the first Z phase signal after passage of proximity dog rear end Home position return acceleration deceleration time constant Point...

Page 177: ... or longer Acceleration time constant Home position shift distance 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 to ensure the Z phase signal generation during the dog detection Locate the DOG Proximity dog rear end almost at the center betw...

Page 178: ...to DI7 Point table No selection 8 Switch off DI0 to DI7 Count type home position return Pr PT04 _ _ _ 0 Select the count type Home position return direction Pr PT04 Refer to section 4 4 1 2 to select the home position return direction Dog input polarity Pr PT29 Refer to section 4 4 1 2 to select the dog input polarity Home position return speed Pr PT05 Set the rotation speed until the dog is detec...

Page 179: ...ON OFF ON OFF ST1 Forward rotation start ST2 Reverse rotation start 3 ms or shorter Home position return speed Deceleration time constant Creep speed Home position shift distance Home position Home position return position data Proximity dog 5 ms or longer Acceleration time constant Travel distance after proximity dog The setting value of Pr PT08 Home position return position data is used as the p...

Page 180: ... to DI7 Data set type home position return Pr PT04 _ _ _ 2 Select the data set type Home position return position data Pr PT08 Set the current position at the home position return completion 2 Timing chart SON Servo on ON OFF ZP Home position return completion ON OFF Forward rotation 0 r min Reverse rotation ON OFF Servo motor speed ST1 Forward rotation start MD0 Operation mode selection 1 ON OFF ...

Page 181: ...position return direction Pr PT04 Refer to section 4 4 1 2 to select the home position return direction Home position return speed Pr PT05 Set the rotation speed until the workpiece is pressed against the mechanical stopper Stopper time Pr PT10 Set the time from when the home position data is obtained after the workpiece is pressed against the mechanical stopper until when ZP home position return ...

Page 182: ...er Stopper time Pr PC35 Pr PT11 Note 1 Pr PC35 Note 2 Stopper Note 1 The following torque limits are enabled Input device 0 Off 1 On Limit value status Enabled torque limit value TL1 TL 0 0 Pr PT11 0 1 TLA Pr PT11 Pr PT11 TLA Pr PT11 TLA 1 0 Pr PC35 Pr PT11 Pr PT11 Pr PC35 Pr PT11 Pr PC35 1 1 TLA Pr PT11 Pr PT11 TLA Pr PT11 TLA 2 TLC turns on when a generated torque reaches a value set with any of...

Page 183: ...gnorance Pr PT04 _ _ _ 4 Select the home position ignorance Home position return position data Pr PT08 Set the current position at the home position return completion 2 Timing chart ON OFF RD Ready ON OFF MEND Travel completion ON OFF CPO Rough match ZP Home position return completion ON OFF Forward rotation 0 r min Reverse rotation SON Servo on Servo motor speed Home position return position data...

Page 184: ...tion MD0 Operation mode selection 1 Switch on MD0 DI0 Point table No selection 1 to DI7 Point table No selection 8 Switch off DI0 to DI7 Dog type rear end reference home position return Pr PT04 _ _ _ 5 Select the dog type rear end detection rear end reference Home position return direction Pr PT04 Refer to section 4 4 1 2 to select the home position return direction Dog input polarity Pr PT29 Refe...

Page 185: ...ON OFF ON OFF ST1 Forward rotation start ST2 Reverse rotation start 3 ms or shorter Home position return speed Deceleration time constant Creep speed Travel distance after proximity dog Home position shift distance Home position return position data Proximity dog 5 ms or longer Acceleration time constant The setting value of Pr PT08 Home position return position data is used as the position addres...

Page 186: ...n 1 Device parameter Set input devices and parameters as follows Item Used device parameter Setting Home position return mode selection MD0 Operation mode selection 1 Switch on MD0 DI0 Point table No selection 1 to DI7 Point table No selection 8 Switch off DI0 to DI7 Count type front end reference home position return Pr PT04 _ _ _ 6 Select the count type front end detection front end reference Ho...

Page 187: ...n 1 Device parameter Set input devices and parameters as follows Item Used device parameter Setting Home position return mode selection MD0 Operation mode selection 1 Switch on MD0 DI0 Point table No selection 1 to DI7 Point table No selection 8 Switch off DI0 to DI7 Dog cradle type home position return Pr PT04 _ _ _ 7 Select the dog cradle type Home position return direction Pr PT04 Refer to sect...

Page 188: ...on ON OFF ON OFF ON OFF ST1 Forward rotation start ST2 Reverse rotation start 3 ms or shorter Home position return speed Deceleration time constant Creep speed Home position shift distance Home position return position data 5 ms or longer Acceleration time constant Proximity dog ON OFF Z phase The setting value of Pr PT08 Home position return position data is used as the position address at the ho...

Page 189: ...hase reference home position return Pr PT04 _ _ _ 8 Select the dog type last Z phase reference Home position return direction Pr PT04 Refer to section 4 4 1 2 to select the home position return direction Dog input polarity Pr PT29 Refer to section 4 4 1 2 to select the dog input polarity Home position return speed Pr PT05 Set the rotation speed until the dog is detected Creep speed Pr PT06 Set the...

Page 190: ...on ON OFF ON OFF ON OFF ST1 Forward rotation start ST2 Reverse rotation start 3 ms or shorter Home position return speed Deceleration time constant Home position shift distance Home position return position data 5 ms or longer Acceleration time constant ON OFF Z phase Proximity dog Creep speed The setting value of Pr PT08 Home position return position data is used as the position address at the ho...

Page 191: ...ws Item Used device parameter Setting Home position return mode selection MD0 Operation mode selection 1 Switch on MD0 DI0 Point table No selection 1 to DI7 Point table No selection 8 Switch off DI0 to DI7 Dog type front end reference home position return Pr PT04 _ _ _ 9 Select the dog type front end reference Home position return direction Pr PT04 Refer to section 4 4 1 2 to select the home posit...

Page 192: ...ON OFF ON OFF ST1 Forward rotation start ST2 Reverse rotation start 3 ms or shorter Deceleration time constant Creep speed Travel distance after proximity dog Home position shift distance Proximity dog 5 ms or longer Acceleration time constant Home position return speed Home position return position data The setting value of Pr PT08 Home position return position data is used as the position addres...

Page 193: ...d Pr PT06 Set the rotation speed specified after the Z phase is detected Home position shift distance Pr PT07 Set this item to shift the home position which is specified by the Z phase signal Home position return acceleration deceleration time constant Point table No 1 Use the acceleration deceleration time constant of point table No 1 Home position return position data Pr PT08 Set the current pos...

Page 194: ...everse rotation 0 r min 2 When the current position is beyond the proximity dog At start up the operation is performed in the direction of the home position return When LSP Forward rotation stroke end or LSN Reverse rotation stroke end is detected the machine moves backward automatically The machine passes and stops before the proximity dog and the home position return is performed from the positi...

Page 195: ...e selection 1 Switch on MD0 DI0 Point table No selection 1 to DI7 Point table No selection 8 Switch off DI0 to DI7 Home position return speed Pr PT05 Set the servo motor speed to travel to the home position Home position return acceleration deceleration time constant Point table No 1 Use the acceleration deceleration time constant of point table No 1 Home position return direction Pr PT04 Set the ...

Page 196: ...d a When the linear encoder home position reference mark exists in the home position return direction When an incremental linear encoder is used the home position is the position per 1048576 pulses changeable with the third digit of Pr PL01 with reference to the linear encoder home position reference mark passed through first after a home position return start Change the setting value of Pr PL01 a...

Page 197: ...88 608 _ 5 _ _ 16777216 16 777 83 886 167 772 335 544 838 861 1677 722 3355 443 8388 608 16777 216 33554 432 _ 6 _ _ 67108864 67 109 335 544 671 089 1342 177 3355 443 6710 886 13421 773 33554 432 67108 864 134217 728 In the case of a dog type home position return after the proximity dog signal rear end is detected the nearest home position reference position shifted by the home position shift dist...

Page 198: ...home position does not exist in the home position return direction an error may occur depending on the home position return type In this case change the home position return type or move the mover to the stroke end on the opposite side of the home position return direction with the JOG operation from the controller and others and then perform a home position return Stroke end Home position Home po...

Page 199: ...pe home position return the nearest reference home position after proximity dog off is the home position The linear encoder home position can be set in any position LZ Encoder Z phase pulse is outputted based on Stop interval selection at the home position return in Pr PL01 1048576 pulses n Linear encoder home position Home position Home position return speed Creep speed Home position return direc...

Page 200: ...ignal turns off 2 Load side encoder types and home position return methods a About proximity dog type home position return using absolute type linear encoder When an absolute type linear encoder is used the home position reference position is the position per servo motor revolution to the linear encoder home position absolute position data 0 In the case of a proximity dog type home position return...

Page 201: ...r home position reference mark passed through first after a home position return start In the case of a dog type home position return after the proximity dog signal rear end is detected the nearest home position reference position shifted by the home position shift distance is used as the home position Set one linear encoder home position in the full stroke and set it in the proximity dog signal d...

Page 202: ...m a home position return Stroke end Home position Home position return speed Creep speed Home position return direction ON OFF Proximity dog signal Machine position Linear encoder home position JOG operation Home position returnable area Home position non returnable area Servo motor speed 0 r min c About dog type home position return when using the rotary encoder of a serial communication servo mo...

Page 203: ...n display selection _ _ 1 _ Select the roll feed display PT26 Electronic gear fraction clear selection _ _ _ x Electronic gear fraction clear selection _ _ _ 1 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 th...

Page 204: ...ed Refer to section 4 2 2 for details 4 Operation method 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 Automatic operation using the point table Section 4 2 2 Manual operation JOG operation Section 4 3 1 Manual pulse generator operation Section 4 3 2 Home p...

Page 205: ...ata 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 and display all the point table data from the servo amplifier 4 Initial setting of point table data d Click Set ...

Page 206: ...data i Click Insert to insert a block to the previous row from the selected point table No The selected point table No and lower rows will be shifted down one by one 10 Deleting point table data j Click Delete to delete all the data of the point table No selected The lower rows of the selected point table No will be shifted up one by one 11 Changing point table data k After selecting the data to b...

Page 207: ...int table window 1 2 3 1 Command method selection PT01 CTY 1 Select a positioning command method from the absolute position command method and incremental value command method 2 Miscellaneous a Feed length multiplication parameter setting STM PT03 FTY 2 Select any feed length multiplication from 1 10 100 1000 b Position data unit setting PT01 CTY 3 Select any unit of position data from mm inch deg...

Page 208: ... 12 2 2 For the infinite feed function setting degree refer to section 12 3 5 1 Startup 5 1 1 Power on and off procedures When the servo amplifier is powered on for the first time the amplifier enters the position control mode Refer to section 4 2 1 of MR J4 _A_ RJ Servo Amplifier Instruction Manual This section provides a case where the servo amplifier is powered on after the positioning mode set...

Page 209: ...r to a stop Refer to chapter 8 Note 1 EM2 Forced stop 2 off The servo motor decelerates to a stop with the command AL E6 Servo forced stop warning occurs Refer to section 2 3 for EM1 STO STO1 STO2 off Note 2 The base circuit is shut off and the dynamic brake operates to bring the servo motor to a stop LSP Forward rotation stroke end off LSN Reverse rotation stroke end off It will bring the motor t...

Page 210: ... LSN Reverse rotation stroke end 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 rotation direction etc of the servo motor If the servo motor does not operate in the intended direction chec...

Page 211: ...As necessary set other parameters The following table shows Pr PA _ _ and Pr PT _ _ settings required for the program method Operation mode selection item Operation mode Parameter setting Input device setting Pr PA01 Pr PT04 MD0 Note 1 DI0 to DI7 Note 1 Automatic operation mode of the program method On Any Manual operation mode JOG operation Off Manual pulse generator operation Home position retur...

Page 212: ...3 cabling is shorted Alarm occurs Refer to chapter 8 and remove the cause Chapter 8 Note 2 Switch on SON Servo on Alarm occurs Refer to chapter 8 and remove the cause Chapter 8 Note 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 or 3 2 7 to see if SON Serv...

Page 213: ... complete auto tuning Gain adjustment fault MR J4 _A_ Chapter 6 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 more to complete the auto tuning Gain adjustment fault MR J4 _A_ Chapter 6 Note Only a list of alarms and warnings is listed in chapter 8 Refer to MELSERVO J4...

Page 214: ...ration time constant and the deceleration time constant become the same To set the acceleration deceleration time constants individually use the STA and STB commands The value cannot be changed during a command output If the setting value is unspecified 1000 ms is applied STD Note 2 5 S pattern acceleration deceleration time constant STD Setting value 0 to 1000 ms Set the S pattern acceleration de...

Page 215: ...ue 0 to 999999 Note 6 10STM μm Note 6 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 COUNT Note 1 External pulse count COUNT Setting value 999999 to 999999 pulse When the pulse counter value becomes larger than the count value set for the COUNT command the next step is executed COUNT 0 clears the pu...

Page 216: ...is executed 3 When the on time is set using Pr PT23 to Pr PT25 the next command is executed after the set time elapses 4 When the remaining distance is the set value or less or while the servo motor stops or decelerates the program skips the ITP command and proceeds to the next step 5 The parameter value is valid normally However the value set for the command is valid after the command is executed...

Page 217: ...leration time constant 300 ms f Absolute value travel command 2000 10 STM μm 2 Program example 2 When executing two operations where the servo motor speeds acceleration time constants deceleration time constants and travel commands are different Command Description SPN 1000 Servo motor speed 1000 r min a STA 200 Acceleration time constant 200 ms b STB 300 Deceleration time constant 300 ms c MOV 10...

Page 218: ...n a STC 100 Acceleration deceleration time constant 1000 ms b STD 10 S pattern acceleration deceleration time constant 10 ms c MOV 2000 Absolute value travel command 2000 10 STM μm d STOP Program stop c c c a Servo motor speed 1000 r min b Acceleration deceleration time constant 1000 ms b Acceleration deceleration time constant 1000 ms d Absolute value travel command 2000 10STM μm c S pattern acce...

Page 219: ... command Upon executing the travel command by the MOVI command the travel command by the MOVIA command is executed continuously without a stop The varying speed point under the MOVIA command is at the deceleration start position of the operation by the preceding MOVI or MOVIA command The acceleration deceleration time constants of the MOVIA command are set to the values at the execution of the pre...

Page 220: ...0 Absolute value continuous travel command 1000 10 STM μm f MOVA 0 Absolute value continuous travel command 0 10 STM μm g STOP Program stop b Acceleration time constant 200 ms a Servo motor speed 500 r min d Absolute value travel command 500 10STM μm e Servo motor speed 1000 r min c Deceleration time constant 300 ms f Absolute value continuous travel command 1000 10STM μm b Acceleration time const...

Page 221: ...000 r min e STC 500 Acceleration deceleration time constant 500 ms f MOVA 1000 Absolute value continuous travel command 1000 10 STM μm g SPN 1500 Servo motor speed 1500 r min h STC 100 Acceleration deceleration time constant 100 ms i MOVA 0 Absolute value continuous travel command 0 10 STM μm j STOP Program stop b Acceleration time constant 200 ms a Servo motor speed 500 r min e Servo motor speed ...

Page 222: ...ravel command range Determine whether the servo motor has passed the set address or travel distance by checking the actual position for each command Additionally determine whether the servo motor has passed the set address or travel distance by checking both edges of the address increasing decreasing directions 1 Program example 1 OUT1 Program output 1 is switched on upon a program execution When ...

Page 223: ... Switch off OUT3 500 ms later c Command Description SPN 500 Servo motor speed 500 r min STA 200 Acceleration time constant 200 ms STB 300 Deceleration time constant 300 ms MOV 1000 Absolute value travel command 1000 10 STM μm OUTON 1 Switch on OUT1 Program output 1 OUTON 2 Switch on OUT2 Program output 2 OUTON 3 Switch on OUT3 Program output 3 STOP Program stop ON OFF ON OFF ON OFF a 200 ms b 100 ...

Page 224: ...e trip point specification 250 10 STM μm a OUTON 2 Switch on OUT2 Program output 2 b TRIP 400 Absolute value trip point specification 400 10 STM μm c OUTOF 2 Switch off OUT2 Program output 2 d TIM 100 Dwell 100 ms MOVI 500 Incremental value travel command 500 10 STM μm TRIPI 300 Incremental value trip point specification 300 10 STM μm e OUTON 2 Switch on OUT2 Program output 2 f STOP Program stop g...

Page 225: ...STM μm ON OFF OUT3 Program output 3 b 300 10 STM μm c f 900 10 STM μm a MOVI 600 e TRIPI 300 d Incremental value continuous travel command 700 10 STM μm Servo motor speed Forward rotation 0 r min Reverse rotation 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 exa...

Page 226: ...p b a 200 ms ON OFF OUT1 Program output 1 Servo motor speed Forward rotation 0 r min Reverse rotation 3 Program example 3 Command Description SPN 1000 Servo motor speed 1000 r min STC 20 Acceleration deceleration time constant 20 ms MOVI 1000 Incremental value travel command 1000 10 STM μm OUTON 1 Switch on OUT1 Program output 1 a TIM 200 Dwell 200 ms b MOVI 500 Incremental value travel command 50...

Page 227: ... ON OFF OUT1 Program output 1 c 300 ms Servo motor speed Forward rotation 0 r min Reverse rotation 5 Program example 5 Command Description SPN 1000 Servo motor speed 1000 r min STC 20 Acceleration deceleration time constant 20 ms MOVI 1000 Incremental value travel command 1000 10 STM μm TIM 200 Dwell 200 ms a SYNC 1 Suspend the step until PI1 Program input 1 is switched on MOVI 500 Incremental val...

Page 228: ...ion 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 or MOVA command When the remaining distance under the ITP command is equal to or less than the travel distance und...

Page 229: ...Forward rotation 0 r min Reverse rotation 2 Program example 2 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 Servo motor speed 500 r min STA 200 Acceleration time constant 200 ms STB 300 Deceleration time constant...

Page 230: ...s of the manual pulse generator reaches 500 pulse a SPN 500 Servo motor speed 500 r min STA 200 Acceleration time constant 200 ms STB 300 Deceleration time constant 300 ms MOV 1000 Absolute value travel command 1000 10 STM μm TRIP 500 Trip point specification 500 10 STM μm b COUNT 0 Clear cumulative input pulses c STOP Program stop c Clear cumulative input pulses b 500 10 STM μm Manual pulse gener...

Page 231: ...onstant 20 ms MOV 1000 Absolute value travel command 1000 10 STM μm TIM 100 Dwell 100 ms FOR 3 Start of step repeat instruction 3 time a MOVI 100 Incremental value travel command 100 10 STM μm b TIM 100 Dwell 100 ms NEXT End of step repeat instruction c FOR 2 Start of step repeat instruction 2 time d MOVI 200 Incremental value travel command 200 10 STM μm e TIM 100 Dwell 100 ms NEXT End of step re...

Page 232: ...ing 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 Number of program executions command 2 time a SPN 1000 Servo motor speed 1000 r min STC 20 Acceleration deceleration time constant 20 ms MOVI 1000 Incremental value travel command 1000 10 STM μm b TIM 100 Dwell 100 ms STOP Program stop b Incremental value travel com...

Page 233: ...e servo motor enters the servo off status The current position at 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 is reset when the program ends The function is also reset at an operation mode change forced stop alarm occurrence or servo ...

Page 234: ...registers R1 to R4 in EEP ROM The setting range of each general purpose register is that of the instruction 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 Servo motor speed 1000 r min a STA D1 Accel...

Page 235: ...TOP Program stop Item Used parameter Setting Dog type home position return Pr PT04 _ _ _ 0 Home position return direction Pr PT04 _ _ 0 _ Address increasing direction Dog input polarity Pr PT29 _ _ _ 1 Detects dog when DOG proximity dog is on Home position return speed Pr PT05 100 r min Creep speed Pr PT06 50 r min Home position shift distance Pr PT07 0 10 STM μm Home position return acceleration ...

Page 236: ...M 100 MOV 500 Reverse rotation torque limit Dwell Absolute value travel command 500 0 1 100 ms 1000 10 STM μm d e SYNC 3 Suspend the step until PI3 Program input 3 is switched on f TQL 300 STOP Torque limit Program stop 300 0 1 g h Pr PA11 setting Pr PA11 setting h Program stop g Torque limit g Torque limit Torque limit value returns to parameter setting value by program stop d Reverse rotation to...

Page 237: ...inch 999999 to 999999 10 STM 4 inch _ 2 _ _ degree 999 999 to 999 999 _ 3 _ _ pulse 999999 to 999999 Incremental value command method Incremental value travel command MOVI MOVIA _ _ _ 1 _ 0 _ _ mm 999999 to 999999 10 STM μm _ 1 _ _ inch 999999 to 999999 10 STM 4 inch _ 2 _ _ degree 999 999 to 999 999 _ 3 _ _ pulse 999999 to 999999 b Rotation direction selection travel direction selection Pr PA14 S...

Page 238: ...or Adjust the unit multiplication factor in the electronic gear setting Pr PA06 and Pr PA07 2 Signal Select a program with DI0 to DI7 and switch on ST1 to perform the positioning operation according to the set program At this time ST2 Reverse rotation start is invalid Item Used device Setting Program operation method selection MD0 Operation mode selection 1 Switch on MD0 Program selection DI0 Prog...

Page 239: ...command 3 SYNC 1 Suspend the step until PI1 Program input 1 is switched on STC 50 Acceleration deceleration time constant 50 ms MOV 5000 Absolute value travel command 5000 10 STM μm Travel command 4 STOP Program stop 2 Timing chart ON OFF SON Servo on ON OFF ST1 Forward rotation start ON OFF Program No MD0 Operation mode selection 1 Forward rotation 0 r min Reverse rotation ON OFF PED Position end...

Page 240: ...STP Temporary stop restart to stop the positioning operation and then switch on CR Clear At this time the remaining distance under the command is cleared and the program ends 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 executi...

Page 241: ...tion time constant Deceleration time constant Pr PC02 Set the deceleration time constant S pattern acceleration deceleration time constant Pr PC03 Set the S pattern acceleration deceleration time constants 2 Servo motor rotation direction Pr PA14 setting Servo motor rotation direction ST1 Forward rotation start on ST2 Reverse rotation start on 0 CCW rotation CW rotation 1 CW rotation CCW rotation ...

Page 242: ...he command pulse frequency is 200 kpulses s or less According to the purpose of use set input signals and parameters as shown below In this case DI0 Program No selection 1 to DI7 Program No selection 8 are invalid Item Setting method Setting Manual operation mode selection MD0 Operation mode selection 1 Switch off MD0 Manual pulse generator multiplication Pr PT03 Set the multiplication factor for ...

Page 243: ...on 1 Note Servo motor rotation multiplication to manual pulse generator rotation amount Travel distance mm inch degree pulse 0 0 Pr PT03 setting valid 0 1 1 time 0 001 0 0001 0 001 1 1 0 10 times 0 01 0 001 0 01 10 1 1 100 times 0 1 0 01 0 1 100 Note 0 Off 1 On b Setting with a parameter Using Pr PT03 set the servo motor rotation multiplication factor for the rotation amount of the manual pulse ge...

Page 244: ...der Linear servo motor control mode using an incremental linear encoder Direct drive motor control mode Setting Pr PT04 Home position return type to _ _ _ 8 or _ _ _ A will trigger AL 37 Parameter error 5 4 1 Summary of home position return A home position return is performed to match the command coordinates with the machine coordinates Under the incremental method each power on of the input power...

Page 245: ... the home position return speed must be low enough The strength of the machine and stopper must be increased Home position ignorance servo on position as home position The position at servo on is used as the home position Dog type rear end reference Deceleration starts at the front end of a proximity dog After the rear end is passed the position is shifted by the travel distance after proximity do...

Page 246: ... Pr PT04 0 0 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 the address increase direction from the current position Setting 1 starts the home position return in the address decrease direction from the current position Home position return direction 0 Address increasing direction 1 Address decreasing ...

Page 247: ...og is detected Creep speed Pr PT06 Set the rotation speed specified after a dog is detected Home position shift distance Pr PT07 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 acceleration time constant Pr PC30 The acceleration time constant set for Pr PC30 is used Home position return dec...

Page 248: ...a td Proximity dog 5 ms or longer Acceleration time constant PED Position end 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 ...

Page 249: ...n Pr PT04 Refer to 2 of section 5 4 1 to select the home position return direction Dog input polarity Pr PT29 Refer to 2 of section 5 4 1 to select the dog input polarity Home position return speed Pr PT05 Set the rotation speed specified until a dog is detected Creep speed Pr PT06 Set the rotation speed specified after a dog is detected Home position shift distance Pr PT07 After the front end of ...

Page 250: ...tion return completion ON OFF ON OFF ON OFF ST1 Forward rotation start ST2 Reverse rotation start 3 ms or shorter Home position return speed Deceleration time constant Creep speed Home position shift distance Home position Home position return position data Proximity dog 5 ms or longer Acceleration time constant Travel distance after proximity dog PED Position end ON OFF The setting value of Pr PT...

Page 251: ...r PT08 Set the current position at the home position return completion Program DI0 Program No selection 1 to DI7 Program No selection 8 Select a program containing a ZRT command which performs the home position return 2 Timing chart SON Servo on ON OFF ZP Home position return completion ON OFF Forward rotation 0 r min Reverse rotation ON OFF Servo motor speed ST1 Forward rotation start MD0 Operati...

Page 252: ... Set the servo motor torque limit value at the execution of the stopper type home position return Home position return acceleration time constant Pr PC30 The acceleration time constant set for Pr PC30 is used Home position return deceleration time constant Pr PC31 The deceleration time constant set for Pr PC31 is used Home position return position data Pr PT08 Set the current position at the home ...

Page 253: ...osition at servo on is used as the home position 1 Device parameter Set input devices and parameters as shown below Item Used device parameter Setting Home position ignorance Pr PT04 _ _ _ 4 Select the home position ignorance servo on position as home position Home position return position data Pr PT08 Set the current position at the home position return completion 2 Timing chart ON OFF RD Ready O...

Page 254: ... PT04 _ _ _ 5 Select the dog type rear end detection rear end reference Home position return direction Pr PT04 Refer to 2 of section 5 4 1 to select the home position return direction Dog input polarity Pr PT29 Refer to 2 of section 5 4 1 to select the dog input polarity Home position return speed Pr PT05 Set the rotation speed specified until a dog is detected Creep speed Pr PT06 Set the rotation...

Page 255: ...tion return completion ON OFF ON OFF ON OFF ST1 Forward rotation start ST2 Reverse rotation start 3 ms or shorter Home position return speed Deceleration time constant Creep speed Travel distance after proximity dog Home position shift distance Home position return position data Proximity dog 5 ms or longer Acceleration time constant PED Position end ON OFF The setting value of Pr PT08 Home positi...

Page 256: ... Select the count type front end detection front end reference Home position return direction Pr PT04 Refer to 2 of section 5 4 1 to select the home position return direction Dog input polarity Pr PT29 Refer to 2 of section 5 4 1 to select the dog input polarity Home position return speed Pr PT05 Set the rotation speed specified until a dog is detected Creep speed Pr PT06 Set the rotation speed sp...

Page 257: ...tion return completion ON OFF ON OFF ON OFF ST1 Forward rotation start ST2 Reverse rotation start 3 ms or shorter Home position return speed Deceleration time constant Creep speed Travel distance after proximity dog Home position shift distance Home position return position data Proximity dog 5 ms or longer Acceleration time constant PED Position end ON OFF The setting value of Pr PT08 Home positi...

Page 258: ...of section 5 4 1 to select the dog input polarity Home position return speed Pr PT05 Set the rotation speed specified until a dog is detected Creep speed Pr PT06 Set the rotation speed specified after a dog is detected Home position shift distance Pr PT07 Set this item to shift the home position which is specified by the Z phase signal Home position return acceleration time constant Pr PC30 The ac...

Page 259: ... Home position return completion ON OFF ON OFF ON OFF ST1 Forward rotation start ST2 Reverse rotation start 3 ms or shorter Home position return speed Deceleration time constant Creep speed Home position shift distance Home position return position data 5 ms or longer Acceleration time constant Proximity dog ON OFF Z phase PED Position end ON OFF The setting value of Pr PT08 Home position return p...

Page 260: ...on 5 4 1 to select the home position return direction Dog input polarity Pr PT29 Refer to 2 of section 5 4 1 to select the dog input polarity Home position return speed Pr PT05 Set the rotation speed specified until a dog is detected Creep speed Pr PT06 Set the rotation speed specified after a dog is detected Home position shift distance Pr PT07 Set this item to shift the home position which is sp...

Page 261: ... Home position return completion ON OFF ON OFF ON OFF ST1 Forward rotation start ST2 Reverse rotation start 3 ms or shorter Home position return speed Deceleration time constant Creep speed Home position shift distance Home position return position data 5 ms or longer Acceleration time constant ON OFF Z phase Proximity dog PED Position end ON OFF The setting value of Pr PT08 Home position return p...

Page 262: ...osition return Pr PT04 _ _ _ 9 Select the dog type front end detection front end reference Home position return direction Pr PT04 Refer to section 5 4 1 2 to select the home position return direction Dog input polarity Pr PT29 Refer to section 5 4 1 2 to select the dog input polarity Home position return speed Pr PT05 Set the rotation speed until a dog is detected Creep speed Pr PT06 Set the rotat...

Page 263: ...tion return completion ON OFF ON OFF ON OFF ST1 Forward rotation start ST2 Reverse rotation start 3 ms or shorter Deceleration time constant Creep speed Travel distance after proximity dog Home position shift distance Proximity dog 5 ms or longer Acceleration time constant Home position return speed PED Position end ON OFF Home position return position data The setting value of Pr PT08 Home positi...

Page 264: ...gnal is given Home position return acceleration time constant Pr PC30 The acceleration time constant set for Pr PC30 is used Home position return deceleration time constant Pr PC31 The deceleration time constant set for Pr PC31 is used Home position return position data Pr PT08 Set a current position at home position return completion Program DI0 Program No selection 1 to DI7 Program No selection ...

Page 265: ...erse rotation 0 r min 2 When the current position is beyond the proximity dog At start up the operation is performed in the direction of the home position return When LSP Forward rotation stroke end or LSN Reverse rotation stroke end is detected the machine moves backward automatically The machine passes and stops before the proximity dog and the home position return is performed from the position...

Page 266: ...program Nos perform the positioning operation using the program by switching on ST1 Forward rotation start 1 Program selection Select program No 1 to 256 using the forced output of the device from the controller command 9 2 and data No 6 0 2 Timing chart Transmission data 1 4 2 4 5 3 4 5 5 5 ms or longer 5 ms or longer 5 ms or longer Servo motor speed Program No 2 Program No 1 Program No 3 3 ms No...

Page 267: ...e servo amplifiers under one command use the group specification function in section 5 5 3 1 MR J4 _A_ RJ 100 W or more RS 422 232C conversion cable DSV CABV Diatrend Note 1 Note 2 Note 1 Note 1 Servo amplifier CN3 Servo amplifier CN3 Servo amplifier CN3 Axis No 1 station 0 Axis No 2 station 1 Axis No 32 station 31 RS 422 RS 485 compatible controller Note 1 The BMJ 8 Hachiko Electric is recommende...

Page 268: ...example The following shows a configuration diagram of MR J4 _A_ RJ 100 W or more servo amplifiers For cable connection diagram refer to section 14 1 1 of MR J4 _A_ RJ Servo Amplifier Instruction Manual CN3 CN3 CN3 Axis No 3 station 2 Axis No 4 station 3 Axis No 5 station 4 RS 422 RS 485 compatible controller CN3 CN3 Axis No 1 station 0 Axis No 2 station 1 CN3 CN3 CN3 Axis No 8 station 7 Axis No 7...

Page 269: ...sion data description Command Data No 1 Select Program No 1 in group a 9 2 6 0 2 Switch on ST1 Forward rotation start 9 2 6 0 3 Switch off ST1 Forward rotation start 9 2 6 0 4 Select Program No 1 in group b 9 2 6 0 5 Switch on ST1 Forward rotation start 9 2 6 0 6 Switch off ST1 Forward rotation start 9 2 6 0 7 Select Program No 1 in group c 9 2 6 0 8 Switch on ST1 Forward rotation start 9 2 6 0 9 ...

Page 270: ...mental value command method 1 Parameter setting Set Pr PT01 to select the incremental value command method as shown below Pr PT01 Incremental value command method 1 2 Command The command contents of MOV and MOVA are changed as follows There are no changes in other command Thus the command contents are the same between MOV and MOVI and between MOVA and MOVIA Command Name Setting Setting range Unit ...

Page 271: ...n time constant 300 ms b Acceleration time constant 200 ms d Incremental value travel command 1000 10STM μm e Dwell 100 ms j Servo motor speed 1000 r min h Deceleration time constant 300 ms k Incremental value travel command 1000 10STM μm i Incremental value travel command 1000 10STM μm Servo motor speed Forward rotation 0 r min Reverse rotation 5 7 Roll feed mode using the roll feed display funct...

Page 272: ... 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 with contents of programs of 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 or 3 2 9 for details 5 Number of steps e Used number of steps in all program...

Page 273: ...ing project j Click Update Project to update the program to a project 5 8 2 Window for program edit You can create programs with the window for program edit a e f b c d g 1 Program edit a Input commands to the program edit area a in text format 2 Cutting text b Select any text of the program edit area and click Cut to cut the selected text 3 Copying text c Select any text of the program edit area ...

Page 274: ...saving the program currently being edited 7 Displaying error g When the edit check of 5 detects an error in the program the row No and content of the error will be displayed Click the error content the cursor will move to the row of the corresponding program 5 8 3 Indirect addressing window Set general purpose registers D1 to D4 and R1 to R4 in this screen b c a 1 Register edit field a Set general...

Page 275: ...5 HOW TO USE THE PROGRAM 5 68 MEMO www kavrammuhendislik com tr ...

Page 276: ...e shaft one revolution or more during power off When a home position is erased AL 90 Home position return incomplete warning will occur Then execute the home position return again The indexer method cannot be used in the fully closed loop system and linear servo system The combination of the indexer method and fully closed loop system linear servo system triggers AL 37 Parameter error There are th...

Page 277: ...the servo motor and brings it to a stop Refer to section 3 10 of MR J4 _A_ RJ Servo Amplifier Instruction Manual for the servo motor with an electromagnetic brake Operation command Stopping condition Switch off SON Servo on The base circuit is shut off and the servo motor coasts Alarm occurrence The servo motor decelerates to a stop with the command With some alarms however the dynamic brake opera...

Page 278: ... servo on status RD Ready switches on 2 Switch on LSP Forward rotation stroke end and LSN Reverse rotation stroke end 3 To rotate the servo motor turn on ST1 Forward rotation start in the manual operation mode with the controller Set a low speed to Pr PT13 at first make the servo motor operate and check the rotation direction of the motor etc If the machine does not operate in the intended directi...

Page 279: ...ters Pr PT _ _ mainly As necessary set other parameters The following table shows Pr PA _ _ and Pr PT _ _ settings required for the indexer method Operation mode selection item Operation mode Parameter setting Input device setting Pr PA01 Pr PT04 Note 2 Pr PT27 MD0 Note 1 MD1 Note 1 3 DI0 to DI7 Note 1 Automatic operation mode Automatic operation mode 1 Rotation direction specifying indexer _ _ _ ...

Page 280: ... CN3 cabling is shorted Alarm occurs Refer to chapter 8 and remove the cause Chapter 8 Note 2 Switch on SON Servo on Alarm occurs Refer to chapter 8 and remove the cause Chapter 8 Note 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 or 3 2 7 to see if SON S...

Page 281: ... compared to the load torque Section 3 1 2 Section 3 2 2 5 Gain adjustment Rotation ripples speed fluctuations are large at low speed Make gain adjustment in the following procedure 1 Increase the auto tuning response level 2 Repeat acceleration deceleration more than three times to complete auto tuning Gain adjustment fault MR J4 _A_ Chapter 6 Large load inertia moment causes the servo motor shaf...

Page 282: ...is executed like this A station which one of the divided circumference 360 degrees into 255 at most on the machine side is selected by using 8 bit devices of the DI0 Next station No selection 1 to DI7 Next station No selection 8 The following diagram is an example for when Pr PA14 is set to 0 Station No 0 Station No 254 Station No 253 Station No 2 Station No 1 CW direction The station No 0 is set ...

Page 283: ...o will be as follows Off Station No decreasing direction On Station No increasing direction Servo motor speed Pr PC05 Set a servo motor speed Acceleration time constant Deceleration time constant RT Second acceleration deceleration selection 1 When RT is turned off Acceleration time constant setting value of Pr PC01 Acceleration time constant 1 Deceleration time constant setting value of Pr PC02 D...

Page 284: ...ext station No will be assigned in CW direction in order of 1 2 3 1 Next station No will be assigned in CCW direction in order of 1 2 3 Station No 1 2 3 4 CW direction Station No 1 2 3 4 CCW direction Pr PA14 0 initial value Pr PA14 1 b Setting number of stations Set a number of stations to Pr PT28 Pr PT28 setting Number of stations 2 3 4 255 Station No No 0 No 1 No 2 No 1 No 0 No 3 No 0 No 1 No 2...

Page 285: ...1 1 1 0 Next station No 254 1 1 1 1 1 1 1 1 Setting inhibited Note 2 Note 1 0 Off 1 On 2 AL 97 2 Next station position warning will occur 4 Timing chart POINT Always perform a home position return Executing positioning operation without home position return will trigger AL 90 Home position return incomplete warning and ST1 Forward rotation start will be disabled When a next station position is ove...

Page 286: ...off Note 4 All off Note 4 All off Note 4 Station output 1 Number of stations 8 5 ms or longer 5 ms or longer Pr PC31 setting time Pr PT39 setting time Note 3 Station position No 1 Automatic operation speed 1 Next station No 3 Automatic operation speed 1 Pr PC01 setting time Station position No 1 Next station No 1 Next station No 1 Station output 1 Station output 3 Pr PC02 setting time Automatic op...

Page 287: ...on MD0 Operation mode selection 1 Switch on MD0 MD1 Operation mode selection 2 Switch on MD1 Servo motor speed SIG External limit Rotation direction decision Automatic speed selection The servo motor speed will be as follows Off setting value of Pr PC05 Automatic operation speed 1 On setting value of Pr PC06 Automatic operation speed 2 Acceleration time constant Deceleration time constant RT Secon...

Page 288: ... Device Note 1 Selection contents DI7 DI6 DI5 DI4 DI3 DI2 DI1 DI0 0 0 0 0 0 0 0 0 Next station No 0 0 0 0 0 0 0 0 1 Next station No 1 0 0 0 0 0 0 1 0 Next station No 2 0 0 0 0 0 0 1 1 Next station No 3 1 1 1 1 1 1 1 0 Next station No 254 1 1 1 1 1 1 1 1 Setting inhibited Note 2 Note 1 0 Off 1 On 2 AL 97 2 Next station position warning will occur www kavrammuhendislik com tr ...

Page 289: ...ST1 Forward rotation start ON OFF SIG External limit Rotation direction decision Automatic speed selection ON OFF RT Second acceleration deceleration selection ON OFF MD0 Operation mode selection 1 ON OFF MD1 Operation mode selection 2 Torque limit Ignored Note 1 5 ms or longer Pr PC30 setting time Torque limit value of Pr PA11 and Pr PA12 Torque limit value of Pr PA11 and Pr PA12 Torque limit val...

Page 290: ...on or JOG operation 6 3 1 Station JOG operation 1 Setting According to the purpose of use set devices and parameters as shown below With this operation DI0 Next station No selection 1 to DI7 Next station No selection 8 are disabled Item Used device parameter Setting Selecting indexer method Control mode selection of Pr PA01 Select _ _ _ 8 positioning mode indexer method Manual operation mode selec...

Page 291: ... of 1 2 3 Station No 1 2 3 4 CW direction Station No 1 2 3 4 CCW direction Pr PA14 0 initial value Pr PA14 1 3 Operation Turning on ST1 Forward rotation start will start rotation to a direction specified with the rotation direction decision and turning off it will execute a positioning to the closest station position which is possible to decelerate to a stop However the shaft stops based on a set ...

Page 292: ... Manual operation speed 2 Pr PC02 setting time Manual operation speed 1 Pr PC01 setting time Manual operation speed 1 5 ms or longer Ignored Note 2 2 1 0 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0 7 6 5 4 3 1 2 3 3 4 5 6 0 7 7 6 5 4 Station output 3 Station output 1 Pr PC30 setting time Ignored Note 1 Ignored Note 2 Forward rotation 0 r min Reverse rotation Note 1 When the rest of command travel distance is ...

Page 293: ...ection to a station No will be as follows Off Station No decreasing direction On Station No increasing direction Servo motor speed Pr PC07 Set a servo motor speed Acceleration time constant Deceleration time constant RT Second acceleration deceleration selection 1 When RT is turned off Acceleration time constant setting value of Pr PC01 Acceleration time constant 1 Deceleration time constant setti...

Page 294: ...nual operation speed 1 5 ms or longer 5 4 Note 3 2 1 0 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0 7 6 5 4 3 Pr PC30 setting time Ignored Note 1 1 2 3 3 4 5 6 0 7 7 6 Manual operation speed 2 Station output 1 Station output 3 Ignored Note 1 Note 1 SIG and RT Second acceleration deceleration selection will not be accepted during operation Selection of the servo motor speed and acceleration deceleration time co...

Page 295: ...formed the home position return at machine installation the current position will be retained even if the power supply is shut off Therefore the home position return is unnecessary when the power supply is switched on again 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 1 Home position retu...

Page 296: ...position return in the address increasing direction from the current position Setting 1 starts the home position return in the address decreasing direction from the current position Home position return direction 0 Address increasing direction 1 Address decreasing direction 0 Pr PT04 0 0 c Select the polarity where the external limit is detected with the SIG polarity selection of Pr PT29 Function ...

Page 297: ... is specified by the first Z phase signal after the external limit is detected Acceleration time constant Deceleration time constant RT Second acceleration deceleration selection 1 When RT is turned off Acceleration time constant setting value of Pr PC01 Acceleration time constant 1 Deceleration time constant setting value of Pr PC02 Deceleration time constant 1 2 When RT is turned on Acceleration...

Page 298: ... Torque limit value of Pr PA11 and Pr PA12 Torque limit value of Pr PC35 Torque limit value of Pr PC35 In position out of range Station output 0 Station output 0 Creep speed Home position return speed PS0 Station output 1 to PS7 Station output 8 Note 3 Z phase Torque limit Position where the station home position shift distance is added 5 ms or longer Ignored Note 1 Note 1 When the rest of command...

Page 299: ...ravel With this home position return torque will not be generated simultaneously at switching to the home position return mode The shaft can be rotated with an external force to set any home position Additionally SIG is not used SIG is disabled even if turn off 1 Device parameter Set input devices and parameters as follows Item Used device parameter Setting Home position return mode selection MD0 ...

Page 300: ...ernal limit Rotation direction decision Automatic speed selection ON OFF MD0 Operation mode selection 1 ON OFF MD1 Operation mode selection 2 Torque limit ON OFF Home position return completion flag PS0 Station output 1 to PS7 Station output 8 Note 2 Note 1 When a data set type home position return is performed SIG will be disabled 2 For MR J4 03A6 RJ servo amplifiers up to six points of DO are av...

Page 301: ...current position 1000 2000 2000 2000 3000 2000 10 1000 10 1000 10 No 1 No 1 No 1 No 3 No 2 No 2 No 2 No 2 Backlash compensation b Torque limit changing data set type Servo motor speed ZP Home position return completion ON OFF ON OFF Forward rotation 0 r min Reverse rotation Power supply DI0 Next station No selection 1 to DI7 Next station No selection 8 Servo motor current position 1000 2000 2000 2...

Page 302: ...ion ON OFF ON OFF MEND Travel completion ON OFF PS0 Station output 1 to PS7 Station output 8 Note ST1 Forward rotation start ON OFF SIG External limit Rotation direction decision Automatic speed selection ON OFF MD0 Operation mode selection 1 ON OFF MD1 Operation mode selection 2 OV0 Digital override selection 1 to OV3 Digital override selection 4 ON OFF Forward rotation 0 r min Reverse rotation P...

Page 303: ...al override 100 Digital override 50 Digital override 100 1 2 2 3 4 5 6 7 8 Note 2 Digital override 85 Digital override 0 Digital override 0 5 ms or longer Note 1 Digital override 50 Station output 1 Current station position Digital override 85 Station output 2 Note 1 In the manual operation mode when turning on off ST1 Forward rotation start with 0 digital override and change the digital override ...

Page 304: ...ll change from the setting value of Pr PC35 Internal torque limit 2 to the setting value of Pr PA11 Forward rotation torque limit or Pr PA12 Reverse rotation torque limit at inputting ST1 Forward rotation start of the automatic operation mode 1 automatic operation mode 2 manual operation and torque limit changing dog type home position return Additionally after positioning completed signal is outp...

Page 305: ...6 HOW TO USE INDEXER 6 30 MEMO www kavrammuhendislik com tr ...

Page 306: ...on selection C A Pr PD47 Output device selection 7 Pr PE03 Fully closed loop function selection 2 Pr PE04 Fully closed loop control Feedback pulse electronic gear 1 Numerator Pr PE05 Fully closed loop control Feedback pulse electronic gear 1 Denominator Pr PE06 Fully closed loop control Speed deviation error detection level Pr PE07 Fully closed loop control Position deviation error detection level...

Page 307: ... For MR J4 03A6 RJ servo amplifiers the operation mode is available only in standard semi closed loop system The symbols in the control mode column mean as follows CP Positioning mode point table method BCD Positioning mode point table method in the BCD input positioning operation This method is available only when the MR D01 unit is connected Refer to chapter 12 for details CL Positioning mode pr...

Page 308: ...gear denominator command pulse multiplication denominator 1 Number of gear teeth on servo motor side 1 PA08 ATU Auto tuning mode 0001h PA09 RSP Auto tuning response 16 PA10 INP In position range 100 μm 10 4 inch 10 3 degree pulse PA11 TLP Forward rotation torque limit positive direction thrust limit 100 0 PA12 TLN Reverse rotation torque limit negative direction thrust limit 100 0 PA13 PLSS Comman...

Page 309: ...141 rad s PB19 VRF11 Vibration suppression control 1 Vibration frequency 100 0 Hz PB20 VRF12 Vibration suppression control 1 Resonance frequency 100 0 Hz PB21 VRF13 Vibration suppression control 1 Vibration frequency damping 0 00 PB22 VRF14 Vibration suppression control 1 Resonance frequency damping 0 00 PB23 VFBF Low pass filter selection 0000h PB24 MVS Slight vibration suppression control 0000h ...

Page 310: ... 2 Vibration frequency 100 0 Hz PB53 VRF22 Vibration suppression control 2 Resonance frequency 100 0 Hz PB54 VRF23 Vibration suppression control 2 Vibration frequency damping 0 00 PB55 VRF24 Vibration suppression control 2 Resonance frequency damping 0 00 PB56 VRF21B Vibration suppression control 2 Vibration frequency after gain switching 0 0 Hz PB57 VRF22B Vibration suppression control 2 Resonanc...

Page 311: ... RJ 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 Operation mode Control mode Standard Full Lin DD CP BCD CL PS PC01 STA JOG operation acceleration time constant 0 ms Acceleration time constant 1 PC02 STB JOG operation deceleration ti...

Page 312: ...e position return deceleration time constant 0 ms Deceleration time constant 2 PC32 CMX2 Command input pulse multiplication numerator 2 1 PC33 CMX3 Command input pulse multiplication numerator 3 1 PC34 CMX4 Command input pulse multiplication numerator 4 1 PC35 TL2 Internal torque limit 2 internal thrust limit 2 100 0 PC36 DMD Status display selection 0000h PC37 VCO Analog override offset 0 mV PC38...

Page 313: ... 10 STM µm 10 STM 4 inch 10 3 degree pulse PC68 LPSNL Mark detection range lower three digits 0 10 STM µm 10 STM 4 inch 10 3 degree pulse PC69 LPSNH Mark detection range upper three digits 0 10 STM µm 10 STM 4 inch 10 3 degree pulse PC70 SNOM Modbus RTU communication station number setting 0 PC71 COPF Function selection C F 0040h PC72 COPG Function selection C G 0000h PC73 ERW Error excessive warn...

Page 314: ... selection 3L 0704h PD08 DI3H Input device selection 3H 0707h PD09 DI4L Input device selection 4L 0805h PD10 DI4H Input device selection 4H 0808h PD11 DI5L Input device selection 5L 0303h PD12 DI5H Input device selection 5H 3803h PD13 DI6L Input device selection 6L 2006h PD14 DI6H Input device selection 6H 3920h PD15 For manufacturer setting 0000h PD16 0000h PD17 DI8L Input device selection 8L 0A0...

Page 315: ...lly closed loop function selection 1 No Symbol Name Initial value Unit Operation mode Control mode Standard Full Lin DD CP BCD CL PS PE01 FCT1 Fully closed loop function selection 1 0000h PE02 For manufacturer setting 0000h PE03 FCT2 Fully closed loop function selection 2 0003h PE04 FBN Fully closed loop control Feedback pulse electronic gear 1 Numerator 1 PE05 FBD Fully closed loop control Feedba...

Page 316: ...000h PE41 EOP3 Function selection E 3 0000h PE42 For manufacturer setting 0 PE43 0 0 PE44 LMCP Lost motion compensation positive side compensation value selection 0 0 01 PE45 LMCN Lost motion compensation negative side compensation value selection 0 0 01 PE46 LMFLT Lost motion filter setting 0 0 1 ms PE47 TOF Torque offset 0 0 01 PE48 LMOP Lost motion compensation function selection 0000h PE49 LMC...

Page 317: ...manufacturer setting 0000h PF11 0000h PF12 10000 PF13 100 PF14 100 PF15 DBT Electronic dynamic brake operating time 2000 ms PF16 For manufacturer setting 0000h PF17 10 PF18 0000h PF19 0000h PF20 0000h PF21 DRT Drive recorder switching time setting 0 s PF22 For manufacturer setting 200 PF23 OSCL1 Vibration tough drive Oscillation detection level 50 PF24 OSCL2 Vibration tough drive function selectio...

Page 318: ... 1000 µm PL03 LID Linear encoder resolution Denominator 1000 µm PL04 LIT2 Linear servo motor DD motor function selection 2 0003h PL05 LB1 Position deviation error detection level 0 mm 0 01rev PL06 LB2 Speed deviation error detection level 0 r min mm s PL07 LB3 Torque thrust deviation error detection level 100 PL08 LIT3 Linear servo motor DD motor function selection 3 0010h PL09 LPWM Magnetic pole ...

Page 319: ... device selection 2 0905h Po04 ODI3 MR D01 input device selection 3 2524h Po05 ODI4 MR D01 input device selection 4 2026h Po06 ODI5 MR D01 input device selection 5 0427h Po07 ODI6 MR D01 input device selection 6 0807h Po08 ODO1 MR D01 output device selection 1 2726h Po09 ODO2 MR D01 output device selection 2 0423h Po10 OOP1 Function selection O 1 2001h Po11 OOP2 Function selection O 2 0000h Po12 O...

Page 320: ... mode Standard Full Lin DD CP BCD CL PS PT01 CTY Command mode selection 0000h PT02 TOP1 Function selection T 1 0000h PT03 FTY Feeding function selection 0000h PT04 ZTY Home position return type 0010h PT05 ZRF Home position return speed 100 r min mm s PT06 CRF Creep speed 10 r min mm s PT07 ZST Home position shift distance 0 μm 10 4 inch 10 3 degree pulse PT08 ZPS Home position return position data...

Page 321: ...ions per rotation 8 stations PT29 TOP3 Function selection T 3 0000h PT30 MSTL Mark sensor stop travel distance 0 10 STM µm 10 STM 4 inch 10 3 degree pulse PT31 MSTH 0 PT32 For manufacturer setting 0000h PT33 0000h PT34 PDEF Point table program default 0000h PT35 TOP5 Function selection T 5 0000h PT36 For manufacturer setting 0000h PT37 10 PT38 TOP7 Function selection T 7 0000h PT39 INT Torque limi...

Page 322: ...enerative option is not for use with the servo amplifier AL 37 Parameter error occurs 00 Regenerative option is not used For the servo amplifiers of 100 W a regenerative resistor is not used For servo amplifier of 0 2 kW to 7 kW built in regenerative resistor is used Supplied regenerative resistors or regenerative option is used with the servo amplifier of 11 kW to 22 kW 01 FR RC H FR CV H FR BU2 ...

Page 323: ...r setting 0h AOP1 _ _ x _ 0h Function selection A 1 _ x _ _ 0h 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 2h Table 7 1 Deceleration method Setting value EM2 EM1 Deceleration method EM2 or EM1 is off Alarm occurred 0 _ _ _ EM1 MBR Electromagnetic brake interlock t...

Page 324: ... Number of stations per rotation Pr PT28 4 CMX CDV 100000 Setting out of the range will trigger AL 37 Parameter error When a small value is set to the electronic gear ratio with the manual operation mode the servo motor may not drive at the set servo motor speed Travel distance of 1 station Pt servo motor resolution 1 STN CMX CDV Setting range 1 to 16777215 1 PA07 CDV Electronic gear denominator c...

Page 325: ...ode 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 Pr PB08 Position loop gain Pr PB09 Speed loop gain Pr PB10 Speed integral compensation _ _ _ 2 Auto t...

Page 326: ...nge per command To change it to the servo motor encoder pulse unit set Pr PC24 100 Refer to Function column for unit Pr PA01 In position setting range _ _ _ 6 positioning mode point table method The range where MEND Travel completion PED Position end and INP In position are inputted _ _ _ 7 Positioning mode program method _ _ _ 8 Positioning mode indexer method The range where MEND Travel completi...

Page 327: ... analog monitor output the larger value of Pr PA11 Forward rotation torque limit positive direction thrust limit value or Pr PA12 Reverse rotation torque limit negative direction thrust limit value will be the maximum output voltage 8 V Set the parameter on the assumption that the maximum torque or thrust is 100 0 The parameter is for limiting the torque of the servo motor in the CW power running ...

Page 328: ...lue lower than actual command will cause a position mismatch 1h x _ _ _ For manufacturer setting 0h Table 7 3 Command input pulse train form selection Setting value Pulse train form Forward rotation positive direction command Reverse rotation negative direction command _ _ 1 0 Negative logic Forward rotation pulse train positive direction pulse train Reverse rotation pulse train negative direction...

Page 329: ...ction LM H3 LM F series Negative direction Positive direction Secondary side Primary side LM U2 series Negative direction Positive direction Table Primary side Secondary side LM K2 series Setting range 0 1 PA15 ENR Encoder output pulses 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 multiplica...

Page 330: ... servo motor series Linear servo motor primary side Parameter Pr PA17 setting Pr PA18 setting LM H3P2A 07P BSS0 2101h LM H3P3A 12P CSS0 3101h LM H3P3B 24P CSS0 3201h LM H3P3C 36P CSS0 3301h LM H3 LM H3P3D 48P CSS0 00BBh 3401h LM H3P7A 24P ASS0 7101h LM H3P7B 48P ASS0 7201h LM H3P7C 72P ASS0 7301h LM H3P7D 96P ASS0 7401h LM U2PAB 05M 0SS0 A201h LM U2PAD 10M 0SS0 A401h LM U2PAF 15M 0SS0 A601h LM U2P...

Page 331: ...FP4F 36M 1SS0 natural cooling 4601h LM FP4H 48M 1SS0 natural cooling 00B2h 4801h LM F LM FP5H 60M 1SS0 natural cooling 5801h LM FP2B 06M 1SS0 liquid cooling 2202h LM FP2D 12M 1SS0 liquid cooling 2402h LM FP2F 18M 1SS0 liquid cooling 2602h LM FP4B 12M 1SS0 liquid cooling 4202h LM FP4D 24M 1SS0 liquid cooling 4402h LM FP4F 36M 1SS0 liquid cooling 4602h LM FP4H 48M 1SS0 liquid cooling 4802h LM FP5H 6...

Page 332: ...read write the positioning control parameters Pr PT_ _ set Pr PA19 to 0 0 A B in the positioning mode Refer to table 7 4 for settings Linear servo motor DD motor setting parameters Pr PL_ _ cannot be used with MR J4 03A6 RJ servo amplifiers 00AAh Table 7 4 Pr PA19 setting value and reading writing range PA19 Setting operation PA PB PC PD PE PF PL Po PT Other than below Reading Writing 000Ah Readin...

Page 333: ... operation In Pr PF25 SEMI F47 function Instantaneous power failure detection time set the time until the occurrence of AL 10 1 Voltage drop in the control circuit power For MR J4 03A6 RJ servo amplifiers this digit cannot be used other than the initial value 0h x _ _ _ For manufacturer setting 0h PA21 AOP3 Function selection A 3 _ _ _ x One touch tuning function selection 0 Disabled 1 Enabled Whe...

Page 334: ...tia mode the feed forward gain is not available 0h _ _ x _ For manufacturer setting 0h _ x _ _ 0h x _ _ _ 0h PA25 OTHOV One touch tuning Overshoot permissible level 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 Setting range 0 to 100 0 PA26 AOP5 Function selection A 5 _ _ _ x Torque limit function selection at...

Page 335: ...ls refer to section 7 1 2 of MR J4 _A_ RJ Servo Amplifier Instruction Manual This digit is available with servo amplifier with software version C5 or later 0h PB02 VRFT Vibration suppression control tuning mode advanced vibration suppression control II _ _ _ x Vibration suppression control 1 tuning mode selection Select the tuning mode of the vibration suppression control 1 For details refer to se...

Page 336: ...ting 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 as the acceleration time constant up to the rated speed Setting range 0 to 100 0 PB06 GD2 Load to motor inertia ratio load to motor mass ratio This is used to set the load to mot...

Page 337: ... to the following table for details Setting range 1 0 to 2000 0 37 0 rad s Pr PA08 This parameter _ _ _ 0 2 gain adjustment mode 1 interpolation mode Automatic setting _ _ _ 1 Auto tuning mode 1 _ _ _ 2 Auto tuning mode 2 _ _ _ 3 Manual mode Manual setting _ _ _ 4 2 gain adjustment mode 2 Automatic setting PB09 VG2 Speed loop gain This is used to set the gain of the speed loop Set this parameter w...

Page 338: ... 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 _ _ x _ Notch depth selection 0 40 dB 1 14 dB 2 8 dB 3 4 dB 0h _ x...

Page 339: ...y selection Refer to table 7 5 for settings Set the value closest to the frequency you need 00h _ x _ _ Notch depth selection 0 40 dB 1 14 dB 2 8 dB 3 4 dB 0h x _ _ _ For manufacturer setting 0h Table 7 5 Shaft resonance suppression filter setting frequency selection Setting value Frequency Hz Setting value Frequency Hz _ _ 0 0 Disabled _ _ 1 0 562 _ _ 0 1 Disabled _ _ 1 1 529 _ _ 0 2 4500 _ _ 1 2...

Page 340: ...rameter will be set automatically When Manual setting _ _ _ 2 is selected the setting written to the parameter is used For details refer to section 7 1 5 of MR J4 _A_ RJ Servo Amplifier Instruction Manual Setting range 0 00 to 0 30 0 00 PB22 VRF14 Vibration suppression control 1 Resonance frequency damping Set a damping of the resonance frequency for vibration suppression control 1 to suppress low...

Page 341: ...6 The set value unit differs depending on the switching condition item Refer to MR J4 _A_ RJ Servo Amplifier Instruction Manual section 7 2 3 The unit r min will be mm s for linear servo motors Setting range 0 to 9999 10 kpulse s pulse r min PB28 CDT Gain switching time constant Set the time constant at which the gains will change in response to the conditions set in Pr PB26 and Pr PB27 Setting ra...

Page 342: ...ustment mode selection in Pr PA08 is Manual mode _ _ _ 3 Vibration suppression control 1 tuning mode selection in Pr PB02 is Manual setting _ _ _ 2 Gain switching selection in Pr PB26 is Input device gain switching CDP _ _ _ 1 Switching during driving may cause a shock Be sure to switch them after the servo motor or linear servo motor stops Setting range 0 0 to 300 0 0 0 Hz PB35 VRF3B Vibration su...

Page 343: ..._ _ 0 A 225 _ _ 2 A 43 _ _ 4 A 10 8 _ _ 0 B 204 _ _ 2 B 41 _ _ 4 B 10 4 _ _ 0 C 187 _ _ 2 C 40 _ _ 4 C 10 _ _ 0 D 173 _ _ 2 D 38 _ _ 4 D 9 7 _ _ 0 E 160 _ _ 2 E 37 _ _ 4 E 9 4 _ _ 0 F 150 _ _ 2 F 36 _ _ 4 F 9 1 _ _ 1 0 140 _ _ 3 0 35 2 _ _ 5 0 8 8 _ _ 1 1 132 _ _ 3 1 33 1 _ _ 5 1 8 3 _ _ 1 2 125 _ _ 3 2 31 3 _ _ 5 2 7 8 _ _ 1 3 118 _ _ 3 3 29 6 _ _ 5 3 7 4 _ _ 1 4 112 _ _ 3 4 28 1 _ _ 5 4 7 0 _ _ ...

Page 344: ...r 4 Set the notch frequency of the machine resonance suppression filter 4 To enable the setting value select Enabled _ _ _ 1 of Machine resonance suppression filter 4 selection in Pr PB49 Setting range 10 to 4500 4500 Hz PB49 NHQ4 Notch shape selection 4 Set forms of the machine resonance suppression filter 4 _ _ _ x Machine resonance suppression filter 4 selection 0 Disabled 1 Enabled When you se...

Page 345: ...n 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 To enable the setting value set Vibration suppression mode selection to 3 inertia mode _ _ _ 1 in Pr PA24 Setting range 0 1 to 300 0 100 0 Hz PB54 VRF23 Vibration suppression control 2 Vibratio...

Page 346: ...PB26 is Input device gain switching CDP _ _ _ 1 Switching during driving may cause a shock Be sure to switch them after the servo motor or linear servo motor stops Setting range 0 0 to 300 0 0 0 Hz PB58 VRF23B Vibration suppression control 2 Vibration frequency damping after gain switching Set a damping of the vibration frequency for vibration suppression control 2 when the gain switching is enabl...

Page 347: ...leration deceleration time will be shorter Time Pr PC02 setting 0 r min Rated speed Speed Pr PC01 setting 0 mm s 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 Setting range 0 to 50000 0 ms PC01 STA Acceleration time constant 1 Set an accelerati...

Page 348: ...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 Acceleration time constant Servo motor speed 0 r min Deceleration time constant Ta Ta STC Tb Tb STC Rated speed Preset speed Ta Time until preset speed is reached Tb Time until stop When the STC value is set longer than the constant speed tim...

Page 349: ...ulses 10 V 10000 pulses Note 2 _ _ 0 9 Servo motor side droop pulses 10 V 100000 pulses Note 2 _ _ 0 A Feedback position 10 V 1 Mpulses Note 2 _ _ 0 B Feedback position 10 V 10 Mpulses Note 2 _ _ 0 C Feedback position 10 V 100 Mpulses Note 2 _ _ 0 D Bus voltage 200 V class and 100 V class 8 V 400 V 400 V class 8 V 800 V _ _ 0 E Speed command 2 8 V max speed _ _ 1 0 Load side droop pulses 10 V 100 ...

Page 350: ... Internal temperature of encoder 5 V 4 V 128 C Note 1 Encoder pulse unit 2 The value in Pr PA11 or Pr PA12 whichever is higher is applied for the maximum torque PC15 MOD2 Analog monitor 2 output _ _ x x Analog monitor 2 output selection Select a signal to output to MO2 Analog monitor 2 Refer to app 8 3 of MR J4 _A_ RJ Servo Amplifier Instruction Manual for detection points of output selection Refe...

Page 351: ... phase differential output linear encoder is used And Encoder output pulse phase selection _ _ _ x will be disabled When another encoder is connected AL 37 Parameter error will occur Setting Standard control mode _ _ 0 _ in Pr PA01 will trigger AL 37 Parameter error 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...

Page 352: ...r of A B Z phase differential output method set 0 If the setting is incorrect AL 16 Encoder initial communication error 1 or AL 20 Encoder normal communication error 1 occurs For MR J4 03A6 RJ servo amplifiers this digit cannot be used other than the initial value Also it does not comply with encoders of A B Z phase differential output method 0h PC24 COP3 Function selection C 3 _ _ _ x In position...

Page 353: ...r setting 0h _ _ x _ 0h _ x _ _ 0h x _ _ _ Linear scale multipoint Z phase input function selection When two or more reference marks exist during the full stroke of the linear encoder set 1 0 Disabled 1 Enabled This parameter setting is used by servo amplifiers with software version A5 or later This digit is not available with MR J4 03A6 RJ servo amplifiers 0h PC30 STA2 Home position return accele...

Page 354: ...ernal thrust limit 2 Set the parameter on the assumption that the maximum torque or thrust is 100 0 The parameter is set for limiting the torque of the servo motor or the thrust of the linear servo motor No torque or thrust 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 lo...

Page 355: ...nit power consumption 1 kW unit 16 Unit total power consumption 1 Wh unit 17 Unit total power consumption 100 kWh unit 18 Load side cumulative feedback pulses Note 1 3 19 Load side droop pulses Note 1 3 1A Load side encoder information 1 1 pulse unit Note 1 3 1B Load side encoder information 1 100000 pulses unit Note 1 3 1C Load side encoder ABS counter Note 1 3 1D Z phase counter 1 pulse unit Not...

Page 356: ...onitor 1 Setting range 9999 to 9999 0 mV PC40 MO2 Analog monitor 2 offset Set the offset voltage of MO2 Analog monitor 2 Setting range 9999 to 9999 0 mV PC43 ERZ Error excessive alarm level Set an error excessive alarm level You can change the setting unit with Error excessive alarm level in Pr PC24 Set this per rev for rotary servo motors and direct drive motors Set this per mm for linear servo m...

Page 357: ...Alarm status Z phase side non signal Full Lin _ 0 _ _ Enabled AL 71 6 Z phase AL 20 6 Z phase _ 1 _ _ Disabled x _ _ _ For manufacturer setting 0h PC51 RSBR Forced stop deceleration time constant Set a deceleration time constant when you use the forced stop deceleration function Set the time per ms from the rated speed to 0 r min or 0 mm s Setting 0 will be 100 ms Forced stop deceleration Pr PC51 ...

Page 358: ...han 0 2 The forced stop deceleration function is enabled 3 Alarm occurs or EM2 turns off when the linear servo motor speed is zero speed or less 4 MBR Electromagnetic brake interlock was enabled in Pr PD23 to Pr PD26 Pr PD28 and Pr PD47 and the base circuit shut off delay time was set in Pr PC16 Setting range 25000 to 25000 0 0 0001 rev 0 01 mm PC60 COPD Function selection C D _ _ _ x Motor less o...

Page 359: ...ware version B7 or later Setting range 999 to 999 0 Refer to Function column for unit PC67 LPSPH Mark detection range upper three digits PC68 LPSNL Mark detection range lower three digits Set the lower limit of the mark detection Upper and lower are a set When the roll feed display is enabled set this value with the travel distance from the starting position Setting address Upper 3 digits Lower 3 ...

Page 360: ...ev will be clamped to 200 rev Set this per mm for linear servo motors Setting 0 will be 50 mm 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 ala...

Page 361: ...x _ BIN TL External torque external thrust limit selection 0 Disabled Use for an external input signal 1 Enabled automatic on _ x _ _ BIN For manufacturer setting x _ _ _ BIN For manufacturer setting _ x _ _ HEX _ _ _ x BIN For manufacturer setting 0h _ _ x _ BIN For manufacturer setting _ x _ _ BIN LSP Forward rotation stroke end 0 Disabled Use for an external input signal 1 Enabled automatic on ...

Page 362: ... Signal name 0 0 0 0 SON Servo on 0 Initial value BIN HEX Signal name 0 0 0 0 PC Proportional control TL External torque external thrust limit selection 0 BIN 0 Use for an external input signal BIN 1 Automatic on Initial value BIN HEX Signal name 0 0 0 0 LSP Forward rotation stroke end LSN Reverse rotation stroke end 0 Initial value BIN HEX Signal name 0 0 0 0 EM2 Forced stop 2 EM1 Forced stop 1 w...

Page 363: ... _ OVR OVR 2 7 _ _ TSTP TSTP 2 9 _ _ CI0 Note 3 CI0 Note 3 2 A _ _ CI1 Note 3 CI1 Note 3 2 B _ _ DOG DOG SIG 2 C _ _ SPD1 Note 3 2 D _ _ SPD2 Note 3 2 E _ _ SPD3 Note 3 2 F _ _ SPD4 Note 3 3 0 _ _ LPS 3 1 _ _ CI2 Note 3 CI2 Note 3 RT 3 2 _ _ RTCDP 3 4 _ _ PI1 OV0 3 5 _ _ PI2 OV1 3 6 _ _ PI3 OV2 3 7 _ _ CI3 Note 3 CI3 Note 3 OV3 3 8 _ _ DI0 DI0 DI0 3 9 _ _ DI1 DI1 DI1 3 A _ _ DI2 DI2 DI2 3 B _ _ DI...

Page 364: ... _ x x Not used with the positioning mode 03h x x _ _ Positioning mode Device selection Refer to table 7 10 in Pr PD04 for settings 38h PD14 DI6H Input device selection 6H Any input device can be assigned to the CN1 41 pin _ _ x x Not used with the positioning mode 20h x x _ _ Positioning mode Device selection Refer to table 7 10 in Pr PD04 for settings 39h PD18 DI8H Input device selection 8H Any ...

Page 365: ... DB DB _ _ 0 7 TLC TLC TLC _ _ 0 8 WNG WNG WNG _ _ 0 9 BWNG BWNG BWNG _ _ 0 A SA SA Always off _ _ 0 B Always off Always off Always off _ _ 0 C ZSP ZSP ZSP _ _ 0 D Note 2 MTTR MTTR MTTR _ _ 0 F CDPS CDPS CDPS _ _ 1 0 Note 2 CLDS CLDS CLDS _ _ 1 1 ABSV ABSV ABSV _ _ 1 F Note 2 CPCC Note 4 CPCC Note 4 _ _ 2 3 CPO CPO CPO _ _ 2 4 ZP ZP ZP _ _ 2 5 POT POT Always off _ _ 2 6 PUS PUS Always off _ _ 2 7 ...

Page 366: ...ultaneously 4 This is available with servo amplifiers with software version B7 or later PD24 DO2 Output device selection 2 _ _ x x Device selection Any output device can be assigned to the CN1 23 pin Refer to table 7 11 in Pr PD23 for settings 0Ch _ x _ _ For manufacturer setting 0h x _ _ _ 0h PD25 DO3 Output device selection 3 _ _ x x Device selection Any output device can be assigned to the CN1 ...

Page 367: ... 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 4h _ _ x _ RES Reset dedicated filter selection 0 Disabled 1 Enabled 50 ms 0h _ x _ _ CR Clear dedicated filter selection 0 Disabled 1 Enabled 50 ms 0h x _ _ _ For manufacturer setting 0h www kavrammuhendislik com tr ...

Page 368: ...p deceleration to a stop by deceleration time constant 3 Quick stop stop by clearing remaining distance 0h x _ _ _ Enabled disabled selection for a thermistor of servo motor or linear servo motor 0 Enabled 1 Disabled The setting in this digit will be disabled when using a servo motor or linear servo motor without thermistor 0h PD31 DOP2 Function selection D 2 _ _ _ x For manufacturer setting 0h _ ...

Page 369: ...1 Enabled with CCW or positive direction 2 Enabled with CW or negative direction 0h x _ _ _ For manufacturer setting 0h PD34 DOP5 Function selection D 5 _ _ _ x Alarm code output Select an output alarm codes When an alarm occurs the alarm code is outputted to CN1 22 CN1 23 and CN1 24 pins 0 Disabled 1 Enabled For details of the alarm codes refer to chapter 8 When 1 is set for this digit setting th...

Page 370: ...ting x _ _ _ _ _ _ x BIN For manufacturer setting 0h HEX _ _ x _ BIN For manufacturer setting _ x _ _ BIN For manufacturer setting x _ _ _ BIN For manufacturer setting Convert the setting value into hexadecimal as follows 0 Initial value BIN HEX Input device 0 0 0 0 0 0 MD0 Operation mode selection 1 MD1 Operation mode selection 2 0 Initial value BIN HEX Input device 0 0 0 OVR Analog override sele...

Page 371: ...xternal input signal 1 Enabled automatic on _ x _ _ BIN DI6 point table No program No next station No selection 7 0 Disabled Use for an external input signal 1 Enabled automatic on x _ _ _ BIN DI7 point table No program No next station No selection 8 0 Disabled Use for an external input signal 1 Enabled automatic on Convert the setting value into hexadecimal as follows 0 Initial value BIN HEX Inpu...

Page 372: ...5 pin and the CN1 38 pin _ _ x x Not used with the positioning mode 00h x x _ _ Positioning mode Device selection Refer to table 7 10 in Pr PD04 for setting values When 00 is set NP NP2 Reverse rotation pulse Manual pulse generator will be assigned The CN1 38 pin is available with servo amplifiers having software version B7 or later and manufactured in January 2015 or later 3Bh PD47 DO7 Output dev...

Page 373: ...ervo motor encoder pulse at the fully closed loop control Set the electronic gear so that the number of servo motor encoder pulses for one servo motor revolution is converted to the resolution of the load side encoder This parameter is not available with MR J4 03A6 RJ servo amplifiers Setting range 1 to 65535 1 PE05 FBD Fully closed loop control Feedback pulse electronic gear 1 Denominator Set a d...

Page 374: ...ol Set the electronic gear so that the number of servo motor encoder pulses for one servo motor revolution is converted to the resolution of the load side encoder For details refer to section 17 3 1 5 of MR J4 _A_ RJ Servo Amplifier Instruction Manual This parameter is not available with MR J4 03A6 RJ servo amplifiers Setting range 1 to 65535 1 PE35 FBD2 Fully closed loop control Feedback pulse el...

Page 375: ... torque The torque offset cannot be used for linear servo motors and direct drive motors Set 0 00 This parameter is available with servo amplifiers with software version B4 or later Setting range 10000 to 10000 0 0 01 PE48 LMOP Lost motion compensation function selection _ _ _ x Lost motion compensation selection 0 Disabled 1 Enabled This parameter is available with servo amplifiers with software ...

Page 376: ... Setting range 1 to 32767 0 s PF23 OSCL1 Vibration tough drive Oscillation detection level 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 However setting 0 will be 50 Example When you set 50 to the parameter the filter will be readjusted at the time of 50 or more o...

Page 377: ...speed we recommend that you set a half value of the maximum speed Forward rotation direction Positive direction 0 r min Operation pattern Pr PF31 setting Maximum speed in operation Servo motor speed Linear servo motor speed Reverse rotation direction Negative direction 0 mm s Setting range 0 to permissible speed 0 r min mm s PF34 SOP3 RS 422 communicatio n function selection 3 _ _ _ x For manufact...

Page 378: ... 17 131072 pulses 2 2 18 262144 pulses 3 2 20 1048576 pulses 4 2 22 4194304 pulses 5 2 24 16777216 pulses 6 2 26 67108864 pulses 3h x _ _ _ For manufacturer setting 0h PL02 LIM Linear encoder resolution Numerator Set a linear encoder resolution with the settings of Pr PL02 and Pr PL03 Set the numerator in Pr PL02 This is enabled only for linear servo motors Setting range 1 to 65535 1000 μm PL03 LI...

Page 379: ...on When the deviation between a current command and current feedback is larger than the setting value AL 42 3 Servo control error by torque thrust deviation will occur Setting range 0 to 1000 100 PL08 LIT3 Linear servo motor DD motor function selection 3 _ _ _ x Magnetic pole detection method selection 0 Position detection method 4 Minute position detection method 0h _ _ x _ For manufacturer setti...

Page 380: ...0 times _ _ 6 _ 60 times _ _ E _ 140 times _ _ 7 _ 70 times _ _ F _ 150 times or more PL18 IDLV Magnetic pole detection Minute position detection method Identification signal amplitude Set an identification signal amplitude used in the minute position detection method This parameter is enabled only when the magnetic pole detection is the minute position detection method However setting 0 will be 1...

Page 381: ... MD0 21 CAMC CAMC MD1 23 TCH 24 TP0 TP0 25 TP1 TP1 26 OVR OVR 27 TSTP TSTP 29 CI0 CI0 2A CI1 CI1 2B DOG DOG SIG 2C SPD1 2D SPD2 2E SPD3 2F SPD4 30 LPS 31 CI2 CI2 RT 32 RTCDP 34 PI1 OV0 35 PI2 OV1 36 PI3 OV2 37 CI3 CI3 OV3 38 DI0 DI0 DI0 39 DI1 DI1 DI1 3A DI2 DI2 DI2 3B DI3 DI3 DI3 3C DI4 DI4 DI4 3D DI5 DI5 DI5 3E DI6 DI6 DI6 3F DI7 DI7 DI7 Note CP Positioning mode point table method BCD Positionin...

Page 382: ...t an input signal function of the CN10 31 pin Refer to table 7 14 in Pr Po02 for setting values This parameter setting is available with servo amplifiers with software version B7 or later 26h x x _ _ CN10 32 selection Select an input signal function of the CN10 32 pin Refer to table 7 14 in Pr Po02 for setting values This parameter setting is available with servo amplifiers with software version B...

Page 383: ...6 selection Select an output signal function of the CN10 46 pin Refer to table 7 15 for settings This parameter setting is available with servo amplifiers with software version B7 or later 26h x x _ _ CN10 47 selection Select an output signal function of the CN10 47 pin Refer to table 7 15 for settings This parameter setting is available with servo amplifiers with software version B7 or later 27h ...

Page 384: ...S CDPS 10 CDLS CDLS CDLS 11 ABSV ABSV ABSV 1F CPCC CPCC 23 CPO CPO CPO 24 ZP ZP ZP 25 POT POT Always off 26 PUS PUS Always off 27 MEND MEND MEND 29 CLTS CLTS 2B CLTSM CLTSM 2C PED PED 2D SOUT 2E OUT1 2F OUT2 30 OUT3 31 ALMWNG ALMWNG ALMWNG 32 BW9F BW9F BW9F 33 MSDH MSDH 34 MSDL MSDL 37 CAMS CAMS 38 PT0 PS0 39 PT1 PS1 3A PT2 PS2 3B PT3 PS3 3C PT4 PS4 3D PT5 PS5 3E PT6 PS6 3F PT7 PS7 Note CP Positio...

Page 385: ...e with servo amplifiers with software version B7 or later 0h x _ _ _ MR D01 data establishment condition 0 Strobe signal enabled when the PLC is used 2 3 55 ms data matching time Strobe signal disabled This parameter setting is available with servo amplifiers with software version B7 or later 2h Po11 OOP2 Function selection O 2 Select the input devices of the override input and torque limit _ _ _ ...

Page 386: ... 9 Servo motor side droop pulses 10 V 100000 pulses Note 2 _ _ 0 A Feedback position 10 V 1 Mpulses Note 2 _ _ 0 B Feedback position 10 V 10 Mpulses Note 2 _ _ 0 C Feedback position 10 V 100 Mpulses Note 2 _ _ 0 D Bus voltage 200 V class and 100 V class 8 V 400 V 400 V class 8 V 800 V _ _ 0 E Speed command 2 8 V max speed _ _ 1 0 Load side droop pulses 10 V 100 pulses Note 2 _ _ 1 1 Load side droo...

Page 387: ...o amplifiers with software version B7 or later Setting range 9999 to 9999 0 mV Po22 OTLO MR D01 Analog torque limit offset This is used to set the offset voltage of the analog torque limit This parameter setting is available with servo amplifiers with software version B7 or later Setting range 9999 to 9999 0 mV Po27 ODI7 MR D01 input device selection 7 Any input device can be assigned to the CN10 ...

Page 388: ...onfigurator2 cannot be used with the USB communication 0h PT02 TOP1 Function selection T 1 _ _ _ 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 ca...

Page 389: ...lifiers with software version B7 or later This type is not available when a linear encoder or a DD motor is not used with servo amplifiers with software version B6 or earlier Setting this type will trigger AL 37 Parameter error _ _ x _ Home position return direction 0 Address increasing direction 1 Address decreasing direction d Setting 2 or more to this digit will be recognized as 1 Address decre...

Page 390: ... 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 The unit will be changed to 10 STM μm 10 STM 4 inch 10 3 degree or pulse with the setting of Pr PT01 Setting range 0 to 65535 1000 Refer to Function column for unit PT10 ZTM Stopper type home position return stopper time Set tim...

Page 391: ...f the setting will trigger AL 37 Therefore cycling power may be required after Pr PT15 to Pr PT18 are all set The unit will be changed to 10STM μm 10 STM 4 inch 10 3 degree or pulse with the setting of Pr PT01 Setting range 999999 to 999999 0 Refer to Function column for unit PT16 LMPH Software limit third most significant digit PT17 LMNL Software limit third least significant digit Set an address...

Page 392: ...sition range turns on with Pr PT19 to Pr PT22 Setting address Upper 3 digits Lower 3 digits Pr PT21 Pr PT22 The unit will be changed to 10 STM μm 10 STM 4 inch 10 3 degree or pulse with the setting of Pr PT01 Set a same sign for Pr PT21 and Pr PT22 Setting a different sign will trigger AL 37 Parameter error When changing a setting always set the third least significant digit before setting the thi...

Page 393: ...e displayed as automatic operation start 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 will be displayed When a stop a point table command position for the point table method will be displayed and 0 will be continuously displayed for the program method Manual 0 will be continuous...

Page 394: ...ut polarity 0 Normally closed contact 1 Normally open contact This is available with servo amplifiers with software version B7 or later _ _ x _ HEX _ _ _ x BIN PI1 Program input 1 polarity selection 0 Positive logic 1 Negative logic 0h _ _ 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 ...

Page 395: ...sed 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 automati...

Page 396: ...nge 0 to 1000 100 ms PT40 SZS Station home position shift distance Set a shift distance of the station home position with encoder pulse unit at home position return Setting this parameter enables to shift the station home position station No 0 to the position for home position return The following shows cautions for the setting The setting of the station home position shift distance is disabled at...

Page 397: ...Pr PT42 0 0 1 0 Pr PT42 Pr PT43 1 0 0 1 1 Pr PT42 Pr PT43 2 0 1 0 0 Pr PT42 Pr PT43 3 0 1 0 1 Pr PT42 Pr PT43 4 0 1 1 0 Pr PT42 Pr PT43 5 0 1 1 1 Pr PT42 Pr PT43 6 1 0 0 0 Pr PT42 Pr PT43 7 1 0 0 1 Pr PT42 Pr PT43 8 1 0 1 0 Pr PT42 Pr PT43 9 1 0 1 1 Pr PT42 Pr PT43 10 1 1 0 0 Pr PT42 Pr PT43 11 1 1 0 1 Pr PT42 Pr PT43 12 1 1 1 0 Pr PT42 Pr PT43 13 1 1 1 1 Fixed to 0 Note 0 Off 1 On PT43 OVS Digita...

Page 398: ...inch rev pulse rev CMX CDV Pt S Set the electronic gear within the following range Setting out of the range will trigger AL 37 Parameter error Pr PA21 Electronic gear setting range 0 _ _ _ 1 865 CMX CDV 271471 2 _ _ _ 1 13825 CMX CDV 16967 3 _ _ _ 1 27649 CMX CDV 8484 The following setting example explains how to calculate the electronic gear POINT To calculate the electronic gear the following sp...

Page 399: ...Note 4194304 1 3 160 π 1000 4194304 167551 61 524288 20944 Note Because the command unit is mm α 1000 is set When the unit is inch convert the setting into α 10000 When the unit is pulse convert the setting into α 1 Reduce CMX and CDV to within the setting range or lower and round off each value to the closest whole number Therefore set CMX 524288 and CDV 20944 2 Setting degree with Position data ...

Page 400: ...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 Number of gear teeth on machine side 25 number of gear teeth on servo motor side 11 Set Pr PA06 25 and Pr PA07 11 Servo motor Machine Z2 Z1 Pt Servo motor resolution 4194304 pulses rev Z1 Number of gear teeth on servo motor side Z2 Number...

Page 401: ...r of pulley teeth on servo motor side 20 Set Pr PA06 50 and Pr PA07 20 Number of pulley teeth on machine side 50 Servo motor Number of pulley teeth on servo motor side 20 2 Number of pulley teeth on machine side 50 number of pulley teeth on servo motor side 20 with geared servo motor of 1 9 Set Pr PA06 450 and Pr PA07 20 Number of pulley teeth on machine side 50 Number of pulley teeth on servo mot...

Page 402: ...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 Current position Travel impossible Inhibited range Software limit Movable range Travel possible The software limit is disabled in the indexer method ww...

Page 403: ...ses the home position A difference will be generated between command position and current position Perform a home position return again _ _ _ 2 Note 1 Servo motor speed linear servo motor speed 0 r min 0 mm s ON OFF Decelerates to stop Acceleration deceleration time constant Acceleration deceleration time constant S pattern acceleration deceleration time constant No S pattern acceleration decelera...

Page 404: ...t of droop pulses No S pattern acceleration deceleration With S pattern acceleration deceleration Erases the droop pulse portion and stops the motor Erases the home position A difference will be generated between command position and current position Perform a home position return again _ 2 _ _ Servo motor speed linear servo motor speed 0 r min 0 mm s Software limit detection Acceleration decelera...

Page 405: ...7 PARAMETERS 7 100 MEMO www kavrammuhendislik com tr ...

Page 406: ...thod column the servo motor stops with the dynamic brake without forced stop deceleration 3 Alarm deactivation After its cause has been removed the alarm can be deactivated in any of the methods marked in the alarm deactivation column Warnings are automatically canceled after the cause of occurrence is removed Alarms are deactivated with alarm reset or cycling the power Alarm deactivation Explanat...

Page 407: ...14 7 Control process error 7 DB 14 8 Control process error 8 DB 14 9 Control process error 9 DB 14 A Control process error 10 DB 14 B Control process error 11 DB 15 Memory error 2 EEP ROM 15 1 EEP ROM error at power on DB 0 0 0 15 2 EEP ROM error during operation DB 15 4 Home position information read error DB 16 Encoder initial communication error 1 16 1 Encoder initial communication Receive data...

Page 408: ...B 20 1 Encoder normal communication Receive data error 1 EDB 20 2 Encoder normal communication Receive data error 2 EDB 20 3 Encoder normal communication Receive data error 3 EDB 20 Encoder normal communication error 1 20 5 Encoder normal communication Transmission data error 1 EDB 1 1 0 20 6 Encoder normal communication Transmission data error 2 EDB 20 7 Encoder normal communication Transmission ...

Page 409: ...r error 2B 1 Encoder counter error 1 EDB 1 1 0 2B 2 Encoder counter error 2 EDB 30 1 Regeneration heat error DB Note 1 Note 1 30 Regenerative error 30 2 Regeneration signal error DB Note 1 Note 1 0 0 1 30 3 Regeneration feedback signal error DB Note 1 Note 1 31 Overspeed 31 1 Abnormal motor speed SD 1 0 1 32 1 Overcurrent detected at hardware detection circuit during operation DB 32 Overcurrent 32...

Page 410: ...oop control error for fully closed loop control 42 8 Fully closed loop control error by position deviation EDB Note 4 42 9 Fully closed loop control error by speed deviation EDB Note 4 42 A Fully closed loop control error by position deviation during command stop EDB Note 4 45 Main circuit device overheat 45 1 Main circuit device overheat error 1 SD Note 1 Note 1 0 1 1 45 2 Main circuit device ove...

Page 411: ... error DB 0 0 0 64 3 Operation mode setting error DB 65 Functional safety unit connection error 65 1 Functional safety unit communication error 1 SD 0 0 0 65 2 Functional safety unit communication error 2 SD 65 3 Functional safety unit communication error 3 SD 65 4 Functional safety unit communication error 4 SD 65 5 Functional safety unit communication error 5 SD 65 6 Functional safety unit commu...

Page 412: ...otation stroke end detection Command excess error SD 69 4 Reverse rotation stroke end detection Command excess error SD 69 5 Upper stroke limit detection Command excess error SD 69 6 Lower stroke limit detection Command excess error SD 70 Load side encoder initial communication error 1 70 1 Load side encoder initial communication Receive data error 1 DB 1 1 0 70 2 Load side encoder initial communi...

Page 413: ... error EDB 72 4 Load side encoder non signal error EDB 72 5 Load side encoder hardware error 1 EDB 72 6 Load side encoder hardware error 2 EDB 72 9 Load side encoder data error 2 EDB 74 Option card error 1 74 1 Option card error 1 DB 74 2 Option card error 2 DB 74 3 Option card error 3 DB 74 4 Option card error 4 DB 74 5 Option card error 5 DB 75 Option card error 2 75 3 Option card connection err...

Page 414: ...er slave operation error 1 EDB Network module initialization error 84 1 Network module undetected error DB 84 84 2 Network module initialization error 1 DB 84 3 Network module initialization error 2 DB Network module error 85 1 Network module error 1 SD 85 85 2 Network module error 2 SD 85 3 Network module error 3 SD Network communication error 86 1 Network communication error 1 SD 86 86 2 Network...

Page 415: ...me after removing the cause of occurrence 2 The following shows three stop methods of DB EDB and SD DB Stops with dynamic brake Coasts for the servo amplifier without dynamic brake Coasts for MR J4 03A6 RJ Note that EDB is applied when an alarm below occurs AL 30 1 AL 32 2 AL 32 4 AL 51 1 AL 51 2 EDB Electronic dynamic brake stop available with specified servo motors Refer to the following table f...

Page 416: ...4 Magnetic pole detection incomplete warning at home positioning 97 Positioning specification warning 97 1 Program operation disabled warning 97 2 Next station position warning 98 Software limit warning 98 1 Forward rotation side software stroke limit reached 98 2 Reverse rotation side software stroke limit reached 99 1 Forward rotation stroke end off Note 4 99 Stroke limit warning 99 2 Reverse ro...

Page 417: ... setting range error warning E5 ABS time out warning E5 1 Time out during ABS data transfer E5 2 ABSM off during ABS data transfer E5 3 SON off during ABS data transfer E6 Servo forced stop warning E6 1 Forced stop warning SD E6 2 SS1 forced stop warning 1 safety observation function SD E6 3 SS1 forced stop warning 2 safety observation function SD E7 Controller forced stop warning E7 1 Controller ...

Page 418: ...ting warning F5 3 Cam data checksum error F6 Simple cam function Cam control warning F6 1 Cam axis one cycle current value restoration failed 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 Leave for about 30 minutes of cooling time after removing the cause of occur...

Page 419: ...8 TROUBLESHOOTING 8 14 MEMO www kavrammuhendislik com tr ...

Page 420: ...ts MR J4 _A_ section 11 1 MR J4 _A_ section 18 8 1 Regenerative option MR J4 _A_ section 11 2 FR BU2 H brake unit MR J4 _A_ section 11 3 FR RC H power regeneration converter MR J4 _A_ section 11 4 FR CV H power regeneration common converter MR J4 _A_ section 11 5 Junction terminal block MR TB50 recommended MR J4 _A_ section 11 6 MR Configurator2 MR J4 _A_ section 11 7 Battery MR J4 _A_ section 11 ...

Page 421: ... Interface Maximum output current 20 mA for open collector output Pulse signal form A phase B phase 2 signals of 90 phase difference Pulse resolution 100 pulses rev Maximum speed Instantaneous maximum 600 r min normal 200 r min Temperature range for operation 10 C to 60 C Temperature range for storage 30 C to 80 C 2 Connection example Servo amplifier PP NP Plate 35 SD CN1 46 DOCOM TP1 Note 2 TP0 N...

Page 422: ...ut 0V Common for power and signal A A phase output pulse B B phase output pulse 4 Mounting Unit mm φ 6 2 2 0 3 φ4 8 Equal intervals Panel cut φ72 0 2 5 Dimensions Unit mm φ50 φ70 3 6 Packing t2 0 16 20 8 89 7 6 Invalid to use except M3 6 3 M4 stud L10 P C D72 Equal intervals 0 27 0 5 φ60 0 1 φ80 1 www kavrammuhendislik com tr ...

Page 423: ...9 OPTIONS AND PERIPHERAL EQUIPMENT 9 4 MEMO www kavrammuhendislik com tr ...

Page 424: ...anceling I O devices DIO MR J4 _A_ section 14 5 6 Alarm history MR J4 _A_ section 14 5 10 Current alarm MR J4 _A_ section 14 5 11 Other commands MR J4 _A_ section 14 5 12 POINT Creating and reading programs are not available with Mitsubishi general purpose AC servo protocol RS 422 communication Use MR Configurator2 A personal computer cannot be connected to the CN30 connector of MR D01 10 1 Comman...

Page 425: ... Virtual position within one revolution 0 C ABS counter Servo motor encoder ABS counter Virtual ABS counter 0 D Load to motor inertia ratio Load to motor mass ratio 0 E Bus voltage 0 F Note Load side cumulative feedback pulses 1 0 Note Load side droop pulses 1 1 Note Load side encoder information 1 Z phase counter 1 2 Note Load side encoder information 2 1 6 Note Temperature of servo motor thermis...

Page 426: ...que limit voltage Analog torque command voltage 8 7 Regenerative load ratio 8 8 Effective load ratio 8 9 Peak load ratio 8 A Instantaneous torque Instantaneous thrust 8 B Position within one revolution Servo motor encoder position within one revolution Virtual position within one revolution 8 C ABS counter Servo motor encoder ABS counter Virtual ABS counter 8 D Load to motor inertia ratio Load to ...

Page 427: ...r PD_ _ 0004 Extension setting 2 parameters Pr PE_ _ 0005 Extension setting 3 parameters Pr PF_ _ 0009 Option setting parameters Pr Po_ _ 000B Linear servo motor DD motor setting parameters Pr PL_ _ Note 000C Positioning control parameters Pr PT_ _ Reads the parameter group specified with the command 8 5 data No 0 0 Before reading the current values therefore always specify the parameter group wit...

Page 428: ... 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 Before reading writing enable disable therefore always specify the parameter group with the command 8 5 data No 0 0 0000 Writing enabled 0001 Writing disabled 4 Note This is not available with the MR J4 03A6 RJ servo amplifier 3 External I O sig...

Page 429: ...in past 1 C Twelfth alarm in past 1 D Thirteenth alarm in past 1 E Fourteenth alarm in past 1 F Fifteenth alarm in past 2 0 Alarm occurrence time in alarm history Most recent alarm 8 2 1 First alarm in past 2 2 Second alarm in past 2 3 Third alarm in past 2 4 Fourth alarm in past 2 5 Fifth alarm in past 2 6 Sixth alarm in past 2 7 Seventh alarm in past 2 8 Eighth alarm in past 2 9 Ninth alarm in p...

Page 430: ...Virtual position within one revolution 0 C ABS counter Servo motor encoder ABS counter Virtual ABS counter 0 D Load to motor inertia ratio Load to motor mass ratio 0 E Bus voltage 0 F Note Load side cumulative feedback pulses 1 0 Note Load side droop pulses 1 1 Note Load side encoder information 1 Z phase counter 1 2 Note Load side encoder information 2 1 6 Note Temperature of servo motor thermist...

Page 431: ...age 8 6 Analog torque limit voltage Analog torque command voltage 8 7 Regenerative load ratio 8 8 Effective load ratio 8 9 Peak load ratio 8 A Instantaneous torque Instantaneous thrust 8 B Position within one revolution Servo motor encoder position within one revolution Virtual position within one revolution 8 C ABS counter Servo motor encoder ABS counter Virtual ABS counter 8 D Load to motor iner...

Page 432: ...CL PS 4 0 0 0 to F F Reading position data of each point table The decimal equivalent of the data No value hexadecimal corresponds to the point table No 8 4 5 0 0 to F F Reading M code of each point table The decimal equivalent of the data No value hexadecimal corresponds to the point table No 5 0 0 0 to F F Reading speed data of each point table The decimal equivalent of the data No value hexadec...

Page 433: ... BCD CL PS 6 D 0 1 Reading general purpose register R1 value 8 0 2 Reading general purpose register R2 value 0 3 Reading general purpose register R3 value 0 4 Reading general purpose register R4 value 11 General purpose register Dx value command 6 E Command Data No Description Control mode Frame length CP BCD CL PS 6 E 0 1 Reading general purpose register D1 value 8 0 2 Reading general purpose reg...

Page 434: ...O forced output 0005 Single step feed operation No te 4 1 D Reading EEP ROM stored data type 0000 Initial state 0001 Point table method 0002 Program method 1 E Reading control mode 0006 Positioning mode point table method 0007 Positioning mode program method 0008 Positioning mode indexer method 0 2 9 0 Servo motor side pulse unit absolute position 8 9 1 Command unit absolute position 7 0 Software ...

Page 435: ...ending on the parameter 12 8 5 0 0 Parameter group writing 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_ _ 0009 Option setting parameters Pr Po_ _ 000B Linear servo motor DD motor setting parameters Pr ...

Page 436: ... 1EA5 1 3 Cancels the prohibition of the output device 1EA5 7 Operation mode selection command 8 B Command Data No Description Setting range Control mode Frame length CP BCD CL PS 8 B 0 0 Selection of test operation mode 0000 Test operation mode cancel 0001 JOG operation 0002 Positioning operation 0004 Output signal DO forced output 0005 Single step feed operation 0000 to 0002 0004 0005 No te 4 No...

Page 437: ...C 8 C A C B Command Data No Description Setting range Control mode Frame length CP BCD CL PS C 0 0 0 to F F Writing position data of each point table The decimal equivalent of the data No value hexadecimal corresponds to the point table No 999999 to 999999 8 C 2 0 0 to F F Writing M code of each point table The decimal equivalent of the data No value hexadecimal corresponds to the point table No 0...

Page 438: ...eneral purpose register R2 value 0 3 Writing general purpose register R3 value 0 4 Writing general purpose register R4 value 11 General purpose register Dx value command B A Command Data No Description Setting range Control mode Frame length CP BCD CL PS B A 0 1 Writing general purpose register D1 value Depends on instructions to use Refer to section 5 2 2 8 0 2 Writing general purpose register D2...

Page 439: ... the master station as hexadecimal data Bit Symbol Data No 0 0 Data No 0 1 Data No 0 2 Data No 0 3 0 SON MD0 POS00 1 LSP ABSM MD1 POS01 2 LSN ABSR POS02 3 TL TCH POS03 4 TL1 TP0 POS10 5 PC TP1 POS11 6 RES OVR POS12 7 CR POS13 8 SP1 STAB POS20 9 SP2 DOG SIG POS21 10 SP3 SPD1 POS22 11 ST1 RS2 SPD2 POS23 12 ST2 RS1 SPD3 POSP 13 CMX1 SPD4 POSN 14 CMX2 STRB 15 LOP 16 MSD LPS 17 PI1 RT 18 EM2 EM1 PI2 RT...

Page 440: ... 1 On 0 Off Command of each bit is transmitted to the master station as hexadecimal data Bit CN1 connector pin CN10 connector pin Bit CN1 connector pin CN10 connector pin 0 43 1 16 19 1 44 2 17 20 2 42 3 18 21 3 15 4 19 26 4 19 5 20 27 5 41 6 21 28 6 16 7 22 29 7 17 8 23 30 8 18 9 24 31 9 45 10 25 32 10 10 Note 11 26 33 11 35 Note 12 27 34 12 15 28 35 13 16 29 36 14 17 30 15 18 31 Note When the pu...

Page 441: ...ster station as hexadecimal data Bit Symbol Data No 6 0 Data No 6 1 Data No 6 2 Data No 6 3 0 SON MD0 POS00 1 LSP ABSM MD1 POS01 2 LSN ABSR POS02 3 TL TCH POS03 4 TL1 TP0 POS10 5 PC TP1 POS11 6 RES OVR POS12 7 CR POS13 8 SP1 STAB POS20 9 SP2 DOG SIG POS21 10 SP3 SPD1 POS22 11 ST1 RS2 SPD2 POS23 12 ST2 RS1 SPD3 POSP 13 CMX1 SPD4 POSN 14 CMX2 STRB 15 LOP 16 MSD LPS 17 PI1 RT 18 EM2 EM1 PI2 RTCDP 19 ...

Page 442: ...rns the status of the output devices b31 b1b0 1 On 0 Off Command of each bit is transmitted to the master station as hexadecimal data Bit CN1 connector pin CN10 connector pin Bit CN1 connector pin CN10 connector pin 0 49 22 16 1 24 23 17 2 23 24 18 3 25 25 19 4 22 38 20 5 48 39 21 6 33 40 22 7 13 Note 41 23 8 14 Note 42 24 9 43 25 10 44 26 11 45 27 12 46 28 13 47 29 14 48 30 15 49 31 Note This is ...

Page 443: ...ion as hexadecimal data Bit Symbol Data No 8 0 Data No 8 1 Data No 8 2 Data No 8 3 0 RD MCD00 1 SA MCD01 2 ZSP MCD02 3 TLC CPO MCD03 4 VLC ZP MCD10 5 INP POT MCD11 6 PUS MCD12 7 WNG MEND MCD13 8 ALM ACD0 9 OP ACD1 10 MBR ACD2 11 DB Note ACD3 12 ALCD0 PED PRQ0 13 ALCD1 PRQ1 14 ALCD2 15 BWNG 16 17 ALMWNG 18 BW9F 19 MSDH 20 MSDL 21 SOUT 22 OUT1 23 OUT2 24 OUT3 PT0 PS0 25 CDPS CAMS PT1 PS1 26 CLDS Not...

Page 444: ...ta 9 2 6 0 to 6 3 See below b31 b1b0 1 On 0 Off Command of each bit is transmitted to the master station as hexadecimal data Bit Symbol Data No 6 0 Data No 6 1 Data No 6 2 Data No 6 3 0 SON MD0 POS00 1 LSP ABSM MD1 POS01 2 LSN ABSR POS02 3 TL TCH POS03 4 TL1 TP0 POS10 5 PC TP1 POS11 6 RES OVR POS12 7 CR POS13 8 SP1 STAB POS20 9 SP2 DOG SIG POS21 10 SP3 SPD1 POS22 11 ST1 RS2 SPD2 POS23 12 ST2 RS1 S...

Page 445: ...e master station as hexadecimal data Bit Symbol Data No 0 0 Data No 0 1 Data No 0 2 Data No 0 3 0 SON MD0 POS00 1 LSP ABSM MD1 POS01 2 LSN ABSR POS02 3 TL TCH POS03 4 TL1 TP0 POS10 5 PC TP1 POS11 6 RES OVR POS12 7 CR POS13 8 SP1 STAB POS20 9 SP2 DOG SIG POS21 10 SP3 SPD1 POS22 11 ST1 RS2 SPD2 POS23 12 ST2 RS1 SPD3 POSP 13 CMX1 SPD4 POSN 14 CMX2 STRB 15 LOP 16 MSD LPS 17 PI1 RT 18 EM2 EM1 PI2 RTCDP...

Page 446: ... test operation mode Set the test operation mode type with the following procedure 1 Selection of test operation mode Transmit the command 8 B data No 0 0 data to select the test operation mode Command Data No Transmission data Selection of test operation mode 8 B 0 0 0004 Output signal DO forced output Note 0005 Single step feed Note Refer to section 10 2 5 for the output signal DO forced output ...

Page 447: ... table No in hexadecimal Select the single step feed in the test operation mode Command 8 B Data No 0 0 Data 0005 Single step feed Start Command 9 2 Data No 0 0 Data 00000807 ST1 is on Command 9 2 Data No 0 0 Data 00000801 ST1 is on Command 8 B Data No 0 0 Data 0000 Single step feed canceled Set a point table No When LSP LSN are turned on or automatically turned on Command 9 2 Data No 0 0 Data 000...

Page 448: ...mand Data No Setting data 9 2 A 0 A 1 See below b31 b1b0 1 On 0 Off Command of each bit is transmitted to the master station as hexadecimal data Bit CN1 connector pin CN10 connector pin Bit CN1 connector pin CN10 connector pin 0 49 22 16 1 24 23 17 2 23 24 18 3 25 25 19 4 22 38 20 5 48 39 21 6 33 40 22 7 13 Note 41 23 8 14 Note 42 24 9 43 25 10 44 26 11 45 27 12 46 28 13 47 29 14 48 30 15 49 31 No...

Page 449: ...ificant digit 6 Sixth least significant digit Data is transferred in hexadecimal Display type 0 Data is used unchanged in hexadecimal 1 Data must be converted into decimal Position data writing type 0 Enabled after writing 1 Enabled when power is cycled after writing 0 0 b Speed data Reads speed data of point tables 1 Transmission Transmits the command 5 0 the data No 0 1 to F F corresponding to t...

Page 450: ...converted into decimal Position data writing type 0 Enabled after writing 1 Enabled when power is cycled after writing 0 0 0 d Deceleration time constant Reads deceleration time constant of point tables 1 Transmission Transmits the command 5 8 the data No 0 1 to F F corresponding to the point tables to read Refer to section 10 1 1 2 Return The slave station returns the deceleration time constant o...

Page 451: ...mal Position data writing type 0 Enabled after writing 1 Enabled when power is cycled after writing 0 0 0 f Auxiliary function Reads auxiliary function of point tables 1 Transmission Transmits the command 6 4 the data No 0 1 to F F corresponding to the point tables to read Refer to section 10 1 1 2 Return The slave station returns the auxiliary function of point table requested Data is transferred...

Page 452: ...ponding to the point tables to read Refer to section 10 1 1 2 Return The slave station returns the M code of point table requested Data is transferred in hexadecimal Display type 0 Data is used unchanged in hexadecimal 1 Data must be converted into decimal Position data writing type 0 Enabled after writing 1 Enabled when power is cycled after writing 0 0 0 www kavrammuhendislik com tr ...

Page 453: ...0 1 1 Command Data No Data C 0 0 1 to F F Refer to the following diagram Data is transferred in hexadecimal Writing mode 0 Writing to EEP ROM RAM 1 Writing to RAM 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 Sixth least si...

Page 454: ...in the servo amplifier When changing data once or more within an hour do not write it to the EEP ROM c Acceleration time constant Writes acceleration time constant of point tables Transmits the command C 7 the data No 0 1 to F F corresponding to the point tables to write data Refer to section 10 1 1 Command Data No Data C 7 0 1 to F F Refer to the following diagram Hexadecimal Writing mode 0 Writi...

Page 455: ...unication set 1 to the 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 e Dwell Writes dwell of point tables Transmits the command C A the data No 0 1 to F F corresponding to the point tables to write data Refer to section 10 1 1 Command Data No Data C A 0 1 to F F Refer to the following diagram Hexadecimal Writin...

Page 456: ...1 to the 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 g M code Writes M code of point tables Transmits the command C 2 the data No 0 1 to F F corresponding to the point tables to write data Refer to section 10 1 1 Command Data No Data C 2 0 1 to F F Refer to the following diagram Hexadecimal Writing mode 0 Wri...

Page 457: ...vo motor speed Servo motor speed Linear servo motor speed Cumulative feedback pulses 0 6 8 6 Analog torque limit voltage Analog torque command voltage Droop pulses Droop pulses Servo motor speed 0 7 8 7 Regenerative load ratio Analog override voltage Override level Droop pulses 0 8 8 8 Effective load ratio Override level Analog torque limit voltage Override level 0 9 8 9 Peak load ratio Analog tor...

Page 458: ...ettling time 2 2 A 2 Oscillation detection frequency 2 3 A 3 Number of tough drive operations 2 4 A 4 2 5 A 5 2 6 A 6 2 7 A 7 2 8 A 8 Unit power consumption 2 9 A 9 Unit total power consumption 2 A A A Current position 2 B A B Command position 2 C A C Command remaining distance 2 D A D Point table No Program No Station position No 2 E A E Step No 2 F A F Analog override voltage 3 0 B 0 Override le...

Page 459: ...LSN ABSR POS02 3 TL TCH POS03 4 TL1 TP0 POS10 5 PC TP1 POS11 6 RES OVR POS12 7 CR POS13 8 SP1 POS20 9 SP2 DOG SIG POS21 10 SP3 SPD1 POS22 11 ST1 RS2 SPD2 POS23 12 ST2 RS1 SPD3 POSP 13 CMX1 SPD4 POSN 14 CMX2 STRB 15 LOP 16 MSD LPS 17 PI1 RT 18 EM2 EM1 PI2 RTCDP 19 PI3 20 STAB2 CAMC OV0 21 CI0 OV1 22 CI1 OV2 23 CI2 OV3 24 TSTP CI3 DI0 25 CLTC DI1 26 CPCD DI2 27 CDP DI3 28 CLD DI4 29 MECR Note DI5 30...

Page 460: ...10 POS22 11 ST1 POS23 12 ST2 POSP 13 POSN 14 STRB 15 16 17 MD0 18 DOG 19 20 SPD1 21 SPD2 22 SPD3 23 OVR SPD4 24 TSTP DI0 25 TP0 DI1 26 TP1 DI2 27 CDP DI3 28 DI4 29 DI5 30 DI6 31 DI7 c 2 _ _ _ equivalent to MR J2S CP is set to Pr PT01 Bit Symbol Bit Symbol Data No 0 0 6 0 Data No 0 0 6 0 0 SON 16 EM2 EM1 1 LSP 17 MD0 2 LSN 18 DOG 3 TL 19 DI0 4 TL1 20 DI1 5 PC 21 DI2 6 RES 22 DI3 7 23 OVR 8 24 TSTP ...

Page 461: ... J4 standard is set to Pr PT01 Bit Symbol Data No 0 0 8 0 Data No 0 1 8 1 Data No 0 2 8 2 Data No 0 3 8 3 0 RD MCD00 1 SA MCD01 2 ZSP MCD02 3 TLC CPO MCD03 4 VLC ZP MCD10 5 INP POT MCD11 6 PUS MCD12 7 WNG MEND MCD13 8 ALM ACD0 9 OP ACD1 10 MBR ACD2 11 DB Note ACD3 12 ALCD0 PED PRQ0 13 ALCD1 PRQ1 14 ALCD2 15 BWNG 16 17 ALMWNG 18 BW9F 19 MSDH 20 MSDL 21 SOUT 22 OUT1 23 OUT2 24 OUT3 PT0 PS0 25 CDPS C...

Page 462: ...BWNG 16 CPO 17 ZP 18 POT 19 PUS 20 21 22 23 24 PT0 25 CDPS PT1 26 PT2 27 PT3 28 MEND PT4 29 PT5 30 PT6 31 PT7 Note This is not available with the MR J4 03A6 RJ servo amplifier c 2 _ _ _ equivalent to MR J2S CP is set to Pr PT01 Bit Symbol Bit Symbol Data No 0 0 8 0 Data No 0 0 8 0 0 RD 16 CPO 1 17 ZP 2 18 POT 3 TLC 19 PUS 4 20 PT0 5 INP 21 PT1 6 22 PT2 7 WNG 23 PT3 8 ALM 24 PT4 9 25 10 MBR 26 11 D...

Page 463: ...set to Pr PT01 Bit Symbol Bit Symbol Data No 0 0 8 0 Data No 0 0 8 0 0 RD 16 1 17 ZP 2 18 POT 3 TLC 19 PUS 4 20 OUT1 5 21 OUT2 6 22 OUT3 7 WNG 23 SOUT 8 ALM 24 PED 9 25 10 MBR 26 11 DB Note 27 12 28 13 29 14 30 15 BWNG 31 Note This is not available with the MR J4 03A6 RJ servo amplifier www kavrammuhendislik com tr ...

Page 464: ...hat can extend the input output signals of MR J4 _A_ RJ servo amplifiers POINT MR D01 is available with servo amplifiers with software version B7 or later MR D01 cannot be used with the MR J4 DU_A_ RJ drive unit MR D01 cannot be used with MR J4 03A6 RJ servo amplifiers www kavrammuhendislik com tr ...

Page 465: ...B Base amplifier STO circuit Position command input Servo amplifier U V W U V W P3 P4 Diode stack Relay P B RA 24 V DC B1 B2 Battery for absolute position detection system CN4 STO switch Model speed Model torque M CN2 CN8 Control circuit power supply Model position control Model speed control Servo motor Charge lamp Regene rative TR Current detector Regenerative option CN5 CN3 CN6 Analog monitor 2...

Page 466: ...mplifiers MR J4 70A RJ or more have a cooling fan 4 MR J4 servo amplifier has P3 and P4 in the upstream of the inrush current suppression circuit They are different from P1 and P2 of MR J3 servo amplifiers 5 The power factor improving AC reactor can also be used In this case the power factor improving DC reactor cannot be used When not using the power factor improving DC reactor short P3 and P4 ww...

Page 467: ...mit and override Section 11 5 1 2 Manufacturer setting connector CN30 This connector is attached on the MR D01 but not for use 3 I O signal connector CN10 Connect digital I O signal and analog output signal Section 11 5 1 2 Rating plate The following shows an example of the rating plate for explanation of each item Model The year and month of manufacture Country of origin KC certification number S...

Page 468: ...king when storing Avoid using MR D01 of which the hook and knobs for fixing are damaged Any contact failure of the connector may be caused When mounting dismounting MR D01 to from MR J4 500A RJ to MR J4 22KA RJ and MR J4 350A4 RJ to MR J4 22KA4 RJ servo amplifiers avoid dropping out the installing screw inside it Otherwise it may cause a malfunction When mounting MR D01 to MR J4 500A RJ to MR J4 2...

Page 469: ...h the four corners of the side of MR D01 simultaneously to the servo amplifier until the four knobs click so that the CN7 connector is connected straight 4 Tighten the unit with the enclosed installing screw M4 b Removal of MR D01 1 d c a 2 b 1 Remove the installing screw 2 Keep pushing the knobs a b c d and pull out MR D01 to the arrow direction Avoid pulling out MR D01 while it is tightened with...

Page 470: ...lifier To the guide hole insert the MR D01 s guide pins 3 2 Knob 2 Push the four corners of the side of MR D01 simultaneously to the servo amplifier until the four knobs click so that the CN7 connector is connected straight 3 Tighten the unit with the enclosed installing screw M4 c Removal of MR D01 b 1 2 a d c 1 Remove the installing screw 2 Keep pushing the knobs a b c d and pull out MR D01 to t...

Page 471: ...e screw holes for mounting are not shown at shipping When installing the unit for the first time cut off the part a of the case after removing the side cover When cutting off the part a avoid damaging the case of the servo amplifier After cutting off it inside of the servo amplifier has been exposed even though the side cover and the unit are installed Avoid unwanted parts from entering through th...

Page 472: ...nnected to MR J4 20A RJ CN4 Line noise filter FR BSF01 CN5 Regenerative option P C L11 L21 P3 P4 Personal computer MR Configurator2 CN3 CN6 CN8 CN1 CN2 Magnetic contactor MC L1 L2 L3 Note 3 Power factor improving DC reactor FR HEL Molded case circuit breaker MCCB To safety relay or MR J3 D05 safety logic unit Analog monitor Junction terminal block Power supply Note 2 Battery To RS 422 RS 485 commu...

Page 473: ...l 3 Depending on the main circuit 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 4 When using an MR J4 _A RJ servo amplifier in the linear servo system or in the fully closed loop system connect an external encoder to this connec...

Page 474: ... may cause malfunction 1 Installation clearances of the servo amplifier a Installation of one servo amplifier 40 mm or more 10 mm or more 10 mm or more Note 2 40 mm or more Note 1 Servo amplifier Cabinet Cabinet 80 mm or more Wiring allowance Top Bottom Note 1 For the 11 kW to 22 kW servo amplifiers the clearance between the bottom and the ground will be 120 mm or more 2 When mounting MR J4 500A R...

Page 475: ...he adjacent servo amplifiers in consideration of mounting tolerances In this case operate the servo amplifiers at the ambient temperature of 0 C to 45 C or at 75 or less of the effective load ratio 100 mm or more 10 mm or more Note 2 30 mm or more 30 mm or more 40 mm or more Note 1 Cabinet Top Bottom 100 mm or more 1 mm 30 mm or more 40 mm or more Cabinet 1 mm Leaving clearance Mounting closely No...

Page 476: ...ned on the input signal that has turned on first is enabled Even though turning off one of the input signals that have been turned on is attempted the input signal cannot be turned off Refer to the following table for details The following table shows ST1 Forward rotation start as an example Device Note Servo amplifier Note MR D01 Servo motor ST1 0 0 Stop 0 1 Forward rotation 1 0 Forward rotation ...

Page 477: ...2 15 16 44 19 41 10 17 18 EM2 SON MD0 LSN DI0 DI1 DI2 ST1 ST2 Reverse rotation stroke end Forced stop 2 Servo on Forward rotation stroke end Note 3 5 Note 5 10 V DC 10 V DC Analog monitor 1 Analog monitor 2 Encoder A phase pulse differential line driver Encoder B phase pulse differential line driver Control common Encoder Z phase pulse open collector Encoder Z phase pulse differential line driver ...

Page 478: ...ion mode selection 1 32 TP0 TP1 OVR MD0 Temporary stop restart 33 34 35 Proportional control Forward rotation start Reverse rotation start 36 TSTP PC ST1 ST2 37 24 V DC Note 20 21 DOCOMD 22 ACD0 CN10 Alarm code 10 m or less 24 23 ACD1 ACD2 25 ACD3 M code 39 38 MCD00 MCD01 40 MCD02 44 43 MCD11 MCD12 45 MCD13 During a temporary stop 46 PUS 48 Rough match 47 MEND CPO 49 INP Travel completion Note 23 ...

Page 479: ...cuit connector came with a servo amplifier 13 Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo amplifier 14 The CN1 10 pin CN1 12 pin and CN1 35 pin cannot be used with source input interfaces 15 The devices can be changed with Pr PD04 Pr PD06 Pr PD08 Pr PD10 Pr PD12 Pr PD14 Pr PD18 Pr PD20 Pr PD22 Pr PD44 and Pr PD46 16 Ou...

Page 480: ...ke end Note 3 5 Note 5 Note 26 10 V DC 10 V DC Analog monitor 1 Analog monitor 2 Encoder A phase pulse differential line driver Encoder B phase pulse differential line driver Control common Encoder Z phase pulse open collector Encoder Z phase pulse differential line driver Malfunction Note 6 10 m or less Note 13 Main circuit power supply 46 DOCOM 10 m or less 24 V DC Note 4 49 13 14 RD Note 16 Not...

Page 481: ... 4 Note 25 Point table No selection 5 Point table No selection 6 Point table No selection 7 Point table No selection 8 Servo on Reset External torque limit selection Internal torque limit selection Manual pulse generator multiplication 1 Manual pulse generator multiplication 2 Override selection Operation mode selection 1 Temporary stop restart Proportional control Forward rotation start Reverse r...

Page 482: ... BCD input positioning operation POINT Assign the following output devices to CN1 22 CN1 23 and CN1 25 pins with Pr PD23 Pr PD24 and Pr PD26 CN1 22 CPO Rough match CN1 23 ZP Home position return completion CN1 25 MEND Travel completion www kavrammuhendislik com tr ...

Page 483: ...llector Encoder Z phase pulse differential line driver Malfunction Note 6 10 m or less Note 13 Main circuit power supply 46 DOCOM 10 m or less 24 V DC Note 4 49 13 14 RD Note 16 Note 16 Rough match Home position return completion Travel completion In position Ready Note 17 RA5 DOG LSP DI3 45 43 35 Operation mode selection 1 Forward rotation start Reverse rotation start Proximity dog Position data ...

Page 484: ...S12 POS13 44 45 PRQ1 PRQ2 9 10 POS20 POS21 11 12 15 16 POS22 POS23 POSP POSN 6A 6B 7A 7B 4A 4B 5A 5B 9A 9B 2A 2B 3A 3B 1A 1B CON1 SD Plate 6A 6B 7A 7B 4A 4B 5A 5B 9A 9B 2A 2B 3A 3B 1A 1B CON2 MR DS60 6A 6B 7A 7B 4A 4B 5A 5B 9A 9B 2A 2B 3A 3B 1A 1B CON1 6A 6B 7A 7B 4A 4B 5A 5B 9A 9B 2A 2B 3A 3B 1A 1B CON2 MR DS60 Digital switch select switch 20 m or less Speed selection 2 Speed selection 1 Speed se...

Page 485: ...ort circuit connector came with a servo amplifier 13 Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo amplifier 14 The CN1 10 pin CN1 12 pin and CN1 35 pin cannot be used with source input interfaces 15 The devices can be changed with Pr PD04 Pr PD06 Pr PD08 Pr PD10 Pr PD12 Pr PD14 Pr PD18 Pr PD20 Pr PD22 Pr PD44 and Pr PD4...

Page 486: ...mity dog Position data input 1 Position data input 2 Position data input 3 Position data input 4 Note 26 Note 15 Note 11 22 Analog override 10 V 0 to 200 Note 8 23 Analog torque limit 10 V maximum torque Control common Note 23 24 Analog torque limit 10 V maximum torque Upper limit setting Note 22 Analog override 10 V 0 to 200 2 m or less Upper limit setting Plate CN20 Lower limit setting SD 24 V D...

Page 487: ...MR DSCBL_M G MR DSCBL_ DCM1 DCM2 COM2 COM1 DCM1 DCM2 COM2 COM1 CN10 37 22 ACD0 24 23 25 ACD1 ACD2 ACD3 DOCOMD RA11 RA12 RA13 RA14 10 m or less Servo on Reset External torque limit selection Internal torque limit selection Manual pulse generator multiplication 1 Manual pulse generator multiplication 2 Override selection Operation mode selection 1 Temporary stop restart Proportional control Forward ...

Page 488: ...ferential line driver Malfunction Note 6 10 m or less Note 13 Main circuit power supply 46 DOCOM 10 m or less 24 V DC Note 4 49 13 14 RD Note 16 Note 16 Rough match Home position return completion Travel completion In position Ready Note 17 RA5 DOG LSP DI3 45 43 35 Operation mode selection 1 Forward rotation start Reverse rotation start Proximity dog Position data input 1 Position data input 2 Pos...

Page 489: ...d selection 2 Speed selection 1 Speed selection 3 44 45 1 2 3 4 5 6 7 8 9 10 PRQ1 PRQ2 POS00 POS01 POS02 POS03 POS10 11 12 15 16 17 DICOMD 13 DOCOMD 37 SON 21 RES 26 TL 27 TL1 28 TP0 29 TP1 30 OVR 31 MD0 32 TSTP 33 PC 34 ST1 35 ST2 36 SP0 18 SP1 19 SP2 20 POS11 POS12 POS13 POS20 POS21 POS22 POS23 POSP POSN STRB X00 X01 X02 X0F COM Y01 Y02 Y03 Y04 Y05 Y06 Y07 Y08 Y09 Y0A Y0B Y0C Y0D Y0E Y0F 12 24VD...

Page 490: ...ort circuit connector came with a servo amplifier 13 Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo amplifier 14 The CN1 10 pin CN1 12 pin and CN1 35 pin cannot be used with source input interfaces 15 The devices can be changed with Pr PD04 Pr PD06 Pr PD08 Pr PD10 Pr PD12 Pr PD14 Pr PD18 Pr PD20 Pr PD22 Pr PD44 and Pr PD4...

Page 491: ...r 1 Analog monitor 2 Encoder A phase pulse differential line driver Encoder B phase pulse differential line driver Control common Encoder Z phase pulse open collector Encoder Z phase pulse differential line driver Malfunction Note 6 10 m or less Note 13 Main circuit power supply 10 m or less 24 V DC Note 4 Note 16 Note 16 Rough match Home position return completion Travel completion In position Re...

Page 492: ...Y05 Y06 Y07 Y08 Y09 Y0A Y0B Y0C Y0D Y0E Y0F 12 24VDC COM Y00 CN10 DICOMD 37 RA13 RA14 RA15 RA16 Servo on Reset External torque limit selection Internal torque limit selection Manual pulse generator multiplication 1 Manual pulse generator multiplication 2 Override selection Automatic manual selection Temporary stop restart Proportional control Forward rotation start Reverse rotation start Speed sel...

Page 493: ...9 41 10 17 18 EM2 SON MD0 LSN DI0 DI1 DI2 ST1 ST2 Reverse rotation stroke end Forced stop 2 Servo on Forward rotation stroke end Note 3 5 Note 5 10 V DC 10 V DC Analog monitor 1 Analog monitor 2 Encoder A phase pulse differential line driver Encoder B phase pulse differential line driver Control common Encoder Z phase pulse open collector Encoder Z phase pulse differential line driver Malfunction ...

Page 494: ...orward rotation start Reverse rotation start 36 TSTP PC ST1 ST2 37 24 V DC Note 20 21 DOCOMD 22 ACD0 CN10 Alarm code 10 m or less 24 23 ACD1 ACD2 25 ACD3 39 38 OUT1 OUT2 40 OUT3 49 48 CPO INP Program output 1 Program output 3 Program output 2 Note 23 24 Analog torque limit 10 V maximum torque Upper limit setting Note 22 Analog override 10 V 0 to 200 2 m or less Upper limit setting 12 SD OTLA Plate...

Page 495: ...supply when inputting a negative voltage 12 When not using the STO function attach the short circuit connector came with a servo amplifier 13 Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo amplifier 14 The CN1 10 pin CN1 12 pin and CN1 35 pin cannot be used with source input interfaces 15 The devices can be changed with P...

Page 496: ...24 V DC Note 4 Reverse rotation stroke end Forced stop 2 Servo on Forward rotation stroke end Note 3 5 Note 5 Note 24 10 V DC 10 V DC Analog monitor 1 Analog monitor 2 Encoder A phase pulse differential line driver Encoder B phase pulse differential line driver Control common Encoder Z phase pulse open collector Encoder Z phase pulse differential line driver Malfunction Note 6 10 m or less Note 13...

Page 497: ...on 7 Program No selection 8 Servo on Reset External torque limit selection Internal torque limit selection Manual pulse generator multiplication 1 Manual pulse generator multiplication 2 Override selection Operation mode selection 1 Temporary stop restart Proportional control Forward rotation start Reverse rotation start 24 V DC Note 20 21 Alarm code 10 m or less Program output 1 Program output 3 ...

Page 498: ... option CN5 Note 9 MR Configurator2 Personal computer 24 V DC Note 4 RA1 RA2 RA3 RA4 RA6 42 15 16 44 19 41 10 17 18 EM2 SON MD0 LSN DI0 DI1 DI2 ST1 MD1 Reverse rotation stroke end Forced stop 2 Servo on Forward rotation stroke end Note 3 5 Note 5 10 V DC 10 V DC Analog monitor 1 Analog monitor 2 Encoder A phase pulse differential line driver Encoder B phase pulse differential line driver Control c...

Page 499: ...rol 34 35 Forward rotation start Operation mode selection 2 36 PC ST1 MD1 37 24 V DC Note 19 20 DOCOMD 22 ACD0 CN10 Alarm code 10 m or less 24 23 ACD1 ACD2 25 ACD3 39 38 PS0 PS1 40 PS2 44 43 PS5 PS6 45 PS7 Station No output 1 48 Station No output 3 49 INP Station No output 2 Note 21 Analog torque limit 10 V maximum torque 2 m or less Upper limit setting 12 SD OTLA Plate 13 P15R N12R 15 CN20 4 OMO1...

Page 500: ... RS 485 compatible controller 11 When not using the STO function attach the short circuit connector came with a servo amplifier 12 Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo amplifier 13 This diagram shows sink I O interface 14 The CN1 10 pin CN1 12 pin and CN1 35 pin cannot be used with source input interfaces 15 Out...

Page 501: ...oke end Forced stop 2 Servo on Forward rotation stroke end Note 3 5 Note 5 Note 23 10 V DC 10 V DC Analog monitor 1 Analog monitor 2 Encoder A phase pulse differential line driver Encoder B phase pulse differential line driver Control common Encoder Z phase pulse open collector Encoder Z phase pulse differential line driver Malfunction Note 6 10 m or less Note 12 Main circuit power supply 10 m or ...

Page 502: ...t station No selection 5 Next station No selection 6 Next station No selection 7 Next station No selection 8 Override selection 1 Override selection 2 Override selection 3 Servo on Reset External torque limit selection Internal torque limit selection Operation mode selection 1 Proportional control Forward rotation start Operation mode selection 2 24 V DC Note 19 20 Alarm code 10 m or less Station ...

Page 503: ...10 connector refer to 2 in this section For details of each signal device refer to section 11 5 3 1 Pin assignment The following is the front view of MR J4 10A RJ or MR D01 CN10 2 4 6 8 10 12 14 16 18 20 22 24 1 3 5 7 9 11 13 15 17 19 21 23 27 29 31 33 35 37 39 41 43 45 47 49 26 28 30 32 34 36 38 40 42 44 46 48 25 50 CN20 1 11 2 12 LG OVC 3 13 4 14 5 6 8 10 7 9 16 18 20 15 17 19 OTLA LG P15R N12R ...

Page 504: ...I RES RES RES RES Pr Po02 27 I TL TL TL TL Pr Po03 28 I TL1 TL1 TL1 TL1 Pr Po03 29 I TP0 TP0 TP0 Pr Po04 30 I TP1 TP1 TP1 Pr Po04 31 I OVR OVR OVR Pr Po05 32 I MD0 MD0 MD0 MD0 Pr Po05 33 I TSTP TSTP TSTP Pr Po06 34 I PC PC PC PC Pr Po06 35 I ST1 ST1 ST1 ST1 Pr Po07 36 I ST2 ST2 ST2 MD1 Pr Po07 37 DOCOMD DOCOMD DOCOMD DOCOMD 38 O MCD00 OUT1 PS0 39 O MCD01 OUT2 PS1 40 O MCD02 OUT3 PS2 41 O MCD03 PS3...

Page 505: ...ision column in the table refer to section 11 5 4 2 The symbols in the control mode field of the table shows the followings CP Positioning mode point table method BCD Positioning mode point table method in the BCD input positioning operation CL Positioning mode program method PS Positioning mode indexer method and of the table shows the followings Usable device by default Usable device by setting ...

Page 506: ...be automatic operation mode off will be manual operation mode Changing an operation mode during operation will clear the command remaining distance and the motor will decelerate to stop MD1 cannot be used Indexer method Select an operation mode with combinations of MD0 and MD1 Refer to the following table for combinations Changing an operation mode during operation will clear the command remaining...

Page 507: ...tion 2 TP1 CN10 30 DI 1 Analog override selection OVR CN10 31 DI 1 Teach TCH DI 1 Program input 1 PI1 DI 1 Program input 2 PI2 DI 1 Program input 3 PI3 DI 1 Current position latch input LPS DI 1 Point table No 1 Program No selection 1 Next station No selection 1 DI0 CN10 1 DI 1 Point table No 2 Program No selection 2 Next station No selection 2 DI1 CN10 2 DI 1 Point table No 3 Program No selection...

Page 508: ... Control mode CP BCD CL PS Point table No 7 Program No selection 7 Next station No selection 7 DI6 CN10 7 Same as the one of when used with only a servo amplifier Refer to section 2 3 1 a DI 1 Point table No 8 Program No selection 8 Next station No selection 8 DI7 CN10 8 DI 1 www kavrammuhendislik com tr ...

Page 509: ...3 1st 4th digit bit 2 POS02 CN10 3 DI 1 Position data input 4 1st 4th digit bit 3 POS03 CN10 4 DI 1 Position data input 5 2nd 5th digit bit 0 POS10 CN10 5 DI 1 Position data input 6 2nd 5th digit bit 1 POS11 CN10 6 DI 1 Position data input 7 2nd 5th digit bit 2 POS12 CN10 7 DI 1 Position data input 8 2nd 5th digit bit 3 POS13 CN10 8 DI 1 Position data input 9 3rd 6th digit bit 0 POS20 CN10 9 DI 1 ...

Page 510: ...e rotation speed acceleration deceleration time constants and deceleration time constant of the selected point table become speed commands in a positioning operation by 3 digit BCD 2 inputs DI 1 Speed selection 2 SPD2 CN10 19 DI 1 Speed selection 3 SPD3 CN10 20 DI 1 Speed selection 4 SPD4 DI 1 Device Note Selection contents SPD4 SPD3 SPD2 SPD1 0 0 0 0 Home position return mode 0 0 0 1 Point table ...

Page 511: ...ng 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 DI 1 Cam control command CAMC 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 DI 1 Cam No selection 0 CI0 Select cam No This is enabled when Cam control data No 49 Cam No ...

Page 512: ...1 Home position return completion ZP DO 1 Rough match CPO CN10 48 DO 1 Position range output POT DO 1 During a temporary stop PUS CN10 46 DO 1 Travel completion MEND DO 1 Position end PED DO 1 SYNC synchronous output SOUT CN10 19 DO 1 Program output 1 OUT1 CN10 38 DO 1 Program output 2 OUT2 CN10 39 DO 1 Program output 3 OUT3 CN10 40 DO 1 Point table No output 1 PT0 DO 1 Point table No output 2 PT1...

Page 513: ...ese signals set Pr Po12 to _ _ _1 In the indexer method Alarm codes 0 to 3 are output to CN10 38 to CN10 41 For details of the alarm codes refer to chapter 8 DO 1 Alarm code 1 ACD1 CN10 39 CN10 23 DO 1 Alarm code 2 ACD2 CN10 40 CN10 24 DO 1 Alarm code 3 ACD3 CN10 41 CN10 25 DO 1 Variable gain selection CDPS Same as the one of when used with only a servo amplifier Refer to section 2 3 1 b DO 1 Abso...

Page 514: ...esolution 12 bits or equivalent Analog output 4 Power supply Device Symbol Connector pin No Function and application I O division Control mode CP BCD CL PS MR D01 digital I F power supply input DICOMD CN10 13 CN10 14 Input 24 V DC 24 V DC 10 800 mA for I O interface The power supply capacity changes depending on the number of I O interface points to be used For sink interface connect of 24 V DC ex...

Page 515: ...nt table method 2 Analog override unusable 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 OVC Analog override The following table shows signals and parameters related to the analog override Item Name Remark Analog input signal OVC Ana...

Page 516: ...ier Position control Speed control Select a changed value by using OVR Analog override selection Note External input signal Speed change value 0 No change 1 Setting of OVC Analog override is enabled Note 0 Off 1 On c Analog override offset Pr Po21 You can set an offset voltage to the input voltage of OVC Analog override with Pr Po21 The setting value ranges from 9999 to 9999 mV www kavrammuhendisl...

Page 517: ...it value of the servo motor is as follows Torque limit values will vary about 5 relative to the voltage depending on products At the voltage of less than 0 05 V torque may vary as it may not be limited sufficiently Therefore use this function at the voltage of 0 05 V or more Note 5 Connection example Equivalent to RRS10 Japan Resistor OTLA applied voltage vs torque limit value OTLA applied voltage...

Page 518: ...12 Pr PA11 Pr PA12 OTLA Pr PA11 Pr PA12 OTLA OTLA 1 0 Pr PC35 Pr PA11 Pr PA12 Pr PA11 Pr PA12 Pr PC35 Pr PA11 Pr PA12 Pr PC35 Pr PC35 1 1 OTLA Pr PC35 Pr PC35 Pr PC35 OTLA Pr PC35 OTLA OTLA Note 0 Off 1 On c TLC Limiting torque TLC turns on when the servo motor torque reaches the torque limited using the forward rotation torque limit reverse rotation torque limit or analog torque limit www kavramm...

Page 519: ... 14 22 23 49 DICOMD ACD0 ACD1 INP POS00 CN10 1 2 3 4 Approx 5 6 kΩ 13 37 DICOMD 24 V DC 5 6 7 8 9 10 11 12 15 POSP 16 POSN 21 RES 26 TL 27 TL1 28 TP0 29 TP1 30 OVR 31 MD0 32 TSTP 33 PC 34 ST1 35 ST2 36 SPD1 18 SPD2 19 SPD3 20 Approx 5 6 kΩ DOCOMD POS01 POS02 POS03 POS10 POS11 POS12 POS13 POS20 POS21 POS22 POS23 SON 24 ACD2 25 ACD3 44 45 46 PUS 47 MEND 48 CPO Note 1 Note 2 Note 1 Note 2 PRO0 PRO1 R...

Page 520: ...tput interface DO 1 This is a circuit in which the collector of the output transistor is the output terminal When the output transistor is turned on the current will flow from the collector terminal A lamp relay or photocoupler can be driven Install a diode D for an inductive load or install an inrush current suppressing resistor R for a lamp load Rated current 40 mA or less maximum current 50 mA ...

Page 521: ... 15 V DC Upper limit setting 2 kΩ MR D01 Lower limit setting 2 kΩ 12 V DC 4 Analog output Output voltage 10 V Note Maximum output current 1 mA Resolution 12 bits or equivalent LG OMO1 OMO2 MR D01 Note Output voltage range varies depending on the monitored signal When connecting analog output to an external device use the withstand voltage of 15 V DC or higher www kavrammuhendislik com tr ...

Page 522: ...roximately 5 mA VCES 1 0 V ICEO 100 µA TR b Digital output interface DO 1 This is a circuit in which the emitter of the output transistor is the output terminal When the output transistor is turned on the current will flow from the output terminal to a load A maximum of 2 6 V voltage drop occurs in the servo amplifier Note 24 V DC 10 800 mA MR D01 INP etc DOCOMD Load If polarity of diode is revers...

Page 523: ...tor with MR Configurator2 when MR D01 has been connected 1 Initial setting When MR D01 has been connected click MR D01 from the Option unit menu in the creating new project window of MR Configurator2 2 How to open the optional unit monitor window Click Monitor in the menu bar and I O Monitor from the menu www kavrammuhendislik com tr ...

Page 524: ...SION I O UNIT 11 61 The following window is displayed Click Option unit monitor in the menu bar The following window is displayed The input output monitor on the MR D01 side can be checked www kavrammuhendislik com tr ...

Page 525: ...for automatic operation with BCD 3 digits 2 inputs _ _ _ 2 On Any Section 11 7 2 When using a programmable controller for automatic operation with BCD 3 digits 2 inputs Section 11 7 3 Note MD0 Automatic manual selection SPD1 to SPD4 Speed selection 1 to 4 11 7 2 When using MR DS60 6 digit digital switch for automatic operation with BCD 3 digit 2 inputs POINT The speed change with the analog overri...

Page 526: ... direction 0 initial value ST1 Forward rotation start on Rotates the servo motor in the CCW direction ST2 Reverse rotation start on Rotates the servo motor in the CW direction 1 ST1 Forward rotation start on Rotates the servo motor in the CW direction ST2 Reverse rotation start on Rotates the servo motor in the CCW direction 2 Operation Set position data with the MR DS60 6 digit digital switch and...

Page 527: ...ms or longer 5 ms or longer Note 2 3 ms or longer Note 2 5 ms or longer Note 6 Note 1 In the incremental value command method ST2 Reverse rotation start can be used In this case the timing chart is the same as the one for ST1 2 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 sig...

Page 528: ...manual mode during a temporary stop will erase a travel remaining distance The TSTP Temporary stop restart does not function during a home position return or JOG operation ON OFF ON OFF ON OFF Servo motor speed Deceleration time constant of point table No 1 Note OFF OFF ON ON Acceleration time constant of point table No 1 Note Remaining distance OFF ON ST1 Forward rotation start or ST2 Reverse rot...

Page 529: ...hod _ _ _ 2 Always set this item Enable the input output devices required for BCD input For the devices to be enabled refer to section 3 4 x _ _ _ Strobe 0 _ _ _ Always set this item When using a programmable controller STRB Strobe is required _ x _ _ Sign of the position data for BCD positioning _ 0 _ _ 6 digit position data without signs _ 1 _ _ initial value 6 digit position data with signs Pr ...

Page 530: ...ection 1 to SPD4 Speed selection 4 In the incremental value command method turning on ST2 Reverse rotation start moves the travel distance in the reverse direction Select point tables as follows with SPD1 Speed selection 1 to SPD4 Speed selection 4 and execute the positioning based on the set rotation speed acceleration time constant and deceleration time constant Note Device Selected Point table ...

Page 531: ... Note 2 ON OFF ON OFF PRQ1 Position data request 1 Note 4 PRQ2 Position data request 2 Note 5 5 ms or longer 5 ms or longer Note 2 3 ms or longer Note 2 Note 1 In the incremental value command method ST2 Reverse rotation start can be used In this case the timing chart is the same as the one for ST1 2 The detection of external input signals is delayed by the time set in the input filter setting of ...

Page 532: ... constant of point table No 1 Note Remaining distance OFF ON ST1 Forward rotation start or ST2 Reverse rotation start BCD input PUS Temporary stop CPO Rough match INP In position MEND Travel completion Forward rotation 0 r min Reverse rotation TSTP Temporary stop restart Note When SPD1 Speed selection 1 to SPD4 Speed selection 4 are used the acceleration deceleration time constants of the point ta...

Page 533: ...ervo amplifier L L MR D01 MR D01 100 V 200 V 0 1 kW to 3 5 kW 400 V 0 6 kW to 2 kW 200 V 5 kW 7 kW 400 V 3 5 kW to 7 kW Servo amplifier L mm MR J4 10A1 RJ to MR J4 40A1 RJ MR J4 10A RJ to MR J4 100A RJ MR J4 60A4 RJ to MR J4 100A4 RJ 20 MR J4 200A RJ MR J4 350A RJ MR J4 200A4 RJ 15 MR J4 500A RJ MR J4 700A RJ MR J4 350A4 RJ to MR J4 700A4 RJ 10 MR J4 11KA RJ to MR J4 22KA RJ MR J4 11KA4 RJ to MR J...

Page 534: ...r digital switch 4 Digital switch cable MR DSCBL_ Refer to section 11 5 1 2 a and 11 9 2 for details For digital switch junction 5 Junction terminal block recommended MR J2HBUS_M PS7DW 20V14B F Toho Technology Corp Junction terminal block PS7DW 20V14B F is not option For using the junction terminal block option MR J2HBUS_M is necessary Refer to section 11 9 3 for details 6 Junction terminal block ...

Page 535: ...stablishment condition 2 3 55 ms data matching time Strobe signal disabled sign is used 2 Specifications of MR DS60 Item Specifications Model MR DS60 Number of digits Signed 6 digit BCD Electrical characteristics 28 V DC 0 5 A Withstand voltage 500 Vr m s Contact resistance 100 mΩ or lower Life 1 000 000 times Temperature range for operation 0 C to 60 C Storage temperature 5 C to 70 C 3 Digital sw...

Page 536: ...bit 0 DI09 DI08 DI05 4B 10 10000 bit 1 Signal name Description 1B DI13 DI12 1A DI06 5A 10 10000 bit 2 DCM2 Common input 2 DI07 5B 10 10000 bit 3 Connect this signal with COM2 at block selection DI08 2A 100 100000 bit 0 COM2 Common output 2 DI09 2B 100 100000 bit 1 Common 2 at switching multi steps DI10 3A 100 100000 bit 2 DCM1 Common input 1 DI11 3B 100 100000 bit 3 Connect this signal with COM1 a...

Page 537: ...11 MR D01 EXTENSION I O UNIT 11 74 6 Mounting Unit mm Front installation Internal installation Panel cut 2 φ5 85 48 68 34 93 Square hole Square hole Panel cut 2 φ5 93 www kavrammuhendislik com tr ...

Page 538: ...tion Manual 2 Connection of MR J2HBUS_M cable and junction terminal block OVC 1 2 3 4 8 7 9 SD Shell Note 1 MR J2HBUS_M 5 6 10 LG OTLA 11 12 P15R 13 14 18 17 19 15 16 20 N12R Shell Shell Shell 1 2 3 4 8 7 9 5 6 10 11 12 13 14 18 17 19 15 16 20 1 2 3 4 8 7 9 5 6 10 11 12 13 14 18 17 19 15 16 20 1 2 3 4 8 7 9 5 6 10 11 12 13 14 18 17 19 15 16 20 OVC SD LG OTLA P15R N12R E MR D01 CN20 PS7DW 20V14B F ...

Page 539: ...11 MR D01 EXTENSION I O UNIT 11 76 3 Dimensions of junction terminal block Unit mm M3 6L M3 5L 36 5 27 8 18 8 7 62 44 11 54 63 φ4 5 4 5 5 4 60 50 9 3 27 TB E φ6 1 42 6 2 www kavrammuhendislik com tr ...

Page 540: ...on terminal block side with the supplied AERSBAN ESET cable clamp fitting For how to use the cable clamp fitting refer to section 11 14 2 c of MR J4 _A_ RJ Servo Amplifier Instruction Manual 2 Dimensions of MR TB50 235 50 25 Approx 25 9 2 1 50 49 Unit mm MITSUBISHI MR TB50 2 φ4 5 Terminal screw M3 5 Applicable wire 2 mm2 Crimp terminal width 7 2 mm or less 244 2 5 46 5 1 3 5 7 9 1113151719 2123252...

Page 541: ... PUS MEND CPO INP POS00 POS02 POS03 POS10 POS11 POS12 POS13 DICOMD POSP SP1 POSN STRB SP0 POS01 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 37 38 39 40 41 42 43 44 45 46 47 48 49 50 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 37 38 39 40 41 42 43 44 45 46 47 48 49 50 Note 2 Terminal block ...

Page 542: ... has been connected When AL F5 2 Cam data miswriting warning occurs during cam data writing set Pr PT34 to 5010 to initialize the cam data 12 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 Output a...

Page 543: ... constant Electronic gear Cam control data No 15 Cam control data No 16 Main shaft input axis selection Cam control command CAMC Cam data and cam control data Cam axis one cycle Command after cam conversion FΔT Cam pattern selection Input device CI0 to CI3 or Cam control data No 49 Simple cam function Input axis Cam axis compensation processing Output axis Clutch M Servo motor Encoder Cam stroke a...

Page 544: ...t 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...

Page 545: ...tes a cam standard position per cycle t t Cam data and cam control data Cam created by users Cam standard position First cycle Cam standard position Second cycle Cam standard position Third cycle Cam axis one cycle current value Input Cam conversion processing Feed current value Output Linear control Performs linear control to keep the one cycle stroke ratio as 100 t t Cam data and cam control dat...

Page 546: ...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 MR J4 A RJ servo amplifier MR J4 A RJ servo amplifier CN1 CN2 ...

Page 547: ...ation request by detection of mark sensor 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 com...

Page 548: ...a type cam control Cam data 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 Setting item Setting Operation mode selection Select Positioning mode point table method or program method with Pr PA...

Page 549: ... 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 Cam data used for actual cam control is stored MR J4 _A_ RJ Servo amplifier Reading Flash ROM 64 Kbytes RAM Cam storage area 8 Kbytes Working area for cam data 8 Kbytes Cam control data storage area Working area for cam control data Cam control Writing MR Configurator...

Page 550: ...e Description Stroke ratio data type 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 Coordinate data type 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 ...

Page 551: ...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 Cam data One resolutio...

Page 552: ...position First cycle Cam standard position Second cycle Cam stroke amount Stroke ratio at thelast point Feed current value Cam axis one cycle current value Cam standard position Third cycle For to and fro control create the cam data in which the stroke ratio at the last point is 0 t t Feed current value Cam axis one cycle current value Cam standard position Does not change because the stroke ratio...

Page 553: ... 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 t t Cam standard position First cycle Cam standard position Second cycle Cam standard position Third cycle Feed current value Cam axis one cycle current value Zeroth point Last point Cam data start position 4 Timing of applying cam c...

Page 554: ...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 999 999 to 999 999 The following is a setting example for the coordinate data type Output value Y Output axis position unit Input value X 999 999 Cam axis one cycle length Cam axis cycle unit 999 999 0 Cam standard position X0 Y0 X1 Y1 X2 Y2 X3 Y3 X4 Y4 X5 Y5 X9 Y9 X1...

Page 555: ...d 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 t t Cam standard position First cycle Output value corresponding to Input value Cam axis one cycle length Output value corresponding to Input value 0 Cam standard position Second cycle Feed curr...

Page 556: ...l is preceded by cycle the power after setting The cam control data is not applied by the temporal writing of MR Configurator2 No Symbol Name Initial value Unit Operation mode Control mode Standard Full Lin DD CP BCD CL PS 1 MCYSM Note Main axis one cycle current value setting method 0 2 CPRO Note Cam axis position restoration target 0 3 CBSSM Note Cam standard position setting method 0 4 CCYSM No...

Page 557: ...g 0 34 0 35 0 36 CLTMD Main shaft clutch control setting 0000h 37 For manufacturer setting 0 38 0 39 0 40 0 41 0 42 CLTSMM Note Main shaft clutch smoothing system 0 43 CLTSMT Note Main shaft clutch smoothing time constant 0 ms 44 For manufacturer setting 0 45 0 46 0000h 47 0 48 CCYL Note Cam axis one cycle length 0 µm 10 4 inch 10 3 degree pulse 49 CNO Note Cam No 0 50 For manufacturer setting 0 5...

Page 558: ...revious 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 0 4 CCYSM Cam axis one cycle current value setting method Select a setting method for the cam axis one cycle current value used for restoration when ...

Page 559: ...unit 14 ETYP Synchronous encoder axis unit _ _ _ x Control unit 0 mm 1 inch 2 degree 3 pulse 0h _ _ 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 0h _ x _ _ For manufacturer setting 0h x _ _ _ 0h 15 ECMX Synchronous encoder axis unit conversion Numerator Set a numerator used to convert encoder pulses of the sync...

Page 560: ... or pulse with the setting of Cam control data No 14 Setting range 0 to 999999 0 Refer to Function column for unit 49 CNO Cam No 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 Setting range 0 to 8 0 51 CSTK Cam stroke amount Set...

Page 561: ...ting digit Function Initial value unit Control mode CP BCD CL PS 61 CPHT Cam position compensation time constant Set the time to apply the position compensation for the input axis of the cam axis Setting range 0 to 65535 0 ms www kavrammuhendislik com tr ...

Page 562: ...PT01 Pr PT01 Multipli cation Pr PT03 Pr PT03 Cam axis one cycle length Cam control data No 48 Unit Pr PT01 Pr PT01 Multipli cation Pr PT03 Pr PT03 Cam stroke amount Cam control data No 51 Unit Pr PT01 Pr PT01 Pr PT01 Multipli cation Pr PT03 Pr PT03 Pr PT03 Cam position compensation amount Cam control data No 60 Unit Pr PT01 Pr PT01 Cam control data No 14 Multipli cation Pr PT03 Pr PT03 b Synchrono...

Page 563: ... Read write 32 Impossible b Details of registers 1 Cam number setting 2D80h Address Name Data type Read write No of points No of Registers Continuous read continuous write 2D80h Target CAM No 1 byte Read write 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 ...

Page 564: ...points No of Registers Continuous read continuous write 2D85h Stroke movement of CAM 4 bytes Write 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 The values set with this register are deleted at power off 5 Request store CAM 2D88h Address Name Data type Read write No of points No of Registers Continuous ...

Page 565: ... 8320 to 8383 131 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 Read write No of points No of Registers Continuous read continuous write 2D8Bh CAM data in CAM area 64 bytes Read write 32 Impossible Cam data in the area specified with CA...

Page 566: ...ata in the servo off state and when CAMC Cam control command is off MR Configurator2 Servo amplifier Controller USB communication Modbus RTU communication Save read the cam data in the controller Create cam data with MR Configurator2 1 Write the created cam data to the servo amplifier 2 Write the saved cam data to the servo amplifier Writing to RAM 4 3 The cam No cam axis one cycle length and cam ...

Page 567: ...D89h and 2D8Bh N 131 Note Reading starts No N 0 N N 1 Set 0 in Request store CAM address 2D88h Set N in CAM area address 2D89h Use the address 2D8Bh to read the cam data 64 bytes in CAM area 2D89h Reading is completed Yes 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 a...

Page 568: ...89h and 2D8Bh N 131 Note Writing starts No N 0 N N 1 Set 0 in Request store CAM address 2D88h Set N in CAM area address 2D89h Use the address 2D8Bh to read the cam data 64 bytes in CAM area 2D89h Writing is completed Yes 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 i...

Page 569: ... 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 Rotary knife axis Mark s...

Page 570: ...3 with I O setting parameters Pr PD_ _ Refer to section 7 2 4 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 Setting value Cam axis one cycle length Cam control data No 48 Set the sheet length 200 000 Cam stroke amount Cam control data No 51 Set the rotation amount per...

Page 571: ...control data No 49 Cam No to select the cam data Note 1 4 Servo on Switch on SON Servo on 5 Switching cam control 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 se...

Page 572: ...o section 7 2 4 for details Cam position compensation target position Cam control data No 60 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 Cam position compensation time constant Cam control data No 61 In this example the position compensation is executed ...

Page 573: ... CPHV ccyl cpos CPHV Cam control data No 60 ccyl cpos Cam axis one cycle current value Sheet CPHV Cam control data No 60 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 compen...

Page 574: ...ion 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 CPHV Cam control data No 60 ccyl cpos CCYL Cam control data No 48 Cam axis one cycle current value Sheet Decrease the conveyor travel distance by subtracting the difference cpos CPHV from the cam...

Page 575: ...chronize 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 Flow of belt conveyors Axis 2 vertical axis Axis 1 horizontal axis Fig 12 1 5 System configuration example www kavrammuhendislik com tr ...

Page 576: ...ommands point table data to the driven shaft axis 2 as those for the main shaft axis 1 Fig 12 1 6 Driving example Set the following items as follows to move up and down the axis 2 in synchronization with the to and fro control using absolute value commands with point table No 1 and 2 of the axis 1 Setting example of axis 1 Item Setting Setting value Operation mode selection Pr PA01 Select Point ta...

Page 577: ...o motor speed and acceleration deceleration time constants for the point table No 2 of the axis 1 0 000 Cam data Create a cam pattern according to the axis 1 position Refer to Fig 12 1 6 b Operation The following table shows an example of the procedure before operation Step Setting and operation 1 Data setting Refer to the setting example on the previous page and set the data 2 Initial position ad...

Page 578: ...r shorter 3 ms or shorter 1 3 ms or longer Max 20 ms Fig 12 1 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...

Page 579: ... 12 of MR J4 _A_ RJ 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 Pr PT35 setting Cam control data No 49 setting External input signal Communicati on command Setting _ 0 _ _ Simple cam function disabling setting The cam function will be disabled with the se...

Page 580: ... Refer to 1 Stroke limit detection Instantaneous stop Refer to 1 Stop due to forced stop 1 or 2 or alarm occurrence Instantaneous stop or deceleration to a stop Stop due to base circuit shut off Refer to 1 Stop by the forced stop deceleration function Refer to 2 Cam control command CAMC OFF Instantaneous stop Refer to 1 Servo off Instantaneous stop Coasting state 1 Instantaneous stop The operation...

Page 581: ...n decelerating the output axis to stop in synchronization with the input axis t t t Cam axis one cycle current value Feed current value Feed speed 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 ...

Page 582: ...en shaft ST1 Forward rotation start CAMC Cam control command Cam axis one cycle current value Cam axis feed current value CAMS Under cam control Main shaft driven shaft Main shaft 5 ms or longer 3 ms or shorter Point table No 1 Note 1 If the cam control stops during operation the synchronous position relationship with the main shaft is broken Positioning to the synchronization start position Feed ...

Page 583: ...am 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 0 Cam axis one cycle current value Note Used as the search starting point of...

Page 584: ...d 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...

Page 585: ...feed current value that matched The cam axis one cycle current value is restored with the second feed current value that matched Search from a value in the middle of the cam axis one cycle current value Preceding feed current values are searched later Cam axis one cycle current value Initial setting Cam axis one cycle current value Cam axis feed current value Feed current value Cam standard positi...

Page 586: ...lues that matched Search from Cam axis one cycle current value 0 Cam axis one cycle current value Cam axis feed current value Feed current value Cam standard position 2 Searching from a value in the middle of the cam axis one cycle current value Cam data start position 0 Search from a value in the middle and the cam axis one cycle current value is restored with the first feed current value that ma...

Page 587: ...alue 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 Once the first search fails the ca...

Page 588: ...ntrol 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 Cam axis one cycle current value Cam axis feed current value Cam standard position The following shows an example for restoring the cam standard position to start an operation from a point where both ...

Page 589: ...on 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 p...

Page 590: ...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 cont...

Page 591: ...ssed 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 c...

Page 592: ...nt value with the cam position compensation target position Cam control parameter No 60 by inputting a cam position compensation request Cam position compensation target position After compensation Before compensation C_CPCD Cam position compensation request Cam axis one cycle current value Cam feed current value www kavrammuhendislik com tr ...

Page 593: ... amplifiers with software version C1 or later For details refer to MR J4 _A_ RJ 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 Cam position compensation target position With time constant...

Page 594: ... the current data of the state monitor and the latched position data For the servo amplifiers with software version B7 or later 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 po...

Page 595: ...t additional information Reads MSD Mark detection rising latch data or MSD Mark detection falling latch data 1 Transmission Transmit command 1 A and latch data No to be read 0 2 or 0 3 Refer to section 10 1 1 2 Return The slave station returns the requested latch data Data will be received in hexadecimal per set command Hexadecimal should be changed to decimal Example Data 0040000186A0 will be 100...

Page 596: ...e cycling power may be required after Pr PC66 to Pr PC69 are all set This parameter setting is available with servo amplifiers with software version B7 or later Mark detection range upper three digits Pr PC67 Mark detection range lower three digits Pr PC68 Set the lower limit of the latch data in the current position latch function When the roll feed display is enabled set this value with the trav...

Page 597: ...o 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 100000 90000 300000 500000 0 Lower limit value Upper limit value Home position Start position Target position Actual current position 2 When the roll feed display is enabled Pr PT26 _ _ 1 _ When the roll feed display is enabled the valid range is c...

Page 598: ...and lower limits The valid range remains unchanged even if the rotation direction is reversed 90 0 270 CCW 180 Effective range Lower limit value Upper limit value 90 0 270 CCW 180 Effective range Upper limit value Lower limit value 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 f...

Page 599: ...nput 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 timing 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 v...

Page 600: ...terrupt positioning function Starts the interrupt positioning function at rising of MSD Mark detection PI1 Program input 1 Polarity selection to PI3 Program input 3 Polarity selection Pr PT29 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 func...

Page 601: ...ection 1 ST1 Forward rotation start ON OFF Deceleration time constant Note 0 888 ms Interrupt positioning travel distance 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 When the interrupt positi...

Page 602: ...which MSD Mark detection turned on ON OFF ON OFF ON OFF Interrupt positioning travel distance Speed when MSD is on 0 888 ms Deceleration time constant Note Servo motor speed MSD Mark detection MD0 Operation mode selection 1 ST1 Forward rotation start Forward rotation 0 r min Reverse rotation Note Deceleration time constant of the point table at the time of start is applied for the point table meth...

Page 603: ...with software version B7 or later The infinite feed function setting degree can be used in the point table method and the program method When degree is set as the position data unit at the automatic operation or manual operation in the point table method or program method AL E3 1 Multi revolution counter travel distance excess warning does not occur and the home position is not erased even if the ...

Page 604: ...03A6 RJ is added Partially changed Page arrangement is changed as MR J4 03A6 RJ is added Sentences are added in the POINT and using MR J4 03A6 RJ are added Partially added Partially added and partially changed Partially added Using MR J4 03A6 RJ is added Using MR J4 03A6 RJ is added Partially changed The title is changed a sentence is added in the POINT and internal circuit of MR J4 03A6 RJ is add...

Page 605: ...ly added 5 Corrective actions Partially added 6 Maintenance inspection and parts replacement Partially added and partially changed Section 1 2 Partially changed Section 1 3 Partially added and partially changed Section 1 4 Partially added and partially changed Section 2 2 2 The diagram is changed Section 2 3 1 Partially changed Section 3 1 1 Partially changed Section 3 1 2 2 The note is changed Se...

Page 606: ...NT Section 11 2 1 The diagram is changed Section 11 2 2 Partially changed Section 11 3 Partially changed Section 11 5 1 The diagrams are changed The notes are changed Section 11 5 1 1 Partially changed Section 12 1 The composition is changed and the contents are added This manual confers no industrial property rights or any rights of any other kind nor does it confer any patent licenses Mitsubishi...

Page 607: ...MEMO www kavrammuhendislik com tr ...

Page 608: ...497 7 812 633 3499 Sweden Mitsubishi Electric Europe B V Scandinavia Fjelievagen 8 SE 22736 Lund Sweden Tel Fax 46 8 625 10 00 46 46 39 70 18 Turkey Mitsubishi Electric Turkey A S Umraniye Branch Serifali Mahallesi Nutuk Sokak No 5 TR 34775 Umraniye Istanbul Turkey Tel Fax 90 216 526 3990 90 216 526 3995 UAE Mitsubishi Electric Europe B V Dubai Branch Dubai Silicon Oasis P O BOX 341241 Dubai U A E...

Page 609: ...pany 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 P...

Page 610: ...CODE General Purpose AC Servo MR J4 _A_ RJ MR J4 03A6 RJ SERVO AMPLIFIER INSTRUCTION MANUAL POSITIONING MODE HEAD OFFICE TOKYO BLDG MARUNOUCHI TOKYO 100 8310 MODEL MR J4 _A_ RJ MR J4 03A6 RJ C General Purpose Interface AC Servo 1CW819 SERVO AMPLIFIER INSTRUCTION MANUAL POSITIONING MODE MR J4 A RJ INSTRUCTIONMANUAL ITIGIME C www kavrammuhendislik com tr ...

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Mitsubishi Electric MELSERVO MR-J4-03A6-RJ, Instruction Manual

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