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Mitsubishi Electric MELSERVO MR-J4-A-RJ Series, Instruction Manual

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Mitsubishi Electric MELSERVO MR-J4-A-RJ Series Instruction Manual Download Page 249

6. HOW TO USE INDEXER 

6 -  22 

 
6.4.2 Torque limit changing dog type home position return 

This is a home position return method using an external limit. Deceleration starts at the external limit 
detection. After the rear end is passed, the position specified by the first Z-phase signal, or the position of 
the first Z-phase signal shifted by the home position shift distance is used as the home position. 
 
(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 off MD0. 

MD1 (Operation mode selection 2) 

Switch off MD1. 

Torque limit changing dog 
type home position return 

[Pr. PT04] 

Select "_ _ _ 0" (Torque limit changing dog type). 

Home position return speed 

[Pr. PT05] 

Set the rotation speed specified until an external 
limit is detected. 

Creep speed 

[Pr. PT06] 

Set the rotation speed specified after an external 
limit 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 
external limit is detected. 

Acceleration time 
constant/Deceleration time 
constant 

RT (Second acceleration/deceleration 
selection) 

1. Turning off RT will be as follows. 

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. Turning on RT will be as follows. 

Acceleration time constant: setting value of [Pr. 
PC30 Acceleration time constant 2] 
Deceleration time constant: setting value of [Pr. 
PC31 Deceleration time constant 2] 

Station home position shift 
distance (Note 1, 2) 

[Pr. PT40] 

Set a shift distance of the station home position 
(station No. 0) for the home position return 
completion. 

 

Note   1.  The setting of the station home position shift distance is disabled at home position return. Cycling the power will 

enable the setting. 

 

  2.  [Pr. PT40 Station home position shift distance] is enabled as an offset to the position that the home position return 

is performed. If a larger value than the in-position range is set to [Pr. PT40], the completion output of positioning will 
not turn on (short circuit) at the first power on after home position return. 

 

Summary of Contents for MELSERVO MR-J4-A-RJ Series

Page 1: ...per MODEL MODEL CODE General Purpose AC Servo MR J4 _A_ RJ SERVO AMPLIFIER INSTRUCTION MANUAL POSITIONING MODE HEAD OFFICE TOKYO BLDG MARUNOUCHI TOKYO 100 8310 MODEL MR J4 _A RJ MR J4 _A4 RJ MR J4 _A1 RJ General Purpose Interface AC Servo 1CW819 SERVO AMPLIFIER INSTRUCTION MANUAL POSITIONING MODE MR J4 A RJ INSTRUCTIONMANUAL ITIGIME ...

Page 2: ... or severe injury CAUTION Indicates that incorrect handling may cause hazardous conditions resulting in medium or slight injury to personnel or may cause physical damage Note that the CAUTION level may lead to a serious consequence 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 ind...

Page 3: ...vo amplifier even if the power is off The servo amplifier is charged and you may get an electric shock To prevent an electric shock always connect the protective earth PE terminal marked of the servo amplifier to the protective earth PE of the cabinet When using an earth leakage current breaker RCD select the type B To avoid an electric shock insulate the connections of the power supply terminals ...

Page 4: ... with the Instruction Manual Do 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 ...

Page 5: ...motor Connect the servo amplifier power output U V and W to the servo motor power input U V and W directly Do 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 d...

Page 6: ...ot burn or break it Use the servo amplifier with the specified servo motor The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be used for ordinary braking For such reasons as 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 safe...

Page 7: ...al 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 the EEP ROM reaches the end of its useful ...

Page 8: ...s necessary for using a rotary servo motor 2 It is necessary for using a linear servo motor 3 It is necessary for using a direct drive motor 4 It is necessary for using a fully closed loop system 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 refer to each chapter section of the detailed explanatio...

Page 9: ...A 8 MEMO ...

Page 10: ...ces 2 32 2 5 3 Source I O interfaces 2 36 2 6 Power on sequence 2 37 3 DISPLAY AND OPERATION SECTIONS 3 1 to 3 26 3 1 Display sequence 3 2 3 2 Status display 3 4 3 3 Diagnostic mode 3 11 3 4 Alarm mode 3 14 3 5 Point table setting 3 16 3 6 Parameter mode 3 20 3 7 External I O signal display 3 22 3 8 Output signal DO forced output 3 23 3 9 Single Step feed 3 24 3 10 Teaching function 3 26 4 HOW TO ...

Page 11: ...4 68 4 6 Point table setting method 4 70 4 6 1 Setting procedure 4 70 4 6 2 Detailed setting window 4 72 5 HOW TO USE THE PROGRAM 5 1 to 5 68 5 1 Startup 5 1 5 1 1 Power on and off procedures 5 1 5 1 2 Stop 5 2 5 1 3 Test operation 5 3 5 1 4 Parameter setting 5 4 5 1 5 Actual operation 5 5 5 1 6 Troubleshooting at start up 5 5 5 2 Program operation method 5 6 5 2 1 Program operation method 5 6 5 2...

Page 12: ... 7 6 2 2 Automatic operation mode 1 rotation direction specifying indexer 6 8 6 2 3 Automatic operation mode 2 shortest rotating indexer 6 12 6 3 Manual operation mode 6 15 6 3 1 Station JOG operation 6 15 6 3 2 JOG operation 6 18 6 4 Home position return mode 6 20 6 4 1 Outline of home position return 6 20 6 4 2 Torque limit changing dog type home position return 6 22 6 4 3 Torque limit changing ...

Page 13: ... 8 2 Alarm list 8 2 8 3 Warning list 8 7 9 OPTIONS AND PERIPHERAL EQUIPMENT 9 1 to 9 4 9 1 MR HDP01 manual pulse generator 9 2 10 COMMUNICATION FUNCTION 10 1 to 10 38 10 1 Command and data No list 10 1 10 1 1 Reading command 10 2 10 1 2 Writing commands 10 10 10 2 Detailed explanations of commands 10 14 10 2 1 External I O signal status DIO diagnosis 10 14 10 2 2 Input device on off 10 19 10 2 3 I...

Page 14: ...on 11 7 11 5 2 Parameter unit setting 11 8 11 5 3 Monitor mode status display 11 8 11 5 4 Alarm diagnosis mode 11 11 11 5 5 Parameter mode 11 13 11 5 6 Point table mode 11 14 11 5 7 Test operation mode 11 15 11 6 Error message list 11 20 ...

Page 15: ...6 MEMO ...

Page 16: ...fier and MR Configurator2 with the following software versions Product name Model Software version Servo amplifier MR J4 _A_ RJ B3 or later MR Configurator2 SW1DNC MRC2 J 1 25b or later 2 Parameter setting a Selection of the positioning mode Select a positioning mode with Pr PA01 Operation mode to use Control mode selection 6 Positioning mode point table method 7 Positioning mode program method 8 ...

Page 17: ...99 10 STM μm 0 to 99 9999 10 STM inch 0 to 999999 pulse Setting range of rotation angle 0 to 999 999 degree Speed command input Select Set the S pattern acceleration deceleration time constants with Pr PC03 System Signed absolute value command method incremental value command method Analog override 0 V to 10 V DC 0 to 200 Torque limit Set with parameter setting or external analog input 0 V DC to 1...

Page 18: ... Returns to home position based on the front end of the proximity dog Home position return direction selectable home position shift amount settable home position address settable automatic retract on dog back to home position automatic stroke retract function Dog cradle type Returns to home position upon the first Z phase pulse based on the front end of the proximity dog Home position return direc...

Page 19: ...a setting type stopper type home position ignorance dog type rear end reference count type front end reference dog cradle type dog type last Z phase reference dog type Z phase reference dogless Z phase reference Section 4 4 Section 5 4 Torque limit changing dog type torque limit changing data set type Section 6 4 High resolution encoder High resolution encoder of 4194304 pulses rev is used for the...

Page 20: ... settings ST1 Forward rotation start ST2 Reverse rotation start and SON Servo on and other input device can be assigned to any pins Pr PD04 Pr PD06 Pr PD08 Pr PD10 Pr PD12 Pr PD14 Pr PD18 Pr PD20 Pr PD22 Pr PD44 Pr PD46 Output signal selection device settings The output devices including MBR Electromagnetic brake interlock can be assigned to certain pins of the CN1 connector Pr PD23 to Pr PD26 Pr ...

Page 21: ...e and the number of on off times of the inrush relay This function gives an indication of the replacement time for parts of the servo amplifier including a capacitor and a relay before they malfunction MR Configurator2 is necessary for this function Power monitoring function This function calculates the power running energy and the regenerative power from the data in the servo amplifier such as sp...

Page 22: ...r 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 2 A 1 phase 200 V AC to 240 V AC power supply may be used with the servo amplifier of MR J4 70A RJ or less For 1 phase 200 V AC to 240 V AC connect the power supply to L1 and L3 Leave L2 open For power supply specifica...

Page 23: ...1 FUNCTIONS AND CONFIGURATION 1 8 MEMO ...

Page 24: ...t Otherwise a burst damage etc may occur The surge absorbing diode installed to the DC relay for control output should be fitted in the specified direction Otherwise the emergency stop and other protective circuits may not operate DOCOM Control output signal Servo amplifier RA For sink output interface 24 V DC DOCOM Control output signal 24 V DC Servo amplifier RA For source output interface Use a...

Page 25: ...explanation Input power supply circuit MR J4 _A_ section 3 1 Explanation of power supply system except section 2 6 Power on sequence MR J4 _A_ section 3 3 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 Interface MR J4 _A_ section 3 9 Servo motor with an electromagnetic brake MR J4 _A_...

Page 26: ...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 27: ...plifier Instruction Manual RS 422 communication function will be available in the future 10 Personal computers or parameter units can also be connected via the CN3 connector enabling RS 422 communication Note that using the USB communication function CN5 connector prevents the RS 422 communication function CN3 connector from being used and vice versa They cannot be used together Personal computer ...

Page 28: ... 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 Malfunc...

Page 29: ...J Servo Amplifier Instruction Manual RS 422 communication function will be available in the future 10 Personal computers can also be connected via the CN3 connector enabling RS 422 communication Note that using the USB communication function CN5 connector prevents the RS 422 communication function CN3 connector from being used and vice versa They cannot be used together Personal computer RS 232C R...

Page 30: ...3 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 common Encoder Z phase pulse open collector Encoder Z phase pulse di...

Page 31: ...r to section 11 7 of MR J4 _A_ RJ Servo Amplifier Instruction Manual RS 422 communication function will be available in the future 10 Personal computers can also be connected via the CN3 connector enabling RS 422 communication Note that using the USB communication function CN5 connector prevents the RS 422 communication function CN3 connector from being used and vice versa They cannot be used toge...

Page 32: ...from the cable connector wiring section For the STO I O signal connector 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 ...

Page 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 10 ...

Page 34: ...PD08 18 I ST2 ST2 Note 5 MD1 Pr PD10 19 I DI0 DI0 DI0 Pr PD12 20 DICOM DICOM DICOM 21 DICOM DICOM DICOM 22 O Note 6 CPO Note 6 CPO Note 6 CPO Pr PD23 23 O Note 6 ZP Note 6 ZP Note 6 ZP Pr PD24 24 or less O INP INP INP Pr PD25 25 O Note 6 MEND Note 6 MEND Note 6 MEND Pr 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 I DI3 DI3 DI3 Pr PD46 ...

Page 35: ...en 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 4 Assign any device with Pr PD47 5 Assign MD1 with Pr PD10 6 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 complet...

Page 36: ... turns off without the forced stop deceleration MBR Electromagnetic brake interlock turns off without the forced stop deceleration 2 _ _ _ EM2 MBR Electromagnetic brake interlock turns off after the forced stop deceleration MBR Electromagnetic brake interlock turns off after the forced stop deceleration EM2 and EM1 are mutually exclusive Forced stop 1 EM1 CN1 42 When using EM1 set Pr PA04 to 0 _ _...

Page 37: ...e limit 2 will be enabled automatically depending on operation status Refer to each timing chart in section 6 2 and section 6 4 5 DI 1 Internal torque limit selection TL1 To select Pr PC35 Internal torque limit 2 internal thrust limit 2 enable TL1 with Pr PD04 Pr PD06 Pr PD08 Pr PD10 Pr PD12 Pr PD14 Pr PD18 Pr PD20 Pr PD22 Pr PD44 and Pr PD46 For details refer to section 3 6 1 5 of MR J4 _A_ RJ Se...

Page 38: ...anual operation 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 whi...

Page 39: ...abled when the home position return type of the torque limit changing dog type is selected 2 Automatic operation mode 1 rotation direction specifying 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 Manual operation mode MD1 1 M...

Page 40: ...can be read 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...

Page 41: ... deceleration 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 ...

Page 42: ...le of setting 50 to Pr PT42 and 5 to Pr PT43 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 ...

Page 43: ...DI 1 b Output device Device Symbol Connector pin No Function and application I O division Control mode CP CL PS Malfunction ALM CN1 48 When an alarm occurs ALM will turn off When an alarm does not occur ALM will turn on after 2 5 s to 3 5 s after power on When Pr PD34 is _ _ 1 _ an alarming or warning will turn off ALM DO 1 Malfunction War ning ALM WNG When an alarm occurs ALMWNG will turn off Whe...

Page 44: ... on status SA will be on When the command speed is 0 r min mm s this will be continuously on When the command speed is in acceleration deceleration or at servo off status SA will be off DO 1 Home position return completion ZP When a home position return completes normally ZP Home position return completion will be on This will be off with the following conditions in the incremental system 1 SON Se...

Page 45: ...p restart again and start operation PUS will be off DO 1 Travel completion MEND When the droop pulses are within the in position output range set with Pr PA10 and the command remaining distance is 0 MEND will be on MEND turns on with servo on MEND is off at servo off status However MEND will not be off in the indexer method DO 1 Position end PED When the droop pulses are within the position end ou...

Page 46: ...ice Note Description PT7 PT6 PT5 PT4 PT3 PT2 PT1 PT0 Point table No output 3 PT2 0 0 0 0 0 0 0 1 Point table No 1 Point table No output 4 PT3 0 0 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 0 Off...

Page 47: ... 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 MCD02 MCD12 MCD01 MCD11 MCD00 MCD10 0 0 0 0 0 1 0 0 0 1 2 0 0 1 0 3 0 0 1 1 4 0 1 0 0 5 0 1 0 1 6 0 1 1 0 7 0 1 1 1 8 1 0 0 0 9 1 0 0 1 Note 0 O...

Page 48: ...oop control DO 1 2 Input signal Device Symbol Connector pin No Function and application I O division Control mode CP CL PS Manual pulse generator PP CN1 10 Connect the manual pulse generator MR HDP01 When using the signal enable PP and NP with Pr PD44 and Pr PD46 DI 2 NP CN1 35 Analog torque limit TLA CN1 27 When using the signal enable TL External torque limit selection with Pr PD04 Pr PD06 Pr PD...

Page 49: ...he differential line driver type One pulse is outputted per servo motor revolution This turns on when the zero point position is reached negative logic The minimum pulse width is about 400 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 ...

Page 50: ...ction in the point 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 Remarks Analog inpu...

Page 51: ...V to 10 V Servo motor Servo amplifier 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 ...

Page 52: ...2 SIGNALS AND WIRING 2 29 2 5 Interfaces 2 5 1 Internal connection diagram POINT For the CN8 connector refer to section 13 3 1 of MR J4 _A_ RJ Servo Amplifier Instruction Manual ...

Page 53: ...ZR OP LG SDP SDN RDP RDN LG LG CN6 MO1 MO2 LG 3 2 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 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 ...

Page 54: ...manual pulse generator 3 This diagram shows sink I O interface For source I O interface refer to section 2 5 3 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 ...

Page 55: ...4 V DC 10 500 mA OPC CN1 10 CN1 35 DOCOM SD 10 m or shorter Approximately 20 mA VCES 1 0 V ICEO 100 A 2 Digital output interface DO 1 This is a circuit in which the collector side of the output transistor is the output terminal When the output transistor is turned on the current flows from the collector terminal A lamp relay or photocoupler can be driven Install a diode D for an inductive load or ...

Page 56: ...r type a Interface Approximately 1 2 kΩ Servo amplifier 24 V DC OPC PP NP DOCOM SD Max input pulse frequency 200 kpulses s 2 m or less Note Note Photocouplers are used for interfaces If a resistor is connected to the pulse train signal line it may malfunction due to reduction in current b Input pulse condition 0 9 0 1 tc tLH tc tHL tF PP NP tLH tHL 0 2 µs tc 2 µs tF 3 µs ...

Page 57: ...V DC to 24 V DC b Differential line driver type 1 Interface Maximum output current 35 mA 150 Ω 100 Ω Am26LS32 or equivalent Servo amplifier LA LB LZ LAR LBR LZR SD LG High speed photocoupler Servo amplifier LAR LBR LZR SD LA LB LZ 2 Output pulse π 2 T 400 s or more Time cycle T is determined by the settings of Pr PA15 and Pr PC19 LA LAR LB LBR LZ LZR OP Servo motor CCW rotation ...

Page 58: ...etc LG P15R SD Approx 10 kΩ 15 V DC Upper limit setting 2 kΩ 2 kΩ Servo amplifier 6 Analog output Output voltage 10 V Note Maximum output current 1 mA Resolution 10 bits or equivalent LG MO1 MO2 Servo amplifier Note Output voltage range varies depending on the monitored signal ...

Page 59: ...tc Servo amplifier DICOM TR Approximately 5 mA Approximately 6 2 kΩ VCES 1 0 V ICEO 100 A 2 Digital output interface DO 1 This is a circuit in which the emitter side of the output transistor is the output terminal When the output transistor is turned on the current flows from the output terminal to a load A maximum of 2 6 V voltage drop occurs in the servo amplifier Note 24 V DC 10 500 mA Servo am...

Page 60: ... 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 61: ...2 SIGNALS AND WIRING 2 38 MEMO ...

Page 62: ...he following items are the same as MR J4 _A_ RJ servo amplifiers For details of them refer to the section of the detailed description field MR J4 _A_ means MR J4 _A_ RJ Servo Amplifier Instruction Manual Item Detailed explanation Test operation mode MR J4 _A_ section 4 5 9 ...

Page 63: ... 6 2 Sequence display drive recorder enabled disabled display external I O signal display output signal DO forced output test operation software version display VC automatic offset servo motor series ID display servo motor type ID display servo motor encoder ID display teaching function Section 3 3 Current alarm display alarm history display and parameter error No point table error No display Sect...

Page 64: ...3 DISPLAY AND OPERATION SECTIONS 3 3 Note When the axis name is set to the servo amplifier using MR Configurator2 the axis name is displayed and the servo status is then displayed ...

Page 65: ...eak load ratio Instantaneous torque Within one revolution position 1 pulse unit Servo motor speed linear servo motor speed Within one revolution position 1000 pulses unit Droop pulses ABS counter Cumulative command pulses Load to motor inertia ratio Command pulse frequency Bus voltage Settling time Oscillation detection frequency Number of tough drive operations Unit power consumption 1 increment ...

Page 66: ...der 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 increment of 100 kWh with some displays omitted 2 The displays in the frames are from the current po...

Page 67: ... Electrical angle low Electrical angle high Cumulative feedback pulses Z phase counter low Z phase counter high Note 1 The displays in the frames are from the cumulative feedback pulses of positioning mode to unit total power consumption 2 increment of 100 kWh with some displays omitted 2 The displays in the frames are from the current position of positioning mode to override level with some displ...

Page 68: ...ue limit voltage 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 display...

Page 69: ...isplay is five digits Press the 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 th...

Page 70: ...o the target position is displayed in the automatic mode The command positions of the selected point table are displayed at a stop At the manual mode the command positions of the selected point table are displayed The values in excess of 99999 can be counted However the counter shows only the lower five digits of the actual value since the servo amplifier display is five digits Command remaining d...

Page 71: ...rol mode as follows 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 positio...

Page 72: ...ce For manufacturer 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 o...

Page 73: ...fer to section 4 5 9 2 of MR J4 _A_ RJ 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...

Page 74: ...tly connected For indication details refer to appendix 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 appendix 1 of Servo Motor Instruction Manual Vol 3 Servo motor encoder ID Push the SET button to show the encoder ID of the servo motor currently connected For indication d...

Page 75: ... power Indicates that there is no tenth alarm in the past Indicates that there is no eleventh alarm in the past Indicates that there is no twelfth alarm in the past Indicates that there is no sixteenth alarm in the past 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 th...

Page 76: ...n 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 h...

Page 77: ...l sub function and M code 1 Display transition Target position Servo motor speed Deceleration time constant Dwell Sub 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 ...

Page 78: ...d of the selected point table is completed After the set dwell has elapsed start the position command of the next point table 0 to 20000 Sub 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 Operation is perfor...

Page 79: ...less digits The following example is the operation method at power on to set 1 to the sub function of the point table No 1 The setting value of sub 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...

Page 80: ...Press the SET button once Press the SET button once Setting of upper 1 digit Change the setting value using 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 ...

Page 81: ...ar DD motor setting parameter Pr PL01 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 speed control mode with Pr PA01 Operation mode Press MODE to switch to the basic setting para...

Page 82: ...umerator to 123456 with Pr PA06 Electronic gear numerator The screen flickers Press MODE to switch to the basic setting parameter screen Press UP or DOWN to select Pr PA06 Press SET once Press SET once Setting of upper 1 digit Press UP or DOWN to change the setting Press SET once Enter the setting Press MODE once Press MODE once Setting of lower 4 digits ...

Page 83: ...iagnostic screen Press the UP button twice External I O signal display screen 2 Display definition The 7 segment LED segments and CN1 connector pins correspond as shown below Input signal Output signal 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 CN1 35 CN1 13 CN1 14 The LED segmen...

Page 84: ... performed in the servo off state by turning off SON Servo on Operation 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 m...

Page 85: ...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 the Operation Start button c to rotate the servo motor 3 Pause the servo motor Click the Pause button d to temporarily stop the servo motor Wh...

Page 86: ...ake an instantaneous stop When the Forced Stop button is enabled Operation Start button cannot be used Click the Forced Stop button again to enable the Operation Start button 6 Switch to the normal operation mode Before switching from the test operation mode to the normal operation mode turn off the servo amplifier ...

Page 87: ... the display 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 p...

Page 88: ...ns MR J4 _A_ RJ Servo Amplifier Instruction Manual Item Detailed explanation Switching power on for the first time MR J4 _A_ section 4 1 POINT When you use a linear servo motor replace the following left words to the right words Load 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 ...

Page 89: ...mplifier 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 alarms however the dynamic brake operates to bring the servo motor to a stop Refer to chapter 8 Note EM2 Forced stop 2 off The ser...

Page 90: ...on 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 intended direct...

Page 91: ... 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 Varying speed operation Automatic continuous positioning operation Manual ...

Page 92: ...sing MR Configurator2 you can refer to the reason for rotation failure etc The following faults may occur at start up If any of such faults occurs take the corresponding action MR J4 _A_ means MR J4 _A_ RJ Servo Amplifier Instruction Manual No Start up sequence Fault Investigation Possible cause Reference 1 Power on LED is not lit LED flickers Not improved even if CN1 CN2 and CN3 connectors are di...

Page 93: ... O signal display section 3 7 and check the on off status of the input signal LSP LSN ST1 and ST2 are off Section 3 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 level is too low as com...

Page 94: ...99999 to 999999 pulse Setting range of the position data 10STM μm 10 STM 4 inch pulse 999999 999999 2 Degree unit Set the target position by indicating the CCW direction with a sign and the CW direction with a sign 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 degr...

Page 95: ...you specify 90 000 degrees to the position data the servo motor rotates in the CW direction Target position Current position c When you specify 360 000 degrees to the position data 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 Current position B A ...

Page 96: ...Millimeter inch and pulse unit Setting range 0 to 999999 10STM μm STM Feed length multiplication Pr PT01 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 ...

Page 97: ...ic continuous operation 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 c...

Page 98: ... 3 degree pulse 1 When using 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 ...

Page 99: ...hout stopping a point table No 1 When a different 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 The setting range of the position data in d...

Page 100: ...ation factor in the electronic gear setting Pr PA06 and Pr PA07 2 The sign has different meanings under the absolute value command method and the incremental value command method 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 consta...

Page 101: ...tant 0 to 20000 ms Set a time until the servo motor rotates 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 sub function To perform continuous operation set 1 8 or 9 to the sub function and 0 to the dwell When the dwell is set th...

Page 102: ...ion address increase 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 ran...

Page 103: ...hod the servo 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 Setting method 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...

Page 104: ...o Forward rotation 0 r min Reverse rotation Servo motor speed ON OFF INP In position ON OFF CPO Rough match MEND Travel completion ON OFF PT0 Point table No output 1 to PI7 Point table No output 8 M code output ON OFF RD Ready ALM Malfunction ON OFF Note 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 ...

Page 105: ...in Reverse rotation Servo motor speed ON OFF INP In position ON OFF CPO Rough match MEND Travel completion ON OFF PT0 Point table No output 1 to PI7 Point table No output 8 M code output ON OFF RD Ready ALM Malfunction ON OFF Note 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 The detection of ex...

Page 106: ...command method and point table No 2 is under the incremental value command method Point table No Position data 10 STM μm Servo motor speed r min Acceleration time constant ms Deceleration time constant ms Dwell ms Sub 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 sub function of the last point table a...

Page 107: ...00 100 Disabled 0 Note 15 Note Always set 0 or 2 to the sub 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...

Page 108: ...230 000 3000 200 300 150 3 15 4 70 000 1500 300 100 Disabled 0 Note 20 Note Always set 0 or 2 to the sub 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...

Page 109: ...ode 1 5 00 3000 100 150 100 1 05 2 6 00 2000 150 200 200 1 10 3 3 00 1000 300 100 Disabled 0 Note 15 Note Always set 0 to the sub 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 ON OFF PT0 Point table No output 1 to PI7 Point table No output 8 M ...

Page 110: ...0 Note 15 Note Always set 0 or 2 to the sub 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 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 P...

Page 111: ...quent point tables 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 sub 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 ta...

Page 112: ...led 0 3 10 3 10 00 1000 Disabled Disabled 0 1 15 4 6 00 500 Disabled Disabled Disabled 2 Note 2 20 Note 1 Always set 0 2 Always set 0 or 2 to the sub 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 t...

Page 113: ...led 0 3 10 3 8 00 1000 Disabled Disabled Disabled 0 Note 2 15 Note 1 Always set 0 2 Always set 0 or 2 to the sub 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 P...

Page 114: ...ta 5 0 1 6 Disabled 0 Note 2 Note 1 Always set 0 2 Always set 0 to the sub function 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 Sub function M code 1 5 00 3000...

Page 115: ...xample 1 Operations when 8 is set to the sub 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 Sub 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 Exe...

Page 116: ... 2 2 Executing point table No 3 3 Executing point table No 1 when 9 is set to the sub 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 PI7 Point table No output 8 Note M code ...

Page 117: ... table No 4 4 Executing again point table No 2 used at start up when 10 is set to the sub 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 PI7 Point table No output 8 Not...

Page 118: ...nt table No 3 3 Executing point table No 1 when 11 is set to the sub 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 PI7 Point table No output 8 Note M code output Note Point...

Page 119: ...1 used at start up in CW direction when 8 is set to the sub 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 PI7 Point table No output 8 Note M code output Note Speed 300...

Page 120: ... is set to the sub 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 PI7 Point table No output 8 Note M code output Note Speed 3000 Acceleration time constant 100 of point...

Page 121: ...int table No Position data 10 STM μm Servo motor speed r min Acceleration time constant ms Deceleration time constant ms Dwell ms Sub 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 sub funct...

Page 122: ... 2 Executing point table No 1 when 9 is set to the sub 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 PI7 Point table No output 8 Note M code output Note Speed 3000 Point table No 1 S...

Page 123: ...ying the speed and executing point table No 2 3 Executing again point table No 1 used at start up when 8 is set to the sub 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 PI7 Poin...

Page 124: ...utting the clear signal The temporary stop restart input does not function during a home position return or JOG operation 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 The temporary stop restart input does not function 1 When the servo...

Page 125: ...the following procedure For the suspension during positioning bring the motor to a stop with TSTP Temporary stop restart then switch off MD0 Operation mode selection 1 and set the operation to manual mode At that time 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 table No ON OFF ST1 Forward...

Page 126: ...nge of 0 degree to 359 999 degrees 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...

Page 127: ...es Position range output address 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 f...

Page 128: ...otor speed Acceleration 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 Operat...

Page 129: ...n ON OFF MEND Travel 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 ...

Page 130: ...on 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 _ _ _ X Set 2 A B phase pulse train Pulse train filter selection Pr ...

Page 131: ... 1 1 100 times 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 _ _...

Page 132: ... 8 or _ _ _ A will trigger AL 37 Parameter error 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 incremental method every time switching on the input power supply you have to perform the home position return Contrastingly in the absolute position detection system once you have performed the home posit...

Page 133: ...ine and its stopper 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...

Page 134: ... 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 direction ...

Page 135: ...elect the proximity 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 ...

Page 136: ...ximity dog 5 ms 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 ...

Page 137: ...No selection 1 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 t...

Page 138: ...pletion 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 The setting value of Pr PT08 Home position return position data i...

Page 139: ...Switch off DI0 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 selec...

Page 140: ...opper type Home 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 ...

Page 141: ...s or longer Stopper Stopper time Pr PC35 Pr PT11 Note 1 Pr PC35 Note 2 Note 1 The following torque limits are enabled Input device Note 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 Note 0 Off 1 On 2 TLC turns on when a generated torque reaches a va...

Page 142: ...ng Home position ignorance 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 re...

Page 143: ...n 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 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 t...

Page 144: ...letion 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 The setting value of Pr PT08 Home position return position data is used as the p...

Page 145: ...tion return speed may change the home position 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 ty...

Page 146: ...e home position 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...

Page 147: ...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 The setting value of Pr PT08 Home position return position data is used as the position ad...

Page 148: ...g type last Z phase 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 ...

Page 149: ...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 ad...

Page 150: ...meters 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 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...

Page 151: ...letion 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 Home position return position data The setting value of Pr PT08 Home position return position data is used as the p...

Page 152: ...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 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 positio...

Page 153: ... motor speed Reverse 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 f...

Page 154: ...n 1 to DI7 Point table No selection 8 Switch off DI0 to DI7 Home position return speed Pr PT05 Set the rotation speed until the dog is detected 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 rotation direction in degrees Set the home position return spee...

Page 155: ...mand position 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 functio...

Page 156: ...ction is disabled 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 Secti...

Page 157: ...a 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 the Read button to read and display all the point table data from the servo amplifier 4 Initial setting of point table data d C...

Page 158: ...table data i Click the Insert button 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 the Delete button 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 S...

Page 159: ...ect button in the point table window a b c 1 Command method selection PT01 CTY a 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 b Select any feed length multiplication from 1 10 100 1000 b Position data unit setting PT01 CTY c Select any unit of position d...

Page 160: ...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 setting 1 Power on Switch power on in the following procedure Always follow this procedure at power on 1 Switch off SON Servo on 2 Make sure that ST1 For...

Page 161: ...owever the dynamic brake operates to bring the servo motor to a stop Refer to chapter 8 Note 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 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 r...

Page 162: ...on 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 check the input signal ...

Page 163: ...s 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 Dog type _ _ _0 Count type _ _ _1 Data set type _ _ _2 Stopper type _ _ _7 _ ...

Page 164: ...ector is disconnected Power supply of 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 display sect...

Page 165: ...a moment causes the servo motor shaft to oscillate side to side If the servo motor may be driven with safety repeat acceleration and deceleration several times to complete 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 Servo Amplifier Instruction Manual Troubleshooting for details of alarms and warnings 5 2 ...

Page 166: ... When this command is used the acceleration 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 dece leration time constant STD Setting value 0 to 100...

Page 167: ... 999999 10STM μm 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 pulse counter to 0 FOR ...

Page 168: ...nds are valid while the MOV or MOVI command 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 co...

Page 169: ...0 r min c Deceleration 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 3...

Page 170: ...o motor speed 1000 r min 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 10...

Page 171: ...ainst the MOVI 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 execut...

Page 172: ...0 r min e MOVA 1000 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 Servo motor speed 0 r min Forward rotation Reverse rotation 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 Ab...

Page 173: ... Servo motor speed 1000 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 0 r min Servo motor speed Forward rotation Reverse rotation b Acce...

Page 174: ...e commands within the travel 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 ...

Page 175: ... output setting time 50 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 Forward rotat...

Page 176: ... TRIP 250 Absolute value 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 ...

Page 177: ...tal value travel command 600 10 STM μm Forward rotation Servo motor speed 0 r min 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 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 show...

Page 178: ... 500 10 STM μm STOP Program stop Forward rotation b a 200 ms 0 r min Servo motor speed ON OFF OUT1 Program output 1 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 tra...

Page 179: ...M μm STOP Program stop Forward rotation b a 200 ms 0 r min Servo motor speed ON OFF OUT1 Program output 1 c 300ms 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 is switched on MOVI 500 In...

Page 180: ...he stop position varies depending on the servo motor speed when the ITP command becomes valid 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 d...

Page 181: ...tor speed ON OFF PI1 Program input 1 P1 b 200 10 STM μm 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...

Page 182: ...the next step until the number of input pulses 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 in...

Page 183: ...o motor speed 1000 r min STC 20 Acceleration deceleration time constant 20 ms MOV 1000 Absolute value travel command 1000 10 STM μm TIM 100 Dwell 100 ms FOR 3 Start of step repeat command 3 time a MOVI 100 Incremental value travel command 100 10 STM μm b TIM 100 Dwell 100 ms NEXT End of step repeat command c FOR 2 Start of step repeat command 2 time d MOVI 200 Incremental value travel command 200 ...

Page 184: ...t required Setting 0 repeats the program endlessly For how to stop the program which has been repeated endlessly 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 sto...

Page 185: ...n an alarm occurs When the 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 a...

Page 186: ...the general purpose registers R1 R4 in EEP ROM The setting range of each general purpose register is that of the command for which each register is used The following explains a case where the general purpose registers are set as shown below before the execution of the program General purpose register Setting R1 1000 R2 2000 D1 200 D2 300 Command Description SPN 1000 Servo motor speed 1000 r min a...

Page 187: ...meter 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 A dog is detected by opening between DOG and SG 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 time constant Pr PC30 100...

Page 188: ...ched on c TLN 500 TIM 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 is switched on f TQL 300 STOP Torque limit Program stop 300 0 1 g h PA11 setting PA11 setting h Program stop g Torque limit g Torque limit Torque limit value returns to parameter setting value by program stop d Reverse...

Page 189: ...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 Positioning command method selection Pr PT01 Make sure that the absolute value command method is selected as s...

Page 190: ...tion setting Pr PT03 is not applied to the unit multiplication factor Adjust the unit multiplication factor in the electronic gear setting Pr PA06 and Pr PA07 2 Signal Select a program with DI0 to DI3 and switch on ST1 to perform the positioning operation according to the set program At this time ST2 Reverse rotation start is invalid Item Setting method Setting Program operation method selection M...

Page 191: ...TM μm Travel command 3 SYNC 1 Suspend the step until PI1 Program input 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 P...

Page 192: ... switch on TSTP 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...

Page 193: ... acceleration 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 ...

Page 194: ...Pr PA13 when the command pulse frequency is 200 kpps 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 fa...

Page 195: ...or multiplication 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 ...

Page 196: ...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 supply requires the home position return In the absolute position detection system once you have performed the home position return at machi...

Page 197: ...o 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 dog and the home position shift distance The position after the shifts is used as the home position The Z phase signal is not required Coun...

Page 198: ...d detection front end reference A Dogless type Z phase reference 0 0 Pr PT04 Home position return direction b 0 Address increasing direction 1 Address decreasing direction 0 0 0 Pr PT29 DOG Proximity dog polarity selection c 0 Detection with off 1 Detection with on a Select a home position return type b Select the starting direction for the home position return Setting 0 starts the home position r...

Page 199: ...s 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 deceler...

Page 200: ...rn position data 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 tha...

Page 201: ...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 a pro...

Page 202: ...og 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 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...

Page 203: ...ition data Pr PT08 Set the current position at the home position return completion Program DI1 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...

Page 204: ... limit value Pr PT11 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 p...

Page 205: ...g a ZRT command is not required The position 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 Home position return position data Pr PT08 Set the current position at the home position return completion 2 Timing chart ON OFF RD Ready...

Page 206: ... home position return Pr PT04 _ _ _ 5 Select the dog type 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 rot...

Page 207: ...g 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 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 PT...

Page 208: ...n return Pr PT04 _ _ _ 6 Select the count type 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 spee...

Page 209: ...g 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 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 PT...

Page 210: ...T29 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 specified by the Z phase signal Home position return acceleration time constant...

Page 211: ...roximity 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 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 po...

Page 212: ...f 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 Set this item to shift the home position whic...

Page 213: ...roximity 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 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 po...

Page 214: ...ont end reference home position return Pr PT04 _ _ _ 9 Select the dog type 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 r...

Page 215: ...g ZP Home position 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 PT...

Page 216: ...Z phase signal 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 ...

Page 217: ...rn direction Home position start position Home position At start up the operation is performed in the direction of home position return When the servo amplifier detects the limit switch the machine moves backward automatically The machine passes and stops before the proximity dog and the home position return is performed from the position again If the proximity dog cannot be detected the machine s...

Page 218: ...on can select 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 Progra...

Page 219: ...one station number to multiple servo amplifiers will disable a normal communication When you use to operate multiple servo amplifiers under one command use the group specification function in section 5 5 3 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 ...

Page 220: ... with the communication command 1 Group setting example 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 Controller CN3 CN3 Axis No 1 station 0 Axis No 2 station 1 CN3 CN3 CN3 Axis No 8 station 7 Axis No 7 station 6 Axis No 6 station 5 CN3 CN3 Axis No 10 station 9 Axis No ...

Page 221: ...p d No Transmission 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 s...

Page 222: ...rameter 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 Indirect specifica tion Descript...

Page 223: ...nt 200 ms c Deceleration time constant 300 ms b Acceleration time constant 200 ms Forward rotation Servo motor speed 0 r min 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 5 7 Roll feed mode using the roll feed display...

Page 224: ...program b Click the Write button to write the changed programs to the servo amplifier 3 Verifying program c Click the Verify button 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 9 for details 5 Number of steps e Used number of ...

Page 225: ...pdating 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 the Cut button to cut the selected text 3 Copying text c Select any text of the pro...

Page 226: ...ndow for program edit without saving the program currently being edited 7 Displaying error g When the edit check of 5 detects an error in the program the 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 Reg...

Page 227: ...5 HOW TO USE THE PROGRAM 5 68 MEMO ...

Page 228: ...sition 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 6 1 Startup 6 1 1 Power on and off procedures 1 Power on Switch power on in the following procedure Alwa...

Page 229: ...ever the dynamic brake operates to bring the servo motor to a stop Refer to chapter 8 Note 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 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 rot...

Page 230: ...n 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 direction check...

Page 231: ...nd 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 DI0 to DI7 Note 1 Automatic operation mode Automatic operation mode 1 rotation direction specifying Off On Set any next station No Refer to section 6 2 2 3 Automatic operation mode 2 shortest rotating On On St...

Page 232: ...3 connector is disconnected Power supply of CN3 cabling is shorted Alarm occurs Refer to chapter 8 and remove cause Chapter 8 Note 2 Switch on SON Servo on Alarm occurs Refer to chapter 8 and remove 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 display sectio...

Page 233: ...el is too low as compared to the load torque Section 3 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 and deceleration several times to complete auto tuning Gain adjustment fault MR J4 _A_ Chapter 6 Large load inertia moment causes the servo motor shaft to...

Page 234: ...e positioning 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 statio...

Page 235: ...n Station No increasing direction Servo motor speed Pr PC05 Automatic operation speed 1 Set a servo motor speed Acceleration time constant Deceleration time constant RT Second acceleration deceleration selection 1 Turning off RT will be as follows Acceleration time constant setting value of Pr PC01 Acceleration time constant 1 Deceleration time constant setting value of Pr PC02 Deceleration time c...

Page 236: ...start is on 0 Next 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...

Page 237: ...ation No selection 3 1 1 1 1 1 1 1 0 Next station No selection 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 disab...

Page 238: ...sition No 3 Automatic operation speed 2 5 ms or longer All 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 selection 3 Pr PC02 setting time Pr PC01 setting time Station position No 1 Next station No selection 1 Next station ...

Page 239: ...er selection 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 constan...

Page 240: ...e 1 Selection contents DI7 DI6 DI5 DI4 DI3 DI2 DI1 DI0 0 0 0 0 0 0 0 0 Next station No selection 0 0 0 0 0 0 0 0 1 Next station No selection 1 0 0 0 0 0 0 1 0 Next station No selection 2 0 0 0 0 0 0 1 1 Next station No selection 3 1 1 1 1 1 1 1 0 Next station No selection 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 ...

Page 241: ... 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 5 ms or longer Torque limit value of Pr PA11 and Pr PA12 Torque limit value of Pr PA11 and Pr PA12 Torque limit value of Pr PC35 Torque limit value of Pr PC35 Torque limit value of Pr PC35 Torque limit v...

Page 242: ... 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 Operation mode Select _ _ _ 8 positioning mode indexer method Manual operation mode selection MD0 Operation mode selection 1 Switch on MD0 MD1 Operation mod...

Page 243: ...ction 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 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 b...

Page 244: ...f stations 8 5 ms or longer Pr PC31 setting time Pr PT39 setting time Note 3 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 ...

Page 245: ...ection to a station No will be as follows Off Station No decreasing direction On Station No increasing direction Servo motor speed Pr PC07 Manual operation speed 1 Set a servo motor speed Acceleration time constant Deceleration time constant RT Second acceleration deceleration selection 1 Turning off RT will be as follows Acceleration time constant setting value of Pr PC01 Acceleration time consta...

Page 246: ...Note 2 Pr PC02 setting time Manual operation speed 1 Pr PC01 setting time Manual 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 operat...

Page 247: ...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 return types Select the optimum home position return type according to the machin...

Page 248: ...tarts the home 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...

Page 249: ...sition which 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 Turning off RT will be as follows 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 Turning o...

Page 250: ...r PC01 setting time Pr PC02 setting time Pr PT39 setting time Note 2 5 ms or longer 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 Z phase Torque limit Position where the station home position shift dis...

Page 251: ...others can be used for the travel 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 positio...

Page 252: ...f Pr PC35 Torque limit value 0 Station output 0 ON OFF ON OFF ON OFF 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 Torque limit ON OFF Home position return completion flag PS0 Station output 1 to PS7 Station output 8 Note When a data set type home position return is performed SIG will be d...

Page 253: ...tion 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 2000 3000 200...

Page 254: ... the chart will be as follows Servo motor speed ALM Malfunction ON OFF ON OFF MEND Travel completion ON OFF PS0 Station output 1 to PS7 Station output 8 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 selecti...

Page 255: ...0 r min Reverse rotation Power supply Station output 8 All off All off Digital 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 For...

Page 256: ...orque limit will 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 ...

Page 257: ...6 HOW TO USE INDEXER 6 30 MEMO ...

Page 258: ... to each parameter 7 1 Parameter list POINT To enable a parameter whose symbol is preceded by cycle the power after setting it Abbreviations of operation modes indicate the followings Standard Standard semi closed loop system use of the rotary servo motor Full Fully closed loop system use of the rotary servo motor Lin Linear servo motor use DD Direct drive DD motor use The symbols in the control m...

Page 259: ... PA07 CDV Electronic 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 1...

Page 260: ...ter setting 3141 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 c...

Page 261: ...sion control 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 contro...

Page 262: ... CP CL PS PC01 STA JOG operation acceleration time constant 0 ms Acceleration time constant 1 PC02 STB JOG operation deceleration time constant 0 ms Deceleration time constant 1 PC03 STC S pattern acceleration deceleration time constant 0 ms PC04 TQC Torque command time constant thrust command time constant 0 PC05 SC1 Automatic operation speed 1 100 r min PC06 SC2 Automatic operation speed 2 500 r...

Page 263: ... 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 TPO Analog torque limit offset 0 mV PC39 MO1 Analog monitor 1 offset 0 mV PC40 MO2 Analog monitor 2 offset 0 mV PC41 For manufacturer setting 0 PC42 0 PC43 ERZ Error excessive alarm detection level 0 rev m...

Page 264: ...ut device selection 9L Pr PD21 Input device selection 10L Pr PD43 Input device selection 11L Pr PD45 Input device selection 12L No Symbol Name Initial value Unit Operation mode Control mode Standard Full Lin DD CP CL PS PD01 DIA1 Input signal automatic on selection 1 0000h PD02 For manufacturer setting 0000h PD03 DI1L Input device selection 1L 0202h PD04 DI1H Input device selection 1H 0202h PD05 D...

Page 265: ...ection 4 0007h PD27 For manufacturer setting 0003h PD28 DO6 Output device selection 6 0002h PD29 DIF Input filter setting 0004h PD30 DOP1 Function selection D 1 0000h PD31 DOP2 Function selection D 2 0000h PD32 DOP3 Function selection D 3 0000h PD33 DOP4 Function selection D 4 0000h PD34 DOP5 Function selection D 5 0000h PD35 For manufacturer setting 0000h PD36 0000h PD37 0000h PD38 0 PD39 0 PD40 ...

Page 266: ...nominator 1 PE06 BC1 Fully closed loop control Speed deviation error detection level 400 r min PE07 BC2 Fully closed loop control Position deviation error detection level 100 kpulse PE08 DUF Fully closed loop dual feedback filter 10 rad s PE09 For manufacturer setting 0000h PE10 FCT3 Fully closed loop function selection 3 0000h PE11 For manufacturer setting 0000h PE12 0000h PE13 0000h PE14 0111h P...

Page 267: ...PE37 0 00 PE38 0 00 PE39 20 PE40 0000h PE41 EOP3 Function selection E 3 0000h PE42 For manufacturer setting 0 PE43 0 0 PE44 0000h PE45 0000h PE46 0000h PE47 0000h PE48 0000h PE49 0000h PE50 0000h PE51 0000h PE52 0000h PE53 0000h PE54 0000h PE55 0000h PE56 0000h PE57 0000h PE58 0000h PE59 0000h PE60 0000h PE61 0 00 PE62 0 00 PE63 0 00 PE64 0 00 ...

Page 268: ...0 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 selection 0000h PF25 CVAT SEMI F47 function Instantaneous power failure detection time 200 ms PF26 For manufacturer setting 0 PF27 0 PF28 0 PF29 0000h PF30 0 PF31 FRIC Machine diagnosis function Fricti...

Page 269: ...rque thrust deviation error detection level 100 PL08 LIT3 Linear servo motor DD motor function selection 3 0010h PL09 LPWM Magnetic pole detection voltage level 30 PL10 For manufacturer setting 5 PL11 100 PL12 500 PL13 0000h PL14 0000h PL15 20 PL16 0 PL17 LTSTS Magnetic pole detection Minute position detection method Function selection 0000h PL18 IDLV Magnetic pole detection Minute position detect...

Page 270: ...l mode Standard Full Lin DD CP CL PS Po01 For manufacturer setting 0000h Po02 0000h Po03 0000h Po04 0000h Po05 0000h Po06 0000h Po07 0000h Po08 0000h Po09 0000h Po10 0001h Po11 0000h Po12 OOP3 Function selection O 3 0000h Po13 For manufacturer setting 0000h Po14 0000h Po15 0000h Po16 0000h Po17 0000h Po18 0000h Po19 0000h Po20 0000h Po21 0000h Po22 0000h Po23 0000h Po24 0000h Po25 0000h Po26 0000h...

Page 271: ... dog 1000 10 STM μm 10 STM 4 inch 10 3 degree pulse PT10 ZTM Stopper type home position return stopper time 100 ms PT11 ZTT Stopper type home position return torque limit value 15 0 PT12 CRP Rough match output range 0 10 STM μm 10 STM 4 inch 10 3 degree pulse PT13 JOG JOG operation 100 r min mm s PT14 BKC Backlash compensation 0 pulse PT15 LMPL Software limit 0 10 STM μm 10 STM 4 inch 10 3 degree ...

Page 272: ...T34 PDEF Point table program default 0000h PT35 For manufacturer setting 0000h PT36 0000h PT37 10 PT38 TOP7 Function selection T 7 0000h PT39 INT Torque limit delay time 100 ms PT40 SZS Station home position shift distance 0 pulse PT41 ORP Home position return inhibit selection 0000h PT42 OVM Digital override minimum multiplication 0 PT43 OVS Digital override pitch width 0 PT44 For manufacturer se...

Page 273: ...cted regenerative 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...

Page 274: ... manufacturer 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...

Page 275: ...TN 32767 STN 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 d...

Page 276: ... adjustment mode Automatically adjusted parameter _ _ _ 0 2 gain adjustment mode 1 interpolation mode Pr PB06 Load to motor inertia ratio Pr PB08 Position loop gain Pr PB09 Speed loop gain Pr PB10 Speed integral compensation _ _ _ 1 Auto tuning mode 1 Pr PB06 Load to motor inertia ratio Pr PB07 Model loop gain Pr PB08 Position loop gain Pr PB09 Speed loop gain Pr PB10 Speed integral compensation _...

Page 277: ...7 Setting range 1 to 40 PA10 INP In position range Set an in position range 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 _ _ ...

Page 278: ... output torque or thrust with 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 m...

Page 279: ...Setting a value 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 _ _ 10h Negative logic Forward rotation pulse train positive direction pulse train Reverse rotation pulse train negati...

Page 280: ...egative direction 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 afte...

Page 281: ...ervo motor model 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 U2PBB 07M 1SS0 B201h LM U...

Page 282: ...ng 4401h LM 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 480...

Page 283: ...ange of the parameter To enable 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 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 Reading Only 19 Writing Only 19 000Bh Reading Writing 000Ch Reading Writing 00AAh...

Page 284: ...ection 0 Disabled 1 Enabled Selecting 1 enables to avoid triggering AL 10 Undervoltage using the electrical energy charged in the capacitor in case that an instantaneous power failure occurs during 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 0h x _ _ _ For manufacturer setti...

Page 285: ...ion suppression control 2 is not available When you select the 3 inertia 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 0 PA26 AOP5 Function selection ...

Page 286: ...n control 2 tuning mode selection Select the tuning mode of the vibration suppression control 2 To enable the digit select 3 inertia mode _ _ _ 1 of Vibration suppression mode selection in Pr PA24 For details refer to section 7 1 5 of MR J4 _A_ RJ Servo Amplifier Instruction Manual 0 Disabled 1 Automatic setting 2 Manual setting 0h _ x _ _ For manufacturer setting 0h x _ _ _ 0h PB03 PST Position c...

Page 287: ...the response gain up to the target position Increasing the setting value will also increase the response level to the position command but will be liable to generate vibration and or noise The setting of the parameter will be the automatic setting or manual setting depending on the Pr PA08 setting Refer to the following table for details Setting range 1 0 to 2000 0 15 0 rad s Pr PA08 This paramete...

Page 288: ...tion torque against the servo motor rated value or thrust against the linear servo motor rated value When the response level is low or when the torque thrust is limited the efficiency of the parameter may be lower Setting range 0 to 100 0 PB13 NH1 Machine resonance suppression filter 1 Machine resonance suppression filter 1 Set the notch frequency of the machine resonance suppression filter 1 When...

Page 289: ...omatically calculated for the liner servo motor Set manually for Manual setting _ _ _ 1 When Shaft resonance suppression filter selection is Disabled _ _ _ 2 in Pr PB23 the setting value of this parameter will be disabled When you select Enabled _ _ _ 1 of Machine resonance suppression filter 4 selection in Pr PB49 the shaft resonance suppression filter is not available _ _ x x Shaft resonance sup...

Page 290: ...ange 0 1 to 300 0 100 0 Hz PB21 VRF13 Vibration suppression control 1 Vibration frequency damping Set a damping of the vibration frequency for vibration suppression control 1 to suppress low frequency machine vibration When Vibration suppression control 1 tuning mode selection is Automatic setting _ _ _ 1 in Pr PB02 this parameter will be set automatically Set manually for Manual setting _ _ _ 2 F...

Page 291: ...tching is enabled with gain switching condition or more 1 Gain after switching is enabled with gain switching condition or less 0h _ x _ _ For manufacturer setting 0h x _ _ _ 0h PB27 CDL Gain switching condition This is used to set the value of gain switching command frequency droop pulses and servo motor speed linear servo motor speed selected in Pr PB26 The set value unit differs depending on th...

Page 292: ...DP _ _ _ 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 PB34 VRF2B Vibration suppression control 1 Resonance frequency after gain switching Set the resonance frequency for vibration suppression control 1 for when the gain switching is enabled When you set a value less than 0 1 Hz the value will...

Page 293: ...witching is enabled This parameter will be enabled only when the following conditions are fulfilled Gain adjustment 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...

Page 294: ... 6 03 750 23 59 43 14 8 04 562 24 56 44 14 1 05 450 25 53 45 13 4 06 375 26 51 46 12 8 07 321 27 48 47 12 2 08 281 28 46 48 11 7 09 250 29 45 49 11 3 0A 225 2A 43 4A 10 8 0B 204 2B 41 4B 10 4 0C 187 2C 40 4C 10 0D 173 2D 38 4D 9 7 0E 160 2E 37 4E 9 4 0F 150 2F 36 4F 9 1 10 140 30 35 2 50 8 8 11 132 31 33 1 51 8 3 12 125 32 31 3 52 7 8 13 118 33 29 6 53 7 4 14 112 34 28 1 54 7 0 15 107 35 26 8 55 6...

Page 295: ...ession filter 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...

Page 296: ...to suppress low frequency machine vibration When Vibration suppression control 2 tuning mode selection is Automatic setting _ _ 1 _ in Pr PB02 this parameter will be set automatically Set manually for Manual setting _ _ 2 _ To enable the digit select 3 inertia mode _ _ _ 1 of Vibration suppression mode selection in Pr PA24 Setting range 0 1 to 300 0 100 0 Hz PB54 VRF23 Vibration suppression contro...

Page 297: ...ection 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 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 switc...

Page 298: ... speed acceleration 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 3s 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 ...

Page 299: ... deceleration time constant may produce an error in the time of the arc part for the setting of the S pattern acceleration deceleration time constant The upper limit value of the actual arc part time is limited by 2000000 STA for acceleration or by 2000000 STB for deceleration Example At the setting of STA 20000 STB 5000 and STC 200 the actual arc part times are as follows During acceleration 100 ...

Page 300: ...0 V 10000 pulses Note 2 09 Servo motor side droop pulses 10 V 100000 pulses Note 2 0A Feedback position 10 V 1 Mpulses Note 2 0B Feedback position 10 V 10 Mpulses Note 2 0C Feedback position 10 V 100 Mpulses Note 2 0D Bus voltage 200 V class and 100 V class 8 V 400 V 400 V class 8 V 800 V 0E Speed command 2 8 V max speed 10 Load side droop pulses 10 V 100 pulses Note 2 11 Load side droop pulses 10...

Page 301: ...ke sequence output Set the delay time between MBR Electromagnetic brake interlock and the base drive circuit is shut off Setting range 0 to 1000 0 ms PC17 ZSP Zero speed Set an output range of ZSP Zero speed detection ZSP Zero speed detection has hysteresis of 20 r min or 20 mm s Setting range 0 to 10000 50 r min mm s PC18 BPS Alarm history clear _ _ _ x Alarm history clear selection Used to clear...

Page 302: ...Z 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 0h _ x _ _ Selection of the encoders for encoder output pulse Select an encoder used the encoder output pulses which the servo ampli...

Page 303: ... 001 mm 0h PC26 COP5 Function selection C 5 _ _ _ x AL 99 Stroke limit warning selection Select AL 99 Stroke limit warning 0 Enabled 1 Disabled 0h _ _ x _ For manufacturer setting 0h _ x _ _ 0h x _ _ _ 0h PC27 COP6 Function selection C 6 _ _ _ x AL 10 Undervoltage detection method selection Set this parameter when AL 10 undervoltage occurs due to distorted power supply voltage waveform while using...

Page 304: ...an second deceleration time constant for the automatic operation of the indexer method Set a deceleration time from the rated speed to 0 r min Additionally when 20000 ms or more value is set it will be clamped to 20000 ms Setting range 0 to 50000 0 ms PC35 TL2 Internal torque limit 2 internal thrust limit 2 Set the parameter on the assumption that the maximum torque or thrust is 100 0 The paramete...

Page 305: ...16 Unit total power consumption increment of 1 Wh 17 Unit total power consumption increment of 100 kWh 18 Load side cumulative feedback pulses Note 1 19 Load side droop pulses Note 1 1A Load side encoder information 1 1 pulse unit Note 1 1B Load side encoder information 1 100000 pulses unit Note 1 1C Load side encoder ABS counter Note 1 1D Z phase counter 1 pulse unit Note 2 1E Z phase counter 100...

Page 306: ... 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 motors Setting 0 will be 3 rev for rotary servo motors and direct drive motors and 100 mm for linear servo motors Setting over 200 rev will be clamped with 200 rev Sett...

Page 307: ...gnal 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 Forced stop deceleration Pr PC51 0 r min Servo motor speed Rated speed Dynamic brake deceleration Line...

Page 308: ...tation amount linear servo motor travel distance unit For example if a positive compensation amount is set when the Pr PA14 Rotation direction selection travel direction selection setting is 1 the axis will be pulled to the CW direction The vertical axis freefall prevention function is performed when all of the following conditions are met 1 The value of the parameter is other than 0 2 The forced ...

Page 309: ...atic on _ _ 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 a...

Page 310: ...value BIN HEX 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 Fo...

Page 311: ... RES 04 PC PC PC 05 TL TL TL 06 CR CR CR 07 ST1 ST1 ST1 08 ST2 ST2 09 TL1 TL1 TL1 0A LSP LSP LSP 0B LSN LSN LSN 0D CDP CDP CDP 0F MECR MECR 12 MSD MSD 20 MD0 MD0 MD0 21 MD1 23 TCH 24 TP0 TP0 25 TP1 TP1 26 OVR OVR 27 TSTP TSTP 2B DOG DOG SIG 30 LPS 31 RT 32 RTCDP 34 PI1 OV0 35 PI2 OV1 36 PI3 OV2 37 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 ...

Page 312: ...e CN1 19 pin _ _ x x Not used with the positioning mode 03h x x _ _ Positioning mode Device selection Refer to table 7 9 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 9 in Pr PD04 for settings 39h PD18 DI8H Input device selec...

Page 313: ...DB DB 07 TLC TLC TLC 08 WNG WNG WNG 09 BWNG BWNG BWNG 0A SA SA Always off 0B Always off Always off Always off 0C ZSP ZSP ZSP 0D MTTR MTTR MTTR 0F CDPS CDPS CDPS 10 CLDS CLDS CLDS 11 ABSV ABSV ABSV 23 CPO CPO CPO 24 ZP ZP ZP 25 POT POT Always off 26 PUS PUS Always off 27 MEND MEND MEND 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 38 ...

Page 314: ... be assigned to the CN1 25 pin Refer to table 7 10 in Pr PD23 for settings 07h _ x _ _ For manufacturer setting 0h x _ _ _ 0h PD28 DO6 Output device selection 6 _ _ x x Device selection Any output device can be assigned to the CN1 49 pin Refer to table 7 10 in Pr PD23 for settings 02h _ x _ _ For manufacturer setting 0h x _ _ _ 0h PD29 DIF Input filter setting Select a filter for the input signal ...

Page 315: ...ick stop home position erased 1 Slow stop home position erased 2 Slow stop deceleration to a stop by deceleration time constant 3 Quick stop stop by clearing remaining distance 0h x _ _ _ Servo motor thermistor or linear servo motor enabled disabled selection 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 DO...

Page 316: ...re enabled 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 Alarm codes are outputted to pins CN1 22 CN1 23 and CN1 24 0 Disabled 1 Enabled For details of the alarm codes refer to chapter 8 0h _ _ x _ Selection of output device at warning oc...

Page 317: ...nufacturer setting 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 Signal name 0 0 0 0 0 0 MD0 Operation mode selection 1 MD1 Operation mode selection 2 0 Initial value BIN HEX Signal name 0 0 0 OVR Analog o...

Page 318: ...d Use for an external 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 valu...

Page 319: ...efer to table 7 10 in Pr PD23 for settings 00h 7 2 5 Extension setting 2 parameters Pr PE_ _ No symbol name Setting digit Function Initial value unit Control mode CP CL PS PE03 FCT2 Fully closed loop function selection 2 _ _ x x Fully closed loop control error detection function selection Select the fully closed loop control error detection function Abnormal detection enabled Abnormal detection di...

Page 320: ...of MR J4 _A_ RJ Servo Amplifier Instruction Manual Setting range 1 to 4500 10 rad s PE10 FCT3 Fully closed loop function selection 3 _ _ _ x For manufacturer setting 0h _ _ x _ Fully closed loop control Position deviation error detection level Unit selection 0 1 kplulse unit 1 1 pulse unit 0h _ x _ _ For manufacturer setting 0h x _ _ _ 0h PE34 FBN2 Fully closed loop control Feedback pulse electron...

Page 321: ...recorder function is disabled 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 readjuste...

Page 322: ...ection Select this if using an MR PRU03 0 Disabled 1 Enabled 0h 7 2 7 Linear servo motor DD motor setting parameters Pr PL_ _ POINT The linear servo motor DD motor setting parameters Pr PL_ _ can be used with the direct drive servo system for the indexer method No symbol name Setting digit Function Initial value unit Control mode CP CL PS PL01 LIT1 Linear servo motor DD motor function selection 1 ...

Page 323: ...n function controller reset condition selection 0 Reset disabled reset by powering off on enabled 1 Reset enabled 0h PL05 LB1 Position deviation error detection level Set a position deviation error detection level of the servo control error detection When the deviation between a model feedback position and actual feedback position is larger than the setting value AL 42 Servo control error will occ...

Page 324: ... a response of the minute position detection method When reducing a travel distance at the magnetic pole detection increase the setting value Refer to table 7 11 for settings 0h _ _ x _ Load to motor mass ratio load to motor inertia ratio selection Select a load to mass of the linear servo motor primary side ratio or load to mass of the direct drive motor inertia ratio used at the minute position ...

Page 325: ... value unit Control mode CP CL PS PT01 CTY Command mode selection _ _ _ x Positioning command method selection 0 Absolute value command method 1 Incremental value command method 0h _ _ x _ For manufacturer setting 0h _ x _ _ Position data unit 0 mm 1 inch 2 degree 3 pulse 0h x _ _ _ RS 422 communication Previous model equivalent selection 0 Disabled MR J4 standard 1 Enabled equivalent to MR J3 T 2...

Page 326: ...e front end detection Z phase reference Note 9 Dog type front end detection front end reference Note A Dogless type Z phase reference Note 0h Note Setting 1 and 3 to A will trigger AL 37 Parameter error for the indexer method _ _ 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 decreas...

Page 327: ...y 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 time from a moving part touches th...

Page 328: ... will disable the software stroke limit Refer to section 7 4 Set a same sign for Pr PT15 and Pr PT16 A different sign will be recognized as minus sign data 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 999999 to 999999 0 Refer to Function column for unit PT16 LMPH Software limit third most significant digit PT17 LMNL Software lim...

Page 329: ...which POT Position range turns on with Pr PT19 to Pr PT22 Setting address Upper 3 digits Lower 3 digits Pr PT21 Pr PT22 Set a same sign for Pr PT21 and Pr PT22 Setting a different sign will trigger AL 37 Parameter error When changing a setting always set the third least significant digit before setting the third most significant digit The unit will be changed to 10 STM μm 10 STM 4 inch 10 3 degree...

Page 330: ...ctual current position will be 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 metho...

Page 331: ... 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 logic x _ _ _ BIN For manufacturer setting _ x _ _ For manufacturer setting 0h x _ _ _ For manufacturer setting 0h Convert the setting value in...

Page 332: ...sh compensation assuming a command to the CCW rotation direction before home position setting When setting this digit execute a home position return again 0h PT39 INT Torque limit delay time Set delay time from outputting INP In position to enabling Pr PC35 Internal torque limit 2 internal thrust limit 2 Setting range 0 to 1000 100 ms PT40 SZS Station home position shift distance Set a shift dista...

Page 333: ...100 0 0 0 1 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 PT4...

Page 334: ... 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 2 Setting degree with Position data unit of Pr PT01 Set the number of gear teeth on machine side to Pr PA06 and number of gear teeth on servo motor side to Pr PA07 CDV Travel distance 0 initial value CMX CDV CMX Deviation counter Electronic gear Pr PA...

Page 335: ...e servo motor shaft necessary to rotate the load side for n times The following shows a setting example of the electronic gear 1 Example 1 Number of pulley teeth on machine side 50 number 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 Example 2 Number of pulley teeth on machi...

Page 336: ...be enabled at power on and will be disabled at home position return Setting a same value to Software limit and Software limit will disable this function Setting a larger value to Software limit than Software limit will trigger AL 37 2 Parameter combination error Current position Travel impossible Inhibited range Software limit Movable range Travel possible The software limit is disabled in the ind...

Page 337: ... acceleration deceleration LSP or LSN 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 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 c...

Page 338: ...0 r min 0 mm s Software limit detection Part 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 Sof...

Page 339: ...7 PARAMETERS 7 82 MEMO ...

Page 340: ...eleration For the alarms and warnings in which DB or EDB is written in the stop method column the servo motor stops with the dynamic brake without forced stop deceleration 3 Alarm deactivation After 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...

Page 341: ...smission data error 2 DB 16 7 Encoder initial communication Transmission data error 3 DB 16 A Encoder initial communication Process error 1 DB 16 B Encoder initial communication Process error 2 DB 16 C Encoder initial communication Process error 3 DB 16 D Encoder initial communication Process error 4 DB 16 E Encoder initial communication Process error 5 DB 16 F Encoder initial communication Proces...

Page 342: ...error 1 1 EDB 1 1 0 2A 2 Linear encoder error 1 2 EDB 2A 3 Linear encoder error 1 3 EDB 2A 4 Linear encoder error 1 4 EDB 2A 5 Linear encoder error 1 5 EDB 2A 6 Linear encoder error 1 6 EDB 2A 7 Linear encoder error 1 7 EDB 2A 8 Linear encoder error 1 8 EDB 2B Encoder counter error 2B 1 Encoder counter error 1 EDB 1 1 0 2B 2 Encoder counter error 2 EDB 30 Regenerative error 30 1 Regeneration heat ...

Page 343: ...e 1 Note 1 46 3 Thermistor disconnected error SD Note 1 Note 1 46 4 Thermistor circuit error SD Note 1 Note 1 46 5 Abnormal temperature of servo motor 3 DB Note 1 Note 1 46 6 Abnormal temperature of servo motor 4 DB Note 1 Note 1 47 Cooling fan error 47 1 Cooling fan stop error SD 0 1 1 47 2 Cooling fan speed reduction error SD 50 Overload 1 50 1 Thermal overload error 1 during operation SD Note 1...

Page 344: ...eceive data error 2 EDB 71 3 Load side encoder communication Receive data error 3 EDB 71 Load side encoder normal communication error 1 71 5 Load side encoder communication Transmission data error 1 EDB 1 1 0 71 6 Load side encoder communication Transmission data error 2 EDB 71 7 Load side encoder communication Transmission data error 3 EDB 71 9 Load side encoder communication Transmission data er...

Page 345: ... for the specified servo motors The stop method for other than the specified servo motors will be DB Series Servo motor HG KR HG KR053 HG KR13 HG KR23 HG KR43 HG MR HG MR053 HG MR13 HG MR23 HG MR43 HG SR HG SR51 HG SR52 SD Forced stop deceleration 3 This is applicable when Pr PA04 is set to the initial value The stop system of SD can be changed to DB using Pr PA04 4 The alarm can be canceled by se...

Page 346: ... E1 1 Thermal overload warning 1 during operation E1 2 Thermal overload warning 2 during operation E1 3 Thermal overload warning 3 during operation E1 4 Thermal overload warning 4 during operation E1 5 Thermal overload error 1 during a stop E1 6 Thermal overload error 2 during a stop E1 7 Thermal overload error 3 during a stop E1 8 Thermal overload error 4 during a stop E2 Servo motor overheat war...

Page 347: ...wing shows two stop methods of DB and SD DB Stops with dynamic brake Coasts for the servo amplifier without dynamic brake SD Forced stop deceleration 3 This is applicable when Pr PA04 is set to the initial value The stop system of SD can be changed to DB using Pr PA04 4 Quick stop or slow stop can be selected using Pr PD30 ...

Page 348: ...nual Item Detailed explanation Cable connector sets MR J4 _A_ section 11 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 PS7DW 20V14B F recommended MR J4 _A_ section 11 6 MR Configurator2 MR J4 _A_ section 11 ...

Page 349: ...rface Maximum output current 20mA 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 Note 2 ...

Page 350: ...ower supply input 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 ...

Page 351: ...9 OPTIONS AND PERIPHERAL EQUIPMENT 9 4 MEMO ...

Page 352: ... J4 _A_ section 14 5 2 Parameter MR J4 _A_ section 14 5 3 Prohibiting canceling 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 Creation reading of program cannot be executed with the RS 422 communication Create it with MR Configurator2 10 1 Command and data No list POINT Even if...

Page 353: ...ithin one revolution 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 Load side cumulative feedback pulses 1 0 Load side droop pulses 1 1 Load side encoder information 1 Z phase counter 1 2 Load side encoder information 2 1 6 Temperature of servo motor thermistor 1...

Page 354: ...ution 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 motor mass ratio 8 E Bus voltage 8 F Load side cumulative feedback pulses 9 0 Load side droop pulses 9 1 Load side encoder information 1 Z phase counter 9 2 Load side encoder information 2 9 6 Temperature of servo motor thermistor 9 7 Servo motor ...

Page 355: ...er limit values therefore always specify the parameter group with the command 8 5 data No 0 0 The decimal equivalent of the data No hexadecimal value corresponds to the parameter No 1 7 0 1 to F F Lower limit value of each parameter setting range Reads the permissible lower limit values of the parameters in the parameter group specified with the command 8 5 data No 0 0 Before reading the lower lim...

Page 356: ...h alarm in past 1 5 Fifth alarm in past 1 6 Sixth alarm in past 1 7 Seventh alarm in past 1 8 Eighth alarm in past 1 9 Ninth alarm in past 1 A Tenth alarm in past 1 B Eleventh alarm 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 ...

Page 357: ...thin one revolution 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 Load side cumulative feedback pulses 1 0 Load side droop pulses 1 1 Load side encoder information 1 Z phase counter 1 2 Load side encoder information 2 1 6 Temperature of servo motor thermistor 1 ...

Page 358: ...ution 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 motor mass ratio 8 E Bus voltage 8 F Load side cumulative feedback pulses 9 0 Load side droop pulses 9 1 Load side encoder information 1 Z phase counter 9 2 Load side encoder information 2 9 6 Temperature of servo motor thermistor 9 7 Servo motor ...

Page 359: ...of the data No value hexadecimal corresponds to the point table No 6 4 0 0 to F F Reading sub function of each point table The decimal equivalent of the data No value hexadecimal corresponds to the point table No 9 Position data unit Current position latch data command 6 C Command Data No Description Control mode Frame length C P C L P S 6 C 0 0 Reading position data unit _ _ _ x 0 mm 1 inch 2 pul...

Page 360: ...l mode not test operation mode 0001 JOG operation 0002 Positioning operation 0004 Output signal DO 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...

Page 361: ...eter 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 PL_ _ 000C Positioning setting parameter...

Page 362: ... selection command 8 B Command Data No Description Setting range Control mode Frame length C P C L P S 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 Note 0005 single step feed operation is not available in the indexer method 8 T...

Page 363: ... A C B Command Data No Description Setting range Control mode Frame length C P C L P S 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 to 99...

Page 364: ...urpose 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 C P C L P S B A 0 1 Writing general purpose register D1 value Depends on commands to use Refer to section 5 2 2 8 0 2 Writing general purpose register D2 value 0 3 Wr...

Page 365: ...on returns the status of the input devices b31 b1b0 1 On 0 Off Command of each bit is transmitted to the master station as hexadecimal data Bit Symbol Data No 0 0 Data No 0 1 Data No 0 2 0 SON MD0 1 LSP ABSM MD1 2 LSN ABSR 3 TL TCH 4 TL1 TP0 5 PC TP1 6 RES OVR 7 CR 8 SP1 STAB 9 SP2 DOG SIG 10 SP3 11 ST1 RS2 12 ST2 RS1 13 CMX1 14 CMX2 15 LOP 16 MSD LPS 17 PI1 RT 18 EM2 EM1 PI2 RTCDP 19 PI3 20 STAB2...

Page 366: ...pins are returned b31 b1b0 1 On 0 Off Command of each bit is transmitted to the master station as hexadecimal data Bit CN1 connector pin Bit CN1 connector pin Bit CN1 connector pin Bit CN1 connector pin 0 43 8 18 16 24 1 44 9 45 17 25 2 42 10 10 Note 18 26 3 15 11 35 Note 19 27 4 19 12 20 28 5 41 13 21 29 6 16 14 22 30 7 17 15 23 31 Note When the pulse train input is selected with Pr PD44 or Pr PD...

Page 367: ...eturns the status of the input devices b31 b1b0 1 On 0 Off Command of each bit is transmitted to the master station as hexadecimal data Bit Symbol Data No 6 0 Data No 6 1 Data No 6 2 0 SON MD0 1 LSP ABSM MD1 2 LSN ABSR 3 TL TCH 4 TL1 TP0 5 PC TP1 6 RES OVR 7 CR 8 SP1 STAB 9 SP2 DOG SIG 10 SP3 11 ST1 RS2 12 ST2 RS1 13 CMX1 14 CMX2 15 LOP 16 MSD LPS 17 PI1 RT 18 EM2 EM1 PI2 RTCDP 19 PI3 20 STAB2 OV0...

Page 368: ...d Data No 1 2 C 0 b Return The slave station returns 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 Bit CN1 connector pin Bit CN1 connector pin Bit CN1 connector pin 0 49 8 14 16 24 1 24 9 17 25 2 23 10 18 26 3 25 11 19 27 4 22 12 20 28 5 48 13 21 29 6 33 14 22 30 7 13 15 23 31 ...

Page 369: ...0 Off Command of each bit is transmitted to the master station 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 9 OP 10 MBR 11 DB 12 ALCD0 PED 13 ALCD1 14 ALCD2 15 BWNG 16 17 ALMWNG 18 BW9F 19 MSDH 20 MSDL 21 SOUT 22 OUT1 23 OUT2 24 OUT2 PT0 PS0 25 CDPS ...

Page 370: ... also switch off the input signal Transmits command 9 2 data No 6 0 to 6 2 data Command Data No Setting data 9 2 6 0 to 6 2 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 0 SON MD0 1 LSP ABSM MD1 2 LSN ABSR 3 TL TCH 4 TL1 TP0 5 PC TP1 6 RES OVR 7 CR 8 SP1 STAB 9 SP2 DOG SIG 10 SP3 11 ST1 RS2 ...

Page 371: ...ata No Setting data 9 2 0 0 to 0 2 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 0 0 Data No 0 1 Data No 0 2 0 SON MD0 1 LSP ABSM MD1 2 LSN ABSR 3 TL TCH 4 TL1 TP0 5 PC TP1 6 RES OVR 7 CR 8 SP1 STAB 9 SP2 DOG SIG 10 SP3 11 ST1 RS2 12 ST2 RS1 13 CMX1 14 CMX2 15 LOP 16 MSD LPS 17 PI1 RT 18 EM2 EM1 PI2 RTCDP 19 PI3 20 STA...

Page 372: ...eration 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 2 Check ...

Page 373: ...o 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 00000007 SO...

Page 374: ...off Transmit the following communication commands Command Data No Setting data 9 2 A 0 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 Bit CN1 connector pin Bit CN1 connector pin Bit CN1 connector pin 0 49 8 14 16 24 1 24 9 17 25 2 23 10 18 26 3 25 11 19 27 4 22 12 20 28 5 48 13 21 29 6 33 14 22 30 7 13 15 23 31 3 Out...

Page 375: ...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 the point...

Page 376: ...d 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 of point ...

Page 377: ...imal Position data writing type 0 Enabled after writing 1 Enabled when power is cycled after writing 0 0 0 f Sub function Reads sub 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 sub function of point table requested Data is transferred in hexadecimal D...

Page 378: ...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 ...

Page 379: ...ommand Data No Data C 0 0 1 to F F Refer to the following diagram Data is transferred in hexadecimal Writing mode 0 EEP ROM RAM writing 1 RAM writing 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 significant dig...

Page 380: ...ervo 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 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 EEP ROM RAM writin...

Page 381: ...n 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 Refer to section 10 1 1 Command Data No Data C A 0 1 to F F Refer to the following diagram Hexadecimal Writing mode 0 EEP ...

Page 382: ...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 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 EEP ROM RAM writing 1 RAM...

Page 383: ...sing latch data data part 8 0 1 MSD Mark detection falling latch data data part 0 2 MSD Mark detection rising latch data data part additional information 12 0 3 MSD Mark detection falling latch data data part additional information 2 Reading data a Rising latch data or falling latch data data part Reads MSD Mark detection rising latch data or MSD Mark detection falling latch data 1 Transmission Tr...

Page 384: ...used normally 2 Second least significant digit 3 Third least significant digit 4 Forth least significant digit 5 Fifth least significant digit 3 Timing chart Device falling position data MSD Mark detection MSDH Mark detection rising latch completed MSDL Mark detection falling latch completed Device rising position data Current position data 5 ms or shorter Note 5 ms or shorter Note 3 ms or shorter...

Page 385: ...rride level Analog speed limit voltage Analog speed command voltage 0 9 8 9 Peak load ratio Analog speed limit voltage Analog speed command voltage Regenerative load ratio 0 A 8 A Instantaneous torque Regenerative load ratio Effective load ratio 0 B 8 B Position within one revolution Effective load ratio Peak load ratio 0 C 8 C ABS counter Peak load ratio Instantaneous torque 0 D 8 D Load to motor...

Page 386: ... No 2 E A E Step No 2 F A F Analog override voltage 3 0 B 0 Override level 3 1 B 1 10 3 2 Relevant matters to input output 1 Input signal command 1 2 9 2 a 0 _ _ _ MR J4 standard is set to Pr PT01 Bit Symbol Data No 0 0 Data No 0 1 Data No 0 2 0 SON MD0 1 LSP ABSM MD1 2 LSN ABSR 3 TL TCH 4 TL1 TP0 5 PC TP1 6 RES OVR 7 CR 8 SP1 9 SP2 DOG SIG 10 SP3 11 ST1 RS2 12 ST2 RS1 13 CMX1 14 CMX2 15 LOP 16 MS...

Page 387: ...RES 22 7 CR 23 OVR 8 24 TSTP DI0 9 25 TP0 DI1 10 26 TP1 DI2 11 ST1 RS2 27 CDP DI3 12 ST2 RS1 28 DI4 13 29 DI5 14 30 DI6 15 31 DI7 c 2 _ _ _ equivalent to MR J2S CP is set to Pr PT01 Bit Symbol Bit Symbol Data No 0 0 Data No 0 0 0 SON 16 EM2 EM1 1 LSP 17 MD0 2 LSN 18 DOG SIG 3 TL 19 DI0 4 TL1 20 DI1 5 PC 21 DI2 6 RES 22 DI3 7 23 OVR 8 24 TSTP 9 25 TP0 10 26 TP1 11 ST1 RS2 27 CDP 12 ST2 RS1 28 13 29...

Page 388: ...a No 0 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 9 OP 10 MBR 11 DB 12 ALCD0 PED 13 ALCD1 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 PT1 PS1 26 CLDS PT2 PS2 27 ABSV PT3 PS3 28 PT4 PS4 29 PT5 PS5 30 PT6 PS6 31 MTTR PT7 PS7 ...

Page 389: ...LM 9 10 MBR 11 DB 12 13 14 15 BWNG 16 CPO 17 ZP 18 POT 19 PUS 20 21 22 23 24 PT0 PS0 25 CDPS PT1 PS1 26 PT2 PS2 27 PT3 PS3 28 MEND PT4 PS4 29 PT5 PS5 30 PT6 PS6 31 PT7 PS7 c 2 _ _ _ equivalent to MR J2S CP is set to Pr PT01 Bit Symbol Bit Symbol Data No 0 0 Data No 0 0 0 RD 16 CPO 1 17 ZP 2 18 POT 3 TLC 19 PUS 4 20 PT0 PS0 5 INP 21 PT1 PS1 6 22 PT2 PS2 7 WNG 23 PT3 PS3 8 ALM 24 PT4 PS4 9 25 10 MBR...

Page 390: ...eter unit with software version B0 or later can be used with MR J4 _A_ RJ servo amplifiers When using the parameter unit set 1 _ _ _ in Pr PF34 Connecting the parameter unit to the servo amplifier enables simple execution of such as data setting test operation and parameter setting without using MR Configurator2 ...

Page 391: ...the test operation JOG operation positioning operation Used together with the SHIFT key to enter negative numbers To exit the negative number mode press the SHIFT key with this key again disappears Numerical key Enters numbers such as the parameter Nos setting values Pressing the 4 to 9 keys with pressing down the SHIFT key will enter A to F Forward rotation key Starts the forward rotation during ...

Page 392: ...utput signal DO forced output single step feed Point table mode Position data speed acceleration time constant dwell sub function M code Display LCD 16 characters 4 lines Environment Ambient temperature Operation 10 C to 55 C non freezing Storage 20 C to 65 C non freezing Ambient humidity Operation 90 RH or less non condensing Storage Ambience Indoors no direct sunlight free from corrosive gas fla...

Page 393: ...is servo amplifier It is recommended to use the following cable Servo amplifier Parameter unit 10BASE T cable etc EIA568 compliant CN3 2 Internal wiring diagram GND TXD 7 1 2 3 4 5 6 10 m or shorter 7 1 2 3 4 5 6 8 Parameter unit side connector 5V RXD RXD TXD GND NC Servo amplifier CN3 connector RJ45 connector LG RDP P5D SDN SDP RDN LG NC 8 ...

Page 394: ... 2 Servo amplifier Servo amplifier Servo amplifier Note 3 Note 1 Parameter unit Note 1 Note 1 Note 2 Note 2 Note 2 CN3 CN3 CN3 Note 1 The BMJ 8 Hachiko Electric is recommended as the branch connector 2 Use one such as 10BASE T cable EIA568 compliant 3 The final axis must be terminated between RDP pin No 3 and RDN pin No 6 on the receiving side servo amplifier with a 150 Ω resistor ...

Page 395: ...e n axis servo amplifier Connector for CN3 RJ45 connector RDP RDN Note 2 150 Ω Note 6 Branch connector Note 6 Branch connector Note 6 Branch connector Note 3 30 m or shorter GND RDP SDN SDP RDN GND 5V NC Note 5 7 1 2 3 4 5 6 8 Note 5 Note 1 Recommended connector Hirose Electric Plug TM10P 88P Connection tool CL250 0228 1 2 The final axis must be terminated between RDP pin No 3 and RDN pin No 6 on ...

Page 396: ...eration procedures of each mode 11 5 1 Outline of screen transition Normal transition Monitor mode Alarm diagnosis mode Parameter mode Initializing Servo amplifier power on Note Test operation mode Parameter unit setting Point table mode Note If communication does not complete during initialization a communication error is displayed Press the ESC key to return to the parameter unit setting screen ...

Page 397: ...off with the key and set with the key Note Press the SHIFT ESC keys to return to the station No setting screen from any screen 11 5 3 Monitor mode status display The servo status during operation is shown on the parameter unit display Press the MON key and select any content with the or key The display of the parameter unit switches screen depending on the status selected The following example sho...

Page 398: ...aneous torque is displayed The value of torque being occurred is displayed in real time considering a rated torque as 100 12 Position within one revolution Cyc posit pulse The position within one revolution of the servo motor is displayed by pulses When the value exceeds the maximum number of pulses it resets to 0 When the servo motor rotates in the CCW direction the value is added 13 ABS counter ...

Page 399: ... displayed 37 For manufacturer setting Drive Rec 38 In Amp Thm deg 39 Am Amp Thm deg 40 Fan Speed 41 Unit power consumption Power1 W Unit power consumption is displayed by increment of 1 W Positive value indicate power running and negative value indicate regeneration 42 Unit total power consumption Total Pc1 Wh Unit total power consumption is displayed by increment of 1 kWh Positive value indicate...

Page 400: ...omatic offset Motor information Cumulative power on Displays the motor information Displays power on time P on and number of power on times SW from factory setting Displays sixteen alarm histories 0H to FH including the latest alarm by alarm No and applying current time until the alarm occurrence You can also delete alarm histories Refer to 2 of this section DIDO display Diagnosis Release the alar...

Page 401: ...t time until the alarm occurrence Displays menu to clear alarm histories To clear alarm histories select 1 Select ALM Hist 3 Point table error When a point table setting has an error AL 37 3 Point table setting error will occur After AL 37 3 the content of the point table error will be displayed Point table error detail When the position data error at the point table No 1 Point table No which an e...

Page 402: ...arameter No symbol and setting value are displayed Fn key displays range Writing completes When cycling the power is required to enable the setting the following message will appear When selecting Pr PB10 When setting 1234 Displays the parameter groups A Basic Pr PA_ _ B Gain Pr PB_ _ C Ext Pr PC_ _ D I O Pr PD_ _ E Ext 2 Pr PE_ _ F Ext 3 Pr PF_ _ L LM DDM Pr PL_ _ O Option Pr Po_ _ T Pos ctl Pr P...

Page 403: ...Sub function MCD M code When setting 4567 89 Speed display Dwell display Sub function display Point table No selection Position data display When setting the point table No to 255 Table reading screen Select any item with the keys or number keys Decision When setting 0 Decision Note Fn key displays range Deceleration time constant display Acceleration time constant display Note The setting procedu...

Page 404: ...n cannot be used with the parameter unit although it is displayed when the test operation mode is selected In this mode you can execute the test cancel JOG operation positioning operation output signal DO forced output and single step feed The following shows setting procedures of each operation When using a servo motor with an electromagnetic brake be sure to configure the sequence so that the el...

Page 405: ...ration condition settings and the operation methods Test operation mode release completed Speed Displays the servo motor speed of the JOG operation Operation screen Acceleration deceleration time constant The motor rotates to the forward rotation direction while the keys are pressed down The motor rotates to the reverse rotation direction while the keys are pressed down Releasing the key or key wi...

Page 406: ...nditions with the parameter unit The initial operation condition and setting range for operation are listed below Item Initial setting Setting range Speed r min 200 0 to permissible instantaneous speed Note 2 Acceleration deceleration time constant ms 1000 0 to 20000 Note 1 Travel distance pulse 4000 0 to 99999999 Note 1 The number of command input pulses per revolution of the servo motor can be c...

Page 407: ...tion direction for the set travel distance and stops Pressing the will temporarily stop the motor and or key will restart Releasing the key will quickly stop the motor and remaining distance will be cleared Specify the travel distance unit of pulses 0 CMD command pulse unit 1 ENC encoder pulse unit Test operation mode release completed Selecting RESTORE on the initial screen of the test operation ...

Page 408: ...ff Output signal DO forced output Displays output pins and their status 4 Single step feed POINT Turn on EM2 forced stop 2 when performing single step feed Operates based on set point table No The following shows the operation condition settings and the operation methods Test operation mode release completed Selecting RESTORE on the initial screen of the test operation mode without execution of th...

Page 409: ...n and remove its cause 1 Error Item Display Cause Communication error 1 Hardware malfunction 2 Mismatch in station No 3 Mismatch in baud rate Setting error Incorrect input etc Writing error A value was written while writing was disabled EEP ROM writing error 1 A part in the parameter unit is failure 2 The number of writing times to EEP ROM exceeded 100 000 times in the parameter unit ...

Page 410: ...er writing inhibit was attempted to read In the test operation the ESC key was pressed while the Fn key was pressed down to switch the screen to the parameter unit setting screen RD Ready cannot be turned on due to alarm etc The mode was attempted to be the test operation mode at servo on A station No was attempted to change during the test operation A point table No was attempted to change during...

Page 411: ...11 PARAMETER UNIT 11 22 MEMO ...

Page 412: ...on This manual confers no industrial property rights or any rights of any other kind nor does it confer any patent licenses Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual 2014 MITSUBISHI ELECTRIC CORPORATION ...

Page 413: ...C TURKEY A Ş Ümraniye Branch Şerifali Mahallesi Nutuk Sokak No 5 TR 34775 Ümraniye İstanbul Türkey Tel Fax 90 216 526 3990 90 216 526 3995 South Africa ADROIT TECHNOLOGIES 20 Waterford Office Park 189 Witkoppen Road ZA Fourways South Africa Tel Fax 27 11 658 8100 27 11 658 8101 China MITSUBISHI ELECTRIC AUTOMATION CHINA LTD No 1386 Hongqiao Road Mitsubishi Electric Automation Center Changning Dist...

Page 414: ...ny other failures which we are not responsible for or which you acknowledge we are not responsible for 2 Term of warranty after the stop of production 1 We may accept the repair at charge for another seven 7 years after the production of the product is discontinued The announcement of the stop of production for each model can be seen in our Sales and Service etc 2 Please note that the Product incl...

Page 415: ...SH NA 030143 A ...

Page 416: ...per MODEL MODEL CODE General Purpose AC Servo MR J4 _A_ RJ SERVO AMPLIFIER INSTRUCTION MANUAL POSITIONING MODE HEAD OFFICE TOKYO BLDG MARUNOUCHI TOKYO 100 8310 MODEL MR J4 _A RJ MR J4 _A4 RJ MR J4 _A1 RJ General Purpose Interface AC Servo 1CW819 SERVO AMPLIFIER INSTRUCTION MANUAL POSITIONING MODE MR J4 A RJ INSTRUCTIONMANUAL ITIGIME ...

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