Mitsubishi Electric MR-J4-_GF Instruction Manual Download Page 54 | Manualshive

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5. CiA 402 DRIVE PROFILE

5 - 1

5. CiA 402 DRIVE PROFILE

POINT

Do not give operation commands from two or more master stations to one servo
amplifier. Otherwise, the servo motor may operate unexpectedly.

This chapter describes how to drive a servo motor in the communication. For MR-J4-_GF_(-RJ) servo
amplifier, objects are assigned according to Index of the CiA 402 drive profile. The master station (controller)
can drive the servo motor by accessing the assigned objects.
Refer to chapter 10 for details of the objects.

5.1 State machine control of the servo amplifier

5.1.1 Function description

The servo amplifier status is controlled based on the state machine below. Setting the control command
(6040h) from the master station (controller) changes the status of the slave stations (servo amplifiers). The
current servo amplifier status can be read with the control status (6041h).

Power on

(14)

(13)

Ready-off/Servo-off

(Main circuit charging

completed)

Ready-off/Servo-off

(During main circuit

charging)

Ready-on/Servo-on

(9)

(8)

(12)

(11)

(16)

(H) Fault

Error occurs

Transition by slave
Transition by master
Transition by slave or master

(10)

(2)

(0)

(1)

(7)

(15)

(3)

(6)

(4)

(5)

(G) Fault reaction active

Servo initialization

in process

In wait for forced stop

reset

Forced stop

deceleration

Occurrence of

alarm

In normal drive

(servo-on)

Alarm handling in process

(forced stop deceleration, alarm

history writing, and alarm display

change)

Drive standby

(servo-off)

In wait for main

circuit charging

(ready-off)

(A) Not ready to switch on

(B) Switch on disabled

(C) Ready to switch on

(D) Switched on

(E) Operation enabled

(F) Quick stop active

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Summary of Contents for MR-J4-_GF

Page 1: ...nual uses recycled paper MODEL MODEL CODE General Purpose AC Servo MR J4 _GF_ RJ SERVO AMPLIFIER INSTRUCTION MANUAL CC Link IE Field Network Basic HEAD OFFICE TOKYO BLDG MARUNOUCHI TOKYO 100 8310 MODEL MR J4 _GF_ RJ SERVO AMPLIFIER INSTRUCTION MANUAL CC Link IE Field Network Basic CC Link IE Field Network Interface ...

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: ...e protective earth PE terminal marked of the servo amplifier to the protective earth PE of the cabinet To avoid an electric shock insulate the connections of the power supply terminals 2 To prevent fire note the following CAUTION Install the servo amplifier servo motor and regenerative resistor on incombustible material Installing them directly or close to combustibles will lead to smoke or a fire...

Page 4: ... the equipment Otherwise it may cause injury The equipment must be installed in the specified direction Maintain specified clearances between the servo amplifier and the inner surfaces of a control cabinet 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 amplifie...

Page 5: ...ifier power output U V W to the servo motor power input U V W directly Do not connect a magnetic contactor and others between them Otherwise it may cause a malfunction U Servo motor M V W U V W U M V W U V W Servo amplifier Servo motor Servo amplifier The connection diagrams in this Instruction Manual are shown for sink interfaces unless stated otherwise The surge absorbing diode installed to the ...

Page 6: ...t covered under warranty Before resetting an alarm make sure that the run signal of the servo amplifier is off in order to prevent a sudden restart Otherwise it may cause an accident Use a noise filter etc to minimize the influence of electromagnetic interference Electromagnetic interference may affect the electronic equipment used near the servo amplifier Do not burn or destroy the servo amplifie...

Page 7: ...lifier and recheck the wiring Otherwise it may cause smoke fire or an electric shock Provide an adequate protection to prevent unexpected restart after an instantaneous power failure After an earthquake or other natural disasters ensure safety by checking the conditions of the installation mounting wiring and equipment before switching the power on to prevent an electric shock injury or fire 6 Mai...

Page 8: ...pliance with global standards For the compliance with global standards refer to app 4 of MR J4 _GF_ RJ Servo Amplifier Instruction Manual Motion Mode About the manual You must have this Instruction Manual and the following manuals to use this servo Ensure to prepare them to use the servo safely Relevant manuals Manual name Manual No MELSERVO MR J4 _GF_ RJ Servo Amplifier Instruction Manual Motion ...

Page 9: ...Chapter 11 Absolute position detection system MR J4 _GF_ Chapter 12 Using STO Function MR J4 _GF_ Chapter 13 Using a Linear servo motor MR J4 _GF_ Chapter 14 Using a direct drive motor MR J4 _GF_ Chapter 15 Fully closed loop system MR J4 _GF_ Chapter 16 Application of functions MR J4 _GF_ Chapter 17 Note For troubleshooting refer to each chapter indicated in the detailed explanation field and chap...

Page 10: ... 2 3 3 SLMP 3 1 to 3 8 3 1 Summary 3 1 3 2 Message format 3 2 3 3 Command 3 4 3 4 CiA 402 read write command 3 4 3 4 1 SDO Upload CiA 402 object read 3 5 3 4 2 SDO Download CiA 402 object write 3 5 3 4 3 SDO Object SubID Block Upload CiA 402 object sub ID continuous read 3 6 3 4 4 SDO Object SubID Block Download CiA 402 object sub ID continuous write 3 7 3 5 Error codes 3 8 4 STARTUP 4 1 to 4 18 4...

Page 11: ...ing indexer 6 68 6 3 3 Shortest rotating indexer 6 70 6 3 4 Related object 6 71 6 3 5 Directions for use 6 74 6 4 Jog mode jg 6 82 6 4 1 Function description 6 82 6 4 2 Related object 6 85 7 PARAMETERS 7 1 to 7 34 7 1 Parameter list 7 1 7 1 1 Basic setting parameters Pr PA_ _ 7 2 7 1 2 Gain filter setting parameters Pr PB_ _ 7 3 7 1 3 Extension setting parameters Pr PC_ _ 7 5 7 1 4 I O setting par...

Page 12: ...ol 9 30 9 5 12 Restart operation of cam control 9 32 9 5 13 Cam axis position at cam control switching 9 33 9 5 14 Clutch 9 40 9 5 15 Cam position compensation target position 9 41 9 5 16 Cam position compensation time constant 9 41 10 OBJECT DICTIONARY 10 1 to 10 42 10 1 Object dictionary list 10 1 10 2 Detail object dictionary in the 1000s 10 16 10 2 1 Store Parameters 1010h 10 16 10 2 2 Restore...

Page 13: ...4 8 Touch probe 60B8h to 60BBh 10 37 10 4 9 Touch probe function 60B8h 10 39 10 4 10 Touch probe status 60B9h 10 40 10 4 11 Touch probe pos1 pos value 60BAh 10 41 10 4 12 Touch probe pos1 neg value 60BBh 10 41 10 4 13 Touch probe pos2 pos value 60BCh 10 41 10 4 14 Touch probe pos2 neg value 60BDh 10 41 ...

Page 14: ...via a network take security measures such as using a firewall 1 Servo amplifier MR Configurator2 GX Works CC Link IE Field Network Basic is available with the servo amplifier with the following software versions MR Configurator2 and GX Works Product name Model Software version Point table method Indexer method Servo amplifier MR J4 _GF_ RJ A4 or later A4 or later MR Configurator2 SW1DNC MRC2 _ 1 7...

Page 15: ...ntal value command method Torque limit Limits the servo motor torque Control mode Point table mode pt Each positioning operation Point table No input method Operates each positioning based on position command and speed command Automatic continuous positioning operation Varying speed operation 2 to 255 speeds automatic continuous positioning operation 2 to 255 points Automatic continuous operation ...

Page 16: ...ethod 23 Homing without index pulse method 24 Homing without index pulse method 27 Homing without index pulse method 28 Homing on index pulse method 33 Homing on index pulse method 34 Homing on current position method 35 Homing on current position method 37 Automatic positioning to home position function High speed automatic positioning to a defined home position Other functions Absolute position ...

Page 17: ...ed to the nearest station at which the servo motor can decelerate to a stop Homing mode hm Torque limit changing dog type front end detection Z phase reference For details of the home position return types refer to section 6 1 Torque limit changing data set type Homing on current position method 35 Homing on current position method 37 Other functions Absolute position detection external limit swit...

Page 18: ... II This function suppresses vibration and residual vibration at an arm end MR J4 _GF_ section 7 1 Machine resonance suppression filter This filter function notch filter decreases the gain of the specific frequency to suppress the resonance of the mechanical system MR J4 _GF_ section 7 1 Shaft resonance suppression filter When a load is mounted to the servo motor shaft resonance by shaft torsion d...

Page 19: ...on 7 4 Pr PA20 Pr PF25 Tough drive function This function makes the equipment continue operating even under the condition that an alarm occurs The tough drive function includes two types the vibration tough drive and the instantaneous power failure tough drive MR J4 _GF_ section 7 3 Drive recorder function This function continuously monitors the servo status and records the status transition befor...

Page 20: ...be set read written and monitored Chapter 2 SLMP SLMP SeamLess Message Protocol is a protocol to access SLMP compatible devices from external devices such as a personal computer and an HMI or programmable controller CPU via Ethernet The parameters of servo amplifiers can be set read or written and monitored Chapter 3 IP address filtering function You can limit the network devices to be connected t...

Page 21: ...to the master station after receiving a command from the master station 2 Calculate the link scan time as follows Also use the reference response time for Ns MELSEC iQ R MELSEC Q L Ls Ns Nm MELSEC iQ F Ls SM Ns Nm SM Ls Link scan time Ns Response time of slave station Nm Request time of master station SM Sequence scan time 3 Check the current link scan time when all the slave stations are in a nor...

Page 22: ...nput refer to app 1 of MR J4 _GF_ RJ Servo Amplifier Instruction Manual Motion Mode The diagram shows MR J4 20GF RJ CN4 Line noise filter FR BSF01 CN5 Regenerative option P C L11 L21 P3 P4 Servo motor Personal computer MR Configurator2 CN3 CN8 CN2 CN2L Note 4 W V U Magnetic contactor L1 L2 L3 Note 3 Note 1 MC Power factor improving DC reactor FR HEL Junction terminal block To safety relay or MR J3...

Page 23: ...leration is not required delay the time to turn off the magnetic contactor 4 This is for MR J4 _GF RJ servo amplifier MR J4 _GF servo amplifier does not have CN2L connector When using MR J4 _GF RJ servo amplifier in the linear servo system or in the fully closed loop system connect an external encoder to this connector Refer to section 1 1 of MR J4 _GF_ RJ Servo Amplifier Instruction Manual Motion...

Page 24: ... to be sent Link devices RWr RWw RX and RY are used for data communication The master station controller refreshes links by sending and receiving the request and response messages at a constant cycle The servo amplifier reads the received data as an object dictionary to drive a servo motor and return monitor data Master station controller Constant cycle Request message directed broadcast Response ...

Page 25: ...y RWwn01 6040 Controlword RWrn01 6041 Statusword RWwn02 2D01 Control DI 1 RWrn02 6064 Position actual value RWwn03 2D02 Control DI 2 RWrn03 RWwn04 2D03 Control DI 3 RWrn04 606C Velocity actual value RWwn05 2D60 Target point table RWrn05 RWwn06 6081 Profile velocity RWrn06 60F4 Following error actual value RWwn07 RWrn07 RWwn08 6083 Profile acceleration RWrn08 6077 Torque actual value RWwn09 RWrn09 ...

Page 26: ...2 CC Link IE FIELD NETWORK BASIC PROTOCOL 2 3 2 4 Mapping data details of link device Refer to chapter 10 ...

Page 27: ...2 CC Link IE FIELD NETWORK BASIC PROTOCOL 2 4 MEMO ...

Page 28: ...h the binary code It is not compatible with the ASCII code For the compatibility of SLMP with external devices refer to manuals for external devices In SLMP a command that a master station external device sends to slave stations servo amplifiers is called a request message and a command that the slave stations servo amplifiers send back to the master station external device is called a response me...

Page 29: ...has two different formats for normal completion and abnormal completion a At normal completion Ethernet header Response data Request destination network No Subheader SLMP UDP header IP header Request destination multi drop station No Response data length End code Footer Request destination station No Request destination module I O No b At abnormal completion Sub command SLMP Network No responding ...

Page 30: ...l the processing is completed 0001h to FFFFh 1 to 65535 Waiting time Unit 0 25 s Request data Variable Little Specify the command sub command and data that indicate the request content Command 2 bytes Little Refer to section 3 3 Sub command 2 bytes Little Refer to section 3 3 Response data length 2 bytes Little The data length from the end code to the response data at normal completion or to the e...

Page 31: ...etects the server device in the network IPAddressSet 0E31h 0000h Sets the IP address of the server device in the network Model code read 0101h 0000h Reads the servo amplifier model 3 4 CiA 402 read write command The MR J4 _GF_ RJ servo amplifier supports the CiA 402 read write command Service SLMP Description Command Sub command SDO Upload 4020h 0001h Reads data specified by using the CiA 402 obje...

Page 32: ...f the object Refer to chapter 10 For the response message the value specified in the request message is stored Sub Index 1 byte Little Specify Sub Index of the object Refer to chapter 10 For the response message the value specified in the request message is stored Reserved 1 byte 00h fixed Number of data value 2 bytes Little Read data 00h fixed Read data Variable Little The response data of the ob...

Page 33: ...of the object corresponding to the specified Index or consecutive Sub Index 1 Request message command and the following Command Sub command Index Sub Index Reserved Number of data value L H L H L H L H 20h 40h 05h 00h Refer to 3 in this section for details 2 Response message a At normal completion end code and the following End code Index Sub Index Reserved Number of data value Read data L H L H L...

Page 34: ... code and the following End code Index Sub Index Reserved Number of data value L H L H L H 00h 00h Refer to 3 in this section for details b At abnormal completion The response message is the same as that of 3 2 2 b 3 Item list Item Size Endian Description Command 2 bytes Little 4020h Sub command 2 bytes Little 0006h Index 2 bytes Little Specify Index of the object Refer to chapter 10 For the respo...

Page 35: ...object 2 A value is written to an object which is not the Read only object for all AL states but for the present AL state with Write disabled CCC7h 1 A value is written to the object mapped to a response message The following writings are performed when the object mapped to a response message is not allowed to be changed A value other than 0 is written to Sub Index0 A value is written to the corre...

Page 36: ...alfunction POINT When you use a linear servo motor read as follows Load to motor inertia ratio Load to motor mass ratio Torque Thrust When Pr PN02 Communication error detection time is set to a few ms power cycling of the servo amplifier or an instantaneous power failure during CC Link IE Field Network Basic communication may trigger AL 86 1 When Pr PN10 Ethernet communication time out selection i...

Page 37: ... the identification number with the rotary switches SW2 SW3 Refer to section 4 3 Set the parameters as necessary such as operation mode and regenerative option selection Refer to chapter 7 of this document and chapter 5 of MR J4 _GF_ RJ Servo Amplifier Instruction Manual Motion Mode In the test operation operate the servo motor at the lowest speed possible with the servo motor disconnected from th...

Page 38: ... at a speed of 3000 r min or higher it may cause a position mismatch Make sure that the servo motor is not rotated before switching the power on 3 IP address setting POINT Use a twisted pair cable with Ethernet Category 5e 1000BASE T or higher as an Ethernet cable The maximum cable length between nodes is 100 m Use a hub with a transmission speed of 100 Mbps or faster when branching the Ethernet c...

Page 39: ...3rd octet is 3 4th octet The setting value of Pr PN12 _ _ x x is used 01h to FFh 1st octet The setting value of Pr PN11 x x _ _ is used When the parameter is set to 0 0 _ _ the 1st octet is 192 2nd octet The setting value of Pr PN11 _ _ x x is used When the parameter is set to _ _0 0 the 2nd octet is 168 3rd octet The setting value of Pr PN12 x x _ _ is used When the parameter is set to 0 0 _ _ th...

Page 40: ...o motor coasts Ready off command The base circuit is shut off and the dynamic brake operates to stop the servo motor Quick stop command The servo motor decelerates to a stop Error occurrence Note 2 The servo motor decelerates to a stop Cyclic communication ready command off The servo motor decelerates to a stop Servo amplifier Alarm occurrence The servo motor decelerates to a stop With some alarms...

Page 41: ... switches SW2 SW3 and slide switches SW1 use insulated screw driver Do not use a metal screw driver Touching patterns on electronic boards lead of electronic parts etc may cause an electric shock POINT Turning ON up all the slide switches SW1 enables an operation mode for manufacturer setting and displays off This mode is not available Set the slide switches SW1 correctly according to this section...

Page 42: ...ration and machine analyzer are available with MR Configurator2 Slide switches SW1 Communication Test operation mode 1 ON 2 CC Link IE Field Network Disabled 1 ON 2 CC Link IE Field Network Basic Disabled 1 ON 2 Not available Enabled 1 ON 2 For manufacturer setting 2 Rotary switches SW2 SW3 Set the identification number of the servo amplifier in hexadecimal From 00h 0 to FFh 255 can be set The set...

Page 43: ...rring Identification No 2 digits Status After 0 8 s Alarm No After 0 8 s Blank After 0 2 s Status 1 digit n Indicates that an alarm is occurring Alarm detail 1 digit Alarm No 2 digits If an alarm occurs during initial communication through a network the status the alarm number two digits and alarm detail one digit and the network initial communication status are displayed in that order For example...

Page 44: ...Blinking After 0 8 s Blank After 0 8 s When AL 50 Overload 1 occurs at identification No 1 Example Blinking Blinking After 0 8 s Blank After 0 8 s When AL E1 Overload warning 1 occurs at identification No 1 During a warning that does not cause servo off the decimal point on the third digit LED shows the servo on status Servo amplifier power on System check in progress Alarm reset or warning cleare...

Page 45: ...eration output signal DO forced output motor less operation machine analyzer function or single step feed was set C d Note 1 is displayed in hexadecimal The following table shows the description Description 01 FF Identification number 4th octet of the IP address 2 indicates the alarm No and the warning No 3 Requires the MR Configurator2 4 Refer to MELSERVO J4 Servo Amplifier Instruction Manual Tro...

Page 46: ...on etc of the servo motor If the servo motor does not operate in the intended direction check the input signal In this step connect the servo motor with the machine and confirm that the machine operates normally with the commands from the master station controller Give a low speed command at first and check the operation direction etc of the machine If the servo motor does not operate in the inten...

Page 47: ...n the jog operation screen of MR Configurator2 1 Operation pattern Item Initial value Setting range Servo motor speed r min 200 0 to Maximum speed Accel decel time constant ms 1000 0 to 50000 2 Operation method a The check box Rotation only while the CCW or CW button is being pushed is checked Operation Screen operation Forward rotation start Keep pressing Forward CCW Reverse rotation start Keep p...

Page 48: ...Screen operation Forward rotation start Click Forward CCW Reverse rotation start Click Reverse CW Temporary stop Click Pause Stop Click Stop Forced stop Click Forced Stop c Program operation Positioning operation can be performed with two or more operation patterns combined without using a master station controller Use this operation with the forced stop reset This operation may be used independen...

Page 49: ...use c to temporarily stop the servo motor Click Operation Start b during a temporary stop to restart the rotation of the remaining travel distance In addition click Stop d during a temporary stop to clear the remaining travel distance 4 Stop the servo motor Click Stop d to stop the servo motor At this time the remaining travel distance will be cleared Click Operation Start b to restart the rotatio...

Page 50: ...blinks as follows After 1 6 s After 0 2 s Blinking If an alarm or warning occurs during the test operation the decimal point on the first digit also blinks as follows After 0 8 s After 0 8 s After 0 2 s Blinking Blinking 4 Start operation with the personal computer 4 5 2 Motor less operation with a controller POINT The servo amplifier need to be connected to the master station controller for motor...

Page 51: ...otor inertia ratio Pr PB06 Load to motor inertia ratio load to motor mass ratio b Alarms The following alarms and warnings do not occur However the other alarms and warnings occur as when the servo motor is connected AL 16 Encoder initial communication error 1 AL 1E Encoder initial communication error 2 AL 1F Encoder initial communication error 3 AL 20 Encoder normal communication error 1 AL 21 En...

Page 52: ...http www mitsubishielectric co jp fa and register the profile from the Profile Management in the menu System profile for CC Link IE Field Network Basic System profile name Description 0x0002_MR J4 GF E_CCIEFBasic _n_en CSPP zip Note This is the MR J4 GF system profile for CC Link IE Field Network Basic Note n designates a system profile version number Refer to GX Works3 Operating Manual or GX Work...

Page 53: ...rs Pr PN13 to Pr PN14 2 SLMP communication IP Address Set command Slave station servo amplifier power cycling The settings of the IP address and subnet mask are reflected Communication start procedure Cyclic communication start Start the cyclic communication of the master station controller Cyclic communication ready Set RY n 3 F of the master station controller to 01h For the slave stations servo...

Page 54: ...and 6040h from the master station controller changes the status of the slave stations servo amplifiers The current servo amplifier status can be read with the control status 6041h Power on 14 13 Ready off Servo off Main circuit charging completed Ready off Servo off During main circuit charging Ready on Servo on 9 8 12 11 16 H Fault Error occurs Transition by slave Transition by master Transition ...

Page 55: ... Operation is disabled after servo off or RA off 9 The state transitions with the Disable Voltage command from the master Operation is disabled after servo off or RA off 10 The state transitions with the Disable Voltage command or Quick Stop command from the master RA turns off 11 The state transitions with the Quick Stop command from the master Quick Stop starts 12 a The state automatically trans...

Page 56: ...on 6060h Refer to chapter 6 7 FR Fault Reset 8 HALT Halt 0 Operation ready 1 Temporary stop 9 Operation Mode Specific Differs depending on Modes of operation 6060h Refer to chapter 6 10 to 15 Reserved The value at reading is undefined Set 0 when writing The following table lists the commands issued to the servo amplifier Turn on the bit that corresponds to the command Command Command bit setting o...

Page 57: ... Modes of operation 6060h Refer to chapter 6 11 ILA Internal limit active 0 The forward rotation stroke end reverse rotation stroke end and software position limit have not been reached 1 The forward rotation stroke end reverse rotation stroke end or software position limit has been reached Enabled in the pt idx jg or hm mode 12 to 13 OMS Operation Mode Specific Differs depending on Modes of opera...

Page 58: ...abled x0xx xxx0 x00x 0111 Quick stop active x0xx xxx0 x0xx 1111 Fault reaction active x0xx xxx0 x0xx 1000 Fault Note Statusword is not sent in the Not ready to switch on state 5 1 3 Directions for use A command of Controlword allows a transition to the target status skipping the statuses in between The statuses can transition as shown in the following table for example Refer to the figure in secti...

Page 59: ...the master station controller sends the designated command value to the servo amplifier The master station must keep sending the command value until the mode is completely switched because there is a delay in switching from one mode to another When the master station confirms that the mode has been switched by using Modes of operation display 6061h the master station can stop sending the command v...

Page 60: ...r specified home position return operation set Homing method 6098h Homing speed 6099h and Homing acceleration 609Ah and then start the operation with Controlword 6040h The completion of the home position return operation can be checked with Statusword 6041h Controlword 6040h Homing acceleration 609Ah Homing method 6098h Homing speeds 6099h Home offset 607Ch Homing method Statusword 6041h ...

Page 61: ... or 0 01 mm s Range 0 to servo motor maximum speed 2 rw Speed during search for zero U32 1000 Specify the travel speed to the home position after dog detection Note Unit Vel unit 0 01 r min or 0 01 mm s Range 0 to servo motor maximum speed 609Ah 0 rw Homing acceleration U32 0 Acceleration deceleration time constant at home position return Unit ms 60E3h 0 ro Supported Homing Method U8 38 Number of ...

Page 62: ...efer to section 5 1 2 15 Reserved The value at reading is undefined Set 0 when writing To start a home position return operation turn bit 4 from 0 to 1 When the home position return operation is completed or an alarm is issued during the return operation turn bit 4 from 1 to 0 When bit 8 Halt of Controlword 6040h is set to 1 the servo motor decelerates to a stop After that when bit 8 Halt is set t...

Page 63: ...me position return The direction of rotation is opposite to that of the method 8 19 Homing without index pulse Forward rotation Same as the dog type front end reference home position return Note that if the stroke end is detected during home position return AL 90 Home position return incomplete warning occurs 20 Homing without index pulse Forward rotation Although this type is the same as the dog ...

Page 64: ... is set as the home position 33 Homing on index pulse Reverse rotation Although this type is the same as the dogless Z phase reference home position return the creep speed is applied as the movement start speed 34 Homing on index pulse Forward rotation Although this type is the same as the dogless Z phase reference home position return the creep speed is applied as the movement start speed 35 Homi...

Page 65: ...end detection rear end reference Forward rotation Deceleration starts from the front end of the proximity dog After the rear end is passed the position is shifted by the travel distance after proximity dog and the home position shift distance The position after the shifts is set as the home position If the stroke end is detected during home position return the travel direction is reversed 38 Rever...

Page 66: ...s completed successfully unless 0 is set in Bit 12 The following shows the conditions when 0 is set in Bit 12 For incremental system At power on At communication shut off by master station controller reset At home position return start At home position erasure For absolute position detection system At home position return start At home position erasure To check the home position return status with...

Page 67: ...mmand is input again bit 10 turns off 0 b Bit 12 Homing attained of Statusword 6041h Bit 12 turns off 0 when a home position return operation is started and turns on 1 when the operation is completed For absolute position detection system bit 12 turns on 1 after the power supply is turned on c Bit 13 Homing error of Statusword 6041h Bit 13 turns on 1 when an alarm or warning AL 90 2 AL 90 3 AL 90 ...

Page 68: ... Homing mode hm with Modes of operation 6060h Home position return completion Set 0Fh in Controlword 6040h Operation enable Check that bit 12 Homing attained of Statusword 6041h is 1 Check that the control mode has been switched to Homing mode hm with Modes of operation Display 6061h Save the object in the EEP ROM by using Save all parameters in Store parameters 1010h Set 1Fh in Controlword 6040h ...

Page 69: ...pe last Z phase reference home position return and Method 4 has the operation of the dog cradle type home position return at a forward rotation start However if the stroke end is detected during home position return AL 90 occurs 3 3 4 4 Index Pulse Home Switch 2 Method 5 and 6 Homing on negative home switch and index pulse These home position return types use the front end of the proximity dog as ...

Page 70: ... and reverse in Method 11 and 12 7 7 7 8 8 8 Index Pulse Home Switch Positive Limit Switch 4 Method 17 to 30 Homing without index pulse Method 17 to 30 have the operation of Method 1 to Method 14 however these types set the home position on the dog but not on the Z phase The following figure shows the operation of the home position return type of Method 19 and Method 20 Method 19 and Method 20 hav...

Page 71: ...ied at the start Index Pulse 33 34 6 Method 35 and 37 Homing on current position These home position return types set the current position as a home position The operation is the same as that of the data set type home position return however these types can be executed even during servo off ON OFF ON OFF Statusword bit 12 Homing attained Controlword bit 4 Homing operation start Home position retur...

Page 72: ... Statusword bit 12 Homing attained ON OFF ON OFF Controlword bit 4 Homing operation start Home position return speed Deceleration time constant Home position shift distance Home position return position data ON OFF Proximity dog Creep speed Z phase DOG Proximity dog Acceleration time constant Home position return direction Home position return start position After retracting to before proximity do...

Page 73: ...min Forward rotation Statusword bit 10 Target reached ON OFF ON OFF Statusword bit 12 Homing attained ON OFF ON OFF Controlword bit 4 Homing operation start ON OFF Z phase DOG Proximity dog Acceleration time constant Servo motor speed Reverse rotation 0 r min Forward rotation Home position return direction Home position return start position Home position shift distance Home position return positi...

Page 74: ...ance Home position return position data ON OFF Proximity dog Creep speed Z phase DOG Proximity dog Acceleration time constant 10 ms or shorter Servo motor speed Reverse rotation 0 r min Home position return direction Home position return start position After retracting to before proximity dog the home position return starts from here Proximity dog When a home position return is started from the pr...

Page 75: ... ON OFF ON OFF Controlword bit 4 Homing operation start ON OFF Z phase DOG Proximity dog Acceleration time constant 10 ms or shorter Servo motor speed Reverse rotation 0 r min Forward rotation Home position return direction Home position return start position Home position shift distance Home position return position data Proximity dog When a home position return is started from the proximity dog ...

Page 76: ...d rotation Statusword bit 10 Target reached ON OFF Statusword bit 12 Homing attained ON OFF Controlword bit 4 Homing operation start DOG Proximity dog Acceleration time constant 10 ms or shorter Servo motor speed Reverse rotation 0 r min Home position return direction Home position return start position After retracting to before proximity dog the home position return starts from here Proximity do...

Page 77: ...ached ON OFF ON OFF Statusword bit 12 Homing attained ON OFF ON OFF Controlword bit 4 Homing operation start ON OFF Z phase DOG Proximity dog Acceleration time constant 10 ms or shorter Servo motor speed Reverse rotation 0 r min Forward rotation Home position return direction Home position return start position Home position shift distance Travel distance after proximity dog Home position return p...

Page 78: ...N OFF Statusword bit 12 Homing attained ON OFF Controlword bit 4 Homing operation start DOG Proximity dog Acceleration time constant 10 ms or shorter Servo motor speed Reverse rotation 0 r min Home position return direction Home position return start position After retracting to before proximity dog the home position return starts from here Proximity dog When a home position return is started from...

Page 79: ...OFF ON OFF Controlword bit 4 Homing operation start ON OFF Z phase DOG Proximity dog Acceleration time constant 10 ms or shorter Servo motor speed Reverse rotation 0 r min Forward rotation Home position return direction Home position return start position Home position shift distance Travel distance after proximity dog Home position return position data Proximity dog When a home position return is...

Page 80: ...d ON OFF Statusword bit 12 Homing attained ON OFF Z phase Acceleration time constant 10 ms or shorter Servo motor speed 0 r min Forward rotation Home position return start position Home position return direction The servo motor stops due to the occurrence of AL 90 Stroke end When the stroke end is detected 10 Method 35 and Method 37 Homing on current position The following figure shows the operati...

Page 81: ...Z phase DOG Proximity dog Acceleration time constant 10 ms or shorter Note After the front end of the proximity dog is detected if the distance after proximity dog is traveled without reaching the creep speed AL 90 occurs Set the travel distance after proximity dog enough for the servo motor to decelerate from the home position return speed to the creep speed Servo motor speed Reverse rotation 0 r...

Page 82: ...or linear servo motor travel distance per stop interval selection at the home position return of Pr PL01 b Adjustment For the dog type home position return adjust the setting so that the Z phase signal is always generated during the detection of a dog Make an adjustment so that the rear end of DOG Proximity dog is positioned almost at the center between the positions specified by a Z phase signal ...

Page 83: ...hed ON OFF Statusword bit 12 Homing attained ON OFF Power supply ON OFF ON OFF DOG Proximity dog ON OFF Controlword bit 4 Homing operation start Point actual value Set time in Pr PT56 Note Positive torque limit value Negative torque limit value Pr PC77 Pr PC77 Creep speed Home position return speed Z phase Enabled torque limit value Position where the station home position shift distance is added ...

Page 84: ...roximity dog Note Deceleration time constant Home position return position data Servo motor speed Reverse rotation 0 r min Forward rotation Statusword bit 10 Target reached ON OFF ON OFF Statusword bit 12 Homing attained ON OFF ON OFF Controlword bit 4 Homing operation start ON OFF Z phase DOG Proximity dog Acceleration time constant Travel distance after proximity dog Home position shift distance...

Page 85: ...f ON OFF ON OFF Statusword bit 12 Homing attained Controlword bit 4 Homing operation start Home position return position data Servo motor speed Reverse rotation 0 r min Forward rotation 2 Torque limit changing data set type home position return The following figure shows the operation of Homing method 3 in the indexer mode This type cannot be executed during servo off Reverse rotation Forward rota...

Page 86: ...arget reached ON OFF Acceleration time constant 5 ms or longer ON OFF TLC Limiting torque Torque limit value Torque limit value Note 1 Pr PT11 Torque limit value Note 1 Note 2 Stopper Pr PT10 Stopper type home position return stopper time 0 r min 10 ms or shorter Note 1 When Method 4 is set the torque limit value of 60E0h Positive torque limit value is applied When Method 36 is set the torque limi...

Page 87: ... return speed Creep speed Proximity dog Note Deceleration time constant Home position return position data Servo motor speed Reverse rotation 0 r min Forward rotation Statusword bit 10 Target reached ON OFF ON OFF Statusword bit 12 Homing attained ON OFF ON OFF Controlword bit 4 Homing operation start DOG Proximity dog Acceleration time constant 10 ms or shorter Note After the front end of the pro...

Page 88: ... 0 r min Forward rotation The home position return starts from here Home position return direction Home position return start position Proximity dog Stroke end Note Note This is not available with the software limit When the servo motor returns at the stroke end ...

Page 89: ...on return position data Servo motor speed Reverse rotation 0 r min Forward rotation Statusword bit 10 Target reached ON OFF ON OFF Statusword bit 12 Homing attained ON OFF ON OFF Controlword bit 4 Homing operation start DOG Proximity dog Acceleration time constant Travel distance after proximity dog Home position shift distance 10 ms or shorter Servo motor speed Reverse rotation 0 r min Home posit...

Page 90: ...ming attained ON OFF ON OFF Controlword bit 4 Homing operation start ON OFF Z phase DOG Proximity dog Acceleration time constant Servo motor speed Reverse rotation 0 r min Forward rotation Home position return direction Home position return start position Home position shift distance Home position return position data Proximity dog When a home position return is started from the proximity dog Serv...

Page 91: ...G Proximity dog 10 ms or shorter Note After the front end of the proximity dog is detected if the rear end of the proximity dog is detected without stop AL 90 occurs Revise the length of the proximity dog or revise both the home position return speed and creep speed Servo motor speed Reverse rotation 0 r min Home position return direction Home position return start position After retracting to bef...

Page 92: ...n time constant 10 ms or shorter Note After the front end of the proximity dog is detected if the rear end of the proximity dog is detected without reaching the creep speed AL 90 occurs Revise the length of the proximity dog or revise both the home position return speed and creep speed Servo motor speed Reverse rotation 0 r min Home position return direction Home position return start position Aft...

Page 93: ... motor speed Reverse rotation 0 r min Forward rotation Statusword bit 10 Target reached ON OFF Statusword bit 12 Homing attained ON OFF Z phase Acceleration time constant Deceleration time constant Home position shift distance Home position return speed Home position return position data 10 ms or shorter Servo motor speed 0 r min Forward rotation Home position return start position Home position r...

Page 94: ...the target address to be reached Setting range 999999 to 999999 10STM μm STM Feed length multiplication Pr PT03 999999 to 999999 10 STM 4 inch STM Feed length multiplication Pr PT03 999999 to 999999 pulse Setting range of the position data 10STM μm 10 STM 4 inch pulse 999999 999999 2 Incremental value command method As position data set the travel distance from the current address to the target ad...

Page 95: ... a value smaller than 1 is set for the servo motor speed the servo motor may not rotate Acceleration time constant 0 to 20000 ms Set a time for the servo motor to reach the rated speed Deceleration time constant 0 to 20000 ms Set a time for the servo motor to stop from the rated speed Dwell 0 to 20000 ms Set the dwell To disable the dwell set 0 or 2 to the auxiliary function To perform a continuou...

Page 96: ...Set the unit of the position data Pr PT01 setting Position data unit _ 0 _ _ mm _ 1 _ _ inch _ 3 _ _ pulse 4 Feed length multiplication Pr PT03 Set the feed length multiplication factor STM of the position data Pr PT03 setting Position data input range Note 1 mm inch pulse Note 2 _ _ _ 0 999 999 to 999 999 99 9999 to 99 9999 _ _ _ 1 9999 99 to 9999 99 999 999 to 999 999 999999 to 999999 _ _ _ 2 99...

Page 97: ...e 1 10STM μm 10 STM 4 inch pulse Set the travel distance The unit can be changed by Pr PT03 Feed length multiplication Servo motor speed 0 to permissible speed 0 01 r min 0 01 mm s Note 2 Set the command speed of the servo motor for execution of positioning The setting value must be equal to or less than the instantaneous permissible speed of the servo motor used Acceleration time constant 0 to 20...

Page 98: ...tation address decrease 1 CW rotation address increase CCW rotation address decrease Pr PA14 0 Pr PA14 1 CW CW Controlword bit 5 off Controlword bit 5 off Controlword bit 5 on Controlword bit 5 on CCW CCW 3 Position data unit Pr PT01 Set the unit of the position data Pr PT01 setting Position data unit _ 0 _ _ mm _ 1 _ _ inch _ 3 _ _ pulse 4 Feed length multiplication Pr PT03 Set the feed length mu...

Page 99: ...art Controlword Switch on Controlword bit 4 New set point 6 2 3 Related object The following shows the functions and related objects of the point table mode pt Position trajectry generator Control effort 60FAh Position actual internal value 6063h Acceleration limit function Position limit function Position control Velocity control Torque control Encoder Motor Torque limit value 60E0h 60E1h Quick s...

Page 100: ...1 Feed U32 rw Travel distance setting 2 Shaft revolutions Number of servo motor shaft revolutions 60F4h Following error actual value I32 ro Droop pulses Pos units 60FAh Control effort I32 ro Position control loop output speed command Unit Vel unit 0 01 r min or 0 01 mm s 60E0h Positive torque limit value U16 rw 10000 Torque limit value forward Unit 0 1 rated torque of 100 60E1h Negative torque lim...

Page 101: ...w Auxiliary function 2A43h 0 Point table error U8 ro 2 Number of entries Point table error 1 Point table error No I32 ro Point table error No 2 Point table error factor I32 ro Point table error factor The error status is indicated when this bit is turned on Refer to chapter 10 2 Details on the OMS bit of Controlword pt mode Bit Symbol Description 4 New set point The operation starts from the point...

Page 102: ... 1 Following error Judgment condition for Following error When the time set with Pr PC69 Following error output filtering time has elapsed with the number of droop pulses exceeding the setting value of the Pr PC67 Pr PC68 Following error output level this bit becomes 1 6 2 4 Point table setting method with MR Configurator2 1 Setting procedure Click Positioning data in the menu bar and click Point ...

Page 103: ...is section for details g Single step feed g Click Single step Feed to perform the single step feed test operation Refer to section 4 5 1 1 e for details h Copy and paste of point table data h Click Copy to copy the selected point table data Click Paste to paste the copied point table data i Inserting point table data i Click Insert to insert a block before the selected point table No The selected ...

Page 104: ...ction of control mode PA01 STY 1 Select either the point table positioning operation or the indexer positioning operation b Command method selection PT01 CTY 2 Select either the absolute position command method or the incremental value command method c Others 1 Feed length multiplication parameter setting STM PT03 FTY 3 Select a feed length multiplication from 1 10 100 1000 2 Position data unit se...

Page 105: ...1 2 Speed I32 rw Set the servo motor speed of the point table No 1 3 Acceleration I32 rw Set the acceleration time constant of the point table No 1 4 Deceleration I32 rw Set the deceleration time constant of the point table No 1 5 Dwell I32 rw Set the dwell of the point table No 1 6 Auxiliary I32 rw Set the auxiliary function of the point table No 1 28FFh 0 Point table255 U8 ro 7 Number of entries...

Page 106: ...ation The following shows the timing chart Statusword bit 12 Set point acknowledge ON OFF Controlword bit 4 New set point Target point table Forward rotation 0 r min Reverse rotation Servo motor speed ON OFF INP S_INP In position ON OFF Status DO 5 bit 5 S_CPO Rough match ON OFF Status DO 5 bit 6 S_MEND Travel completion ON OFF Point actual value Point demand value Point table No 1 Point table No ...

Page 107: ...iming chart Statusword bit 12 Set point acknowledge ON OFF Controlword bit 4 New set point Target point table Forward rotation 0 r min Reverse rotation Servo motor speed ON OFF INP S_INP In position ON OFF Status DO 5 bit 5 S_CPO Rough match ON OFF Status DO 5 bit 6 S_MEND Travel completion ON OFF Point actual value Point demand value Point table No 1 Point table No 2 1 2 1 1 2 2 Note ON OFF Contr...

Page 108: ...bsolute value command method and point table No 2 to the incremental value command method Point table No Position data 10STM μm Servo motor speed r min Acceleration time constant ms Deceleration time constant ms Dwell ms Auxiliary function 1 5 00 3000 00 100 150 100 1 2 5 00 2000 00 150 200 200 3 3 15 00 1000 00 300 100 Disabled 0 Note Note Be sure to set 0 or 2 to the auxiliary function of the la...

Page 109: ...50 200 200 3 3 8 00 1000 00 300 100 Disabled 0 Note Note Be sure to set 0 or 2 to the auxiliary function of the last point table of the consecutive point tables 0 When using the point table with the absolute value command method 2 When using the point table with the incremental value command method Servo motor speed Forward rotation 0 r min Reverse rotation Position address Target point table Cont...

Page 110: ...xiliary function 1 5 00 3000 00 100 150 100 1 2 6 00 2000 00 150 200 200 1 3 3 00 1000 00 300 100 Disabled 0 Note Note Be sure to set 0 to the auxiliary function of the last point table of the consecutive point tables Servo motor speed Forward rotation 0 r min Reverse rotation Position address Target point table Controlword bit 4 New set point ON OFF Controlword bit 5 Direction Note ON OFF Point a...

Page 111: ...point tables is disabled By setting 1 or 3 to auxiliary functions until point table No 254 the operation can be performed at maximum 255 speeds Be sure to set 0 or 2 to the auxiliary function of the last point table To perform varying speed operation be sure to set 0 to the dwell Setting 1 or more enables the automatic continuous positioning operation The following table shows an example of settin...

Page 112: ...ed Disabled 0 3 3 10 00 1000 00 Disabled Disabled 0 1 4 6 00 500 00 Disabled Disabled 0 2 Note 2 Note 1 Be sure to set 0 2 Be sure to set 0 or 2 to the auxiliary function of the last point table of the consecutive point tables 0 When using the point table with the absolute value command method 2 When using the point table with the incremental value command method Deceleration time constant 150 of ...

Page 113: ...7 00 2000 00 Disabled Disabled 0 3 3 8 00 1000 00 Disabled Disabled Disabled 0 Note 2 Note 1 Be sure to set 0 2 Be sure to set 0 or 2 to the auxiliary function of the last point table of the consecutive point tables 0 When using the point table with the absolute value command method 2 When using the point table with the incremental value command method Servo motor speed Forward rotation 0 r min Re...

Page 114: ...onsecutive point table data 5 0 1 6 Disabled 0 Note 2 Note 1 Be sure to set 0 2 Be sure to set 0 to the auxiliary function of the last point table of the consecutive point tables The following shows an operation example with the set values listed in the table below Point table No Position data 10STM μm Servo motor speed r min Acceleration time constant ms Deceleration time constant ms Dwell ms Not...

Page 115: ...ute value command method Example 1 Operations when 8 is set to the auxiliary function of point table No 4 Point table No Position data 10STM μm Servo motor speed r min Acceleration time constant ms Deceleration time constant ms Dwell ms Auxiliary function 1 4 00 1500 00 200 100 150 1 2 5 00 3000 00 100 150 100 1 3 5 00 2000 00 150 200 200 3 4 15 00 1000 00 300 100 150 8 Operation sequence 1 Starti...

Page 116: ... Starting with point table No 2 2 Executing point table No 3 3 Executing point table No 1 when 9 is set to the auxiliary function of point table No 3 4 Repeating the above execution in the sequence of 1 2 3 1 2 3 Servo motor speed Forward rotation 0 r min Reverse rotation Position address Target point table Controlword bit 4 New set point ON OFF Point actual value Note Speed 2000 00 Point table No...

Page 117: ...point table No 2 2 Executing point table No 3 3 Executing point table No 4 4 Executing again point table No 2 used at start up when 10 is set to the auxiliary function of point table No 4 5 Repeating the above execution in the sequence of 1 2 3 4 2 3 4 Servo motor speed Forward rotation 0 r min Reverse rotation Position address Target point table Controlword bit 4 New set point ON OFF Point actual...

Page 118: ...t table No 2 2 Executing point table No 3 3 Executing point table No 1 when 11 is set to the auxiliary function of point table No 3 4 Repeating the above execution in the sequence of 1 2 3 1 2 3 Servo motor speed Forward rotation 0 r min Reverse rotation Position address Target point table Controlword bit 4 New set point ON OFF Point actual value Note Point table No 2 Speed 2000 00 Speed 1000 00 P...

Page 119: ...3 4 Executing point table No 1 used at start up in CW direction when 8 is set to the auxiliary function of point table No 3 5 Repeating the above execution in the sequence of 1 2 3 4 2 3 4 Servo motor speed Forward rotation 0 r min Reverse rotation Position address Target point table Controlword bit 4 New set point ON OFF Point actual value Note Speed 3000 00 Acceleration time constant 100 of poin...

Page 120: ...ing point table No 1 when 10 is set to the auxiliary function of point table No 3 5 Repeating the above execution in the sequence of 1 2 3 4 2 3 4 Servo motor speed Forward rotation 0 r min Reverse rotation Position address Target point table Controlword bit 4 New set point ON OFF Point actual value Note Speed 3000 00 Acceleration time constant 100 of point table No 1 Deceleration time constant 15...

Page 121: ...iary function of point table No 3 Point table No Position data 10STM μm Servo motor speed r min Acceleration time constant ms Deceleration time constant ms Dwell ms Auxiliary function 1 4 00 1500 00 200 100 150 1 2 5 00 3000 00 100 150 100 1 3 6 00 2000 00 150 200 200 8 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...

Page 122: ...ing with point table No 2 2 Executing point table No 1 when 9 is set to the auxiliary function of point table No 2 3 Repeating the above execution in the sequence of 1 2 1 2 Servo motor speed Forward rotation 0 r min Reverse rotation Position address Target point table Controlword bit 4 New set point ON OFF Point actual value Note Speed 3000 00 Point table No 1 Speed 2000 00 6 00 0 6 00 1 2 2 1 11...

Page 123: ...ith point table No 1 2 Varying 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 auxiliary function of point table No 2 4 Repeating the above execution in the sequence of 1 2 3 2 3 Servo motor speed Forward rotation 0 r min Reverse rotation Position address Target point table Controlword bit 4 New set point ON OFF Point actual value N...

Page 124: ... motor enters the servo off status The temporary stop restart input functions in the following status Operation status Point table mode pt Jog mode jg Homing mode hm During a stop Temporary stop Temporary stop During acceleration Temporary stop Temporary stop Temporary stop At a constant speed Temporary stop Temporary stop Temporary stop During deceleration Temporary stop Temporary stop During a t...

Page 125: ... No n Dwell ta tb ta tb No n No n f Suspension of point table operation To suspend the point table operation or change the operation pattern stop the servo motor with Controlword bit 8 HALT and switch the control mode to Jog operation jg with Modes of operation The remaining travel distance is cleared Reverse rotation 0 r min Forward rotation Servo motor speed Remaining distance clear Remaining di...

Page 126: ...hen the same next station No is specified as station No of the current position and a positioning operation is executed the motor does not start because the travel distance is determined as 0 In the indexer method Touch probe function is disabled In the indexer method Position actual value Touch probe status Touch probe pos1 pos value Touch probe pos1 neg value Touch probe pos2 pos value and Touch...

Page 127: ... are all set to values other than 0 the set value of Target speed No is disabled Acceleration time constant Profile Acceleration Set the acceleration time constant Target speed No Set the acceleration time constant to the next station to be executed When Profile velocity Profile Acceleration and Profile deceleration are all set to values other than 0 the set value of Target speed No is disabled De...

Page 128: ...setting value Number of stations 2 3 4 255 Station No No 0 No 1 No 2 No 1 No 0 No 3 No 0 No 1 No 2 No 0 No 254 No 1 3 Operation Selecting the next station with Target point table and switching on Controlword bit 4 New set point starts positioning to the selected next station at the set speed acceleration time constant and deceleration time constant Item Object to be used Setting Rotation direction...

Page 129: ...eceleration time constant Target speed No Set the deceleration time constant to the next station to be executed When Profile velocity Profile Acceleration and Profile deceleration are all set to values other than 0 the set value of Target speed No is disabled Speed limit Max profile velocity Set a limit value of operation speed Torque limit Note Positive torque limit value Negative torque limit va...

Page 130: ...ue limit value 60E0h 60E1h Point actual value 2D69h M code actual value 2D6Ah Fixed to 0 Point demand value 2D68h 1 Related object Index Sub Name Data Type Access Default Description 607Fh Max profile velocity U32 rw 2000000 maximum speed Unit Vel unit 0 01 r min 6080h Max motor speed U32 rw Servo motor maximum speed Unit r min 6081h Profile velocity U32 rw 10000 Speed after acceleration completed...

Page 131: ...n Bit 7 Position POL Bit 6 Velocity POL Bit 5 Torque POL Refer to chapter 10 60A8h SI unit position U32 rw 0 SI unit position 00000000h no unit Refer to chapter 10 60A9h SI unit velocity U32 rw 0 SI unit velocity FEB44700h 0 01 r min 2D60h Target point table I16 rw 0 Point table command Set next station No 0 to 254 Positioning operation to specified stations 2D68h Point demand value I16 ro Point t...

Page 132: ...ation 8 reserved The value at reading is undefined Set 0 when writing 9 reserved 3 Details on the OMS bit of Statusword idx mode Bit Symbol Description 10 reserved The value at reading is undefined 12 Set point acknowledge 0 Positioning completed wait for next command 1 Positioning being executed 13 Following error 0 No following error 1 Following error Judgment condition for Following error When ...

Page 133: ...ng operation the values set in Profile velocity 6081h Profile acceleration 6083h and Profile deceleration 6084h are used ON OFF Controlword bit 6 Indexer mode ON OFF ON OFF Target point table Note 1 ON OFF INP S_INP In position Note 6 ON OFF Statusword bit 12 Set point acknowledge ON OFF Status DO 5 bit 5 S_CPO Rough match Status DO 5 bit 6 S_MEND Travel completion ON OFF Point actual value Enable...

Page 134: ...ther than 0 3 Switching Profile velocity during the servo motor rotation does not enable this 4 The following shows the operations to be executed Operation 1 2 3 Next station No No 1 No 3 No 1 Servo motor speed 100 00 r min 100 00 r min 150 00 r min Positioning 2 1 0 7 6 5 4 3 2 1 0 7 6 5 3 4 2 1 0 7 6 5 4 3 5 A delay time can be set with Pr PT39 6 After power on this turns on if the value is with...

Page 135: ..._INP In position Note 6 ON OFF Statusword bit 12 Set point acknowledge ON OFF Status DO 5 bit 5 S_CPO Rough match Status DO 5 bit 6 S_MEND Travel completion ON OFF Point actual value Enabled torque limit value Target speed No Note 7 Controlword bit 4 New set point Controlword bit 5 Direction Servo motor speed Note 4 Forward rotation 0 r min Reverse rotation Note 3 Note 5 Point demand value 1 1 3 1...

Page 136: ...or rotation does not enable this 4 The following shows the operations to be executed Operation 1 2 3 Next station No No 1 No 3 No 1 Servo motor speed 100 00 r min 100 00 r min 150 00 r min Positioning 2 1 0 7 6 5 4 3 2 1 0 7 6 5 3 4 2 1 0 7 6 5 4 3 5 A delay time can be set with Pr PT39 6 After power on this turns on if the value is within the in position range of the corresponding station positio...

Page 137: ... Acceleration 6083h Profile deceleration 6084h For the servo motor speed acceleration time constant and deceleration time constant during operation the values set in Profile velocity 6081h Profile acceleration 6083h and Profile deceleration 6084h are used ON OFF Controlword bit 6 Indexer mode ON OFF ON OFF Target point table Note 1 ON OFF INP S_INP In position Note 6 ON OFF Statusword bit 12 Set p...

Page 138: ...ther than 0 3 Switching Profile velocity during the servo motor rotation does not enable this 4 The following shows the operations to be executed Operation 1 2 3 Next station No No 1 No 3 No 1 Servo motor speed 100 00 r min 100 00 r min 150 00 r min Positioning 2 1 0 7 6 5 4 3 2 1 0 7 6 5 3 4 2 1 0 7 6 5 4 3 5 A delay time can be set with Pr PT39 6 After power on this turns on if the value is with...

Page 139: ... INP S_INP In position Note 6 ON OFF Statusword bit 12 Set point acknowledge ON OFF Status DO 5 bit 5 S_CPO Rough match Status DO 5 bit 6 S_MEND Travel completion ON OFF Point actual value Enabled torque limit value 1 Target speed No Note 7 Controlword bit 4 New set point Controlword bit 5 Direction Servo motor speed Note 4 Forward rotation 0 r min Reverse rotation Note 3 Note 5 Point demand value...

Page 140: ...or rotation does not enable this 4 The following shows the operations to be executed Operation 1 2 3 Next station No No 1 No 3 No 1 Servo motor speed 100 00 r min 100 00 r min 150 00 r min Positioning 2 1 0 7 6 5 4 3 2 1 0 7 6 5 3 4 2 1 0 7 6 5 4 3 5 A delay time can be set with Pr PT39 6 After power on this turns on if the value is within the in position range of the corresponding station positio...

Page 141: ...t Profile deceleration Set the deceleration time constant Speed limit Max profile velocity Set a limit value of operation speed b Servo motor rotation direction Pr PA14 setting Servo motor rotation direction Forward rotation start Controlword bit 4 Rotation start on Controlword bit 5 Direction off Reverse rotation start Controlword bit 4 Rotation start on Controlword bit 5 Direction on 0 CCW rotat...

Page 142: ...d Acceleration time constant Profile Acceleration Set the acceleration time constant Deceleration time constant Profile deceleration Set the deceleration time constant Speed limit Max profile velocity Set a limit value of operation speed b Setting an assignment direction of station No Select an assignment direction of station No with Pr PA14 CW CCW Pr PA14 setting Assignment direction of station N...

Page 143: ...low depending on the intended application In this operation Target point table is disabled Item Object parameter to be used Setting Jog mode jg selection Modes of operation Set 100 JOG operation selection Pr PT27 Select _ _ 1 _ Jog operation Servo motor speed Profile velocity Set the servo motor speed Acceleration time constant Profile Acceleration Set the acceleration time constant Deceleration t...

Page 144: ...actual value 2D69h Torque actual value 6077h Max profile velocity 607Fh Torque limit value 60E0h 60E1h 1 Related object Index Sub Name Data Type Access Default Description 607Dh 0 Software position limit U8 ro 2 Number of entries 1 Min position limit I32 rw 0 Minimum position address Pos units This cannot be used in the indexer method 2 Max position limit I32 rw 0 Maximum position address Pos unit...

Page 145: ...w 10000 Torque limit value reverse Unit 0 1 rated torque of 100 6091h 0 Gear ratio U8 ro 2 Gear ratio 1 Motor revolutions U32 rw 1 Number of revolutions of the servo motor axis numerator In the indexer method this means the number of gear teeth on machine side 2 Shaft revolutions 1 Number of revolutions of the drive axis denominator In the indexer method this means the number of gear teeth on serv...

Page 146: ...he value at reading is undefined Set 0 when writing 8 HALT 0 Positioning is executed 1 The servo motor stops according to Halt option code 605Dh In the indexer method this bit is disabled 9 reserved The value at reading is undefined Set 0 when writing 3 Details on the OMS bit of Statusword jg mode Bit Symbol Description 10 reserved The value at reading is undefined 12 reserved The value at reading...

Page 147: ...peration You can change the servo motor speed by changing the Profile velocity during operation However the servo motor speed cannot be changed during deceleration The acceleration time constant and the deceleration time constant can be changed only while the servo motor is stopped Reverse rotation 0 r min Forward rotation Profile velocity 2000 00 r min 1000 00 r min 1500 00 r min Status DO 5 bit ...

Page 148: ...ue 1 2 3 5 6 7 7 2 6 5 0 0 4 4 3 Note 1 150 00 r min Profile velocity Status DO 5 bit 5 S_CPO Rough match Status DO 5 bit 6 S_MEND Travel completion ON OFF ON OFF Note 3 Pr PC77 Positive torque limit value Negative torque limit value Pr PC77 Positive torque limit value Negative torque limit value Pr PC77 Positive torque limit value Negative torque limit value Pr PC77 Note 3 4 7 4 2 100 00 r min No...

Page 149: ...ed torque limit value Controlword bit 4 Rotation start Controlword bit 5 Direction Servo motor speed Point demand value 1 1 2 3 5 5 0 0 3 Profile velocity Status DO 5 bit 5 S_CPO Rough match Status DO 5 bit 6 S_MEND Travel completion ON OFF ON OFF Note Pr PC77 Positive torque limit value Negative torque limit value Pr PC77 Positive torque limit value Negative torque limit value Pr PC77 Note 4 4 2 ...

Page 150: ...ameter settings of another identification number may be written possibly causing the servo amplifier to be an unexpected condition 7 1 Parameter list POINT The parameter whose symbol is preceded by is enabled with the following conditions After setting the parameter cycle the power or reset the controller After setting the parameter cycle the power The following parameters cannot be used with CC L...

Page 151: ...e limit positive direction thrust limit 1000 0 Motion mode PA12 TLN Reverse rotation torque limit negative direction thrust limit 1000 0 PA13 For manufacturer setting 0000h PA14 POL Rotation direction selection travel direction selection 0 Motion mode PA15 ENR Encoder output pulses 4000 pulse rev PA16 ENR2 Encoder output pulses 2 1 PA17 MSR Servo motor series setting 0000h PA18 MTY Servo motor typ...

Page 152: ...1 Resonance frequency 100 0 Hz PB21 VRF13 Vibration suppression control 1 Vibration frequency damping 0 00 PB22 VRF14 Vibration suppression control 1 Resonance frequency damping 0 00 PB23 VFBF Low pass filter selection 0000h PB24 MVS Slight vibration suppression control 0000h PB25 BOP1 Function selection B 1 0000h PB26 CDP Gain switching function 0000h PB27 CDL Gain switching condition 10 kpulse s...

Page 153: ...Hz PB54 VRF23 Vibration suppression control 2 Vibration frequency damping 0 00 PB55 VRF24 Vibration suppression control 2 Resonance frequency damping 0 00 PB56 VRF21B Vibration suppression control 2 Vibration frequency after gain switching 0 0 Hz PB57 VRF22B Vibration suppression control 2 Resonance frequency after gain switching 0 0 Hz PB58 VRF23B Vibration suppression control 2 Vibration frequen...

Page 154: ...4 0000h Motion mode PC18 COP5 Function selection C 5 0010h PC19 COP6 Function selection C 6 0000h PC20 COP7 Function selection C 7 0000h PC21 BPS Alarm history clear 0000h PC22 For manufacturer setting 0 PC23 0000h PC24 RSBR Forced stop deceleration time constant 100 ms Motion mode PC25 For manufacturer setting 0 PC26 COP8 Function selection C 8 0000h Motion mode PC27 COP9 Function selection C 9 0...

Page 155: ...62 0000h PC63 0000h PC64 0000h PC65 50 00 PC66 10 PC67 FEWL Following error output level 0000h pulse Motion mode PC68 FEWH 00C0h PC69 FEWF Following error output filtering time 10 ms PC70 For manufacturer setting 100 PC71 10 PC72 20 00 PC73 10 PC74 10 0 PC75 10 PC76 COPE Function selection C E 0001h Motion mode PC77 TL2 Internal torque limit 2 0 0 Section 7 2 2 PC78 For manufacturer setting 0000h ...

Page 156: ...r manufacturer setting 0000h PD11 DIF Input filter setting 0004h Motion mode PD12 DOP1 Function selection D 1 0101h Section 7 2 3 PD13 DOP2 Function selection D 2 0000h Motion mode PD14 DOP3 Function selection D 3 0000h PD15 For manufacturer setting 0000h PD16 0000h PD17 0000h PD18 0000h PD19 0000h PD20 0 PD21 0 PD22 0 PD23 0 PD24 0000h PD25 0000h PD26 0000h PD27 0000h PD28 0000h PD29 0000h PD30 0...

Page 157: ...ly closed loop function selection 3 0000h Motion mode PE11 For manufacturer setting 0000h PE12 0000h PE13 0000h PE14 0111h PE15 20 PE16 0000h PE17 0000h PE18 0000h PE19 0000h PE20 0000h PE21 0000h PE22 0000h PE23 0000h PE24 0000h PE25 0000h PE26 0000h PE27 0000h PE28 0000h PE29 0000h PE30 0000h PE31 0000h PE32 0000h PE33 0000h PE34 FBN2 Fully closed loop control Feedback pulse electronic gear 2 Nu...

Page 158: ...P5 Function selection F 5 0000h Motion mode PF07 For manufacturer setting 0000h PF08 0000h PF09 0 PF10 0 PF11 0 PF12 DBT Electronic dynamic brake operating time 2000 ms Motion mode PF13 For manufacturer setting 0000h PF14 10 PF15 0000h PF16 0000h PF17 0000h PF18 STOD STO diagnosis error detection time 10 s Motion mode PF19 TSL Friction failure prediction Compensation coefficient 1 0 0 001 C PF20 T...

Page 159: ...ameter 0000h Motion mode PF41 FPMT Failure prediction Motor travel distance 0 rev m PF42 PAV Friction failure prediction Average characteristic 0 0 1 PF43 PSD Friction failure prediction Standard deviation 0 0 1 PF44 For manufacturer setting 0 PF45 VAV Vibration failure prediction Average characteristic 0 0 1 Motion mode PF46 VSD Vibration failure prediction Standard deviation 0 0 1 PF47 For manuf...

Page 160: ...on 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 Motion mode PL18 IDLV Magnetic pole detection Minute position detection method Identificati...

Page 161: ...e 0 10STM μm 10 STM 4 inch pulse Section 7 2 4 PT13 For manufacturer setting 100 PT14 0 PT15 LMPL Software limit 0000h 10STM μm 10 STM 4 inch pulse Section 7 2 4 PT16 LMPH 0000h PT17 LMNL Software limit 0000h 10STM μm 10 STM 4 inch pulse PT18 LMNH 0000h PT19 LPPL Position range output address 0000h 10STM μm 10 STM 4 inch pulse PT20 LPPH 0000h PT21 LNPL Position range output address 0000h 10STM μm ...

Page 162: ...nt 0 ms PT57 HMB Home position return deceleration time constant 0 ms PT58 For manufacturer setting 100 00 PT59 500 00 PT60 1000 00 PT61 200 00 PT62 DSS Remote register based position speed specifying method selection 0000h PT63 For manufacturer setting 0000h PT64 0000h PT65 PVC Jog speed command 100 00 r min mm s Section 7 2 4 PT66 For manufacturer setting 20000 00 PT67 VLMT Speed limit 500 00 r ...

Page 163: ...me out selection 0 s Section 7 2 5 PN11 IPADA IP address setting A 0000h PN12 IPADB IP address setting B 0000h PN13 SNMKA Subnet mask setting A 0000h PN14 SNMKB Subnet mask setting B 0000h PN15 For manufacturer setting 0000h PN16 0000h PN17 0000h PN18 IPAFA IP address filter A 0000h Section 7 2 5 PN19 IPAFB IP address filter B 0000h PN20 IPFRA IP address filter A range setting 0000h PN21 IPFRB IP ...

Page 164: ...l mode 0 Positioning mode point table method 8 Positioning mode indexer method 0h _ _ x _ Operation mode selection 0 Standard control mode 1 Fully closed loop control mode 4 Linear servo motor control mode 6 DD motor control mode The following settings will trigger AL 37 Parameter error A value other than 0 1 4 and 6 is set in this digit A value other than 0 and 6 is set in this digit in the posit...

Page 165: ... PA07 CDV Number of gear teeth on servo motor side Set the number of gear teeth on servo motor side Refer to section 7 2 6 Set the electronic gear within the range of Pr PA06 Setting out of the range will trigger AL 37 Parameter error Setting range 1 to 16777215 1 PA10 INP In position range Set an in position range per command pulse To change it to the servo motor encoder pulse unit set Pr PC06 In...

Page 166: ...ol name Setting digit Function Initial value unit Control mode C P P S PD12 DOP1 Function selection D 1 _ _ _ x Stop method selection at stroke limit detection This is disabled during CC Link IE Field Network Basic communication 1h _ _ x _ For manufacturer setting 0h _ x _ _ Stop method selection at software limit detection Select a stop method at software limit detection Refer to section 7 2 7 1 ...

Page 167: ...he command unit Setting range 0 to 65535 0 Refer to Function column for unit PT09 DCT Travel distance after proximity dog Set a travel distance after proximity dog at home position return for the count type front end detection Z phase reference Homing method 2 34 and dog reference Up to 231 can be set with Pr PT71 The following shows the home position return of the dog reference Dog type rear end ...

Page 168: ...Set an address in hexadecimal Setting address Upper four digits Lower four digits Pr PT17 Pr PT18 Setting the same value in Software limit will disable the software stroke limit When setting this parameter with MR Configurator2 change the status to servo off or the mode to the home position return mode The unit can be changed to 10STM μm 10 STM 4 inch or pulse with the setting of Pr PT01 Setting r...

Page 169: ... or 1 will be 2 Setting range 0 to 255 8 Stations PT34 PDEF Point table default Use this parameter when initializing point tables and cam data When the point table tables and cam data are initialized they will be as follows Point table All 0 Cam data Erased Initialize the point tables with the following procedures 1 Set 5001h to this parameter 2 Cycle the power of the servo amplifier After the ser...

Page 170: ... time Set the delay time from outputting Index 2D15h Status DO5 bit5 travel completion to enabling Pr PC77 Internal torque limit 2 Setting range 0 to 1000 100 ms PT40 SZS Station home position shift distance Set a station home position shift distance with encoder pulse unit at home position return Setting this parameter enables to shift the station home position station No 0 to the position for ho...

Page 171: ...g direction Dog type rear end detection Z phase reference torque limit changing dog type Note 2 Count type front end detection Z phase reference 34 Count type front end detection Z phase reference 3 Torque limit changing data set type Note 36 Stopper type Stopper position reference 4 Address increasing direction Stopper type Stopper position reference 38 Dog type rear end detection rear end refere...

Page 172: ... 23 Address increasing direction Method 23 6 Address decreasing direction Method 6 24 Address increasing direction Method 24 7 Address increasing direction Method 7 27 Address decreasing direction Method 27 8 Address increasing direction Method 8 28 Address decreasing direction Method 28 11 Address decreasing direction Method 11 33 Address decreasing direction Method 33 12 Address decreasing direc...

Page 173: ... Time Pr PT50 setting 0 r min 0 mm s Rated speed Servo motor speed Pr PT49 setting For example for the servo motor of 3000 r min rated speed set 3000 3 s to increase speed from 0 r min to 1000 r min in 1 s Setting range 0 to 50000 0 ms PT50 STB Deceleration time constant Set the deceleration time taken from the rated speed to 0 r min 0 mm s for the command If the servo motor is started with a valu...

Page 174: ...nstant the actual operation time for the arc part may differ from the setting value of the S pattern acceleration deceleration time constant The setting will be disabled during home position return When a value exceeding 1000 ms is set the parameter value will be clamped to 1000 ms The upper limit value of the actual time for the arc part is limited by 2000000 STA for acceleration and by 2000000 S...

Page 175: ...ill be command unit pulse A load side rotation expressed by the number of servo motor resolution pulses Refer to the Function column of Pr PA10 for the command unit Additionally when a value equal to or more than 1001 is set the value will be clamped to 1000 Setting range 0 to 32767 0 Refer to Function column for unit PT71 DCTH Travel distance after proximity dog extension parameter Set the extens...

Page 176: ...Set is received the setting of the 2nd octet will be written to this digit Refer to table 7 1 for the relation between the setting value of the rotary switch and the parameter setting value Setting range 00h to FFh 00h x x _ _ IP address setting 1 Set the 1st octet of the IP address in hexadecimal Set the IP address assigned by the network administrator When the parameter is set to 0 0 _ _ the 1st...

Page 177: ...t the 2nd octet of the subnet mask in hexadecimal Set the subnet mask assigned by the network administrator When both Pr PN13 and Pr PN14 are set to 0000h the 2nd octet is 255 The subnet mask can also be changed simultaneously by the SLMP command IPAddressSet Setting range 00h to FFh 00h x x _ _ Subnet mask setting 1 Set the 1st octet of the subnet mask in hexadecimal Set the subnet mask assigned ...

Page 178: ... is disabled Setting range 00h to FFh 00h PN20 IPFRA IP address filter A range setting _ _ x x IP address filter 2 range specification Set a value for the 2nd octet range of the IP address of the network device allowed to be connected in hexadecimal The range for the IP address of the network device allowed to be connected is between Pr PN18 _ _ x x and Pr PN20 _ _ x x Setting 00h disables the fun...

Page 179: ...2 SDO Object SubID Block Download command 4020h sub command 0006h 3 CC Link IE Field Network Basic request message RWwn Setting range 00h to FFh 00h PN23 IPOAB Operation specification IP address B _ _ x x Operation specification IP address 4 Set the 4th octet of the IP address of the network device allowed to be connected in hexadecimal When both Pr PN22 and Pr PN23 are set to 0000h the function i...

Page 180: ... range for the IP address of the network device allowed to be connected is between Pr PN23 _ _ x x and Pr PN24 _ _ x x Setting 00h disables the function Setting range 00h to FFh 00h x x _ _ Operation specification IP address 3 range specification Set a value for the 3rd octet range of the IP address of the network device allowed to be connected in hexadecimal The range for the IP address of the ne...

Page 181: ...electronic gear the following specifications are required Pb Ball screw lead mm 1 n Reduction ratio Pt Servo motor encoder resolution pulse rev S Travel distance per servo motor revolution mm rev a Setting example of a ball screw Machine specifications Ball screw lead Pb 10 mm Reduction ratio 1 n Z1 Z2 1 2 Z1 Number of gear teeth on servo motor side Z2 Number of gear teeth on load side Servo motor...

Page 182: ...est whole number Therefore set CMX 524288 and CDV 20944 2 Electronic gear setting in the indexer method Using Pr PA06 and Pr PA07 adjust the rotation amount m of the servo motor shaft which is required to rotate the load side for n times The following shows a setting example of the electronic gear a Number of pulley teeth on machine side 50 number of pulley teeth on servo motor side 20 Set Pr PA06...

Page 183: ...e limit detection Acceleration deceleration time constant S pattern acceleration deceleration time constant Decelerates to stop Acceleration deceleration time constant No S pattern acceleration deceleration With S pattern acceleration deceleration Servo motor speed 0 r min 0 mm s Software limit detection Continues deceleration to stop No S pattern acceleration deceleration With S pattern accelerat...

Page 184: ...n b C d Note The system has been in the test operation mode The test operation mode is enabled Check if SW1 1 is ON up and SW1 2 is OFF down Turn SW1 1 OFF down and turn SW1 2 ON up off Operation mode for manufacturer setting is set Operation mode for manufacturer setting is enabled Check if both the slide switches SW1 1 and SW1 2 are on Set the slide switches SW1 1 and SW1 2 correctly For how to ...

Page 185: ...8 TROUBLESHOOTING AT POWER ON 8 2 MEMO ...

Page 186: ... acceleration deceleration Servo motor speed ON OFF Droop pulses No S pattern acceleration deceleration With S pattern acceleration deceleration LSP or LSN 0 r min 0 mm s The servo motor stops after having traveled for the droop pulses There is a difference between the command and current positions Perform a home position return again Perform a return as follows when the stroke end is detected Mod...

Page 187: ...leted or not the setting value changes to 100 at the completion Unit 2D52h 0 wo One touch tuning Stop U16 0 Writing 1EA5h stops one touch tuning Writing a value other than 1EA5h will trigger the error code CCD4h 2D53h 0 wo One touch tuning Clear U16 0 The parameter changed in one touch tuning can be returned to the value before the change 0000h Restores the initial value 0001h Restores the value b...

Page 188: ... tuning mode 2D50h while the servo motor is in operation Gains and filters are adjusted automatically During one touch tuning the progress can be checked with One touch tuning status 2D51h Check whether one touch tuning is completed normally with One touch tuning Error Code 2D54h When one touch tuning is completed normally the parameters will be set automatically Refer to MR J4 _GF_ RJ Servo Ampli...

Page 189: ...friction at reverse rotation torque is displayed in increments of 0 1 2C24h 0 ro Dynamic friction torque at reverse rotation at rated speed I16 Dynamic friction at reverse rotation torque at the rated speed is displayed in increments of 0 1 2C25h 0 ro Oscillation frequency during motor stop I16 Vibration frequency during stop and servo lock is displayed in increments of 1 Hz 2C26h 0 ro Vibration l...

Page 190: ... When Cam control data No 30 is set to 1 the unit of the cam axis length per cycle will be changed to mm inch or pulse with the setting of Pr PT01 When Cam control data No 30 is set to 2 the unit of the cam axis length per cycle will be changed to mm inch degree or pulse with the setting of Cam control data No 14 9 5 1 Outline of simple cam function Simple cam function enables synchronous control ...

Page 191: ...on S pattern filter Encoder pulse count polarity selection Synchronous encoder axis unit conversion Main shaft input axis selection Cam control command M Servo motor Encoder Deviation counter Main input method Clutch command Main shaft clutch smoothing Sub input method Cam position compensation time constant Cam position compensation execution demand Cam position compensation amount Synchronous en...

Page 192: ...te 2 to 1024 Coordinate data Input value 0 to 999999 Output value 999999 to 999999 Cam curve 12 types constant speed constant acceleration 5th curve single hypotenuse cycloid distorted trapezoid distorted sine distorted constant speed trapecloid reverse trapecloid double hypotenuse reverse double hypotenuse Note The memory capacity includes a use area storage area for cam data for storing in the s...

Page 193: ...tes a cam standard position per cycle t t Cam data and cam control data Cam created by users Cam standard position First cycle Cam standard position Second cycle Cam standard position Third cycle Cam axis one cycle current value Input Cam conversion processing Feed current value Output Straight line control Performs straight line control to keep the one cycle stroke ratio as 100 t t Cam data and c...

Page 194: ... RJ servo amplifier Synchronous encoder Servo motor for driving the cam axis A B phase output Cam axis 2 Simple cam position compensation function The servo amplifier receives input signals from the touch probe calculates compensation and compensates the position of the cam axis Synchronous encoder Servo motor for driving the cam axis A B phase output Cam axis 2 Calculates a compensation amount in...

Page 195: ...put unit Cam stroke amount Set a cam stroke amount for the stroke ratio of 100 when using the stroke ratio data type cam control Cam data Create the cam data on the cam creating window of MR Configurator2 After the data is created write the cam data to the servo amplifier 2 List of items set with parameters of the servo amplifier Set the following with the parameters of the servo amplifier Setting...

Page 196: ...cam control is stored MR J4 _GF_ RJ Servo amplifier Reading Flash ROM 64 Kbytes RAM Cam storage area 8 Kbytes Working area for cam data 8 Kbytes Cam control data storage area Working area for cam control data Cam control Writing MR Configurator2 Temporary writing Note Note Note When the power is turned on the cam data and the cam control data are copied from the Flash ROM to the RAM Use MR Configu...

Page 197: ...he cam standard position a Stroke ratio data type The following are set in the stroke ratio data type Set these in the cam setting window of MR Configurator2 When Cam No is set to 0 straight line control is performed so that the stroke ratio at the last point of the cam data becomes 100 Setting item Setting Setting range Cam No Set a Cam No 0 Linear cam 1 to 8 User created cam Setting method Set 1...

Page 198: ... An intermediate value is calculated using the data before and after the value 2 Cam standard position The cam standard position is calculated as follows Cam standard position The preceding cam standard position Cam stroke amount Stroke ratio at the last point t t Cam standard position First cycle Cam standard position Second cycle Feed current value Cam axis one cycle current value Cam standard p...

Page 199: ...osition cam control is started from the point where the stroke ratio is not 0 Set the cam data start position for each cam data within the setting range of 0 to Cam resolution 1 t t Cam standard position First cycle Cam standard position Second cycle Cam standard position Third cycle Feed current value Cam axis one cycle current value Zeroth point Last point Cam data start position 4 Timing of app...

Page 200: ...ue Yn for the number of coordinates Set from the 0th coordinate data X0 and Y0 Set an input value larger than that of the coordinate data 999 999 to 999 999 The following is a setting example for the coordinate data type Output value Y Output axis position unit Input value X 999 999 Cam axis one cycle length Cam axis cycle unit 999 999 0 Cam standard position X0 Y0 X1 Y1 X2 Y2 X3 Y3 X4 Y4 X5 Y5 X9...

Page 201: ... cam standard position is calculated as follows Cam standard position The preceding cam standard position Output value corresponding to Input value Cam axis length per cycle Output value corresponding to Input value 0 t t Cam standard position First cycle Output value corresponding to Input value Cam axis one cycle length Output value corresponding to Input value 0 Cam standard position Second cyc...

Page 202: ...preceded by cycle the power after setting The cam control data is not applied by the temporal writing of MR Configurator2 No Symbol Name Initial value Unit Operation mode Control mode Standard Full Lin DD pt idx 1 MCYSM Note Main shaft current value per cycle setting method 0 2 CPRO Note Cam axis position restoration target 0 3 CBSSM Note Cam standard position setting method 0 4 CCYSM Note Cam axi...

Page 203: ...ufacturer setting 0 34 0 35 0 36 CLTMD Main shaft clutch control setting 0000h 37 For manufacturer setting 0 38 0 39 0 40 0 41 0 42 CLTSMM Note Main shaft clutch smoothing system 0 43 CLTSMT Note Main shaft clutch smoothing time constant 0 ms 44 For manufacturer setting 0 45 0 46 0000h 47 0 48 CCYL Note Cam axis length per cycle 0 µm 10 4 inch 10 3 degree pulse 49 CNO Note Cam No 0 50 For manufact...

Page 204: ...ial setting value 2 Previous value The cam standard position of the last cam control is stored in the previous value The feed current value is stored when the cam standard position of the last cam control has not been saved Turning off the power clears the previous value 0 4 CCYSM Cam axis current value per cycle setting method Select a setting method for the cam axis current value per cycle used ...

Page 205: ...ore the cam axis current value per cycle Set this item when restoring the position of the return path with the to and fro control cam pattern When Cam control data No 30 is set to 1 The unit will be changed to μm 10 4 inch or pulse with the setting of Pr PT01 When Cam control data No 30 is set to 2 The unit will be changed to μm 10 4 inch 10 3 degree or pulse with the setting of Cam control data N...

Page 206: ...s of the main shaft input 0 Disabled 1 Servo input axis 2 Synchronous encoder axis Synchronous encoder axis is enabled only in standard control mode AL 37 will occur when this parameter is set to 2 in the following state When scale measurement mode is disabled When an encoder other than A B phase differential output encoder or A B Z phase differential output encoder is connected 0 32 MMIX Main sha...

Page 207: ... Cam stroke amount Set a cam stroke amount for the stroke ratio of 100 when using the stroke ratio data type cam The unit will be changed to µm 10 4 inch or pulse with the setting of Pr PT01 Setting range 999999 to 999999 0 Refer to Function column for unit 60 CPHV Cam position compensation target position Set a compensation target position to the input axis of the cam axis Set the position of the...

Page 208: ...ol data No 16 Unit Pr PT01 Pr PT01 Multipli cation Pr PT03 Pr PT03 Cam axis length per cycle Cam control data No 48 Unit Pr PT01 Pr PT01 Multipli cation Pr PT03 Pr PT03 Cam stroke amount Cam control data No 51 Unit Pr PT01 Pr PT01 Pr PT01 Multipli cation Pr PT03 Pr PT03 Pr PT03 Cam position compensation amount Cam control data No 60 Unit Pr PT01 Pr PT01 Cam control data No 14 Multipli cation Pr PT...

Page 209: ...ft input method Clutch command Main shaft clutch smoothing Cam position compensation time constant Touch probe input signal Cam position compensation amount Synchronous encoder Electronic gear Cam conversion 0 Load side encoder information Under cam control Main axis current value Main axis one cycle current value Clutch on off status Clutch smoothing status Cam position compensation execution com...

Page 210: ...ts the sheet conveyed by the conveyor at a constant speed into a desired length The cutting positions are compensated based on detection of the registration marks printed on the sheet to prevent variations in the sheet length and deviations in cutting position Rotary knife axis Touch probe Synchronous encoder Servo motor for driving the cam axis A B phase output Conveyor axis A belt conveyor is dr...

Page 211: ... the conveyor axis main axis feeds a sheet by the set length the rotary knife makes one rotation 600 mm to cut the sheet Set the following items as follows Item Setting Setting value Cam axis length per cycle Cam control data No 48 Set the sheet length 200 000 Cam stroke amount Cam control data No 51 Set the rotation amount per rotation in µm 600000 Synchronous encoder axis unit Cam control data N...

Page 212: ...es are located at the center of the sheet length 3 Cam data selection Select the cam data to be executed with Target CAM No 2D80h Cam control data No 49 Cam No can also be used for selecting the cam data for execution 4 Servo on Turn on Enable Operation with Controlword 6040h to switch to Operation enabled 5 Switching cam control Turn on bit 5 of Control DI2 2D02h to switch to the cam control 6 St...

Page 213: ...d operation Cam position compensation target position Cam control data No 60 In this example the ideal detection position of the registration mark is at 150 mm of the cam axis current value per cycle Set 150 in the cam position compensation target position Cam position compensation time constant Cam control data No 61 In this example the position compensation is executed by one shot Set 0 in the c...

Page 214: ... ccyl CCYL CPHV cpos CPHV cpos CPHV Cam control data No 60 ccyl cpos CCYL Cam control data No 48 Cam axis one cycle current value Sheet The difference CPHV cpos is added to the cam axis current value per cycle to increase the conveyor travel distance The filter time constant for acceleration deceleration at compensation can be adjusted with Cam control data No 61 Cam position compensation time con...

Page 215: ...setting 0 initial value The cam No is set with Target CAM No 2D80h Other than 0 The cam No is set with Cam control data No 49 The cam No set with Target CAM No 2D80h is disabled Enable Disable 9 5 11 Stop operation of cam control If one of the following stop causes occurs on the output axis during cam control the cam control stops after the output axis is stopped Bit 5 of Status DO2 2D12h turns of...

Page 216: ... regardless of the cam control and the servo motor stops Decelerate the input axis to stop when decelerating the output axis to stop in synchronization with the input axis t t t Cam axis one cycle current value Feed current value Feed speed Deceleration to a stop When a positioning command internal command is used for the input axis inputting a temporary stop or switching the operation mode decele...

Page 217: ...ion Driven shaft Controlword bit 4 New set point Control DI 2 bit 5 Cam axis one cycle current value Cam axis feed current value Status DO 2 bit 5 Main shaft driven shaft Main shaft 5 ms or longer 3 ms or shorter Point table No 1 Note 1 If the cam control stops during operation the synchronous position relationship with the main shaft is broken Positioning to the synchronization start position Fee...

Page 218: ...data No 2 Cam standard position setting method Cam control data No 3 Cam standard position initial setting value Cam control data No 6 Cam axis current value per cycle setting method Cam control data No 4 Cam axis current value per cycle initial setting value Cam control data No 7 Restoration processing details 0 Cam axis one cycle current value restoration Note Used as the search starting point o...

Page 219: ...storing the Cam axis current value per cycle based on the Cam standard position and the Cam axis feed current value Set the Cam standard position used for the restoration with cam control data The feed current value at cam control switching is used as Cam axis feed current value To restore the cam axis current value per cycle search for a corresponding value Cam axis current value per cycle from t...

Page 220: ...h the first feed current value that matched The cam axis one cycle current value is restored with the second feed current value that matched Search from a value in the middle of the cam axis one cycle current value Preceding feed current values are searched later Cam axis one cycle current value Initial setting Cam axis one cycle current value Cam axis feed current value Feed current value Cam sta...

Page 221: ...ed current values that matched Search from Cam axis one cycle current value 0 Cam axis one cycle current value Cam axis feed current value Feed current value Cam standard position 2 Searching from a value in the middle of the cam axis current value per cycle Cam data start position 0 Search from a value in the middle and the cam axis one cycle current value is restored with the first feed current ...

Page 222: ...ndard current value 4 The first searching has failed and the second searching starts POINT In a cam pattern with a feed stroke smaller than 100 the second searching may not be processed in the next cycle if the first searching has failed To find an intended cam axis current value per cycle in the first searching set a cam standard position or execute positioning in advance Once the first search fa...

Page 223: ...f when bit 5 of Control DI2 2D02h is on is used as Cam axis feed current value The cam standard position is restored to the cam stroke position that corresponds to Feed current value Cam axis one cycle current value Cam axis one cycle current value Cam axis feed current value Cam standard position The following is an example of when restoring the cam standard position to start an operation from a ...

Page 224: ...e restoration failed occurs and the control cannot be switched to the cam control Note that increasing the value of the in position range may lead to a rapid cam switching When the cam axis position restoration target is set to Cam axis feed current value restoration and then bit 5 of Control DI2 2D02h turns on the control is switched to the cam control restoring the Cam axis feed current value ba...

Page 225: ...s turned on off by turning on off bit 11 of Control DI2 2D02h Settings in the OFF control mode are not used in the clutch command ON OFF mode Control DI 2 bit 11 Status DO 2 bit 11 t t Current value before clutch input Travel distance after clutch output 2 Clutch smoothing system Smoothing is processed with the time constant set in Cam control data No 43 Main shaft clutch smoothing time constant a...

Page 226: ...Before compensation Control DI 2 bit 13 Cam axis one cycle current value Cam feed current value 9 5 16 Cam position compensation time constant The compensation amount calculated when cam position compensation is requested is divided into the time set in Cam control data No 61 Cam position compensation time constant and used for compensation Cam position compensation target position With time const...

Page 227: ...9 MANUFACTURER FUNCTIONS 9 42 MEMO ...

Page 228: ...BLE STRING ro Impossible 1009 0 Manufacturer Hardware Version The hardware version of the network module is returned VISIBLE STRING ro Impossible 100A 0 Manufacturer Software Version The software version of the servo amplifier is returned VISIBLE STRING ro Impossible 1010 0 Store parameters The number of entries is returned U8 ro Impossible 1 01h 1 Save all parameters Writing Writing save 65766173...

Page 229: ...d set Refer to chapter 7 for details I32 rw Impossible PD01 to PD48 2201 to 2240 0 PE01 to PE64 The values of the extension setting 2 parameters Pr PE_ _ can be obtained and set Refer to chapter 7 for details I32 rw Impossible PE01 to PE64 2281 to 22C0 0 PF01 to PF64 The values of the extension setting 3 parameters Pr PF_ _ can be obtained and set Refer to chapter 7 for details I32 rw Impossible P...

Page 230: ...ted point table is performed 3 Automatic operation for the next point table is performed 10 Automatic operation for a point table selected at start up is performed 11 Automatic operation for point table No 1 is performed When 1 or 3 is set in the auxiliary function of the point table No 255 bit 6 in the Point table error factor 2A43h turns on and an error occurs U8 rw Possible 0 00000000h to 00000...

Page 231: ...ror Bit 3 Acceleration time constant error Bit 4 Deceleration time constant error Bit 5 Dwell error Bit 6 Auxiliary function error Bit 7 to Bit 31 reserved U32 ro Impossible 0 00000000h to 000000FDh 2A44 0 Parameter error number When AL 37 Parameter error has occurred the number of the parameters which cause the error is returned Refer to Parameter error list 2A45h for the number of each parameter...

Page 232: ...rned U16 ro Possible 0000h to FFFFh 0 01 times 2B0F 0 Bus voltage The bus voltage is returned U16 ro Possible 0000h to FFFFh V 2B10 0 Load side cumulative feedback pulses The load side cumulative feedback pulses load side encoder unit are returned I32 ro Possible 80000000h to 7FFFFFFFh pulse 2B11 0 Load side droop pulses The load side droop pulses are returned I32 ro Possible 80000000h to 7FFFFFFF...

Page 233: ...at alarm occurrence is returned I32 ro Possible 80000000h to 7FFFFFFFh kpulse s 2B88 0 Alarm Monitor 8 Regenerative load ratio The regenerative load ratio at alarm occurrence is returned U16 ro Possible 0000h to FFFFh 2B89 0 Alarm Monitor 9 Effective load ratio The effective load ratio at alarm occurrence is returned U16 ro Possible 0000h to FFFFh 2B8A 0 Alarm Monitor 10 Peak load ratio The peak l...

Page 234: ...ssible 8000h to 7FFFh Hz 2BA8 0 Alarm Monitor 40 Number of tough drive operations The number of tough drive operations at alarm occurrence is returned I32 ro Possible 0000h to FFFFh times 2BAA 0 Alarm Monitor 42 Internal temperature of amplifier The internal temperature of amplifier at alarm occurrence is returned I32 ro Possible 8000h to 7FFFh C 2BAD 0 Alarm Monitor 45 Unit power consumption The ...

Page 235: ...ning the acceleration deceleration time constants may be too short for friction estimation 6 Warning the operation time may not be enough When warning conditions for 2 to 6 are met at the same time the smaller number is returned When an estimation is completed even though a warning has once occurred the status changes to Estimation is completed Bit 8 to Bit 11 Vibration estimation status 0 During ...

Page 236: ...lation status 0 During stop of motor total travel distance calculation 1 During calculation of motor total travel distance Bit 16 to 31 reserved U32 ro Impossible 0 00000000h to FFFFFFFFh 2C2A 0 Friction based fault prediction upper Threshold The upper limit threshold used for friction failure prediction is displayed in increments of 0 1 assuming the rated torque as 100 I32 ro Impossible 0 8000000...

Page 237: ...her the servo amplifier is used in an absolute position detection system or not is returned 0 Incremental system 1 Absolute position detection system Bit 1 Whether the scale measurement function is enabled or disabled is returned 0 Disabled 1 Enabled Bit 2 Whether the connected scale measurement encoder is the absolute position type or not is returned 0 Incremental type 1 Absolute position type Bi...

Page 238: ...n the control mode I16 ro Possible pt FFFFh to 00FFh idx 0000h to 00FEh 2D69 0 Point actual value In the point table mode pt the completed point table No is returned After homing completed 0 is set In the indexer mode idx the completed station No is returned The previous value is held until completion I16 ro Possible pt FFFFh to 00FFh idx 0000h to 00FEh 2D80 0 Target CAM No Set a cam No When Cam c...

Page 239: ...Quick stop option code The operation method of deceleration to a stop can be specified I16 rw Impossible 2 0002h fixed PT69 605D 0 Halt option code Set how to decelerate the servo motor to a stop at Halt reception I16 rw Impossible 1 0001h fixed PT69 6060 0 Modes of operation Set the control mode 0 No mode assigned 6 Homing mode hm 100 Jog mode jg 101 Point table mode pt 103 Indexer mode idx I8 rw...

Page 240: ...the indexer method this function is disabled U8 ro Impossible 2 02h fixed 1 Min position limit The stroke limit value in the reverse direction is returned in units of commands I32 rw Possible 0 80000000h to 7FFFFFFFh pos units PT17 PT18 2 Max position limit The stroke limit value in the forward direction is returned in units of commands I32 rw Possible 0 80000000h to 7FFFFFFFh pos units PT15 PT16 ...

Page 241: ... revolutions The fixed value 1 is returned U32 rw Possible 1 00000001h to 00000001h rev 6091 0 Gear ratio The number of entries is returned U8 ro Impossible 2 02h fixed 1 Motor revolutions Set the denominator of the electronic gear Refer to Pr PA06 for the range of the settable values U32 rw Possible 1 00000001h to 00FFFFFFh 16777215 rev PA06 2 Shaft revolutions Set the denominator of the electron...

Page 242: ...00h to 7FFFFFFFh pos units 60BC 0 Touch probe pos2 pos value The position latched at the rising edge of touch probe 2 is returned I32 ro Possible 0 80000000h to 7FFFFFFFh pos units 60BD 0 Touch probe pos2 neg value The position latched at the falling edge of touch probe 2 is returned I32 ro Possible 0 80000000h to 7FFFFFFFh pos units 60E0 0 Positive torque limit value The forward rotation torque l...

Page 243: ...ameters 1010h to save the object in the EEP ROM of the servo amplifier The value saved in the EEP ROM is set to the object at the next power on Servo parameters can also be modified through the object dictionary However the new setting is not automatically written to the EEP ROM To write the new setting use Store parameters 1010h Executing Store parameters 1010h takes about a maximum of 10 s becau...

Page 244: ...s DO1 2D11h is 1 saving data in EEP ROM has been completed Writing a value other than 65766173h or 00000000h to each item results in an error Sub Index Item Setting value Write to EEP ROM Parameter 0 Number of entries 04h 1 Save all parameters 00000000h Disabled 65766173h save Enabled Other than above Error 2 For manufacturer setting 3 4 5 10 2 2 Restore default parameters 1011h Index Sub Index Na...

Page 245: ... pulse FFF0BDC1h to 000F423Fh 999999 to 999999 When 1 or 3 is set in Auxiliary bit 6 of the point table No 255 28FFh bit 6 in the Point table error factor 2A43h turns on and an error occurs The following shows the description of the values to be set in Auxiliary Setting value Point table command method Description 0 Absolute value command method Automatic operation for a selected point table is pe...

Page 246: ...U32 ro When a point table error AL 37 has occurred the detail of the point table where the point table error has occurred can be read Bit Description 0 0 No error 1 Target position error 1 reserved 2 0 No error 1 Speed error 3 0 No error 1 Acceleration time constant error 4 0 No error 1 Deceleration time constant error 5 0 No error 1 Dwell error 6 0 No error 1 Auxiliary function error 7 to 31 rese...

Page 247: ...n 0 The value at reading is undefined Set 0 when writing 1 2 3 4 C_CDP Gain switching Turning C_CDP on switches the values of Pr PB29 to Pr PB36 and Pr PB56 to Pr PB60 as the load to motor inertia ratio and gain values 5 C_CLD Fully closed loop control switching Use this bit when the semi closed loop control fully closed loop control switching is enabled with Pr PE01 Turn off C_CLD to select the s...

Page 248: ...nerated to compensate for a position mismatch When the shaft is to be locked for a long time use the C_PC and torque limit at the same time to make the torque less than the rated torque 9 The value at reading is undefined Set 0 when writing 10 11 C_CLTC Clutch command This is used to turning on off the main shaft clutch command This is used when Cam control data No 36 Main shaft clutch control set...

Page 249: ...eading is undefined Set 0 when writing 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Bit definition of control DI5 Bit Symbol Description 0 The value at reading is undefined Set 0 when writing 1 2 3 4 5 6 7 8 9 10 11 C_DOG Proximity dog input 12 The value at reading is undefined Set 0 when writing 13 14 15 ...

Page 250: ... Bit Symbol Description 0 The value at reading is undefined Set 0 when writing 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Bit definition of control DI7 Bit Symbol Description 0 The value at reading is undefined Set 0 when writing 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 ...

Page 251: ... Bit Symbol Description 0 The value at reading is undefined Set 0 when writing 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Bit definition of control DI9 Bit Symbol Description 0 The value at reading is undefined Set 0 when writing 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 ...

Page 252: ...10 OBJECT DICTIONARY 10 25 Bit definition of control DI10 Bit Symbol Description 0 The value at reading is undefined Set 0 when writing 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 ...

Page 253: ...off 4 S_CDPS Variable gain selection S_CDPS turns on during variable gain 5 S_CLD During fully closed loop control switching S_CLD turns on during fully closed loop control 6 The value at reading is undefined 7 8 9 10 11 12 S_INP In position When the number of droop pulses is in the in position range S_INP turns on The in position range can be changed with Pr PA10 When the in position range is inc...

Page 254: ...ys on in clutch on status It turns off when the clutch is off and the smoothing is completed 13 S_CPCC Cam position compensation execution completed It outputs clutch smoothing status The output depends on the setting in Cam control data No 42 Main shaft clutch smoothing system as follows 0 Direct Always off 1 Time constant system Exponent Always on in clutch on status It turns off when the clutch...

Page 255: ...undefined 1 2 3 4 5 S_STO During STO S_STO turns on during STO 6 The value at reading is undefined 7 8 9 10 11 S_MTTR During tough drive 12 The value at reading is undefined 13 14 15 Bit definition of status DO4 Bit Symbol Description 0 The value at reading is undefined 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 ...

Page 256: ...ompletion When the droop pulses are within the in position output range set with Pr PA10 and the command remaining distance is 0 S_MEND turns on S_MEND turns on with servo on S_MEND is off at servo off status However S_MEND does not turn off in the indexer method even at servo off status 7 The value at reading is undefined 8 9 10 11 12 13 14 15 Bit definition of status DO6 Bit Symbol Description 0...

Page 257: ... position is within the range set with Pr PT19 to Pr PT22 S_POT turns on This will be off when a home position return is not completed or base circuit shut off is in progress 3 The value at reading is undefined 4 5 6 7 8 9 10 11 12 13 14 15 Bit definition of status DO8 Bit Symbol Description 0 The value at reading is undefined 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 ...

Page 258: ...ndex Sub Index Name Data Type Access 2D60h 0 Target Point Table I16 rw Point table specification No can be read and written In the point table mode pt specify the point table No to execute In the indexer mode idx set the next station No to execute The settable values vary depending on the control mode Control mode Setting value Point table mode pt 0 Not operate 1 to 255 Execute the specified point...

Page 259: ...he next station No is returned 10 3 7 Point Actual Value 2D69h Index Sub Index Name Data Type Access 2D69h 0 Point Actual Value I16 ro The completed point table is returned The returned values vary depending on the control mode Control mode Setting value Point table mode pt The completed point table is returned After homing completed 0 is set Indexer mode idx The completed station No is returned T...

Page 260: ...constant of Homing acceleration 609Ah Profile deceleration 6084h or the point table according to the setting of Halt option code 605Dh This function can be used in the homing mode hm and point table method pt jg Operation in other modes can be performed regardless of the Halt Bit status When Halt Bit is set to 0 at deceleration stop operation the servo motor decelerates to a stop and returns to th...

Page 261: ... Limit I32 The current software limit setting can be read At this time 02h is returned to Number of entries The stroke limit value in the reverse direction is returned to Min Position Limit in units of commands The stroke limit value in the forward direction is returned to Max Position Limit in units of commands The current software limit setting can also be written At this time set 02h for Number...

Page 262: ... off all of bits 5 to 7 of Polarity 607Eh or use Pr PA14 and POL reflection selection at torque mode of Pr PC29 The following table shows the descriptions of Polarity 607Eh Bit Description 0 Reserved 1 The value at reading is undefined Set 0 when writing 2 3 4 5 Torque POL The polarity is reversed when this bit is turned on Select a rotation direction by setting bits 5 to 7 in combination 6 Veloci...

Page 263: ...Position actual value 6064h is calculated from Gear ratio 6091h and Feed constant 6092h as follows Position actual value 6064h Position actual internal value 6063h Feed constant 6092h Position encoder resolution 608Fh Gear ratio 6091h 10 4 7 SI unit position 60A8h Index Sub Index Name Data Type Access 60A8h 0 SI unit position U32 rw SI unit position 60A8h is set automatically with the control mode...

Page 264: ...robe 1 and TRP2 Touch probe 2 external signals are turned on off the current position of the rising and falling edges are latched The latch status of the current position data can be checked with Touch probe status 60B9h The latched current data can be read with Touch probe pos1 pos value 60BAh and Touch probe pos1 neg value 60BBh The following shows the touch probe detection resolution Enabling t...

Page 265: ... will not be stored to Touch probe position negative value 60BBh g Latching can be continued from c The following shows a timing chart 60B8h Bit 0 1 0 a 60B8h 0013h d 60B9h 0003h b 60B9h 0001h c TPR1 on e TPR1 off f 60B9h 0003h g Latches continuously 1 0 1 0 A 0 0 B C 1 0 1 0 1 0 1 0 ON OFF 60B8h Bit 1 60B8h Bit 4 60B8h Bit 5 60B9h Bit 0 60B9h Bit 1 60B9h Bit 2 TPR1 Touch Probe 1 Touch probe signa...

Page 266: ...hen the input of touch probe 1 is set as a trigger Bit 2 0 the position feedback latched at falling edge of touch probe 1 is stored in Touch probe pos1 neg value 60BBh 6 The value at reading is undefined Set 0 when writing 7 8 0 Touch probe 2 disabled 1 Touch probe 2 enabled 9 0 Latch with the first trigger single trigger mode 1 Latch continuously with trigger inputs continuous trigger mode 10 0 S...

Page 267: ... feedback is stored in Touch probe pos1 neg value 60BBh this bit becomes 1 When 0 is set in the bit 5 of Touch probe function 60B8h this bit becomes 0 3 to 7 The value at reading is undefined 8 0 Touch probe 2 disabled 1 Touch probe 2 enabled 9 0 The rising edge position of touch probe 2 has not been stored 1 The rising edge position of touch probe 2 has been stored When the position feedback is s...

Page 268: ...Access 60BBh 0 Touch probe pos1 neg value I32 ro The current falling edge position of touch probe can be checked 10 4 13 Touch probe pos2 pos value 60BCh Index Sub Index Name Data Type Access 60BAh 0 Touch probe pos2 pos value I32 ro The current rising edge position of touch probe 2 can be checked 10 4 14 Touch probe pos2 neg value 60BDh Index Sub Index Name Data Type Access 60BBh 0 Touch probe po...

Page 269: ...10 OBJECT DICTIONARY 10 42 MEMO ...

Page 270: ...ition 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 2018 MITSUBISHI ELECTRIC CORPORATION ...

Page 271: ...MEMO ...

Page 272: ...trademarks of Mitsubishi Electric Corporation in Japan and or other countries Ethernet is a registered trademark of Fuji Xerox Co Ltd in Japan All other product names and company names are trademarks or registered trademarks of their respective companies ...

Page 273: ...ct from our company viii any other failures which we are not responsible for or which you acknowledge we are not responsible for 2 Term of warranty after the stop of production 1 We may accept the repair at charge for another seven 7 years after the production of the product is discontinued The announcement of the stop of production for each model can be seen in our Sales and Service etc 2 Please ...

Page 274: ...nual uses recycled paper MODEL MODEL CODE General Purpose AC Servo MR J4 _GF_ RJ SERVO AMPLIFIER INSTRUCTION MANUAL CC Link IE Field Network Basic HEAD OFFICE TOKYO BLDG MARUNOUCHI TOKYO 100 8310 MODEL MR J4 _GF_ RJ SERVO AMPLIFIER INSTRUCTION MANUAL CC Link IE Field Network Basic CC Link IE Field Network Interface ...

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