Mitsubishi MR-JE-100A Instruction Manual Download Page 158

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5. HOW TO USE THE PROGRAM

5 - 13

The acceleration/deceleration time constants for the preceding "MOVI" command is also applied to
those for the "MOVIA" command.

Command Name

Setting Unit Description

MOV

Absolute value travel
command

MOV
(setting value)

×10

STM

m Absolute value travel

command

MOVA

Absolute value continuous
travel command

MOVA
(setting value)

×10

STM

m Absolute value continuous

travel command

MOVI

Incremental value travel
command

MOVI
(setting value)

×10

STM

m Incremental value travel

command

MOVIA Incremental

value

continuous travel command

MOVIA
(setting value)

×10

STM

m Incremental

value

continuous travel command

Summary of Contents for MR-JE-100A

Page 1: ...uses recycled paper MODEL MODEL CODE General Purpose AC Servo MR JE _A SERVO AMPLIFIER INSTRUCTION MANUAL POSITIONING MODE HEAD OFFICE TOKYO BLDG MARUNOUCHI TOKYO 100 8310 MODEL General Purpose Inter...

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...

Page 3: ...a magnetic contactor is not connected continuous flow of a large current may cause smoke or a fire when the servo amplifier malfunctions Always connect a molded case circuit breaker or a fuse to each...

Page 4: ...occur When you keep or use the equipment please fulfill the following environment Item Environment Ambient temperature Operation 0 C to 55 C non freezing Storage 20 C to 65 C non freezing Ambient humi...

Page 5: ...ing diode installed to the DC relay for control output should be fitted in the specified direction Otherwise the emergency stop and other protective circuits may not operate DOCOM Control output signa...

Page 6: ...correct combination Otherwise an electric shock fire injury etc may occur The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be used for ordinary braking...

Page 7: ...enance inspection and parts replacement CAUTION Make sure that the emergency stop circuit operates properly such that an operation can be stopped immediately and a power is shut off by the emergency s...

Page 8: ...o Ensure to prepare them to use the servo safely Relevant manuals Manual name Manual No MELSERVO MR JE _A Servo Amplifier Instruction Manual SH NA 030128ENG MELSERVO MR JE _A Servo Amplifier Instructi...

Page 9: ...values if necessary according to the following table Quantity SI metric unit U S customary unit Mass 1 kg 2 2046 lb Length 1 mm 0 03937 inch Torque 1 N m 141 6 oz inch Moment of inertia 1 10 4 kg m2 5...

Page 10: ...larm mode 3 11 3 1 5 Point table setting 3 13 3 1 6 Parameter mode 3 17 3 1 7 External I O signal display 3 19 3 1 8 Output signal DO forced output 3 20 3 1 9 Single step feed 3 21 3 1 10 Teaching fun...

Page 11: ...ion 5 5 5 1 6 Troubleshooting at start up 5 5 5 2 Program operation method 5 6 5 2 1 Program operation method 5 6 5 2 2 Program language 5 7 5 2 3 Basic settings of signals and parameters 5 30 5 2 4 T...

Page 12: ...rol switching 6 41 6 1 14 Clutch 6 48 6 1 15 Cam position compensation target position 6 50 6 1 16 Cam position compensation time constant 6 51 6 2 Mark detection 6 52 6 2 1 Current position latch fun...

Page 13: ...pulse generator 9 2 10 COMMUNICATION FUNCTION MITSUBISHI ELECTRIC GENERAL PURPOSE AC SERVO PROTOCOL 10 1 to 10 32 10 1 Command and data No list 10 1 10 1 1 Reading command 10 2 10 1 2 Writing command...

Page 14: ...is available with the servo amplifier and MR Configurator2 with the following software versions Product name Model Software version Servo amplifier MR JE _A B7 or later MR Configurator2 SW1DNC MRC2 _...

Page 15: ...999999 to 999999 10STM m 99 9999 to 99 9999 10STM inch 999999 to 999999 pulse Setting range of rotation angle 360 000 to 360 000 degree Incremental value command method Setting of position command dat...

Page 16: ...irection selectable home position shift amount settable home position address settable Automatic retract on dog back to home position automatic stroke retract function Count type front end reference R...

Page 17: ...tched The latched data can be read with communication commands Section 6 6 2 Interrupt positioning function When MSD Mark detection turns on this function converts the remaining distance to the travel...

Page 18: ...Pr PD18 Pr PD20 Pr PD44 Pr PD46 Output signal selection device settings The output devices including MBR Electromagnetic brake interlock can be assigned to certain pins of the CN1 connector Pr PD24 P...

Page 19: ...tion improves the response delay occurred when the machine moving direction is reversed This is used with servo amplifiers with software version C5 or later Check the software version of the servo amp...

Page 20: ...vo motor Personal computer MR Configurator2 CN1 CN2 W V U Magnetic contactor MC L1 L2 L3 Note 2 Molded case circuit breaker MCCB R S Junction terminal block T Power supply Note 1 Note 1 For 1 phase 20...

Page 21: ...Note 1 A 1 phase 200 V AC to 240 V AC power supply may be used with the servo amplifier of MR JE 200A For 1 phase 200 V AC to 240 V AC connect the power supply to L1 and L2 Leave L3 open For power su...

Page 22: ...ect terminals Otherwise a burst damage etc may occur Ensure that polarity is correct Otherwise a burst damage etc may occur The surge absorbing diode installed to the DC relay for control output shoul...

Page 23: ...tion field MR JE _A means MR JE _A Servo Amplifier Instruction Manual Item Detailed explanation Input power supply circuit MR JE _A section 3 1 Explanation of power supply system except for section 2...

Page 24: ...0 DI0 DI1 ST1 ST2 Note 3 Forced stop 2 Servo on 10 V DC 10 V DC Analog monitor 1 Analog monitor 2 Encoder A phase pulse differential line driver Encoder B phase pulse differential line driver Control...

Page 25: ...ree condition normally closed contact 6 The pins with the same signal name are connected in the servo amplifier 7 TLA will be available when TL External torque limit selection is enabled with Pr PD03...

Page 26: ...ST1 ST2 Forced stop 2 Servo on Note 3 Note 12 13 Note 12 13 10 V DC 10 V DC Analog monitor 1 Analog monitor 2 Encoder A phase pulse differential line driver Encoder B phase pulse differential line dri...

Page 27: ...ree condition normally closed contact 6 The pins with the same signal name are connected in the servo amplifier 7 TLA will be available when TL External torque limit selection is enabled with Pr PD03...

Page 28: ...from the cable connector wiring section For the CN1 connector securely connect the external conductor of the shielded cable to the ground plate and fix it to the connector shell Screw Screw Ground pl...

Page 29: ...o amplifier CN3 USB connector Refer to section 11 4 of MR JE _A Servo Amplifier Instruction Manual This is a connector of 3M 4 MRR 2 LG 8 6 1 P5 5 10 3 MR 7 9 CN2 MDR MD 2 4 6 8 10 12 14 16 18 20 22 2...

Page 30: ...8 19 I DI0 DI0 PD12 20 DICOM DICOM 21 DICOM DICOM 22 23 O Note 7 ZP Note 7 ZP PD24 24 O INP INP PD25 25 26 O MO1 MO1 PD14 27 I Note 3 TLA Note 3 TLA 28 LG LG 29 O MO2 MO2 PC15 30 LG LG 31 I TRE TRE 32...

Page 31: ...re not assigned by default Assign the input devices with Pr PD44 and Pr PD46 as necessary In addition supply of 24 DC V to the CN1 12 pin of OPC Power input for open collector sink interface 5 This is...

Page 32: ...tic brake interlock turns off without the forced stop deceleration MBR Electromagnetic brake interlock turns off without the forced stop deceleration 2 _ _ _ EM2 MBR Electromagnetic brake interlock tu...

Page 33: ...it warning occurs and WNG Warning turns on When using WNG enable it by setting Pr PD24 Pr PD25 and Pr PD28 External torque limit selection TL Turning off TL will enable Pr PA11 Forward torque limit an...

Page 34: ...The forward rotation means address increasing direction Turning on both ST1 and ST2 during manual operation mode will stop the servo motor 2 Manual operation mode Turning on ST1 will rotate the servo...

Page 35: ...tion of the manual pulse generator When a multiplication is not selected the setting of Pr PT03 will be enabled DI 1 Manual pulse generator multiplication 2 TP1 DI 1 Device Note Manual pulse generator...

Page 36: ...0 0 0 0 Program No 1 0 0 0 0 1 Program No 2 0 0 0 1 0 Program No 3 0 0 0 1 1 Program No 4 1 1 1 1 0 Program No 15 1 1 1 1 1 Program No 16 Note 0 Off 1 On Mark detection MSD The current position latch...

Page 37: ...al positioning control to the cam control DI 1 Cam position compensation request CPCD Turning CPCD on compensates the cam axis one cycle current value to be in the position set in Cam control data No...

Page 38: ...sition range can be changed with Pr PA10 When the in position range is increased INP may be always on during low speed rotation INP turns on with servo on DO 1 Limiting torque TLC TLC turns on when a...

Page 39: ...on status SA is always on when the command speed is 0 r min in servo on status SA turns off in servo off status or when the command speed is in acceleration deceleration DO 1 Home position return comp...

Page 40: ...DO 1 Point table No output 1 PT0 The signals output point table Nos in 5 bit code simultaneously with MEND Travel completion on DO 1 Point table No output 2 PT1 Device Note 1 2 Description Point tabl...

Page 41: ...our digits of binary The following shows correspondence of each digit and device bit 3 bit 2 bit 1 bit 0 bit 3 bit 2 bit 1 bit 0 MCD00 MCD01 MCD02 MCD03 MCD10 MCD11 MCD12 MCD13 Second digit First digi...

Page 42: ...application I O division Control mode CP CL Encoder A phase pulse differential line driver LA LAR CN1 4 CN1 5 These devices output pulses of encoder output pulse set in Pr PA15 in the differential li...

Page 43: ...4 Communication Device Symbol Connector pin No Function and application I O division Control mode CP CL RS 422 RS 485 I F SDP CN3 5 These are terminals for RS 422 RS 485 communication SDN CN3 4 RDP C...

Page 44: ...You can change the servo motor speed by using VC Analog override The following table shows signals and parameters related to the analog override Item Name Remark Analog input signal VC Analog override...

Page 45: ...vo amplifier Position control Speed control Select a changed value by using OVR Analog override selection Note External input signal Speed change value 0 No change 1 Setting of VC Analog override is e...

Page 46: ...nal connection diagram POINT For details of interface and source I O interface refer to section 3 9 of MR JE _A Servo Amplifier Instruction Manual The following shows an example of internal connection...

Page 47: ...39 40 28 31 CN1 SDP SDN RDP RDN LG TRE RS 422 RS 485 Note 4 DI2 10 PG 11 DI3 35 PP2 37 NP2 38 NG 36 Approx 100 Approx 1 2 k Approx 100 Approx 1 2 k Note 1 Approx 1 2 k Approx 1 2 k Note 1 Refer to sec...

Page 48: ...to 5 s after the power supply is switched on Therefore when SON Servo on is switched on simultaneously with the power supply the base circuit will switch on in about 4 s to 5 s and the RD Ready will...

Page 49: ...2 SIGNALS AND WIRING 2 28 MEMO...

Page 50: ...tion indicated in the detailed explanation field MR JE _A means MR JE _A Servo Amplifier Instruction Manual Item Detailed explanation Test operation mode MR JE _A section 4 5 9 3 1 MR JE _A 3 1 1 Disp...

Page 51: ...peration software version display VC automatic offset servo motor series ID display servo motor type ID display servo motor encoder ID display teaching function Section 3 1 3 Current alarm display ala...

Page 52: ...s desired When a servo status is selected the corresponding symbol is displayed Press the SET button to display its data However only when the power is turned on the data will be displayed after the s...

Page 53: ...nit Unit power consumption 2 1 kW unit Unit total power consumption 2 100 kWh unit Current position Command position Command remaining distance Point table Program No Step No Analog override voltage O...

Page 54: ...egenerative load ratio L The ratio of regenerative power to permissible regenerative power is displayed in Effective load ratio J The continuous effective load current is displayed The effective value...

Page 55: ...e target position is displayed in the automatic mode The command positions of the selected point table are displayed at a stop At the manual mode the command positions of the selected point table are...

Page 56: ...splay is five digits When the simple cam function is disabled 0 is always displayed Refer to section 6 1 8 for detecting point Main axis one cycle current value MCyC 10STM m 10 STM 4 inch 10 3 degree...

Page 57: ...Sequence For manufacturer adjustment Single step feed Software version lower Software version upper Drive recorder enabled disabled display External I O signal display Output signal DO forced output...

Page 58: ...mand from an external controller For details refer to section 4 5 9 2 of MR JE _A Servo Amplifier Instruction Manual Positioning operation Positioning operation can be performed when there is no comma...

Page 59: ...ly connected For indication details refer to app 1 of HF KN HF SN servo Motor Instruction Manual Servo motor type ID Push the SET button to show the type ID of the servo motor currently connected For...

Page 60: ...that there is no tenth alarm in the past Indicates that there is no eleventh alarm in the past Indicates that there is no twelfth alarm in the past Indicates that there is no sixteenth alarm in the p...

Page 61: ...the button in the operation area At this time the decimal point in the fourth digit remains blinking 3 Remove the cause of the alarm and clear it in any of the following methods Refer to chapter 8 for...

Page 62: ...nstant dwell auxiliary function and M code 1 Display transition Target position Servo motor speed Deceleration time constant Dwell Auxiliary function M code Acceleration time constant UP DOWN Point ta...

Page 63: ...ted After the set dwell has elapsed start the position command of the next point table 0 to 20000 Auxiliary function H This function is enabled when you select the point table by input signal 1 When u...

Page 64: ...5 or less digits The following example is the operation method at power on to set 1 to the auxiliary function of the point table No 1 The setting value of the auxiliary function of the specified point...

Page 65: ...f the point table No 1 to 123456 The display blinks Press SET once Press SET once Setting of upper 1 digit Change the setting with UP or DOWN Press SET once Enter the setting Press MODE once Press MOD...

Page 66: ...rs MODE Positioning control parameters Pr PT01 Pr PT02 Pr PT47 Pr PT48 UP DOWN From alarm mode 2 Operation method a Parameters of 5 or less digits The following example shows the operation procedure p...

Page 67: ...ear numerator to 123456 with Pr PA06 Electronic gear numerator The display blinks Press MODE to switch to the basic parameter screen Press UP or DOWN to select Pr PA06 Press SET once Press SET once Se...

Page 68: ...The 7 segment LED segments and CN1 connector pins correspond as shown below Input signals Output signals Always lit CN1 42 CN1 10 Note 2 CN1 37 Note 1 2 CN1 41 CN1 48 CN1 19 CN1 15 CN1 23 CN1 49 CN1 2...

Page 69: ...tput signal wiring check etc This operation must be performed in the servo off state by turning off SON Servo on The display screen at power on Switch to the diagnostic display with the MODE button Sw...

Page 70: ...s displayed input the following items and operate c d e f a 1 31 c d e f b 1 16 Point table operation Program operation 1 Point table No or program No setting Enter a point table No in the input box a...

Page 71: ...antaneous stop When Forced Stop is enabled the servo motor does not drive even if Operation Start is clicked Click Forced Stop again to enable Operation Start to be clicked 6 Switch to the normal oper...

Page 72: ...s on the display will blink on completion of proper preparation 2 Position data setting method After an operation travels to a target position MEND Travel completion is turned on with a JOG operation...

Page 73: ...3 DISPLAY AND OPERATION SECTIONS 3 24 MEMO...

Page 74: ..._A section 4 1 POINT For the mark detection function Current position latch refer to section 6 2 2 For the mark detection function Interrupt positioning refer to section 6 2 3 There are the following...

Page 75: ...touch the rotor of the servo motor Otherwise it may cause injury Before wiring switch operation etc eliminate static electricity Otherwise it may cause a malfunction 4 1 1 Power on and off procedures...

Page 76: ...motor coasts Alarm occurrence The servo motor decelerates to a stop With some alarms however the dynamic brake operates to stop the servo motor Refer to chapter 8 Note EM2 Forced stop 2 off The servo...

Page 77: ...Reverse rotation stroke end 3 When MD0 Operation mode selection 1 is switched off from the controller and ST1 Forward rotation start or ST2 Reverse rotation start is switched on in the manual operati...

Page 78: ...thod Operation mode selection item Operation mode Parameter setting Input device setting Pr PA01 Pr PT04 MD0 Note 1 DI0 to DI4 Note 1 2 Automatic operation mode in point table method Each positioning...

Page 79: ...Configurator2 you can refer to the reason for rotation failure etc The following faults may occur at start up If any of such faults occurs take the corresponding action MR JE _A means MR JE _A Servo...

Page 80: ...s of the input signal with the external I O signal display section 3 1 7 LSP LSN and ST2 are off Section 3 1 7 Check Pr PA11 Forward rotation torque limit and Pr PA12 Reverse rotation torque limit Tor...

Page 81: ...dicating the CCW direction with a sign and the CW direction with a sign In the absolute value command method the rotation direction can be specified with a or sign An example of setting is shown below...

Page 82: ...Current position 270 When the position data of 90 000 degrees is specified the servo motor rotates in the CW direction Target position Current position 90 When the position data of 360 000 degrees is...

Page 83: ...get position Current position 270 When the position data of 90 000 degrees is specified the servo motor rotates in the CCW direction Target position Current position 90 If the position data of 270 000...

Page 84: ...tting range 0 to 999999 10STM m STM Feed length multiplication Pr PT03 0 to 999999 10 STM 4 inch STM Feed length multiplication Pr PT03 0 to 999999 pulse Current address Target address Position data T...

Page 85: ...the second digit of the M code are outputted in 4 bit binary respectively M code will be available in the future b Selection of point tables Using the input signal or the communication function select...

Page 86: ...or 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...

Page 87: ...e position data Pr PT01 setting Position data unit _ 0 _ _ mm _ 1 _ _ inch _ 2 _ _ degree _ 3 _ _ pulse 4 Feed length multiplication Pr PT03 Set the feed length multiplication factor STM of the positi...

Page 88: ...t can be changed by Pr PT03 Feed length multiplication Servo motor speed 0 to permissible speed r min Set the command speed of the servo motor for execution of positioning The setting value must be th...

Page 89: ...ddress increase CCW rotation address decrease Pr PA14 0 Pr PA14 1 CW ST2 on CW ST1 on ST2 on CCW ST1 on CCW 3 Position data unit Pr PT01 Set the unit of the position data Pr PT01 setting Position data...

Page 90: ...ly with the incremental value command method the servo motor rotates in the same direction only To change the travel direction during the continuous operation perform the operation with the absolute v...

Page 91: ...t table No output 1 to PT4 Point table No output 5 Note 2 M code output Note 3 ON OFF RD Ready ALM Malfunction ON OFF 3 ms or longer 3 ms or longer Point table No 1 Point table No 2 1 2 1 2 M code of...

Page 92: ...int table No output 1 to PT4 Point table No output 5 Note 2 M code output Note 3 ON OFF RD Ready ALM Malfunction ON OFF 3 ms or longer 3 ms or longer Point table No 1 Point table No 2 1 2 1 2 M code o...

Page 93: ...vo motor speed r min Acceleration time constant ms Deceleration time constant ms Dwell ms Auxiliary function M code Note 2 1 5 00 3000 100 150 100 1 05 2 5 00 2000 150 200 200 3 10 3 15 00 1000 300 10...

Page 94: ...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 2 M code will be available in the future Servo...

Page 95: ...e 1 Always set 0 or 2 to the auxiliary function of the last point table of the consecutive point tables 0 When using the point table with the absolute value command method 2 When using the point table...

Page 96: ...Always set 0 to the auxiliary function of the last point table among the consecutive point tables 2 M code will be available in the future Servo motor speed Forward rotation Reverse rotation Position...

Page 97: ...t 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 2 M code will be available in the future 120 240 0 9...

Page 98: ...quent point tables is disabled By setting 1 or 3 to sub functions until point table No 30 the operation can be performed at maximum 31 speeds Always set 0 or 2 to the auxiliary function of the last po...

Page 99: ...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 i...

Page 100: ...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 met...

Page 101: ...setting Point table No Dwell ms Note 1 Auxiliary function Varying speed operation 1 0 1 Consecutive point table data 2 0 1 3 Disabled 0 Note 2 4 0 1 Consecutive point table data 5 0 1 6 Disabled 0 Not...

Page 102: ...bsolute value command method Pr PT01 _ _ _ 0 Setting 8 or 10 to the auxiliary function performs an automatic continuous operation or a varying speed operation until that point table and after the comp...

Page 103: ...t table No output 5 Note 1 M code output Note 1 2 Speed Point table No 2 Point table No 3 Speed Speed 1000 Point table No 4 Point table No 2 5 00 1 2 3 4 0 5 00 10 00 15 00 2 Speed 3000 0 r min 3000 2...

Page 104: ...table No 2 Speed 1000 Point table No 3 Point table No 1 5 00 1 2 3 0 5 00 15 00 2 Speed 0 r min 2000 3000 Note 1 PT0 to PT4 and M code are not outputted in automatic continuous operation 2 M code will...

Page 105: ...5 Note 1 M code output Note 1 2 Speed Point table No 2 Point table No 3 Speed Speed 1000 Point table No 4 5 00 0 5 00 1 2 2 3 4 10 00 15 00 2 Speed 2000 Speed Point table No 2 5 00 5 00 Point table No...

Page 106: ...No 2 Speed Speed 1000 Point table No 3 5 00 1 1 2 3 0 10 00 15 00 2 Speed Speed Point table No 1 5 00 Point table No 2 0 r min 2000 2000 3000 Note 1 PT0 to PT4 and M code are not outputted in automat...

Page 107: ...No 1 150 Speed Acceleration time constant of point table No 1 100 Deceleration time constant of point table No 1 150 Speed Speed 1000 Acceleration time constant of point table No 1 100 5 00 0 5 00 10...

Page 108: ...Point table No 1 0 r min 3000 2000 3000 2000 Note 1 PT0 to PT4 and M code are not outputted in automatic continuous operation 2 M code will be available in the future 2 Absolute value command method P...

Page 109: ...o PT4 Point table No output 5 Note 1 M code output Note 1 2 Speed Point table No 2 Speed 5 00 0 5 00 11 00 2 5 00 1 2 2 3 6 00 16 00 Speed Speed Point table No 3 0 r min 3000 2000 3000 2000 Note 1 PT0...

Page 110: ...peed Point table No 1 Speed 6 00 0 6 00 1 2 2 1 11 00 2 6 00 5 00 17 00 Point table No 2 Speed Speed 0 r min 2000 3000 2000 3000 Note 1 PT0 to PT4 and M code are not outputted in automatic continuous...

Page 111: ...e of 1 to 2 to 3 to 2 to 3 Servo motor speed Forward rotation Reverse rotation Position address Selected point table No ST1 Forward rotation start ON OFF PT0 Point table No output 1 to PT4 Point table...

Page 112: ...stop restart input does not function during a home position return or JOG operation The temporary stop restart input functions in the following states Operation status Automatic operation Manual oper...

Page 113: ...ers up to four points of DO are available therefore PT0 to PT4 cannot be outputted simultaneously f Suspension of automatic operation To suspend the automatic operation or change the operation pattern...

Page 114: ...Pr PT15 to Pr PT18 the set value is converted as follows It will be clamped between 0 degree and 359 999 degrees Software limit value After conversion 360 000 degrees to 999 999 degrees The remainder...

Page 115: ...range output address After conversion 360 000 degrees to 999 999 degrees The remainder of the set value divided by 360 0 001 degrees to 359 999 degrees The sum of the set value and 360 360 000 degrees...

Page 116: ...eration time constant Deceleration time constant Point table No 1 The acceleration deceleration time constant of point table No 1 is used 2 Servo motor rotation direction Pr PA14 setting Servo motor r...

Page 117: ...OFF CPO Rough match ON OFF MEND Travel completion ON OFF SON Servo on Servo motor speed ON OFF Forward rotation Reverse rotation ON OFF ON OFF 80 ms Forward rotation JOG Reverse rotation JOG ST1 Forwa...

Page 118: ...ation mode selection MD0 Operation mode selection 1 Switch off MD0 Manual pulse generator multiplication Pr PT03 Set the multiplication factor for the pulses generated from the manual pulse generator...

Page 119: ...he rotation amount of the manual pulse generator Pr PT03 setting Servo motor rotation multiplication to manual pulse generator rotation amount Travel distance mm inch degree pulse _ _ 0 _ 1 time 0 001...

Page 120: ...ype An arbitrary position is set as the home position No proximity dog is required Stopper type A workpiece is pressed against a mechanical stopper and the position where it is stopped is set as the h...

Page 121: ...nce A Dogless type Z phase reference 0 Pr PT04 0 0 b Select the starting direction for the home position return with Pr PT04 Home position return type Setting 0 starts the home position return in a di...

Page 122: ...Pr PT29 Refer to section 4 4 1 2 to select the proximity dog input polarity Home position return speed Pr PT05 Set the rotation speed specified until a dog is detected Creep speed Pr PT06 Set the rot...

Page 123: ...5 ms or longer Acceleration time constant 0 r min The setting value of Pr PT08 Home position return position data is used as the position address at the home position return completion 4 Adjustment Fo...

Page 124: ...int table No selection 5 Switch off DI0 to DI4 Count type home position return Pr PT04 _ _ _ 0 Select the count type Home position return direction Pr PT04 Refer to section 4 4 1 2 to select the home...

Page 125: ...N OFF ON OFF ON OFF ST1 Forward rotation start ST2 Reverse rotation start 3 ms or shorter Home position return speed Deceleration time constant Creep speed Home position shift distance Home position H...

Page 126: ...on 5 Switch off DI0 to DI4 Data set type home position return Pr PT04 _ _ _ 2 Select the data set type Home position return position data Pr PT08 Set the current position at the home position return c...

Page 127: ...pe Home position return direction Pr PT04 Refer to section 4 4 1 2 to select the home position return direction Home position return speed Pr PT05 Set the rotation speed until the workpiece is pressed...

Page 128: ...longer Stopper Stopper time Pr PC35 Pr PT11 Pr PC35 Note 2 0 r min Note 1 Note 1 The following torque limits are enabled Input device 0 off 1 on Limit value status Enabled torque limit value TL1 TL 0...

Page 129: ...position ignorance Pr PT04 _ _ _ 4 Select the home position ignorance Home position return position data Pr PT08 Set the current position when the home position return is complete 2 Timing chart ON O...

Page 130: ...election MD0 Operation mode selection 1 Switch on MD0 DI0 Point table No selection 1 to DI4 Point table No selection 5 Switch off DI0 to DI4 Dog type rear end reference home position return Pr PT04 _...

Page 131: ...OFF ON OFF ON OFF ST1 Forward rotation start ST2 Reverse rotation start 3 ms or shorter Home position return speed Deceleration time constant Creep speed Travel distance after proximity dog Home posi...

Page 132: ...e parameter Set input devices and parameters as follows Item Device parameter to be used Setting Home position return mode selection MD0 Operation mode selection 1 Switch on MD0 DI0 Point table No sel...

Page 133: ...OFF ON OFF ON OFF ST1 Forward rotation start ST2 Reverse rotation start 3 ms or shorter Home position return speed Deceleration time constant Creep speed Home position return position data Proximity...

Page 134: ...on speed specified after a dog is detected Home position shift distance Pr PT07 Set this to shift the home position which is specified by the Z phase signal Acceleration time constant deceleration tim...

Page 135: ...reference home position return Pr PT04 _ _ _ 8 Select the dog type last Z phase reference Home position return direction Pr PT04 Refer to section 4 4 1 2 to select the home position return direction...

Page 136: ...mpletion ON OFF ON OFF ON OFF ST1 Forward rotation start ST2 Reverse rotation start 3 ms or shorter Home position return speed Deceleration time constant Home position shift distance Home position ret...

Page 137: ...to be used Setting Home position return mode selection MD0 Operation mode selection 1 Switch on MD0 DI0 Point table No selection 1 to DI4 Point table No selection 5 Switch off DI0 to DI4 Dog type fron...

Page 138: ...OFF ON OFF ON OFF ST1 Forward rotation start ST2 Reverse rotation start 3 ms or shorter Deceleration time constant Creep speed Travel distance after proximity dog Home position shift distance Proximi...

Page 139: ...ed Pr PT06 Set the rotation speed specified after the Z phase is detected Home position shift distance Pr PT07 Set this to shift the home position which is specified by the Z phase signal Acceleration...

Page 140: ...2 When the current position is beyond the proximity dog The position is shifted in a direction of the home position return When LSP Forward rotation stroke end or LSN Reverse rotation stroke end is d...

Page 141: ...Switch on MD0 DI0 Point table No selection 1 to DI4 Point table No selection 5 Switch off DI0 to DI4 Home position return speed Pr PT05 Set the servo motor speed to travel to the home position Accele...

Page 142: ...atus display of the current position and the command position at start will be 0 ST1 Forward rotation start TSTP Temporary stop restart Servo motor speed INP In position Display of current command pos...

Page 143: ...e following window will be displayed a g f d c m l i h j k e b n 1 Writing point table data a Select changed point table data and click Selected Items Write to write the changed point table data to th...

Page 144: ...int table data Click Paste to paste the copied point table data 9 Inserting point table data i Click Insert to insert a block before the selected point table No The selected block and later will be sh...

Page 145: ...Update Project in the point table window 1 2 3 1 Command method selection PT01 CTY 1 Select either the absolute position command method or the incremental value command method 2 Others a Feed length m...

Page 146: ...ice and procedures in this instruction manual Otherwise it may cause a malfunction damage to the machine or injury Do not operate the switches with wet hands Otherwise it may cause an electric shock C...

Page 147: ...f any of the following situations occurs the servo amplifier suspends and stops the operation of the servo motor Refer to section 3 10 of MR JE _A Servo Amplifier Instruction Manual for the servo moto...

Page 148: ...and LSN Reverse rotation stroke end 3 When MD0 Operation mode selection 1 is switched off from the controller and ST1 Forward rotation start or ST2 Reverse rotation start is switched on in the manual...

Page 149: ...he following table shows the necessary setting of Pr PA _ _ and Pr PT _ _ in the program method Operation mode selection item Operation mode Parameter setting Input device setting Pr PA01 Pr PT04 MD0...

Page 150: ...hen CN3 connector is disconnected Power supply of CN3 cabling is shorted Alarm occurs Refer to chapter 8 and remove the cause Chapter 8 Note 2 Switch on SON Servo on Alarm occurs Refer to chapter 8 an...

Page 151: ...adjustment fault MR JE _A Chapter 6 Large load inertia moment causes the servo motor shaft to oscillate side to side If the servo motor may be driven with safety repeat acceleration and deceleration...

Page 152: ...eed to a stop The value cannot be changed during a command output If the setting value is unspecified 1000 ms is applied STC Note 2 Acceleration deceleration time constant STC setting value 0 to 20000...

Page 153: ...e Input signal 1 OUT1 Program output 1 2 OUT2 Program output 2 3 OUT3 Program output 3 OUTON Note 1 External signal off output OUTON setting value 1 to 3 Switch off OUT1 Program output 1 to OUT3 Progr...

Page 154: ...he number of program executions by writing TIMES setting value command at the start of the program To execute the program only one time no setting is required Setting 0 repeats the operation endlessly...

Page 155: ...The unit of the position command data input can be changed with Pr PT01 For the setting range of each unit refer to section 5 2 3 1 a 7 For the explanation of the indirect specification refer to sect...

Page 156: ...ms f Absolute value travel command 2000 10 STM m Reverse rotation 0 r min Forward rotation 2 Program example 2 When executing two operations with different servo motor speeds acceleration time constan...

Page 157: ...time constant 10 ms Reverse rotation 0 r min Forward rotation b Continuous travel commands MOVA MOVIA POINT A combination of MOV and MOVIA commands and a combination of MOVI and MOVA commands are not...

Page 158: ...ue travel command MOV setting value 10STM m Absolute value travel command MOVA Absolute value continuous travel command MOVA setting value 10STM m Absolute value continuous travel command MOVI Increme...

Page 159: ...ations the acceleration time constant and the deceleration time constant cannot be changed for each different speed Therefore even if the STA STB and STD commands are written at a speed change the com...

Page 160: ...or travel distance Set the commands within the travel command range Whether the servo motor has passed the set address or travel distance is determined by checking the actual position for each comman...

Page 161: ...setting time 50 Switch off OUT3 500 ms later c Command Description SPN 500 Servo motor speed 500 r min STA 200 Acceleration time constant 200 ms STB 300 Deceleration time constant 300 ms MOV 1000 Abso...

Page 162: ...P 250 Absolute value trip point specification 250 10STM m a OUTON 2 Switch on OUT2 Program output 2 b TRIP 400 Absolute value trip point specification 400 10STM m c OUTOF 2 Switch off OUT2 Program out...

Page 163: ...mmand 600 10 m Servo motor speed ON OFF OUT3 Program output 3 b 300 10 m c f 900 10 m a MOVI 600 e TRIPI 300 d Incremental value continuous travel command 700 10 m Reverse rotation 0 r min Forward rot...

Page 164: ...OP Program stop b a 200 ms Servo motor speed ON OFF OUT1 Program output 1 Reverse rotation 0 r min Forward rotation 3 Program example 3 Command Description SPN 1000 Servo motor speed 1000 r min STC 20...

Page 165: ...op b a 200 ms Servo motor speed ON OFF OUT1 Program output 1 c 300 ms Reverse rotation 0 r min Forward rotation 5 Program example 5 Command Description SPN 1000 Servo motor speed 1000 r min STC 20 Acc...

Page 166: ...ion time constant 20 ms MOVI 1000 Incremental value travel command 1000 10STM m SYNC 1 Suspend the step until PI1 Program input 1 is switched on TIM 200 Dwell 200 ms a MOVI 500 Incremental value trave...

Page 167: ...ting from the position where PI1 Program input 1 to PI3 Program input 3 are switched on the servo motor rotates for a distance of the set value and stops When using the ITP command make sure to descri...

Page 168: ...1 b 50 10 STM m Reverse rotation 0 r min Forward rotation f External pulse count COUNT When the number of input pulses of the manual pulse generator becomes larger than the value set for the COUNT com...

Page 169: ...ration time constant 20 ms MOV 1000 Absolute value travel command 1000 10STM m TIM 100 Dwell 100 ms FOR 3 Start of step repeat instruction 3 time a MOVI 100 Incremental value travel command 100 10STM...

Page 170: ...Setting 0 repeats the operation endlessly For how to stop the program in this status refer to section 5 2 4 4 Command Description TIMES 2 Number of program executions command 2 time a SPN 1000 Servo...

Page 171: ...rs When the servo motor enters the servo off status The current position upon switch on of LPS Current position latch input is stored The stored position data can be read with the communication functi...

Page 172: ...sters R1 R4 can be stored in EEP ROM The setting range of each general purpose register is that of the command for which each register is used The following explains a case where the general purpose r...

Page 173: ...ting Dog type home position return Pr PT04 _ _ _ 0 Home position return direction Pr PT04 _ _ 0 _ Address increasing direction Dog input polarity Pr PT29 _ _ _ 1 Detects dog when DOG proximity dog is...

Page 174: ...N 500 TIM 100 MOV 500 Reverse rotation torque limit Dwell Absolute value travel command 500 0 1 100 ms 1000 10STM m d e SYNC 3 Suspend the step until PI3 Program input 3 is switched on f TQL 300 STOP...

Page 175: ...M m _ 1 _ _ inch 999999 to 999999 10 STM 4 inch _ 2 _ _ degree 999 999 to 999 999 _ 3 _ _ pulse 999999 to 999999 Incremental value command method Incremental value travel command MOVI MOVIA _ _ _ 1 _...

Page 176: ...setting Pr PT03 is not applied to the unit multiplication factor Adjust the unit multiplication factor in the electronic gear setting Pr PA06 and Pr PA07 2 Signal Selecting a program with DI0 to DI3 a...

Page 177: ...M m Travel command 3 SYNC 1 Suspend the step until PI1 Program input 1 is switched on STC 50 Acceleration deceleration time constant 50 ms MOV 5000 Absolute value travel command 5000 10STM m Travel co...

Page 178: ...execution switch on TSTP Temporary stop restart to stop the positioning operation and then switch on CR Clear At this time the remaining distance will be cleared and the program will end Switching on...

Page 179: ...Set the acceleration time constant Deceleration time constant Pr PC02 Set the deceleration time constant S pattern acceleration deceleration time constant Pr PC03 Set the S pattern acceleration decel...

Page 180: ...when the command pulse frequency is 200 kpulses s or less According to the purpose of use set input signals and parameters as shown below At this time DI0 Program No selection 1 to DI3 Program No sele...

Page 181: ...ication 1 Note Servo motor rotation multiplication factor for manual pulse generator rotation amount Travel distance mm inch degree pulse 0 0 Pr PT03 setting enabled 0 1 1 time 0 001 0 0001 0 001 1 1...

Page 182: ...performed to match the command coordinates with the machine coordinates The home position return is required every time the input power is on This section shows the home position return methods of the...

Page 183: ...r the home position return speed must be low enough The strength of the machine and stopper must be increased Home position ignorance servo on position as home position The position at servo on is use...

Page 184: ...Select the starting direction for the home position return with Pr PT04 Home position return type Setting 0 starts the home position return in a direction of increasing the address from the current p...

Page 185: ...til a dog is detected Creep speed Pr PT06 Set the rotation speed specified after a dog is detected Home position shift distance Pr PT07 Set this to shift the home position which is specified by the fi...

Page 186: ...og 5 ms or longer Acceleration time constant PED Position end Reverse rotation 0 r min Forward rotation The setting value of Pr PT08 Home position return position data is used as the position address...

Page 187: ...return direction Pr PT04 Refer to section 5 4 1 2 to select the home position return direction Dog input polarity Pr PT29 Refer to section 5 4 1 2 to select the dog input polarity Home position retur...

Page 188: ...F ON OFF ON OFF ST1 Forward rotation start ST2 Reverse rotation start 3 ms or shorter Home position return speed Deceleration time constant Creep speed Home position shift distance Home position Home...

Page 189: ...sition data Pr PT08 Set the current position when the home position return completed Program DI0 Program No selection 1 to DI3 Program No selection 4 Select a program containing a ZRT command which pe...

Page 190: ...he servo motor torque limit value at the execution of the stopper type home position return Acceleration time constant of home position return Pr PC30 The acceleration time constant set for Pr PC30 is...

Page 191: ...quired The position at servo on is used as the home position 1 Device parameter Set input devices and parameters as follows Item Device parameter to be used Setting Home position ignorance Pr PT04 _ _...

Page 192: ...ome position return Pr PT04 _ _ _ 5 Select the dog type rear end detection rear end reference Home position return direction Pr PT04 Refer to section 5 4 1 2 to select the home position return directi...

Page 193: ...ON OFF ON OFF ST1 Forward rotation start ST2 Reverse rotation start 3 ms or shorter Home position return speed Deceleration time constant Creep speed Home position shift distance Travel distance afte...

Page 194: ...turn Pr PT04 _ _ _ 6 Select the count type front end detection front end reference Home position return direction Pr PT04 Refer to section 5 4 1 2 to select the home position return direction Dog inpu...

Page 195: ...ON OFF ON OFF ST1 Forward rotation start ST2 Reverse rotation start 3 ms or shorter Home position return speed Deceleration time constant Creep speed Home position shift distance Travel distance afte...

Page 196: ...Refer to section 5 4 1 2 to select the dog input polarity Home position return speed Pr PT05 Set the rotation speed specified until a dog is detected Creep speed Pr PT06 Set the rotation speed specifi...

Page 197: ...tion ON OFF ON OFF ON OFF ST1 Forward rotation start ST2 Reverse rotation start 3 ms or shorter Home position return speed Deceleration time constant Creep speed Home position shift distance Home posi...

Page 198: ...fer to section 5 4 1 2 to select the home position return direction Dog input polarity Pr PT29 Refer to section 5 4 1 2 to select the dog input polarity Home position return speed Pr PT05 Set the rota...

Page 199: ...OFF ON OFF ST1 Forward rotation start ST2 Reverse rotation start 3 ms or shorter Home position return speed Deceleration time constant Creep speed Home position shift distance Home position return pos...

Page 200: ...tion mode selection 1 Switch on MD0 Dog type front end reference home position return Pr PT04 _ _ _ 9 Select the dog type front end detection front end reference Home position return direction Pr PT04...

Page 201: ...ZP Home position return completion ON OFF ON OFF ON OFF ST1 Forward rotation start ST2 Reverse rotation start 3 ms or shorter Deceleration time constant Creep speed Home position shift distance Trave...

Page 202: ...ed by the Z phase signal Acceleration time constant of home position return Pr PC30 The acceleration time constant set for Pr PC30 is used Deceleration time constant of home position return Pr PC31 Th...

Page 203: ...When the current position is beyond the proximity dog The position is shifted in a direction of the home position return When LSP Forward rotation stroke end or LSN Reverse rotation stroke end is det...

Page 204: ...function enables to select program No and positioning operation using program is possible by switching on ST1 1 Program selection Select program No 1 to 16 by using the forced output command 9 2 and...

Page 205: ...PC20 Station number setting Be sure to set one station No to one servo amplifier Setting one station No to multiple servo amplifiers will disable a normal communication When operating multiple servo a...

Page 206: ...oups for each station with the communication commands of Mitsubishi Electric general purpose AC servo protocol 1 Group setting example CN1 CN1 Axis No 3 station 2 Axis No 4 station 3 Axis No 5 station...

Page 207: ...vo motor speed Group c Group d No Transmission data description Command Data No 1 Select program No 1 in group a 9 2 6 0 2 ST1 Forward rotation start on 9 2 6 0 3 ST1 Forward rotation start off 9 2 6...

Page 208: ...e incremental value command method 1 Parameter setting Set Pr PT01 to select the incremental value command method as shown below Pr PT01 Incremental value command method 1 2 Command The command conten...

Page 209: ...ation time constant 300 ms b Acceleration time constant 200 ms Servo motor speed d Incremental value travel command 1000 10 STM m e Dwell 100 ms j Servo motor speed 1000 r min h Deceleration time cons...

Page 210: ...ting program b Click Write to write the changed programs to the servo amplifier 3 Verifying program c Click Verify to verify the contents of programs in the personal computer and the servo amplifier 4...

Page 211: ...3 for details 10 Updating project j Click Update Project to update the program to a project 5 8 2 Window for program edit Programs can be created on the program editing window a e f b c d g 1 Program...

Page 212: ...edit without saving the program currently being edited 7 Displaying error g When the edit check of 5 detects an error in the program the line No and content of the error will be displayed Click the e...

Page 213: ...5 HOW TO USE THE PROGRAM 5 68 MEMO...

Page 214: ...axis length per cycle will be changed to mm inch degree or pulse with the setting of Pr PT01 When Cam control data No 30 is set to 2 the unit of the Cam axis length per cycle will be changed to mm inc...

Page 215: ...eration time constant Electronic gear Cam control data No 15 Cam control data No 16 Main shaft input axis selection Cam control command CAMC Cam data and cam control data Cam axis one cycle Command af...

Page 216: ...ypes constant speed constant acceleration 5th curve single hypotenuse cycloid distorted trapezoid distorted sine distorted constant speed trapecloid reverse trapecloid double hypotenuse reverse double...

Page 217: ...control Updates 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 Thir...

Page 218: ...function from inputting to outputting of pulses Example When the final axis is n Maximum delay time s 150 s n 1 The command pulse input through function allows the first axis to output A B phase puls...

Page 219: ...sition compensation request by detection of mark sensor 4 Synchronous operation using positioning data A synchronous operation is enabled by setting the same positioning data using a contact input or...

Page 220: ...oke 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...

Page 221: ...n the cam data and the cam control data are copied from the Flash ROM to the RAM inside the servo amplifier and then cam control will be executed Cam data used for actual cam control is stored MR JE _...

Page 222: ...Cam data type Description Stroke ratio data type Cam curve of one cycle is divided equally by the number of cam resolution and defined The cam curve will be created according to the stroke ratio data...

Page 223: ...t value The feed current value of the cam axis is calculated as follows Feed current value Cam standard position Cam stroke amount Stroke ratio to cam axis one cycle current value When the cam axis on...

Page 224: ...am standard position First cycle Cam standard position Second cycle Cam stroke amount Stroke ratio at the last point Feed current value Cam axis one cycle current value Cam standard position Third cyc...

Page 225: ...position cam control is started from the point where the stroke ratio is not 0 Set the cam data start position for each cam data within the setting range of 0 to Cam resolution 1 t t Cam standard posi...

Page 226: ...put value Yn for the number of coordinates Set from the 0th coordinate data X0 and Y0 Set an input value larger than that of the coordinate data 999 999 to 999 999 The following is a setting example f...

Page 227: ...cam standard position is calculated as follows Cam standard position The preceding cam standard position Output value corresponding to Input value Cam axis one cycle length Output value corresponding...

Page 228: ...le the cam control data whose symbol is preceded by cycle the power after setting The cam control data is not applied by the temporal writing of MR Configurator2 No Symbol Name Initial value Unit Cont...

Page 229: ...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...

Page 230: ...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 of...

Page 231: ...mn for unit 14 ETYP Synchronous encoder axis unit _ _ _ x Control unit 0 mm 1 inch 2 degree 3 pulse 0h _ _ x _ Feed length multiplication 0 1 1 10 2 100 3 1000 This digit is disabled when Cam control...

Page 232: ...3 degree or pulse with the setting of Cam control data No 14 Setting range 0 to 999999 0 Refer to Function column for unit 49 CNO Cam No Set the cam No of the cam to be executed When 0 is set the sel...

Page 233: ...PT01 Pr PT01 Multipli cation Pr PT03 Pr PT03 Synchronous encoder axis unit conversion Denominator Cam control data No 16 Unit Pr PT01 Pr PT01 Multipli cation Pr PT03 Pr PT03 Cam axis one cycle length...

Page 234: ...ea 64 bytes Read write 32 Impossible b Details of registers 1 Cam number setting 2D80h Address Name Data type Read write No of points No of Registers Continuous read continuous write 2D80h Target CAM...

Page 235: ...write No of points No of Registers Continuous read continuous write 2D85h Stroke movement of CAM 4 bytes Write 2 Impossible A cam stroke length can be written in the RAM space in the servo amplifier...

Page 236: ...8 to 191 130 8320 to 8383 131 8384 to 8447 Note Note Data of up to 8388 bytes can be stored in the cam data storage area The value 0 is stored in the 8388th cam data storage area or later 7 CAM data i...

Page 237: ...control data in the servo off state and when CAMC Cam control command is off MR Configurator2 CN1 CN1 Servo amplifier Controller USB communication Modbus RTU communication Save read the cam data in th...

Page 238: ...sses 2D88h 2D89h and 2D8Bh N 131 Note Reading starts No N 0 N N 1 Set 0 in Request store CAM address 2D88h Set N in CAM area address 2D89h Use the address 2D8Bh to read the cam data 64 bytes in CAM ar...

Page 239: ...g is completed Yes Note The size of cam data is fixed to 8388 bytes Thus N the setting range of the cam storage area is 0 to 131 Only a part of cam data cannot be written Write the cam data stored in...

Page 240: ...ed length To prevent variations in the sheet length and a cutting position mismatch this device reads registration marks that have been printed on the sheet and compensates cutting positions CN2 CN1 R...

Page 241: ...lection 0 to 3 with I O setting parameters Pr PD_ _ Refer to section 7 2 4 When the conveyor axis main axis feeds a sheet by the set length the rotary knife makes one rotation 360 degrees to cut the s...

Page 242: ...r can use Cam control data No 49 Cam No to select the cam data Note 1 4 Servo on Switch on SON Servo on 5 Switching cam control Switch on CAMC Cam control command to switch the control to the cam cont...

Page 243: ...ameter Refer to section 7 2 4 for details Cam position compensation target position Cam control data No 60 In this example the ideal position for detecting the registration mark is 150 mm position fro...

Page 244: ...cyl CCYL cpos CPHV ccyl cpos CPHV Cam control data No 60 ccyl cpos Cam axis one cycle current value Sheet CPHV Cam control data No 60 The cam position compensation processing compensates the differenc...

Page 245: ...or acceleration deceleration at compensation with Cam control data No 61 Cam position compensation time constant When the sensor detection position is after the target position CPHV cpos ccyl CCYL cpo...

Page 246: ...example To synchronize the vertical motion of the vertical axis axis 2 with the position of the horizontal axis axis 1 as shown below input the positioning commands for axis 1 to axis 2 as well Set th...

Page 247: ...e same positioning commands point table data to the driven shaft axis 2 as those for the main shaft axis 1 Fig 6 6 Driving example Set the following items as follows to move up and down the axis 2 in...

Page 248: ...the same servo motor speed and acceleration deceleration time constants for the point table No 2 of the axis 1 0 000 Cam data Create a cam pattern according to the axis 1 position Refer to Fig 6 6 b...

Page 249: ...OFF 0 888 ms or shorter 3 ms or shorter 1 3 ms or longer Max 20 ms Fig 6 7 Timing chart Input start commands simultaneously with the DI signal or serial communication from controllers such as program...

Page 250: ...to section 5 8 12 of MR JE _A Servo Amplifier Instruction Manual Modbus RTU communication for how to set a cam No The following table lists the priority of each parameter external input signal and com...

Page 251: ...taneous stop Refer to 1 Stroke limit detection Instantaneous stop Refer to 1 Stop due to forced stop 1 or 2 or alarm occurrence Instantaneous stop or deceleration to a stop Stop due to base circuit sh...

Page 252: ...s 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 using a posi...

Page 253: ...osition Driven shaft ST1 Forward rotation start CAMC Cam control command Cam axis one cycle current value Cam axis feed current value CAMS Under cam control Main shaft driven shaft Main shaft 5 ms or...

Page 254: ...ion target Cam control data No 2 Cam standard position setting method Cam control data No 3 Cam standard position initial setting value Cam control data No 6 Cam axis one cycle current value setting m...

Page 255: ...ue is restored based on Cam standard position and Cam axis feed current value and the control is switched to the cam control Set the cam standard position used for the restoration with cam control dat...

Page 256: ...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...

Page 257: ...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 v...

Page 258: ...ard current value 4 The first searching has failed and the second searching starts POINT If the first searching has failed the second searching may not be processed in the next cycle for a cam pattern...

Page 259: ...n CAMC Cam control command is on is used as the cam axis feed current value The cam standard position is restored to the cam stroke position that corresponds to Feed current value Cam axis one cycle c...

Page 260: ...lue restoration failed will occur and the control cannot be switched to the cam control Note that if increasing the value of the in position range may lead to a rapid cam switching If the cam axis pos...

Page 261: ...aft input side to the output axis module through turning the clutch ON OFF controlling start stop of the servo motor operation Set whether or not to use the clutch control with Cam control data No 36...

Page 262: ...hing is processed with the time constant set in Cam control data No 43 Main shaft clutch smoothing time constant at clutch ON OFF After clutch ON smoothing is completed smoothing is processed with the...

Page 263: ...cycle current value with the cam position compensation target position Cam control parameter No 60 by inputting a cam position compensation request Cam position compensation target position After com...

Page 264: ...ble with servo amplifiers with software version C1 or later For details refer to MR JE _A Servo Amplifier Instruction Manual Modbus RTU communication The compensation amount calculated when cam positi...

Page 265: ...he roll feed display function to compare the current data of the state monitor and the latched position data The read latched position data is equal to the travel distance as the starting point is set...

Page 266: ...data part additional information Reads MSD Mark detection rising latch data or MSD Mark detection falling latch data 1 Transmission Transmit command 1 A and data No 0 2 or 0 3 corresponding to the poi...

Page 267: ...of the mark detection Pr PC68 and Pr PC69 An incorrect order of the setting will trigger AL 37 Therefore cycling power may be required after Pr PC66 to Pr PC69 are all set Mark detection range upper...

Page 268: ...67 are set to 500000 and Pr PC68 and Pr PC69 are set to 300000 the valid range is between the actual current position of 300000 and 500000 as set in the parameters 100000 90000 Lower limit value Upper...

Page 269: ...f the upper and lower limits The valid range remains unchanged even if the rotation direction is reversed 90 0 270 Effective range CCW Lower limit value Upper limit value 180 90 0 270 Effective range...

Page 270: ...tection fast input signal filter selection in Pr PD31 2 The position data will not be changed from the previous value 3 MSDH Latch completed at rising edge of mark detection turns off at the same time...

Page 271: ...interrupt positioning function at rising of MSD Mark detection MSD Mark detection Polarity selection Pr PT29 The polarity of MSD Mark detection can be changed with Pr PT29 Starts the interrupt positio...

Page 272: ...ration mode selection 1 ST1 Forward rotation start ON OFF Deceleration time constant Note 0 888 ms Interrupt positioning travel distance Note Deceleration time constant of the point table at the time...

Page 273: ...and speed at which MSD Mark detection turned on ON OFF ON OFF ON OFF Interrupt positioning travel distance Speed when MSD is on 0 888 ms Deceleration time constant Note Servo motor speed MSD Mark dete...

Page 274: ...function Mark detection function current position latch function Note 1 enabled disabled enabled with condition 2 Enabled only in a constant speed ITP Interrupt positioning is available with the prog...

Page 275: ...6 APPLICATION OF FUNCTIONS 6 62 MEMO...

Page 276: ...d values in the digits of a parameter 7 1 Parameter list POINT To enable a parameter whose symbol is preceded by turn off the power for 1 s or more after setting and turn it on again However the time...

Page 277: ...tion selection A 1 2000h PA05 FBP Number of command input pulses per revolution 10000 PA06 CMX Electronic gear numerator command pulse multiplication numerator 1 PA07 CDV Electronic gear denominator c...

Page 278: ...ession control 1 Resonance frequency 100 0 Hz PB21 VRF13 Vibration suppression control 1 Vibration frequency damping 0 00 PB22 VRF14 Vibration suppression control 1 Resonance frequency damping 0 00 PB...

Page 279: ...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...

Page 280: ...ltiplication numerator 2 Pr PC33 Command input pulse multiplication numerator 3 Pr PC34 Command input pulse multiplication numerator 4 The following parameters are used for Modbus RTU communication Fo...

Page 281: ...onstant 0 ms PC32 CMX2 Command input pulse multiplication numerator 2 1 PC33 CMX3 Command input pulse multiplication numerator 3 1 PC34 CMX4 Command input pulse multiplication numerator 4 1 PC35 TL2 I...

Page 282: ...ulse PC70 SNOM Modbus RTU communication station number setting 0 PC71 COPF Function selection C F 0040h PC72 COPG Function selection C G 0000h PC73 ERW Error excessive warning level 0 rev PC74 For man...

Page 283: ...evice selection 9H 0800h PD21 For manufacturer setting 0000h PD22 0000h PD23 0000h PD24 DO2 Output device selection 2 000Ch PD25 DO3 Output device selection 3 0004h PD26 For manufacturer setting 0000h...

Page 284: ...h PE29 0000h PE30 0000h PE31 0000h PE32 0000h PE33 0000h PE34 0 PE35 0 PE36 0 0 PE37 0 00 PE38 0 00 PE39 0 PE40 0000h PE41 EOP3 Function selection E 3 0000h PE42 For manufacturer setting 0 PE43 0 0 PE...

Page 285: ...mbol Name Initial value Unit Control mode CP CL PE51 For manufacturer setting 0000h PE52 0000h PE53 0000h PE54 0000h PE55 0000h PE56 0000h PE57 0000h PE58 0000h PE59 0000h PE60 0000h PE61 0 00 PE62 0...

Page 286: ...00h PF10 For manufacturer setting 0000h PF11 0000h PF12 10000 PF13 100 PF14 100 PF15 2000 PF16 0000h PF17 10 PF18 0000h PF19 0000h PF20 0000h PF21 DRT Drive recorder switching time setting 0 s PF22 Fo...

Page 287: ...mbol Name Initial value Unit Control mode CP CL PF44 For manufacturer setting 0 PF45 FOP12 Function selection F 12 0000h PF46 MIC Modbus RTU communication time out selection 0 PF47 For manufacturer se...

Page 288: ...h 10 3 degree pulse PT09 DCT Travel distance after proximity dog 1000 10STM m 10 STM 4 inch 10 3 degree pulse PT10 ZTM Stopper type home position return stopper time 100 ms PT11 ZTT Stopper type home...

Page 289: ...T31 MSTH 0 PT32 For manufacturer setting 0000h PT33 0000h PT34 PDEF Point table program default 0000h PT35 TOP5 Function selection T 5 0000h PT36 For manufacturer setting 0000h PT37 0000h PT38 0000h P...

Page 290: ...W or less no regenerative resistor is used For servo amplifier of 0 4 kW to 3 kW built in regenerative resistor is used 02 MR RB032 03 MR RB12 04 MR RB32 05 MR RB30 06 MR RB50 Cooling fan is required...

Page 291: ...electronic gear within the following range Setting out of the range will trigger AL 37 Parameter error 1 27649 CMX CDV 8484 Setting range 1 to 16777215 1 PA07 CDV Electronic gear denominator command p...

Page 292: ...justment mode Automatically adjusted parameter _ _ _ 0 2 gain adjustment mode 1 interpolation mode Pr PB06 Load to motor inertia ratio Pr PB08 Position loop gain Pr PB09 Speed loop gain Pr PB10 Speed...

Page 293: ...tion column for unit Pr PA01 In position setting range _ _ _ 6 Positioning mode point table method The range where MEND Travel completion PED Position end and INP In position are outputted _ _ _ 7 Pos...

Page 294: ...rated when this parameter is set to 0 0 Setting range 0 0 to 100 0 100 0 PA13 PLSS Command pulse input form _ _ _ x Command input pulse train form selection 0 Forward reverse rotation pulse train 1 Si...

Page 295: ...functions Setting a value higher than actual command will lower noise tolerance Setting a value lower than actual command will cause a position mismatch 1h x _ _ _ For manufacturer setting 0h Table 7...

Page 296: ...der output pulses from the servo amplifier by using the number of output pulses per revolution dividing ratio or electronic gear ratio after multiplication by 4 Set a numerator of the electronic gear...

Page 297: ...ioning control parameters Pr PT_ _ Refer to table 7 4 for settings 00AAh Table 7 4 Pr PA19 setting value and reading writing range PA19 Setting operation PA PB PC PD PE PF PT Other than below Reading...

Page 298: ...tage drop in the power with Pr PF25 Instantaneous power failure tough drive Detection time When 1 is selected for this digit the power should be off for the setting value of Pr PF25 1 s or more before...

Page 299: ...permissible level Set a permissible value of overshoot amount for one touch tuning as a percentage of the in position range However setting 0 will be 50 Setting range 0 to 100 0 PA26 AOP5 Function se...

Page 300: ...mode For details refer to section 7 1 2 of MR JE _A Servo Amplifier Instruction Manual This digit is available with servo amplifier with software version C5 or later 0h PB02 VRFT Vibration suppression...

Page 301: ...PB04 FFC Feed forward gain Set the feed forward gain When the setting is 100 the droop pulses during operation at constant speed are nearly zero However sudden acceleration deceleration will increase...

Page 302: ...f the parameter will be the automatic setting or manual setting depending on the Pr PA08 setting Refer to the following table for details Setting range 1 0 to 2000 0 37 0 rad s Pr PA08 This parameter...

Page 303: ...sion filter 1 When Filter tuning mode selection is set to Automatic setting _ _ _ 1 in Pr PB01 this parameter will be adjusted automatically by adaptive tuning When Filter tuning mode selection is set...

Page 304: ...pression filter setting frequency selection Refer to table 7 5 for settings Set the value closest to the frequency you need 00h _ x _ _ Notch depth selection 0 40 dB 1 14 dB 2 8 dB 3 4 dB 0h x _ _ _ F...

Page 305: ...ression control 1 to suppress low frequency machine vibration When Vibration suppression control 1 tuning mode selection is set to Automatic setting _ _ _ 1 in Pr PB02 this parameter will be set autom...

Page 306: ...ers depending on the switching condition item Refer to section 7 2 3 of MR JE _A Servo Amplifier Instruction Manual Setting range 0 to 9999 10 kpulse s pulse r min PB28 CDT Gain switching time constan...

Page 307: ...are fulfilled Gain adjustment mode selection in Pr PA08 is Manual mode _ _ _ 3 Vibration suppression control 1 tuning mode selection is set to Manual setting _ _ _ 2 in Pr PB02 Gain switching selectio...

Page 308: ...4 9 11 3 _ _ 0 A 225 _ _ 2 A 43 _ _ 4 A 10 8 _ _ 0 B 204 _ _ 2 B 41 _ _ 4 B 10 4 _ _ 0 C 187 _ _ 2 C 40 _ _ 4 C 10 _ _ 0 D 173 _ _ 2 D 38 _ _ 4 D 9 7 _ _ 0 E 160 _ _ 2 E 37 _ _ 4 E 9 4 _ _ 0 F 150 _...

Page 309: ...ce suppression filter 4 Set the notch frequency of the machine resonance suppression filter 4 To enable the setting value set Machine resonance suppression filter 4 selection to Enabled _ _ _ 1 in Pr...

Page 310: ...in Pr PA24 Setting range 0 1 to 300 0 100 0 Hz PB53 VRF22 Vibration suppression control 2 Resonance frequency Set the resonance frequency for vibration suppression control 2 to suppress low frequency...

Page 311: ...e a shock Be sure to switch them after the servo motor stops Setting range 0 0 to 300 0 0 0 Hz PB57 VRF22B Vibration suppression control 2 Resonance frequency after gain switching Set the resonance fr...

Page 312: ...s are fulfilled Gain adjustment mode selection is set to Manual mode _ _ _ 3 in Pr PA08 Gain switching selection is set to Input device gain switching CDP _ _ _ 1 in Pr PB26 Switching during driving m...

Page 313: ...en the S pattern acceleration deceleration time constants are set smooth positioning is enabled as shown in the following figure Note that when it is set a time period from the start to output of MEND...

Page 314: ...2 8 V max speed Note 1 _ _ 1 7 Internal temperature of encoder 10 V 128 C Note 1 The maximum speed of the HF KN series servo motor is 4500 r min and that of the HG KN series is 5000 r min Please watc...

Page 315: ...nd pulse 3 A phase B phase pulse electronic gear setting 5 Command pulse input through output setting When 1 is set the settings of Pr PA16 Encoder output pulses 2 will be disabled When 2 is set the s...

Page 316: ...selection C 3 _ _ _ x In position range unit selection Select a unit of in position range 0 Command unit 1 Servo motor encoder pulse unit 0h _ _ x _ For manufacturer setting 0h _ x _ _ 0h x _ _ _ Erro...

Page 317: ...return is executed with the program method Set the deceleration time constant at the home position return Set a deceleration time from the rated speed to 0 r min Additionally when a value of 20000 ms...

Page 318: ...frequency 13 Number of tough drives 14 Unit power consumption 1 W unit 15 Unit power consumption 1 kW unit 16 Unit total power consumption 1 Wh unit 17 Unit total power consumption 100 kWh unit 21 Cur...

Page 319: ...e 0 to 1000 0 rev PC51 RSBR Forced stop deceleration time constant Set a deceleration time constant for the forced stop deceleration function Set the time taken from the rated speed to 0 r min in a un...

Page 320: ...ic brake interlock was enabled in Pr PD24 Pr PD25 and Pr PD28 and the base circuit shut off delay time was set in Pr PC16 Setting range 25000 to 25000 0 0 0001 rev PC60 COPD Function selection C D _ _...

Page 321: ...column for unit PC69 LPSNH Mark detection range upper three digits PC73 ERW Error excessive warning level Set an error excessive warning level To enable the parameter set AL 9B Error excessive warnin...

Page 322: ...nabled automatic on _ _ x _ BIN TL External torque limit selection 0 Disabled Use for an external input signal 1 Enabled automatic on _ x _ _ BIN For manufacturer setting x _ _ _ BIN For manufacturer...

Page 323: ...s 0 Initial value BIN HEX Input device 0 0 0 0 SON Servo on 0 Initial value BIN HEX Input device 0 0 0 0 PC Proportional control EM2 Forced stop 2 TL External torque limit selection 0 BIN 0 Use for an...

Page 324: ...P 1 2 _ _ MSD MSD 1 E _ _ CLTC CLTC 1 F _ _ CPCD CPCD 2 0 _ _ MD0 MD0 2 1 _ _ CAMC CAMC 2 3 _ _ TCH 2 4 _ _ TP0 TP0 2 5 _ _ TP1 TP1 2 6 _ _ OVR OVR 2 7 _ _ TSTP TSTP 2 9 _ _ CI0 CI0 2 A _ _ CI1 CI1 2...

Page 325: ...ble 7 9 in Pr PD04 for settings 39h PD18 DI8H Input device selection 8H Any input device can be assigned to the CN1 43 pin _ _ x x Not used with the positioning mode 00h x x _ _ Positioning mode Devic...

Page 326: ...0 C ZSP ZSP _ _ 0 D MTTR MTTR _ _ 0 F CDPS CDPS _ _ 1 F CPCC CPCC _ _ 2 3 CPO CPO _ _ 2 4 ZP ZP _ _ 2 5 POT POT _ _ 2 6 PUS PUS _ _ 2 7 MEND MEND _ _ 2 9 CLTS CLTS _ _ 2 B CLTSM CLTSM _ _ 2 C PED PED...

Page 327: ...manufacturer setting 0h PD30 DOP1 Function selection D 1 _ _ _ x Stop method selection for LSP Forward rotation stroke end off or LSN Reverse rotation stroke end off Select a stop method for LSP Forw...

Page 328: ..._ _ _ x CR Clear selection This is used to set CR Clear 0 Deletes droop pulses by turning on the device 1 Always deletes droop pulses during the device on 2 Disabled 0h _ _ x _ For manufacturer setti...

Page 329: ...led 1 Enabled For details of the alarm codes refer to chapter 8 When 1 is set to this digit while MBR or ALM is assigned to CN1 23 CN1 24 or CN1 49 pin AL 37 Parameter error will occur 0h _ _ x _ Sele...

Page 330: ...x _ _ _ BIN For manufacturer setting _ _ x _ _ _ _ x BIN For manufacturer setting 0h HEX _ _ x _ BIN For manufacturer setting _ x _ _ BIN OVR Analog override selection 0 Disabled Use for an external...

Page 331: ...follows 0 Initial value BIN HEX Input device 0 0 0 0 0 0 DI2 Point table No Program No 3 DI0 Point table No Program No 1 DI1 Point table No Program No 2 DI3 Point table No Program No 4 0 PD44 DI11H I...

Page 332: ...compensated with the value set in Pr PE44 and Pr PE45 If the time constant is other than 0 the torque is compensated with the high pass filter output value of the set time constant and the lost motion...

Page 333: ...ion will be changed to the drive recorder function after the setting time of this parameter When a value from 1 to 32767 is set the function will be switched to the drive recorder function after the s...

Page 334: ...ameter 1 s or more before turning on the power to enable a parameter whose symbol is preceded by Setting range 30 to 2000 200 ms PF31 FRIC Machine diagnosis function Friction judgment speed Set a serv...

Page 335: ...ethod in incremental system 0 Disabled Home position is erased at servo off or EM2 off 1 Enabled Home position is not erased even if servo off EM2 off or alarm occurrence which can be canceled with re...

Page 336: ...and 1 are enabled 0h x _ _ _ For manufacturer setting 0h PT05 ZRF Home position return speed Set the servo motor speed for the home position return Setting range 0 to permissible instantaneous speed 1...

Page 337: ...a JOG speed Setting range 0 to permissible instantaneous speed 100 r min PT14 BKC Backlash compensation Set a backlash compensation for reversing command direction This parameter compensates backlash...

Page 338: ...or pulse with the setting of Pr PT01 Setting range 999999 to 999999 0 Refer to Function column for unit PT18 LMNH Software limit upper three digits PT19 LPPL Position range output address lower three...

Page 339: ...position range output address Pr PT19 and Pr PT20 An incorrect order of the setting will trigger AL 37 Therefore cycling power may be required after Pr PT19 to Pr PT22 are all set Setting range 999999...

Page 340: ...ition is displayed as machine home position is 0 Command current position is displayed as machine home position is 0 1 Roll feed display Automatic Actual current position will be displayed as automati...

Page 341: ..._ HEX _ _ _ x BIN PI1 Program input 1 polarity selection 0 Positive logic 1 Negative logic 0h _ _ x _ BIN PI2 Program input 2 polarity selection 0 Positive logic 1 Negative logic _ x _ _ BIN PI3 Progr...

Page 342: ...he programs with the following procedures 1 Set 5001h to this parameter 2 Cycle the power of the servo amplifier After the servo amplifier power is on the initialization completes in about 20 s dEF wi...

Page 343: ...unction selection _ _ _ x Home position return inhibit selection 0 Disabled home position return allowed 1 Enabled home position return inhibited Selecting 1 for this digit will disable the home posit...

Page 344: ...he number of gear teeth on servo motor side to Pr PA07 Travel distance CDV CMX Deviation counter Electronic gear Pr PA06 Pr PA07 Servo motor Encoder M Pt Servo motor encoder encoder revolution 131072...

Page 345: ...lock the shaft This will be enabled at power on and will be disabled at home position return Setting a same value to Software limit and Software limit will disable this function Setting a larger valu...

Page 346: ...ithout S pattern acceleration deceleration Travels for the droop pulses portion and stops the servo motor Erases the home position A difference will be generated between the command position and the c...

Page 347: ...n acceleration deceleration Without S pattern acceleration deceleration Travels for the droop pulses portion and stops the servo motor Erases the home position A difference will be generated between t...

Page 348: ...ms and warnings in which DB or EDB is written in the stop method column the servo motor stops with the dynamic brake without forced stop deceleration 3 Alarm deactivation After the cause of the alarm...

Page 349: ...2 DB 14 D Control process error 13 DB 15 Memory error 2 EEP ROM 15 1 EEP ROM error at power on DB 0 0 0 15 2 EEP ROM error during operation DB 15 4 Home position information read error DB 16 16 1 Enco...

Page 350: ...r normal communication error 2 21 1 Encoder data error 1 EDB 1 1 0 21 2 Encoder data update error EDB 21 3 Encoder data waveform error EDB 21 5 Encoder hardware error 1 EDB 21 6 Encoder hardware error...

Page 351: ...Note 1 50 2 Thermal overload error 2 during operation SD Note 1 Note 1 50 Overload 1 50 3 Thermal overload error 4 during operation SD Note 1 Note 1 0 1 1 50 4 Thermal overload error 1 during a stop...

Page 352: ...unication checksum error SD 8E 3 USB communication character error serial communication character error SD 8E 4 USB communication command error serial communication command error SD 8E 5 USB communica...

Page 353: ...ing 9B 1 Excess droop pulse 1 warning 9B 3 Excess droop pulse 2 warning 9B 4 Error excessive warning during 0 torque limit 9F Battery warning 9F 1 Low battery E0 Excessive regeneration warning E0 1 Ex...

Page 354: ...constant setting range error warning F4 8 Control command input error warning F5 Simple cam function Cam data miswriting warning F5 1 Cam data Area writing time out warning F5 2 Cam data Area miswrit...

Page 355: ...8 TROUBLESHOOTING 8 8 MEMO...

Page 356: ...amplifiers For details refer to each section indicated in the detailed explanation field MR JE _A means MR JE _A Servo Amplifier Instruction Manual Item Detailed explanation Cable connector sets MR JE...

Page 357: ...0 mA or less Interface Maximum output current 20 mA for open collector output Pulse signal form A phase B phase 2 signals of 90 phase difference Pulse resolution 100 pulses rev Maximum speed Instantan...

Page 358: ...V Power supply input 0 V Common for power and signal A A phase output pulse B B phase output pulse 4 Mounting Unit mm 6 2 2 0 3 4 8 Equal intervals Panel cut 72 0 2 5 Dimensions Unit mm 50 70 3 6 Pac...

Page 359: ...9 OPTIONS AND PERIPHERAL EQUIPMENT 9 4 MEMO...

Page 360: ...ssing MR JE _A section 12 5 1 Status display MR JE _A section 12 5 2 Parameter MR JE _A section 12 5 3 Prohibiting canceling I O devices DIO MR JE _A section 12 5 6 Alarm history MR JE _A section 12 5...

Page 361: ...oad ratio 0 8 Effective load ratio 0 9 Peak load ratio 0 A Instantaneous torque 0 B Position within one revolution 0 C ABS counter 0 D Load to motor inertia ratio 0 E Bus voltage 2 0 Internal temperat...

Page 362: ...atio 8 9 Peak load ratio 8 A Instantaneous torque 8 B Position within one revolution 8 C ABS counter 8 D Load to motor inertia ratio 8 E Bus voltage A 0 Internal temperature of encoder A 1 Settling ti...

Page 363: ...e command 8 5 data No 0 0 before reading the upper limit values The data No hexadecimal value which is converted to decimal corresponds to the parameter No 1 7 0 1 to F F Lower limit value of each par...

Page 364: ...alarm 4 1 1 One alarm ago 1 2 Two alarms ago 1 3 Three alarms ago 1 4 Four alarms ago 1 5 Five alarms ago 1 6 Six alarms ago 1 7 Seven alarms ago 1 8 Eight alarms ago 1 9 Nine alarms ago 1 A Ten alarm...

Page 365: ...fective load ratio 0 9 Peak load ratio 0 A Instantaneous torque 0 B Position within one revolution 0 C ABS counter 0 D Load to motor inertia ratio 0 E Bus voltage 2 0 Internal temperature of encoder 2...

Page 366: ...atio 8 9 Peak load ratio 8 A Instantaneous torque 8 B Position within one revolution 8 C ABS counter 8 D Load to motor inertia ratio 8 E Bus voltage A 0 Internal temperature of encoder A 1 Settling ti...

Page 367: ...Reading dwell of each point table The data No hexadecimal value which is converted to decimal corresponds to the point table No 6 4 0 1 to 1 F Reading auxiliary function of each point table The data N...

Page 368: ...scription Control mode Frame length CP CL 0 0 1 2 Reading test operation mode 0000 Normal mode not test operation mode 0001 JOG operation 0002 Positioning operation 0004 Output signal DO forced output...

Page 369: ...l corresponds to the parameter No Varies depending on the parameter 12 8 5 0 0 Writing parameter group 0000 Basic setting parameters Pr PA_ _ 0001 Gain filter parameters Pr PB_ _ 0002 Extension settin...

Page 370: ...1EA5 4 0 3 Prohibits all output devices DO 1EA5 1 0 Cancels the prohibition of the input devices except EM2 LSP and LSN external analog input signals and pulse train inputs 1EA5 1 3 Cancels the prohib...

Page 371: ...o 7FFF 4 1 1 Write the acceleration deceleration time constant in the test operation mode JOG operation and positioning operation 00000000 to 7FFFFFFF 8 2 0 Set the travel distance of the test operati...

Page 372: ...f each point table The data No hexadecimal value which is converted to decimal corresponds to the point table No 0 to 20000 C A 0 1 to 1 F Writing dwell of each point table The data No hexadecimal val...

Page 373: ...Data No 1 2 0 0 to 0 2 b Return The slave station returns the status of the input devices b31 b1b0 1 On 0 Off Command of each bit is transmitted to the master station as hexadecimal data Bit Symbol D...

Page 374: ...ta No 1 2 4 0 b Return The on off statuses of the input pins are returned b31 b1b0 1 On 0 Off Command of each bit is transmitted to the master station as hexadecimal data Bit CN1 connector pin Bit CN1...

Page 375: ...o 1 2 6 0 to 6 2 b Return The slave station returns the status of the input devices b31 b1b0 1 On 0 Off Command of each bit is transmitted to the master station as hexadecimal data Bit Symbol Data No...

Page 376: ...Transmission Transmit command 1 2 data No C 0 Command Data No 1 2 C 0 b Return The slave station returns the status of the output devices b31 b1b0 1 On 0 Off Command of each bit is transmitted to the...

Page 377: ...transmitted to the master station as hexadecimal data Bit Symbol Data No 8 0 Data No 8 1 Data No 8 2 Data No 8 3 0 RD MCD00 1 SA MCD01 2 ZSP MCD02 3 TLC CPO MCD03 4 VLC ZP MCD10 5 INP POT MCD11 6 PUS...

Page 378: ...be switched off is in the external input signal also switch off the input signal Transmit command 9 2 data No 6 0 to 6 2 Command Data No Setting data 9 2 6 0 to 6 2 See below b31 b1b0 1 On 0 Off Comma...

Page 379: ...t command 9 2 data No 0 0 to 0 2 Command Data No Setting data 9 2 0 0 to 0 2 See below b31 b1b0 1 On 0 Off Command of each bit is transmitted to the master station as hexadecimal data Bit Symbol Data...

Page 380: ...nd 8 B data No 0 0 data to set the test operation mode Command Data No Transmission data Setting test operation mode 8 B 0 0 0004 Output signal DO forced output Note 0005 Single step feed Note Refer t...

Page 381: ...d 9 2 Data No 0 0 Data 00000807 ST1 is on Command 9 2 Data No 0 0 Data 00000801 ST1 is on Command 8 B Data No 0 0 Data 0000 Single step feed canceled Set a point table No When LSP LSN are turned on or...

Page 382: ...4 Output signal DO forced output 0 2 External output signal on off Transmit the following communication commands Command Data No Setting data 9 2 A 0 See below b31 b1b0 1 On 0 Off Command of each bit...

Page 383: ...5 Fifth least significant digit 6 Sixth least significant digit Data is transferred in hexadecimal Display type 0 Data is used unchanged in hexadecimal 1 Data must be converted into decimal Position d...

Page 384: ...al 1 Data must be converted into decimal 0 0 0 Position data writing type 0 Enabled after writing 1 Enabled when power is cycled after writing d Deceleration time constant Reads deceleration time cons...

Page 385: ...onverted into decimal 0 0 0 Position data writing type 0 Enabled after writing 1 Enabled when power is cycled after writing f Auxiliary function Reads auxiliary function of point tables 1 Transmission...

Page 386: ...and 4 5 the data No 0 1 to 1 F corresponding to the point tables to read Refer to section 10 1 1 2 Return The slave station returns the M code of point table requested Data is transferred in hexadecim...

Page 387: ...fer to section 10 1 1 Command Data No Data C 0 0 1 to 1 F Refer to the following Data is transferred in hexadecimal Writing mode 0 Writing to EEP ROM RAM 1 Writing to RAM Decimal point position 0 No d...

Page 388: ...only the RAM data in the servo amplifier When changing data once or more within an hour do not write it to the EEP ROM c Acceleration time constant Writes acceleration time constant of point tables Tr...

Page 389: ...using communication set 1 to the write mode to change only the RAM data in the servo amplifier When changing data once or more within an hour do not write it to the EEP ROM e Dwell Writes dwell of po...

Page 390: ...e write mode to change only the RAM data in the servo amplifier When changing data once or more within an hour do not write it to the EEP ROM g M code Writes M code of point tables M code will be avai...

Page 391: ...10 COMMUNICATION FUNCTION MITSUBISHI ELECTRIC GENERAL PURPOSE AC SERVO PROTOCOL 10 32 MEMO...

Page 392: ...1 1 Partially changed Section 3 1 2 2 Note is changed Section 3 1 7 Notes are added Section 3 1 9 Partially changed Chapter 4 Sentences are added in the POINT Section 4 1 1 Partially changed Section...

Page 393: ...d CAUTION are added Partially changed Section 6 1 POINT is added Partially changed Section 6 1 9 POINT is added Partially changed Section 6 2 2 Partially changed Chapter 7 CAUTION is changed Section 7...

Page 394: ...trademark or registered trademark of Mitsubishi Electric Corporation in Japan and or other countries All other product names and company names are trademarks or registered trademarks of their respect...

Page 395: ...t 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 repa...

Page 396: ...uses recycled paper MODEL MODEL CODE General Purpose AC Servo MR JE _A SERVO AMPLIFIER INSTRUCTION MANUAL POSITIONING MODE HEAD OFFICE TOKYO BLDG MARUNOUCHI TOKYO 100 8310 MODEL General Purpose Inter...

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