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Mitsubishi Electric MELSERVO-J2S-S061, Технические характеристики и инструкция по эксплуатации

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60 

 

(10) Point table/dwell time (Command [6][0]) 

Command 

Data No. 

Description 

Point table No. 

Frame Length 

[6][0] 

[0][1] 

Point table No.1 

8 

[6][0] 

[0][2] 

Point table No.2 

8 

[6][0] 

[0][3] 

Point table No.3 

8 

[6][0] 

[0][4] 

Point table No.4 

8 

[6][0] 

[0][5] 

Point table No.5 

8 

[6][0] 

[0][6] 

Point table No.6 

8 

[6][0] 

[0][7] 

Point table No.7 

8 

[6][0] 

[0][8] 

Point table No.8 

8 

[6][0] 

[0][9] 

Point table No.9 

8 

[6][0] 

[0][A] 

Point table No.10 

8 

[6][0] 

[0][B] 

Point table No.11 

8 

[6][0] 

[0][C] 

Point table No.12 

8 

[6][0] 

[0][D] 

Point table No.13 

8 

[6][0] 

[0][E] 

Point table No.14 

8 

[6][0] 

[0][F] 

Point table No.15 

8 

[6][0] 

[1][0] 

Point table No.16 

8 

: : 

: 

: 

[6][0] [1][F] 

Dwell time read 

Point table No.31 

8 

 

(11) Point table/auxiliary function (Command [6][4]) 

Command 

Data No. 

Description 

Point table No. 

Frame Length 

[6][4] 

[0][1] 

Point table No.1 

8 

[6][4] 

[0][2] 

Point table No.2 

8 

[6][4] 

[0][3] 

Point table No.3 

8 

[6][4] 

[0][4] 

Point table No.4 

8 

[6][4] 

[0][5] 

Point table No.5 

8 

[6][4] 

[0][6] 

Point table No.6 

8 

[6][4] 

[0][7] 

Point table No.7 

8 

[6][4] 

[0][8] 

Point table No.8 

8 

[6][4] 

[0][9] 

Point table No.9 

8 

[6][4] 

[0][A] 

Point table No.10 

8 

[6][4] 

[0][B] 

Point table No.11 

8 

[6][4] 

[0][C] 

Point table No.12 

8 

[6][4] 

[0][D] 

Point table No.13 

8 

[6][4] 

[0][E] 

Point table No.14 

8 

[6][4] 

[0][F] 

Point table No.15 

8 

[6][4] 

[1][0] 

Point table No.16 

8 

: : 

: 

: 

[6][4] [1][F] 

Auxiliary function read 

Point table No.31 

8 

 

Содержание MELSERVO-J2S-S061

Страница 1: ...gn Eng Design Eng Design Eng Design Eng APPROVALS APPROVALS APPROVALS APPROVALS H Ogi H Ogi H Ogi H Ogi MITSUBISHI General Purpose AC Servo MELSERVO J2S S061 Built In Positioning Function Specifications and Instruction Manual For Engineering Sample MITSUBISHI ELECTRIC ...

Страница 2: ...l input 18 5 2 Positioning operation in accordance with point tables 22 5 3 Positioning operation via communication 23 5 4 Manual operation mode 24 5 5 Zeroing 26 6 DISPLAY AND OPERATION 27 6 1 Display flowchart 27 7 PARAMETERS 28 8 COMMUNICATIONS 47 8 1Configuration 47 8 2 Communication specifications 49 8 3 Protocol 50 8 4 Character codes 52 8 5 Error codes 53 8 6 Checksum 53 8 7 Time out operat...

Страница 3: ...o amplifier is the most appropriate to configure a program free simple positioning system or to simplify a system for example There are up to 31 points You can choose a configuration suitable for your purpose e g simple positioning system using external I O signals DI O operation using DI O and RS 422 serial communication or multi drop operation using RS 422 serial communication All servo motors a...

Страница 4: ...00VAC or single phase 230VAC Servo motor RS 422 Set up Software Personal computer CN1A CN1B CN2 CN3 Servo amplifier axis 2 External I O signals Servo motor CN1A CN1B CN2 CN3 RS 232C RS 232C RS 422 converter to be prepared by the customer To the next axis RS 422 Power supply 3 phase 200VAC or single phase 230VAC Communication data PC to Servo amplifier Servo amplifier to PC Positioning data to poin...

Страница 5: ...Speed command input Setting via RS 422 232C communication Set the acc dec time via RS 422 232C communication Parameter 14 is for S Curve acc dec time constant Command type Position data input System Absolute value command with sign or incremental value command Automatic mode Select the required ones from among 31 preset point blocks and perform operation in accordance with the set value Position b...

Страница 6: ...bricated NFB MC Regenerative brake option L12 L11 L3 L2 L1 10k 2m 78 74inch max Upper limit setting W V U Servo amplifier MR J2S A S061 9 RA1 20 SG Communication cable Available as option or to be fabricated CN3 TE1 TE2 When connecting the external regenerative brake option always disconnect the jumper from across P D SM COM CN2 Servo motor Servo on Forward rotation stroke end Reverse rotation str...

Страница 7: ...top and other protective circuits 3 CN1A CN1B CN2 and CN3 have the same shape Wrong connection of the connectors will lead to a fault 4 The sum of currents that flow in the external relays should be 80mA max If it exceeds 80mA supply interface power from external 5 When starting operation always connect the forward reverse rotation stroke end signal LSN LSP with SG Normally closed contacts 6 Troub...

Страница 8: ...V 50 60Hz power U V W Servo motor output Servo motor power output terminalss Connect to the servo motor power supply terminals U V W L11 L21 Control circuit power supply Control circuit power input terminals 1 200V Class Supply L11 and L21 with single phase 200 230VAC 50 60Hz power 2 100V Class Supply L11 and L21 with single phase 100 120VAC 50 60Hz power P C D Regenerative brake option Regenerati...

Страница 9: ...phase 200V L1 L2 L3 single phase 230V L1 L2 Configure up an external sequence to switch off the magnetic contactor as soon as an alarm occurs 2 Switch on the control circuit power supply L11 L21 simultaneously with the main circuit power supply or before switching on the main circuit power supply If the main circuit power supply is not on the display shows the corresponding warning However by swit...

Страница 10: ...9 BCN B11127 479 2 Timing chart 20ms 20ms 20ms 10ms 10ms 10ms 10ms 10ms 60ms 60ms SON accepted 1s ON OFF ON OFF ON OFF ON OFF ON OFF Power sypply Base circuit Servo on SON Reset RES Ready RD ...

Страница 11: ...d The polarity of dog detection input can be changed with the parameter Parameter No 8 Polarity of Proximity Dog Detection Input 0 DOG SG are opened 1 initial value DOG SG are shorted Proximity dog DOG 8 DI 1 Zeroing completion ZP 18 ZP SG are connected on completion of zeroing In the absolute position system ZP SG are connected when the servo amplifier is ready to operate but are disconnected if ...

Страница 12: ...G Across LSN SG CCW direction CW direction 1 1 0 1 1 0 0 0 Reverse rotation stroke end LSN 17 Note 0 Open 1 Short DI 1 This signal serves as a forward rotation start signal for the incremental value command system In automatic operation mode the servo motor rotates in the forward rotation direction as soon as ST1 SG are shorted In zeroing mode zeroing starts as soon as ST1 SG are shorted In jog op...

Страница 13: ...normal condition at power off DO 1 Ready RD 19 RS SG are connected when the servo amplifier is ready to operate without failure after servo on DO 1 Override VC 2 10 to 10V is applied to across VC LG to limit the servo motor speed Apply 10 V for 0 override 0 V for 100 or 10 V for 200 Analog input External torque limit TLA 12 0 to 10V is applied to across TLA LG to limit the servo motor generated to...

Страница 14: ...ke is operated to bring the servo motor to a sudden stop Short EMG SG in the emergency stop status to cancel the emergency stop status DI 1 Alarm reset RES Short RES SG to deactivate the alarm If RES SG are shorted in no alarm status the base circuit is not shut off Set 0 in parameter No 55 to shut off the base circuit Some alarms cannot be deactivated by the reset signal Since this device is not ...

Страница 15: ...ge The output is open when zeroing is incomplete or the base circuit is off DO 1 Warning WNG WNG SG are connected when warning occurs Open in normal condition DO 1 Battery warning BWNG BWNG SG are connected when the open battery cable warning A 92 or battery warning A 9F occurs Open in normal condition DO 1 Limiting torque TLC TLC SG are connected when the internally or externally set torque limit...

Страница 16: ...anual zeroing Automatic Manual MD0 ON ON OFF ON Point block No DI0 to DI4 1 to 31 1 to 31 0 Forward rotation start ST1 ON FWD JOG Reverse rotation start ST2 ON REV JOG Note The start signal will respond within 3 ms Servo motor will be stopped and cleared moving remain distance when Automatic Manual signal changed in positioning 5ms 5ms 5ms 5ms ...

Страница 17: ... 4 7k VDD Do not connect VDD COM Note This also applies to the use of the external power supply 2 Digital output interface DO 1 A lamp relay or photocoupler can be driven Provide a diode D for an inductive load or an inrush current suppressing resister R for a lamp load Permissible current 40mA or less inrush current 100mA or less 1 Inductive load For use of internal power supply For use of extern...

Страница 18: ...directions 1mA meter 10k 5 Source input interface When using the input interface of source type all DI 1 input signals are of source type Source output cannot be provided For use of internal power supply For use of external power supply 24VDC SON etc SG Switch Servo amplifier COM VDD R Approx 4 7k Approx 5mA TR Note For a transistor VCES 1 0V ICEO 100 A 24VDC 200mA or more SON etc SG Switch Servo ...

Страница 19: ...Setting Positioning System 0 Absolute value command 1 Incremental value command b Operation system selection parameter No 1 Choose the servo motor rotation direction at the time when the forward rotation start ST1 signal or reverse rotation start ST2 signal is switched on Parameter No 1 Setting Servo Motor Rotation Direction When Forward Rotation Start ST1 Is Switched On 0 CCW rotation with positi...

Страница 20: ...nstantaneous permissible speed of the servo motor Acceleration time constant 0 to 20000 ms Set the acceleration time constant Set the time until the rated speed of the servo motor is reached Deceleration time constant 0 to 20000 ms Set the deceleration time constant Set the time until the servo motor running at rated speed comes to a stop Dwell time 0 to 20000 ms Set the dwell time Set 0 in the au...

Страница 21: ...block No 2 Point block No 3 Servo motor speed ST1 or ST2 Start signal Servo motor speed Position block No 1 Position block No 3 0 In position INP ON OFF Rough match CPO ON OFF Start signal ST1 or ST2 ON OFF Point block No 1 Position block No 2 Dwell time Point block No 1 Dwell time Point table No 2 Point table No 3 Servo motor speed Point block selection No 1 Start signal ST1 or ST2 In position IN...

Страница 22: ... Motor speed Forward rotation start ST1 Reverse rotation start ST2 Point table No No 1 No 2 Point table No 1 Point table No 2 4ms or more 1 5ms or less Note Reverse rotation start ST2 is invalid for absolute value command system ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF Forward rotation Reverse rotation 0r min Note ...

Страница 23: ...ables Using the device forced output from the controller command 9 2 data No 6 0 choose point tables from among No 1 to 31 2 Timing chart Transmission data Servo motor speed 1 Point table No 2 5ms Point table No 1 Point table No 3 4 5 2 4 5 3 4 5 No Transmission Data Command Data No 1 Point table No 2 selection 9 2 6 0 2 Point table No 1 selection 9 2 6 0 3 Point table No 3 selection 9 2 6 0 4 For...

Страница 24: ...nsmission data Servo motor speed 1 2 3 4 5 6 7 Values set with transmission data 1 to 5 are used for operation 5ms 8 No Transmission Data Command Data No 1 Point table No 1 position data write C 0 0 1 2 Point table No 1 speed C 6 0 1 3 Point table No 1 acceleration time constant C 7 0 1 4 Point table No 1 deceleration time constant C 8 0 1 5 Point table No 1 auxiliary function C B 0 1 6 Point tabl...

Страница 25: ...peration mode selection Automatic manual selection signal MDO Open MDO SG OFF Servo motor rotation direction Parameter No 1 Refer to 2 in this section Jog speed Parameter No 13 Set the speed of the servo motor Acceleration deceleration time constant Point table No 1 Use the acceleration deceleration time constants in point table No 1 2 Servo motor rotation direction Servo Motor Rotation Direction ...

Страница 26: ...ion refer to 2 in this section By shorting ST2 SG the servo motor rotates in the reverse direction to ST1 4 Timing chart Servo on SON Ready RD Trouble ALM Automatic manual mode selection MDO In position INP Rough match CPO 100ms Motor speed Forward rotation start ST1 Reverse rotation start ST2 Forward rotation jog Reverse rotation jog ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF Forward rotation Reve...

Страница 27: ... completion of zeroing Stopper time Parameter No 44 Time from when the part makes contact with the stopper to when zeroing data is obtained to output zeroing completion ZP Stopper type zeroing torque limit Parameter No 45 Set the servo motor torque limit value for execution of stopper type zeroing Zeroing acceleration time constant Point table No 1 Use the acceleration time constant of point table...

Страница 28: ...on Positioning operation Test operation Motor less operation Current alarm Last alarm Second alarm in past Third alarm in past Fourth alarm in past Fifth alarm in past Sixth alarm in past Parameter error No MODE button DOWN UP Software version L Software version H Status display Diagnosis Alarm Expansion parameters 3 Parameter No 50 Parameter No 51 Parameter No 89 Parameter No 90 Instantaneous tor...

Страница 29: ... Function selection 1 0002 3 AUT Auto tuning 0105 4 CMX Electronic gear numerator 1 5 CDV Electronic gear denominator 1 6 INP Movement completion output range 100 pulse 7 PG1 Position loop gain 1 36 rad s 8 ZTY Zeroing type 0013 9 ZRF Zeroing speed 500 r min 10 CRF Creep speed 10 r min 11 ZST Zero shift distance 0 Um 12 CRP Rough match output range 0 10STM m 13 JOG JOG speed 100 r min 14 STC S Cur...

Страница 30: ...33 MBR Electromagnetic brake sequence output 100 ms 34 DG2 Ratio of load inertia moment to motor inertia moment 70 0 1 times 35 PG2 Position loop gain 2 35 rad s 36 VG1 Speed loop gain 1 177 rad s 37 VG2 Speed loop gain 2 817 rad s 38 VIC Speed integral compensation 48 ms 39 VDC Speed differential compensation 980 40 OVA 0 41 DSS For manufacture setting 0 42 ZPS Zeroing position data 0 10STM m 43 ...

Страница 31: ...io 100 67 VICB Speed integral compensation changing ratio 100 68 CDP Gain changing selection 0000 69 CDS Gain changing condition 10 70 CDT Gain changing time constant 1 71 VPI 0 ms 72 VLI 10000 pulse 73 ERZ 10 rev 74 ER2 10 rev 75 SRT 100 r min 76 TRT 100 ms 77 DBT For manufacturing setting 100 ms 78 DI0 Input Output device selection CN1A 19 0001 79 DI1 Input device selection 1 CN1A 19 8 0009 80 D...

Страница 32: ...1 Spare do not set 2 MR RB032 3 MR RB12 4 MR RB32 5 MR RB30 6 MR RB50 7 Spare do not set ST1 coordinate system selection 0 Address is incremented in CCW direction 1 Address is incremented in CW direction Feed length multiplication factor STM 0 1 time 1 10 times 2 100 times 3 1000 times SON off EMG off follow up for absolute value Command in incremental system 0 Invalid 1 Valid Selection of command...

Страница 33: ...the settling time increase the set value Set value Response level 1 2 3 4 5 6 7 8 9 A B C D E F Low Response Gain adjustment mode selection For more information refer to Section 7 1 1 Machineresonance Frequencyguideline Gain adjustment mode 0 Description 1 3 Simple manual adjustment 4 Manual adjustment of all gains Interpolation mode Fixes position control gain 1 Auto tuning mode 1 Fixes the load ...

Страница 34: ... Used to set the gain of position loop 1 Increase the gain to improve tracking performance in response to the position command 35 rad s 4 to 2000 8 ZTY Zeroing type Used to set the zeroing system zeroing direction and proximity dog input polarity 0013 0000h to 0117h 9 ZRF Zeroing speed Used to set the motor speed for zeroing 500 r min 0 to Max speed 10 CRF Creep speed Used to set the creep speed a...

Страница 35: ...r Used to alarm history clear 0000 0000h to 1214h 17 MOD For manufacturer setting 0 0 0100 0000h to 4B4Bh RS 422 RS 232C baudrate selection 0 9600 bps 1 19200 bps 2 38400 bps 3 57600 bps 4 4800 bps for MR DP60 Alarm history clear 0 Invalid not cleared 1 Valid cleared When alarm history clear is made valid the Alarm history is cleared at next power on After the alarm history is cleared the setting ...

Страница 36: ... value Write Reference 000A Write Reference 000B Write Reference 000C Write Reference 000E Write 0000 0000h to FFFFh Status display shown at power on 00 Current position 01 Command position 02 Command remaining distance 03 Point table No 04 Cumulative feedback pulses 05 Motor speed 06 Droop pulses 07 Override voltage 08 Limiting torque voltage 09 Regenerative load ratio 0A Effective load ratio 0B ...

Страница 37: ...et Used to set the offset voltage to analog override 0 mV 999 to 999 26 TL0 Torque limit offset Used to set the offset voltage to analog torque limit 0 mV 999 to 999 Expansion parameters 27 ENR Encoder output pulses Used to set the encoder pulses A phase B phase output by the servo amplifier Set the value 4 times greater than the A phase or B phase pulses You can use parameter No 58 to choose the ...

Страница 38: ... and when the base circuit is shut off 100 ms 0 to 1000 34 GD2 Ratio of load inertia moment to motor inertia moment Used to set the ratio of the load inertia moment to the servo motor shaft inertia moment When auto tuning is selected the result of auto tuning is automatically set 70 0 1 times 0 to 3000 35 PG2 Position loop gain 2 Used to set the gain of the position loop Set this parameter to incr...

Страница 39: ...ress increment side software stroke limit The software limit is made invalid if this value is the same as in software limit Set the same sign to parameters No 46 and 47 Setting of different signs will result in a parameter error Set address Upper 3 digits Lower 3 digits Parameter No 47 Parameter No 46 0 10ST M m 999999 to 999999 48 49 LMNSoftware limit Used to set the address decrement side softwa...

Страница 40: ... position Display actual position from power on Automatic operation mode Comman ded position Display commanded position from machine home position Display target position in stop motion Count start from 0 at start signal turned on And display commanded position till target position Current position Display commanded position from machine home position Display target position in stop motion Count s...

Страница 41: ...d 1 Valid 0 0 Protocol checksum selection 0 Yes checksum added 1 No checksum not added Protocol checksum selection 0 With station numbers 1 No station numbers 0 0 1 CCW CW CW CCW Servo motor rotation direction changing Changes the servo motor rotation direction for the input pulse train Set value Servo motor rotation direction At forward rotation pulse input Note At reverse rotation pulse input No...

Страница 42: ...07 Setting value Frequency Invalid 4500 2250 1500 1125 900 750 642 9 08 09 0A 0B 0C 0D 0E 0F 562 5 500 450 409 1 375 346 2 321 4 300 Frequency 10 11 12 13 14 15 16 17 281 3 264 7 250 236 8 225 214 3 204 5 195 7 Frequency 18 19 1A 1B 1C 1D 1E 1F 187 5 180 173 1 166 7 160 1 155 2 150 145 2 Frequency Notch depth selection Setting value Depth Gain Deep Shallow to Setting value Setting value Setting va...

Страница 43: ...ing selection Used to select the gain changing condition 0000 0000h to 0004h 0 Low pass filter selection 0 Valid Automatic adjustment 1 Invalid When you choose valid 2 1 GD2 setting 0 1 VG2 setting 10 bandwidth filter is set automatically Adaptive vibration suppression control selection Choosing valid or held in adaptive vibration suppression control selection makes the machine resonance control f...

Страница 44: ...Used to select the CN1A 19 pin to output or input device 0000 0000h to 0001h 79 DI1 Input device selection 1 Used to select the function of CN1A 8 pin and CN1A 19 pin Setting Input function Setting Input function 00 No function 17 Gain changing selection 01 Forced stop 18 02 Servo on 19 03 Alarm reset 1A 04 FWD stroke limit 1B 05 REV stroke limit 1C 06 FWD rotation start 1D 07 REV rotation start 1...

Страница 45: ...1Fh 82 DI4 Input device selection 4 Used to select the function of CN1B 14 pin and CN1B 15 pin 020B 0000h to 1F1Fh 83 DI5 Input device selection 5 Used to select the function of CN1B 16 pin and CN1B 17 pin 0504 0000h to 1F1F Set to the function of CN1B 7 pin Set to the function of CN1B 5 pin Set to the function of CN1B 9 pin Set to the function of CN1B 8 pin Set to the function of CN1B 15 pin Set ...

Страница 46: ...02 0000h to FFFFh 85 DI7 Input device selection 7 Used to set automatically ON of function device 0000 0000h to FFFFh Forced stop Servo on Reverse stroke limit Forward stroke limit Automatic Manual selection Point table No selection 1 Point table No selection 2 Point table No selection 3 Point table No selection 4 External torque limit selection Proportional control ...

Страница 47: ... 0C In temporally stop 21 0D Moving complete 22 0E Point table output 1 23 0F Point table output 2 24 10 Point table output 3 25 11 Point table output 4 26 12 Point table output 5 27 13 28 14 29 0005 0000h to 1F1Fh 87 DO2 Output device selection 2 Used to select the function of CN1B 6 pin and CN1B 4 pin 0304 0000h to 0F0Fh 88 DO3 Output device selection 3 Used to select the function of CN1B 18 pin...

Страница 48: ...2C RS 422 converter Servo amplifier Servo amplifier To CN3 Axis 1 Station 0 Axis 2 Station 1 Axis 32 Station 31 Unavailable as option To be prepared by customer Servo amplifier To CN3 To CN3 2 Cable connection diagram Wire as shown below RDP RDN SDP SDN GND GND 5 15 9 19 11 1 10 RDP RDN SDP SDN LG LG TRE SD 5 15 9 19 11 1 10 RDP RDN SDP SDN LG LG TRE SD 5 15 9 19 11 1 10 RDP RDN SDP SDN LG LG TRE ...

Страница 49: ...ifier CN3 connector Plate D SUB29 socket for PC 98 compatible controller TXD RXD GND RTS CTS DSR DTR 3 2 5 7 8 6 4 TXD GND RXD GND CN3 connector 2 CN3 connector 1 CN3 connector 12 CN3 connector 11 SD RD SG RS CS 2 3 7 4 5 Note 2 Note 1 3M s CN3 connector Connector 1020 3000VE Shell kit 10320 52F0 008 2 For the PC 98 series The PC 98 series also has the half pitch type 3 15m 590 55inch max in envir...

Страница 50: ... Transfer code Start bit 1 bit Data bit 8 bits Parity bit 1 bit even Stop bit 1 bit Transfer protocol Character system half duplex communication system LSB MSB 0 1 2 3 4 5 7 6 Start Parity Stop Next start 1 frame 11 bits Data 8 2 1 Parameter setting When the RS 422 RS 232C communication function is used to operate the servo choose the communica tion specifications with parameter No 16 1 Communicat...

Страница 51: ... etc to determine the destination servo amplifier of data communication Set the station number to each servo amplifier using the parameter and set the group to each station using the communication command Transmission data is valid for the servo amplifier of the specified station number or group When is set as the station number added to the transmission data the transmission data is made valid fo...

Страница 52: ...e Data Check sum 6 frames data Station number or group Station number or group 3 Recovery of communication status by time out E O T or Controller side Servo side EOT causes the servo to return to the receive neutral status Data 4 frames Data 8 frames or 12 frames or 16 frames Data Choose the data length from among 4 8 12 and 16 frames data length depends on the command ...

Страница 53: ...T d t 0 1 0 1 5 5 E U e u 0 1 1 0 6 6 F V f v 0 1 1 1 7 7 G W g w 1 0 0 0 8 8 H X h x 1 0 0 1 9 9 I Y i y 1 0 1 0 10 J Z j z 1 0 1 1 11 K k 1 1 0 0 12 L l 1 1 0 1 13 M m 1 1 1 0 14 N n 1 1 1 1 15 O _ o DEL 3 Station numbers You may set 32 station numbers from station 0 to station 31 and the JIS8 unit codes are used to specify the stations Station number 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 JIS8 c...

Страница 54: ...ansmitted data C c Checksum error Checksum error occurred in the transmitted data D d Character error Character not existing in the specifications was transmitted E e Command error Command not existing in the specifications was transmitted F f Data No error Data No not existing in the specifications was transmitted Negative response 8 6 Checksum Checksum range Check Checksum range ETX STX or SOH S...

Страница 55: ...ster and slave stations the error code in the response data from the slave station is a negative response code B to F b to f In this case the master station retransmits the message which was sent at the occurrence of the fault Retry operation A communication error occurs if the above operation is repeated and results in the error three or more consecutive times Message Message Message Communicatio...

Страница 56: ...rvo amplifier of station 0 Data Item Value Description Station number 0 Servo amplifier station 0 Command 05 Read command Data No 02 Parameter No 2 Checksum 30H 30H 35H 02H 30H 32H 03H FCH 0 2 STX ETX 5 0 Yes No Yes No No No Yes Yes Yes No 0 0 5 0 2 0 Axis No Command Data No Data Procedure Data make up Checksum calculation and addition Addition of SOH to make up transmission data Data transmission...

Страница 57: ...atio 12 0 1 8 C Instantaneous torque 12 0 1 8 D Within one revolution position 12 0 1 8 E ABS counter 12 0 1 8 F Load inertia moment ratio 12 0 1 9 0 Status display data value and processing information Bus voltage 12 2 Parameter Command 0 5 Command Data No Description Frame Length 0 5 0 0 to 5 A Current value of each parameter Decimal number of data No corresponds to the parameter number 8 3 Exte...

Страница 58: ...t alarm Command 0 2 3 5 Command Data No Description Frame Length 0 2 0 0 Current alarm number 4 Command Data No Description Status Display Item Frame Length 3 5 8 0 Current position 12 3 5 8 1 Command position 12 3 5 8 2 Command remaining distance 12 3 5 8 3 Point table No 12 3 5 8 4 Cumulative feedback pulses 12 3 5 8 5 Motor speed 12 3 5 8 6 Droop pulses 12 3 5 8 7 Override 12 3 5 8 8 Torque lim...

Страница 59: ... 8 4 0 0 F Point table No 15 8 4 0 1 0 Point table No 16 8 4 0 1 F Position data read Point table No 31 8 7 Point table speed data Command 5 0 Command Data No Description Point table No Frame Length 5 0 0 1 Point table No 1 8 5 0 0 2 Point table No 2 8 5 0 0 3 Point table No 3 8 5 0 0 4 Point table No 4 8 5 0 0 5 Point table No 5 8 5 0 0 6 Point table No 6 8 5 0 0 7 Point table No 7 8 5 0 0 8 Poin...

Страница 60: ... table No 15 8 5 4 1 0 Point table No 16 8 5 4 1 F Acceleration time constant read Point table No 31 8 9 Point table deceleration time constant Command 5 8 Command Data No Description Point table No Frame Length 5 8 0 1 Point table No 1 8 5 8 0 2 Point table No 2 8 5 8 0 3 Point table No 3 8 5 8 0 4 Point table No 4 8 5 8 0 5 Point table No 5 8 5 8 0 6 Point table No 6 8 5 8 0 7 Point table No 7 8...

Страница 61: ... F Point table No 15 8 6 0 1 0 Point table No 16 8 6 0 1 F Dwell time read Point table No 31 8 11 Point table auxiliary function Command 6 4 Command Data No Description Point table No Frame Length 6 4 0 1 Point table No 1 8 6 4 0 2 Point table No 2 8 6 4 0 3 Point table No 3 8 6 4 0 4 Point table No 4 8 6 4 0 5 Point table No 5 8 6 4 0 6 Point table No 6 8 6 4 0 7 Point table No 7 8 6 4 0 8 Point ...

Страница 62: ... Setting Range Frame Length 8 4 0 0 to 5 A Each parameter write Decimal number of data No corresponds to the parameter number Depends on the parameter 8 3 External I O signal Command 9 2 Command Data No Description Setting Range Frame Length 9 2 6 0 Communication input device signal 8 4 Alarm history Command 8 2 Command Data No Description Setting Range Frame Length 8 2 2 0 Alarm history clear 1EA...

Страница 63: ...8 C 0 0 F Point table No 15 8 C 0 1 0 Point table No 16 8 C 0 1 F Position data write Point table No 31 8 7 Point table speed data Command C 6 Command Data No Description Point table No Setting Range Frame Length C 6 0 1 Point table No 1 8 C 6 0 2 Point table No 2 8 C 6 0 3 Point table No 3 8 C 6 0 4 Point table No 4 8 C 6 0 5 Point table No 5 8 C 6 0 6 Point table No 6 8 C 6 0 7 Point table No 7 ...

Страница 64: ...table No 15 8 C 7 1 0 Point table No 16 8 C 7 1 F Acceleration time constant write Point table No 31 8 9 Point table deceleration time constant Command C 8 Command Data No Description Point table No Setting Range Frame Length C 8 0 1 Point table No 1 8 C 8 0 2 Point table No 2 8 C 8 0 3 Point table No 3 8 C 8 0 4 Point table No 4 8 C 8 0 5 Point table No 5 8 C 8 0 6 Point table No 6 8 C 8 0 7 Poin...

Страница 65: ...F Point table No 15 8 C A 1 0 Point table No 16 8 C A 1 F Dwell time write Point table No 31 8 11 Point table auxiliary function Command C B Command Data No Description Point table No Setting Range Frame Length C B 0 1 Point table No 1 8 C B 0 2 Point table No 2 8 C B 0 3 Point table No 3 8 C B 0 4 Point table No 4 8 C B 0 5 Point table No 5 8 C B 0 6 Point table No 6 8 C B 0 7 Point table No 7 8 ...

Страница 66: ... LSN 1EA5 4 9 0 1 3 Enables the disabled external output signals DO 1EA5 4 14 Data for test operation mode Command 9 2 A 0 Command Data No Description Setting range Frame length 9 2 0 0 Input signal for test operation 8 9 2 A 0 Forced output from signal pin 8 Command Data No Description Setting range Frame length A 0 1 0 Writes the speed of the test operation mode jog operation positioning operati...

Страница 67: ...a is converted from a hexadecimal number to a decimal number and a decimal point is provided from the decimal point information For the display type of 1 eight character data is used as is How to process receive data 003000000929 to show the status is explained here by way of example Receive data is as follows 0 0 Data 32 bits long represented in hexadecimal Data conversion into display type is re...

Страница 68: ...ows 0 Data is transferred in hexadecimal Decimal point position 0 No decimal point 1 Lower first digit 2 Lower second digit 3 Lower third digit 4 Lower fourth digit 5 Lower fifth digit How to process set data to the value of 15 5 is explained here by way of example Since the decimal point position is the second digit the decimal point data is 2 As the data to be transmitted is a hexadecimal number...

Страница 69: ...isplay type 0 Conversion into decimal required 1 Used unchanged in hexadecimal Decimal point position 0 No decimal point 1 Lower first digit usually not used 2 Lower second digit 3 Lower third digit 4 Lower fourth digit 5 Lower fifth digit 6 Lower sixth digit 2 Status display data clear The cumulative feedback pulse data of the status display is cleared Send this command immediately after reading ...

Страница 70: ...imal point position 0 No decimal point 1 Lower first digit 2 Lower second digit 3 Lower third digit 4 Lower fourth digit 5 Lower fifth digit Display type 0 Used unchanged in hexadecimal 1 Conversion into decimal required Parameter write type 0 Valid after write 1 Valid when power is switched on again after write Read enable disable 0 Read enable 1 Read disable 0 Enable disable information changes ...

Страница 71: ... be written When the data is handled as hexadecimal specify 0 as the decimal point position Write the data after making sure that it is within the upper lower limit value range Read the parameter data to be written confirm the decimal point position and create transmission data to prevent error occurrence On completion of write read the same parameter data to verify that data has been written corr...

Страница 72: ...table selection 4 DI3 3 External torque limit selection TL 13 23 4 Internal torque limit selection TL2 14 24 Temporary stop restart STP 5 Proportion control selection PC 15 25 6 Alarm reset RES 16 Emergency stop EMG 26 7 17 Automatic manual selection MDO 27 Gain changing CDP 8 18 Proximity dog DOG 28 9 19 Point table selection 1 DI0 29 Point table selection 5 DI4 2 External input pin status read R...

Страница 73: ...tation start ST2 22 Point table selection 4 DI3 3 External torque limit selection TL 13 23 4 Internal torque limit selection TL2 14 24 Temporary stop restart STP 5 Proportion control selection PC 15 25 6 Alarm reset RES 16 Emergency stop EMG 26 7 17 Automatic manual selection MDO 27 Gain changing CDP 8 18 Proximity dog DOG 28 9 19 Point table selection 1 DI0 29 Point table selection 5 DI4 4 Extern...

Страница 74: ...1 Point table No output 2 PT1 32 8 12 5 Device ON OFF Each input device can be switched on off However when the device to be switched off exists in the external input signal also switch off that input signal Send command 9 2 data No 6 0 and data Command Data No Set Data 9 2 6 0 See below b31 b0 0 OFF 1 ON b1 Command of each bit is transmitted to the slave station as hexadecimal data bit Signal Nam...

Страница 75: ...32 means A 32 and 00FF A _ no alarm 2 Alarm occurrence time read Read the occurrence time of alarm which occurred in the past The alarm occurrence time corresponding to the data No is provided in terms of the total time beginning with operation start with the minute unit omitted a Transmission Send command 3 3 and data No 2 0 to 2 5 Refer to Section 8 11 1 b Reply The alarm occurrence time is tran...

Страница 76: ...0 0 Alarm No is transferred in decimal For example 0032 means A 32 and 00FF A _ no alarm 2 Read of the status display at alarm occurrence Read the status display data at alarm occurrence When the data No corresponding to the status display item is transmitted the data value and data processing information are sent back a Transmission Send command 3 5 and any of data No 8 0 to 8 E corresponding to ...

Страница 77: ...imal point 1 Lower first digit usually not used 2 Lower second digit 3 Lower third digit 4 Lower fourth digit 5 Lower fifth digit 6 Lower sixth digit 3 Current alarm clear As by the entry of the RES signal reset the servo amplifier alarm to make the servo amplifier ready to operate After removing the cause of the alarm reset the alarm with no command entered Transmission Command Data No Data 8 2 0...

Страница 78: ...rite 1 Valid when power is switched on again after write Read enable disable 0 Read enable 1 Read disable 0 When the enable disable setting is read disable ignore the data part and process it as unreadable 2 Speed data read Read the speed data of the point table a Transmission Transmit command 5 0 and any of data No 0 1 to 1 F corresponding to the point table to be read Refer to Section 8 11 1 b R...

Страница 79: ...le 0 When the enable disable setting is read disable ignore the data part and process it as unreadable 4 Deceleration time constant read Read the deceleration time constant of the point table a Transmission Transmit command 5 8 and any of data No 0 1 to 1 F corresponding to the point table to be read Refer to Section 8 11 1 b Reply The slave station sends back the deceleration time constant of the...

Страница 80: ...e enable disable setting is read disable ignore the data part and process it as unreadable 6 Auxiliary function read Read the auxiliary function of the point table a Transmission Transmit command 6 4 and any of data No 0 1 to 1 F corresponding to the point table to be read Refer to Section 8 11 1 b Reply The slave station sends back the auxiliary function of the requested point table 0 Hexadecimal...

Страница 81: ... EEP ROM fault will occur due to the excess of the permissible EEP ROM write times Write mode 0 EEP ROM RAM write 1 RAM write Decimal point position 0 No decimal point 1 Lower first digit 2 Lower second digit 3 Lower third digit 4 Lower fourth digit 5 Lower fifth digit 6 Lower sixth digit 8 Speed data write Write the speed data of the point table Transmit command C 6 any of data No 0 1 to 1 F corr...

Страница 82: ... changed frequently EEP ROM fault will occur due to the excess of the permissible EEP ROM write times 10 Deceleration time constant write Write the deceleration time constant of the point table Transmit command C 8 any of data No 0 1 to 1 F corresponding to the point table to be written to and the data Refer to Section 8 11 2 Command Data No Data C 8 0 1 to 1 F See below 0 Hexadecimal data Write m...

Страница 83: ...d frequently EEP ROM fault will occur due to the excess of the permissible EEP ROM write times 12 Auxiliary function write Write the auxiliary function of the point table Transmit command C B any of data No 0 1 to 1 F corresponding to the point table to be written to and the data Refer to Section 8 11 2 Command Data No Data C B 0 1 to 1 F See below 0 Hexadecimal data Write mode 0 EEP ROM RAM write...

Страница 84: ...roup c 4 Group d 5 Group e 6 Group f Response command enable Set whether data can be sent back or not in response to the read command of the master station 0 Response disable Data cannot be set back 1 Response enable Data can be set back 2 Group setting read Read the set group designation value from the slave station a Transmission Transmit command 1 F and data No 0 0 Command Data No 1 F 0 0 b Rep...

Страница 85: ...decimal in the servo motor end pulse unit Must be converted into decimal For example data 000186A0 is 100000 pulse in the motor end pulse unit 2 Command unit absolute position Read the absolute position in the command unit a Transmission Send command 0 2 and data No 9 1 Command Data No 0 2 9 1 b Reply The slave station sends back the requested command pulses Absolute value is sent back in hexadeci...

Страница 86: ...85 REVISIONS Print Date Document Revision Editor 02 01 09 BCN B11127 479 First edition H Ogi ...

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