Mitsubishi MR-JE-200A Instruction Manual
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Mitsubishi MR-JE-200A Instruction Manual

Mr-je series general-purpose interface ac servo. positioning mode
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General-Purpose AC Servo
General-Purpose Interface AC Servo
MODEL
MR-JE-_A
SERVO AMPLIFIER
INSTRUCTION MANUAL
(POSITIONING MODE)
C

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Summary of Contents for Mitsubishi MR-JE-200A

  • Page 1 General-Purpose AC Servo General-Purpose Interface AC Servo MODEL MR-JE-_A SERVO AMPLIFIER INSTRUCTION MANUAL (POSITIONING MODE)

  • Page 2: Safety Instructions

    Safety Instructions Please read the instructions carefully before using the equipment. To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the equipment until you have read through this Instruction Manual, Installation guide, and appended documents carefully. Do not use the equipment until you have a full knowledge of the equipment, safety information and instructions.
  • Page 3 1. To prevent electric shock, note the following WARNING Before wiring and inspections, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier.
  • Page 4 4. Additional instructions The following instructions should also be fully noted. Incorrect handling may cause a malfunction, injury, electric shock, fire, etc. (1) Transportation and installation CAUTION Transport the products correctly according to their mass. Stacking in excess of the specified number of product packages is not allowed. Do not hold the lead of the built-in regenerative resistor, cables, or connectors when carrying the servo amplifier.
  • Page 5 (2) Wiring CAUTION Before removing the CNP1 connector of MR-JE-40A to MR-JE-100A, disconnect the lead wires of the regenerative resistor from the CNP1 connector. Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly. Make sure to connect the cables and connectors by using the fixing screws and the locking mechanism. Otherwise, the cables and connectors may be disconnected during operation.
  • Page 6 CAUTION Never adjust or change the parameter values extremely as it will make operation unstable. Do not get close to moving parts during the servo-on status. (4) Usage CAUTION When it is assumed that a hazardous condition may occur due to a power failure or product malfunction, use a servo motor with an external brake to prevent the condition.
  • Page 7 CAUTION Configure an electromagnetic brake circuit which is interlocked with an external emergency stop switch. Contacts must be opened when ALM Contacts must be opened (Malfunction) or MBR (Electromagnetic with the emergency stop switch. brake interlock) turns off. Servo motor 24 V DC Electromagnetic brake To prevent an electric shock, injury, or fire from occurring after an earthquake or other natural disasters,...
  • Page 8 DISPOSAL OF WASTE Please dispose a servo amplifier and other options according to your local laws and regulations. EEP-ROM life The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If the total number of the following operations exceeds 100,000, the servo amplifier may malfunction when the EEP-ROM reaches the end of its useful life.
  • Page 9 «U.S. customary units» U.S. customary units are not shown in this manual. Convert the 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...

  • Page 10: Table Of Contents

    CONTENTS 1. FUNCTIONS AND CONFIGURATION 1- 1 to 1- 8 1.1 For proper use of the positioning mode .................... 1- 1 1.2 Positioning mode specification list ....................1- 2 1.3 Function list ............................1- 4 1.4 Configuration including peripheral equipment .................. 1- 7 2.
  • Page 11 4.4.3 Count type home position return ....................4-51 4.4.4 Data set type home position return ................... 4-53 4.4.5 Stopper type home position return .................... 4-54 4.4.6 Home position ignorance (servo-on position as home position) ..........4-56 4.4.7 Dog type rear end reference home position return ..............4-57 4.4.8 Count type front end reference home position return ...............
  • Page 12 5.5.3 Group specification ........................5-61 5.6 Incremental value command method ....................5-63 5.7 Roll feed mode using the roll feed display function ................. 5-64 5.8 Program setting method ........................5-65 5.8.1 Setting procedure ........................5-65 5.8.2 Window for program edit ......................5-66 5.8.3 Indirect addressing window .......................
  • Page 13 9. OPTIONS AND PERIPHERAL EQUIPMENT 9- 1 to 9- 4 9.1 MR-HDP01 manual 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 .........................

  • Page 14: Functions And Configuration

    1. FUNCTIONS AND CONFIGURATION 1. FUNCTIONS AND CONFIGURATION The following items are the same as MR-JE-_A servo 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 Combinations of servo amplifiers and servo motors MR-JE-_A section 1.4 Model designation...

  • Page 15: Positioning Mode Specification List

    1. FUNCTIONS AND CONFIGURATION 1.2 Positioning mode specification list Only the specifications of the positioning mode are listed here. For other specifications, refer to section 1.3 of "MR-JE-A Servo Amplifier Instruction Manual". Item Description Servo amplifier model MR-JE-_A Positioning by specifying the point table No. (31 points when using the communication function, and 15 Operational specifications points when assigning input signals) (Note 2) Absolute value...
  • Page 16 1. FUNCTIONS AND CONFIGURATION Item Description Each Point table No. input method/position data input method positioning Operates each positioning based on position command and speed command. operation Point table Automatic Varying-speed operation (2 to 31 speeds)/automatic continuous positioning operation (2 to 31 points)/ continuous automatic continuous operation to the point table selected at start/automatic continuous operation to positioning...

  • Page 17: Function List

    1. FUNCTIONS AND CONFIGURATION 1.3 Function list POINT The symbols in the control mode column mean as follows. CP: Positioning mode (point table method) CL: Positioning mode (program method) The following table lists the functions of this servo. For details of the functions, refer to each section indicated in the detailed explanation field.
  • Page 18 1. FUNCTIONS AND CONFIGURATION Control Detailed mode Function Description explanation CP CL Analyzes the frequency characteristic of the mechanical system by simply connecting an MR Configurator2 installed personal computer and the servo Machine analyzer function amplifier. MR Configurator2 is necessary for this function. For roll feed axis, etc.
  • Page 19 1. FUNCTIONS AND CONFIGURATION Control Detailed mode Function Description explanation CP CL This function makes the equipment continue operating even under the condition that an alarm occurs. MR-JE-_A Tough drive function Section 7.3 The tough drive function includes two types: the vibration tough drive and the instantaneous power failure tough drive.

  • Page 20: Configuration Including Peripheral Equipment

    1. FUNCTIONS AND CONFIGURATION 1.4 Configuration including peripheral equipment Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo CAUTION amplifier may cause a malfunction. POINT Equipment other than the servo amplifier and servo motor are optional or recommended products.
  • Page 21 Servo motor 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 supply specifications, refer to section 1.3 of "MR-JE-_A Servo Amplifier Instruction Manual".

  • Page 22: Signals And Wiring

    2. SIGNALS AND WIRING 2. SIGNALS AND WIRING A person who is involved in wiring should be fully competent to do the work. Before wiring, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier.
  • Page 23 2. SIGNALS AND WIRING Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction. CAUTION Before wiring, switch operation, etc., eliminate static electricity. Otherwise, it may cause a malfunction. The following items are the same as MR-JE-_A servo amplifiers.

  • Page 24: I/O Signal Connection Example

    2. SIGNALS AND WIRING 2.1 I/O signal connection example (1) Point table method POINT Assign the following output device to CN1-23 pin with [Pr. PD24]. CN1-23: ZP (Home position return completion) Servo amplifier (Note 6) 24 V DC (Note 4) DOCOM (Note 2) DOCOM...
  • Page 25 2. SIGNALS AND WIRING Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo amplifier to the protective earth (PE) of the cabinet. 2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will malfunction and will not output signals, disabling EM2 (Forced stop 2) and other protective circuits.
  • Page 26 2. SIGNALS AND WIRING (2) Program method POINT Assign the following output device to CN1-23 pin with [Pr. PD24]. CN1-23: ZP (Home position return completion) Servo amplifier (Note 6) 24 V DC (Note 4) DOCOM (Note 2) DOCOM 10 m or shorter Malfunction (Note 5) (Note 6)
  • Page 27 2. SIGNALS AND WIRING Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo amplifier to the protective earth (PE) of the cabinet. 2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will malfunction and will not output signals, disabling EM2 (Forced stop 2) and other protective circuits.

  • Page 28: Connectors And Pin Assignment

    2. SIGNALS AND WIRING 2.2 Connectors and pin assignment POINT The pin assignment of the connectors is as viewed 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 Cable Screw...
  • Page 29 2. SIGNALS AND WIRING The following is the front view of MR-JE-40A or less. For external appearance, connector arrangements, and details of other servo amplifiers, refer to chapter 9 of "MR-JE-_A Servo Amplifier Instruction Manual". CN3 (USB connector) Refer to section 11.4 of "MR-JE-_A Servo Amplifier Instruction Manual".
  • Page 30 2. SIGNALS AND WIRING (Note 2) I/O signals (Note 1) in control modes Pin No. Related parameter (Note 4) (Note 4) PD44 PD03/PD04 PD12 DICOM DICOM DICOM DICOM (Note 7) (Note 7) PD24 PD25 PD14 (Note 3) (Note 3) PC15 (Note 4) (Note 4) PD46...
  • Page 31 2. SIGNALS AND WIRING Note 1. I: input signal, O: output signal 2. CP: Positioning mode (point table method) CL: Positioning mode (program method) 3. TLA will be available when TL (External torque limit selection) is enabled with [Pr. PD04], [Pr. PD12], [Pr. PD14], [Pr. PD18], [Pr. PD20], and [Pr. PD44]. 4.

  • Page 32: Signal (Device) Explanations

    2. SIGNALS AND WIRING 2.3 Signal (device) explanations The connector pin No. column in the table lists the pin Nos. which devices are assigned to by default. For the I/O interfaces (symbols in I/O division column in the table), refer to section 3.9.2 of "MR-JE-_A Servo Amplifier Instruction Manual".
  • Page 33 2. SIGNALS AND WIRING Control Connector mode Device Symbol Function and application pin No. division CP CL Forward rotation CN1-43 To start the operation, turn on LSP and LSN. Turn it off to bring the servo DI-1 stroke end motor to a sudden stop and make it servo-locked. Setting [Pr.
  • Page 34 2. SIGNALS AND WIRING Control Connector mode Device Symbol Function and application pin No. division CP CL Forward rotation CN1-17 Point table method DI-1 start 1. Absolute value command method Turning on ST1 during automatic operation will execute one positioning based on the position data set in the point tables.
  • Page 35 2. SIGNALS AND WIRING Control Connector mode Device Symbol Function and application pin No. division CP CL Temporary stop/ TSTP Turning on TSTP during automatic operation will temporarily stop the DI-1 restart servo motor. Turning on TSTP again will restart. Turning on ST1 (Forward rotation start)/ST2 (Reverse rotation start) during a temporary stop will not rotate the servo motor.
  • Page 36 2. SIGNALS AND WIRING Control Connector mode Device Symbol Function and application pin No. division CP CL Point table No./ CN1-19 Point table method DI-1 program No. Select point tables and home position return mode with DI0 to DI4. selection 1 Point table No./ CN1-41 Device (Note 1)
  • Page 37 2. SIGNALS AND WIRING Control Connector mode Device Symbol Function and application pin No. division CP CL Clear Turn CR on to clear the position control counter droop pulses on its DI-1 leading edge. The pulse width should be 10 ms or longer. The delay amount set in [Pr.
  • Page 38 2. SIGNALS AND WIRING (b) Output device Control Connector mode Device Symbol Function and application pin No. division CP CL Malfunction CN1-48 When an alarm occurs, ALM turns off. DO-1 When an alarm is not occurring, turning on the power will turn on ALM after 4 s to 5 s.
  • Page 39 2. SIGNALS AND WIRING Control Connector mode Device Symbol Function and application pin No. division CP CL Zero speed CN1-23 ZSP turns on when the servo motor speed is at zero speed or less. Zero DO-1 detection speed can be changed with [Pr. PC17]. OFF level 70 r/min 20 r/min...
  • Page 40 2. SIGNALS AND WIRING Control Connector mode Device Symbol Function and application pin No. division CP CL Position end When the droop pulses are within the position end output range set with DO-1 [Pr. PA10] and the command remaining distance is "0", PED turns on. When MEND (Travel completion) is on and ZP (Home position return completion) is on, PED (Position end) turns on.
  • Page 41 2. SIGNALS AND WIRING Control Connector mode Device Symbol Function and application pin No. division CP CL M code 1 (bit 0) MCD00 This device can be used in the point table method. DO-1 This device will be available in the future. M code 2 (bit 1) MCD01 DO-1...
  • Page 42 2. SIGNALS AND WIRING (2) Input signal Control Connector mode Device Symbol Function and application pin No. division CP CL Manual pulse (CN1-10) Connect the manual pulse generator (MR-HDP01). DI-2 generator When using the signal, enable PP and NP with [Pr. PD44] and [Pr. (CN1-35) PD46].
  • Page 43 2. SIGNALS AND WIRING (4) Communication Control Connector mode Device Symbol Function and application pin No. division CP CL RS-422/RS-485 CN3-5 These are terminals for RS-422/RS-485 communication. CN3-4 CN3-3 CN3-6 CN1-31 2 - 22...

  • Page 44: Analog Override

    2. SIGNALS AND WIRING 2.4 Analog override POINT When using the analog override in the point table method or program method, enable OVR (Analog override selection). The following shows functions whether usable or not with the analog override. (1) Analog override usable Automatic operation mode (point table method/program method) JOG operation in the manual operation mode Automatic positioning to home position function in the point table method...
  • Page 45 2. SIGNALS AND WIRING (2) OVR (Analog override selection) Enable or disable VC (Analog override). Servo amplifier Position Analog Speed Servo control override control motor OVR (Analog override selection) VC (Analog override) -10 V to +10 V Select a changed value by using OVR (Analog override selection). (Note) External input signal Speed change value No change...

  • Page 46: Internal Connection Diagram

    2. SIGNALS AND WIRING 2.5 Internal 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 diagram of the point table method. 2 - 25...
  • Page 47 2. SIGNALS AND WIRING Servo amplifier (Note 3) 24 V DC Approx. DOCOM 6.2 kΩ DOCOM (Note 2) (Note 2) Approx. 6.2 kΩ 24 V DC DICOM Approx. DICOM Approx. 100 Ω 1.2 kΩ Approx. 1.2 kΩ (Note 1) Approx. Approx.

  • Page 48: Power-On Sequence

    2. SIGNALS AND WIRING 2.6 Power-on sequence POINT The voltage of analog monitor output, output signal, etc. may be unstable at power-on. (1) Power-on procedure 1) Always use a magnetic contactor for the power supply wiring (L1/L2/L3) as shown in section 3.1 of "MR-JE-_A Servo Amplifier Instruction Manual".
  • Page 49 2. SIGNALS AND WIRING MEMO 2 - 28...

  • Page 50: Display And Operation Sections

    3. DISPLAY AND OPERATION SECTIONS 3. DISPLAY AND OPERATION SECTIONS The following items are the same as MR-JE-_A servo 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 Test operation mode MR-JE-_A section 4.5.9...
  • Page 51 3. DISPLAY AND OPERATION SECTIONS Display mode transition Initial display Function Reference Servo status display. Section 3.1.2 For the point table method and program Status display method, "PoS" is displayed at power-on. MR-JE-_A One-touch tuning Servo Select this when performing the one-touch Amplifier tuning.

  • Page 52: Status Display Mode

    3. DISPLAY AND OPERATION SECTIONS 3.1.2 Status display mode The servo status during operation is shown on the 5-digit, 7-segment LED display. Press the "UP" or "DOWN" button to change the display data as desired. When a servo status is selected, the corresponding symbol is displayed.
  • Page 53 3. DISPLAY AND OPERATION SECTIONS Main axis one cycle current position Cumulative feedback pulses Number of tough drive operations Unit power consumption 1 Servo motor speed (1 W unit) Unit power consumption 2 Droop pulses (1 kW unit) Cumulative command Unit total power consumption 1 pulses (1 Wh unit)
  • Page 54 3. DISPLAY AND OPERATION SECTIONS (2) Status display list The following table lists the servo statuses that may be shown. Control mode Status display Symbol Unit Description (Note 1) Feedback pulses from the servo motor encoder are counted and displayed. The values in excess of ±99999 can be counted.
  • Page 55 3. DISPLAY AND OPERATION SECTIONS Control mode Status display Symbol Unit Description (Note 1) Unit power consumption is displayed by increment of 1 W. Positive value indicates power running, and negative value Unit power consumption 1 indicates regeneration. The values in excess of ±99999 can be (1 W unit) counted.
  • Page 56 3. DISPLAY AND OPERATION SECTIONS Control mode Status display Symbol Unit Description (Note 1) A feed current value during the cam axis control is displayed. μm The values in excess of ±99999 can be counted. However, the (STM-4) inch counter shows only the lower five digits of the actual value since Cam axis feed current CCMd degree...

  • Page 57: Diagnostic Mode

    3. DISPLAY AND OPERATION SECTIONS 3.1.3 Diagnostic mode Diagnosis contents can be displayed on the display. Press the "UP" or "DOWN" button to change the display data as desired. (1) Display transition Sequence Automatic VC offset Drive recorder enabled/ Servo motor series ID disabled display External I/O signal display Servo motor type ID...
  • Page 58 3. DISPLAY AND OPERATION SECTIONS (2) Diagnosis display list Name Display Description Not ready Indicates that the servo amplifier is being initialized or an alarm has occurred. Sequence Ready Indicates that initialization is completed, and the servo amplifier is in servo-on state and ready to operate. Drive recorder enabled When an alarm occurs in this state, the drive recorder will operate and record the status of occurrence.
  • Page 59 3. DISPLAY AND OPERATION SECTIONS Name Display Description Indicates the version of the software. Software version: lower Indicates the system number of the software. Software version: upper If offset voltages in the analog circuits inside and outside the servo amplifier cause the servo motor setting speed not to be the designated value at VC of 0 V, a zero-adjustment of offset voltages will be automatically performed.

  • Page 60: Alarm Mode

    3. DISPLAY AND OPERATION SECTIONS 3.1.4 Alarm mode The current alarm, past alarm history and parameter error are displayed. The lower 2 digits on the display indicate the alarm No. that has occurred or the parameter No. in error. Name Display (Note 1) Description Indicates no occurrence of an alarm.
  • Page 61 3. DISPLAY AND OPERATION SECTIONS The following is additional information of alarm occurrence: (1) The current alarm is displayed in any mode. (2) Even during an alarm occurrence, the other display can be viewed by pressing the button in the operation area.

  • Page 62: Point Table Setting

    3. DISPLAY AND OPERATION SECTIONS 3.1.5 Point table setting You can set the target position, servo motor speed, acceleration time constant, deceleration time constant, dwell, auxiliary function and M code. (1) Display transition Point table transition Setting item transition Point table No. 1 Target position Servo motor speed Point table No.
  • Page 63 3. DISPLAY AND OPERATION SECTIONS (2) Setting list The following point table setting can be displayed. Indication Status display Symbol Unit Description range Specify the point table to set the target position, servo motor speed, Point table No. Po001 acceleration time constant, deceleration time constant, dwell, auxiliary 1 to 31 function and M code.
  • Page 64 3. DISPLAY AND OPERATION SECTIONS (3) Operation method POINT After changing and defining the setting values of the specified point table, the defined setting values of the point table are displayed. To discard the changed setting, press the "MODE" button for 2 s or more. The setting before the change will be displayed.
  • Page 65 3. DISPLAY AND OPERATION SECTIONS (b) Setting of 6 or more digits The following example is the operation method to change the position data of the point table No. 1 to "123456". Press "MODE" four times. ……… A point table No. is displayed. Press "UP"...

  • Page 66: Parameter Mode

    3. DISPLAY AND OPERATION SECTIONS 3.1.6 Parameter mode (1) Parameter mode transition After selecting the corresponding parameter mode with the "MODE" button, pressing the "UP" or "DOWN" button changes the display as shown below. From alarm mode To status display mode MODE Basic setting Gain/filter...
  • Page 67 3. DISPLAY AND OPERATION SECTIONS (b) Parameters of 6 or more digits The following example gives the operation procedure to change the electronic gear numerator to "123456" with [Pr. PA06 Electronic gear numerator]. Press "MODE" to switch to the basic parameter screen. Press "UP"...

  • Page 68: External I/O Signal Display

    3. DISPLAY AND OPERATION SECTIONS 3.1.7 External I/O signal display POINT The I/O signal settings can be changed using I/O setting parameters [Pr. PD04] to [Pr. PD28]. The on/off states of the digital I/O signals connected to the servo amplifier can be confirmed. (1) Operation The display at power-on.

  • Page 69: Output Signal (Do) Forced Output

    3. DISPLAY AND OPERATION SECTIONS 3.1.8 Output signal (DO) forced output POINT When the servo system is used in a vertical lift application, turning on MBR (Electromagnetic brake interlock) by the DO forced output after assigning it to connector CN1 will release the electromagnetic brake, causing a drop. Take drop preventive measures on the machine side.

  • Page 70: Single-Step Feed

    3. DISPLAY AND OPERATION SECTIONS 3.1.9 Single-step feed The test operation mode is designed for checking servo operation. Do not use it CAUTION for actual operation. If the servo motor operates unexpectedly, use EM2 (Forced stop 2) to stop it. POINT MR Configurator2 is required to perform single-step feed.
  • Page 71 3. DISPLAY AND OPERATION SECTIONS (5) Forced stop of the servo motor software Click "Forced Stop" (f) to make an instantaneous 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.

  • Page 72: Teaching Function

    3. DISPLAY AND OPERATION SECTIONS 3.1.10 Teaching function After an operation travels to a target position (MEND (Travel completion) is turned on) with a JOG operation or manual pulse generator operation, pushing the "SET" button of the operation area or turning on TCH (Teach) will import the position data.
  • Page 73 3. DISPLAY AND OPERATION SECTIONS MEMO 3 - 24...

  • Page 74: How To Use The Point Table

    4. HOW TO USE THE POINT TABLE 4. HOW TO USE THE POINT TABLE The following items are the same as MR-JE-_A servo 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 Switching power on for the first time...

  • Page 75: Startup

    4. HOW TO USE THE POINT TABLE 4.1 Startup When executing a test run, follow the notice and procedures in this instruction manual. Otherwise, it may cause a malfunction, damage to the machine, or injury. WARNING Do not operate the switches with wet hands. Otherwise, it may cause an electric shock.

  • Page 76: Stop

    4. HOW TO USE THE POINT TABLE 4.1.2 Stop Turn off SON (Servo-on) after the servo motor has stopped, and then switch the power off. If any of the following situations occurs, the servo amplifier suspends and stops the operation of the servo motor.

  • Page 77: Test Operation

    4. HOW TO USE THE POINT TABLE 4.1.3 Test operation Before starting an actual operation, perform a test operation to make sure that the machine operates normally. Refer to section 4.1 for how to power on and off the servo amplifier. Test operation of the servo In this step, confirm that the servo amplifier and the servo motor operate motor alone in JOG operation...

  • Page 78: Parameter Setting

    4. HOW TO USE THE POINT TABLE 4.1.4 Parameter setting POINT The following encoder cables are of four-wire type. When using any of these encoder cables, set [Pr. PC22] to "1 _ _ _" to select the four-wire type. Incorrect setting will result in [AL.

  • Page 79: Point Table Setting

    4. HOW TO USE THE POINT TABLE 4.1.5 Point table setting Set the data for operation to the point table. The following shows the items to be set. Item Main description Position data Set the position data for movement. Servo motor Set the command speed of the servo motor for execution of positioning.
  • Page 80 4. HOW TO USE THE POINT TABLE Start-up sequence Fault Investigation Possible cause Reference Section Perform a home Servo motor does not Check the on/off status of the LSP, LSN, and ST1 are off. 3.1.7 position return. rotate. input signal with the external I/O signal display.

  • Page 81: Automatic Operation Mode

    4. HOW TO USE THE POINT TABLE 4.2 Automatic operation mode 4.2.1 Automatic operation mode (1) Command method Set point tables in advance, and select any point table by using an input signal or RS-422/RS-485 communication. Start the operation using ST1 (Forward rotation start) or ST2 (Reverse rotation start). Absolute value command method and incremental value command method are available in automatic operation mode.
  • Page 82 4. HOW TO USE THE POINT TABLE a) When using the Rotation direction specifying ([Pr. PT03] = "_ 0 _ _") When the position data of 270.000 degrees is specified, the servo motor rotates in the CCW direction. Target position (270) Current position...
  • Page 83 4. HOW TO USE THE POINT TABLE b) When using the shortest rotation specification ( [Pr. PT03] = _ 1 _ _) When the position data of 270.000 degrees is specified, the servo motor rotates in the CCW direction. Target position (270) Current...
  • Page 84 4. HOW TO USE THE POINT TABLE (b) Incremental value command method As position data, set the travel distance from the current address to the target address. 1) mm, inch, and pulse unit Setting range: 0 to 999999 [×10 μm] (STM = Feed length multiplication [Pr. PT03]) (STM-4) 0 to 999999 [×10 inch] (STM = Feed length multiplication [Pr.
  • Page 85 4. HOW TO USE THE POINT TABLE (2) Point table (a) Point table setting 1 to 31 point tables can be set. To use point table No. 4 to 31, enable DI2 (Point table No. selection 3) to DI4 (Point table No. selection 5) with "Device Setting" on MR Configurator2. Set point tables using MR Configurator2 or the operation section of the servo amplifier.

  • Page 86: Automatic Operation Using Point Table

    4. HOW TO USE THE POINT TABLE 4.2.2 Automatic operation using point table (1) Absolute value command method This method allows to select absolute value command or incremental value command with the auxiliary function of the point table. (a) Point table Set the point table values using MR Configurator2 or the operation section.
  • Page 87 4. HOW TO USE THE POINT TABLE (b) Parameter setting Set the following parameters to perform automatic operation. 1) Command method selection ([Pr. PT01]) Select the absolute value command method as shown below. [Pr. PT01] Absolute value command method 2) Rotation direction selection ([Pr. PA14]) Select the servo motor rotation direction when ST1 (Forward rotation start) is switched on.
  • Page 88 4. HOW TO USE THE POINT TABLE (c) Operation Selecting DI0 to DI4 for the point table and switching on ST1 starts positioning to the position data at the set speed, acceleration time constant and deceleration time constant. At this time, ST2 (Reverse rotation start) is disabled.
  • Page 89 4. HOW TO USE THE POINT TABLE (b) Parameter setting Set the following parameters to perform automatic operation. 1) Command method selection ([Pr. PT01]) Select the incremental value command method as shown below. [Pr. PT01] Incremental value command method 2) Rotation direction selection ([Pr. PA14]) Select the servo motor rotation direction when ST1 (Forward rotation start) or ST2 (Reverse rotation start) is switched on.
  • Page 90 4. HOW TO USE THE POINT TABLE (c) Operation Selecting DI0 to DI4 for the point table and switching on ST1 starts a forward rotation of the motor over the travel distance of the position data at the set speed, acceleration time constant and deceleration time constant.
  • Page 91 4. HOW TO USE THE POINT TABLE (3) Automatic operation timing chart (a) Automatic individual positioning operation 1) Absolute value command method ([Pr. PT01] = _ _ _ 0) While the servo motor is stopped under servo-on state, switching on ST1 (Forward rotation start) starts the automatic positioning operation.
  • Page 92 4. HOW TO USE THE POINT TABLE 2) Absolute value command method ([Pr. PT01] = _ _ _ 1) While the servo motor is stopped under servo-on state, switching on ST1 (Forward rotation start) or ST2 (Reverse rotation start) starts the automatic positioning operation. The following shows a timing chart.
  • Page 93 4. HOW TO USE THE POINT TABLE (b) Automatic continuous positioning operation By merely selecting a point table and switching on ST1 (Forward rotation start) or ST2 (Reverse rotation start), the operation can be performed in accordance with the point tables having consecutive numbers.
  • Page 94 4. HOW TO USE THE POINT TABLE b) Positioning in the reverse direction midway The following shows an operation example with the set values listed in the table below. In this example, point table No. 1 and No. 3 are set to the absolute value command method, and point table No.
  • Page 95 4. HOW TO USE THE POINT TABLE c) Position data in degrees The following shows an operation example with the set values listed in the table below. In this example, point table No. 1, No. 2, and No. 4 are set to the absolute value command method, and point table No.
  • Page 96 4. HOW TO USE THE POINT TABLE 2) Incremental value command method ([Pr. PT01] = _ _ _ 1) The position data of the incremental value command method is the sum of the position data of consecutive point tables. The following shows how to set. Point table setting Dwell Auxiliary function...
  • Page 97 4. HOW TO USE THE POINT TABLE b) Position data in degrees The following shows an operation example with the set values listed in the table below. Acceleration Deceleration M code Point table Position data Servo motor Auxiliary time constant time constant Dwell [ms] [degree]...
  • Page 98 4. HOW TO USE THE POINT TABLE (c) Varying-speed operation By setting the auxiliary function of the point table, the servo motor speed during positioning can be changed. Point tables are used by the number of the set speed. 1) Absolute value command method ([Pr. PT01] = _ _ _ 0) Set "1"...
  • Page 99 4. HOW TO USE THE POINT TABLE a) Positioning in a single direction The following shows an operation example with the set values listed in the table below. In this example, point table No. 1 and No. 3 are set to the absolute value command method, and point table No.
  • Page 100 4. HOW TO USE THE POINT TABLE b) Positioning in the reverse direction midway The following shows an operation example with the set values listed in the table below. In this example, point table No. 1 and No. 3 are set to the absolute value command method, and point table No.
  • Page 101 4. HOW TO USE THE POINT TABLE 2) Absolute value command method ([Pr. PT01] = _ _ _ 1) Setting "1" to the auxiliary function executes positioning at the speed set in the following point table. At this time, the position data selected at start is enabled, and the acceleration/deceleration time constant set in the next and subsequent point tables is disabled.
  • Page 102 4. HOW TO USE THE POINT TABLE Acceleration time constant Deceleration time constant of point table No. 1 (100) of point table No. 1 (150) Speed Speed (1000) Forward Speed Speed (3000) rotation (2000) (500) Servo motor speed 0 r/min Reverse rotation 5.00...
  • Page 103 4. HOW TO USE THE POINT TABLE Operation sequence 1) Starting with point table No. 2 2) Executing point table No. 3 3) Executing point table No. 4 4) Executing again point table No. 2 used at start-up when "8" is set to the auxiliary function of point table No.
  • Page 104 4. HOW TO USE THE POINT TABLE Operation sequence 1) Starting with point table No. 2 2) Executing point table No. 3 3) Executing point table No. 1 when "9" is set to the auxiliary function of point table No. 3 4) Repeating the above execution in the sequence of 1) to 2) to 3) to 1) to 2) to 3) Point table No.
  • Page 105 4. HOW TO USE THE POINT TABLE Operation sequence 1) Starting with point table No. 2 2) Executing point table No. 3 3) Executing point table No. 4 4) Executing again point table No. 2 used at start-up when "10" is set to the auxiliary function of point table No.
  • Page 106 4. HOW TO USE THE POINT TABLE Operation sequence 1) Starting with point table No. 2 2) Executing point table No. 3 3) Executing point table No. 1 when "11" is set to the auxiliary function of point table No. 3 4) Repeating the above execution in the sequence of 1) to 2) to 3) to 1) to 2) to 3) Point table No.
  • Page 107 4. HOW TO USE THE POINT TABLE Operation sequence 1) Starting with point table No. 1 2) Varying the speed and executing point table No. 2 3) Varying the speed and executing point table No. 3 4) Executing point table No. 1 used at start-up in CW direction when "8" is set to the auxiliary function of point table No.
  • Page 108 4. HOW TO USE THE POINT TABLE Operation sequence 1) Starting with point table No. 1 2) Varying the speed and executing point table No. 2 3) Varying the speed and executing point table No. 3 4) Varying the speed, and executing point table No. 1 when "10" is set to the auxiliary function of point table No.
  • Page 109 4. HOW TO USE THE POINT TABLE Operation sequence 1) Starting with point table No. 2 2) Executing point table No. 3 3) Executing again point table No. 2 used at start-up when "8" is set to the auxiliary function of point table No.
  • Page 110 4. HOW TO USE THE POINT TABLE Operation sequence 1) Starting with point table No. 2 2) Executing point table No. 1 when "9" is set to the auxiliary function of point table No. 2 3) Repeating the above execution in the sequence of 1) to 2) to 1) to 2) Point table No.
  • Page 111 4. HOW TO USE THE POINT TABLE Operation sequence 1) Starting with point table No. 1 2) Varying the speed and executing point table No. 2 3) Executing again point table No. 1 used at start-up when "8" is set to the auxiliary function of point table No.
  • Page 112 4. HOW TO USE THE POINT TABLE (e) Temporary stop/restart When TSTP (Temporary stop/restart) is switched on during automatic operation, the servo motor decelerates with the deceleration time constant of the point table being executed, and then stops temporarily. Switching on TSTP (Temporary stop/restart) again starts the servo motor rotation for the remaining travel distance.
  • Page 113 4. HOW TO USE THE POINT TABLE 2) During dwell Point table No. n Point table No. n + 1 Dwell = ta + tb Forward rotation Servo motor speed 0 r/min Reverse rotation No. n Point table ST1 (Forward rotation start) or ST2 (Reverse rotation start) TSTP (Temporary stop/restart) PUS (Temporary stop)
  • Page 114 4. HOW TO USE THE POINT TABLE (g) Using a control unit of "degree" 1) Current position/command position address The current position/command position address is of ring-address type. 359.999 359.999 2) Software limit activation/deactivation setting POINT After changing the "+" or "-" sign of an axis with the software limit activation setting, perform a home position return.
  • Page 115 4. HOW TO USE THE POINT TABLE c) When the software limit is disabled When deactivating the software limit, set the same values to the software limit - ([Pr. PT17] and [Pr. PT18]) and the software limit + ([Pr. PT15] and [Pr. PT16]). Control can be performed independently of the software limit setting.

  • Page 116: Manual Operation Mode

    4. HOW TO USE THE POINT TABLE 4.3 Manual operation mode For the machine adjustment, home position adjustment, and others, positioning to any point is possible using the JOG operation or the manual pulse generator. 4.3.1 JOG operation (1) Setting According to the purpose of use, set input devices and parameters as shown below.
  • Page 117 4. HOW TO USE THE POINT TABLE (4) Timing chart SON (Servo-on) 80 ms RD (Ready) ALM (Malfunction) (Operation mode selection 1) MEND (Travel completion) CPO (Rough match) Forward rotation Servo motor speed 0 r/min Reverse rotation Forward (Forward rotation direction) rotation JOG Reverse (Reverse rotation direction)

  • Page 118: Manual Pulse Generator Operation

    4. HOW TO USE THE POINT TABLE 4.3.2 Manual pulse generator operation (1) Setting POINT To enhance noise tolerance, set "_ 2_ _" to [Pr. PA13] when the command pulse frequency is 500 kpulses/s or less, or set "_3_ _" to [Pr. PA13] when the command pulse frequency is 200 kpulses/s or less.

  • Page 119: Home Position Return Mode

    4. HOW TO USE THE POINT TABLE (3) Manual pulse generator multiplication (a) Using the input signals (devices) for setting In "Device setting" of MR Configurator2, set TP0 (Pulse generator multiplication 1) and TP1 (Pulse generator multiplication 2) to input signals. TP1 (Pulse generator TP0 (Pulse generator Servo motor rotation multiplication...

  • Page 120: Outline Of Home Position Return

    4. HOW TO USE THE POINT TABLE 4.4.1 Outline of home position return A home position return is 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 servo amplifier.
  • Page 121 4. HOW TO USE THE POINT TABLE (2) Parameters for home position return To perform the home position return, set each parameter as follows. (a) Select the home position return type with [Pr. PT04 Home position return type]. [Pr. PT04] Home position return method 0: Dog type (rear-end detection Z-phase reference) 1: Count type (front-end detection Z-phase reference)

  • Page 122: Dog Type Home Position Return

    4. HOW TO USE THE POINT TABLE 4.4.2 Dog type home position return This is a home position return method using a proximity dog. Deceleration starts at the front end of the proximity dog. After the rear end is passed, the position specified by the first Z-phase signal, or the position of the first Z-phase signal shifted by the specified home position shift distance is used as the home position.
  • Page 123 4. HOW TO USE THE POINT TABLE (3) Timing chart (Operation mode selection 1) MEND (Travel completion) CPO (Rough match) (Home position return completion) Deceleration time constant Acceleration time constant Home position Home position return speed shift distance Home position Creep speed Servo motor Forward rotation...

  • Page 124: Count Type Home Position Return

    4. HOW TO USE THE POINT TABLE 4.4.3 Count type home position return For the count type home position return, after the front end of a proximity dog is detected, the position is shifted by the distance set in [Pr. PT09 Travel distance after proximity dog]. Then, the position specified by the first Z-phase signal is used as the home position.
  • Page 125 4. HOW TO USE THE POINT TABLE (2) Timing chart (Operation mode selection 1) MEND (Travel completion) CPO (Rough match) (Home position return completion) Deceleration time constant Home position Acceleration time constant Home position return speed shift distance Home position Creep speed Servo motor Forward rotation...

  • Page 126: Data Set Type Home Position Return

    4. HOW TO USE THE POINT TABLE 4.4.4 Data set type home position return To set an arbitrary position as the home position, use the data set type home position return. The JOG operation, the manual pulse generator operation, and others can be used for the travel. The data set type home position return can be performed at servo-on only.

  • Page 127: Stopper Type Home Position Return

    4. HOW TO USE THE POINT TABLE 4.4.5 Stopper type home position return For the stopper type home position return, the home position is set where the workpiece is pressed against the stopper of the machine by using the JOG operation, the manual pulse generator operation, or others. (1) Device/parameter Set input devices and parameters as follows.
  • Page 128 4. HOW TO USE THE POINT TABLE (2) Timing chart (Operation mode selection 1) MEND (Travel completion) CPO (Rough match) (Home position return completion) Acceleration time Home position return speed Home position return constant Servo motor Forward rotation position data speed 0 r/min 3 ms or shorter...

  • Page 129: Home Position Ignorance (Servo-On Position As Home Position)

    4. HOW TO USE THE POINT TABLE 4.4.6 Home position ignorance (servo-on position as home position) POINT When you perform this home position return, it is unnecessary to switch to the home position return mode. Servo-on position is set as the home position. (1) Device/parameter Set input devices and parameters as follows.

  • Page 130: Dog Type Rear End Reference Home Position Return

    4. HOW TO USE THE POINT TABLE 4.4.7 Dog type rear end reference home position return POINT This home position return method depends on the timing of reading DOG (Proximity dog) that has detected the rear end of a proximity dog. Therefore, when a home position return is performed at a creep speed of 100 r/min, the home position has an error of 200 pulses (for HG series servo motor).
  • Page 131 4. HOW TO USE THE POINT TABLE (2) Timing chart (Operation mode selection 1) MEND (Travel completion) CPO (Rough match) (Home position return completion) Travel distance after proximity dog Deceleration time constant Acceleration time constant Home position return speed Home position shift distance Creep speed Servo motor...

  • Page 132: Count Type Front End Reference Home Position Return

    4. HOW TO USE THE POINT TABLE 4.4.8 Count type front end reference home position return POINT This home position return method depends on the timing of reading DOG (Proximity dog) that has detected the front end of a proximity dog. Therefore, when a home position return is performed with the creep speed of 100 r/min, the home position has an error of 200 pulses (for HG series servo motor).
  • Page 133 4. HOW TO USE THE POINT TABLE (2) Timing chart (Operation mode selection 1) MEND (Travel completion) CPO (Rough match) (Home position return completion) Travel distance after proximity dog Deceleration time constant Acceleration time constant Home position return speed Home position shift distance Creep speed Servo motor...

  • Page 134: Dog Cradle Type Home Position Return

    4. HOW TO USE THE POINT TABLE 4.4.9 Dog cradle type home position return A position, which is specified by the first Z-phase signal after the front end of a proximity dog is detected, is set as the home position. (1) Device/parameter Set input devices and parameters as follows.

  • Page 135: Dog Type Last Z-Phase Reference Home Position Return

    4. HOW TO USE THE POINT TABLE 4.4.10 Dog type last Z-phase reference home position return After the front end of a proximity dog is detected, the position is shifted away from the proximity dog at the creep speed in the reverse direction and then specified by the first Z-phase signal. The position of the first Z- phase signal is set as the home position.
  • Page 136 4. HOW TO USE THE POINT TABLE (2) Timing chart (Operation mode selection 1) MEND (Travel completion) CPO (Rough match) (Home position return completion) Acceleration time Home position return speed constant Deceleration time constant Home position return position data Servo motor Forward rotation speed 0 r/min...

  • Page 137: Dog Type Front End Reference Home Position Return Type

    4. HOW TO USE THE POINT TABLE 4.4.11 Dog type front end reference home position return type POINT This home position return method depends on the timing of reading DOG (Proximity dog) that has detected the front end of a proximity dog. Therefore, when a home position return is performed at a creep speed of 100 r/min, the home position has an error of 200 pulses (for HG series servo motor).
  • Page 138 4. HOW TO USE THE POINT TABLE (2) Timing chart (Operation mode selection 1) MEND (Travel completion) CPO (Rough match) (Home position return completion) Deceleration time constant Acceleration Home position return speed time constant Travel distance after proximity dog Home position shift distance Home position return position data Servo motor Forward rotation...

  • Page 139: Dogless Z-Phase Reference Home Position Return Type

    4. HOW TO USE THE POINT TABLE 4.4.12 Dogless Z-phase reference home position return type A position, which is shifted to by the home position shift distance from a position specified by the Z-phase pulse right after the start of the home position return, is set as the home position. (1) Device/parameter Set input devices and parameters as follows.

  • Page 140: Automatic Retract Function Used For The Home Position Return

    4. HOW TO USE THE POINT TABLE 4.4.13 Automatic retract function used for the home position return For a home position return using a proximity dog, if the home position return starts from or beyond the proximity dog, this function executes the home position return after the position is shifted back to where the home position return is possible.

  • Page 141: Automatic Positioning To Home Position Function

    4. HOW TO USE THE POINT TABLE 4.4.14 Automatic positioning to home position function POINT The automatic positioning to the home position cannot be performed from outside the setting range of position data. In this case, perform the home position return again using the home position return. If the home position is fixed by returning to the home position after the power-on, this function enables a high-speed automatic positioning to the home position.

  • Page 142: Roll Feed Mode Using The Roll Feed Display Function

    4. HOW TO USE THE POINT TABLE 4.5 Roll feed mode using the roll feed display function The roll feed display function changes the display method of the current position and the command position in the status monitor. By using the roll feed display function, the servo amplifier can be used in the roll feed mode. The roll feed mode is compatible with the incremental system.

  • Page 143: Point Table Setting Method

    4. HOW TO USE THE POINT TABLE 4.6 Point table setting method The following shows the setting method of point tables using MR Configurator2. 4.6.1 Setting procedure Click "Positioning-data" in the menu bar, and click "Point Table" in the menu. The following window will be displayed.
  • Page 144 4. HOW TO USE THE POINT TABLE (4) Initial setting of point table data (d) Click "Set to default" to initialize all the data of point table No. 1 to 31. This function also initializes data currently being edited. (5) Verifying point table data (e) Click "Verify"...

  • Page 145: Detailed Setting Window

    4. HOW TO USE THE POINT TABLE 4.6.2 Detailed setting window The position data range and unit can be changed with the detailed setting in the point table window. For the position data range and unit of [Pr. PT01] setting, refer to section 4.2.2. To reflect the setting for the corresponding parameter, click "Update Project"...

  • Page 146: How To Use The Program

    5. HOW TO USE THE PROGRAM 5. HOW TO USE THE PROGRAM The following items are the same as MR-JE-_A servo 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 Switching power on for the first time...

  • Page 147: Power On And Off Procedures

    5. HOW TO USE THE PROGRAM 5.1.1 Power on and off procedures When the servo amplifier is powered on for the first time, the control mode is set to position control mode. (Refer to section 4.2.1 of "MR-JE-_A Servo Amplifier Instruction Manual".) This section provides a case where the servo amplifier is powered on after setting the positioning mode.

  • Page 148: Test Operation

    5. HOW TO USE THE PROGRAM 5.1.3 Test operation Before starting an actual operation, perform a test operation to make sure that the machine operates normally. Refer to section 5.1.1 for how to power on and off the servo amplifier. Test operation of the servo motor In this step, confirm that the servo amplifier and the servo motor operate alone in JOG operation of test...

  • Page 149: Parameter Setting

    5. HOW TO USE THE PROGRAM 5.1.4 Parameter setting POINT The following encoder cables are of four-wire type. When using any of these encoder cables, set [Pr. PC22] to "1 _ _ _" to select the four-wire type. Incorrect setting will result in [AL. 16 Encoder initial communication error 1]. MR-EKCBL30M-L MR-EKCBL30M-H MR-EKCBL40M-H...

  • Page 150: Actual Operation

    5. HOW TO USE THE PROGRAM 5.1.5 Actual operation Start actual operation after confirmation of normal operation by test operation and completion of the corresponding parameter settings. 5.1.6 Troubleshooting at start-up Never adjust or change the parameter values extremely as it will make operation CAUTION unstable.

  • Page 151: Program Operation Method

    5. HOW TO USE THE PROGRAM Start-up sequence Fault Investigation Possible cause Reference Switch on ST1 Servo motor does not Check the on/off status of the LSP, LSN, and ST1 are off. Section (Forward rotation rotate. input signal with the external I/O 3.1.7 start).

  • Page 152: Program Language

    5. HOW TO USE THE PROGRAM 5.2.2 Program language The maximum number of steps of a program is 480. Up to 16 programs can be created; however, the total number of the steps of all programs must be 480 or less. A set program is selectable by using DI0 (Program No.
  • Page 153 5. HOW TO USE THE PROGRAM Indirect Command Name Setting Setting range Unit specification Description (Note 7) The servo motor rotates using the set value as the incremental value. -999999 Incremental MOVA When a negative value is set, the servo motor ×10 μm MOVI...
  • Page 154 5. HOW TO USE THE PROGRAM Indirect Command Name Setting Setting range Unit specification Description (Note 7) The steps between the "FOR (Setting value)" and the "NEXT" commands are repeated for the set number of times. Step FOR (setting Setting "0" repeats the operation endlessly. value) 0, 1 to 10000 times...
  • Page 155 5. HOW TO USE THE PROGRAM Note 1. The "SYNC", "OUTON", "OUTOF", "TRIP", "TRIPI", "COUNT", "LPOS", and "ITP" commands are enabled even during a command output. 2. The "SPN" command is enabled while the "MOV", "MOVA", "MOVI", or "MOVIA" command is executed. The "STA", "STB", "STC", and "STD"...
  • Page 156 5. HOW TO USE THE PROGRAM 1) Program example 1 When executing two operations with the same servo motor speeds, acceleration time constants, and deceleration time constants while the travel commands are different Command Description SPN (1000) Servo motor speed 1000 [r/min] STA (200) Acceleration time constant...
  • Page 157 5. HOW TO USE THE PROGRAM 3) Program example 3 Using the S-pattern acceleration/deceleration time constants reduces abrupt movements at acceleration or deceleration. When the "STD" command is used, [Pr. PC03 S-pattern acceleration/deceleration time constant] does not function. Command Description SPN (1000) Servo motor speed 1000 [r/min]...
  • Page 158 5. HOW TO USE THE PROGRAM The acceleration/deceleration time constants for the preceding "MOVI" command is also applied to those for the "MOVIA" command. Command Name Setting Unit Description Absolute value travel ×10 μm Absolute value travel command (setting value) command MOVA Absolute value continuous...
  • Page 159 5. HOW TO USE THE PROGRAM 1) Program example 1 When using the absolute value travel command under the absolute value command method 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 (500)
  • Page 160 5. HOW TO USE THE PROGRAM (c) Input/output commands (OUTON/OUTOF) and trip point commands (TRIP/TRIPI) POINT Using [Pr. PT23] to [Pr. PT25], you can set the time until OUT1 (Program output 1) to OUT3 (Program output 3) are switched off. The commands are switched off under the following conditions.
  • Page 161 5. HOW TO USE THE PROGRAM 2) Program example 2 Using [Pr. PT23] to [Pr. PT25], you can switch off OUT1 (Program output 1) to OUT3 (Program output 3) automatically. Parameter Name Setting value Description Pr. PT23 OUT1 output setting time Switch off OUT1 200 [ms] later.
  • Page 162 5. HOW TO USE THE PROGRAM 3) Program example 3 When setting the position address where the "OUTON" or "OUTOF" command is executed by using the "TRIP" or "TRIPI" command Command Description SPN (1000) Servo motor speed 1000 [r/min] STA (200) Acceleration time constant 200 [ms] STB (300)
  • Page 163 5. HOW TO USE THE PROGRAM 4) Program example 4 Command Description SPN (500) Servo motor speed 500 [r/min] STA (200) Acceleration time constant 200 [ms] STB (300) Deceleration time constant 300 [ms] MOVI (600) Incremental value travel command 600 [×10 μm] TRIPI (300) Incremental value trip point specification...
  • Page 164 5. HOW TO USE THE PROGRAM 2) Program example 2 Command Description SPN (1000) Servo motor speed 1000 [r/min] STC (20) Acceleration/deceleration time constant 20 [ms] MOVI (1000) Incremental value travel command 1000 [×10 μm] TIM (200) Dwell 1: 200 [ms] OUTON (1) Switch on OUT1 (Program output 1).
  • Page 165 5. HOW TO USE THE PROGRAM 4) Program example 4 Command Description SPN (1000) Servo motor speed 1000 [r/min] STC (20) Acceleration/deceleration time constant 20 [ms] MOVI (1000) Incremental value travel command 1000 [×10 μm] TIM (200) Dwell 200 [ms] OUTON (1) Switch on OUT1 (Program output 1).
  • Page 166 5. HOW TO USE THE PROGRAM 6) Program example 6 Command Description SPN (1000) Servo motor speed 1000 [r/min] STC (20) Acceleration/deceleration time constant 20 [ms] MOVI (1000) Incremental value travel command 1000 [×10 μm] SYNC (1) Suspend the step until PI1 (Program input 1) is switched on. TIM (200) Dwell 200 [ms]...
  • Page 167 5. HOW TO USE THE PROGRAM (e) Interrupt positioning (ITP) POINT For positioning with the ITP command, the stop position varies depending on the servo motor speed when the "ITP" command becomes enabled. In the following cases, the program does not execute the "ITP" command and proceeds to the next step.
  • Page 168 5. HOW TO USE THE PROGRAM 2) Program example 2 When the travel distance set by the "ITP" command is smaller than the travel distance required for deceleration, the actual deceleration time constant becomes smaller than the setting value of the "STB"...
  • Page 169 5. HOW TO USE THE PROGRAM (g) Step repeat instruction (FOR...NEXT) POINT You cannot insert "FOR...NEXT" commands between the "FOR" and "NEXT" commands. The steps between the "FOR (Setting value)" and the "NEXT" commands are repeated for the set number of times. Setting "0" repeats the operation endlessly. For how to stop the program in this status, refer to section 5.2.4 (4).
  • Page 170 5. HOW TO USE THE PROGRAM (h) Number of program executions command (TIMES) A program can be executed repeatedly by setting the number of program executions in the "TIMES (setting value) command" placed at the start of the program. To execute the program one time, the "TIMES"...
  • Page 171 5. HOW TO USE THE PROGRAM (i) Current position latch (LPOS) POINT When the current position is stored using LPS (Current position latch input), the value varies depending on the servo motor speed at switch-on of LPS. The program does not proceed to the next step until LPS (Current position latch input) is switched on.
  • Page 172 5. HOW TO USE THE PROGRAM (j) Indirect specification with general purpose registers (R1-R4, D1-D4) You can indirectly specify the setting values of the "SPN", "STA", "STB", "STC", "STD", "MOV", "MOVI", "MOVA", "MOVIA", "TIM", and "TIMES" commands. The value, which is stored in each general purpose register (R1-R4, D1-D4), is used as the setting value of each command.
  • Page 173 5. HOW TO USE THE PROGRAM (k) Home position return command (ZRT) Performs a home position return. Set the home position with parameters. (Refer to section 5.4.) With the "ZRT" command, the program proceeds to the next step after the home position return completion.
  • Page 174 5. HOW TO USE THE PROGRAM (l) Torque limit value switching (TLP/TLN/TQL) Using the maximum torque as 100.0%, limit the generated torque of the servo motor. 1) Program example Command Description SPN (1500) Servo motor speed 1500 [r/min] STA (100) Acceleration time constant 100 [ms] STB (200)

  • Page 175: Basic Settings Of Signals And Parameters

    5. HOW TO USE THE PROGRAM 5.2.3 Basic settings of signals and parameters (1) Parameter (a) Setting range of the position data The following shows the setting of [Pr. PT01]. [Pr. PT01] Command method Travel command Position data input range Positioning Position data unit command method...
  • Page 176 5. HOW TO USE THE PROGRAM (c) Feed length multiplication ([Pr. PT03]) Set the feed length multiplication factor (STM) of the position data. Position data input range [Pr. PT03] setting [mm] [inch] [degree] (Note) [pulse] (Note) _ _ _ 0 -999.999 to 999.999 -99.9999 to 99.9999 (initial value)

  • Page 177: Timing Chart Of The Program Operation

    5. HOW TO USE THE PROGRAM 5.2.4 Timing chart of the program operation (1) Operation condition The following shows a timing chart when the program below is executed after the home position return completion under the absolute value command method. Program No.
  • Page 178 5. HOW TO USE THE PROGRAM (3) Temporary stop/restart When TSTP is switched on during the automatic operation, deceleration is performed using the deceleration time constant under the executing travel command to make a temporary stop. An operation for the remaining travel distance will be started by switching TSTP off and on (on-edge detection). ST1 (Forward rotation start) does not function even if it is switched on during the temporary stop.

  • Page 179: Manual Operation Mode

    5. HOW TO USE THE PROGRAM 5.3 Manual operation mode For the machine adjustment, home position adjustment, and others, you can shift the position to any position with a JOG operation or manual pulse generator. 5.3.1 JOG operation (1) Setting According to the purpose of use, set input signals and parameters as shown below.

  • Page 180: Manual Pulse Generator Operation

    5. HOW TO USE THE PROGRAM (4) Timing chart SON (Servo-on) RD (Ready) 80 ms ALM (Malfunction) (Operation mode selection 1) (Position end) Forward rotation Servo motor 0 r/min speed Reverse rotation Forward rotation ST1 (Forward rotation start) ST2 (Reverse rotation start) Reverse rotation 5.3.2 Manual pulse generator operation (1) Setting...
  • Page 181 5. HOW TO USE THE PROGRAM (2) Servo motor rotation direction Servo motor rotation direction [Pr. PA14] setting Manual pulse generator Manual pulse generator operation: forward rotation operation: reverse rotation CCW rotation CW rotation CW rotation CCW rotation Forward rotation (CCW) Forward rotation Reverse rotation (CW) (3) Manual pulse generator multiplication...

  • Page 182: Home Position Return Mode

    5. HOW TO USE THE PROGRAM 5.4 Home position return mode POINT Before performing the home position return, make sure that the limit switch operates. Check the home position return direction. An incorrect setting will cause a reverse running. Check the proximity dog input polarity. Otherwise, it may cause an unexpected operation.
  • Page 183 5. HOW TO USE THE PROGRAM (1) Home position return types Select the optimum home position return type according to the machine type or others. Type Home position return method Feature Dog type Deceleration starts from the front end of the Typical home position return method using a proximity dog.
  • Page 184 5. HOW TO USE THE PROGRAM (2) Parameters for home position return To perform the home position return, set each parameter as follows. (a) Select the home position return type with [Pr. PT04 Home position return type]. [Pr. PT04] Home position return method 0: Dog type (rear-end detection Z-phase reference) 1: Count type (front-end detection Z-phase reference) 2: Data set type...

  • Page 185: Dog Type Home Position Return

    5. HOW TO USE THE PROGRAM 5.4.2 Dog type home position return This is a home position return method using a proximity dog. Deceleration starts at the front end of the proximity dog. After the rear end is passed, the position specified by the first Z-phase signal, or the position of the first Z-phase signal shifted by the specified home position shift distance is used as the home position.
  • Page 186 5. HOW TO USE THE PROGRAM (3) Timing chart The following shows a timing chart after a program containing a "ZRT" command is selected. (Operation mode selection 1) MEND (Travel completion) PED (Position end) CPO (Rough match) (Home position return completion) Deceleration time constant Acceleration time constant Home position return speed...

  • Page 187: Count Type Home Position Return

    5. HOW TO USE THE PROGRAM 5.4.3 Count type home position return For the count type home position return, after the front end of the proximity dog is detected, the position is shifted by the distance set in [Pr. PT09 Travel distance after proximity dog]. Then, the position specified by the first Z-phase signal is used as the home position.
  • Page 188 5. HOW TO USE THE PROGRAM (2) Timing chart The following shows a timing chart after a program containing a "ZRT" command is selected. (Operation mode selection 1) MEND (Travel completion) PED (Position end) CPO (Rough match) (Home position return completion) Acceleration time constant Deceleration time constant Home position...

  • Page 189: Data Set Type Home Position Return

    5. HOW TO USE THE PROGRAM 5.4.4 Data set type home position return To set an arbitrary position as the home position, use the data set type home position return. The JOG operation, the manual pulse generator operation, and others can be used for the travel. The data set type home position return can be performed only at servo-on.

  • Page 190: Stopper Type Home Position Return

    5. HOW TO USE THE PROGRAM 5.4.5 Stopper type home position return For the stopper type home position return, the home position is set where the workpiece pressed against the stopper of the machine by using the JOG operation, the manual pulse generator operation, or others. (1) Device/parameter Set input devices and parameters as follows: Item...

  • Page 191: Home Position Ignorance (Servo-On Position As Home Position)

    5. HOW TO USE THE PROGRAM Input device (0: off, 1: on) Limit value status Enabled torque limit value Pr. PT11 > Pr. PT11 Pr. PT11 < Pr. PT11 Pr. PC35 > Pr. PT11 Pr. PT11 Pr. PC35 < Pr. PT11 Pr.

  • Page 192: Dog Type Rear End Reference Home Position Return

    5. HOW TO USE THE PROGRAM 5.4.7 Dog type rear end reference home position return POINT This home position return method depends on the timing of reading DOG (Proximity dog) that has detected the rear end of the proximity dog. Therefore, when a home position return is performed at a creep speed of 100 r/min, the home position has an error of 200 pulses (for HG series servo motor).
  • Page 193 5. HOW TO USE THE PROGRAM (2) Timing chart The following shows a timing chart after a program containing a "ZRT" command is selected. (Operation mode selection 1) MEND (Travel completion) PED (Position end) CPO (Rough match) (Home position return completion) Deceleration time constant Travel distance Acceleration time constant...

  • Page 194: Count Type Front End Reference Home Position Return

    5. HOW TO USE THE PROGRAM 5.4.8 Count type front end reference home position return POINT This home position return method depends on the timing of reading DOG (Proximity dog) that has detected the front end of the proximity dog. Therefore, when a home position return is performed at a creep speed of 100 r/min, the home position has an error of 200 pulses (for HG series servo motor).
  • Page 195 5. HOW TO USE THE PROGRAM (2) Timing chart The following shows a timing chart after a program containing a "ZRT" command is selected. (Operation mode selection 1) MEND (Travel completion) PED (Position end) CPO (Rough match) (Home position return completion) Travel distance Deceleration time constant Acceleration time constant...

  • Page 196: Dog Cradle Type Home Position Return

    5. HOW TO USE THE PROGRAM 5.4.9 Dog cradle type home position return A position, which is specified by the first Z-phase signal after the front end of the proximity dog is detected, is set as the home position. (1) Device/parameter Set input devices and parameters as follows: Item Device/parameter to be used...
  • Page 197 5. HOW TO USE THE PROGRAM (2) Timing chart The following shows a timing chart after a program containing a "ZRT" command is selected. (Operation mode selection 1) MEND (Travel completion) PED (Position end) CPO (Rough match) (Home position return completion) Deceleration time constant Acceleration time constant Home position...

  • Page 198: Dog Type Last Z-Phase Reference Home Position Return

    5. HOW TO USE THE PROGRAM 5.4.10 Dog type last Z-phase reference home position return After the front end of the proximity dog is detected, the position is shifted away from the proximity dog at the creep speed in the reverse direction and then specified by the first Z-phase signal. The position of the first Z- phase signal is set as the home position.
  • Page 199 5. HOW TO USE THE PROGRAM (2) Timing chart The following shows a timing chart after a program containing a "ZRT" command is selected. (Operation mode selection 1) MEND (Travel completion) PED (Position end) CPO (Rough match) (Home position return completion) Acceleration time constant Home position return speed Deceleration time constant...

  • Page 200: Dog Type Front End Reference Home Position Return Type

    5. HOW TO USE THE PROGRAM 5.4.11 Dog type front end reference home position return type POINT This home position return method depends on the timing of reading DOG (Proximity dog) that has detected the front end of the proximity dog. Therefore, when a home position return is performed at a creep speed of 100 r/min, the home position has an error of 200 pulses (for HG series servo motor).
  • Page 201 5. HOW TO USE THE PROGRAM (2) Timing chart The following shows a timing chart after a program containing a "ZRT" command is selected. (Operation mode selection 1) MEND (Travel completion) PED (Position end) CPO (Rough match) (Home position return completion) Deceleration time constant Home position return speed Acceleration...

  • Page 202: Dogless Z-Phase Reference Home Position Return Type

    5. HOW TO USE THE PROGRAM 5.4.12 Dogless Z-phase reference home position return type A position, which is shifted to by the home position shift distance from a position specified by the Z-phase pulse right after the start of the home position return, is set as the home position. (1) Device/parameter Set input devices and parameters as follows: Item...

  • Page 203: Automatic Retract Function Used For The Home Position Return

    5. HOW TO USE THE PROGRAM 5.4.13 Automatic retract function used for the home position return For a home position return using a proximity dog, if the home position return starts from or beyond the proximity dog, this function executes the home position return after the position is shifted back to where the home position return is possible.

  • Page 204: Serial Communication Operation

    5. HOW TO USE THE PROGRAM 5.5 Serial communication operation Using the RS-422 communication function, the servo amplifier can be operated from a controller such as a personal computer. This section explains the data communication procedure. Refer to chapter 10 for details of the connection between the controller and servo amplifier and of communication data.

  • Page 205: Multi-Drop Method (Rs-422 Communication)

    5. HOW TO USE THE PROGRAM 5.5.2 Multi-drop method (RS-422 communication) The RS-422 communication function enables to operate multiple servo amplifiers on the same bus. In this method, set station Nos. to the servo amplifiers so that the controller recognizes which servo amplifier is receiving the data currently being sent.

  • Page 206: Group Specification

    When using multiple servo amplifiers, you can set parameters with commands per group. Up to six groups of a to f can be set. Set groups for each station with the communication commands of Mitsubishi Electric general-purpose AC servo protocol. (1) Group setting example...
  • Page 207 5. HOW TO USE THE PROGRAM (2) Timing chart The following shows a timing chart of operation for each group performed with setting values set in program No. 1. Transmission data Station 0 Servo motor speed Station 1 Servo motor speed Group a Station 2...

  • Page 208: Incremental Value Command Method

    5. HOW TO USE THE PROGRAM 5.6 Incremental value command method When using this servo amplifier in incremental value command method, change the setting of [Pr. PT01]. As position data, set the travel distance from the current address to the target address. The incremental value command method enables infinitely long constant rate of feeding.

  • Page 209: Roll Feed Mode Using The Roll Feed Display Function

    5. HOW TO USE THE PROGRAM (3) Program example Command Description SPN (1000) Servo motor speed 1000 [r/min] STA (200) Acceleration time constant 200 [ms] STB (300) Deceleration time constant 300 [ms] MOVI (1000) Incremental value travel command 1000 [×10 μm] TIM (100) Dwell...

  • Page 210: Program Setting Method

    5. HOW TO USE THE PROGRAM 5.8 Program setting method The following shows the setting method of programs using MR Configurator2. 5.8.1 Setting procedure Click "Positioning-data" in the menu bar and "Program" in the menu. The following window will be displayed. (1) Reading program (a) Click "Read"...

  • Page 211: Window For Program Edit

    5. HOW TO USE THE PROGRAM (7) Reading program file (g) Click "Open" to read the program table data. (8) Saving program file (h) Click "Save As" to save the program table data. (9) Indirect addressing (i) Click "Indirect addressing" to open the indirect addressing window. Refer to section 5.8.3 for details. (10) Updating project (j) Click "Update Project"...

  • Page 212: Indirect Addressing Window

    5. HOW TO USE THE PROGRAM (4) Pasting text (d) Click "Paste" to paste the copied text on the clipboard to a specified place in the program edit area. (5) Ending program data window (e) Click "OK" to execute the edit check. When no error is found in the program, the edit ends and the program data window will be closed.
  • Page 213 5. HOW TO USE THE PROGRAM MEMO 5 - 68...

  • Page 214: Application Of Functions

    6. APPLICATION OF FUNCTIONS 6. APPLICATION OF FUNCTIONS This chapter explains about application of using positioning function of servo amplifier. Note that the number of write times to the Flash-ROM where the cam data is stored is limited to approximately 10000. If the total number of write times CAUTION exceeds 10000, the servo amplifier may malfunction when the Flash-ROM reaches the end of its useful life.

  • Page 215: Simple Cam Function Block

    6. APPLICATION OF FUNCTIONS 6.1.2 Simple cam function block The function block diagram of the simple cam is shown below. Use MR Configurator2 to set the cam data and the cam control data. Cam data and cam control data Electronic gear Cam pattern selection External pulse ([Cam control data No.

  • Page 216: Simple Cam Specification List

    6. APPLICATION OF FUNCTIONS 6.1.3 Simple cam specification list (1) Specification list Item MR-JE-_A Storage area for 8 Kbytes (Flash-ROM) cam data Memory capacity (Note 1) Working area for 8 Kbytes (RAM) (Note 2) cam data Number of registration Max. 8 Comment Max.

  • Page 217: Control Of Simple Cam Function

    6. APPLICATION OF FUNCTIONS 6.1.4 Control of simple cam function The following three cam controls are available by setting the cam data and the cam control data with MR Configurator2. control Description Actual movement method Cam data and cam control data Cam axis one cycle current value (Input)

  • Page 218: Operation In Combination With The Simple Cam

    6. APPLICATION OF FUNCTIONS 6.1.5 Operation in combination with the simple cam (1) Encoder following function The servo amplifier receives A/B-phase output signal from a synchronous encoder and starts the servo motor with the signal. Up to 4 Mpulses/s can be inputted from the synchronous encoder to use with the servo amplifier. MR-JE-A servo amplifier A/B-phase output...
  • Page 219 6. APPLICATION OF FUNCTIONS (3) Mark sensor input compensation function The servo amplifier receives input signals from a mark sensor, calculates compensation amounts, and corrects position errors of the rotary knife axis. MR-JE-A servo amplifier 2) Calculates a compensation amount in the servo amplifier 1) Turns on the cam position compensation request by detection of mark sensor...

  • Page 220: Setting List

    6. APPLICATION OF FUNCTIONS 6.1.6 Setting list (1) List of items set with MR Configurator2 Set the following on the cam setting window of MR Configurator2. Setting item Setting Select a command input method for the cam axis. Main shaft input axis selection Select from "encoder following (external pulse input)"...

  • Page 221: Data To Be Used With Simple Cam Function

    6. APPLICATION OF FUNCTIONS 6.1.7 Data to be used with simple cam function Note that the number of write times to the Flash-ROM where the cam control data and cam data are stored is limited to approximately 10000. If the total number of write times exceeds 10000, the servo amplifier may malfunction when the Flash- CAUTION ROM reaches the end of its useful life.
  • Page 222 6. APPLICATION OF FUNCTIONS Two writing methods are available. Data transmission method (Note) Writing method Description Modbus RTU MR Configurator2 communication Write the cam control data and the cam data to the RAM of the servo amplifier. After writing, the cam control data and the cam data will be reflected.
  • Page 223 6. APPLICATION OF FUNCTIONS The following is a setting example for "cam resolution = 512" in the stroke ratio data type. Stroke ratio [%] (Can be set within the range of -100.000% and 100.000%) Cam axis one cycle length [Cam axis cycle unit] 100.000 (Cam standard position) -100.000...
  • Page 224 6. APPLICATION OF FUNCTIONS 2) Cam standard position The cam standard position is calculated as follows: Cam standard position = The preceding cam standard position + (Cam stroke amount × Stroke ratio at the last point) Cam axis one cycle current value Cam standard Cam standard position (Third cycle)
  • Page 225 6. APPLICATION OF FUNCTIONS 3) Cam data start position This setting is available only for the stroke ratio data type cam data. The cam data position where the "cam axis one cycle current value" becomes "0" can be set as the cam data start position.
  • Page 226 6. APPLICATION OF FUNCTIONS (b) Coordinate data type The following are set in the coordinate data type. Set the following items on the cam setting window of MR Configurator2. When "Cam No." is set to "0", straight-line control is performed so that the stroke ratio at the last point of the cam data becomes 100%.
  • Page 227 6. APPLICATION OF FUNCTIONS 1) Feed current value The feed current value of the cam axis is calculated as follows: Feed current value = Cam standard position + Output value to cam axis one cycle current value When the cam axis one cycle current value is in the middle of the specified stroke ratio data, the intermediate value is calculated using the cam data before and after the value.
  • Page 228 6. APPLICATION OF FUNCTIONS 3) Cam data start position The cam data start position is not used in the coordinate data type. 4) Timing of applying cam control data A new value is applied to "Cam No." when CAMC (Cam control command) turns on. "Cam standard position"...
  • Page 229 6. APPLICATION OF FUNCTIONS Control Initial mode Symbol Name Unit value CP CL For manufacturer setting *MAX Main shaft input axis selection For manufacturer setting MMIX Main shaft input method 0000h For manufacturer setting CLTMD Main shaft clutch control setting 0000h For manufacturer setting CLTSMM...
  • Page 230 6. APPLICATION OF FUNCTIONS Control Initial mode Symbol Name Unit value CP CL CPHV Cam position compensation target position [µm]/ [inch]/ [degree]/ [pulse] CPHT Cam position compensation time constant [ms] Note. The data is updated at cam control switching. (4) Detailed list of cam control data Control Initial No./symbol/...
  • Page 231 6. APPLICATION OF FUNCTIONS Control Initial No./symbol/ Setting mode Function value name digit [unit] CP CL This is enabled when [Cam control data No. 3] is set to "1". Set the initial value of the cam standard position in the output axis position unit. *CIBSS Refer to The unit will be changed to [μm], 10...
  • Page 232 6. APPLICATION OF FUNCTIONS Control Initial No./symbol/ Setting mode Function value name digit [unit] CP CL _ _ _ x Main input method *MMIX 0: Input + Main shaft 1: Input - input method 2: No input _ _ x _ For manufacturer setting _ x _ _ x _ _ _...
  • Page 233 6. APPLICATION OF FUNCTIONS Control Initial No./symbol/ Setting mode Function value name digit [unit] CP CL Set the time to apply the position compensation for the input axis of the cam axis. *CPHT [ms] Cam position compensation Setting range: 0 to 65535 time constant (a) Relation among the main shaft input axis, position data unit, and feed length multiplication setting The parameters used to set the position data unit and feed length multiplication differ depending on...
  • Page 234 6. APPLICATION OF FUNCTIONS (5) Modbus register The following explains the main registers for the Modbus RTU communications used by the simple cam function. Refer to "MR-JE-_A Servo Amplifier Instruction Manual (Modbus RTU communication)" for the registers not described in this section. (a) Related registers Continuous Data...
  • Page 235 6. APPLICATION OF FUNCTIONS 3) Cam axis one cycle length setting (2D84h) Continuous Data No. of points/ read/ Address Name Read/write type No. of Registers continuous write 2D84h One cycle length of CAM axis 4 bytes Write Impossible The cam axis one cycle length can be written in the RAM space in the servo amplifier using the function code "10h"...
  • Page 236 6. APPLICATION OF FUNCTIONS 6) CAM area (2D89h) Continuous Data No. of points/ read/ Address Name Read/write type No. of Registers continuous write 2D89h CAM area 2 bytes Read/write Impossible The storage area of cam data to be read or written can be set using the function code "10h" (Preset Multiple Registers).
  • Page 237 6. APPLICATION OF FUNCTIONS (6) How to use Modbus RTU communication When using cam data for the maximum number of registrations or more, save the cam data in the controller with the following method. By writing the stored cam data from the controller, the user can use the cam data for the maximum number of registrations or more.
  • Page 238 6. APPLICATION OF FUNCTIONS (a) Reading Since cam data is 8 Kbytes, the cam data is divided by 64 bytes and read via Modbus RTU communication. The following shows the procedure for reading cam data with the register addresses 2D88h, 2D89h, and 2D8Bh. Reading starts.

  • Page 239: Function Block Diagram For Displaying State Of Simple Cam Control

    6. APPLICATION OF FUNCTIONS (b) Writing Since cam data is 8 Kbytes, the cam data is divided by 64 bytes and written via Modbus RTU communication. The following shows the procedure for writing cam data with the register addresses 2D88h, 2D89h, and 2D8Bh. Writing starts.

  • Page 240: Operation

    6. APPLICATION OF FUNCTIONS 6.1.9 Operation POINT When using simple cam function, execute operation so that the machine speed of the input axis is less than "([Cam control data No. 48 - Cam axis one cycle length] × 1/2) / 100 [command unit/s]". When [Cam control data No. 30] is set to "1", the unit of the Cam axis length per cycle will be changed to [mm], [inch], [degree], or [pulse] with the setting of [Pr.
  • Page 241 6. APPLICATION OF FUNCTIONS Setting example: When the sheet length is 200.0 mm, the circumferential length of the rotary knife axis (synchronous axis length) is 600.0 mm, and the sheet synchronous width is 10.0 mm Home position Basic settings require to use the simple cam 0°...
  • Page 242 6. APPLICATION OF FUNCTIONS (b) Operation The following table shows an example of the procedure before operation. Step Setting and operation 1. Data setting Refer to the setting example on the previous page and set the data. 2. Initial position adjustment Adjust the synchronous positions of the conveyor axis and rotary knife axis.
  • Page 243 6. APPLICATION OF FUNCTIONS (c) Compensation with mark sensor input This system detects registration marks that have been equally printed on the sheet, and compensates the difference between the actual cam axis one cycle current value and the ideal cam axis one cycle current value (set value of the cam position compensation target position) by shifting the synchronous phase of the rotary knife axis and the conveyor axis.
  • Page 244 6. APPLICATION OF FUNCTIONS (d) Details of cam position compensation POINT Adjust the sensor position and cam position compensation target position so that the sensor position is detected before the cam axis one cycle current value exceeds the cam axis one cycle length. If the sensor position is detected after the cam axis one cycle current value exceeds the cam axis one cycle length, the sheet length may be determined as extremely short, causing a rapid movement such as the cam axis feed current...
  • Page 245 6. APPLICATION OF FUNCTIONS When the sensor detection position is before the target position (CPHV ≥ cpos): ccyl' = CCYL - (CPHV - cpos) CPHV - cpos Sheet Cam axis one cycle current value cpos CPHV ([Cam control data No. 60]) CCYL ([Cam control data No.
  • Page 246 6. APPLICATION OF FUNCTIONS (2) Example of the simultaneous start function with contact input or via the Modbus RTU communication (a) Configuration 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.
  • Page 247 6. APPLICATION OF FUNCTIONS Setting example: When the movable range of the axis 1 (horizontal axis) is 600.0 mm and the axis 2 (vertical axis) is 200.0 mm Axis 1 operation (normal positioning) Execute the simultaneous start Command Axis 1 Set the same point table for the axis with contact input or position...
  • Page 248 6. APPLICATION OF FUNCTIONS Setting example of axis 2 Setting Item Setting value Operation mode selection ([Pr. Select "Point table method". "1006" PA01]) Simple cam function setting ([Pr. Enable the simple cam function. "_ 1 _ _" PT35]) Device setting Assign CAMC (Cam control command input), CAMS (Output in cam control), and Refer to CI0 to CI3 (Cam No.
  • Page 249 6. APPLICATION OF FUNCTIONS «Axis 1/Axis 2» (Operation mode selection 1) SON (Servo-on) Point table No. «Axis 1» (Forward rotation start) 5 ms or longer 3 ms or shorter Forward rotation Point table No. 1 Command speed 0 r/min Reverse rotation Command position «Axis 2»...

  • Page 250: Cam No. Setting Method

    6. APPLICATION OF FUNCTIONS 6.1.10 Cam No. setting method POINT When the cam No. is set to a value other than "0" to "8", [AL. F6.5 Cam No. external error] will occur. If the cam data of a specified cam No. does not exist, [AL.

  • Page 251: Stop Operation Of Cam Control

    6. APPLICATION OF FUNCTIONS 6.1.11 Stop operation of cam control If one of the following stop causes occurs on the output axis during cam control, the cam control stops after the output axis is stopped. (CAMS turns off.) To restart the cam control, adjust the synchronous position of the output axis. Stop cause Command stop processing Remark...
  • Page 252 6. APPLICATION OF FUNCTIONS (2) Deceleration stop The output axis decelerates to stop according to [Pr. PC51 Forced stop deceleration time constant]. After a deceleration stop starts, the cam axis one cycle current value and feed current value are not updated.

  • Page 253: Restart Operation Of Cam Control

    6. APPLICATION OF FUNCTIONS 6.1.12 Restart operation of cam control When the cam control is stopped during operation, a gap is generated in the synchronization between the main shaft and the driven shaft. To solve the gap, return the main shaft and the driven shaft to the synchronization starting point and then start the synchronous operation.

  • Page 254: Cam Axis Position At Cam Control Switching

    6. APPLICATION OF FUNCTIONS 6.1.13 Cam axis position at cam control switching The cam axis position is determined by the positional relationship of three values of "Cam axis one cycle current value", "Cam axis standard position" and "Cam axis feed current value". When the control has been switched to the cam control (CAMC (Cam control command) is on), defining the positions of two of these values restores the position of the remaining one value.
  • Page 255 6. APPLICATION OF FUNCTIONS (1) Cam axis one cycle current value restoration POINT For the cam pattern of to-and-fro control, if no corresponding cam axis one cycle current value is found, [AL. F6.1 Cam axis one cycle current value restoration failed] will occur and cam control cannot be executed.
  • Page 256 6. APPLICATION OF FUNCTIONS (a) Cam pattern of to-and-fro control 1) Searching from "Cam axis one cycle current value = 0" (Cam data start position = 0) Cam axis one cycle current value Search from "Cam axis one cycle current value = 0". Cam axis feed current value (Feed current value) The cam axis one cycle current value is restored with...
  • Page 257 6. APPLICATION OF FUNCTIONS 4) Searching fails Cam axis one cycle current value Cam axis feed current value (Feed current value) When no feed current value that matched is found within one cycle, the restoration fails. Cam standard position (b) Cam pattern of feed control 1) Searching from "Cam axis one cycle current value = 0"...
  • Page 258 6. APPLICATION OF FUNCTIONS 3) Searching from a value in the middle of the cam axis one cycle current value (Cam data start position ≠ 0) Cam axis one cycle current value (Initial setting) Cam axis one cycle current value Search from a value in the Cam axis feed current value middle of the cam axis one...
  • Page 259 6. APPLICATION OF FUNCTIONS (2) Cam standard position restoration If the cam axis position restoration target is set to "Cam standard position restoration" and CAMC (Cam control command) turns on, the "cam standard position" will be restored based on "Cam axis one cycle current value"...
  • Page 260 6. APPLICATION OF FUNCTIONS (3) Cam axis feed current value restoration POINT When the restored cam axis feed current value differs from the feed current value at cam control switching, the cam axis feed current value moves to the value restored just after cam control switching. If the difference between the restored cam axis feed current value and the feed current value is larger than the value set in [Pr.

  • Page 261: Clutch

    6. APPLICATION OF FUNCTIONS 6.1.14 Clutch POINT Use C_CLTC (Clutch command (bit 11 of 2D02h)) to input a clutch command via the Modbus RTU communication. Use S_CLTS (Clutch on/off status (bit 11 of 2D12h)) to read the output status of the clutch on/off status.
  • Page 262 6. APPLICATION OF FUNCTIONS (1) ON control mode (a) "No clutch" When [Cam control data No. 36 - Main shaft clutch control setting] is set to "0 (No clutch)", other clutch parameters are not used due to direct coupled operation. (b) Clutch command ON/OFF Turning on/off CLTC (Clutch command) turns on/off the clutch.

  • Page 263: Cam Position Compensation Target Position

    6. APPLICATION OF FUNCTIONS 6.1.15 Cam position compensation target position Perform compensation to match the cam axis one cycle current value with the cam position compensation target position ([Cam control parameter No. 60]) by inputting a cam position compensation request. C_CPCD (Cam position compensation request)

  • Page 264: Cam Position Compensation Time Constant

    6. APPLICATION OF FUNCTIONS 6.1.16 Cam position compensation time constant POINT Use C_CPCD (Cam position compensation request (bit 13 of 2D02h)) to input a cam position compensation request via the Modbus RTU communication. Use S_CPCC (Cam position compensation execution completed (bit 13 of 2D12h)) to read the output status of Cam position compensation execution completed.

  • Page 265: Mark Detection

    6. APPLICATION OF FUNCTIONS 6.2 Mark detection 6.2.1 Current position latch function POINT The current position latch function can be used with the point table method and the program method. However, the current position latch function is disabled in the following condition. Home position return Manual operation (excluding home position return) The latched actual current position data can be read with communication...
  • Page 266 6. APPLICATION OF FUNCTIONS (2) Reading data (a) Rising latch data or falling latch data (data part) Reads MSD (Mark detection) rising latch data or MSD (Mark detection) falling latch data. 1) Transmission Transmit command [1] [A] and data No. [0] [0] or [0] [1] corresponding to the point tables to read. Refer to section 10.1.1.
  • Page 267 6. APPLICATION OF FUNCTIONS (3) Parameter Set the parameter as follows: Item Parameter to be used Setting Set the mark detection function selection as follows: Mark detection function [Pr. PT26] selection 0 _ _ _: Current position latch function Set the upper limit of the latch data in the current position latch function.
  • Page 268 6. APPLICATION OF FUNCTIONS (4) Latch data range setting The current position is latched only within the range set in [Pr. PC66] to [Pr. PC69]. When a same value is set for the upper and lower limits, the current value will be latched for a whole range.
  • Page 269 6. APPLICATION OF FUNCTIONS (b) Degree unit When the unit is set to "degree", the setting range of the current position latch is from 0 degree (upper limit) to 359.999 degrees (lower limit). When you set a value other than 0 degree to 359.999 degrees in the current position latch +/- [Pr. PC66] to [Pr.
  • Page 270 6. APPLICATION OF FUNCTIONS (5) Timing chart Device rising position data Device falling position data Disabled Disabled 0.4 ms or longer (Note 2) (Note 2) MSD (Mark detection) Within 5 ms (Note 1) MSDH Within 5 ms (Note 1) (Mark detection rising latch (Note 3) Within 3 ms completed)

  • Page 271: Interrupt Positioning Function

    6. APPLICATION OF FUNCTIONS 6.2.2 Interrupt positioning function The interrupt positioning function executes an operation by changing the remaining distance to the travel distance that is set with [Pr. PT31] (Mark sensor stop travel distance) when MSD (Mark detection) is turned on.
  • Page 272 6. APPLICATION OF FUNCTIONS (2) Rotation direction Servo motor rotation direction [Pr. PA14] setting ST1 (Forward rotation start) on CCW rotation with + position data _ _ _ 0 CW rotation with - position data CW rotation with + position data _ _ _ 1 CCW rotation with - position data (3) Operation...
  • Page 273 6. APPLICATION OF FUNCTIONS (b) If the interrupt travel distance is large during acceleration, the servo motor stops with the deceleration time constant after rotating with the command speed at which MSD (Mark detection) turned on. (Operation mode Interrupt positioning travel distance ([Pr. PT30] and [Pr. PT31]) selection 1) Speed when MSD is on Deceleration time constant (Note)
  • Page 274 6. APPLICATION OF FUNCTIONS (5) Using together with other functions Availability of other functions during the interrupt positioning is as follows: Available Function (Note 1) S-pattern acceleration/deceleration Stroke limit Software limit Temporary stop/restart Speed change value Analog override (Note 2) Backlash Rough match Electronic gear...
  • Page 275 6. APPLICATION OF FUNCTIONS MEMO 6 - 62...

  • Page 276: Parameters

    7. PARAMETERS 7. PARAMETERS Never make a drastic adjustment or change to the parameter values as doing so will make the operation unstable. Do not change the parameter settings as described below. Doing so may cause CAUTION an unexpected condition, such as failing to start up the servo amplifier. Changing the values of the parameters for manufacturer setting Setting a value out of the range Changing the fixed values in the digits of a parameter...
  • Page 277 7. PARAMETERS 7.1.1 Basic setting parameters ([Pr. PA_ _ ]) POINT To enable the following parameters in the positioning mode, turn off the power for 1 s or more after setting and turn it on again. However, the time will be longer depending on a setting value of [Pr.

  • Page 278: Gain/Filter Setting Parameters ([Pr. Pb_ _ ])

    7. PARAMETERS 7.1.2 Gain/filter setting parameters ([Pr. PB_ _ ]) Control Initial mode Symbol Name Unit value CP CL PB01 FILT Adaptive tuning mode (adaptive filter II) 0000h Vibration suppression control tuning mode (advanced PB02 VRFT 0000h vibration suppression control II) Position command acceleration/deceleration time constant PB03 [ms]...
  • Page 279 7. PARAMETERS Control Initial mode Symbol Name Unit value CP CL PB47 NHQ3 Notch shape selection 3 0000h PB48 Machine resonance suppression filter 4 4500 [Hz] PB49 NHQ4 Notch shape selection 4 0000h PB50 Machine resonance suppression filter 5 4500 [Hz] PB51 NHQ5...
  • Page 280 7. PARAMETERS 7.1.3 Extension setting parameters ([Pr. PC_ _ ]) POINT To enable the following parameters in the positioning mode, turn off the power for 1 s or more after setting and turn it on again. However, the time will be longer depending on a setting value of [Pr.
  • Page 281 7. PARAMETERS Control Initial mode Symbol Name Unit value CP CL PC15 MOD2 Analog monitor 2 output 0001h PC16 Electromagnetic brake sequence output [ms] PC17 Zero speed [r/min] PC18 *BPS Alarm history clear 0000h PC19 *ENRS Encoder output pulse selection 0000h PC20 *SNO...
  • Page 282 7. PARAMETERS Control Initial mode Symbol Name Unit value CP CL PC66 LPSPL Mark detection range + (lower three digits) [μm]/ (STM-4) [inch]/ [degree]/ [pulse] PC67 LPSPH Mark detection range + (upper three digits) [μm]/ (STM-4) [inch]/ [degree]/ [pulse] PC68 LPSNL Mark detection range - (lower three digits) [μm]/...
  • Page 283 7. PARAMETERS Control Initial mode Symbol Name Unit value CP CL PD01 *DIA1 Input signal automatic on selection 1 0000h PD02 For manufacturer setting 0000h PD03 *DI1L Input device selection 1L 0202h PD04 *DI1H Input device selection 1H 0202h PD05 For manufacturer setting 0000h PD06...
  • Page 284 7. PARAMETERS 7.1.5 Extension setting 2 parameters ([Pr. PE_ _ ]) Control Initial mode Symbol Name Unit value CP CL PE01 For manufacturer setting 0000h PE02 0000h PE03 0000h PE04 PE05 PE06 PE07 PE08 PE09 0000h PE10 0000h PE11 0000h PE12 0000h PE13...
  • Page 285 7. PARAMETERS Control Initial mode Symbol Name Unit value 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 0.00 PE63 0.00 PE64 0.00 7 - 10...
  • Page 286 7. PARAMETERS 7.1.6 Extension setting 3 parameters ([Pr. PF_ _ ]) POINT The following parameters are used for Modbus RTU communication. For details, refer to "MR-JE-_A Servo Amplifier Instruction Manual (Modbus RTU communication)". [Pr. PF45 Function selection F-12] [Pr. PF46 Modbus RTU communication time out selection] Control Initial mode...
  • Page 287 7. PARAMETERS Control Initial mode Symbol Name Unit value CP CL PF44 For manufacturer setting PF45 *FOP12 Function selection F-12 0000h PF46 Modbus RTU communication time out selection PF47 For manufacturer setting 0000h PF48 0000h 7 - 12...
  • Page 288 7. PARAMETERS 7.1.7 Positioning control parameters ([Pr. PT_ _ ]) POINT The following parameters are used for Modbus RTU communication. For details, refer to "MR-JE-_A Servo Amplifier Instruction Manual (Modbus RTU communication)". [Pr. PT45 Home position return type 2] Control Initial mode Symbol...
  • Page 289 7. PARAMETERS Control Initial mode Symbol Name Unit value CP CL PT27 For manufacturer setting 0000h PT28 0000h PT29 *TOP3 Function selection T-3 0000h PT30 MSTL Mark sensor stop travel distance [μm]/ [inch]/ (STM-4) [degree]/ PT31 MSTH [pulse] PT32 For manufacturer setting 0000h PT33 0000h...

  • Page 290: Basic Setting Parameters ([Pr. Pa

    7. PARAMETERS 7.2 Detailed list of parameters POINT Set a value to each "x" in the "Setting digit" columns. 7.2.1 Basic setting parameters ([Pr. PA_ _ ]) Control Initial No./symbol/ Setting mode Function value name digit [unit] CP CL PA01 _ _ _ x Control mode selection *STY Select a control mode.
  • Page 291 7. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] CP CL PA06 Set an electronic gear numerator. (Refer to section 7.3.1.) *CMX To enable the parameter value in the positioning mode, turn off the power for 1 s or more after setting and turn it on again.
  • Page 292 7. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] CP CL PA08 _ _ _ x Gain adjustment mode selection Select the gain adjustment mode. Auto tuning 0: 2 gain adjustment mode 1 (interpolation mode) mode 1: Auto tuning mode 1 2: Auto tuning mode 2 3: Manual mode 4: 2 gain adjustment mode 2...
  • Page 293 7. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] CP CL PA09 Set the auto tuning response. Machine characteristic Machine characteristic Auto tuning Guideline for Guideline for response Setting Setting machine machine value value Response resonance Response resonance frequency frequency...
  • Page 294 7. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] CP CL PA12 You can limit the torque generated by the servo motor. Set this parameter referring 100.0 to section 3.6.1 (5) of "MR-JE-_A Servo Amplifier Instruction Manual". When the torque is outputted with the analog monitor output, the setting of [Pr.
  • Page 295 7. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] CP CL PA13 _ x _ _ Command input pulse train filter selection *PLSS Selecting proper filter enables to enhance noise tolerance. Command 0: Command input pulse train is 4 Mpulses/s or less. pulse input 1: Command input pulse train is 1 Mpulses/s or less.
  • Page 296 7. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] CP CL PA14 Select the servo motor rotation direction when ST1 (Forward rotation start) or ST2 (Reverse rotation start) is switched on. *POL Rotation Servo motor rotation direction direction Setting When positioning address...
  • Page 297 7. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] CP CL PA19 Select a reference range and writing range of the parameter. 00AAh *BLK For the positioning mode, set [Pr. PA19] to "0 0 A B" to enable read/write the positioning control parameters ([Pr.
  • Page 298 7. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] CP CL PA20 Alarms may not be avoided with the tough drive function depending on the situations of the power supply and load fluctuation. *TDS You can assign MTTR (During tough drive) to pins CN1-23, CN1-24, and CN1-49 with [Pr. PD24], [Pr. PD25], and Tough drive [Pr.
  • Page 299 7. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] CP CL PA24 _ _ _ x Vibration suppression mode selection AOP4 0: Standard mode Function 1: 3 inertia mode selection A-4 2: Low response mode When you select the standard mode or low response mode, "Vibration suppression control 2"...

  • Page 300: Gain/Filter Setting Parameters ([Pr. Pb

    7. PARAMETERS 7.2.2 Gain/filter setting parameters ([Pr. PB_ _ ]) Control Initial No./symbol/ Setting mode Function value name digit [unit] CP CL PB01 _ _ _ x Filter tuning mode selection FILT Set the adaptive tuning. Adaptive Select the adjustment mode of the machine resonance suppression filter 1. For tuning mode details, refer to section 7.1.2 of "MR-JE-_A Servo Amplifier Instruction Manual".
  • Page 301 7. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] CP CL PB03 Set the constant of a primary delay to the position command. [ms] You can select a control method from "Primary delay" or "Linear acceleration/deceleration" of "Position acceleration/deceleration filter type selection" Position in [Pr.
  • Page 302 7. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] CP CL PB07 Set the response gain to the target position. 15.0 [rad/s] Increasing the setting value will also increase the response level to the position command but will be liable to generate vibration and noise. Model loop gain For the vibration suppression control tuning mode, the setting range of [Pr.
  • Page 303 7. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] CP CL PB12 Set a viscous friction torque in percentage to the rated torque at servo motor rated speed. When the response level is low, or when the torque is limited, the efficiency of the Overshoot parameter can be lower.
  • Page 304 7. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] CP CL PB17 Set the shaft resonance suppression filter. This is used to suppress a low-frequency machine vibration. Shaft When "Shaft resonance suppression filter selection" is set to "Automatic setting (_ _ _ 0)" in [Pr. PB23], the value resonance will be calculated automatically from the servo motor you use and load to motor inertia ratio.
  • Page 305 7. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] CP CL PB19 Set the vibration frequency for vibration suppression control 1 to suppress low- 100.0 frequency machine vibration. [Hz] VRF11 When "Vibration suppression control 1 tuning mode selection" is set to "Automatic Vibration setting (_ _ _ 1)"...
  • Page 306 7. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] CP CL PB25 _ _ _ x For manufacturer setting *BOP1 _ _ x _ Position acceleration/deceleration filter type selection Function Select the position acceleration/deceleration filter type. selection B-1 0: Primary delay 1: Linear acceleration/deceleration _ x _ _ For manufacturer setting...
  • Page 307 7. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] CP CL PB32 Set the speed integral compensation for when the gain switching is enabled. [ms] VICB When a value less than 0.1 ms is set, the value will be the same as that of [Pr. PB10].
  • Page 308 7. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] CP CL PB45 Set the command notch filter. CNHF _ _ x x Command notch filter setting frequency selection Command Refer to table 7.6 for the relation of setting values to frequency. notch filter _ x _ _ Notch depth selection Refer to table 7.7 for details.
  • Page 309 7. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] CP CL PB46 Set the notch frequency of the machine resonance suppression filter 3. 4500 [Hz] To enable the setting value, set "Machine resonance suppression filter 3 selection" to "Enabled (_ _ _ 1)"...
  • Page 310 7. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] CP CL PB51 Set forms of the machine resonance suppression filter 5. NHQ5 When "Robust filter selection" is set to "Enabled (_ _ _ 1)" in [Pr. PE41], the machine resonance suppression filter 5 is not available.
  • Page 311 7. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] CP CL PB55 Set a damping of the resonance frequency for vibration suppression control 2 to 0.00 suppress low-frequency machine vibration. VRF24 When "Vibration suppression control 2 tuning mode selection" is set to "Automatic Vibration setting (_ _ 1 _)"...

  • Page 312: Extension Setting Parameters ([Pr. Pc

    7. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] CP CL PB59 Set a damping of the resonance frequency for vibration suppression control 2 when 0.00 the gain switching is enabled. VRF24B This parameter will be enabled only when the following conditions are fulfilled. Vibration suppression "Gain adjustment mode selection"...
  • Page 313 7. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] CP CL PC03 This parameter is used to smooth start/stop of the servo motor. [ms] *STC Set the time of the arc part for S-pattern acceleration/deceleration. S-pattern Setting "0" will make it linear acceleration/deceleration. acceleration/ Servo is usually operated with linear acceleration and deceleration;...
  • Page 314 7. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] CP CL PC14 _ _ x x Analog monitor 1 output selection MOD1 Select a signal to output to MO1 (Analog monitor 1). Refer to app. 8.3 of "MR-JE-_A Servo Amplifier Instruction Manual"...
  • Page 315 7. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] CP CL PC18 _ _ _ x Alarm history clear selection *BPS This parameter is used to clear the alarm history. Alarm history 0: Disabled clear 1: Enabled When "Enabled"...
  • Page 316 7. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] CP CL PC21 Select the details of RS-422 communication function. *SOP _ _ _ x For manufacturer setting RS-422 _ _ x _ RS-422 communication baud rate selection communicatio 0: 9600 [bps] n function...
  • Page 317 7. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] CP CL PC30 This parameter is used when a home position return is executed with the program method. Set the acceleration time constant for the home position return. Set an [ms] STA2 acceleration time from 0 r/min to the rated speed.
  • Page 318 7. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] CP CL PC36 _ _ x x Status display selection at power-on *DMD Select a status display shown at power-on. Status display 00: Cumulative feedback pulse selection 01: Servo motor speed 02: Droop pulses 03: Cumulative command pulses 04: Command pulse frequency...
  • Page 319 7. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] CP CL PC38 Set the offset voltage of TLA (Analog torque limit). [mV] Analog torque Setting range: -9999 to 9999 limit offset PC39 Set the offset voltage of MO1 (Analog monitor 1). [mV] Analog monitor 1...
  • Page 320 7. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] CP CL PC54 Set the compensation amount of the vertical axis freefall prevention function. [0.0001 RSUP1 Set the amount in a unit of the servo motor rotation. rev] Vertical axis The servo motor pulls up in a rotation direction of increasing address for the positive freefall...
  • Page 321 7. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] CP CL PC68 Set the lower limit of the mark detection. Upper and lower are a set. Refer to LPSNL Function Mark column Setting address: detection for unit. range - (lower Upper 3 Lower 3...

  • Page 322: I/O Setting Parameters ([Pr. Pd_ _ ])

    7. PARAMETERS 7.2.4 I/O setting parameters ([Pr. PD_ _ ]) Control Initial No./symbol/ Setting mode Function value name digit [unit] CP CL PD01 Select input devices to turn on automatically. *DIA1 _ _ _ x _ _ _ x (BIN): For manufacturer setting Input signal (HEX) _ _ x _ (BIN): For manufacturer setting...
  • Page 323 7. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] CP CL PD01 Convert the setting value into hexadecimal as follows. *DIA1 Input signal automatic on Initial value selection 1 Input device BIN HEX SON (Servo-on) Initial value Input device BIN HEX PC (Proportional control)
  • Page 324 7. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] CP CL PD04 Any input device can be assigned to the CN1-15 pin. *DI1H _ _ x x Not used with the positioning mode. Input device x x _ _ Positioning mode - Device selection selection 1H Refer to table 7.9 for settings.
  • Page 325 7. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] CP CL PD14 Any input device can be assigned to the CN1-41 pin. *DI6H _ _ x x Not used with the positioning mode. Input device x x _ _ Positioning mode - Device selection selection 6H Refer to table 7.9 in [Pr.
  • Page 326 7. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] CP CL PD24 _ _ x x Device selection *DO2 Any output device can be assigned to the CN1-23 pin. Output device Refer to table 7.10 for settings. selection 2 _ x _ _ For manufacturer setting x _ _ _...
  • Page 327 7. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] CP CL PD28 _ _ x x Device selection *DO6 Any output device can be assigned to the CN1-49 pin. Output device Refer to table 7.10 in [Pr. PD24] for settings. selection 6 _ x _ _ For manufacturer setting...
  • Page 328 7. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] CP CL PD31 _ _ _ x For manufacturer setting *DOP2 _ _ x _ Function _ x _ _ selection D-2 x _ _ _ Mark detection fast input signal filter selection 0: Standard 0.166 [ms] 1: 0.055 [ms] 2: 0.111 [ms]...
  • Page 329 7. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] CP CL PD34 _ _ _ x Alarm code output *DOP5 Select an alarm code output. Function When an alarm occurs, the alarm code is outputted to CN1-23, CN1-24, and CN1-49 selection D-5 pins.
  • Page 330 7. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] CP CL PD41 Select input devices to turn on automatically. *DIA3 _ _ _ x _ _ _ x (BIN): MD1 (operation mode selection 2) Input signal 0: Disabled (Use for an external input signal.) (HEX) automatic on 1: Enabled (automatic on)
  • Page 331 7. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] CP CL PD42 Select input devices to turn on automatically. *DIA4 _ _ _ x For manufacturer setting Input signal _ _ x _ automatic on _ x _ _ _ _ _ x (BIN): DI0 (Point table No./program No.

  • Page 332: Extension Setting 2 Parameters ([Pr. Pe_ _ ])

    7. PARAMETERS 7.2.5 Extension setting 2 parameters ([Pr. PE_ _ ]) Control Initial No./symbol/ Setting mode Function value name digit [unit] CP CL PE41 _ _ _ x Robust filter selection EOP3 0: Disabled Function 1: Enabled selection E-3 When "Enabled" is set, the machine resonance suppression filter 5 that is set in [Pr. PB51] is not available.

  • Page 333: Extension Setting 3 Parameters ([Pr. Pf

    7. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] CP CL PE50 Set the lost motion compensation non-sensitive band. When the fluctuation of droop pulses equals to or less than the setting value, the speed will be "0".The setting unit LMCT [pulse]/ can be changed in [Pr.
  • Page 334 7. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] CP CL PF25 Set the time until the occurrence of [AL. 10.1 Voltage drop in the power]. [ms] CVAT When "instantaneous power failure tough drive selection" is set to "Disabled (_ 0 _ _)"...

  • Page 335: Positioning Control Parameters ([Pr. Pt

    7. PARAMETERS 7.2.7 Positioning control parameters ([Pr. PT_ _ ]) Control Initial No./symbol/ Setting mode Function value name digit [unit] CP CL PT01 _ _ _ x Positioning command method selection *CTY 0: Absolute value command method Command 1: Incremental value command method mode _ _ x _ For manufacturer setting selection...
  • Page 336 7. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] CP CL PT04 _ _ _ x Home position return method *ZTY 0: Dog type (rear end detection, Z-phase reference) Home 1: Count type (front end detection, Z-phase reference) position 2: Data set type return type...
  • Page 337 7. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] CP CL PT09 Set a travel distance after proximity dog at home position return for the count type, dog type rear end reference, count type front end reference, and dog type front end Refer to reference.
  • Page 338 7. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] CP CL PT17 Set an address decreasing side of the software stroke limit. Upper and lower are a set. Refer to LMNL Function Software limit column Setting address: for unit.
  • Page 339 7. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] CP CL PT21 Set an address decreasing side of the position range output address. Upper and lower are a set. Set a range which POT (Position range) turns on with [Pr. Refer to *LNPL PT19] to [Pr.
  • Page 340 7. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] CP CL PT26 _ _ _ x Electronic gear fraction clear selection *TOP2 0: Disabled Function 1: Enabled selection T-2 Selecting "Enabled" will clear a fraction of the previous command by the electronic gear at start of the automatic operation.
  • Page 341 7. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] CP CL PT29 Set a polarity of DOG, SIG, PI1, PI2, and PI3. *TOP3 _ _ _ x _ _ _ x (BIN): DOG (Proximity dog) polarity selection Function (HEX) 0: Dog detection with off...
  • Page 342 7. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] CP CL PT30 Set a mark sensor stop travel distance. Upper and lower are a set. Refer to MSTL Function When MSD (Mark detection) is on, the remaining distance will be changed to the Mark sensor column travel distance that is set with this parameter.
  • Page 343 7. PARAMETERS Control Initial No./symbol/ Setting mode Function value name digit [unit] CP CL PT41 _ _ _ x Home position return inhibit selection 0: Disabled (home position return allowed) Home 1: Enabled (home position return inhibited) position Selecting "1" for this digit will disable the home position return regardless of turning return inhibit on ST1 in the home position return mode.

  • Page 344: How To Set The Electronic Gear

    7. PARAMETERS 7.3 How to set the electronic gear (1) Setting [mm], [inch], or [pulse] with "Position data unit" of [Pr. PT01]. Adjust [Pr. PA06] and [Pr. PA07] to match the servo amplifier setting with the travel distance of the machine.

  • Page 345: Software Limit

    7. PARAMETERS 7.4 Software limit The limit stop with the software limit ([Pr. PT15] to [Pr. PT18]) is the same as the motion of the stroke end. Exceeding a setting range will stop and servo-lock the shaft. This will be enabled at power-on and will be disabled at home position return.

  • Page 346: Stop Method For Lsp (Forward Rotation Stroke End) Off Or Lsn (Reverse Rotation Stroke End) Off

    7. PARAMETERS 7.5 Stop method for LSP (Forward rotation stroke end) off or LSN (Reverse rotation stroke end) off Select a servo motor stop method for when LSP (Forward rotation stroke end) or LSN (Reverse rotation stroke end) is off with the first digit of [Pr. PD30]. [Pr.

  • Page 347: Stop Method At Software Limit Detection

    7. PARAMETERS 7.6 Stop method at software limit detection Select a stop method of the servo motor for when a software limit ([Pr. PT15] to [Pr. PT18]) is detected with the setting of the third digit in [Pr. PD30]. The software limit limits a command position controlled in the servo amplifier.

  • Page 348: Troubleshooting

    8. TROUBLESHOOTING 8. TROUBLESHOOTING POINT Refer to "MELSERVO-JE Servo Amplifier Instruction Manual (Troubleshooting)" for details of alarms and warnings. As soon as an alarm occurs, turn SON (Servo-on) off and interrupt the power. [AL. 37 Parameter error] and warnings (except [AL. F0 Tough drive warning]) are not recorded in the alarm history.

  • Page 349: Alarm List

    8. TROUBLESHOOTING 8.2 Alarm list Alarm Stop Alarm code deactivation Detail method Name Detail name ACD2 ACD1 ACD0 (Note 2, Alarm Power reset cycling (Bit 2) (Bit 1) (Bit 0) 10.1 Voltage drop in the power Undervoltage 10.2 Bus voltage drop 12.1 RAM error 1 12.2...
  • Page 350 8. TROUBLESHOOTING Stop Alarm Alarm code deactivation Detail method Name Detail name ACD2 ACD1 ACD0 (Note 2, Alarm Power reset cycling (Bit 2) (Bit 1) (Bit 0) 19.1 Flash-ROM error 1 19.2 Flash-ROM error 2 Memory error 3 (Flash-ROM) 19.4 Flash-ROM error 4 19.5 Flash-ROM error 5...
  • Page 351 8. TROUBLESHOOTING Stop Alarm Alarm code deactivation Detail method Name Detail name ACD2 ACD1 ACD0 (Note 2, Alarm Power reset cycling (Bit 2) (Bit 1) (Bit 0) SSCNET receive error Continuous communication data 36.1 error 37.1 Parameter setting range error Parameter error 37.2 Parameter combination error...
  • Page 352 8. TROUBLESHOOTING Stop Alarm Alarm code deactivation Detail method Name Detail name ACD2 ACD1 ACD0 (Note 2, Alarm Power reset cycling (Bit 2) (Bit 1) (Bit 0) USB communication USB communication time-out time-out error/serial 8A.1 error/serial communication time- communication time- out error out error/Modbus RTU Modbus RTU communication time-...

  • Page 353: Warning List

    8. TROUBLESHOOTING 8.3 Warning list Stop Detail method Name Detail name (Note 2, 90.1 Home position return incomplete Home position return Home position return abnormal 90.2 incomplete warning termination 90.5 Z-phase unpassed Servo amplifier Main circuit device overheat overheat warning 91.1 warning (Note 1)
  • Page 354 8. TROUBLESHOOTING Stop Detail method Name Detail name (Note 2, Servo-on signal on during main E9.1 circuit off Bus voltage drop during low speed Main circuit off warning E9.2 operation Ready-on signal on during main E9.3 circuit off Overload warning 2 EC.1 Overload warning 2 Output watt excess...
  • Page 355 8. TROUBLESHOOTING MEMO 8 - 8...

  • Page 356: Options And Peripheral Equipment

    9. OPTIONS AND PERIPHERAL EQUIPMENT 9. OPTIONS AND PERIPHERAL EQUIPMENT Before connecting options and peripheral equipment, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Otherwise, an electric WARNING shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier.

  • Page 357: Mr-Hdp01 Manual Pulse Generator

    9. OPTIONS AND PERIPHERAL EQUIPMENT 9.1 MR-HDP01 manual pulse generator POINT When using an MR-HDP01, set [Pr. PA13 Command pulse input form] to "_ 2 _ 2" or "_ 3 _ 2". Configure MR-HDP01 with sink interface. You can operate servo motors by using MR-HDP01 manual pulse generator. A multiplication to pulse signals which MR-HDP01 generates with external input signals can be changed with TP0 (Manual pulse generator multiplication 1) and TP1 (Manual pulse generator multiplication 2).
  • Page 358 9. OPTIONS AND PERIPHERAL EQUIPMENT (3) Terminal assignment Signal name Description +5 to +5 to 12 V Power supply input 12 V Common for power and signal A-phase output pulse B-phase output pulse (4) Mounting [Unit: mm] Panel cut 3-φ4.8 Equal intervals (5) Dimensions...
  • Page 359 9. OPTIONS AND PERIPHERAL EQUIPMENT MEMO 9 - 4...

  • Page 360: Communication Function (Mitsubishi Electric General-Purpose Ac Servo Protocol)

    Current alarm MR-JE-_A section 12.5.11 Software version MR-JE-_A section 12.5.12 POINT Creating and reading programs are not available with Mitsubishi Electric general-purpose AC servo protocol (RS-422 communication). Use MR Configurator2. 10.1 Command and data No. list POINT Even if a command or data No. is the same between different model servo amplifiers, its description may differ.

  • Page 361: Reading Command

    10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL) 10.1.1 Reading command (1) Status display (command [0] [1]) Control Frame mode Command Data No. Description Status display length CP CL [0] [1] [0] [0] Status display symbol and unit Cumulative feedback pulses...
  • Page 362 10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL) Control Frame mode Command Data No. Description Status display length CP CL [0] [1] [8] [0] Status display data value and Cumulative feedback pulses processing information [8] [1] Servo motor speed...
  • Page 363 10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL) (2) Parameter (command [0] [4], [1] [5], [1] [6], [1] [7], [0] [8], and [0] [9]) Control Frame mode Command Data No. Description length CP CL [0] [4] [0] [1] Parameter group reading 0000: Basic setting parameters ([Pr.
  • Page 364 10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL) (4) Current position latch display (command [1] [A]) Control Frame mode Command Data No. Description length CP CL [1] [A] [0] [0] MSD (Mark detection) rising latch data (data part) [0] [1]...
  • Page 365 10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL) (7) Status display at alarm occurrence (command [3] [5]) Control Frame mode Command Data No. Description Status display length CP CL [3] [5] [0] [0] Status display symbol and unit Cumulative feedback pulses...
  • Page 366 10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL) Control Frame mode Command Data No. Description Status display length CP CL [3] [5] [8] [0] Status display data value and Cumulative feedback pulses processing information [8] [1] Servo motor speed...
  • Page 367 10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL) (8) Point table setting data (command [4] [0], [4] [5], [5] [0], [5] [4], [5] [8], [6] [0], [6] [4]) Control Frame mode Command Data No. Description length CP CL [4] [0]...
  • Page 368 10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL) (12) Number of general purpose register (command [6] [F]) Control Frame mode Command Data No. Description length CP CL [6] [F] [0] [0] Reading the number of general purpose register (Rx)

  • Page 369: Writing Commands

    10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL) 10.1.2 Writing commands (1) Status display (command [8] [1]) Control Frame mode Command Data No. Description Setting range length CP CL [8] [1] [0] [0] Deleting status display data 1EA5 (2) Parameter (command [9] [4], [8] [5])
  • Page 370 10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL) (6) I/O device prohibition (command [9] [0]) Control Frame mode Command Data No. Description Setting range length CP CL [9] [0] [0] [0] Turns off the input devices except EM2, LSP and LSN,...
  • Page 371 10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL) (8) Test operation mode data (command [9] [2], [A] [0]) Control Frame mode Command Data No. Description Setting range length CP CL [9] [2] [0] [0] to [0] [2] Input signal for test operation Refer to section 14.5.7 of "MR-...
  • Page 372 10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL) (9) Point table setting data (command [C] [0], [C] [2], [C] [6], [C] [7], [C] [8], [C] [A], [C] [B]) Control Frame mode Command Data No. Description Setting range length CP CL...

  • Page 373: Detailed Explanations Of Commands

    10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL) 10.2 Detailed explanations of commands 10.2.1 External I/O signal status (DIO diagnosis) (1) Reading input device status The current input device status can be read. (a) Transmission Transmit command [1] [2] + data No. [0] [0] to [0] [2].
  • Page 374 10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL) (2) Reading external input pin status Reads the on/off statuses of the external input pins. (a) Transmission Transmit command [1] [2] + data No. [4] [0]. Command Data No. [1] [2]...
  • Page 375 10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL) (3) Reading the status of input devices switched on with communication Reads the on/off statuses of the input devices switched on with communication. (a) Transmission Transmit command [1] [2] + data No. [6] [0] to [6] [2].
  • Page 376 10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL) (4) Reading external output pin status Reads the on/off statuses of the external output pins. (a) Transmission Transmit command [1] [2] + data No. [C] [0]. Command Data No. [1] [2]...
  • Page 377 10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL) (5) Reading output device status Reads the on/off statuses of the output devices. (a) Transmission Transmit command [1] [2] + data No. [8] [0] to [8] [3]. Command Data No. [1] [2]...

  • Page 378: Input Device On/Off

    10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL) 10.2.2 Input device on/off POINT The on/off status of all devices in the servo amplifier are the status of the data received at last. Therefore, when there is a device which must be kept on, transmit data which turns the device on every time.

  • Page 379: Input Device On/Off (For Test Operation)

    10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL) 10.2.3 Input device on/off (for test operation) Each input devices can be turned on/off for test operation. However, when the device to be switched off is in the external input signal, also switch off the input signal.

  • Page 380: Test Operation Mode

    10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL) 10.2.4 Test operation mode POINT The test operation mode is for checking an operation. Do not use it for an actual operation. If communication stops for 0.5 s or longer during the test operation, the servo motor decelerates to a stop, resulting in servo-lock.
  • Page 381 10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL) (2) Single-step feed Set each value of target point tables for the single-step feed before executing single-step feed. Transmit command and data No. to execute single-step feed. Start Select the single-step feed Command: [8] [B] in the test operation mode.

  • Page 382: Output Signal Pin On/Off (Output Signal (Do) Forced Output)

    10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL) 10.2.5 Output signal pin on/off (output signal (DO) forced output) In the test operation mode, the output signal pins can be turned on/off regardless of the servo status. Disable the external input signals in advance with command [9] [0].

  • Page 383: Point Table

    10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL) 10.2.6 Point table (1) Reading data (a) Position data Reads position data of point tables. 1) Transmission Transmits the command [4] [0] + the data No. [0] [1] to [1] [F] corresponding to the point tables to read.
  • Page 384 10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL) (c) Acceleration time constant Reads acceleration time constant of point tables. 1) Transmission Transmits the command [5] [4] + the data No. [0] [1] to [1] [F] corresponding to the point tables to read.
  • Page 385 10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL) (e) Dwell Reads dwell of point tables. 1) Transmission Transmits the command [6] [0] + the data No. [0] [1] to [1] [F] corresponding to the point tables to read. Refer to section 10.1.1.
  • Page 386 10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL) (g) M code Reads M code of point tables. M code will be available in the future. 1) Transmission Transmits the command [4] [5] + the data No. [0] [1] to [1] [F] corresponding to the point tables to read.
  • Page 387 10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL) (2) Writing data If setting values need to be changed with a high frequency (i.e. once or more per hour), write the setting values to the RAM, not to the EEP-ROM. The EEP-ROM...
  • Page 388 10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL) (b) Speed data Writes speed data of point tables. Transmits the command [C] [6] + the data No. [0] [1] to [1] [F] corresponding to the point tables to write. Refer to section 10.1.1.
  • Page 389 10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL) (d) Deceleration time constant Writes deceleration time constant of point tables. Transmits the command [C] [8] + the data No. [0] [1] to [1] [F] corresponding to the point tables to write.
  • Page 390 10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL) (f) Auxiliary function Writes auxiliary function of point tables. Transmits the command [C] [B] + the data No. [0] [1] to [1] [F] corresponding to the point tables to write. Refer to section 10.1.1.
  • Page 391 10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL) MEMO 10 - 32...
  • Page 392 REVISIONS *The manual number is given on the bottom left of the back cover. Revision Date *Manual Number Revision May. 2015 SH(NA)030150ENG-A First edition Dec. 2016 SH(NA)030150ENG-B The details of the simple cam function are added. 3. To prevent injury, note the Partially changed.
  • Page 393 This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.
  • Page 394 MELSERVO is a 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 respective companies.
  • Page 395 (1) Damages caused by any cause found not to be the responsibility of Mitsubishi. (2) Loss in opportunity, lost profits incurred to the user by Failures of Mitsubishi products. (3) Special damages and secondary damages whether foreseeable or not, compensation for accidents, and compensation for damages to products other than Mitsubishi products.
  • Page 396 MR-JE-A MODEL INSTRUCTIONMANUAL(ITIGIME) MODEL 1CW707 CODE HEAD OFFICE: TOKYO BLDG MARUNOUCHI TOKYO 100-8310 This Instruction Manual uses recycled paper. SH(NA)030150ENG-C(1708)MEE Printed in Japan Specifications are subject to change without notice.

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