Mitsubishi Electric MELSERVO-JE Instruction Manual
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Mitsubishi Electric MELSERVO-JE Instruction Manual

Mitsubishi Electric MELSERVO-JE Instruction Manual

General-purpose ac servo, ethernet interface, servo amplifier, profile mode
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General-Purpose AC Servo
Ethernet Interface
MODEL
MR-JE-_C
SERVO AMPLIFIER
INSTRUCTION MANUAL
(PROFILE MODE)
C

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Summary of Contents for Mitsubishi Electric MELSERVO-JE

  • Page 1 General-Purpose AC Servo Ethernet Interface MODEL MR-JE-_C SERVO AMPLIFIER INSTRUCTION MANUAL (PROFILE MODE)
  • Page 2 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 3. To prevent injury, note the following CAUTION Only the power/signal specified in the Instruction Manual must be supplied/applied to each terminal. Otherwise, an electric shock, fire, injury, etc. may occur. Connect cables to the correct terminals. Otherwise, a burst, damage, etc. may occur. Ensure that polarity (+/-) is correct.
  • Page 5 CAUTION The servo amplifier must be installed in a metal cabinet. When fumigants that contain halogen materials such as fluorine, chlorine, bromine, and iodine are used for disinfecting and protecting wooden packaging from insects, they cause malfunction when entering our products.
  • Page 6 CAUTION Configure a circuit to turn off EM2 or EM1 when the power supply is turned off to prevent an unexpected restart of the servo amplifier. To prevent malfunction, avoid bundling power lines (input/output) and signal cables together or running them in parallel to each other.
  • Page 7 (5) Corrective actions CAUTION Ensure safety by confirming the power off, etc. before performing corrective actions. Otherwise, it may cause an accident. If it is assumed that a power failure, machine stoppage, or product malfunction may result in a hazardous situation, use a servo motor with an electromagnetic brake or provide an external brake system for holding purpose to prevent such hazard.
  • Page 8 Relevant manuals Manual name Manual No. MELSERVO MR-JE-_C Servo Amplifier Instruction Manual SH(NA)030257ENG MELSERVO-JE Servo Amplifier Instruction Manual (Troubleshooting) SH(NA)030166ENG MELSERVO MR-JE-_C Servo Amplifier Instruction Manual (Positioning Mode) SH(NA)030277ENG MELSERVO MR-JE-_C Servo Amplifier Instruction Manual (Network) SH(NA)030256ENG...
  • Page 9 «Cables used for wiring» Wires mentioned in this Instruction Manual are selected based on the ambient temperature of 40 °C. «U.S. customary units» U.S. customary units are not shown in this manual. Convert the values if necessary according to the following table.

  • Page 10: Table Of Contents

    CONTENTS 1. FUNCTIONS AND CONFIGURATION 1- 1 to 1- 4 1.1 Profile mode specification list ......................1- 2 2. SIGNALS AND WIRING 2- 1 to 2- 6 2.1 I/O signal connection example ......................2- 3 2.2 Connectors and pin assignment ....................... 2- 4 2.3 Signal (device) explanations ......................
  • Page 11 6. SERVO MOTOR DRIVING 6- 1 to 6-44 6.1 Homing mode (hm) ........................... 6- 1 6.1.1 Function description ........................6- 1 6.1.2 Related objects/registers......................6- 2 6.1.3 Directions for use ........................6- 9 6.2 Profile position mode (pp) ........................ 6-32 6.2.1 Function description ........................

  • Page 12: Functions And Configuration

    1. FUNCTIONS AND CONFIGURATION 1. FUNCTIONS AND CONFIGURATION This instruction manual describes the items required for using the MR-JE-_C servo amplifier in the profile mode. For details of the objects/registers and communication, refer to "MR-JE-_C Servo Amplifier Instruction Manual (Network)". The items shown in the following table are the same with the contents of "MR-JE-_C Servo Amplifier Instruction Manual”.

  • Page 13: Profile Mode Specification List

    1. FUNCTIONS AND CONFIGURATION 1.1 Profile mode specification list Only the specifications of the profile mode are listed here. For other specifications, refer to section 1.3 of "MR-JE-_C Servo Amplifier Instruction Manual". Item Description Servo amplifier model MR-JE-_C Set with objects/registers. Command position range Setting range of feed length: -999999 to 999999 [pulse], Setting range of rotation angle: -360.000 to 360.000 [degree]...
  • Page 14 1. FUNCTIONS AND CONFIGURATION Item Description Homing on negative Same as the dog cradle type home position return. Note that if the stroke end is detected during home switch and index home position return, [AL. 90 Home position return incomplete warning] occurs. pulse (method 6) Homing on home...
  • Page 15 1. FUNCTIONS AND CONFIGURATION MEMO 1 - 4...

  • Page 16: Signals And Wiring

    2. SIGNALS AND WIRING 2. SIGNALS AND WIRING Any 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 of the servo amplifier is off. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, be sure to look at the lamp from the front of the servo amplifier.
  • Page 17 2. SIGNALS AND WIRING Connect the servo amplifier power output (U/V/W) to the servo motor power input (U/V/W) directly. Do not connect a magnetic contactor and others between them. Otherwise, it may cause a malfunction. Servo amplifier Servo motor Servo amplifier Servo motor CAUTION Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo...

  • Page 18: I/O Signal Connection Example

    2. SIGNALS AND WIRING 2.1 I/O signal connection example Servo amplifier 24 V DC (Note 4, 11) DOCOM (Note 2) Malfunction (Note 6) 10 m or less Encoder Z-phase pulse (Note 9) (open collector) (Note 8) Power supply In-position Forced stop2 (Note 3) Forward rotation stroke end (Note 5)

  • Page 19: Connectors And Pin Assignment

    2. SIGNALS AND WIRING 2.2 Connectors and pin assignment For the pins which are given parameters in the related parameter column, their devices can be changed using those parameters. I/O signals in control modes (Note 2) Pin No. Related parameter (Note 1) pp/pv/tq PD07...

  • Page 20: Signal (Device) Explanations

    2. SIGNALS AND WIRING 2.3 Signal (device) explanations For details of the devices and I/O interfaces (symbols in I/O division column in the table) not described in the table, refer to sections 3.5 and 3.9 in "MR-JE-_C Servo Amplifier Instruction Manual". Connector Device Symbol...
  • Page 21 2. SIGNALS AND WIRING MEMO 2 - 6...

  • Page 22: Startup

    3. STARTUP 3. STARTUP The items shown in the following table are the same with the contents of "MR-JE-_C Servo Amplifier Instruction Manual”. For details, refer to each section indicated in the detailed explanation field. "MR-JE-_C" means "MR-JE-_C Servo Amplifier Instruction Manual". Item Detailed explanation Switching power on for the first time...
  • Page 23 Note 1. This is for CC-Link IE Field Network Basic. If an error occurs, RX (n + 3) F is set to "0" (cyclic communication ready turns off). 2. Refer to "MELSERVO-JE Servo Amplifier Instruction Manual (Troubleshooting)" for details of alarms and warnings.

  • Page 24: Parameters

    4. PARAMETERS 4. 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 an unexpected condition, such as failing to start up the servo amplifier. Changing the values of the parameters for manufacturer setting CAUTION Setting a value out of the range...
  • Page 25 4. PARAMETERS 4.1.1 Basic setting parameters ([Pr. PA_ _ ]) POINT The following parameters cannot be used in the profile mode. [Pr. PA05 Number of command input pulses per revolution] [Pr. PA13 Command pulse input form] Initial Detailed Symbol Name Unit value explanation...
  • Page 26 4. PARAMETERS 4.1.2 Gain/filter setting parameters ([Pr. PB_ _ ]) Initial Detailed Symbol Name Unit value explanation PB01 FILT Adaptive tuning mode (adaptive filter II) 0000h MR-JE-_C PB02 VRFT Vibration suppression control tuning mode (advanced vibration 0000h suppression control II) PB03 Position command acceleration/deceleration time constant (position [ms]...
  • Page 27 4. PARAMETERS Initial Detailed Symbol Name Unit value explanation PB48 Machine resonance suppression filter 4 4500 [Hz] MR-JE-_C PB49 NHQ4 Notch shape selection 4 0000h PB50 Machine resonance suppression filter 5 4500 [Hz] PB51 NHQ5 Notch shape selection 5 0000h PB52 VRF21 Vibration suppression control 2 - Vibration frequency...
  • Page 28 4. PARAMETERS 4.1.3 Extension setting parameters ([Pr. PC_ _ ]) POINT The following parameters cannot be used in the profile mode. [Pr. PC04 Torque command time constant] [Pr. PC05 Internal speed command 1/internal speed limit 1] [Pr. PC06 Internal speed command 2/internal speed limit 2] [Pr.
  • Page 29 4. PARAMETERS Initial Detailed Symbol Name Unit value explanation PC25 *COP4 Function selection C-4 0000h Section 4.2.2 PC26 *COP5 Function selection C-5 0000h MR-JE-_C PC27 *COP6 Function selection C-6 0000h PC28 For manufacturer setting 0000h PC29 *COP8 Function selection C-8 0120h Section 4.2.2 PC30...
  • Page 30 4. PARAMETERS Initial Detailed Symbol Name Unit value explanation PC75 FEWL Following error output level 0000h [degree]/ Section 4.2.2 [pulse] PC76 FEWH 00C0h PC77 FEWF Following error output filtering time [ms] PC78 For manufacturer setting 0000h MR-JE-_C PC79 0000h PC80 0000h 4.1.4 I/O setting parameters ([Pr.

  • Page 31: Extension Setting 2 Parameters ([Pr. Pe_ _ ])

    4. PARAMETERS Initial Detailed Symbol Name Unit value explanation PD20 For manufacturer setting 0000h MR-JE-_C PD21 0000h PD22 0000h PD23 *DI7L Input device selection 7L 0000h PD24 *DI7M Input device selection 7M 0000h PD25 *DI7H Input device selection 7H 002Ch Section 4.2.3 PD26 *DI8L...
  • Page 32 4. PARAMETERS Initial Detailed Symbol Name Unit value explanation PE19 For manufacturer setting 0000h MR-JE-_C PE20 0000h PE21 0000h PE22 0000h PE23 0000h PE24 0000h PE25 0000h PE26 0000h PE27 0000h PE28 0000h PE29 0000h PE30 0000h PE31 0000h PE32 0000h PE33 0000h...
  • Page 33 4. PARAMETERS 4.1.6 Extension setting 3 parameters ([Pr. PF_ _ ]) Initial Detailed Symbol Name Unit value explanation PF01 For manufacturer setting 0000h MR-JE-_C PF02 0000h PF03 0000h PF04 PF05 PF06 0000h PF07 PF08 PF09 *FOP5 Function selection F-5 0003h PF10 For manufacturer setting 0000h...
  • Page 34 4. PARAMETERS 4.1.7 Positioning control parameters ([Pr. PT_ _ ]) Initial Detailed Symbol Name Unit value explanation PT01 *CTY Command mode selection 0300h Section 4.2.5 PT02 For manufacturer setting 0001h PT03 *FTY Feeding function selection 0000h Section 4.2.5 PT04 For manufacturer setting 0000h PT05 Home position return speed...
  • Page 35 4. PARAMETERS Initial Detailed Symbol Name Unit value explanation PT45 Home position return method Section 4.2.5 PT46 For manufacturer setting 0000h PT47 0000h PT48 0000h PT49 Torque slope [%/s] Section 4.2.5 PT50 Profile speed command 100.00 [r/min] PT51 MPVC Maximum profile speed 20000.00 [r/min] PT52...

  • Page 36: Basic Setting Parameters ([Pr. Pa

    4. PARAMETERS 4.2 Detailed list of parameters POINT For parameters which are not described in this section, refer to chapter 5 of "MR-JE-_C Servo Amplifier Instruction Manual". Set a value to each "x" in the "Setting digit" columns. 4.2.1 Basic setting parameters ([Pr. PA_ _ ]) Initial No./symbol/ Setting...
  • Page 37 4. PARAMETERS Initial No./symbol/ Setting Function value name digit [unit] PA06 Set an electronic gear numerator. To enable the parameter, select "Electronic gear (0 _ _ _)" of "Electronic gear selection" in [Pr. PA21]. Electronic gear In the profile mode, cycle the power to enable the parameter. numerator The following shows a standard of the setting range of the electronic gear.
  • Page 38 4. PARAMETERS Initial No./symbol/ Setting Function value name digit [unit] PA11 You can limit the torque generated by the servo motor. 1000.0 Set the parameter on the assumption that the rated torque is 100.0 [%]. Set the parameter to limit the torque of the servo motor in the CW power running or CCW regeneration.
  • Page 39 4. PARAMETERS Initial No./symbol/ Setting Function value name digit [unit] PA14 Select a rotation direction or travel direction. *POL The torque polarity changes depending on the combination of this parameter and [Pr. PC29 POL reflection selection at torque mode]. Rotation direction In the profile position mode/profile velocity mode selection...

  • Page 40: Extension Setting Parameters ([Pr. Pc

    4. PARAMETERS 4.2.2 Extension setting parameters ([Pr. PC_ _ ]) Initial No./symbol/ Setting Function value name digit [unit] PC01 Set the acceleration time taken from 0 r/min to the rated speed for the command. [ms] Set the acceleration time constant in the profile position mode and the profile velocity mode. Setting a value exceeding 20000 ms in the profile position mode will trigger [AL.
  • Page 41 4. PARAMETERS Initial No./symbol/ Setting Function value digit name [unit] PC29 _ _ _ x For manufacturer setting *COP8 _ _ x _ Function _ x _ _ POL reflection selection at torque mode selection C-8 The polarity of "Target torque (Index: 6071h)", "Torque demand (Index: 6074h)", "Positive torque limit value (Index: 60E0h)", "Negative torque limit value (Index: 60E1h)", and "Torque actual value (Index: 6077h)"...

  • Page 42: I/O Setting Parameters ([Pr. Pd

    4. PARAMETERS Initial No./symbol/ Setting Function value digit name [unit] PC77 Set the time until the following error output turns on. 0000h FEWF When the state in which the value of droop pulses exceeds the setting value for [Pr. PC75, Pr. Refer to PC76] continues for the time set in the parameter setting value or longer, "Statusword (Index: Function...
  • Page 43 4. PARAMETERS Initial No./symbol/ Setting Function value name digit [unit] PD25 Any input device can be assigned to the CN3-6 pin. *DI7H _ _ x x Communication command mode - Device selection Input device Refer to table 4.1 in [Pr. PD07] for settings. selection 7H _ x _ _ For manufacturer setting...

  • Page 44: Extension Setting 2 Parameters ([Pr. Pe

    4. PARAMETERS Initial No./symbol/ Setting Function value name digit [unit] PD32 _ _ x x Device selection *DO4 Any output device can be assigned to the CN3-22 pin. Output device When "CN3-22 (4 _ _ _)" is selected in "OP signal output selection" of [Pr. PD38], this digit is selection 4 disabled and OP (Encoder Z-phase pulse (open collector)) is assigned to the CN3-22 pin.
  • Page 45 4. PARAMETERS Initial No./symbol/ Setting Function value name digit [unit] PE46 Set the time constant of the lost motion compensation filter in increments of 0.1 ms. LMFLT When "0" is set, the torque is compensated with the value set in [Pr. PE44] and [Pr. PE45]. When [0.1 ms] other than "0"...

  • Page 46: Positioning Control Parameters ([Pr. Pt

    4. PARAMETERS 4.2.5 Positioning control parameters ([Pr. PT_ _ ]) Initial No./symbol/ Setting Function value name digit [unit] PT01 _ _ _ x For manufacturer setting *CTY _ _ x _ Command _ x _ _ Position data unit mode 0: mm selection 1: inch...

  • Page 47: Software Limit

    4. PARAMETERS Initial No./symbol/ Setting Function value name digit [unit] PT10 Set a time from a moving part touches the stopper and torques reaches to the torque limit of [Pr. PT11 Stopper type home position return - Torque limit value] to a home position is set for the [ms] stopper type home position return.
  • Page 48 4. PARAMETERS Initial No./symbol/ Setting Function value name digit [unit] PT17 Set an address decreasing side of the software stroke limit. 0000h LMNL Upper and lower are a set. Refer to Function Software limit Set an address in hexadecimal. column for unit.
  • Page 49 4. PARAMETERS Initial No./symbol/ Setting Function value name digit [unit] PT41 _ _ _ x Home position return inhibit selection 0: Disabled (home position return allowed) Home 1: Enabled (home position return inhibited) position _ _ x _ For manufacturer setting return inhibit _ x _ _ function...
  • Page 50 4. PARAMETERS Initial No./symbol/ Setting Function value name digit [unit] PT45 Setting Home position Home position return Setting Home position Home position return Home value return direction method value return direction method position Address increasing Method 3 Address decreasing Method 21 return method direction direction...
  • Page 51 4. PARAMETERS Initial No./symbol/ Setting Function value name digit [unit] PT57 This parameter is the extension parameter of [Pr. PT07]. ZSTH When [Pr. PT57] is used, the home position shift distance is calculated as follows. Refer to Function Home Home position shift distance = [Pr. PT07] + ([Pr. PT57] × 65536) column position shift This function will be enabled in the profile mode.
  • Page 52 4. PARAMETERS Initial No./symbol/ Setting Function value name digit [unit] PT64 Set the zero speed 2 filtering time. ZSP2F When the state in which the absolute value of the servo motor speed exceeds [Pr. PT63 Zero [ms] speed 2 level] continues for the time set in this parameter or longer, "Statusword (Index: 6041h) bit Zero speed 2 12 Speed"...

  • Page 53: How To Set The Electronic Gear

    4. PARAMETERS 4.3 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 in the profile velocity mode, profile torque mode, and homing mode.
  • Page 54 4. PARAMETERS (a) Setting example of a ball screw Machine specifications 1/n = Z = 1/2 Pb = 10 [mm] Ball screw lead Pb = 10 [mm] Reduction ratio: 1/n = Z = 1/2 Servo motor encoder resolution 131072 [pulse/rev] : Number of gear teeth on servo motor side : Number of gear teeth on load side Servo motor encoder resolution: P...
  • Page 55 4. PARAMETERS (2) Setting [degree] with "Position data unit" of [Pr. PT01]. Set the number of gear teeth on machine side to [Pr. PA06] and the number of gear teeth on servo motor side to [Pr. PA07]. Electronic gear ([Pr. PA06]/[Pr. PA07]) Servo motor Travel distance Deviation counter...

  • Page 56: Restrictions On Using Objects/Registers

    4. PARAMETERS 4.5 Restrictions on using objects/registers 4.5.1 Restrictions on input devices The following input devices can be used when [Pr. PA01] = "_ _ _ 0" to "_ _ _ 5" (Position/speed/torque control mode). They cannot be used when [Pr. PA01] = "_ _ _ 9" (Profile mode). Pr.
  • Page 57 4. PARAMETERS MEMO 4 - 34...

  • Page 58: Cia 402 Drive Profile

    5. CiA 402 DRIVE PROFILE 5. CiA 402 DRIVE PROFILE POINT The following is shown in the "Access" column. "ro": Only reading is available. "wo": Only writing is available. "rw": Reading and writing are available. This chapter describes how to drive a servo motor in the communication. For MR-JE-_C servo amplifier, objects/registers are assigned according to Index of the CiA 402 drive profile.

  • Page 59: State Machine Control Of The Servo Amplifier

    5. CiA 402 DRIVE PROFILE 5.1 State machine control of the servo amplifier 5.1.1 Function description The servo amplifier status is managed based on the state machine below. Setting the Controlword (6040h) from the master station (controller) changes the status of the slave stations (servo amplifiers). The current servo amplifier status can be read with the Statusword (6041h).
  • Page 60 5. CiA 402 DRIVE PROFILE Table 5.1 State transition Transition Event Remark The power is turned on. Initialization The state automatically transitions when the power is turned on. Communication setting The state transitions with the Shutdown command from the master. The state transitions with the Switch on command from the master.

  • Page 61: Related Objects/Registers

    5. CiA 402 DRIVE PROFILE 5.1.2 Related objects/registers Index Sub Index Access Name Data Type Default 6040h Controlword 6041h Statusword (1) Controlword (6040h) This object/register issues a command from the master station (controller) to the slave stations (servo amplifiers). Index Sub Index Access Name...
  • Page 62 5. CiA 402 DRIVE PROFILE (2) Statusword (6041h) Index Sub Index Access Name Data Type Default 6041h Statusword The current control status can be checked. The following table lists the bits of this object/register. The status can be checked with bit 0 to bit 7. Symbol Description RTSO...

  • Page 63: Directions For Use

    5. CiA 402 DRIVE PROFILE Bit 0 to Bit 3, Bit 5, and Bit 6 are switched depending on the state machine (internal state of the MR-JE- _C_ servo amplifier). Refer to the following table for details. Statusword (bin) State machine x0xx xxx0 x0xx 0000 Not ready to switch on (Note) x0xx xxx0 x1xx 0000...

  • Page 64: Control Mode

    5. CiA 402 DRIVE PROFILE 5.2 Control mode This section describes the control modes of the MR-JE-_C servo amplifier. 5.2.1 Function description A control mode of the MR-JE-_C servo amplifier can be selected with Modes of operation (6060h). The following is the chart of control modes, switchable from the current mode. Control mode after switching Home Profile...

  • Page 65: Related Objects/Registers

    5. CiA 402 DRIVE PROFILE 5.2.2 Related objects/registers Index Sub Index Access Name Data Type Default 6060h Modes of operation 6061h Modes of operation display 6502h Supported Drive Modes 5 - 8...

  • Page 66: Servo Motor Driving

    6. SERVO MOTOR DRIVING 6. SERVO MOTOR DRIVING POINT The following is shown in the "Access" column. "ro": Only reading is available. "wo": Only writing is available. "rw": Reading and writing are available. 6.1 Homing mode (hm) This section describes how to perform a home position return operation in the communication. 6.1.1 Function description Perform a home position return operation following the instruction below.

  • Page 67: Related Objects/Registers

    6. SERVO MOTOR DRIVING 6.1.2 Related objects/registers Index Sub Index Access Name Data Type Default Description The home position saved in EEP-ROM is stored at power- on. If a home position return is executed in the homing 607Ch Home offset mode (hm), the home position will be updated.
  • Page 68 6. SERVO MOTOR DRIVING (1) Controlword (6040h) Index Sub Index Access Name Data Type Default 6040h Controlword The current control command status can be checked. In addition, control commands can be written. The following table lists the bits of this object/register that relate to the home position return operation. Description 0 to 3 Refer to section 5.1.2.
  • Page 69 6. SERVO MOTOR DRIVING The setting values that can be selected are as follows. Direction of Setting value Home position return method Description rotation Same as the dog type last Z-phase reference home position return. Homing on positive home Forward rotation Note that if the stroke end is detected during home position switch and index pulse return, [AL.
  • Page 70 6. SERVO MOTOR DRIVING Direction of Setting value Home position return method Description rotation Although this type is the same as the dog cradle type home position return, the stop position is not on the Z-phase. Starting from the front end of the dog, the position is shifted by the travel Homing without index pulse Reverse rotation distance after proximity dog and the home position shift...
  • Page 71 6. SERVO MOTOR DRIVING Direction of Setting value Home position return method Description rotation Deceleration starts at the front end of the proximity dog. After Forward rotation the rear end is passed, the position specified by the first Z- Dog type phase signal, or the position of the first Z-phase signal shifted (Rear end detection, Z-phase by the specified home position shift distance is used as the...
  • Page 72 6. SERVO MOTOR DRIVING (3) Homing speed (6099h) Index Sub Index Access Name Data Type Default Number of entries 6099h Homing speed Speed during search for switch 10000 Speed during search for zero 1000 The current home position return speed can be read. At this time, "02h" is returned to Number of entries. The current home position return speed is returned to Speed during search for switch in units of r/min.
  • Page 73 6. SERVO MOTOR DRIVING The current control status can be checked. The following table lists the bits of this object/register that relate to the home position return operation. Description 0 to 9 Refer to section 5.1.2. Target reached Refer to (a) and the following table for the definition. Refer to section 5.1.2.

  • Page 74: Directions For Use

    6. SERVO MOTOR DRIVING 6.1.3 Directions for use (1) How to execute home position return in the profile mode [Precondition setting] Set an IP address that can communicate with the controller. Set the profile mode in "Control mode selection" of [Pr. PA01]. Set Homing method (6098h).
  • Page 75 6. SERVO MOTOR DRIVING (2) CiA 402-type homing method (a) Home position return type in CiA 402 type The following shows the CiA 402-type home position return. 1) Method 3 and 4: Homing on positive home switch and index pulse These home position return types use the front end of the proximity dog as reference and set the Z-phase right before and right after the dog as a home position.
  • Page 76 6. SERVO MOTOR DRIVING 3) Method 7, 8, 11, 12: Homing on home switch and index pulse These types include the operation at stroke end detection in addition to the operation of Method 3 to Method 6. Thus, the home position is the same as that of Method 3 to Method 6. Method 7 has the operation of the dog type last Z-phase reference home position return.
  • Page 77 6. SERVO MOTOR DRIVING 5) Method 33 and 34: Homing on index pulse These home position return types set the Z-phase detected first as a home position. The operation is the same as that of the dogless Z-phase reference home position return except that the creep speed is applied at the start.
  • Page 78 6. SERVO MOTOR DRIVING (b) Operation example of the CiA 402-type Homing method The following shows an operation example of the home position return in the CiA 402-type Homing method. 1) Method 3 (Homing on positive home switch and index pulse) and Method 5 (Homing on negative home switch and index pulse) The following figure shows the operation of Homing method 3.
  • Page 79 6. SERVO MOTOR DRIVING 2) Method 4 (Homing on positive home switch and index pulse) and Method 6 (Homing on negative home switch and index pulse) The following figure shows the operation of Homing method 4. The operation direction of Homing method 6 is opposite to that of Homing method 4.
  • Page 80 6. SERVO MOTOR DRIVING 3) Method 7 and Method 11 (Homing on home switch and index pulse) The following figure shows the operation of Homing method 7. The operation direction of Homing method 11 is opposite to that of Homing method 7. Statusword bit 10 Target reached Statusword bit 12...
  • Page 81 6. SERVO MOTOR DRIVING 4) Method 8 and Method 12 (Homing on home switch and index pulse) The following figure shows the operation of Homing method 8. The operation direction of Homing method 12 is opposite to that of Homing method 8. Statusword bit 10 Target reached Statusword bit 12...
  • Page 82 6. SERVO MOTOR DRIVING 5) Method 19 and Method 21 (Homing without index pulse) The following figure shows the operation of Homing method 19. The operation direction of Homing method 21 is opposite to that of Homing method 19. Statusword bit 10 Target reached Statusword bit 12 Homing attained...
  • Page 83 6. SERVO MOTOR DRIVING 6) Method 20 and Method 22 (Homing without index pulse) The following figure shows the operation of Homing method 20. The operation direction of Homing method 22 is opposite to that of Homing method 20. Statusword bit 10 Target reached Statusword bit 12 Homing attained...
  • Page 84 6. SERVO MOTOR DRIVING 7) Method 23 and Method 27 (Homing without index pulse) The following figure shows the operation of Homing method 23. The operation direction of Homing method 27 is opposite to that of Homing method 23. Statusword bit 10 Target reached Statusword bit 12 Homing attained...
  • Page 85 6. SERVO MOTOR DRIVING 8) Method 24 and Method 28 (Homing without index pulse) The following figure shows the operation of Homing method 24. The operation direction of Homing method 28 is opposite to that of Homing method 24. Statusword bit 10 Target reached Statusword bit 12 Homing attained...
  • Page 86 6. SERVO MOTOR DRIVING 9) Method 33 and Method 34 (Homing on index pulse) The following figure shows the operation of Homing method 34. The operation direction of Homing method 33 is opposite to that of Homing method 34. Statusword bit 10 Target reached Statusword bit 12 Homing attained...
  • Page 87 6. SERVO MOTOR DRIVING (3) Operation example of Manufacturer-specific Homing method The following shows an operation example of the Manufacturer-specific home return. (a) Method -1 and -33 (Dog type home position return) The following figure shows the operation of Homing method -1. The operation direction of Homing method -33 is opposite to that of Homing method -1.
  • Page 88 6. SERVO MOTOR DRIVING (b) Method -2 and -34 (Count type home position return) POINT 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 the travel distance after proximity dog.
  • Page 89 6. SERVO MOTOR DRIVING Home position return direction Proximity dog Stroke end (Note) Forward Home position return start position rotation Servo motor speed 0 r/min Reverse rotation The home position return starts from here. Note. This is not available with the software limit. When the servo motor returns at the stroke end (c) Method -3 (Data set type home position return) The following figure shows the operation of Homing method -3.
  • Page 90 6. SERVO MOTOR DRIVING (d) Method -4 and -36 (stopper type home position return) POINT Since the workpiece collides with the mechanical stopper, the home position return speed must be low enough. The following figure shows the operation of Homing method -4. The operation direction of Homing method -36 is opposite to that of Homing method -4.
  • Page 91 6. SERVO MOTOR DRIVING (e) Method -6 and -38 (dog type rear end reference home position return) POINT This home position return type depends on the timing of reading DOG (Proximity dog) that has detected the rear end of the proximity dog. Therefore, when the creep speed is set to 100 r/min and a home position return is performed, the home position has an error of ±...
  • Page 92 6. SERVO MOTOR DRIVING (f) Method -7 and -39 (count type front end reference home position return) POINT This home position return type depends on the timing of reading DOG (Proximity dog) that has detected the front end of the proximity dog. Therefore, when the creep speed is set to 100 r/min and a home position return is performed, the home position has an error of ±...
  • Page 93 6. SERVO MOTOR DRIVING (g) Method -8 and -40 (dog cradle type home position return) The following figure shows the operation of Homing method -8. The operation direction of Homing method -40 is opposite to that of Homing method -8. Statusword bit 10 Target reached Statusword bit 12...
  • Page 94 6. SERVO MOTOR DRIVING (h) Method -9 and -41 (dog type last Z-phase reference home position return) The following figure shows the operation of Homing method -9. The operation direction of Homing method -41 is opposite to that of Homing method -9. Statusword bit 10 Target reached Statusword bit 12...
  • Page 95 6. SERVO MOTOR DRIVING (i) Method -10 and -42 (dog type front end reference home position return) The following figure shows the operation of Homing method -10. The operation direction of Homing method -42 is opposite to that of Homing method -10. Statusword bit 10 Target reached Statusword bit 12...
  • Page 96 6. SERVO MOTOR DRIVING (j) Method -11 and -43 (dogless Z-phase reference home position return) The following figure shows the operation of Homing method -11. The operation direction of Homing method -43 is opposite to that of Homing method -11. Statusword bit 10 Target reached Statusword bit 12...

  • Page 97: Profile Position Mode (Pp)

    6. SERVO MOTOR DRIVING 6.2 Profile position mode (pp) The following shows the functions and related objects/registers of the profile position mode (pp). 6.2.1 Function description Torque limit value (60E0h, 60E1h) × Motion profile type (6086h) Control Profile Acceleration (6083h) effort (60FAh) Torque...
  • Page 98 6. SERVO MOTOR DRIVING Index Sub Index Access Name Data Type Default Description Speed after acceleration completed 6081h Profile velocity 10000 Unit: Vel unit (0.01 r/min) Acceleration at start of movement to target position 6083h Profile Acceleration Unit: ms Deceleration at arrival at target position 6084h Profile deceleration...
  • Page 99 6. SERVO MOTOR DRIVING Index Sub Index Access Name Data Type Default Description SI unit position The value is automatically set 60A8h SI unit position according to the setting of "Position data unit" of [Pr. PT01]. SI unit velocity 60A9h SI unit velocity FEB44700h FEB44700h (0.01 r/min)

  • Page 100: Directions For Use

    6. SERVO MOTOR DRIVING 6.2.3 Directions for use (1) Single Set-point Update of positioning parameters during a positioning operation is immediately accepted. (The current positioning operation is cancelled and the next positioning is started.) Actual speed set-point (bit 4) Target position (set-point) Profile velocity...

  • Page 101: Profile Velocity Mode (Pv)

    6. SERVO MOTOR DRIVING 6.3 Profile velocity mode (pv) The following shows the functions and related objects/registers of the profile velocity mode (pv). 6.3.1 Function description Torque limit value (60E0h, 60E1h) × Motion profile type (6086h) Profile Acceleration (6083h) Torque Velocity Motor Profile deceleration (6084h)
  • Page 102 6. SERVO MOTOR DRIVING Index Sub Index Access Name Data Type Default Description 6064h Position actual value Current position (Pos units) Speed command (after 606Bh Velocity demand value trajectory generation) Unit: Vel unit (0.01 r/min) Current speed 606Ch Velocity actual value Unit: Vel unit (0.01 r/min) Current torque 6077h...
  • Page 103 6. SERVO MOTOR DRIVING (1) Details on the Controlword (6040h) (pv mode) Symbol Description The value at reading is undefined. Set "0" when writing. (reserved) (reserved) (reserved) 0: The servo motor is driven. HALT 1: The servo motor is stopped according to Halt option code (605Dh). The value at reading is undefined.

  • Page 104: Directions For Use

    6. SERVO MOTOR DRIVING 6.3.3 Directions for use (1) pv mode operation sequence (a) When Servo-lock selection at speed control stop is enabled ([Pr. PC23] = "_ _ _ 0") When New set-point (bit 15 of Controlword) is set to "1" after Target Velocity (60FFh) has been set, the servo motor is driven.
  • Page 105 6. SERVO MOTOR DRIVING (b) When Servo-lock selection at speed control stop is disabled ([Pr. PC23] = "_ _ _ 1") When Target Velocity (60FFh) is set, the servo motor is driven. When Target Velocity (60FFh) is set to "0", the servo motor decelerates to a stop. The servo motor does not go into the servo-lock status while it is stopped.

  • Page 106: Profile Torque Mode (Tq)

    6. SERVO MOTOR DRIVING 6.4 Profile torque mode (tq) The following shows the functions and related objects/registers of the profile torque mode (tq). 6.4.1 Function description Target torque (6071h) Target slope (6087h) Torque demand Torque profile type (6088h) Trajectry (6074h) Generator Controlword (6040h) ×...
  • Page 107 6. SERVO MOTOR DRIVING Index Sub Index Access Name Data Type Default Description Travel distance per revolution Feed constant of an output shaft 6092h Feed Travel distance setting Number of servo motor shaft Shaft revolutions revolutions Torque limit value (forward) 60E0h Positive torque limit value 10000...

  • Page 108: Directions For Use

    6. SERVO MOTOR DRIVING 6.4.3 Directions for use (1) tq mode operation sequence Torque demand (6074h) Changed with Torque slope (6087h) Changed with Torque slope (6087h) Target torque (6071h) Halt Controlword (6040h) Bit 8 6 - 43...
  • Page 109 6. SERVO MOTOR DRIVING MEMO 6 - 44...

  • Page 110: Application Of Functions

    7. APPLICATION OF FUNCTIONS 7. APPLICATION OF FUNCTIONS 7.1 Infinite feed function POINT This function can be used with the absolute position detection system. When degree is set as the position data unit, [AL. E3.1 Multi-revolution counter travel distance excess warning] does not occur and the home position is not erased even if the servo motor rotates 32768 rev or more in the same direction.
  • Page 111 7. APPLICATION OF FUNCTIONS MEMO 7 - 2...
  • Page 112 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 113 MEMO...
  • Page 114 MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and/or other countries. Microsoft, Windows, Internet Explorer, and Windows Vista are either registered trademarks or trademarks of Microsoft Corporation in the United States and/or other countries. Intel, Pentium, and Celeron are trademarks of Intel Corporation in the United States and/or other countries.
  • Page 115 Warranty 1. Warranty period and coverage We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product" arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider.
  • Page 116 MODEL MODEL CODE HEAD OFFICE: TOKYO BLDG MARUNOUCHI TOKYO 100-8310 This Instruction Manual uses recycled paper. SH(NA)030254ENG-C(1810)MEE Printed in Japan Specifications are subject to change without notice.

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