Mitsubishi Electric MELSERVO-J2S-S061 Specifications And Instruction Manual
  1. Manuals
  2. Brands
  3. Mitsubishi Electric Manuals
  4. Controller
  5. MELSERVO-J2S-S061
  6. Specifications and instruction manual
Mitsubishi Electric MELSERVO-J2S-S061 Specifications And Instruction Manual

Mitsubishi Electric MELSERVO-J2S-S061 Specifications And Instruction Manual

General purpose ac servo, built-in positioning function
Hide thumbs
Table of Contents

Advertisement

Quick Links

Download this manual
MITSUBISHI
General Purpose AC Servo
MELSERVO-J2S-S061
Built-In Positioning Function
Specifications and Instruction Manual
For Engineering Sample
Section Mgr.
Section Mgr.
Section Mgr.
Section Mgr.
APPROVALS:
APPROVALS:
APPROVALS:
APPROVALS:
MITSUBISHI
ELECTRIC
Design Eng.
Design Eng.
Design Eng.
Design Eng.
H.Ogi
H.Ogi
H.Ogi
H.Ogi
BCN-B11127-479*

Advertisement

Table of Contents
loading

Related Manuals for Mitsubishi Electric MELSERVO-J2S-S061

Summary of Contents for Mitsubishi Electric MELSERVO-J2S-S061

  • Page 1 Section Mgr. Section Mgr. Section Mgr. Design Eng. Design Eng. Design Eng. Design Eng. APPROVALS: APPROVALS: APPROVALS: APPROVALS: H.Ogi H.Ogi H.Ogi H.Ogi MITSUBISHI General Purpose AC Servo MELSERVO-J2S-S061 Built-In Positioning Function Specifications and Instruction Manual For Engineering Sample MITSUBISHI ELECTRIC BCN-B11127-479*...

  • Page 2: Table Of Contents

    Table of Contents 1. FUNCTION AND CONFIGURATION 1.1 Overview 1.2 Features 1.3 System configuration 2. WIRING DIAGRAM 3. TERMINALS 3.1Terminal blocks 3.2 Connection example 3.3 Power-on sequence 3.4 Signal explanations 3.5 Additional function devices 4. INTERFACES 5. AUTOMATIC OPERATION MODE 5.1 Positioning via point table with digital input 5.2 Positioning operation in accordance with point tables 5.3 Positioning operation via communication...

  • Page 3: Function And Configuration

    1. FUNCTIONS AND CONFIGURATION 1.1 Overview The MR-J2S- A-S061 AC servo amplifier with built-in positioning functions is the MR-J2S-A general- purpose AC servo amplifier which incorporate single-axis positioning functions. These functions perform positioning operation by merely setting the position data (target positions), motor speeds, acceleration and deceleration time constants, etc.

  • Page 4: Features

    1.2 Features (1) Up to 31 point tables (2) Stopper type zeroing operation (3) Point table output function 1.3 System configuration 1) Several (up to 32) servo amplifiers are connected with the personal computer by RS-422. Personal External I/O computer Set-up signals Software...
  • Page 5 2) The following configuration uses external I/O signals. The external input signals are used to control all signals (devices) that response delay is less than 15msec. External I/O signals Servo amplifier CN1A CN1B Power supply CN2 CN3 3-phase 200VAC or single-phase 230VAC Servo motor 3) Function list...

  • Page 6: Wiring Diagram

    2. Wiring Diagram Servo amplifier MR-J2S-A-S061 Servo motor U (Red) V (White) 3-phase 200VAC W (Black) (Green) Electromagnetic brake Regenerative brake option Emergency stop When connecting the external regenerative To be shut off when servo on signal brake option, always disconnect switches off or alarm occurs.
  • Page 7 Note: 1. To prevent an electric shock, always connect the protective earth (PE) terminal of the servo amplifier to the protective earth (PE) of the control box. 2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output signals, disabling the emergency stop and other protective circuits.

  • Page 8: Terminals

    3. Terminals 3.1 Terminal blocks Symbol Signal Description Main circuit power input terminals 1) 200V Class Supply L and L with the following power. For a single-phase 230VAC power supply, connect the power supply to L1 and L2 and keep L3 open: Servo amplifier MR-J2-10A to 70A MR-J2-100A to 700A...

  • Page 9: Connection Example

    3.2 Connection example Wire the power supply and main circuits as shown below. A no-fuse breaker (NFB) must be used with the input cables of the power supply. Design the circuit so that the servo on signal also turns off as soon as the power is shut off on detection of alarm occurrence.
  • Page 10 (2) Timing chart SON accepted (1s) Power sypply Base circuit 10ms 10ms 60ms Servo on (SON) 60ms Reset (RES) 20ms 10ms 20ms 10ms 20ms 10ms Ready (RD) BCN-B11127-479*...

  • Page 11: Signal Explanations

    3.4 Signal explanations 1) CN1A Signal Name Symbol Pin No. Description I/O Division Digital I/F power supply Used to input 24VDC±10% for input interface. input Driver power input terminal for digital interface. COM of each connector is connected in the servo amplifier. When using an external power supply, connect a power supply of 24VDC, 200mA or more to this terminal.
  • Page 12 2) CN1B Signal Name Symbol Pin No. Description I/O Division I/F Internal power Used to output 24V 10% to across VDD-COM. supply When using this power supply for digital interface, connect it with COM. Permissible current: 80mA Digital I/F power supply Used to input 24VDC 10% for input interface.
  • Page 13 Signal Name Symbol Pin No. Description I/O Division Automatic/manual Short MDO-SG to choose the automatic operation mode, or open DI-1 selection them to choose the manual operation mode. Point table No. selection The following table lists the point table numbers which may be DI-1 chosen by the combinations of DI0 and DI1: Selected Point Table No.
  • Page 14 3.5 Additional function devices By parameter setting, you can assign the signals given in this section to the pins of connectors CN1A and CN1B, in addition to the signals in Section 3.2. (1) Pins which accept different signals Pin Type Connector Pin No.

  • Page 15: Additional Function Devices

    Device Name Symbol Description I/O Division Proportion control Short PC-SG to switch the speed amplifier from proportional integral type to DI-1 proportional type. Temporary stop/Restart Short STP-SG during automatic operation to make a temporary stop. DI-1 Short STP-SG again to make a restart. Shorting the forward/reverse rotation start signal during a temporary stop is ignored.
  • Page 16 (4) Device setting of control mode Operation mode Automatic operation Manual Manual Incremental drive zeroing Absolute command Signal command Automatic/Manual 1 to 31 1 to 31 Point block No. Forward rotation start (FWD. JOG) Reverse rotation start (REV. JOG) Note: The start signal will respond within 3 ms. Servo motor will be stopped and cleared moving remain distance when Automatic/Manual signal changed in positioning.

  • Page 17: Interfaces

    4. Interfaces This section gives the details of the I/O signal interfaces. (1) Digital input interface DI-1 Give a signal with a relay or open collector transistor. Source input is also possible. Refer to (5) in this section. For use of internal power supply For use of external power supply Servo amplifier Do not connect...
  • Page 18 For use of internal power supply For use of external power supply Servo amplifier Servo amplifier Do not connect 24VDC VDD-COM. ALM, etc. 27VDC or ALM, etc. less (3) Analog output Output 10V Max. 1mA Servo amplifier (MO2) Reading in one or both directions 1mA meter (5) Source input interface...

  • Page 19: Automatic Operation Mode

    5. Automatic Operation Mode 5.1 Positioning via point table with digital input (1) Parameter setting Set the following parameters to perform automatic operation: (a) Command mode selection (parameter No.0) Select the absolute value command system or incremental value command system. Parameter No.
  • Page 20 (c) Feed length multiplication selection (parameter No.1) Set the unit multiplication factor (STM) of position data. The actual moving distance is the result of multiplying the entered position data by the unit multiplication factor. Parameter No.1 Setting Feed Length Multiplication STM [Times] Position data Position data Position data...
  • Page 21 (b) Descriptions of auxiliary function a) Auxiliary function setting “0” Point block No.3 Point block No. 1 Point block No. 2 Servo motor speed Start signal (ST1 or ST2) b) Auxiliary function setting “1” and dwell time is “0” Position block No.3 Servo motor Position block...
  • Page 22 (3) Timing chart Servo on (SON) Ready (RD) Trouble (ALM) Automatic/manual selection (MDO) In position (INP) Rough match (CPO) Point table No. No.1 No.2 Forward Point table No. 1 rotation Motor speed 0r/min Reverse 1.5ms or less Point table No. 2 rotation Forward rotation start 4ms or...

  • Page 23: Positioning Operation In Accordance With Point Tables

    5.2 Positioning operation in accordance with point tables By selecting the point table No. and switching on the start signal (ST1, ST2) using the communication function, positioning operation in accordance with point tables can be started. (1) Selection of point tables Using the device forced output from the controller (command [9][2], data No.

  • Page 24: Positioning Operation Via Communication

    5.3 Positioning operation via communication Positioning operation can be performed by changing the point table settings and making a start. For example, positioning operation can be performed by writing the data of point table No.1, then specifying point table No.1, and making a start. Transmission data Servo motor speed Values set with transmission data 1) to 5) are used for operation.

  • Page 25: Manual Operation Mode

    5.4 Manual operation mode For machine adjustment, home position matching, etc., jog operation or a manual pulse generator may be used to make a motion to any position. 5.4.1 Jog operation (1) Setting Set the input signal and parameters as follows according to the purpose of use. In this case, the point table No.
  • Page 26 (3) Operation By shorting ST1-SG, operation is performed under the conditions of the jog speed set in the parameter and the acceleration and deceleration time constants in set point table No.1. For the rotation direction, refer to (2) in this section. By shorting ST2-SG, the servo motor rotates in the reverse direction to ST1. (4) Timing chart Servo on (SON) 100ms...

  • Page 27: Zeroing

    5.5 Zeroing 5.5.1 Stopper type zeroing In stopper type zeroing, a machine part is pressed against a stopper or the like by jog operation, manual pulse generator operation or the like to make a home position return and that position is defined as a home position.

  • Page 28: Display And Operation

    6. Display and Operation 6.1 Display flowchart Use the display (5-digit, 7-segment LED) on the front panel of the servo amplifier for status display, parameter setting, etc. Set the parameters before operation, diagnose an alarm, confirm external sequences, and/or confirm the operation status. Press the "MODE" "UP" or "DOWN" button once to move to the next screen.

  • Page 29: Parameters

    7. Parameters For any parameter whose symbol is preceded by *, set the parameter value and switch power off once, then switch it on again to make that parameter setting valid. For details of the parameters, refer to the corresponding items. (1) Item list Customer Class...
  • Page 30 Customer Class Symbol Name and Function Initial Value Unit Setting *OP2 Function selection 2 0000 *OP3 Function selection 3 0000 *OP4 Function selection 4 0000 *SIC Serial communications time-out selection Feed forward gain Override offset Torque limit offset *ENR For manufacturer setting 4000 Internal torque limit 1 Internal torque limit 2...
  • Page 31 Customer Class Symbol Name and Function Initial Value Unit Setting *OP5 Function selection 5 0000 *OP6 Function selection 6 0000 *OP7 Function selection 7 0000 *OP8 Function selection 8 0000 *OP9 Function selection 9 0000 *OPA Function selection A 0000 For manufacturing setting 0000 Machine resonance suppression filter 1...
  • Page 32 (2) Detail list Symbo Initial Class Name and function Unit Setting Rnge Value *STY Control mode, Regenerative brake option selection 0000 0000h Use to select regenerative brake option. 0710h Selection of command mode 0: Absolute value command 1: Incremental value command Selection of regenerative brake option 0: Not used 1: Spare (do not set)
  • Page 33 Class No. Symbol Name and Function Initial Value Unit Setting Range Auto tuning 0105 0001h Used to set the response level, etc. for execution of auto tuning. 042Fh Auto tuning response level setting Response Machine resonance value level Frequency guideline 15Hz Response 20Hz...
  • Page 34 Class No. Symbol Name and Function Initial Value Unit Setting Range *CDV Electronic gear denominator 1 to 65535 Setting example Roll diameter: 50mm Reduction ratio: 3/7 Number of pulses: 16384 pulses Number pulses 16384 Moving distance × × × 1000 π...
  • Page 35 Class No. Symbol Name and Function Initial Value Unit Setting Range CRP Rough match output range Used to set the command remaining distance range where the rough match 65535 (CPO) signal is output. JOG Jog speed r/min Used to set the jog speed command. Max.
  • Page 36 Class No. Symbol Name and Function Initial Value Unit Setting Range *DMD Status display selection 0000 0000h Used to select the status display shown at power-on . 1F1Fh Status display shown at power-on 00: Current position 01: Command position 02: Command remaining distance 03: Point table No.
  • Page 37 Class No. Symbol Name and Function Initial Value Unit Setting Range *OP2 Function selection 2 0000 0000h Used to select slight vibration suppression control. 1111h Slight vibration suppression control selection 0: Invalid 1: Valid Parameter No.2 must be “03 ” or “04 ”...
  • Page 38 Class No. Symbol Name and Function Initial Value Unit Setting Range Internal torque limit 1 0 to 100 Used to limit servo motor-generated torque on the assumption that the maximum torque is 100%. When 0 is set, torque is not produced. This setting value will be 8V for torque monitor in monitor output.
  • Page 39 Class Symbol Name and Function Initial Value Unit Setting Range For manufacturing setting −32768 *ZPS Zeroing position data Used to set the current position on completion of zeroing. 32767 Moving distance after proximity dog 1000 0 to 65535 Used to set the moving distance after proximity dog in count type zeroing. ZTM Stopper type zeroing stopper time 5 to 1000 In stopper type zeroing, used to set the time from when the machine part...
  • Page 40 Initial Class No. Symbol Name and Function Unit Setting Range Value 999999 LNP Position range output address Used to set the address decrement side position range output address. Set the 999999 same sign to parameters No.52 and 53. Setting of different signs will result in a parameter error.
  • Page 41 Initial No. Symbol Class Name and Function Unit Setting Range Value *OP8 Function selection 8 0000 0000h Used to select the protocol of serial communication. 1112h Protocol checksum selection 0: Yes (checksum added) 1: No (checksum not added) Protocol checksum selection 0: With station numbers 1: No station numbers *OP9 Function selection 9...
  • Page 42 Initial Class No. Symbol Name and function Unit Setting range value Machine resonance suppression filter 1 0000 .0000h Used to selection the machine resonance suppression filter. 031Fh Notch frequency selection Setting Frequency Setting Frequency Setting Frequency Setting Frequency value value value value Invalid...
  • Page 43 Initial Class No. Symbol Name and function Unit Setting range value Low-pass filter/adaptive vibration suppression control 0000 0000h Used to selection the low-pass filter and adaptive vibration suppression control. 1217h Low-pass filter selection 0: Valid (Automatic adjustment) 1: Invalid VG2 setting 10 When you choose "valid", 2 (1 GD2 setting 0.1) bandwidth filter is set automatically.
  • Page 44 Initial Class No. Symbol Name and function Unit Setting range value Gain changing condition kpps Used to set the value of gain changing condition (command frequency, pulse droop pulses, servo motor speed) selected in parameter No. 68.The set r/min 9999 value unit changes with the changing condition item.
  • Page 45 Initial No. Symbol Class Name and Function Unit Setting Range Value *DI2 Input device selection 2 080A 0000h Used to select the function of CN1B-5 pin and CN1B-7 pin 1F1Fh Set to the function of CN1B-5 pin Set to the function of CN1B-7 pin *DI3 Input device selection 3 0706 0000h...
  • Page 46 Class Symbol Name and Function Initial Value Unit Setting Range *DI6 Input device selection 6 0002 0000h Used to set automatically ON of function device FFFFh Forced stop Servo on Forward stroke limit Reverse stroke limit Automatic / Manual selection Point table No.
  • Page 47 Class Symbol Name and Function Initial Value Unit Setting Range *DO1 Output device selection 1 0005 0000h Used to select the function of CN1A-18 pin and CN1A-19 pin 1F1Fh Set to the function of CN1A-18 pin Set to the function of CN1A-19 pin Setting Input function Setting...

  • Page 48: Communications

    8. Communication Functions The MR-J2S-A-S061 has the RS-422 and RS-232C serial communication functions. These functions can be used to perform servo operation, parameter changing, monitor function, etc. However, the RS-422 and RS-232C communication functions cannot be used together. Select between RS- 422 and RS-232C with parameter No.16.
  • Page 49 8.1.2 RS-232C configuration (1) Outline A single axis of servo amplifier is operated. Servo amplifier MR-J2S-A-S061 MITSUBISHI CHARGE To CN3 RS-232C Controller such as personal computer (2) Cable connection diagram Wire as shown below. The communication cable for connection with the personal computer (MR- CPCATCBL3M) is available.

  • Page 50: Communication Specifications

    8.2 Communication specifications The MELSERVO-J2S series is designed to send a reply on receipt of an instruction. The device which gives this instruction (e.g. personal computer) is called a master station and the device which sends a reply in response to the instruction (e.g. MR-J2S-A-S061 servo amplifier) is called a slave station. When fetching data successively, the master station repeatedly commands the slave station to send data.

  • Page 51: Protocol

    (3) RS-422/RS-232C serial interface selection Select the RS-422 or RS-232C communication standard. RS-422 and RS-232C cannot be used together. Parameter No. 16 − − − RS-422/RS-232C communication standard selection 0: RS-422 used 1: RS-232C used (4) Communication delay time Set the time from when the servo amplifier (slave station) receives communication data to when it sends back data.
  • Page 52 (2) Transmission of data request from the controller to the servo 10 frames Data Check Station number Controller side group Check Station number Servo side Data group 6 frames (data) (3) Recovery of communication status by time-out EOT causes the servo to return to the receive neutral status.

  • Page 53: Character Codes

    8.4 Character codes (1) Control codes Hexadecimal Personal Computer Terminal Key Operation Code Name Description (ASCII code) (General) start of head ctrl start of text ctrl end of text ctrl end of transmission ctrl (2) Codes for data JIS8 unit codes are used. Space "...

  • Page 54: Error Codes

    8.5 Error codes Error codes are used in the following cases and an error code of single-code length is transmitted. On receipt of data from the master station, the slave station sends the error code corresponding to that data to the master station. The code transmitted in uppercase indicates that the servo is normal and the one in lowercase indicates that an alarm has occurred.

  • Page 55: Time-Out Operation

    8.7 Time-out operation The master station transmits EOT when the slave station does not start reply operation (STX is not received) 300[ms] after the master station has ended communication operation. 100[ms] after that, the master station retransmits the message. Time-out occurs if the slave station does not answer after the master station has performed the above operation three times.

  • Page 56: Initialization

    8.9 Initialization After the slave station is switched on, it cannot reply to communication until the internal initialization processing terminates. Hence, at power-on, ordinary communication should be started after: 1) 1s or more time has elapsed after the slave station is switched on; and 2) Making sure that normal communication can be made by reading the parameter or other data which does not pose any safety problems.

  • Page 57: Command And Data No. List

    8.11 Command and data No. list 8.11.1 Read commands (1) Status display (Command [0][1]) Command Data No. Description Display Item Frame Length [0][1] [8][0] Status display data value and Current position processing information [0][1] [8][1] Command position [0][1] [8][2] Command remaining distance [0][1] [8][3] Point table No.
  • Page 58 (4) Alarm history (Command [3][3]) Command Data No. Description Alarm Occurrence Sequence Frame Length [3][3] [1][0] Alarm number in alarm history Most recent alarm [3][3] [1][1] First alarm in past [3][3] [1][2] Second alarm in past [3][3] [1][3] Third alarm in past [3][3] [1][4] Fourth alarm in past...
  • Page 59 (6) Point table/position data (Command [4][0]) Command Data No. Description Point table No. Frame Length [4][0] [0][1] Position data read Point table No.1 [4][0] [0][2] Point table No.2 [4][0] [0][3] Point table No.3 [4][0] [0][4] Point table No.4 [4][0] [0][5] Point table No.5 [4][0] [0][6]...
  • Page 60 (8) Point table/acceleration time constant (Command [5][4]) Command Data No. Description Point table No. Frame Length [5][4] [0][1] Acceleration time constant read Point table No.1 [5][4] [0][2] Point table No.2 [5][4] [0][3] Point table No.3 [5][4] [0][4] Point table No.4 [5][4] [0][5] Point table No.5...
  • Page 61 (10) Point table/dwell time (Command [6][0]) Command Data No. Description Point table No. Frame Length [6][0] [0][1] Dwell time read Point table No.1 [6][0] [0][2] Point table No.2 [6][0] [0][3] Point table No.3 [6][0] [0][4] Point table No.4 [6][0] [0][5] Point table No.5 [6][0] [0][6]...
  • Page 62 (12) Group setting (Command [1][F]) Command Data No. Description Frame Length [1][F] [0][0] Reading of group setting value 8.11.2 Write commands (1) Status display (Command [8][1]) Command Data No. Description Setting Range Frame Length [8][1] [0][0] Status display data clear 1EA5 (2) Parameter (Command [8][4]) Command...
  • Page 63 (6) Point table/position data (Command [C][0]) Command Data No. Description Point table No. Setting Range Frame Length [C][0] [0][1] Position data write Point table No.1 [C][0] [0][2] Point table No.2 [C][0] [0][3] Point table No.3 [C][0] [0][4] Point table No.4 [C][0] [0][5] Point table No.5...
  • Page 64 (8) Point table/acceleration time constant (Command [C][7]) Command Data No. Description Point table No. Setting Range Frame Length [C][7] [0][1] Acceleration time constant write Point table No.1 [C][7] [0][2] Point table No.2 [C][7] [0][3] Point table No.3 [C][7] [0][4] Point table No.4 [C][7] [0][5] Point table No.5...
  • Page 65 (10) Point table/dwell time (Command [C][A]) Command Data No. Description Point table No. Setting Range Frame Length [C][A] [0][1] Dwell time write Point table No.1 [C][A] [0][2] Point table No.2 [C][A] [0][3] Point table No.3 [C][A] [0][4] Point table No.4 [C][A] [0][5] Point table No.5...
  • Page 66 (12) Operation mode selection (Command [8][B]) Command Data No. Description Setting range Frame length [8][B] [0][0] Operation mode changing 0000 to 0004 0000: Exit from test operation mode 0001: Jog operation 0002: Positioning operation 0003: Motor-less operation 0004: Output signal (DO) forced output (13) External input signal disable (Command [9][0]) Command Data No.

  • Page 67: Detailed Explanation Of Commands

    8.12 Detailed explanations of commands 8.12.1 Data processing When the command + data number or the command + data number + data are sent from the master station to a slave station, a reply or data is returned from the servo amplifier according to the purpose. In these send data and receive data, numerical values are represented in decimal, hexadecimal, etc.
  • Page 68 (2) Writing processed data When written data is handled as a decimal number, the decimal point position must be specified. If it is not specified, data cannot be written. When data is handled as a hexadecimal number, specify "0" for the decimal point position. The data to be sent is as follows: Data is transferred in hexadecimal.
  • Page 69 8.12.2 Status display (1) Status display data read When the master station transmits the data No. (refer to the following table for assignment) to the slave station, the slave station sends back the data value and data processing information. (a) Transmission Transmit command [0][1] and the data No.
  • Page 70 8.12.3 Parameter (1) Parameter read Read the parameter setting. 1) Transmission Transmit command [0][5] and the data No. corresponding to the parameter No. Command Data No. Data No. Definition [0][0] to [0][5] Corresponds to the parameter No. [5][A] 2) Reply The slave station sends back the data and processing information of the requested parameter No.
  • Page 71 (2) Parameter write Write the parameter setting. Write the value within the setting range. Transmit command [8][4], the data No., and the set data. The data number is represented in hexadecimal. The decimal value converted from the data number value corresponds to the parameter number. Refer to (1)(a) in this section. When the data to be written is handled as decimal, the decimal point position must be specified.
  • Page 72 8.12.4 External I/O signal statuses (1) Reading of input device statuses Read the statuses of the input devices. (a) Transmission Transmit command [1][2] and data No. [0][0]. Command Data No. [1][2] [0][0] (b) Reply The slave station sends back the statuses of the input pins. 1:ON 0:OFF Command of each bit is transmitted to the master...
  • Page 73 (3) Read of the statuses of input devices switched on through communication Read the ON/OFF statuses of the input devices switched on through communication. (a) Transmission Transmit command [1][2] and data No. [6][0]. Command Data No. [1][2] [6][0] (b) Reply The slave station sends back the statuses of the input pins.
  • Page 74 (5) Read of the statuses of output devices Read the ON/OFF statuses of the output devices. (a) Transmission Transmit command [1][2] and data No. [8][0]. Command Data No. [1][2] [8][0] (b) Reply The slave station sends back the statuses of the output devices. 1:ON 0:OFF Command of each bit is transmitted to the master...
  • Page 75 8.12.6 Alarm history (1) Alarm No. read Read the alarm No. which occurred in the past. The alarm numbers and occurrence times of No.0 (last alarm) to No.5 (sixth alarm in the past) are read. (a) Transmission Send command [3][3] and data No. [1][0] to [1][5]. (b) Reply The alarm No.
  • Page 76 (3) Alarm history clear Erase the alarm history. Send command [8][2] and data No. [2][0]. Command Data No. Data [8][2] [2][0] [1][E][A][5] 8.12.7 Current alarm (1) Current alarm read Read the alarm No. which is occurring currently. (a) Transmission Send command [0][2] and data No. [0][0]. Command Data No.
  • Page 77 Data 32 bits long (represented in hexadecimal) (Data conversion into display type is required) Display type 0: Conversion into decimal required 1: Used unchanged in hexadecimal Decimal point position 0: No decimal point 1: Lower first digit (usually not used) 2: Lower second digit 3: Lower third digit 4: Lower fourth digit...
  • Page 78 8.12.8 Point table (1) Position data read Read the position data of the point table. (a) Transmission Transmit command [4][0] and any of data No. [0][1] to [1][F] corresponding to the point table to be read. Refer to Section 8.11.1. (b) Reply The slave station sends back the position data of the requested point table.
  • Page 79 (3) Acceleration time constant read Read the acceleration time constant of the point table. (a) Transmission Transmit command [5][4] and any of data No. [0][1] to [1][F] corresponding to the point table to be read. Refer to Section 8.11.1. (b) Reply The slave station sends back the acceleration time constant of the requested point table.
  • Page 80 (5) Dwell time read Read the dwell time of the point table. (a) Transmission Transmit command [6][0] and any of data No. [0][1] to [1][F] corresponding to the point table to be read. Refer to Section 8.11.1. (b) Reply The slave station sends back the dwell time of the requested point table. Hexadecimal data Display type 0: Used unchanged in hexadecimal...
  • Page 81 (7) Position data write Write the position data of the point table. Transmit command [C][0], any of data No. [0][1] to [1][F] corresponding to the point table to be written to, and the data. Refer to Section 8.11.2. Command Data No. Data [0][1] to [C][0]...
  • Page 82 (9) Acceleration time constant write Write the acceleration time constant of the point table. Transmit command [C][7], any of data No. [0][1] to [1][F] corresponding to the point table to be written to, and the data. Refer to Section 8.11.2. Command Data No.
  • Page 83 (11) Dwell time write Write the dwell time of the point table. Transmit command [C][A], any of data No. [0][1] to [1][F] corresponding to the point table to be written to, and the data. Refer to Section 8.11.2. Command Data No. Data [0][1] to [C][A]...
  • Page 84 8.12.9 Servo amplifier group designation With group setting made to the slave stations, data can be transmitted simultaneously to two or more slave stations set as a group through RS-422 communication. (1) Group setting write Write the group designation value to the slave station. Transmission Transmit command [9][F], data No.
  • Page 85 8.12.10 Other commands (1) Servo motor end pulse unit absolute position Read the absolute position in the servo motor end pulse unit. (a) Transmission Send command [0][2] and data No. [9][0]. Command Data No. [0][2] [9][0] (b) Reply The slave station sends back the requested servo motor end pulses. Absolute value is sent back in hexadecimal in the servo motor end pulse unit.

  • Page 86: Revisions

    REVISIONS Print Date Document # Revision Editor ‘02/01/09 BCN-B11127-479* First edition H.Ogi...

This manual is also suitable for:

Mr-j2s-**a-s061 series

Table of Contents