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Mitsubishi Electric MELSERVO-J4 Series Instruction Manual

General-purpose interface ac servo. servo amplifier
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Table of Contents
General-Purpose AC Servo
General-Purpose Interface AC Servo
MODEL
MR-J4-_A_-RJ
MR-J4-03A6-RJ
SERVO AMPLIFIER
INSTRUCTION MANUAL
(POSITIONING MODE)
C

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  Summary of Contents for Mitsubishi Electric MELSERVO-J4 Series

  • Page 1 General-Purpose AC Servo General-Purpose Interface AC Servo MODEL MR-J4-_A_-RJ MR-J4-03A6-RJ SERVO AMPLIFIER INSTRUCTION MANUAL (POSITIONING 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 or inspection, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P+ and N- is safe with a voltage tester and others. Otherwise, an electric shock may occur.
  • Page 4 3. To prevent injury, note the following CAUTION Only the voltage specified in the Instruction Manual should be applied to each terminal. Otherwise, a burst, damage, etc. may occur. Connect cables to the correct terminals. Otherwise, a burst, damage, etc. may occur. Ensure that polarity (+/-) is correct.
  • Page 5 CAUTION 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. Please take necessary precautions to ensure that remaining materials from fumigant do not enter our products, or treat packaging with methods other than fumigation (heat method).
  • Page 6 (3) Test run and adjustment CAUTION Before operation, check the parameter settings. Improper settings may cause some machines to operate unexpectedly. Never make a drastic adjustment or change to the parameter values as doing so will make the operation unstable. Do not get close to moving parts during the servo-on status.
  • Page 7 (6) Maintenance, inspection and parts replacement CAUTION Make sure that the emergency stop circuit operates properly such that an operation can be stopped immediately and a power is shut off by the emergency stop switch. It is recommended that the servo amplifier be replaced every 10 years when it is used in general environment.
  • Page 8 Compliance with global standards For the compliance with global standards, refer to app. 4 of "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual". «About the manual» You must have this Instruction Manual and the following manuals to use this servo. Ensure to prepare them to use the servo safely.
  • 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 1-12 1.1 For proper use of the positioning mode .................... 1- 1 1.2 Positioning mode specification list ....................1- 2 1.3 Function list ............................1- 5 1.4 Configuration including peripheral equipment ................. 1-10 2.
  • Page 11 4.1.2 Stop ............................4- 2 4.1.3 Test operation ..........................4- 3 4.1.4 Parameter setting ........................4- 4 4.1.5 Point table setting ........................4- 5 4.1.6 Actual operation ......................... 4- 5 4.1.7 Troubleshooting at start-up ......................4- 5 4.2 Automatic operation mode ........................ 4- 7 4.2.1 Automatic operation mode ......................
  • Page 12 5.4 Home position return mode ......................5-37 5.4.1 Summary of home position return ..................... 5-37 5.4.2 Dog type home position return ....................5-40 5.4.3 Count type home position return ....................5-42 5.4.4 Data set type home position return ................... 5-44 5.4.5 Stopper type home position return ....................
  • Page 13 7.1.1 Basic setting parameters ([Pr. PA_ _ ]) ..................7- 3 7.1.2 Gain/filter setting parameters ([Pr. PB_ _ ]) ................7- 4 7.1.3 Extension setting parameters ([Pr. PC_ _ ]) ................7- 6 7.1.4 I/O setting parameters ([Pr. PD_ _ ]) ..................7- 9 7.1.5 Extension setting 2 parameters ([Pr.
  • Page 14 11. MR-D01 EXTENSION I/O UNIT 11- 1 to 11-78 11.1 Function block diagram ......................... 11- 2 11.2 Structure ............................11- 4 11.2.1 Parts identification ........................11- 4 11.2.2 Installation and removal of the MR-D01 extension I/O unit ........... 11- 5 11.3 Configuration including peripheral equipment ................
  • Page 15 12.2.2 Interrupt positioning function ....................12-59 12.3 Infinite feed function (setting degree) ..................12-62 www.kavrammuhendislik.com.tr...
  • Page 16: Functions And Configuration

    1. FUNCTIONS AND CONFIGURATION 1. FUNCTIONS AND CONFIGURATION The following items are the same as MR-J4-_A_-RJ servo amplifiers. For details, refer to each section indicated in the detailed explanation field. "MR-J4-_A_" means "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual". Detailed explanation Item MR-J4-_A_-RJ 100 W MR-J4-03A6-RJ or more...
  • Page 17: Positioning Mode Specification List

    1. FUNCTIONS AND CONFIGURATION 1.2 Positioning mode specification list The specifications only of the positioning mode are listed here. For other specifications, refer to section 1.3 and 18.1.3 of "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual". Item Description Servo amplifier model MR-J4-_A_-RJ 100 W or more/MR-J4-03A6-RJ Operational specifications Positioning with specification of point table No.
  • Page 18 1. FUNCTIONS AND CONFIGURATION Item Description Positioning by specifying the station position (Note 7) Operational specifications The maximum number of divisions: 255 Speed command input Selects the rotation speed and acceleration/deceleration time constant by a contact input. System Rotation direction specifying indexer/shortest rotating indexer Digital override Selects the override multiplying factor by a contact input.
  • Page 19 1. FUNCTIONS AND CONFIGURATION Note 1. STM is the ratio to the setting value of the position data. STM can be changed with [Pr. PT03 Feeding function selection]. 2. The automatic positioning to home position function is not available with the program method and the indexer method. 3.
  • Page 20: 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) PS: Positioning mode (indexer 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 21 Torque limit changing dog type/torque limit changing data set type Section 6.4 High-resolution encoder of 4194304 pulses/rev is used as the encoder of the rotary servo motor compatible with the MELSERVO-J4 series. However, the High-resolution encoder encoder resolution of the rotary servo motor compatible with MR-J4-03A6- RJ servo amplifiers will be 262144 pulses/rev.
  • Page 22 1. FUNCTIONS AND CONFIGURATION Control mode Detailed Function Description explanation [Pr. PD23] to The output devices including MBR (Electromagnetic brake interlock) can be Output signal selection [Pr. PD26] assigned to certain pins of the CN1 connector. (device settings) [Pr. PD28] However, [Pr.
  • Page 23 1. FUNCTIONS AND CONFIGURATION Control mode Detailed Function Description explanation This function which complies with the SEMI-F47 standard enables to avoid MR-J4-_A_ triggering [AL. 10 Undervoltage] using the electrical energy charged in the section 7.4 capacitor in case that an instantaneous power failure occurs during SEMI-F47 function [Pr.
  • Page 24 1. FUNCTIONS AND CONFIGURATION Control mode Detailed Function Description explanation Section After an operation travels to a target position with a JOG operation or 3.1.10 Teaching function manual pulse generator operation, pushing the SET button of the operation Section part or turning on TCH (Teach) will import position data. 3.2.10 MR-D01 is an extension I/O unit that can extend the input/output signals of MR-J4-_A_-RJ servo amplifiers.
  • Page 25: 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 26 1. FUNCTIONS AND CONFIGURATION Note 1. The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used. When not using the power factor improving DC reactor, short P3 and P4. 2.
  • Page 27 1. FUNCTIONS AND CONFIGURATION MEMO 1 - 12 www.kavrammuhendislik.com.tr...
  • Page 28: 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 turns off. Then, confirm that the voltage between P+ and N- is safe with a voltage tester and others.
  • Page 29 2. SIGNALS AND WIRING The following items are the same as MR-J4-_A_-RJ servo amplifiers. For details, refer to each section indicated in the detailed explanation field. "MR-J4-_A_" means "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual". Detailed explanation Item MR-J4-_A_-RJ 100 W MR-J4-03A6-RJ or more Input power supply circuit MR-J4-_A_ section 3.1...
  • Page 30: I/O Signal Connection Example

    2. SIGNALS AND WIRING 2.1 I/O signal connection example 2.1.1 MR-J4-_A_-RJ 100 W or more (1) Point table method POINT Assign the following output devices to CN1-22, CN1-23, and CN1-25 pins with [Pr. PD23], [Pr. PD24], and [Pr. PD26]. CN1-22: CPO (Rough match) CN1-23: ZP (Home position return completion) CN1-25: MEND (Travel completion) Servo amplifier...
  • Page 31 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 32 2. SIGNALS AND WIRING (2) Program method POINT Assign the following output devices to CN1-22, CN1-23, and CN1-25 pins with [Pr. PD23], [Pr. PD24], and [Pr. PD26]. CN1-22: CPO (Rough match) CN1-23: ZP (Home position return completion) CN1-25: MEND (Travel completion) Servo amplifier (Note 7) 24 V DC (Note 4, 14)
  • Page 33 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 34 2. SIGNALS AND WIRING (3) Indexer method POINT In the indexer method, assign the following input device to CN1-18 pin with [Pr. PD10]. CN1-18: MD1 (Operation mode selection 2) Assign the following output devices to CN1-22, CN1-23, and CN1-25 pins with [Pr.
  • Page 35 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 36: Mr-J4-03A6-Rj

    2. SIGNALS AND WIRING 2.1.2 MR-J4-03A6-RJ (1) Point table method POINT Assign the following output devices to CN1-22, CN1-23, and CN1-25 pins with [Pr. PD23], [Pr. PD24], and [Pr. PD26]. CN1-22: CPO (Rough match) CN1-23: ZP (Home position return completion) CN1-25: MEND (Travel completion) Servo amplifier (Note 7)
  • Page 37 2. SIGNALS AND WIRING Note 1. To prevent an electric shock, always connect the CNP1 noiseless grounding terminal ( marked) of the servo amplifier to the grounding terminal 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 38 2. SIGNALS AND WIRING (2) Program method POINT Assign the following output devices to CN1-22, CN1-23, and CN1-25 pins with [Pr. PD23], [Pr. PD24], and [Pr. PD26]. CN1-22: CPO (Rough match) CN1-23: ZP (Home position return completion) CN1-25: MEND (Travel completion) Servo amplifier (Note 7) 24 V DC (Note 4, 13)
  • Page 39 2. SIGNALS AND WIRING Note 1. To prevent an electric shock, always connect the CNP1 noiseless grounding terminal ( marked) to the grounding terminal 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 40 2. SIGNALS AND WIRING (3) Indexer method POINT In the indexer method, assign the following input device to CN1-18 pin with [Pr. PD10]. CN1-18: MD1 (Operation mode selection 2) Assign the following output devices to CN1-22, CN1-23, and CN1-25 pins with [Pr.
  • Page 41 2. SIGNALS AND WIRING Note 1. To prevent an electric shock, always connect the CNP1 noiseless grounding terminal ( marked) to the grounding terminal 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 42: 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 STO I/O signal connector (CN8), refer to chapter 13 of "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual". For the CN1 connector, securely connect the external conductor of the shielded cable to the ground plate and fix it to the connector shell.
  • Page 43 2. SIGNALS AND WIRING (1) MR-J4-_A_-RJ 100 W or more The servo amplifier front view shown is that of the MR-J4-20A-RJ or less. For other views of servo amplifiers, connector arrangements, and details, refer to chapter 9 of "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual".
  • Page 44 2. SIGNALS AND WIRING (Note 2) I/O signals in control modes (Note 1) Pin No. Related parameter CP/BCD (Note 7) P15R P15R P15R (Note 8) I (Note 10) (Note 10) (Note 10) PD44 (Note 9) (Note 4) (Note 4) (Note 4) PD47 (Note 4) (Note 4)
  • Page 45 2. SIGNALS AND WIRING Note 1. I: input signal, O: output signal 2. CP: Positioning mode (point table method) BCD: Positioning mode (point table method in the BCD input positioning operation) This method is available only when the MR-D01 unit is connected. Refer to chapter 12 for details.
  • Page 46 2. SIGNALS AND WIRING (2) MR-J4-03A6-RJ For the views of servo amplifiers, connector arrangements, and details, refer to section 18.6 of "MR-J4- _A_(-RJ) Servo Amplifier Instruction Manual". CN3 (USB connector) Refer to "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual" section 11.7. (Battery connector) Refer to "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual"...
  • Page 47 2. SIGNALS AND WIRING The device assignment of the CN1 connector pins changes depending on the control mode. For the pins which are given parameters in the related parameter column, their devices can be changed using those parameters. (Note 2) I/O signals in control modes (Note 1) Pin No.
  • Page 48 2. SIGNALS AND WIRING Note 1. I: input signal, O: output signal 2. CP: Positioning mode (point table method) CL: Positioning mode (program method) PS: Positioning mode (indexer method) 3. TLA will be available when TL (External torque limit selection) is enabled with [Pr. PD04], [Pr.
  • Page 49: Signal (Device) Explanations

    2. SIGNALS AND WIRING 2.3 Signal (device) explanations The pin numbers in the connector pin No. column are those in the initial status. For the I/O interfaces (symbols in I/O division column in the table), refer to section 3.9.2 of "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual".
  • Page 50 2. SIGNALS AND WIRING Control mode Connector Device Symbol Function and application pin No. division Forward rotation CN1-43 To start operation, turn on LSP and LSN. Turn it off to bring the motor to a DI-1 stroke end sudden stop and make it servo-locked. Setting [Pr.
  • Page 51 2. SIGNALS AND WIRING Control mode Connector Device Symbol Function and application pin No. division Operation mode CN1-16 Point table method/program method DI-1 selection 1 Turning on MD0 will be automatic operation mode, off will be manual operation mode. Changing an operation mode during operation will clear Operation mode DI-1 the command remaining distance and the motor will decelerate to stop.
  • Page 52 2. SIGNALS AND WIRING Control mode Connector Device Symbol Function and application pin No. division CN1-17 Point table method DI-1 Forward rotation 1. Absolute value command method start Turning on ST1 during automatic operation will execute one positioning based on position data set in point tables. Turning on ST1 during home position return will also start home position return.
  • Page 53 2. SIGNALS AND WIRING Control mode Connector Device Symbol Function and application pin No. division Temporary TSTP Turning on TSTP during automatic operation will temporarily stop the DI-1 stop/restart 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 motor.
  • Page 54 2. SIGNALS AND WIRING Control mode Connector Device Symbol Function and application pin No. division Analog override Turning on OVR will enable VC (Analog override). DI-1 selection Teach Use this for teaching. Turning on TCH in the point table method will rewrite DI-1 a position data of the selected point table No.
  • Page 55 2. SIGNALS AND WIRING Control mode Connector Device Symbol Function and application pin No. division Next station No. CN1-19 Indexer method DI-1 selection 1 Select next station Nos. with DI0 to DI7. A setting value at ST1 on will be enabled. Next station No.
  • Page 56 2. SIGNALS AND WIRING Control mode Connector Device Symbol Function and application pin No. division Digital override To enable the digital override function, set [Pr. PT38] to "_ _ 1 _". DI-1 selection 1 This signal is for multiplying a command speed by the digital override (multiplying factor).
  • Page 57 2. SIGNALS AND WIRING Control mode Connector Device Symbol Function and application pin No. division Turn PC on to switch the speed amplifier from the proportional integral type DI-1 Proportion to the proportional type. control If the servo motor at a stop is rotated even one pulse due to any external factor, it generates torque to compensate for a position shift.
  • Page 58 2. SIGNALS AND WIRING (b) Output device Control mode Connector Device Symbol Function and application pin No. division Malfunction CN1-48 When an alarm occurs, ALM will turn off. DO-1 When an alarm does not occur, ALM will turn on after 4 s to 5 s after power-on.
  • Page 59 2. SIGNALS AND WIRING Control mode Connector Device Symbol Function and application pin No. division Electromagnetic When using the device, set operation delay time of the electromagnetic DO-1 brake interlock brake in [Pr. PC16]. When a servo-off status or alarm occurs, MBR will turn off. Speed command When a command speed is within a target speed at servo-on status, SA DO-1...
  • Page 60 2. SIGNALS AND WIRING Control mode Connector Device Symbol Function and application pin No. division Program output OUT1 OUT1 will turn on with the OUTON (1) command during programming. DO-1 The OUTOF (1) command will turn off OUT1. You can also set time to off with [Pr. PT23]. Program output OUT2 OUT2 will turn on with the OUTON (2) command during programming.
  • Page 61 2. SIGNALS AND WIRING Control mode Connector Device Symbol Function and application pin No. division M code 1 (bit 0) MCD00 This device can be used in the point table method. DO-1 These signals can be checked with output devices of the communication M code 2 (bit 1) MCD01 DO-1...
  • Page 62 2. SIGNALS AND WIRING Control mode Connector Device Symbol Function and application pin No. division Mark detection MSDH Turning on MSD (Mark detection) will turn on MSDH. DO-1 rising latch completed Mark detection MSDL After MSD (Mark detection) is turned on, turning off MSD will turn on DO-1 falling latch MSDL.
  • Page 63 2. SIGNALS AND WIRING Control mode Connector Device Symbol Function and application pin No. division Analog torque CN1-27 When using the signal, enable TL (External torque limit selection) with [Pr. Analog limit PD04], [Pr. PD06], [Pr. PD08], [Pr. PD10], [Pr. PD12], [Pr. PD14], [Pr. input PD18], [Pr.
  • Page 64 2. SIGNALS AND WIRING (b) MR-J4-03A6-RJ Control Connector mode Device Symbol Function and application pin No. division Encoder A- CN1-4 These devices output pulses of encoder output pulse set in [Pr. PA15] in DO-2 phase pulse the differential line driver type. CN1-5 (differential line In CCW rotation of the servo motor, the encoder B-phase pulse lags the...
  • Page 65: Analog Override

    2. SIGNALS AND WIRING 2.4 Analog override POINT The override function has two types. One is analog override by using analog voltage input and another is digital override by using parameter settings. Target method of analog override: Point table method/Program method Target method of digital override: Indexer method OVR (Analog override selection) is for the analog override.
  • Page 66 2. SIGNALS AND WIRING (2) OVR (Analog override selection) Select enabled/disabled of 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 using OVR (Analog override selection). (Note) External input Speed change value signal...
  • Page 67: 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-J4- _A_(-RJ) Servo Amplifier Instruction Manual". For the CN8 connector, refer to section 13.3.1 of "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual". The following shows an example of internal connection diagram of the point table method.
  • Page 68 2. SIGNALS AND WIRING (1) MR-J4-_A_-RJ 100 W or more Servo amplifier (Note 4) 24 V DC Approx. DOCOM 6.2 kΩ DOCOM ST1 17 ST2 18 (Note 3) (Note 3) EM2 42 MEND LSP 43 Approx. LSN 44 6.2 kΩ DOG 45 Note OPC 12...
  • Page 69 2. SIGNALS AND WIRING Note 1. Output signals are not assigned by default. Assign the output signals with [Pr. PD47] as necessary. 2. Refer to section 9.1 for the connection of manual pulse generator. 3. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.9.3 of "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual".
  • Page 70 2. SIGNALS AND WIRING (2) MR-J4-03A6-RJ Servo amplifier (Note 3) 24 V DC Approx. DOCOM 6.2 kΩ DOCOM ST1 17 ST2 18 (Note 2) (Note 2) EM2 42 MEND LSP 43 Approx. LSN 44 6.2 kΩ DOG 45 (Note 3) OPC 12 24 V DC Insulated...
  • Page 71 2. SIGNALS AND WIRING Note 1. Refer to section 9.1 for the connection of a manual pulse generator. 2. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.9.3 of "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual". 3. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they can be configured by one.
  • Page 72: 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. 2.6.1 MR-J4-_A_-RJ 100 W or more (1) Power-on procedure 1) Always use a magnetic contactor for the main circuit power supply wiring (L1/L2/L3) as shown in section 3.1 of "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual".
  • Page 73: Mr-J4-03A6-Rj

    2. SIGNALS AND WIRING 2.6.2 MR-J4-03A6-RJ (1) Power-on procedure 1) When wiring the power supply, always use a circuit protector for the power supply (24/PM). Configure up an external sequence so that the relay connected to PM turns off when an alarm occurs.
  • Page 74: Display And Operation Sections

    3. DISPLAY AND OPERATION SECTIONS 3. DISPLAY AND OPERATION SECTIONS The following items are the same as MR-J4-_A_-RJ servo amplifiers. For details, refer to each section indicated in the detailed explanation field. "MR-J4-_A_" means "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual". Detailed explanation Item MR-J4-_A_-RJ 100 W MR-J4-03A6-RJ...
  • Page 75 3. DISPLAY AND OPERATION SECTIONS Display mode transition Initial screen Function Reference Servo status display. Section 3.1.2 For the point table method and program method, "PoS" is displayed at power-on. Status display For the indexer method, "C" is displayed. (Note) One-touch tuning MR-J4-_A_ (-RJ) Servo...
  • Page 76: Status Display

    3. DISPLAY AND OPERATION SECTIONS 3.1.2 Status display The servo status during operation is shown on the 5-digit, 7-segment LED display. Press the "UP" or "DOWN" button to change display data as desired. When the required data is selected, the corresponding symbol is displayed.
  • Page 77 3. DISPLAY AND OPERATION SECTIONS (a) Standard control mode (rotary servo motor)/DD motor control mode Main axis one cycle current position Cumulative feedback Number of tough drive pulses operations Servo motor speed/ Unit power linear servo motor consumption 1 speed (1 W unit) Unit power consumption 2...
  • Page 78 3. DISPLAY AND OPERATION SECTIONS (b) Fully closed loop control mode Main axis one cycle current value (Note 1) Cumulative feedback pulses Unit total power consumption 2 (100 kWh unit) Load-side encoder cumulative feedback pulses Load-side encoder droop pulses Load-side encoder information 1 (1 pulse unit) Load-side encoder information 1 (100000 pulses unit)
  • Page 79 3. DISPLAY AND OPERATION SECTIONS (c) Linear servo motor control mode Main axis one cycle current value (Note 1) Cumulative feedback pulses Unit total power consumption 2 (100 kWh unit) Z-phase counter low Z-phase counter high Electrical angle low Electrical angle high (Note 2) Current position Override level...
  • Page 80 3. DISPLAY AND OPERATION SECTIONS (2) Status display list The following table lists the servo statuses that may be shown. Control Operation mode mode (Note 3) (Note 1) Status display Symbol Unit Description Feedback pulses from the servo motor encoder are counted and displayed.
  • Page 81 3. DISPLAY AND OPERATION SECTIONS Control Operation mode mode (Note 3) (Note 1) Status display Symbol Unit Description Settling time is displayed. When it exceeds 1000 ms, "1000" will Settling time be displayed. Oscillation detection Frequency at the time of oscillation detection is displayed. frequency Number of tough drive times...
  • Page 82 3. DISPLAY AND OPERATION SECTIONS Control Operation mode mode (Note 3) (Note 1) Status display Symbol Unit Description The Z-phase counter is displayed by increments of 100000 pulses. For an incremental linear encoder, the Z-phase counter is Z-phase counter high FCy2 100000 pulses displayed.
  • Page 83 3. DISPLAY AND OPERATION SECTIONS Control Operation mode mode (Note 3) (Note 1) Status display Symbol Unit Description A feed current value during the cam axis control is displayed. μm When the simple cam function is disabled, 0 is always (STM-4) inch displayed.
  • Page 84 3. DISPLAY AND OPERATION SECTIONS (3) Changing the status display screen The status display item of the servo amplifier display shown at power-on can be changed by changing [Pr. PC36] settings. The item displayed in the initial status changes with the control mode as follows. Control mode Status display Position...
  • Page 85: Diagnostic Mode

    3. DISPLAY AND OPERATION SECTIONS 3.1.3 Diagnostic mode The display can show diagnosis contents. Press the "UP" or "DOWN" button to change 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 86 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 the servo was switched on after completion of initialization and the servo amplifier is ready to operate.
  • Page 87 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 or OVC of 0 V, a zero-adjustment of offset voltages will be automatically performed.
  • Page 88: 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 number that has occurred or the parameter number in error. Name Display (Note 1) Description Indicates no occurrence of an alarm.
  • Page 89 3. DISPLAY AND OPERATION SECTIONS The following is additional information of alarm occurrence. (1) Any mode screen displays the current alarm. (2) Even during alarm occurrence, the other screen can be viewed by pressing the button in the operation area. At this time, the decimal point in the fourth digit remains flickering. (3) For any alarm, remove its cause and clear it in any of the following methods.
  • Page 90: 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 Point table No.
  • Page 91 3. DISPLAY AND OPERATION SECTIONS (2) Setting list The following table indicates the point table settings that may 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 255...
  • Page 92 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. After defining the values, pressing the "MODE" button for 2 s or more to discard the changed setting values, and the previous setting values are displayed.
  • Page 93 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 the "MODE" button four times. A point table No. is displayed. Press the "UP"...
  • Page 94: 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. To status display From alarm mode mode MODE Basic setting...
  • Page 95 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 the "MODE" button to switch to the basic setting parameter screen. Press the "UP"...
  • Page 96: 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 the 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 screen at power-on.
  • Page 97: 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 98: 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 99 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 100: 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 part or turning on TCH (Teach) will import position data.
  • Page 101: Mr-J4-03A6-Rj

    3. DISPLAY AND OPERATION SECTIONS 3.2 MR-J4-03A6-RJ 3.2.1 Display flowchart Press the "MODE" button once to shift to the next display mode. Refer to section 3.2.2 and later for the description of the corresponding display mode. Display mode transition Initial screen Function Reference Servo status display.
  • Page 102: Status Display Mode

    3. DISPLAY AND OPERATION SECTIONS 3.2.2 Status display mode The servo status during operation is shown on the 3-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 103 3. DISPLAY AND OPERATION SECTIONS Override level Cumulative feedback Unit power pulses consumption 1 Instantaneous torque (1 pulse unit) (1 W unit) Cumulative feedback Position within Unit power pulses one-revolution consumption 2 (1000 pulses unit) (1 pulse unit) (1 kW unit) Position within Unit total power Servo motor speed...
  • Page 104 3. DISPLAY AND OPERATION SECTIONS (2) Status display list The following table lists the servo statuses that may be shown. Control mode Status display Unit Description Symbol (Note 1) CP CL PS Feedback pulses from the servo motor encoder are counted and displayed. Cumulative feedback When the count exceeds ±999, it starts from 0.
  • Page 105 3. DISPLAY AND OPERATION SECTIONS Control mode Status display Unit Description Symbol (Note 1) CP CL PS ABS counter (1 rev unit) The travel distance from the home position is displayed as multi-revolution counter value of the absolution position encoder in the absolution position detection ABS counter system.
  • Page 106 3. DISPLAY AND OPERATION SECTIONS Control mode (Note 1) Status display Unit Description Symbol µm When "_ _ 0 _" (positioning display) is set in [Pr. PT26], the command current 0.0001 inch position is displayed as machine home position is 0. Command position - Low 0.001 degree pulse...
  • Page 107: Diagnostic Mode

    3. DISPLAY AND OPERATION SECTIONS 3.2.3 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/disabled Servo motor series ID display External I/O signal Servo motor type ID...
  • Page 108 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.
  • Page 109 3. DISPLAY AND OPERATION SECTIONS Name Display Description Indicates the version of the software. The software version is displayed while the "SET" button is pressed and held. Press the "MODE" button to shift to the next display mode. Software version: lower "SET"...
  • Page 110 3. DISPLAY AND OPERATION SECTIONS Name Display Description Displays the series ID of the servo motor currently connected. Press the "SET" button to show the lower 3 digits of servo motor series ID. For indication details, refer to app. 1 of "Servo Servo motor series ID "SET"...
  • Page 111: Alarm Mode

    3. DISPLAY AND OPERATION SECTIONS 3.2.4 Alarm mode The current alarm, past alarm history, and parameter error are displayed. The alarm number that has occurred or the parameter numbers in error are displayed on the display. Name Display (Note 1) Description Indicates no occurrence of an alarm.
  • Page 112 3. DISPLAY AND OPERATION SECTIONS Name Display (Note 1) Description This indicates no occurrence of [AL. 37 Parameter error]. The data content error of [Pr. PA12 Reverse rotation torque limit]. The parameter group in which the parameter error has occurred is displayed. Press and hold the "SET"...
  • Page 113: Point Table Setting

    3. DISPLAY AND OPERATION SECTIONS 3.2.5 Point table setting POINT Point table No. 1 to No. 99 can be set with the operation section of the servo amplifier. To set point table No. 100 to No. 255, use MR Configurator2. You can set the target position, servo motor speed, acceleration time constant, deceleration time constant, dwell, auxiliary function and M code.
  • Page 114 3. DISPLAY AND OPERATION SECTIONS (2) Setting list The following point table setting can be displayed. Indication Status display Unit Description Symbol range Specify the point table to set the target position, servo motor speed, Point table No. acceleration time constant, deceleration time constant, dwell, auxiliary function, 1 to 255 and M code.
  • Page 115 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 116 3. DISPLAY AND OPERATION SECTIONS (b) Setting of 4 to 6 digits The following example is the operation method to change the position data of the point table No. 1 to "123456". Press the "MODE" button four times. ……A point table No. is displayed. Press the "UP"...
  • Page 117: Parameter Mode

    3. DISPLAY AND OPERATION SECTIONS 3.2.6 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 follows. From alarm mode To status display mode MODE Basic setting Gain/filter...
  • Page 118 3. DISPLAY AND OPERATION SECTIONS (2) Operation method (a) Parameters of 3 or less decimal digits. The following example gives the operation procedure to change [Pr. PA Reverse rotation torque limit]. Press the "MODE" button to switch to the basic setting parameters screen. Parameter number selection Select a parameter number with the "UP"...
  • Page 119 3. DISPLAY AND OPERATION SECTIONS (b) Parameters of 4 to 6 decimal digits The following example gives the operation procedure to change [Pr. PB03 Positioning command acceleration/deceleration time constants (position smoothing)] to "65535". Press the "MODE" button to switch to the gain/filter setting parameters screen. Press the "UP"...
  • Page 120 3. DISPLAY AND OPERATION SECTIONS (c) Parameters of 7 or more decimal digits The following example gives the operation procedure to change the [Pr. PA06 Electronic gear numerator (command pulse multiplication numerator)] to "12345678". Press the "MODE" button to switch to the basic setting parameters screen. Press the "SET"...
  • Page 121 3. DISPLAY AND OPERATION SECTIONS (d) Parameter of hexadecimal The following example gives the operation procedure to change the [Pr. PA01 Operation mode] to "1234". Press the "MODE" button to switch to the basic setting parameters screen. Press the "UP" or "DOWN" button to select [Pr. PA01]. Press the "SET"...
  • Page 122: External I/O Signal Display

    3. DISPLAY AND OPERATION SECTIONS 3.2.7 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 123: Output Signal (Do) Forced Output

    3. DISPLAY AND OPERATION SECTIONS 3.2.8 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 124: Step Feed

    3. DISPLAY AND OPERATION SECTIONS 3.2.9 Step feed The test operation mode is designed for checking servo operation. Do not use it CAUTION for an 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 125 3. DISPLAY AND OPERATION SECTIONS (5) Forcibly stopping the servo motor software Click "Forced Stop" (f) to make an instantaneous stop. When "Forced Stop" is enabled, "Operation Start" cannot be used. Click "Forced Stop" again to enable "Operation Start". (6) Switching to the normal operation mode Before switching from the test operation mode to the normal operation mode, turn off the servo amplifier.
  • Page 126: Teaching Function

    3. DISPLAY AND OPERATION SECTIONS 3.2.10 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 127 3. DISPLAY AND OPERATION SECTIONS MEMO 3 - 54 www.kavrammuhendislik.com.tr...
  • Page 128: 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-J4-_A_-RJ servo amplifiers. For details, refer to each section indicated in the detailed explanation field. "MR-J4-_A_" means "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual".
  • Page 129: Startup

    4. HOW TO USE THE POINT TABLE 4.1 Startup 4.1.1 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-J4-_A_(-RJ) Servo Amplifier Instruction Manual".) This section provides a case where the servo amplifier is powered on after setting the positioning mode.
  • Page 130: Test Operation

    4. HOW TO USE THE POINT TABLE 4.1.3 Test operation Before starting actual operation, perform 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. In this step, confirm that the servo amplifier and servo motor operate Test operation of the servo motor alone in JOG operation of test normally.
  • Page 131: 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 132: 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 133 4. HOW TO USE THE POINT TABLE Start-up sequence Fault Investigation Possible cause Reference Perform a home Servo motor does not Call the external I/O signal LSP, LSN, and ST1 are off. Section position return. rotate. display and check the on/off 3.1.7 status of the input signal.
  • Page 134: Automatic Operation Mode

    4. HOW TO USE THE POINT TABLE 4.2 Automatic operation mode 4.2.1 Automatic operation mode (1) Command method Start operation using ST1 (Forward rotation start) or ST2 (Reverse rotation start). Absolute value command method and incremental value command method are provided in automatic operation mode. (a) Absolute value command method As position data, set the target address to be reached.
  • Page 135 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 Current position When the position data of -90.000 degrees is specified, the servo motor rotates in the CW...
  • Page 136 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 position...
  • Page 137 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) Millimeter, inch, and pulse unit μm] (STM = Feed length multiplication [Pr. PT03]) Setting range: 0 to 999999 [×10 (STM-4) 0 to 999999 [×10...
  • Page 138 4. HOW TO USE THE POINT TABLE (2) Point table (a) Point table setting 1 to 255 point tables can be set. To use point table No. 16 to 255, enable DI4 (Point table No. selection 5) to DI7 (Point table No. selection 8) with "Device Setting" on MR Configurator2. Set point tables using MR Configurator2 or the operation section of the servo amplifier.
  • Page 139: 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 140 4. HOW TO USE THE POINT TABLE Item Setting range Unit Description Set the auxiliary function. (1) When using this point table under the absolute value command method 0: Automatic operation is performed in accordance with a single point table selected.
  • Page 141 4. HOW TO USE THE POINT TABLE 3) Position data unit ([Pr. PT01]) Set the unit of the position data. [Pr. PT01] setting Position data unit _ 0 _ _ _ 1 _ _ inch _ 2 _ _ degree _ 3 _ _ pulse 4) Feed length multiplication ([Pr.
  • Page 142 4. HOW TO USE THE POINT TABLE (2) Incremental value command method (a) Point table Set the point table values using MR Configurator2 or the operation section. Set the position data, servo motor speed, acceleration time constant, deceleration time constant, dwell and auxiliary function to the point table.
  • Page 143 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 144 4. HOW TO USE THE POINT TABLE (c) Operation Selecting DI0 to DI7 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 145 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 146 4. HOW TO USE THE POINT TABLE 2) Incremental 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 147 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 148 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 point table No. 3 are under the absolute value command method, and point table No.
  • Page 149 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, point table 2, and point table No. 4 are under the absolute value command method, and point table No.
  • Page 150 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 151 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 Point table Position data Servo motor Auxiliary time constant time constant Dwell [ms] M code [degree]...
  • Page 152 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 153 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 point table No. 3 are under the absolute value command method, and point table No.
  • Page 154 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 point table No. 3 are under the absolute value command method, and point table No.
  • Page 155 4. HOW TO USE THE POINT TABLE 2) Incremental 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 valid, and the acceleration/deceleration time constant set in the next and subsequent point tables is invalid.
  • Page 156 4. HOW TO USE THE POINT TABLE (d) Automatic repeat positioning operation By setting the auxiliary function of the point table, the operation pattern of the set point table No. can be returned to, and the positioning operation can be performed repeatedly. 1) Absolute value command method ([Pr.
  • Page 157 4. HOW TO USE THE POINT TABLE Example 2. Operations when "9" is set to the auxiliary function of point table No. 3 Acceleration Deceleration Point table Position data Servo motor Auxiliary time constant time constant Dwell [ms] M code μm] speed [r/min] function...
  • Page 158 4. HOW TO USE THE POINT TABLE b) Automatic repeat positioning operation by incremental value command method Example 1. Operations when "10" is set to the auxiliary function of point table No. 4 Acceleration Deceleration Point table Position data Servo motor Auxiliary time constant time constant...
  • Page 159 4. HOW TO USE THE POINT TABLE Example 2. Operations when "11" is set to the auxiliary function of point table No. 3 Acceleration Deceleration Point table Position data Servo motor Auxiliary time constant time constant Dwell [ms] M code μm] speed [r/min] function...
  • Page 160 4. HOW TO USE THE POINT TABLE c) Varying-speed operation by absolute value command method Example. Operations when "8" is set to the auxiliary function of point table No. 3 Acceleration Deceleration Point table Position data Servo motor Auxiliary time constant time constant Dwell [ms] M code...
  • Page 161 4. HOW TO USE THE POINT TABLE d) Varying-speed operation by incremental value command method Example. Operations when "10" is set to the auxiliary function of point table No. 3 Acceleration Deceleration Point table Position data Servo motor Auxiliary time constant time constant Dwell [ms] M code...
  • Page 162 4. HOW TO USE THE POINT TABLE 2) Incremental value command method ([Pr. PT01] = _ _ _ 1) Setting "8" to the auxiliary function performs automatic continuous operation or varying-speed operation until that point table, and after the completion of positioning, performs the operation again from the operation pattern of the set point table.
  • Page 163 4. HOW TO USE THE POINT TABLE Example 2. Operations when "9" is set to the auxiliary function of point table No. 2 Acceleration Deceleration Point table Position data Servo motor Auxiliary time constant time constant Dwell [ms] M code μm] speed [r/min] function...
  • Page 164 4. HOW TO USE THE POINT TABLE b) Varying-speed operation by incremental value command method Example. Operations when "8" is set to the auxiliary function of point table No. 2 Acceleration Deceleration Point table Position data Servo motor Auxiliary time constant time constant Dwell [ms] M code...
  • Page 165 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 166 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 167 4. HOW TO USE THE POINT TABLE 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. When activating the software limit in an incremental system, perform a home position return after power-on.
  • Page 168 4. HOW TO USE THE POINT TABLE c) When the software limit is deactivated 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 169: Manual Operation Mode

    4. HOW TO USE THE POINT TABLE 4.3 Manual operation mode For the machine adjustment, matching of home position, or the like, the JOG operation or the manual pulse generator operation can be used for movement to an arbitrary position. 4.3.1 JOG operation (1) Setting According to the purpose of use, set input devices and parameters as shown below.
  • Page 170 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 0 r/min speed Reverse rotation ST1 (Forward rotation start) Forward rotation JOG ST2 (Reverse rotation start) Reverse rotation JOG...
  • Page 171: 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 172 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 173: Home Position Return Mode

    4. HOW TO USE THE POINT TABLE 4.4 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 input polarity of the proximity dog.
  • Page 174 4. HOW TO USE THE POINT TABLE (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 General home position return method using a Deceleration starts at the proximity dog front proximity dog end.
  • Page 175 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 type 0: Dog type (rear end detection, Z-phase reference) 1: Count type (front end detection, Z-phase reference)
  • Page 176: Dog Type Home Position Return

    4. HOW TO USE THE POINT TABLE 4.4.2 Dog type home position return This home position return type uses a proximity dog. Deceleration starts at the proximity dog front end. 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 177 4. HOW TO USE THE POINT TABLE (3) Timing chart (Operation mode selection 1) MEND (Travel completion) CPO (Rough match) (Home position return completion) Acceleration time Deceleration time constant constant Home position return speed Home position shift distance Home position Creep speed Forward rotation Servo motor speed...
  • Page 178: Count Type Home Position Return

    4. HOW TO USE THE POINT TABLE 4.4.3 Count type home position return In the count type home position return, after the proximity dog front end is detected, the motor travels the distance set with [Pr. PT09 Travel distance after proximity dog]. Then, the position specified by the first Z- phase signal is used as the home position.
  • Page 179 4. HOW TO USE THE POINT TABLE (2) Timing chart MD0 (Operation mode selection 1) MEND (Travel completion) CPO (Rough match) (Home position return completion) Acceleration time constant Deceleration time constant Home position Home position return speed shift distance Home position Creep speed Forward rotation 0 r/min...
  • Page 180: 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, manual pulse generator operation, or the like can be used for movement. You can perform the data set type home position return at servo-on only.
  • Page 181: 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, by using the JOG operation, manual pulse generator operation, or others, a workpiece is pressed against a mechanical stopper, and the position where it is stopped is used as the home position.
  • Page 182 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 position data Forward rotation Servo motor speed 0 r/min Stopper 3 ms or shorter...
  • Page 183: 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. The position at servo-on is used as the home position. (1) Device/parameter Set input devices and parameters as follows.
  • Page 184: 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 6400 pulses (for HG series servo motor).
  • Page 185 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 constant Deceleration time constant Travel distance after Home position return speed proximity dog Creep speed Home position Forward rotation shift distance...
  • Page 186: 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 6400 pulses (for HG series servo motor).
  • Page 187: Dog Cradle Type Home Position Return

    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 constant Deceleration time constant Travel distance after Home position return speed proximity dog Creep speed Home position shift distance Forward rotation...
  • Page 188 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 constant Deceleration time constant Home position Home position return speed shift distance Creep speed Forward rotation Servo motor speed 0 r/min...
  • Page 189: 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 used as the home position.
  • Page 190 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 Forward rotation 0 r/min Servo motor speed Reverse rotation...
  • Page 191: 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 6400 pulses (for HG series servo motor).
  • Page 192 4. HOW TO USE THE POINT TABLE (2) Timing chart (Operation mode selection 1) MEND (Travel completion) CPO (Rough match) (Home position return completion) Home position Deceleration time constant Acceleration time return speed Travel distance after proximity dog constant Home position shift distance Home position return position data Forward rotation 0 r/min...
  • Page 193: 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 Starting from the Z-phase pulse position after the start of the home position return, the position is shifted by the home position shift distance. The position after the shifts is used as the home position. (1) Device/parameter Set input devices and parameters as follows.
  • Page 194: 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 the proximity dog, when the home position return is started from the position on or beyond the proximity dog, the home position return is performed after the machine moves back to the position where the home position can be performed.
  • Page 195: 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. After power-on, if the home position return is performed again after the home position return is performed to define the home position, this function enables automatic positioning to the home position rapidly.
  • Page 196: Precautions For Using Linear Servo Motors

    4. HOW TO USE THE POINT TABLE 4.4.15 Precautions for using linear servo motors POINT The incremental linear encoder and the absolute position linear encoder have different reference home positions at the home position return. (1) Incremental linear encoder If the resolution or the stop interval (the third digit of [Pr. PL01]) of the linear CAUTION encoder is large, it is very dangerous since the linear servo motor may crash into the stroke end.
  • Page 197 4. HOW TO USE THE POINT TABLE The following shows the relation between the stop interval at the home position return and the linear encoder resolution. For example, when the linear encoder resolution is 0.001 μm and the parameter for the stop interval at the home position return, [Pr. PL01], is set to "_ 5 _ _" (16777216 pulses), the stop interval is 16.777 mm.
  • Page 198 4. HOW TO USE THE POINT TABLE (b) When the linear encoder home position does not exist in the home position return direction POINT To execute a home position return securely, start a home position return after moving the linear servo motor to the opposite stroke end with JOG operation from the controller and others.
  • Page 199 4. HOW TO USE THE POINT TABLE (2) Absolute position linear encoder POINT The data set type home position return can also be carried out. When an absolute linear encoder is used, the reference home position is the position per 1048576 pulses (changeable with the third digit of [Pr.
  • Page 200: Precautions For Using The Fully Closed Loop System

    4. HOW TO USE THE POINT TABLE 4.4.16 Precautions for using the fully closed loop system (1) General instruction Home position return is all performed according to the load-side encoder feedback data, independently of the load-side encoder type. It is irrelevant to the Z-phase position of the servo motor encoder. In the case of a home position return using a dog signal, the home position (reference mark) must be passed through when an incremental type linear encoder is used, or the Z-phase be passed through when a rotary encoder is used, during a period from a home position return start until the dog signal turns off.
  • Page 201 4. HOW TO USE THE POINT TABLE (b) About proximity dog type home position return using incremental linear encoder POINT To execute a home position return securely, start a home position return after moving the axis to the opposite stroke end by jog operation, etc. of the controller.
  • Page 202 4. HOW TO USE THE POINT TABLE 2) When the linear encoder home position does not exist in the home position return direction If the home position return is performed from the position where the linear encoder home position does not exist in the home position return direction, an error may occur depending on the home position return type.
  • Page 203: 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 can change the current position of the status monitor and command position display. Using the roll feed display function can use this servo amplifier as the roll feed mode. The roll feed mode can be used in the incremental system.
  • Page 204 4. HOW TO USE THE POINT TABLE (3) Position data unit The display unit is expressed in the unit set in [Pr. PT26], and the feed length multiplication is expressed in the unit set in [Pr. PT03]. When the unit is set in degrees, the roll feed display function is disabled. Refer to section 4.2.2 for details.
  • Page 205: 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 by clicking.
  • Page 206 4. HOW TO USE THE POINT TABLE (5) Verifying point table data (e) Click "Verify" to verify all the data displayed and data of the servo amplifier. (6) Detailed setting of point table data (f) Click "Detailed Setting" to change position data range and unit in the point table window. Refer to section 4.6.2 for details.
  • Page 207: Detailed Setting Window

    4. HOW TO USE THE POINT TABLE 4.6.2 Detailed setting window You can change position data range and unit with the detailed setting for 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 208: 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-J4-_A_-RJ servo amplifiers. For details, refer to each section indicated in the detailed explanation field. "MR-J4-_A_" means "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual".
  • Page 209: Stop

    5. HOW TO USE THE PROGRAM 5.1.2 Stop If any of the following situations occurs, the servo amplifier suspends the running of the servo motor and brings it to a stop. Refer to section 3.10 of "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual" for the servo motor with an electromagnetic brake.
  • Page 210: Test Operation

    5. HOW TO USE THE PROGRAM 5.1.3 Test operation Before starting actual operation, perform 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. In this step, confirm that the servo amplifier and servo motor operate Test operation of the servo motor alone in JOG operation of test normally.
  • Page 211: 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 212: 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 make a drastic adjustment or change to the parameter values as doing so CAUTION will make the operation unstable.
  • Page 213: Program Operation Method

    5. HOW TO USE THE PROGRAM Start-up sequence Fault Investigation Possible cause Reference Switch on ST1 Servo motor does not Call the external I/O signal LSP, LSN, and ST1 are off. Section (Forward rotation rotate. display (Section 3.1.7 or 3.2.7) 3.1.7 start).
  • Page 214: Program Language

    5. HOW TO USE THE PROGRAM 5.2.2 Program language The maximum number of steps of a program is 640. Up to 256 programs can be created; however, the total number of the steps of all programs must be 640 or less. A set program is selectable by using DI0 (Program No.
  • Page 215 5. HOW TO USE THE PROGRAM Indirect specif- Command Name Setting Setting range Unit Description ication (Note 7) Switch on OUT1 (Program output 1) to OUT3 (Program output 3). By setting the on time by using [Pr. PT23] to [Pr. PT25], you can switch off the input signals after the set time elapses.
  • Page 216 5. HOW TO USE THE PROGRAM Indirect specif- Command Name Setting Setting range Unit Description ication (Note 7) Using the maximum torque as 100%, limit the generated torque of the servo motor in the CCW power running or CW regeneration. Forward rotation 0, 1 to 1000 0.1 %...
  • Page 217 5. HOW TO USE THE PROGRAM 1) Program example 1 When executing two operations where the servo motor speeds, acceleration time constants, and deceleration time constants are the same and the travel commands are different Command Description SPN (1000) Servo motor speed 1000 [r/min] STA (200) Acceleration time constant...
  • Page 218 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 219 5. HOW TO USE THE PROGRAM (b) Continuous travel commands (MOVA/MOVIA) POINT You cannot use a combination of "MOV" and "MOVIA" commands and a combination of "MOVI" and "MOVA" commands. The "MOVA" command is a continuous travel command against the "MOV" command. Upon executing the travel command by the "MOV"...
  • Page 220 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] μm]...
  • Page 221 5. HOW TO USE THE PROGRAM 2) Program example 2 (Incorrect usage) For continuous operations, the acceleration time constant and the deceleration time constant cannot be changed at each change of the servo motor speed. Therefore, even if you insert an "STA", "STB", or "STD"...
  • Page 222 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 223 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. Setting Parameter Name Description value Pr. PT23 OUT1 output setting Switch off OUT1 200 [ms] later.
  • Page 224 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 225 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] μm] MOVI (600) Incremental value travel command 600 [×10 μm] TRIPI (300)
  • Page 226 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 20 [ms] constant μm] MOVI (1000) Incremental value travel command 1000 [×10 TIM (200) Dwell 200 [ms] OUTON (1) Switch on OUT1 (Program output 1).
  • Page 227 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 20 [ms] constant μm] MOVI (1000) Incremental value travel command 1000 [×10 TIM (200) Dwell 200 [ms] OUTON (1) Switch on OUT1 (Program output 1).
  • Page 228 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 20 [ms] constant μm] MOVI (1000) Incremental value travel command 1000 [×10 SYNC (1) Suspend the step until PI1 (Program input 1) is switched on. TIM (200) Dwell 200 [ms]...
  • Page 229 5. HOW TO USE THE PROGRAM 1) Program example 1 Command Description SPN (500) Servo motor speed 500 [r/min] STA (200) Acceleration time constant 200 [ms] STB (300) Deceleration time constant 300 [ms] μm] MOV (600) Absolute value travel command 600 [×10 SPN (100) Servo motor speed...
  • Page 230 5. HOW TO USE THE PROGRAM (f) External pulse count (COUNT) When the number of input pulses of the manual pulse generator becomes larger than the value set for the "COUNT" command, the next step is executed. Setting "0" clears cumulative input pulses. Command Description COUNT (500)
  • Page 231 5. HOW TO USE THE PROGRAM (g) Step repeat instruction (FOR...NEXT) POINT You cannot insert "FOR...NEXT" commands between a "FOR" command and a "NEXT" command. The steps between the "FOR (Setting value)" and the "NEXT" commands are repeated for the set number of times.
  • Page 232 5. HOW TO USE THE PROGRAM (h) Number of program executions command (TIMES) By setting the number of program executions for the "TIMES (Setting value)" command, which is positioned at the start of the program, you can repeat the execution of the program. To execute the program one time, the "TIMES"...
  • Page 233 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 proceeds to the next step until LPS (Current position latch input) is switched on.
  • Page 234 5. HOW TO USE THE PROGRAM (j) Indirect specification with general purpose registers (R1 to R4, D1 to 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 to R4, D1 to D4), is used as the setting value of each command.
  • Page 235 5. HOW TO USE THE PROGRAM (k) Home position return command (ZRT) Perform a home position return. Set the home position with a parameter. (Refer to section 5.4.) With the "ZRT" command, the program proceeds to the next step after the home position return completion.
  • Page 236 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 237: 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. PA01]. [Pr. PT01] Command method Travel command Position data input range Positioning Position data unit command method...
  • Page 238 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 239: 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 240 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). This function will not operate even if ST1 (Forward rotation start) is switched on during the temporary stop.
  • Page 241: 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 242: 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 speed 0 r/min Reverse rotation ST1 (Forward rotation start) Forward rotation JOG ST2 (Reverse rotation start) Reverse rotation JOG 5.3.2 Manual pulse generator operation (1) Setting...
  • Page 243 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 244: 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 overrun and malfunction.
  • Page 245 5. HOW TO USE THE PROGRAM (1) Home position return type Select the optimum home position return type according to the machine type or others. Type Home position return method Feature Dog type Deceleration starts at the front end of a General home position return method using a proximity dog.
  • Page 246 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 type 0: Dog type (rear end detection, Z-phase reference) 1: Count type (front end detection, Z-phase reference) 2: Data set type...
  • Page 247: 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 248 5. HOW TO USE THE PROGRAM (3) Timing chart The following shows a timing chart after a program containing a "ZRT" command is selected. MD0 (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 return speed...
  • Page 249: 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 a proximity dog is detected, the position is shifted by the distance set for [Pr. PT09 Travel distance after proximity dog]. Then, the position specified by the first Z-phase signal is used as the home position.
  • Page 250 5. HOW TO USE THE PROGRAM (2) Timing chart The following shows a timing chart after a program containing a "ZRT" command is selected. MD0 (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 251: Data Set Type Home Position Return

    5. HOW TO USE THE PROGRAM 5.4.4 Data set type home position return To specify any position as the home position, use the data set type home position return. To shift the position, you can use the JOG operation, the manual pulse generator operation, or others. The data set type home position return can be performed only at servo-on.
  • Page 252: 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, by using the JOG operation, manual pulse generator operation, or others, a workpiece is pressed against a mechanical stopper, and the position where it is stopped is used as the home position.
  • Page 253: Home Position Ignorance (Servo-On Position As Home Position)

    5. HOW TO USE THE PROGRAM Input device (0: Off, 1: On) Enabled torque limit Limit value status value Pr. PT11 > Pr. PT11 Pr. PT11 < Pr. PT11 Pr. PC35 > Pr. PT11 Pr. PT11 Pr. PC35 < Pr. PT11 Pr.
  • Page 254: 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 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 6400 pulses (for HG series servo motor).
  • Page 255 5. HOW TO USE THE PROGRAM (2) Timing chart The following shows a timing chart after a program containing a "ZRT" command is selected. MD0 (Operation mode selection 1) MEND (Travel completion) PED (Position end) CPO (Rough match) (Home position return completion) Acceleration time Travel distance after Deceleration time constant...
  • Page 256: 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 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 6400 pulses (for HG series servo motor).
  • Page 257 5. HOW TO USE THE PROGRAM (2) Timing chart The following shows a timing chart after a program containing a "ZRT" command is selected. MD0 (Operation mode selection 1) MEND (Travel completion) PED (Position end) CPO (Rough match) (Home position return completion) Acceleration time constant Deceleration time constant Travel distance after...
  • Page 258: Dog Cradle Type Home Position Return

    5. HOW TO USE THE PROGRAM 5.4.9 Dog cradle type home position return You can use the position, which is specified by the first Z-phase signal after the front end of a proximity dog is detected, as the home position. (1) Device/parameter Set input devices and parameters as shown below.
  • Page 259 5. HOW TO USE THE PROGRAM (2) Timing chart The following shows a timing chart after a program containing a "ZRT" command is selected. MD0 (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 260: 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 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 used as the home position.
  • Page 261 5. HOW TO USE THE PROGRAM (2) Timing chart The following shows a timing chart after a program containing a "ZRT" command is selected. MD0 (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 262: 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 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 6400 pulses (for HG series servo motor).
  • Page 263 5. HOW TO USE THE PROGRAM (2) Timing chart The following shows a timing chart after a program containing a "ZRT" command is selected. MD0 (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 time...
  • Page 264: 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 Starting from the Z-phase pulse position after the start of the home position return, the position is shifted by the home position shift distance. The position after the shifts is used as the home position. (1) Device/parameter Set input devices and parameters as follows.
  • Page 265: 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 the proximity dog, when the home position return is started from the position on or beyond the proximity dog, the home position return is performed after the machine moves back to the position where the home position can be performed.
  • Page 266: Serial Communication Operation

    5. HOW TO USE THE PROGRAM 5.5 Serial communication operation Using the RS-422 communication function, you can use to operate a servo amplifier from the 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 267: Multi-Drop Method (Rs-422 Communication)

    5. HOW TO USE THE PROGRAM 5.5.2 Multi-drop method (RS-422 communication) Using the RS-422 communication function can use to operate multiple servo amplifiers on the same bus. In this case, set station numbers to the servo amplifier because the controller recognizes that the data currently being sent is for which servo amplifier.
  • Page 268: Group Specification

    5. HOW TO USE THE PROGRAM 5.5.3 Group specification Set only one servo amplifier capable of returning data in a group. If multiple servo CAUTION amplifiers return data under commands from the controller, the servo amplifiers may malfunction. When using multiple servo amplifiers, you can set parameters with commands per group. Up to 6 groups of a to f can be set.
  • Page 269 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 270: Incremental Value Command Method

    5. HOW TO USE THE PROGRAM 5.6 Incremental value command method When using this servo amplifier under the incremental value command method, you must 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 271: Roll Feed Mode Using The Roll Feed Display Function

    5. HOW TO USE THE PROGRAM (3) Program example Command Description Servo motor speed 1000 [r/min] SPN (1000) Acceleration time constant 200 [ms] STA (200) Deceleration time constant 300 [ms] STB (300) μm] Incremental value travel command 1000 [×10 MOVI (1000) Dwell 100 [ms] TIM (100)
  • Page 272: 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 click "Program" in the menu. The following window will be displayed by clicking. (1) Reading program (a) Click "Read"...
  • Page 273: Window For Program Edit

    5. HOW TO USE THE PROGRAM (7) Reading program file (g) Click "Open" to read the point table data. (8) Saving program file (h) Click "Save As" to save the program. (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 274: 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 of the program edit area. (5) Ending window for program (e) Click "OK" to execute the edit check. When the edit check completes with no error, the edit will finish and the window for program edit will be closed.
  • Page 275 5. HOW TO USE THE PROGRAM MEMO 5 - 68 www.kavrammuhendislik.com.tr...
  • Page 276: How To Use Indexer

    6. HOW TO USE INDEXER 6. HOW TO USE INDEXER The following item is the same as that of MR-J4-_A_-RJ servo amplifiers. For details, refer to each section indicated in the detailed explanation field. "MR-J4-_A_" means "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual".
  • Page 277: Startup

    6. HOW TO USE INDEXER 6.1 Startup 6.1.1 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-J4-_A_(-RJ) Servo Amplifier Instruction Manual".) This section provides a case where the servo amplifier is powered on after setting the positioning mode.
  • Page 278: Test Operation

    6. HOW TO USE INDEXER 6.1.3 Test operation Before starting actual operation, perform test operation to make sure that the machine operates normally. Refer to section 6.1.1 for how to power on and off the servo amplifier. In this step, confirm that the servo amplifier and servo motor operate Test operation of the servo motor alone in JOG operation of normally.
  • Page 279: Parameter Setting

    6. HOW TO USE INDEXER 6.1.4 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 280: Actual Operation

    6. HOW TO USE INDEXER 6.1.5 Actual operation Start actual operation after confirmation of normal operation by test operation and completion of the corresponding parameter settings. 6.1.6 Troubleshooting at start-up Never make a drastic adjustment or change to the parameter values as doing so CAUTION will make the operation unstable.
  • Page 281 6. HOW TO USE INDEXER Start-up sequence Fault Investigation Possible cause Reference Switch on ST1 Servo motor does not Call the external I/O signal LSP, LSN, and ST1 are off. Section (Forward rotation rotate. display (Section 3.1.7 or 3.2.7) 3.1.7 start).
  • Page 282: Automatic Operation Mode

    6. HOW TO USE INDEXER 6.2 Automatic operation mode POINT There are the following conditions between the number of gear teeth on machine side ([Pr. PA06 Number of gear teeth on machine side]) and servo motor speed (N). When CMX ≤ 2000, N < 3076.7 r/min When CMX >...
  • Page 283: Automatic Operation Mode 1 (Rotation Direction Specifying Indexer)

    6. HOW TO USE INDEXER 6.2.2 Automatic operation mode 1 (rotation direction specifying indexer) In this operation mode, the servo motor rotates in a fixed direction to execute positioning to a station. The positioning is executed by selecting a station No. using 8-bit devices of the DI0 (Next station No. selection 1) to DI7 (Next station No.
  • Page 284 6. HOW TO USE INDEXER (2) Other parameter settings (a) Setting assignment direction of station No. Select an assignment direction of station No. with [Pr. PA14]. Servo motor rotation direction [Pr. PA14] setting ST1 (Forward rotation start) is on. Next station No. will be assigned in CW direction in order of 1, 2, 3…...
  • Page 285 6. HOW TO USE INDEXER (3) Operation Select a target station No. using 8-bit devices of the DI0 (Next station No. selection 1) to DI7 (Next station No. selection 8) for positioning. Device (Note 1) Selection contents Next station No. 0 Next station No.
  • Page 286 6. HOW TO USE INDEXER The following timing chart shows that an operation is performed at a stop of the station No. 0 when servo-on. Number of stations: 8 Power supply ALM (Malfunction) MEND (Travel completion) Station output 1 Station output 3 PS0 (Station output 1) to PS7 (Station output 8) All off (Note 4)
  • Page 287: Automatic Operation Mode 2 (Shortest Rotating Indexer)

    6. HOW TO USE INDEXER 6.2.3 Automatic operation mode 2 (shortest rotating indexer) This operation mode automatically changes a rotation direction to the shortest distance to execute positioning to a station. The positioning is executed by selecting a station No. using 8-bit devices of the DI0 (Next station No. selection 1) to DI7 (Next station No.
  • Page 288 6. HOW TO USE INDEXER (3) Operation Select a target station No. using 8-bit devices of the DI0 (Next station No. selection 1) to DI7 (Next station No. selection 8) for positioning. Device (Note 1) Selection contents Next station No. 0 Next station No.
  • Page 289 6. HOW TO USE INDEXER (4) Timing chart POINT Always perform a home position return. Executing positioning operation without home position return will trigger [AL. 90 Home position return incomplete warning] and ST1 (Forward rotation start) will be disabled. When travel distances are the same to a target station position from CCW and from CW, the shaft will rotate to the station No.
  • Page 290: Manual Operation Mode

    6. HOW TO USE INDEXER Note 1. When the rest of command travel distance is other than "0", ST1 (Forward rotation start) will not be accepted. Refer to section 6.4.5 (1). 2. RT (Second acceleration/deceleration selection) will not be accepted during operation. Selection of the servo motor speed and acceleration/deceleration time constants will be enabled by on-edge of ST1 (Forward rotation start).
  • Page 291 6. HOW TO USE INDEXER (2) Setting assignment direction of station No. Select an assignment direction of station No. with [Pr. PA14]. Servo motor rotation direction [Pr. PA14] setting ST1 (Forward rotation start) is on. Next station No. will be assigned in CW direction in order of 1, 2, 3…...
  • Page 292 6. HOW TO USE INDEXER (4) Timing chart The following timing chart shows that a JOG operation is performed at a stop of the station No. 0 when servo-on. Number of stations: 8 Power supply ALM (Malfunction) MEND (Travel completion) PS0 (Station output 1) to All off (Note 4) All off (Note 4)
  • Page 293: Jog Operation

    6. HOW TO USE INDEXER 6.3.2 JOG operation (1) Setting According to the purpose of use, set devices and parameters as shown below. With this operation, DI0 (Next station No. selection 1) to DI7 (Next station No. selection 8) are disabled. Item Used device/parameter Setting...
  • Page 294 6. HOW TO USE INDEXER (3) Timing chart The following timing chart shows that a JOG operation is performed at a stop of the station No. 0 when servo-on. Number of stations: 8 Power supply ALM (Malfunction) MEND (Travel completion) Note PS0 (Station output 1) to All off (Note 3)
  • Page 295: Home Position Return Mode

    6. HOW TO USE INDEXER 6.4 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 input polarity of the external limit. Otherwise, it may cause an unexpected operation.
  • Page 296 6. HOW TO USE INDEXER (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: Torque limit changing dog type 1: Not for indexer method 2: Torque limit changing data set type...
  • Page 297: Torque Limit Changing Dog Type Home Position Return

    6. HOW TO USE INDEXER 6.4.2 Torque limit changing dog type home position return This is a home position return method using an external limit. Deceleration starts at the external limit detection. 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 298 6. HOW TO USE INDEXER (2) Timing chart Power supply ALM (Malfunction) MEND (Travel completion) Home position return completion flag PS0 (Station output 1) to In-position out of range Station output 0 PS7 (Station output 8) Station output 0 (Note 3) Home position return speed Creep speed Forward rotation...
  • Page 299: Torque Limit Changing Data Set Type

    6. HOW TO USE INDEXER 6.4.3 Torque limit changing data set type POINT When the data set type home position return is selected, [AL. 52] and [AL. 42] will not be detected. If the servo motor is rotated in the home position return mode and the mode is changed to automatic mode without home position return, the following may occur.
  • Page 300 6. HOW TO USE INDEXER (2) Timing chart Power supply ALM (Malfunction) MEND (Travel completion) Home position return completion flag PS0 (Station output 1) to Station output 0 PS7 (Station output 8) (Note 2) 5 ms or longer ST1 (Forward rotation start) SIG (External limit/Rotation direction decision/Automatic speed selection) Ignored (Note 1)
  • Page 301: Backlash Compensation And Digital Override

    6. HOW TO USE INDEXER 6.4.4 Backlash compensation and digital override (1) Backlash compensation When executing a positioning reversely to the direction to the home position return, set [Pr. PT14 Backlash compensation] to stop the shaft at the compensated position for the setting value. When the travel distance between stations is set to 1000 and the backlash compensation is set to 10 in the absolute position detection system, the timing chart is as follows.
  • Page 302 6. HOW TO USE INDEXER (2) Digital override Setting [Pr. PT38] to "_ _ 1 _" enables the digital override function. Actual servo motor speed will be the value multiplying the command speed by the digital override selected with OV0 (Digital override selection 1) to OV3 (Digital override selection 4). This is enabled with all the operation modes.
  • Page 303 6. HOW TO USE INDEXER POINT Speed changes with the digital override function are enabled with the following conditions. Automatic operation mode Manual operation mode Home position return is in progress. (b) When [Pr. PT42] is set to 50 and [Pr. PT43] to 5 in the station JOG operation, the chart will be as follows.
  • Page 304: Safety Precautions

    6. HOW TO USE INDEXER 6.4.5 Safety precautions (1) I/O signal (a) When a home position return is not executed in the absolute position detection system and incremental system... The station output signals will not be outputted (all off). (b) When one or more home position returns is completed... 1) At power-on and forced stop, corresponding station output signal will be outputted if only it is within the in-position range of each next station position.
  • Page 305 6. HOW TO USE INDEXER MEMO 6 - 30 www.kavrammuhendislik.com.tr...
  • Page 306: 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 an CAUTION 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 307: Parameter List

    7. PARAMETERS 7.1 Parameter list POINT To enable a parameter whose symbol is preceded by *, cycle the power after setting it. Abbreviations of operation modes indicate the followings. Standard: Standard (semi closed loop system) use of the rotary servo motor Full.: Fully closed loop system use of the rotary servo motor Lin.: Linear servo motor use DD: Direct drive (DD) motor use...
  • Page 308: Basic Setting Parameters ([Pr. Pa

    7. PARAMETERS 7.1.1 Basic setting parameters ([Pr. PA_ _ ]) POINT To enable the following parameters in a positioning mode, cycle the power after setting. [Pr. PA06 Electronic gear numerator (command pulse multiplication numerator)/Number of gear teeth on machine side] [Pr.
  • Page 309: Gain/Filter Setting Parameters ([Pr. Pb

    7. PARAMETERS 7.1.2 Gain/filter setting parameters ([Pr. PB_ _ ]) Operation Control mode mode Initial Symbol Name Unit value PB01 FILT Adaptive tuning mode (adaptive filter II) 0000h PB02 VRFT Vibration suppression control tuning mode (advanced 0000h vibration suppression control II) PB03 Position command acceleration/deceleration time constant [ms]...
  • Page 310 7. PARAMETERS Operation Control mode mode Initial Symbol Name Unit value PB37 For manufacturer setting 1600 PB38 0.00 PB39 0.00 PB40 0.00 PB41 0000h PB42 0000h PB43 0000h PB44 0.00 PB45 CNHF Command notch filter 0000h PB46 Machine resonance suppression filter 3 4500 [Hz] PB47...
  • Page 311: Extension Setting Parameters ([Pr. Pc

    7. PARAMETERS 7.1.3 Extension setting parameters ([Pr. PC_ _ ]) POINT To enable the following parameters in a positioning mode, cycle the power after setting. [Pr. PC03 S-pattern acceleration/deceleration time constant] The following parameter cannot be used in the positioning mode. [Pr.
  • Page 312 7. PARAMETERS Operation Control mode mode Initial Symbol Name Unit value PC14 MOD1 Analog monitor 1 output 0000h PC15 MOD2 Analog monitor 2 output 0001h PC16 Electromagnetic brake sequence output [ms] PC17 Zero speed [r/min]/ [mm/s] PC18 *BPS Alarm history clear 0000h PC19 *ENRS...
  • Page 313 7. PARAMETERS Operation Control mode mode Initial Symbol Name Unit value PC61 For manufacturer setting 0000h PC62 0000h PC63 0000h PC64 0000h PC65 0000h 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)
  • Page 314: I/O Setting Parameters ([Pr. Pd_ _ ])

    7. PARAMETERS 7.1.4 I/O setting parameters ([Pr. PD_ _ ]) POINT The following parameter cannot be used in the positioning mode. [Pr. PD03 Input device selection 1L] [Pr. PD05 Input device selection 2L] [Pr. PD07 Input device selection 3L] [Pr. PD09 Input device selection 4L] [Pr.
  • Page 315: Extension Setting 2 Parameters ([Pr. Pe_ _ ])

    7. PARAMETERS Operation Control mode mode Initial Symbol Name Unit value PD34 DOP5 Function selection D-5 0000h PD35 For manufacturer setting 0000h PD36 0000h PD37 0000h PD38 PD39 PD40 PD41 *DIA3 Input signal automatic on selection 3 0000h PD42 *DIA4 Input signal automatic on selection 4 0000h PD43...
  • Page 316 7. PARAMETERS Operation Control mode mode Initial Symbol Name Unit value PE21 For manufacturer setting 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 PE34 *FBN2 Fully closed loop control - Feedback pulse electronic gear 2 -...
  • Page 317: Extension Setting 3 Parameters ([Pr. Pf_ _ ])

    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-J4-_A_-RJ Servo Amplifier Instruction Manual (Modbus-RTU communication)". [Pr. PF45 Function selection F-12] [Pr. PF46 Modbus-RTU communication time-out selection] Operation Control mode...
  • Page 318 7. PARAMETERS Operation Control mode mode Initial Symbol Name Unit value PF35 For manufacturer setting 0000h PF36 0000h PF37 0000h PF38 0000h PF39 0000h PF40 PF41 PF42 PF43 PF44 PF45 *FOP12 Function selection F-12 0000h PF46 Modbus-RTU communication time out selection PF47 For manufacturer setting 0000h...
  • Page 319 7. PARAMETERS Operation Control mode mode Initial Symbol Name Unit value PL28 For manufacturer setting 0000h PL29 0000h PL30 0000h PL31 0000h PL32 0000h PL33 0000h PL34 0000h PL35 0000h PL36 0000h PL37 0000h PL38 0000h PL39 0000h PL40 0000h PL41 0000h PL42...
  • Page 320: Positioning Control Parameters ([Pr. Pt_ _ ])

    7. PARAMETERS Operation Control mode mode Initial Symbol Name Unit value Po23 For manufacturer setting 0000h Po24 0000h Po25 0000h Po26 0000h Po27 *ODI7 MR-D01 input device selection 7 2D2Ch Po28 *ODI8 MR-D01 input device selection 8 002Eh Po29 For manufacturer setting 0000h Po30 0000h...
  • Page 321: Detailed List Of Parameters

    7. PARAMETERS Operation Control mode mode Initial Symbol Name Unit value PT15 LMPL Software limit + [μm]/ (STM-4) [inch]/ [degree]/ PT16 LMPH [pulse] PT17 LMNL Software limit - [μm]/ (STM-4) [inch]/ [degree]/ PT18 LMNH [pulse] PT19 *LPPL Position range output address + [μm]/ (STM-4) [inch]/...
  • Page 322 7. PARAMETERS 7.2.1 Basic setting parameters ([Pr. PA_ _ ]) Control mode Initial No./ Setting Function value symbol/name digit [unit] PA01 _ _ _ x Control mode selection *STY Select a control mode. Operation 0 to 5: Not used for positioning mode. mode 6: Positioning mode (point table method) 7: Positioning mode (program method)
  • Page 323 7. PARAMETERS Control mode Initial No./ Setting Function value symbol/name digit [unit] PA03 _ _ _ x Absolute position detection system selection *ABS Set this digit when using the absolute position detection system. Absolute 0: Disabled (incremental system) position 1:Enabled (absolute position detection system) detection 2: Not used for positioning mode.
  • Page 324 7. PARAMETERS Control mode Initial No./ Setting Function value symbol/name digit [unit] PA06 Set an electronic gear numerator. (Refer to section 7.3.1.) *CMX To enable the parameter values in the positioning mode, cycle the power after setting. Electronic To enable the parameter, select "Electronic gear (0 _ _ _)", "J3 electronic gear setting gear value compatibility mode (2 _ _ _)", or "J2S electronic gear setting value compatibility numerator...
  • Page 325 7. PARAMETERS Control mode Initial No./ Setting Function value symbol/name digit [unit] 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 326 7. PARAMETERS Control mode Initial No./ Setting Function value symbol/name digit [unit] PA09 Set the auto tuning response. Machine characteristic Machine characteristic Auto tuning Guideline for Guideline for response Setting Setting machine machine value value Response Response resonance resonance frequency [Hz] frequency [Hz] Middle 67.1...
  • Page 327 7. PARAMETERS Control mode Initial No./ Setting Function value symbol/name digit [unit] PA11 You can limit the torque or thrust generated by the servo motor. Set the parameter 100.0 referring to section 3.6.1 (5) of "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual". When you output torque or thrust with analog monitor output, the larger value of Forward [Pr.
  • Page 328 7. PARAMETERS Control mode Initial No./ Setting Function value symbol/name digit [unit] 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 Mpulse/s or less.
  • Page 329 7. PARAMETERS Control mode Initial No./ Setting Function value symbol/name digit [unit] PA14 Select a rotation direction of the servo motor or travel direction of the linear servo motor for when turning on ST1 (Forward rotation start) or ST2 (Reverse rotation start). *POL Rotation Servo motor rotation direction/linear servo motor...
  • Page 330 7. PARAMETERS Control mode Initial No./ Setting Function value symbol/name digit [unit] PA17 When using a linear servo motor, select any linear servo motor with [Pr. PA17] and 0000h [Pr. PA18]. Set this and [Pr. PA18] at a time. *MSR Refer to the following table for settings.
  • Page 331 7. PARAMETERS Control mode Initial No./ Setting Function value symbol/name digit [unit] PA17 *MSR Parameter Linear servo motor Linear servo motor Servo motor [Pr. PA17] [Pr. PA18] series (primary side) series setting setting setting LM-FP2B-06M-1SS0 2201h (natural cooling) LM-FP2D-12M-1SS0 2401h (natural cooling) LM-FP2F-18M-1SS0 2601h...
  • Page 332 7. PARAMETERS Control mode Initial No./ Setting Function value symbol/name digit [unit] PA18 When using a linear servo motor, select any linear servo motor with [Pr. PA17] and 0000h [Pr. PA18]. Set this and [Pr. PA17] at a time. *MTY Refer to the table of [Pr.
  • Page 333 7. PARAMETERS Control mode Initial No./ Setting Function value symbol/name digit [unit] 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 CN1-13, CN1-14, CN1-22 to CN1-25, and CN1-49 with [Pr. PD23] to Tough drive [Pr.
  • Page 334 7. PARAMETERS Control mode Initial No./ Setting Function value symbol/name digit [unit] PA23 _ _ x x Alarm detail No. setting DRAT Set the digits when you execute the trigger with arbitrary alarm detail No. for the drive recorder function. Drive recorder When these digits are "0 0", only the arbitrary alarm No.
  • Page 335 7. PARAMETERS 7.2.2 Gain/filter setting parameters ([Pr. PB_ _ ]) Control mode Initial No./ Setting Function value symbol/name digit [unit] 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-J4-_A_(-RJ) Servo Amplifier Instruction Manual".
  • Page 336 7. PARAMETERS Control mode Initial No./ Setting Function value symbol/name digit [unit] PB03 This is used to 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"...
  • Page 337 7. PARAMETERS Control mode Initial No./ Setting Function value symbol/name digit [unit] PB07 Set the response gain up 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 The setting of the parameter will be the automatic setting or manual setting depending...
  • Page 338 7. PARAMETERS Control mode Initial No./ Setting Function value symbol/name digit [unit] PB12 Set a percentage of viscous friction torque against the servo motor rated value or thrust against the linear servo motor rated value. When the response level is low or when the torque/thrust is limited, the efficiency of Overshoot the parameter may be lower.
  • Page 339 7. PARAMETERS Control mode Initial No./ Setting Function value symbol/name digit [unit] 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 will be resonance calculated automatically from the servo motor you use and load to motor inertia ratio.
  • Page 340 7. PARAMETERS Control mode Initial No./ Setting Function value symbol/name digit [unit] PB19 Set the vibration frequency for vibration suppression control 1 to suppress 100.0 low-frequency machine vibration. [Hz] VRF11 When "Vibration suppression control 1 tuning mode selection" is set to "Automatic Vibration setting (_ _ _ 1)"...
  • Page 341 7. PARAMETERS Control mode Initial No./ Setting Function value symbol/name digit [unit] 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 x _ _ _...
  • Page 342 7. PARAMETERS Control mode Initial No./ Setting Function value symbol/name digit [unit] PB32 Set the speed integral compensation for when the gain switching is enabled. [ms] VICB When you set a value less than 0.1 ms, the value will be the same as [Pr. PB10]. Speed This parameter is enabled only when you select "Manual mode (_ _ _ 3)"...
  • Page 343 7. PARAMETERS Control mode Initial No./ Setting Function value symbol/name digit [unit] 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 344 7. PARAMETERS Control mode Initial No./ Setting Function value symbol/name digit [unit] PB46 Set the notch frequency of the machine resonance suppression filter 3. 4500 [Hz] To enable the setting value, select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 3 selection"...
  • Page 345 7. PARAMETERS Control mode Initial No./ Setting Function value symbol/name digit [unit] PB51 Set forms of the machine resonance suppression filter 5. NHQ5 When you select "Enabled (_ _ _ 1)" of "Robust filter selection" in [Pr. PE41], the machine resonance suppression filter 5 is not available.
  • Page 346 7. PARAMETERS Control mode Initial No./ Setting Function value symbol/name digit [unit] PB56 Set the vibration frequency for vibration suppression control 2 for when the gain switching is enabled. [Hz] VRF21B When you set a value less than 0.1 Hz, the value will be the same as [Pr. PB52]. Vibration suppression This parameter will be enabled only when the following conditions are fulfilled.
  • Page 347 7. PARAMETERS Control mode Initial No./ Setting Function value symbol/name digit [unit] PB60 Set the model loop gain for when the gain switching is enabled. [rad/s] PG1B When you set a value less than 1.0 rad/s, the value will be the same as [Pr. PB07]. Model loop This parameter will be enabled only when the following conditions are fulfilled.
  • Page 348 7. PARAMETERS Control mode Initial No./ Setting Function value symbol/name digit [unit] PC02 Set a deceleration time constant for the automatic operation of the indexer method. [ms] Set a deceleration time from the rated speed to 0 r/min. Deceleration Additionally, when 20000 ms or more value is set, it will be clamped to 20000 ms. time constant Setting range: 0 to 50000 PC03...
  • Page 349 7. PARAMETERS Control mode Initial No./ Setting Function value symbol/name digit [unit] 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-J4-_A_(-RJ) Servo Amplifier Instruction Manual" for detection points of output Analog selection.
  • Page 350 7. PARAMETERS Control mode Initial No./ Setting Function value symbol/name digit [unit] PC14 Table 7.9 Analog monitor setting value (MR-J4-03A6-RJ) MOD1 Setting Analog Item value monitor 1 _ _ 0 0 Servo motor speed output (5 V ± 3 V/max. speed) _ _ 0 1 Torque (5 V ±...
  • Page 351 7. PARAMETERS Control mode Initial No./ Setting Function value symbol/name digit [unit] PC19 _ _ _ x Encoder output pulse phase selection *ENRS Select an encoder pulse direction. Encoder 0: Increasing A-phase 90° in CCW or positive direction output pulse 1: Increasing A-phase 90°...
  • Page 352 7. PARAMETERS Control mode Initial No./ Setting Function value symbol/name digit [unit] PC21 Select the details of RS-422 communication function. *SOP _ _ _ x For manufacturer setting RS-422 _ _ x _ RS-422 communication baud rate selection communicatio When using the parameter unit, set "1 _ _ _" in [Pr. PF34]. n function 0: 9600 [bps] selection...
  • Page 353 7. PARAMETERS Control mode Initial No./ Setting Function value symbol/name digit [unit] PC27 _ _ _ x [AL. 10 Undervoltage] detection method selection *COP6 Set this parameter when [AL. 10 Undervoltage] occurs due to distorted power supply voltage waveform while using FR-RC-(H) or FR-CV-(H). Function selection C-6 0: [AL.
  • Page 354 7. PARAMETERS Control mode Initial No./ Setting Function value symbol/name digit [unit] PC31 Set an second deceleration time constant for the automatic operation of the indexer method. [ms] STB2 Set a deceleration time from the rated speed to 0 r/min. Deceleration time constant Additionally, when 20000 ms or more value is set, it will be clamped to 20000 ms.
  • Page 355 7. PARAMETERS Control mode Initial No./ Setting Function value symbol/name digit [unit] 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/linear servo motor speed 02: Droop pulses 03: Cumulative command pulses 04: Command pulse frequency...
  • Page 356 7. PARAMETERS Control mode Initial No./ Setting Function value symbol/name digit [unit] PC36 _ x _ _ Status display at power-on in corresponding control mode *DMD 0: Depends on the control mode Status display Control mode Status display at power-on selection Positioning (point table method) Current position...
  • Page 357 7. PARAMETERS Control mode Initial No./ Setting Function value symbol/name digit [unit] PC45 _ _ _ x Encoder pulse count polarity selection *COPA Select a polarity of the linear encoder or load-side encoder. Function 0: Encoder pulse increasing direction in the servo motor CCW or positive direction selection C-A 1: Encoder pulse decreasing direction in the servo motor CCW or positive direction This digit is not available with MR-J4-03A6-RJ servo amplifiers.
  • Page 358 7. PARAMETERS Control mode Initial No./ Setting Function value symbol/name digit [unit] PC54 Set the compensation amount of the vertical axis freefall prevention function. [0.0001 RSUP1 Set it per servo motor rotation amount or linear servo motor travel distance. rev]/ Vertical axis When setting a positive value, the servo motor/linear servo motor will pull in the [0.01...
  • Page 359 7. PARAMETERS Control mode Initial No./ Setting Function value symbol/name digit [unit] PC66 Set the upper limit of the mark detection. LPSPL Upper and lower are a set. Refer to Function Mark When the roll feed display is enabled, set this value with the travel distance from the column detection starting position.
  • Page 360 7. PARAMETERS Control mode Initial No./ Setting Function value symbol/name digit [unit] PC73 Set an error excessive warning level. To enable the parameter, set "[AL. 9B Error excessive warning] selection" to "Enabled [rev]/ (1 _ _ _)" in [Pr. PC60]. Error [mm] excessive...
  • Page 361: I/O Setting Parameters ([Pr. Pd

    7. PARAMETERS 7.2.4 I/O setting parameters ([Pr. PD_ _ ]) Control mode Initial No./ Setting Function value symbol/name digit [unit] PD01 Select input devices to turn on them automatically. *DIA1 _ _ _ x _ _ _ x (BIN): For manufacturer setting Input signal (HEX) _ _ x _ (BIN): For manufacturer setting...
  • Page 362 7. PARAMETERS Control mode Initial No./ Setting Function value symbol/name digit [unit] PD01 Convert the setting value into hexadecimal as follows. *DIA1 Input signal automatic on Initial value selection 1 Signal name BIN HEX SON (Servo-on) Initial value Signal name BIN HEX PC (Proportional control) TL (External torque/external thrust...
  • Page 363 7. PARAMETERS Control mode Initial No./ Setting Function value symbol/name digit [unit] 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 7.10 for settings.
  • Page 364 7. PARAMETERS Control mode Initial No./ Setting Function value symbol/name digit [unit] PD06 Any input device can be assigned to the CN1-16 pin. *DI2H _ _ x x Not used with the positioning mode. Input device x x _ _ Positioning mode - Device selection selection 2H Refer to table 7.10 in [Pr.
  • Page 365 7. PARAMETERS Control mode Initial No./ Setting Function value symbol/name digit [unit] PD23 _ _ x x Device selection *DO1 Any output device can be assigned to the CN1-22 pin. Output device Refer to table 7.11 for settings. selection 1 _ x _ _ For manufacturer setting x _ _ _ Table 7.11 Selectable output devices...
  • Page 366 7. PARAMETERS Control mode Initial No./ Setting Function value symbol/name digit [unit] PD23 *DO1 Output device (Note 1) Setting Output device value CP/BCD selection 1 _ _ 3 8 (Note 3) _ _ 3 9 (Note 3) _ _ 3 A (Note 3) _ _ 3 B (Note 3)
  • Page 367 7. PARAMETERS Control mode Initial No./ Setting Function value symbol/name digit [unit] PD29 Select a filter for the input signal. *DIF _ _ _ x Input signal filter selection Input filter If external input signal causes chattering due to noise, etc., input filter is used to setting suppress it.
  • Page 368 7. PARAMETERS Control mode Initial No./ Setting Function value symbol/name digit [unit] PD30 _ _ _ x Stop method selection for LSP (Forward rotation stroke end) off or LSN (Reverse rotation stroke end) off *DOP1 Select a stop method for LSP (Forward rotation stroke end) off or LSN (Reverse Function rotation stroke end) off.
  • Page 369 7. PARAMETERS Control mode Initial No./ Setting Function value symbol/name digit [unit] PD32 _ _ _ x CR (Clear) selection *DOP3 This is used to set CR (Clear). Function 0: Deleting droop pulses by turning on the device selection D-3 1: Continuous deleting of droop pulses during the device on 2: Disabled _ _ x _ For manufacturer setting...
  • Page 370 7. PARAMETERS Control mode Initial No./ Setting Function value symbol/name digit [unit] PD41 Select input devices to turn on them automatically. *DIA3 _ _ _ x _ _ _ x (BIN): MD0 (operation mode selection 1) Input signal (HEX) 0: Disabled (Use for an external input signal.) automatic on 1: Enabled (automatic on) selection 3...
  • Page 371 7. PARAMETERS Control mode Initial No./ Setting Function value symbol/name digit [unit] PD42 _ x _ _ _ _ _ x (BIN): DI0 (point table No/Program No./next station No. selection 1) (HEX) *DIA4 0: Disabled (Use for an external input signal.) Input signal 1: Enabled (automatic on) automatic on...
  • Page 372 7. PARAMETERS Control mode Initial No./ Setting Function value symbol/name digit [unit] PD44 Any input device can be assigned to the CN1-10 pin/CN1-37 pin. *DI11H _ _ x x Not used with the positioning mode. Input device x x _ _ Positioning mode - Device selection selection 11H Refer to table 7.10 in [Pr.
  • Page 373: Extension Setting 2 Parameters ([Pr. Pe

    7. PARAMETERS 7.2.5 Extension setting 2 parameters ([Pr. PE_ _ ]) Control mode Initial No./ Setting Function value symbol/name digit [unit] PE03 _ _ x x Fully closed loop control error detection function selection *FCT2 Select the fully closed loop control error detection function. Fully closed This digit is not available with MR-J4-03A6-RJ servo amplifiers.
  • Page 374 7. PARAMETERS Control mode Initial No./ Setting Function value symbol/name digit [unit] PE07 Set [AL. 42.8 Fully closed loop control error by position deviation] of the fully closed [kpulse] loop control error detection. When the position deviation between the servo motor encoder and load-side encoder becomes larger than the setting value, the alarm will Fully closed occur.
  • Page 375 7. PARAMETERS Control mode Initial No./ Setting Function value symbol/name digit [unit] PE45 Set the lost motion compensation for when forward rotation (CCW) switches to reverse rotation (CW) in increments of 0.01% assuming the rated torque as 100%. LMCN [0.01%] This parameter is available with servo amplifiers with software version B4 or later.
  • Page 376: Extension Setting 3 Parameters ([Pr. Pf

    7. PARAMETERS 7.2.6 Extension setting 3 parameters ([Pr. PF_ _ ]) Control mode Initial No./ Setting Function value symbol/name digit [unit] PF09 _ _ _ x Electronic dynamic brake selection *FOP5 0: Enabled only for specified servo motors Function 2: Disabled selection F-5 Refer to the following table for the specified servo motors.
  • Page 377 7. PARAMETERS Control mode Initial No./ Setting Function value symbol/name digit [unit] PF31 Set a (linear) servo motor speed that divides a friction estimation area into high and low during the friction estimation process of the machine diagnosis. [r/min]/ FRIC [mm/s] Setting "0"...
  • Page 378: Linear Servo Motor/Dd Motor Setting Parameters ([Pr. Pl_ _ ]) Cannot Be Used

    7. PARAMETERS 7.2.7 Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) POINT The linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) can be used with the direct drive servo system for the indexer method. Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) cannot be used with MR-J4-03A6-RJ servo amplifiers.
  • Page 379 7. PARAMETERS Control mode Initial No./ Setting Function value symbol/name digit [unit] PL04 _ _ x _ For manufacturer setting *LIT2 _ x _ _ Linear servo x _ _ _ [AL. 42 Servo control error] detection function controller reset condition selection motor/DD 0: Reset disabled (reset by powering off/on enabled) motor...
  • Page 380: Option Setting Parameters ([Pr. Po

    7. PARAMETERS Control mode Initial No./ Setting Function value symbol/name digit [unit] PL17 LTSTS Table 7.12 Response of minute position detection method at Magnetic pole magnetic pole detection detection - Minute Setting value Response Setting value Response position _ _ _ 0 Low response _ _ _ 8 Middle response...
  • Page 381 7. PARAMETERS Control mode Initial No./ Setting Function value symbol/name digit [unit] Po02 *ODI1 Table 7.14 Selectable input devices MR-D01 input Input device (Note) Setting device value CP/BCD selection 1 MECR MECR CLTC CLTC CPCD CPCD CAMC CAMC TSTP TSTP SPD1 SPD2 SPD3...
  • Page 382 7. PARAMETERS Control mode Initial No./ Setting Function value symbol/name digit [unit] Po03 Any input device can be assigned to the CN10-27 pin and CN10-28 pin. *ODI2 _ _ x x CN10-27 selection MR-D01 input Select an input signal function of the CN10-27 pin. device Refer to table 7.14 in [Pr.
  • Page 383 7. PARAMETERS Control mode Initial No./ Setting Function value symbol/name digit [unit] Po08 Any output device can be assigned to the CN10-46 pin and CN10-47 pin. *ODO1 _ _ x x CN10-46 selection MR-D01 Select an output signal function of the CN10-46 pin. output device Refer to table 7.15 for settings.
  • Page 384 7. PARAMETERS Control mode Initial No./ Setting Function value symbol/name digit [unit] Po08 *ODO1 Table 7.15 Selectable output devices MR-D01 Output device (Note) Setting output device value CP/BCD selection 1 Always off Always off Always off BWNG BWNG BWNG Always off Always off Always off Always off...
  • Page 385 7. PARAMETERS Control mode Initial No./ Setting Function value symbol/name digit [unit] Po09 Any output device can be assigned to the CN10-48 pin and CN10-49 pin. *ODO9 _ _ x x CN10-48 selection MR-D01 Select an output signal function of the CN10-48 pin. output device Refer to table 7.15 in [Pr.
  • Page 386 7. PARAMETERS Control mode Initial No./ Setting Function value symbol/name digit [unit] Po13 Set a signal to output to Analog monitor 1. *OMOD1 _ _ x x Analog monitor 1 output selection MR-D01 Refer to table 7.16 for settings. analog This parameter setting is available with servo amplifiers with software version B7 or monitor 1 later.
  • Page 387 7. PARAMETERS Control mode Initial No./ Setting Function value symbol/name digit [unit] Po14 Set a signal to output to Analog monitor 2. OMOD2 _ _ x x Analog monitor 2 output selection MR-D01 Select a signal to output to MO2 (Analog monitor 2). analog Refer to [Pr.
  • Page 388: Positioning Control Parameters ([Pr. Pt

    7. PARAMETERS 7.2.9 Positioning control parameters ([Pr. PT_ _ ]) Control mode Initial No./ Setting Function value symbol/name digit [unit] 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 389 7. PARAMETERS Control mode Initial No./ Setting Function value symbol/name digit [unit] _ _ _ x Home position return method PT04 0: Dog type (rear end detection, Z-phase reference)/torque limit changing dog type *ZTY 1: Count type (front end detection, Z-phase reference) (Note 1) Home 2: Data set type/torque limit changing data set type position...
  • Page 390 7. PARAMETERS Control mode Initial No./ Setting Function value symbol/name digit [unit] PT07 Set a shift distance from the Z-phase pulse detection position in the encoder. Refer to The unit will be as follows depending on the positioning mode. Function Home Point table method or program method column...
  • Page 391 7. PARAMETERS Control mode Initial No./ Setting Function value symbol/name digit [unit] PT14 Set a backlash compensation for reversing command direction. *BKC [pulse] This parameter compensates backlash pulses against the home position return Backlash direction. compensation For the home position ignorance (servo-on position as home position), this turns on SON (Servo-on) and decides a home position, and compensates backlash pulses against the first rotation direction.
  • Page 392 7. PARAMETERS Control mode Initial No./ Setting Function value symbol/name digit [unit] PT19 Set an address increasing side of the position range output address. Upper and lower are a set. Set a range which POT (Position range) turns on with Refer to *LPPL [Pr.
  • Page 393 7. PARAMETERS Control mode Initial No./ Setting Function value symbol/name digit [unit] 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 394 7. PARAMETERS Control mode Initial No./ Setting Function value symbol/name digit [unit] PT28 Set the number of stations per rotation (number of indexer stations). *STN Setting "2" or less will be "2". [Stations] Number of stations per rotation Setting range: 0 to 255 PT29 Set a polarity of DOG, SIG, PI1, PI2, and PI3.
  • Page 395 7. PARAMETERS Control mode Initial No./ Setting Function value symbol/name digit [unit] PT30 Set a mark sensor stop travel distance. MSTL Upper and lower are a set. Refer to Function Mark sensor When MSD (Mark detection) is on, the remaining distance will be changed to the travel column stop travel distance that is set with this parameter.
  • Page 396 7. PARAMETERS Control mode Initial No./ Setting Function value symbol/name digit [unit] PT38 _ _ _ x For manufacturer setting *TOP7 _ _ x _ Digital override selection Function 0: Override function is disabled with DI input selection T-7 1: Override function is enabled with DI input _ x _ _ For manufacturer setting x _ _ _ Backlash compensation direction selection at data set type home position return 0: Executes backlash compensation assuming a command to the CW rotation...
  • Page 397 7. PARAMETERS Control mode Initial No./ Setting Function value symbol/name digit [unit] PT42 Set a minimum speed for when the digital override function is enabled. When you use the digital override function, multiplication can be set with [Pr. PT42] *OVM and [Pr.
  • Page 398: How To Set The Electronic Gear

    7. PARAMETERS 7.3 How to set the electronic gear 7.3.1 Electronic gear settings in the point table method and program method (1) Setting [mm], [inch], or [pulse] with "Position data unit" of [Pr. PT01]. Adjust [Pr. PA06] and [Pr. PA07] so that the servo motor setting matches with the travel distance of the machine.
  • Page 399 7. PARAMETERS Servo motor encoder resolution Pt = 4194304 [pulse/rev] 4194304 4194304 524288 ΔS n Pb α (Note) 1/2 10 1000 5000 Note. Because the command unit is "mm", α = 1000 is set. When the unit is "inch", convert the setting into α = 10000. When the unit is "pulse", convert the setting into α...
  • Page 400 7. PARAMETERS Set the electronic gear within the following range. Setting out of the range will trigger [AL. 37 Parameter error]. (a) Set values to make numerator and denominator 16384 or lower if the electronic gear (CMX/CDV) is reduced to its lowest terms. (b) Set values to make numerator and denominator 16777216 or lower if (CMX ×...
  • Page 401: Electronic Gear Setting In The Indexer Method

    7. PARAMETERS 7.3.2 Electronic gear setting in the indexer method Adjust [Pr. PA06] and [Pr. PA07] to align the rotation amount "m" of the servo motor shaft necessary to rotate the load side for "n" times. The following shows a setting example of the electronic gear. (1) Number of pulley teeth on machine side: 50, number of pulley teeth on servo motor side: 20 Set [Pr.
  • Page 402: 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 403: 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 404: 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 405 7. PARAMETERS MEMO 7 - 100 www.kavrammuhendislik.com.tr...
  • Page 406: Troubleshooting

    8. TROUBLESHOOTING 8. TROUBLESHOOTING POINT Refer to "MELSERVO-J4 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 407: Alarm List

    8. TROUBLESHOOTING 8.2 Alarm list Alarm Stop Alarm code deactivation Detail Type Name Detail name Cycling (Note 2, Alarm CN1-22 CN1-23 CN1-24 reset (Bit 2) (Bit 1) (Bit 0) power Voltage drop in the control 10.1 circuit power Undervoltage Voltage drop in the main circuit 10.2 power Axis number setting error/station...
  • Page 408 8. TROUBLESHOOTING Alarm Stop Alarm code deactivation Detail Type Name Detail name Cycling CN1-22 CN1-23 CN1-24 (Note 2, Alarm reset (Bit 2) (Bit 1) (Bit 0) power 17.1 Board error 1 17.3 Board error 2 17.4 Board error 3 17.5 Board error 4 Board error 17.6...
  • Page 409 8. TROUBLESHOOTING Alarm Stop Alarm code deactivation Detail Type Name Detail name Cycling CN1-22 CN1-23 CN1-24 (Note 2, Alarm reset (Bit 2) (Bit 1) (Bit 0) power Initial magnetic pole detection - 27.1 Abnormal termination Initial magnetic pole detection - 27.2 Time out error Initial magnetic pole detection -...
  • Page 410 8. TROUBLESHOOTING Alarm Stop Alarm code deactivation Detail Type Name Detail name Cycling CN1-22 CN1-23 CN1-24 (Note 2, Alarm reset (Bit 2) (Bit 1) (Bit 0) power 37.1 Parameter setting range error Parameter error 37.2 Parameter combination error 37.3 Point table setting error 39.1 Program error Instruction argument external...
  • Page 411 8. TROUBLESHOOTING Alarm Stop Alarm code deactivation Detail Type Name Detail name Cycling CN1-22 CN1-23 CN1-24 (Note 2, Alarm reset (Bit 2) (Bit 1) (Bit 0) power Thermal overload error 3 during 51.1 operation (Note 1) (Note 1) Overload 2 Thermal overload error 3 during 51.2 a stop...
  • Page 412 8. TROUBLESHOOTING Alarm Stop Alarm code deactivation Detail Type Name Detail name Cycling CN1-22 CN1-23 CN1-24 (Note 2, Alarm reset (Bit 2) (Bit 1) (Bit 0) power Encoder normal communication 67.1 - Receive data error 1 (safety observation function) Encoder normal communication 67.2 - Receive data error 2 (safety observation function)
  • Page 413 8. TROUBLESHOOTING Alarm Stop Alarm code deactivation Detail Type Name Detail name Cycling CN1-22 CN1-23 CN1-24 (Note 2, Alarm reset (Bit 2) (Bit 1) (Bit 0) power Load-side encoder normal 71.1 communication - Receive data error 1 Load-side encoder normal 71.2 communication - Receive data error 2...
  • Page 414 8. TROUBLESHOOTING Alarm Stop Alarm code deactivation Detail Type Name Detail name Cycling CN1-22 CN1-23 CN1-24 (Note 2, Alarm reset (Bit 2) (Bit 1) (Bit 0) power Encoder diagnosis error 1 7B.1 (safety observation function) Encoder diagnosis error 2 7B.2 Encoder diagnosis (safety observation function) error (safety...
  • Page 415 8. TROUBLESHOOTING Alarm Stop Alarm code deactivation Detail Type Name Detail name Cycling CN1-22 CN1-23 CN1-24 (Note 2, Alarm reset (Bit 2) (Bit 1) (Bit 0) power USB communication receive 8E.1 error/Serial communication receive error USB communication checksum 8E.2 error/Serial communication checksum error USB communication character 8E.3...
  • Page 416: 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 417 8. TROUBLESHOOTING Stop Detail method Name Detail name (Note 2, Excessive E0.1 Excessive regeneration warning regeneration warning Thermal overload warning 1 E1.1 during operation Thermal overload warning 2 E1.2 during operation Thermal overload warning 3 E1.3 during operation Thermal overload warning 4 E1.4 during operation Overload warning 1...
  • Page 418 8. TROUBLESHOOTING Stop Detail method Name Detail name (Note 2, Drive recorder - Area writing F2.1 time-out warning Drive recorder - Miswriting warning Drive recorder - Data miswriting F2.2 warning Oscillation F3.1 Oscillation detection warning detection warning Target position setting range F4.4 error warning Acceleration time constant...
  • Page 419 8. TROUBLESHOOTING MEMO 8 - 14 www.kavrammuhendislik.com.tr...
  • Page 420: Options And Peripheral Equipment

    9. OPTIONS AND PERIPHERAL EQUIPMENT 9. OPTIONS AND PERIPHERAL EQUIPMENT Before connecting any option or peripheral equipment, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the WARNING voltage between P+ and N- is safe with a voltage tester and others. Otherwise, an electric shock may occur.
  • Page 421: 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 422 9. OPTIONS AND PERIPHERAL EQUIPMENT (3) Terminal assignment Signal name Description +5 to +5 to 12V Power supply input 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 [Unit: mm] Packing t2.0 3-M4 stud L10...
  • Page 423 9. OPTIONS AND PERIPHERAL EQUIPMENT MEMO 9 - 4 www.kavrammuhendislik.com.tr...
  • Page 424: Communication Function (Mitsubishi General-Purpose Ac Servo Protocol)

    10. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) 10. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) The following items are the same as those of MR-J4-_A_-RJ servo amplifiers. For details, refer to each section indicated in the detailed explanation field. "MR-J4-_A_" means "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual".
  • Page 425: Reading Command

    10. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) 10.1.1 Reading command (1) Status display (command [0] [1]) Control mode Frame Command Data No. Description Status display length [0] [1] [0] [0] Status display symbol and unit Cumulative feedback pulses Servo motor-side cumulative feedback pulses (after gear) [0] [1] Servo motor speed...
  • Page 426 10. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) Control mode Frame Command Data No. Description Status display length [0] [1] [2] [E] Status display symbol and unit Step No. [2] [F] Analog override voltage [3] [0] Override level [3] [3] Cam axis one cycle current value [3] [4] Cam standard position...
  • Page 427 10. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) Control mode Frame Command Data No. Description Status display length [0] [1] [A] [3] Status display data value and Number of tough drive operations processing information [A] [8] Unit power consumption [A] [9] Unit total power consumption [A] [A] Current position...
  • Page 428 10. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) Control mode Frame Command Data No. Description length [1] [7] [0] [1] to [F] [F] Lower limit value of each parameter setting range Reads the permissible lower limit values of the parameters in the parameter group specified with the command [8] [5] + data No.
  • Page 429 10. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) (5) Alarm history (command [3] [3]) Control mode Frame Command Data No. Description Alarm occurrence sequence length [3] [3] [1] [0] Alarm No. in alarm history Most recent alarm [1] [1] First alarm in past [1] [2] Second alarm in past [1] [3]...
  • Page 430 10. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) (7) Status display at alarm occurrence (command [3] [5]) Control mode Frame Command Data No. Description Status display length [3] [5] [0] [0] Status display symbol and unit Cumulative feedback pulses Servo motor-side cumulative feedback pulses (after gear) [0] [1] Servo motor speed...
  • Page 431 10. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) Control mode Frame Command Data No. Description Status display length [3] [5] [2] [E] Status display symbol and unit Step No. [2] [F] Analog override voltage [3] [0] Override level [3] [3] Cam axis one cycle current value [3] [4] Cam standard position...
  • Page 432 10. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) Control mode Frame Command Data No. Description Status display length [3] [5] [A] [2] Status display data value and Oscillation detection frequency processing information [A] [3] Number of tough drive operations [A] [8] Unit power consumption [A] [9] Unit total power consumption...
  • Page 433 10. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) (9) Position data unit/Current position latch data (command [6] [C]) Control mode Frame Command Data No. Description length [6] [C] [0] [0] Reading position data unit _ _ _ x 0: mm, 1: inch, 2: pulse, 3: degree _ _ x _ 0: Enabled, 1: Disabled [0] [1] Reading current position latch data...
  • Page 434 10. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) (13) Others (command [0] [0], [0] [2]) Control mode Frame Command Data No. Description length [0] [0] [1] [2] Reading test operation mode 0000: Normal mode (not test operation mode) 0001: JOG operation 0002: Positioning operation 0004: Output signal (DO) forced output 0005: Single-step feed operation...
  • Page 435: Writing Commands

    10. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) 10.1.2 Writing commands (1) Status display (command [8] [1]) Control mode Frame Command Data No. Description Setting range length [8] [1] [0] [0] Status display data deletion 1EA5 (2) Parameter (command [9] [4], [8] [5]) Control mode Frame...
  • Page 436 10. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) (5) Current alarm (command [8] [2]) Control mode Frame Command Data No. Description Setting range length [8] [2] [0] [0] Alarm clear 1EA5 (6) I/O device prohibition (command [9] [0]) Control mode Frame Command Data No.
  • Page 437 10. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) Control mode Frame Command Data No. Description Setting range length [A] [0] [1] [0] Writes the servo motor speed in the test operation mode (JOG 0000 to 7FFF operation and positioning operation). [1] [1] Writes the acceleration/deceleration time constant in the test 00000000 to...
  • Page 438 10. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) (10) General purpose register (Rx) value (command [B] [9]) Control mode Frame Command Data No. Description Setting range length [B] [9] [0] [1] Writing general purpose register (R1) value Depends on instructions to [0] [2] Writing general purpose register (R2) value use.
  • Page 439: Detailed Explanations Of Commands

    10. COMMUNICATION FUNCTION (MITSUBISHI 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] [3]. Command Data No.
  • Page 440 10. COMMUNICATION FUNCTION (MITSUBISHI 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], [4] [1]. Command Data No. [1] [2] [4] [0], [4] [1] (b) Return The on/off statuses of the input pins are returned.
  • Page 441 10. COMMUNICATION FUNCTION (MITSUBISHI 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] [3]. Command Data No.
  • Page 442 10. COMMUNICATION FUNCTION (MITSUBISHI 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], [C] [1]. Command Data No. [1] [2] [C] [0], [C] [1] (b) Return The slave station returns the status of the output devices.
  • Page 443 10. COMMUNICATION FUNCTION (MITSUBISHI 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] [8] [0] to [8] [3] (b) Return The slave station returns the status of the input/output devices.
  • Page 444: Input Device On/Off

    10. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) 10.2.2 Input device on/off POINT The on/off statuses 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 445: Input Device On/Off (For Test Operation)

    10. COMMUNICATION FUNCTION (MITSUBISHI 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. Transmit command [9] [2] + data No.
  • Page 446: Test Operation Mode

    10. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) 10.2.4 Test operation mode POINT The test operation mode is used to check operation. Do not use it for actual operation. If communication stops for longer than 0.5 s during test operation, the servo amplifier decelerates to a stop, resulting in servo-lock.
  • Page 447 10. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL) (b) Cancel of test operation mode To stop the test operation mode, transmit the command [8] [B] + data No. [0] [0] + data. Before switching from the test operation mode to the normal operation mode, turn off the servo amplifier once.
  • Page 448: Output Signal Pin On/Off (Output Signal (Do) Forced Output)

    10. COMMUNICATION FUNCTION (MITSUBISHI 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]. (1) Selecting the output signal (DO) forced output of the test operation mode Transmit command + [8] [B] + data No.
  • Page 449: Point Table

    10. COMMUNICATION FUNCTION (MITSUBISHI 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 [F] [F] corresponding to the point tables to read.
  • Page 450 10. COMMUNICATION FUNCTION (MITSUBISHI 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 [F] [F] corresponding to the point tables to read.
  • Page 451 10. COMMUNICATION FUNCTION (MITSUBISHI 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 [F] [F] corresponding to the point tables to read. Refer to section 10.1.1. 2) Return The slave station returns the dwell of point table requested.