Page 1 General-Purpose AC Servo General-Purpose Interface AC Servo MODEL MR-J4-_A-RJ MR-J4-_A4-RJ MR-J4-_A1-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 With age, the electrolytic capacitor of the servo amplifier will deteriorate. To prevent a secondary accident due to a malfunction, it is recommended that the electrolytic capacitor be replaced every 10 years when it is used in general environment. Please contact your local sales office. (7) General instruction To illustrate details, the equipment in the diagrams of this Instruction Manual may have been drawn without covers and safety guards.
Page 8 Compliance with global standards For the compliance with global standards, refer to appendix 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 MEMO A - 8...
Page 10: Table Of Contents
CONTENTS 1. FUNCTIONS AND CONFIGURATION 1- 1 to 1- 8 1.1 For proper use of the positioning mode .................... 1- 1 1.2 Positioning mode specification list ....................1- 2 1.3 Function list ............................1- 4 1.4 Configuration including peripheral equipment .................. 1- 7 2.
Page 11 4.3 Manual operation mode ........................4-41 4.3.1 JOG operation ........................... 4-41 4.3.2 Manual pulse generator operation .................... 4-43 4.4 Home position return mode ......................4-45 4.4.1 Outline of home position return ....................4-45 4.4.2 Dog type home position return ....................4-48 4.4.3 Count type home position return ....................
Page 12 5.4.11 Dog type front end reference home position return type ............5-55 5.4.12 Dogless Z-phase reference home position return type ............5-57 5.4.13 Automatic retract function used for the home position return ..........5-58 5.5 Serial communication operation ...................... 5-59 5.5.1 Positioning operation using the program ..................
Page 13 7.2.2 Gain/filter setting parameters ([Pr. PB_ _ ]) ................7-29 7.2.3 Extension setting parameters ([Pr. PC_ _ ]) ................7-41 7.2.4 I/O setting parameters ([Pr. PD_ _ ]) ..................7-52 7.2.5 Extension setting 2 parameters ([Pr. PE_ _ ]) ................7-62 7.2.6 Extension setting 3 parameters ([Pr.
Page 14 11.5.1 Outline of screen transition ....................11- 7 11.5.2 Parameter unit setting ......................11- 8 11.5.3 Monitor mode (status display) ....................11- 8 11.5.4 Alarm/diagnosis mode......................11-11 11.5.5 Parameter mode ........................11-13 11.5.6 Point table mode ........................11-14 11.5.7 Test operation mode ......................11-15 11.6 Error/message list ........................
Page 15 MEMO...
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 of them, refer to the section of the detailed description field. "MR-J4-_A_" means "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual". Item Detailed explanation Combinations of servo amplifiers and servo motors MR-J4-_A_ section 1.4 Model code definition...
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 of "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual". Item Description Servo amplifier model MR-J4-_A_-RJ Operational specifications Positioning with specification of point table No.
Page 18 1. FUNCTIONS AND CONFIGURATION Item Description Each Point table No. input method/position data input method positioning Operates each positioning based on position command and speed command. operation Point Automatic table continuous Varying-speed operation (2 to 255 speeds)/automatic continuous positioning operation (2 to 255 points) positioning operation Program...
Page 19: Function List
Torque limit changing dog type/torque limit changing data set type Section 6.4 High-resolution encoder of 4194304 pulses/rev is used for the encoder of High-resolution encoder the rotary servo motor compatible with the MELSERVO-J4 series. Setting a home position once makes home position return unnecessary at Absolute position MR-J4-_A_ every power-on.
Page 20 1. FUNCTIONS AND CONFIGURATION Control mode Detailed Function Description explanation CP CL PS Analyzes the frequency characteristic of the mechanical system by simply connecting an MR Configurator2 installed personal computer and servo Machine analyzer function amplifier. MR Configurator2 is necessary for this function. This function provides better disturbance response in case low response Robust filter [Pr.
Page 21 1. FUNCTIONS AND CONFIGURATION Control mode Detailed Function Description explanation CP CL PS The direct drive servo system can be configured to drive a direct drive MR-J4-_A_ Direct drive servo system motor. chapter 16 MR-J4-_A_ Fully closed loop system Fully closed loop system can be configured using the load-side encoder. chapter 17 Gain adjustment is performed just by one click on a certain button on MR MR-J4-_A_...
Page 22: 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 23 1. FUNCTIONS AND CONFIGURATION MEMO 1 - 8...
Page 24: 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 25 2. SIGNALS AND WIRING The following items are the same as MR-J4-_A_-RJ servo amplifiers. For details of them, refer to the section of the detailed description field. "MR-J4-_A_" means "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual". Item Detailed explanation Input power supply circuit MR-J4-_A_ section 3.1 Explanation of power supply system (except section 2.6 MR-J4-_A_ section 3.3...
Page 26: I/O Signal Connection Example
2. SIGNALS AND WIRING 2.1 I/O signal connection example 2.1.1 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 27 2. SIGNALS AND WIRING Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo amplifier to the protective earth (PE) of the cabinet. 2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will malfunction and will not output signals, disabling EM2 (Forced stop 2) and other protective circuits.
Page 28: Program Method
2. SIGNALS AND WIRING 2.1.2 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 29 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 30: Indexer Method
2. SIGNALS AND WIRING 2.1.3 Indexer method POINT Use MD1 (Operation mode selection 2) in the indexer method. Assign MD1 (Operation mode selection 2) to the CN1-18 pin with [Pr. PD10]. Assign the following output devices to CN1-22, CN1-23, and CN1-25 pins with [Pr.
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: 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 33 2. SIGNALS AND WIRING 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". CN5 (USB connector) Refer to "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual"...
Page 34 2. SIGNALS AND WIRING (Note 2) I/O signals in control modes (Note 1) Pin No. Related parameter P15R P15R P15R Pr. PD44 (Note 4) (Note 4) (Note 4) Pr. PD47 (Note 4) (Note 4) (Note 4) Pr. PD47 Pr. PD04 Pr.
Page 35 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 36: 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 2.5. The symbols in the control mode field of the table shows the followings.
Page 37 2. SIGNALS AND WIRING Control Connector mode Device Symbol Function and application pin No. division CP CL PS 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.
Page 38 2. SIGNALS AND WIRING Control Connector mode Device Symbol Function and application pin No. division CP CL PS Forward rotation CN1-17 Point table method DI-1 start 1. Absolute value command method Turning on ST1 during automatic operation will execute one positioning based on position data set in point tables.
Page 39 2. SIGNALS AND WIRING Control Connector mode Device Symbol Function and application pin No. division CP CL PS 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 40 2. SIGNALS AND WIRING Control Connector mode Device Symbol Function and application pin No. division CP CL PS 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 41 2. SIGNALS AND WIRING Control Connector mode Device Symbol Function and application pin No. division CP CL PS 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 42 2. SIGNALS AND WIRING Control Connector mode Device Symbol Function and application pin No. division CP CL PS 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 43 2. SIGNALS AND WIRING Control Connector mode Device Symbol Function and application pin No. division CP CL PS Proportion Turn PC on to switch the speed amplifier from the proportional integral type DI-1 control to the proportional type. 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 44 2. SIGNALS AND WIRING Control Connector mode Device Symbol Function and application pin No. division CP CL PS ZSP turns on when the servo motor speed is zero speed (50r/min) or less. Zero speed CN1-23 DO-1 Zero speed can be changed with [Pr. PC17]. detection OFF level Forward...
Page 45 2. SIGNALS AND WIRING Control Connector mode Device Symbol Function and application pin No. division CP CL PS Rough match When a command remaining distance is lower than the rough match output DO-1 range set with [Pr. PT12], CPO will be on. This is not outputted during base circuit shut-off.
Page 46 2. SIGNALS AND WIRING Control Connector mode Device Symbol Function and application pin No. division CP CL PS Program output OUT1 OUT1 will turn on with the OUTON (1) command during programming. DO-1 The OUT OF (1) command will turn off OUT1. You can also set time to off with [Pr.
Page 47 2. SIGNALS AND WIRING Control Connector mode Device Symbol Function and application pin No. division CP CL PS 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 48 2. SIGNALS AND WIRING Control Connector mode Device Symbol Function and application pin No. division CP CL PS 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 49 2. SIGNALS AND WIRING (3) Output signal Control Connector mode Device Symbol Function and application pin No. division CP CL PS 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.
Page 50: 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 51 2. SIGNALS AND WIRING (2) OVR (Analog override selection) Select enabled/disabled of VC (Analog override). Servo amplifier Analog Servo override 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 52: Interfaces
2. SIGNALS AND WIRING 2.5 Interfaces 2.5.1 Internal connection diagram POINT For the CN8 connector, refer to section 13.3.1 of "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual". 2 - 29...
Page 53 2. SIGNALS AND WIRING The following shows an example of internal connection diagram of the point table method. 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.
Page 54 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 2.5.3. 4.
Page 55: Detailed Explanation Of Interfaces
2. SIGNALS AND WIRING 2.5.2 Detailed explanation of interfaces This section provides the details of the I/O signal interfaces (refer to the I/O division in the table) given in section 2.3. Refer to this section and make connection with the external device. (1) Digital input interface DI-1 This is an input circuit whose photocoupler cathode side is input terminal.
Page 56 2. SIGNALS AND WIRING (3) Manual pulse generator (MR-HDP01) input interface DI-2 Transmit a pulse train signal from the manual pulse generator (MR-HDP01) in the open-collector type. (a) Interface Servo amplifier Max. input pulse frequency 200 kpulses/s 24 V DC Approximately 1.2 kΩ...
Page 57 2. SIGNALS AND WIRING (4) Encoder output pulse DO-2 (a) Open-collector type Interface Maximum sink current: 35 mA 5 V DC to 24 V DC Servo amplifier Servo amplifier Photocoupler (b) Differential line driver type 1) Interface Maximum output current: 35 mA Servo amplifier Servo amplifier 100 Ω...
Page 58 2. SIGNALS AND WIRING (5) Analog input Input impedance 10 kΩ to 12 kΩ Servo amplifier +15 V DC P15R Upper limit setting 2 kΩ VC etc. 2 kΩ Approx. 10 kΩ (6) Analog output Servo amplifier (MO2) Output voltage: ±10 V (Note) Maximum output current: 1 mA Resolution: 10 bits or equivalent Note.
Page 59: Source I/O Interfaces
2. SIGNALS AND WIRING 2.5.3 Source I/O interfaces In this servo amplifier, source type I/O interfaces can be used. (1) Digital input interface DI-1 This is an input circuit whose photocoupler anode side is the input terminal. Transmit signals from source (open-collector) type transistor output, relay switch, etc.
Page 60: Power-On Sequence
2. SIGNALS AND WIRING 2.6 Power-on sequence POINT The voltage of analog monitor output, output signal, etc. may be unstable at power-on. (1) Power-on procedure 1) Always use a magnetic contactor for the main circuit power supply wiring (L1, L2, and L3) as shown in section 3.1 of "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual".
Page 61 2. SIGNALS AND WIRING MEMO 2 - 38...
Page 62: 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 of them, refer to the section of the detailed description field. " MR-J4-_A_" means "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual". Item Detailed explanation Test operation mode...
Page 63: Display Sequence
3. DISPLAY AND OPERATION SECTIONS 3.1 Display sequence Press the "MODE" button once to shift to the next display mode. Refer to section 3.2 and later for the description of the corresponding display mode. Display mode transition Initial screen Function Reference Servo status display.
Page 64 3. DISPLAY AND OPERATION SECTIONS Note. When the axis name is set to the servo amplifier using MR Configurator2, the axis name is displayed and the servo status is then displayed. 3 - 3...
Page 65: Status Display
3. DISPLAY AND OPERATION SECTIONS 3.2 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 66 3. DISPLAY AND OPERATION SECTIONS (b) Fully closed loop control mode Override level (Note 1) Cumulative feedback pulses Unit total power consumption 2 (increment of 100 kWh) Load-side encoder Cumulative feedback pulses Load-side encoder Droop pulses Load-side encoder information 1 (1 pulse unit) Load-side encoder information 1...
Page 67 3. DISPLAY AND OPERATION SECTIONS (c) Linear servo motor control mode Override level (Note 1) Cumulative feedback pulses Unit total power consumption 2 (increment of 100 kWh) Z-phase counter low Z-phase counter high Electrical angle low Electrical angle high (Note 2) Current position Override level Cumulative feedback pulses...
Page 68 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 69 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 be Settling time displayed. Oscillation detection Frequency at the time of oscillation detection is displayed. frequency Number of tough drive times...
Page 70 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 displayed. 100000 The value is counted up from 0 based on the home position (reference Z-phase counter high FCY2 pulses...
Page 71 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 72: Diagnostic Mode
3. DISPLAY AND OPERATION SECTIONS 3.3 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 73 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 74 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 (Analog override) of 0 V, a zero-adjustment of offset voltages will be automatically performed.
Page 75: Alarm Mode
3. DISPLAY AND OPERATION SECTIONS 3.4 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 76 3. DISPLAY AND OPERATION SECTIONS Functions at occurrence of an alarm (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 77: Point Table Setting
3. DISPLAY AND OPERATION SECTIONS 3.5 Point table setting You can set the target position, servo motor speed, acceleration time, deceleration time, dwell, sub function and M code. (1) Display transition Point table transition Setting item transition Point table No. 1 Target position Point table No.
Page 78 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, sub function 1 to 255...
Page 79 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 80 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 81: Parameter Mode
3. DISPLAY AND OPERATION SECTIONS 3.6 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 82 3. DISPLAY AND OPERATION SECTIONS (b) Parameters of 6 or more digits The following example gives the operation procedure to change the electronic gear numerator to "123456" with [Pr. PA06 Electronic gear numerator]. Press "MODE" to switch to the basic setting parameter screen. Press "UP"...
Page 83: External I/O Signal Display
3. DISPLAY AND OPERATION SECTIONS 3.7 External I/O signal display POINT The I/O signal settings can be changed using the I/O setting parameters [Pr. PD03] 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 84: Output Signal (Do) Forced Output
3. DISPLAY AND OPERATION SECTIONS 3.8 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 85: Single-Step Feed
3. DISPLAY AND OPERATION SECTIONS 3.9 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 86 3. DISPLAY AND OPERATION SECTIONS (5) Forced stop of the servo motor software Click the "Forced Stop" (f) button to make an instantaneous stop. When the "Forced Stop" button is enabled, "Operation Start" button cannot be used. Click the "Forced Stop" button again to enable the "Operation Start"...
Page 87: Teaching Function
3. DISPLAY AND OPERATION SECTIONS 3.10 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 88: 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 of them, refer to the section of the detailed description field. "MR-J4-_A_" means "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual". Item Detailed explanation Switching power on for the first time...
Page 89: Startup
It will bring the motor to a sudden stop and make it servo-locked. It can be run in the (Reverse rotation stroke end) off opposite direction. Note. Only a list of alarms and warnings is listed in chapter 8. Refer to "MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting)" for details of alarms and warnings. 4 - 2...
Page 90: 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 91: 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 92: 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 93 Chapter oscillate side to side. complete auto tuning. Note. Only a list of alarms and warnings is listed in chapter 8. Refer to "MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting)" for details of alarms and warnings. 4 - 6...
Page 94: Automatic Operation Mode
4. HOW TO USE THE POINT TABLE 4.2 Automatic operation mode 4.2.1 Automatic operation mode (1) Command method Set point tables in advance, and select any point table by using an input signal or RS422 communication. 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.
Page 95 4. HOW TO USE THE POINT TABLE a) When you specify 270.000 degrees to the position data, the servo motor rotates in the CCW direction. Target position Current position b) When you specify -90.000 degrees to the position data, the servo motor rotates in the CW direction.
Page 96 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 Setting range: 0 to 999999 [×10 μm] (STM = Feed length multiplication [Pr. PT01]) Current address Target address Position data = |Target address - Current address|...
Page 97 4. HOW TO USE THE POINT TABLE (2) Point table (a) Point table setting Up to 255 point tables can be set. For using point table No. 16 to 255, enable DI4 (Point table No. selection 5) to DI7 (Point table No. selection 8) in the device setting of MR Configurator2. Set point tables using MR Configurator2 or the operation section of the servo amplifier.
Page 98: 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 By the sub function of the point table, you can set a point table used under the absolute value command method or the incremental value command method. (a) Point table Set the point table values using MR Configurator2 or the operation section.
Page 99 4. HOW TO USE THE POINT TABLE Item Setting range Unit Description Set the sub 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 100 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 101 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 sub function to the point table.
Page 102 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 103 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 104 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 105 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 106 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 107 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 108 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 109 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 Sub function...
Page 110 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 time constant time constant Dwell [ms] Sub function M code [degree]...
Page 111 4. HOW TO USE THE POINT TABLE (c) Varying-speed operation By setting the sub 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 112 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 113 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 114 4. HOW TO USE THE POINT TABLE 2) Incremental value command method ([Pr. PT01] = _ _ _ 1) Setting "1" to the sub 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 115 4. HOW TO USE THE POINT TABLE (d) Automatic repeat positioning operation By setting the sub 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 116 4. HOW TO USE THE POINT TABLE Example 2. Operations when "9" is set to the sub function of point table No. 3 Acceleration Deceleration Point table Position data Servo motor time constant time constant Dwell [ms] Sub function M code μm] speed [r/min] [ms]...
Page 117 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 sub function of point table No. 4 Acceleration Deceleration Point table Position data Servo motor time constant time constant Dwell [ms]...
Page 118 4. HOW TO USE THE POINT TABLE Example 2. Operations when "11" is set to the sub function of point table No. 3 Acceleration Deceleration Point table Position data Servo motor time constant time constant Dwell [ms] Sub function M code μm] speed [r/min] [ms]...
Page 119 4. HOW TO USE THE POINT TABLE c) Varying-speed operation by absolute value command method Example. Operations when "8" is set to the sub function of point table No. 3 Acceleration Deceleration Point table Position data Servo motor time constant time constant Dwell [ms] Sub function...
Page 120 4. HOW TO USE THE POINT TABLE d) Varying-speed operation by incremental value command method Example. Operations when "10" is set to the sub function of point table No. 3 Acceleration Deceleration Point table Position data Servo motor time constant time constant Dwell [ms] Sub function...
Page 121 4. HOW TO USE THE POINT TABLE 2) Incremental value command method ([Pr. PT01] = _ _ _ 1) Setting "8" to the sub 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 122 4. HOW TO USE THE POINT TABLE Example 2. Operations when "9" is set to the sub function of point table No. 2 Acceleration Deceleration Point table Position data Servo motor time constant time constant Dwell [ms] Sub function M code μm] speed [r/min] [ms]...
Page 123 4. HOW TO USE THE POINT TABLE b) Varying-speed operation by incremental value command method Example. Operations when "8" is set to the sub function of point table No. 2 Acceleration Deceleration Point table Position data Servo motor time constant time constant Dwell [ms] Sub function...
Page 124 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 restarts the servo motor rotation for the remaining distance.
Page 125 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 No. n Point table ST1 (Forward rotation start) or ST2 (Reverse rotation start) TSTP (Temporary stop/restart) PUS (Temporary stop) CPO (Rough match)
Page 126 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 127 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 128 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 129 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 130: Manual Pulse Generator Operation
4. HOW TO USE THE POINT TABLE 4.3.2 Manual pulse generator operation (1) Setting POINT To enhance noise immunity, set "_ 2_ _" to [Pr. PA13] when the command pulse frequency is 500 kpps or less, or set "_3_ _" to [Pr. PA13] when the command pulse frequency is 200 kpps or less.
Page 131 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 132: 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 133 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 134 4. HOW TO USE THE POINT TABLE (2) Parameters for home position return To perform the home position return, set each parameter as follows. (a) Select the home position return type with [Pr. PT04 Home position return type]. [Pr. PT04] Home position return method 0: Dog type 1: Count type...
Page 135: 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 136 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 137: 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 138 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 139: 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 140: 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 141 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 142: 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 143: 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 144 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 145: 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 at a Home position return speed of 100 r/min, the home position has an error of 6400 pulses (for HG series servo motor).
Page 146: 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 147 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 148: 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 149 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 150: 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 151 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 152: 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 153: 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 154: 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 155: 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 156 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 157: 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 158 4. HOW TO USE THE POINT TABLE (5) Verifying point table data (e) Click the "Verify" button to verify all the data displayed and data of the servo amplifier. (6) Detailed setting of point table data (f) Click the "Detailed Setting" to change position data range and unit in the point table window. Refer to section 4.7.2 for details.
Page 159: 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 the "Update Project"...
Page 160: 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 of them, refer to the section of the detailed description field. " MR-J4-_A_" means "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual". Item Detailed explanation Switching power on for the...
Page 161: Stop
It will bring the motor to a sudden stop and make it servo-locked. It can be run in the (Reverse rotation stroke end) off opposite direction. Note. Only a list of alarms and warnings is listed in chapter 8. Refer to "MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting)" for details of alarms and warnings. 5 - 2...
Page 162: 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 163: 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 164: 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 165: Program Operation Method
Chapter oscillate side to side. complete auto tuning. Note. Only a list of alarms and warnings is listed in chapter 8. Refer to "MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting)" for details of alarms and warnings. 5.2 Program operation method 5.2.1 Program operation method In advance, select a program created on MR Configurator2 by using an input signal or communication to start operation with ST1 (Forward rotation start).
Page 166: Program Language
5. HOW TO USE THE PROGRAM 5.2.2 Program language The maximum number of steps of a program is 640. Although you can create up to 256 programs, the maximum number of steps of each program is 640. A set program is selectable by using DI0 (Program No. selection 1) to DI7 (Program No. selection 8). (1) Command list Indirect specif-...
Page 167 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 168 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 TLP (Setting to 1000...
Page 169 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 170 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 171 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 172 5. HOW TO USE THE PROGRAM 1) Program example 1 When using the absolute value travel command under the absolute value command method Command Description SPN (500) Servo motor speed 500 [r/min] STA (200) Acceleration time constant 200 [ms] STB (300) Deceleration time constant 300 [ms] MOV (500)
Page 173 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 174 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 175 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 176 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 177 5. HOW TO USE THE PROGRAM 4) Program example 4 Command Description SPN (500) Servo motor speed 500 [r/min] STA (200) Acceleration time constant 200 [ms] STB (300) Deceleration time constant 300 [ms] MOVI (600) Incremental value travel command 600 [×10 μm] TRIPI (300) Incremental value trip point...
Page 178 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 MOVI (1000) Incremental value travel command 1000 [×10 μm] TIM (200) Dwell 200 [ms] OUTON (1) Switch on OUT1 (Program output 1).
Page 179 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 MOVI (1000) Incremental value travel command 1000 [×10 μm] TIM (200) Dwell 200 [ms] OUTON (1) Switch on OUT1 (Program output 1).
Page 180 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 MOVI (1000) Incremental value travel command 1000 [×10 μm] SYNC (1) Suspend the step until PI1 (Program input) is switched on. TIM (200) Dwell 200 [ms]...
Page 181 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] MOV (600) Absolute value travel command 600 [×10 μm] SPN (100) Servo motor speed...
Page 182 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 183 5. HOW TO USE THE PROGRAM (g) Step repeat command (FOR...NEXT) POINT You cannot insert "FOR...NEXT" commands between a "FOR" command and a "NEXT" command. The servo motor repeats the operation of the steps, which are set between a "FOR (Setting value) command and a "NEXT"...
Page 184 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 185 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 186 5. HOW TO USE THE PROGRAM (j) Indirect specification with general purpose registers (R1-R4, D1-D4) You can indirectly specify the setting values of the "SPN", "STA", "STB", "STC", "STD", "MOV", "MOVI", "MOVA", "MOVIA", "TIM", and "TIMES" commands. The value, which is stored in each general purpose register (R1-R4, D1-D4), is used as the setting value of each command.
Page 187 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 188 5. HOW TO USE THE PROGRAM (l) Torque limit value switching (TLP/TLN/TLP) 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 189: Basic Settings Of Signals And Parameters
5. HOW TO USE THE PROGRAM 5.2.3 Basic settings of signals and parameters Create a program with MR Configurator2 in advance. (Refer to section 5.2.2.) (1) Parameter (a) Setting range of the position data The following shows the setting of [Pr. PA01]. [Pr.
Page 190 5. HOW TO USE THE PROGRAM (d) 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 191: 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. Command 1 Description SPN (1000)
Page 192 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. Then, switching off and then on TSTP (On-edge detection) restarts the operation for the remaining distance. This function will not operate even if ST1 (Forward rotation start) is switched on during the temporary stop.
Page 193: 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 194: 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 195 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 196: 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 input polarity of the proximity dog. Otherwise, it may cause an unexpected operation.
Page 197 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 198 5. HOW TO USE THE PROGRAM (2) Parameters for home position return To perform the home position return, set the DOG (Proximity dog) polarity selection of [Pr. PT04 Home position return type] and [Pr. PT29 Function selection T-3] as shown below. [Pr.
Page 199: 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 200 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 201: 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 202 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 203: 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 is available at servo-on only.
Page 204: 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 205: Home Position Ignorance (Servo-On Position As Home Position)
5. HOW TO USE THE PROGRAM Input device (Note) 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. PC35 >...
Page 206: 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 207 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 208: 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 209 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 210: 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 211 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 212: 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 213 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 214: 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 215 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 216: 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 217: 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 If the current position is on or beyond the proximity dog at the time of dog type/count type home position return, it is not necessary to start after performing JOG operation, etc. to move the machine backward. When the current position is on the proximity dog, the machine moves backward automatically, and the home position return is performed.
Page 218: 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 219: Multi-Drop Method
5. HOW TO USE THE PROGRAM 5.5.2 Multi-drop method 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 220: 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 221 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 222: 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 223: Roll Feed Mode Using The Roll Feed Display Function
5. HOW TO USE THE PROGRAM (3) Program example Command Description SPN (1000) Servo motor speed 1000 [r/min] Acceleration time constant 200 [ms] STA (200) Deceleration time constant 300 [ms] STB (300) Incremental value travel command 1000 [×10 μm] MOVI (1000) Dwell 100 [ms] TIM (100)
Page 224: 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 the "Read"...
Page 225: 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 226: Indirect Addressing Window
5. HOW TO USE THE PROGRAM (4) Pasting text (d) Click the "Paste" button to paste the copied text on the clipboard to a specified place of the program edit area. (5) Ending window for program (e) Click the "OK" button 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 227 5. HOW TO USE THE PROGRAM MEMO 5 - 68...
Page 228: 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. Refer to the section of the detailed description field for details. "MR-J4-_A_" means "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual". Item Detailed explanation Switching power on for the...
Page 229: Stop
It will bring the motor to a sudden stop and make it servo-locked. It can be run in the (Reverse rotation stroke end) off opposite direction. Note. Only a list of alarms and warnings is listed in chapter 8. Refer to "MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting)" for details of alarms and warnings. 6 - 2...
Page 230: 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 231: 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 232: 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 233 Chapter oscillate side to side. complete auto tuning. Note. Only a list of alarms and warnings is listed in chapter 8. Refer to "MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting)" for details of alarms and warnings. 6 - 6...
Page 234: 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 235: 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 236 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 237 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. selection 0 Next station No.
Page 238 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 All off (Note 4) All off (Note 4)
Page 239: 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 240 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. selection 0 Next station No.
Page 241 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 242: 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 243 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 244 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 245: 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 and parameter Setting...
Page 246 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 247: Home Position Return Mode
6. HOW TO USE INDEXER 6.4 Home position return mode POINT Before performing the home position return, check that the limit switch operates and SIG turns on. Check the home position return direction. An incorrect setting will cause a reverse running. Check the input polarity of the external limit.
Page 248 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 249: 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. 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 home position shift distance is used as the home position.
Page 250 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 Home position return speed Creep speed Forward rotation Servo motor speed...
Page 251: 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 252 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) 5 ms or longer ST1 (Forward rotation start) SIG (External limit/Rotation direction decision/Automatic speed selection) Ignored (Note)
Page 253: 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. Timing chart Travel distance between stations: 1000 Backlash compensation: 10...
Page 254 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 255 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 256: 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 257 6. HOW TO USE INDEXER MEMO 6 - 30...
Page 258: Parameters
7. PARAMETERS 7. PARAMETERS Never make a drastic adjustment or change to the parameter values as doing so will make the operation unstable. CAUTION If fixed values are written in the digits of a parameter, do not change these values. Do not change parameters for manufacturer setting.
Page 259 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 260 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 261 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 262 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 263 7. PARAMETERS Operation Control mode mode Initial Symbol Name Unit value PC21 *SOP RS-422 communication function selection 0000h PC22 *COP1 Function selection C-1 0000h PC23 *COP2 Function selection C-2 0000h PC24 *COP3 Function selection C-3 0000h PC25 For manufacturer setting 0000h PC26 *COP5...
Page 264 7. PARAMETERS Operation Control mode mode Initial Symbol Name Unit value PC70 For manufacturer setting 0000h PC71 0000h PC72 0000h PC73 0000h PC74 0000h PC75 0000h PC76 0000h PC77 0000h PC78 0000h PC79 0000h PC80 0000h 7.1.4 I/O setting parameters ([Pr. PD_ _ ]) POINT The following parameter cannot be used in the positioning mode.
Page 265 7. PARAMETERS Operation Control mode mode Initial Symbol Name Unit value PD15 For manufacturer setting 0000h PD16 0000h PD17 *DI8L Input device selection 8L 0A0Ah PD18 *DI8H Input device selection 8H 0A00h PD19 *DI9L Input device selection 9L 0B0Bh PD20 *DI9H Input device selection 9H 0B00h...
Page 266 7. PARAMETERS 7.1.5 Extension setting 2 parameters ([Pr. PE_ _ ]) POINT The following parameter cannot be used in the positioning mode. [Pr. PE01 Fully closed loop function selection 1] Operation Control mode mode Initial Symbol Name Unit value PE01 *FCT1 Fully closed loop function selection 1 0000h...
Page 267 7. PARAMETERS Operation Control mode mode Initial Symbol Name Unit value PE36 For manufacturer setting PE37 0.00 PE38 0.00 PE39 PE40 0000h PE41 EOP3 Function selection E-3 0000h PE42 For manufacturer setting PE43 PE44 0000h PE45 0000h PE46 0000h PE47 0000h PE48 0000h...
Page 268 7. PARAMETERS 7.1.6 Extension setting 3 parameters ([Pr. PF_ _ ]) Operation Control mode mode Initial Symbol Name Unit value PF01 For manufacturer setting 0000h PF02 0000h PF03 0000h PF04 PF05 PF06 0000h PF07 PF08 PF09 *FOP5 Function selection F-5 0000h PF10 For manufacturer setting...
Page 269 7. PARAMETERS 7.1.7 Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) Operation Control mode mode Initial Symbol Name Unit value PL01 *LIT1 Linear servo motor/DD motor function selection 1 0301h PL02 *LIM Linear encoder resolution - Numerator 1000 [µm] PL03 *LID...
Page 270 7. PARAMETERS Operation Control mode mode Initial Symbol Name Unit value PL46 For manufacturer setting 0000h PL47 0000h PL48 0000h 7.1.8 Option setting parameters ([Pr. Po_ _ ]) Operation Control mode mode Initial Symbol Name Unit value Po01 For manufacturer setting 0000h Po02 0000h...
Page 271 7. PARAMETERS 7.1.9 Positioning control parameters ([Pr. PT_ _ ]) Operation Control mode mode Initial Symbol Name Unit value PT01 *CTY Command mode selection 0000h PT02 *TOP1 Function selection T-1 0000h PT03 *FTY Feeding function selection 0000h PT04 *ZTY Home position return type 0010h PT05 Home position return speed...
Page 272 7. PARAMETERS Operation Control mode mode Initial Symbol Name Unit value PT26 *TOP2 Function selection T-2 0000h PT27 *ODM Operation mode selection 0000h PT28 *STN Number of stations per rotation [stations] PT29 *TOP3 Function selection T-3 0000h PT30 For manufacturer setting PT31 PT32 0000h...
Page 273: Basic Setting Parameters ([Pr. Pa
7. PARAMETERS 7.2.1 Basic setting parameters ([Pr. PA_ _ ]) Initial Control mode No./ Setting Function value symbol/name digit CP CL PS [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 274 7. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit CP CL PS [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...
Page 275 7. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit CP CL PS [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...
Page 276 7. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit CP CL PS [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...
Page 277 7. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit CP CL PS [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]...
Page 278 7. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit CP CL PS [unit] PA11 You can limit the torque or thrust generated by the servo motor. Set the parameter 100.0 referring 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 279 7. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit CP CL PS [unit] PA13 _ x _ _ Command input pulse train filter selection *PLSS Selecting proper filter enables to enhance noise immunity. 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 280 7. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit CP CL PS [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 281 7. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit CP CL PS [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 282 7. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit CP CL PS [unit] PA17 *MSR Parameter Linear servo motor Servo motor model 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)
Page 283 7. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit CP CL PS [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 284 7. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit CP CL PS [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 285 7. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit CP CL PS [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.
Page 286: Gain/Filter Setting Parameters ([Pr. Pb
7. PARAMETERS 7.2.2 Gain/filter setting parameters ([Pr. PB_ _ ]) Initial Control mode No./ Setting Function value symbol/name digit CP CL PS [unit] PB01 _ _ _ x Filter tuning mode selection FILT Set the adaptive filter 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 287 7. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit CP CL PS [unit] PB04 Set the feed forward gain. When the setting is 100%, the droop pulses during operation at constant speed are nearly zero. However, sudden acceleration/deceleration will increase the Feed forward overshoot.
Page 288 7. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit CP CL PS [unit] PB09 This is used to set the gain of the speed loop. [rad/s] Set this parameter when vibration occurs on machines of low rigidity or large backlash.
Page 289 7. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit CP CL PS [unit] PB16 Set forms of the machine resonance suppression filter 2. NHQ2 _ _ _ x Machine resonance suppression filter 2 selection Notch shape 0: Disabled selection 2 1: Enabled _ _ x _ Notch depth selection...
Page 290 7. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit CP CL PS [unit] PB18 Set the low-pass filter. 3141 [rad/s] The following shows a relation of a required parameter to this parameter. Low-pass filter setting Setting range: 100 to 18000 [Pr.
Page 291 7. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit CP CL PS [unit] PB24 _ _ _ x Slight vibration suppression control selection *MVS Select the slight vibration suppression control. Slight 0: Disabled vibration 1: Enabled suppression To enable the slight vibration suppression control, select "Manual mode (_ _ _ 3)" of control "Gain adjustment mode selection"...
Page 292 7. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit CP CL PS [unit] PB31 Set the speed loop gain for when the gain switching is enabled. [rad/s] VG2B When you set a value less than 20 rad/s, the value will be the same as [Pr. PB09]. Speed loop This parameter is enabled only when you select "Manual mode (_ _ _ 3)"...
Page 293 7. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit CP CL PS [unit] PB36 Set a damping of the resonance frequency for vibration suppression control 1 when 0.00 the gain switching is enabled. VRF4B This parameter will be enabled only when the following conditions are fulfilled. Vibration suppression "Gain adjustment mode selection"...
Page 294 7. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit CP CL PS [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 295 7. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit CP CL PS [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 296 7. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit CP CL PS [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 297 7. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit CP CL PS [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 298: Extension Setting Parameters ([Pr. Pc
7. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit CP CL PS [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 299 7. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit CP CL PS [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.
Page 300 7. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit CP CL PS [unit] PC14 _ _ x x Analog monitor 1 output selection MOD1 Select a signal to output to MO1 (Analog monitor 1). Refer to appendix 8 (3) of "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual"...
Page 301 7. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit CP CL PS [unit] PC15 _ _ x x Analog monitor 2 output selection MOD2 Select a signal to output to MO2 (Analog monitor 2). Refer to appendix 8 (3) of "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual"...
Page 302 7. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit CP CL PS [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 303 7. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit CP CL PS [unit] PC22 _ _ _ x For manufacturer setting *COP1 _ _ x _ Function _ x _ _ selection C-1 x _ _ _ Encoder cable communication method selection Select how to execute the encoder cable communication method.
Page 304 7. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit CP CL PS [unit] PC31 This parameter is used when a home position return is executed with the program method. Set the deceleration time constant at the home position return. Set a [ms] STB2 deceleration time from the rated speed to 0 r/min or 0 mm/s.
Page 305 7. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit CP CL PS [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...
Page 306 7. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit CP CL PS [unit] PC37 Set an offset voltage of VC (Override input). [mV] This will be automatic setting by executing VC automatic offset. Analog override Setting range: -9999 to 9999 Offset PC38 Set the offset voltage of TLA (Analog torque limit).
Page 307 7. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit CP CL PS [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 _ _ X _ For manufacturer setting...
Page 308 7. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit CP CL PS [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...
Page 309: I/O Setting Parameters ([Pr. Pd
7. PARAMETERS 7.2.4 I/O setting parameters ([Pr. PD_ _ ]) Initial Control mode No./ Setting Function value symbol/name digit CP CL PS [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 310 7. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit CP CL PS [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)
Page 311 7. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit CP CL PS [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 7.9 for settings.
Page 312 7. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit CP CL PS [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 7.9 in [Pr.
Page 313 7. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit CP CL PS [unit] PD23 _ _ x x Device selection *DO1 Any output device can be assigned to the CN1-22 pin. Output device Refer to table 7.10 for settings. selection 1 _ x _ _ For manufacturer setting x _ _ _...
Page 314 7. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit CP CL PS [unit] PD24 _ _ x x Device selection *DO2 Any output device can be assigned to the CN1-23 pin. Output device Refer to table 7.10 in [Pr. PD23] for settings. selection 2 _ x _ _ For manufacturer setting...
Page 315 7. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit CP CL PS [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 316 7. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit CP CL PS [unit] PD33 _ _ _ x For manufacturer setting *DOP4 _ _ x _ Function _ x _ _ Rotation direction selection to enable torque limit/travel direction selection to enable selection D-4 thrust limit Select a direction which enables internal torque limit 2 or external torque limit.
Page 317 7. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit CP CL PS [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...
Page 318 7. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit CP CL PS [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 319: Extension Setting 2 Parameters ([Pr. Pe
7. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit CP CL PS [unit] PD44 Any input device can be assigned to the CN1-10 pin. *DI11H _ _ x x Not used with the positioning mode. Input device x x _ _ Positioning mode - Device selection selection 11H Refer to table 7.9 in [Pr.
Page 320 7. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit CP CL PS [unit] PE05 Set a denominator of electronic gear for the servo motor encoder pulse at the fully closed loop control. *FBD Set the electronic gear so that the number of servo motor encoder pulses for one Fully closed servo motor revolution is converted to the resolution of the load-side encoder.
Page 321 7. PARAMETERS 7.2.6 Extension setting 3 parameters ([Pr. PF_ _ ]) Initial Control mode No./ Setting Function value symbol/name digit CP CL PS [unit] PF09 _ _ _ x Electronic dynamic brake selection *FOP5 0: Enabled only for specified servo motors Function 2: Disabled selection F-5...
Page 322: Linear Servo Motor/Dd Motor Setting Parameters ([Pr. Pl
7. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit CP CL PS [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]...
Page 323 7. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit CP CL PS [unit] PL02 Set a linear encoder resolution per µm with [Pr. PL02] and [Pr. PL03]. 1000 [μm] *LIM Set a numerator to [Pr. PL02]. Linear This is enabled only for linear servo motors. encoder resolution - Setting range: 1 to 65535...
Page 324 7. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit CP CL PS [unit] PL08 _ _ _ x Magnetic pole detection method selection *LIT3 0: Position detection method Linear servo 4: Minute position detection method motor/DD _ _ x _ For manufacturer setting motor _ x _ _ Magnetic pole detection - Stroke limit enabled/disabled selection function...
Page 325: Option Setting Parameters ([Pr. Po
7. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit CP CL PS [unit] PL18 Set an identification signal amplitude used in the minute position detection method. IDLV This parameter is enabled only when the magnetic pole detection is the minute position detection method.
Page 326 7. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit CP CL PS [unit] PT03 _ _ _ x Feed length multiplication [STM] *FTY 0: × 1 1: × 10 Feeding 2: × 100 function 3: × 1000 selection This digit will be disabled when [degree] or [pulse] of "Position data unit"...
Page 327 7. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit CP CL PS [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...
Page 328 7. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit CP CL PS [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 329 7. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit CP CL PS [unit] PT19 Set an address increasing side of the position range output address. *LPPL Upper and lower are a set. Set a range which POT (Position range) turns on with Refer to [Pr.
Page 330 7. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit CP CL PS [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 331 7. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit CP CL PS [unit] PT29 Set a polarity of DOG, SIG, PI1, PI2, and PI3. *TOP3 _ _ _ x _ _ _ x (BIN): DOG (Proximity dog) polarity selection Function (HEX) 0: Dog detection with off...
Page 332 7. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit CP CL PS [unit] PT34 Use this parameter when initializing a point table and program. 0000h *PDEF A point table and program will be the following status by initializing. Point Point table: All "0"...
Page 333 7. PARAMETERS Initial Control mode No./ Setting Function value symbol/name digit CP CL PS [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 334: 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 335: Electronic Gear Setting In The Indexer Method
7. PARAMETERS The following shows a setting example of the electronic gear. Number of gear teeth on machine side: 25, number of gear teeth on servo motor side: 11 Set [Pr. PA06] = 25 and [Pr. PA07] = 11. Machine Servo motor Pt (Servo motor resolution): 4194304 pulses/rev Z1: Number of gear teeth on servo motor side...
Page 336: 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 337: 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 338: 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 339 7. PARAMETERS MEMO 7 - 82...
Page 340: Troubleshooting
When an error occurs during operation, the corresponding alarm or warning is displayed. When the alarm or the warning occurs, refer to "MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting)" to remove the failure. When an alarm occurs, ALM will turn off.
Page 341: Alarm List
8. TROUBLESHOOTING 8.2 Alarm list Alarm Alarm code Stop deactivation Detail method Name Detail name Cycling (Note 2, Alarm reset power (Bit 2) (Bit 1) (Bit 0) 10.1 Voltage drop in the control circuit power Undervoltage 10.2 Voltage drop in the main circuit power 12.1 RAM error 1 12.2...
Page 342 8. TROUBLESHOOTING Alarm Alarm code Stop deactivation Detail method Name Detail name Cycling (Note 2, Alarm reset power (Bit 2) (Bit 1) (Bit 0) 21.1 Encoder data error 1 21.2 Encoder data update error 21.3 Encoder data waveform error Encoder normal 21.4 Encoder non-signal error communication error 2...
Page 343 8. TROUBLESHOOTING Alarm Alarm code Stop deactivation Detail method Name Detail name Cycling (Note Alarm 2, 3) reset power (Bit 2) (Bit 1) (Bit 0) 42.1 Servo control error by position deviation (Note 4) Servo control error 42.2 Servo control error by speed deviation (Note 4) (for linear servo motor and direct drive motor)
Page 344 8. TROUBLESHOOTING Alarm Alarm code Stop deactivation Detail method Name Detail name Cycling (Note 2, Alarm reset power (Bit 2) (Bit 1) (Bit 0) Operation error 61.1 Point table setting range error 63.1 STO1 off STO timing error 63.2 STO2 off Load-side encoder initial communication - Receive 70.1 data error 1...
Page 345 8. TROUBLESHOOTING Note 1. Leave for about 30 minutes of cooling time after removing the cause of occurrence. 2. The following shows three stop methods of DB, EDB, and SD. DB: Stops with dynamic brake. (Coasts for the servo amplifier without dynamic brake.) EDB: Electronic dynamic brake stop (available with specified servo motors) Refer to the following table for the specified servo motors.
Page 346: 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 90.2 Home position return abnormal termination incomplete warning 90.5 Z-phase unpassed Servo amplifier overheat 91.1 Main circuit device overheat warning warning (Note 1) 92.1 Encoder battery cable disconnection warning...
Page 347 8. TROUBLESHOOTING Note 1. Leave for about 30 minutes of cooling time after removing the cause of occurrence. 2. The following shows two stop methods of DB and SD. DB: Stops with dynamic brake. (Coasts for the servo amplifier without dynamic brake.) SD: Forced stop deceleration 3.
Page 348: 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 voltage between P+ and N- is safe with a voltage tester and others. Otherwise, an WARNING electric shock may occur.
Page 349: 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". 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 350 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 351 9. OPTIONS AND PERIPHERAL EQUIPMENT MEMO 9 - 4...
Page 352: Communication Function
10. COMMUNICATION FUNCTION 10. COMMUNICATION FUNCTION The following items are the same as those of MR-J4-_A_-RJ servo amplifiers. Refer to the section of the detailed description field for details. "MR-J4-_A_" means "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual". Item Detailed explanation Structure MR-J4-_A_ section 14.1 Communication specifications MR-J4-_A_ section 14.2...
Page 353: Reading Command
10. COMMUNICATION FUNCTION 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 Servo motor speed...
Page 354 10. COMMUNICATION FUNCTION Control mode Frame Command Data No. Description Status display length [0] [1] [8] [0] Status display data value and Cumulative feedback pulses processing information Servo motor-side cumulative feedback pulses (after gear) [8] [1] Servo motor speed Servo motor speed [8] [2] Droop pulses Servo motor-side droop pulses...
Page 355 10. COMMUNICATION FUNCTION (2) Parameter (command [0] [4], [1] [5], [1] [6], [1] [7], [0] [8], and [0] [9]) Control mode Frame Command Data No. Description length [0] [4] [0] [1] Reading parameter group 0000: Basic setting parameters ([Pr. PA_ _ ]) 0001: Gain/filter parameters ([Pr.
Page 356 10. COMMUNICATION FUNCTION (4) Current position latch display (command [1] [A]) Control mode Frame Command Data No. Description length [1] [A] [0] [0] MSD (Mark detection) rising latch data (data part) [0] [1] MSD (Mark detection) falling latch data (data part) [0] [2] MSD (Mark detection) rising latch data (data part + additional information) 12 or less...
Page 357 10. COMMUNICATION FUNCTION (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 Servo motor speed...
Page 358 10. COMMUNICATION FUNCTION Control mode Frame Command Data No. Description Status display length [3] [5] [8] [0] Status display data value and Cumulative feedback pulses processing information Servo motor-side cumulative feedback pulses (after gear) [8] [1] Servo motor speed Servo motor speed [8] [2] Droop pulses Servo motor-side droop pulses...
Page 359 10. COMMUNICATION FUNCTION (8) Point table setting data (command [4] [0], [4] [5], [5] [0], [5] [4], [5] [8], [6] [0], [6] [4]) Control mode Frame Command Data No. Description length [4] [0] [0] [0] to [F] [F] Reading position data of each point table The decimal equivalent of the data No.
Page 360 10. COMMUNICATION FUNCTION (12) General purpose register number (command [6] [F]) Control mode Frame Command Data No. Description length [6] [F] [0] [0] Reading general purpose register (Rx) number [0] [1] Reading general purpose register (Dx) number (13) Others (command [0] [0], [0] [2]) Control mode Frame...
Page 361: Writing Commands
10. COMMUNICATION FUNCTION 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 Command Data No.
Page 362 10. COMMUNICATION FUNCTION (6) I/O device prohibition (command [9] [0]) Control mode Frame Command Data No. Description Setting range length [9] [0] [0] [0] Turns off the input device, external analog input signal, and 1EA5 pulse train input, except EM2, LSP and LSN, independently of the external on/off statuses.
Page 363 10. COMMUNICATION FUNCTION 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 operation mode (JOG operation and positioning operation).
Page 364 10. COMMUNICATION FUNCTION (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 commands to [0] [2] Writing general purpose register (R2) value use.
Page 365: Detailed Explanations Of Commands
10. COMMUNICATION FUNCTION 10.2 Detailed explanations of commands 10.2.1 External I/O signal status (DIO diagnosis) (1) Reading input device status Reads the status of the input devices. (a) Transmission Transmits command [1] [2] + data No. [0] [0] to [0] [2]. Command Data No.
Page 366 10. COMMUNICATION FUNCTION (2) Reading external input pin status Reads the on/off statuses of the external input pins. (a) Transmission Transmits command [1] [2] + data No. [4] [0]. Command Data No. [1] [2] [4] [0] (b) Return The on/off statuses of the input pins are returned. b1b0 1: On 0: Off...
Page 367 10. COMMUNICATION FUNCTION (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 Transmits command [1] [2] + data No. [6] [0] to [6] [2]. Command Data No.
Page 368 10. COMMUNICATION FUNCTION (4) Reading external output pin status Reads the on/off statuses of the external output pins. (a) Transmission Transmit command [1] [2] and data No. [C] [0]. Command Data No. [1] [2] [C] [0] (b) Return The slave station returns the status of the output devices. b1b0 1: On 0: Off...
Page 369 10. COMMUNICATION FUNCTION (5) Reading output device status Reads the on/off statuses of the output devices. (a) Transmission Transmits 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 370: Input Device On/Off
10. COMMUNICATION FUNCTION 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. Each input device can be switched on/off.
Page 371: Input Device On/Off (For Test Operation)
10. COMMUNICATION FUNCTION 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. Transmits command [9] [2] + data No.
Page 372: Test Operation Mode
10. COMMUNICATION FUNCTION 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. To prevent this, continue communication all the time by monitoring the status display, etc.
Page 373 10. COMMUNICATION FUNCTION (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 374: Output Signal Pin On/Off (Output Signal (Do) Forced Output)
10. COMMUNICATION FUNCTION 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. Using command [9] [0], disable the external input signals in advance. (1) Selecting the output signal (DO) forced output of the test operation mode Transmit command + [8] [B] + data No.
Page 375: Point Table
10. COMMUNICATION FUNCTION 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 376 10. COMMUNICATION FUNCTION (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. Refer to section 10.1.1. 2) Return The slave station returns the acceleration time constant of point table requested.
Page 377 10. COMMUNICATION FUNCTION (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. Data is transferred in hexadecimal.
Page 378 10. COMMUNICATION FUNCTION (g) M code Reads M code of point tables. 1) Transmission Transmits the command [4] [5] + 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 M code of point table requested.
Page 379 10. COMMUNICATION FUNCTION (2) Writing data If setting values need to be changed with a high frequency (i.e. once or more per one hour), write the setting values to the RAM, not to the EEP-ROM. The EEP- CAUTION ROM has a limitation in the number of write times and exceeding this limitation causes the servo amplifier to malfunction.
Page 380 10. COMMUNICATION FUNCTION (b) Speed data Writes speed data of point tables. Transmits the command [C] [6] + the data No. [0] [1] to [F] [F] corresponding to the point tables to write. Refer to section 10.1.1. Command Data No. Data [C] [6] [0] [1] to [F] [F]...
Page 381 10. COMMUNICATION FUNCTION (d) Deceleration time constant Writes deceleration time constant of point tables. Transmits the command [C] [8] + the data No. [0] [1] to [F] [F] corresponding to the point tables to write. Refer to section 10.1.1. Command Data No.
Page 382 10. COMMUNICATION FUNCTION (f) Sub function Writes sub function of point tables. Transmits the command [C] [B] + the data No. [0] [1] to [F] [F] corresponding to the point tables to write. Refer to section 10.1.1. Command Data No. Data [C] [B] [0] [1] to [F] [F]...
Page 383: Mark Detection Function (Current Position Latch)
10. COMMUNICATION FUNCTION 10.2.7 Mark detection function (current position latch) POINT The read latch position data is not compatible with the current position of status monitor when the roll feed display function is enabled. When comparing the latch position data with current position of status monitor, disable the roll feed display function.
Page 384: Settings Equivalent To Previous Models
10. COMMUNICATION FUNCTION (b) Rising latch data or falling latch data (data part + additional information) Reads MSD (Mark detection) rising latch data or MSD (Mark detection) falling latch data. 1) Transmission Transmits the command [1] [0] + the data No. [0] [2], [0] [3] corresponding to the point tables to read.
Page 385: Relevant Matters To Monitor Information
10. COMMUNICATION FUNCTION 10.3.1 Relevant matters to monitor information You can use the commands and data Nos. for previous models (MR-J3-T/MR-J2S-CP) as they are. Pr. PT01: "0 _ _ _" Pr. PT01: "1 _ _ _" Pr. PT01: "2 _ _ _" Command Data No.
Page 386: Relevant Matters To Input/Output
10. COMMUNICATION FUNCTION Pr. PT01: "0 _ _ _" Pr. PT01: "1 _ _ _" Pr. PT01: "2 _ _ _" Command Data No. (MR-J4 standard) (equivalent to MR-J3-T) (equivalent to MR-J2S-CP) [0] [1] [2] [9]/[A] [9] Unit total power consumption [0] [E] [2] [A]/[A] [A] Current position...
Page 387 10. COMMUNICATION FUNCTION (b) "1 _ _ _" (equivalent to MR-J3-T) is set to [Pr. PT01] Symbol Symbol Data No. [0] [0] Data No. [0] [1] Data No. [0] [0] Data No. [0] [1] DOG/SIG TSTP ST1/RS2 ST2/RS1 (c) "2 _ _ _" (equivalent to MR-J2S-CP) is set to [Pr. PT01] Symbol Symbol Data No.
Page 388 10. COMMUNICATION FUNCTION (2) Output signal (command [1] [2]) (a) "0 _ _ _" (MR-J4 standard) is set to [Pr. PT01] Symbol Data No. [0] [0] Data No. [0] [1] Data No. [0] [2] Data No. [0] [3] MCD00 MCD01 MCD02 MCD03 MCD10...
Page 389 10. COMMUNICATION FUNCTION (b) "1 _ _ _" (equivalent to MR-J3-T) is set to [Pr. PT01] Symbol Data No. [0] [0] Data No. [0] [1] Data No. [0] [2] ABSB0 MCD00 ABSB1 MCD01 ABST MCD02 MCD03 ALMWNG MCD10 BW9F MCD11 MCD12 MCD13 BWNG...
Page 390: Parameter Unit
11. PARAMETER UNIT 11. PARAMETER UNIT POINT The parameter unit cannot be used with MR Configurator2. The parameter unit with software version B0 or later can be used with MR-J4- _A_-RJ servo amplifiers. When using the parameter unit, set "1 _ _ _" in [Pr. PF34]. Connecting the parameter unit to the servo amplifier enables simple execution of such as data setting, test operation, and parameter setting without using MR Configurator2.
Page 391: External Appearance And Key Explanations
11. PARAMETER UNIT 11.1 External appearance and key explanations The following shows the external appearance and how to set the keys. Key explanation Monitor mode key Displays the monitor screen. Alarm/diagnosis mode key Display Displays the alarm/output signal (DO) forced output/diagnosis selection LCD screen (16 characters ×...
Page 392: Specifications
11. PARAMETER UNIT 11.2 Specifications Item Description Model MR-PRU03 Power supply Supplied from servo amplifier Parameter mode Refer to section 11.5.5. Monitor mode (status Refer to section 11.5.3. display) External I/O signal (DIDO) display, software No. VC automatic offset, motor information, Diagnostic mode cumulative power-on Alarm mode...
Page 393: Connection With Servo Amplifier
11. PARAMETER UNIT 11.4 Connection with servo amplifier 11.4.1 Single axis (1) Configuration diagram This is for operation of the single-axis servo amplifier. It is recommended to use the following cable. Servo amplifier Parameter unit 10BASE-T cable, etc. (EIA568-compliant) (2) Internal wiring diagram Parameter unit-side Servo amplifier CN3 connector connector...
Page 394: Multi-Drop Connection
11. PARAMETER UNIT 11.4.2 Multi-drop connection (1) Configuration diagram Up to 32 axes of servo amplifiers from stations 0 to 31 can be operated on the same bus. Servo amplifier Servo amplifier Servo amplifier Parameter unit (Note 2) (Note 2) (Note 2) (Note 1) (Note 1)
Page 395 11. PARAMETER UNIT (2) Internal wiring diagram Wire the cables as follows. (Note 3) 30 m or shorter (Note 1) (Note 1) (Note 1, 7) The first axis servo amplifier The second axis servo amplifier The n axis servo amplifier Connector for CN3 Connector for CN3 Connector for CN3...
Page 396: Display
11. PARAMETER UNIT 11.5 Display Connect the parameter unit to the servo amplifier and turn on the power of servo amplifier. The following shows the screen transition of the parameter unit and operation procedures of each mode. 11.5.1 Outline of screen transition Servo amplifier power on Parameter unit setting Initializing...
Page 397: Parameter Unit Setting
11. PARAMETER UNIT 11.5.2 Parameter unit setting Input a station No. Station No. setting (e.g. 31st axis) Parameter unit setting (Note) Baud rate selection Select with the " " keys and set with the " " key. Contrast adjustment Select with the " "...
Page 398 11. PARAMETER UNIT Table 11.1 Monitor mode list Display Display Display Name Description order name unit Feedback pulses from the servo motor encoder are counted and Cumulative feedback Pulse F/B pulse displayed. pulses Pressing the "RESET" key of the parameter unit will be "0". The servo motor speed or linear servo motor speed is displayed.
Page 399 11. PARAMETER UNIT Display Display Display Name Description order name unit Moni Out1 volt For manufacturer setting Moni Out2 volt Abpls F/B pulse Temperature of motor Motor Thm Displays the temperature of motor thermistor. thermistor Cumulative feedback Feedback pulses from the servo motor encoder are counted and pulses Pls F/B M pulse...
Page 400: Alarm/Diagnosis Mode
11. PARAMETER UNIT 11.5.4 Alarm/diagnosis mode (1) Alarm display The following shows setting procedures of alarm, alarm history, external I/O signal (DIDO) display, and diagnosis. Current alarm [AL. 10.1 Voltage drop in [AL. 37.1 the control circuit power] Parameter setting range error] is occurring.
Page 401 11. PARAMETER UNIT (2) Alarm history clear The servo amplifier stores last sixteen alarms from when its power is switched on at first. To control the alarms that will occur for regular operation, clear the alarm history before starting regular operation. Select "ALM Hist".
Page 402: Parameter Mode
11. PARAMETER UNIT 11.5.5 Parameter mode Displays setting procedures of parameters. Parameter group selection When selecting a gain/filter parameter... When setting "1234"... When selecting [Pr. PB10]... Displays the parameter groups. The first parameter No. is The parameter No., symbol, and Writing A Basic: [Pr.
Page 403: Point Table Mode
11. PARAMETER UNIT 11.5.6 Point table mode Displays setting procedures of point table data. Select any item with When setting the the " " keys When setting "4567.89"... point table No. to or number keys. "255". Table reading screen Position data display Point table data are displayed.
Page 404: Test Operation Mode
11. PARAMETER UNIT 11.5.7 Test operation mode The test operation mode is designed for checking servo operation. Do not use it for actual operation. CAUTION Before using the test operation mode for operation checks of the machine, check safety devices such as EM2 (Forced stop 2) operate properly. If the servo motor operates unexpectedly, use EM2 (Forced stop 2) to stop it.
Page 405 11. PARAMETER UNIT (1) JOG operation POINT When performing JOG operation, turn on EM2, LSP and LSN. LSP and LSN can be set to automatic on by setting [Pr. PD01] to " _ C _ _ ". JOG operation can be performed when there is no command from the controller. (a) Operation/drive/release You can change the operation conditions with the parameter unit.
Page 406 11. PARAMETER UNIT (b) Status display The status display can be monitored during JOG operation. At this time, the "FWD", "REV", and "STOP" keys are available. (2) Positioning operation POINT Turn on EM2 (forced stop 2) when performing positioning operation. One positioning operation can be performed when there is no command from the controller.
Page 407 11. PARAMETER UNIT The following shows the operation condition settings and the operation methods. Positioning operation Speed When setting 1500 r/min... Displays the servo motor speed of the positioning operation. Acceleration/deceleration When setting 2000 ms... time constant Displays acceleration/deceleration time constants of the positioning operation. Pulse unit Specify the travel distance unit of pulses.
Page 408 11. PARAMETER UNIT (3) Output signal (DO) forced output Output signals can be switched on/off forcibly independently of the servo status. This function is used for output signal wiring check, etc. This operation must be performed in the servo off state by turning off SON (Servo-on).
Page 409: Error/Message List
11. PARAMETER UNIT 11.6 Error/message list The following errors and messages may be displayed when you use the parameter unit. If an error/message has displayed, refer to this section and remove its cause. (1) Error Item Display Cause Communication error 1.
Page 410 11. PARAMETER UNIT (2) Message Display Description A parameter which was enabled at power-off was written. A station No. was set to transit using the parameter unit during the test operation mode. The test operation has not been released. The test mode was changed due to external factor. An invalid parameter to read in [Pr.
Page 411 11. PARAMETER UNIT MEMO 11 - 22...
Page 412 This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.
Page 413 348 Victoria Road, P.O. Box 11, Rydalmere, N.S.W 2116, Australia : +61-2-9684-7245 MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and/or other countries. All other product names and company names are trademarks or registered trademarks of their respective companies.
Page 414 Warranty 1. Warranty period and coverage We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product" arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider.
Page 415 SH(NA)030143-A...
Page 416 MR-J4-A-RJ MODEL INSTRUCTIONMANUAL(ITIGIME) MODEL 1CW819 CODE HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310 This Instruction Manual uses recycled paper. SH (NA) 030143-A (1404) MEE Printed in Japan Specifications are subject to change without notice.

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