Mitsubishi Electric MELSEC iQ-R Series User Manual page 332

• When using TPR1 of the servo amplifier
By using the following signal of the touch probe function of the MR-J5(W)-G series, highly accurate calculation by estimation
using the signal detection time is performed.
For details on the signal and the accuracy of the signal detection time, refer to the manual of the servo amplifier.
For MR-J5(W)-G: MR-J5 User's Manual (Function)
[Touch probe status (Obj. 60B9h)]
Bit6: Touch probe 1 leading edge latch completion toggle status
Bit7: Touch probe 1 trailing edge latch completion toggle status
Word type data upper limit value
Word type data lower limit value
Touch probe 1 enabled
([Md.125] Servo status3: b11)
Touch probe 1 leading edge latch
completion toggle status
([Md.126] Servo status4: b13)
Servo amplifier side signal
Touch probe 1 leading edge latch
completion toggle status
Servo amplifier model
*2
MR-J5-_G
*2
MR-J5-_G_-RJ
MR-J5W2-_G/MR-J5W3-_G
9 COMMON FUNCTIONS
330
9.7 Mark Detection Function
Downloaded from ManualsNet.com
Mark detection data
storage value
(Estimation)
Probe data
CN3-TPR1
• Check the servo parameters of the MR-J5(W)-G series before the connection, and check whether TPR1 is
*1
assigned to CN3. For the multi-axis servo amplifier, check that the axis where TPR1 is used is selected.
Even when TPR1 is not assigned to CN3, the touch probe 1 becomes enabled, but the signal cannot be
detected. For details of the servo parameter setting, refer to "4.4 Touch probe [G]" in the following manual.
For MR-J5(W)-G: MR-J5 User's Manual (Function)
• The touch probe function of the MR-J5(W)-G series have restrictions on the usable models and versions.
The following table shows an example of the supported versions. For details and the servo amplifier models
not listed in the following table, check the manual of the corresponding servo amplifier. When TPR1 is used
as a mark detection input signal and a servo amplifier that does not support the touch probe function is
connected, the error "PDO mapping setting error" (error code: 1C48H) will occur and the connection with
the servo amplifier cannot be established.
*4
search engine
Operation cycle
Estimated straight line
t
Detected time compensation
Supported version
Servo amplifiers manufactured in Jun, 2021 or later with the version C0 or
later can use the touch probe function.
B6 or later
B6 or later
*3