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Mitsubishi Electric MR-MC200 Series User Manual

Position board

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MR-MC200/MR-MC300 Series

Position Board

User's Manual (Details)

-MR-MC210

-MR-MC211

-MR-MC220U3

-MR-MC220U6

-MR-MC240

-MR-MC241

-MR-MC341

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Summary of Contents for Mitsubishi Electric MR-MC200 Series

Page 1 MR-MC200/MR-MC300 Series Position Board User's Manual (Details) -MR-MC210 -MR-MC211 -MR-MC220U3 -MR-MC220U6 -MR-MC240 -MR-MC241 -MR-MC341...
Page 3 SAFETY PRECAUTIONS (Read these precautions before using this product.) Before using this product, please read this manual and the relevant manuals carefully and pay full attention to safety to handle the product correctly. The precautions given in this manual are concerned with this product only. In this manual, the safety precautions are classified into two levels: "...
Page 4 [Design Precautions] WARNING ● If a communication cable is disconnected, the network may be unstable, resulting in a communication failure of multiple stations. Configure an interlock circuit in the program to ensure that the entire system will always operate safely even if communications fail. Incorrect output or malfunction due to a communication failure may result in an accident.
Page 5 [Security Precautions] WARNING ● To maintain the security (confidentiality, integrity, and availability) of the position board and the system against unauthorized access, denial-of-service (DoS) attacks, computer viruses, and other cyberattacks from external devices via the network, take appropriate measures such as firewalls, virtual private networks (VPNs), and antivirus solutions.
Page 6 [Installation Precautions] CAUTION ● Use the position board in an environment that meets the general specifications in this manual. Failure to do so may result in electric shock, fire, malfunction, or damage to or deterioration of the product. ● Use board fixing screws and securely tighten the position board. Tighten the screws within the specified torque range.
Page 7 [Wiring Precautions] CAUTION ● Individually ground the FG terminals, the controllers, servo amplifiers and servo motors embedded with a position board with a ground resistance of 100 ohms or less. Failure to do so may result in electric shock or malfunction. Do not use a common grounding with other equipment. ●...
Page 8 [Startup and Maintenance Precautions] WARNING ● Do not touch any terminal while power is on. Doing so will cause electric shock or malfunction. ● Correctly connect the battery connector. Do not charge, disassemble, heat, short-circuit, solder, or throw the battery into the fire. Also, do not expose it to liquid or strong shock. Doing so will cause the battery to produce heat, explode, ignite, or leak, resulting in injury and fire.
Page 9 [Startup and Maintenance Precautions] CAUTION ● When using the absolute position system function, on starting up, and when the position board or absolute position motor has been replaced, always perform a home position return. ● Before starting the operation, confirm the brake function. ●...
Page 10 [Computer Connection Precautions] CAUTION ● For Ethernet cables to be used in the system, select the ones that meet the specifications in this manual. If not, normal data transmission is not guaranteed. ● When connecting a personal computer to a module having a USB interface, observe the following precautions as well as the instructions described in the manual for the personal computer used.
Page 11 INTRODUCTION Thank you for purchasing the Mitsubishi Electric position board. This manual describes the performance specifications, procedures before operations, wiring, functions, programming, and troubleshooting. Before using this product, please read this manual and the relevant manuals carefully and develop familiarity with the functions and performance of the position board to handle the product correctly.
Page 12 CONTENTS SAFETY PRECAUTIONS ..............1 INTRODUCTION .
Page 13 CHAPTER 4 SYSTEM STARTUP Startup Procedures ..............65 Confirmation of Wiring and Ambient Environment .
Page 14 Restrictions ................128 Home Position Return.
Page 15 Interface................192 Interference check operation image diagram .
Page 16 System startup................303 Interface.
Page 17 Sampling setting write/read ..............408 Details for sampling function settings .
Page 18 Home position return during the tandem drive ..........494 JOG operation during the tandem drive .
Page 19 Interrupt factor for each station ............. 593 10.5 Factor of Event .
Page 20 CHAPTER 12 MONITOR No. 12.1 Servo Information (1) ..............709 12.2 Servo Information (2) .
Page 21 Forced stop input cable ..............824 SSCNETIII cables (SC-J3BUS_M-C) manufactured by Mitsubishi Electric System & Service ... . . 825 Appendix 8 Exterior Dimensions .
Page 22 WARRANTY ................837 INFORMATION AND SERVICES .
Page 23 (API Library) control the position board. e-Manual [IB-0300225ENG] e-Manual refers to the Mitsubishi Electric FA electronic book manuals that can be browsed using a dedicated tool. e-Manual has the following features: • Required information can be cross-searched in multiple manuals.
Page 24 TERMS Unless otherwise specified, this manual uses the following terms. Term Description Buffer memory Memory in a position board and an intelligent function module to store data such as setting values and monitor values. Control cycle A cycle in which the SSCNET controller controls the operation such as command import, position control, status output, and communication with servo amplifier.
Page 25 GENERIC TERMS AND ABBREVIATIONS Unless otherwise specified, this manual uses the following generic terms and abbreviations. Generic term/abbreviation Description API library A generic term for the library of functions for positioning control that the host personal computer uses to control the position board.
Page 26 SUMMARY Summary Position board [MC200] The following position boards are available for the position board MR-MC2_ _. • PCI bus compatible position board (MR-MC210/MR-MC211) • CompactPCI bus compatible position board (MR-MC220U3/MR-MC220U6) • PCI Express bus compatible position board (MR-MC240/MR-MC241) The PCI bus compatible position board (MR-MC210/MR-MC211) and PCI Express bus compatible position board (MR- MC240/MR-MC241) are mounted to the host personal computer, and the CompactPCI bus compatible position board (MR- MC220U3/MR-MC220U6) is mounted to a CompactPCI system.
Page 27 The position board is equipped with standard mode and interface mode for positioning control. The positioning control mode that corresponds with the application can be selected by parameter. The mode cannot be changed during SSCNET communication (while system is running). Positioning in standard mode is performed using a point table mapped on the dual port memory of the position board.
Page 28 Position board [MC300] The following position boards are available for the position board MR-MC3_ _. • PCI bus compatible position board (MR-MC341) The PCI Express bus compatible position board (MR-MC341) is mounted to the host personal computer, and controls our servo amplifiers (MRJ4(W_)-_B or MR-J5(W_)-_B) and remote I/O modules (sensing module (MR-MT2000 series) and SSCNET/H head module (LJ72MS15)).
Page 29 Features The position board has the following features. Structuring of the SSCNETIII/H communication servo system by the personal computer control The position board can be directly connected to our servo amplifiers using SSCNET/H. • By connecting the position board and servo amplifier and servo amplifiers with a high speed synchronous network by SSCNET/H, the reduction of wiring is achieved.
Page 30 ■Wide variety of control methods The control methods shown below are provided for the positioning control. • Independent positioning of each axis The positioning control can be performed independently for each axis at the arbitrary timing. • Interpolation control The interpolation control using multiple axes can be performed. •...
Page 31 Easy application to the absolute position system • Our servo amplifiers and servo motors support the absolute position system. Absolute position system can be used by connecting the battery for absolute position system to the servo amplifier. • Once the home position has been established, the home position return operation is unnecessary at the system's power supply ON.
Page 32 Specifications General specifications General specifications of the position board are shown below. Item Specification MR-MC2_ _ MR-MC3_ _ Operating ambient temperature 0 to 55°C (32 to 131°F) 0 to 45°C (32 to 113°F) (secure an airflow) Storage ambient temperature -20 to 65°C (-4 to 149°F) -25 to 75°C (-13 to 167°F) Operating ambient humidity 10 to 90%RH, non-condensing...
Page 33 List of specifications of position board Function Specification MR-MC2_ _ MR-MC3_ _ System Control cycle 0.88ms/0.44ms/0.22ms (select using parameters) function Controllable axes MR-MC210: Up to 20 axes MR-MC341: Up to 64 axes MR-MC211: Up to 32 axes MR-MC220U3: Up to 20 axes MR-MC220U6: Up to 20 axes MR-MC240: Up to 20 axes MR-MC241: Up to 32 axes...
Page 34 Function Specification MR-MC2_ _ MR-MC3_ _ Application Completion of operation signal Provided function Interference check Provided (Not available for control cycle 0.22ms) Provided (Available for control cycle 0.22ms) Home position search limit Provided Gain switching Provided PI-PID switching Provided Absolute position detection system Provided Home position return request Provided...
Page 35 Function Specification MR-MC2_ _ MR-MC3_ _ Board ID 0 to 3 (set with setting switch) Limit switch + None (DI signals are input from the servo amplifier or the dual port memory, etc. by the parameter setting.) Limit switch - Proximity dog Forced stop 1 point...
Page 36 Bus specifications PCI bus specifications Items Specification MR-MC210 MR-MC211 Address bit 32bit Data bit 32bit System clock 33MHz System voltage Shape Half length: 106.7mm  167.6mm (4.20inch  6.60inch) Hot swap Not supported Base address Set configuration register by BIOS CompactPCI bus specifications Items Specification...
Page 37 Name of Each Section Name of each section [MC200] MR-MC210 (3) (4) MR-MC211 (3) (4) 1 SUMMARY 1.4 Name of Each Section...
Page 38 MR-MC220U3 (3)(4) 1CH RUN/ERR. 2CH RUN/ERR. 1 SUMMARY 1.4 Name of Each Section...
Page 39 MR-MC220U6 (3)(4) 1CH RUN/ERR. 2CH RUN/ERR. 1 SUMMARY 1.4 Name of Each Section...
Page 40 MR-MC240 MR-MC241 1 SUMMARY 1.4 Name of Each Section...
Page 41 Name Description Setting Switch Switch 1 Board ID selection Define a board ID in order to distinguish between multiple position boards. (SW1) • Switch1 ON, Switch 2 ON: Board ID3 • Switch1 OFF, Switch 2 ON: Board ID2 Switch 2 •...
Page 42 Name of each section [MC300] MR-MC341 Name Description Setting Switch Switch 1 Board ID selection Define a board ID in order to distinguish between multiple position boards. (SW1) • Switch1 ON, Switch 2 ON: Board ID3 • Switch1 OFF, Switch 2 ON: Board ID2 Switch 2 •...
Page 43 Base Address Register 4  Base Address Register 5  Cardbus CIS Pointer  Subsystem ID Subsystem Vendor ID • Subsystem Vendor ID: Mitsubishi Electric 10BA 0601 10BA • Subsystem ID: 0601 Expansion ROM Base Address  (Reserved) CAP_PTR ...
Page 44 Base Address Register 4  Base Address Register 5  Cardbus CIS Pointer  Subsystem ID Subsystem Vendor ID • Subsystem Vendor ID: Mitsubishi Electric 10BA 0601 10BA • Subsystem ID: 0601 Expansion ROM Base Address  (Reserved) CAP_PTR ...
Page 45  Base Address Register 4  Base Address Register 4 (Upper)  (Reserved)  Subsystem ID Subsystem Vendor ID • Subsystem Vendor ID: Mitsubishi Electric 10BA 0601 10BA • Subsystem ID: 0603 Expansion ROM Base Address  (Reserved) CAP_PTR ...
Page 46 Address 31 to 24 23 to 16 15 to 8 7 to 0 Remarks (hexade cimal) Link Status2 Link Control2  PCI Express Slot Capabilities2  Slot Status2 Slot Control2  *1 Has not been implemented, therefore, if read an indefinite value is returned. Dual port memory map The bus width of dual port memory is 32bit.
Page 47 Board information The (R)s in the table designate read only, while the (W)s designate write only capability. Address (hexadecimal) bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 MR-MC2_ _ MR-MC3_ _ 020000 001000 Bus type (R) Implemented CH information Interrupt Board ID information (R) output mask manufacturer...
Page 48 Bus type bit7 bit6 Content PCI bus CompactPCI bus PCI Express bus For manufacturer setting Number of SSCNET lines bit1 bit0 Content 1 line 2 lines For manufacturer setting Signal during interrupt output [MC200] bit1 bit0 Content Interrupts are not generated During interrupt output Interrupt signal clear register (1CH) [MC200] bit1...
Page 49 SSCNETIII Cables Connect the position board and servo amplifiers, or servo amplifier and servo amplifier by SSCNET cable. When using MR- MC210/MR-MC220U3/MR-MC220U6/MR-MC240, the SSCNET cable for connecting servo amplifiers can be used for one line only. When using MR-MC211/MR-MC241/MR-MC341, the SSCNET cable for connecting servo amplifiers can be used for up to two lines (use 1CH and 2CH).
Page 50 Forced Stop Input Terminal Table of the forced stop input terminal specifications Item Specifications MR-MC2_ _ MR-MC3_ _ Number of input points Forced stop signal: 1 point Input method Positive common/Negative common shared type Rated input current 2.4mA Isolation method Photocoupler Operating voltage range 20.4 to 26.4VDC...
Page 51 SYSTEM CONFIGURATION This section describes the system configuration and equipment settings for the position board. System Configuration [MC200] MR-MC210/MR-MC211 system configuration SSCNET µ /H compatible servo amplifier MR-J4(W)-_B Axis 1 Axis 2 Axis 20 PCI bus compatible position board SSCNET µ cable MR-MC210/MR-MC211 ˜...
Page 52 MR-MC220U3/MR-MC220U6 system configuration SSCNET µ /H compatible servo amplifier MR-J4(W)-_B Axis 1 Axis 2 Axis 20 CompactPCI bus compatible position board SSCNET µ cable MR-MC220U3/MR-MC220U6 ˜ MR-J3BUS_M ˜ MR-J3BUS_M-A ˜ MR-J3BUS_M-B SSCNET DI signal ˜ Forced stop (EMI × 1) SSCNET µ...
Page 53 MR-MC240/MR-MC241 system configuration SSCNET µ /H compatible servo amplifier MR-J4(W)-_B Axis 1 Axis 2 Axis 20 PCI Express bus compatible position board SSCNET µ cable MR-MC240/MR-MC241 ˜ MR-J3BUS_M ˜ MR-J3BUS_M-A ˜ MR-J3BUS_M-B SSCNET Line 1 SSCNET Line 2 DI signal ˜...
Page 54 System Configuration [MC300] MR-MC341 system configuration SSCNET µ /H compatible servo amplifier MR-J4(W)-_B/MR-J5(W_)-_B Axis 1 Axis 2 Axis 32 PCI Express bus compatible position board SSCNET µ cable MR-MC341 ˜ MR-J3BUS_M ˜ MR-J3BUS_M-A ˜ MR-J3BUS_M-B SSCNET Line 1 SSCNET Line 2 DI signal ˜...
Page 55 (16.40ft.), 10: 10m (32.81ft.), 20: 20m (65.62ft.), 25: 25m (82.02ft.), 30: 30m (98.43ft.), 40: 40m (131.23ft.), 50: 50m (164.04ft.) *3 Please contact your nearest Mitsubishi Electric sales representative for the cable of less than 30m (98.43ft.). Equipment with SSCNETIII(/H) connection...
Page 56 Software packages ■Utility software Model name Software package Position Board Utility2 MRZJW3-MC2-UTL ■Servo set-up software package Model name Software package MR Configurator2 SW1DNC-MRC2-E 2 SYSTEM CONFIGURATION 2.3 System Configuration Equipment...
Page 57 Confirming Serial No. and Operating System Software Version Confirming the serial No. of position board and software version are shown below. Confirming serial No. Rating plate The rating plate is on the position board. The position board serial No. is printed on the SERIAL line, and the year and month of manufacture is printed on the DATE line.
Page 58 Confirming software version The software version of the position board can be confirmed on the system program software version (0030H to 003FH [MC200]/0000D0H to 0000DFH [MC300]) of system information. System program software version is stored as ASCII code. Address (hexadecimal) ˜...
Page 59 Restrictions by the Software's Version There are restrictions in the function that can be used by the version of the software. : No restriction by version. Function/Item Software version MR-MC2_ _ MR-MC3_ _ MRZJW3-MC2-UTL Digital I/O A1 or later Ver.1.20 or later ...
Page 60 INSTALLATION AND WIRING Board Installation This section explains instructions for handling and installation environment of the position board. Instructions for handling The following explains instructions for handling. • Shut off the external power supply (all phases) used in the system before mounting or removing the host personal computer of the board.
Page 61 Connection and Disconnection of Cable SSCNETIII cable Precautions for handling the SSCNETIII cable • Do not stamp the SSCNET cable. • When laying the SSCNET cable, be sure to secure the minimum cable bend radius or more. If the bend radius is less than the minimum cable bend radius, it may cause malfunctions due to characteristic deterioration, wire breakage, etc.
Page 62 ■Tension If tension is added on the SSCNET cable, the increase of transmission loss occurs because of external force which concentrates on the fixing part of SSCNET cable or the connecting part of SSCNET connector. At worst, the breakage of SSCNET...
Page 63 • Migratable plasticizer is used for vinyl tape. Keep the MR-J3BUS_ M, and MR-J3BUS_M-A cables away from vinyl tape because the optical characteristic may be affected. Generally, soft polyvinyl chloride (PVC), polyethylene resin (PE) and fluorine resin contain non-migratable plasticizer and they do not affect the optical characteristic of SSCNET cable. However, some wire sheaths and cable ties, which contain migratable plasticizer (phthalate ester), may affect MR-J3BUS_M and MR- J3BUS_M-A cables (made of plastic).
Page 64 Forced stop input cable Precautions for handling the forced stop input cable For connection or removal of the forced stop input cable, do it surely while holding a connector of forced stop input cable. Position board Connection of the forced stop input cable For connection of a forced stop input cable to the position board, connect it surely to an EMI connector of position board while holding a connector.
Page 65 Wiring This section explains instructions for wiring. For grounding method and measure against noise, refer to the following. Page 747 EMC AND LOW VOLTAGE DIRECTIVES Instructions for wiring DANGER • Completely turn off the power used in the system externally before board installation or placing wiring. Not doing so could result in electric shock or damage to the product.
Page 66 Inserting wire Press the connector release with a tool such as a flathead screwdriver. While holding the release down, insert the wire all the way in. Release Wire When using a ferrule, make sure the bumpy side is facing towards the release. When inserting 2 wires into one terminal, use a twin ferrule.
Page 67 SYSTEM STARTUP The following explains the preparations and settings for system startup. When using a SSCNET/H head module, and a sensing module, refer to the following. • SSCNET/H head module: Page 301 SSCNETIII/H Head Module Connection • Sensing module (station mode): Page 315 Sensing Module (Station Mode) Connection •...
Page 68 Confirmation of Wiring and Ambient Environment Wiring For wiring, refer to the following. Page 58 INSTALLATION AND WIRING Cable treatment Confirm that the wiring cables and the connector part should not be strained. Environment Confirm that signal cables and bus of the host personal computer are not shorted by wire offcuts and metallic dust. Position Board Setting The board ID is set by the board ID selection (SW1) switch of the position board.
Page 69 Servo Amplifier Setting MR-J4(W_)-_B The axis No. of MR-J4(W_)-_B is set by the axis selection rotary switch (SW1) and the axis No. auxiliary setting (SW2) of the servo amplifier. MR-J4-_B MR-J4W_-_B 3-digit, 3-digit, 7-segment LED 7-segment LED Axis selection Axis selection rotary switch rotary switch Axis 1 to 32...
Page 70 • For each switch setting, refer to the servo amplifier instruction manual for your servo amplifier. • If "An Axis That Has Not Been Mounted Exists (system error E400H)" occurred, the axis with wrong axis No. set can be confirmed with Information concerning axis that is not mounted (monitor No.0480H to 0482H) in the system information.
Page 71 MR-J5(W_)-_B [MC300] Axis No. of MR-J5(W_)-_B is set by the rotary switch (upper) (SW1) and rotary switch (lower) (SW2) on the servo amplifier. ■For MR-J5-_B 3-digit, 7-segment LED DIP switch (SW3) SFTY For manufacturer setting (SW3-2) Test operation select switch (SW3-1) Rotary switch (upper) (SW1) Rotary switch (lower) (SW2) ■For MR-J5W2-_B...
Page 72 Servo amplifier axis No. Rotary switch (SW1) Rotary switch (SW2) Servo amplifier display (3-digit, 7- segment LED) For a multiple-axis servo amplifier (MR-J4W_-_B), the number of axis used can be changed using the control axis invalid switch (SW3). When disabling axes, disable the switches in order from the rear axis. When disabling the front axis only, the servo alarm [AL.
Page 73 Parameter Setting After the parameter initialization, set the parameters according to the system such as for the control cycle and the input option of the external signal (sensor). Parameter initialization After turning on the position board power, initialize the parameter and set before the system startup starts. Position board Parameter Servo...
Page 74 System option 1 setting SSCNET communication method and control cycle are set by "System option 1 (parameter No.0001)". SSCNET communication method is used for communication between a position board and connected units such as servo amplifiers and SSCNET/H method is available. Control cycle is a cycle in which the position board controls the operation such as command import, position control, status output, and communication with servo amplifier and 0.88ms, 0.44ms and 0.22ms are available.
Page 75 Servo parameter setting Set the servo parameter according to the type connected. For details about the servo parameter, refer to the following. Page 660 Servo Parameters System option 2 setting Set control mode (standard mode or interface mode) by "Control mode selection" of "System option 2 (parameter No.0002)". When using interface mode, select "1: Interface mode".
Page 76 Control option 1 setting When controlling servo amplifier, set "1: Control" for "Control axis" of "Control option 1 (parameter No.0200)". When the axis No. is set out of the controllable range, "System Setting Error (operation alarm 38H)" occurs at the corresponding axis, and the axis cannot be controlled.
Page 77 Axis No. assignment With Axis No. assignment, the axis No. (on the position board) can be assigned by the axis No. on the servo amplifier. When Axis No. assignment is invalid When Axis No. assignment is invalid, correspondence between the axis No. on a position board and the axis No. on a servo amplifier is shown in the following table.
Page 78 When Axis No. assignment is valid When Axis No. assignment is valid, the axis Nos. (1 to 32 [MC200]/1 to 64 [MC300]) (on the position board) can be assigned by the servo amplifier axis Nos. (d1 to d20 [MC200]/d1 to d64 [MC300]) arbitrarily. To assign the axis Nos., set the following parameters.
Page 79 When connecting six axes for each line Line 1 Servo Servo Servo Servo Servo Servo Position board amplifier amplifier amplifier amplifier amplifier amplifier Axis 1 Axis 2 Axis 3 Axis 4 Axis 10 Axis 11 Line 2 Servo Servo Servo Servo Servo Servo...
Page 80 Sensor input option setting External signal (sensor) is connected by setting "Sensor input options (parameter No.0219)". Parameter Symbol Name Initial Unit Setting Description value range 0218 *SSIA Sensor signal input 0000h 0000h to 0111h Only valid when "I/O table selection" of "I/O table (parameter ...
Page 81 *1 The settings for the parameters with a * mark at the front of the symbol are validated when the system is started. When setting to "1: Driver input" When setting "Sensor input system" of "Sensor input options (parameter No.0219)" to "1: Driver input" as the sensor destination, the sensor (LSP, LSN, DOG) status connected to the driver (such as a servo amplifier) is imported via SSCNET.
Page 82 When setting to "3: Not connected" When setting "Sensor input system" of "Sensor input options (parameter No.0219)" to "3: Not connected" as the sensor destination, the sensor (LSP/LSN/DOG) is not detected. Limit switch functions are always invalid. In the home position return using the proximity dog, the position board operates without the detected proximity dog.
Page 83 Symbol Name Description 021D *VEND Vendor ID Set the vendor ID (SSCNET/H communication) • 0000h: Mitsubishi Electric 021E *CODE Type code Set the type code. • 1000h: MR-J4(W_)-_B • 1400h: MR-J5(W_)-_B [MC300] *1 The settings for the parameters with a * mark at the front of the symbol are validated when the system is started.
Page 84 System Startup Processing System startup procedure After the parameter initialization, start the system startup before performing operations. Position board Parameter Servo Dual port Host data amplifier memory controller (internal Parameter memory) initial value Parameter backup (Flash ROM) The number of seconds passed since 0000hrs, January 1, 1970 is stored in the system startup time. The time is used to create data for alarm history function.
Page 85 Sequence example User program Position board Turn Power ON sscOpen function Board search and dual port memory access preparation System initialization such as memory check (Open memory access.) sscGetSystemStatusCode function System preparation completion Wait for completion of system preparation (Set 0001h in the system status code.) (Wait until 0001h is set in the system status code.) sscResetAllParameter function Parameter initialization command...
Page 86 OPERATIONAL FUNCTIONS Summary There are six modes in operational functions. Operation mode Description JOG operation Operate while the start operation signal (ST) is ON. Incremental feed Feed constant Automatic operation Position according to the point table. Linear interpolation [MC200] Perform the linear interpolation control for up to 4 axes, according to the point table. Interpolation operation [MC300] Perform the linear interpolation control for up to 4 axes and the circular interpolation control for 2 axes according to the point table.
Page 87 Address (hexadecimal) Symbol Signal name MR-MC2_ _ MR-MC3_ _ 1006 005006 Fast start operation For manufacturer setting  • Details concerning axis command bit Symbol Signal name Function details Function Operation Start operation Start the operation. When the start operation signal (ST) turns ON while the operation is stopped, the selected operation mode starts.
Page 88 [API library] The fast start operation signal (FST) is used in the internal processing of all start operational functions (sscAutoStart function etc.), except for the JOG operation. ■Axis status bits The addresses in the table are the addresses for the first axis. For the second axis and after, add the following value for each axis.
Page 89 • Details concerning axis status bits Symbol Signal name Function details Function Operation Conditions for turning ON Conditions for turning OFF Operation processing Notify that the axis is in the operation. The start operation signal (ST)/fast The operation is completed. start operation signal (FST) turned ON, and the operation started.
Page 90 Symbol Signal name Function details Function Operation Conditions for turning ON Conditions for turning OFF LIPO In linear interpolation Notify that the axis is in the linear The linear interpolation mode signal The linear interpolation mode signal mode [MC200] interpolation mode. (LIP) turned ON.
Page 91 Maximum number of simultaneous start axes There are restrictions for the number of axes which can start simultaneously in each operational function and in start operation using other axes start. When the number of started axes exceeds the maximum number of simultaneous start axes, the start operation is performed for the rest of axes in the next control cycle or later.
Page 92 JOG Operation When the movement direction is specified and the start operation signal (ST) is input, it starts in the designated direction and movement continues until the start operation signal (ST) turns OFF. When the start operation signal (ST) turns OFF, it slows and comes to a stop.
Page 93 Resuming operation When the start operation signal (ST) turns OFF, the deceleration is started; however, if the start operation signal (ST) turns back ON while decelerating, it does not completely stop but reaccelerates. Speed Start of operation Stop of operation Start of operation Start operation (ST) Operation...
Page 94 Incremental Feed The constant feed is implemented for each fast start operation signal (FST). The feed amount is specified using the incremental feed movement amount. The incremental feed also can be used in the state without completing the home position return (the home position return request signal (ZREQ) is ON).
Page 95 Automatic Operation The automatic operation (positioning) uses the point table method for the operation. The position data and the feed speed designation are set in the point table. When turning ON the fast start operation signal (FST), the instructions are executed in order from the instruction set at the start point No.
Page 96 sscWaitIntDriveFin function/ sscGetDriveFinStatusfunction sscAutoStart function Stops after moving to the end point Rough match position. output limits Speed (parameter No. 0230, 0231) Automatic operation mode (AUT) Fast start operation Start of operation (FST) Operation completed (OPF) Rough match (CPO) Positioning completed (PF) Operation point No.
Page 97 Auxiliary command The auxiliary command can be set in the following procedure. Position command system (bit0) For manufacturer setting (bit1) Vibration suppression command filter 1 specification (bit2) For manufacturer setting (bit3) Deceleration check system (bit4 to 5) Speed switching point specification (bit6) Dwell specification (bit7) Pass position interrupt specification (bit8) Continuous operation to torque control specification (bit9)
Page 98 Deceleration check system (bit4 to 5) Designate the point movement completion conditions. If the setting of the deceleration check system (bit4 to 5) is incorrect, "Point Table Setting Error (operation alarm 25H, detail 02H)" occurs, and the operation is stopped. Setting value Description 0: In-position stop...
Page 99 Setting value Description 2: Continue operation After arriving at the command position, the speed is changed to the command speed for the next point, and the movement to the next point is started. The acceleration/deceleration time constants for changing speeds are set to the acceleration/deceleration time constants of the next point.
Page 100 Speed switching point specification (bit6) When selecting "2: Continue operation" in the deceleration check system (bit4 to 5), specify the point to be completed the speed change. Setting value Description 0: After point switching Command speed 2 Command speed 1 Operation point No.
Page 101 Dwell specification (bit7) Specify the system of dwell. Setting value Description 0: Dwell Specify the time until the running point is completed after the point movement is completed. For the pass point, after the time specified with the dwell has elapsed, the next point starts moving. For the end point, after the time specified with the dwell has elapsed, the operation completed signal (OPF) turns ON.
Page 102 CAUTION If the large value is set to the predwell by mistake, the wait time of the axis is long unexpectedly, and it may look as if the axes do not start the operation. In that case, it is dangerous to approach the moving part because the axes operate unexpectedly. Do not approach the moving parts even when the axes do not operate while the operation processing signal (OP) is ON because the axes may operate.
Page 103 S-curve ratio Perform the S-curve acceleration/deceleration for "Acceleration/deceleration method" selected in "Speed options (parameter No.0220)". For the automatic operation, this setting is valid regardless of the setting of "S-curve ratio (parameter No.0221)". • 0 to 29: S-curve acceleration/deceleration invalid • 30 to 100: S-curve acceleration/deceleration Point table loop method The point table loop method can be used by setting the loop specification (bit11 to 12) of the auxiliary command.
Page 104 Axis status bit The addresses in the table are the addresses for the first axis. For the second axis and after, add the following value for each axis. • Using MR-MC2_ _: +C0h • Using MR-MC3_ _: +140h Address (hexadecimal) Symbol Signal name When in tandem...
Page 105 • When the operation point No. matches the latest command point No., the operation waits until the latest command point No. is updated. (The operation is not completed, and remains in a stopped state.) • When the speed change is conducted during the standby, the speed change error signal (SCE) turns ON, and the speed cannot be changed.
Page 106 Operation example The following is the operation example of using the point No.0 to 7. ■Before start of operation Loop start point is specified to start operation point Point table Write before operation start Start point No. End point No. Latest command point No.
Page 107 Auxiliary command 2 [MC300] The following can be specified in the auxiliary command 2. Acceleration/deceleration method (bit0 to 2) For manufacturer setting (bit3 to 15) Name Description 0 to 2 Acceleration/deceleration method Select the acceleration/deceleration method. • 0: Linear acceleration/deceleration, S-curve acceleration/deceleration •...
Page 108 Interpolation Operation [MC300] The interpolation operation performs the interpolation control for multiple axes. This system enables a maximum of 4-axis linear interpolation control and the circular interpolation control for 2 axes. When the position data and the feed speed are set in the point table and the fast start operation signal (FST) is input after changing to the interpolation operation mode, all of the axes set up in the group perform the interpolation operation.
Page 109 Proximity pass function The proximity pass function suppresses machine vibrations that occur at the point data switching when performing the continuous operation via the interpolation control. To enable the proximity pass, set "1: Proximity pass" in "Interpolation options (parameter No.0261)" of "Trajectory processing during continuous operation". While the proximity pass is enabled, the surplus movement amount at the end of each successively executed point data is transferred over to the next point data.
Page 110 ■"1: Proximity pass" The trajectory control is executed so that the total vector movement amount before and after Point 0 position data Auxiliary axis the point switch (B+C) is equal to the vector (target position) position movement amount of each control cycle (A) Vector movement amount (C) Point 0 trajectory...
Page 111 Linear Interpolation The linear interpolation operation has the linear interpolation control performed for the axes set up as a group. This system enables a maximum of 4-axis linear interpolation control. When the feed speed and the position data are set in the point table and the fast start operation signal (FST) is input, all of the axes set up in the group perform the linear interpolation operation.
Page 112 When interpolating axis 1 and axis 2 Linear interpolation speed limit value 1st axis speed Feed speed 2nd axis speed Actual Actual acceleration deceleration time time Acceleration time Deceleration time constant constant The speed for each axis is determined by distributing the feed speed by the movement amount ratio. Axis 2 End point Axis 2 speed...
Page 113 Settings Set the following items when performing the linear interpolation. For details about the point table, refer to the following. Page 93 Automatic Operation Setting 1: Items set for system parameter Items Content Remarks System parameter Interpolation axis setting method (System Set the input method of the interpolation axis No.
Page 114 Point table Point Position Feed Accelerati Decelerati Dwell/ Auxiliary Other axes S-curve data speed on time on time predwell command start ratio [%] manufactu [command [speed constant constant [ms] specificati rer setting unit] unit] [ms] [ms] 4bytes 4bytes 2bytes 2bytes 2bytes 2bytes 4bytes...
Page 115 ■Auxiliary command Position command system (bit0) For manufacturer setting (bit1) Vibration suppression command filter 1 specification (bit2) For manufacturer setting (bit3) Deceleration check system (bit4 to 5) Speed switching point specification (bit6) Dwell specification (bit7) Pass position interrupt specification (bit8) Continuous operation to torque control specification (bit9) For manufacturer setting (bit10) Loop specification (bit11 to 12)
Page 116 Start operation method The start operation is performed according to the following procedure. Operating procedure Set the linear interpolation group [MC200]/interpolation group [MC300], the linear interpolation speed limit value [MC200]/interpolation speed limit value [MC300], and the linear interpolation options [MC200]/interpolation options [MC300] in the control parameters.
Page 117 Processing for exceeding speed limit for each axis The processing is different concerning exceeding the speed limit for each axis depending on the setting for "Excessive speed processing" of "Linear interpolation options [MC200]/interpolation options [MC300] (parameter No.0261)". Using a speed clamp When "Excessive speed processing"...
Page 118 No processing When "Excessive speed processing" of "Linear interpolation options [MC200]/interpolation options [MC300] (parameter No.0261)" is set to "2: No processing", the normal operation is continued even if the speed limit is exceeded. Feed speed Speed limit for each axis Speed of each axis Start operation (ST)
Page 119 Restrictions The following restrictions apply concerning use of the linear interpolation. • "Linear Interpolation Start Up Error [MC200]/Interpolation Start Up Error [MC300] (operation alarm 40H)" occurs in a primary axis for the following. Description Alarm No. Detail No. If an axis with anything other than the linear interpolation mode signal [MC200]/interpolation operation mode signal [MC300] (LIP) selected exists in the same group.
Page 120 Circular Interpolation [MC300] The circular interpolation operation performs the circular interpolation control for axes set to the group. This system can perform the circular interpolation control for 2 axes. There are the arc specification methods, "auxiliary point-specified method" and "central point-specified method". When the position data and the feed speed are set in the point table and the fast start operation signal (FST) is input, the interpolation operation (circular interpolation) of the 2 axes set up in the group is performed.
Page 121 Settings Set the following items when performing the circular interpolation. For details about the point table, refer to the following. Page 93 Automatic Operation Setting 1: Items set for system parameter Items Content Remarks System parameter Interpolation axis setting method (System Set the input method of the interpolation axis No.
Page 122 Point table Point Position Feed Accelerati Decelerati Dwell/ Auxiliary Other axes S-curve data speed on time on time predwell command start ratio [%] manufactu [command [speed constant constant [ms] specificati rer setting unit] unit] [ms] [ms] 4bytes 4bytes 2bytes 2bytes 2bytes 2bytes 4bytes...
Page 123 ■Auxiliary command Position command system (bit0) For manufacturer setting (bit1) Vibration suppression command filter 1 specification (bit2) For manufacturer setting (bit3) Deceleration check system (bit4 to 5) Speed switching point specification (bit6) Dwell specification (bit7) Pass position interrupt specification (bit8) Continuous operation to torque control specification (bit9) For manufacturer setting (bit10) Loop specification (bit11 to 12)
Page 124 Group settings The group settings for the circular interpolation are set in either control parameters or the point table depending on "System option 5 (parameter No.004C)" being used. When setting in the control parameters, the group cannot be changed after the system start. When setting in the point table it is possible to change the group even after the system start, but to do so the interpolation axis Nos.
Page 125 Auxiliary point-specified 2-axis circular interpolation control The auxiliary point-specified 2-axis circular interpolation control performs the positioning from the current command position (start point) to the position set as the position data for the point data (end point) using an arc trajectory which passes through the auxiliary point set as the arc coordinate.
Page 126 Central point-specified 2-axis circular interpolation control The central point-specified 2-axis circular interpolation control performs the position control using an arc trajectory with the arc coordinate at its center while interpolating in accordance with the designated arc direction. The following shows a trajectory determined by the circular interpolation that has a controllable arc angle and the rotation direction set according to the interpolation method.
Page 127 If the end point coordinate (position data) is set to be identical to the start point coordinate, the interpolation control for a perfect circle that has a radius comprised of the start point coordinate and the arc central point is possible. Trajectory determined by Auxiliary axis circular interpolation...
Page 128 Error compensation For the central point-specified 2-axis circular interpolation control, the arc trajectory calculated from the start point and the central point may be out of the position of the end point set as the position data for the point data. When the calculated error is within "Allowable error range for circular interpolation (parameter No.02CC, 02CD)", both the interpolation control to the set end point and the error compensation are performed simultaneously.
Page 129 Start operation method The start operation is performed according to the following procedure. Operating procedure Set the interpolation group, the interpolation speed limit value, and the interpolation options in the control parameters. The group No. is only required when "Interpolation axis setting method" of "System option 5 (parameter No.004C)" is "0: Use control parameter", and is valid during system startup.
Page 130 Restrictions The following restrictions apply concerning use of the circular interpolation. • "Interpolation Start Up Error (operation alarm 40H)" occurs in a primary axis for the following. Description Alarm No. Detail No. If an axis with anything other than the interpolation operation mode signal (LIP) selected exists in the same group. If a single group is set with either 1 axis or 3 or more axes.
Page 131 Home Position Return The home position return enables the establishment of a start position (home position) in the positioning control. By performing the home position return, the instructed coordinates can match with the machine coordinates. When the incremental system method is used, the home position return is required whenever tuning ON the power supply. On the other hand, when the absolute positioning detection system is used, performing the home position return restores the current command position even after the power supply is turned OFF.
Page 132 Home position return method The home position return method with "Home position return option 1 (parameter No.0240)". Type Software version Description Using MR-MC2_ _ A4 or earlier Set "Home position return method" of "Home position return method option 1 (parameter No.0240)".
Page 133 Start operation method The start operation is performed according to the following procedure. Operating procedure Set "Home position return speed (parameter No.0242, 0243)", "Home position return acceleration time constant (parameter No.0244)", "Home position return deceleration time constant (parameter No.0245)", "Home position coordinates (parameter No.0246, 0247)", "Creep speed (parameter No.024C)", and "Home position return direction (parameter No.0240)".
Page 134 [API library] • To perform the procedures 2. to 3., use the sscHomeReturnStart function. • To confirm the completion of the operation, use the sscGetDriveFinStatus function/sscWaitIntDriveFin function. • To perform the stop operation, use the sscDriveStop function/sscDriveStopNoWait function. • For a detailed procedure from the startup of the home position return to confirm the completion of the operation, refer to the sample programs (InterruptDrive/PollingDrive) contained on the utility software.
Page 135 Home position return using a dog method The deceleration is started at the front end of the dog, and the first Z-phase after passing the rear end of the dog is defined as the home position. When there is a proximity dog in the direction of home position return Home position return speed Home position return direction Speed...
Page 136 When the proximity dog is in the opposite direction against the direction of home position return Home position return direction Home position return speed Limit switch Speed Home position Creep speed Amount of home position shift Start operation Proximity dog Z-phase pulse If a limit switch is detected at the start operation position...
Page 137 Home position return using a data set method The command position at the start operation of the home position return is defined as the home position. It is necessary to move to home position using JOG operation or something similar in advance. When the home position is the current command position Move to home position using JOG operation or something similar.
Page 138 Home position return using a dog cradle method A method where deceleration is started at the front end of the dog, then return briefly to the front end of the dog, and start moving again at a creep, and that uses the first Z-phase after the dog front end passes as the home position. When there is a proximity dog in the direction of home position return Home position return direction Home position return speed...
Page 139 When the start operation position is on the dog Home position return direction Creep speed Home position Speed Amount of home position shift Start operation Proximity dog Z-phase pulse If a limit switch is ON at the start operation position If the limit switch in the direction of home position return is ON, the home position return should be executed by the following pattern.
Page 140 When the start operation position is on a dog and when moving in the opposite direction the Z-phase is not traveled through until the dog is turned OFF Home position return direction Creep speed Home position Speed Start operation If the Z-phase is not passed at the end of the Home position near-point dog, continue movement in the return speed...
Page 141 Home position return using a limit switch combined method The Z-phase prior to the limit switch of the opposite direction to the home position return direction is defined as the home position. Home position return speed Home position return direction Speed Home position *1*2...
Page 142 Home position return using a dog front end method In the home position return using a dog front end method, the motion detected by the proximity dog front end slows down to stop, and return to the proximity dog front end at creep speed, setting there to the home position. When there is a proximity dog in the direction of home position return Home position return direction Home position return speed...
Page 143 When the start operation position is on the proximity dog Home position return direction Home position return speed Limit switch Home position Speed Creep speed Amount of home position shift Start operation Creep speed Home position return speed Proximity dog If a limit switch is ON at the start operation position When the limit switch on the same side as the home position return direction is ON, the home position return should be executed by the following pattern.
Page 144 Home position return using a Z-phase detection method After moving from the position where home position return has started to the nearest Z-phase (in addition, after moving by shift amount when home position shift amount is set), home position return is completed. It is necessary to move to around home position using JOG operation or something similar in advance.
Page 145 Cautions In the sequence "(2) Starts to decelerate at the position where home position sensor ON is detected and stops" above, stop processing by response delay to the home position sensor signal and deceleration occurs during the time until the axis stops. Stop processing Home position sensor signal...
Page 146 Encoder Z-phase mask amount When the stop position is near the encoder Z-phase by the dispersion, the Z-phase position to be the home position can be fixed by setting encoder Z-phase mask amount. • When stop position is before the encoder Z-phase Mask encoder Z-phase in this section.
Page 147 Home position return using a scale home position signal detection method Home position return is performed using a home position signal (Z-phase) on a linear scale. After detecting the proximity dog, move in the opposite direction of the home position and the position where a home position signal is detected is defined to be the home position.
Page 148 Home position return using a scale home position signal detection method 2 Home position return is performed using a home position signal (Z-phase) on a linear scale. Move in the opposite direction of the home position and the position where a home position signal is detected is defined to be the home position. When multiple home position signals on the linear scale, the nearest home position signal in the opposite direction of home position return direction is defined as the home position.
Page 149 Home Position Reset Function (Data Set Function) The home position reset function (data set function) is a function that resets the current command position to the home position. Prior to executing the home position reset function, set "Home position coordinates (parameter No.0246, 0247)". The movement is the same as the home position return using a data set method, where the current command position is changed to "Home position coordinates (parameter No.0246, 0247)".
Page 150 APPLICATION FUNCTIONS Command Unit Position command unit - electronic gear Set the position command (such as the position data of the point table and the incremental movement amount) by the position command unit. "Electronic gear numerator (parameter No.020A, 020B)" and "Electronic gear denominator (parameter No.020C, 020D)" are used to adjust the position command unit.
Page 151 Relationship between the setting range of the electronic gear and the corresponding maximum revolution speed Number of encoder pulses per Electronic gear (CMX/CDV) Maximum revolution speed (limited) [r/min] revolution [pulse] 262144 1/16 135000 2160000 10/1 4893355 10000/1 4893355 1048576 1/16 33750 540000 10/1...
Page 152 Setting example of electronic gears The following is a setup example for use of "μm" as a command unit for a piece of equipment that uses ball screws. Equipment specification Item Symbol Value Unit Remarks Ball screw lead = 10000μm Deceleration ratio ...
Page 153 Speed Unit The speed command (the feed speed of the point table, the manual feed speed, etc.) is set by the speed unit. Speed units are adjusted using "Speed unit" of "Control option 1 (parameter No.0200)" and "Speed units multiplication factor (parameter No.020E, 020F)".
Page 154 Speed limit The following restrictions apply to the command speed. Reexamine the command speed according to the following. • When the speed command exceeds "Speed limit value (parameter No.0222, 0223)", the speed is limited to the speed limit. Control parameters Parameter Symbol Name Initial...
Page 155 Acceleration/deceleration The following methods are available for acceleration/deceleration. • Linear acceleration/deceleration • Smoothing filter • Start up speed enable • S-curve acceleration/deceleration • Jerk ratio acceleration/deceleration [MC300] • Vibration suppression command filter 1 [MC300] The setting method for acceleration/deceleration differs according to the operation mode. During automatic operation/interpolation operation Set with "Speed options (parameter No.0220)"...
Page 156 Speed options S-curve Auxiliary command 2 Auxiliary Actual acceleration/ ratio command deceleration method Linear Smoothing Start up Linear Jerk ratio Vibration acceleration/ filter speed acceleration/ acceleration/ suppression deceleration enable deceleration/ deceleration command S-curve filter 1 acceleration/ deceleration Smoothing filter + Jerk ratio ...
Page 157 Smoothing filter Setting the smoothing filter makes smooth acceleration/deceleration. The smoothing time constants are set using "Smoothing time constant (parameter No.0226)".[MC200] When "Smoothing time constant setting method" of "Speed options (parameter No.0220)" is set to "0: Use control parameter", set the smoothing time constant to "Smoothing time constant (parameter No.0226)". When the operation mode is the automatic operation or the interpolation operation and "Smoothing time constant setting method"...
Page 158 [MC200] The setting at starting the operation is valid for the smoothing time constants. If the smoothing time constants are changed during the operation, the change is not made. It is validated (changed) from the next time the operation is started. [MC300] •...
Page 159 S-curve acceleration/deceleration (Sine acceleration/ deceleration) This is a method where acceleration/deceleration is performed gradually based on the Sin-curve. To make the S-curve acceleration/deceleration valid, set the S-curve ratio (30 to 100%). At this time, the acceleration time and the deceleration time are the same as in the case of the linear acceleration/deceleration.
Page 160 S-curve ratio The S-curve ratio indicates which part of the Sin-curve is used to draw the acceleration/deceleration curve as shown in the figure below. (Example) Speed When S-curve ratio is 100% Speed b/a = 0.7 Sin-curve S-curve ratio = B/A 100% When S-curve ratio is 70% •...
Page 161 When the change acceleration time constant is performed during the acceleration, the acceleration based on the Sin-curve is performed again from the time of the preparation for changing acceleration time constant completed. Acceleration time constant 1 Speed Acceleration time constant 2 Speed limit value Command speed Acceleration time constant 1...
Page 162 When the original command shape is not trapezoidal but triangle (for example, the movement amount is small.), the acceleration/deceleration is performed based on the Sin-curve at the maximum command speed for the triangle command. Speed Speed limit value Command speed Maximum command speed for triangle command...
Page 163 Jerk ratio acceleration/deceleration [MC300] The jerk ratio acceleration/deceleration is an acceleration/deceleration method that uses a trapezoidal pattern. When using this function, the acceleration time and the deceleration time are longer compared to the linear acceleration/ deceleration. The jerk ratio acceleration/deceleration can only be used in the automatic operation. Speed Acceleration Deceleration...
Page 164 Point table The jerk ratio acceleration/deceleration sets as follows in the point table. Point Position Feed Accelerati Decelerati Dwell/ Auxiliary Other axes S-curve data speed on time on time predwell command start ratio [%] manufactu [command [speed constant constant [ms] specificati rer setting unit]...
Page 165 Operation mode combinations Only the automatic operation is supported. The jerk ratio acceleration/deceleration function is invalid in other operation modes. Operation mode Availability JOG operation  Incremental feed  Automatic operation  Interpolation operation  Home position return  Home position reset ...
Page 166 Vibration suppression command filter 1 [MC300] The vibration suppression command filter 1 removes only designated frequency components by superimposing waveforms whose phase is delayed by only half of the vibration cycle for the position command. Acceleration times and deceleration times are longer by only delay from the filter "1/(frequency  2) [s]". The attenuation of the filter can be set. When the filter's effect is small, the attenuation can be set to increase the effect of the filter.
Page 167 Point table The vibration suppression command filter 1 is specified in the auxiliary command of the point table. Position command system (bit0) For manufacturer setting (bit1) Vibration suppression command filter 1 specification (bit2) For manufacturer setting (bit3) Deceleration check system (bit4 to 5) Speed switching point specification (bit6) Dwell specification (bit7) Pass position interrupt specification (bit8)
Page 168 Servo Off If an axis has moved due to an external force during servo off, the current command position is updated in accordance with the movement amount (Current feedback position). After the servo has been off, the coordinate return processing such as returning to the home position is not necessary.
Page 169 Forced Stop Commands are turned to "0" at the forced stop. Servo amplifiers become free from the control of the position board and stop according to their specifications or settings such as the dynamic brake stop and the deceleration stop. For details, refer to the servo amplifier instruction manual or the manual for your servo amplifier.
Page 170 Stop Operation When the stop operation signal (STP) is turned ON, the movement is stopped. (Alarms and warnings are not output.) Even if the stop operation signal (STP) is turned back OFF, the operation is not resumed. The time constant used for stopping for the stop operation is the deceleration time constant.
Page 171 Rapid Stop Operation When the rapid stop signal (RSTP) is turned ON, the movement is stopped abruptly. (Alarms and warnings are not output.) Even if the rapid stop signal (RSTP) is turned back OFF, the operation is not resumed. The deceleration time constant used for stopping for the rapid stop operation is "Rapid stop time constant (parameter No.0227)".
Page 172 Limit Switch (Stroke End) When the limit switch signal corresponding to the movement direction is turned OFF, an alarm occurs and the movement is stopped. The deceleration time constant used for stopping by the limit switch is the rapid stop time constant. Rapid stop time constant Speed limit value Command speed...
Page 173 Software Limit Operation mode Description JOG operation During the JOG operation, if the software limit is reached, "Reached Software Limit (operation alarm A2H, detail 01H)" occurs, the deceleration of the servo is started, and the servo is stopped not to exceed the software limit. Incremental feed If the incremental feed movement amount that exceeds the software limits is designated, "Out of Software Limit Boundaries (operation alarm A1H, detail 01H)"...
Page 174 6.10 Interlock When the interlock signal (ITL) is turned ON, the movement is temporarily stopped. During the stoppage of movement, the interlock stop signal (ISTP) is turned ON. When the interlock signal (ITL) is turned OFF, the operation is resumed. The interlock signal (ITL) for a normally-open contact or a normally-closed contact can be selected using "Control option 3 (parameter No.0202)".
Page 175 6.11 Rough Match Output When the command remaining distance (difference between the command position and the current command position) is less than "Rough match output limits (parameter No.0230, 0231)", the rough match signal (CPO) is output. The rough match output is only valid at the end points while operating using the automatic operation or the linear interpolation operation [MC200]/interpolation operation [MC300].
Page 176 6.12 Torque Limit When the torque limit signal (TL) is turned ON, the torque is limited by the torque limit values set in "Forward rotation torque limit value (parameter No.0210)" and "Reverse rotation torque limit value (parameter No.0211)". When the torque is limited by the torque limit values, the torque limit effective signal (TLC) is turned ON.
Page 177 6.13 Command Change Speed change Rewriting the command speed followed by turning ON the change speed signal (SCHG) changes the speed. For the automatic operation and the linear interpolation operation [MC200]/interpolation operation [MC300], rewrite the feed speed in the operating point table and for JOG operation and incremental feed, rewrite the manual feed speed. The speed change can also be implemented during the acceleration or the deceleration.
Page 178 Change of time constants After rewriting the time constant, turning the change time constant signal (TACHG, TDCHG) ON causes the time constant to change. Time constants can be designated separately as the acceleration time constant and the deceleration time constant. For the automatic operation and the linear interpolation operation [MC200]/interpolation operation [MC300] rewrite the time constant in the operating point table and for JOG operation and incremental feed, rewrite the manual feed time constant.
Page 179 Position change After rewriting the command position, turning the change position signal (PCHG) ON causes the command position to be changed. For automatic operation rewrite position data in the operating point table and for incremental feed, rewrite the feed movement amount.
Page 180 ■For linear interpolation operation [MC200]/interpolation operation [MC300] An example of the position change when axis 1 and 2 are linearly interpolated is shown below. Acceleration time constant Deceleration time constant Linear interpolation speed limit value [MC200]/ interpolation operation speed limit value [MC300] Axis 2 speed Command speed (Vector speed)
Page 181 When position change is performed during deceleration • When setting "Re-acceleration setting for position change during deceleration" of "Control option 4 (parameter No.0206)" is "0: Invalid" The deceleration continues, and after the axis stops, the positioning to the new position is performed. Acceleration time constant Deceleration time constant Speed limit value...
Page 182 When the new position is already passed For cases that the new position has already been passed or if the stop position after the deceleration passes the new position, the operation depends on operation modes. ■For automatic operation and incremental feed The operation can be selected as follows using "Change of position over-bound processing"...
Page 183 ■For linear interpolation operation [MC200]/interpolation operation [MC300] When one or more axes in a group reverse the movement direction because of the position change, all axes in the group automatically decelerate and stop. After the stop, the axes return to the new position. The setting of "Control option 2 (parameter No.0201)"...
Page 184 When position change error occurs During the following cases, the position change error signal (PCE) turns ON, and the position is not changed. • Operation stop • JOG operation, home position return, home position reset • Deceleration due to the stop command, the rapid stop command, the alarm etc. •...
Page 185 6.14 Backlash A function that corrects the mechanical error (backlash) when the movement direction is reverse. The compensation amount for backlash is set in "Backlash compensation amount (parameter No.0208)". Workpiece Ball screw Backlash compensation amount Condition Processing details Normal The compensation amount is added at the timing of switching movement direction. Home position return The backlash compensation is performed as well as normal.
Page 186 6.15 Position Switch The position switch is the signal turned ON when the axis is within the setting range (including the boundary line) which is set by "Position switch Upper limit (parameter No.022C, 022D)", "Position switch Lower limit: parameter No.022E, 022F)". Position switch lower limit Position switch upper limit - direction...
Page 187 6.16 Completion of Operation Signal The operation completed signal (OPF) shows a completion of the operation status. At the startup, the operation completed signal (OPF) turns OFF, and the operation completed signal (OPF) turns ON when the positioning operation is complete. The interruption of the operation due to an alarm also turns ON the operation completed signal (OPF).
Page 188 Using an automatic operation Moves to the end point and then stops. Speed Start of operation Start operation (ST) Operation processing (OP) Positioning completed (PF) Smoothing stop (SMZ) In-position (INP) Operation completed (OPF) Stop by the stop operation signal Decelerates and stops. Speed Stop operation (STP) Operation processing (OP)
Page 189 Stop by the rapid stop signal Rapidly stops Speed Rapid stop (RSTP) Operation processing (OP) Smoothing stop (SMZ) In-position (INP) Operation completed (OPF) Stop by the limit switch Rapidly stops Speed Limit switch (LSP/LSN) Operation alarm (OALM) Operation processing (OP) Smoothing stop (SMZ) In-position (INP) Operation completed (OPF)
Page 190 Stop by the servo alarm occurrence Stops by the dynamic brake, or decelerates and stops by the servo amplifier control. (Depending on the setting of the servo amplifier) Speed (Dashed line: actual speed) Servo alarm (SALM) Operation alarm (OALM) Operation processing (OP) Servo ready (RDY) Operation completed (OPF) Stop by the operation alarm occurrence...
Page 191 Stop by the servo off Rapidly stops Speed Servo on (SON) Servo ready (RDY) Operation alarm (OALM) Smoothing stop (SMZ) Operation processing (OP) Operation completed (OPF) Stop by a software limit In JOG operation Decelerates and stops. Speed Operation alarm (OALM) Operation processing (OP) Smoothing stop (SMZ) In-position (INP)
Page 192 Stop by the forced stop occurrence Stops by the dynamic brake, or decelerates and stops by the servo amplifier control. (Depending on the setting of the servo amplifier) Speed (Dashed line: actual speed) Servo warning (SWRN) Operation alarm (OALM) Operation processing (OP) Being executed forced stop (EMIO) Operation completed (OPF)
Page 193 6.17 Interference Check Function Through setting the standard coordinate system for the interference check function, the current command position of all of the axes and movement direction is changed to the standard coordinate system and interference check using relative position is implemented.
Page 194 Interface Control parameter Parameter Symbol Name Initial Unit Setting Description value range 0281 *IOP Interference check options 0000h [MC200] (Interference check)  0000h to 12F1h Set validity/invalidity of interference check. [MC300] • 0: Invalid 0000h to 13F1h • 1: Valid *2*3*4 (Interference check axis) Set the other axis for which interference check is...
Page 195 Interference check operation image diagram The following example shows where the direction of the interference check coordinate (the direction of the coordinate system for each axis against the standard coordinate system) is the same direction. Axis 2 coordinate system Home position of axis 2 Axis 2 (where the current command position is 0) Interference check direction...
Page 196 Checks prior to start up The interference check area is the relative distance from the target position of the interference check axis positioning. Interference checks are performed when operation is started as well as changing of points (automatic operation and linear interpolation operation [MC200]/interpolation operation [MC300], and incremental feed) and if the target position of positioning of the axis is not within the interference check area, "Command Error in Interference Area (operation alarm 44H, detail 01H)"...
Page 197 Operation check In order to prevent collision, the current command position is monitored at all times and if the difference between the relative distance of the axis and the interference check axis is judged to be less than the interference check width, rapid stop is executed.
Page 198 If the interference check axis stops due to an alarm etc. during interference standby, "Entering Interference Area Error (operation alarm 45H, detail 01H)" occurs and operation is terminated. ■For other than automatic operation, linear interpolation operation [MC200]/interpolation operation [MC300], and incremental feed If the distance between the axis and interference check axis is judged to drop below the interference check width while the interference check axis is moving away from the axis, "Entering Interference Area Error (operation alarm 45H, detail 01H)"...
Page 199 6.18 Home Position Search Limit The home position search limit function is that while returning to home position, through movement operation in the opposite direction of home position return, if the movement exceeds the parameter set for "Home position search limit (parameter No.024A, 024B)", "Home Position Search Limit Error (operation alarm 98H, detail 01H)"...
Page 200 Home position search limit operation example For home position return using a dog cradle method When the turning OFF of the proximity dog cannot be detected Home position return direction Home position return speed Alarm stop due to home position search limit being exceeded Startup Home position...
Page 201 6.19 Gain Changing/Gain Changing 2 Through turning ON the gain switching command signal (GAIN), the gain for the servo amplifier can be changed. This is used to change the gain during revolution and while stopped, as well as changing gain according to the movement amount or speed.
Page 202 Parameter MR-J5(W_)-_B Symbol Name Setting value parameter No. 2067 PB56 VRF21B Gain switching - Vibration suppression control 2 - Vibration frequency Arbitrary within setting range 2068 PB57 VRF22B Gain switching - Vibration suppression control 2 - Resonance frequency Arbitrary within setting range 2069 PB58 VRF23B...
Page 203 A timing chart using for gain changing is shown below. sscSetCommandBitSignalEx function (SSC_CMDBIT_AX_GAIN) Gain switching command (GAIN) sscWaitStatusBitSignalEx function During gain (SSC_STSBIT_AX_GAINO) switching (GAINO) Servo amplifier side Before changing gain After changing gain Before changing gain gain details 6 APPLICATION FUNCTIONS 6.19 Gain Changing/Gain Changing 2...
Page 204 6.20 PI-PID Switching By turning ON the PID control command signal (CPC), control of the servo amplifier is changed to PID control from PI control. Use this function, for example, to remove any interference (torsion) between tandem drive axes by operating an axis (slave axis) under PID control.
Page 205 6.21 Absolute Position Detection System By using a servo motor compatible with the absolute position detection system, the positioning control can be made by the absolute position detection system. In the absolute position detection system, if the machinery position is determined at the system startup, there is no need to execute the home position return because the absolute position is restored at the system startup.
Page 206 Control parameters Parameter Symbol Name Initial Unit Setting Description value range 0241 *OPZ2 Home position return option 2 0000h 0000h to (Absolute position data)  0001h Set the validity/invalidity of restoring the absolute position. • 0: Invalid (The position at the system startup is defined to be 0.
Page 207 Processing procedure Be sure to execute the operation referring to the following procedures at the home position return and the power on. Processing procedure for returning to home position For MR-J4(W_)-_B, set "Absolute position detection system (parameter No.1102)" to "1: Enabled (used in absolute position detection system)".
Page 208 Cautions for use of absolute position detection system In the case of the following, the absolute position erased signal (ABSE) is turned ON and "Absolute position data" of "Home position return option 2 (parameter No.0241)" is changed to "0: Invalid". Furthermore, the servo is not yet finished with the home position return, and the home position return request signal (ZREQ) turns ON.
Page 209 Sequence example Prepare a home position return complete memo showing that the home position has been established on the user program. Turn the home position return complete memo ON when the home position return is complete. When the home position return complete memo is turned ON, the execution of the home position return is not necessary.
Page 210 Is the home position return complete memo ON? sscHomeReturnStart function Execute the home position return operation Wait for the operation command sscWaitIntDriveFin function/ sscGetDriveFinStatus function Wait for the home position return complete Complete return to position (Wait until the home position return completed signal (Turn ON the home position return completed (ZP) is turned ON.) signal (ZP).)
Page 211 6.22 Home Position Return Request The home position return request signal (ZREQ) shows the home position return incomplete status. In the home position return incomplete status, the home position return request signal (ZREQ) turns ON. When it is necessary to determine the home position, perform the home position return.
Page 212 Conditions for the home position return request signal (ZREQ) to turns ON/OFF The following shows the conditions for the home position return request signal (ZREQ) to turns ON/OFF. At system startup ■Condition of turning ON • When setting "No home position" of "Control option 1 (parameter No.0200)" to "0: Invalid" •...
Page 213 Restrictions The following shows the restrictions at the home position return incomplete status (the home position return request signal (ZREQ) turns ON). Operational functions The following operation modes are unavailable. At the start operation, "Home Position Return Not Complete (operation alarm 90H, detail 01H)"...
Page 214 6.23 Other Axes Start The other axes start function is a function that automatically performs the start operation for other axes, and turns ON/OFF the digital output signal or output device signal according to the conditions for starting other axes (start conditions) and other axes start data consisting of operation (operation content) that is performed when the conditions are satisfied.
Page 215 ■Other axes start specification Other axes start Other axes start For manufacturer setting For manufacturer setting specification 2 specification 1 Name Description 0 to 7 Other axes start specification 1 Set the other axis start data No. • 0: Other axis start specification invalid •...
Page 216 Other axes start data For the other axes start data (1 to 32 [MC200]/1 to 64 [MC300]), set the conditions for starting other axes (start conditions) and the operation (operation content) performed when the condition is satisfied. When the other axes start No. (1 to 32 [MC200]/1 to 64 [MC300]) is set to the other axes start specification (other axes start specification 1 and 2) of the point table, the other axes are started according to the settings of the corresponding other axes start data.
Page 217 Address (hexadecimal) Content MR-MC2_ _ MR-MC3_ _ E988 0FC100    ED97 0FC5FF ED98 to EDAF 0FC600 to 0FC627 Other axes start data 32 Start condition EDB0 to EDFF 0FC628 to 0FC67F Operation content 0FC680 to 0FC0A7 Other axes start data 33 Start condition ...
Page 218 Address Symbol Name Initial Unit Setting Description (hexadecimal) value range MC2_ _ MC3_ _ E104 0FB684 OSOPN2 Observed axis 00000000h 00000000h to Set here to monitor axes.  option 00FF1111h (Observed axis specification) (4bytes) Validate the observed axis. • 0: Invalid •...
Page 219 <Cause of alarm> • Using MR-MC2_ _ An incorrect setting of the other axes start condition causes "Other Axes Start Setting Error (operation alarm 4DH, detail 01H)" at the start operation or the point switching. • The setting of the axis option, observed axis option, or axis remaining distance data is outside limits. •...
Page 220 Address Symbol Name Unit Setting Description (hexadecimal) range MC2_ _ MC3_ _ E158 0FB6E8 OSDOS Digital output signal 0000h to Select the digital output signal (DO_) to control output in  specification 3F01h units of 16 points when the other axes start conditions are (2bytes) satisfied.
Page 221 Address Symbol Name Unit Setting Description (hexadecimal) range MC2_ _ MC3_ _ E15C 0FB6EC OSDOP Digital output signal 0000h to [When "0: Use digital I/O table" is selected in "I/O table selection"  command FFFFh of "I/O table (parameter No.004A)"] (2bytes) Set the digital output signal command (ON/OFF) of the digital output signal (DO_) selected in the digital output signal...
Page 222 <Cause of alarm> • Using MR-MC2_ _ An incorrect setting of the other axes operation content causes "Other Axes Start Setting Error (operation alarm 4DH, detail 02H)" at the start operation or the point switching. • The axis is specified in the start axis designation. •...
Page 223 Interface Other axes start command bit/other axes start status bit The other axes start commands/other axes start statuses related to the other axes start function are shown below. ■Other axes start command/status table Address (hexadecimal) Content MR-MC2_ _ MR-MC3_ _ E080, E081 0FB480, 0FB481 Other axes start command/status table 1...
Page 224 Address (hexadecimal) Content MR-MC2_ _ MR-MC3_ _ E0D8, E0D9 0FB4D8, 0FB4D9 Other axes start command/status table 23 Other axes start command E0DA, E0DB 0FB4DA, 0FB4DB Other axes start status E0DC, E0DD 0FB4DC, 0FB4DD Other axes start command/status table 24 Other axes start command E0DE, E0DF 0FB4DE, 0FB4DF Other axes start status...
Page 225 ■Other axes start command The addresses in the table are the addresses for the other axes start command/status table 1. Add "+4h" for each other axes start command/status table 2 and after. Address (hexadecimal) Symbol Signal name MR-MC2_ _ MR-MC3_ _ E080 0FB480 OSSTP...
Page 226 ■Other axes start status The addresses in the table are the addresses for the other axes start command/status table 1. Add "+4h" for each other axes start command/status table 2 and after. Address (hexadecimal) Symbol Signal name MR-MC2_ _ MR-MC3_ _ E082 0FB482 OSOP...
Page 227 Symbol Signal name Function details Function Operation Conditions for turning ON Conditions for turning OFF OSERR Other axes start Notify that the other axes start has • The axis specified in the start axis The other axes start data is specified incompleted failed.
Page 228 Operation example When other axes start is complete The other axes start notice signal (OSOP) turns ON between the axis start and the completion of the other axis start. The other axes start completed signal (OSFIN) turns ON when the other axes start notice signal (OSOP) is turned OFF on the completion of the other axes start.
Page 229 When the observed axis is valid When "1: Valid" is set to the observed axis specification (in the observed axis option (OSOPN2) of the other axes start condition), the other axes operation content is not operated until both the axis judgment condition and the observed axis judgment condition are satisfied.
Page 230 When other axes start fails When the other axes start fails due to, for example, an operation alarm on the axis preceding the satisfaction of other axes start condition, the other axes start incompleted signal (OSERR) turns ON. The other axes start incompleted signal (OSERR) turns ON when: •...
Page 231 When other axes start is canceled When the other axes start cancel signal (OSSTP) is turned ON before the other axes start condition is satisfied, the other axes start incompleted signal (OSERR) turns ON. Axis Speed Start operation (ST) Operation processing (OP) Other axes start notice (OSOP†) Other axes start...
Page 232 6.24 High Response I/F The high response I/F function is a function for shortening the time required to confirm commands and statuses by simplifying the process between the position board and the host personal computer. The high response I/F function is always valid. This function simplifies the following processes.
Page 233 Axis command bit The addresses in the table are the addresses for the first axis. For the second axis and after, add the following value for each axis. • Using MR-MC2_ _: +C0h • Using MR-MC3_ _: +140h Address (hexadecimal) Symbol Signal name MR-MC2_ _...
Page 234 Fast start operation Using the fast start operation signal (FST) as a substitute of the start operation signal (ST) shortens the time required for the second and subsequent start operations. The fast start operation cannot be used in the JOG operation. Use the start operation signal (ST). High response start operation using the fast start operation signal (FST) In the start operation, the user program turns ON the fast start operation signal (FST) as a substitute of the start operation signal (ST).
Page 235 Interrupt processing high speed completion Using the interrupt processing fast stop signal (ITFE) as a substitute of the interrupt processing stop signal (ITE) shortens the time for the interrupt processing completion. High response interrupt processing completion using the interrupt processing fast stop signal (ITFE) For the interrupt processing completion, the interrupt thread or device driver turns ON the interrupt processing fast stop signal (ITFE) as a substitute of the interrupt processing stop signal (ITE).
Page 236 6.25 In-position Signal For the in-position signal (INP), the position board checks the in-position range and controls turning ON or OFF the signal. The in-position signal controlled by the servo amplifier is displayed as the servo amplifier in-position signal (SINP). Actual speed Command speed In-position range [command unit]...
Page 237 Address (hexadecimal) Symbol Signal name When in tandem drive MR-MC2_ _ MR-MC3_ _ 1069 0050A9 Interference check standby Each axis SINP Servo amplifier in-position Each axis For manufacturer setting   6 APPLICATION FUNCTIONS 6.25 In-position Signal...
Page 238 6.26 Digital I/O The digital I/O function is a function that controls the general I/O signal of the servo amplifier assigned to the digital I/O table. The user program can confirm whether the digital I/O signals are on/off by using the digital I/O table. The points for the each I/ O signal can be assigned up to 1024.
Page 239 Digital input table/digital output table [MC200] ■Digital input table Address Digital input area No. Digital input No. Symbol Remarks (hexade cimal) B000 Digital input area 0 Digital input 0 to digital input 15 DI_000 to Notify the status of the digital input signal. (2bytes) DI_00F The bits are DI_000 (bit0) to DI_00F (bit15).
Page 240 Digital input table/digital output table [MC300] The digital input table/digital output table is allocated to the input device table/output device table. The digital input (output) area corresponds to the input (output) word device, while the digital input (output) corresponds to input (output) bit device.
Page 241 6.27 I/O Device The I/O device function controls the general I/O signals of the servo amplifier and I/O devices of the remote I/O module assigned to the I/O device table. When using the I/O device function, set "1: Use I/O device table (MR-MC2_ _ method)", or "2: Use I/O device table (expanded points method) [MC300]"...
Page 242 Interface The following shows the interfaces related to the I/O device. System parameter Parameter Symbol Name Initial Unit Setting Description value range 004A *IOTBL I/O table 0000h [MC200] (I/O table selection)  0000h to 0001h Set the I/O table to be used. [MC300] •...
Page 243 Address (hexadecimal) Input word device Input bit device No. Symbol Remarks MR-MC2_ _ MR-MC3_ _ 0FA100 Input word device 100 Input bit device 1000 to DVI_1000 ■When bit device is assigned  (2bytes) input bit device 100F Notify the status of the bit device input signal. (expanded points (expanded points DVI_100F...
Page 244 Address (hexadecimal) Output word Output bit device Symbol Remarks device No. MR-MC2_ _ MR-MC3_ _ 0FA580 Output word device Output bit device 1000 to DVO_1000 ■When bit device is assigned  output bit device 100F Turn ON/OFF the bit device output signal. (2bytes) (expanded points DVO_100F...
Page 245 6.28 Servo Amplifier General I/O The servo amplifier general I/O function controls the I/O signal connected to the servo amplifier via SSCNET. The user program can control the I/O signal with the digital I/O table or I/O device table, by assigning the servo amplifier general I/O signal to the digital I/O table or I/O device table.
Page 246 The following shows the connectors of the servo amplifier to be connected to the general I/O signals. Each general I/O signal is assigned to the digital input signal (DI_) and the digital output signal (DO_). For details, refer to the following. Page 245 Settings MR-J4(W_)-_B •...
Page 247 Settings Servo parameters When using the general output function of the servo amplifier, set the parameter of the output device selection as shown below. ■MR-J4(W_)-_B • For MR-J4-_B Parameter MR-J4-_B Symbol Name Setting value parameter No. 11C6 PD07 *DO1 Output device selection 1 0021h 11C7 PD08...
Page 248 Control parameter The control parameters are used to set the general I/O and to assign to the digital I/O No. When "Sensor input system" of "Sensor input options (parameter No.0219)" is "1: Driver input", the input signal of the servo amplifier is used for the sensor (LSP/LSN/DOG).
Page 249 Parameter Symbol Name Initial Unit Setting Description value value 0216 *GDONA General output No. 0000h 0000h to Only valid when "I/O table selection" of "I/O table (parameter  assignment [MC300] 023Fh No.004A)" setting is "2: Use I/O device table (expanded points method)".
Page 250 6.29 Dual Port Memory Exclusive Control The dual port memory exclusive control function is a function that keeps the consistency of the memory data by temporarily limiting the system program and user program to read/write data to the limited area of the dual port memory. The output signals in this section refer to digital output signals or output device signals.
Page 251 Exclusive control procedure on user program side The following shows the procedure to control the output signal exclusively. ■Exclusive control procedure START Pre-processing of exclusive control Set "1: Request" to the output signal host occupy request (DORH). Set "1: User program" to the output signal occupy selection (DOCS).
Page 252 6.30 Pass Position Interrupt The pass position interrupt function is a function that outputs an interrupt when the pass position condition set in the interrupt table is satisfied. Up to 64 [MC200]/128 [MC300] pass position conditions can be specified (total for all 64 [MC200]/128 [MC300] axes) per operation.
Page 253 Interface Pass position interrupt table The pass position condition (the pass position option and the pass position data) is set to the pass position interrupt table. The pass position condition is imported when the corresponding pass position condition No. is started to be judged. When the pass position condition setting is incorrect, "Pass Position Interrupt Error (operation alarm 5CH, detail 04H)"...
Page 254 ■ Pass position option The addresses in the table are the addresses for the pass position condition 1. For the pass position condition 2 and after, add "+8h" for each pass position condition. Address (hexadecimal) Name Initial Unit Setting Description value range MR-MC2_ _ MR-MC3_ _...
Page 255 ■ Pass position data The addresses in the table are the addresses for the pass position condition 1. For the pass position condition 2 and after, add "+8h" for each pass position condition. Address (hexadecimal) Name Initial Unit Setting Description value range MR-MC2_ _ MR-MC3_ _...
Page 256 Point table To use the pass position interrupt, set the pass position interrupt specification (bit8) to "1: Pass position interrupt valid" in the auxiliary command of the point table. Position command system (bit0) For manufacturer setting (bit1) Vibration suppression command filter 1 specification (bit2) For manufacturer setting (bit3) Deceleration check system (bit4 to 5) Speed switching point specification (bit6)
Page 257 Axis command/status data The pass position is judged according to the pass position condition specified in the start No. and the end No. of the pass position condition. ■Axis command data The addresses in the table are the addresses for the first axis. For the second axis and after, add the following value for each axis.
Page 258 Axis command/status bit The axis command bit and the status bit related to the pass position interrupt function are shown below. ■Axis command bit The addresses in the table are the addresses for the first axis. For the second axis and after, add the following value for each axis.
Page 259 • Details on axis status bit Symbol Signal name Function details Function Operation Conditions for turning ON Conditions for turning OFF PPIOP Operating pass Notify that the pass position interrupt The start and end No. of the pass The pass position interrupt completed position interrupt is being performed.
Page 260 Interrupt conditions (system parameters) Set the values that designate ON for the bits that correspond to the factor of pass position interrupt outputting to the parameter "System interrupt conditions (parameter No.0004)" to validate the interrupt output of the pass position interrupt. ■System interrupt conditions (parameter No.0004) Symbol Signal name...
Page 261 Factor of system interrupt For details about the factor of system interrupt, refer to the following. Page 582 System interrupt factor [API library] To reset/set/wait of the pass position interrupt events, use the sscResetIntPassPosition function/ sscSetIntPassPosition function/sscWaitIntPassPosition function. ■Details on factor of system interrupt When the pass position data is passed, the factor of pass position interrupt is being sent (interrupt) signal (iPPI) of the details on factor of system interrupt is turned ON.
Page 262 ■Details on factor of pass position interrupt When the outputting with the factor of pass position interrupt  signal (iPPI) is ON, the pass position status bit corresponding to the pass position condition No. turns ON. Address (hexadecimal) Content MR-MC2_ _ MR-MC3_ _ 0FA0 0047E0...
Page 263 Operation example When the pass position interrupt is complete The operating pass position interrupt signal (PPIOP) turns ON between the operation start and the completion of all pass position interrupt outputs. When the pass position condition is satisfied, the factor of interrupt of "pass position interrupt complete "...
Page 264 When the pass position interrupt fails When the operation is canceled due to an operation alarm preceding the satisfaction of the pass position condition, the pass position interrupt incompleted signal (PPIERR) turns ON. The pass position interrupt incompleted signal (PPIERR) turns ON under the following conditions.
Page 265 ■Example of when operation is completed Pass position interrupt incomplete 1 Speed Pass position interrupt incomplete 2 Start operation (ST) Operation processing (OP) Operation alarm (OALM) Operating pass position interrupt (PPIOP) Pass position interrupt completed (PPIFIN) Pass position interrupt incompleted (PPIERR) In-position (INP) Pass position condition start No.
Page 266 When the pass position interrupt is canceled When the pass position interrupt cancel signal (PPISTP) is turned ON preceding the satisfaction of the pass position condition, the pass position interrupt incompleted signal (PPIERR) turns ON. At this time, the factor of the interrupt of "pass position interrupt error condition "...
Page 267 When "1: No cancel" is set to the cancel condition of the pass position option The operating pass position interrupt signal (PPIOP) turns ON between the operation start and the completion of all pass position interrupt outputs. If "1: No cancel" is set to the cancel condition of the pass position option, the pass position interrupt is continued until the completion of the pass position interrupt outputs, the pass position interrupt cancel signal (PPISTP) turns ON, or the operation is started again.
Page 268 6.31 Mark Detection Mark detection is a function that gets the positioning data at the timing of when a mark detection signal is input to the servo amplifier, and outputs to the dual port memory. This function is compatible with SSCNET/H communication method only. Position board Using Using...
Page 269 The following shows the update timing of mark detection positioning data and mark detection edge data when a mark detection signal is detected and both ON/OFF edges are enabled in the mark detection data settings. Position board side Mark detection edge data 0: Not detected 1: OFF edge 2: ON edge...
Page 270 Continuous detection mode Mark detection data is stored in the mark detection data storage area (one buffer) for every mark detection. Mark detection signal Mark detection data storage area (When ON edge detection is enabled) Specified number of detection mode Only the mark detection data for a set number of detections is stored.
Page 271 Interface Control parameter Parameter Symbol Name Initial Unit Setting Description value range 02B0 *MKOP1 Mark detection option 1 0000h [MC200] (Mark detection signal No. specification 1)  0000h to 3F23h Set the mark detection signal No. to be used. [MC300] •...
Page 272 [API library] To set/get mark detection, use the sscChange2Parameter function/sscCheck2Parameter function. Mark detection command/status data ■Mark detection command table The addresses in the table are the addresses for the first axis. For the second axis and after, add "+20h" for each axis. Address Name Setting range...
Page 273 Address Name Setting range Remarks When in (hexadecimal) tandem drive MR-MC2_ _ MR-MC3_ _ MC2_ _ MC3_ _ B506 0E2A16 Mark detection counter 2 Continuous Continuous Same as mark detection counter 1. Each axis detection mode: detection mode: 0 to 255 0 to 255 Specified number Specified number...
Page 274 ■Mark detection positioning data table Address (hexadecimal) Content MR-MC2_ _ MR-MC3_ _ BB30 0E3B00 Mark detection positioning data 0 BB31 0E3B01 BB32 0E3B02 BB33 0E3B03 BB34 0E3B04 Mark detection positioning data 1 BB35 0E3B05 BB36 0E3B06 BB37 0E3B07 BB38 0E3B08 Mark detection positioning data 2 BB39 0E3B09...
Page 275 Address (hexadecimal) Content MR-MC2_ _ MR-MC3_ _ BC2C 0E3BFC Mark detection positioning data 63 BC2D 0E3BFD BC2E 0E3BFE BC2F 0E3BFF 0E3C00 Mark detection positioning data 64  0E3C01 0E3C02 0E3C03 0E3C04   0E3CFB 0E3CFC Mark detection positioning data 127 0E3CFD 0E3CFE 0E3CFF...
Page 276 Axis command/status bit ■Axis command bit The addresses in the table are the addresses for the first axis. For the second axis and after, add the following value for each axis. • Using MR-MC2_ _: +C0h • Using MR-MC3_ _: +140h Address (hexadecimal) Symbol Signal name...
Page 277 • Details on axis status bit Symbol Signal name Function details Function Operation Conditions for turning ON Conditions for turning OFF MKIF Mark detection Notifies that mark detection function The following conditions are satisfied. One of the following conditions is compatible can be used.
Page 278 Function details Combinations with sensor input method By setting "Sensor input system" of "Sensor input options (parameter No.0219)" to "1: Driver input", and setting the mark detection signal No. (DI1 to DI3), sensors (LSP/LSN/DOG) can be used in combination with the mark detection function. When sensor input method is set to "1: Driver input"...
Page 279 Latch data range When data at mark detection is within the latch data range, the data is stored in the mark detection storage device and the mark detection counter increases by one. When the data is outside of the range the mark detection is not processed. The following explains the upper limit value and lower limit value.
Page 280 Operation example Continuous detection mode The mark detection counter is incremented at mark detection. After mark detection, read the mark detection data and update the read complete buffer No. When mark detection data is not read before the next mark detection, "Mark Detection Write/ Read Error (operation alarm A6H, detail 01H)"...
Page 281 Specified number of detection mode The mark detection counter is incremented at mark detection. After mark detection, read the mark detection data and update the read complete buffer No. If performing mark detection again after the specified number of mark detections, conduct a mark detection clear.
Page 282 Ring buffer mode When using ring buffer mode, the mark detection count is started again from 1 if the number of mark detections exceeds the number of continuous latch data storages. When mark detection data is not read before the next mark detection, "Mark Detection Write/Read Error (operation alarm A6H, detail 01H)"...
Page 283 6.32 Continuous Operation to Torque Control Continuous operation to torque control is a control method that achieves torque control during positioning control without stopping. To perform continuous operation to torque control, the servo amplifier control mode must be switched to "continuous operation to torque control mode".
Page 284 Operation example Two-point operation (deceleration check system: In-position stop) including continuous operation to torque control point. Continuous operation to torque control switching position is reached Current command position After the completing continuous Contact operation to torque control operation, move to the next point Moving speed Press start Electrical current...
Page 285 [API library] For a detailed procedure for the continuous operation to torque control, refer to the sample program (InterruptPressDrive) contained on the utility software. Interface Set the following data when using continuous operation to torque control. Servo parameter ■MR-J4(W_)-_B Parameter Symbol Name Initial...
Page 286 Point table To use the continuous operation to torque control, set the continuous operation to torque control specification (bit9) to "1: Continuous operation to torque control valid" in the auxiliary command of the point table. Position command system (bit0) For manufacturer setting (bit1) Vibration suppression command filter 1 specification (bit2) For manufacturer setting (bit3) Deceleration check system (bit4 to 5)
Page 287 ■Setting image Pressing position for continuous Continuous operation to torque operation to torque control control switching position (PRCPS) Press limit position (PRLMPS) Continuous operation to torque control axis Position data of continuous operation to torque control point Continuous operation to (Stop position for when switch to continuous operation to torque torque control direction control cannot be made)
Page 288 Address Symbol Name Unit Setting Description (hexadecimal) range manual switch selection MC2_ _ MC3_ _ A858 0E1818 PRCOP Continuous operation to 0000h to (Start switch to continuous operation Valid  torque control operating 0012h to torque control condition) conditions Set the condition for determining the (2bytes) continuous operation to torque control switching position.
Page 289 • The value for continuous operation to control data at the start of operation at the continuous operation to torque control point is valid. • Continuous operation to torque control data that is changed during the operation of a continuous operation to torque control point becomes valid at the operation of the next continuous operation to torque control point.
Page 290 System status bit Address (hexadecimal) Symbol Signal name MR-MC2_ _ MR-MC3_ _ 0450 000BE0 Outputting factor of interrupt IITO During interface mode interrupt invalid EVDO Event detection enabled HRIF Highly response I/F enabled During system program memory access PRINF Continuous operation to torque control compatible information For manufacturer setting ...
Page 291 Address (hexadecimal) Symbol Signal name When in tandem drive MR-MC2_ _ MR-MC3_ _ 100C 00500C For manufacturer setting   CTLMC Control mode switch command Not supported For manufacturer setting   • Details on axis command bit Symbol Signal name Function details Function Operation...
Page 292 • Details on axis status bit Symbol Signal name Function details Function Operation Conditions for turning ON Conditions for turning OFF PRSMO During continuous Notify that torque within the torque Torque within the torque settle width of Control mode was changed to position operation to torque settle width of the target torque has the target torque has been output...
Page 293 Axis command/status data The axis command/status data for continuous operation to torque control are shown below. ■Axis command data The addresses in the table are the addresses for the first axis. For the second axis and after, add the following value for each axis.
Page 294 Control mode switch For control mode switch, there are the two following methods that can be selected for both "switching from position control mode to continuous operation to torque control mode" and "switching from continuous operation to torque control to position control mode"...
Page 295 • Operation is completed with the switching completion to position control mode. • When operation is stopped by forced stop, operation alarms etc., the position board automatically switches to position control mode regardless of "start continuous operation to torque control switch conditions". •...
Page 296 Operation timing Automatic switch (Start switch and end switch) Continuous operation to torque control switching position reached Current command position Continuous operation to torque control speed limit value Contact Moving speed Torque settle Target torque width Electrical current feedback (torque) 4 to 8ms Press time 4 to 8ms...
Page 297 [API library] • To startup operation, use the sscAutoStart function. • For a detailed procedure for the continuous operation to torque control, refer to the sample program (InterruptPressDrive) contained in the utility software. Operate by automatic switch by setting chg_ctrl_mode_condition to "CHG_CTRL_MODE_AUTO". Manual switch (Start switch and end switch) Current command position...
Page 298 • After confirming the leading edge of the control mode switch complete signal (CTLMCF), turn OFF the control mode switch command signal (CTLMC). • Switch the control mode command to position control mode before input of the control mode switch command signal (CTLMC).
Page 299 Stop factors during continuous operation to torque control Stop factor Operation Stop method Alarm/Error The press limit position was reached. Immediate stop Operation alarm 5DH, detail 03H Control mode was changed to position control mode during travel in continuous Deceleration stop Operation alarm 5DH, detail 07H operation to torque control mode (before target torque is reached).
Page 300 Combinations of continuous operation to torque control and other functions The following shows the combinations of continuous operation to torque control with each function. : Usable, : Unusable, : Restriction, : Not applicable Classifica Function Compatibility Remarks tion System Control Standard mode ...
Page 301 Classifica Function Compatibility Remarks tion Application Home position search limit  function Gain switching  PI-PID switching  Home position set  Absolute position detection system  Home position return request  Other axes start When current command position is set to the axis judgment coordinate of ...
Page 302 Restrictions on servo amplifier functions The following servo amplifier functions cannot be used during continuous operation to torque control mode. • Base cut delay time function • Forced stop deceleration function • Vertical axis freefall prevention function • Auto tuning function [MC300] •...
Page 303 6.33 SSCNETIII/H Head Module Connection The SSCNET/H head module can connect MELSEC-L series I/O modules and intelligent function modules on SSCNET/ H. The SSCNET/H head module controls input and output of I/O modules and intelligent function modules using link devices. By assigning inputs and outputs of modules mounted to the SSCNET/H head module to the I/O device table, they can be used as position board inputs and outputs.
Page 304 Number of connectable stations The SSCNET/H head module can use up to 4 stations. The following shows the number of stations that can be controlled depending on the control cycle. Position board Control cycle Maximum number of Maximum number of Recommended number of stations connected stations connected for each...
Page 305 System startup Station No. setting parameter Station No. settings are made with the station No. setting switch. "x10" sets the tens digit of the station No. ˜ ˜ ˜ STATION NO. "x1" sets the ones digit of the station No. The station No.
Page 306 Station No. on remote Station No. Available/unavailable I/O module setting switch MR-MC2_ _ MR-MC3_ _ Station 38 Unavailable Unavailable Station 39 Station 40 Station 41 Station 42 Station 43 Station 44 Station 45 Station 46 Station 47 Station 48 Station 49 Available Station 50 Station 51...
Page 307 Station No. assignment With station No. assignment, station No. (station No. on the position board) are assigned to station No. on remote I/O modules. Also refer to the following for station No. assignment. Page 75 Axis No. assignment When station No. assignment is invalid, correspondence between the station No. on a remote I/O module and the station No. is shown in the following table.
Page 308 Interface System parameter Parameter Symbol Name Initial Unit Setting Description value range 004A *IOTBL I/O table 0000h [MC200] (I/O table selection)  0000h to 0001h Set the I/O table to be used. [MC300] • 0: Use digital I/O table 0000h to 0002h •...
Page 309 Assign output word devices 08 to 09. 021D *VEND Vendor ID 0000h 0000h to Set the vendor ID.  FFFFh • 0000h: Mitsubishi Electric 021E *CODE Type code 3000h 0000h to Set the type code  FFFFh • 3000h: SSCNET/H head module *1 The settings for the parameters with a * mark at the front of the symbol are validated when the system is started.
Page 310 RIO status bit The addresses in the table are the addresses for the first station. For the second station and after, add the following value for each station. • Using MR-MC2_ _: +80h • Using MR-MC3_ _: +C0h Address (hexadecimal) Symbol Signal name MR-MC2_ _...
Page 311 Address Input word device Input bit device No. Symbol Remarks (hexadecimal) MC2_ _ MC3_ _ DB0A 0F9F0A Input word device 05 Input bit device 050 to DVI_050 to ■When bit device is assigned (2bytes) input bit device 05F DVI_05F Notify the status of the bit device input signal. The bits are DVI_050 (bit0) to DVI_05F (bit15).
Page 312 Address Output word device Output bit device Symbol Remarks (hexadecimal) MC2_ _ MC3_ _ DEFE 0FA57E Output word device FF Output bit device FF0 to DVO_FF0 ■When bit device is assigned (2bytes) output bit device FFF Turn ON/OFF the bit device output signal. DVO_FFF The bits are DVO_FF0 (bit0) to DVO_FFF (bit15).
Page 313 [API library] • To get input bit device, use the sscGetInputDeviceBit function. • To get input word device, use the sscGetInputDeviceWord function. • To set output bit device, use the sscSetOutputDeviceBit function. • To set output word device, use the sscSetOutputDeviceWord function. •...
Page 314 Example of setting procedure The following shows the settings for two SSCNET/H head modules (station 21 and station 22). Entire system configuration diagram Intelligent SSCNET µ /H head module function User program Position board (station No.21) Input module Output module module Input device table...
Page 315 Station No. Input/Output Setting for SSCNETIII/H head I/O device table module (link device assignment) Device name Points Points Start Input  Input bit device 000 1 (1 word) 1 (1 word) Input word device 0A  Output  Output bit device 000 Input Input bit device 070 ...
Page 316 Setting/getting I/O devices with API functions Examples of getting input devices and setting/getting output devices are shown in the table below. Note that the board ID No. is 0, and channel No. is 1. Module No. Device name Set/get Setting value Get input bit device 002 sscGetInputDeviceBit(0, 1, 0x0002, &data);...
Page 317 6.34 Sensing Module (Station Mode) Connection The sensing module consists of a SSCNET/H communication module (sensing SSCNET/H head module), and sensing extension modules (sensing I/O module, sensing pulse I/O module, sensing analog I/O module, sensing encoder I/F module) and fetches and outputs signals synchronized with SSCNET/H communication. The sensing module controls input and output of sensing SSCNET/H head module and sensing extension module I/O using link devices.
Page 318 Number of connectable stations The sensing module can use up to 4 stations. The following shows the number of stations that can be controlled depending on the control cycle. Position board Control cycle Maximum number of Maximum number of Recommended number of stations connected stations connected for each control axes...
Page 319 Supported functions The following sensing module and position board functions are supported when the sensing module is used. Sensing module functions supported by the position board : Usable, : Unusable Classification Function Compati Remarks bility Sensing SSCNET/H Digital input function Return the current ON/OFF state of the DI signals (12 points) to the position board.
Page 320 Supported position board functions : Usable, : Restriction, : Unusable, : Not applicable Classific Function Compati Remarks ation bility Application Forced stop "Controller forced stop warning (RIO module warning E7)" occurs. For the operation at a  functions controller forced stop warning occurrence, refer to the sensing module instruction manual. Other axes start ...
Page 321 System startup Station No. setting parameter Station No. settings are made with the station No. selection rotary switch. Set the start station No. with a combination of SW1 and SW2. The station No. and station No. selection rotary switch combinations are correlated as shown on the table below. Set the station No.
Page 322 Station No. selection Station No. on remote I/O module Available/unavailable rotary switch Start station 2nd station 3rd station 4th station MR-MC2_ _ MR-MC3_ _ Station 51 Station 52 Station 53 Station 54 Unavailable Available Station 52 Station 53 Station 54 Station 55 Station 53 Station 54...
Page 323 [API library] When setting the API function argument "Axis No." to a station No., set a negative value. <Example> Station 1: -1, station 2: -2, station 3: -3, station 4: -4 Remote I/O module I/O setting When using remote I/O modules, set "I/O table selection" of "I/O table (parameter No.004A)" to "1: Use I/O device table (MR- MC2_ _ method)", or "2: Use I/O device table (expanded points method) [MC300]".
Page 324 ■RIO control parameter Parameter Symbol Name Initial Unit Setting Description value range 0200 *OPC1 Control option 1 0000h 0000h to 0011h (Control station)  Set "1: Controlled" when controlling the remote I/O module. • 0: Not controlled • 1: Controlled (Remote I/O disconnect) Set "1: Valid"...
Page 325 Assign output word devices 08 to 09. 021D *VEND Vendor ID 0000h 0000h to Set the vendor ID.  FFFFh • 0000h: Mitsubishi Electric 021E *CODE Type code 3000h 0000h to Set the type code.  FFFFh • 3000h: SSCNET/H head module •...
Page 326 RIO status bit The addresses in the table are the addresses for the first station. For the second station and after, add the following value for each station. • Using MR-MC2_ _: +80h • Using MR-MC3_ _: +C0h Address (hexadecimal) Symbol Signal name MR-MC2_ _...
Page 327 I/O device table ■Input device table Address Input word device Input bit device No. Symbol Remarks (hexadecimal) MC2_ _ MC3_ _ DB00 0F9F00 Input word device 00 Input bit device 000 to DVI_000 to ■When bit device is assigned (2bytes) input bit device 00F DVI_00F Notify the status of the bit device input signal.
Page 328 ■Output device table Address Output word device Output bit device Symbol Remarks (hexadecimal) MC2_ _ MC3_ _ DD00 0FA380 Output word device 00 Output bit device 000 to DVO_000 ■When bit device is assigned (2bytes) output bit device 00F Turn ON/OFF the bit device output signal. DVO_00F The bits are DVO_000 (bit0) to DVO_00F (bit15).
Page 329 Sensing module link devices The contents of the devices (input: RX, RWr/output: RY, RWw) for storage of link data for communicating between the position board and sensing module (station mode) are different for each module. The contents of the devices for storage of link data for each module are shown below.
Page 330 • Output device: bit data area (RY) Offset Signal name Description External output DO1 Set the command for DO1, DO2 of sensing SSCNET/H head module. • 0: OFF External output DO2 • 1: ON Unusable   DO1 output enable Enable output of DO1, DO2 of the sensing SSCNET/H head module.
Page 331 ■Sensing SSCNET/H head module + Sensing extension module • Input device: bit data area (RX) Offset Signal name Description External input DI1 Store the input state of DI1 to DI12 of sensing SSCNET/H head module. • 0: OFF External input DI2 •...
Page 332 • Output device: bit data area (RY) Offset Signal name Description External output DO1 Set the command for DO1, DO2 of sensing SSCNET/H head module. • 0: OFF External output DO2 • 1: ON Unusable   DO1 output enable Enable output of DO1, DO2 of the sensing SSCNET/H head module.
Page 333 ■Sensing I/O module • Input device: bit data area (RX) Offset Signal name Description External input DI1 Store the input state of DI1 to DI16 of sensing I/O module. • 0: OFF External input DI2 • 1: ON External input DI3 External input DI4 External input DI5 External input DI6...
Page 334 • Output device: bit data area (RY) Offset Signal name Description External output DO1 Set the command for DO1 to DO16 of sensing I/O module. • 0: OFF External output DO2 • 1: ON External output DO3 External output DO4 External output DO5 External output DO6 External output DO7...
Page 335 ■Sensing pulse I/O module • Input device: bit data area (RX) Offset Signal name Description External input DI1A Store the input state of CN1-DI1A to CN1-DI7A of sensing pulse I/O module. • 0: OFF External input DI2A • 1: ON External input DI3A External input DI4A External input DI5A...
Page 336 • Input device: word data area (RWr) Offset Signal name Description Pulse accumulated Store the pulse accumulated value input to CN1 of sensing pulse I/O module. value Latch counter DI4A Store the pulse count value when the CN1-DI4A of sensing pulse I/O module were input. (pulse counter value) DO output state (for Store the output state of CN1-DO of sensing pulse I/O module.
Page 337 • Output device: bit data area (RY) Offset Signal name Description External output DO1A Set the command for CN1-DO1A to CN1-DO5A of sensing pulse I/O module. • 0: OFF External output DO2A • 1: ON External output DO3A External output DO4A External output DO5A Unusable ...
Page 338 • Output device: word data area (RWw) Offset Signal name Description Pulse command value Set the accumulated pulses since the power supply ON of the control circuit that are output from CN1 of sensing pulse I/O module. ON timing (For pulse Set the ON timing when counter coincidence DO output is enabled.
Page 339 ■Sensing analog I/O module • Input device: bit data area (RX) Offset Signal name Description Analog output signal CH1 Store the output state of analog output CH1 to CH4 of sensing analog I/O module. • 0: Stopped Analog output signal CH2 •...
Page 340 • Output device: bit data area (RY) Offset Signal name Description Analog output enable CH1 Enable output of CH1 to CH4 of the sensing analog I/O module. • 0: Disable Analog output enable CH2 • 1: Enable Analog output enable CH3 Analog output enable CH4 Unusable ...
Page 341 ■Sensing encoder I/F module • Input device: bit data area (RX) Offset Signal name Description Unusable   *1 The offset is the bit units from the start of the input device table that assigned the input bit device. • Input device: word data area (RWr) Offset Signal name Description...
Page 342 • Output device: bit data area (RY) Offset Signal name Description Unusable   *1 The offset is the bit units from the start of the output device table that assigned the output bit device. • Output device: word data area (RWw) Offset Signal name Description...
Page 343 Example of setting procedure The following shows the settings for two sensing modules (stations 1 to 3 and station 4). Sensing SSCNET µ /H head module + Sensing I/O Sensing pulse Sensing I/O module module I/O module User program Position board (station No.1) (station No.2) (station No.3)
Page 344 Position board setting ■Type code setting Set the type code and vendor ID according to the system configuration. Station No. Module Parameter No. Symbol Name Setting value Sensing SSCNET/H head 021D *VEND Vendor ID 0000h module + sensing I/O module 021E *CODE Type code...
Page 345 ■Setting/getting I/O devices with API functions Examples of getting input devices and setting/getting output devices are shown in the table below. Note that the board ID No. is 0, and channel No. is 1. Station No. Device name Set/get Setting value Get input bit device 000 int data;...
Page 346 6.35 Sensing Module (Axis Mode) Connection The sensing pulse I/O module of the sensing module can be connected as axis mode. By connecting as axis mode, the position board automatic operation etc. can be used to control pulses as if controlling a servo amplifier. This section is for sensing module axis mode.
Page 347 Specifications comparison with servo amplifier MR-J4(W_)-_B The following is a table comparing the specifications when using a sensing pulse I/O module (axis mode) and servo amplifier (MR-J4(W_)-_B). Classificati Function Sensing pulse I/O module (axis mode) Servo amplifier MR-J4(W_)-_B Operational JOG operation Available Available function...
Page 348 Classificati Function Sensing pulse I/O module (axis mode) Servo amplifier MR-J4(W_)-_B Auxiliary Reading/writing parameters Available Available function Changing parameters at the Not available Available servo Alarm/system error Available Available Monitor Some restrictions Available High speed monitor Some restrictions Available Interrupt Some restrictions Available User watchdog function...
Page 349 System startup Power supply ON/power supply OFF • At system startup, turn ON the control circuit power supply of all modules connected to the position board (servo amplifiers, sensing pulse I/O modules). Modules connected after modules whose control circuit power supply is not turned ON are unable to communicate with the position board.
Page 350 Axis No. setting parameter Axis No. settings are made with the sensing SSCNET/H head module station No. selection rotary switch. Set the start station No. with a combination of SW1 and SW2. The axis No. and station No. selection rotary switch combinations are correlated as shown on the table below. Set the axis No. so that it is not duplicate in the same line.
Page 351 The sensing I/O module (axis mode) axis No. and the axis No. to be managed on the position board are different. For details, refer to the following. Page 75 Axis No. assignment Parameter setting After parameter initialization, set the parameters according to the system such as for control cycle and external signal (sensor) input option.
Page 352 021D *VEND Vendor ID 0000h 0000h to Set the vendor ID. (SSCNET/H communication)  FFFFh • 0000h: Mitsubishi Electric 021E *CODE Type code 1000h 0000h to Set the type code.  FFFFh • 3015h: Sensing SSCNET/H head module + sensing pulse I/O module (axis mode) •...
Page 353 • If "Driver Type Code Error (system error E405H)" occurred, the axis that has set an incorrect type code can be confirmed with "Type code erroneous axis information (monitor No.0484H, 0485H)". • Set "Control axis" of "Control option 1 (parameter No.0200)" to "1: Controlled" to match the sensing pulse I/ O module connected.
Page 354 Home position return When using sensing pulse I/O module (axis mode), the methods that can be used and the operation of home position return are different from when a servo amplifier is used. Method Characteristics Remarks Home position return using a dog A method that starts deceleration at the front end dog, and uses the first Because this method uses the zero method...
Page 355 ■Operation example for standby time after clear signal output Standby time after clear signal output is the time it takes for position settling to be completed after the clear signal is output. The operation example for standby time after clear signal output of home position return using a dog method is shown below. Home position return speed Amount of home position shift Home position...
Page 356 • Home position return using a dog cradle method Home position return direction Home position return speed Amount of home position shift Home position Creep speed Moving speed coordinates Standby after clear signal output Proximity dog Home position return completed (ZP) Operation completed (OPF) Clear signal (CR†)
Page 357 • Home position return using a dog front end method Home position return direction Home position return speed Amount of home position shift Home position Creep speed Moving speed coordinates Standby after clear signal output Proximity dog Home position return completed (ZP) Operation completed (OPF)
Page 358 Application functions Servo off If a motor is rotated due to an external force during servo off (such as during servo alarms and while the servo on signal (SON) is OFF), a position discrepancy occurs, and correct positioning cannot be executed until home position return is made again.
Page 359 ■Axis data status bit The addresses in the table are the addresses for the first axis. For the second axis and after, add the following value for each axis. • Using MR-MC2_ _: +C0h • Using MR-MC3_ _: +140h Address (hexadecimal) Symbol Signal name When in tandem...
Page 360 • Compatible models Model Remarks Sensing SSCNET/H head module Input : 12 points Output: 2 points The following shows the connectors of the sensing SSCNET/H head module to be connected to the general I/O signals. Each general I/O signal is assigned to the digital input signal (DI_) and the digital output signal (DO_). General I/O Signal name Destination connector pin No.
Page 361 ■Control parameter Parameter Symbol Name Initial Unit Setting Description value range 0213 *GIOO General I/O option 0000h 0000h to 0011h (Servo amplifier general input setting)  Set whether to use the general input of the servo amplifier. • 0: Not used •...
Page 362 Parameter Symbol Name Initial Unit Setting Description value range 0219 *SOP Sensor input option 0000h 0000h to 0304h (Sensor input system)  Set the input system of the sensor (LSP/LSN/DOG). • 0: Not use • 1: Driver input • 2: Digital or input device input •...
Page 363 Auxiliary functions Interrupt ■Interrupt conditions The interrupt conditions that can be used with a servo amplifier and in axis mode vary. The interrupt conditions that can be used with sensing pulse I/O module (axis mode) are shown below. • Interrupt conditions 1 (parameter No.0204) Symbol Signal name Servo ready...
Page 364 Event detection function The event factors that can be used with a servo amplifier and in axis mode vary. The event factors that can be used in axis mode are shown below. The addresses in the table are the addresses for the first axis. For the second axis and after, add the following value for each axis.
Page 365 AUXILIARY FUNCTION Reading/Writing Parameters The parameter data in the position board is accessed using the parameter read/write function. Types of parameters include system parameters, control parameters, and servo parameters. The parameter read/write function can be used after system preparation completion (system status code: 0001h). Interface Axis command/status bit The following is the bit unit interface to operate the servo parameter, control parameter, RIO module parameter, RIO control...
Page 366 ■Axis status bit The addresses in the table are the addresses for the first axis. For the second axis and after, add the following value for each axis. • Using MR-MC2_ _: +C0h • Using MR-MC3_ _: +140h Address (hexadecimal) Symbol Signal name MR-MC2_ _...
Page 367 Axis command/status data The following is the data to operate the servo parameter, control parameter, RIO module parameter, RIO control parameter and to confirm the status of these parameters. For MR-J5(W_)-_B, use the expanded parameter table for the parameters written to/read from the servo parameter. [MC300] ■Axis command data The addresses in the table are the addresses for the first axis.
Page 368 Address (hexadecimal) Name Setting Description range MR-MC2_ _ MR-MC3_ _ 10BE 00510E Parameter read data 2 0000h to Output the parameter data that was read. (2bytes) FFFFh 10BF 00510F 005110 For manufacturer setting     00513E Expanded parameter table [MC300] The following is the data to operate the servo parameter of MR-J5(W_)-_B and confirm the status of the parameter.
Page 369 Writing parameters Position board Host Parameter data Dual port Servo amplifier personal (internal memory) memory Only when changing servo computer parameters while system is running Wait until the The parameters are The accepted parameter Wait until Turn OFF parameter read from the dual port write No.
Page 370 • After writing parameters, some parameters do not become valid until rebooting the software. For the applicable parameters, refer to the following. Page 657 PARAMETERS • For the 32bit length parameters , which are separated into upper and lower items, change them simultaneously.
Page 371 Reading parameters Position board Host Parameter data Dual port Servo amplifier personal (internal memory) memory computer The accepted parameter Wait until the The parameters are read Wait until the Turn OFF read No. is set in the dual parameter read from the internal memory parameter read the parameter...
Page 372 Changing Parameters at the Servo The position board has a function of reflecting the results of changes made to parameters on the servo amplifier to the host personal computer. When parameters are changed on the servo amplifier, the position board changes the parameter data area (internal memory), and notifies the host personal computer using the changes to servo parameters exist signal (PSCHG).
Page 373 Alarm and System Error When the incorrect setting or incorrect operation is performed, the position board raises an alarm, so make user program monitor the alarm periodically. The position board can raise the following six alarms: system alarm, servo alarm, operation alarm, RIO module alarm, RIO control alarm, and system error.
Page 374 • "Parameter Error (operation alarm 37H)" and "System Setting Error (operation alarm 38H)" cannot be reset with the operation alarm reset signal. Confirm the cause of the alarm and treatment, and start the system again. • If another operation alarm occurs while the operation alarm is occurring, the first operation alarm is notified to the operation alarm No.
Page 375 Monitor Function The monitor function is for referencing the system information, the servo information such as the current command position and the speed feedback etc., and the operation information. When monitoring the system information, the monitor area in the system command/status table is used. Also, when monitoring the servo information and the operational information, the monitor area of the command/status table for each axis is used.
Page 376 Monitor latch function The monitor data is not updated while the monitor latch command signal (MONR) is ON. sscSetMonitor function Monitor command sscSetCommandBitSignalEx function (MON) (SSC_CMDBIT_AX_MON) Monitor latch command (MONR) Monitor No. Monitor output (MOUT) sscWaitStatusBitSignalEx function (SSC_STSBIT_AX_MRCH) Monitor latch (MRCH) Monitor No.
Page 377 High-speed update of monitor data [MC300] By setting the monitor data high-speed update function, the data set to monitor No.1 to 4 can be confirmed at each control cycle. When using this function, set "High-speed update of monitor data" of "Control option 4 (parameter No.0206)" to "1: Enabled".
Page 378 High Speed Monitor Function The high speed monitor function is for monitoring the current command position and the current feedback position etc. It becomes valid after the system is started up, and the monitor data is updated every control cycle. The data that can be referenced with the high speed monitor function are the following items.
Page 379 Interrupt Interrupt sequence If the interrupt output start signal (ITS) is ON and the interrupt conditions are met , the position board outputs the interrupt trigger on the dual port memory and generates an interrupt. For MR-MC2_ _, write 1 to an interrupt signal clear register using a host personal computer for cancellation of the interrupt.
Page 380 If another interrupt condition is met while the outputting factor of interrupt signal (ITO) is ON, the factor of the interrupt is put on hold until the interrupt processing stop signal (ITE) turns OFF from ON. Interrupt thread and device driver Cancellation Interrupt Interrupt...
Page 381 Interrupt conditions Interrupt conditions (system parameters) When interrupts the system are to be validated, set the values that designate ON for the bits that correspond to the conditions shown below to the parameter "Interrupt conditions (parameter No.0004)". [API library] [MC200] •...
Page 382 Interrupt conditions (control parameters) When interrupts each axis are to be validated, set the values that designate ON for the bits that correspond to the conditions shown below to "Interrupt condition 1 (parameter No.0204)" and "Interrupt condition 2 (parameter No.0205)" of the parameter. The interrupts occur on the leading edge of the signal corresponding to the interrupt condition.
Page 383 Interrupt conditions (RIO control parameters) When interrupts each axis are to be validated, set the values that designate ON for the bits that correspond to the conditions shown below to "Interrupt condition (parameter No.0203)" of the parameter. The interrupts occur on the leading edge of the signal corresponding to the interrupt condition. The multiple interrupt conditions can be selected.
Page 384 Factor of interrupt [API library] • Confirmation of the factor of the interrupt is processed by the interrupt thread that is created when calling the sscIntStart function. Thus processing by the user program is unnecessary. • To wait the factor of the interrupt, use the following functions. Factor of system/axis interrupt: sscWaitIntEvent function/sscWaitIntEventMulti function Factor of other axes start interrupt: sscWaitIntOasEvent function Factor of pass position interrupt: sscWaitIntPassPosition function...
Page 385 Factor of axis interrupt Address (hexadecimal) Content Reference MR-MC2_ _ MR-MC3_ _ 04D0 to 04D3 002020 to 002023 Factor of interrupt Axis 1 Page 581 Details on factor of interrupt on axis n 04D4 to 04D7 002024 to 002027 Factor of interrupt Axis 2 04D8 to 04DB 002028 to 00202B Factor of interrupt Axis 3...
Page 386 Address (hexadecimal) Content Reference MR-MC2_ _ MR-MC3_ _ 0598 002238 Factor of pass position interrupt 1 Page 588 Factor of pass position interrupt 0599 002239 059A 00223A 059B 00223B 059C 00223C Factor of pass position interrupt 2 059D 00223D 059E 00223E 059F 00223F...
Page 387 Interrupt processing example Interrupt handler Interrupt service routine (ISR) CH No.S = 1 Waiting for setting of event from interrupt handler Is the during interrupt output signal Capture of system interrupt factors for CH No.S and interrupt factors for each axis Execution of processing for each Write the interrupt signal cause for interrupt...
Page 388 User Watchdog Function The user watchdog function is to check the user program error. Reset the value of watchdog check counter on the dual port memory using a host personal computer on a periodic basis. If the watchdog check counter value is not reset at the designated time (watchdog timer counts down to 0), it is determined that the host personal computer error and a forced stop status is entered.
Page 389 Software Reboot Function Through using the software reboot function, the host personal computer can restart the position board using the software. Perform the software reboot according to the following procedure. (Refer to the system data table for the command/status signal.) sscReboot function Start Set reboot ID...
Page 390 Parameter Backup When there are a lot of changing parameters of the position board and servo amplifier and the parameter changing time effects the system startup, saving parameters in the flash ROM of the position board by this function can shorten the time of system startup. Flash ROM parameter backup The contents of the parameter data area in the position board can be backed up to the flash ROM.
Page 391 • The flash ROM parameter backup function becomes available after the system preparation completion (system status code: 0001h). • When the flash ROM transfer preparation error signal (FRNG) or the flash ROM transfer error signal (FSNG) turns ON, confirm the procedure and restart the process from the beginning. •...
Page 392 Flash ROM parameter initialization The contents of the parameters which is backed up in the flash ROM is changed to the initial value. Start Flash ROM transfer ID setting Set "A55Ah" to flash ROM transfer ID. Turn ON the flash ROM initialization preparation signal (FIR).
Page 393 [API library] For flash ROM parameter initialization, save the flash ROM parameters with the sscSaveAllParameterToFlashROM function after initializing the parameters with the sscResetAllParameter function. Flash ROM parameter reading The parameters backed up in the flash ROM is read when the system preparation is completed (system status code: 0001h). sscLoadAllParameterFromFlashROM function Start System...
Page 394 7.10 Test Mode Servo amplifier can be adjusted using test operation function (JOG, test positioning, machine analyzer etc.) of the MR Configurator2 attached to the position board using a USB connection. At this time, the in test mode signal (TSTO) is turned ON on the position board side, and the operation (such as automatic operation) cannot be performed from the position board.
Page 395 Test operation mode Limitations • If operation is started using the position board, "In Test Mode (operation alarm 1AH, detail 01H)" occurs and operation cannot be performed. • The commands to servo amplifier (servo on/off, servo alarm reset, torque limit command etc.) are invalid. Monitoring and reading and writing of parameters can be performed as normal.
Page 396 7.11 Reconnect/disconnect Function Disconnection function By turning ON the disconnection command signal (CCC), SSCNET communication with selected axis and later can be disconnected. To use this function, set "Consistency check selection at system startup" of "System option 2 (parameter No.0002)" to "1: Invalid".
Page 397 Reconnect function This function is a function that searches for controlled and non-communicating axes from all connected axes and starts SSCNET communication with them by turning ON the reconnection command signal (RCC). To use this function, set "Consistency check selection at system startup" of "System option 2 (parameter No.0002)" to "1: Invalid".
Page 398 Interface System command/status table ■System command Address (hexadecimal) Content MR-MC2_ _ MR-MC3_ _ 0434 000B64 Disconnection axis No. 0435 000B65 *1 Set the axis No., and station No. to the following values. Using MR-MC2_ _: Set axis No. to 0000h (axis 1) to 001Fh (axis 32), and station No. to 8000h (station 1) to 8003h (station 4). Using MR-MC3_ _: Set axis No.
Page 399 System command/status bit ■System command bit Address (hexadecimal) Symbol Signal name MR-MC2_ _ MR-MC3_ _ 03EB 000B0B Reconnection command For manufacturer setting  Disconnection command For manufacturer setting  ■System status bit Address (hexadecimal) Symbol Signal name MR-MC2_ _ MR-MC3_ _ 045B 000BEB During reconnection processing...
Page 400 Disconnection method SSCNET communication disconnection is executed by turning ON the disconnection command signal (CCC) after the axis No. of the axis to be disconnected is specified. The flowchart of the disconnection is shown below. sscDisconnectSSCNET function START Set the axis No. to be disconnected to the disconnection axis (station) No.
Page 401 Restrictions The restrictions for SSCNET reconnect/disconnect function are shown below. Linear interpolation startup [MC200]/interpolation operation startup [MC300] When the axis allocated to the same linear interpolation group [MC200]/interpolation group [MC300] is not connected, "Linear Interpolation Startup Error [MC200]/Interpolation Startup Error [MC300] (operation alarm 40H, detail 01H)" occurs. Tandem drive When the axis allocated to the same tandem drive group is not connected, servo cannot be turned on during in the synchronous mode.
Page 402 7.12 Sampling The sampling function is a function that monitors the servo amplifier status and samples this data. After sending the sampling start signal (SMPS), the following data is sampled every sampling cycle. The data is sampled in the sampling data buffer area in the position board up to 8192 [MC200]/65536 [MC300] points.
Page 403 Sampling specification list Item Specification MR-MC2_ _ MR-MC3_ _ Number of sampling points Up to 65536 points (with a bus connection) Up to 65536 points (with a bus or USB connection) (Ring buffer of 8192 points) (Ring buffer of 65536 points) Up to 8192 points (when there is a test tool USB •...
Page 404 Command/status bit System command/status bits related to sampling function are shown below. System command bit Address (hexadecimal) Symbol Signal name MR-MC2_ _ MR-MC3_ _ 03E1 000B01 SMPS Sampling start For manufacturer setting  Address (hexadecimal) Symbol Signal name MR-MC2_ _ MR-MC3_ _ 03F2 000B12...
Page 405 ■System status bit Address (hexadecimal) Symbol Signal name MR-MC2_ _ MR-MC3_ _ 0451 000BE1 SMPW Waiting for sampling trigger SMPO Sampling is being performed SMPF Sampling completed SMPE Sampling error For manufacturer setting  AHINF Alarm history information For manufacturer setting ...
Page 406 Symbol Signal name Function details Function Operation Conditions for turning ON Conditions for turning OFF SWED Sampling setting data Notify that the sampling setting value The sampling setting value which is The sampling setting write command out of bounds is outside the setting range. outside the setting range is set and signal (SMPSW) is turned OFF.
Page 407 Command/status data The system command/status data related to the sampling function are shown below. Sampling setting write (command) Address (hexadecimal) Name Setting Description range MR-MC2_ _ MR-MC3_ _ BDA0 0E4060 Sampling setting write No. 0000h to Set the sampling setting No. to be written. (For 0000h, the 00AFh sampling setting No.
Page 408 Sampling error information Address (hexadecimal) Name Setting Description range MR-MC2_ _ MR-MC3_ _ BDC0 0E4080 Sampling axis error information 1 00000000h to Turn ON the bit of the axis which cannot be controlled. FFFFFFFFh • Axis No.1 (bit0) to 32 (bit31) BDC1 0E4081 BDC2...
Page 409 Sampled data read command Address (hexadecimal) Name Setting Description range MR-MC2_ _ MR-MC3_ _ BDE0 0E40B0 Sampling read page No. [MC200] Set the page No. which is read in the sampling data read 0 to 256 area. 12 points of sampled data are read per page. (When [MC300] start sampling, set "0".) BDE1...
Page 410 Sampling setting write/read The conditions for sampling and the contents of sampling can be set by the sampling setting write. Also, the current sampling setting can be read by the sampling setting read. The sampling setting write/read is valid after executing parameter initialization (system command code: 0003h).
Page 411 Details for sampling function settings The settings related to the sampling function are shown below. Each setting is imported when the sampling start signal (SMPS) turns ON. The sampling setting cannot be changed while the waiting for sampling trigger signal (SMPW) turns ON and the sampling is being performed signal (SMPO) turns ON.
Page 412 Sampling Name Initial value Setting Description setting No. range 0012 Sampling trigger 3 setting 00000000h 00000000h to Same as the sampling trigger 1 setting. 10041F01h 0013 Sampling trigger 4 setting 00000000h 00000000h to Same as the sampling trigger 1 setting. 10041F01h 0014 Sampling trigger 5 setting...
Page 413 Sampling Name Initial value Setting Description setting No. range 0035 Sampling data 6 setting 00000000h 00000000h to Same as the sampling data 1 setting. 003F04FFh 0036 Sampling data 7 setting 00000000h 00000000h to Same as the sampling data 1 setting. 003F04FFh 0037 Sampling data 8 setting...
Page 414 Sampling Name Initial value Setting Description setting No. range 0070 Sampling bit information 1 00000000h 00000000h to (Monitor No.) setting 0F3F03FFh Set the monitor No. including the bit information to be sampled. • 0000h: Not selected • 0300h to 03FFh: Operation information (Axis No.) Set the axis No.
Page 415 Sampling Name Initial value Setting Description setting No. range 0089 Sampling bit information 26 00000000h 00000000h to Same as the sampling bit information 1 setting. setting 0F3F03FFh 008A Sampling bit information 27 00000000h 00000000h to Same as the sampling bit information 1 setting. setting 0F3F03FFh 008B...
Page 416 Sampling items The sampling items are the sampling data and the sampling bit information. By setting the axis No./station No. and the monitor No. to be sampled in the sampling data, the arbitrary monitor data can be sampled. Up to 32 items of monitor data can be specified.
Page 417 Monitor No. Content Symbol Signal name (hexadecimal) 0381 Axis data command bit 2 Automatic operation mode Home position return mode JOG operation mode Incremental feed mode  For manufacturer setting Linear interpolation mode [MC200]/interpolation operation mode [MC300] Home position reset mode For manufacturer setting ...
Page 418 Monitor No. Content Symbol Signal name (hexadecimal) 0383 Axis data command bit 4 Fast start operation For manufacturer setting  PPISTP Pass position interrupt cancel For manufacturer setting  Monitor No. Content Symbol Signal name (hexadecimal) 0384 Axis data command bit 5 GAIN Gain switching command FCLS...
Page 419 Monitor No. Content Symbol Signal name (hexadecimal) 0385 Axis data command bit 6 For manufacturer setting  Home position set command For manufacturer setting  MKC1 Mark detection clear command 1 MKD1 Mark detection disable command 1 MKSEN1 Mark detection setting enable command 1 For manufacturer setting ...
Page 420 Monitor No. Content Symbol Signal name (hexadecimal) 0387 Axis data command bit 8 For manufacturer setting  ■Axis data status bit Monitor No. Content Symbol Signal name (hexadecimal) 03A0 Axis data status bit 1 Servo ready In-position Zero speed ZPAS Passed Z-phase Torque limit effective SALM...
Page 421 Monitor No. Content Symbol Signal name (hexadecimal) 03A1 Axis data status bit 2 AUTO In automatic operation mode ZRNO In home position return mode In JOG operation mode In incremental feed mode  For manufacturer setting LIPO In linear interpolation mode [MC200]/In interpolation operation mode [MC300] DSTO In home position reset mode...
Page 422 Monitor No. Content Symbol Signal name (hexadecimal) 03A3 Axis data status bit 4 For manufacturer setting  PPIOP Operating pass position interrupt PPIFIN Pass position interrupt completed PPIERR Pass position interrupt incompleted For manufacturer setting  AUTLO In point table loop Monitor No.
Page 423 Monitor No. Content Symbol Signal name (hexadecimal) 03A5 Axis data status bit 6 For manufacturer setting  Home position set complete Home position set error  For manufacturer setting MKIF1 Mark detection compatible information 1 MKCF1 Mark detection clear complete 1 MKDO1 Mark detection disabled 1 MKSEF1...
Page 424 Monitor No. Content Symbol Signal name (hexadecimal) 000003A7 Axis data status bit 8 For manufacturer setting  Up to 3 items (total of sampling data and sampling bit information) can be specified for the servo information. If more than 4 items are set, the sampling error signal (SMPE) turns ON when sampling is started and the bit of the sampling error information corresponding to the fourth item turns ON.
Page 425 Sampling trigger As a trigger for start of the sampling, up to 8 conditions can be set. The case when one of the trigger conditions is met or when all of the trigger conditions are met can be set as a trigger. The data or the bit information trigger refers to are selected from set sampling items.
Page 426 ■Fulfilled when the data is same as trigger value or lower When the data is same as the trigger value or lower, the trigger condition is met. <Example 1> <Example 2> Sampling starts Data Data Sampling starts Trigger value Trigger value Time Time Trigger condition is met...
Page 427 When the trigger content is bit information ■Fulfilled by leading edge of bit When the bit turns ON from OFF, the trigger condition is met. <Example 1> <Example 2> Sampling starts Trigger condition is met Sampling starts Trigger condition is met Time Time ■Fulfilled by trailing edge of bit...
Page 428 Sampling data read The sampled data of 8192 points [MC200]/65536 points [MC300] is stored in the sampling data buffer area of the position board internal memory. The sampled data is transferred to the sampling data read area divided in units of a page (32 points/ page [MC200], 128 points/page [MC300]).
Page 429 ■Using MR-MC2_ _ Sampling data buffer area Page No. Page details 1st point +0000h Sampling data 1 Sampling data read area +0004h Sampling data 2 0E4100h 1st point + (n - 1) × 128 128th point +0008h Sampling data 3 0E4184h 2nd point + (n - 1) ×...
Page 430 A timing chart of reading of sampled data To read the sampled data, set the page No. to be transferred to the sample read page No. When detecting the change of the sampling read page No., the position board transfers the sampled data corresponding to the page No. to the sampling data read area and stores the points of data which are sampled in the page in the valid read sampled points.
Page 431 Timing chart for sampling function A timing chart for the sampling function is shown below. For MR-MC2_ _ when the number of sampled points is 8192 or less/for MR-MC3_ _ ■Starting sampling To start the sampling, write the sampling setting previously and turn ON the sampling start signal (SMPS). When the sampling start signal (SMPS) is accepted, the waiting for sampling trigger signal (SMPW) turns ON.
Page 432 ■Sampling completion When the sampling of specified sampling points is completed, the sampling completed signal (SMPF) turns ON. • Using MR-MC2_ _ Sampling start (SMPS) sscGetSamplingStatus function Sampling is being performed (SMPO) Sampling completed (SMPF) Sampling completion page No. Sampling read page No. In the timing chart above, since 8192 is the multiplication of 32, the valid sampled data (valid sampled read points) in the last page (page 256) are 1 to 32 points.
Page 433 • The sampling completed signal (SMPF) is not turned ON. • In the timing chart above, the sampling stopped in the 5 page. For the valid sampled data in the page, confirm the valid sampled read points at the sampling read. •...
Page 434 For MR-MC2_ _ when the number of sampled points is 8193 or more ■Starting sampling To start the sampling, write the sampling setting previously and turn ON the sampling start signal (SMPS). When the sampling start signal (SMPS) is accepted, the waiting for sampling trigger signal (SMPW) turns ON. Then, after trigger conditions are met, the sampling is being performed signal (SMPO) turns ON.
Page 435 ■Sampling is being performed The user program reads the sampled data sequentially according to the sampling completion page No. The user program can read the page from the page of the sampling read page No. to the page of the sampling completion page No.
Page 436 ■Sampling completion When the sampling of specified sampling points is completed, the sampling completed signal (SMPF) turns ON. After confirming the sampling completed signal (SMPF) turns ON, read until the sampling completion page No. Sampling start (SMPS) Sampling is being performed (SMPO) Sampling completed (SMPF) Sampling completion page No.
Page 437 ■When the reading of sampled data is not finished in time When the next page No. of the sampling completion page No. matches the sampling read page No. while the sampling is being performed signal (SMPO) is ON, the position board judges that the reading of sampled data is not finished in time and the sampling is finished (the sampling error signal (SMPE) turns ON).
Page 438 7.13 The log function is a function that stores the status when an event occurs (start operation, completion, alarm occurs etc.) on the position board. The log data is stored in the log data buffer area (internal memory of the position board). When a reading of log data command is generated at a host personal computer, the log data stored in the log data buffer area is transferred to the dual port memory.
Page 439 Log data details The log data for 1 event is 16bytes. The details of the data are shown in the following. Offset Content Details 0000h Axis No. Axis (station) No. [MC200] • 0: For events that are common to axes •...
Page 440 Event code Factor Each axis (station)/ common 0311h System error occurs Common 0402h Interlock occurs Each axis 0403h Interlock cancelled Each axis 0404h Stop command (STP) Each axis 0408h Rapid stop command (RSTP) Each axis 0500h Operation alarm reset Each axis 0501h Servo alarm reset Each axis...
Page 441 Information for each event Log data set per event is as follows. Also, details concerning the operation mode noted in the information per event is as follows. • 0: Automatic operation • 1: Home position return • 2: JOG operation •...
Page 442 Start of incremental feed Offset Content 0000h Axis No. 0002h Event code (0004h) 0004h Time stamp 0006h 0008h Manual feed speed 000Ah 000Ch Incremental feed movement amount 000Eh *1 Taken as a negative number when the movement direction is -. Start of linear interpolation operation [MC200]/Start of interpolation operation [MC300] Offset Content...
Page 443 Home position return complete Offset Content 0000h Axis No. 0002h Event code (0012h) 0004h Time stamp 0006h 0008h Completion status • 0: Normal • -1: Error 000Ah 0 (fixed value) 000Ch 000Eh Completion of JOG operation Offset Content 0000h Axis No. 0002h Event code (0013h) 0004h...
Page 444 Home position reset complete Offset Content 0000h Axis No. 0002h Event code (0016h) 0004h Time stamp 0006h 0008h Completion status • 0: Normal • -1: Error 000Ah 0 (fixed value) 000Ch 000Eh Change speed Offset Content 0000h Axis No. 0002h Event code (0020h) 0004h Time stamp...
Page 445 Position change Offset Content 0000h Axis No. 0002h Event code (0023h) 0004h Time stamp 0006h 0008h Position after change 000Ah 000Ch Status • 0: Completion of preparation for change • 1: Change error 000Eh 0 (fixed value) Operation alarm occurs Offset Content 0000h...
Page 446 System alarm occurs Offset Content 0000h Axis No. 0002h Event code (0103h) 0004h Time stamp 0006h 0008h Alarm No. 000Ah Details No. 000Ch 0 (fixed value) 000Eh Parameter initialization Offset Content 0000h Axis No. 0002h Event code (0201h) 0004h Time stamp 0006h 0008h System command code...
Page 447 Writing to parameters (MR-J5(W_)-_B) [MC300] Offset Content 0000h Axis No. 0002h Event code (0204h) 0004h Time stamp 0006h 0008h Parameter No. 000Ah 0 (fixed value) 000Ch Parameter setting after change 000Eh Reading parameters (MR-J5(W_)-_B) [MC300] Offset Content 0000h Axis No. 0002h Event code (0205h) 0004h...
Page 448 Flash ROM parameter initialization Offset Content 0000h Axis No. 0002h Event code (0212h) 0004h Time stamp 0006h 0008h 0 (fixed value) 000Ah 000Ch 000Eh Start of system startup Offset Content 0000h Axis No. 0002h Event code (0300h) 0004h Time stamp 0006h 0008h System command code...
Page 449 Interlock occurs Offset Content 0000h Axis No. 0002h Event code (0402h) 0004h Time stamp 0006h 0008h Operation mode 000Ah 0 (fixed value) 000Ch 000Eh Interlock cancelled Offset Content 0000h Axis No. 0002h Event code (0403h) 0004h Time stamp 0006h 0008h Operation mode 000Ah 0 (fixed value)
Page 450 Operation alarm reset Offset Content 0000h Axis No. 0002h Event code (0500h) 0004h Time stamp 0006h 0008h Alarm No. when reset is performed 000Ah Details No. when reset is performed 000Ch 0 (fixed value) 000Eh Servo alarm reset Offset Content 0000h Axis No.
Page 451 Cancellation of waiting for interference Offset Content 0000h Axis No. 0002h Event code (0602h) 0004h Time stamp 0006h 0008h Operation mode 000Ah 0 (fixed value) 000Ch 000Eh Rough match output Offset Content 0000h Axis No. 0002h Event code (0603h) 0004h Time stamp 0006h 0008h...
Page 452 Pass position interrupt incomplete Offset Content 0000h Axis No. 0002h Event code (0606h) 0004h Time stamp 0006h 0008h Pass position condition No. 000Ah Pass position option 000Ch Completion coordinate 000Eh Pass position interrupt cancel Offset Content 0000h Axis No. 0002h Event code (0607h) 0004h Time stamp...
Page 453 Other axes start complete Offset Content 0000h Axis No. 0002h Event code (0800h) 0004h Time stamp 0006h 0008h Other axes start data No. 000Ah 0 (fixed value) 000Ch 000Eh Other axes start incomplete. Offset Content 0000h Axis No. 0002h Event code (0801h) 0004h Time stamp 0006h...
Page 454 SSCNET disconnection error Offset Content 0000h Axis No. 0002h Event code (0902h) 0004h Time stamp 0006h 0008h Error code of reconnection/disconnection 000Ah 0 (fixed value) 000Ch 000Eh SSCNET reconnection command Offset Content 0000h Axis No. 0002h Event code (0903h) 0004h Time stamp 0006h 0008h...
Page 455 SSCNET disconnection complete (axis) [MC300] Offset Content 0000h Axis No. 0002h Event code (0906h) 0004h Time stamp 0006h 0008h Controlling axis information 1 000Ah 000Ch Controlling axis information 2 000Eh SSCNET disconnection complete (station) [MC300] Offset Content 0000h Axis No. 0002h Event code (0908h) 0004h...
Page 456 Control mode switch complete Offset Content 0000h Axis No. 0002h Event code (0A00h) 0004h Time stamp 0006h 0008h Control mode before switch • 0: Position control mode • 1: Speed control mode • 2: Torque control mode 000Ah Control mode after switch •...
Page 457 Mark detection clear Offset Content 0000h Axis No. 0002h Event code (0B01h) 0004h Time stamp 0006h 0008h Mark detection setting No. 000Ah 0 (fixed value) 000Ch 000Eh Mark detection disable start Offset Content 0000h Axis No. 0002h Event code (0B02h) 0004h Time stamp 0006h...
Page 458 Transient transmit start Offset Content 0000h Axis No. 0002h Event code (0C00h) 0004h Time stamp 0006h 0008h Transient command 000Ah 0 (fixed value) 000Ch 000Eh Transient transmit error occurrence Offset Content 0000h Axis No. 0002h Event code (0C01h) 0004h Time stamp 0006h 0008h Transient command...
Page 459 Writing to parameters (remote I/O) Offset Content 0000h Station No. 0002h Event code (2202h) 0004h Time stamp 0006h 0008h Parameter No. 000Ah Parameter setting prior to change 000Ch Parameter setting after change 000Eh 0 (fixed value) RIO control alarm reset Offset Content 0000h...
Page 460 Transient transmit error occurrence (remote I/O) Offset Content 0000h Station No. 0002h Event code (2C01h) 0004h Time stamp 0006h 0008h Transient command 000Ah 0 (fixed value) 000Ch 000Eh • For change of parameters (event code 0202h), the parameter value prior to change and parameter value after change are compared and only if the setting is different is the parameter change recorded in the log data.
Page 461 Interface Command/status bit System command/status bits related to log function are shown below. ■System command bit Address (hexadecimal) Symbol Signal name MR-MC2_ _ MR-MC3_ _ 03EA 000B0A LOGC Log command LOGR Reading of log data command For manufacturer setting  LOGI Log data initialization command For manufacturer setting...
Page 462 Symbol Signal name Function details Function Operation Conditions for turning ON Conditions for turning OFF LOGRE Reading of log data Notify that reading of log data was not • The reading of log data command The reading of log data command error completed normally.
Page 463 Timing chart for reading of log data A method for reading log data stored in the log data buffer area is shown below. sscReadLogData function Reading of log data command (LOGR) Page 1 Page 2 Page 3 Log data read page No. Reading of log data complete (LOGRF) •...
Page 464 Log acquiring selection By setting Log acquiring selection (parameter No.0040 to 0042, 0044/No.0043, 004B [MC300]), the axis No. and system for which the log to be acquired can be set. When the number of log events to be memorized is not enough, set the events (axis and system) for which log is to be acquired, using this function.
Page 465 7.14 Operation Cycle Monitor Function The operation cycle monitor function is a function that monitors the operation cycle current time, the operation cycle maximum time, and the operation cycle over time. The operation cycle monitor function becomes valid after the system starts. The operation cycle is the position board processing (SSCNET communication process + motion operation process) time.
Page 466 System information table (operation cycle monitor data) Address (hexadecimal) Size Name Unit Description MR-MC2_ _ MR-MC3_ _ 0014 000014 2byte Operation cycle current time Current processing time is stored. s 0016 000016 2byte Operation cycle maximum time Maximum processing time is stored. s 0018 000018...
Page 467 [API library] To get the operation cycle current time/operation cycle maximum time/operation cycle over time, use the sscGetOperationCycleMonitor function 7 AUXILIARY FUNCTION 7.14 Operation Cycle Monitor Function...
Page 468 7.15 External Forced Stop Disabled The external forced stop disabled function disables the external forced stop by the input signal (EMI) from the I/O connector. The software forced stop signal (SEMI) by the system command bit and forced stops due to the system status error such as SSCNET communication errors (system status code Eh) are not disabled.
Page 469 7.16 Amplifier-less Axis Function The amplifier-less axis function is a function that enables to operate the position board without connecting a servo amplifier. This function enables to debug the user program at the start-up of the device and to simulate the positioning operation. Interface To use the amplifier-less axis function, set "Amplifier-less axis function"...
Page 470 [pulse] SSCNET 262144 6000   SSCNET/H 0000h: Mitsubishi Electric 1000h: MR-J4(W_)-_B 4194304 6000 1400h: MR-J5(W_)-_B [MC300] 67108864 6700 *2 The servo amplifier operates as a servo amplifier compatible with a rotary servo motor. (It does not operate as a servo amplifier compatible with the fully closed, linear, and direct drive.)
Page 471 7.17 Alarm History Function The alarm history function is a function that records the history of system errors and alarms (system, operation, and servo alarms) when they occur. The alarm history data is stored in the alarm history area of the flash ROM. Alarm history can also be confirmed after the power is turned off.
Page 472 Alarm history data details There are three types of history data, system startup command data and completion of system startup data, and alarm history data. One history data is 64bytes. The details of the data are shown in the following. System startup command data Offset Content...
Page 473 Completion of system startup data Offset Content Detail 0000h System startup time Same as the system startup command data. Refer to the following. Page 470 System startup command data 0001h 0002h 0003h 0004h 0005h 0006h 0007h 0008h Free run counter Store the value of the free-run counter at the completion of system startup.
Page 474 Alarm history data Offset Content Detail 0000h System startup time Same as the system startup command data. Refer to the following. Page 470 System startup command data 0001h 0002h 0003h 0004h 0005h 0006h 0007h 0008h Free run counter Store the value of the free-run counter at the alarm occurrence. 0009h 000Ah 000Bh...
Page 475 Interface System command/status bit System command/status bits related to alarm history function are shown below. ■System command bit Address (hexadecimal) Symbol Signal name MR-MC2_ _ MR-MC3_ _ 03E1 000B01 SMPS Sampling start For manufacturer setting  Address (hexadecimal) Symbol Signal name MR-MC2_ _ MR-MC3_ _ 03F7...
Page 476 Address (hexadecimal) Symbol Signal name MR-MC2_ _ MR-MC3_ _ 0467 000BF7 ALHRF Alarm history read complete ALHRE Alarm history read error ALHIF Alarm history initialization complete ALHIE Alarm history initialization error For manufacturer setting  • Details concerning system status bits Symbol Signal name Function details...
Page 477 ■System status Address (hexadecimal) Name Setting Description range MR-MC2_ _ MR-MC3_ _ 04B4 000C54 Alarm history read page No. 1 to 512 Store the page No. that was read. The details of the settings for the alarm history read page No. of the 04B5 000C55 system command are stored.
Page 478 Alarm history initialization procedure The procedure for initialization of parameters are as follows. sscClearAlarmHistoryData function Start Set "E15Ah" to the alarm history initialization ID. Alarm history initialization ID setting Turn ON the alarm history initialization command signal (ALHI) Alarm history initialization complete? Turn OFF the alarm history initialization command signal (ALHI)
Page 479 7.18 Transient Transmit Using the transient transmit function allows the buffer memory of a servo amplifier or intelligent function module connected to a remote I/O module to be accessed directly from the position board. Compared to the monitor function, the transient transmit data receives data at a slower speed, however it is used to get data that isn't required to be read at a fixed cycle.
Page 480 Transient transmit status table The addresses in the table are the addresses for the first axis. For the second axis and after, add "+20h" for each axis. Address (hexadecimal) Name Setting Description range MR-MC2_ _ MR-MC3_ _ D410 0F8B10 Transient status 0000h to 800Fh The process after sending transient request is stored.
Page 481 Transient commands for servo amplifier Data type Transient Unit Number of Remark command valid words Servo motor ID (SSCNET)/Encoder ID 0304  Servo motor ID (SSCNET/H) 0309  Encoder resolution 0305 [pulse] Servo amplifier serial No. (First 8 characters) 0306 [characters] Servo amplifier serial No.
Page 482 Data type Transient Unit Number of Remark command valid words Failure prediction status [MC300] 0437 MR-J5(W_)-_B use  Friction failure prediction - Threshold [MC300] 0438 [0.1%] Vibration failure prediction - Threshold [MC300] 0439 [0.1%] Failure prediction - Preparation progress [MC300] 043A Machine total travel distance [MC300] 043B...
Page 483 Servo motor ID (SSCNETIII)/Encoder ID [0304h] Request data/response data Content Request data 1 For manufacturer setting Request data 2 Request data 3 Request data 4 Response data 1 Servo motor ID (lower) Response data 2 Servo motor ID (upper) Response data 3 Encoder ID Response data 4 For manufacturer setting...
Page 484 Alarm history clear command [0382h] Request data/response data Content Request data 1 Alarm reset command (1EA5h) Request data 2 For manufacturer setting Request data 3 Request data 4 Response data 1 Response data 2 Response data 3 Response data 4 Home position [command unit] [0408h] Request data/response data Content...
Page 485 Machine diagnostic status [042Fh] Request data/response data Content Request data 1 For manufacturer setting Request data 2 Request data 3 Request data 4 Response data 1 (Forward rotation friction) • 0: Estimating friction • 1: Estimating complete • 2: One side operation (motor rotation stays in one direction) •...
Page 486 Failure prediction status [0437h] [MC300] Request data/response data Content Request data 1 For manufacturer setting Request data 2 Request data 3 Request data 4 Response data 1 Failure prediction status (Friction failure prediction status) • 0: Friction failure prediction disabled •...
Page 487 Example of using transient commands Friction estimation data/vibration estimation data Setting "friction estimation data" and "vibration estimation data" to the transient command does not enable the correct values to be stored. With the procedure below, perform machine diagnosis and refer to the values. Operate the servo motor approximately 20 minutes in the operation pattern of "Machine diagnosis function - Friction judgment speed (parameter No.125E)"...
Page 488 Buffer memory write (4bytes) [0292h] Request data/response data Content Request data 1 Start I/O No. (first 2 digits of 3-digit display) Request data 2 Buffer memory address Request data 3 Write data (lower) Request data 4 Write data (upper) Response data 1 0 (fixed value) Response data 2 Response data 3...
Page 489 7.19 Hot Line Forced Stop Function When an alarm occurs in a MR-JE-_B servo amplifier, the hot line forced stop function stops the other axes on the same line with a deceleration stop, allowing the axes to stop safely. When the main circuit power is shut-off at a servo alarm occurrence, use this function.
Page 490 The setting values for "Hot line forced stop function selection (servo parameter No.111A)", and the operation in the servo amplifier is shown below. • Using MR-JE-_B Setting value Hot line output Deceleration stop at the receiving of hot line signal 0: Enabled (initial value) Enabled Enabled...
Page 491 TANDEM DRIVE The tandem drive is the function that 1 physically connected axis is driven by 2 motors. The position board provides the same position command to the 2 axes set up for the tandem drive. The tandem drive can be set up for a maximum of 8 sets (16 axes). [MC300] Use the same type servo amplifier for the tandem drive group.
Page 492 Non-synchronous micro-adjustment mode The non-synchronous micro-adjustment mode temporarily cancels synchronizing in order to adjust the position balance between the master axis and the slave axis. This enables submitting different position commands to each of the axes. This can only be done when using the incremental feed or the JOG operation. When the home position return has been completed, even if the tandem drive mode is switched to the non-synchronous micro-adjustment mode, the system is not switched to the non-home position return complete (the home position return request signal (ZREQ) is not ON).
Page 493 Changing of drive mode The changing of modes is performed using ON/OFF of the non-synchronous command signal (ASYN:  is the group No.). The changing of mode can be performed on a group basis. The changing of drive mode can only be performed when all of the following conditions are met. •...
Page 494 Parameter Settings Designation of tandem drive axes Setting the group No. in "Tandem drive group (parameter No.0264)" defines the tandem drive axis. The 2 axes that are set to the same group No. can be driven in parallel. The maximum number of groups that can be driven in parallel is 8 (groups 1 to 8).
Page 495 Axis Data Classifications The axis data for the tandem drive axes have 2 data type settings: "only master axis data is valid" and "master axis/slave axis data are separate". • For the axis data classifications for the tandem drive axes, refer to the following. Page 599 Axis Data In the above table, the data only valid for the master axis is designated as "master", the individual data for the master axis/slave axis is designated as "each axis".
Page 496 Tandem Drive Axis Operation For the start operation functions of each axis in the synchronous mode, call the master axis only. Home position return during the tandem drive The method for returning to home position while using the tandem drive axes includes : dog method, dog cradle method, data set method, dog front end method, Z-phase detection method, scale home position signal detection method, and scale home position signal detection method 2.
Page 497 Home position return using a dog cradle method Home position return speed Home position Speed Creep speed (master axis) Amount of home position shift Proximity dog Z-phase pulse (master axis) Home position return speed Speed Creep speed (slave axis) Amount of home position shift Start operation (ST) (master axis) Proximity dog signal...
Page 498 Home position return using a data set method This explanation is an example for using JOG operation for moving to home position. The positions of the master axis: P and slave axis: become the home position for each axis. Home position Master axis Synchronous operation...
Page 499 Home position return using a dog front end method Home position return using a dog front end method uses the proximity dog front end as the home position. The following two methods are available for the home position return using a dog front end method with the tandem drive axes: using the proximity dog front end on the master axis as the home position and detecting each proximity dog front end for the master axis and slave axis to perform tweaking (compensation of deviation between master axis and slave axis).
Page 500 ■Deviation compensation valid The motion detected by the proximity dog front end slows down to stop, and return to the proximity dog front end at creep speed, setting there to the home position. When deviation compensation is valid, the proximity dog signals for the master axis and for the slave axis are used to calculate the amount of deviation between each dog front end position or to compensate the deviation between the master axis and the slave axis.
Page 501 • Normal mode In normal mode, the amount of deviation between the master axis and slave axis is detected and tweaking (compensation of deviation between master axis and slave axis) is performed. This movement sets the axis linking the master axis and slave axis mechanically at a right angle to the movement direction.
Page 502 Home position return using a Z-phase detection method This explanation is an example for using JOG operation for moving to home position. The final stop position for both the master axis and the slave axis is based on the first master axis motor Z-phase in the home position return direction from the start operation position.
Page 503 Home position return using a scale home position signal detection method Home position return is performed using a home position signal (Z-phase) on a linear scale. After detecting the proximity dog, move in the opposite direction of the home position and the position where a home position signal is detected is defined to be the home position.
Page 504 ■Start operation method 1. Adjust the axis linking the master axis and slave axis mechanically at a right angle to the movement direction. 2. Set "Home position return method" of "Home position return option 1 (parameter No.0240)" to "6: Scale home position signal detection method" and "Method of to home position return"...
Page 505 • Normal mode In normal mode, the amount of deviation between the master axis and slave axis is detected and tweaking (compensation of deviation between master axis and slave axis) is performed. This movement sets the axis linking the master axis and slave axis mechanically at a right angle to the movement direction.
Page 506 Home position return using a scale home position signal detection method 2 Home position return is performed using a home position signal (Z-phase) on a linear scale. After the start operation is performed, move in the opposite direction of the home position and the position where a home position signal is detected is defined to be the home position.
Page 507 • Normal mode In normal mode, the amount of deviation between the master axis and slave axis is detected and tweaking (compensation of deviation between master axis and slave axis) is performed. This movement sets the axis linking the master axis and slave axis mechanically at a right angle to the movement direction.
Page 508 JOG operation during the tandem drive Synchronous mode When the JOG operation is performed while in the synchronous mode, the master axis data and the signals are used. Speed (master axis) Speed (slave axis) Start of operation Stop operation Start operation (ST) (master axis) JOG operation mode (JOG) (master axis)
Page 509 Incremental feed while using the tandem drive Synchronous mode When the incremental feed operation is performed while in the synchronous mode, the master axis data and the signals are used. Speed (master axis) Speed (slave axis) Start operation (ST) (master axis) Incremental feed mode (S) (master axis) In incremental feed mode (SO)
Page 510 Automatic operation during tandem drive Synchronous mode When the automatic operation is performed while in the synchronous mode, the master axis data and the signals are used. Also, the master axis table is used for the point table. Rough match output limits Speed (master axis) (parameter...
Page 511 Interpolation operation during the tandem drive When performing the linear interpolation operation [MC200]/interpolation operation [MC300], it is necessary to group the axes for which the interpolation is to be set up. The groups are set up using "Linear interpolation group [MC200]/interpolation group [MC300] (parameter No.0260)"...
Page 512 The in-position signal (INP) is output for each axis separately; therefore, when the axes have come to a stop and the in- position signals (INP) are being used, confirm the in-position signal (INP) for both the master axis and the slave axis. For other types of operation, the normal axis operation is followed.
Page 513 Servo On and Servo Off During Tandem Drive Axis Operation Synchronous mode When the master axis servo on signal (SON) and the slave axis servo on signal (SON) are turned ON, the both axes are turned on. Also, when the servo on signal (SON) for either the master axis or the slave axis is turned OFF, both axes are turned servo off.
Page 514 • The Synchronization is validated after the home position return complete (after the home position is established). When the home position return request signal (ZREQ) is ON, the synchronization is not performed. • Set the speed at the synchronization using "Tandem drive synchronous alignment speed (parameter No.0267)"...
Page 515 Tandem Drive Axis Limit Switch If the limit switches on either the master axis or the slave axis is detected, an alarm occurs and both axes are stopped using the rapid stop time constant. For other types of operation, the normal axis operation is followed. Refer to the following. Page 170 Limit Switch (Stroke End) Tandem Drive Axis Software Limit The software limits become valid after completing the home position return (the home position return request signal (ZREQ) is...
Page 516 Tandem Drive Axis Servo Alarms If a servo alarm occurs on either the master axis or the slave axis, the axis for which the servo alarm did not occur is stopped using a dynamic brake as well. When the cause for the alarm on an axis is removed such as through a servo alarm reset, the dynamic brake is canceled.
Page 517 INTERFACE MODE Interface mode is a function for sending the commands for every control cycle (position commands, speed commands and torque commands) straight to the servo amplifier. By using this function, any given acceleration/deceleration pattern, speed pattern, or torque pattern is possible. To use interface mode, designate "1: Interface mode"...
Page 518 [API library] • For a detailed procedure for interface mode, refer to the sample program (InterruptIfmDrive/PollingIfmDrive) contained on the utility software. • When the response of the host personal computer operating system is not on time due to the load of the user program etc., increase the number of position command buffers to be used (position control only), or set the command data update cycle longer.
Page 519 Combinations with Functions The following shows the combinations of interface mode with each function. : Usable, : Unusable, : Restriction Classifica Function Control mode Remarks tion Position Speed Torque control control control Operational JOG operation    function Incremental feed ...
Page 520 Classifica Function Control mode Remarks tion Position Speed Torque control control control Application Gain switching    function PI-PID switching    Absolute position detection system    Home position return request    Other axes start ...
Page 521 Parameters For interface mode, the parameters used and some of the parameter functions change. The following are parameters used in interface mode. System parameters System parameters used Parameter No. Symbol Name Remarks 0001 *SYSOP1 System option 1 0002 *SYSOP2 System option 2 Set interface mode in control mode.
Page 522 Control parameters Control parameters used Parameter Symbol Name Remarks 0200 *OPC1 Control option 1 Speed units relates to the units during monitor output. 0203 *AXALC Axis No. assignment 020E SUML Speed units multiplication factor Speed units multiplication factor relates to the units during monitor output. (lower) 020F SUMH...
Page 523 Interface System information table Address (hexadecimal) Name Description MR-MC2_ _ MR-MC3_ _ 0010 000010 Interrupt output cycle The interrupt output cycle (control cycle  N) outputs the value of N. 0011 000011 0012 000012 Command data update cycle The command data update cycle (control cycle  N) outputs the value of N.
Page 524 • Details concerning system status bit Symbol Signal name Function details Function Operation Conditions for turning ON Conditions for turning OFF IITO During interface Notify that the interrupt during The interrupt output start signal (ITS) is The interrupt output start signal (ITS) is mode interrupt valid interface mode is valid.
Page 525 Command buffer The numbers and the addresses of the command buffers that are used differ for each control mode. The buffers for each control mode are shown below. ■Position control mode The addresses in the table are the addresses for the first axis. For the second axis and after, add "+100h" for each axis. Address (hexadecimal) Content MR-MC2_ _...
Page 526 Address (hexadecimal) Content MR-MC2_ _ MR-MC3_ _ 502C 10102C Position command buffer 11 [pulse] 502D 10102D 502E 10102E 502F 10102F 5030 101030 Position command buffer 12 [pulse] 5031 101031 5032 101032 5033 101033 5034 101034 Position command buffer 13 [pulse] 5035 101035 5036...
Page 527 ■Speed control mode The addresses in the table are the addresses for the first axis. For the second axis and after, add the following value for each axis. • Using MR-MC2_ _: +80h • Using MR-MC3_ _: +100h Setting range: -1000000000 (-10000000r/min) to 1000000000 (10000000r/min) Address (hexadecimal) Content MR-MC2_ _...
Page 528 Control Method Control mode The control mode is switched by specifying the control mode in "control mode command". Switching to/from position control mode to/from speed control mode/torque control mode is performed while the motor is stopped, and switching between speed control mode and torque control mode is possible at any given time.
Page 529 Position control mode Position control mode is the mode that position commands (absolute position in pulse units) generated by the user program can be sent to the servo amplifier. The position command buffer is made up of position data  a maximum of 64 ring buffers, and is controlled with the latest position command buffer No.
Page 530 Axis data command/status table ■Axis data command table The addresses in the table are the addresses for the first axis. For the second axis and after, add the following value for each axis. • Using MR-MC2_ _: +C0h • Using MR-MC3_ _: +140h Address (hexadecimal) Name Setting range...
Page 531 Speed control mode Speed control mode is the mode that speed commands (speed in units of 0.01r/min) generated by the user program can be sent to the servo amplifier. The speed command buffer is made up of speed command data  a maximum of 1 buffer. For the update method of the buffer, refer to the following.
Page 532 Monitor When using speed control mode in interface mode, use the following monitor No. to monitor/sample the speed commands being sent to the servo amplifier. ■Operation information Monitor No. Content Unit Remarks (hexadecimal) 0324 Speed command (lower) 0.01r/min Notify the speed command during speed control. 0325 Speed command (upper) ■Operation information (double word)
Page 533 Torque control mode Torque control mode is the mode that torque commands (torque in units of 0.1%) generated by the user program of the host personal computer can be sent to the servo amplifier. The torque command buffer is made up of torque command data  a maximum of 1 buffer.
Page 534 Parameter ■System parameter Parameter No. Symbol Name Remarks 000F *IFMO Interface mode option Set the interrupt output cycle and command data update cycle. *1 The settings for the parameters with a * mark at the front of the symbol are validated when the system is started. Axis data command/status table ■Axis data command table The addresses in the table are the addresses for the first axis.
Page 535 Control method for interrupt output invalid Interrupt output invalid is compatible with position control mode only. • When the update of the latest position command buffer No. is delayed etc. due to the load, etc. on the user program, and the latest position command buffer No. and the transmit position command buffer No. continue to be the same, the same position command details are transmitted to the servo amplifier.
Page 536 [Example 3: After setting buffer (10 cycles)] On hold until next time Position command data in the user program Position command buffer before setting command Latest command Transmit buffer No. buffer No. Procedure for updating position command data The procedure for updating position command data when interrupt output is invalid is shown below. Start Get latest position command buffer No.
Page 537 Control method for interrupt output valid There is no difference in control method for position control mode, speed control mode, and torque control mode when control method for interrupt output is valid. The control method is as follows. The following is the control method when interrupt output is validated (the interrupt output start signal (ITS) is turned ON), and the number of command buffers used is 0.
Page 538 The timing of control differs depending on the settings of the command data update cycle and interrupt output cycle. Use the table below when referring to the timing charts. Command data Interrupt output cycle Reference update cycle Control cycle  1 Control cycle ...
Page 539 When command data update cycle = interrupt output cycle ■When command data update cycle is control cycle  1, and interrupt output cycle is control cycle × 1. sscIfmRenewLatestBufferEx function User program Command buffer 0 Handler Handler processing write sscSetCommandBitSignalEx function Control on (SSC_CMDBIT_SYS_HMA) host personal...
Page 540 When command data update cycle > interrupt output cycle The following is an example of when command data update cycle is control cycle  2, and interrupt output cycle is control cycle  1. Using the interrupt output cycle as a reference, the user program updates the command buffer during the command data update cycle once only.
Page 541 Speed control mode Switch to speed control mode is performed with the following procedure. Confirm that the zero speed signal (ZSP) is turned ON. (Not required when switching from torque control mode) Input "0001h: Speed control mode" to the control mode command. Confirm that control mode status is "0001h: Speed control mode".
Page 542 Examples of switching control mode The switch timing for every setting of position control mode, speed control mode, and torque control mode when using interface mode is as follows. Position control mode  speed control mode Speed 300.00r/min Zero speed (ZSP) sscIfmRenewLatestBufferEx function ˜˜˜...
Page 543 Position control mode  torque control mode Torque 30.0% Zero speed (ZSP) sscIfmRenewLatestBufferEx function Torque command ˜˜˜ ˜˜˜ data sscIfmTrqSetSpeedLimit function Torque control 20000 speed limit value Current feedback position sscIfmRenewLatestBufferEx function Position command data sscIfmSetControlMode function sscIfmSetControlMode function Control mode 0000h: Position control 0002h: Torque control 0000h: Position control...
Page 544 Speed control mode  torque control mode Speed 200.00r/min -100.00r/min Torque 30.0% sscIfmRenewLatestBufferEx function Speed command ˜˜˜ ˜˜˜ 20000 -10000 data sscIfmRenewLatestBufferEx function Torque command ˜˜˜ ˜˜˜ data sscIfmTrqSetSpeedLimit function Torque control 10000 speed limit value sscIfmSetControlMode function sscIfmSetControlMode function Control mode 0001h: Speed control 0002h: Torque control...
Page 545 Interrupt Output Cycle When several buffers are used in interrupt valid, and interrupt output for every control cycle is not needed, the cycle of interrupt output can be changed by "Interrupt output cycle" of "Interface mode option (parameter No.000F)". System parameter Parameter Symbol Name...
Page 546 Event Detection Function The event detection function detects the ON/OFF edges of specified status bits. Using this function eliminates the process of getting the status bits for every control cycle, reducing the processing load of the user program. The event detection function outputs the factor of event to the dual port memory when an event (alarm occurrence, change in the status of sensor input) occurs.
Page 547 Factor of axis event Address (hexadecimal) Content MR-MC2_ _ MR-MC3_ _ 0EE0 0043E0 Factor of event Axis 1 0EE1 0043E1 0EE2 0043E2 0EE3 0043E3 0043E4  0043E5 0043E6 0043E7 0EE4 0043E8 Factor of event Axis 2 0EE5 0043E9 0EE6 0043EA 0EE7 0043EB ...
Page 548 Address (hexadecimal) Content MR-MC2_ _ MR-MC3_ _ 004560 Factor of event Axis 49  004561 004562 004563 004564 004565 004566 004567 004568 Factor of event Axis 50 004569 00456A 00456B 00456C 00456D 00456E 00456F 004570   0045D7 0045D8 Factor of event Axis 64 0045D9 0045DA 0045DB...
Page 549 ■Details on factor of event on axis n The addresses in the table are the addresses for the first axis. For the second axis and after, add the following value for each axis. • Using MR-MC2_ _: +4h • Using MR-MC3_ _: +8h Address (hexadecimal) Symbol Signal name...
Page 550 Servo Off If an axis has moved due to an external force during servo off, perform a follow up (refer to the formula below) to update the position command in accordance with the movement (current feedback position). Position command = Feedback position Machinery command position = Position command - Home position offset CAUTION If a follow up is not performed, the servo amplifiers may align the current command position with the position command at servo on, and the motors may...
Page 551 Home Position Return When startup is performed in interface mode, the operational function home position return cannot be used. Therefore, for an absolute position detection system, use the following method to perform the home position return. For an incremental system, home position set is not necessary.
Page 552 Axis data command/status bit ■Axis data command bit The addresses in the table are the addresses for the first axis. For the second axis and after, add the following value for each axis. • Using MR-MC2_ _: +C0h • Using MR-MC3_ _: +140h Address (hexadecimal) Symbol Signal name...
Page 553 9.10 Coordinate Management This section shows an example of how to approach coordination management. Incremental system When using servo amplifiers with incremental system setting, the current command position (position command) when SSCNET connection is restored is 0. Afterwards, a coordinate system value for a position of 0 when the SSCNET is connected needs to be used for the position command that the user program applies to position board until connecting to SSCNET again.
Page 554 Absolute position system When using servo amplifiers with absolute position system setting, the absolute position restored when connected to SSCNET is a position calculated from "home position coordinates", "home position within 1 revolution", and "home position multiple revolution data" set to the parameters. Afterwards, a coordinate system value for when the SSCNET is connected needs to be used for the position command that the user program applies to position board until connecting to SSCNET again.
Page 555 After home position return Position board also operates with the same coordinate system as when connected to SSCNET after home position return. As a result, the machinery command position and position command deviate by the difference between the new coordinate system and the coordinate system when connected to SSCNET.
Page 556 TABLE MAP 10.1 Table Map List • Do not write to manufacturer setting areas. • The start No. in the point table for each axis can be designated by using point No. offset. MR-MC2_ _ table • Dual port memory Address Table area content Reference...
Page 557 Address Table area content Reference (hexadecimal) 3400h RIO command/status Station 1 Command Page 628 Remote I/O Data (1024bytes) (128bytes)  Status 3480h Station 2 Command (128bytes)  Status 3500h Station 3 Command (128bytes)  Status 3580h Station 4 Command (128bytes) ...
Page 558 Address Table area content Reference (hexadecimal) BD30h For manufacturer setting  (112bytes)  BDA0h Sampling data Page 405 Command/status data (96bytes)  BE00h Sampling data read Page 426 Sampling data read (4224bytes)  CE80h For manufacturer setting  (1408bytes)  D400h Transient transmit command/status Page 640 Transient Transmit Command/status...
Page 559 MR-MC3_ _ table • Dual port memory Address Table area content Reference (hexadecimal) 000000h System information Page 560 System Information (2816bytes)  000B00h System command/status Page 564 System Command/status (448bytes)  000CC0h System configuration information Page 598 System Configuration Information (832bytes) ...
Page 560 Address Table area content Reference (hexadecimal) 00F000h RIO command/status Station 1 Command Page 628 Remote I/O Data (6144bytes) (192bytes)  Status 00F0C0h Station 2 Command  (192bytes) Status 00F180h Station 3 Command (192bytes)  Status Command   Status 00FB40h Station 16 Command (192bytes)
Page 561 Address Table area content Reference (hexadecimal) 0E4000h For manufacturer setting  (96bytes)  0E4060h Sampling data Page 405 Command/status data  (160bytes) 0E4100h Sampling data read Page 426 Sampling data read (16896bytes)  0E8300h For manufacturer setting   (67584bytes) 0F8B00h Transient transmit command/status Page 640 Transient Transmit Command/status...
Page 562 10.2 System Information Address (hexadecimal) Content MR-MC2_ _ MR-MC3_ _ 0000 000000 CH No. 0001 000001 0002 000002 Number of lines 0003 000003 0004 000004 Control cycle status 0001h: 0.88ms 0002h: 0.44ms 0005 000005 0003h: 0.22ms 0006 000006 For manufacturer setting 0007 000007 0008...
Page 563 Address (hexadecimal) Content MR-MC2_ _ MR-MC3_ _ 0030 0000D0 System program software version 0031 0000D1 0032 0000D2 0033 0000D3 0034 0000D4 0035 0000D5 0036 0000D6 0037 0000D7 0038 0000D8 0039 0000D9 003A 0000DA 003B 0000DB 003C 0000DC 003D 0000DD 003E 0000DE 003F 0000DF...
Page 564 Address (hexadecimal) Content MR-MC2_ _ MR-MC3_ _ 0260 000300 Servo amplifier software version (Axis 33)   026F 00030F 0270 000310    034F 0003EF 0350 0003F0 Servo amplifier software version (Axis 48)   035F 0003FF 000400 Servo amplifier software version (Axis 49) ...
Page 565 Address (hexadecimal) Content MR-MC2_ _ MR-MC3_ _ 03D0 000970 Remote I/O software version (Station 8)   03DF 00097F 000980 Remote I/O software version (Station 9)   00098F 000990   0009EF 0009F0 Remote I/O software version (Station 16) ...
Page 566 10.3 System Command/status System commands Address (hexadecimal) Content MR-MC2_ _ MR-MC3_ _ 03E0 000B00 Command bit 03E1 000B01 03E2 000B02 03E3 000B03 03E4 000B04 03E5 000B05 03E6 000B06 03E7 000B07 03E8 000B08 03E9 000B09 03EA 000B0A 03EB 000B0B 03EC 000B0C 03ED 000B0D 03EE...
Page 567 Address (hexadecimal) Content MR-MC2_ _ MR-MC3_ _ 000B2D For manufacturer setting  000B2E 000B2F 0400 000B30 System command code 0401 000B31 0402 000B32 Watchdog check counter 0403 000B33 0404 000B34 Watchdog timer start counter 0405 000B35 0406 000B36 Reboot ID 0407 000B37 0408...
Page 568 Address (hexadecimal) Content MR-MC2_ _ MR-MC3_ _ 0446 000B76 Alarm history initialization ID 0447 000B77 0448 000B78 System startup time 0449 000B79 044A 000B7A 044B 000B7B 044C 000B7C 044D 000B7D 044E 000B7E 044F 000B7F 000B80 For manufacturer setting   000BDF System command code System command code...
Page 569 Address (hexadecimal) Symbol Signal name MR-MC2_ _ MR-MC3_ _ 03E1 000B01 SMPS Sampling start For manufacturer setting  Address (hexadecimal) Symbol Signal name MR-MC2_ _ MR-MC3_ _ 03E2 000B02 SEMI Software forced stop For manufacturer setting  *1 Software forced stop is a normally-open contact (an external forced stop is a normally-closed contact). When the signal is turned ON, the status becomes forced stop status.
Page 570 Address (hexadecimal) Symbol Signal name MR-MC2_ _ MR-MC3_ _ 03E6 000B06 ASYN1 Non-synchronous command (group 1) ASYN2 Non-synchronous command (group 2) ASYN3 Non-synchronous command (group 3) ASYN4 Non-synchronous command (group 4) ASYN5 Non-synchronous command (group 5) ASYN6 Non-synchronous command (group 6) ASYN7 Non-synchronous command (group 7) ASYN8...
Page 571 Address (hexadecimal) Symbol Signal name MR-MC2_ _ MR-MC3_ _ 03EB 000B0B Reconnection command  For manufacturer setting Disconnection command For manufacturer setting  Address (hexadecimal) Symbol Signal name MR-MC2_ _ MR-MC3_ _ 03EC 000B0C For manufacturer setting    03EF 000B0F Address (hexadecimal)
Page 572 Address (hexadecimal) Symbol Signal name MR-MC2_ _ MR-MC3_ _ 03F3 000B13 For manufacturer setting    03F5 000B15 Address (hexadecimal) Symbol Signal name MR-MC2_ _ MR-MC3_ _ 03F6 000B16 Flash ROM transfer preparation Flash ROM transfer execution For manufacturer setting ...
Page 573 System status Address (hexadecimal) Content MR-MC2_ _ MR-MC3_ _ 0450 000BE0 Status bit 0451 000BE1 0452 000BE2 0453 000BE3 0454 000BE4 0455 000BE5 0456 000BE6 0457 000BE7 0458 000BE8 0459 000BE9 045A 000BEA 045B 000BEB 045C 000BEC 045D 000BED 045E 000BEE 045F 000BEF...
Page 574 Address (hexadecimal) Content MR-MC2_ _ MR-MC3_ _ 0470 000C10 System status code 0471 000C11 0472 000C12 Watchdog timer 0473 000C13 0474 000C14 System alarm No. 0475 000C15 0476 000C16 Specific system alarm No. 0477 000C17 0478 000C18 Command buffer read error counter 0479 000C19 047A...
Page 575 Address (hexadecimal) Content MR-MC2_ _ MR-MC3_ _ 04B6 000C56 Number of valid alarm history events 04B7 000C57 04B8 000C58 For manufacturer setting   04BF 000C5F 000C60   000CBF System status code System status code Content 0000 During system preparation 0001 System preparation completion 0003...
Page 576 Address (hexadecimal) Symbol Signal name MR-MC2_ _ MR-MC3_ _ 0451 000BE1 SMPW Waiting for sampling trigger SMPO Sampling is being performed SMPF Sampling completed SMPE Sampling error For manufacturer setting  AHINF Alarm history information  For manufacturer setting Address (hexadecimal) Symbol Signal name MR-MC2_ _...
Page 577 Address (hexadecimal) Symbol Signal name MR-MC2_ _ MR-MC3_ _ 0456 000BE6 ASYO1 In non-synchronous mode (group 1) ASYO2 In non-synchronous mode (group 2) ASYO3 In non-synchronous mode (group 3) ASYO4 In non-synchronous mode (group 4) ASYO5 In non-synchronous mode (group 5) ASYO6 In non-synchronous mode (group 6) ASYO7...
Page 578 Address (hexadecimal) Symbol Signal name MR-MC2_ _ MR-MC3_ _ 045B 000BEB During reconnection processing Reconnection complete Reconnection error During disconnection processing Disconnection complete Disconnection error For manufacturer setting  Address (hexadecimal) Symbol Signal name MR-MC2_ _ MR-MC3_ _ 045C 000BEC For manufacturer setting ...
Page 579 Address (hexadecimal) Symbol Signal name MR-MC2_ _ MR-MC3_ _ 0463 000BF3 For manufacturer setting    0465 000BF5 Address (hexadecimal) Symbol Signal name MR-MC2_ _ MR-MC3_ _ 0466 000BF6 FROK Flash ROM transfer preparation complete FRNG Flash ROM transfer preparation error FSOK Flash ROM transfer complete FSNG...
Page 580 10.4 Factor of Interrupt Outputting information with factor of interrupt When an interrupt occurs, the bit corresponding to the axis No., station No., or system which is the factor of the interrupt turns Address (hexadecimal) Content Remarks MR-MC2_ _ MR-MC3_ _ 04C0 002000 Outputting with factor of axis interrupt 1...
Page 581 Interrupt factor for each axis Address (hexadecimal) Content MR-MC2_ _ MR-MC3_ _ 04D0 002020 Factor of interrupt Axis 1 04D1 002021 04D2 002022 04D3 002023 04D4 002024 Factor of interrupt Axis 2 04D5 002025 04D6 002026 04D7 002027 04D8 002028 Factor of interrupt Axis 3 04D9 002029...
Page 582 Address (hexadecimal) Content MR-MC2_ _ MR-MC3_ _ 0500 002050 Factor of interrupt Axis 13 0501 002051 0502 002052 0503 002053 0504 002054    054B 00209B 054C 00209C Factor of interrupt Axis 32 054D 00209D 054E 00209E 054F 00209F 0550 0020A0 Factor of interrupt Axis 33...
Page 583 Details on factor of interrupt on axis n The addresses in the table are the addresses for the first axis. For the second axis and after, add "+4h" for each axis. Address (hexadecimal) Symbol Signal name MR-MC2_ _ MR-MC3_ _ 04D0 to 04D3 002020 to 002023 iRDY...
Page 584 System interrupt factor Address (hexadecimal) Content MR-MC2_ _ MR-MC3_ _ 0590 002220 System interrupt factors 0591 002221 0592 002222 For manufacturer setting 0593 002223 002224   002227 0594 002228 Factor of other axes start interrupt [MC200]/Factor of other axes start interrupt 1 [MC300] 0595 002229 0596...
Page 585 Details on factor of system interrupt Address (hexadecimal) Symbol Signal name MR-MC2_ _ MR-MC3_ _ 0590, 0591 002220, 002221 iSYSE System error (interrupt) iCALM System alarm (interrupt) iEMIO During forced stop (interrupt)  For manufacturer setting iOCME Operation cycle alarm (interrupt) iOASF Factor of other axes start interrupt is being sent (interrupt) iPPI...
Page 586 Factor of other axes start interrupt When the factor of other axes start interrupt is being sent (interrupt) signal (iOASF) is ON, the bit corresponding to other axes start data No. turns ON. ■Factor of other axes start interrupt [MC200]/Factor of other axes start interrupt 1 [MC300] Address (hexadecimal) Symbol Signal name...
Page 587 ■Factor of other axes start interrupt 2 Address (hexadecimal) Symbol Signal name MR-MC2_ _ MR-MC3_ _  00222C to iOAS33 Other axes start data 33 (interrupt) 00222F iOAS34 Other axes start data 34 (interrupt) iOAS35 Other axes start data 35 (interrupt) iOAS36 Other axes start data 36 (interrupt) iOAS37...
Page 588 Details on factor of other axes start interrupt When the other axes start data  (interrupt) signal (iOAS) is ON, the interrupt factor of other axes start status bit corresponding to other axes start data No. turns ON. Address (hexadecimal) Content MR-MC2_ _ MR-MC3_ _...
Page 589 Address (hexadecimal) Content MR-MC2_ _ MR-MC3_ _ 004910 Details on factor of other axes start interrupt 49  004911 Details on factor of other axes start interrupt 50 004912 Details on factor of other axes start interrupt 51 004913 Details on factor of other axes start interrupt 52 004914 Details on factor of other axes start interrupt 53 004915...
Page 590 Factor of pass position interrupt When the outputting with the factor of pass position interrupt is being sent (interrupt) signal (iPPI) is ON, the bit corresponding to the pass position condition No. of the factor of the pass position interrupt turns ON. ■Factor of pass position interrupt 1 Address (hexadecimal) Symbol...
Page 591 ■Factor of pass position interrupt 2 Address (hexadecimal) Symbol Signal name MR-MC2_ _ MR-MC3_ _ 059C to 059F 00223C to iPPI33 Pass position condition 33 (interrupt) 00223F iPPI34 Pass position condition 34 (interrupt) iPPI35 Pass position condition 35 (interrupt) iPPI36 Pass position condition 36 (interrupt) iPPI37 Pass position condition 37 (interrupt)
Page 592 ■Factor of pass position interrupt 3 Address (hexadecimal) Symbol Signal name MR-MC2_ _ MR-MC3_ _  002240 to iPPI65 Pass position condition 65 (interrupt) 002243 iPPI66 Pass position condition 66 (interrupt) iPPI67 Pass position condition 67 (interrupt) iPPI68 Pass position condition 68 (interrupt) iPPI69 Pass position condition 69 (interrupt) iPPI70...
Page 593 ■Factor of pass position interrupt 4 Address (hexadecimal) Symbol Signal name MR-MC2_ _ MR-MC3_ _  002244 to iPPI97 Pass position condition 97 (interrupt) 002247 iPPI98 Pass position condition 98 (interrupt) iPPI99 Pass position condition 99 (interrupt) iPPI100 Pass position condition 100 (interrupt) iPPI101 Pass position condition 101 (interrupt) iPPI102...
Page 594 Details on factor of pass position interrupt When the pass position condition  (interrupt) signal (iPPI) is ON, the pass position status bit corresponding to the pass position condition No. turns ON. Address (hexadecimal) Content MR-MC2_ _ MR-MC3_ _ 0FA0 0047E0 Details on factor of pass position interrupt 1 0FA1...
Page 595 Interrupt factor for each station Address (hexadecimal) Content MR-MC2_ _ MR-MC3_ _ 05B0 0022A0 Station interrupt factor station 1 05B1 0022A1 05B2 0022A2 Station interrupt factor station 2 05B3 0022A3 05B4 0022A4 Station interrupt factor station 3 05B5 0022A5 05B6 0022A6 Station interrupt factor station 4 05B7...
Page 596 Details on station n interrupt factors The addresses in the table are the addresses for the first axis. For the second axis and after, add "+2h" for each axis. Address (hexadecimal) Symbol Signal name MR-MC2_ _ MR-MC3_ _ 05B0, 05B1 0022A0, 0022A1 For manufacturer setting ...
Page 597 10.5 Factor of Event Address (hexadecimal) Content MR-MC2_ _ MR-MC3_ _ 0EE0 0043E0 Factor of event Axis 1 0EE1 0043E1 0EE2 0043E2 0EE3 0043E3 0043E4  0043E5 0043E6 0043E7 0EE4 0043E8 Factor of event Axis 2 0EE5 0043E9 0EE6 0043EA 0EE7 0043EB 0043EC...
Page 598 Address (hexadecimal) Content MR-MC2_ _ MR-MC3_ _ 004560 Factor of event Axis 49  004561 004562 004563 004564 004565 004566 004567 004568 Factor of event Axis 50 004569 00456A 00456B 00456C 00456D 00456E 00456F 004570   0045D7 0045D8 Factor of event Axis 64 0045D9 0045DA 0045DB...
Page 599 Details on factor of event on axis n The addresses in the table are the addresses for the first axis. For the second axis and after, add the following value for each axis. • Using MR-MC2_ _: +4h • Using MR-MC3_ _: +8h Address (hexadecimal) Symbol Signal name...
Page 600 10.6 System Configuration Information Address (hexadecimal) Content Remarks MR-MC2_ _ MR-MC3_ _ 06D0 000CC0 For manufacturer setting    06DF 000CCF 06E0 000CD0 Controlling axis information (lower) The bit corresponding to the axis which is currently controllable [MC200]/Controlling axis information 1 (SSCNET communicating axis or amplifier-less axis) turns ON.
Page 601 10.7 Axis Data Axis data command table The addresses in the table are the addresses for the first axis. For the second axis and after, add the following value for each axis. • Using MR-MC2_ _: +C0h • Using MR-MC3_ _: +140h The when in tandem drive (synchronous) column in the table is for axis data classification for when using tandem drive.
Page 602 Address (hexadecimal) Content When in tandem drive (synchronous) MR-MC2_ _ MR-MC3_ _ 005020 Command Bit Refer to the following.  Page 602 005021 Command bit 005022 005023 005024 005025 005026 005027 005028 005029 00502A 00502B 00502C 00502D 00502E 00502F 1020 005030 Manual feed speed Master...
Page 603 Address (hexadecimal) Content When in tandem drive (synchronous) MR-MC2_ _ MR-MC3_ _ 1044 005054 Monitor No.3 Each axis 1045 005055 1046 005056 Monitor No.4 Each axis 1047 005057 1048 005058 Torque control speed limit value  1049 005059 104A 00505A 104B 00505B 104C...
Page 604 Command bit The addresses in the table are the addresses for the first axis. For the second axis and after, add the following value for each axis. • Using MR-MC2_ _: +C0h • Using MR-MC3_ _: +140h The when in tandem drive column in the table is for axis data classification for when using tandem drive synchronous mode. •...
Page 605 Address (hexadecimal) Symbol Signal name When in tandem drive MR-MC2_ _ MR-MC3_ _ 1004 005004 Interlock Master RMONR High speed monitor latch command Each axis For manufacturer setting   LSPC + side limit switch input Each axis LSNC - side limit switch input Each axis DOGC Proximity dog input...
Page 606 Address (hexadecimal) Symbol Signal name When in tandem drive MR-MC2_ _ MR-MC3_ _ 1009 005009 For manufacturer setting   Address (hexadecimal) Symbol Signal name When in tandem drive MR-MC2_ _ MR-MC3_ _ 100A 00500A For manufacturer setting   Home position set command Not supported For manufacturer setting...
Page 607 Address (hexadecimal) Symbol Signal name When in tandem drive MR-MC2_ _ MR-MC3_ _ 100F 00500F GAIN2 Gain switching command 2 Each axis  For manufacturer setting  Address (hexadecimal) Symbol Signal name When in tandem drive MR-MC2_ _ MR-MC3_ _ 1010 005010 Monitor command...
Page 608 Address (hexadecimal) Symbol Signal name When in tandem drive MR-MC2_ _ MR-MC3_ _ 1016 005016 For manufacturer setting     101F 00501F Address (hexadecimal) Symbol Signal name When in tandem drive MR-MC2_ _ MR-MC3_ _ 005020 For manufacturer setting ...
Page 609 Axis data status table The addresses in the table are the addresses for the first axis. For the second axis and after, add the following value for each axis. • Using MR-MC2_ _: +C0h • Using MR-MC3_ _: +140h The when in tandem drive (synchronous) column in the table is for axis data classification for when using tandem drive. •...
Page 610 Address (hexadecimal) Content When in tandem drive (synchronous) MR-MC2_ _ MR-MC3_ _ 0050C0 Status bit Refer to the following.  Page 610 Status bit 0050C1 0050C2 0050C3 0050C4 0050C5 0050C6 0050C7 0050C8 0050C9 0050CA 0050CB 0050CC 0050CD 0050CE 0050CF 1080 0050D0 Operation alarm No.
Page 611 Address (hexadecimal) Content When in tandem drive (synchronous) MR-MC2_ _ MR-MC3_ _ 10AC 0050FC Monitor data 3 Each axis 10AD 0050FD 10AE 0050FE Monitor data 4 Each axis 10AF 0050FF 10B0 005100 Parameter write No.1 Each axis 10B1 005101 10B2 005102 Parameter write data 1 Each axis...
Page 612 Status bit The addresses in the table are the addresses for the first axis. For the second axis and after, add the following value for each axis. • Using MR-MC2_ _: +C0h • Using MR-MC3_ _: +140h For each bit, "0" stands for invalid and "1" stands for valid. The when in tandem drive column in the table is for axis data classification for when using tandem drive synchronous mode.
Page 613 Address (hexadecimal) Symbol Signal name When in tandem drive MR-MC2_ _ MR-MC3_ _ 1064 0050A4 ISTP Interlock stop Master RMRCH High speed monitor being latched Each axis Exceeded stop position Master Start up acceptance completed Master For manufacturer setting  ...
Page 614 Address (hexadecimal) Symbol Signal name When in tandem drive MR-MC2_ _ MR-MC3_ _ 1069 0050A9 Interference check standby Each axis SINP Servo amplifier in-position Each axis For manufacturer setting   Address (hexadecimal) Symbol Signal name When in tandem drive MR-MC2_ _ MR-MC3_ _ 106A...
Page 615 Address (hexadecimal) Symbol Signal name When in tandem drive MR-MC2_ _ MR-MC3_ _ 106F 0050AF GAIN2O Selecting gain switching 2 Each axis  For manufacturer setting  Address (hexadecimal) Symbol Signal name When in tandem drive MR-MC2_ _ MR-MC3_ _ 1070 0050B0 MOUT...
Page 616 Address (hexadecimal) Symbol Signal name When in tandem drive MR-MC2_ _ MR-MC3_ _ 1076 0050B6 For manufacturer setting     107F 0050BF Address (hexadecimal) Symbol Signal name When in tandem drive MR-MC2_ _ MR-MC3_ _ 0050C0 For manufacturer setting ...
Page 617 10.8 Axis Data (Sensing Module (Axis Mode)) Axis data command table The addresses in the table are the addresses for the first axis. For the second axis and after, add the following value for each axis. • Using MR-MC2_ _: +C0h •...
Page 618 Address (hexadecimal) Content MR-MC2_ _ MR-MC3_ _ 005020 Command bit  005021 005022 005023 005024 005025 005026 005027 005028 005029 00502A 00502B 00502C 00502D 00502E 00502F 1020 005030 Manual feed speed 1021 005031 1022 005032 1023 005033 1024 005034 Manual feed acceleration time constant 1025 005035 1026...
Page 619 Address (hexadecimal) Content MR-MC2_ _ MR-MC3_ _ 1044 005054 Monitor No.3 1045 005055 1046 005056 Monitor No.4 1047 005057 1048 005058 Torque control speed limit value 1049 005059 104A 00505A 104B 00505B 104C 00505C For manufacturer setting   104F 00505F 1050 005060...
Page 620 Command bit The addresses in the table are the addresses for the first axis. For the second axis and after, add the following value for each axis. • Using MR-MC2_ _: +C0h • Using MR-MC3_ _: +140h Address (hexadecimal) Symbol Signal name MR-MC2_ _ MR-MC3_ _...
Page 621 Address (hexadecimal) Symbol Signal name MR-MC2_ _ MR-MC3_ _ 1004 005004 Interlock RMONR High speed monitor latch command For manufacturer setting  LSPC + side limit switch input LSNC - side limit switch input DOGC Proximity dog input For manufacturer setting ...
Page 622 Address (hexadecimal) Symbol Signal name MR-MC2_ _ MR-MC3_ _ 1010 005010 Monitor command MONR Monitor latch command For manufacturer setting  Address (hexadecimal) Symbol Signal name MR-MC2_ _ MR-MC3_ _ 1011 005011 For manufacturer setting    1013 005013 Address (hexadecimal) Symbol Signal name...
Page 623 Address (hexadecimal) Symbol Signal name MR-MC2_ _ MR-MC3_ _ 005020 For manufacturer setting    00502F 10 TABLE MAP 10.8 Axis Data (Sensing Module (Axis Mode))
Page 624 Axis data status table The addresses in the table are the addresses for the first axis. For the second axis and after, add the following value for each axis. • Using MR-MC2_ _: +C0h • Using MR-MC3_ _: +140h Address (hexadecimal) Content MR-MC2_ _ MR-MC3_ _...
Page 625 Address (hexadecimal) Content MR-MC2_ _ MR-MC3_ _ 0050C0 Status bit  0050C1 0050C2 0050C3 0050C4 0050C5 0050C6 0050C7 0050C8 0050C9 0050CA 0050CB 0050CC 0050CD 0050CE 0050CF 1080 0050D0 Operation alarm No. 1081 0050D1 1082 0050D2 Specific operation alarm No. 1083 0050D3 1084 0050D4...
Page 626 Address (hexadecimal) Content MR-MC2_ _ MR-MC3_ _ 10AC 0050FC Monitor data 3 10AD 0050FD 10AE 0050FE Monitor data 4 10AF 0050FF 10B0 005100 Parameter write No.1 10B1 005101 10B2 005102 Parameter write data 1 10B3 005103 10B4 005104 Parameter write No.2 10B5 005105 10B6...
Page 627 Address (hexadecimal) Symbol Signal name MR-MC2_ _ MR-MC3_ _ 1062 0050A2 AUTO In automatic operation mode ZRNO In home position return mode In JOG operation mode In incremental feed mode For manufacturer setting  LIPO In linear interpolation mode [MC200]/in interpolation operation mode [MC300] DSTO In home position reset mode For manufacturer setting...
Page 628 Address (hexadecimal) Symbol Signal name MR-MC2_ _ MR-MC3_ _ 1067 0050A7 PPIOP Operating pass position interrupt PPIFIN Pass position interrupt completed PPIERR Pass position interrupt incompleted For manufacturer setting  AUTLO In point table loop Address (hexadecimal) Symbol Signal name MR-MC2_ _ MR-MC3_ _ 1068...
Page 629 Address (hexadecimal) Symbol Signal name MR-MC2_ _ MR-MC3_ _ 1071 0050B1 For manufacturer setting    1073 0050B3 Address (hexadecimal) Symbol Signal name MR-MC2_ _ MR-MC3_ _ 1074 0050B4 PWFIN1 Parameter write completed 1 PWEN1 Parameter No. error 1 PWED1 Parameter data out of bounds 1 For manufacturer setting...
Page 630 10.9 Remote I/O Data RIO data command table The addresses in the table are the addresses for the first station. For the second station and after, add the following value for each station. • Using MR-MC2_ _: +80h • Using MR-MC3_ _: +C0h Address (hexadecimal) Content MR-MC2_ _...
Page 631 Address (hexadecimal) Content MR-MC2_ _ MR-MC3_ _ 343C 00F03C Parameter read No.2 343D 00F03D 343E 00F03E For manufacturer setting 343F 00F03F 00F040   00F05F Command bit For each bit, "0" stands for invalid and "1" stands for valid. The addresses in the table are the addresses for the first station. For the second station and after, add the following value for each station.
Page 632 Address (hexadecimal) Symbol Signal name MR-MC2_ _ MR-MC3_ _ 3404 00F004 Monitor command MONR Monitor latch command For manufacturer setting  Address (hexadecimal) Symbol Signal name MR-MC2_ _ MR-MC3_ _ 3405 00F005 For manufacturer setting  Address (hexadecimal) Symbol Signal name MR-MC2_ _ MR-MC3_ _ 3406...
Page 633 RIO data status table The addresses in the table are the addresses for the first station. For the second station and after, add the following value for each station. • Using MR-MC2_ _: +80h • Using MR-MC3_ _: +C0h Address (hexadecimal) Content MR-MC2_ _ MR-MC3_ _...
Page 634 Address (hexadecimal) Content MR-MC2_ _ MR-MC3_ _ 3472 00F092 Parameter write data 1 3473 00F093 3474 00F094 Parameter write No.2 3475 00F095 3476 00F096 Parameter write data 2 3477 00F097 3478 00F098 Parameter read No.1 3479 00F099 347A 00F09A Parameter read data 1 347B 00F09B 347C...
Page 635 Address (hexadecimal) Symbol Signal name MR-MC2_ _ MR-MC3_ _ 3442, 3443 00F062, For manufacturer setting  00F063 Address (hexadecimal) Symbol Signal name MR-MC2_ _ MR-MC3_ _ 3444 00F064 MOUT Monitor output MRCH Monitor latch MER1 Monitor No. error 1 MER2 Monitor No.
Page 636 Address (hexadecimal) Symbol Signal name MR-MC2_ _ MR-MC3_ _ 3448 00F068 For manufacturer setting    344F 00F06F 10 TABLE MAP 10.9 Remote I/O Data...
Page 637 10.10 Servo Parameter Change No. (SSCNETIII/H) When parameter settings within the servo amplifier are changed using the auto tuning function or parameter changes using MR Configurator2 (set up software), the bit corresponding to the servo parameter No. that was changed is turned ON to notify concerning which parameter No.
Page 638 Address (hexadecimal) Content MR-MC2_ _ MR-MC3_ _ 3898 010828 Servo parameter change No.1 Axis 6 3899 010829 389A 01082A 389B 01082B 389C 01082C 389D 01082D 389E 01082E 389F 01082F 38A0 010830 Servo parameter change No.1 Axis 7 38A1 010831 38A2 010832 38A3 010833...
Page 639 Address (hexadecimal) Content MR-MC2_ _ MR-MC3_ _ 39E8 010978 Servo parameter change No.1 Axis 48 39E9 010979 39EA 01097A 39EB 01097B 39EC 01097C 39ED 01097D 39EE 01097E 39EF 01097F 010980 Servo parameter change No.1 Axis 49  010981 010982 010983 010984 010985 010986...
Page 640 Servo parameter change No. (SSCNETIII/H) (J5) [MC300] Address (hexadecimal) Content MR-MC3_ _ 010D00 Servo parameter change No.2 Axis1 010D01 010D02 010D03 010D04 010D05 010D06 010D07 010D08 Servo parameter change No.2 Axis2 010D09 010D0A 010D0B 010D0C 010D0D 010D0E 010D0F 010D10 Servo parameter change No.2 Axis3 010D11 010D12 010D13...
Page 641 Address (hexadecimal) Content MR-MC3_ _ 010D30 Servo parameter change No.2 Axis7 010D31 010D32 010D33 010D34 010D35 010D36 010D37 010D38 Servo parameter change No.2 Axis8 010D39 010D3A 010D3B 010D3C 010D3D 010D3E 010D3F 010D40   010EF7 010EF8 Servo parameter change No.2 Axis64 010EF9 010EFA 010EFB...
Page 642 10.11 Transient Transmit Command/status Transient transmit command table The addresses in the table are the addresses for the first axis. For the second axis and after, add for each axis. "+ " The start address for the first station is as follows. For the second station and after, add for each station.
Page 643 10.12 Point No. Offset The start No. in the point table for each axis can be designated using point No. offset. The amount of offset from the start point in the point table is set by the point No. for the point No. offset. When setting up the point table, use the following equation to derive the 2-point memory address.
Page 644 Address (hexadecimal) Content Initial value MR-MC2_ _ MR-MC3_ _ MR-MC2_ _ MR-MC3_ _ 4FE0 01FF40 Axis 33 point no. offset 0400h  4FE1 01FF41 4FE2 01FF42     4FFD 01FF5D 4FFE 01FF5E Axis 48 point no. offset 05E0h 4FFF 01FF5F 01FF60...
Page 645 10.13 Command Buffers Position command buffer The addresses in the table are the addresses for the first axis. For the second axis and after, add "+100h" for each axis. Address (hexadecimal) Content MR-MC2_ _ MR-MC3_ _ 5000 101000 Position command buffer 0 [pulse] 5001 101001 5002...
Page 646 Address (hexadecimal) Content MR-MC2_ _ MR-MC3_ _ 502C 10102C Position command buffer 11 [pulse] 502D 10102D 502E 10102E 502F 10102F 5030 101030 Position command buffer 12 [pulse] 5031 101031 5032 101032 5033 101033 5034 101034 Position command buffer 13 [pulse] 5035 101035 5036...
Page 647 Speed command buffer The addresses in the table are the addresses for the first axis. For the second axis and after, add the following value for each axis. • Using MR-MC2_ _: +80h • Using MR-MC3_ _: +100h Setting range: -1000000000 (-10000000r/min) to 1000000000 (10000000r/min) Address (hexadecimal) Content MR-MC2_ _...
Page 648 10.14 Digital I/O [MC200] Digital input table Address Digital input area No. Digital input No. Symbol Remarks (hexadecimal) B000 Digital input area 0 Digital output 0 to digital DI_000 to Notify the status of the digital input signal. (2bytes) output 15 DI_00F The bits are DI_000 (bit0) to DI_00F (bit15).
Page 649 10.15 I/O Device Input device table Address (hexadecimal) Input word device No. Input bit device No. MR-MC2_ _ MR-MC3_ _ DB00 0F9F00 Input word device 00 Input bit device 000 to input bit device 00F DB01 0F9F01 DB02 0F9F02 Input word device 01 Input bit device 010 to input bit device 01F DB03 0F9F03...
Page 650 Output device table Address (hexadecimal) Output word device No. Output bit device No. MR-MC2_ _ MR-MC3_ _ DD00 0FA380 Output word device 00 Output bit device 000 to output bit device 00F DD01 0FA381 DD02 0FA382 Output word device 01 Output bit device 010 to output bit device 01F DD03 0FA383...
Page 651 10.16 Mark Detection Command/status Mark detection command table The addresses in the table are the addresses for the first axis. For the second axis and after, add "+20h" for each axis. The when in tandem drive column in the table is for axis data classification for when using tandem drive synchronous mode. •...
Page 652 10.17 Mark Detection Data Mark detection edge data This data shows the detection edges for every positioning data of the mark detection positioning data table. • 0: Not detected • 1: OFF edge • 2: ON edge Address (hexadecimal) Content MR-MC2_ _ MR-MC3_ _ BAF0...
Page 653 Address (hexadecimal) Content MR-MC2_ _ MR-MC3_ _ BB1B 0E3A2B Mark detection edge data 43 BB1C 0E3A2C Mark detection edge data 44 BB1D 0E3A2D Mark detection edge data 45 BB1E 0E3A2E Mark detection edge data 46 BB1F 0E3A2F Mark detection edge data 47 BB20 0E3A30 Mark detection edge data 48...
Page 654 Mark detection positioning data Address (hexadecimal) Content MR-MC2_ _ MR-MC3_ _ BB30 0E3B00 Mark detection positioning data 0 BB31 0E3B01 BB32 0E3B02 BB33 0E3B03 BB34 0E3B04 Mark detection positioning data 1 BB35 0E3B05 BB36 0E3B06 BB37 0E3B07 BB38 0E3B08 Mark detection positioning data 2 BB39 0E3B09 BB3A...
Page 655 Address (hexadecimal) Content MR-MC2_ _ MR-MC3_ _ BB60 0E3B30 Mark detection positioning data 12 BB61 0E3B31 BB62 0E3B32 BB63 0E3B33 BB64 0E3B34 Mark detection positioning data 13 BB65 0E3B35 BB66 0E3B36 BB67 0E3B37 BB68 0E3B38 Mark detection positioning data 14 BB69 0E3B39 BB6A...
Page 656 10.18 Continuous Operation to Torque Control Data The addresses in the table are the addresses for the first axis. For the second axis and after, add "+20h" for each axis. Address (hexadecimal) Symbol Name At manual switch selection MR-MC2_ _ MR-MC3_ _ A840 0E1800...
Page 657 10.19 Interpolation Group No. Being Executed Address (hexadecimal) Content MR-MC2_ _ MR-MC3_ _ E040 0FB400 Interpolation group No. being executed (Axis 1) E041 0FB401 Interpolation group No. being executed (Axis 2) E042 0FB402 Interpolation group No. being executed (Axis 3) E043 0FB403 Interpolation group No.
Page 658 10.20 Expanded parameter [MC300] Expanded parameter data command The addresses in the table are the addresses for the first axis. For the second axis and after, add "+20h" for each axis. Address (hexadecimal) Content 11A000 Expanded parameter write data 1 (Axis 1) 11A001 11A002 11A003...
Page 659 PARAMETERS Concerning the parameters for which the parameter name shows that it is set by manufacturer, do not use other than the default values. If erroneous values are set, unexpected movement can occur. The parameters are classified as is shown below. Classification Parameter No.
Page 660 11.1 System Parameters The settings for the parameters with a * mark at the front of the symbol are validated when the system is started. Parameter Symbol Name Initial Unit Setting Description value range 0001 *SYSOP1 System option 1 0000h 0000h to (Control cycle setting) ...
Page 661 Parameter Symbol Name Initial Unit Setting Description value range 0041 LGS2 Log acquiring selection 2 0000h 0000h to Set the axis No. for which the log is to be acquired.  FFFFh Axis 1 (bit0) to axis 16 (bit15) • 0: Not acquire •...
Page 662 11.2 Servo Parameters Servo amplifier MR-J4(W_)-_B The parameters described in this section are for using the servo amplifier MR-J4(W_)-_B. For details, refer to the servo amplifier instruction manual for your servo amplifier. The parameters with a * mark at the front of the symbol are validated according to the following conditions. •...
Page 663 Menu B) Gain filter settings Parameter MR-J4(W_)-_B Symbol Name Initial Unit parameter No. value 1140 PB01 FILT Adaptive tuning mode (adaptive filter ) 0000h  1141 PB02 VRFT Vibration suppression control tuning mode (advanced vibration 0000h  suppression control ) 1142 PB03 TFBGN...
Page 664 Parameter MR-J4(W_)-_B Symbol Name Initial Unit parameter No. value 1172 PB51 NHQ5 Notch shape selection 5 0000h  1173 PB52 VRF21 Vibration suppression control 2 - Vibration frequency 1000 0.1Hz 1174 PB53 VRF22 Vibration suppression control 2 - Resonance frequency 1000 0.1Hz 1175...
Page 665 Parameter MR-J4(W_)-_B Symbol Name Initial Unit parameter No. value 119F PC32 For manufacturer setting 0000h      11A4 PC37 0000h 11A5 PC38 Error excessive warning level rev or mm 11A6 PC39 For manufacturer setting 0000h   ...
Page 666 Parameter MR-J4(W_)-_B Symbol Name Initial Unit parameter No. value 1223 PE36 For manufacturer setting      1227 PE40 0000h 1228 PE41 EOP3 Function selection E-3 0000h  1229 PE42 For manufacturer setting   122A PE43 122B PE44 LMCP Lost motion compensation positive-side compensation value...
Page 667 Menu O) Option setting Parameter MR-J4(W_)-_B Symbol Name Initial Unit parameter No. value 1280 Po01 For manufacturer setting 0000h      12BF Po64 0000h Menu S) Special settings Parameter MR-J4(W_)-_B Symbol Name Initial Unit parameter No. value 12C0 PS01 ...
Page 668 Servo amplifier MR-J5(W_)-_B [MC300] The parameters described in this section are for using the servo amplifier MR-J5(W_)-_B. For details, refer to the following manual. MR-J5-B/MR-J5W-B User's Manual (Parameters) The parameters with a * mark at the front of the symbol are validated according to the following conditions. •...
Page 669 Menu B) Gain filter settings Parameter No. MR-J5(W_)-_B Symbol Name Initial Unit parameter No. value 2030 PB01 FILT Adaptive tuning mode (adaptive filter ) 00000000h  2031 PB02 VRFT Vibration suppression control tuning mode (advanced vibration 00000000h  suppression control ) 2032 PB03 TFBGN...
Page 670 Parameter No. MR-J5(W_)-_B Symbol Name Initial Unit parameter No. value 2062 PB51 NHQ5 Notch shape selection 5 00000000h  2063 PB52 VRF21 Vibration suppression control 2 - Vibration frequency 1000 0.1Hz 2064 PB53 VRF22 Vibration suppression control 2 - Resonance frequency 1000 0.1Hz 2065...
Page 671 Menu C) Expansion settings 1 Parameter No. MR-J5(W_)-_B Symbol Name Initial Unit parameter No. value 2093 PC01 Error excessive alarm level rev or mm 2094 PC02 Electromagnetic brake sequence output 2095 PC03 *ENRS Encoder output pulse selection 00000000h  2096 PC04 **COP1 Function selection C-1...
Page 672 Parameter No. MR-J5(W_)-_B Symbol Name Initial Unit parameter No. value 20F2 PC96 For manufacturer setting 00000000h      20F5 PC99 00000000h Menu D) I/O settings Parameter No. MR-J5(W_)-_B Symbol Name Initial Unit parameter No. value 20F6 PD01 For manufacturer setting 00000000h ...
Page 673 Parameter No. MR-J5(W_)-_B Symbol Name Initial Unit parameter No. value 2161 PE09 For manufacturer setting 00000000h   2162 PE10 FCT3 Fully closed loop function selection 3 00000000h  2163 PE11 For manufacturer setting 00000000h      2180 PE40 00000000h...
Page 674 Parameter No. MR-J5(W_)-_B Symbol Name Initial Unit parameter No. value 21DB PF32 For manufacturer setting   21DC PF33 00000000h 21DD PF34 *MFP Machine diagnosis function selection 00000000h  21DE PF35 For manufacturer setting 00000000h      21E2 PF39 00000000h...
Page 675 Parameter No. MR-J5(W_)-_B Symbol Name Initial Unit parameter No. value 221B PF96 For manufacturer setting 00000000h      221E PF99 00000000h Menu O) Option setting Parameter No. MR-J5(W_)-_B Symbol Name Initial Unit parameter No. value 221F PO01 For manufacturer setting 00000000h ...
Page 676 Menu W) Expansion settings 4 Parameter No. MR-J5(W_)-_B Symbol Name Initial Unit parameter No. value 23AB PW01 For manufacturer setting 00000000h      23FF PW99 00000000h 11 PARAMETERS 11.2 Servo Parameters...
Page 677 Sensing module (axis mode) The parameters described in this section are for using the sensing module (axis mode). For details, refer to the sensing module instruction manual. The parameters with a * mark in front of the symbol are validated according to the following conditions. •...
Page 678 Parameter Sensing pulse Symbol Name Initial Unit I/O module value parameter No. 1152 PB19 For manufacturer setting      1158 PB25 0000h 1159 PB26 *LIS Home position return input setting 0000h  115A PB27 For manufacturer setting ...
Page 679 11.3 Control Parameters Servo amplifier MR-J4(W_)-_B/MR-J5(W_)-_B • The settings for the parameters with a * mark at the front of the symbol are validated when the system is started. • The when in tandem drive column in the table is for control parameter setting classification of the axis for which the tandem drive is performed.
Page 680 Parameter Symbol Name Initial Unit Setting Description When in value range tandem drive 0202 *OPC3 Control option 3 0001h 0000h to (Interlock signal polarity) Master  0001h Set the polarity of the Interlock signal. • 0: B-contact • 1: A-contact 0203 *AXALC Axis No.
Page 681 Parameter Symbol Name Initial Unit Setting Description When in value range tandem drive 0213 *GIOO General I/O option 0000h  0000h to (Servo amplifier general input setting) Each axis 0011h Set whether to use the general input of the servo amplifier.
Page 682 Parameter Symbol Name Initial Unit Setting Description When in value range tandem drive 0215 *GDINA General input No. 0000h 0000h to Only valid when "I/O table selection" of "I/O table Each axis  assignment[MC300] 023Fh (parameter No.004A)" is "2: Use I/O device table (expanded points method)".
Page 683 Parameter Symbol Name Initial Unit Setting Description When in value range tandem drive 021A *SLSP Sensor signal (LSP) 0000h  [MC200] The setting target differs depending on "I/O table Each axis selection" of "I/O table (parameter No.004A)". connection specification 0000h to FFF1h [When using "0: Use digital I/O table"] [MC300]...
Page 684 • 0000h to 23FFh: DVI_0000 to DVI_23FF 021D *VEND Vendor ID 0000h 0000h to Set the vendor ID. (SSCNET/H communication) Same  FFFFh • 0000h: Mitsubishi Electric value 021E *CODE Type code 1000h  0000h to Sets the type code. Same FFFFh •...
Page 685 Parameter Symbol Name Initial Unit Setting Description When in value range tandem drive 0221 SRATE S-curve ratio 0 to 100 Set the S-curve ratio of the S-curve acceleration/ Master deceleration (sine acceleration/deceleration). • 0 to 29: S-curve acceleration/deceleration invalid • 30 to 100: S-curve acceleration/deceleration The S-curve acceleration/deceleration is performed for the acceleration/deceleration method selected in "Speed options (parameter...
Page 686 Parameter Symbol Name Initial Unit Setting Description When in value range tandem drive 023F *IFBN Interface mode maximum 0 to 63 Set the maximum value for buffer No. used during   buffer No. interface mode. Set value + 1 is the number of buffers. When controlling interface mode with interrupt output invalid, 1 or more must be set.
Page 687 Parameter Symbol Name Initial Unit Setting Description When in value range tandem drive 0248 ZSTL Amount of home position 0000h Command 0000h to Set the shift movement amount from the Z-phase Master shift (lower) units FFFFh pulse detection position in the detector. 0249 ZSTH Amount of home position...
Page 688 Parameter Symbol Name Initial Unit Setting Description When in value range tandem drive 0262 LSLL Linear interpolation speed 0BB8h Speed 0000h to Set the limit for linear interpolation speed [MC200]/ Master limit value (lower) units FFFFh interpolation speed [MC300]. [MC200]/interpolation speed limit value (lower) [MC300] 0263...
Page 689 Parameter Symbol Name Initial Unit Setting Description When in value range tandem drive 026C TZOFL Tandem drive home 0000h Command 0000h to Set the amount of offset for the home position Master position signal offset units FFFFh signal position while in tandem drive axes mode. (lower) (Used when performing home position return using the home position return using a scale home...
Page 690 Parameter Symbol Name Initial Unit Setting Description When in value range tandem drive 02B0 *MKOP1 Mark detection option 1 0000h [MC200] (Mark detection signal No. specification Each axis  0000h to 3F23h Set the mark detection signal No. to be used. [MC300] •...
Page 691 Parameter Symbol Name Initial Unit Setting Description When in value range tandem drive 02B6 MKXL1 Latch data range upper 0000h  0000h to Specify the range (upper limit) of data to be latched Each axis limit 1 (lower) FFFFh at detection of the mark detection signal of mark *4*5 detection signal No.
Page 692 Sensing module (axis mode) The settings for the parameters with a * mark at the front of the symbol are validated when the system is started. Parameter Symbol Name Initial Unit Setting Description value range 0200 *OPC1 Control option 1 0000h 0000h to (Control axis)
Page 693 Parameter Symbol Name Initial Unit Setting Description value range 0206 *OPC4 Control option 4 0000h [MC200] (Predwell setting range)  0000h to Set the setting range of predwell. 1001h • 0: 0 to 3000ms [MC300] • 1: 0 to 65535ms 0000h to (High-speed update of monitor data) [MC300] 1101h...
Page 694 Parameter Symbol Name Initial Unit Setting Description value range 0214 *GDNA General I/O No. 0000h 0000h to Set assignment of the general I/O No.  assignment FFFFh The setting target differs depending on "I/O table selection" of "I/O table (parameter No.004A)". [When using "0: Use digital I/O table"] (General input assignment) Specify the first digital input area No.
Page 695 Parameter Symbol Name Initial Unit Setting Description value range 0218 *SSIA Sensor signal input 0000h 0000h to Only valid when "I/O table selection" of "I/O table (parameter  assignment [MC300] 0111h No.004A)" is "2: Use I/O device table (expanded points method)".
Page 696 • 0000h to 23FFh: DVI_0000 to DVI_23FF 021D *VEND Vendor ID 0000h 0000h to Set the vendor ID. (SSCNET/H communication)  FFFFh • 0000h: Mitsubishi Electric 021E *CODE Type code 1000h 0000h to Set the type code.  FFFFh • 3015h: Sensing SSCNET/H head module + Sensing pulse I/O module (axis mode) •...
Page 697 Parameter Symbol Name Initial Unit Setting Description value range 0220 Speed options 0000h 0000h to (Acceleration/deceleration method)  0002h Set the type of acceleration/deceleration. • 0: Linear acceleration/deceleration • 1: Smoothing filter • 2: Start up speed enable 0221 SRATE S-curve ratio 0 to 100 Set the S-curve ratio of the S-curve acceleration/deceleration...
Page 698 Parameter Symbol Name Initial Unit Setting Description value range 0240 *OPZ1 Home position return 0000h 0000h to (Home position return method)  option 1 011Ch Set the method for home position return. • 0: Dog method • 2: Data set method •...
Page 699 Parameter Symbol Name Initial Unit Setting Description value range 025E EDRP Vibration suppression pulse 0 to 10000 Set the operation ending droop for when operation finishes. command filter 1 operation When the amount of droop by vibration suppression command ending droop [MC300] filter 1 is equal to or less than the set value, all remaining pulses are output and operation ends.
Page 700 Parameter Symbol Name Initial Unit Setting Description value range 0284 IOFL Interference check offset 0000h Command 0000h to Set the position on the home position standard coordinate (lower) units FFFFh system. 0285 IOFH Interference check offset (upper) 0286 Interference check width 0000h Command 0000h to...
Page 701 11.4 RIO Module Parameters SSCNETIII/H head module For the RIO module parameters of the SSCNET/H head module, refer to the following manual. MELSEC-L SSCNET/H Head Module User’s Manual Sensing module (station mode) The RIO module parameters of the sensing module are shown below. For details about the sensing module, refer to the sensing module instruction manual.
Page 702 Parameter Sensing module Symbol Name Initial Unit parameter No. value 111E PTA031 For manufacturer setting 0000h   111F PTA032 *AOP1 Function selection A-1 0000h  1120 PTA033 *LO1 Level output function - Setting group 1 - Detailed setting 1 0000h ...
Page 703 Parameter Sensing module Symbol Name Initial Unit parameter No. value 11A0 PTB033 For manufacturer setting 0000h      11A3 PTB036 0000h 11A4 PTB037 *IDO11 DO1 (CN2-11) setting 1 0000h  11A5 PTB038 *IDO12 DO1 (CN2-11) setting 2 0000h ...
Page 704 Parameter Sensing module Symbol Name Initial Unit parameter No. value 11D5 PTB086 ILOFL3 Level output function - Setting group 3 - Upper limit setting - Lower 0000h  11D6 PTB087 ILOFH3 Level output function - Setting group 3 - Upper limit setting - Upper 0000h ...
Page 705 Parameter Sensing module Symbol Name Initial Unit parameter No. value 1297 PTC024 *CDVB B-axis output-side electronic gear setting 0000h  1298 PTC025  For manufacturer setting 0000h     129F PTC032 0000h 12A0 PTC033 *IDI1A1 DI1A (CN1-8) setting 1 0000h ...
Page 706 Parameter Sensing module Symbol Name Initial Unit parameter No. value 12D2 PTC083 *IDO5B1 DO5B (CN2-13) setting 1 0000h  12D3 PTC084 *IDO5B2 DO5B (CN2-13) setting 2 0000h  12D4 PTC085 For manufacturer setting 0000h      12FF PTC128 0000h Sensing analog I/O module parameters...
Page 707 Parameter Sensing module Symbol Name Initial Unit parameter No. value 132C PTD045 *AO2SF Analog output ch. 2 - Scaling function - Shift amount setting  132D PTD046  For manufacturer setting 0000h     1330 PTD049 0000h 1331 PTD050 AO3OF Analog output ch.
Page 708 Parameter Sensing module Symbol Name Initial Unit parameter No. value 13AC PTE045 For manufacturer setting 0000h      13BF PTD064 0000h 13C0 PTE065 **ENCB Ch. B function selection 0000h  13C1 PTE066 For manufacturer setting 0000h  ...
Page 709 11.5 RIO Control Parameters Parameter Symbol Name Initial Unit Setting Description value range 0200 *OPC1 Control option 1 0000h 0000h to 0011h (Control station)  Set "1: Controlled" when controlling the remote I/O module. • 0: Not controlled • 1: Controlled (Remote I/O disconnect) Set "1: Valid"...
Page 710  021C 021D *VEND Vender ID 0000h 0000h to Set the vendor ID.  FFFFh • 0000h: Mitsubishi Electric 021E *CODE Type code 3000h 0000h to Set the type code.  FFFFh • 3000h: SSCNET/H head module • 3010h: Sensing SSCNET/H head module •...
Page 711 • 1400h: MR-J5(W_)-_B [MC300] • 3015h: Sensing SSCNET/H head module + Sensing pulse I/O module (axis mode) • 3025h: Sensing pulse I/O module (axis mode) 0111 Vender ID 0000h: Mitsubishi Electric  0112 Motor rated revolution speed r/min  0113 Motor rated current 0.1%...
Page 712 Monitor No. Content Unit Remarks (hexadecimal) 0127 Station No. in order of connection (Station No. in order of connection on line)  Indicate the place where the station is connected from the position board. Axes and stations are both included in the connection order. (Line No.) •...
Page 713 12.2 Servo Information (2) Monitor No. Content Unit Remarks (hexadecimal) 0200 Position feedback (lower) pulse When using a sensing pulse I/O module, when there is no feedback pulse input, the position output to the driver by the sensing pulse I/O module is 0201 Position feedback (upper) returned.
Page 714 Monitor No. Content Unit Remarks (hexadecimal) 024E Effective load factor  024F Peak load factor  0250 Estimated load inertial ratio 0.1 times  0251 Position gain (model position gain) rad/s  0252 Motor thermistor temperature When using a motor with thermistor attached. ...
Page 715 Monitor No. Content Unit Remarks (hexadecimal) 02B2 Module power consumption (double  word) (lower) 02B3 Module power consumption (double word) (upper) 02B4 For manufacturer setting    02CF 12 MONITOR No. 12.2 Servo Information (2)
Page 716 • 3014h: Sensing SSCNET/H head module + Sensing encoder I/F module • 3021h: Sensing I/O module • 3022h: Sensing pulse I/O module • 3023h: Sensing analog I/O module • 3024h: Sensing encoder I/F module 0011 Vendor ID 0000h: Mitsubishi Electric  0012 For manufacturer setting   ...
Page 717 Monitor No. Content Unit Remarks (hexadecimal) 0158 Multiple revolution counter at power  supply ON CH2 0159 For manufacturer setting    015F 12 MONITOR No. 12.3 RIO Information...
Page 718 12.4 Operation Information Monitor No. Content Unit Remarks (hexadecimal) 0300 Current command position (lower) Command units Current command position prior to electronic gear processing 0301 Current command position (upper) 0302 Current feedback position (lower) Command units Current feedback position prior to electronic gear processing 0303 Current feedback position (upper) 0304...
Page 719 Monitor No. Content Unit Remarks (hexadecimal) 0335 Control parameter error No.0250H to Bit corresponding to parameter No. is turned ON.  025FH Bit is No.0250 (bit0) to 025F (bit15). 0336 Control parameter error No.0260H to  Bit corresponding to parameter No. is turned ON. 026FH Bit is No.0260 (bit0) to 026F (bit15).
Page 720 12.5 Operation Information (Double Word) Monitor No. Content Unit Remarks (hexadecimal) 1300 Current command position Command units Command position prior to electronic gear processing 1302 Current feedback position Command units Current feedback position prior to electronic gear processing 1304 Moving speed Speed units Command speed output to servo amplifier 1306...
Page 721 12.6 RIO Control Information Monitor No. Content Unit Remarks (hexadecimal) 0300 For manufacturer setting    032F 0330 RIO Control parameter error No.0200H Bit corresponding to parameter error No. is turned ON.  to 020FH Bit is No.0200 (bit0) to 020F (bit15). 0331 RIO Control parameter error No.0210H Bit corresponding to parameter error No.
Page 722 12.7 System Information Monitor No. Content Unit Remarks (hexadecimal) 0400 For manufacturer setting   0401 Cause of forced stop • Bit0: External forced stop  • Bit1: Software forced stop • Bit2: User watchdog • Bit3: Communication error • Bit4: An axis that has not been mounted exists •...
Page 723 Monitor No. Content Unit Remarks (hexadecimal) 0487 Type code erroneous axis information 4 When "Driver Type Code Error (system error E405H)" is set, this bit is turned  (For driver) [MC300] Axis 49 (bit0) to axis 64 (bit15) 0488 Electronic gear setting error axis ...
Page 724 12.8 Servo Parameter Information Servo parameter information of MR-J4(W_)-_B Servo parameter error No. Monitor No. Content Unit Remarks (hexadecimal) 0500 For manufacturer setting    050F 0510 Servo parameter error No.1100H to Bit corresponding to parameter No. is turned ON. ...
Page 725 Monitor No. Content Unit Remarks (hexadecimal) 0528 Servo parameter error No.1280H to Bit corresponding to parameter No. is turned ON.  128FH Bit is No.1280 (bit0) to 128F (bit15). 0529 Servo parameter error No.1290H to  Bit corresponding to parameter No. is turned ON. 129FH Bit is No.1290 (bit0) to 129F (bit15).
Page 726 Servo parameter change No. Monitor No. Content Unit Remarks (hexadecimal) 0580 For manufacturer setting    058F 0590 Servo parameter change No.1100 to Bit corresponding to parameter No. is turned ON.  110F Bit is No.1100 (bit0) to 110F (bit15). 0591 Servo parameter change No.1110 to Bit corresponding to parameter No.
Page 727 Monitor No. Content Unit Remarks (hexadecimal) 05AB Servo parameter change No.12B0 to Bit corresponding to parameter No. is turned ON.  12BF Bit is No.12B0 (bit0) to 12BF (bit15). 05AC Servo parameter change No.12C0 to  Bit corresponding to parameter No. is turned ON. 12CF Bit is No.12C0 (bit0) to 12CF (bit15).
Page 728 Servo parameter information of MR-J5(W_)-_B [MC300] Servo parameter error No. Monitor No. Content Unit Remarks (hexadecimal) 0900 Servo parameter error No. PA.01 to Bit corresponding to parameter No. is turned ON.  PA.16 Bit is PA.01 (bit0) to 16 (bit15). 0901 Servo parameter error No.
Page 729 Monitor No. Content Unit Remarks (hexadecimal) 091B Servo parameter error No. PE.49 to Bit corresponding to parameter No. is turned ON.  PE.64 Bit is PE.49 (bit0) to 64 (bit15). 091C Servo parameter error No. PE.65 to  Bit corresponding to parameter No. is turned ON. PE.80 Bit is PE.65 (bit0) to 80 (bit15).
Page 730 Monitor No. Content Unit Remarks (hexadecimal) 0939 Servo parameter error No. PL.81 to Bit corresponding to parameter No. is turned ON.  PL.96 Bit is PL.81 (bit0) to 96 (bit15). 093A Servo parameter error No. PL.97 to  Bit corresponding to parameter No. is turned ON. PL.99 Bit is PL.97 (bit0) to 99 (bit2).
Page 731 Monitor No. Content Unit Remarks (hexadecimal) 098B Servo parameter change No. 20B0 to Bit corresponding to parameter No. is turned ON.  20BF Bit is No.20B0 (bit0) to 20BF (bit15). 098C Servo parameter change No. 20C0 to  Bit corresponding to parameter No. is turned ON. 20CF Bit is No.20C0 (bit0) to 20CF (bit15).
Page 732 Monitor No. Content Unit Remarks (hexadecimal) 09A9 Servo parameter change No. 2290 to Bit corresponding to parameter No. is turned ON.  229F Bit is No.2290 (bit0) to 229F (bit15). 09AA Servo parameter change No. 22A0 to  Bit corresponding to parameter No. is turned ON. 22AF Bit is No.22A0 (bit0) to 22AF (bit15).
Page 733 ALARM No. The position board can raise the following four alarms: system alarm, servo alarm, operation alarm, and system error. The alarm No. are represented in hexadecimal numbers. [API library] • To get/reset the alarm No., use the sscGetAlarm function/sscResetAlarm function. Specify the following in the argument for the alarm type.
Page 734 13.2 Servo Alarm Servo amplifier MR-J4(W_)-_B For the servo alarm No./warning alarm No., refer to the servo amplifier instruction manual for your servo amplifier. Servo amplifier MR-J5(W_)-_B [MC300] For the servo alarm No./warning No., refer to the following manual. MR-J5 User's Manual (Troubleshooting) Sensing module (axis mode) The alarms for sensing module (axis mode), are the same as the alarms for sensing module (station mode).
Page 735 13.3 RIO Module Alarm SSCNETIII/H head module For SSCNET/H head module RIO module alarms, refer to the following manual. MELSEC-L SSCNET/H Head Module User's Manual Sensing module (station mode) The RIO module alarms of the sensing module are shown in the following table. For details, refer to the sensing module instruction manual.
Page 736 13.4 Operation Alarm Alarm Content Detail Cause of occurrence Procedure Stop Command On The stop operation signal (STP) is on. Turn off the stop operation signal (STP). The rapid stop signal (RSTP) is on. Turn off the rapid stop signal (RSTP). During Forced Stop A forced stop is present.
Page 737 Alarm Content Detail Cause of occurrence Procedure Incremental Feed Movement The setting for incremental feed movement Set the incremental feed movement amount using Amount Error amount is a negative number. natural numbers including 0. Movement direction is designated by the movement direction signal (DIR).
Page 738 Alarm Content Detail Cause of occurrence Procedure Linear Interpolation Start Up Error Axes that have been set to something besides Designate all of the axes in the group as linear [MC200] linear interpolation mode signal [MC200]/ interpolation mode signal [MC200]/interpolation Interpolation Start Up Error interpolation operation mode signal [MC300] operation mode signal [MC300] (LIP).
Page 739 Alarm Content Detail Cause of occurrence Procedure Linear Interpolation Point Data During linear control, the movement amount in Set it to the correct data. Error [MC200] the group exceeds the maximum value Interpolation Point Data Error "999999999". [MC300] With "Excessive speed processing" of "Linear Reexamine feed speed and speed limit values.
Page 740 Alarm Content Detail Cause of occurrence Procedure Interference Check Axis Setting The axis is set up as the interference check Set it to the correct data. Error axis. The axis in the same linear interpolation group Set it to the correct data. as the axis is set up as the interference check axis.
Page 741 Alarm Content Detail Cause of occurrence Procedure Tandem Drive Mode Change Error Drive mode change was attempted while Change the drive mode when the change tandem drive axis mode toggling was conditions are satisfied. For details, refer to the prohibited. following.
Page 742 Alarm Content Detail Cause of occurrence Procedure Pass Position Interrupt Error The setting to the start number of the pass Check the start number setting of the pass interrupt condition is out of range. interrupt condition. The setting to the end number of the pass Check the end number setting of the pass interrupt condition is out of range.
Page 743 Alarm Content Detail Cause of occurrence Procedure Point Table Loop Error The loop start point is specified but the latest After updating the point table, set the latest command point No. is 0. command point No. The loop start point is specified but the number When specifying the point table loop, set more of points used is 1.
Page 744 Alarm Content Detail Cause of occurrence Procedure Home Position Return Parameter For a home position return method that requires Reexamine "Home position return method" of Setting Error the Z-phase being passed, "Not need to pass "Home position return option 1 (parameter motor Z phase after the power supply is No.0240)"...
Page 745 Alarm Content Detail Cause of occurrence Procedure Servo Is Off Servo is in off status. Turn on the servo. Servo Off Command Servo on signal (SON) was turned OFF during Turn on the servo. operation. *1 Depending on parameter settings, a setting of 1 or more may be treated as 0 by internal calculations. *2 This occurs when the command speed is treated as 0 by the internal operation of the jerk ratio acceleration/deceleration.
Page 746 13.5 RIO control alarm Alarm Content Detail Cause of occurrence Procedure Parameter Error Parameter setting is erroneous. Set the setting to correct value within the parameter limits. System Setting Error The setting for the control station exceeds the Reexamine the structure of the system. maximum number of control stations.
Page 747 13.6 System Error The error code for system errors can be confirmed using system status codes (address 01D0). When the status code is "Eh", this corresponds to a system error. Error Content Cause of occurrence Procedure code E001H ROM Error 1 Component failure inside position board.
Page 748 Error Content Cause of occurrence Procedure code E500H Electronic Gear Setting Error A value out of the setting range was input. Check the following details. • The settings of the electronic gear numerator (CMX) and the electronic gear denominator (CDV) are within the setting range.
Page 749 The UK has also enacted electrical safety regulations whose requirements are consistent with those of the Low Voltage Directive. Authorized representative in Europe The sales representative in EU member states is: Company: Mitsubishi Electric Europe B.V. Address: Gothaer strase 8, 40880 Ratingen, Germany 14.1 Requirements for Compliance with the EMC Directive The EMC Directive specifies that "products placed on the market must be so constructed that they do not cause excessive...
Page 750 Standards relevant to the EMC directive For all test items, the test has been done with a position board installed in a computer that is compatible to CE mark. The test does not cover USB because only the test tool "MRZJW3-MC2-UTL" (sold separately) uses it. The standards relevant to the EMC Directive are listed below.
Page 751 Standards relevant to the EMC directive that apply when using MR-MC3_ _ Certification Test item Test details Standard value EN61131-2:2007 CISPR16-2-3 Radio waves from the product • 30M to 230MHz Radiated emission are measured. QP: 40dBV/m (10m (32.81ft.) in measurement range) •...
Page 752 Installation instructions for EMC directive Installation Installing inside a control panel not only ensures safety but also ensures effective shielding of position board-generated electromagnetic noise. ■Control panel • Use a conductive control panel. • When attaching the control panel's top plate or base plate, expose bare metal surface and weld so that good surface contact can be made between the panel and plate.
Page 753 ■Cable The cables extracted from the control panel contain a high frequency noise component. On the outside of the control panel, therefore, they serve as antennas to emit noise. To prevent noise emission, use shielded cables for the cables extracted to the outside of the control panel.
Page 754 Parts of measure against noise ■Ferrite core A ferrite core is effective for reducing radiated noise in the 30MHz to 100MHz frequency band. Installing a ferrite core to the cable is not essential, however, it is recommended to install a ferrite core if a shield cable extended out of the control panel does not provide sufficient shielding effects.
Page 755 14.2 Measures to Comply with the Low Voltage Directive This board does not use the power supply of 50VAC to 1000VAC and 75VDC to 1500VDC, so it is a product outside the object range of Low Voltage Directive. 14 EMC AND LOW VOLTAGE DIRECTIVES 14.2 Measures to Comply with the Low Voltage Directive...
Page 756 APPENDIX Appendix 1 Supplementary Explanation for the Use of Linear Servo System Position board There are no restrictions in the software versions of the position board that can set up the linear servo system. Position board utility software There are no restrictions in the Position Board Utility2 versions supporting position board. Servo amplifier The servo amplifier MR-J4(W_)-_B and MR-J5(W_)-_B can set linear servo system with the position board.
Page 757 Operations and functions of the linear servo system Startup procedure Linear servo system startup procedures are as follows. Execution of installation and wiring Settings of the linear servo motor series and the linear servo motor type Settings of the linear encoder direction and the linear servo motor direction Refer to the servo amplifier instruction manual or the manual for your servo amplifier.
Page 758 Magnetic pole detection For the magnetic pole detection methods, refer to the servo amplifier instruction manual or the manual for your servo amplifier. When an incremental scale is used, magnetic pole detection is performed at every power on. The magnetic pole detection is started when the first servo on command following power on is received.
Page 759 ■For tandem drive axes For tandem drive axes, perform magnetic pole detection for the master axis, and then for the slave axis in the non- synchronous micro-adjustment mode. Make sure the axis where magnetic pole detection is not performed is servo off (free). sscSetCommandBitSignalEx function (SSC_CMDBIT_AX_ASYN…) Non-synchronous...
Page 760 Operation from the position board Positioning operation using the position board is basically the same as operation for using a rotary servo motor. However, some parameters, home position return operation, and monitor No. vary from when using a rotary servo motor. Details are as follows.
Page 761 Page 759 Setting example of electronic gears 021D *VEND Vendor ID 0000h 0000h to Set the vendor ID.  FFFFh • 0000h: Mitsubishi Electric 021E *CODE Type code 1000h 0000h to Set the type code.  FFFFh • 1000h: MR-J4(W_)-_B [MC300] •...
Page 762 ■Home position return operation The home position return operation from the position board is basically the same as operation for using a rotary servo motor. However, note the following. • When using the absolute position type linear scale, the home position return using a scale home position signal detection method or the home position return using a scale home position signal detection method 2 cannot be used.
Page 763 [Servo parameter (MR-J5(W_)-_B)] [MC300] Parameter MR-J5(W_)-_B Symbol Name Initial Unit Setting Description parameter No. value range 22E5 PL01 **LIT1 Function selection 1 0301h 00000000 (Stop interval setting for home  h to position return) 00000605 • 0: 8192pulse • 1: 131072pulse •...
Page 764 ■Home position return process for tandem drive axes The following shows an example of the home position return for the tandem drive axes. In this example, "Scale home position signal detection method" is used as a home position method. "Scale home position signal detection method" has "Adjustment mode"...
Page 765 • In normal mode Home position return procedure Remarks Setting of "Tandem drive home position It is not guaranteed that the axes and the joint part are connected at a right angle when the power is turned ON. signal offset (parameter No.026C, 026D)"...
Page 766 ■Monitor The following monitor Nos. are added. • Servo information (2) Monitor No. Description Unit Description (hexadecimal) 0246 Load side encoder information data 1 (lower) pulse For incremental type linear encoder, displays the counter from power on. For absolute position type linear encoder, displays the absolute 0247 Load side encoder information data 1 (upper) position data.
Page 767 ■Command units When using speed control mode in interface mode, the conversion of data in units of 0.01r/min is required. The formula for conversion is as follows. Speed command [m/s]×1000×1000×60×100 Speed command [0.01r/min] Linear encoder resolution [μm/pulse]×Stop interval setting for home position return [pulse] Linear encoder resolution setting Numerator (MR-J4(W_)-_B: parameter No.1301, MR-J5(W_)-_B: parameter No.22E6 [MC300]) Linear encoder resolution [μm/pulse]...
Page 768 Appendix 2 Supplementary Explanation for the Use of Fully Closed Loop System Position board There are no restrictions in the software versions of the position board that can set up the fully closed loop system. Position board utility software There are no restrictions in the Position Board Utility2 versions supporting position board. Servo amplifier The software versions of the servo amplifier that can set up the fully closed loop system with the position board are as follows.
Page 769 Operations and functions of the fully closed loop control Startup procedure The fully closed loop system startup procedures are as follows. Completion of installation and wiring Adjustment and operation confirm in the semi closed loop system Confirm whether the servo operates normally. Positioning operation confirm with MR Configurator2 Conduct these steps as necessary.
Page 770 Operation from the position board Positioning operation using the position board is basically the same as operation for using a rotary servo motor. However, some parameters, home position return operation, command/status bit, and monitor No. vary from when using a rotary servo motor.
Page 771 0000h Setting example of electronic gears 021D *VEND Vendor ID 0000h 0000h to FFFFh Set the vendor ID.  • 0000h: Mitsubishi Electric 021E *CODE Type code 1000h  0000h to FFFFh Set the type code. • 1000h: MR-J4(W_)-_B • 1400h: MR-J5(W_)-_B [MC300] *1 The settings for the parameters with a * mark at the front of the symbol are validated when the system is started.
Page 772 ■Home position return operation The home position return operation from the position board is basically the same as operation for using a rotary servo motor. However, note the following. • When using the incremental linear scale, it is recommended to use the home position return using a scale home position signal detection method or the home position return using a scale home position signal detection method 2.
Page 773 [Status bit] Address (hexadecimal) Symbol Signal name When in Description tandem drive MR-MC2_ _ MR-MC3_ _ 1068 0050A8 GAINO During gain switching Each axis  FCLSO Fully closed loop control changing Each axis • 0: During semi closed loop control •...
Page 774 • Servo information (2) Monitor No. Description Unit Description (upper: data, lower: unit) (hexadecimal) Semi closed loop Fully closed loop system system Semi closed loop Fully closed loop control control 0200 Position feedback (lower) pulse Motor side Motor side Load side Motor unit Machine unit Machine unit...
Page 775 Appendix 3 Supplementary Explanation for the Use of Direct Drive Servo System Position board There are no restrictions in the software versions of the position board that can set up the direct drive servo system. Position board utility software There are no restrictions in the Position Board Utility2 versions supporting position board. Servo amplifier The servo amplifier MR-J4(W_)-_B and MR-J5(W_)-_B can set the direct drive servo system with the position board.
Page 776 Operations and functions of the direct drive servo system Startup procedure The direct drive servo system startup procedures are as follows. Execution of installation and wiring Incremental system Absolute position detection system Is the absolute position detection system used? Set "Absolute position detection system (MR-J4(W_)-_B: parameter No.1102, MR-J5(W_)-_B: parameter No.2002 [MC300])"...
Page 777 Operation from the position board Positioning operation using the position board is basically the same as operation for using a rotary servo motor. However, some parameters, home position return operation, command/status bit, and monitor No. vary from when using a rotary servo motor.
Page 778 0000h Page 777 Position command unit 021D *VEND Vendor ID 0000h 0000h to FFFFh Set the vendor ID.  • 0000h: Mitsubishi Electric 021E *CODE Type code 1000h 0000h to FFFFh Set the type code.  • 1000h: MR-J4(W_)-_B • 1400h: MR-J5(W_)-_B [MC300] *1 The settings for the parameters with a * mark at the front of the symbol are validated when the system is started.
Page 779 ■Position command unit As "degree" cannot be used as a position command unit, note the following when using the axis as a degree axis. • For positioning the automatic operation, etc., set "Relative position command" to the auxiliary command of the point table, and set the difference of the movement amount to the target position in the position data.
Page 780 ■Absolute position detection system When the movement amount from the home position exceeds the value calculated from "32767  number of encoder pulses per revolution" due to a unidirectional feed, etc., the absolute position cannot be restored. To restore the absolute position, when turning OFF the power supply at a position out of the range where the absolute position is restorable, establish the home position again by the home position reset function or the home position return, and store the home position information (home position multiple revolution data and home position within 1 revolution position) to the user program side.
Page 781 Appendix 4 Supplementary Explanation for the Use of Multiple-axis Servo Amplifier (MR- J4W_-_B/MR-J5W_-_B) Position board There are no restrictions in the software versions of the position board that can be connected with a multiple-axis servo amplifier (MR-J4W_-_B/MR-J5W_-_B). Position board utility software There are no restrictions in the Position Board Utility2 versions supporting position board.
Page 782 Operations and functions of the servo amplifier Startup procedure With one multiple-axis servo amplifier (MR-J4W_-_B/MR-J5W_-_B), a rotary servo motor, linear servo motor, fully closed loop system, and direct drive motor can be used in combination. combination Reference For the use of a rotary servo motor Page 65 Startup Procedures For the use of a linear servo motor Page 754 Supplementary Explanation for the Use of Linear Servo System...
Page 783 Appendix 5 Supplementary Explanation for the Use of Servo Amplifier (MR-JE-_B(F)) Position board The software versions of the position board that can use servo amplifier (MR-JE-_B(F)) are as follows. Position board Software version MR-MC2_ _ A7 or later MR-MC3_ _ No restrictions Position board utility software The Position Board Utility2 versions supporting above position board are as follows.
Page 784 System configuration System configuration diagram For PCI bus compatible position board MR-MC210 SSCNET µ /H compatible ˜ Servo amplifier MR-JE-B(F) ˜ ˜ ˜ ˜ Axis 1 Axis 2 Axis 16 PCI bus compatible position board SSCNET µ cable MR-MC210 ˜ MR-J3BUS_M ˜...
Page 785 Axis No. setting Servo amplifier setting Axis No. of MR-JE-_B(F) is set by the axis selection rotary switch (SW1) on the servo amplifier. Servo amplifier axis No. and rotary switch setting are correlated as shown on the table below. Set the axis No. of the servo amplifier so that it is not duplicate in the same line.
Page 786 Parameter setting System option 1 setting SSCNET communication method and control cycle are set by "System option 1 (parameter No.0001)". SSCNET communication method is used for communication between a position board and connected units such as servo amplifiers and SSCNET/H method and SSCNET method are available. When using MR-JE-_B(F) servo amplifiers, make sure to select the SSCNET/H method.
Page 787 Name Description 021D *VEND Vendor ID Set the vendor ID. • 0000h: Mitsubishi Electric 021E *CODE Type code Set the type code. • 1200h: MR-JE-_B(F) *1 The settings for the parameters with a * mark at the front of the symbol are validated when the system is started.
Page 788 Supported functions Some functions and operation of the servo amplifier (MR-JE-_B(F)) differ from those of the servo amplifier MR-J4(W_)-_B. This section mainly describes functions and operations different from those of the servo amplifier MR-J4(W_)-_B. For the specification items not described in this section, refer to the specifications of servo amplifier MR-J4(W_)-_B. Supported function list : Supported, : With restrictions, : Unsupported Classification...
Page 789 Classification Function Supported Remarks Application Servo amplifier general I/O  Confirm the servo amplifier MR-JE-_B being used to confirm if general function input is available or not. One point only can be used for general output. Dual port memory exclusive control ...
Page 790 • Destination connector General I/O Signal name Destination connector pin No. Symbol General input CN3-2 CN3-12 CN3-19 General output DO_0 CN3-13 DO_1   DO_2   • Servo parameters [When using the servo amplifier general input function, set the input device selection parameters as follows.] Parameter No.
Page 791 Parameters Concerning the parameters for which the parameter name shows that it is set by manufacturer, do not use other than the default values. If erroneous values are set, unexpected operation can occur. For the specification items not described in this section, refer to the specifications of servo amplifier MR-J4(W_)-_B.
Page 792 Monitor For the monitor, refer to the monitor list of when MR-J4(W_)-_B is used. System alarm For the alarm No., only the additions and changes are listed. Servo alarm The servo alarms of MR-JE-_B(F) are shown in the following table. For details, refer to the servo amplifier instruction manual. For the specific servo alarm No., refer to the specifications of MR-JE-_B(F).
Page 793 ■Warning Alarm No. Name Home position return incomplete warning Servo amplifier overheat warning Battery cable disconnection warning Home position setting warning Program operation disabled/next station position warning Software limit warning Stroke limit warning Error excessive warning Battery warning Excessive regeneration warning Overload warning 1 Absolute position counter warning Parameter warning...
Page 794 Appendix 6 Supplementary Explanation for the Use of SSCNETIII Compatible Servo Amplifier (MR-J3(W)-_B) [MC200] The SSCNET/H compatible position board (MR-MC2_ _) can perform the positioning control with connecting our servo amplifier (MR-J3(W)-_B) when the SSCNET communication method is SSCNET. In this section, the different point, comparing SSCNET/H with the servo amplifier MR-J4(W_)-_B, are mainly described. Position board There are no restrictions in the software versions of the position board that can be used with the SSCNET...
Page 795 System configuration System configuration diagram For PCI bus compatible position board MR-MC210 (when using SSCNET) SSCNET µ compatible ˜ Servo amplifier MR-J3(W)-_B ˜ ˜ ˜ ˜ Axis 1 Axis 2 Axis 16 PCI bus compatible position board SSCNET µ Cable MR-MC210 ˜...
Page 796 Axis No. setting Axis No. is set by the axis selection rotary switch . The axis No. and rotary switch No. are correlated as shown on the table below. Set the axis No. of the servo amplifier so that it is not duplicate in the same SSCNET line. If it is duplicated, "An Axis That Has Not Been Mounted Exists (system error E400H)"...
Page 797 Parameter setting System option 1 setting SSCNET communication method and control cycle are set by "System option 1 (parameter No.0001)". SSCNET communication method is used for communication between a position board and connected units such as servo amplifiers and SSCNET/H method and SSCNET method are available. When using MR-J3(W)-_B servo amplifiers, make sure to select the SSCNET...
Page 798 Control option 1 setting When controlling servo amplifier, set "1: control" for "Control axis" of "Control option 1 (parameter No.0200)". When the axis No. is set out of the controllable range, the corresponding axis is "System Setting Error (operation alarm 38H)" and cannot be controlled.
Page 799 Axis No. assignment With Axis No. assignment, the axis No. (on the position board) can be assigned by the axis No. on the servo amplifier. When Axis No. assignment is invalid, correspondence between the axis No. on a position board and the axis No. on a servo amplifier is shown in the following table.
Page 800 • An axis No. out of the valid range causes "System Setting Error (operation alarm 38H, detail 03H)". • Regardless of whether "Control axis" of "Control option 1 (parameter No.0200)" is "1: Controlled" or "0: Not controlled", set the axis No. so that the axis No. assignment is not duplicated. (Except for 00: No axis No. assignment) Duplicated axis Nos.
Page 801 Parameter No. Symbol Name Description 021D *VEND Vendor ID Set the vendor ID. (Not used in SSCNET communication.) • 0000h: Mitsubishi Electric 021E *CODE Type code Set the type code. • 0100: MR-J3-B, MR-J3W-B (for rotary servo motor) • 0101: MR-J3-BS, MR-J3-B-RJ006 •...
Page 802 When position board SSCNET communication method is SSCNET and a factory default MR-J4(W_)-_B servo amplifier is connected by SSCNET, the servo amplifier switches to J3 compatibility mode and the LED displays "rST". In this state, executing a controller reset (software reboot, or turning the power supply of position board OFF and ON again) and performing system startup procedure again enables all axes to be connected.
Page 803 Supported functions Some functions and operation of the servo amplifier MR-J3(W)-_B differ from those of the servo amplifier MR-J4(W_)-_B. This section mainly describes functions and operations different from those of the servo amplifier MR-J4(W_)-_B. For the specification items not described in this manual, refer to the specifications of servo amplifier MR-J4(W_)-_B. Supported function list : Supported, : With restrictions, : Unsupported Classificat...
Page 804 Classificat Function Supported Remarks Application Home position return request  functions Other axes start  High response I/F  In-position signal  Digital I/O  I/O device  Servo amplifier general I/O  Dual port memory exclusive control  Pass position interrupt ...
Page 805 Application functions ■Gain changing For the usage of gain changing, which is the same as that of the servo amplifier MR-J4(W_)-_B, refer to the following. Page 199 Gain Changing/Gain Changing 2 However, for the servo parameters to be used, refer to the following table. •...
Page 806 ■Absolute position detection system For the usage of the absolute position detection system, which is the same as that of the servo amplifier MR-J4(W_)-_B, refer to the following. Page 203 Absolute Position Detection System However, for the servo parameters to be used, refer to the following table. •...
Page 807 ■Servo amplifier general I/O For the specification of the servo amplifier general I/O, which is the same as that of the servo amplifier MR-J4(W_)-_B, refer to the following. Page 243 Servo Amplifier General I/O However, for the compatible servo amplifiers, refer to the following table. •...
Page 808 Auxiliary function ■Reading/writing parameters For the usage of the parameter read/write, which is the same as that of the servo amplifier MR-J4(W_)-_B, refer to the following. Page 363 Reading/Writing Parameters However, servo parameters No.0100 to 01FF are used. When the servo alarm [AL. 37_Parameter error] has occurred at system startup, confirm the parameter No. on which the error has occurred in "Servo parameter error No.
Page 809 ■Transient transmit The interface is the same as that of the servo amplifier MR-J4(W_)-_B, refer to the following. Page 477 Transient Transmit • Compatible transient command list Data type Transient Unit Number of Remarks command valid words Servo motor ID (SSCNET)/Encoder ID 0304 ...
Page 810 Table map For the table map, only the additions and changes are listed. For items not described in this section, refer to the following. Page 554 TABLE MAP Table list • Do not write to manufacturer setting areas. • The first No. in the point table for each axis can be designated using point No. offset. •...
Page 811 Address Table area content (hexadecimal) 5000h(0000h) Point table/position command buffer Axis 1 (10240bytes) (256bytes)  5100h(0008h) Axis 2  (256bytes) 5200h(0010h) Axis 3 (256bytes)    6F00h(00F8h) Axis 32 (256bytes)  7000h(0100h) For manufacturer setting (2048bytes)  7800h Speed command buffer (5120bytes) ...
Page 812 Address Table area content Reference (hexadecimal) 20000h Board information Page 45 Board information (16bytes)  2000Fh *1 "( )" in the address refers to the point No. offset. System information Address Description (hexadecimal) 0000 CH No. 0001 0002 Number of lines 0003 0004 Control cycle status...
Page 813 Servo parameter change No. When parameter settings within the servo amplifier are changed using the auto tuning function or parameter changes using MR Configurator2 (set up software), the bit corresponding to the servo parameter No. that was changed is turned ON to notify concerning which parameter No.
Page 814 Address Description (hexadecimal) 3840 For manufacturer setting  385F ■Details on servo amplifier change No. on axis n (SSCNET) The addresses in the table are the addresses for the first axis. For the second axis and after, add "+2h" for each axis. Address Name Symbol...
Page 815 Servo parameters The parameters described in this section are for using the servo amplifier MR-J3(W)-_B. For details, refer to the servo amplifier instruction manual for your servo amplifier. The parameters with a * mark in front of the parameter symbol are validated according to the following conditions.
Page 816 Parameter No. MR-J3(W)-_B Symbol Name Initial Unit parameter No. value 012B PB12 Overshoot amount compensation 012C PB13 Machine resonance suppression filter 1 4500 012D PB14 NHQ1 Notch form selection 1 0000h  012E PB15 Machine resonance suppression filter 2 4500 012F PB16 NHQ2...
Page 817 Parameter No. MR-J3(W)-_B Symbol Name Initial Unit parameter No. value 0160 PC17 **COP4 Function selection C-4 0000h  0161 PC18  For manufacturer setting 1000h  0162 PC19 0000h 0163 PC20 *COP7 Function selection C-7 0000h  0164 PC21 *BPS Alarm history clear 0000h ...
Page 818 Parameter No. MR-J3(W)-_B Symbol Name Initial Unit parameter No. value 01AF PE32 IIRC27 Filter factor 2-7 0000h  01B0 PE33 IIRC28 Filter factor 2-8 0000h  01B1 PE34 For manufacturer setting 0000h      01BF PE48 0000h ■Menu S) Special settings Parameter No.
Page 819 • 0100: MR-J3-B, MR-J3W-B (for rotary servo motor)  • 0101: MR-J3-BS, MR-J3-B-RJ006 • 0102: MR-J3-B-RJ004, MR-J3W-B (for linear servo motor) • 0107: MR-J3-B-RJ080W • 0180: MR-J3W-0303BN6 0111 Vendor ID • 0000h: Mitsubishi Electric  0112 Motor rated revolution speed r/min  0113 Motor rated current 0.1%...
Page 820 Monitor No. Content Unit Remarks (hexadecimal) 0127 Station No. in order of connection (Station No. in order of connection on line)  Indicate the place where the station is connected from the position board. Axes and stations are both included in the connection order. (Line No.) •...
Page 821 Monitor No. Content Unit Remarks (hexadecimal) 0246 Load side encoder information data 1 pulse When using the linear servo/fully closed loop control (lower) 0247 Load side encoder information data 1 (upper) 0248 Load side encoder information data 2 When using the linear servo/fully closed loop control ...
Page 822 Monitor No. Content Unit Remarks (hexadecimal) 0506 Servo parameter error No.0160H to Bit corresponding to parameter No. is turned ON.  016FH Bit is No.0160 (bit0) to 016F (bit15). 0507 Servo parameter error No.0170H to  Bit corresponding to parameter No. is turned ON. 017FH Bit is No.0170 (bit0) to 017F (bit15).
Page 823 Monitor No. Content Unit Remarks (hexadecimal) 058F Servo parameter change No.01F0 to Bit corresponding to parameter No. is turned ON.  01FF Bit is No.01F0 (bit0) to 01FF (bit15). Alarm No. For the servo alarm No./warning No., refer to the servo amplifier instruction manual for your servo amplifier. APPX Appendix 6 Supplementary Explanation for the Use of SSCNETIII Compatible Servo Amplifier (MR-J3(W)-_B) [MC200]...
Page 824 Standard cord for inside panel MR-J3BUS_M-A Standard Standard cable for outside panel MR-J3BUS_M-B Long flex Long distance cable *1 For the cable of less than 30 [m] (98.43 [ft.]), contact your nearest Mitsubishi Electric sales representative. Specifications Item SSCNETIII cable name MR-J3BUS_M MR-J3BUS_M-A MR-J3BUS_M-B SSCNET...
Page 825 • If the end face of cord tip for the SSCNET cable is dirty, optical transmission is interrupted and it may cause malfunctions. If it becomes dirty, wipe with a bonded textile, etc. Do not use solvent such as alcohol. •...
Page 826 [MR-J3BUS5M-A to MR-J3BUS20M-A, MR-J3BUS30M-B to MR-J3BUS50M-B] SSCNETIII cable Variation [mm(inch)] MR-J3BUS5M-A to MR-J3BUS20M-A 100 (3.94) 30 (1.18)) MR-J3BUS30M-B to MR-J3BUS50M-B 150 (5.91) 50 (1.97) Protective tube *1 Dimension of connector part is the same as that of MR-J3BUS015M. *2 For cable length "L", refer to the following. Page 822 Model explanation Keep the cap and the tube for protecting light cord end of SSCNET...
Page 827 SSCNETIII cables (SC-J3BUS_M-C) manufactured by Mitsubishi Electric System & Service • For the details of the SSCNET cables, contact your local sales office. • Do not look directly at the light generated from CN1A/CN1B connector of servo amplifier or the end of SSCNET...
Page 828 Appendix 8 Exterior Dimensions Exterior dimensions [MC200] MR-MC210 The MR-MC210 is a PCI short card size. [Unit: mm (inch)] 167.6 (6.60) MR-MC211 The MR-MC211 is a PCI short card size. [Unit: mm (inch)] 167.6 (6.60) APPX Appendix 8 Exterior Dimensions...
Page 829 MR-MC220U3 The MR-MC220U3 is compatible with the 3U size. [Unit: mm (inch)] 35 (1.38) 160 (6.30) 1CH RUN/ERR. 2CH RUN/ERR. APPX Appendix 8 Exterior Dimensions...
Page 830 MR-MC220U6 The MR-MC220U6 is compatible with the 6U size. The circuit board is a 3U card size. [Unit: mm (inch)] 35 (1.38) 160 (6.30) 1CH RUN/ERR. 2CH RUN/ERR. APPX Appendix 8 Exterior Dimensions...
Page 831 MR-MC240 The MR-MC240 is a PCI Express short card size. [Unit: mm (inch)] 167.6 (6.60) MR-MC241 The MR-MC241 is a PCI Express short card size. [Unit: mm (inch)] 167.6 (6.60) APPX Appendix 8 Exterior Dimensions...
Page 832 Exterior dimensions [MC300] MR-MC341 The MR-MC341 is a PCI Express short card size. [Unit: mm (inch)] 129.15 (5.08) APPX Appendix 8 Exterior Dimensions...
Page 833 Connectors SSCNETIII cable connector [Unit: mm (inch)] 4.8 (0.19) (0.07) (0.09) 17.6±0.2 (0.69±0.01) (0.31) 20.9±0.2 (0.82±0.01) Forced stop connector ■Forced stop connector when using MR-MC2_ _ (Molex, LLC make) Type Connector: 51103-0300 Terminal: 50351-8100 [Unit: mm (inch)] 9.7 (0.38) 7.5 (0.30) 8 (0.31) ■Forced stop connector when using MR-MC3_ _ (PHOENIX CONTACT GmbH &...
Page 834 Appendix 9 Open Source Software The position board (MR-MC341) uses GPL software in parts of the internal system. The GPL software source program is provided upon purchase of the position board (MR-MC341). Contact our sales representative for the GPL software source program.
Page 835 MEMO APPX Appendix 9 Open Source Software...
Page 836 INDEX ....147 Home position reset function .....129 Home position return .
Page 837 ..490 ......489 Non-synchronous micro-adjustment mode Tandem drive ....413 .
Page 838 Japanese manual number: IB-0300222-K 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 839 WARRANTY 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 840 INFORMATION AND SERVICES For further information and services, please contact your local Mitsubishi Electric sales office or representative. Visit our website to find our locations worldwide. MITSUBISHI ELECTRIC Factory Automation Global Website Locations Worldwide www.MitsubishiElectric.com/fa/about-us/overseas/ TRADEMARKS Microsoft and Windows are trademarks of the Microsoft group of companies.
Page 842 IB(NA)-0300223ENG-J(2406)MEE MODEL: MRMC2-U-S-E MODEL CODE: 1XB968 HEAD OFFICE: TOKYO BLDG., 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS: 1-14, YADA-MINAMI 5-CHOME, HIGASHI-KU, NAGOYA 461-8670, JAPAN When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission. Specifications subject to change without notice.

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