Mitsubishi Electric MELSERVO MR-MG30 Instruction Manual
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Mitsubishi Electric MELSERVO MR-MG30 Instruction Manual

Mitsubishi Electric MELSERVO MR-MG30 Instruction Manual

Profibus-dp compatible option unit
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General-Purpose AC Servo
PROFIBUS-DP Compatible Option Unit
MODEL
MR-MG30
INSTRUCTION MANUAL

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Summary of Contents for Mitsubishi Electric MELSERVO MR-MG30

  • Page 1 General-Purpose AC Servo PROFIBUS-DP Compatible Option Unit MODEL MR-MG30 INSTRUCTION MANUAL...

  • Page 2: Safety Instructions

    Safety Instructions (Always read these instructions before using the equipment.) Do not attempt to install, operate, maintain or inspect this apparatus until you have read through this Instruction Manual, Servo amplifier Instruction Manual, Servo motor Instruction Manual and appended documents carefully and can use the equipment correctly.
  • Page 3 1. To prevent electric shock, note the following: WARNING Before wiring or inspection, switch power off. Then, confirm the voltage is safe with voltage tester. If work is done with power on, you may get an electric shock. Connect the MR-MG30 to ground. Any person who is involved in wiring and inspection should be fully competent to do the work.

  • Page 4: Additional Instructions

    3. Additional instructions The following instructions should also be fully noted. Incorrect handling may cause a fault, injury, electric shock, etc. (1) Transportation and installation CAUTION Stacking in excess of the specified number of products is not allowed. Install the servo amplifier in a load-bearing place in accordance with the Instruction Manual. Do not climb or stand on servo equipment.

  • Page 5: General Instruction

    (3) Test run adjustment CAUTION Before operation, check the parameter settings. Improper settings may cause some machines to perform unexpected operation. The parameter settings must not be changed excessively. Operation will be insatiable. (4) Usage CAUTION Provide an external emergency stop circuit to ensure that operation can be stopped and power switched off immediately.
  • Page 6 About processing of waste When you discard servo amplifier, a battery (primary battery), and other option articles, please follow the law of each country (area). FOR MAXIMUM SAFETY This product is not designed or manufactured to be used in equipment or systems in situations that can affect or endanger human life.
  • Page 7 <About the Manuals> If it is the first time for you to use the MR-MG30, the Servo Amplifier Instruction Manual and Servo Motor Instruction Manual are required in addition to this Option Unit Instruction Manual. Always purchase them and use the servo safely. Relevant manuals MELSERVO-J2-Super Series Manual name...

  • Page 8: Table Of Contents

    CONTENTS 1. FUNCTIONS AND CONFIGURATION 1- 1 to 1- 8 1.1 Outline ............................... 1- 1 1.2 System configuration ..........................1- 1 1.3 MR-MG30 standard specifications ......................1- 3 1.4 Combination with servo amplifiers......................1- 5 1.5 Parts identification............................. 1- 5 1.6 INSTALLATION............................
  • Page 9 3.4 Interfaces..............................3-14 3.4.1 Sink I/O interface..........................3-14 3.4.2 Source I/O interfaces ........................3-15 3.5 Operation Timing............................3-16 3.5.1 Power ON to initialization sequence....................3-16 3.5.2 Trouble occurrence ........................... 3-16 3.5.3 Power supply shutoff......................... 3-17 4. OPERATION 4- 1 to 4-26 4.1 Automatic operation mode (Direct specification) ..................

  • Page 10: Functions And Configuration

    1. FUNCTIONS AND CONFIGURATION 1. FUNCTIONS AND CONFIGURATION 1.1 Outline These specifications explain the PROFIBUS-DP communication option unit MR-MG30. When the PROFIBUS-DP communication option unit MR-MG30 is combined with an SSCNETII compatible servo amplifier, the position data, command speed and acceleration/deceleration time constants can be set in real time and positioning operation can be executed via the PROFIBUS communication.
  • Page 11 1. FUNCTIONS AND CONFIGURATION Positioning control using PROFIBUS communication is possible. In addition, the parameters can be changed, set and monitored, etc. Signals such as the stroke end and proximity dog can be input directly to the MR- MG30. One MR-MG30 can control a maximum of six axes of servo amplifiers. 24VDC External I/O signal Stroke end...

  • Page 12: Mr-Mg30 Standard Specifications

    1. FUNCTIONS AND CONFIGURATION 1.3 MR-MG30 standard specifications (1) Option unit specification list Item Description Model MR-MPB06 Voltage 24VDC Power Permissible voltage fluctuation 24VDC±10% supply Power supply capacity Interfaces power supply 24VDC±10% 500mA or more command PROFIBUS-DP V0 Interfaces Servo amplifier SSCNET II Structure Self-cooled, open (IP00)
  • Page 13 1. FUNCTIONS AND CONFIGURATION (2) Motion specification list Item Description Positioning using PROFIBUS communication data Position command : Set with PROFIBUS communication One-point feed length setting range: ±1 [µm] to ±999.999 [µm] Speed command : Set with PROFIBUS communication Automatic mode (direct The acceleration/deceleration time constant is also set with PROFIBUS designation) communication...

  • Page 14: Combination With Servo Amplifiers

    1. FUNCTIONS AND CONFIGURATION 1.4 Combination with servo amplifiers The MR-MG30 is used in combination with the following servo amplifiers. One MR-MG30 can control a maximum of six axes of servo amplifiers. Series name Model name Description MR-J2S- B MR-J2 Super series MR-J2S- B1 For the servo amplifier capacities and applicable servo motor MR-J2S- B4...

  • Page 15: Installation

    1. FUNCTIONS AND CONFIGURATION 1.6 INSTALLATION Install the equipment in accordance with this Instruction Manual. Do not get on or put heavy load on the equipment to prevent injury. Use the equipment within the specified environmental condition range. The MR-MG30 has an opening. Provide an adequate protection to prevent screws, metal pieces and other conductive matter or oil and other combustible matter from CAUTION entering the MR-MG30.

  • Page 16: Keep Out Foreign Materials

    1. FUNCTIONS AND CONFIGURATION (2) Installation of two or more servo amplifiers Leave a large clearance between the top of the MR-MG30 and the internal surface of the control box, and install a fan to prevent the internal temperature of the control box from exceeding the environmental conditions.
  • Page 17 1. FUNCTIONS AND CONFIGURATION MEMO 1 - 8...

  • Page 18: Profibus Communication Function

    2. PROFIBUS COMMUNICATION FUNCTION 2. PROFIBUS COMMUNICATION FUNCTION 2.1 Communication specifications Item Specifications Communication profile PROFIBUS-DP (slave) V0 Electrical standard and characteristics RS-485 compatible Medium Shielded twisted copper wire cable type A Transmission encoding method Communication Transmission 9.6, 19.2, 93.75 Kbps 187.5 Kbps 500 Kbps 1.5 Mbps...

  • Page 19: Setting The Node Address

    2. PROFIBUS COMMUNICATION FUNCTION 2.3 Setting the node address POINT Set the node address before powering on the MR-MG30. While power is on, any changes made to the node address are invalid. Set the node address with the rotary switches ( 16, 1) on the front of the option unit MR-MG30.

  • Page 20: Details Indicated With Led Display

    2. PROFIBUS COMMUNICATION FUNCTION 2.4 Details indicated with LED display 2.4.1 Module status LED LED status Details Power is not supplied to the option unit Green solid Option unit is running normally Red flicker An alarm or warning is occurring due to an error in one of the connected servo amplifiers Red solid An option unit alarm or warning is occurring...

  • Page 21: Profibus Profile

    <MG3008D2. GSD> Parameter Value (Note 1) Details #Profibus_DP File header GSD_Revision GSD file ID version Vendor_Name "Mitsubishi Electric" Maker name (Note 2) Model_Name "MR-MG30" Product name Revision "Revision 1.00" Product version Ident_Number 08D2H Device number obtained from Profibus Nutzer Organization...
  • Page 22 2. PROFIBUS COMMUNICATION FUNCTION Parameter Value (Note 1) Details Max_Data_Len Maximum input/output data: 336Byte Fail_Safe Fail safe is not supported Max_Diag_data_Len 6 bytes are secured as diagnosis data (external diagnosis not provided) Slave_Family Function class (main family) defines Drives PrmText Text selection 1 registered Text(0) "No byte swapping"...
  • Page 23 2. PROFIBUS COMMUNICATION FUNCTION Parameter Value (Note 1) Details Ext_User_Prm_Data_Const(6) Default value for 7th byte of user parameter Ext_User_Prm_Data_Const(7) Default value for 8th byte of user parameter Ext_User_Prm_data_Ref(1) Use byte swap selection 1 with text base for 2nd byte of user parameter Ext_User_Prm_Data_Ref(2) Use byte swap selection 2 with text base for 3rd byte of user parameter Ext_User_Prm_Data_Ref(3)

  • Page 24: Slave User Parameters

    2. PROFIBUS COMMUNICATION FUNCTION 2.5.2 Slave user parameters Address Function For maker settings. (Setting value is fixed to "1".) Select byte swap function (byte reversal function). 0: Byte swap invalid 1: Byte swap valid Axis 1 servo amplifier series selection Select the servo amplifier series to be connected to Axis 1.

  • Page 25: Profibus Profile

    2. PROFIBUS COMMUNICATION FUNCTION 2.5.3 PROFIBUS profile The option unit runs as the "PROFIBUS-DP master's slave". The PROFIBUS profile (data buffers) is compatible with "PPO type 5". The module type can be changed with the slave module settings. Refer to the instruction manual provided with the network master's configuration software for details.
  • Page 26 2. PROFIBUS COMMUNICATION FUNCTION (2) Buffer memory map The buffer memory map when using all six axes with the slave user parameters is as follows. Memory offset Details 00H to 1BH Command request/command response area for axis 1 14 words 1CH to 37H Command request/command response area for axis 2 14 words 38H to 53H...

  • Page 27: Details Of Buffer Memory

    2. PROFIBUS COMMUNICATION FUNCTION 2.6 Details of buffer memory POINT In this section, ON indicates that the corresponding bit is "1" and OFF indicates that the corresponding bit is "0". 2.6.1 Details of PKW Name Definition 0 to 10 Parameter number (Set target parameter with IND + PNU.) Command request (Task execution request) The task set with PKW is executed at the rising edge of SPM.

  • Page 28: Details Of Pzd

    2. PROFIBUS COMMUNICATION FUNCTION 2.6.2 Details of PZD (1) Command request Name Definition PZD STW 0 to 6 For manufacturer setting (Set to 1) 1: This cancels the servo alarm/option unit alarm. 8 to 12 For manufacturer setting (Set to 0) Parameter initial transmission complete This turns ON when the initial parameter transmission from the master unit is completed.

  • Page 29: Command Response

    2. PROFIBUS COMMUNICATION FUNCTION Name Definition CPOSH Position data High- 0 to 15 Set the movement amount order 16 bits The incremental value command or absolute value command can be selected with the auxiliary function. CPOSL Position data Low- 0 to 15 order 16 bits CSPD Servo motor speed...
  • Page 30 2. PROFIBUS COMMUNICATION FUNCTION Name Definition STS1 MEND Movement finish This turns ON when in-position (INP) is ON and the remaining command distance is "0". Rough match This turns ON when the remaining command distance is less than the rough match output range set with the parameters.

  • Page 31: Parameter Definitions

    2. PROFIBUS COMMUNICATION FUNCTION 2.7 Parameter definitions 2.7.1 Outline of PNU The parameters can be set from the network using PNU. The data used by the network is indicated as PNU(P) to identify them from the common parameters, positioning parameters and servo parameters. (1) Details of PNU data P1234.

  • Page 32: Profibus Pnu

    2. PROFIBUS COMMUNICATION FUNCTION 2.7.2 PROFIBUS PNU (1) Real-time monitoring The following items can be monitored from the master. Item Details Data type Unit P1.1 Current position The current position, using the machine home position as "0", is AInt32 indicated. [µm] (Note) P1.3 Command position The set command position is indicated.
  • Page 33 2. PROFIBUS COMMUNICATION FUNCTION (2) Parameter initialization The parameters can be initialized from the master. Item Details of data Data type P2.1 Common parameter (No. 00 1EA5H AUs16 to 59) initialisation (Note) P2.2 Positioning parameter (No. 00 1EA5H AUs16 to 79) initialisation (Note) P2.3 Servo parameter (No.
  • Page 34 2. PROFIBUS COMMUNICATION FUNCTION Item Details of data Data type P3.7 Input status read 1 The input signal's OFF/ON (0 or 1) information is read. AUs32 When the external signals are validated with the common parameters No. 21 to 44, the external DI information is read. Refer to section 3.2.3 for the meanings of the abbreviations.
  • Page 35 2. PROFIBUS COMMUNICATION FUNCTION Item Details of data Data type P3.10 Power ON time read The power ON time, counted from the shipment of the option unit, is read. AUs16 Respons unit [hours] P3.11 No. of power ON times read The number of times the power was turned ON, counted from the shipment of AUs16 the option unit, is read.

  • Page 36: Parameters

    2. PROFIBUS COMMUNICATION FUNCTION 2.7.3 Parameters The parameters can be read and set from the network by using PNU. Refer to Chapter 5 for parameter details. Item Details of data Data type -Index P1000 to P1059 Common parameter The values set for the common parameters No. 00 to 59 are indicated. AUs16 No.
  • Page 37 2. PROFIBUS COMMUNICATION FUNCTION Item Details of data Data type -Index P1401 to P1439 Servo parameter The values set for the servo parameters No. 1 to 39 are indicated. AUs16 No. 1 to 39 (PNU-1400) corresponds to the parameter No. Servo parameter The data type of the servo parameter No.

  • Page 38: Initialization Sequence

    2. PROFIBUS COMMUNICATION FUNCTION 2.8 Initialization sequence After the MR-MG30 power is turned ON, the following initialization process, including setting of the parameters, is carried out before actual operation is started. Phase 1: Initialization of PROFIBUS communication (parameter setting, configuration) Phase 2: Initialization of parameter settings Phase 3: Initialization between MR-MG30 and servo amplifier <Outline flow>...
  • Page 39 2. PROFIBUS COMMUNICATION FUNCTION (1) Phase 1 (Initialization of PROFIBUS communication) This phase is carried out commonly for all axes. Following the PROFIBUS specifications, the master unit sends the servo amplifier series connected to each axis, the send/receive data size, etc. to the MR-MG30 using parameter statements, configuration statements, etc.

  • Page 40: Normal Control

    2. PROFIBUS COMMUNICATION FUNCTION 2.9 Normal control 2.9.1 Data communication timing The MR-MG30 retrieves the data received from the master unit and updates the sent data at a 0.888msec cycle. There is no problem if the actual communication cycle between the master unit and MR-MG30 is long (Item (1)).

  • Page 41: Read Request

    2. PROFIBUS COMMUNICATION FUNCTION 2.9.2 Read request Read request (AK), parameter No. (PNU IND) Task execution request (SPM) Task execution complete (SPM) Read data (PWE) Error code (PWE2) Data read period Set the read request (AK) and parameter No. (PNU IND), and turn the task execution request (SPM) ON. When the task execution request turns ON, the data corresponding to the set read request and parameter No.

  • Page 42: Signals And Wiring

    3. SIGNALS AND WIRING 3. SIGNALS AND WIRING Any person who is involved in wiring should be fully competent to do the work. WARNING The cables should not be damaged, stressed excessively, loaded heavily, or pinched. Otherwise, you may get an electric shock. Wire the equipment correctly and securely.
  • Page 43 3. SIGNALS AND WIRING (1) Sink I/O interface MR-MG30 24VDC power supply CNP10 CN20 CN20 (Note 1) DICOM 15 DICOM (Note 2) DOCOM 16 ALM_1 Axis 1 Trouble Approx. DOCOM 6.8k Axis 1 Forward rotation stroke end LSP_1 17 ALM_2 Axis 2 Trouble Axis 1 Reverse rotation stroke end LSN_1...

  • Page 44: Source I/O Interface

    3. SIGNALS AND WIRING (2) Source I/O interface MR-MG30 24VDC power supply CNP10 CN20 CN20 (Note 1) 15 DICOM DICOM (Note 2) DOCOM 16 ALM_1 Axis 1 Trouble Approx. DOCOM 6.8k 17 ALM_2 Axis 1 Forward rotation stroke end LSP_1 Axis 2 Trouble Axis 1 Reverse rotation stroke end LSN_1...

  • Page 45: I/O Signals

    3. SIGNALS AND WIRING 3.2 I/O signals 3.2.1 Connectors and Signal Layouts POINT The pin configurations of the connectors are as viewed from the cable connector wiring section. Refer to section 2.2 for CN1 signal assignment. The connectors and bus cable for connection are not supplied. Prepare them on the customer side. CNP10 (Power supply connector) Signal layout Connector for connection...

  • Page 46: Explanation Of Power Supply System Signals

    3. SIGNALS AND WIRING 3.2.2 Explanation of power supply system signals (1) Interface power supply (a) In the case of sink interface Connector Signal name Abbreviation Function/application explanation pin No. Digital I/F power supply input DICOM CN20-14 Input 24VDC (500mA or more) for input interface. The pins CN20-15 are connected internally.

  • Page 47: Signal (Device) Explanation

    3. SIGNALS AND WIRING 3.2.3 Signal (device) explanation (1) I/O devices The devices indicated here can be assigned to any pins of the connector CN20 in the common parameter setting for use as I/O signals. (a) Changeable pins For the I/O interfaces (symbols in I/O division column in the table), refer to Section 3.4. Pin type Connector pin No.
  • Page 48 3. SIGNALS AND WIRING (b) Input devices The assignment of the devices to the connector CN20 can be changed by the common parameters No. 21 to 44. The input devices assigned to the pins cannot be used for PROFIBUS communication. of the signal abbreviation in the table indicates the axis number.
  • Page 49 3. SIGNALS AND WIRING Device name Abbreviation Function/application explanation Forward rotation stroke end LSP_ To start operation, turn LSP_ /LSN_ on. Turn it off to bring the motor to a sudden stop and make it servo-locked. Set "1" in positioning parameter No. 53 to make a slow stop. (Note) Input signals Operation LSP_...
  • Page 50 3. SIGNALS AND WIRING Device name Abbreviation Function/application explanation Home position return ZP_ turns ON at completion of a home position return. completion In an absolute position system, ZP_ turns ON when operation is ready to start, but turns OFF in any of the following cases. 1) Servo-on (SON_ ) is turned OFF.
  • Page 51 3. SIGNALS AND WIRING (2) Input signal Connector (Note) I/O Signal name Abbreviation Function/application explanation pin No. category Emergency stop CN20-13 Turn EMG on to bring the motor to an emergency stop DI-1 state, in which the servo is switched off and the dynamic brake is operated.

  • Page 52: Detailed Description Of Signals (Devices)

    3. SIGNALS AND WIRING 3.3 Detailed description of signals (devices) 3.3.1 Operation start (ST_ ) Temporary stop (TSTP_ ) (1) Operation start (ST_ ) should make the sequence which can be used after the main circuit has been established. These signals are invalid if it is switched on before the main circuit is established. Normally, it is interlocked with the ready (RD_ ).

  • Page 53: Movement Finish Rough Match In Position

    3. SIGNALS AND WIRING 3.3.2 Movement finish Rough match In position POINT If servo-on occurs after a stop made by servo-off, alarm occurrence or emergency stop (EMG) ON during automatic operation, Movement finish (MEND_ ), Rough match (CPO_ ) and In position (INP_ ) turn on. To make a start again, confirm the point table No.
  • Page 54 3. SIGNALS AND WIRING (3) In position The following timing chart shows the relationship between the signal and the feedback pulse of the servo motor. This timing can be changed using servo parameter No. 20 (in-position range). INP_ turns ON in the servo-on status.

  • Page 55: Interfaces

    3. SIGNALS AND WIRING 3.4 Interfaces This section provides the details of the I/O signal interfaces (refer to the I/O division in the table) given in Section 3.2. Refer to this section and make connection with the external equipment. 3.4.1 Sink I/O interface (1) Digital input interface DI-1 Give a signal with a relay or open collector transistor.

  • Page 56: Source I/O Interfaces

    3. SIGNALS AND WIRING 3.4.2 Source I/O interfaces In MR-MG30, source type I/O interfaces can be used. In this case, all DI-1 input signals and DO-1 output signals are of source type. Perform wiring according to the following interfaces. (1) Digital input interface DI-1 MR-MG30 LSN_ Approx.

  • Page 57: Operation Timing

    3. SIGNALS AND WIRING 3.5 Operation Timing 3.5.1 Power ON to initialization sequence Power supply Control initialization Within 1s (Note 1) Initialization phase First phase Second phase Third phase Normal control (Note 2) Within 1s Parameter initial transfer completion (PIF) Servo amplifier control ready (RDONS) Flickering...

  • Page 58: Power Supply Shutoff

    3. SIGNALS AND WIRING 3.5.3 Power supply shutoff (1) MR-MG30 power supply OFF 24VDC power supply Control power supply Communication between master Normal Communication cutoff communication unit and MR-MG30 40ms Communication between MR- Normal Communication cutoff communication MG30 and servo amplifier 40ms MR-MG30 trouble (ALM_ Servo amplifier ready (RD)
  • Page 59 3. SIGNALS AND WIRING (3) Master unit power supply OFF Power supply Communication between master Normal Communication cutoff unit and MR-MG30 communication (Note 1) MR-MG30 trouble (ALM_ (Note 2) Servo amplifier ready (RD) Servo amplifier trouble (ALM) Servo amplifier control ready (RDONS) NS LED On green...

  • Page 60: Operation

    4. OPERATION 4. OPERATION 4.1 Automatic operation mode (Direct specification) Using the command request, directly specify the data necessary for positioning to execute positioning operation. (1) Setting The devices/parameters/command requests necessary for the automatic operation mode are indicated below. Device/parameter/command Item Description request...
  • Page 61 4. OPERATION Device/parameter Item Description /command request (Note 2) Position CPOSH (For Set the moving distance. Positioning data upper 16 bits) Set the upper 16 bits of the moving distance to CPOSH and the lower 16 bits to data CPOSL. CPOSL (For Setting range: -999999 to 999999 lower 16 bits)

  • Page 62: Timing Chart

    4. OPERATION (3) Timing chart (Note 1) Operation mode selection Automatic operation mode (direct specification) (MD0_ MD1_ MD2_ ) Servo-on (SON_ ) Start direction (DIR_ ) (Note 3) (Note 3) 3ms or 3ms or more more Operation start (ST_ ) 5ms or more 5ms or more (Note 2)

  • Page 63: Manual Operation Mode (Jog Operation)

    4. OPERATION 4.2 Manual operation mode (JOG operation) For machine adjustment, home position matching, etc., jog operation may be used to make a motion to any position. (1) Setting The devices/parameters/command requests necessary for the manual operation mode are indicated below. Device/parameter/command Item Description...
  • Page 64 4. OPERATION (3) Timing chart (Note) Operation mode selection Manual operation mode (MD0_ MD1_ MD2_ ) Servo-on (SON_ ) Start direction (DIR_ ) Operation start (ST_ ) Forward rotation Servomotor speed 0r/min Reverse rotation In position (INP_ ) Control mode selection (CPO_ ) Movement finish (MEND_ ) 80ms...

  • Page 65: Home Position Return Mode

    4. OPERATION 4.3 Home position return mode 4.3.1 Outline of home position return Home position return is performed to match the command coordinates with the machine coordinates. In the incremental system, home position return is required every time input power is switched on. In the absolute position detection system, once home position return is done at the time of installation, the current position is retained if power is switched off.
  • Page 66 4. OPERATION (2) Procedure (a) Parameter setting The following indicates the parameters necessary for a home position return. The parameters to be used change depending on the home position return methods. For details, refer to the section of the corresponding home position return (Section 4.3.2 and later). Positioning parameter No.

  • Page 67: Dog Type Home Position Return

    4. OPERATION 4.3.2 Dog type home position return A home position return method using a proximity dog. With deceleration started at the front end of the proximity dog, the position where the first Z-phase signal is given past the rear end of the dog or a motion has been made over the home position shift distance starting from the Z-phase signal is defined as a home position.
  • Page 68 4. OPERATION (3) Timing chart Operation mode selection Home position return mode (MD0_ , MD1_ , MD2_ ) In position (INP_ ) Movement finish (MEND_ ) Control mode selection (CPO_ ) Home position return completion (ZP_ ) Deceleration time constant Home position shift Home position return speed Positioning parameter No.

  • Page 69: Count Type Home Position Return

    4. OPERATION 4.3.3 Count type home position return In count type home position return, a motion is made over the distance set in positioning parameter No.23 (moving distance after proximity dog) after detection of the proximity dog front end. The position where the first Z-phase signal is given after that is defined as a home position.
  • Page 70 4. OPERATION (2) Timing chart Operation mode selection Home position return mode (MD0_ , MD1_ , MD2_ ) In position (INP_ ) Movement finish (MEND_ ) Control mode selection (CPO_ ) Home position return completion (ZP_ ) Home position return Deceleration time constant Home position shift Acceleration time...

  • Page 71: Data Setting Type Home Position Return

    4. OPERATION 4.3.4 Data setting type home position return Data setting type home position return is used when it is desired to determine any position as a home position. JOG operation, manual pulse generator operation or like can be used for movement. (1) Parameters Set the parameters as described below.

  • Page 72: Home Position Ignorance (Servo-On Position Defined As Home Position)

    4. OPERATION 4.3.5 Home position ignorance (servo-on position defined as home position) The position where servo is switched on is defined as a home position. (1) Devices/parameters Set the input device and parameters as indicated below. Item Device/parameter Description Home position return Operation mode selection 0 Set the devices as shown below to select the home position return mode.

  • Page 73: Dog Type Rear End Reference Home Position Return

    4. OPERATION 4.3.6 Dog type rear end reference home position return POINT This home position return method depends on the timing of reading Proximity dog (DOG_ ) that has detected the rear end of a proximity dog. Hence, if a home position return is made at the creep speed of 100r/min, an error of 200 pulses will occur in the home position.
  • Page 74 4. OPERATION (2) Timing chart Operation mode selection Home position return mode (MD0_ MD1_ MD2_ ) In position (INP_ ) Movement finish (MEND_ ) Control mode selection (CPO_ ) Home position return completion (ZP_ ) Home position Moving distance after proximity dog + return speed home position shift amount Creep speed...

  • Page 75: Count Type Front End Reference Home Position Return

    4. OPERATION 4.3.7 Count type front end reference home position return POINT This home position return method depends on the timing of reading Proximity dog (DOG_ ) that has detected the front end of a proximity dog. Hence, if a home position return is made at the home position return speed of 100r/min, an error of 200 pulses will occur in the home position.
  • Page 76 4. OPERATION (2) Timing chart Operation mode selection Home position return mode (MD0_ MD1_ MD2_ ) In position (INP_ ) Movement finish (MEND_ ) Control mode selection (CPO_ ) Home position return completion (ZP_ ) Moving distance after proximity dog + home Home position return speed position shift amount Creep speed...

  • Page 77: Dog Cradle Type Home Position Return

    4. OPERATION 4.3.8 Dog cradle type home position return The position where the first Z-phase signal is issued after detection of the proximity dog front end can be defined as a home position. (1) Devices/parameters Set the input device and parameters as indicated below. Item Device/parameter Description...
  • Page 78 4. OPERATION (2) Timing chart Operation mode selection Home position return mode (MD0_ MD1_ MD2_ ) In position (INP_ ) Movement finish (MEND_ ) Control mode selection (CPO_ ) Home position return completion (ZP_ ) Home position Home position return speed shift distance Creep speed Servomotor speed...

  • Page 79: Home Position Return Automatic Return Function

    4. OPERATION 4.3.9 Home position return automatic return function If the current position is at or beyond the proximity dog in dog or count type home position return, you need not make a start after making a return by jog operation or the like. When the current position is at the proximity dog, an automatic return is made before home position return.

  • Page 80: Automatic Positioning Function To The Home Position

    4. OPERATION 4.4 Automatic positioning function to the home position POINT You cannot perform automatic positioning from outside the position data setting range to the home position. In this case, make a home position return again using a manual home position return. If this function is used when returning to the home position again after performing a manual home position return after a power-on and deciding the home position, automatic positioning can be carried out to the home position at high speed.

  • Page 81: Interrupt Positioning Operation Mode

    4. OPERATION 4.5 Interrupt Positioning Operation Mode POINT When interrupt positioning is executed in the interrupt positioning operation mode, a stopping position differs depending on the servo motor speed at which Interrupt positioning input (ITP_ ) turns ON. The interrupt positioning operation mode is a function that stops the axis after it has advanced the distance in the position data set to the command request from the position where Interrupt positioning input (ITP_ ) turned ON.
  • Page 82 4. OPERATION (2) Operation procedure (a) Interrupt positioning operation mode selection Using Operation mode selection (MD0_ /MD1_ /MD2_ ), select the interrupt positioning operation mode. (b) Operation start When Operation start (ST_ ) is turned ON, positioning operation is executed on the leading edge of according to the speed, acceleration time constant, deceleration time constant and auxiliary function data.

  • Page 83: Application Functions

    4. OPERATION 4.6 Application Functions 4.6.1 Operation stop When Operation stop (STP_ ) is turned ON during operation in the automatic operation mode, the axis stops at the currently set deceleration time constant. If Operation stop (STP_ ) is then turned OFF, operation is not resumed.

  • Page 84: Temporary Stop

    4. OPERATION 4.6.2 Temporary stop Temporary stop (TSTP_ ) is a device that becomes valid in the automatic operation mode. It cannot be used in the other operation modes. When Temporary stop (TSTP_ ) is turned ON during operation in the automatic operation mode, the axis stops at the currently set deceleration time constant.

  • Page 85: Speed Change

    4. OPERATION 4.6.3 Speed change Speed change (SCHG_ ) cannot be used in the home position return mode. When Speed change (SCHG_ ) is turned ON during operation, the speed is changed according to the positioning data (speed, acceleration time constant, deceleration time constant) applicable when Speed change (SCHG_ ) is turned ON.

  • Page 86: Parameters

    5. PARAMETERS 5. PARAMETERS Never adjust or change the parameter values extremely as it will make CAUTION operation instable. POINT This chapter does not provide the detailed explanation of the servo parameters. Refer to the Instruction Manual of the used servo amplifier. The following parameter types are necessary to control the servo amplifier using the MR-MG30.
  • Page 87 5. PARAMETERS Initial Category No. Abbreviation Name Unit Value 17 1017 For manufacturer setting 18 1018 For manufacturer setting 19 1019 *BLK Parameter block 0000h 20 1020 *DIF Input signal filter 0000h 21 1021 *DI1 Input signal selection 1 (CN20-pin1) 101Dh 22 1022 *DI2...

  • Page 88: Parameter Detail List

    5. PARAMETERS 5.1.2 Parameter detail list Initial Setting Category No. Abbreviation Name and Function Unit Value Range 0 1000 For manufacturer setting Do not change this value by any means. 1 1001 2 1002 3 1003 4 1004 5 1005 6 1006 7 1007 8 1008...
  • Page 89 5. PARAMETERS Initial Setting Category No. Abbreviation Name and Function Unit Value Range 20 1020 *DIF Input signal filter 0004h Refer to Used to select the input signal filter. the Name 0 0 0 Function field. Input sigunal filter If external input signal causes chattering due to noise, etc., input filter is used to suppress it.
  • Page 90 5. PARAMETERS Initial Setting Category No. Abbreviation Name and Function Unit Value Range 23 1023 *DI3 Input signal selection 3 (CN20-pin3) 101Fh Refer to Set the function of the CN20-3 pin. the Name The setting method is the same as that of the common parameter No. 21. Function field.
  • Page 91 5. PARAMETERS Initial Setting Category No. Abbreviation Name and Function Unit Value Range 33 1033 *DI13 Input signal selection 13 (CN20-pin19) 401Dh Refer to Set the function of the CN20-19 pin. the Name The setting method is the same as that of the common parameter No. 21. Function field.
  • Page 92 5. PARAMETERS Initial Setting Category No. Abbreviation Name and Function Unit Value Range 43 1043 *DI23 Input signal selection 23 (CN20-pin29) 601Fh Refer to Set the function of the CN20-29 pin. the Name The setting method is the same as that of the common parameter No. 21. Function field.
  • Page 93 5. PARAMETERS Initial Setting Category No. Abbreviation Name and Function Unit Value Range 46 1046 *DO2 Output signal selection 2 (CN20-pin17) 2003h Refer to Set the function of the CN20-17 pin. the Name The setting method is the same as that of the common parameter No. 45. Function field.

  • Page 94: Positioning Parameter

    5. PARAMETERS 5.2 Positioning parameter POINT The parameters marked * before their symbols are made valid by switching power off once and then switching it on again after parameter setting. 5.2.1 Parameter list Initial Category No. Abbreviation Name and Function Unit Value 0 1200...
  • Page 95 5. PARAMETERS Initial Category No. Abbreviation Name and Function Unit Value 40 1240 Rough match output range µm 41 1241 MOFT Movement complete minimum OFF time 42 1242 *LPP1 Position range output address + low µm 43 1243 *LPP2 Position range output address + high 44 1244 *LNP1 Position range output address - low...

  • Page 96: Parameter Detail List

    5. PARAMETERS 5.2.2 Parameter detail list Initial Setting Category No. Abbreviation Name and Function Unit Value Range 0 1200 *CMX Electronic gear numerator Set the value of electronic gear numerator. Setting "0" sets the number of encoder pulses internally. (Refer to Section 5.2.3, (1)) 65535 1 1201 For manufacturer setting...
  • Page 97 5. PARAMETERS Initial Setting Category No. Abbreviation Name and Function Unit Value Range 10 1210 JOG speed r/min Used to set the jog speed command. Permissible speed 11 1211 JOGA JOG acceleration time constant Set the acceleration time constant for JOG operation. 20000 12 1212 JOGD...
  • Page 98 5. PARAMETERS Initial Setting Category No. Abbreviation Name and Function Unit Value Range 23 1223 Moving distance after proximity dog 1000 Used to set the moving distance after proximity dog in count type home µm position return. (Refer to Section 5.4.3) 65535 24 1224 For manufacturer setting...
  • Page 99 5. PARAMETERS Initial Setting Category No. Abbreviation Name and Function Unit Value Range 46 1246 *DI1 Input signal automatic ON selection 1 0000h Refer to Select the function device signals that will turn ON automatically. the Name Function field. Initial value Signal name 0 0 0 Servo-on...
  • Page 100 5. PARAMETERS Initial Setting Category No. Abbreviation Name and Function Unit Value Range 48 1248 For manufacturer setting 0000h Do not change this value by any means. 49 1249 *D01 Output signal selection 1 0000h Refer to the Name Function Select whether to or the MR-MG30 fault to the fault field.
  • Page 101 5. PARAMETERS Initial Setting Category No. Abbreviation Name and Function Unit Value Range 58 1258 *LMP1 Software limit address + high 999999 Used to set the address increment side software stroke limit. The µm software limit is made invalid if this value is the same as in "software limit 999999 -".

  • Page 102: Detailed Explanation

    5. PARAMETERS 5.2.3 Detailed explanation (1) Electronic gear CAUTION False setting will result in unexpected fast rotation, causing injury. POINT A guideline for the electronic gear setting range changes depending on the encoder resolution. If a value is set outside the range, noise may be produced during acceleration/deceleration or operation may not be performed at the preset speed or acceleration/deceleration time constant.
  • Page 103 5. PARAMETERS r=160(6.30)[mm(in.)] (b) Conveyor setting example Machine specifications Pulley diameter: r 160 (6.30) [mm(in.)] Servo motor 131072[pulse/rev] Reduction ratio: n Servo motor resolution: Pt 131072 [pulse/rev] n=NL/NM=1/3 131072 32768 131072 167551.61 41888 1000 1/3 160 1000 Reduce CMX and CDV to the setting range or less, and round off the first decimal place. Hence, set 32768 to CMX and 41888 to CDV.
  • Page 104 5. PARAMETERS (4) Rough match output Rough match (CPO_ ) is output when the command remaining distance reaches the value set in positioning parameter No. 40 (rough match output range). The set remaining distance is 0 to 65535 [ 10 Command remaining distance ( 10 set in positioning parameter No.

  • Page 105: Servo Parameter List

    5. PARAMETERS 5.3 Servo Parameter List POINT The parameters marked * before their symbols are made valid by switching power off once and then switching it on again after parameter setting. The parameters are set when communication is established between the servo system controller and servo amplifier (indicated by b*).
  • Page 106 5. PARAMETERS (2) MR-J2M-P8B Classifi- Symbol Name Initial Value Unit cation 0000 For manufacturer setting 0000 0080 For manufacturer setting by servo system controller 0000 Automatically set from the servo system controller *POL Rotation direction selection Auto tuning 0001 Servo response 0004 Forward rotation torque limit Reverse rotation torque limit...
  • Page 107 5. PARAMETERS MEMO 5 - 22...

  • Page 108: Troubleshooting

    6. TROUBLESHOOTING 6. TROUBLESHOOTING 6.1 Outline The MR-MG30 alarms and warnings are categorized into the following three types. Name Details Option unit alarm These alarms and warnings are detected by the option unit. When an alarm occurs, all of the connected servo amplifiers stop in the base OFF state.

  • Page 109: Sscnet Communication Errors

    6. TROUBLESHOOTING 6.3 SSCNET Communication Errors The following table provides the factors and measures at occurrence of an SSCNET communication error. Alarm Name Details Cause of occurrence Remedy code AL34 CRC error Bus cable 1. The bus cable is disconnected. Correctly connect.

  • Page 110: Option Unit Alarms

    6. TROUBLESHOOTING 6.5 Option Unit Alarms (1) Alarm/warning list If any alarm/warning occurs, take the appropriate action according to (2) or (3) in this section. After its cause has been removed, the alarm can be deactivated in either of the methods marked in the Alarm Deactivation field.
  • Page 111 6. TROUBLESHOOTING Display Name Definition Cause Action Memory error 2 EEP-ROM fault 1. Faulty parts in the MR-MG30 Change the MR-MG30. (EEP-ROM) Checking method Alarm (15) occurs if power is switched on after disconnection of all cables but the control circuit power supply cables.

  • Page 112: Operation Alarms

    6. TROUBLESHOOTING 6.6 Operation Alarms (1) Alarm/warning list If any alarm/warning occurs, take the appropriate action according to (2) in this section. After its cause has been removed, the alarm can be deactivated in either of the methods marked in the Alarm Deactivation field.
  • Page 113 6. TROUBLESHOOTING Display Name Definition Cause Action Servo Servo parameter setting 1. The parameter setting value was rewritten Replace the option unit. parameter error value is incorrect. due to an option unit fault. 2. The EEPROM write times exceeded 100,000 Replace the option unit.

  • Page 114: Outer Dimension Drawing

    7. OUTER DIMENSION DRAWING 7. OUTER DIMENSION DRAWING [Unit: mm] 25 (0.984) 75 (2.952) 135 (5.315) ([Unit: in]) 6 (0.236) 6 (0.236) Mounting screw Screw size: M5 Tightening torque: 2.5N m (22.1 [lb in]) Weight: 0.5 [kg] 2- 6 (0.236) (1.10 [lb]) 7 - 1...
  • Page 115 7. OUTER DIMENSION DRAWING MEMO 7 - 2...
  • Page 116 REVISIONS *The manual number is given on the bottom left of the back cover. Print Data *Manual Number Revision Jun., 2004 SH(NA)030047-A First edition...
  • Page 117 MODEL MODEL CODE HEAD OFFICE:MITSUBISHI DENKI BLDG MARUNOUCHI TOKYO 100-8310 This Instruction Manual uses recycled paper. SH (NA) 030047-A (0406) MEE Printed in Japan Specifications subject to change without notice.

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