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Mitsubishi Electric CC Link IE Field Network Interface v2 Manual PDF
Summary of Content for Mitsubishi Electric CC Link IE Field Network Interface v2 Manual PDF
General-Purpose AC Servo
CC-Link IE Field Network Interface Servo Amplifier Instruction Manual (I/O Mode)
-MR-J4-_GF_ -MR-J4-_GF_-RJ
SAFETY PRECAUTIONS Please read the instructions carefully before using the equipment. To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the equipment until you have read through this Instruction Manual, Installation guide, and appended documents carefully. Do not use the equipment until you have a full knowledge of the equipment, safety information and instructions. In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION".
Note that the CAUTION level may lead to a serious consequence depending on conditions. Please follow the instructions of both levels because they are important to personnel safety. What must not be done and what must be done are indicated by the following diagrammatic symbols.
In this Instruction Manual, instructions at a lower level than the above, instructions for other functions, and so on are classified into "POINT". After reading this Instruction Manual, keep it accessible to the operator.
WARNING Indicates that incorrect handling may cause hazardous conditions, resulting in death or severe injury.
CAUTION Indicates that incorrect handling may cause hazardous conditions, resulting in medium or slight injury.
Indicates a forbidden action. For example, "No Fire" is indicated by .
Indicates a required action. For example, grounding is indicated by .
1
2
[To prevent electric shock, note the following]
[To prevent fire, note the following]
WARNING Before wiring and inspections, turn off the power and wait for 15 minutes or more until the charge
lamp turns off. Then, confirm that the voltage between P+ and N- is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, be sure to look at the lamp from the front of the servo amplifier.
Ground the servo amplifier and servo motor securely. Any person who is involved in wiring and inspection should be fully competent to do the work. Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, it
may cause an electric shock. Do not operate switches with wet hands. Otherwise, it may cause an electric shock. The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it may cause an electric
shock. During power-on or operation, do not open the front cover of the servo amplifier. Otherwise, it may
cause an electric shock. Do not operate the servo amplifier with the front cover removed. High-voltage terminals and charging
area are exposed and you may get an electric shock. Except for wiring and periodic inspection, do not remove the front cover of the servo amplifier even if
the power is off. The servo amplifier is charged and you may get an electric shock. To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the
servo amplifier to the protective earth (PE) of the cabinet. To avoid an electric shock, insulate the connections of the power supply terminals.
CAUTION Install the servo amplifier, servo motor, and regenerative resistor on incombustible material. Installing
them directly or close to combustibles will lead to smoke or a fire. Always connect a magnetic contactor between the power supply and the main circuit power supply
(L1/L2/L3) of the servo amplifier, in order to configure a circuit that shuts down the power supply on the side of the servo amplifiers power supply. If a magnetic contactor is not connected, continuous flow of a large current may cause smoke or a fire when the servo amplifier malfunctions.
Always connect a molded-case circuit breaker, or a fuse to each servo amplifier between the power supply and the main circuit power supply (L1/L2/L3) of the servo amplifier, in order to configure a circuit that shuts down the power supply on the side of the servo amplifiers power supply. If a moldedcase circuit breaker or fuse is not connected, continuous flow of a large current may cause smoke or a fire when the servo amplifier malfunctions.
When using the regenerative resistor, switch power off with the alarm signal. Otherwise, a regenerative transistor malfunction or the like may overheat the regenerative resistor, causing smoke or a fire.
Provide adequate protection to prevent screws and other conductive matter, oil and other combustible matter from entering the servo amplifier and servo motor.
[To prevent injury, note the following]
[Additional instructions]
CAUTION Only the power/signal specified in the Instruction Manual should be applied to each terminal.
Otherwise, it may cause an electric shock, fire, injury, etc. Connect cables to the correct terminals. Otherwise, a burst, damage, etc., may occur. Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc., may occur. The servo amplifier heat sink, regenerative resistor, servo motor, etc., may be hot while the power is
on and for some time after power-off. Take safety measures such as providing covers to avoid accidentally touching them by hands and parts such as cables.
The following instructions should also be fully noted. Incorrect handling may cause a malfunction, injury, electric shock, fire, etc.
3
4
[Transportation and installation]
CAUTION Transport the products correctly according to their mass. Stacking in excess of the specified number of product packages is not allowed. Do not hold the front cover, cables, or connectors when carrying the servo amplifier. Otherwise, it may
drop. Install the servo amplifier and the servo motor in a load-bearing place in accordance with the
Instruction Manual. Do not get on or put heavy load on the equipment. Otherwise, it may cause injury. The equipment must be installed in the specified direction. Maintain specified clearances between the servo amplifier and the inner surfaces of a control cabinet
or other equipment. Do not install or operate the servo amplifier and servo motor which have been damaged or have any
parts missing. Do not block the intake and exhaust areas of the servo amplifier. Otherwise, it may cause a
malfunction. Do not drop or apply heavy impact on the servo amplifiers and the servo motors. Otherwise, it may
cause injury, malfunction, etc. Do not strike the connector. Otherwise, it may cause a connection failure, malfunction, etc. When you keep or use the equipment, please fulfill the following environment.
When the product has been stored for an extended period of time, contact your local sales office. When handling the servo motor, be careful with the sharp edges of the servo motor. The servo amplifier must be installed in a metal cabinet. When fumigants that contain halogen materials, such as fluorine, chlorine, bromine, and iodine, are
used for disinfecting and protecting wooden packaging from insects, they cause a malfunction when entering our products. Please take necessary precautions to ensure that remaining materials from fumigant do not enter our products, or treat packaging with methods other than fumigation, such as heat treatment. Additionally, disinfect and protect wood from insects before packing the products.
To prevent a fire or injury in case of an earthquake or other natural disasters, securely install, mount, and wire the servo motor in accordance with the Instruction Manual.
Item Environment
Operation 0 C to 55 C (non-freezing) Ambient temperature Storage -20 C to 65 C (non-freezing)
Operation 5 %RH to 90 %RH (non-condensing) Ambient
humidity Storage
Ambience Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist or dust
Altitude 2000 m or less above sea level (Contact your local sales office for the altitude for options.)
5.9 m/s2, at 10 Hz to 55 Hz (X, Y, Z axes) Vibration resistance
[Wiring]
CAUTION Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly. Make sure to connect the cables and connectors by using the fixing screws and the locking
mechanism. Otherwise, the cables and connectors may be disconnected during operation. Do not install a power capacitor, surge killer, or radio noise filter (optional FR-BIF(-H)) on the servo
amplifier output side. To avoid a malfunction, connect the wires to the correct phase terminals (U/V/W) of the servo amplifier
and servo motor. Connect the servo amplifier power output (U/V/W) to the servo motor power input (U/V/W) directly. Do
not connect a magnetic contactor and others between them. Otherwise, it may cause a malfunction.
The connection diagrams in this Instruction Manual are shown for sink interfaces, unless stated otherwise.
The surge absorbing diode installed to the DC relay for control output should be fitted in the specified direction. Otherwise, the converter unit and the drive unit will malfunction and will not output signals, disabling the emergency stop and other protective circuits.
When the wires are not tightened enough to the terminal block, the wires or terminal block may generate heat because of the poor contact. Be sure to tighten the wires with specified torque.
Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction.
Configure a circuit to turn off EM2 or EM1 when the main circuit power supply is turned off to prevent an unexpected restart of the servo amplifier.
To prevent malfunction, avoid bundling power lines (input/output) and signal cables together or running them in parallel to each other. Separate the power lines from the signal cables.
W
V
U
W
V M
U
W
V
U
W
V M
U
Servo amplifier Servo motor Servo amplifier Servo motor
RA
DOCOM
RA
DOCOM
Servo amplifier Servo amplifier 24 V DC24 V DC
Control output signal
Control output signal
For source output interfaceFor sink output interface
5
6
[Test run and adjustment]
CAUTION When executing a test run, follow the notice and procedures in this instruction manual. Otherwise, it
may cause a malfunction, damage to the machine, or injury. Before operation, check and adjust the parameter settings. Improper settings may cause some
machines to operate unexpectedly. Never make a drastic adjustment or change to the parameter values as doing so will make the
operation unstable. Do not get close to moving parts during the servo-on status.
[Usage]
CAUTION Provide an external emergency stop circuit to stop the operation and shut the power off immediately. For equipment in which the moving part of the machine may collide against the load side, install a limit
switch or stopper to the end of the moving part. The machine may be damaged due to a collision. Do not disassemble, repair, or modify the product. Otherwise, it may cause an electric shock, fire,
injury, etc. Disassembled, repaired, and/or modified products are not covered under warranty. Before resetting an alarm, make sure that the run signal of the servo amplifier is off in order to prevent
a sudden restart. Otherwise, it may cause an accident. Use a noise filter, etc., to minimize the influence of electromagnetic interference. Electromagnetic
interference may affect the electronic equipment used near the servo amplifier. Do not burn or destroy the servo amplifier. Doing so may generate a toxic gas. Use the servo amplifier with the specified servo motor. Wire options and peripheral equipment, etc. correctly in the specified combination. Otherwise, it may
cause an electric shock, fire, injury, etc. The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be
used for ordinary braking. For such reasons as incorrect wiring, service life, and mechanical structure (e.g. where a ball screw
and the servo motor are coupled via a timing belt), the electromagnetic brake may not hold the motor shaft. To ensure safety, install a stopper on the machine side.
If the dynamic brake is activated at power-off, alarm occurrence, etc., do not drive the servo motor by an external force. Otherwise, it may cause a malfunction of the dynamic break or fire.
7
8
[Corrective actions]
[Maintenance, inspection and parts replacement]
[General instruction]
CAUTION Ensure safety by confirming the power off, etc. before performing corrective actions. Otherwise, it may
cause an accident. If it is assumed that a power failure, machine stoppage, or product malfunction may result in a
hazardous situation, use a servo motor with an electromagnetic brake or provide an external brake system for holding purpose to prevent such hazard.
Configure an electromagnetic brake circuit which is interlocked with an external emergency stop switch.
When an alarm occurs, eliminate its cause, ensure safety, and deactivate the alarm to restart operation.
If the molded-case circuit breaker or fuse is activated, be sure to remove the cause and secure safety before switching the power on. If necessary, replace the servo amplifier and recheck the wiring. Otherwise, it may cause smoke, fire, or an electric shock.
Provide an adequate protection to prevent unexpected restart after an instantaneous power failure. After an earthquake or other natural disasters, ensure safety by checking the conditions of the
installation, mounting, wiring, and equipment before switching the power on to prevent an electric shock, injury, or fire.
CAUTION Make sure that the emergency stop circuit operates properly such that an operation can be stopped
immediately and a power is shut off by the emergency stop switch. It is recommended that the servo amplifier be replaced every 10 years when it is used in general
environment. When using the servo amplifier that has not been energized for an extended period of time, contact
your local sales office.
To illustrate details, the equipment in the diagrams of this Instruction Manual may have been drawn without covers and safety guards. When the equipment is operated, the covers and safety guards must be installed as specified. Operation must be performed in accordance with this Instruction Manual.
B
RA
U
Contacts must be opened when ALM (Malfunction) or MBR (Electromagnetic brake interlock) turns off.
Contacts must be opened with the emergency stop switch.
Servo motor
Electromagnetic brake 24 V DC
DISPOSAL OF WASTE Please dispose a servo amplifier, battery (primary battery) and other options according to your local laws and regulations.
EEP-ROM LIFE The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If the total number of the following operations exceeds 100,000, the servo amplifier may malfunction when the EEP-ROM reaches the end of its useful life. Write to the EEP-ROM due to parameter setting changes Write to the EEP-ROM due to device changes Write to the EEP-ROM due to point table changes
STO FUNCTION OF THE SERVO AMPLIFIER When using the STO function of the servo amplifier, refer to chapter 13 of "MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode)". For the MR-J3-D05 safety logic unit, refer to app. 5 of "MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode)".
COMPLIANCE WITH GLOBAL STANDARDS For the compliance with global standards, refer to app. 4 of "MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode)".
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10
ABOUT THE MANUAL You must have this Instruction Manual and the following manuals to use this servo. Ensure to prepare them to use the servo safely.
Relevant manuals
*1 It is necessary for using a rotary servo motor. *2 It is necessary for using a linear servo motor. *3 It is necessary for using a direct drive motor. *4 It is necessary for using a fully closed loop system. *5 It is necessary for using an MR-D30 functional safety unit.
This Instruction Manual does not describe the following items. For details of the items, refer to each chapter/section of the detailed explanation field. "MR-J4-_GF_" means "MELSERVO MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode)".
U.S. CUSTOMARY UNITS U.S. customary units are not shown in this manual. Convert the values if necessary according to the following table.
Manual name Manual No. MELSERVO MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode) SH(NA)030218ENG
MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting) SH(NA)030109ENG
MELSERVO MR-D30 Instruction Manual*5 SH(NA)030132ENG
MELSERVO Servo Motor Instruction Manual (Vol. 3)*1 SH(NA)030113ENG
MELSERVO Linear Servo Motor Instruction Manual*2 SH(NA)030110ENG
MELSERVO Direct Drive Motor Instruction Manual*3 SH(NA)030112ENG
MELSERVO Linear Encoder Instruction Manual*2*4 SH(NA)030111ENG
EMC Installation Guidelines IB(NA)67310ENG
Item Detailed explanation Installation MR-J4-_GF_ Chapter 2
Signals and wiring MR-J4-_GF_ Chapter 3
Normal gain adjustment MR-J4-_GF_ Chapter 6
Special adjustment functions MR-J4-_GF_ Chapter 7
Outline drawings MR-J4-_GF_ Chapter 9
Characteristics MR-J4-_GF_ Chapter 10
Options and auxiliary equipment MR-J4-_GF_ Chapter 11
Absolute position detection system MR-J4-_GF_ Chapter 12
Using STO Function MR-J4-_GF_ Chapter 13
Using a Linear servo motor MR-J4-_GF_ Chapter 14
Using a direct drive motor MR-J4-_GF_ Chapter 15
Fully closed loop system MR-J4-_GF_ Chapter 16
Application of functions MR-J4-_GF_ Chapter 17
Quantity SI (metric) unit U.S. customary unit Mass 1 [kg] 2.2046 [lb]
Length 1 [mm] 0.03937 [inch]
Torque 1 [N.m] 141.6 [oz.inch]
Moment of inertia 1 [( 10-4 kg.m2)] 5.4675 [oz.inch2]
Load (thrust load/axial load) 1 [N] 0.2248 [lbf]
Temperature N [] 9/5 + 32 N []
C O
N TE
N TS
CONTENTS SAFETY PRECAUTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1 DISPOSAL OF WASTE. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9 EEP-ROM LIFE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9 STO FUNCTION OF THE SERVO AMPLIFIER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9 COMPLIANCE WITH GLOBAL STANDARDS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9 ABOUT THE MANUAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10 U.S. CUSTOMARY UNITS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10
CHAPTER 1 FUNCTIONS AND CONFIGURATION 14 1.1 For proper use of the I/O mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 1.2 I/O mode specification list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 1.3 Function list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 1.4 Configuration including peripheral equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
CHAPTER 2 POINT TABLE OPERATION 22 2.1 Link device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 Detailed explanation of the RYn/RXn profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 Detailed explanation of the RWwn/RWrn profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 Code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 Data communication timing chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44 Remote register-based position/speed setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
2.2 Switching power on for the first time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50 2.3 Automatic operation mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Command method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 Automatic operation using point table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
2.4 Manual operation mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89 JOG operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
2.5 Home position return mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 Outline of home position return . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 Method -5 (Home position ignorance (Servo-on position as home position)) . . . . . . . . . . . . . . . . . . . . . . . . . . . 98 Automatic positioning to home position function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
2.6 Point table setting method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100 Setting procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100 Detailed setting window. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102 Single-step feed. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
2.7 Application of the point table function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104 Infinite feed function (setting degree) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104 Roll feed display function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104 Backlash compensation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
2.8 Programming example by function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109 System configuration example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109 Reading the servo amplifier status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112 Writing an operation command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113 Reading data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115 Writing data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117 Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
2.9 Program example for continuous operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
11
12
CHAPTER 3 PARAMETERS 125 3.1 Parameter list. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
Basic setting parameters ([Pr. PA_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126 Gain/filter setting parameters ([Pr. PB_ _ ]). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127 Extension setting parameters ([Pr. PC_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129 I/O setting parameters ([Pr. PD_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131 Extension setting 2 parameters ([Pr. PE_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132 Extension setting 3 parameters ([Pr. PF_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134 Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135 Positioning control parameters ([Pr. PT_ _ ]). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137 Network setting parameters ([Pr. PN_ _]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
3.2 Detailed list of parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141 Basic setting parameters ([Pr. PA_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141 Extension setting parameters ([Pr. PC_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142 I/O setting parameters ([Pr. PD_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143 Positioning control parameters ([Pr. PT_ _ ]). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145 Network setting parameters ([Pr. PN_ _]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156
3.3 How to set the electronic gear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158 Electronic gear settings in the point table method. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158 Electronic gear setting in the indexer method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
3.4 Stop method at stroke limit detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161 3.5 Stop method at software limit detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163
CHAPTER 4 TROUBLESHOOTING 164 4.1 Explanation for the lists . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164 4.2 Alarm list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165 4.3 Warning list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173 4.4 Troubleshooting at power on . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
CHAPTER 5 INDEXER OPERATION 176 5.1 Link device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176
Profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176 Detailed explanation of the RYn/RXn profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180 Detailed explanation of the RWwn/RWrn profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183 Code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185 Data communication timing chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192 Remote register-based position/speed setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193
5.2 Switching power on for the first time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195 5.3 Automatic operation mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197
Automatic operation mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197 Rotation direction specifying indexer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198 Shortest rotating indexer operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208
5.4 Manual operation mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217 Station JOG operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217 JOG operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219
5.5 Home position return mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220 Outline of home position return . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220 Torque limit changing dog type home position return (front end detection, Z-phase reference) . . . . . . . . . . . . 221 Torque limit changing dog type home position return (rear end detection, Z-phase reference) . . . . . . . . . . . . 224 Torque limit changing data set type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227
C O
N TE
N TS
Homing method 35, 37 (Homing on current position) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229 5.6 Application of indexer function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230
Backlash compensation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230
CHAPTER 6 SPEED CONTROL OPERATION 232 6.1 Link device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 232
Profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 232 Detailed explanation of the RYn/RXn profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 236 Detailed explanation of the RWwn/RWrn profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238 Code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 240 Data communication timing chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 246
6.2 Switching power on for the first time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 247 6.3 Speed control mode (point table method) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 249
Operating method which does not use the speed command execution demand . . . . . . . . . . . . . . . . . . . . . . . 250 Operating method which uses the speed command execution demand . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 252
CHAPTER 7 APPLICATION OF FUNCTIONS 256 7.1 Simple cam function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 256
Outline of simple cam function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 256 Simple cam function block. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257 Simple cam specification list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 258 Control of simple cam function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 259 Operation in combination with the simple cam . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260 Setting list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261 Data to be used with simple cam function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 262 Function block diagram for displaying state of simple cam control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 274 Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 275 Cam No. setting method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 280 Stop operation of cam control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 281 Restart operation of cam control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 282 Cam axis position at cam control switching. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283 Clutch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 290 Cam position compensation target position. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 291 Cam position compensation time constant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292 Backup restore function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292
7.2 Override . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 293 Analog override . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 293 Digital override. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294
7.3 Internal torque limit selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 296 Device/parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 296 Details of internal torque limit selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 296
REVISIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .299 WARRANTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .301 TRADEMARKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .302
13
14
1 FUNCTIONS AND CONFIGURATION The items shown in the following table are the same as those for the motion mode. For details, refer to each section indicated in the detailed explanation field. "MR-J4-_GF_" means "MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode)".
1.1 For proper use of the I/O mode
Servo amplifier/MR Configurator2 The I/O mode is available with the servo amplifier and MR Configurator2 with the following software versions.
Parameter setting Selection of station-specific mode Set [Pr. PN03 Station-specific mode setting] to "1" to select the I/O mode as the station-specific mode.
Selection of control mode Select a control mode with [Pr. PA01 Operation mode] to use.
Item Detailed explanation Function block diagram MR-J4-_GF_ section 1.2
Combinations of servo amplifiers and servo motors MR-J4-_GF_ section 1.4
Model designation MR-J4-_GF_ section 1.6
Structure (parts identification) MR-J4-_GF_ section 1.7
Configuration including peripheral equipment MR-J4-_GF_ section 1.8
Product name Model Software version
Point table method Indexer method Servo amplifier MR-J4-_GF_(-RJ) A1 or later A3 or later
MR Configurator2 SW1DNC-MRC2-_ 1.52E or later 1.60N or later
Station-specific mode setting 0: Motion mode 1: I/O mode
[Pr. PN03]
1
[Pr. PA01]
Control mode selection 0: Positioning mode (point table method) 8: Positioning mode (indexer method) B: Speed control mode (point table method)
1 FUNCTIONS AND CONFIGURATION 1.1 For proper use of the I/O mode
1
Item Description Servo amplifier model MR-J4-_GF_(-RJ)
Command method
Point table Operational specifications Positioning with specification of point table No. (255 points)
Position command input *1
Absolute value command method
Set in the point table. Setting range of feed length per point: -999999 to 999999 [10STM m], -99.9999 to 99.9999 [10STM inch], -999999 to 999999 [pulse] Rotation angle setting range: -360.000 to 360.000 [degree] *4
Incremental value command method
Set in the point table. Setting range of feed length per point: 0 to 999999 [10STM m], 0 to 99.9999 [10STM inch], 0 to 999999 [pulse] Rotation angle setting range: 0 to 999.999 [degree] *4
Speed command input Set the acceleration/deceleration time constants in the point table. Set the S-pattern acceleration/deceleration time constants with [Pr. PT51].
System Signed absolute value command method/incremental value command method
Torque limit Set with a parameter or link device.
Position command data input
Operational specifications Set the position command data with a remote register.
Position command input *1
Absolute value command method
Set the position command data with a remote register. Setting range of feed length: -999999 to 999999 [10STM m], -99.9999 to 99.9999 [10STM inch], -999999 to 999999 [pulse] Rotation angle setting range: -360.000 to 360.000 [degree] *4
Incremental value command method *4
Set the position command data with a remote register. Setting range of feed length: 0 to 999999 [10STM m], 0 to 99.9999 [10STM inch], 0 to 999999 [pulse] Rotation angle setting range: 0 to 999.999 [degree]
Speed command input Select from point tables with a remote register. Set the speed command data (speed) with a remote register. Set the S-pattern acceleration/deceleration time constants with [Pr. PT51].
System Signed absolute position command method, incremental value command method
Indexer*2 Operational specifications Positioning by specifying the station position The maximum number of divisions: 255
Speed command input Select from point tables with a remote register. Set speed command data (rotation speed and acceleration/deceleration time constants) by the remote register.
System Rotation direction specifying indexer/shortest rotating indexer
Torque limit Set with a parameter or link device.
Operation mode
Automatic operation mode
Point table Each positioning operation
Point table No. input method/position data input method Operates each positioning based on position command and speed command.
Automatic continuous positioning operation
Varying-speed operation (2 to 255 speeds)/automatic continuous positioning operation (2 to 255 points)/ Automatic continuous operation to a point table selected at startup/automatic continuous operation to the point table No. 1
Indexer Rotation direction specifying indexer
Positions to the specified station. Rotation direction settable
Shortest rotating indexer
Positions to the specified station. Rotates in the shorter direction from the current position.
Manual operation mode
Point table JOG operation In accordance with the speed data set in parameters, JOG operation is performed by using CC-Link IE Field Network communication.
Indexer JOG operation Decelerates to a stop regardless of the station.
Station JOG operation
Rotates in a direction specified by the rotation direction decision when the start signal turns on. Positions to the nearest station where the servo motor can decelerate to a stop when the start signal turns off.
1 FUNCTIONS AND CONFIGURATION 1.2 I/O mode specification list 15
16
Home position return mode
Point table Dog type (rear end detection, Z-phase reference)
For details of the home position return types, refer to the following. Page 92 Home position return mode
Stopper type (stopper position reference)
Count type (front end detection, Z-phase reference)
Dog type (rear end detection, rear end reference)
Count type (front end detection, front end reference)
Dog cradle type
Dog type last Z-phase reference
Dog type front end reference
Dogless Z-phase reference
Home position ignorance (servo-on position as home position)
Homing on positive home switch and index pulse (method 3)
Homing on positive home switch and index pulse (method 4)
Homing on negative home switch and index pulse (method 5)
Homing on negative home switch and index pulse (method 6)
Homing on home switch and index pulse (method 7)
Homing on home switch and index pulse (method 8)
Homing on home switch and index pulse (method 11)
Homing on home switch and index pulse (method 12)
Homing without index pulse (method 19)
Homing without index pulse (method 20)
Homing without index pulse (method 21)
Homing without index pulse (method 22)
Homing without index pulse (method 23)
Homing without index pulse (method 24)
Homing without index pulse (method 27)
Homing without index pulse (method 28)
Homing on index pulse (method 33)
Homing on index pulse (method 34)
Homing on current position (method 35)
Homing on current position (method 37)
Indexer*2 Torque limit changing dog type (front end detection, Z-phase reference) *3
For details of the home position return types, refer to the following. Page 220 Home position return mode
Torque limit changing dog type (rear end detection, Z-phase reference) *3
Torque limit switching data set type
Homing on current position (method 35)
Homing on current position (method 37)
Automatic positioning to home position function High-speed automatic positioning to a defined home position
Other functions Absolute position detection/external limit switch/software stroke limit/analog override/digital override/backlash compensation
Item Description
1 FUNCTIONS AND CONFIGURATION 1.2 I/O mode specification list
1
*1 STM is the ratio to the setting value of the position data. STM can be changed with [Pr. PT03 Feeding function selection]. *2 The indexer method is available with servo amplifiers with software version A3 or later. When using the indexer method, use MR
Configurator2 with software version 1.60N or later. *3 Front end detection or rear end detection of the proximity dog can be selected with "torque limit changing dog type home position return"
in [Pr. PT70]. *4 This is available with servo amplifiers with software version A6 or later.
1 FUNCTIONS AND CONFIGURATION 1.2 I/O mode specification list 17
18
1.3 Function list
The symbol in the control mode column means as follows: CP: Positioning mode (point table method) PS: Positioning mode (indexer method) SP: Speed control mode (point table method)
The following table lists the functions of this servo. For details of the functions, refer to each section indicated in the detailed explanation field. "MR-J4-_GF_" means "MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode)".
Function Description Control mode
Detailed explanation
CP PS SP Model adaptive control This function achieves a high response and stable control following the
ideal model. The two-degrees-of-freedom model adaptive control enables you to set a response to the command and response to the disturbance separately. Additionally, this function can be disabled. To disable this function, refer to section 7.5 of "MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode)".
Positioning mode (point table method)
Set 255 point tables in advance, then select any point table to perform operation in accordance with the set values. The position command and speed command can also be set with the remote register.
Page 22 POINT TABLE OPERATION
Positioning mode (indexer method)
Set 2 to 255 divided stations in advance to perform operation to the station positions. The position command and speed command can also be set with the remote register. This is available with servo amplifiers with software version A3 or later.
Page 176 INDEXER OPERATION
Speed control mode (point table method)
Set 255 point tables in advance, then select any point table to perform operation in accordance with the set speed, acceleration time constant, and deceleration time constant. The speed command can also be set with the remote register. This is available with servo amplifiers with software version A6 or later.
Roll feed display function Positions based on specified travel distance from a status display "0" of current/command positions at start. This is available with servo amplifiers with software version A7 or later.
Home position return For the home position return types, refer to the following. Page 92 Home position return mode Page 220 Home position return mode
Page 92 Home position return mode Page 220 Home position return mode
High-resolution encoder Rotary servo motors compatible with the MELSERVO-J4 series are equipped with a high-resolution encoder of 4194304 pulses/rev.
Absolute position detection system
Home position return is required only once, and not required at every power-on.
MR-J4-_GF_ chapter 12
Gain switching function You can switch gains during rotation/stop, and can use input devices to switch gains during operation.
MR-J4-_GF_ section 7.2
Advanced vibration suppression control II
This function suppresses vibration at an arm end or residual vibration. MR-J4-_GF_ section 7.1
Machine resonance suppression filter
This filter function (notch filter) decreases the gain of the specific frequency to suppress the resonance of the mechanical system.
MR-J4-_GF_ section 7.1
Shaft resonance suppression filter
When a load is mounted to the servo motor shaft, resonance by shaft torsion during driving may generate a mechanical vibration at high frequency. The shaft resonance suppression filter suppresses the vibration.
MR-J4-_GF_ section 7.1
Adaptive filter II The servo amplifier detects mechanical resonance and sets filter characteristics automatically to suppress mechanical vibration.
MR-J4-_GF_ section 7.1
Low-pass filter Suppresses high-frequency resonance which occurs as the servo system response is increased.
MR-J4-_GF_ section 7.1
Machine analyzer function Analyzes the frequency characteristic of the mechanical system by simply connecting an MR Configurator2 installed personal computer and the servo amplifier. MR Configurator2 is necessary for this function.
1 FUNCTIONS AND CONFIGURATION 1.3 Function list
1
because of the large load to motor inertia ratio, this function improves a disturbance response.
[Pr. PE41]
Slight vibration suppression control
Suppresses vibration of 1 pulse generated at a servo motor stop. [Pr. PB24]
Electronic gear Position commands can be multiplied by 1/864 to 271470. [Pr. PA06] [Pr. PA07]Position commands can be multiplied by 1/9999 to 9999.
Auto tuning Automatically adjusts the gain to optimum value if load applied to the servo motor shaft varies.
MR-J4-_GF_ section 6.3
Brake unit Used when the regenerative option cannot provide enough regenerative power. Can be used for the 5 kW or more servo amplifier.
MR-J4-_GF_ section 11.3
Power regeneration converter
Used when the regenerative option cannot provide enough regenerative power. Can be used for the 5 kW or more servo amplifier.
MR-J4-_GF_ section 11.4
Regenerative option Use a regenerative option when the built-in regenerative resistor of the servo amplifier does not have sufficient regenerative capacity for a large regenerative power generated.
MR-J4-_GF_ section 11.2
Alarm history clear Alarm history is cleared. [Pr. PC21]
Input signal selection (device settings)
The input devices including PC (Proportional control (PID control)) can be assigned to certain pins of the CN3 connector.
[Pr. PD03] to [Pr. PD05]
Output signal selection (device settings)
The output devices including MBR (electromagnetic brake interlock) can be assigned to certain pins of the CN3 connector.
[Pr. PD07] to [Pr. PD09]
Output signal (DO) forced output
Turns on/off the output signals forcibly independently of the servo status. Use this function for checking output signal wiring, etc.
MR-J4-_GF_ section 4.5
Torque limit Limits the servo motor torque. [Pr. PA11] [Pr. PA12]
Test operation mode Jog operation/positioning operation/motor-less operation/DO forced output/ program operation/single-step feed Note that MR Configurator2 is necessary for positioning operation, program operation, and single-step feed.
Page 103 Single-step feed MR-J4-_GF_ section 4.5
Analog monitor output Outputs servo status with voltage in real time. [Pr. PC09] [Pr. PC10]
MR Configurator2 Using a personal computer, you can perform the parameter setting, test operation, monitoring, and others.
MR-J4-_GF_ section 11.7
Linear servo system Linear servo systems can be configured using a linear servo motor and linear encoder.
MR-J4-_GF_ chapter 14
Direct drive servo system Direct drive servo system can be configured to drive a direct drive motor. MR-J4-_GF_ chapter 15
Fully closed loop system Fully closed loop system can be configured using the load-side encoder. MR-J4-_GF_ chapter 16
One-touch tuning Adjusts gains just by pressing buttons on the servo amplifier or by clicking a button on MR Configurator2. In I/O mode, one-touch tuning via network is not possible.
MR-J4-_GF_ section 6.2
SEMI-F47 function This servo amplifier complies with the SEMI-F47 standard. Thus, even when an instantaneous power failure occurs during operation, the electrical energy charged in the capacitor is used and [AL. 10 Undervoltage] is not triggered.
MR-J4-_GF_ section 7.4 [Pr. PA20] [Pr. PF25]
Tough drive function This function makes the equipment continue operating even under the condition that an alarm occurs. The tough drive function includes two types: the vibration tough drive and the instantaneous power failure tough drive.
MR-J4-_GF_ section 7.3
Drive recorder function This function continuously monitors the servo status and records the status transition before and after an alarm for a fixed period of time. You can check the recorded data on the drive recorder window on MR Configurator2 by clicking the "Graph" button. However, the drive recorder is not available when: The graph function of MR Configurator2 is being used. The machine analyzer function is being used. [Pr. PF21] is set to "-1". The controller is not connected (except the test operation mode). An alarm related to the controller is occurring.
[Pr. PA23]
Function Description Control mode
Detailed explanation
CP PS SP
1 FUNCTIONS AND CONFIGURATION 1.3 Function list 19
20
STO function This amplifier complies with the STO function as functional safety of IEC/EN 61800-5-2. You can create a safety system for the equipment easily.
MR-J4-_GF_ chapter 13
Servo amplifier life diagnosis function
You can check the cumulative energization time and the number of on/off times of the inrush relay. This function gives an indication of the replacement time for parts of the servo amplifier including a capacitor and a relay before they malfunction. MR Configurator2 is necessary for this function.
Power monitoring function This function calculates the power running energy and the regenerative power from the data in the servo amplifier such as speed and current. Power consumption and others are displayed on MR Configurator2.
Machine diagnosis function From the data in the servo amplifier, this function estimates the friction and vibrational component of the drive system in the equipment and recognizes an error in the machine parts, including a ball screw and bearing. MR Configurator2 is necessary for this function.
MR-J4-_GF_ section 17.5
Limit switch External limit switches can be used to limit travel intervals of the servo motor.
S-pattern acceleration/ deceleration
Enables smooth acceleration and deceleration. Set S-pattern acceleration/deceleration time constants with [Pr. PT51]. As compared with linear acceleration/deceleration, the acceleration/ deceleration time will be longer for the S-pattern acceleration/deceleration time constants regardless of command speed.
[Pr. PT51]
Software limit Limits travel intervals by address using parameters. Enables the same function with the limit switch by setting parameters.
MR-J4-_GF_ section 5.3
Analog override Changes the servo motor speed using link devices. The speed can be changed by 0 to 200 % in relation to the set speed. This is available with servo amplifiers with software version A6 or later.
Digital override The actual servo motor speed can be obtained by multiplying the command speed and an override value selected in RY (n + 1) C (Digital override selection 1) to RY (n + 1) F (Digital override selection 4). The speed can be changed by 0 to 360 % in relation to the set speed. This is available with servo amplifiers with software version A6 or later.
Speed limit The servo motor speed can be limited.
Lost motion compensation function
This function improves the response delay generated when the machine moving direction is reversed.
MR-J4-_GF_ section 7.6
Super trace control This function sets constant and uniform acceleration/deceleration droop pulses to almost 0.
MR-J4-_GF_ section 7.7
SLMP SLMP (SeamLess Message Protocol) is a protocol to access SLMP- compatible devices from external devices (such as a personal computer and an HMI) or CPU module via Ethernet. The parameters of servo amplifiers can be set (read or written) and monitored.
Functional safety unit MR-D30 can be used to expand the safety observation function. This is available with servo amplifiers with software version A3 or later.
Simple cam function This function enables synchronous control by using software instead of controlling mechanically with cam. Synchronous operation can be performed using the encoder following function, the cam position compensation function, and the positioning data. This is available with servo amplifiers with software version A3 or later.
Page 256 APPLICATION OF FUNCTIONS
Infinite feed function (setting degree)
If the position data unit for the automatic or manual operation in the point table method is set to degree, the detection of [AL. E3.1 Multi-revolution counter travel distance excess warning] will be disabled even if the servo motor is rotated 32768 rev or more in one direction, making the home position remain. Therefore, the current position will be restored after the power is cycled. This function is supported by the absolute position detection system. This is available with servo amplifiers with software version A6 or later.
Function Description Control mode
Detailed explanation
CP PS SP
1 FUNCTIONS AND CONFIGURATION 1.3 Function list
1
Equipment other than the servo amplifier and servo motor are optional or recommended products.
The following illustration is an example of MR-J4-20GF-RJ.
*1 The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used. When not using the power factor improving DC reactor, short P3 and P4.
*2 For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open. Refer to section 1.3 of "MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode)" for the power supply specifications.
*3 Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may cause the forced stop deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.
*4 This is for MR-J4-_GF_-RJ servo amplifier. MR-J4-_GF_ servo amplifier does not have CN2L connector. When using MR-J4-_GF_-RJ servo amplifier in the linear servo system or in the fully closed loop system, connect an external encoder to this connector. Refer to section 1.1 of "MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode)" and "Linear Encoder Instruction Manual" for the connectable external encoders.
*5 Always connect between P+ and D terminals. When using a regenerative option, refer to section 11.2 of "MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode)".
CAUTION Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction. The CN1A and CN1B connectors are dedicated for CC-Link IE Field Network. Do not connect a network other than CC-Link IE Field Network. Otherwise, a
malfunction may occur.
CN4
Line noise filter (FR-BSF01)
CN5
Regenerative option
P+
C
L11
L21
P3
P4 Servo motor
Personal computer
MR Configurator2
CN3
CN8
CN2
CN2L *4
W
V
U
Magnetic contactor
L1 L2 L3
*1
(MC) *3
Power factor improving DC reactor (FR-HEL)
Junction terminal block
To safety relay or MR-J3-D05 safety logic unit
Battery
Molded-case circuit breaker (MCCB)
R S T
Power supply *2
D *5
CN1A
CN1B
Servo system controller or servo amplifier
Servo system controller or servo amplifier
1 FUNCTIONS AND CONFIGURATION 1.4 Configuration including peripheral equipment 21
22
2 POINT TABLE OPERATION The items shown in the following table are the same as those for the motion mode. For details, refer to each section indicated in the detailed explanation field. "MR-J4-_GF_" means "MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode)".
When you use a linear servo motor, replace the following left words to the right words. Load to motor inertia ratio Load to motor mass ratio Torque Thrust
2.1 Link device Profile Some input devices can be assigned to the CN3 pin using [Pr. PD03] to [Pr. PD05]. When using the CC-Link IE Field Network communication and CN3 connector's input signal, assigned devices other than upper stroke limit, lower stroke limit and proximity dog can be used simultaneously. Some output devices can be assigned to the CN3 pin with [Pr. PD07] to [Pr. PD09]. The assigned devices can be used together when using the CC-Link IE Field Network communication and CN3 connector's output signal. When turning off input/output signals, turn off both CC-Link IE Field Network communication and external I/O signals of the CN3 connector. The following shows the profile of link devices communicated with the master station in cyclic transmission.
Item Detailed explanation Startup MR-J4-_GF_ section 4.2
Switch setting and display of the servo amplifier MR-J4-_GF_ section 4.3
Test operation MR-J4-_GF_ section 4.4
Test operation mode MR-J4-_GF_ section 4.5
2 POINT TABLE OPERATION 2.1 Link device
2
RYn profile
*1 "n" depends on the station No. setting. *2 This is available with servo amplifiers with software version A6 or later. *3 This is available with servo amplifiers with software version A7 or later.
Master station Servo amplifier (RYn)
Device No. *1 Device Symbol CN3 connector pin No. RYn0 Servo-on SON
RYn1 Forward rotation start ST1
RYn2 Reverse rotation start ST2
RYn3 Proximity dog DOG 19
RYn4 Not used
RYn5
RYn6 Automatic/manual selection MD0
RYn7 Temporary stop/restart TSTP
RYn8 Monitor output execution demand MOR
RYn9 Instruction code execution demand COR
RYnA to RYnE
Not used
RYnF Clear *3 CR
RY (n + 1) 0 Upper stroke limit FLS
RY (n + 1) 1 Lower stroke limit RLS
RY (n + 1) 2 Operation alarm reset ORST
RY (n + 1) 3 Cam control command CAMC
RY (n + 1) 4 Not used
RY (n + 1) 5 Clutch command CLTC
RY (n + 1) 6 to RY (n + 1) A
Not used
RY (n + 1) B Analog override selection *2 OVR
RY (n + 1) C Digital override selection 1 *2 OV0
RY (n + 1) D Digital override selection 2 *2 OV1
RY (n + 1) E Digital override selection 3 *2 OV2
RY (n + 1) F Digital override selection 4 *2 OV3
RY (n + 2) 0 Position command execution demand PSR
RY (n + 2) 1 Speed command execution demand SPR
RY (n + 2) 2 to RY (n + 2) 5
Not used
RY (n + 2) 6 Internal torque limit selection *3 CTL
RY (n + 2) 7 Proportional control (PID control) PC
RY (n + 2) 8 Gain switching CDP
RY (n + 2) 9 Not used
RY (n + 2) A Position/speed specifying method selection
CSL
RY (n + 2) B Absolute value/incremental value selection
CAOR
RY (n + 2) C to RY (n + 2) F
Not used
RY (n + 3) 0 to RY (n + 3) 9
Not used
RY (n + 3) A Reset RES
RY (n + 3) B to RY (n + 3) F
Not used
2 POINT TABLE OPERATION 2.1 Link device 23
24
RXn profile
*1 "n" depends on the station No. setting.
Servo amplifier Master station (RXn)
Device No. *1 Device Symbol CN3 connector pin No. RXn0 Ready RD
RXn1 In-position INP 9
RXn2 Rough match CPO
RXn3 Not used
RXn4 Limiting torque TLC
RXn5 Not used
RXn6 Electromagnetic brake interlock MBR 13
RXn7 During a temporary stop PUS
RXn8 Monitoring MOF
RXn9 Instruction code execution completion
COF
RXnA Warning WNG
RXnB Battery warning BWNG
RXnC Travel completion MEND
RXnD Dynamic brake interlock DB
RXnE Position range output POT
RXnF Not used
RX (n + 1) 0 Home position return completion 2 ZP2
RX (n + 1) 1 Not used
RX (n + 1) 2
RX (n + 1) 3 Under cam control CAMS
RX (n + 1) 4 Cam position compensation execution completed
CPCC
RX (n + 1) 5 Clutch on/off status CLTS
RX (n + 1) 6 Clutch smoothing status CLTSM
RX (n + 1) 7 to RX (n + 1) F
Not used
RX (n + 2) 0 Position command execution completion
PSF
RX (n + 2) 1 Speed command execution completion
SPF
RX (n + 2) 2 to RX (n + 2) F
Not used
RX (n + 3) 0 to RX (n + 3) 9
Not used
RX (n + 3) A Malfunction ALM 15
RX (n + 3) B Remote station communication ready CRD
RX (n + 3) C to RX (n + 3) F
Not used
2 POINT TABLE OPERATION 2.1 Link device
2
RWwn profile
*1 "n" depends on the station No. setting. *2 This is available with servo amplifiers with software version A6 or later.
RWrn profile
*1 "n" depends on the station No. setting.
Master station Servo amplifier (RWwn)
Device No. *1 Device RWwn0 Monitor 1
RWwn1 Not used
RWwn2 Monitor 2
RWwn3 Not used
RWwn4 Instruction code - Lower 16 bits
RWwn5 Instruction code - Upper 16 bits
RWwn6 Point table No. selection
RWwn7 Not used
RWwn8 Position command data - Lower 16 bits/Point table No.
RWwn9 Position command data - Upper 16 bits
RWwnA Speed command data - Lower 16 bits/Point table No.
RWwnB Speed command data - Upper 16 bits
RWwnC Writing data - Lower 16 bits
RWwnD Writing data - Upper 16 bits
RWwnE Cam No. setting
RWwnF Analog override *2
Servo amplifier Master station (RWrn)
Device No.*1 Device RWrn0 Monitor 1 data - Lower 16 bits
RWrn1 Monitor 1 data - Upper 16 bits
RWrn2 Monitor 2 data - Lower 16 bits
RWrn3 Monitor 2 data - Upper 16 bits
RWrn4 Respond code
RWrn5 Not used
RWrn6 Point table No. output
RWrn7 Not used
RWrn8
RWrn9
RWrnA
RWrnB
RWrnC Reading data - Lower 16 bits
RWrnD Reading data - Upper 16 bits
RWrnE Cam No. during control
RWrnF Not used
2 POINT TABLE OPERATION 2.1 Link device 25
26
Detailed explanation of the RYn/RXn profile
RYn profile Device No. Device Description RYn0 Servo-on Turn on RYn0 to power on the base circuit, and make the servo amplifier ready to operate.
(servo-on status) Turn it off to shut off the base circuit, and coast the servo motor.
RYn1 Forward rotation start Absolute value command method Turning on RYn1 during automatic operation will execute one positioning based on the
position data set in the point tables. Turning on RYn1 during home position return will also start home position return. Turning on RYn1 during JOG operation will rotate the servo motor in the forward rotation
direction while it is on. The forward rotation means address increasing direction.
Incremental value command method Turning on RYn1 during automatic operation will execute one positioning in the forward
rotation direction based on the position data set in point tables. Turning on RYn1 during home position return will also start home position return. Turning on RYn1 during JOG operation will rotate the servo motor in the forward rotation
direction while it is on. The forward rotation means address increasing direction.
Turning on both RYn1 and RYn2 during JOG operation will stop the servo motor.
RYn2 Reverse rotation start Use this device with the incremental value command method. Turning on RYn2 during automatic operation will execute one positioning in the reverse rotation direction based on the position data set in point tables. Turning on RYn2 during JOG operation will rotate the servo motor in the reverse rotation direction while it is on. The reverse rotation means address decreasing direction. Turning on RYn2 during home position return will execute automatic positioning to the home position. Turning on both RYn1 and RYn2 during JOG operation will stop the servo motor.
RYn3 Proximity dog When RYn3 is turned off, a proximity dog will be detected. The polarity for dog can be changed with [Pr. PT29]. [Pr. PT29] (Polarity for proximity dog detection) _ _ _ 0 (initial value): Detection with off _ _ _ 1: Detection with on
RYn6 Automatic/manual selection Turning on RYn6 sets automatic operation mode, and turning it off sets manual operation mode.
RYn7 Temporary stop/restart Turning on RYn7 will temporarily stop the servo motor. Turning on RYn7 again will restart. However, if RYn7 is turned on during home position return, turning on RYn7 again does not restart the home position return operation. Turning on RYn1 (Forward rotation start)/RYn2 (Reverse rotation start) during a temporary stop will not rotate the servo motor. Changing the automatic operation mode to manual operation mode during a temporary stop will erase a travel remaining distance.
RYn8 Monitor output execution demand Turning on RYn8 sets the following data. At this time, RXn8 turns on. While RYn8 is on, the monitor value is always updated. RWrn0: Lower 16 bits of data requested with RWwn0 (Monitor 1) RWrn1: Upper 16 bits of data requested with RWwn0 (Monitor 1) RWrn2: Lower 16 bits of data requested with RWwn2 (Monitor 2) RWrn3: Upper 16 bits of data requested with RWwn2 (Monitor 2) RWrn4: Respond code indicating a normal or error result
RYn9 Instruction code execution demand
Turning on RYn9 executes the processing corresponding to the instruction code set with RWwn4 and RWwn5. After executing the instruction code is completed, a respond code indicating a normal or error result is stored in RWrn4, and RXn9 turns on. Refer to the following for details of the instruction code. Page 35 Instruction code
RYnF Clear Turning on RYnF clears the droop pulses and the command remaining distance in the position control counter at the rising edge. The pulse width should be 10 ms or more. If [Pr. PD42] is set to "_ _ _ 1", the droop pulses and the command remaining distance will always be cleared while RYnF is on.
2 POINT TABLE OPERATION 2.1 Link device
2
RY (n + 1) 0 Upper stroke limit To execute the operation, turn on RY (n + 1) 0 and RY (n + 1) 1. Turning off the device corresponding to the address increasing or decreasing direction will bring the servo motor to a slow stop and make it servo-locked. The stop method can be changed with [Pr. PD12].
RY (n + 1) 1 Lower stroke limit
RY (n + 1) 2 Operation alarm reset Turn on RY (n + 1) 2 from off to reset [AL. F4 Positioning warning].
RY (n + 1) 3 Cam control command When using cam control command, set [Pr. PT35] to "_ 1 _ _" to enable it. Turning RY (n + 1) 3 on switches the control from the normal positioning control to the cam control.
RY (n + 1) 5 Clutch command This is used to turning on/off the main shaft clutch command. This is used when [Cam control data No. 36 - Main shaft clutch control setting] is set to "_ _ _ 1".
RY (n + 1) B Analog override selection When using this device, set "Override selection" of [Pr. PT38] to "2" to enable the analog override function. Turning on RY (n + 1) B enables the setting value of the analog override (RWwnF).
RY (n + 1) C Digital override selection 1 When using this device, set "Override selection" of [Pr. PT38] to "1" to enable the digital override function. The actual servo motor speed can be obtained by multiplying the command speed and a digital override value selected in the digital override selection 1 to 4.
RY (n + 1) D Digital override selection 2
RY (n + 1) E Digital override selection 3
RY (n + 1) F Digital override selection 4
RY (n + 2) 0 Position command execution demand
Turning on RY (n + 2) 0 sets the point table No. or position command data set in RWwn8 and RWwn9. If a point table No. or position command data is set to the servo amplifier, a respond code indicating a normal or error result is set in RWrn4 and RX (n + 2) 0 (Position command execution completion) turns on. Page 47 Remote register-based position/speed setting
RY (n + 2) 1 Speed command execution demand
Turning on RY (n + 2) 1 sets the point table No. or speed command data set in RWwnA and RWwnB. If a point table No. or speed command data is set to the servo amplifier, a respond code indicating a normal or error result is set in RWrn4 and RX (n + 2) 1 (Position command execution completion) turns on. Page 47 Remote register-based position/speed setting
RY (n + 2) 6 Internal torque limit selection If RY (n + 2) 6 is turned on, the setting value of [Pr. PA11 Forward rotation torque limit] or [Pr. PA12 Reverse rotation torque limit] is compared with [Pr. PC77 Internal torque limit] and the lower one will be enabled.
RY (n + 2) 7 Proportional control (PID control) Turn on RY (n + 2) 7 to switch the speed amplifier from the proportional integral type to the proportional type. If the servo motor at a stop is rotated even one pulse due to any external factor, it generates torque to compensate for a position shift. When the servo motor shaft is to be locked mechanically after RXnC (Travel completion) is turned off, switching on RY (n + 2) 7 upon turning RXnC off will suppress the unnecessary torque generated to compensate for a position shift. When the shaft is to be locked for a long time, turn on RY (n + 2) 7 and make the torque less than the rated torque with the torque limit. This function will be enabled by selecting "PI control enabled (_ _ _ 0)" in "PI-PID switching control selection" of [Pr. PB24].
RY (n + 2) 8 Gain switching Turn on RY (n + 2) 8 to use the values of [Pr. PB29] to [Pr. PB36] and [Pr. PB56] to [Pr. PB60] as the load to motor inertia ratio and gain values.
RY (n + 2) A Position/speed specifying method selection
Select how to give a position command and speed command. Off: Specify a point table No. with RWwn6 (Point table No. selection) to give a position
command and speed command. On: Set position command data and speed command data in RWwn8 to RWwnB to give a
position command and speed command. To turn on RY (n + 2) A, set [Pr. PT62] to "_ _ _ 2".
RY (n + 2) B Absolute value/incremental value selection
Select the command method of position data with RY (n + 2) B. RY (n + 2) B is enabled when the position/speed specifying method using remote registers is selected with RY (n + 2) A (Position/speed specifying method selection) and the absolute value command method is selected with [Pr. PT01]. Off: Position data is used as an absolute value. On: Position data is used as an incremental value.
RY (n + 3) A Reset Turn on RY (n + 3) A to reset alarms. However, some alarms cannot be cleared with RY (n + 3) A.
Device No. Device Description
2 POINT TABLE OPERATION 2.1 Link device 27
28
RXn profile Device No. Device Description RXn0 Ready When the servo-on is on and the servo amplifier is ready to operate, RXn0 turns on.
RXn1 In-position When the number of droop pulses is in the preset in-position range, RXn1 turns on. The in-position range can be changed with [Pr. PA10]. When the in-position range is increased, INP may be always on during low-speed rotation.
RXn2 Rough match When a command remaining distance is lower than the rough match output range set with [Pr. PT12], RXn2 turns on. This is not outputted during base circuit shut-off.
RXn4 Limiting torque RXn4 turns on when a generated torque reaches a value set with [Pr. PA11 Forward rotation torque limit] or [Pr. PA12 Reverse rotation torque limit].
RXn6 Electromagnetic brake interlock When using the device, set operation delay time of the electromagnetic brake in [Pr. PC02]. When a servo-off status or alarm occurs, RXn6 turns off.
RXn7 During a temporary stop When a deceleration begins for a stop, RXn7 turns on by RYn7 (Temporary stop/restart). When RYn7 (Temporary stop/restart) is enabled again and an operation is restarted, RXn7 turns off.
RXn8 Monitoring Refer to RYn8 (Monitor output execution demand).
RXn9 Instruction code execution completion
Refer to RYn9 (Instruction code execution demand).
RXnA Warning When a warning occurs, RXnA turns on. When a warning is not occurring, turning on the power will turn off RXnA after 4 s to 5 s.
RXnB Battery warning RXnB turns on when [AL. 92 Battery cable disconnection warning] or [AL. 9F Battery warning] has occurred. When the battery warning is not occurring, turning on the power will turn off RXnB after 4 s to 5 s.
RXnC Travel completion When the number of droop pulses is within the in-position output range set with [Pr. PA10] and the command remaining distance is "0", RXnC turns on. When turning on RYn0 (servo-on), RXnC turns on at the same time.
RXnD Dynamic brake interlock RXnD turns off when the dynamic brake needs to operate.
RXnE Position range output When the current position is within the range set with [Pr. PT19] to [Pr. PT22], RXnE turns on. This will be off when a home position return is not completed or base circuit shut-off is in progress.
RX (n + 1) 0 Home position return completion 2
1. When the incremental system is set When a home position return completes normally, RX (n + 1) 0 turns on. When a home position return starts or if [AL. 69 Command error] occurs, RX (n + 1) 0 turns off. In addition, while [Pr. PT01] is set for the incremental value command method in the positioning mode, RX (n + 1) 0 turns off if the following conditions are met: 1) In servo-off status (servo-off, EM1 or EM2 is turned off, an alarm has occurred, STO is
turned off, or [AL. E9 Main circuit off warning] has occurred) 2) The stroke limit is turned off 3) During software limit detection
2. When the absolute position detection system is set When a home position return completes normally, RX (n + 1) 0 turns on. When a home position return starts or if [AL. 69 Command error] occurs, RX (n + 1) 0 turns off. In addition, ZP2 turns off if any of the following conditions are met: 1) [AL. 25 Absolute position erased] has occurred 2) [AL. E3 Absolute position counter warning] has occurred 3) [Pr. PA01], [Pr. PA06], [Pr. PA07], [Pr. PA14], [Pr. PT01 (_ x _ _)], [Pr. PT08], [Pr. PT28], or
[Pr. PT47] has been modified When [Pr. PT01] is set for the incremental value command method in the positioning mode, the absolute position detection system cannot be configured. Review the parameter setting value.
RX (n + 1) 3 Under cam control It turns on when the control switches to the cam control. It turns off when the control switches to the normal positioning control.
RX (n + 1) 4 Cam position compensation execution completed
It turns on when the control switches to the cam control. It turns off when the position compensation is executed during cam control. It turns on when the position compensation is complete.
RX (n + 1) 5 Clutch on/off status It turns on with clutch-on. It is always off when [Cam control data No. 36 - Main shaft clutch control setting] is set to "_ _ _ 0".
2 POINT TABLE OPERATION 2.1 Link device
2
RX (n + 1) 6 Clutch smoothing status It outputs clutch smoothing status. The output depends on the setting in [Cam control data No. 42 - Main shaft clutch smoothing system] as follows: 0: Direct Always off 1: Time constant method (index) Always on in clutch-on status. It turns off when the clutch is off and the smoothing is complete.
RX (n + 2) 0 Position command execution completion
Refer to RY (n + 2) 0 (Position command execution demand).
RX (n + 2) 1 Speed command execution completion
Refer to RY (n + 2) 1 (Speed command execution demand).
RX (n + 3) A Malfunction When an alarm occurs, RX (n + 3) A will turn on. When an alarm is not occurring, turning on the power will turn off RX (n + 3) A after 4 s to 5 s.
RX (n + 3) B Remote station communication ready
Turning on the power turns on RX (n + 3) B. When an alarm occurs, RX (n + 3) B will turn off.
Device No. Device Description
2 POINT TABLE OPERATION 2.1 Link device 29
30
Detailed explanation of the RWwn/RWrn profile
RWwn profile Device No. Device Description Setting range RWwn0 Monitor 1 Setting a monitor code to monitor in RWwn0 and turning on RYn8
store data in RWrn0 and RWrn1. At this time, RXn8 turns on. Refer to the following for monitor codes for status display. Page 33 Monitor code
Page 33 Monitor code
RWwn2 Monitor 2 Setting a monitor code to monitor in RWwn2 and turning on RYn8 store data in RWrn2 and RWrn3. At this time, RXn8 turns on. Refer to the following for monitor codes for status display. Page 33 Monitor code
Page 33 Monitor code
RWwn4 Instruction code - Lower 16 bits Set an instruction code No. used to read or write a parameter or point table data or to refer to an alarm. Setting an instruction code No. in RWwn4 and turning on RYn9 execute the instruction. RXn9 turns on after executing the instruction is completed. Refer to the following for the instruction code No. Page 35 Instruction code
Page 35 Instruction code
RWwn5 Instruction code - Upper 16 bits When a value other than "0000h" is set in this device, the instruction code is not executed even if RYn9 is turned on and "_ _ 1 _" is set in respond code.
0000h
RWwn6 Point table No. selection Set a point table No. to execute in the automatic operation mode. To select the home position return mode, set "0" in RWwn6. Even if a value out of the setting range is set, an alarm or warning does not occur. However, the set value is invalid and the previous setting value is used.
0 to 255
RWwn8 Point table No./Position command data - Lower 16 bits
This function can be used while RY (n + 2) A (Position/speed specifying method selection) is on (the remote register-based position/speed specifying method is selected). For the point table No. setting Setting a point table No. in RWwn8 and turning on RY (n + 2) 0
set the point table No. in the servo amplifier. After the setting is completed, RX (n + 2) 0 turns on.
For the position command data setting/point table No. (speed command) setting or for the position command data setting/speed command data setting Setting the lower 16 bits in RWwn8 and upper 16 bits in RWwn9
and turning on RY (n + 2) 0 write both the upper and lower 16 bits of the position command data. After the writing is completed, RX (n + 2) 0 turns on.
The unit can be changed to 10STM [m], 10(STM-4) [inch], 10-3 [degree], or [pulse] with the setting of [Pr. PT01].
Use [Pr. PT62] to select whether to set a point table No. or position command data.
Refer to the following for details of the point table No. or position command data.
Page 47 Remote register-based position/speed setting
Point table No.: 1 to 255 Absolute value command: Position command data -999999 to 999999 Incremental value command: Position command data 0 to 999999
RWwn9 Position command data - Upper 16 bits
2 POINT TABLE OPERATION 2.1 Link device
2
RWwnA Point table No./Speed command data - Lower 16 bits
This function can be used while RY (n + 2) A (Position/speed specifying method selection) is on (the remote register-based position/speed specifying method is selected). For the point table No. setting or for the position command data setting/point table No. (speed command) setting Setting a point table No. in RWwnA and turning on RY (n + 2) 1
set the point table No. in the servo amplifier. After the setting is completed, RX (n + 2) 1 turns on.
For the position command data setting/speed command data setting Setting the lower 16 bits in RWwnA and upper 16 bits in RWwnB
and turning on RY (n + 2) 1 write both the upper and lower 16 bits of the speed command data. After the writing is completed, RX (n + 2) 1 turns on. The unit is [0.01 r/min] or [0.01 mm/s].
Use [Pr. PT62] to select whether to set a point table No. or speed command data.
Refer to the following for details of the point table No. or speed command data.
Page 47 Remote register-based position/speed setting When setting a servo motor speed in this remote register,
always set an acceleration time constant and deceleration time constant in the point table No. 1.
Point table No.: 1 to 255 Speed command data: 0 to permissible speedRWwnB Speed command data - Upper 16
bits
RWwnC Writing data - Lower 16 bits Set writing data used to write a parameter or point table data or to clear the alarm history. Setting writing data in RWwnC and RWwnD and turning on RYn9 write the data to the servo amplifier. When the writing is completed, RXn9 turns on. Refer to the following for writing data. Page 40 Writing instruction code
Page 40 Writing instruction codeRWwnD Writing data - Upper 16 bits
RWwnE Cam No. setting Select cam No. This is enabled when [Cam control data No. 49 - Cam No.] is set to "0". Set the cam control data on the cam setting window of MR Configurator2.
0 to 8
RWwnF Analog override Set the override value. Set the override value in % unit in the range of 0 to 200 %.
0 to 200
Device No. Device Description Setting range
2 POINT TABLE OPERATION 2.1 Link device 31
32
RWrn profile Device No. Device Description Setting range RWrn0 Monitor 1 data - Lower 16 bits The lower 16 bits of the data corresponding to the monitor code
set in RWwn0 is stored.
RWrn1 Monitor 1 data - Upper 16 bits The upper 16 bits of the data corresponding to the monitor code set in RWwn0 is stored. A sign is set if no data is set in the upper 16 bits.
RWrn2 Monitor 2 data - Lower 16 bits The lower 16 bits of the data corresponding to the monitor code set in RWwn2 is stored.
RWrn3 Monitor 2 data - Upper 16 bits The upper 16 bits of the data corresponding to the monitor code set in RWwn2 is stored. A sign is set if no data is set in the upper 16 bits.
RWrn4 Respond code When the codes set in RWwn0 to RWwnD have been executed normally, "0000" is set.
RWrn6 Point table No. output The point table No. is set when RXnC (Travel completion) turns on. In the following conditions, "0" is set in RWrn6. Power on Servo-off During home position return Home position return completion
RWrn6 will keep a previous condition in the following conditions. At operation mode change When an operation mode was switched by turning RYn6
(Automatic/manual selection) off to on or on to off. During manual operation Automatic positioning to home position is in progress.
RWrnC Reading data - Lower 16 bits Data corresponding to the reading code set in RWwn4 is set.
RWrnD Reading data - Upper 16 bits
RWrnE Cam No. during control When cam control is being executed, the cam No. currently being executed is set. When cam control is not being executed, the previously executed cam No. is set.
2 POINT TABLE OPERATION 2.1 Link device
2
Code
Monitor code Use any of the instruction codes 0100h to 011Fh to read the decimal point position (multiplying factor) of the status display. Setting any code No. that is not given in this section will set an error code (_ _ _ 1) in respond code (RWrn4). At this time, "0000" is set in RWrn0 to RWrn3.
Code No. Monitored item Response data (Servo amplifier Master station)
Data length Unit 0000h
0001h Current position *5 32 bits 10STM [m]/10(STM-4) [inch]/10-3 [degree]/[pulse] *1
0002h
0003h Command position *5 32 bits 10STM [m]/10(STM-4) [inch]/10-3 [degree]/[pulse] *1
0004h
0005h Command remaining distance 32 bits 10STM [m]/10(STM-4) [inch]/10-3 [degree]/[pulse] *1
0006h
0007h Override level *4 16 bits [%]
0008h Point table No. 16 bits
0009h
000Ah Cumulative feedback pulses 32 bits [pulse]
000Bh
000Ch
000Dh
000Eh Droop pulses 32 bits [pulse]
000Fh
0010h
0011h Regenerative load ratio 16 bits [%]
0012h Effective load ratio 16 bits [%]
0013h Peak load ratio 16 bits [%]
0014h Instantaneous torque 16 bits [%]
0015h ABS counter 16 bits [rev]
0016h Servo motor speed 32 bits 0.01 [r/min]/0.01 [mm/s]
0017h
0018h Bus voltage 16 bits [V]
0019h ABS position - Lower 32 bits 32 bits [m]/10-4 [inch]/10-3 [degree]/[pulse] *3
001Ah
001Bh ABS position - Upper 32 bits 32 bits [m]/10-4 [inch]/10-3 [degree]/[pulse] *3
001Ch Position within one-revolution 32 bits [pulse]
001Dh
001Eh
001Fh
0020h Cam axis one cycle current value 32 bits 10STM [m]/10(STM-4) [inch]/10-3 [degree]/[pulse] *1*2
0021h Cam standard position 32 bits 10STM [m]/10(STM-4) [inch]/10-3 [degree]/[pulse] *1*2
0022h Cam axis feed current value 32 bits 10STM [m]/10(STM-4) [inch]/10-3 [degree]/[pulse] *1*2
0024h Cam stroke amount in execution 32 bits 10STM [m]/10(STM-4) [inch]/10-3 [degree]/[pulse] *1*2
0025h Main axis current value 32 bits 10STM [m]/10(STM-4) [inch]/10-3 [degree]/[pulse] *1*2
0026h Main axis one cycle current value 32 bits 10STM [m]/10(STM-4) [inch]/10-3 [degree]/[pulse] *1*2
2 POINT TABLE OPERATION 2.1 Link device 33
34
*1 The unit can be changed to 10STM [m], 10(STM-4) [inch], 10-3 [degree], or [pulse] with the setting of [Pr. PT01]. *2 Depending on the setting of [Cam control data No. 30 Main shaft input axis selection], the parameters used to set the unit and feed
length multiplication will change as follows. For details of each parameter, refer to the following. Page 145 Positioning control parameters ([Pr. PT_ _ ]) Page 268 List of cam control data
*3 The unit can be changed to 10 [m], 10-4 [inch], 10-3 [degree], or [pulse] with the setting of [Pr. PT01]. *4 This is available with servo amplifiers with software version A6 or later. *5 The positions will be displayed by roll feed when "Current position/Command position display selection" of [Pr. PT26] is set to "1".
Page 104 Roll feed display function
Setting of [Cam control data No. 30] Parameter for the unit setting Parameter for the feed length multiplication setting
"0" or "1" [Pr. PT01] [Pr. PT03]
"2" [Cam control data No. 14] [Cam control data No. 14]
2 POINT TABLE OPERATION 2.1 Link device
2
Instruction code Refer to the following for the timing charts of the instruction codes. Page 45 Instruction code
Reading instruction code The data requested to be read with the instruction codes 0000h to 0AFFh is stored in reading data (RWrnC and RWrnD). Set the instruction code No. corresponding to the item in RWwn4 and RWwn5. The instruction code No. and response data are all hexadecimal. Setting any instruction code No. that is not given in this section will store an error code (_ _ 1 _) in respond code (RWrn4). If any unusable parameter or point table is read, an error code (_ _ 2 _) is stored. At this time, "0000" is stored in reading data (RWrnC and RWrnD).
Code No. Item/function Reading data content (Servo amplifier Master station)
RWwn5 RWwn4 RWrnC RWrnD 0000h 0000h Operation mode
Reads the current operation mode. 0000: CC-Link IE operation mode 0001: Test operation mode
Always 0
0000h 0002h Travel distance multiplying factor Reads the multiplying factor of the position data in the point table set with [Pr. PT03].
0000: 1 0100: 10 0200: 100 0300: 1000
Always 0
0000h 0010h Current alarm (warning) reading Reads the alarm No. or warning No. that is currently occurring.
Always 0
0000h 0020h Alarm number in alarm history (latest alarm)
Always 0
0000h 0021h Alarm number in alarm history (one alarm ago)
0000h 0022h Alarm number in alarm history (two alarms ago)
0000h 0023h Alarm number in alarm history (three alarms ago)
0000h 0024h Alarm number in alarm history (four alarms ago)
0000h 0025h Alarm number in alarm history (five alarms ago)
0000h 0026h Alarm number in alarm history (six alarms ago)
0000h 0027h Alarm number in alarm history (seven alarms ago)
0000h 0028h Alarm number in alarm history (eight alarms ago)
0000h 0029h Alarm number in alarm history (nine alarms ago)
0000h 002Ah Alarm number in alarm history (ten alarms ago)
0000h 002Bh Alarm number in alarm history (eleven alarms ago)
0000h 002Ch Alarm number in alarm history (twelve alarms ago)
0000h 002Dh Alarm number in alarm history (thirteen alarms ago)
0000h 002Eh Alarm number in alarm history (fourteen alarms ago)
0000h 002Fh Alarm number in alarm history (fifteen alarms ago)
No. of the alarm or warning currently occurring
Detail of the alarm or warning currently occurring
Detail of an alarm that occurred before
No. of an alarm that occurred before
2 POINT TABLE OPERATION 2.1 Link device 35
36
0000h 0030h Alarm occurrence time in alarm history (latest alarm)
Returns the occurrence time of the alarm that occurred before. Always 0
0000h 0031h Alarm occurrence time in alarm history (one alarm ago)
0000h 0032h Alarm occurrence time in alarm history (two alarms ago)
0000h 0033h Alarm occurrence time in alarm history (three alarms ago)
0000h 0034h Alarm occurrence time in alarm history (four alarms ago)
0000h 0035h Alarm occurrence time in alarm history (five alarms ago)
0000h 0036h Alarm occurrence time in alarm history (six alarms ago)
0000h 0037h Alarm occurrence time in alarm history (seven alarms ago)
0000h 0038h Alarm occurrence time in alarm history (eight alarms ago)
0000h 0039h Alarm occurrence time in alarm history (nine alarms ago)
0000h 003Ah Alarm occurrence time in alarm history (ten alarms ago)
0000h 003Bh Alarm occurrence time in alarm history (eleven alarms ago)
0000h 003Ch Alarm occurrence time in alarm history (twelve alarms ago)
0000h 003Dh Alarm occurrence time in alarm history (thirteen alarms ago)
0000h 003Eh Alarm occurrence time in alarm history (fourteen alarms ago)
0000h 003Fh Alarm occurrence time in alarm history (fifteen alarms ago)
0000h 0040h Input device status 0 Reads the status (OFF/ON) of input devices.
Bit 0 to bit F indicate the OFF/ON status of the corresponding input devices. 0: Servo-on 1: Forward rotation start 2: Reverse rotation start 3: Proximity dog 4, 5: For manufacturer setting 6: Automatic/manual selection 7: Temporary stop/restart 8: Monitor output execution demand 9: Instruction code execution demand A to E: For manufacturer setting F: Clear
Always 0
0000h 0041h Input device status 1 Reads the status (OFF/ON) of input devices.
Bit 0 to bit F indicate the OFF/ON status of the corresponding input devices. 0: Upper stroke limit*1
1: Lower stroke limit*1
2: Operation alarm reset 3: Cam control command 4: For manufacturer setting 5: Clutch command 6 to F: For manufacturer setting
Always 0
Code No. Item/function Reading data content (Servo amplifier Master station)
RWwn5 RWwn4 RWrnC RWrnD
2 POINT TABLE OPERATION 2.1 Link device
2
0000h 0042h Input device status 2 Reads the status (OFF/ON) of input devices.
Bit 0 to bit F indicate the OFF/ON status of the corresponding input devices. 0: Position command execution demand 1: Speed command execution demand 2 to 5: For manufacturer setting 6: Internal torque limit selection 7: Proportional control (PID control) 8: Gain switching 9: For manufacturer setting A: Position/speed specifying method selection B: Absolute value/incremental value selection C to F: For manufacturer setting
Always 0
0000h 0043h Input device status 3 Reads the status (OFF/ON) of input devices.
Bit 0 to bit F indicate the OFF/ON status of the corresponding input devices. 0 to 9: For manufacturer setting A: Reset B to F: For manufacturer setting
Always 0
0000h 0081h Energization time Reads the energization time since shipment.
Returns the energization time [h]. Always 0
0000h 0082h Power on frequency Reads the number of power-on times since shipment.
Returns the number of power-on times. Always 0
0000h 00A0h Load to motor inertia ratio Reads the estimated load to motor inertia ratio on the servo motor shaft.
Return unit [0.01 times] Returns the estimated load to motor inertia ratio.
Always 0
0000h 00B0h Home position within one-revolution (CYC0) Reads the cycle counter value of an absolute home position.
Return unit [pulse] Stores the lower 16 bits of the cycle counter value of the absolute home position (32-bit data).
Stores the upper 16 bits of the cycle counter value of the absolute home position.
0000h 00B2h Home position multi-revolution data (ABS0) Reads the multi-revolution counter value of an absolute home position.
Return unit [rev] Returns the multi-revolution counter value.
Always 0
0000h 00C0h Error parameter No./Point data No. reading Reads the parameter No. and point table No. that have an error.
Always 0
0000h 0100h to 011Fh
Monitor multiplying factor Reads the multiplying factor of data to be read with a monitor code. The instruction codes 0100h to 011Fh correspond to each of the monitor codes 0000h to 001Fh. To the instruction code that has no corresponding monitor code, "0000h" is applied.
0000: 1 0001: 10 0002: 100 0003: 1000
Always 0
Code No. Item/function Reading data content (Servo amplifier Master station)
RWwn5 RWwn4 RWrnC RWrnD
Parameter No. or point table No.
Type 1: Parameter 2: Point table
Parameter group 0: [Pr. PA_ _ ] 1: [Pr. PB_ _ ] 2: [Pr. PC_ _ ] 3: [Pr. PD_ _ ] 4: [Pr. PE_ _ ] 5: [Pr. PF_ _ ] 6 to A: For manufacturer setting B: [Pr. PL_ _ ] C: [Pr. PT_ _ ] E: [Pr. PN_ _ ]
2 POINT TABLE OPERATION 2.1 Link device 37
38
0000h 0200h Parameter group reading Reads the parameter group written with the code No. 8200h.
Always 0
0000h 0201h to 02FFh
Parameter data reading Reads the setting values of the parameters in the group read with the code No. 0200h. The lower two digits of the code No. which are converted to decimal correspond to the parameter No.
Stores the lower 16 bits of the setting value of the requested parameter No.
Stores the upper 16 bits of the setting value of the requested parameter No.
0000h 0301h to 03FFh
Data form of parameter Reads the data form of the parameter numbers in the group read with the code No. 0200h. The lower two digits of the code No. which are converted to decimal correspond to the parameter No.
Stores the data form of the requested parameter No. Always 0
0000h 0401h to 04FFh
Position data of point table No. 1 to 255 Reads the position data of point table No. 1 to 255.
Stores the lower 16 bits of the position data of the requested point table No.
Stores the upper 16 bits of the position data of the requested point table No.
0000h 0601h to 06FFh
Servo motor speed of point table No. 1 to 255 The lower two digits of the code No. which are converted to decimal correspond to the point table No.
Stores the lower 16 bits of the servo motor speed of the requested point table No.
Stores the upper 16 bits of the servo motor speed of the requested point table No.
0000h 0701h to 07FFh
Acceleration time constant of point table No. 1 to 255 The lower two digits of the code No. which are converted to decimal correspond to the point table No.
Stores the acceleration time constant of the requested point table No. Always 0
0000h 0801h to 08FFh
Deceleration time constant of point table No. 1 to 255 The lower two digits of the code No. which are converted to decimal correspond to the point table No.
Stores the deceleration time constant of the requested point table No. Always 0
0000h 0901h to 09FFh
Dwell of point table No. 1 to 255 The lower two digits of the code No. which are converted to decimal correspond to the point table No.
Stores the dwell of the requested point table No. Always 0
0000h 0A01h to 0AFFh
Auxiliary function of point table No. 1 to 255 The lower two digits of the code No. which are converted to decimal correspond to the point table No.
Stores the sub functions of the requested point table No. Always 0
Code No. Item/function Reading data content (Servo amplifier Master station)
RWwn5 RWwn4 RWrnC RWrnD
Parameter group 0: [Pr. PA_ _ ] 1: [Pr. PB_ _ ] 2: [Pr. PC_ _ ] 3: [Pr. PD_ _ ] 4: [Pr. PE_ _ ] 5: [Pr. PF_ _ ] 6 to A: For manufacturer setting B: [Pr. PL_ _ ] C: [Pr. PT_ _ ] E: [Pr. PN_ _ ]
0 00
0
Decimal point position 0: No decimal point 1: First least significant digit
(no decimal point) 2: Second least significant digit 3: Third least significant digit 4: Fourth least significant digit
Data form 0: Data is used unchanged in hexadecimal. 1: Data must be converted into decimal.
Parameter writing type 0: Enabled after writing 1: Enabled when power is cycled after writing 2: Enabled when the controller is reset
2 POINT TABLE OPERATION 2.1 Link device
2
*1 Servo amplifiers with software version A2 or earlier indicate the state of input (RY (n + 1) 0/RY (n + 1) 1) from the controller regardless of the setting value for the [Pr. PD41 Sensor input method selection]. By setting [Pr. PD41], servo amplifiers with software version A3 or later can switch between indicating the state of input (LSP/LSN) from the servo amplifier and input (RY (n + 1) 0/RY (n + 1) 1) from the controller. When [Pr. PD41] is the initial value, the state of input to the servo amplifier is indicated. When it is set to input to the servo amplifier, bit 0 and bit 1 of setting value [Pr. PA14 Rotation direction selection/travel direction selection] are interchanged.
102Dh 8400h Reading of the cam axis length per cycle setting
Stores the lower 16 bits of the cam axis length per cycle setting. Stores the upper 16 bits of the cam axis length per cycle setting.
102Dh 8500h Reading of the cam stroke amount setting
Stores the lower 16 bits of the cam stroke amount setting. Stores the upper 16 bits of the cam stroke amount setting.
Code No. Item/function Reading data content (Servo amplifier Master station)
RWwn5 RWwn4 RWrnC RWrnD
2 POINT TABLE OPERATION 2.1 Link device 39
40
Writing instruction code Data requested to be written with the instruction codes 8000h to 91FFh is written to the servo amplifier. Set the instruction code No. corresponding to the item in instruction code (RWwn4 and RWwn5) and the data to be written in writing data (RWwnC and RWwnD). The instruction code No. and response data are all hexadecimal. Setting any instruction code No. that is not given in this section will store an error code (_ _ 1 _) in respond code (RWrn4).
Code No. Item/function Writing data content (Servo amplifier Master station)
RWwn5 RWwn4 RWwnC RWwnD 0000h 8010h Alarm reset command Clears the
alarm that is currently occurring. 1EA5h Set to "0000h".
0000h 8101h Feedback pulse value display data clear command Resets the display data of the status display "Cumulative feedback pulses" to "0".
1EA5h Set to "0000h".
0000h 8200h Writing command of parameter group Writes the group of the parameter to write with code No. 8201h to 82FFh and 8301h to 83FFh. Writes the group of the parameter to read with code No. 0201h to 02FFh and 0301h to 03FFh.
Set to "0000h".
0000h 8201h to 82FFh
Data RAM command of parameter Writes the setting values of the parameters in the group written with code No. 8200h to the RAM. This setting value is cleared when the power supply is shut off. The lower two digits of the code No. which are converted to decimal correspond to the parameter No. An error code is returned if a value outside the range of a parameter is written.
Set the lower 16 bits of the parameter setting value. Set the upper 16 bits of the parameter setting value. Set the 16-bit parameter to "0000h" if it has a positive sign. Set it to "FFFFh" if it has a negative sign. Set the 16-bit parameter to "0000h" if it has no sign.
0000h 8301h to 83FFh
Data EEP-ROM command of parameter Writes the setting values of the parameters in the group written with code No. 8200h to the EEP-ROM. The setting value written in the EEP-ROM is held even when the power supply is shut off. The lower two digits of the code No. which are converted to decimal correspond to the parameter No. An error code is returned if a value outside the range of a parameter is written.
Set the lower 16 bits of the parameter setting value. Set the upper 16 bits of the parameter setting value. Set the 16-bit parameter to "0000h" if it has a positive sign. Set it to "FFFFh" if it has a negative sign. Set the 16-bit parameter to "0000h" if it has no sign.
0000h 8401h to 84FFh
Position data RAM command of point table Writes the position data of point table No. 1 to 255 to the RAM. This setting value is cleared when the power supply is shut off. The lower two digits of the code No. which are converted to decimal correspond to the point table No.
Set the lower 16 bits of the position data. Set the upper 16 bits of the position data.
0 00
Parameter group 0: [Pr. PA_ _ ] 1: [Pr. PB_ _ ] 2: [Pr. PC_ _ ] 3: [Pr. PD_ _ ] 4: [Pr. PE_ _ ] 5: [Pr. PF_ _ ] 6 to A: For manufacturer setting B: [Pr. PL_ _ ] C: [Pr. PT_ _ ] E: [Pr. PN_ _ ]
2 POINT TABLE OPERATION 2.1 Link device
2
0000h 8601h to 86FFh
Servo motor speed data RAM command of point table Writes the servo motor speed of point table No. 1 to 255 to the RAM. This setting value is cleared when the power supply is shut off. The lower two digits of the code No. which are converted to decimal correspond to the point table No.
Set the lower 16 bits of the servo motor speed. Set the upper 16 bits of the servo motor speed.
0000h 8701h to 87FFh
Acceleration time constant data RAM command of point table Writes the acceleration time constant of point table No. 1 to 255 to the RAM. This setting value is cleared when the power supply is shut off. The lower two digits of the code No. which are converted to decimal correspond to the point table No.
Set the acceleration time constant. Set to "0000h".
0000h 8801h to 88FFh
Deceleration time constant data RAM command of point table Writes the deceleration time constant of point table No. 1 to 255 to the RAM. This setting value is cleared when the power supply is shut off. The lower two digits of the code No. which are converted to decimal correspond to the point table No.
Set the deceleration time constant. Set to "0000h".
0000h 8901h to 89FFh
Dwell data RAM command of point table Writes the dwell of point table No. 1 to 255 to the RAM. This setting value is cleared when the power supply is shut off. The lower two digits of the code No. which are converted to decimal correspond to the point table No.
Set the dwell. Set to "0000h".
0000h 8A01h to 8AFFh
Auxiliary function data RAM command of point table Writes the auxiliary functions of point table No. 1 to 255 to the RAM. This setting value is cleared when the power supply is shut off. The lower two digits of the code No. which are converted to decimal correspond to the point table No.
Set the auxiliary function. Set to "0000h".
0000h 8B01h to 8BFFh
Position data EEP-ROM command of point table Writes the position data of point table No. 1 to 255 to the EEP-ROM. The setting value written in the EEP-ROM is held even when the power supply is shut off. The lower two digits of the code No. which are converted to decimal correspond to the point table No.
Set the lower 16 bits of the position data. Set the upper 16 bits of the position data.
0000h 8D01h to 8DFFh
Servo motor speed data EEP-ROM command of point table Writes the servo motor speed of point table No. 1 to 255 to the EEP-ROM. The setting value written in the EEP- ROM is held even when the power supply is shut off. The lower two digits of the code No. which are converted to decimal correspond to the point table No.
Set the lower 16 bits of the servo motor speed. Set the upper 16 bits of the servo motor speed.
Code No. Item/function Writing data content (Servo amplifier Master station)
RWwn5 RWwn4 RWwnC RWwnD
2 POINT TABLE OPERATION 2.1 Link device 41
42
0000h 8E01h to 8EFFh
Acceleration time constant data EEP- ROM command of point table Writes the acceleration time constant of point table No. 1 to 255 to the EEP- ROM. The setting value written in the EEP-ROM is held even when the power supply is shut off. The lower two digits of the code No. which are converted to decimal correspond to the point table No.
Set the acceleration time constant. Set to "0000h".
0000h 8F01h to 8FFFh
Deceleration time constant data EEP- ROM command of point table Writes the deceleration time constants of point table No. 1 to 255 to the EEP- ROM. The setting value written in the EEP-ROM is held even when the power supply is shut off. The lower two digits of the code No. which are converted to decimal correspond to the point table No.
Set the deceleration time constant. Set to "0000h".
0000h 9001h to 90FFh
Dwell data EEP-ROM command of point table Writes the dwell of point table No. 1 to 255 to the EEP-ROM. The setting value written in the EEP-ROM is held even when the power supply is shut off. The lower two digits of the code No. which are converted to decimal correspond to the point table No.
Set the dwell. Set to "0000h".
0000h 9101h to 91FFh
Auxiliary function data EEP-ROM command of point table Writes the auxiliary functions of point table No. 1 to 255 to the EEP-ROM. The setting value written in the EEP- ROM is held even when the power supply is shut off. The lower two digits of the code No. which are converted to decimal correspond to the point table No.
Set the auxiliary function. Set to "0000h".
A02Dh 8400h Cam axis one cycle length setting RAM writing
Set the lower-order 16 bits for the cam axis one cycle length. Set the upper- order 16 bits for the cam axis one cycle length.
A02Dh 8500h Cam stroke amount setting RAM writing
Set the lower-order 16 bits for the cam stroke amount. Set the upper- order 16 bits for the cam stroke amount.
Code No. Item/function Writing data content (Servo amplifier Master station)
RWwn5 RWwn4 RWwnC RWwnD
2 POINT TABLE OPERATION 2.1 Link device
2
Respond code (RWrn4) If any of monitor codes, instruction codes, point table No. selection, point table No./position command data, and point table No./speed command data set in remote registers is outside the setting range, the corresponding error code is set in respond code (RWrn4). If the setting is within the setting range, "0000" is set.
Error of the monitor code Code No.
0 1 2 3
Error detail
Parameter selection error
Details
A parameter No. that cannot be referred to is specified. Writing data out of range A value out of the range is set.
Writing data out of range A value out of the range is set.
Normal result The code has been completed normally. Code error An incorrect code No. is specified.
Error of the reading instruction code and writing instruction code Code No.
0 1 2 3
Error detail Details Normal result The instruction has been completed normally. Code error An incorrect code No. is specified.
Error of the point table No./position command data Code No.
0 1 2 3
Error detail Details Normal result The instruction has been completed normally.
Writing data out of range A value out of the range is set.
Error of the point table No./speed command data Code No.
0 1 2 3
Error detail Details Normal result The instruction has been completed normally.
2 POINT TABLE OPERATION 2.1 Link device 43
44
Data communication timing chart
Monitor code
Set a monitor code (Page 33 Monitor code) in RWwn0 (Monitor 1) and RWwn2 (Monitor 2) and turn on RYn8 (Monitor output execution demand). Turning on RYn8 (Monitor output execution demand) sets the following data. All 32-bit data is set in remote registers after divided into the upper 16 bits and lower 16 bits. Data is all hexadecimal. At this time, RXn8 (Monitoring) turns on.
RWrn0 (Monitor 1 data - Lower 16 bits): Lower 16 bits of data requested with RWwn0 (Monitor 1) RWrn1 (Monitor 1 data - Upper 16 bits): Upper 16 bits of data requested with RWwn0 (Monitor 1) RWrn2 (Monitor 2 data - Lower 16 bits): Lower 16 bits of data requested with RWwn2 (Monitor 2) RWrn3 (Monitor 2 data - Upper 16 bits): Upper 16 bits of data requested with RWwn2 (Monitor 2)
A sign is set if no data is set in RWrn1 or RWrn3. For "+", "0000" is set, and "FFFF" is set for "-". Monitor data RWrn0 to RWrn3 set in remote registers are constantly updated while RXn8 (Monitoring) is ON. When RXn8 (Monitoring) turns off, the update of the monitor data RWrn0 to RWrn3 stops, and does not restart until RXn8 (Monitoring) turns on again. If a monitor code out of the specifications is set in either RWwn0 (Monitor 1) or RWwn2 (Monitor 2), the corresponding error code (_ _ _ 1) is stored in RWrn4 (Respond code). At this time, "0000" is stored in the monitor data RWrn0 to RWrn3. Refer to the following for details of respond code. Page 43 Respond code (RWrn4) Until RXn8 turns on after RYn8 is turned on, do not change the setting values of RWwn0 and RWwn2.
RYn8 (Monitor output execution demand)
ON
OFF
ON
OFF
RWwn2 (Monitor 2)
RXn8 (Monitoring)
RWrn2 (Monitor 2 data - Lower 16 bits)
RWrn3 (Monitor 2 data - Upper 16 bits)
RWrn4 (Respond code)
No data update
RWrn0 (Monitor 1 data - Lower 16 bits)
RWrn1 (Monitor 1 data - Upper 16 bits)
RWwn0 (Monitor 1)
2 POINT TABLE OPERATION 2.1 Link device
2
Instruction code Reading instruction code (0000h to 0AFFh)
*1 The value of RWwn5 (Instruction code - Upper 16 bits) is fixed to "0".
Set a reading instruction code (Page 35 Reading instruction code) in RWwn4 (Instruction code - Lower 16 bits) and turn on RYn9 (Instruction code execution demand). Turning on RYn9 (Instruction code execution demand) sets the data corresponding to the reading code in RWrnC (Reading data - Lower 16 bits) and RWrnD (Reading data - Upper 16 bits). Data is all hexadecimal. At this time, RXn9 (Instruction code execution completion) also turns on. Read the reading data to be set in RWrnC (Reading data - Lower 16 bits) and RWrnD (Reading data - Upper 16 bits) while RYn9 (Instruction code execution demand) is on. The data set in RWrnC (Reading data - Lower 16 bits) and RWrnD (Reading data - Upper 16 bits) is held until RYn9 (Instruction code execution demand) is turned on with the next reading instruction code set. If the instruction code out of the specifications is set in RWwn4 (Instruction code - Lower 16 bits), an error code (_ _ 1 _) is set in respond code. If any unusable parameter or point table is read, an error code (_ _ 2 _) is set. Turn off RYn9 (Instruction code execution demand) after the data reading is completed. Until RXn9 turns on after RYn9 is turned on, do not change the setting value of RWwn4. Turn off RYn9 after the data reading is completed.
ON
OFF
ON
OFF
Data reading period
RYn9 (Instruction code execution demand)
RWwn4 (Instruction code - Lower 16 bits) *1
RXn9 (Instruction code execution completion)
RWrnD (Reading data - Upper 16 bits)
RWrn4 (Respond code)
RWrnC (Reading data - Lower 16 bits)
2 POINT TABLE OPERATION 2.1 Link device 45
46
Writing instruction code (8000h to 91FFh)
*1 The value of RWwn5 (Instruction code - Upper 16 bits) is fixed to "0".
Set a writing instruction code (Page 40 Writing instruction code) in RWwn4 (Instruction code - Lower 16 bits) and the data to write (data to execute) in RWwnC (Writing data - Lower 16 bits) and RWwnD (Writing data - Upper 16 bits) in hexadecimal, and turn on RYn9 (Instruction code execution demand). Turning on RYn9 (Instruction code execution demand) writes the data set with RWwnC (Writing data - Lower 16 bits) and RWwnD (Writing data - Upper 16 bits) to the item corresponding to the writing instruction code. After the writing is completed, RXn9 (Instruction code execution completion) turns on. If the instruction code out of the specifications is set in RWwn4 (Instruction code - Lower 16 bits), an error code (_ _ 1 _) is set in respond code. Turn off RYn9 (Instruction code execution demand) after RXn9 (Instruction code execution completion) has turned on. Until RXn9 turns on after RYn9 is turned on, do not change the setting values of RWwn4, RWwnC, and RWwnD. Turn off RYn9 while RXn9 is on.
Writing in execution
RWwnD (Writing data - Upper 16 bits)
RWwnC (Writing data - Lower 16 bits)
ON
OFF
ON
OFF
RYn9 (Instruction code execution demand)
RWwn4 (Instruction code - Lower 16 bits) *1
Instruction code processing
RXn9 (Instruction code execution completion)
RWrn4 (Respond code)
2 POINT TABLE OPERATION 2.1 Link device
2
Remote register-based position/speed setting The functions in this section can be used while RY (n + 2) A (Position/speed specifying method selection) is on (the remote register-based position/speed specifying method is selected). Turn off RY (n + 2) A to perform home position return. The position command and speed command necessary for positioning can be selected with [Pr. PT62] as follows.
For the point table No. setting Specify the point table No. stored in the servo amplifier and execute positioning. Before executing positioning, set "_ _ _ 0" (initial value) in [Pr. PT62] to enable the operation that follows the setting of the point table No.
*1 This data is stored in the RAM of the servo amplifier. Thus, the data is cleared when the power supply is shut off.
Set the point table No. in RWwn8 (Point table No.) and turn on RY (n + 2) 0 (Position command execution demand). Turning on RY (n + 2) 0 stores the point table No. into the RAM of the servo amplifier. When the data is stored, RX (n + 2) 0 (Position command execution completion) turns on. If data outside the setting range is set in RWwn8 (Point table No.), an error code (Page 43 Respond code (RWrn4)) is set in respond code. Turn on RYn1 (Forward rotation start) or RYn2 (Reverse rotation start) after RX (n + 2) 0 (Position command execution completion) has turned on.
[Pr. PT62]
Setting value Position command Speed command 0 Specify a point table No. in RWwn8. 1 Specify a point table No. in RWwnA.Set a position data in
RWwn8 and RWwn9.2 Set the servo motor speed in RWwnA and RWwnB.
6 ms or longer
Data-hold *1
RWwn8 (Point table No.)
ON
OFF
ON
OFF
RY (n + 2) 0 (Position command execution demand)
Point table No. specification
RX (n + 2) 0 (Position command execution completion)
ON
OFF
RYn1 (Forward rotation start)/ RYn2 (Reverse rotation start)
RWrn4 (Respond code)
2 POINT TABLE OPERATION 2.1 Link device 47
48
For the position command data setting and point table No. (speed command) setting Specify a position address with a remote register, and specify speed command data with a point table No. Then, execute positioning using the servo motor speed, acceleration time constant, and deceleration time constant. Before executing positioning, set "_ _ _ 1" in [Pr. PT62] to enable the operation that follows the settings of the position command data and point table No. (speed command).
*1 This data is stored in the RAM of the servo amplifier. Thus, the data is cleared when the power supply is shut off.
Set the lower 16 bits of the position command data in RWwn8 (Position command data - Lower 16 bits), the upper 16 bits of the position command data in RWwn9 (Position command data - Upper 16 bits). Set the point table No. for the speed command in RWwnA (Point table No.), and then turn on RY (n + 2) 0 (Position command execution demand) and RY (n + 2) 1 (Speed command execution demand). Turning on RY (n + 2) 0 and RY (n + 2) 1 stores the position command data and point table No. into the RAM of the servo amplifier. When the data is stored, RX (n + 2) 0 (Position command execution completion) and RX (n + 2) 1 (Speed command execution completion) turn on. Until RX (n + 2) 0 and RX (n + 2) 1 turn on after RY (n + 2) 0 and RY (n + 2) 1 are turned on, do not change the settings of the position data and point table No. If data outside the setting range is set in RWwn8 (Position command data - Lower 16 bits), RWwn9 (Position command data - Upper 16 bits), or RWwnA (Point table No.), an error code (Page 43 Respond code (RWrn4)) is set in respond code. Turn on RYn1 (Forward rotation start) or RYn2 (Reverse rotation start) after RX (n + 2) 0 (Position command execution completion) and RX (n + 2) 1 (Speed command execution completion) have turned on.
Data-hold *1
RWwnA (Point table No.)
RWwn9 (Position command data - Upper 16 bits)
ON
OFF
ON
OFF
RY (n + 2) 1 (Speed command execution demand)
ON
OFF
RY (n + 2) 0 (Position command execution demand)
RWwn8 (Position command data - Lower 16 bits)
Position data setting Point table No. specification
RX (n + 2) 0 (Position command execution completion)
ON
OFF
RX (n + 2) 1 (Speed command execution completion)
RWrn4 (Respond code)
6 ms or longer ON
OFF
RYn1 (Forward rotation start)/ RYn2 (Reverse rotation start)
2 POINT TABLE OPERATION 2.1 Link device
2
For the position command data setting and speed command data setting Specify a position address and servo motor speed with remote registers, and execute positioning. At this time, the acceleration time constant and deceleration time constant set in point table No. 1 are used. Before executing positioning, set "_ _ _ 2" in [Pr. PT62] to enable the operation that follows the settings of the position command data and speed command data.
*1 This data is stored in the RAM of the servo amplifier. Thus, the data is cleared when the power supply is shut off.
Set the lower 16 bits of the position command data in RWwn8 (Position command data - Lower 16 bits), the upper 16 bits of the position command data in RWwn9 (Position command data - Upper 16 bits), the lower 16 bits of the speed command in RWwnA (Speed command data - Lower 16 bits), and the upper 16 bits of the speed command in RWwnB (Speed command data - Upper 16 bits). Then, turn on RY (n + 2) 0 (Position command execution demand) and RY (n + 2) 1 (Speed command execution demand). Turning on RY (n + 2) 0 and RY (n + 2) 1 stores the position command data and speed command data into the RAM of the servo amplifier. When the data is stored, RX (n + 2) 0 (Position command execution completion) and RX (n + 2) 1 (Speed command execution completion) turn on. If data outside the setting range is set in RWwn8 (Position command data - Lower 16 bits), RWwn9 (Position command data - Upper 16 bits), RWwnA (Speed command data - Lower 16 bits), or RWwnB (Speed command data - Upper 16 bits), an error code (Page 43 Respond code (RWrn4)) is set in respond code. Turn on RYn1 (Forward rotation start) or RYn2 (Reverse rotation start) after RX (n + 2) 0 (Position command execution completion) and RX (n + 2) 1 (Speed command execution completion) have turned on.
Data-hold *1
RWwnB (Speed command data - Upper 16 bits)
RWwn9 (Position command data - Upper 16 bits)
RWwnA (Speed command data - Lower 16 bits)
ON
OFF
ON
OFF
RY (n + 2) 1 (Speed command execution demand)
ON
OFF
RY (n + 2) 0 (Position command execution demand)
RWwn8 (Position command data - Lower 16 bits)
Position/speed data setting
RX (n + 2) 0 (Position command execution completion)
ON
OFF
RX (n + 2) 1 (Speed command execution completion)
RWrn4 (Respond code)
6 ms or longer ON
OFF
RYn1 (Forward rotation start)/ RYn2 (Reverse rotation start)
2 POINT TABLE OPERATION 2.1 Link device 49
50
2.2 Switching power on for the first time
To use the servo amplifier in the I/O mode, set [Pr. PN03] to "_ _ _ 1". In addition, the GX Works setting is required. For the GX Works setting, refer to section 4.1 of "MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode)".
When switching the power on for the first time, follow this section to make a startup.
1. Wiring check Check whether the servo amplifier and servo motor are wired correctly by visual inspection, the DO forced output function (section 4.5 of "MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode)"), etc. (Refer to section 4.1 of "MR-J4- _GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode)".)
2. Surrounding environment check Check the surrounding environment of the servo amplifier and servo motor. (Refer to section 4.1 of "MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode)".)
3. Station No. setting Set the station number with the station number setting rotary switch (SW2/SW3). (Refer to section 4.3 of "MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode)".)
4. Parameter setting Set the parameters as necessary, such as the used operation mode and regenerative option selection. (Page 125 PARAMETERS) Perform setting of [Pr. PN02 Communication error detection time] in accordance with the network topology and the link scan time of the master station. Set [Pr. PD41] to "_ 0 _ _" (Stroke limit always enabled). To input a stroke limit by using the link device, set [Pr. PD41] to "1 _ _ _" (input from controller). Hereafter, instructions are provided in a case where the input from the controller is selected. When [Pr. PD41] is set to "0 _ _ _" (input from servo amplifier), read the words "upper stroke limit" and "lower stroke limit" as "LSP" and "LSN", respectively.
5. Test operation of the servo motor alone in JOG operation of test operation mode With the servo motor disconnected from the machine, perform test operation mode at the slowest speed to check whether the servo motor rotates correctly. For the test operation mode, refer to section 4.5 of "MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode)".
6. Test operation of the servo motor alone in manual operation mode Make sure that the servo motor rotates in the following procedure. Switch on EM2 (Forced stop 2) and RYn0 (Servo-on). When the servo amplifier is in a servo-on status, RXn0 (Ready) switches on. Switch on RY (n + 1) 0 (Upper stroke limit) and RY (n + 1) 1 (Lower stroke limit). When RYn6 (Automatic/manual selection) is switched off from the controller and RYn1 (Forward rotation start) or RYn2 (Reverse rotation start) is switched on in the manual operation mode, the servo motor starts rotating. Set a low speed in [Pr. PT65 Jog speed command] first, make the servo motor operate, and check the rotation direction of the motor, etc. If the servo motor does not operate in the intended direction, check the input signal.
2 POINT TABLE OPERATION 2.2 Switching power on for the first time
2
7. Test operation with the servo motor and machine connected Make sure that the servo motor rotates in the following procedure. Switch on EM2 (Forced stop 2) and RYn0 (Servo-on). When the servo amplifier is in a servo-on status, RXn0 (Ready) switches on. Switch on RY (n + 1) 0 (Upper stroke limit) and RY (n + 1) 1 (Lower stroke limit). When RYn6 (Automatic/manual selection) is switched off from the controller and RYn1 (Forward rotation start) or RYn2 (Reverse rotation start) is switched on in the manual operation mode, the servo motor starts rotating. Set a low speed in [Pr. PT65 Jog speed command] first, make the servo motor operate, and check the operation direction of the machine, etc. If the servo motor does not operate in the intended direction, check the input signal. In the status display, check for any problems of the servo motor speed, load ratio, etc.
8. Automatic operation by the point table Check automatic operation from the controller.
9. Gain adjustment Make gain adjustment to optimize the machine motions. (Refer to chapter 6 of "MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode)".)
10.Actual operation
11. Stop Stop giving commands and stop operation.
2 POINT TABLE OPERATION 2.2 Switching power on for the first time 51
52
2.3 Automatic operation mode Command method Set point tables in advance, and select any point table by using CC-Link IE Field Network communication. Start the operation using RYn1 (Forward rotation start) or RYn2 (Reverse rotation start). Absolute value command method and incremental value command method are provided in automatic operation mode.
Absolute value command method As position data, set the target address to be reached.
mm, inch, and pulse units
Degree unit Set the target position using the positive value as the CCW direction and the negative value as the CW direction. When specifying the direction with the absolute value, you can use "+" or "-" to specify the rotation direction. The following shows an example of setting.
Setting range: -999999 to 999999 [10STM m] (STM = Feed length multiplication [Pr. PT03]) -999999 to 999999 [10(STM-4) inch] (STM = Feed length multiplication [Pr. PT03]) -999999 to 999999 [pulse]
Setting range of the position data [10STM m] / [10(STM-4) inch] / [pulse]
-999999 999999
0 (-360)
180 (-180)
90 (-270)
270 (-90)[degree]
Setting range of the position data
2 POINT TABLE OPERATION 2.3 Automatic operation mode
2
The coordinate system in degree unit The coordinate is determined based on the position of 0 degree. Positive direction: 0 90 180 270 0 Negative direction: 0 -90 -180 -270 -360 270 degrees and -90 degrees are the same position. 0 degree, 360 degrees, and -360 degrees are the same position. The travel direction toward the target position is the direction set in [Pr. PT03].
When using the servo motor with the rotation direction specified ([Pr. PT03] = _ 0 _ _) When the position data 270.000 degrees (target position) is specified, the servo motor rotates in the CCW direction.
When the position data -90.000 degrees (target position) is specified, the servo motor rotates in the CW direction.
When the position data -360.000 degrees (target position) is specified, the servo motor rotates in the CW direction. (A) When the position data 360.000 degrees or 0 degree is specified, the servo motor rotates in the CCW direction. (B)
[Pr. PT03] setting Servo motor rotation direction _ 0 _ _ Rotates to the target position in the direction specified with the sign of the position data.
_ 1 _ _ Rotates in the direction with the shorter distance from the current position to the target position. If the distance from the current position to the target position is the same in the CCW and CW directions, the servo motor rotates in the CCW direction.
_ 2 _ _ Rotates in the address decreasing direction regardless of the sign of the position data.
_ 3 _ _ Rotates in the address increasing direction regardless of the sign of the position data.
(270) Target position
Current position
(-90) Target position
Current position
(-360) (B)
(A)
Target position
Current position
2 POINT TABLE OPERATION 2.3 Automatic operation mode 53
54
When using the servo motor with the shortest rotation specified ([Pr. PT03] = _ 1 _ _) When the position data 270.000 degrees (target position) is specified, the servo motor rotates in the CCW direction.
When the position data -90.000 degrees (target position) is specified, the servo motor rotates in the CCW direction.
If the position data 270.000 degrees (target position) is specified while the current position is at 90, the servo motor rotates in the CCW direction since the distance is the same in the CCW and CW directions.
When using the servo motor with the address decreasing direction specified ([Pr. PT03] = _ 2 _ _) When the position data 270.000 degrees (target position) is specified, the servo motor rotates in the CCW direction.
When the position data -270.000 degrees (target position) is specified, the servo motor rotates in the CW direction.
(270) Target position
Current position
(-90) Target position
Current position
(270)(90) Current position Target position
(-270) Target position
Current position
(-270) Target position
Current position
2 POINT TABLE OPERATION 2.3 Automatic operation mode
2
When using the servo motor with the address increasing direction specified ([Pr. PT03] = _ 3 _ _) When the position data 270.000 degrees (target position) is specified, the servo motor rotates in the CCW direction.
When the position data -270.000 degrees (target position) is specified, the servo motor rotates in the CCW direction.
Incremental value command method As position data, set the travel distance from the current address to the target address.
mm, inch, and pulse units
Degree unit
Setting range: 0 to 999999 [10STM m] (STM = Feed length multiplication [Pr. PT03]) 0 to 999999 [10(STM-4) inch] (STM = Feed length multiplication [Pr. PT03]) 0 to 999999 [pulse]
(270) Target position
Current position
(270) Target position
Current position
Current address Target address
Position data = |Target address - Current address|
270 degrees
80 degrees
0 degree
Position data = travel distance from the current address to the target address
The travel distance in this example is -170 degrees.
Current address
Target address
2 POINT TABLE OPERATION 2.3 Automatic operation mode 55
56
Automatic operation using point table
Absolute value command method By the auxiliary function of the point table, you can set a point table used under the absolute value command method or the incremental value command method.
Point table Set the point table values using MR Configurator2 or link devices. Set the position data, servo motor speed, acceleration time constant, deceleration time constant, dwell and auxiliary function to the point table. To use the point table under the absolute value command method, set "0", "1", "8", or "9" to the auxiliary function. To use the point table under the incremental value command method, set "2", "3", "10", or "11" to the auxiliary function. When you set a value outside this range to the point table, the set value will be clamped with the maximum or minimum value. When changing the command unit or the connected motor results in the set value outside this range, [AL. 37] will occur.
*1 When "m" or "inch" is set, the positions of the decimal points will be changed by the STM setting. When "degree" is set, the setting range is -360.000 to 360.000.
*2 In the linear servo motor control mode, the unit is mm/s.
Item Setting range Unit Description Position data -999999 to 999999 *1 10STM m
10(STM-4) inch 10-3 degree pulse
When using this point table under the absolute value command method Set the target address (absolute value). When using this point table under the incremental value command method
Set the travel distance. A "-" sign indicates a reverse rotation command.
Servo motor speed 0 to permissible speed 0.01 r/min 0.01 mm/s *2
Set the command speed of the servo motor for execution of positioning. The setting value must be within the permissible instantaneous speed of the servo motor used. The setting value will be rounded down to the nearest integer.
Acceleration time constant
0 to 20000 ms Set a time until the servo motor rotates at the rated speed.
Deceleration time constant
0 to 20000 ms Set a time from when the servo motor rotates at the rated speed until when the motor stops.
Dwell 0 to 20000 ms Set the dwell. To disable the dwell, set "0" or "2" to the auxiliary function. To perform continuous operation, set "1", "3", "8", "9", "10" or "11" to the auxiliary function and 0 to the dwell. When the dwell is set, the position command of the selected point table is completed, and after the set dwell has elapsed, the position command of the next point table is started.
Auxiliary function 0 to 3, 8 to 11 Set the auxiliary function. When using this point table under the absolute value command method 0: Automatic operation is performed in accordance with a single point table
selected. 1: Automatic continuous operation is performed to the next point table
without a stop. 8: Automatic continuous operation is performed without a stop to the point
table selected at start-up. 9: Automatic continuous operation is performed without stopping a point
table No. 1. When using this point table under the incremental value command method 2: Automatic operation is performed in accordance with a single point table
selected. 3: Automatic continuous operation is performed to the next point table
without a stop. 10: Automatic continuous operation is performed to the point table selected
at start-up. 11: Automatic continuous operation is performed without stopping a point
table No. 1. When a different rotation direction is set, smoothing zero (command output) is confirmed and then the rotation direction is reversed. Setting "1" or "3" to point table No. 255 results in an error. Page 62 Automatic continuous positioning operation
2 POINT TABLE OPERATION 2.3 Automatic operation mode
2
Parameter setting Set the following parameters to perform automatic operation. Command method selection ([Pr. PT01]) Select the absolute value command method as shown below.
Rotation direction selection ([Pr. PA14]) Select the servo motor rotation direction when RYn1 (Forward rotation start) is switched on.
Position data unit ([Pr. PT01]) Set the unit of the position data.
Feed length multiplication ([Pr. PT03]) Set the feed length multiplication (STM) of the position data.
*1 The feed length multiplication setting ([Pr. PT03]) is not applied to the unit multiplication factor. Adjust the unit multiplication factor in the electronic gear setting ([Pr. PA06] and [Pr. PA07]).
*2 The "-" sign has different meanings under the absolute value command method and the incremental value command method. Page 52 Command method
Operation Selecting RWwn6 for the point table and switching on RYn1 starts positioning to the position data at the set speed, acceleration time constant and deceleration time constant. At this time, RYn2 (Reverse rotation start) is invalid.
[Pr. PA14] setting Servo motor rotation direction when RYn1 (Forward rotation start) is switched on 0 CCW rotation with - position data
CW rotation with + position data
1 CW rotation with + position data CCW rotation with - position data
[Pr. PT01] setting Position data unit _ 0 _ _ mm
_ 1 _ _ inch
_ 2 _ _ degree
_ 3 _ _ pulse
[Pr. PT03] setting Position data input range *2
[mm] [inch] [degree] *1 [pulse] *1
_ _ _ 0 - 999.999 to + 999.999 - 99.9999 to + 99.9999 -360.000 to 360.000 - 999999 to + 999999
_ _ _ 1 - 9999.99 to + 9999.99 - 999.999 to + 999.999
_ _ _ 2 - 99999.9 to + 99999.9 - 9999.99 to + 9999.99
_ _ _ 3 - 999999 to + 999999 - 99999.9 to + 99999.9
Item Used device Setting Automatic operation mode selection RYn6 (Automatic/manual selection) Switch on RYn6.
Point table selection RWwn6 (Point table No. selection) Set the point table No. to use.
Start RYn1 (Forward rotation start) Switch on RYn1 to start.
[Pr. PT01]
0
Absolute value command method
CW
CCW
2 POINT TABLE OPERATION 2.3 Automatic operation mode 57
58
Incremental value command method
The incremental value command method ([Pr. PT01] = _ _ _ 1) is not available in the absolute position detection system. When using the absolute position detection system, select the absolute value command method ([Pr. PT01] = _ _ _ 0). Making the servo-off state in the incremental value command method ([Pr. PT01] = _ _ _ 1) will erase the home position. Execute home position return again.
Point table Set the point table values using MR Configurator2 or link devices. Set the position data, servo motor speed, acceleration time constant, deceleration time constant, dwell and auxiliary function to the point table. When you set a value outside this range to the point table, the set value will be clamped with the maximum or minimum value. When changing the command unit or the connected motor results in the set value outside the setting range, [AL. 37] will occur.
*1 When "m" or "inch" is set, the positions of the decimal points will be changed by the STM setting. When "degree" is set, the setting range is -360.000 to 360.000.
*2 In the linear servo motor control mode, the unit is mm/s.
Item Setting range Unit Description Position data 0 to 999999 *1 10STM m
10(STM-4) inch 10-3 degree pulse
Set the travel distance. The unit can be changed by [Pr. PT03] (Feed length multiplication).
Servo motor speed 0 to permissible speed 0.01 r/min 0.01 mm/s *2
Set the command speed of the servo motor for execution of positioning. The setting value must be within the permissible instantaneous speed of the servo motor used. The fractional portion will be rounded down.
Acceleration time constant
0 to 20000 ms Set a time until the servo motor rotates at the rated speed.
Deceleration time constant
0 to 20000 ms Set a time from when the servo motor rotates at the rated speed until when the motor stops.
Dwell 0 to 20000 ms Set the dwell. To disable the dwell, set "0" to the auxiliary function. To perform continuous operation, set "1", "8" or "9" to the auxiliary function and 0 to the dwell. When the dwell is set, the position command of the selected point table is completed, and after the set dwell has elapsed, the position command of the next point table is started.
Auxiliary function 0, 1, 8, or 9 Set the auxiliary function. 0: Automatic operation is performed in accordance with a single point table
selected. 1: Automatic continuous operation is performed to the next point table without
a stop. 8: Automatic continuous operation is performed without a stop to the point
table selected at start-up. 9: Automatic continuous operation is performed without stopping a point table
No. 1. Setting "1" to point table No. 255 results in an error. Page 62 Automatic continuous positioning operation
2 POINT TABLE OPERATION 2.3 Automatic operation mode
2
Parameter setting Set the following parameters to perform automatic operation. Command method selection ([Pr. PT01]) Select the incremental value command method as shown below.
Rotation direction selection ([Pr. PA14]) Select the servo motor rotation direction when RYn1 (Forward rotation start) or RYn2 (Reverse rotation start) is switched on.
Position data unit ([Pr. PT01]) Set the unit of the position data.
Feed length multiplication ([Pr. PT03]) Set the feed length multiplication (STM) of the position data.
*1 The feed length multiplication setting ([Pr. PT03]) is not applied to the unit multiplication factor. Adjust the unit multiplication factor in the electronic gear setting ([Pr. PA06] and [Pr. PA07]).
[Pr. PA14] setting Servo motor rotation direction
RYn1 (Forward rotation start) RYn2 (Reverse rotation start) 0 CCW rotation (address increase) CW rotation (address decrease)
1 CW rotation (address increase) CCW rotation (address decrease)
[Pr. PT01] setting Position data unit _ 0 _ _ mm
_ 1 _ _ inch
_ 2 _ _ degree
_ 3 _ _ pulse
[Pr. PT03] setting Position data input range
[mm] [inch] [degree] *1 [pulse] *1
_ _ _ 0 0 to + 999.999 0 to + 99.9999 0 to + 999.999 0 to + 999999
_ _ _ 1 0 to + 9999.99 0 to + 999.999
_ _ _ 2 0 to + 99999.9 0 to + 9999.99
_ _ _ 3 0 to + 999999 0 to + 99999.9
[Pr. PT01]
1 Incremental value command method
[Pr. PA14]: 0 [Pr. PA14]: 1
CW RYn2: on
CW RYn1: on
RYn2: on CCW
RYn1: on CCW
2 POINT TABLE OPERATION 2.3 Automatic operation mode 59
60
Operation Selecting RWwn6 for the point table and switching on RYn1 starts a forward rotation of the motor over the travel distance of the position data at the set speed, acceleration time constant and deceleration time constant. Switching on RYn2 starts a reverse rotation of the motor in accordance with the values set to the selected point table. When the positioning operation is performed consecutively under the incremental value command method, the servo motor rotates in the same direction only. To change the travel direction during continuous operation, perform the operation under the absolute value command method.
Automatic operation timing chart Automatic individual positioning operation Absolute value command method ([Pr. PT01] = _ _ _ 0) While the servo motor is stopped under servo-on state, switching on RYn1 (Forward rotation start) starts the automatic positioning operation. The following shows a timing chart.
*1 The detection of external input signals is delayed by the set time in the input filter setting of [Pr. PD11]. Considering the output signal sequence from the controller and signal variations due to hardware, configure a sequence that changes the point table selection earlier.
Item Used device Setting Automatic operation mode selection RYn6 (Automatic/manual selection) Switch on RYn6.
Point table selection RWwn6 (Point table No. selection) Set the point table No. to use.
Start RYn1 (Forward rotation start) RYn2 (Reverse rotation start)
Switch on RYn1 to start. Switch on RYn2 to start.
ON OFF
ON OFF
ON OFF
ON OFF
ON OFF
ON OFF
ON OFF
ON OFF
ON OFF
1 2
1 2
0 r/min
RYn6 (Automatic/manual selection)
RYn0 (Servo-on) 4 ms or longer *1
4 ms or longerRYn1
(Forward rotation start)
6 ms or longer 6 ms or longer RYn2 (Reverse rotation start)
Point table No. 3 ms or shorter
Point table No. 1
Forward rotation
Servo motor speed Point table
No. 2Reverse rotation
RXn1 (In-position)
RXn2 (Rough match)
RXnC (Travel completion)
RWrn6 (Point table No. output)
RXn0 (Ready)
RX (n + 3) A (Malfunction)
2 POINT TABLE OPERATION 2.3 Automatic operation mode
2
Incremental value command method ([Pr. PT01] = _ _ _ 1) While the servo motor is stopped under servo-on state, switching on RYn1 (Forward rotation start) or RYn2 (Reverse rotation start) starts the automatic positioning operation. The following shows a timing chart.
*1 The detection of external input signals is delayed by the set time in the input filter setting of [Pr. PD11]. Considering the output signal sequence from the controller and signal variations due to hardware, configure a sequence that changes the point table selection earlier.
ON OFF
ON OFF
ON OFF
ON OFF
ON OFF
ON OFF
ON OFF
ON OFF
ON OFF
1 2
1 2
0 r/min
RYn6 (Automatic/manual selection)
RYn0 (Servo-on) 4 ms or longer *1RYn1
(Forward rotation start)
6 ms or longer 4 ms or longerRYn2
(Reverse rotation start)
6 ms or longer Point table No.
3 ms or shorter
Point table No. 1
Forward rotation
Servo motor speed Point table
No. 2Reverse rotation
RXn1 (In-position)
RXn2 (Rough match)
RXnC (Travel completion)
RWrn6 (Point table No. output)
RXn0 (Ready)
RX (n + 3) A (Malfunction)
2 POINT TABLE OPERATION 2.3 Automatic operation mode 61
62
Automatic continuous positioning operation By merely selecting a point table and switching on RYn1 (Forward rotation start) or RYn2 (Reverse rotation start), the operation can be performed in accordance with the point tables having consecutive numbers. Absolute value command method ([Pr. PT01] = _ _ _ 0) By specifying the absolute value command or the incremental value command in the auxiliary function of the point table, the automatic continuous operation can be performed. The following shows how to set.
Point table setting
Dwell Auxiliary function
When position data is absolute value When position data is incremental value 1 or more 1 3
2 POINT TABLE OPERATION 2.3 Automatic operation mode
2
Positioning in a single direction The following shows an operation example with the set values listed in the table below. In this example, point table No. 1 and point table No. 3 are under the absolute value command method, and point table No. 2 is under the incremental value command method.
*1 Always set "0" or "2" to the auxiliary function of the last point table among the consecutive point tables. 0: When using the point table under the absolute value command method 2: When using the point table under the incremental value command method
Point table No. Position data [10STM m]
Servo motor speed [r/min]
Acceleration time constant [ms]
Deceleration time constant [ms]
Dwell [ms] Auxiliary function
1 5.00 3000.00 100 150 100 1
2 5.00 2000.00 150 200 200 3
3 15.00 1000.00 300 100 Disabled 0 *1
0 r/min
100 ms 200 ms5.00
0 5.00 10.00 15.00
1
1
ON OFF
ON OFF
ON OFF ON OFF ON OFF
ON OFF ON OFF
ON OFF ON OFF
RYn6 (Automatic/manual selection) RYn0 (Servo-on)
Point table No.
Acceleration/deceleration time constants of point table No. 1
Acceleration/deceleration time constants of point table No. 2
Acceleration/deceleration time constants of point table No. 3
Speed (3000.00)
Speed (2000.00)
Forward rotation Speed (1000.00)Servo motor
speed Reverse rotation Dwell time Dwell time
Position address
RYn1 (Forward rotation start)
RYn2 (Reverse rotation start)
RXn1 (In-position)
RXn2 (Rough match)
RXnC (Travel completion)
RWrn6 (Point table No. output)
RXn0 (Ready)
RX (n + 3) A (Malfunction)
2 POINT TABLE OPERATION 2.3 Automatic operation mode 63
64
Positioning in the reverse direction midway The following shows an operation example with the set values listed in the table below. In this example, point table No. 1 and point table No. 3 are under the absolute value command method, and point table No. 2 is under the incremental value command method.
*1 Always set "0" or "2" to the auxiliary function of the last point table among the consecutive point tables. 0: When using the point table under the absolute value command method 2: When using the point table under the incremental value command method
RYn1 (In-position), RYn2 (Rough match), and RYnC (Travel completion) turn on when the point table No. 3 finishes. RWrn6 (Point table No. output 1) is also set when the point table No. 3 finishes. For details of the operation timing for the signals, refer to "Positioning in a single direction".
Point table No. Position data [10STM m]
Servo motor speed [r/min]
Acceleration time constant [ms]
Deceleration time constant [ms]
Dwell [ms] Auxiliary function
1 5.00 3000.00 100 150 100 1
2 7.00 2000.00 150 200 200 3
3 8.00 1000.00 300 100 Disabled 0 *1
0 r/min
ON OFF
100 ms
200 ms
7.00
0 5.00 8.00 12.00
1
Acceleration/deceleration time constants of point table No. 1
Acceleration/deceleration time constants of point table No. 2
Speed (3000.00)
Speed (2000.00)
Dwell timeForward rotation
Servo motor speed Speed (1000.00)Reverse
rotation Dwell time
Acceleration/deceleration time constants of point table No. 3
Position address
Point table No.
RYn1 (Forward rotation start)
2 POINT TABLE OPERATION 2.3 Automatic operation mode
2
When the position data is in degree unit The following shows an operation example with the set values listed in the table below. In this example, point table No. 1, No. 2, and No. 4 are under the absolute value command method, and point table No. 3 is under the incremental value command method.
*1 Always set "0" or "2" to the auxiliary function of the last point table among the consecutive point tables. 0: When using the point table under the absolute value command method 2: When using the point table under the incremental value command method
RYn1 (In-position), RYn2 (Rough match), and RYnC (Travel completion) turn on when the point table No. 3 finishes. RWrn6 (Point table No. output 1) is also set when the point table No. 3 finishes. For details of the operation timing for the signals, refer to "Positioning in a single direction".
Point table No. Position data [degree]
Servo motor speed [r/min]
Acceleration time constant [ms]
Deceleration time constant [ms]
Dwell [ms] Auxiliary function
1 120.000 1000.00 100 150 100 1
2 -320.000 500.00 150 100 200 1
3 -230.000 3000.00 200 300 150 3
4 70.000 1500.00 300 100 Disabled 0 *1
120 (-240)
40 (-320)
230
170 (-190)
70 (-290)
170 (-190)
120 (-240)
40 (-320)
0 0
00
0 r/min
ON OFF
1
Home position Point table No. 1 Point table No. 1 No. 2
Point table No. 3 No. 4Point table No. 2 No. 3
Point table No. 1 Point table No. 4Point table No. 3Forward
rotationServo motor speed Reverse
rotation Point table No. 2
Point table No. to be selected
RYn1 (Forward rotation start)
2 POINT TABLE OPERATION 2.3 Automatic operation mode 65
66
Incremental value command method ([Pr. PT01] = _ _ _ 1) The position data of the incremental value command method is the sum of the position data of consecutive point tables. The following shows how to set.
Positioning in a single direction The following shows an operation example with the set values listed in the table below.
*1 Always set "0" to the auxiliary function of the last point table among the consecutive point tables.
*1 Switching on RYn2 (Reverse rotation start) starts positioning in the reverse rotation direction.
Point table setting
Dwell Auxiliary function 1 or more 1
Point table No. Position data [10STM m]
Servo motor speed [r/min]
Acceleration time constant [ms]
Deceleration time constant [ms]
Dwell [ms] Auxiliary function
1 5.00 3000.00 100 150 100 1
2 6.00 2000.00 150 200 200 1
3 3.00 1000.00 300 100 Disabled 0 *1
6.00
11.00 14.00
3.00
0 r/min
0 5.00
1
1
ON OFF
ON OFF
ON OFF ON OFF ON OFF
ON OFF ON OFF
ON OFF ON OFF
RYn6 (Automatic/manual selection) RYn0 (Servo-on)
Point table No.
Acceleration/deceleration time constants of point table No. 1
Acceleration/deceleration time constants of point table No. 2
Acceleration/deceleration time constants of point table No. 3
Speed (3000.00)
Speed (2000.00)
Forward rotation Speed (1000.00)Servo motor
speed Reverse rotation
Position address
RYn1 (Forward rotation start)
RYn2 (Reverse rotation start)
RXn1 (In-position)
RXn2 (Rough match)
RXnC (Travel completion)
RWrn6 (Point table No. output)
RXn0 (Ready)
RX (n + 3) A (Malfunction)
2 POINT TABLE OPERATION 2.3 Automatic operation mode
2
When the position data is in degree unit The following shows an operation example with the set values listed in the table below.
*1 Always set "0" or "2" to the auxiliary function of the last point table among the consecutive point tables. 0: When using the point table under the absolute value command method 2: When using the point table under the incremental value command method
RYn1 (In-position), RYn2 (Rough match), and RYnC (Travel completion) turn on when the point table No. 3 finishes. RWrn6 (Point table No. output 1) is also set when the point table No. 3 finishes. For details of the operation timing for the signals, refer to "Positioning in a single direction".
Point table No. Position data [degree]
Servo motor speed [r/min]
Acceleration time constant [ms]
Deceleration time constant [ms]
Dwell [ms] Auxiliary function
1 120.000 3000.00 100 150 0 1
2 60.000 1500.00 150 100 0 1
3 90.000 1000.00 300 100 Disabled 0 *1
120 (-240)
0
9060
120 270 (-90)
180 (-180)
ON OFF
1
0 r/min
Point table No. 3
Point table No. 1
Point table No. 2
Point table No. 1
Point table No. 2 Point table No. 3
Forward rotation
Servo motor speed
Reverse rotation
Point table No. to be selected
RYn1 (Forward rotation start)
2 POINT TABLE OPERATION 2.3 Automatic operation mode 67
68
Varying-speed operation By setting the auxiliary function of the point table, the servo motor speed during positioning can be changed. Point tables are used by the number of the set speed. Absolute value command method ([Pr. PT01] = _ _ _ 0) Set "1" or "3" to the auxiliary function to execute the positioning at the speed set in the following point table. At this time, the position data selected at start is valid, and the acceleration/deceleration time constant set in the next and subsequent point tables is invalid. By setting "1" or "3" to sub functions until point table No. 254, the operation can be performed at maximum 255 speeds. Always set "0" or "2" to the auxiliary function of the last point table. To perform varying-speed operation, always set "0" to the dwell. Setting "1" or more will enable the automatic continuous positioning operation. The following table shows an example of setting.
*1 Always set "0". *2 Always set "0" or "2" to the auxiliary function of the last point table among the consecutive point tables.
Point table No. Dwell [ms] *1 Auxiliary function Varying-speed operation 1 0 1 Consecutive point table data
2 0 3
3 Disabled 0 *2
4 0 3 Consecutive point table data
5 0 1
6 Disabled 2 *2
2 POINT TABLE OPERATION 2.3 Automatic operation mode
2
Positioning in a single direction The following shows an operation example with the set values listed in the table below. In this example, point table No. 1 and point table No. 3 are under the absolute value command method, and point table No. 2 is under the incremental value command method.
*1 Always set "0". *2 Always set "0" or "2" to the auxiliary function of the last point table among the consecutive point tables.
0: When using the point table under the absolute value command method 2: When using the point table under the incremental value command method
Point table No. Position data [10STM m]
Servo motor speed [r/min]
Acceleration time constant [ms]
Deceleration time constant [ms]
Dwell [ms] *1 Auxiliary function
1 5.00 3000.00 100 150 0 1
2 3.00 2000.00 Disabled Disabled 0 3
3 10.00 1000.00 Disabled Disabled 0 1
4 6.00 500.00 Disabled Disabled Disabled 2 *2
0 r/min
0 5.00 10.00
1
1
ON OFF
ON OFF
ON OFF ON OFF ON OFF
ON OFF ON OFF
ON OFF ON OFF
16.00
3.00 6.00
8.00
RYn6 (Automatic/manual selection) RYn0 (Servo-on)
Point table No.
Acceleration time constant of point table No. 1 (100)
Deceleration time constant of point table No. 1 (150)
Speed (1000.00)Speed
(3000.00) Speed (2000.00)
Speed (500.00)
Forward rotation
Servo motor speed
Reverse rotation
Position address
RYn1 (Forward rotation start)
RYn2 (Reverse rotation start)
RXn1 (In-position)
RXn2 (Rough match)
RXnC (Travel completion)
RWrn6 (Point table No. output)
RXn0 (Ready)
RX (n + 3) A (Malfunction)
2 POINT TABLE OPERATION 2.3 Automatic operation mode 69
70
Positioning in the reverse direction midway The following shows an operation example with the set values listed in the table below. In this example, point table No. 1 and point table No. 3 are under the absolute value command method, and point table No. 2 is under the incremental value command method.
*1 Always set "0". *2 Always set "0" or "2" to the auxiliary function of the last point table among the consecutive point tables.
0: When using the point table under the absolute value command method 2: When using the point table under the incremental value command method
RYn1 (In-position), RYn2 (Rough match), and RYnC (Travel completion) turn on when the point table No. 3 finishes. RWrn6 (Point table No. output 1) is also set when the point table No. 3 finishes. For details of the operation timing for the signals, refer to "Positioning in a single direction".
Point table No. Position data [10STM m]
Servo motor speed [r/min]
Acceleration time constant [ms]
Deceleration time constant [ms]
Dwell [ms] *1 Auxiliary function
1 5.00 3000.00 100 150 0 1
2 7.00 2000.00 Disabled Disabled 0 3
3 8.00 1000.00 Disabled Disabled Disabled 0 *2
ON OFF
7.00
0 5.00 8.00 12.00
1
0 r/min
Deceleration time constant of point table No. 1 (150)
Acceleration time constant of point table No. 1 (100)
Speed (3000.00)
Speed (2000.00)
Forward rotation
Servo motor speed Speed (1000.00)Reverse
rotation Acceleration time constant of point table No. 1 (100)
Position address
Point table No.
RYn1 (Forward rotation start)
2 POINT TABLE OPERATION 2.3 Automatic operation mode
2
Incremental value command method ([Pr. PT01] = _ _ _ 1) Setting "1" to the auxiliary function executes positioning at the speed set in the following point table. At this time, the position data selected at start is valid, and the acceleration/deceleration time constant set in the next and subsequent point tables is invalid. By setting "1" to sub functions until point table No. 254, the operation can be performed at maximum 255 speeds. Always set "0" to the auxiliary function of the last point table. To perform varying-speed operation, always set "0" to the dwell. Setting "1" or more will enable the automatic continuous positioning operation. The following table shows an example of setting.
*1 Always set "0". *2 Always set "0" to the auxiliary function of the last point table among the consecutive point tables.
Point table No. Dwell [ms] *1 Auxiliary function Varying-speed operation 1 0 1 Consecutive point table data
2 0 1
3 Disabled 0 *2
4 0 1 Consecutive point table data
5 0 1
6 Disabled 0 *2
2 POINT TABLE OPERATION 2.3 Automatic operation mode 71
72
The following shows an operation example with the set values listed in the table below.
*1 Always set "0". *2 Always set "0" to the auxiliary function of the last point table among the consecutive point tables.
Point table No. Position data [10STM m]
Servo motor speed [r/min]
Acceleration time constant [ms]
Deceleration time constant [ms]
Dwell [ms] *1 Auxiliary function
1 5.00 3000.00 100 150 0 1
2 3.00 2000.00 Disabled Disabled 0 1
3 2.00 1000.00 Disabled Disabled 0 1
4 6.00 500.00 Disabled Disabled Disabled 0 *2
0 r/min
0 5.00 10.00 16.00
1
1
ON OFF
ON OFF
ON OFF ON OFF ON OFF
ON OFF ON OFF
ON OFF ON OFF
8.00
6.005.00 3.00 2.00
RYn6 (Automatic/manual selection) RYn0 (Servo-on)
Point table No.
Deceleration time constant of point table No. 1 (150)
Acceleration time constant of point table No. 1 (100)
Speed (1000.00)Speed
(3000.00) Speed (2000.00)
Speed (500.00)
Forward rotation
Servo motor speed
Reverse rotation
Position address
RYn1 (Forward rotation start)
RYn2 (Reverse rotation start)
RXn1 (In-position)
RXn2 (Rough match)
RXnC (Travel completion)
RWrn6 (Point table No. output)
RXn0 (Ready)
RX (n + 3) A (Malfunction)
2 POINT TABLE OPERATION 2.3 Automatic operation mode
2
Automatic repeat positioning operation By setting the auxiliary function of the point table, the operation pattern of the set point table No. can be returned to, and the positioning operation can be performed repeatedly. Absolute value command method ([Pr. PT01] = _ _ _ 0) Setting "8" or "10" to the auxiliary function performs automatic continuous operation or varying-speed operation until that point table, and after the completion of positioning, performs the operation again from the operation pattern of the point table No. used at start-up. Setting "9" or "11" to the auxiliary function performs automatic continuous operation or varying-speed operation until that point table, and after the completion of positioning, performs the operation again from the operation pattern of point table No. 1.
2 POINT TABLE OPERATION 2.3 Automatic operation mode 73
74
Automatic repeat positioning operation by absolute value command method Example 1. Operations when "8" is set to the auxiliary function of point table No. 4
Operation sequence
1. Starting with point table No. 2
2. Executing point table No. 3
3. Executing point table No. 4
4. Executing again point table No. 2 used at start-up when "8" is set to the auxiliary function of point table No. 4
5. Repeating the above execution in the sequence of 2. to 3. to 4. to 2. to 3. to 4.
*1 RWrn6 is not outputted in automatic continuous operation.
Point table No. Position data [10STM m]
Servo motor speed [r/min]
Acceleration time constant [ms]
Deceleration time constant [ms]
Dwell [ms] Auxiliary function
1 4.00 1500.00 200 100 150 1
2 5.00 3000.00 100 150 100 1
3 5.00 2000.00 150 200 200 3
4 15.00 1000.00 300 100 150 8
0 r/min
0 5.00 10.00 15.00
2
ON OFF
ON OFF
ON OFF ON OFF ON OFF
ON OFF ON OFF
5.00
1. 2.
3.
4.
ON OFF ON OFF
RYn6 (Automatic/manual selection) RYn0 (Servo-on)
Point table No.
Point table No. 2 Point table No. 3
Point table No. 4
Speed (3000.00)
Speed (2000.00)
Forward rotation Speed (1000.00)Servo motor
speed Reverse rotation
Speed (3000.00)
Point table No. 2
Position address
RYn1 (Forward rotation start)
RYn2 (Reverse rotation start)
RXn1 (In-position)
RXn2 (Rough match)
RXnC (Travel completion)
RWrn6 (Point table No. output) *1
RXn0 (Ready)
RX (n + 3) A (Malfunction)
2 POINT TABLE OPERATION 2.3 Automatic operation mode
2
Example 2. Operations when "9" is set to the auxiliary function of point table No. 3
Operation sequence
1. Starting with point table No. 2
2. Executing point table No. 3
3. Executing point table No. 1 when "9" is set to the auxiliary function of point table No. 3
4. Repeating the above execution in the sequence of 1. to 2. to 3. to 1. to 2. to 3.
*1 RWrn6 is not outputted in automatic continuous operation.
Point table No. Position data [10STM m]
Servo motor speed [r/min]
Acceleration time constant [ms]
Deceleration time constant [ms]
Dwell [ms] Auxiliary function
1 0.00 3000.00 100 150 100 1
2 5.00 2000.00 150 200 200 1
3 15.00 1000.00 300 100 150 9
0 r/min
0 5.00 15.00
2
ON OFF
ON OFF
ON OFF ON OFF ON OFF
ON OFF ON OFF
ON OFF ON OFF
5.00
1. 2.
3.
RYn6 (Automatic/manual selection) RYn0 (Servo-on)
Point table No.
Point table No. 2 Point table No. 3
Speed (2000.00)
Forward rotation Speed (1000.00)Servo motor
speed Reverse rotation Speed
(3000.00)
Point table No. 1
Position address
RYn1 (Forward rotation start)
RYn2 (Reverse rotation start)
RXn1 (In-position)
RXn2 (Rough match)
RXnC (Travel completion)
RWrn6 (Point table No. output) *1
RXn0 (Ready)
RX (n + 3) A (Malfunction)
2 POINT TABLE OPERATION 2.3 Automatic operation mode 75
76
Automatic repeat positioning operation by incremental value command method Example 1. Operations when "10" is set to the auxiliary function of point table No. 4
Operation sequence
1. Starting with point table No. 2
2. Executing point table No. 3
3. Executing point table No. 4
4. Executing again point table No. 2 used at start-up when "10" is set to the auxiliary function of point table No. 4
5. Repeating the above execution in the sequence of 1. to 2. to 3. to 4. to 2. to 3. to 4.
*1 RWrn6 is not outputted in automatic continuous operation.
Point table No. Position data [10STM m]
Servo motor speed [r/min]
Acceleration time constant [ms]
Deceleration time constant [ms]
Dwell [ms] Auxiliary function
1 4.00 1500.00 200 100 150 1
2 5.00 3000.00 100 150 100 3
3 10.00 2000.00 150 200 200 1
4 5.00 1000.00 300 100 150 10
0 r/min
2
ON OFF
ON OFF
ON OFF ON OFF ON OFF
ON OFF ON OFF
ON OFF ON OFF
5.00
0 5.00
1. 2.
2.
3. 4.
10.00 15.00
5.005.00
RYn6 (Automatic/manual selection) RYn0 (Servo-on)
Point table No.
Point table No. 2 Point table No. 3 Point table No. 2
Point table No. 4
Speed (3000.00)
Speed (2000.00)
Speed (3000.00)
Forward rotation Speed (1000.00)Servo motor
speed Reverse rotation
Speed (2000.00)
Point table No. 3
Position address
RYn1 (Forward rotation start)
RYn2 (Reverse rotation start)
RXn1 (In-position)
RXn2 (Rough match)
RXnC (Travel completion)
RWrn6 (Point table No. output) *1
RXn0 (Ready)
RX (n + 3) A (Malfunction)
2 POINT TABLE OPERATION 2.3 Automatic operation mode
2
Example 2. Operations when "11" is set to the auxiliary function of point table No. 3
Operation sequence
1. Starting with point table No. 2
2. Executing point table No. 3
3. Executing point table No. 1 when "11" is set to the auxiliary function of point table No. 3
4. Repeating the above execution in the sequence of 1. to 2. to 3. to 1. to 2. to 3.
*1 RWrn6 is not outputted in automatic continuous operation.
Point table No. Position data [10STM m]
Servo motor speed [r/min]
Acceleration time constant [ms]
Deceleration time constant [ms]
Dwell [ms] Auxiliary function
1 5.00 3000.00 100 150 100 3
2 10.00 2000.00 150 200 200 1
3 5.00 1000.00 300 100 150 11
0 r/min
2
ON OFF
ON OFF
ON OFF ON OFF ON OFF
ON OFF ON OFF
ON OFF ON OFF
0 5.00 10.00 15.00
5.00
1.
1.
2. 3.
5.00
RYn6 (Automatic/manual selection) RYn0 (Servo-on)
Point table No.
Point table No. 2 Point table No. 1
Point table No. 3
Speed (3000.00)
Speed (2000.00)
Forward rotation Speed (1000.00)Servo motor
speed Reverse rotation
Speed (2000.00)
Point table No. 2
Position address
RYn1 (Forward rotation start)
RYn2 (Reverse rotation start)
RXn1 (In-position)
RXn2 (Rough match)
RXnC (Travel completion)
RWrn6 (Point table No. output) *1
RXn0 (Ready)
RX (n + 3) A (Malfunction)
2 POINT TABLE OPERATION 2.3 Automatic operation mode 77
78
Ex.
Varying-speed operation by absolute value command method Example. Operations when "8" is set to the auxiliary function of point table No. 3
Operation sequence
1. Starting with point table No. 1
2. Varying the speed and executing point table No. 2
3. Varying the speed and executing point table No. 3
4. Executing point table No. 1 used at start-up in CW direction when "8" is set to the auxiliary function of point table No. 3
5. Repeating the above execution in the sequence of 1. to 2. to 3. to 4. to 2. to 3. to 4.
*1 RWrn6 is not outputted in automatic continuous operation.
Point table No. Position data [10STM m]
Servo motor speed [r/min]
Acceleration time constant [ms]
Deceleration time constant [ms]
Dwell [ms] Auxiliary function
1 5.00 3000.00 100 150 0 1
2 5.00 2000.00 Disabled Disabled 0 3
3 15.00 1000.00 Disabled Disabled 0 8
0 r/min
1
ON OFF
ON OFF
ON OFF ON OFF ON OFF
ON OFF ON OFF
ON OFF ON OFF
5.00
0 5.00 10.00
1.
2. 3.
4.
15.00
RYn6 (Automatic/manual selection) RYn0 (Servo-on)
Point table No.
Acceleration time constant of point table No. 1 (100) Deceleration time constant of
point table No. 1 (150) Point table No. 2
Point table No. 3 Speed (3000.00)
Speed (2000.00)
Forward rotation Speed (1000.00)Servo motor
speed Reverse rotation Point table No. 1
Speed (3000.00)
Acceleration time constant of point table No. 1 (100)Deceleration time
constant of point table No. 1 (150)
Position address
RYn1 (Forward rotation start)
RYn2 (Reverse rotation start)
RXn1 (In-position)
RXn2 (Rough match)
RXnC (Travel completion)
RWrn6 (Point table No. output) *1
RXn0 (Ready)
RX (n + 3) A (Malfunction)
2 POINT TABLE OPERATION 2.3 Automatic operation mode
2
Ex.
Varying-speed operation by incremental value command method Example. Operations when "10" is set to the auxiliary function of point table No. 3
Operation sequence
1. Starting with point table No. 1
2. Varying the speed and executing point table No. 2
3. Varying the speed and executing point table No. 3
4. Varying the speed, and executing point table No. 1 when "10" is set to the auxiliary function of point table No. 3
5. Repeating the above execution in the sequence of 1. to 2. to 3. to 4. to 2. to 3. to 4.
*1 RWrn6 is not outputted in automatic continuous operation.
Point table No. Position data [10STM m]
Servo motor speed [r/min]
Acceleration time constant [ms]
Deceleration time constant [ms]
Dwell [ms] Auxiliary function
1 5.00 3000.00 100 150 0 3
2 10.00 2000.00 150 200 0 1
3 5.00 1000.00 300 100 0 10
1
ON OFF
ON OFF
ON OFF ON OFF ON OFF
ON OFF ON OFF
ON OFF ON OFF
5.00
0 5.00
1. 2.
2.
3. 4.
10.00 15.00
5.005.00
0 r/min
RYn6 (Automatic/manual selection) RYn0 (Servo-on)
Point table No.
Acceleration time constant of point table No. 1 (100)
Deceleration time constant of point table No. 1 (150) Point table No. 1
Point table No. 2
Point table No. 3Speed (3000.00)
Speed (2000.00)
Speed (3000.00)
Forward rotation Speed (1000.00)Servo motor
speed Reverse rotation
Speed (2000.00)Point table No. 1 Deceleration time
constant of point table No. 1 (150)
Point table No. 2 Acceleration time constant of point table No. 1 (100)
Position address
RYn1 (Forward rotation start)
RYn2 (Reverse rotation start)
RXn1 (In-position)
RXn2 (Rough match)
RXnC (Travel completion)
RWrn6 (Point table No. output) *1
RXn0 (Ready)
RX (n + 3) A (Malfunction)
2 POINT TABLE OPERATION 2.3 Automatic operation mode 79
80
Incremental value command method ([Pr. PT01] = _ _ _ 1) Setting "8" to the auxiliary function performs automatic continuous operation or varying-speed operation until that point table, and after the completion of positioning, performs the operation again from the operation pattern of the set point table. Setting "9" to the auxiliary function performs automatic continuous operation or varying-speed operation until that point table, and after the completion of positioning, performs the operation again from the operation pattern of point table No. 1.
Ex.
Automatic repeat positioning operation by incremental value command method Example 1. Operations when "8" is set to the auxiliary function of point table No. 3
Operation sequence
1. Starting with point table No. 2
2. Executing point table No. 3
3. Executing again point table No. 2 used at start-up when "8" is set to the auxiliary function of point table No. 3
4. Repeating the above execution in the sequence of 1. to 2. to 3. to 2. to 3.
*1 RWrn6 is not outputted in automatic continuous operation.
Point table No. Position data [10STM m]
Servo motor speed [r/min]
Acceleration time constant [ms]
Deceleration time constant [ms]
Dwell [ms] Auxiliary function
1 4.00 1500.00 200 100 150 1
2 5.00 3000.00 100 150 100 1
3 6.00 2000.00 150 200 200 8
0 r/min
2
ON OFF
ON OFF
ON OFF ON OFF ON OFF
ON OFF ON OFF
ON OFF ON OFF
5.00
0 5.00 11.00
5.00
1. 2. 2.
3.
6.00
16.00
RYn6 (Automatic/manual selection) RYn0 (Servo-on)
Point table No.
Point table No. 2
Speed (3000.00)
Speed (3000.00)
Speed (2000.00)
Speed (2000.00)
Forward rotation
Servo motor speed
Reverse rotation Point table No. 3
Position address
RYn1 (Forward rotation start)
RYn2 (Reverse rotation start)
RXn1 (In-position)
RXn2 (Rough match)
RXnC (Travel completion)
RWrn6 (Point table No. output) *1
RXn0 (Ready)
RX (n + 3) A (Malfunction)
2 POINT TABLE OPERATION 2.3 Automatic operation mode
2
Example 2. Operations when "9" is set to the auxiliary function of point table No. 2
Operation sequence
1. Starting with point table No. 2
2. Executing point table No. 1 when "9" is set to the auxiliary function of point table No. 2
3. Repeating the above execution in the sequence of 1. to 2. to 1. to 2.
*1 RWrn6 is not outputted in automatic continuous operation.
Point table No. Position data [10STM m]
Servo motor speed [r/min]
Acceleration time constant [ms]
Deceleration time constant [ms]
Dwell [ms] Auxiliary function
1 5.00 3000.00 100 150 100 1
2 6.00 2000.00 150 200 200 9
0 r/min
2
ON OFF
ON OFF
ON OFF ON OFF ON OFF
ON OFF ON OFF
ON OFF ON OFF
6.00
0 6.00
1. 2. 2.1.
11.00
6.00 5.00
17.00
RYn6 (Automatic/manual selection) RYn0 (Servo-on)
Point table No.
Point table No. 1
Speed (3000.00)
Speed (3000.00)
Speed (2000.00)
Speed (2000.00)
Forward rotation
Servo motor speed
Reverse rotation Point table No. 2
Position address
RYn1 (Forward rotation start)
RYn2 (Reverse rotation start)
RXn1 (In-position)
RXn2 (Rough match)
RXnC (Travel completion)
RWrn6 (Point table No. output) *1
RXn0 (Ready)
RX (n + 3) A (Malfunction)
2 POINT TABLE OPERATION 2.3 Automatic operation mode 81
82
Ex.
Varying-speed operation by incremental value command method Example. Operations when "8" is set to the auxiliary function of point table No. 2
Operation sequence
1. Starting with point table No. 1
2. Varying the speed and executing point table No. 2
3. Executing again point table No. 1 used at start-up when "8" is set to the auxiliary function of point table No. 2
4. Repeating the above execution in the sequence of 1. to 2. to 3. to 2. to 3.
*1 RWrn6 is not outputted in automatic continuous operation.
Point table No. Position data [10STM m]
Servo motor speed [r/min]
Acceleration time constant [ms]
Deceleration time constant [ms]
Dwell [ms] Auxiliary function
1 5.00 3000.00 100 150 0 1
2 6.00 2000.00 Disabled Disabled 0 8
0 r/min
2
ON OFF
ON OFF
ON OFF ON OFF ON OFF
ON OFF ON OFF
ON OFF ON OFF
0
5.00
5.00 11.00
5.00
1. 2. 2.
3.
6.00
16.00
RYn6 (Automatic/manual selection) RYn0 (Servo-on)
Point table No.
Point table No. 1
Speed (3000.00)
Speed (3000.00)
Speed (2000.00)
Speed (2000.00)
Forward rotation
Servo motor speed
Reverse rotation Point table No. 2
Position address
RYn1 (Forward rotation start)
RYn2 (Reverse rotation start)
RXn1 (In-position)
RXn2 (Rough match)
RXnC (Travel completion)
RWrn6 (Point table No. output) *1
RXn0 (Ready)
RX (n + 3) A (Malfunction)
2 POINT TABLE OPERATION 2.3 Automatic operation mode
2
Temporary stop/restart When RYn7 (Temporary stop/restart) is switched on during automatic operation, the servo motor decelerates with the deceleration time constant of the point table being executed, and then stops temporarily. Switching on RYn7 (Temporary stop/ restart) again restarts the servo motor rotation for the remaining distance. During a temporary stop, RYn1 (Forward rotation start) or RYn2 (Reverse rotation start) does not function even if it is switched on. When any of the following conditions is satisfied during a temporary stop, the remaining travel distance is cleared and the temporary stop is reset. The operation mode is switched from the automatic mode to the manual mode. The servo motor enters the servo-off status. The clear signal was input. The stroke limit or software limit is detected. The controller is reset. The temporary stop/restart input functions in the following states.
When the servo motor is rotating
Operation status Automatic operation Manual operation Home position return During a stop Temporary stop Temporary stop
During acceleration Temporary stop Temporary stop Temporary stop
At a constant speed Temporary stop Temporary stop Temporary stop
During deceleration Temporary stop Temporary stop
During a temporary stop Restart Restart Stop
ON OFF
ON OFF
ON OFF
OFF
OFF ON
ON
OFF ON
0 r/min
Acceleration time constant of point table No. n
Deceleration time constant of point table No. n
Remaining distance
Forward rotation
Servo motor speed
Reverse rotation
Point table No. No. n
RYn1 (Forward rotation start) or RYn2 (Reverse rotation start)
RYn7 (Temporary stop/restart)
RXn7 (Temporary stop)
RXn2 (Rough match)
RXn1 (In-position)
RXnC (Travel completion)
RWrn6 (Point table No. output) No. n
2 POINT TABLE OPERATION 2.3 Automatic operation mode 83
84
During dwell
Suspension of automatic operation To stop the automatic operation, stop the servo motor with RYn7 (Temporary stop/restart), switch off RYn6 (Automatic/manual selection), and then set to the manual mode. The travel remaining distance is cleared.
Point table No. n Point table No. n + 1
Dwell = ta + tb
Forward rotation
Servo motor speed Reverse
rotation
Point table No. No. n
RYn1 (Forward rotation start) or RYn2 (Reverse rotation start)
RYn7 (Temporary stop/restart)
RXn7 (Temporary stop)
RXn2 (Rough match)
RXn1 (In-position)
RXnC (Travel completion)
RWrn6 (Point table No. output) No. n
Remaining distance clear
Remaining distance
Point table No. n
No. n
Forward rotation 0 r/min Reverse rotation
Point table No. ON OFF
RYn1 (Forward rotation start) or RYn2 (Reverse rotation start)
ON OFF RXn7 (Temporary stop)
RYn7 (Temporary stop/ restart)
ON OFF ON OFF
Servo motor speed
RYn6 (Automatic/manual selection)
2 POINT TABLE OPERATION 2.3 Automatic operation mode
2
Using the control unit "degree" Addresses of the current position and the command position Addresses of the current position and the command position are ring addresses.
Setting the software limit to enabled/disabled
When changing "+" or "-" of the shaft whose software limit has been enabled, execute home position return after the change.
When the software limit is enabled in the incremental system, execute home position return after cycling the power.
When the unit is "degree", the setting range of the software limit is 0 to 359.999 degrees. If [Pr. PT15] to [Pr. PT18] are set to values other than 0 to 359.999 degrees, the values will be converted as follows: (The values will be clamped to the range of 0 to 359.999 degrees.)
To enable the software limit, set the software limit - ([Pr. PT17] and [Pr. PT18]) as the starting point and the software limit + ([Pr. PT15] and [Pr. PT16]) as the ending point. The movable range is the section where the servo motor moves from "-" to "+" in the CCW direction.
Set the travel range of the section A as follows: Software limit - ... 315.000 degrees Software limit + ... 90.000 degrees Set the travel range of the section B as follows: Software limit - ... 90.000 degrees Software limit + ... 315.000 degrees To disable the software limit, set the software limit - ([Pr. PT17] and [Pr. PT18]) and the software limit + ([Pr. PT15] and [Pr. PT16]) to the same value. Controls can be performed regardless of the software limit settings.
Software limit value After conversion 360.000 to 999.999 degrees The remainder from the setting value divided by 360
-0.001 to -359.999 degrees The value obtained by adding 360 to the setting value
-360.000 to -999.999 degrees The value obtained by adding 360 to the setting value after dividing the setting value by 360
0 0 0
359.999 359.999
90
0
315 CCW
90
0
315 CCW
Moving range A
Moving range B
2 POINT TABLE OPERATION 2.3 Automatic operation mode 85
86
Setting the position range output to enabled/disabled When the unit is "degree", the setting range of the position range output is 0 to 359.999 degrees. If [Pr. PT19] to [Pr. PT22] are set to values other than 0 to 359.999 degrees, the values will be converted as follows: (The values will be clamped to the range of 0 to 359.999 degrees.)
Set the position range output address - ([Pr. PT21] and [Pr. PT22]) as the starting point and the position range output address + ([Pr. PT19] and [Pr. PT20]) as the ending point. The movable range is the section where the servo motor moves from "-" to "+" in the CCW direction.
Set the travel range of the section A as follows: Position range output address - ... 315.000 degrees Position range output address + ... 90.000 degrees Set the travel range of the section B as follows: Position range output address - ... 90.000 degrees Position range output address + ... 315.000 degrees
Position range output address value After conversion 360.000 to 999.999 degrees The remainder from the setting value divided by 360
-0.001 to -359.999 degrees The value obtained by adding 360 to the setting value
-360.000 to -999.999 degrees The value obtained by adding 360 to the setting value after dividing the setting value by 360
90
0
315 CCW
90
0
315 CCW
Moving range A
Moving range B
2 POINT TABLE OPERATION 2.3 Automatic operation mode
2
Changing the operation mode When the operation mode is changed, wait for 6 ms or more after the change, and then turn on RYn1 (Forward rotation start) or RYn2 (Reverse rotation start). Changing the operation mode during operation will stop the operation in execution and decelerate the servo motor to a stop. Before turning on RYn1 (Forward rotation start) or RYn2 (Reverse rotation start), make sure that RXnC (Travel completion) is turned on. When you change the operation mode while the operation is being stopped
When you change the operation mode during operation (from the point table operation to JOG operation)
ON OFF
ON OFF
ON OFF
OFF ON
0 r/min
Deceleration time constant of point table No. n
Acceleration time constant of point table No. n
Forward rotation
Servo motor speed
Reverse rotation
Point table No. No. 0 No. n 6 ms
or longerRYn1 (Forward rotation start) or RYn2 (Reverse rotation start) RYn6 (Automatic/manual selection)
RXn1 (In-position)
RXnC (Travel completion)
RWrn6 (Point table No. output) No. n
ON OFF ON OFF ON OFF ON OFF
0 r/min
JOG acceleration time constant Acceleration time constant of point table No. n Deceleration time constant
of point table No. n
Forward rotation
Servo motor speed
Reverse rotation
Point table No. No. n
RYn1 (Forward rotation start) or RYn2 (Reverse rotation start) RYn6 (Automatic/manual selection)
RXn1 (In-position)
RXnC (Travel completion)
2 POINT TABLE OPERATION 2.3 Automatic operation mode 87
88
When you change the operation mode during operation (from the point table operation to home position return)
ON OFF ON OFF ON OFF ON OFF
0 r/min
Home position return acceleration time constant
Acceleration time constant of point table No. n Deceleration time constant
of point table No. n
Forward rotation
Servo motor speed
Reverse rotation
No. 0Point table No. No. n
RYn1 (Forward rotation start) or RYn2 (Reverse rotation start) RYn6 (Automatic/manual selection)
RXn1 (In-position)
RXnC (Travel completion)
2 POINT TABLE OPERATION 2.3 Automatic operation mode
2
2.4 Manual operation mode For the machine adjustment, home position adjustment, and others, positioning to any point is possible using the JOG operation.
JOG operation
Setting According to the purpose of use, set input devices and parameters as shown below. In this case, RWwn6 (Point table No. selection) is disabled.
Servo motor rotation direction
Operation Turning on RYn1 (Forward rotation start) performs the operation according to the JOG speed, acceleration time constant, and deceleration time constant set with parameters. For the rotation direction, refer to the following. Switching on RYn2 (Reverse rotation start) starts the rotation in the reverse direction of RYn1 (Forward rotation start). Page 89 Servo motor rotation direction Simultaneously switching on or off RYn1 (Forward rotation start) and RYn2 (Reverse rotation start) stops the operation.
Item Used device/parameter Setting Manual operation mode selection RYn6 (Automatic/manual selection) Switch off RYn6.
Servo motor rotation direction [Pr. PA14] Page 89 Servo motor rotation direction
JOG speed [Pr. PT65] Set the servo motor speed.
Acceleration/deceleration time constant Acceleration time constant: [Pr. PT49] Deceleration time constant: [Pr. PT50]
Set an acceleration time constant and deceleration time constant.
[Pr. PA14] setting Servo motor rotation direction
RYn1 (Forward rotation start) on RYn2 (Reverse rotation start) on 0 CCW rotation CW rotation
1 CW rotation CCW rotation
[Pr. PA14]: 0 [Pr. PA14]: 1
CW RYn2: on
CW RYn1: on
RYn2: on CCW
RYn1: on CCW
2 POINT TABLE OPERATION 2.4 Manual operation mode 89
90
Timing chart
Temporary stop/restart When RYn7 (Temporary stop/restart) is switched on during JOG operation, the servo motor decelerates with the deceleration time constant being executed ([Pr. PT50]), and then stops temporarily. Turning on RYn7 (Temporary stop/restart) again restarts the JOG operation. However, if both RYn1 (Forward rotation start) and RYn2 (Reverse rotation start) are on or off, the operation does not restart. During a temporary stop, RYn1 (Forward rotation start) or RYn2 (Reverse rotation start) does not function even if it is switched on. When any of the following conditions is satisfied during a temporary stop, the temporary stop is reset. The manual operation mode is switched to the automatic operation mode. The servo motor enters the servo-off status. The stroke limit or software limit is detected. The controller is reset. The temporary stop/restart input functions in the following states.
Operation status Automatic operation Manual operation Home position return During a stop Pause Pause
During acceleration Pause Pause Pause
At a constant speed Pause Pause Pause
Deceleration Pause Pause
During a temporary stop Restart Restart Stop
ON OFF
ON OFF
ON OFF
ON OFF
ON OFF
ON OFF
ON OFF
ON OFF
0 r/min
RYn6 (Automatic/ manual selection)
RYn0 (Servo-on)
RYn1 (Forward rotation start)
Forward rotation JOG RYn2 (Reverse rotation start)
Reverse rotation JOG Forward rotation
Servo motor speed Reverse
rotation
RXn2 (Rough match)
RXnC (Travel completion)
RXn0 (Ready)
RX (n + 3) A (Malfunction)
2 POINT TABLE OPERATION 2.4 Manual operation mode
2
When the servo motor is rotating
When the servo motor has been restarted during a temporary stop
ON OFF
ON OFF
ON OFF
OFF ON
OFF ON
0 r/min
JOG deceleration time constantJOG acceleration time constant
Forward rotation
Servo motor speed
Reverse rotation
RYn1 (Forward rotation start) or RYn2 (Reverse rotation start)
RYn7 (Temporary stop/restart)
RXn7 (Temporary stop)
RXn1 (In-position)
RXnC (Travel completion)
ON OFF
ON OFF
ON OFF
JOG deceleration time constant
OFF ON
JOG acceleration time constant
OFF ON
RYn1 (Forward rotation start) or RYn2 (Reverse rotation start) RYn7 (Temporary stop/ restart) RXn7 (During a temporary stop)
RXn1 (In-position)
RXnC (Travel completion)
Forward rotation 0 r/min Reverse rotation
Servo motor speed
2 POINT TABLE OPERATION 2.4 Manual operation mode 91
92
2.5 Home position return mode
Before performing the home position return, make sure that the limit switch operates. Check the home position return direction. An incorrect setting will cause a reverse running. Check the input polarity of the proximity dog. Otherwise, it may cause an unexpected operation. For the home position return when the servo motor is used in the linear servo motor control mode, refer to section 14.3 of "MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode)". For the home position return when the servo motor is used in the direct drive motor control mode and the fully closed control mode, refer to "MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode)". For the home position return when the servo motor is used in the fully closed control mode, refer to section 16.3 of "MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode)". To execute a home position return securely, start a home position return after moving the linear servo motor to the opposite stroke end.
Outline of home position return A home position return is performed to match the command coordinates with the machine coordinates. Under the incremental method, each power-on of the input power supply requires the home position return. Contrastingly, in the absolute position detection system, once you have performed the home position return at machine installation, the current position will be retained even if the power supply is shut off. Therefore, the home position return is unnecessary when the power supply is switched on again. This section shows the home position return types of the servo amplifier. Select the optimum method according to the configuration and uses of the machine.
Home position return types
For the home position return types for which "Motion mode" is described in the detailed explanation field, refer to section 4.6 of "MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode)". In addition, replace the following left signals to the right signals. Statusword bit 10 Target reached RXnC (Travel completion) Statusword bit 12 Homing attained RX (n + 1) 0 (Home position return completion 2) Controlword bit 4 Homing operation start RYn1 (Forward rotation start) DOG (Proximity dog) RYn3 (Proximity dog) TLC (Limiting torque) RXn4 (Limiting torque) When the servo motor is used in the I/O mode, the following signals have conditions to be met. Point table No. Configure a sequence in which the point table No. is changed 4 ms before RYn1 turns on. RYn6 (Automatic/manual selection) Configure a sequence in which RYn6 turns on before home position return starts.
2 POINT TABLE OPERATION 2.5 Home position return mode
2
Select the optimum home position return type according to the machine type or others.
Method No. Home position return type
Home position return direction
Description Detailed explanation
-1 Dog type (Rear end detection, Z-phase reference)
Forward rotation (CCW) or positive direction
Deceleration starts at the front end of the proximity dog. After the rear end is passed, the position specified by the first Z-phase signal, or the position of the first Z-phase signal shifted by the specified home position shift distance is used as the home position.
Motion mode
-33 Reverse rotation (CW) or negative direction
-4 Stopper type (Stopper position reference)
Forward rotation (CCW) or positive direction
A workpiece is pressed against a mechanical stopper, and the position where it is stopped is set as the home position.
-36 Reverse rotation (CW) or negative direction
-2 Count type (Front end detection, Z- phase reference)
Forward rotation (CCW) or positive direction
At the front end of the proximity dog, deceleration starts. After the front end is passed, the position specified by the first Z-phase signal after the set distance or the position of the Z-phase signal shifted by the set home position shift distance is set as a home position.
-34 Reverse rotation (CW) or negative direction
-5 Home position ignorance (Servo-on position as home position)
Servo-on position is set as the home position. Page 98 Method -5 (Home position ignorance (Servo-on position as home position))
-6 Dog type (Rear end detection, rear end reference)
Forward rotation (CCW) or positive direction
Deceleration starts from the front end of the proximity dog. After the rear end is passed, the position is shifted by the travel distance after proximity dog and the home position shift distance. The position after the shifts is set as the home position.
Motion mode
-38 Reverse rotation (CW) or negative direction
-7 Count type (Front end detection, front end reference)
Forward rotation (CCW) or positive direction
Deceleration starts from the front end of the proximity dog. The position is shifted by the travel distance after proximity dog and the home position shift distance. The position after the shifts is set as the home position.
-39 Reverse rotation (CW) or negative direction
-8 Dog cradle type Forward rotation (CCW) or positive direction
A position, which is specified by the first Z-phase signal after the front end of the proximity dog is detected, is set as the home position.-40 Reverse rotation (CW) or
negative direction
-9 Dog type last Z-phase reference
Forward rotation (CCW) or positive direction
After the front end of the proximity dog is detected, the position is shifted away from the proximity dog in the reverse direction. Then, the position specified by the first Z- phase signal or the position of the first Z-phase signal shifted by the home position shift distance is used as the home position.
-41 Reverse rotation (CW) or negative direction
-10 Dog type front end reference Forward rotation (CCW) or positive direction
Starting from the front end of the proximity dog, the position is shifted by the travel distance after proximity dog and the home position shift distance. The position after the shifts is set as the home position.
-42 Reverse rotation (CW) or negative direction
-11 Dogless Z-phase reference Forward rotation (CCW) or positive direction
The position specified by the first Z-phase signal, or the position of the first Z-phase signal shifted by the home position shift distance is used as the home position.-43 Reverse rotation (CW) or
negative direction
3 Homing on positive home switch and index pulse
Forward rotation (CCW) or positive direction
Same as the dog type last Z-phase reference home position return. Note that if the stroke end is detected during home position return, [AL. 90 Home position return incomplete warning] occurs.
4 Homing on positive home switch and index pulse
Forward rotation (CCW) or positive direction
Same as the dog cradle type home position return. Note that if the stroke end is detected during home position return, [AL. 90 Home position return incomplete warning] occurs.
5 Homing on negative home switch and index pulse
Reverse rotation (CW) or negative direction
Same as the dog type last Z-phase reference home position return. Note that if the stroke end is detected during home position return, [AL. 90 Home position return incomplete warning] occurs.
2 POINT TABLE OPERATION 2.5 Home position return mode 93
94
6 Homing on negative home switch and index pulse
Reverse rotation (CW) or negative direction
Same as the dog cradle type home position return. Note that if the stroke end is detected during home position return, [AL. 90 Home position return incomplete warning] occurs.
Motion mode
7 Homing on home switch and index pulse
Forward rotation (CCW) or positive direction
Same as the dog type last Z-phase reference home position return.
8 Homing on home switch and index pulse
Forward rotation (CCW) or positive direction
Same as the dog cradle type home position return.
11 Homing on home switch and index pulse
Reverse rotation (CW) or negative direction
Same as the dog type last Z-phase reference home position return.
12 Homing on home switch and index pulse
Reverse rotation (CW) or negative direction
Same as the dog cradle type home position return.
19 Homing without index pulse Forward rotation (CCW) or positive direction
Same as the dog type front end reference home position return. Note that if the stroke end is detected during home position return, [AL. 90 Home position return incomplete warning] occurs.
20 Homing without index pulse Forward rotation (CCW) or positive direction
Although this type is the same as the dog cradle type home position return, the stop position is not on the Z-phase. Starting from the front end of the dog, the position is shifted by the travel distance after proximity dog and the home position shift distance. The position after the shifts is set as the home position. If the stroke end is detected during home position return, [AL. 90 Home position return incomplete warning] occurs.
21 Homing without index pulse Reverse rotation (CW) or negative direction
Same as the dog type front end reference home position return. Note that if the stroke end is detected during home position return, [AL. 90 Home position return incomplete warning] occurs.
22 Homing without index pulse Reverse rotation (CW) or negative direction
Although this type is the same as the dog cradle type home position return, the stop position is not on the Z-phase. Starting from the front end of the dog, the position is shifted by the travel distance after proximity dog and the home position shift distance. The position after the shifts is set as the home position. If the stroke end is detected during home position return, [AL. 90 Home position return incomplete warning] occurs.
23 Homing without index pulse Forward rotation (CCW) or positive direction
Same as the dog type front end reference home position return.
24 Homing without index pulse Forward rotation (CCW) or positive direction
Although this type is the same as the dog cradle type home position return, the stop position is not on the Z-phase. Starting from the front end of the dog, the position is shifted by the travel distance after proximity dog and the home position shift distance. The position after the shifts is set as the home position.
27 Homing without index pulse Reverse rotation (CW) or negative direction
Same as the dog type front end reference home position return.
28 Homing without index pulse Reverse rotation (CW) or negative direction
Although this type is the same as the dog cradle type home position return, the stop position is not on the Z-phase. Starting from the front end of the dog, the position is shifted by the travel distance after proximity dog and the home position shift distance. The position after the shifts is set as the home position.
33 Homing on index pulse Reverse rotation (CW) or negative direction
Although this type is the same as the dogless Z-phase reference home position return, the creep speed is applied as the movement start speed.
34 Homing on index pulse Forward rotation (CCW) or positive direction
Although this type is the same as the dogless Z-phase reference home position return, the creep speed is applied as the movement start speed.
35 Homing on current position The current position is set as the home position. This type can be executed not in the Operational enabled state.
37 Homing on current position The current position is set as the home position. This type can be executed not in the Operational enabled state.
Method No. Home position return type
Home position return direction
Description Detailed explanation
2 POINT TABLE OPERATION 2.5 Home position return mode
2
Parameters for home position return To perform the home position return, set each parameter as follows.
[Pr. PT45 Home position return type] Select the home position return type and home position return direction.
Setting value
Home position return direction Home position return type
-1 Address increasing direction Dog type (rear end detection, Z-phase reference)
-2 Count type (front end detection, Z-phase reference)
-4 Stopper type (stopper position reference)
-5 Home position ignorance (Servo-on position as home position)
-6 Dog type (rear end detection, rear end reference)
-7 Count type (front end detection, front end reference)
-8 Dog cradle type
-9 Dog type last Z-phase reference
-10 Dog type front end reference
-11 Dogless Z-phase reference
-33 Address decreasing direction Dog type (rear end detection, Z-phase reference)
-34 Count type (front end detection, Z-phase reference)
-36 Stopper type (stopper position reference)
-38 Dog type (rear end detection, rear end reference)
-39 Count type (front end detection, front end reference)
-40 Dog cradle type
-41 Dog type last Z-phase reference
-42 Dog type front end reference
-43 Dogless Z-phase reference
Setting value
Home position return direction Home position return type
3 Address increasing direction Method 3
4 Method 4
5 Address decreasing direction Method 5
6 Method 6
7 Address increasing direction Method 7
8 Method 8
11 Address decreasing direction Method 11
12 Method 12
19 Address increasing direction Method 19
20 Method 20
21 Address decreasing direction Method 21
22 Method 22
23 Address increasing direction Method 23
24 Method 24
27 Address decreasing direction Method 27
28 Method 28
33 Method 33
34 Address increasing direction Method 34
35 Method 35
37 Method 37 (Data set type)
2 POINT TABLE OPERATION 2.5 Home position return mode 95
96
[Pr. PT29 Function selection T-3] Select the polarity where the proximity dog is detected with the DOG (Proximity dog) polarity selection. Setting "0" detects a proximity dog when RYn3 (Proximity dog) is switched off. Setting "1" detects a proximity dog when RYn3 (Proximity dog) is switched on.
Temporary stop/restart When RYn7 (Temporary stop/restart) is switched on during home position return, the servo motor decelerates with the home position return deceleration time constant being executed ([Pr. PT56] or [Pr. PT57]), and then stops temporarily. Turning on RYn7 (Temporary stop/restart) again resets the temporary stop, but the operation does not restart. Turning on RYn1 (Forward rotation start) after the temporary stop is reset restarts the home position return. During a temporary stop, RYn1 (Forward rotation start) or RYn2 (Reverse rotation start) does not function even if it is switched on. When any of the following conditions is satisfied during a temporary stop, the temporary stop is reset. The home position return mode is switched to the automatic operation mode or manual operation mode. The servo motor enters the servo-off status. The stroke limit or software limit is detected. The controller is reset. The temporary stop/restart input functions in the following states.
When the home position return is being executed
*1 Select the deceleration time constant from [Pr. PT56] and [Pr. PT57] using the setting value of [Pr. PT55].
Operation status Automatic operation Manual operation Home position return During a stop Pause Pause
During acceleration Pause Pause Pause
At a constant speed Pause Pause Pause
Deceleration Pause Pause
During a temporary stop Restart Restart Stop
0 00 [Pr. PT29]
DOG (Proximity dog) polarity selection 0: Dog detection with off 1: Dog detection with on
ON OFF
ON OFF
ON OFF
No. 0
OFF
OFF ON
ON
OFF ON
0 r/min
Home position return deceleration time constant *1
Home position return acceleration time constant
Forward rotation
Servo motor speed
Reverse rotation
RWwn6 (Point table No.)
RYn1 (Forward rotation start) or RYn2 (Reverse rotation start)
RYn7 (Temporary stop/restart)
RXn7 (Temporary stop) RX (n + 1) 0 (Home position return completion 2) RXn1 (In-position)
RXnC (Travel completion)
2 POINT TABLE OPERATION 2.5 Home position return mode
2
Precautions for when using the proximity dog Proximity dog length The proximity dog must be the length in accordance with the numerical expression below so that the servo motor speed changes from the home position return speed to the creep speed during proximity dog detection.
L1: Proximity dog length [mm] V: Home position return speed [mm/min] td: Time taken from the home position return speed to the creep speed [s]
Proximity dog position adjustment The proximity dog must be detected almost in the middle between a Z-phase signal and its next Z-phase signal to prevent the variations of the home position return completion positions. You can use "Position within one-revolution" in the status display of MR Configurator2 to check the positions where Z-phase signals are to be generated.
V tdL1 60 2
0 0Resolution/2
Servo motor Z-phase Proximity dog
2 POINT TABLE OPERATION 2.5 Home position return mode 97
98
Method -5 (Home position ignorance (Servo-on position as home position))
When you perform this home position return, it is unnecessary to switch to the home position return mode.
The position at servo-on is used as the home position.
The home position return position data can be changed with [Pr. PT08] and [Pr. PT47]. The value of the home position return position data is the current position at home position return completion.
Automatic positioning to home position function
The automatic positioning to the home position cannot be performed from outside the setting range of position data. In this case, perform the home position return again using the home position return.
After power-on, if the home position return is performed again after the home position return is performed to define the home position, this function enables automatic positioning to the home position rapidly. For the absolute position detection system, the home position return is unnecessary after the power-on. When the automatic positioning to the home position is performed at home position return incompletion, [AL. 90.1] will occur. After the power-on, perform the home position return in advance. Set link devices and parameters as follows:
Item Used device/parameter Setting Home position return mode selection RYn6 (Automatic/manual selection) Switch on RYn6.
RWwn6 (Point table No. selection) Set "0" in RWwn6.
Home position return speed [Pr. PT05] Set the servo motor speed to travel to the home position.
Home position return acceleration/ deceleration time constant
Acceleration time constant: [Pr. PT56] Deceleration time constant: [Pr. PT56] (for when [Pr. PT55] is set to "_ _ _ 0") [Pr. PT57] (for when [Pr. PT55] is set to "_ _ _ 1")
Set an acceleration time constant and deceleration time constant.
ON OFF
RXn0 (Ready) ON OFF
RXnC (Travel completion)
ON OFF
RXn2 (Rough match) RY (n + 1) 0 (Home position return completion 2)
ON OFF
Forward rotation 0 r/min Reverse rotation
RYn0 (Servo-on)
Servo motor speed
Home position return position data
ON OFF
2 POINT TABLE OPERATION 2.5 Home position return mode
2
Set the home position return speed of the automatic positioning to home position function with [Pr. PT05]. Set the acceleration time constant with [Pr. PT56]. Select the deceleration time constant from [Pr. PT56] and [Pr. PT57] using the setting value of [Pr. PT55]. Turning on RYn2 (Reverse rotation start) executes the automatic return function to the home position.
Deceleration time constantHome position
return speed
Acceleration time constant
3 ms or shorter
5 ms or longer
Servo motor speed Forward rotation 0 r/min Reverse rotation
ON OFF ON OFF
RYn1 (Forward rotation start)
RYn2 (Reverse rotation start)
ON OFF
RYn6 (Automatic/manual selection)
Home position
2 POINT TABLE OPERATION 2.5 Home position return mode 99
10
2.6 Point table setting method The following shows the setting method of point tables using MR Configurator2.
Setting procedure Click "Positioning-data" in the menu bar, and click "Point Table" in the menu.
The following window will be displayed by clicking.
Writing point table data (a) Select changed point table data and click "Selected Items Write" to write the changed point table data to the servo amplifier.
Writing all point table data (b) Click "Write All" to write all the point table data to the servo amplifier.
Reading all point table data (c) Click "Read" to read and display all the point table data from the servo amplifier.
Initial setting of point table data (d) Click "Set to default" to initialize all the data of point table No. 1 to 255. This function also initializes data currently being edited.
Verifying point table data (e) Click "Verify" to verify all the data displayed and data of the servo amplifier.
(a)(g)(f)(d)(c)(m)(l)(i)
(h)
(j)
(k)
(e) (b) (n)
0 2 POINT TABLE OPERATION 2.6 Point table setting method
2
Detailed setting of point table data (f) Click "Detailed Setting" to change position data range and unit in the point table window. Page 102 Detailed setting window
Single-step feed (g) Click "Single-step Feed" to perform the single-step feed test operation. Page 140 Network setting parameters ([Pr. PN_ _]) Page 103 Single-step feed
Copy and paste of point table data (h) Click "Copy" to copy the selected point table data. Click "Paste" to paste the copied point table data.
Inserting point table data (i) Click "Insert" to insert a block to the previous row from the selected point table No. The selected point table No. and lower rows will be shifted down one by one.
Deleting point table data (j) Click "Delete" to delete all the data of the point table No. selected. The lower rows of the selected point table No. will be shifted up one by one.
Changing point table data (k) After selecting the data to be changed, enter a new value, and click "Enter". You can change the displayed range and unit with the following. Page 101 Detailed setting of point table data (f)
Reading point table data (l) Click "Open" to read the point table data.
Saving point table data (m) Click "Save As" to save the point table data.
Updating project (n) Click "Update Project" to update the point table data to a project.
2 POINT TABLE OPERATION 2.6 Point table setting method 101
10
Detailed setting window You can change position data range and unit with the detailed setting for the point table window. For the position data range and unit of [Pr. PT01] setting, refer to the following. To reflect the setting for the corresponding parameter, click "Update Project" in the point table window. Page 56 Automatic operation using point table
Command method selection (PT01 *CTY): 1) Select a positioning command method from the absolute position command method and incremental value command method.
Miscellaneous Feed length multiplication parameter setting STM (PT03 *FTY): 2) Select any feed length multiplication from 1/10/100/1000.
Position data unit setting (PT01 *CTY): 3) Select any unit of position data from mm/inch/degree/pulse. While degree or pulse is selected, setting of feed length multiplication will be disabled.
1)
2)
3)
2 2 POINT TABLE OPERATION 2.6 Point table setting method
2
Single-step feed
MR Configurator2 is required to perform single-step feed. Test operation cannot be performed unless RYn0 (Servo-on) is not turned off.
The positioning operation can be performed in accordance with the point table No. set by MR Configurator2. Select the test operation/single-step feed by the menu of MR Configurator2. When the single-step feed window is displayed, input the following items and operate.
Point table operation
Point table No. setting Input a point table No. into the input box (a) "Point table No.".
Forward/reverse the servo motor Click "Operation Start" (b) to rotate the servo motor.
Pause the servo motor Click "Pause" (c) to temporarily stop the servo motor. While the servo motor is temporarily stopped, click "Operation Start" (b) to restart the rotation by the travel remaining distance. While the servo motor is temporarily stopped, click "Stop" (d) to clear the travel remaining distance.
Stop the servo motor Click "Stop" (d) to stop the servo motor. At this time, the travel remaining distance is cleared. Click "Operation Start" (b) to restart the rotation.
Forced stop of the servo motor software Click "Forced Stop" (e) to make an instantaneous stop. When "Forced Stop" is enabled, "Operation Start" cannot be used. Click the "Forced Stop" again to enable the "Operation Start".
Switch to the normal operation mode Before switching from the test operation mode to the normal operation mode, turn off the servo amplifier.
CAUTION The test operation mode is designed for checking servo operation. Do not use it for actual operation. If the servo motor operates unexpectedly, use EM2 (Forced stop 2) to stop it.
(b) (c) (d) (e)
(a)
2 POINT TABLE OPERATION 2.6 Point table setting method 103
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2.7 Application of the point table function Infinite feed function (setting degree)
This function is supported by the absolute position detection system. The infinite feed function (setting degree) is available with servo amplifiers with software version A6 or later. The infinite feed function (setting degree) can be used with the point table method.
If the position data unit for the automatic or manual operation in the point table method is set to degree, [AL. E3.1 Multi- revolution counter travel distance excess warning] will not occur even if the servo motor is rotated 32768 rev or more in one direction, making the home position remain. Therefore, the current position will be restored after the power is cycled. If the other command unit is set, rotating the servo motor 32768 rev or more in one direction will trigger [AL. E3.1 Multi-revolution counter travel distance excess warning] erasing the home position. The following shows the difference depending on the position data unit when the servo motor is rotated 32768 rev or more.
Roll feed display function The roll feed display function changes how the current position and the command position are to be displayed on the status monitor. The function can be used on the incremental system while in the automatic individual positioning operation. The display starts the current position and the command position from 0 every time the position moves towards the target position of the point table that has been set. The target position can also be checked with the command position before start.
The roll feed display function is available for servo amplifiers with software version A7 or later. The roll feed display function can be used only with the positioning mode (point table method).
Parameter setting
Parameter Name Digit to be set Setting value Unit [AL. E3.1] Whether the home position is to be erased or not
[Pr. PT01] Position data unit _ x _ _ 0 [mm] Occurs Erased
1 [inch] Occurs Erased
2 [degree] Does not occur Not erased
3 [pulse] Occurs Erased
Parameter Name Digit to be set
Setting item Setting value
Setting
PA03 Absolute position detection system
_ _ _ x Absolute position detection system
_ _ _ 0 (initial value)
Be sure to set the incremental system. The absolute position detection system cannot be used.
PT26 Current position/ command position display selection
_ _ x _ Current position/ command position display selection
_ _ 1 _ Select the roll feed display.
PT26 Electric gear fraction clear selection
_ _ _ x Electric gear fraction clear selection
_ _ _ 1 Clears the electric gear fraction of the previous command at the start of automatic operation. Be sure to set "Electronic gear clear" to "_ _ _ 1" (enabled).
4 2 POINT TABLE OPERATION 2.7 Application of the point table function
2
Roll feed display function In normal use When the roll feed display function is used, the status display of the current position and command position at a start becomes 0. When the point table is selected, the function displays the target position of the point table set in the command position.
At temporary stop The motor stop position for both the current position and command position will be displayed at temporary stop. Once the servo motor restarts after the temporary stop is released, the current position and the command position will be updated from the positions where they had stopped.
ON OFF
0 1 2
0 0 10.00 0 8.00
0 10.00 0 10.00 8.00 0 8.00
ON OFF
0 r/min
In-position (RXn1)
Forward rotation
Servo motor speed Reverse rotation
Forward rotation start (RYn1)
Point table No. selection (RWwn6)
Current position
Command position
Update the display from 0 by Start When the point table in which the feed length is set to 8 is selected
ON OFF
ON OFF
0 1
0 6.20 10.00
0 6.20 10.00
0 6.20
0 6.2010.00 10.00
ON OFF
0 r/min
In-position (RXn1)
Forward rotation
Servo motor speed Reverse rotation
Forward rotation start (RYn1)
Temporary stop/restart (RYn7)
Point table No. selection (RWwn6)
Current position
Command position
Motor stop position Restart from the temporary stop position
2 POINT TABLE OPERATION 2.7 Application of the point table function 105
10
At "Clear" input When "Clear" (RYnF) is input, the remaining travel distance will be cleared and the target position of the point table will be displayed again in the command position. The current position and the command position will start from 0 when the motor restarts.
Position data unit The displayed unit is the unit set in [Pr. PT01], and the feed length multiplication is displayed in the unit set in [Pr. PT03]. The setting for degree unit is disabled in the roll feed display function. Refer to section 14.5.1 for details.
Backlash compensation Setting [Pr. PT14 Backlash compensation] stops the servo motor at a position compensated by the setting value of this parameter when a command direction in automatic operation is reversed.
Backlash compensation is available with servo amplifiers with software version A8 or later. Before using this function, press a workpiece against the machine side so that the clearance between parts such as gear teeth on the machine side and the motor side or between feed screws will be generated only on one side.
The timing charts are for when the backlash compensation is set to 10 and the target position is set as shown in the following table.
Point table No. Target position [pulse] 1 1000
2 2000
ON OFF
ON OFF
0 1
0
0 10.0010.00
0 5.90 0 6.50
0 6.500 5.9010.00
ON OFF
0 r/min
ON OFF
In-position (RXn1)
Quick stop by Clear Forward rotation
Servo motor speed Reverse rotation
Forward rotation start (RYn1)
Temporary stop/restart (RYn7)
Point table No. selection (RWwn6)
Current position
Command position
Clear (RYnF)
Remaining distance clear Update the display from 0 by the next Start
6 2 POINT TABLE OPERATION 2.7 Application of the point table function
2
For home position return types where the servo motor operates at home position return The backlash compensation direction will be determined by the home position return direction just before the completion of home position return.
For home position return types where the servo motor does not operate at home position return The backlash compensation direction will be determined by "Backlash compensation direction selection at data set type home position return" in [Pr. PT38] as follows:
When [Pr. PT38] is set to "0 _ _ _" (automatic setting) Be sure to perform JOG operation before home position return, then press gears or feed screws on the motor side against the machine side. The backlash compensation direction will be determined by the motor rotation direction just before the completion of home position return.
ON OFF ON OFF
1000 2000 1000 - 10 2000
0 r/min
Power supply
RX (n + 1) 0 (Home position return completion 2)
Forward rotation
Servo motor speed Reverse rotation
RWwn6 (Point table No. selection) No. 0 No. 1 No. 2 No. 1 No. 2
Servo motor current position
Home position return As the rotation direction immediately before home position return is in the forward rotation, backlash compensation is applied when positioning is performed in the reverse rotation.
ON OFF ON OFF
1000 2000 1000 - 10 2000
0 r/min
Power supply
RX (n + 1) 0 (Home position return completion 2)
JOG operation Forward rotation
Servo motor speed Reverse rotation
RWwn6 (Point table No. selection) No. 0 No. 1 No. 2 No. 1 No. 2
Servo motor current position
Home position return As the rotation direction immediately before home position return is in the forward rotation, backlash compensation is applied when positioning is performed in the reverse rotation.
2 POINT TABLE OPERATION 2.7 Application of the point table function 107
10
When [Pr. PT38] is set to "1 _ _ _" (CCW direction or positive direction) or "2 _ _ _" (CW or negative direction)
The compensation will apply to the set direction. Before home position return, be sure to press gears or feed screws on the motor side against the machine side in the opposite direction of the compensation direction set in [Pr. PT38]. The following timing chart is for when [Pr. PT38] is set to "1 _ _ _" (CCW direction or positive direction).
ON OFF ON OFF
1000 + 10 2000 + 10 1000 2000 + 10
0 r/min
Power supply
RX (n + 1) 0 (Home position return completion 2)
Forward rotation
Servo motor speed Reverse rotation
RWwn6 (Point table No. selection) No. 0 No. 1 No. 2 No. 1 No. 2
Servo motor current position
Home position return
The compensation will be applied to the compensation direction set in [Pr. PT38].
8 2 POINT TABLE OPERATION 2.7 Application of the point table function
2
2.8 Programming example by function This section explains specific programming examples for operating or monitoring the servo and for reading or writing parameters based on the device configuration shown in the following section. Page 109 System configuration example
System configuration example As shown below, a CC-Link IE Field Network master/local module is mounted to operate two servo amplifiers.
System configuration
Network parameter setting in the master station In the programming examples, the network parameters are set as follows:
Item Setting condition Start I/O No. 0000
Operation setting Data link error station setting Clear
Setting at CPU STOP Held
Type Master station
Mode setting Standard
Total No. of connected units 2
Remote input (RX) Refresh device
X1000
Remote output (RY) Refresh device
Y1000
Remote register (RWr) Refresh device
W0
Remote register (RWw) Refresh device
W100
Special relay (SB) Refresh device
SB0
Special register (SW) Refresh device
SW0
CPU down specification Clear
Scan mode specification Asynchronous sequence scan
Input module RX40
Master station RJ71GF11-T2
CPU R04CPU
Power supply R62P
Programmable controller
Servo amplifier
Station No. 1
Servo amplifier
Station No. 2
Output module RY40
From X20 Y30
2 POINT TABLE OPERATION 2.8 Programming example by function 109
11
Assignment of remote inputs/outputs (RX, RY) The following shows the assignment of remote inputs/outputs (RX, RY) of the station to the devices of the programmable controller CPU. The devices actually used are shaded.
Station No. 1
X100F to X1000 RX0F to RX00 RX1F to RX10X101F to X1010 RX2F to RX20X102F to X1020 RX3F to RX30X103F to X1030
X104F to X1040 RY0F to RY00X105F to X1050 RY1F to RY10X106F to X1060 RY2F to RY20X107F to X1070 RY3F to RY30X108F to X1080
X109F to X1090 X10AF to X10A0
Station No. 2 X10BF to X10B0
RX4F to RX40 Y100F to Y1000 RX5F to RX50 Y101F to Y1010 RX6F to RX60 Y102F to Y1020 RX7F to RX70 Y103F to Y1030 Y104F to Y1040 RY4F to RY40 Y105F to Y1050 RY5F to RY50 Y106F to Y1060 RY6F to RY60 Y107F to Y1070 RY7F to RY70 Y108F to Y1080 Y109F to Y1090 Y10AF to Y10A0 Y10BF to Y10B0
0 2 POINT TABLE OPERATION 2.8 Programming example by function
2
Assignment of remote registers (RWw, RWr) The following shows the assignment of remote registers (RWw, RWr) of the station to the devices of the programmable controller CPU. The devices actually used are shaded.
W100
W10F W110
W11F
W12F
W120
RWw0
RWwF
RWr0
RWrF
W000
W00F W010
W01F W020
W02F
RWw10
RWw1F
RWr10
RWr1F
Station No. 1
Station No. 2
2 POINT TABLE OPERATION 2.8 Programming example by function 111
11
Reading the servo amplifier status When the servo amplifier with station No. 1 enters remote station communication ready, the output module Y30 turns on. This program turns on Y30 when the CC-Link IE Field Network communication is normally established.
Servo amplifier status X1000: RD (Ready) X1016: - - - X102C: - - - X1001: INP (In-position) X1017: - - - X102D: - - - X1002: CPO (Rough match) X1018: - - - X102E: - - - X1003: - - - X1019: - - - X102F: - - - X1004: TLC (Limiting torque) X101A: - - - X1030: - - - X1005: - - - X101B: - - - X1031: - - - X1006: MBR (Electromagnetic brake interlock) X101C: - - - X1032: - - - X1007: PUS (Temporary stop) X101D: - - - X1033: - - - X1008: MOF (Monitoring) X101E: - - - X1034: - - - X1009: COF (Instruction code execution completion)
X101F: - - - X1035: - - -
X100A: WNG (Warning) X1020: PSF (Position command execution completion)
X1036: - - -
X100B: BWNG (Battery warning) X1021: SPF (Speed command execution completion)
X1037: - - -
X100C: MEND (Travel completion) X1022: - - - X1038: - - - X100D: DB (Dynamic brake interlock) X1023: - - - X1039: - - - X100E: POT (Position range) X1024: - - - X103A: ALM (Malfunction) X100F: - - - X1025: - - - X103B: CRD (Remote station communication
ready) X1010: ZP2 (Home position return completion 2) X1026: - - - X103C: - - - X1011: - - - X1027: - - - X103D: - - - X1012: - - - X1028: - - - X103E: - - - X1013: - - - X1029: - - - X103F: - - - X1014: - - - X102A: - - - X1015: - - - X102B: - - -
SWB0.0 Check the data link status of station No. 1.
Turn on Y30 (output module). Remote station communication ready
X101F b10 b5
X1010
X100F b15
b15
b10 b5 X1000
b0
b0
[Servo amplifier status]
RX0F to RX00 RX1F to RX10 RX2F to RX20 RX3F to RX30
Remote input
*: "0" or "1" (unused bit)
*
*
* *0 0 0 0 0 0 0 0 0 0 0 0 0
0*** * *** * *** * **
X102F b10 b5
X1020 b15 b0
[Servo amplifier status]
* 0*** * *** * *** * 0*
X103F b10 b5
X1030 b15 b0
[Servo amplifier status]
* **** 0 **0 * *** * **
[Servo amplifier status]
2 2 POINT TABLE OPERATION 2.8 Programming example by function
2
Writing an operation command The servo amplifier with station No. 1 performs positioning operation according to point table No. 2. Turning on X20 starts the operation.
*1 This time is for when the set time of the high-speed timer is 1 ms. Set the doubled link scan time or command processing time, whichever is the larger, as the set time of the timer. If the set time is short, commands may not be accepted normally.
SWB0.0
Check the data link status of station No. 1. RY00 (Servo-on)
Servo-on command Check the status of RWw06 (Point table No. selection). RY06 (Automatic/manual selection)
Point table determination time: 4 ms *1
RY01 (Forward rotation start) Operation command Command request time: 6 ms *1
Reset the forward rotation start command.
Y101F b10 b5
Y1010
Y100F b15
b15
b10 b5 Y1000
b0
b0
[Operation command]
RY0F to RY00 RY1F to RY10 RY2F to RY20 RY3F to RY30
Remote output
*: Set "0" because these bits are not used.
*
*
* *
0 0 0 0
0
0 0 0 1 0 0 1 1
11*** * ***
*** * *
* *** *
Y102F b10 b5
Y1020 b15 b0
[Operation command]
* 0*** * *** * 0*
Y103F b10 b5
Y1030 b15 b0
[Operation command]
* ***** **0 * *** * **
[Operation command]
Automatic/manual selection
Forward rotation start
Servo-on
1: On 0: Off
2 POINT TABLE OPERATION 2.8 Programming example by function 113
11
Operation command Y1000: SON (Servo-on) Y1016: - - - Y102C: - - - Y1001: ST1 (Forward rotation start) Y1017: - - - Y102D: - - - Y1002: ST2 (Reverse rotation start) Y1018: - - - Y102E: - - - Y1003: DOG (Proximity dog) Y1019: - - - Y102F: - - - Y1004: - - - Y101A: - - - Y1030: - - - Y1005: - - - Y101B: - - - Y1031: - - - Y1006: MD0 (Automatic/manual selection) Y101C: - - - Y1032: - - - Y1007: TSTP (Temporary stop/restart) Y101D: - - - Y1033: - - - Y1008: MOR (Monitor output execution demand) Y101E: - - - Y1034: - - - Y1009: COR (Instruction code execution demand) Y101F: - - - Y1035: - - - Y100A: - - - Y1020: PSR (Position command execution
demand) Y1036: - - -
Y100B: - - - Y1021: SPR (Speed command execution demand) Y1037: - - - Y100C: - - - Y1022: - - - Y1038: - - - Y100D: - - - Y1023: - - - Y1039: - - - Y100E: - - - Y1024: - - - Y103A: RES (Reset) Y100F: - - - Y1025: - - - Y103B: - - - Y1010: FLS (Upper stroke limit) Y1026: - - - Y103C: - - - Y1011: RLS (Lower stroke limit) Y1027: PC (Proportional control) Y103D: - - - Y1012: ORST (Operation alarm reset) Y1028: CDP (Gain switching) Y103E: - - - Y1013: - - - Y1029: - - - Y103F: - - - Y1014: - - - Y102A: CSL (Position/speed specifying method
selection) Y1015: - - - Y102B: CAOR (Absolute value/incremental value
selection)
4 2 POINT TABLE OPERATION 2.8 Programming example by function
2
Reading data Data of the servo amplifier is read.
Reading monitor The cumulative feedback pulses of the servo amplifier with station No. 2 are read to D10.
Turning on X20 reads the monitor of the cumulative feedback pulses.
Reading parameters [Pr. PA04 Function selection A-1] of the servo amplifier with station No. 2 is read to D1.
Turning on X20 reads [Pr. PA04]. A respond code at the execution of the instruction code is set in D3.
Code No. Description H000A Cumulative feedback pulse data (hexadecimal)
Code No. Description H8200 Select the parameter group.
H0204 Setting value in [Pr. PA04] (hexadecimal)
SWB0.1 Check the data link status of station No. 2. Set a monitor code H000A (Cumulative feedback pulses) in RWw10.Reading
command Turn on RY48 (Monitor output execution demand).
Read cumulative feedback pulse data stored in RWr10 and RWr11 to D10 and D11 after RX48 (Monitoring) turns on.
SWB0.1 Check the data link status of station No. 2.
Reading command
Write the instruction codes H8200 (writing a parameter group) in RWw14 and "0000" (parameter group [Pr. PA_ _ ]) in RWw1C.
Turn on RY49 (Instruction code execution demand).
Turn off RY49 (Instruction code execution demand) and write an instruction code H0204 (reading [Pr. PA04]) in RWw14 and RWw15 after RX49 (Instruction code execution completion) turns on.
Check the data link status of station No. 2.
Read RWr1C and RWr1D (Function selection A-1) to D1 and D2 and RWr14 (Respond code) to D3 after RX49 (Instruction code execution completion) turns on.
Turn off RY49 (Instruction code execution demand).
2 POINT TABLE OPERATION 2.8 Programming example by function 115
11
Reading an error An error of the servo amplifier with station No. 2 is read to D1.
Turning on X20 reads the current alarm. A respond code at the execution of the instruction code is set in D3.
Code No. Description H0010 Alarm or warning that is currently occurring (hexadecimal)
SWB0.1
Check the data link status of station No. 2. Reading command
Write an instruction code H0010 (reading a current alarm (warning)) in RWw14. Turn on RY49 (Instruction code execution demand).
Read RWr1C and RWr1D (alarm or warning currently occurring) to D1 and D2 and RWr14 (Respond code) to D3 after RX49 (Instruction code execution completion) turns on.
Turn off RY49 (Instruction code execution demand).
6 2 POINT TABLE OPERATION 2.8 Programming example by function
2
Writing data This section explains programs for writing data to the servo amplifiers.
Writing servo motor speed data of a point table The servo motor speed data of point table No. 1 of station No. 2 is changed to "100".
Turning on X20 writes the servo motor speed data of point table No. 1. A respond code at the execution of the instruction code is set in D3.
Code No. Description H8D01 Write the servo motor speed data of point table No. 1 (hexadecimal).
Setting data Description K100 Servo motor speed data of point table No. 1 (decimal)
SWB0.1
Check the data link status of station No. 2. Writing command
In-position
Write an instruction code H8D01 (writing the servo motor speed data of point table No. 1) in RWw14 and the "servo motor speed data" in RWw1C and RWw1D.
Turn on RY49 (Instruction code execution demand).
Read RWr14 (Respond code) to D3 after RX49 (Instruction code execution completion) turns on.
Turn off RY49 (Instruction code execution demand).
2 POINT TABLE OPERATION 2.8 Programming example by function 117
11
Writing parameters The parameter [Pr. PT65 JOG speed] of the servo amplifier with station No. 2 is changed to "100". Specify the parameter group PT as follows:
The parameter [Pr. PT65] is changed to "100" as follows:
Turning on X20 writes [Pr. PT65]. A respond code at the execution of the instruction code is set in D3.
Code No. Description H8200 Selecting the parameter group
Setting data Description H000C Setting data (hexadecimal)
Code No. Description H8241 Write [Pr. PT65] (hexadecimal).
Setting data Description K100 Setting data (decimal)
SWB0.1 Check the data link status of station No. 2.
Writing command
Write the instruction codes H8200 (writing a parameter group) in RWw14 and "000C" (parameter group [Pr. PT_ _ ]) in RWw1C.
Turn on RY49 (Instruction code execution demand).
Turn off RY49 (Instruction code execution demand), write an instruction code H8241 (writing [Pr. PT65]) in RWw14 and RWw15, and write the set data K100 (JOG speed setting value) in RWw1C and RWw1D after RX49 (Instruction code execution completion) turns on. Turn on RY49 (Instruction code execution demand).
Read RWr14 (Respond code) to D3 after RX49 (Instruction code execution completion) turns on. Turn off RY49 (Instruction code execution demand).
8 2 POINT TABLE OPERATION 2.8 Programming example by function
2
Program example for resetting an alarm of the servo amplifier A command from the programmable controller clears an alarm occurring in the servo amplifier with station No. 2. Turning on X20 clears an alarm occurring in the servo amplifier.
An instruction code clears an alarm in the servo amplifier with station No. 2.
Turning on X20 resets the servo amplifier. A respond code at the execution of the instruction code is set in D3.
Code No. Description H8010 Alarm reset command (hexadecimal)
Setting data Description 1EA5 Execution data (hexadecimal)
SWB0.1 Check the data link status of station No. 2.
Turn on RY7A (Reset). Malfunction flag
Reset command Turn off RY7A (Reset) after RX7A (Malfunction flag)
turns off.
SWB0.1 Check the data link status of station No. 2.
Reset command
Write an instruction code H8010 (alarm reset) in RWw14 and "1EA5" (Execution data) in RWw1C.
Turn on RY49 (Instruction code execution demand).
Read RWr14 (Respond code) to D3 after RX49 (Instruction code execution completion) turns on.
Turn off RY49 (Instruction code execution demand).
2 POINT TABLE OPERATION 2.8 Programming example by function 119
12
Operation This section explains programs for operating the servo amplifiers.
JOG operation The servo amplifier with station No. 1 performs JOG operation and reads the "current position".
Turning on X22 starts forward rotation JOG operation. Turning on X23 starts reverse rotation JOG operation.
Setting position data and speed data with remote registers The servo amplifier with station No. 2 is operated with position data of "100000" and speed data of "1000" specified with the direct specification mode. Set [Pr. PT62] to "_ _ _ 2" in advance.
Turning on X20 starts positioning operation according to the position and speed settings specified with the remote registers.
*1 This time is for when the set time of the high-speed timer is 1 ms. Set the doubled link scan time or command processing time, whichever is the larger, as the set time of the timer. If the set time is short, commands may not be accepted normally.
Code No. Description H0001 Current position data (hexadecimal)
Setting data Description K100000 Position command data (decimal)
K1000 Speed command data (decimal)
SWB0.0 Check the data link status of station No. 1.
RY00 (Servo-on) Remote station communication ready RY01 (Forward rotation start)Forward rotation
JOG commandReady Automatic/ manual selection RY02 (Reverse rotation start)Reverse rotation
JOG command
Set a monitor code H0001 (current position) in RWw0.
Turn on RY48 (Monitor output execution demand). Read current position data stored in RWr0 and RWr1 to D10 and D11 after RX48 (Monitoring) turns on.
SWB0.1 Check the data link status of station No. 2.
RY40 (Servo-on)
RY46 (Automatic/manual selection)
RY6A (Position/speed specifying method selection)
In-positionOperation command
Write the setting data K100000 (setting value of the position command data) in RWw18 and RWw19 and the setting data K1000 (setting value of the speed command data) in RWw1A and RWw1B.
Turn on RY60 (Position command execution demand). Turn on RY61 (Speed command execution demand). Read RWr14 (Respond code) to D3 after RX60 (Position command execution completion) and RX61 (Speed command execution completion) turn on. Position/speed data determination time: 4 ms *1
RY41 (Forward rotation start)
Command request time: 6 ms *1
Turn off RY41 (Forward rotation start).
Turn off RY60 (Position command execution demand).
Turn off RY61 (Speed command execution demand).
0 2 POINT TABLE OPERATION 2.8 Programming example by function
2
Setting the point table No. with remote registers (incremental value command method) The servo amplifier with station No. 2 is operated with the incremental value and point table No. 5 specified in the direct specification mode. Set [Pr. PT62] to "_ _ _ 0" in advance.
Turning on X20 starts positioning operation according to point table No. 5.
*1 This time is for when the set time of the high-speed timer is 1 ms. Set the doubled link scan time or command processing time, whichever is the larger, as the set time of the timer. If the set time is short, commands may not be accepted normally.
Setting data Description K5 Point table No. (decimal)
SWB0.1 Check the data link status of station No. 2.
RY40 (Servo-on)
RY46 (Automatic/manual selection)
RY6A (Position/speed specifying method selection)
RY6B (Absolute value/incremental value selection)
Operation command
In-position
Turn on RY60 (Position command execution demand). Read RWr14 (Respond code) to D3 after RX60 (Position command execution completion) turns on. Point table determination time: 4 ms *1
RY41 (Forward rotation start)
Command request time: 6 ms *1
Turn off RY41 (Forward rotation start).
Turn off RY60 (Position command execution demand).
2 POINT TABLE OPERATION 2.8 Programming example by function 121
12
2.9 Program example for continuous operation This section shows program examples including operations from servo start-up to a series of CC-Link IE communication. The examples use the following device configuration. As shown below, a CC-Link system master/local module is mounted to operate one servo amplifier.
Input signal assignment
*1 This setting is for when [Pr. PT29] is set to "_ _ _ 0" (Dog detection with off).
Input signal Signal name Operation at input ON X20 Reset command The servo amplifier is reset when an alarm has occurred.
X21 Servo-on command The servo-on is activated.
X22 Forward rotation JOG command When the manual operation mode is set, forward rotation JOG operation is performed.
X23 Reverse rotation JOG command When the manual operation mode is set, reverse rotation JOG operation is performed.
X24 Automatic/manual selection Off: Manual operation mode On: Automatic operation mode
X25 Home position return command When the automatic operation mode is set and home position return has not been completed, the dog type home position return is performed.
X26 Proximity dog command Off: Proximity dog ON *1
On: Proximity dog OFF
X27 Position start command When the automatic operation mode is set and home position return has been completed, positioning operation is performed according to the position and speed settings specified with the remote registers.
X28 Position/speed specifying method switching command
This signal enables the remote register-based position/speed specifying method.
Input module RX40
Master station RJ71GF11-T2
CPU R04CPU
Power supply R62P
Programmable controller
Servo amplifier
Station No. 1
X20 to X28
2 2 POINT TABLE OPERATION 2.9 Program example for continuous operation
2
The servo amplifier with station No. 1 performs positioning operation and reads the servo motor speed data. Set [Pr. PT62] to "_ _ _ 2" in advance. Operation: Alarm reset, dog type home position return, JOG operation, automatic operation with position command data and speed command data
Code No. Description H0016 32-bit motor speed data (hexadecimal)
Setting data Description K50000 Position command data (decimal)
K100 Speed command data (decimal)
SWB0.0 Check the data link status of station No. 1.
Write an instruction code H0010 (reading a current alarm (warning)) in RWw4 after RX3A (Malfunction) turns on. Turn on RY09 (Instruction code execution demand).
Read RWrC and RWrD (alarm or warning currently occurring) to D11 and D12 and RWr14 (Respond code) to D13 after RX09 (Instruction code execution completion) turns on.
Turn off RY09 (Instruction code execution demand).
RY3A (Reset) Reset command
RY00 (Servo-on) Servo-on command
RY06 (Automatic/manual selection) Automatic/manual selection
RY06 (Automatic/manual selection) Automatic/manual selection
Home position return requestHome position return command
Home position return completion
Point table determination time: 4 ms *1
Forward rotation start request
Command request time: 6 ms *1
Reset the forward rotation start request.
RY03 (Proximity dog)
Forward rotation start request Proximity dog command
Forward rotation JOG command
Reverse rotation start request Reverse rotation JOG command
2 POINT TABLE OPERATION 2.9 Program example for continuous operation 123
12
*1 This time is for when the set time of the high-speed timer is 1 ms. Set the doubled link scan time or command processing time, whichever is the larger, as the set time of the timer. If the set time is short, commands may not be accepted normally.
Write the setting data K500000 (setting value of the position command data) in RWw8 and RWw9 and the setting data K1000 (setting value of the speed command data) in RWwA and RWwB.
RY6A (Position/speed specifying method selection)
Turn on RY20 (Position command execution demand). Turn on RY21 (Speed command execution demand). Read RWr4 (Respond code) to D3 after RX20 (Position command execution completion) and RX21 (Speed command execution completion) turn on. Position/speed data determination time: 4 ms *1
Positioning start command
Reset the positioning start command.
Command request time: 6 ms *1
Turn off RY60 (Position command execution demand).
Turn off RY61 (Speed command execution demand).
RY01 (Forward rotation start)
RY02 (Reverse rotation start) Set a monitor code H0001 (servo motor speed) in RWw0. Turn on RY48 (Monitor output execution demand).
Read servo motor speed data stored in RWr0 and RWr1 to D120 and D121 after RX48 (Monitoring) turns on.
Position/speed specifying method switching command
Position start command Home position return completionRough
match In-position
4 2 POINT TABLE OPERATION 2.9 Program example for continuous operation
3
3 PARAMETERS
3.1 Parameter list
The parameter whose symbol is preceded by * is enabled with the following conditions: *: After setting the parameter, cycle the power or reset the controller. **: After setting the parameter, cycle the power. Abbreviations of operation modes indicate the following. Standard: Standard (semi closed loop system) use of the rotary servo motor Full.: Fully closed loop system use of the rotary servo motor Lin.: Linear servo motor use DD: Direct drive (DD) motor use
Refer to chapter 5 in "MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode)" for the parameters with "Motion mode" in the detailed explanation field.
CAUTION Never make a drastic adjustment or change to the parameter values as doing so will make the operation unstable. Do not change the parameter settings as described below. Doing so may cause an unexpected condition, such as failing to start up the servo amplifier. Changing the values of the parameters for manufacturer setting Setting a value out of the range Changing the fixed values in the digits of a parameter
When you write parameters with the controller, make sure that the station No. of the servo amplifier is set correctly. Otherwise, the parameter settings of another station may be written, possibly causing the servo amplifier to be an unexpected condition.
3 PARAMETERS 3.1 Parameter list 125
12
Basic setting parameters ([Pr. PA_ _ ]) No. Symbol Name Initial
value Unit Operation mode Detailed
explanationStandard Full. Lin. DD PA01 **STY Operation mode 1000h Motion mode
PA02 **REG Regenerative option 0000h
PA03 *ABS Absolute position detection system 0000h
PA04 *AOP1 Function selection A-1 2000h
PA05 For manufacturer setting 10000
PA06 *CMX Electronic gear numerator 1 Page 141 Basic setting parameters ([Pr. PA_ _ ])
Number of gear teeth on machine side 1
PA07 *CDV Electronic gear denominator 1
Number of gear teeth on servo motor side 1
PA08 ATU Auto tuning mode 0001h Motion mode
PA09 RSP Auto tuning response 16
PA10 INP In-position range 1600 [m]/ 10-4 [inch]/10-3 [degree]/ [pulse]
Page 141 Basic setting parameters ([Pr. PA_ _ ])
PA11 TLP Forward rotation torque limit/positive direction thrust limit
1000.0 [%] Motion mode
PA12 TLN Reverse rotation torque limit/negative direction thrust limit
1000.0 [%]
PA13 For manufacturer setting 0000h
PA14 *POL Rotation direction selection/travel direction selection
0 Page 141 Basic setting parameters ([Pr. PA_ _ ])
Station No. direction selection 0
PA15 *ENR Encoder output pulses 4000 [pulse/rev] Motion mode
PA16 *ENR2 Encoder output pulses 2 1
PA17 **MSR Servo motor series setting 0000h
PA18 **MTY Servo motor type setting 0000h
PA19 *BLK Parameter writing inhibit 00ABh
PA20 *TDS Tough drive setting 0000h
PA21 *AOP3 Function selection A-3 0001h
PA22 **PCS Position control composition selection 0000h
PA23 DRAT Drive recorder arbitrary alarm trigger setting 0000h
PA24 AOP4 Function selection A-4 0000h
PA25 OTHOV One-touch tuning - Overshoot permissible level 0 [%]
PA26 *AOP5 Function selection A-5 0000h
PA27 For manufacturer setting 0000h
PA28 0000h
PA29 0000h
PA30 0000h
PA31 0000h
PA32 0000h
6 3 PARAMETERS 3.1 Parameter list
3
Gain/filter setting parameters ([Pr. PB_ _ ]) No. Symbol Name Initial
value Unit Operation mode Detailed
explanationStandard Full. Lin. DD PB01 FILT Adaptive tuning mode (adaptive filter II) 0000h Motion mode
PB02 VRFT Vibration suppression control tuning mode (advanced vibration suppression control II)
0000h
PB03 For manufacturer setting 18000
PB04 FFC Feed forward gain 0 [%]
PB05 For manufacturer setting 500
PB06 GD2 Load to motor inertia ratio/load to motor mass ratio 7.00 [Multiplier]
PB07 PG1 Model loop gain 15.0 [rad/s]
PB08 PG2 Position loop gain 37.0 [rad/s]
PB09 VG2 Speed loop gain 823 [rad/s]
PB10 VIC Speed integral compensation 33.7 [ms]
PB11 VDC Speed differential compensation 980
PB12 OVA Overshoot amount compensation 0 [%]
PB13 NH1 Machine resonance suppression filter 1 4500 [Hz]
PB14 NHQ1 Notch shape selection 1 0000h
PB15 NH2 Machine resonance suppression filter 2 4500 [Hz]
PB16 NHQ2 Notch shape selection 2 0000h
PB17 NHF Shaft resonance suppression filter 0000h
PB18 LPF Low-pass filter setting 3141 [rad/s]
PB19 VRF11 Vibration suppression control 1 - Vibration frequency
100.0 [Hz]
PB20 VRF12 Vibration suppression control 1 - Resonance frequency
100.0 [Hz]
PB21 VRF13 Vibration suppression control 1 - Vibration frequency damping
0.00
PB22 VRF14 Vibration suppression control 1 - Resonance frequency damping
0.00
PB23 VFBF Low-pass filter selection 0000h
PB24 *MVS Slight vibration suppression control 0000h
PB25 *BOP1 Function selection B-1 0000h
PB26 *CDP Gain switching function 0000h
PB27 CDL Gain switching condition 10 [kpulse/s]/ [pulse]/ [r/min]
PB28 CDT Gain switching time constant 1 [ms]
PB29 GD2B Load to motor inertia ratio/load to motor mass ratio after gain switching
7.00 [Multiplier]
PB30 PG2B Position loop gain after gain switching 0.0 [rad/s]
PB31 VG2B Speed loop gain after gain switching 0 [rad/s]
PB32 VICB Speed integral compensation after gain switching 0.0 [ms]
PB33 VRF11B Vibration suppression control 1 - Vibration frequency after gain switching
0.0 [Hz]
PB34 VRF12B Vibration suppression control 1 - Resonance frequency after gain switching
0.0 [Hz]
PB35 VRF13B Vibration suppression control 1 - Vibration frequency damping after gain switching
0.00
PB36 VRF14B Vibration suppression control 1 - Resonance frequency damping after gain switching
0.00
3 PARAMETERS 3.1 Parameter list 127
12
PB37 For manufacturer setting 1600 Motion mode
PB38 0.00
PB39 0.00
PB40 0.00
PB41 0000h
PB42 0000h
PB43 0000h
PB44 0.00
PB45 CNHF Command notch filter 0000h
PB46 NH3 Machine resonance suppression filter 3 4500 [Hz]
PB47 NHQ3 Notch shape selection 3 0000h
PB48 NH4 Machine resonance suppression filter 4 4500 [Hz]
PB49 NHQ4 Notch shape selection 4 0000h
PB50 NH5 Machine resonance suppression filter 5 4500 [Hz]
PB51 NHQ5 Notch shape selection 5 0000h
PB52 VRF21 Vibration suppression control 2 - Vibration frequency
100.0 [Hz]
PB53 VRF22 Vibration suppression control 2 - Resonance frequency
100.0 [Hz]
PB54 VRF23 Vibration suppression control 2 - Vibration frequency damping
0.00
PB55 VRF24 Vibration suppression control 2 - Resonance frequency damping
0.00
PB56 VRF21B Vibration suppression control 2 - Vibration frequency after gain switching
0.0 [Hz]
PB57 VRF22B Vibration suppression control 2 - Resonance frequency after gain switching
0.0 [Hz]
PB58 VRF23B Vibration suppression control 2 - Vibration frequency damping after gain switching
0.00
PB59 VRF24B Vibration suppression control 2 - Resonance frequency damping after gain switching
0.00
PB60 PG1B Model loop gain after gain switching 0.0 [rad/s]
PB61 For manufacturer setting 0.0
PB62 0000h
PB63 0000h
PB64 0000h
No. Symbol Name Initial value
Unit Operation mode Detailed explanationStandard Full. Lin. DD
8 3 PARAMETERS 3.1 Parameter list
3
Extension setting parameters ([Pr. PC_ _ ]) No. Symbol Name Initial
value Unit Operation mode Detailed
explanationStandard Full. Lin. DD PC01 ERZ Error excessive alarm level 0 [rev]/ [mm] Motion mode
PC02 MBR Electromagnetic brake sequence output 0 [ms]
PC03 *ENRS Encoder output pulse selection 0000h
PC04 **COP1 Function selection C-1 0000h
PC05 **COP2 Function selection C-2 0000h
PC06 *COP3 Function selection C-3 0000h
PC07 ZSP Zero speed 50 [r/min]/ [mm/s]
PC08 OSL Overspeed alarm detection level 0 [r/min]/ [mm/s]
PC09 MOD1 Analog monitor 1 output 0000h
PC10 MOD2 Analog monitor 2 output 0001h
PC11 MO1 Analog monitor 1 offset 0 [mV]
PC12 MO2 Analog monitor 2 offset 0 [mV]
PC13 For manufacturer setting 0
PC14 0
PC15 0
PC16 0000h
PC17 **COP4 Function selection C-4 0000h
PC18 *COP5 Function selection C-5 0010h
PC19 *COP6 Function selection C-6 0000h
PC20 *COP7 Function selection C-7 0000h
PC21 *BPS Alarm history clear 0000h
PC22 For manufacturer setting 0
PC23 0000h
PC24 RSBR Forced stop deceleration time constant 100 [ms]
PC25 For manufacturer setting 0
PC26 **COP8 Function selection C-8 0000h *1
PC27 **COP9 Function selection C-9 0000h *1
PC28 For manufacturer setting 0000h
PC29 *COPB Function selection C-B 1000h
PC30 For manufacturer setting 0
PC31 RSUP1 Vertical axis freefall prevention compensation amount
0 [0.0001 rev]/ [0.01 mm]
PC32 For manufacturer setting 0000h
PC33 0
PC34 100
PC35 0000h
PC36 0000h
PC37 0000h
PC38 ERW Error excessive warning level 0 [rev]/[mm]
3 PARAMETERS 3.1 Parameter list 129
13
*1 It is available when the scale measurement function is enabled ([Pr. PA22] is "1 _ _ _" or "2 _ _ _").
PC39 For manufacturer setting 0000h Motion mode
PC40 0000h
PC41 0000h
PC42 0000h
PC43 0000h
PC44 0000h
PC45 0000h
PC46 0000h
PC47 0000h
PC48 0000h
PC49 0000h
PC50 0000h
PC51 0000h
PC52 0000h
PC53 0000h
PC54 0000h
PC55 0000h
PC56 0000h
PC57 0000h
PC58 0000h
PC59 0000h
PC60 0000h
PC61 0000h
PC62 0000h
PC63 0000h
PC64 0000h
PC65 50.00
PC66 10
PC67 FEWL Following error output level 0000h [pulse]
PC68 FEWH 00C0h
PC69 FEWF Following error output filtering time 10 [ms]
PC70 For manufacturer setting 100
PC71 10
PC72 20.00
PC73 10
PC74 10.0
PC75 10
PC76 *COPE Function selection C-E 0001h
PC77 TL2 Internal torque limit 2 0.0 [%] Page 142 Extension setting parameters ([Pr. PC_ _ ])
PC78 For manufacturer setting 0000h Motion mode
PC79 0000h
PC80 0000h
No. Symbol Name Initial value
Unit Operation mode Detailed explanationStandard Full. Lin. DD
0 3 PARAMETERS 3.1 Parameter list
3
I/O setting parameters ([Pr. PD_ _ ]) No. Symbol Name Initial
value Unit Operation mode Detailed
explanationStandard Full. Lin. DD PD01 *DIA1 Input signal automatic on selection 1 0000h Motion mode
PD02 For manufacturer setting 0000h
PD03 *DI1 Input device selection 1 000Ah Page 143 I/O setting parameters ([Pr. PD_ _ ])
PD04 *DI2 Input device selection 2 000Bh Motion mode
PD05 *DI3 Input device selection 3 0022h
PD06 For manufacturer setting 0000h
PD07 *DO1 Output device selection 1 0005h
PD08 *DO2 Output device selection 2 0004h
PD09 *DO3 Output device selection 3 0003h
PD10 For manufacturer setting 0000h
PD11 *DIF Input filter setting 0004h Page 143 I/O setting parameters ([Pr. PD_ _ ])
PD12 *DOP1 Function selection D-1 0101h
PD13 *DOP2 Function selection D-2 0000h Motion mode
PD14 *DOP3 Function selection D-3 0000h
PD15 For manufacturer setting 0000h
PD16 0000h
PD17 0000h
PD18 0000h
PD19 0000h
PD20 0
PD21 0
PD22 0
PD23 0
PD24 0000h
PD25 0000h
PD26 0000h
PD27 0000h
PD28 0000h
PD29 0000h
PD30 0
PD31 0
PD32 0
PD33 0000h
PD34 0000h
PD35 0000h
PD36 0000h
PD37 *TPOP Touch probe function selection 0000h
PD38 For manufacturer setting 002Ch
PD39 002Dh
PD40 0
PD41 *DOP4 Function selection D-4 0000h
PD42 *DOP5 Function selection D-5 0000h Page 143 I/O setting parameters ([Pr. PD_ _ ])
3 PARAMETERS 3.1 Parameter list 131
13
Extension setting 2 parameters ([Pr. PE_ _ ])
PD43 For manufacturer setting 0000h Motion mode
PD44 0000h
PD45 0000h
PD46 0000h
PD47 0000h
PD48 0000h
No. Symbol Name Initial value
Unit Operation mode Detailed explanationStandard Full. Lin. DD
PE01 **FCT1 Fully closed loop function selection 1 0000h Motion mode
PE02 For manufacturer setting 0000h
PE03 *FCT2 Fully closed loop function selection 2 0003h
PE04 **FBN Fully closed loop control - Feedback pulse electronic gear 1 - Numerator
1
PE05 **FBD Fully closed loop control - Feedback pulse electronic gear 1 - Denominator
1
PE06 BC1 Fully closed loop control - Speed deviation error detection level
400 [r/min]
PE07 BC2 Fully closed loop control - Position deviation error detection level
100 [kpulse]
PE08 DUF Fully closed loop dual feedback filter 10 [rad/s]
PE09 For manufacturer setting 0000h
PE10 FCT3 Fully closed loop function selection 3 0000h
PE11 For manufacturer setting 0000h
PE12 0000h
PE13 0000h
PE14 0111h
PE15 20
PE16 0000h
PE17 0000h
PE18 0000h
PE19 0000h
PE20 0000h
PE21 0000h
PE22 0000h
PE23 0000h
PE24 0000h
PE25 0000h
PE26 0000h
PE27 0000h
PE28 0000h
PE29 0000h
PE30 0000h
PE31 0000h
PE32 0000h
PE33 0000h
PE34 **FBN2 Fully closed loop control - Feedback pulse electronic gear 2 - Numerator
1
PE35 **FBD2 Fully closed loop control - Feedback pulse electronic gear 2 - Denominator
1
No. Symbol Name Initial value
Unit Operation mode Detailed explanationStandard Full. Lin. DD
2 3 PARAMETERS 3.1 Parameter list
3
PE36 For manufacturer setting 0.0 Motion mode
PE37 0.00
PE38 0.00
PE39 20
PE40 0000h
PE41 EOP3 Function selection E-3 0000h
PE42 For manufacturer setting 0
PE43 0.0
PE44 LMCP Lost motion compensation positive-side compensation value selection
0 [0.01 %]
PE45 LMCN Lost motion compensation negative-side compensation value selection
0 [0.01 %]
PE46 LMFLT Lost motion filter setting 0 [0.1 ms]
PE47 TOF Torque offset 0 [0.01 %]
PE48 *LMOP Lost motion compensation function selection 0000h
PE49 LMCD Lost motion compensation timing 0 [0.1 ms]
PE50 LMCT Lost motion compensation non-sensitive band 0 [pulse]/ [kpulse]
PE51 For manufacturer setting 0000h
PE52 0000h
PE53 0000h
PE54 0000h
PE55 0000h
PE56 0000h
PE57 0000h
PE58 0000h
PE59 0000h
PE60 0000h
PE61 0.00
PE62 0.00
PE63 0.00
PE64 0.00
No. Symbol Name Initial value
Unit Operation mode Detailed explanationStandard Full. Lin. DD
3 PARAMETERS 3.1 Parameter list 133
13
Extension setting 3 parameters ([Pr. PF_ _ ]) No. Symbol Name Initial
value Unit Operation mode Detailed
explanationStandard Full. Lin. DD PF01 For manufacturer setting 0000h Motion mode
PF02 0000h
PF03 0000h
PF04 0
PF05 0000h
PF06 *FOP5 Function selection F-5 0000h
PF07 For manufacturer setting 0000h
PF08 0000h
PF09 0
PF10 0
PF11 0
PF12 DBT Electronic dynamic brake operating time 2000 [ms]
PF13 For manufacturer setting 0000h
PF14 10
PF15 0000h
PF16 0000h
PF17 0000h
PF18 **STOD STO diagnosis error detection time 10 [s]
PF19 TSL Friction failure prediction - Compensation coefficient 1
0 [0.001 %/]
PF20 TIC Friction failure prediction - Compensation coefficient 2
0 [0.1 %]
PF21 DRT Drive recorder switching time setting 0 [s]
PF22 For manufacturer setting 200
PF23 OSCL1 Vibration tough drive - Oscillation detection level 50 [%]
PF24 *OSCL2 Vibration tough drive function selection 0000h
PF25 CVAT SEMI-F47 function - Instantaneous power failure detection time
200 [ms]
PF26 For manufacturer setting 0
PF27 0
PF28 0
PF29 0000h
PF30 0
PF31 FRIC Machine diagnosis function - Friction judgment speed
0 [r/min]/ [mm/s]
PF32 For manufacturer setting 50
PF33 0000h
PF34 *MFP Machine diagnosis function selection 0000h
PF35 For manufacturer setting 0000h
PF36 0000h
PF37 0000h
PF38 0000h
PF39 0000h
PF40 MFPP Machine failure prediction parameter 0000h
PF41 FPMT Failure prediction - Servo motor travel distance 0 [rev]/[m]
PF42 PAV Friction failure prediction - Average characteristic 0 [0.1 %]
PF43 PSD Friction failure prediction - Standard deviation 0 [0.1 %]
PF44 For manufacturer setting 0
PF45 VAV Vibration failure prediction - Average characteristic 0 [0.1 %]
PF46 VSD Vibration failure prediction - Standard deviation 0 [0.1 %]
4 3 PARAMETERS 3.1 Parameter list
3
Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ])
PF47 For manufacturer setting 0000h Motion mode
PF48 0000h
PF49 100
PF50 100
PF51 0000h
PF52 0000h
PF53 0
PF54 0
PF55 0
PF56 0
PF57 0000h
PF58 0000h
PF59 0000h
PF60 0000h
PF61 0000h
PF62 0000h
PF63 0000h
PF64 0000h
No. Symbol Name Initial value
Unit Operation mode Detailed explanationStandard Full. Lin. DD
PL01 **LIT1 Linear servo motor/DD motor function selection 1 0301h Motion mode
PL02 **LIM Linear encoder resolution - Numerator 1000 [m]
PL03 **LID Linear encoder resolution - Denominator 1000 [m]
PL04 *LIT2 Linear servo motor/DD motor function selection 2 0003h
PL05 LB1 Position deviation error detection level 0 [mm]/[0.01 rev]
PL06 LB2 Speed deviation error detection level 0 [mm/s]/[r/min]
PL07 LB3 Torque/thrust deviation error detection level 100 [%]
PL08 *LIT3 Linear servo motor/DD motor function selection 3 0010h
PL09 LPWM Magnetic pole detection voltage level 30 [%]
PL10 For manufacturer setting 5
PL11 100
PL12 500
PL13 0000h
PL14 0000h
PL15 20
PL16 0
PL17 LTSTS Magnetic pole detection - Minute position detection method - Function selection
0000h
PL18 IDLV Magnetic pole detection - Minute position detection method - Identification signal amplitude
0 [%]
No. Symbol Name Initial value
Unit Operation mode Detailed explanationStandard Full. Lin. DD
3 PARAMETERS 3.1 Parameter list 135
13
PL19 For manufacturer setting 0 Motion mode
PL20 0
PL21 0
PL22 0
PL23 0000h
PL24 0
PL25 0000h
PL26 0000h
PL27 0000h
PL28 0000h
PL29 0000h
PL30 0000h
PL31 0000h
PL32 0000h
PL33 0000h
PL34 0000h
PL35 0000h
PL36 0000h
PL37 0000h
PL38 0000h
PL39 0000h
PL40 0000h
PL41 0000h
PL42 0000h
PL43 0000h
PL44 0000h
PL45 0000h
PL46 0000h
PL47 0000h
PL48 0000h
No. Symbol Name Initial value
Unit Operation mode Detailed explanationStandard Full. Lin. DD
6 3 PARAMETERS 3.1 Parameter list
3
Positioning control parameters ([Pr. PT_ _ ]) No. Symbol Name Initial
value Unit Operation mode Detailed
explanationStandard Full. Lin. DD PT01 **CTY Command mode selection 0300h Page 145
Positioning control parameters ([Pr. PT_ _ ])
PT02 For manufacturer setting 0001h
PT03 *FTY Feeding function selection 0000h
PT04 For manufacturer setting 0000h Motion mode
PT05 ZRF Home position return speed 100.00 [r/min]/[mm/s]
PT06 CRF Creep speed 10.00 [r/min]/ [mm/s]
PT07 ZST Home position shift distance 0 [m]/ 10-4 [inch]/10-3 [degree]/ [pulse]
Page 145 Positioning control parameters ([Pr. PT_ _ ])PT08 *ZPS Home position return position data 0 10STM [m]/
10(STM-4) [inch]/10-3 [degree]/ [pulse]
PT09 DCT Travel distance after proximity dog 0 10STM [m]/ 10(STM-4) [inch]/10-3 [degree]/ [pulse]
PT10 ZTM Stopper type home position return stopper time 100 [ms] Motion mode
PT11 ZTT Stopper type home position return torque limit value
15.0 [%]
3 PARAMETERS 3.1 Parameter list 137
13
PT12 CRP Rough match output range 0 10STM [m]/ 10(STM-4) [inch]/10-3 [degree]/ [pulse]
Page 145 Positioning control parameters ([Pr. PT_ _ ])
PT13 For manufacturer setting 100
PT14 0
PT15 LMPL Software limit + 0000h 10STM [m]/ 10(STM-4) [inch]/10-3 [degree]/ [pulse]
PT16 LMPH 0000h
PT17 LMNL Software limit - 0000h 10STM [m]/ 10(STM-4) [inch]/10-3 [degree]/ [pulse]
PT18 LMNH 0000h
PT19 *LPPL Position range output address + 0000h 10STM [m]/ 10(STM-4) [inch]/10-3 [degree]/ [pulse]
PT20 *LPPH 0000h
PT21 *LNPL Position range output address - 0000h 10STM [m]/ 10(STM-4) [inch]/10-3 [degree]/ [pulse]
PT22 *LNPH 0000h
PT23 For manufacturer setting 0
PT24 0
PT25 0
PT26 *TOP2 Function selection T-2 0000h
PT27 *ODM Indexer method - Operation mode selection 0000h
PT28 *STN Number of stations per rotation 8 [stations]
PT29 *TOP3 Function selection T-3 0000h
PT30 For manufacturer setting 0000h
PT31 0000h
PT32 0000h
PT33 0000h
PT34 *PDEF Point table default 0000h
PT35 *TOP5 Function selection T-5 0000h
PT36 For manufacturer setting 0000h
PT37 10
PT38 **TOP7 Function selection T-7 0000h
PT39 INT Torque limit delay time 100 [ms]
PT40 *SZS Station home position shift distance 0 [pulse]
PT41 ORP Home position return inhibit function selection 0000h Motion mode
PT42 *OVM Digital override minimum multiplication 0 [%] Page 145 Positioning control parameters ([Pr. PT_ _ ])
PT43 *OVS Digital override pitch width 0 [%]
PT44 For manufacturer setting 0000h Motion mode
PT45 HMM Home position return type 37 Page 145 Positioning control parameters ([Pr. PT_ _ ])
PT46 For manufacturer setting 0000h Motion mode
No. Symbol Name Initial value
Unit Operation mode Detailed explanationStandard Full. Lin. DD
8 3 PARAMETERS 3.1 Parameter list
3
PT47 *ZPSH Home position return position data (extension parameter)
0000h 10STM [m]/ 10(STM-4) [inch]/10-3 [degree]/ [pulse]
Page 145 Positioning control parameters ([Pr. PT_ _ ])
PT48 TOP7A Function selection T-7A 0000h
PT49 STA Acceleration time constant 0 [ms]
PT50 STB Deceleration time constant 0 [ms]
PT51 STC S-pattern acceleration/deceleration time constant 0 [ms]
PT52 For manufacturer setting 0 Motion mode
PT53 0.0
PT54 0
PT55 *TOP8 Function selection T-8 0000h
PT56 HMA Home position return acceleration time constant 0 [ms]
PT57 HMB Home position return deceleration time constant 0 [ms]
PT58 For manufacturer setting 100.00 Page 145 Positioning control parameters ([Pr. PT_ _ ])
PT59 500.00
PT60 1000.00
PT61 200.00
PT62 *DSS Remote register-based position/speed specifying method selection
0000h
PT63 For manufacturer setting 0000h Motion mode
PT64 0000h
PT65 PVC Jog speed command 100.00 [r/min]/[mm/s] Page 145 Positioning control parameters ([Pr. PT_ _ ])
PT66 For manufacturer setting 20000.0 0
Motion mode
PT67 VLMT Speed limit 500.00 [r/min]/ [mm/s]
PT68 For manufacturer setting 0102h
PT69 ZSTH Home position shift distance (extension parameter)
0 [m]/ 10-4 [inch]/10-3 [degree]/ [pulse]
Page 145 Positioning control parameters ([Pr. PT_ _ ])
PT70 For manufacturer setting 0000h Motion mode
PT71 DCTH Travel distance after proximity dog (extension parameter)
0 10STM [m]/ 10(STM-4) [inch]/10-3 [degree]/ [pulse]
Page 145 Positioning control parameters ([Pr. PT_ _ ])
PT72 For manufacturer setting 0000h Motion mode
PT73 0000h
PT74 0000h
PT75 0000h
PT76 0000h
PT77 0000h
PT78 0000h
PT79 0000h
PT80 0000h
No. Symbol Name Initial value
Unit Operation mode Detailed explanationStandard Full. Lin. DD
3 PARAMETERS 3.1 Parameter list 139
14
Network setting parameters ([Pr. PN_ _]) No. Symbol Name Initial
value Unit Operation mode Detailed
explanationStandard Full. Lin. DD PN01 For manufacturer setting 0 Motion mode
PN02 CERT Communication error detection time 0 [ms]
PN03 **NWMD Communication mode setting for CC-Link IE communication
0000h Page 156 Network setting parameters ([Pr. PN_ _])
PN04 **NWNO CC-Link IE communication network number 0 Motion mode
PN05 CERI Communication error detection frequency setting 0 [%]
PN06 NOP1 Function selection N-1 0000h Page 156 Network setting parameters ([Pr. PN_ _])
PN07 For manufacturer setting 0000h Motion mode
PN08 0000h
PN09 0000h
PN10 0000h
PN11 0000h
PN12 0000h
PN13 0000h
PN14 0000h
PN15 0000h
PN16 0000h
PN17 0000h
PN18 0000h
PN19 0000h
PN20 0000h
PN21 0000h
PN22 0000h
PN23 0000h
PN24 0000h
PN25 0000h
PN26 0000h
PN27 0000h
PN28 0000h
PN29 0000h
PN30 0000h
PN31 0000h
PN32 0000h
0 3 PARAMETERS 3.1 Parameter list
3
3.2 Detailed list of parameters
For parameters which are not described in this section, refer to chapter 5 of "MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode)".
Set a value to each "x" in the "Setting digit" columns.
Basic setting parameters ([Pr. PA_ _ ]) No./symbol/ name
Setting digit
Function Initial value [unit]
Control mode
CP PS SP PA01 **STY Operation mode
_ _ _ x Control mode selection Select a control mode. 0: Positioning mode (point table method) 8: Positioning mode (indexer method) B: Speed control mode (point table method) When [Pr. PN03] is "_ _ _ 1", the above setting is enabled. When [Pr. PN03] is "_ _ _ 0", refer to "MR-J4-_GF_(-RJ)Servo Amplifier Instruction Manual (Motion Mode)". This digit is available with servo amplifier with software version A3 or later. The setting value "B" is available with servo amplifiers with software version A6 or later.
0h
_ _ x _ Operation mode selection 0: Standard control mode 1: Fully closed loop control mode 4: Linear servo motor control mode 6: DD motor control mode The following settings will trigger [AL. 37 Parameter error]. A value other than "0", "1", "4", and "6" is set to this digit. When set to Positioning mode (indexer method), a value other than "0" and "6" is set to this digit.
0h
_ x _ _ For manufacturer setting 0h
x _ _ _ 1h
PA06 *CMX Electronic gear numerator
Set an electronic gear numerator. (Page 158 Electronic gear settings in the point table method) Set the electronic gear within the following range. Setting out of the range will trigger [AL. 37 Parameter error]. 1/865 < CMX/CDV < 271471 Setting range: 1 to 16777215
1
PA06 *CMX Number of gear teeth on machine side
Set the number of gear teeth on machine side. (Page 159 Electronic gear setting in the indexer method) Set the electronic gear within the following range. Setting out of the range will trigger [AL. 37 Parameter error]. This parameter setting is used with servo amplifier with software version A3 or later.
1 CMX 16384, 1 CDV 16384
CDV STN 32767 (STN: Number of stations per rotation [Pr. PT28])
CMX CDV 100000
When a small value is set to the electronic gear ratio with the manual operation mode, the servo motor may not drive at the set servo motor speed.
Setting range: 1 to 16777215
1
PA07 *CDV Electronic gear denominator
Set the electronic gear denominator. (Page 158 Electronic gear settings in the point table method) Set the electronic gear within the range of [Pr. PA06]. Setting out of the range will trigger [AL. 37 Parameter error]. Setting range: 1 to 16777215
1
1 9999
CMX CDV
9999
Travel distance of 1 station = Pt (servo motor resolution) 1
STN
CMX CDV
3 PARAMETERS 3.2 Detailed list of parameters 141
14
Extension setting parameters ([Pr. PC_ _ ])
PA07 *CDV Number of gear teeth on servo motor side
Set the number of gear teeth on servo motor side. (Page 159 Electronic gear setting in the indexer method) Set the electronic gear within the range of [Pr. PA06]. Setting out of the range will trigger [AL. 37 Parameter error]. This parameter setting is used with servo amplifier with software version A3 or later. Setting range: 1 to 16777215
1
PA10 INP In-position range
Set an in-position range per command pulse. To change it to the servo motor encoder pulse unit, set [Pr. PC06]. In the I/O mode, the in-position range is the range where RXnC (Travel completion) and RXn1 (In- position) are outputted. The unit will be as follows depending on the positioning mode. Point table method
When [Pr. PC06] is set to "_ _ _ 0", the unit can be changed to [m], 10-4 [inch], 10-3 [degree], or [pulse] with the setting of [Pr. PT01]. When [Pr. PC06] is set to "_ _ _ 1", the unit is fixed to [pulse]. Indexer method
It will be command unit [pulse]. (a load-side rotation expressed by the number of servo motor resolution pulses) For example, when making an in-position range "1 degree" for the rotation angle on the load side, set 4194304 (1/360) = 11650 pulses. The indexer method can be used with servo amplifiers with software version A3 or later. Setting range: 0 to 65535
1600 Refer to Function column for unit.
PA14 *POL Rotation direction selection/travel direction selection
Select a rotation direction or travel direction. The torque polarity can be changed with the combination of this parameter and [Pr. PC29 Torque POL reflection selection].
0
PA14 *POL Station No. direction selection
Select an assignment direction of station No. This parameter setting is used with servo amplifier with software version A3 or later.
0
No./symbol/ name
Setting digit
Function Initial value [unit]
Control mode
CP PS SP PC77 TL2 Internal torque limit 2
The parameter is set for limiting the torque of the servo motor. Set rated torque to 100.0%. No torque is generated when this parameter is set to "0.0". In the positioning mode (indexer method), this parameter is enabled while automatic operation, manual operation, and home position return operation are stopped. During operation, the setting value of [Pr. PA11] and [Pr. PA12] is enabled. This parameter can be used only in the positioning mode (indexer method) with servo amplifiers with software versions A3 to A6. This parameter can be used in the positioning mode (point table method), positioning mode (indexer method), and speed control mode (point table method) with servo amplifiers with software version A7 or later. This parameter can also be switched between enabled/disabled with the internal torque limit selection function. Refer to the following for details. Page 296 Internal torque limit selection Setting range: 0.0 to 1000.0
0.0 [%]
No./symbol/ name
Setting digit
Function Initial value [unit]
Control mode
CP PS SP
Setting value
Servo motor rotation direction/linear servo motor travel direction
Position mode Positioning address increase/ Velocity mode Speed command: positive
Position mode Positioning address decrease/ Velocity mode Speed command: negative
0 CCW or positive direction CW or negative direction
1 CW or negative direction CCW or positive direction
Setting value Assignment direction of station No.
0 Station numbers will be assigned in CW direction in order of 1, 2, 3
1 Station numbers will be assigned in CCW direction in order of 1, 2, 3
2 3 PARAMETERS 3.2 Detailed list of parameters
3
I/O setting parameters ([Pr. PD_ _ ]) No./symbol/ name
Setting digit
Function Initial value [unit]
Control mode
CP PS SP PD03 *DI1 Input device selection 1
Any input device can be assigned to the CN3-2 pin.
_ _ x x Device selection Refer to the following table for settings.
0Ah
_ x _ _ For manufacturer setting 0h
x _ _ _ 0h
*1 This is available with servo amplifiers with software version A1 or later. *2 This is available with servo amplifiers with software version A7 or later.
PD07 *DO1 Output device selection 1
_ _ x x Device selection Any output device can be assigned to the CN3-13 pin. As the initial value, MBR (Electromagnetic brake interlock) is assigned to the pin. Refer to the following table for settings.
05h
_ x _ _ For manufacturer setting 0h
x _ _ _ 0h
*1 This is available with servo amplifiers with software version A1 or later. *2 This is available with servo amplifiers with software version A6 or later. *3 This is available with servo amplifiers with software version A8 or later.
Setting value Input device
-_ _ 0 0
RES (Reset) *2_ _ 0 3
_ _ 0 4 PC (Proportional control)
CR (Clear) *2_ _ 0 6
CTL (Internal torque limit selection) *2_ _ 0 9
_ _ 0 A LSP (Forward rotation stroke end)
_ _ 0 B LSN (Reverse rotation stroke end)
CDP (Gain switching)_ _ 0 D
CLD (Fully closed loop selection) *1_ _ 0 E
_ _ 2 2 DOG (Proximity dog)
Setting value Output device
Always off_ _ 0 0
RD (Ready)_ _ 0 2
ALM (Malfunction)_ _ 0 3
INP (In-position)_ _ 0 4
MBR (Electromagnetic brake interlock)_ _ 0 5
DB (Dynamic brake interlock)_ _ 0 6
TLC (Limiting torque)_ _ 0 7
WNG (Warning)_ _ 0 8
BWNG (Battery warning)_ _ 0 9
SA (Speed reached)_ _ 0 A
_ _ 0 B VLC (Limiting speed)
_ _ 0 C ZSP (Zero speed detection)
PRMWR (Wait for enabling parameters) *2_ _ 0 E
_ _ 0 F CDPS (Variable gain selection)
CLDS (During fully closed loop control) *1_ _ 1 0
_ _ 1 1 ABSV (Absolute position undetermined)
_ _ 1 7 MTTR (During tough drive)
POT (Position range) *3_ _ 2 5
PUS (Temporary stop) *3_ _ 2 6
MEND (Travel completion) *3_ _ 2 7
CPO (Rough match) *3_ _ 2 8
3 PARAMETERS 3.2 Detailed list of parameters 143
14
PD11 *DIF Input filter setting
Select a filter for the input signal.
_ _ _ x Input signal filter selection If external input signal causes chattering due to noise, etc., input filter is used to suppress it. 0: None 1: 0.888 [ms] 2: 1.777 [ms] 3: 2.666 [ms] 4: 3.555 [ms] 5: 4.444 [ms] *1
6: 5.333 [ms] *1
*1 This is available with servo amplifiers with software version A7 or later.
4h
_ _ x _ RES (Reset) dedicated filter selection 0: Disabled 1: Enabled (50 [ms]) This digit is available with servo amplifier with software version A7 or later.
0h
_ x _ _ CR (Clear) dedicated filter selection 0: Disabled 1: Enabled (50 [ms]) This digit is available with servo amplifier with software version A7 or later.
0h
x _ _ _ For manufacturer setting 0h
PD12 *DOP1 Function selection D-1
_ _ _ x Stop method selection at stroke limit detection Select a stop method for RY (n + 1) 0 (Upper stroke limit) off or RY (n + 1) 1 (Lower stroke limit) off. (Page 161 Stop method at stroke limit detection)
Setting a value other than the value listed in the setting value field will trigger [AL. 37].
1h
_ _ x _ For manufacturer setting 0h
_ x _ _ Stop method selection at software limit detection Select a stop method selection at software limit detection. (Page 163 Stop method at software limit detection) 1: Slow stop 2: Slow stop (deceleration to a stop by deceleration time constant) 3: Quick stop (stop by clearing remaining distance) Setting "0" will trigger [AL. 37].
1h
x _ _ _ Servo motor thermistor enabled/disabled selection 0: Enabled 1: Disabled This digit is available with servo motors with a thermistor. For servo motors without thermistor, the setting will be disabled.
0h
PD42 *DOP5 Function selection D-5
_ _ _ x CR (Clear) selection 0: Delete droop pulses by turning on the device 1: Always delete droop pulses during the device on 2: Disabled This digit is available with servo amplifier with software version A7 or later.
0h
_ _ x _ For manufacturer setting 0h
_ x _ _ 0h
x _ _ _ 0h
No./symbol/ name
Setting digit
Function Initial value [unit]
Control mode
CP PS SP
Setting value
Control mode
CP PS SP
Quick stop0 Quick stop Quick stop (stop by clearing the speed command to 0)
1 Slow stop Slow stop (deceleration to a stop by deceleration time constant)
- Slow stop (deceleration to a stop by deceleration time constant)2 Slow stop
-3 Quick stop (stop by clearing remaining distance) Quick stop
4 3 PARAMETERS 3.2 Detailed list of parameters
3
Positioning control parameters ([Pr. PT_ _ ]) No./symbol/ name
Setting digit
Function Initial value [unit]
Control mode
CP PS SP PT01 **CTY Command mode selection
_ _ _ x Positioning command method selection 0: Absolute value command method 1: Incremental value command method
0h
_ _ x _ For manufacturer setting 0h
_ x _ _ Position data unit 0: mm 1: inch 2: degree 3: pulse The setting value "2" is available with servo amplifiers with software version A6 or later. For servo amplifiers with software version A6 or earlier, setting "2" triggers [AL. 37.1].
3h
x _ _ _ For manufacturer setting 0h
PT03 *FTY Feeding function selection
_ _ _ x Feed length multiplication (STM) 0: 1 1: 10 2: 100 3: 1000 This digit will be disabled when [degree] or [pulse] of "Position data unit" is set in [Pr. PT01].
0h
_ _ x _ For manufacturer setting 0h
_ x _ _ Shortest rotation selection per degree 0: Rotation direction specifying 1: Shortest rotation 2: Operation in the address decreasing direction rotation 3: Operation in the address increasing direction rotation The settings for this digit will be enabled immediately after the change. This settings for this digit is disabled in the incremental value command method.
0h
x _ _ _ For manufacturer setting 0h
PT07 ZST Home position shift distance
Set a shift distance from the Z-phase pulse detection position in the encoder or from the position set in "Travel distance after proximity dog". Up to 231-1 can be set with [Pr. PT69]. Refer to section 4.6 of "MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode)" for the home position shift direction. The unit will be as follows depending on the positioning mode. Point table method
It will be changed to [m], 10-4 [inch], 10-3 [degree], or [pulse] with [Pr. PT01]. The unit [degree] is available with servo amplifiers with software version A6 or later. Indexer method
It will be command unit [pulse]. (a load-side rotation expressed by the number of servo motor resolution pulses) Refer to the Function column of [Pr. PA10] for the command unit. The indexer method can be used with servo amplifiers with software version A3 or later. Setting range: 0 to 65535
0 Refer to Function column for unit.
PT08 *ZPS Home position return position data
The value calculated from the setting values of [Pr. PT08 Home position return position data] and [Pr. PT47 Home position return position data (extension parameter)] is the current position at home position return completion. The equation is as follows. Home position return position data = [Pr. PT08] + ([Pr. PT47] 65536) The unit can be changed to 10STM [m], 10(STM-4) [inch], 10-3 [degree], or [pulse] with the setting of [Pr. PT01]. If the setting value in this digit is changed, the home position will be erased. Setting range: 0 to 65535
0 Refer to Function column for unit.
3 PARAMETERS 3.2 Detailed list of parameters 145
14
PT09 DCT Travel distance after proximity dog
Set a travel distance after proximity dog for the count type home position return (front end detection, Z-phase reference) (Homing method -2, -34) and the following dog reference home position returns. Up to 231 can be set with [Pr. PT71]. The following shows the home position return of the dog reference. Dog type rear end reference home position return (Homing method -6, -38) Count type home position return (Front end reference) (Homing method -7, -39) Dog type front end reference home position return (Homing method -10, -42) Homing without index pulse (Homing method 19, 20, 21, 22, 23, 24, 27, 28)
The unit can be changed to 10STM [m], 10(STM-4) [inch], 10-3 [degree], or [pulse] with the setting of [Pr. PT01]. The unit [degree] is available with servo amplifiers with software version A6 or later. Setting range: 0 to 65535
0 Refer to Function column for unit.
PT12 CRP Rough match output range
Set a range of the command remaining distance which outputs rough match. The unit will be as follows depending on the positioning mode. Point table method
It will be changed to 10STM [m], 10(STM-4) [inch], 10-3 [degree], or [pulse] with [Pr. PT01]. The unit [degree] is available with servo amplifiers with software version A6 or later. Indexer method
It will be command unit [pulse]. (a load-side rotation expressed by the number of servo motor resolution pulses) Refer to the Function column of [Pr. PA10] for the command unit. The indexer method can be used with servo amplifiers with software version A3 or later. Setting range: 0 to 65535
0 Refer to Function column for unit.
PT14 *BKC Backlash compensation
Set the backlash compensation. If a value other than "0" is set in the cyclic synchronous mode, [AL. 37] occurs. Setting range: 0 to 65535
0 [pulse]
PT15 LMPL Software limit + (lower four digits)
Set an address increasing side of the software stroke limit. Upper and lower are a set. Set the setting address in hexadecimal.
If "Software limit -" is set to a value equal to or more than "Software limit +" while the unit is m, inch, or pulse, the software limit will be disabled. If the value same as the "Software limit -" is set while the unit is degree, the software limit will be disabled. When changing the parameter setting with MR Configurator2, change it during servo-off or in the home position return mode. The unit can be changed to 10STM [m], 10(STM-4) [inch], 10-3 [degree], or [pulse] with the setting of [Pr. PT01]. Setting range: 8000 0000h to 7FFF FFFFh (-2147483648 to 2147483647)
0000h Refer to Function column for unit.
PT16 LMPH Software limit + (upper four digits)
0000h Refer to Function column for unit.
PT17 LMNL Software limit - (lower four digits)
Set an address decreasing side of the software stroke limit. Upper and lower are a set. Set the setting address in hexadecimal.
If "Software limit -" is set to a value equal to or more than "Software limit +" while the unit is m, inch, or pulse, the software limit will be disabled. If the value same as the "Software limit +" is set while the unit is degree, the software limit will be disabled. When changing the parameter setting with MR Configurator2, change it during servo-off or in the home position return mode. The unit can be changed to 10STM [m], 10(STM-4) [inch], 10-3 [degree], or [pulse] with the setting of [Pr. PT01]. Setting range: 8000 0000h to 7FFF FFFFh (-2147483648 to 2147483647)
0000h Refer to Function column for unit.
PT18 LMNH Software limit - (upper four digits)
0000h Refer to Function column for unit.
No./symbol/ name
Setting digit
Function Initial value [unit]
Control mode
CP PS SP
[Pr. PT15]
[Pr. PT16]
Setting address:
Upper four digits Lower four digits
[Pr. PT17]
[Pr. PT18]
Setting address:
Upper four digits Lower four digits
6 3 PARAMETERS 3.2 Detailed list of parameters
3
PT19 *LPPL Position range output address + (lower four digits)
Set an address increasing side of the position range output address. Upper and lower are a set. Set a range which RXnE (Position range) turns on with [Pr. PT19] to [Pr. PT22].
The unit can be changed to 10STM [m], 10(STM-4) [inch], 10-3 [degree], or [pulse] with the setting of [Pr. PT01]. Setting range: 8000 0000h to 7FFF FFFFh (-2147483648 to 2147483647)
0000h Refer to Function column for unit.
PT20 *LPPH Position range output address + (upper four digits)
0000h Refer to Function column for unit.
PT21 *LNPL Position range output address - (lower four digits)
Set an address decreasing side of the position range output address. Upper and lower are a set. Set a range which RXnE (Position range) turns on with [Pr. PT19] to [Pr. PT22].
The unit can be changed to 10STM [m], 10(STM-4) [inch], 10-3 [degree], or [pulse] with the setting of [Pr. PT01]. Setting range: 8000 0000h to 7FFF FFFFh (-2147483648 to 2147483647)
0000h Refer to Function column for unit.
PT22 *LNPH Position range output address - (upper four digits)
0000h Refer to Function column for unit.
No./symbol/ name
Setting digit
Function Initial value [unit]
Control mode
CP PS SP
[Pr. PT19]
[Pr. PT20]
Setting address:
Upper four digits Lower four digits
[Pr. PT21]
[Pr. PT22]
Setting address:
Upper four digits Lower four digits
3 PARAMETERS 3.2 Detailed list of parameters 147
14
PT26 *TOP2 Function selection T-2
_ _ _ x Electric gear fraction clear selection 0: Disabled 1: Enabled Selecting "Enabled" clears the electric gear fraction of the previous command at the start of automatic operation. If an attempt to set this digit to "2" or more is made, this digit will be "Disabled". This digit is available with servo amplifier with software version A7 or later.
0h
_ _ x _ Current position/command position display selection Select how to display the current position and the command position. 0: Positioning display 1: Roll feed display
This digit will be disabled when "Position data unit" in [Pr. PT01] is set to [degree]. This digit is available with servo amplifier with software version A7 or later.
0h
_ x _ _ For manufacturer setting 0h
x _ _ _ 0h
PT27 *ODM Indexer method - Operation mode selection
_ _ _ x For manufacturer setting 0h
_ _ x _ Manual operation method selection 0: Station JOG operation 1: JOG operation This digit is available with servo amplifier with software version A3 or later.
0h
_ x _ _ For manufacturer setting 0h
x _ _ _ 0h
PT28 *STN Number of stations per rotation
Set the number of stations per rotation (number of indexer stations). Setting "0" or "1" to this setting will set it to "2". This parameter is available with servo amplifiers with software version A3 or later. Setting range: 0 to 255
8 [stations ]
No./symbol/ name
Setting digit
Function Initial value [unit]
Control mode
CP PS SP
Setting value
Display method
Operation mode Status display content
Current position Command position
_ _ 0 _ Positioning display
Automatic/manual Displays the actual current position with the machine home position being set as 0.
Displays the command current position with the machine home position being set as 0.
_ _ 1 _ Roll feed display
Automatic Automatic continuous positioning operation
Unavailable Unavailable
Automatic individual positioning operation
Displays the actual current position with the automatic operation start position being set as 0.
Starts counting from 0 when the start signal is turned on and displays the command current position to the target position. Displays the command position (the target position of the point table) during a stop.
Manual Displays the actual current position with the machine home position being set as 0.
Always displays 0.
8 3 PARAMETERS 3.2 Detailed list of parameters
3
PT29 *TOP3 Function selection T-3
Set the DOG polarity.
_ _ _ x (HEX)
_ _ _ x (BIN): DOG (Proximity dog) polarity selection 0: Dog detection with off 1: Detection with on This setting is applied to both the input by a servo amplifier and by a controller.
0h
_ _ x _ (BIN): For manufacturer setting
_ x _ _ (BIN): For manufacturer setting
x _ _ _ (BIN): For manufacturer setting
_ _ x _ For manufacturer setting 0h
_ x _ _ 0h
x _ _ _ 0h
Convert the setting value into hexadecimal as follows.
PT29 *TOP3 Function selection T-3
Set the DOG polarity.
_ _ _ x (HEX)
_ _ _ x (BIN): DOG (Proximity dog) polarity selection 0: Detection with on 1: Dog detection with off This setting is applied to both the input by a servo amplifier and by a controller.
0h
_ _ x _ (BIN): For manufacturer setting
_ x _ _ (BIN): For manufacturer setting
x _ _ _ (BIN): For manufacturer setting
_ _ x _ For manufacturer setting 0h
_ x _ _ 0h
x _ _ _ 0h
Convert the setting value into hexadecimal as follows.
No./symbol/ name
Setting digit
Function Initial value [unit]
Control mode
CP PS SP
00 0
0
BIN HEX 0 0 0 0
Initial value Setting details
DOG (Proximity dog) polarity selection
00 0
0
BIN HEX 0 0 0 0
Initial value Setting details
DOG (Proximity dog) polarity selection
3 PARAMETERS 3.2 Detailed list of parameters 149
15
PT34 **PDEF Point table default
Use this parameter when initializing point tables and cam data. The point tables and the cam data will be the following status by being initialized. Point table: All "0" Cam data: Erased
Initialize the point tables with the following procedures: Set "5001h" to this parameter. Cycle the power of the servo amplifier. After the servo amplifier power is on, the initialization completes in about 20 s. "dF" will be displayed on the display (five-digit, seven-segment LED) during the initialization. After the initialization, the setting of this parameter will be "0000h" automatically.
Initialize the cam data with the following procedures: Set "5010h" to this parameter. Cycle the power of the servo amplifier. After the initialization, the setting of this parameter will be "0000h" automatically.
Initialize the point tables and the cam data with the following procedures: Set "5011h" to this parameter. Cycle the power of the servo amplifier. After the servo amplifier power is on, the initialization completes in about 20 s. "dF" will be displayed on the display (five-digit, seven-segment LED) during the initialization. After the initialization, the setting of this parameter will be "0000h" automatically. Initializing cam data is possible with servo amplifiers with software version A3 or later.
0000h
PT35 *TOP5 Function selection T-5
_ _ _ x For manufacturer setting 0h
_ _ x _ 0h
_ x _ _ Simple cam function selection 0: Disabled 1: Enabled (cam position compensation disabled) 2: Enabled (cam position compensation enabled by touch probe 1 (TPR1)) 3: Enabled (cam position compensation enabled by touch probe 2 (TPR2)) Simple cam function is enabled when the control mode is in the point table method. Enabling this digit in other control modes will trigger [AL. 37 Parameter error]. Setting a value other than "0" to this digit when MR-D30 is connected will trigger [AL. 37]. This digit is available with servo amplifier with software version A3 or later.
0h
x _ _ _ For manufacturer setting 0h
PT38 **TOP7 Function selection T-7
_ _ _ x For manufacturer setting 0h
_ _ x _ Override selection 0: The override function is disabled 1: The digital override function is enabled 2: The analog override function is enabled This parameter is available with servo amplifiers with software version A6 or later.
0h
_ x _ _ For manufacturer setting 0h
x _ _ _ Backlash compensation direction selection at data set type home position return Select the backlash compensation direction at data set type home position return and at home position ignorance. When changing this parameter, perform home position return. This parameter is available with servo amplifiers with software version A8 or later. 0: Automatic setting 1: CCW direction or positive direction 2: CW direction or negative direction
0h
PT39 INT Torque limit delay time
Set delay time from outputting RXnC (Travel completion) to enabling [Pr. PC77 Internal torque limit 2]. This parameter is available with servo amplifiers with software version A3 or later. Setting range: 0 to 1000
100 [ms]
PT40 *SZS Station home position shift distance
Set a shift distance of the station home position with encoder pulse unit at home position return. Setting this parameter enables to shift the station home position (station No. 0) to the position for home position return. The following shows cautions for the setting. The setting of the station home position shift distance is disabled at home position return. Cycling
the power will enable the setting. When the home position shift distance is longer than the in-position range, RXn1 (In-position) will
not be on regardless of cycle of the power after returning to home position. This parameter is available with servo amplifiers with software version A3 or later. Setting range: -32000 to 32000
0 [pulse]
No./symbol/ name
Setting digit
Function Initial value [unit]
Control mode
CP PS SP
0 3 PARAMETERS 3.2 Detailed list of parameters
3
PT42 *OVM Digital override minimum multiplication
Set the minimum speed for when the digital override function is enabled. When the digital override function is used, the multiplication can be set with [Pr. PT42] and [Pr. PT43]. Set this at the same time with [Pr. PT43]. Refer to the following table for how to calculate the multiplication. If an attempt to set "0" is made, the value will be recognized as "1". This parameter is available with servo amplifiers with software version A6 or later. Setting range: 0 to 100
0 [%]
PT43 *OVS Digital override pitch width
Set the override pitch width for when the digital override function is enabled. When the digital override function is used, the multiplication can be set with [Pr. PT42] and [Pr. PT43]. Set this at the same time with [Pr. PT42]. Refer to the table in [Pr. PT42] for settings. If an attempt to set "0" is made, the value will be recognized as "1". This parameter is available with servo amplifiers with software version A6 or later. Setting range: 0 to 20
0 [%]
No./symbol/ name
Setting digit
Function Initial value [unit]
Control mode
CP PS SP
Input device *1 Multiplication [%]
OV3 OV2 OV1 OV0
0 0 0 0 Fixed to 100
0 0 0 1 [Pr. PT42]
0 0 1 0 [Pr. PT42] + [Pr. PT43] 1
0 0 1 1 [Pr. PT42] + [Pr. PT43] 2
0 1 0 0 [Pr. PT42] + [Pr. PT43] 3
0 1 0 1 [Pr. PT42] + [Pr. PT43] 4
0 1 1 0 [Pr. PT42] + [Pr. PT43] 5
0 1 1 1 [Pr. PT42] + [Pr. PT43] 6
1 0 0 0 [Pr. PT42] + [Pr. PT43] 7
1 0 0 1 [Pr. PT42] + [Pr. PT43] 8
1 0 1 0 [Pr. PT42] + [Pr. PT43] 9
1 0 1 1 [Pr. PT42] + [Pr. PT43] 10
1 1 0 0 [Pr. PT42] + [Pr. PT43] 11
1 1 0 1 [Pr. PT42] + [Pr. PT43] 12
1 1 1 0 [Pr. PT42] + [Pr. PT43] 13
1 1 1 1 Fixed to 0
*1 0: off 1: on
3 PARAMETERS 3.2 Detailed list of parameters 151
15
PT45 HMM Home position return type
Set the home position return method. Refer to the following table for details. Setting a value other than setting values ("-1", "-3", "-33", "35" and "37" regarding the indexer method) in the following tables will trigger [AL. F4]. At this time, home position return cannot be executed.
37
No./symbol/ name
Setting digit
Function Initial value [unit]
Control mode
CP PS SP
-2 Count type (front end detection, Z-phase reference)
-34 Count type (front end detection, Z-phase reference)
-36 Stopper type (stopper position reference)
-3 Torque limit changing data set type *1
-
-38 Dog type (rear end detection, rear end reference)
-4 Forward rotation (CCW) or positive direction
Stopper type (stopper position reference)
-39 Count type (front end detection, front end reference)
-5 Home position ignorance (Servo-on position as home position) *2
-
Dog cradle type-40
Dog type last Z-phase reference
-41 -6 Forward rotation
(CCW) or positive direction
Dog type (rear end detection, rear end reference)
-42 Dog type front end reference
-7 Count type (front end detection, front end reference) -43 Dogless Z-phase reference
-8 Dog cradle type
-9 Dog type last Z-phase reference
-10 Dog type front end reference
-11 Dogless Z-phase reference
*1 The torque limit changing dog type and torque limit changing data set type can be used only in the indexer method. The indexer method can be used with servo amplifiers with software version A3 or later. *2 The setting value is available with servo amplifiers with software version A1 or later. *3 Front end detection or rear end detection of the proximity dog can be selected with "torque limit changing dog type home
position return" in [Pr. PT70].
-33 Reverse rotation (CW) or negative direction
-1 Dog type (Rear end detection, Z-phase reference)/Torque limit changing dog type (rear end detection, Z-phase reference) *1*3
Dog type (Rear end detection, Z-phase reference)/Torque limit changing dog type (rear end detection, Z-phase reference) *1*3
Forward rotation (CCW) or positive direction
Setting value
Home position return direction
Home position return type
Setting value
Home position return direction
Home position return type
Setting value
Home position return direction
Home position return type
Setting value
Home position return direction
Home position return type
21 Reverse rotation (CW) or negative direction
Method 3 Method 213 Forward rotation (CCW) or positive direction
22 Method 22Reverse rotation (CW) or negative direction
Method 44 Forward rotation (CCW) or positive direction
Forward rotation (CCW) or positive direction
Method 235 23Method 5Reverse rotation (CW) or negative direction
6 24Method 6 Method 24Reverse rotation (CW) or negative direction
Forward rotation (CCW) or positive direction
27 Reverse rotation (CW) or negative direction
Method 277 Forward rotation (CCW) or positive direction
Method 7
Method 288 28Method 8Forward rotation (CCW) or positive direction
Reverse rotation (CW) or negative direction
11 Method 11 Method 33Reverse rotation (CW) or negative direction
33 Reverse rotation (CW) or negative direction
12 Reverse rotation (CW) or negative direction
Method 12 Forward rotation (CCW) or positive direction
Method 3434
19 Forward rotation (CCW) or positive direction
Method 19 -35 Method 35
20 Forward rotation (CCW) or positive direction
Method 20 -37 Method 37 (Data set type)
2 3 PARAMETERS 3.2 Detailed list of parameters
3
PT47 *ZPSH Home position return position data (extension parameter)
The value calculated from the setting values of [Pr. PT08 Home position return position data] and [Pr. PT47 Home position return position data (extension parameter)] is the current position at home position return completion. The equation is as follows. Home position return position data = [Pr. PT08] + ([Pr. PT47] 65536) The unit can be changed to 10STM [m], 10(STM-4) [inch], 10-3 [degree], or [pulse] with the setting of [Pr. PT01]. If the setting value in this digit is changed, the home position will be erased. Setting range: -32768 to 32767
0 Refer to Function column for unit.
PT48 TOP7A Function selection T-7A
_ _ _ x Torque limit selection at stop 0: Disabled 1: Enabled When this digit is set to "1" (Enabled), the torque limit value at stop in the indexer method will be as shown in the table below.
0h
_ _ x _ For manufacturer setting 0h
_ x _ _ 0h
x _ _ _ 0h
PT49 STA Acceleration time constant
Set an acceleration time from 0 r/min or 0 mm/s to the rated speed for the command. If the servo motor is started when a value exceeding 20000 ms is set, [AL. F4] will occur, and the servo motor will not operate.
For example for the servo motor of 3000 r/min rated speed, set 3000 (3 s) to increase speed from 0 r/min to 1000 r/min in 1 s. Setting range: 0 to 50000
0 [ms]
PT50 STB Deceleration time constant
Set a deceleration time from the rated speed to 0 r/min or 0 mm/s for the command. If the servo motor is started when a value exceeding 20000 ms is set, [AL. F4] will occur, and the servo motor will not operate. In the indexer method, if the servo motor is started when a value exceeding 20000 ms is set, the deceleration time constant is clamped to 20000 ms. Setting range: 0 to 50000
0 [ms]
No./symbol/ name
Setting digit
Function Initial value [unit]
Control mode
CP PS SP
Setting value Torque limit value [Pr. PT48] Torque limit value
status Forward rotation torque limit
Reverse rotation torque limit
- [Pr. PC77] [Pr. PC77]0: Disabled
1: Enabled [Pr. PA11] [Pr. PC77] [Pr. PA11] [Pr. PA12]
[Pr. PA12]
[Pr. PA11] [Pr. PC77] [Pr. PC77] [Pr. PC77]
[Pr. PA12]
If the preset speed command is lower than the rated speed, acceleration/deceleration time will be shorter.
Time [Pr. PT50] setting
0 r/min (0 mm/s)
Rated speed
Servo motor speed
[Pr. PT49] setting
3 PARAMETERS 3.2 Detailed list of parameters 153
15
PT51 STC S-pattern acceleration/ deceleration time constant
This enables to start/stop the servo motor or linear servo motor smoothly. Set the time of the arc part for S-pattern acceleration/deceleration. Setting "0" will make it linear acceleration/deceleration.
Long setting of STA (acceleration time constant) or STB (deceleration time constant) may produce deviation in the set time of the arc part for the S-pattern acceleration/deceleration time constant. The setting will be disabled at home position return. When 1000 ms or more value is set, it will be clamped to 1000 ms.
The upper limit value of the actual arc part time is limited by
for acceleration or by for deceleration.
(Example) At the setting of STA = 20000, STB = 5000 and STC = 200, the actual times for the arc part are as follows: During acceleration: 100 ms
Therefore, it will be limited to 100 [ms]. During deceleration: 200 ms
Therefore, it will be 200 [ms] as you set. Setting range: 0 to 5000
0 [ms]
No./symbol/ name
Setting digit
Function Initial value [unit]
Control mode
CP PS SP
Acceleration time constant
Servo motor speed
0 [r/min]
Deceleration time constant
Ta
Ta + STC Tb
Tb + STC
Rated speed
Preset speed
Ta: Time until preset speed is reached
Tb: Time until stop
2000000 STA
2000000 STB
= 100 [ms] < 200 [ms] 2000000
20000
= 400 [ms] > 200 [ms] 2000000
50000
4 3 PARAMETERS 3.2 Detailed list of parameters
3
PT62 *DSS Remote register-based position/speed specifying method selection
Turning on the link device RY (n + 2) A (position/speed specifying method selection) enables the position command data and the speed command data which have been set in the remote register (RWwn8, RWwn9, RWwnA, and RWwnB). Select a setting value according to the position command and speed command in the following table.
_ _ _ x Point table method position/speed specifying method selection 0h
_ _ x _ Position/speed specifying method selection of indexer method This digit is available with servo amplifier with software version A3 or later.
0h
_ x _ _ Speed specifying method selection in the speed control mode (point table) 0: Specify the speed selection No. 1: Specify the servo motor speed command (no sign). When this digit is set to "1", set the point table No. 1 or No. 2 to the acceleration/deceleration time constants. The servo motor speed is limited by the number of permissible servo motor rotations.
0h
x _ _ _ Reflection timing selection for the speed specifying data in the speed control mode (point table) 0: Reflect the data at the edge of when "Speed command execution demand" is turned on. 1: Always reflect the data while "Speed command execution demand" is being turned on.
0h
PT65 PVC Jog speed command
Set a Jog speed command. The fractional portion of the parameter will be rounded down. Setting range: 0.00 to permissible instantaneous speed
100.00 [r/min]/ [mm/s]
PT69 ZSTH Home position shift distance (extension parameter)
Set the extension parameter of [Pr. PT07]. When [Pr. PT69] is used, the home position shift distance can be calculated as follows. Home position shift distance = [Pr. PT07] + ([Pr. PT69] 65536) Refer to section 4.6 of "MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode)" for the home position shift direction. The unit will be as follows depending on the positioning mode. Point table method
It will be changed to [m], 10-4 [inch], 10-3 [degree], or [pulse] with [Pr. PT01]. The unit [degree] is available with servo amplifiers with software version A6 or later. Indexer method
It will be command unit [pulse]. (a load-side rotation expressed by the number of servo motor resolution pulses) Refer to the Function column of [Pr. PA10] for the command unit. Additionally, when a value of "1001" or more is set, it will be clamped to "1000". The indexer method can be used with servo amplifiers with software version A3 or later. Setting range: 0 to 32767
0 Refer to Function column for unit.
No./symbol/ name
Setting digit
Function Initial value [unit]
Control mode
CP PS SP
Setting value
Position command Speed command
Point table No.
Point table No.
Servo motor speed *1
0 Point table No.
1 Position data
2
*1 Be sure to set an acceleration/deceleration time constant to point table No. 1.
Position command Speed commandSetting value
Point table No.0 Next station No.
Servo motor speed *11
*1 Be sure to set the acceleration/deceleration time constants in the point table No 1.
3 PARAMETERS 3.2 Detailed list of parameters 155
15
Network setting parameters ([Pr. PN_ _])
PT70 TOP10 Function selection T-10
_ _ _ x Function selection for torque limit changing dog type home position return Refer to the following for torque limit changing dog type home position return. Page 220 Home position return mode
0h
_ _ x _ For manufacturer setting 0h
_ x _ _ 0h
x _ _ _ 0h
PT71 DCTH Travel distance after proximity dog (extension parameter)
Set the extension parameter of [Pr. PT09]. When [Pr. PT71] is used, the travel distance after proximity dog can be calculated as follows. Travel distance after proximity dog = [Pr. PT09] + ([Pr. PT71] 65536) The unit can be changed to 10STM [m], 10(STM-4) [inch], or [pulse] with the setting of [Pr. PT01]. Setting range: 0 to 32767
0 Refer to Function column for unit.
No./symbol/ name
Setting digit
Function Initial value [unit]
Control mode
CP PS SP
PN03 **NWMD Communication mode setting for CC-Link IE communication
_ _ _ x Station-specific mode setting Select the motion mode for connection with a simple motion module or the I/O mode for connection with a master/local module. 0: Motion mode 1: I/O mode
0h
_ _ x _ For manufacturer setting 0h
_ x _ _ 0h
x _ _ _ 0h
No./symbol/ name
Setting digit
Function Initial value [unit]
Control mode
CP PS SP
Proximity dog detection end Automatic retract function for home position return
Setting value
Disabled0 Front end detection Stops with reference to the first Z-phase after moving past the front end of the proximity dog.
Disabled1 Rear end detection Stops with reference to the first Z-phase after moving past the rear end of the proximity dog.
Enabled2 Front end detection Stops with reference to the first Z-phase after moving past the front end of the proximity dog.
Enabled3 Rear end detection Stops with reference to the first Z-phase after moving past the rear end of the proximity dog.
6 3 PARAMETERS 3.2 Detailed list of parameters
3
PN06 NOP1 Function selection N-1
_ _ _ x Communication error alarm history writing selection Select whether [AL. 8D.1 CC-Link IE communication error 1] and [AL. 8D.2 CC-Link IE communication error 2] are recorded in the alarm history at their occurrence. 0: Disabled 1: Enabled When the parameter is set to "1", follow the correct procedure for turning off the power to prevent the occurrence of [AL. 8D.1] or [AL. 8D.2] at power supply shut-off (network disconnection). For details, refer to [Pr. PN06 Communication error detection method selection].
0h
_ _ x _ Communication error detection method selection Select the condition for detecting the occurrences of [AL. 8D.1 CC-Link IE communication error 1] and [AL. 8D.2 CC-Link IE communication error 2]. 0: Detected only at servo-on. 1: Continuously detected. When the parameter is set to "0", if link device RYn0 (servo-on) is set to "1" in the I/O mode, [AL. 8D.1] and [AL. 8D.2] are detected. When turning off the power in the I/O mode, set link device RYn0 to "0" first. When the parameter is set to "1", [AL. 8D.1] and [AL. 8D.2] are continuously detected while data is being linked. When turning off the power, turn off the servo amplifier first and then the controller.
0h
_ x _ _ For manufacturer setting 0h
x _ _ _ 0h
No./symbol/ name
Setting digit
Function Initial value [unit]
Control mode
CP PS SP
3 PARAMETERS 3.2 Detailed list of parameters 157
15
3.3 How to set the electronic gear Electronic gear settings in the point table method Adjust [Pr. PA06] and [Pr. PA07] so that the servo motor setting matches with the travel distance of the machine.
Pt: Servo motor encoder resolution: 4194304 [pulse/rev] S: Travel distance per servo motor revolution [mm/rev]/[inch/rev]/[pulse/rev] CMX/CDV = Pt/S
The following setting example explains how to calculate the electronic gear.
To calculate the electronic gear, the following specification symbols are required. Pb: Ball screw lead [mm] 1/n: Reduction ratio Pt: Servo motor encoder resolution [pulse/rev] S: Travel distance per servo motor revolution [mm/rev]
Setting example of a ball screw
Machine specifications Ball screw lead Pb = 10 [mm] Reduction ratio: 1/n = Z1/Z2 = 1/2 Z1: Number of gear teeth on servo motor side Z2: Number of gear teeth on load gear Servo motor encoder resolution: Pt = 4194304 [pulse/rev]
*1 Because the command unit is "mm", = 1000 is set. When the unit is "inch", convert the setting into = 10000. When the unit is "pulse", convert the setting into = 1.
Therefore, set CMX = 524288 and CDV = 625.
Travel distance Deviation counter + -
Servo motor
Encoder
M CDV CMX
Electronic gear ([Pr. PA06] [Pr. PA07])
Servo motor encoder resolution 4194304 [pulse/rev]
Pb = 10 [mm]Z1
1/n = Z1/Z2 = 1/2 Z2
1/n
CMX Pt Pt 4194304 4194304 524288 = = = = =
1/n Pb *1CDV S 1/2 10 1000 5000 625
8 3 PARAMETERS 3.3 How to set the electronic gear
3
Setting example of a conveyor
Machine specifications Pulley diameter: r = 160 [mm] Reduction ratio: 1/n = Z1/Z2 = 1/3 Z1: Number of gear teeth on servo motor side Z2: Number of gear teeth on load gear Servo motor encoder resolution: Pt = 4194304 [pulse/rev]
*1 Because the command unit is "mm", = 1000 is set. When the unit is "inch", convert the setting into = 10000. When the unit is "pulse", convert the setting into = 1.
Reduce CMX and CDV to within the setting range or lower and round off each value to the closest whole number. Therefore, set CMX = 524288 and CDV = 20944.
Electronic gear setting in the indexer method Adjust [Pr. PA06] and [Pr. PA07] to align the rotation amount "m" of the servo motor shaft necessary to rotate the load side for "n" times. The following shows a setting example of the electronic gear.
Number of pulley teeth on machine side: 50, number of pulley teeth on servo motor side: 20 Set [Pr. PA06] = 50 and [Pr. PA07] = 20.
Servo motor encoder resolution 4194304 [pulse/rev]
Z1Z2
1/n = Z1/Z2 = 1/3
1/n
r = 160 [mm]
CMX
CDV
Pt =
S
Pt =
1/n r *1 4194304
= 1/3160 1000
4194304 =
167551.61
524288
20944
Number of pulley teeth on machine side: 50
Servo motor
Number of pulley teeth on servo motor side: 20
3 PARAMETERS 3.3 How to set the electronic gear 159
16
Number of pulley teeth on machine side: 50, number of pulley teeth on servo motor side: 20, with geared servo motor of 1/9 Set [Pr. PA06] = 450 and [Pr. PA07] = 20.
Number of pulley teeth on machine side: 50
Number of pulley teeth on servo motor side: 20
Servo motor
Reduction ratio of geared servo motor: 1/9
= 450 20
9 1
50 20
0 3 PARAMETERS 3.3 How to set the electronic gear
3
3.4 Stop method at stroke limit detection Select a stop method of the servo motor for when a stroke limit is detected with the setting of the first digit in [Pr. PD12].
The limit switches are used as follows depending on the setting in "Sensor input type selection" of [Pr. PD41]. [Pr. PD41] = "0 _ _ _": The stroke ends (LSP and LSN) of the servo amplifier input are used. [Pr. PD41] = "1 _ _ _": The stroke limits (RY (n + 1) 0/RY (n + 1) 1) of the controller input are used.
[Pr. PD12] setting
Operation status Remark
During rotation at constant speed During deceleration to a stop _ _ _ 0 Clears the droop pulses,
then stops the servo motor. Erases the home position. A difference will be generated between the command position and the current position. Perform a home position return again.
_ _ _ 1 (initial value)
Travels for the droop pulse portion and stops the servo motor. Maintains the home position. However, a difference will be generated between the command position and the current position. Perform a home position return again.
_ _ _ 2 Decelerates to a stop with the deceleration time constant currently selected with the point table. Continues operation for a delay portion of the S- pattern acceleration/ deceleration time constants. Maintains the home position. A difference will not be generated between the command position and the current position.
_ _ _ 3 Travels for the droop pulse portion and stops the servo motor. Continues operation for a delay portion of the S- pattern acceleration/ deceleration time constants. Maintains the home position. A difference will not be generated between the command position and the current position.
[Pr. PD12]
Stop method selection at stroke limit detection 1: Slow stop 2: Slow stop (deceleration to a stop by deceleration time constant) 3: Quick stop (stop by clearing remaining distance)
0 r/min (0 mm/s)
ON OFF
No S-pattern acceleration/deceleration With S-pattern acceleration/deceleration
Servo motor speed
RY (n + 1) 0 or RY (n + 1) 1
0 r/min (0 mm/s)
ON OFF
No S-pattern acceleration/deceleration With S-pattern acceleration/deceleration
Servo motor speed
RY (n + 1) 0 or RY (n + 1) 1
Servo motor speed
0 r/min (0 mm/s)
ON OFF
Part of droop pulses
No S-pattern acceleration/ deceleration With S-pattern acceleration/ deceleration
RY (n + 1) 0 or RY (n + 1) 1
No S-pattern acceleration/ deceleration With S-pattern acceleration/ deceleration
Servo motor speed
0 r/min (0 mm/s)
ON OFF
Part of droop pulses
RY (n + 1) 0 or RY (n + 1) 1
Servo motor speed
0 r/min (0 mm/s)
ON OFF
Decelerates to stop.
Acceleration/ deceleration time constant
Acceleration/ deceleration time constant
+ S-pattern acceleration/
deceleration time constant
RY (n + 1) 0 or RY (n + 1) 1
No S-pattern acceleration/ deceleration With S-pattern acceleration/ deceleration
Servo motor speed
0 r/min (0 mm/s)
ON OFF
Continues deceleration to stop.
No S-pattern acceleration/ deceleration With S-pattern acceleration/ deceleration
RY (n + 1) 0 or RY (n + 1) 1
Servo motor speed
0 r/min (0 mm/s)
ON OFF
Part of droop pulses
Part of S-pattern acceleration/
deceleration time constants
+ Part of droop
pulses
No S-pattern acceleration/ deceleration With S-pattern acceleration/ deceleration
RY (n + 1) 0 or RY (n + 1) 1
Servo motor speed
0 r/min (0 mm/s)
ON OFF
Part of droop pulses
Part of S-pattern acceleration/
deceleration time constants
+ Part of droop
pulses
No S-pattern acceleration/ deceleration With S-pattern acceleration/ deceleration
RY (n + 1) 0 or RY (n + 1) 1
3 PARAMETERS 3.4 Stop method at stroke limit detection 161
16
If "RY (n + 1) 0/RY (n + 1) 1" is turned off during forced stop deceleration, the servo motor stops with the setting of [Pr. PD12].
When the stroke limit is detected, perform returning as follows.
[Pr. PD12] Stop method _ _ _ 0 Shifts to quick stop.
_ _ _ 1 Continues forced stop deceleration.
_ _ _ 2
_ _ _ 3
Mode Return method Point table mode Perform operation in the opposite direction of the limit in the JOG operation.
Once the position reaches the range of the limit, perform home position return. If the home position has been determined after home position return completed, positioning operation will be enabled by making a servo- off state once then making a servo-on state again. When "Stop method selection at stroke limit detection" of [Pr. PD12] is set to "2" or "3", home position return is not required to be executed again. Use the automatic positioning to home position function after the servo motor stops at the limit, then perform positioning operation after the servo motor moves to the home position. Positioning operation in the opposite direction of the limit can also be performed after the servo motor stops at the limit.
Speed control mode (point table method) Perform operation in the opposite direction of the limit.
Indexer mode Returning method is the same in the point table mode. The setting values "0", "2", and "3" in "Stop method selection at software limit detection" of [Pr. PD12] are available with servo amplifiers with software version A8 or later.
2 3 PARAMETERS 3.4 Stop method at stroke limit detection
3
3.5 Stop method at software limit detection Select a stop method of the servo motor for when a software limit ([Pr. PT15] to [Pr. PT18]) is detected with the setting of the third digit in [Pr. PD12]. The software limit limits a command position controlled in the servo amplifier. Therefore, actual stop position will not reach the set position of the software limit.
[Pr. PD12] setting
Operation status Remark
During rotation at constant speed During deceleration to a stop _ 1 _ _ (initial value)
Travels for the droop pulse portion and stops the servo motor. Maintains the home position. However, a difference will be generated between the command position and the current position. Perform a home position return again.
_ 2 _ _ Decelerates to a stop with the deceleration time constant currently selected with the point table. Continues operation for a delay portion of the S- pattern acceleration/ deceleration time constants. Maintains the home position. A difference will not be generated between the command position and the current position.
_ 3 _ _ Travels for the droop pulse portion and stops the servo motor. Continues operation for a delay portion of the S- pattern acceleration/ deceleration time constants. Maintains the home position. A difference will not be generated between the command position and the current position.
Stop method selection at software limit detection 1: Slow stop 2: Slow stop (deceleration to a stop by deceleration time constant) 3: Quick stop (stop by clearing remaining distance)
[Pr. PD12]
Servo motor speed
0 r/min (0 mm/s)
Software limit detection
Part of droop pulses
No S-pattern acceleration/ deceleration With S-pattern acceleration/ deceleration
Servo motor speed
0 r/min (0 mm/s)
Software limit detection
Part of droop pulses
No S-pattern acceleration/ deceleration With S-pattern acceleration/ deceleration
Servo motor speed
0 r/min (0 mm/s)
Software limit detection
Acceleration/ deceleration time constant
+ S-pattern acceleration/
deceleration time constant
Decelerates to stop.
Acceleration/ deceleration time constant
No S-pattern acceleration/ deceleration With S-pattern acceleration/ deceleration
Servo motor speed
0 r/min (0 mm/s)
Software limit detection
Continues deceleration to stop.
No S-pattern acceleration/ deceleration With S-pattern acceleration/ deceleration
Servo motor speed
0 r/min (0 mm/s)
Part of droop pulses
Part of S-pattern acceleration/
deceleration time constants
+ Part of droop
pulses
No S-pattern acceleration/ deceleration With S-pattern acceleration/ deceleration
Software limit detection
Servo motor speed
0 r/min (0 mm/s)
Software limit detection
Part of S-pattern acceleration/
deceleration time constants
+ Part of droop
pulses
Part of droop pulses
No S-pattern acceleration/ deceleration With S-pattern acceleration/ deceleration
3 PARAMETERS 3.5 Stop method at software limit detection 163
16
4 TROUBLESHOOTING
Refer to "MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting)" for details of alarms and warnings.
As soon as an alarm occurs, make the Servo-off status and interrupt the main circuit power. [AL. 37 Parameter error] and warnings (except [AL. F0 Tough drive warning]) are not recorded in the alarm
history. In the initial setting, [AL. 8D.1 CC-Link IE communication error 1] and [AL. 8D.2 CC-Link IE communication
error 2] are not recorded in the alarm history. The alarms are recorded by setting [Pr. PN06] to "_ _ _ 1".
When an error occurs during operation, the corresponding alarm and warning are displayed. When an alarm or warning is displayed, refer to "MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting)" to remove the failure. When an alarm occurs, ALM (Malfunction) will turn off.
4.1 Explanation for the lists
No./Name/Detail No./Detail name Indicates each No./Name/Detail No./Detail name of alarms or warnings.
Stop method For the alarms and warnings in which "SD" is written in the stop method column, the servo motor stops with the dynamic brake after forced stop deceleration. For the alarms and warnings in which "DB" or "EDB" is written in the stop method column, the servo motor stops with the dynamic brake without forced stop deceleration.
Alarm deactivation After its cause has been removed, the alarm can be deactivated in any of the methods marked in the alarm deactivation column. Warnings are automatically canceled after the cause of occurrence is removed. Alarms are deactivated with alarm reset, CPU reset, or cycling the power.
*1 This is available with servo amplifiers with software version A7 or later.
Alarm deactivation Explanation Alarm reset Error reset command from the controller
Click "Occurring Alarm Reset" in the "Alarm Display" window of MR Configurator2 Turn on RES (Reset) with an input device *1
CPU reset Resetting the controller itself
Cycling the power Turning off the power and on again
4 4 TROUBLESHOOTING 4.1 Explanation for the lists
4
4.2 Alarm list No. Name Detail
No. Detail name Stop
method *2*3
Alarm deactivation
Alarm reset
CPU reset
Cycling the power
10 Undervoltage 10.1 Voltage drop in the control circuit power EDB
10.2 Voltage drop in the main circuit power SD
11 Switch setting error 11.1 Axis number setting error/Station number setting error
DB
11.2 Disabling control axis setting error DB
12 Memory error 1 (RAM) 12.1 RAM error 1 DB
12.2 RAM error 2 DB
12.3 RAM error 3 DB
12.4 RAM error 4 DB
12.5 RAM error 5 DB
12.6 RAM error 6 DB
13 Clock error 13.1 Clock error 1 DB
13.2 Clock error 2 DB
14 Control process error 14.1 Control process error 1 DB
14.2 Control process error 2 DB
14.3 Control process error 3 DB
14.4 Control process error 4 DB
14.5 Control process error 5 DB
14.6 Control process error 6 DB
14.7 Control process error 7 DB
14.8 Control process error 8 DB
14.9 Control process error 9 DB
14.A Control process error 10 DB
14.B Control process error 11 DB
15 Memory error 2 (EEP-ROM) 15.1 EEP-ROM error at power on DB
15.2 EEP-ROM error during operation DB
15.4 Home position information read error DB
16 Encoder initial communication error 1
16.1 Encoder initial communication - Receive data error 1 DB
16.2 Encoder initial communication - Receive data error 2 DB
16.3 Encoder initial communication - Receive data error 3 DB
16.5 Encoder initial communication - Transmission data error 1
DB
16.6 Encoder initial communication - Transmission data error 2
DB
16.7 Encoder initial communication - Transmission data error 3
DB
16.A Encoder initial communication - Process error 1 DB
16.B Encoder initial communication - Process error 2 DB
16.C Encoder initial communication - Process error 3 DB
16.D Encoder initial communication - Process error 4 DB
16.E Encoder initial communication - Process error 5 DB
16.F Encoder initial communication - Process error 6 DB
4 TROUBLESHOOTING 4.2 Alarm list 165
16
17 Board error 17.1 Board error 1 DB
17.3 Board error 2 DB
17.4 Board error 3 DB
17.5 Board error 4 DB
17.6 Board error 5 DB
17.7 Board error 7 DB
17.8 Board error 6*6 EDB
17.9 Board error 8 DB
19 Memory error 3 (Flash-ROM) 19.1 Flash-ROM error 1 DB
19.2 Flash-ROM error 2 DB
19.3 Flash-ROM error 3 DB
1A Servo motor combination error
1A.1 Servo motor combination error 1 DB
1A.2 Servo motor control mode combination error DB
1A.4 Servo motor combination error 2 DB
1B Converter error 1B.1 Converter unit error DB
1E Encoder initial communication error 2
1E.1 Encoder malfunction DB
1E.2 Load-side encoder malfunction DB
1F Encoder initial communication error 3
1F.1 Incompatible encoder DB
1F.2 Incompatible load-side encoder DB
20 Encoder normal communication error 1
20.1 Encoder normal communication - Receive data error 1
EDB
20.2 Encoder normal communication - Receive data error 2
EDB
20.3 Encoder normal communication - Receive data error 3
EDB
20.5 Encoder normal communication - Transmission data error 1
EDB
20.6 Encoder normal communication - Transmission data error 2
EDB
20.7 Encoder normal communication - Transmission data error 3
EDB
20.9 Encoder normal communication - Receive data error 4
EDB
20.A Encoder normal communication - Receive data error 5
EDB
21 Encoder normal communication error 2
21.1 Encoder data error 1 EDB
21.2 Encoder data update error EDB
21.3 Encoder data waveform error EDB
21.4 Encoder non-signal error EDB
21.5 Encoder hardware error 1 EDB
21.6 Encoder hardware error 2 EDB
21.9 Encoder data error 2 EDB
24 Main circuit error 24.1 Ground fault detected by hardware detection circuit DB
24.2 Ground fault detected by software detection function DB
25 Absolute position erased 25.1 Servo motor encoder - Absolute position erased DB
25.2 Scale measurement encoder - Absolute position erased
DB
No. Name Detail No.
Detail name Stop method *2*3
Alarm deactivation
Alarm reset
CPU reset
Cycling the power
6 4 TROUBLESHOOTING 4.2 Alarm list
4
27 Initial magnetic pole detection error
27.1 Initial magnetic pole detection - Abnormal termination
DB
27.2 Initial magnetic pole detection - Time out error DB
27.3 Initial magnetic pole detection - Limit switch error DB
27.4 Initial magnetic pole detection - Estimated error DB
27.5 Initial magnetic pole detection - Speed deviation error DB
27.6 Initial magnetic pole detection - Position deviation error
DB
27.7 Initial magnetic pole detection - Current error DB
28 Linear encoder error 2 28.1 Linear encoder - Environment error EDB
2A Linear encoder error 1 2A.1 Linear encoder error 1-1 EDB
2A.2 Linear encoder error 1-2 EDB
2A.3 Linear encoder error 1-3 EDB
2A.4 Linear encoder error 1-4 EDB
2A.5 Linear encoder error 1-5 EDB
2A.6 Linear encoder error 1-6 EDB
2A.7 Linear encoder error 1-7 EDB
2A.8 Linear encoder error 1-8 EDB
2B Encoder counter error 2B.1 Encoder counter error 1 EDB
2B.2 Encoder counter error 2 EDB
30 Regenerative error 30.1 Regeneration heat error DB *1 *1 *1
30.2 Regeneration signal error DB *1 *1 *1
30.3 Regeneration feedback signal error DB *1 *1 *1
31 Overspeed 31.1 Abnormal motor speed SD
32 Overcurrent 32.1 Overcurrent detected at hardware detection circuit (during operation)
DB
32.2 Overcurrent detected at software detection function (during operation)
DB
32.3 Overcurrent detected at hardware detection circuit (during a stop)
DB
32.4 Overcurrent detected at software detection function (during a stop)
DB
33 Overvoltage 33.1 Main circuit voltage error EDB
34 SSCNET receive error 1 34.1 SSCNET receive data error SD *5
34.2 SSCNET connector connection error SD
34.3 SSCNET communication data error SD
34.4 Hardware error signal detection SD
34.5 SSCNET receive data error (safety observation function)
SD
34.6 SSCNET communication data error (safety observation function)
SD
35 Command frequency error 35.1 Command frequency error SD
36 SSCNET receive error 2 36.1 Continuous communication data error SD
36.2 Continuous communication data error (safety observation function)
SD
37 Parameter error 37.1 Parameter setting range error DB
37.2 Parameter combination error DB
37.3 Point table setting error DB
39 Program error 39.1 Program error DB
39.2 Instruction argument external error DB
39.3 Register No. error DB
39.4 Non-correspondence instruction error DB
No. Name Detail No.
Detail name Stop method *2*3
Alarm deactivation
Alarm reset
CPU reset
Cycling the power
4 TROUBLESHOOTING 4.2 Alarm list 167
16
3A Inrush current suppression circuit error
3A.1 Inrush current suppression circuit error EDB
3D Parameter setting error for driver communication
3D.1 Parameter combination error for driver communication on slave
DB
3D.2 Parameter combination error for driver communication on master
DB
3E Operation mode error 3E.1 Operation mode error DB
3E.6 Operation mode switch error DB
42 Servo control error (for linear servo motor and direct drive motor)
42.1 Servo control error by position deviation EDB *4 *4
42.2 Servo control error by speed deviation EDB *4 *4
42.3 Servo control error by torque/thrust deviation EDB *4 *4
Fully closed loop control error (for fully closed loop control)
42.8 Fully closed loop control error by position deviation EDB *4 *4
42.9 Fully closed loop control error by speed deviation EDB *4 *4
42.A Fully closed loop control error by position deviation during command stop
EDB *4 *4
45 Main circuit device overheat 45.1 Main circuit device overheat error 1 SD *1 *1 *1
45.2 Main circuit device overheat error 2 SD *1 *1 *1
46 Servo motor overheat 46.1 Abnormal temperature of servo motor 1 SD *1 *1 *1
46.2 Abnormal temperature of servo motor 2 SD *1 *1 *1
46.3 Thermistor disconnected error SD *1 *1 *1
46.4 Thermistor circuit error SD *1 *1 *1
46.5 Abnormal temperature of servo motor 3 DB *1 *1 *1
46.6 Abnormal temperature of servo motor 4 DB *1 *1 *1
47 Cooling fan error 47.1 Cooling fan stop error SD
47.2 Cooling fan speed reduction error SD
50 Overload 1 50.1 Thermal overload error 1 during operation SD *1 *1 *1
50.2 Thermal overload error 2 during operation SD *1 *1 *1
50.3 Thermal overload error 4 during operation SD *1 *1 *1
50.4 Thermal overload error 1 during a stop SD *1 *1 *1
50.5 Thermal overload error 2 during a stop SD *1 *1 *1
50.6 Thermal overload error 4 during a stop SD *1 *1 *1
51 Overload 2 51.1 Thermal overload error 3 during operation DB *1 *1 *1
51.2 Thermal overload error 3 during a stop DB *1 *1 *1
52 Error excessive 52.1 Excess droop pulse 1 SD
52.3 Excess droop pulse 2 SD
52.4 Error excessive during 0 torque limit SD
52.5 Excess droop pulse 3 EDB
52.6 Excess droop pulse during servo-off SD
54 Oscillation detection 54.1 Oscillation detection error EDB
56 Forced stop error 56.2 Over speed during forced stop EDB
56.3 Estimated distance over during forced stop EDB
61 Operation error 61.1 Point table setting range error DB
63 STO timing error 63.1 STO1 off DB
63.2 STO2 off DB
63.5 STO by functional safety unit DB
64 Functional safety unit setting error
64.1 STO input error DB
64.2 Compatibility mode setting error DB
64.3 Operation mode setting error DB
No. Name Detail No.
Detail name Stop method *2*3
Alarm deactivation
Alarm reset
CPU reset
Cycling the power
8 4 TROUBLESHOOTING 4.2 Alarm list
4
65 Functional safety unit connection error
65.1 Functional safety unit communication error 1 SD
65.2 Functional safety unit communication error 2 SD
65.3 Functional safety unit communication error 3 SD
65.4 Functional safety unit communication error 4 SD
65.5 Functional safety unit communication error 5 SD
65.6 Functional safety unit communication error 6 SD
65.7 Functional safety unit communication error 7 SD
65.8 Functional safety unit shut-off signal error 1 DB
65.9 Functional safety unit shut-off signal error 2 DB
66 Encoder initial communication error (safety observation function)
66.1 Encoder initial communication - Receive data error 1 (safety observation function)
DB
66.2 Encoder initial communication - Receive data error 2 (safety observation function)
DB
66.3 Encoder initial communication - Receive data error 3 (safety observation function)
DB
66.7 Encoder initial communication - Transmission data error 1 (safety observation function)
DB
66.9 Encoder initial communication - Process error 1 (safety observation function)
DB
67 Encoder normal communication error 1 (safety observation function)
67.1 Encoder normal communication - Receive data error 1 (safety observation function)
DB
67.2 Encoder normal communication - Receive data error 2 (safety observation function)
DB
67.3 Encoder normal communication - Receive data error 3 (safety observation function)
DB
67.4 Encoder normal communication - Receive data error 4 (safety observation function)
DB
67.7 Encoder normal communication - Transmission data error 1 (safety observation function)
DB
68 STO diagnosis error 68.1 Mismatched STO signal error DB
69 Command error 69.1 Forward rotation-side software limit detection - Command excess error
SD
69.2 Reverse rotation-side software limit detection - Command excess error
SD
69.3 Forward rotation stroke end detection - Command excess error
SD
69.4 Reverse rotation stroke end detection - Command excess error
SD
69.5 Upper stroke limit detection - Command excess error SD
69.6 Lower stroke limit detection - Command excess error SD
No. Name Detail No.
Detail name Stop method *2*3
Alarm deactivation
Alarm reset
CPU reset
Cycling the power
4 TROUBLESHOOTING 4.2 Alarm list 169
17
70 Load-side encoder initial communication error 1
70.1 Load-side encoder initial communication - Receive data error 1
DB
70.2 Load-side encoder initial communication - Receive data error 2
DB
70.3 Load-side encoder initial communication - Receive data error 3
DB
70.5 Load-side encoder initial communication - Transmission data error 1
DB
70.6 Load-side encoder initial communication - Transmission data error 2
DB
70.7 Load-side encoder initial communication - Transmission data error 3
DB
70.A Load-side encoder initial communication - Process error 1
DB
70.B Load-side encoder initial communication - Process error 2
DB
70.C Load-side encoder initial communication - Process error 3
DB
70.D Load-side encoder initial communication - Process error 4
DB
70.E Load-side encoder initial communication - Process error 5
DB
70.F Load-side encoder initial communication - Process error 6
DB
71 Load-side encoder normal communication error 1
71.1 Load-side encoder normal communication - Receive data error 1
EDB
71.2 Load-side encoder normal communication - Receive data error 2
EDB
71.3 Load-side encoder normal communication - Receive data error 3
EDB
71.5 Load-side encoder normal communication - Transmission data error 1
EDB
71.6 Load-side encoder normal communication - Transmission data error 2
EDB
71.7 Load-side encoder normal communication - Transmission data error 3
EDB
71.9 Load-side encoder normal communication - Receive data error 4
EDB
71.A Load-side encoder normal communication - Receive data error 5
EDB
72 Load-side encoder normal communication error 2
72.1 Load-side encoder data error 1 EDB
72.2 Load-side encoder data update error EDB
72.3 Load-side encoder data waveform error EDB
72.4 Load-side encoder non-signal error EDB
72.5 Load-side encoder hardware error 1 EDB
72.6 Load-side encoder hardware error 2 EDB
72.9 Load-side encoder data error 2 EDB
74 Option card error 1 74.1 Option card error 1 DB
74.2 Option card error 2 DB
74.3 Option card error 3 DB
74.4 Option card error 4 DB
74.5 Option card error 5 DB
75 Option card error 2 75.3 Option card connection error EDB
75.4 Option card disconnected DB
No. Name Detail No.
Detail name Stop method *2*3
Alarm deactivation
Alarm reset
CPU reset
Cycling the power
0 4 TROUBLESHOOTING 4.2 Alarm list
4
79 Functional safety unit diagnosis error
79.1 Functional safety unit power voltage error DB *7
79.2 Functional safety unit internal error DB
79.3 Abnormal temperature of functional safety unit SD *7
79.4 Servo amplifier error SD
79.5 Input device error SD
79.6 Output device error SD
79.7 Mismatched input signal error SD
79.8 Position feedback fixing error DB
7A Parameter setting error (safety observation function)
7A.1 Parameter verification error (safety observation function)
DB
7A.2 Parameter setting range error (safety observation function)
DB
7A.3 Parameter combination error (safety observation function)
DB
7A.4 Functional safety unit combination error (safety observation function)
DB
7B Encoder diagnosis error (safety observation function)
7B.1 Encoder diagnosis error 1 (safety observation function)
DB
7B.2 Encoder diagnosis error 2 (safety observation function)
DB
7B.3 Encoder diagnosis error 3 (safety observation function)
DB
7B.4 Encoder diagnosis error 4 (safety observation function)
DB
7C Functional safety unit communication diagnosis error (safety observation function)
7C.1 Functional safety unit communication setting error (safety observation function)
SD *7
7C.2 Functional safety unit communication data error (safety observation function)
SD *7
7D Safety observation error 7D.1 Stop observation error DB *3
7D.2 Speed observation error DB *7
82 Master-slave operation error 1
82.1 Master-slave operation error 1 EDB
84 Network module initialization error
84.1 Network module undetected error DB
84.2 Network module initialization error 1 DB
84.3 Network module initialization error 2 DB
85 Network module error 85.1 Network module error 1 SD
85.2 Network module error 2 SD
85.3 Network module error 3 SD
86 Network communication error 86.1 Network communication error 1 SD
86.2 Network communication error 2 SD
86.3 Network communication error 3 SD
8A USB communication time-out error/serial communication time-out error/Modbus RTU communication time-out error
8A.1 USB communication time-out error/serial communication time-out error
SD
8A.2 Modbus RTU communication time-out error SD
8D CC-Link IE communication error
8D.1 CC-Link IE communication error 1 SD
8D.2 CC-Link IE communication error 2 SD
8D.3 Master station setting error 1 DB
8D.5 Master station setting error 2 DB
8D.6 CC-Link IE communication error 3 SD
8D.7 CC-Link IE communication error 4 SD
8D.8 CC-Link IE communication error 5 SD
8D.9 Synchronization error 1 SD
8D.A Synchronization error 2 SD
No. Name Detail No.
Detail name Stop method *2*3
Alarm deactivation
Alarm reset
CPU reset
Cycling the power
4 TROUBLESHOOTING 4.2 Alarm list 171
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*1 Leave for about 30 minutes of cooling time after removing the cause of occurrence. *2 The following shows three stop methods of DB, EDB, and SD.
DB: Stops with dynamic brake. (Coasts for the servo amplifier without dynamic brake.) Coasts for MR-J4-03A6(-RJ) and MR-J4W2-0303B6. Note that EDB is applied when an alarm below occurs; [AL. 30.1], [AL. 32.2], [AL. 32.4], [AL. 51.1], [AL. 51.2], [AL. 888] EDB: Electronic dynamic brake stop (available with specified servo motors) Refer to the following table for the specified servo motors. The stop method for other than the specified servo motors will be DB.
SD: Forced stop deceleration *3 This is applicable when [Pr. PA04] is set to the initial value. The stop system of SD can be changed to DB using [Pr. PA04]. *4 The alarm can be canceled by setting as follows:
For the fully closed loop control: set [Pr. PE03] to "1 _ _ _". When a linear servo motor or direct drive motor is used: set [Pr. PL04] to "1 _ _ _".
*5 In some controller communication status, the alarm factor may not be removed. *6 This alarm will occur only in the J3 compatibility mode. *7 Reset this while all the safety observation functions are stopped.
8E USB communication error/ serial communication error/ Modbus RTU communication error
8E.1 USB communication receive error/serial communication receive error
SD
8E.2 USB communication checksum error/serial communication checksum error
SD
8E.3 USB communication character error/serial communication character error
SD
8E.4 USB communication command error/serial communication command error
SD
8E.5 USB communication data number error/serial communication data number error
SD
8E.6 Modbus RTU communication receive error SD
8E.7 Modbus RTU communication message frame error SD
8E.8 Modbus RTU communication CRC error SD
88888 Watchdog 8888._ Watchdog DB
No. Name Detail No.
Detail name Stop method *2*3
Alarm deactivation
Alarm reset
CPU reset
Cycling the power
Series Servo motor HG-KR HG-KR053/HG-KR13/HG-KR23/HG-KR43
HG-MR
HG-SR
HG-AK HG-AK0136/HG-AK0236/HG-AK0336
HG-SR51/HG-SR52
HG-MR053/HG-MR13/HG-MR23/HG-MR43
2 4 TROUBLESHOOTING 4.2 Alarm list
4
4.3 Warning list No. Name Detail
No. Detail name Stop
method *2*3
90 Home position return incomplete warning 90.1 Home position return incomplete
90.2 Home position return abnormal termination
90.5 Z-phase unpassed
91 Servo amplifier overheat warning *1 91.1 Main circuit device overheat warning
92 Battery cable disconnection warning 92.1 Encoder battery cable disconnection warning
92.3 Battery degradation
93 ABS data transfer warning 93.1 Magnetic pole detection incomplete warning at ABS data transfer request
95 STO warning 95.1 STO1 off detection DB
95.2 STO2 off detection DB
95.3 STO warning 1 (safety observation function) DB
95.4 STO warning 2 (safety observation function) DB
95.5 STO warning 3 (safety observation function) DB
96 Home position setting warning 96.1 In-position warning at home positioning
96.2 Command input warning at home positioning
96.3 Servo off warning at home positioning
96.4 Magnetic pole detection incomplete warning at home positioning
97 Positioning specification warning 97.1 Program operation disabled warning
97.2 Next station position warning
98 Software limit warning 98.1 Forward rotation-side software stroke limit reached
98.2 Reverse rotation-side software stroke limit reached
99 Stroke limit warning 99.1 Forward rotation stroke end off *4*5
99.2 Reverse rotation stroke end off *4*5
99.4 Upper stroke limit off *5
99.5 Lower stroke limit off *5
9A Optional unit input data error warning 9A.1 Optional unit input data sign error
9A.2 Optional unit BCD input data error
9B Error excessive warning 9B.1 Excess droop pulse 1 warning
9B.3 Excess droop pulse 2 warning
9B.4 Error excessive warning during 0 torque limit
9C Converter error 9C.1 Converter unit error
9D CC-Link IE warning 1 9D.1 Station number switch change warning
9D.2 Master station setting warning
9D.3 Overlapping station number warning
9D.4 Mismatched station number warning
9E CC-Link IE warning 2 9E.1 CC-Link IE communication warning
9F Battery warning 9F.1 Low battery
9F.2 Battery degradation warning
E0 Excessive regeneration warning E0.1 Excessive regeneration warning
E1 Overload warning 1 E1.1 Thermal overload warning 1 during operation
E1.2 Thermal overload warning 2 during operation
E1.3 Thermal overload warning 3 during operation
E1.4 Thermal overload warning 4 during operation
E1.5 Thermal overload error 1 during a stop
E1.6 Thermal overload error 2 during a stop
E1.7 Thermal overload error 3 during a stop
E1.8 Thermal overload error 4 during a stop
E2 Servo motor overheat warning E2.1 Servo motor temperature warning
4 TROUBLESHOOTING 4.3 Warning list 173
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*1 Leave for about 30 minutes of cooling time after removing the cause of occurrence. *2 The following shows two stop methods of DB and SD.
DB: Stops with dynamic brake. (Coasts for the servo amplifier without dynamic brake.) Coasts for MR-J4-03A6(-RJ) and MR-J4W2-0303B6. SD: Forced stop deceleration
*3 This is applicable when [Pr. PA04] is set to the initial value. The stop system of SD can be changed to DB using [Pr. PA04]. *4 For MR-J4-_A_ servo amplifier, quick stop or slow stop can be selected using [Pr. PD30]. *5 For MR-J4-_GF_ servo amplifier, quick stop or slow stop can be selected using [Pr. PD12]. (I/O mode only)
E3 Absolute position counter warning E3.1 Multi-revolution counter travel distance excess warning
E3.2 Absolute position counter warning
E3.4 Absolute positioning counter EEP-ROM writing frequency warning
E3.5 Encoder absolute positioning counter warning
E4 Parameter warning E4.1 Parameter setting range error warning
E5 ABS time-out warning E5.1 Time-out during ABS data transfer
E5.2 ABSM off during ABS data transfer
E5.3 SON off during ABS data transfer
E6 Servo forced stop warning E6.1 Forced stop warning SD
E6.2 SS1 forced stop warning 1 (safety observation function) SD
E6.3 SS1 forced stop warning 2 (safety observation function) SD
E7 Controller forced stop warning E7.1 Controller forced stop input warning SD
E8 Cooling fan speed reduction warning E8.1 Decreased cooling fan speed warning
E8.2 Cooling fan stop
E9 Main circuit off warning E9.1 Servo-on signal on during main circuit off DB
E9.2 Bus voltage drop during low speed operation DB
E9.3 Ready-on signal on during main circuit off DB
E9.4 Converter unit forced stop DB
EA ABS servo-on warning EA.1 ABS servo-on warning
EB The other axis error warning EB.1 The other axis error warning DB
EC Overload warning 2 EC.1 Overload warning 2
ED Output watt excess warning ED.1 Output watt excess warning
F0 Tough drive warning F0.1 Instantaneous power failure tough drive warning
F0.3 Vibration tough drive warning
F2 Drive recorder - Miswriting warning F2.1 Drive recorder - Area writing time-out warning
F2.2 Drive recorder - Data miswriting warning
F3 Oscillation detection warning F3.1 Oscillation detection warning
F4 Positioning warning F4.4 Target position setting range error warning
F4.6 Acceleration time constant setting range error warning
F4.7 Deceleration time constant setting range error warning
F4.9 Home position return type error warning
F5 Simple cam function - Cam data miswriting warning F5.1 Cam data - Area writing time-out warning
F5.2 Cam data - Area miswriting warning
F5.3 Cam data checksum error
F6 Simple cam function - Cam control warning F6.1 Cam axis one cycle current value restoration failed
F6.2 Cam axis feed current value restoration failed
F6.3 Cam unregistered error
F6.4 Cam control data setting range error
F6.5 Cam No. external error
F6.6 Cam control inactive
F7 Machine diagnosis warning F7.1 Vibration failure prediction warning
F7.2 Friction failure prediction warning
F7.3 Total travel distance failure prediction warning
No. Name Detail No.
Detail name Stop method *2*3
4 4 TROUBLESHOOTING 4.3 Warning list
4
4.4 Troubleshooting at power on When an error occurs at the power supply of the controller or servo amplifier, improper boot of the servo amplifier might be the cause. Check the display of the servo amplifier, and take actions according to this section.
*1 ## indicates station No.
Display Description Cause Checkpoint Action AA The power of the controller was
turned off. The power of the controller was turned off.
Check the power of the controller. Switch on the power of the controller.
An Ethernet cable was disconnected.
"AA" is displayed in the corresponding station and following stations.
Replace the Ethernet cable of the corresponding station.
Check if the connectors (CN1A, CN1B) are unplugged.
Connect it correctly.
Ab Initialization communication with the controller has not completed.
An Ethernet cable was disconnected.
"Ab" is displayed in the corresponding station and following stations.
Replace the Ethernet cable of the corresponding station.
The power of the servo amplifier was switched on when the power of the controller was off.
Check the power of the controller. Switch on the power of the controller.
The servo amplifier is malfunctioning.
"Ab" is displayed in the corresponding station and following stations.
Replace the servo amplifier.
The controller is malfunctioning. Replace the controller, and then check the repeatability.
Replace the controller.
AC The synchronous communications by specified cycle could not be made.
The setting of the station No. is incorrect.
Check that a device is not assigned to the same station No.
Set it correctly.
Station No. does not match with the station No. set to the controller.
Check the controller setting and station No.
Set it correctly.
The communication cycle does not match.
Check the communication cycle at the controller side.
Set it correctly.
The servo amplifier parameter setting is incorrect.
Check the following parameter settings. [Pr. PN03] [Pr. PD41]
Set it correctly.
Data link was established again. Network configuration was changed.
After checking the network configuration, cycle the power of the servo amplifier.
The controller setting is incorrect. Check the controller setting. Set it correctly.
The servo amplifier is malfunctioning.
"AC" is displayed in the corresponding station and following stations.
Replace the servo amplifier.
The controller is malfunctioning. Replace the controller, and then check the repeatability.
Replace the controller.
b##. *1
C##. *1
d##. *1
The system has been in the test operation mode.
Test operation mode has been enabled.
Test operation select switch (SW1- 1) is turned on.
Turn off the test operation select switch (SW1-1).
off Operation mode for manufacturer setting is set.
Operation mode for manufacturer setting is enabled.
Check that the test operation select switch (SW1-1) and manufacturer setting switch (SW1- 2) are not on.
Set the auxiliary station number setting switch (SW1) correctly.
4 TROUBLESHOOTING 4.4 Troubleshooting at power on 175
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5 INDEXER OPERATION The items shown in the following table are the same as those for the motion mode. For details, refer to each section indicated in the detailed explanation field. "MR-J4-_GF_" means "MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode)".
The indexer operation can be used with servo amplifiers with software version A3 or later. In the absolute position detection system, rotating the shaft one revolution or more during power-off may erase a home position. Therefore, do not rotate the shaft one revolution or more during power-off. At operation start-up after a home position is erased, [AL. 90 Home position return incomplete warning] will occur. In that case, execute the home position return again. There are the following restrictions on [Pr. PA06 Number of gear teeth on machine side] and the servo motor speed (N). When [Pr. PA06] 2000, N < 3076.7 r/min When [Pr. PA06] > 2000, N < (3276.7 - CMX)/10 r/min When the servo motor is operated continuously at a servo motor speed higher than the limit value, [AL. E3 Absolute position counter warning] will occur. The setting of [Pr. PC77 Internal torque limit 2] will be enabled automatically depending on the operation status. Since the initial value of [Pr. PC77] is 0.0 %, change the value to use the indexer operation. If the value is unchanged, the servo motor coasts during a stop.
5.1 Link device Profile Some input devices can be assigned to the pins of the CN3 connector with [Pr. PD03] to [Pr. PD05]. When using the CC-Link IE Field Network communication and CN3 connector's input signal, assigned devices other than upper stroke limit, lower stroke limit and proximity dog can be used simultaneously. Some output devices can be assigned to the pins of the CN3 connector with [Pr. PD07] to [Pr. PD09]. The assigned devices can be used together when using the CC-Link IE Field Network communication and CN3 connector's output signal. When turning off input/output signals, turn off both CC-Link IE Field Network communication and external I/O signals of the CN3 connector. The following shows the profile of link devices communicated with the master station in cyclic communication.
Item Detailed explanation Startup MR-J4-_GF_ section 4.2
Switch setting and display of the servo amplifier MR-J4-_GF_ section 4.3
Test operation MR-J4-_GF_ section 4.4
Test operation mode MR-J4-_GF_ section 4.5
6 5 INDEXER OPERATION 5.1 Link device
5
RYn profile
*1 "n" depends on the station No. setting. *2 This is available with servo amplifiers with software version A6 or later. *3 This is available with servo amplifiers with software version A7 or later.
Master station Servo amplifier (RYn)
Device No. *1 Device Symbol CN3 connector pin No. RYn0 Servo-on SON
RYn1 Start ST1
RYn2 Rotation direction specifying SIG
RYn3 Proximity dog DOG 19
RYn4 Unavailable
RYn5
RYn6 Operation mode selection 1 MD0
RYn7 Operation mode selection 2 MD1
RYn8 Monitor output execution demand MOR
RYn9 Instruction code execution demand COR
RYnA to RYnE
Unavailable
RYnF Clear *3 CR
RY (n + 1) 0 Upper stroke limit FLS
RY (n + 1) 1 Lower stroke limit RLS
RY (n + 1) 2 Operation alarm reset ORST
RY (n + 1) 3 to RY (n + 1) A
Unavailable
RY (n + 1) B Analog override selection *2 OVR
RY (n + 1) C Digital override selection 1 *2 OV0
RY (n + 1) D Digital override selection 2 *2 OV1
RY (n + 1) E Digital override selection 3 *2 OV2
RY (n + 1) F Digital override selection 4 *2 OV3
RY (n + 2) 0 Position command execution demand PSR
RY (n + 2) 1 Speed command execution demand SPR
RY (n + 2) 2 to RY (n + 2) 5
Unavailable
RY (n + 2) 6 Internal torque limit selection *3 CTL
RY (n + 2) 7 Proportional control (PID control) PC
RY (n + 2) 8 Gain switching CDP
RY (n + 2) 9 Unavailable
RY (n + 2) A Position/speed specifying method selection
CSL
RY (n + 2) B to RY (n + 2) F
Unavailable
RY (n + 3) 0 to RY (n + 3) 9
RY (n + 3) A Reset RES
RY (n + 3) B to RY (n + 3) F
Unavailable
5 INDEXER OPERATION 5.1 Link device 177
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RXn profile
*1 "n" depends on the station No. setting.
Servo amplifier Master station (RXn)
Device No. *1 Device Symbol CN3 connector pin No. RXn0 Ready RD
RXn1 In-position INP 9
RXn2 Rough match CPO
RXn3 Unavailable
RXn4 Limiting torque TLC
RXn5 Unavailable
RXn6 Electromagnetic brake interlock MBR 13
RXn7 Unavailable
RXn8 Monitoring MOF
RXn9 Instruction code execution completion
COF
RXnA Warning WNG
RXnB Battery warning BWNG
RXnC Travel completion MEND
RXnD Dynamic brake interlock DB
RXnE Unavailable
RXnF
RX (n + 1) 0 Home position return completion 2 ZP2
RX (n + 1) 1 to RX (n + 1) F
Unavailable
RX (n + 2) 0 Position command execution completion
PSF
RX (n + 2) 1 Speed command execution completion
SPF
RX (n + 2) 2 to RX (n + 2) F
Unavailable
RX (n + 3) 0 to RX (n + 3) 9
RX (n + 3) A Malfunction ALM 15
RX (n + 3) B Remote station communication ready CRD
RX (n + 3) C to RX (n + 3) F
Unavailable
8 5 INDEXER OPERATION 5.1 Link device
5
RWwn profile
*1 "n" depends on the station No. setting. *2 Use this device when the remote register-based position/speed specifying method is selected. *3 This is available with servo amplifiers with software version A6 or later.
RWrn profile
*1 "n" depends on the station No. setting.
Master station Servo amplifier (RWwn)
Device No. *1 Device RWwn0 Monitor 1
RWwn1 Unavailable
RWwn2 Monitor 2
RWwn3 Unavailable
RWwn4 Instruction code - Lower 16 bits
RWwn5 Instruction code - Upper 16 bits
RWwn6 Next station No. selection
RWwn7 Speed selection
RWwn8 Next station No.*2
RWwn9 Unavailable
RWwnA Speed command data - Lower 16 bits/Point table No.*2
RWwnB Speed command data - Upper 16 bits*2
RWwnC Writing data - Lower 16 bits
RWwnD Writing data - Upper 16 bits
RWwnE Unavailable
RWwnF Analog override *3
Servo amplifier Master station (RWrn)
Device No. *1 Device RWrn0 Monitor 1 data - Lower 16 bits
RWrn1 Monitor 1 data - Upper 16 bits
RWrn2 Monitor 2 data - Lower 16 bits
RWrn3 Monitor 2 data - Upper 16 bits
RWrn4 Respond code
RWrn5 Unavailable
RWrn6 Station No. output
RWrn7 Unavailable
RWrn8
RWrn9
RWrnA
RWrnB
RWrnC Reading data - Lower 16 bits
RWrnD Reading data - Upper 16 bits
RWrnE Unavailable
RWrnF
5 INDEXER OPERATION 5.1 Link device 179
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Detailed explanation of the RYn/RXn profile
RYn profile Device No. Device Description RYn0 Servo-on Turn on RYn0 to power on the base circuit, and make the servo amplifier ready to operate. (servo-
on status) Turn it off to shut off the base circuit, and coast the servo motor.
RYn1 Start Automatic operation mode Turning on RYn1 will execute one positioning operation to the specified station No. Manual operation mode
When the station JOG operation is set, turning on RYn1 will rotate the servo motor in the direction specified with RYn2 only while RYn1 is on. Turning off RYn1 will execute a positioning to a station position at which the servo motor can decelerate to a stop. When the JOG operation is set, turning on RYn1 will rotate the motor in the direction specified with RYn2 only while RYn1 is on. Turning off will decelerate the motor to a stop regardless of the station position. Home position return mode
Turning on RYn1 will start home position return.
RYn2 Rotation direction specifying Specify the rotation direction at start by turning on/off RYn2. Automatic operation mode
The rotation direction varies depending on the setting of [Pr. PA14]. RYn2 is only for the rotation direction specifying indexer. This is not used with the shortest rotating indexer operation.
Manual operation mode The rotation direction varies depending on the setting of [Pr. PA14]. The relation between the parameter and rotation direction is the same as that for the automatic operation mode. Home position return mode
RYn2 is disabled. Specify the rotation direction in the home position return mode with [Pr. PT45].
RYn3 Proximity dog When RYn3 is turned on, a proximity dog will be detected. The polarity for dog can be changed with [Pr. PT29].
RYn6 Operation mode selection 1 Select an operation mode with the settings of RYn6 and RYn7.
RYn7 Operation mode selection 2
RYn8 Monitor output execution demand Turning on RYn8 sets the following data and turns on RXn8. While RYn8 is on, the monitor value is always updated. RWrn0: Lower 16 bits of data requested with RWwn0 (Monitor 1) RWrn1: Upper 16 bits of data requested with RWwn0 (Monitor 1) RWrn2: Lower 16 bits of data requested with RWwn2 (Monitor 2) RWrn3: Upper 16 bits of data requested with RWwn2 (Monitor 2) RWrn4: Respond code indicating a normal or error result
RYn9 Instruction code execution demand
Turning on RYn9 executes the processing corresponding to the instruction code set with RWwn4 and RWwn5. After the instruction code execution is completed, a respond code indicating a normal or error result is stored in RWrn4, and RXn9 turns on. Refer to the following for details of the instruction code. Page 35 Instruction code
RYn2 Pr. PA14 Servo motor rotation direction CCW or positive direction
CW or negative direction1
Off 0
CW or negative direction
CCW or positive direction1
On 0
[Pr. PT29] Polarity for proximity dog detection
Detection with on_ _ _ 0 (initial value)
_ _ _ 1 Detection with off
RYn6 Operation modeRYn7 Home position return modeOff Off
On Manual operation modeOff
Automatic operation mode (rotation direction specifying indexer)
On Off
On On Automatic operation mode (shortest rotating indexer)
0 5 INDEXER OPERATION 5.1 Link device
5
RYnF Clear Turning on RYnF clears the droop pulses and the command remaining distance in the position control counter at the rising edge. The pulse width should be 10 ms or more. If [Pr. PD42] is set to "_ _ _ 1", the droop pulses and the command remaining distance will always be cleared while RYnF is on.
RY (n + 1) 0 Upper stroke limit To execute the operation, turn on RY (n + 1) 0 and RY (n + 1) 1. Turning off the device corresponding to the address increasing or decreasing direction will bring the servo motor to a slow stop and make it servo-locked. The stop method can be changed with [Pr. PD12].
RY (n + 1) 1 Lower stroke limit
RY (n + 1) 2 Operation alarm reset Turn on RY (n + 1) 2 from off to reset [AL. F4 Positioning warning].
RY (n + 1) B Analog override selection When using this device, set "Override selection" of [Pr. PT38] to "2" to enable the analog override function. Turning on RY (n + 1) B enables the setting value of the analog override (RWwnF).
RY (n + 1) C Digital override selection 1 When using this device, set "Override selection" of [Pr. PT38] to "1" to enable the digital override function. The actual servo motor speed can be obtained by multiplying the command speed and a digital override value selected in the digital override selection 1 to 4.
RY (n + 1) D Digital override selection 2
RY (n + 1) E Digital override selection 3
RY (n + 1) F Digital override selection 4
RY (n + 2) 0 Position command execution demand
Turning on RY (n + 2) 0 sets the next station No. set in RWwn8. If a next station No. is set to the servo amplifier, a respond code indicating a normal or error result is set in RWrn4 and RX (n + 2) 0 (Position command execution completion) turns on. Page 193 Remote register-based position/speed setting
RY (n + 2) 1 Speed command execution demand
Turning on RY (n + 2) 1 sets the point table No. or speed command data set in RWwnA and RWwnB. If a point table No. or speed command data is set to the servo amplifier, a respond code indicating a normal or error result is set in RWrn4 and RX (n + 2) 1 (Position command execution completion) turns on. Page 193 Remote register-based position/speed setting
RY (n + 2) 6 Internal torque limit selection If RY (n + 2) 6 is turned on, the setting value of [Pr. PA11 Forward rotation torque limit] or [Pr. PA12 Reverse rotation torque limit] is compared with [Pr. PC77 Internal torque limit] and the lower one will be enabled.
RY (n + 2) 7 Proportional control (PID control) Turn on RY (n + 2) 7 to switch the speed amplifier from the proportional integral type to the proportional type. If the servo motor at a stop is rotated even one pulse due to any external factor, it generates torque to compensate for a position shift. When the servo motor shaft is to be locked mechanically after RXnC (Travel completion) is turned off, switching on RY (n + 2) 7 upon turning RXnC off will suppress the unnecessary torque generated to compensate for a position shift. When the shaft is to be locked for a long time, turn on RY (n + 2) 7 and make the torque less than the rated torque with the torque limit. This function will be enabled by selecting "PI control enabled (_ _ _ 0)" in "PI-PID switching control selection" of [Pr. PB24].
RY (n + 2) 8 Gain switching Turn on RY (n + 2) 8 to use the values of [Pr. PB29] to [Pr. PB36] and [Pr. PB56] to [Pr. PB60] as the load to motor inertia ratio and gain values.
RY (n + 2) A Position/speed specifying method selection
Select how to give a position command and speed command. Off: Specify a next station No. with RWwn6 to give a position command. Specify a point table No.
with RWwn7 to give a speed command. On: When [Pr. PT62] is set to "_ _ 0 _", specify a next station No. with RWwn8 to give a position
command, and specify a point table No. with RWwnA to give a speed command. When [Pr. PT62] is set to "_ _ 1 _", specify a next station No. with RWwn8 to give a position command, and specify speed command data with RWwnA and RWwnB to give a speed command.
RY (n + 3) A Reset Turn on RY (n + 3) A to reset alarms. However, some alarms cannot be cleared with RY (n + 3) A.
Device No. Device Description
5 INDEXER OPERATION 5.1 Link device 181
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RXn profile Device No. Device Description RXn0 Ready When the servo-on is on and the servo amplifier is ready to operate, RXn0 turns on.
RXn1 In-position When the number of droop pulses is in the preset in-position range, RXn1 turns on. The in-position range can be changed with [Pr. PA10]. When the in-position range is increased, RXn1 may be always on during low-speed rotation.
RXn2 Rough match When a command remaining distance is lower than the rough match output range set with [Pr. PT12], RXn2 turns on. This is not outputted during base circuit shut-off.
RXn4 Limiting torque RXn4 turns on when a generated torque reaches a value set with [Pr. PA11 Forward rotation torque limit] or [Pr. PA12 Reverse rotation torque limit].
RXn6 Electromagnetic brake interlock When using the device, set operation delay time of the electromagnetic brake in [Pr. PC02]. When a servo-off status or alarm occurs, RXn6 turns off.
RXn8 Monitoring Refer to RYn8 (Monitor output execution demand).
RXn9 Instruction code execution completion
Refer to RYn9 (Instruction code execution demand).
RXnA Warning When a warning occurs, RXnA turns on. When a warning is not occurring, turning on the power will turn off RXnA after 4 s to 5 s.
RXnB Battery warning RXnB turns on when [AL. 92 Battery cable disconnection warning] or [AL. 9F Battery warning] has occurred. When the battery warning is not occurring, turning on the power will turn off RXnB after 4 s to 5 s.
RXnC Travel completion When the number of droop pulses is within the in-position output range set with [Pr. PA10] and the command remaining distance is "0", RXnC turns on. In the servo-off status, when the number of droop pulses is within the in-position range of each next station position and the command remaining distance is "0", RXnC turns on as well.
RXnD Dynamic brake interlock RXnD turns off when the dynamic brake needs to operate.
RX (n + 1) 0 Home position return completion 2
1. When the incremental system is set When a home position return completes normally, RX (n + 1) 0 turns on. When a home position return starts or if [AL. 69 Command error] occurs, RX (n + 1) 0 turns off. In addition, while [Pr. PT01] is set for the incremental value command method in the positioning mode, RX (n + 1) 0 turns off if the following conditions are met: 1) In servo-off status (servo-off, EM1 or EM2 is turned off, an alarm has occurred, STO is turned
off, or [AL. E9 Main circuit off warning] has occurred) 2) The stroke limit is turned off 3) During software limit detection
2. When the absolute position detection system is set When a home position return completes normally, RX (n + 1) 0 turns on. When a home position return starts or if [AL. 69 Command error] occurs, RX (n + 1) 0 turns off. In addition, ZP2 turns off if any of the following conditions are met: 1) [AL. 25 Absolute position erased] has occurred 2) [AL. E3 Absolute position counter warning] has occurred 3) [Pr. PA01], [Pr. PA06], [Pr. PA07], [Pr. PA14], [Pr. PT01 (_ x _ _)], [Pr. PT08], [Pr. PT28], or [Pr.
PT47] has been modified When [Pr. PT01] is set for the incremental value command method in the positioning mode, the absolute position detection system cannot be configured. Review the parameter setting value.
RX (n + 2) 0 Position command execution completion
Refer to RY (n + 2) 0 (Position command execution demand).
RX (n + 2) 1 Speed command execution completion
Refer to RY (n + 2) 1 (Speed command execution demand).
RX (n + 3) A Malfunction When an alarm occurs, RX (n + 3) A will turn on. When an alarm is not occurring, turning on the power will turn off RX (n + 3) A after 4 s to 5 s.
RX (n + 3) B Remote station communication ready
Turning on the power will turn on RX (n + 3) B. When an alarm occurs, RX (n + 3) B will turn off.
2 5 INDEXER OPERATION 5.1 Link device
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Detailed explanation of the RWwn/RWrn profile
RWwn profile Device No. Device Description Setting range RWwn0 Monitor 1 Setting a monitor code to monitor in RWwn0 and turning on RYn8 store data
in RWrn0 and RWrn1. At this time, RXn8 turns on. Refer to the following for monitor codes for status display. Page 33 Monitor code
Page 33 Monitor code
RWwn2 Monitor 2 Setting a monitor code to monitor in RWwn2 and turning on RYn8 store data in RWrn2 and RWrn3. At this time, RXn8 turns on. Refer to the following for monitor codes for status display. Page 33 Monitor code
Page 33 Monitor code
RWwn4 Instruction code - Lower 16 bits Set an instruction code No. used to read or write a parameter or point table data or to refer to an alarm. Setting an instruction code No. in RWwn4 and turning on RYn9 execute the instruction. RXn9 turns on after the instruction execution is completed. Refer to the following for the instruction code No. Page 35 Instruction code
Page 35 Instruction code
RWwn5 Instruction code - Upper 16 bits When a value other than "0000h" is set in this device, the instruction code is not executed even if RYn9 is turned on and "_ _ 1 _" is set in respond code.
0000h
RWwn6 Next station No. selection Set a target next station No. Even if a value out of the setting range is set, an alarm or warning does not occur. However, the set value is invalid and the previous setting value is used.
0 to 254
RWwn7 Speed selection To execute the positioning operation, select a point table No. that stores speed command data.
Point table No.: 1 to 255
RWwn8 Next station No. This function can be used while RY (n + 2) A (Position/speed specifying method selection) is on (the remote register-based position/speed specifying method is selected). Setting a target next station No. in RWwn8 and turning on RY (n + 2) 0 set the next station No. in the servo amplifier. After the setting is completed, RX (n + 2) 0 turns on. Refer to the following for details. Page 193 Remote register-based position/speed setting
0 to 254
RWwnA Point table No./Speed command data - Lower 16 bits
This function can be used while RY (n + 2) A (Position/speed specifying method selection) is on (the remote register-based position/speed specifying method is selected). When using speed data of point tables
Set [Pr. PT62] to "_ _ 0 _". Setting a point table No. in RWwnA and turning on RY (n + 2) 1 set the point table No. in the servo amplifier. After the setting is completed, RX (n + 2) 1 turns on. When setting a servo motor speed directly
Set [Pr. PT62] to "_ _ 1 _". Setting the lower 16 bits of the speed command data in RWwnA and the upper 16 bits of the speed command data in RWwnB and turning on RY (n + 2) 1 enable the settings. After the setting is completed, RX (n + 2) 1 turns on. The unit is [0.01 r/min]. Use [Pr. PT62] to select whether to set a point table No. or speed command data. Refer to the following for details of the point table No. or speed command data. Page 193 Remote register-based position/speed setting When setting a servo motor speed in this remote register, always set an acceleration time constant and deceleration time constant in point table No. 1.
Point table No.: 1 to 255 Speed command data: 0 to permissible speed
RWwnB Speed command data - Upper 16 bits
RWwnC Writing data - Lower 16 bits Set writing data used to write a parameter or point table data or to clear the alarm history. Setting writing data in RWwnC and RWwnD and turning on RYn9 write the data to the servo amplifier. When the writing is completed, RXn9 turns on. Refer to the following for writing data. Page 40 Writing instruction code
Page 40 Writing instruction codeRWwnD Writing data - Upper 16 bits
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RWrn profile Device No. Device Description Setting range RWrn0 Monitor 1 data - Lower 16 bits The lower 16 bits of the data corresponding to the monitor code set in
RWwn0 are stored.
RWrn1 Monitor 1 data - Upper 16 bits The upper 16 bits of the data corresponding to the monitor code set in RWwn0 are stored. A sign is set if no data is set in the upper 16 bits.
RWrn2 Monitor 2 data - Lower 16 bits The lower 16 bits of the data corresponding to the monitor code set in RWwn2 are stored.
RWrn3 Monitor 2 data - Upper 16 bits The upper 16 bits of the data corresponding to the monitor code set in RWwn2 are stored. A sign is set if no data is set in the upper 16 bits.
RWrn4 Respond code When the codes set in RWwn0 to RWwnD have been executed normally, "0000" is set.
RWrn6 Station No. output The station No. is set when RXnC turns on. In the following conditions, "0" is set in RWrn6. The home position return is not completed. The home position return is completed.
In the following conditions, RWrn6 holds the value used in the previous operation. The operation mode is changed. During manual operation
RWrnC Reading data - Lower 16 bits Data corresponding to the reading code set in RWwn4 is set.
RWrnD Reading data - Upper 16 bits
RWwnF Analog override Set the override value. Set the override value in % unit in the range of 0 to 200 %.
0 to 200
4 5 INDEXER OPERATION 5.1 Link device
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Code
Monitor code Use any of the instruction codes 0100h to 011Fh to read the decimal point position (multiplying factor) of the status display. Setting any code No. that is not given in this section will set an error code (_ _ _ 1) in respond code (RWrn4). At this time, "0000" is set in RWrn0 to RWrn3.
*1 This is available with servo amplifiers with software version A6 or later.
Code No. Monitored item Response data content (Servo amplifier Master station)
Data length Unit 0000h
0001h
0002h
0003h
0004h
0005h
0006h
0007h Override level *1 16 bits [%]
0008h Station No. 16 bits
0009h
000Ah Cumulative feedback pulses 32 bits [pulse]
000Bh
000Ch
000Dh
000Eh Droop pulses 32 bits [pulse]
000Fh
0010h
0011h Regenerative load ratio 16 bits [%]
0012h Effective load ratio 16 bits [%]
0013h Peak load ratio 16 bits [%]
0014h Instantaneous torque 16 bits [%]
0015h ABS counter 16 bits [rev]
0016h Servo motor speed 32 bits 0.01 [r/min]/0.01 [mm/s]
0017h
0018h Bus voltage 16 bits [V]
0019h
001Ah
001Bh
001Ch Position within one-revolution 32 bits [pulse]
001Dh
001Eh
001Fh
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Instruction code Refer to the following for the timing charts of the instruction codes. Page 45 Instruction code
Reading instruction code The data requested to be read with the instruction codes 0000h to 0AFFh is stored in reading data (RWrnC and RWrnD). Set the instruction code No. corresponding to the item in RWwn4 and RWwn5. The instruction code No. and response data are all hexadecimal. Setting any instruction code No. that is not given in this section will store an error code (_ _ 1 _) in respond code (RWrn4). If any unusable parameter or point table is read, an error code (_ _ 2 _) is stored. At this time, "0000" is stored in reading data (RWrnC and RWrnD).
Code No. Item/function Reading data content (Servo amplifier Master station)
RWwn5 RWwn4 RWrnC RWrnD 0000h 0000h Operation mode
Reads the current operation mode. 0000: CC-Link IE operation mode 0001: Test operation mode
Always 0
0000h 0002h Travel distance multiplying factor Reads the multiplying factor of the position data in the point table set with [Pr. PT03].
0000: 1 0100: 10 0200: 100 0300: 1000
Always 0
0000h 0010h Current alarm (warning) reading Reads the alarm No. or warning No. that is currently occurring.
Always 0
0000h 0020h Alarm number in alarm history (latest alarm)
Always 0
0000h 0021h Alarm number in alarm history (one alarm ago)
0000h 0022h Alarm number in alarm history (two alarms ago)
0000h 0023h Alarm number in alarm history (three alarms ago)
0000h 0024h Alarm number in alarm history (four alarms ago)
0000h 0025h Alarm number in alarm history (five alarms ago)
0000h 0026h Alarm number in alarm history (six alarms ago)
0000h 0027h Alarm number in alarm history (seven alarms ago)
0000h 0028h Alarm number in alarm history (eight alarms ago)
0000h 0029h Alarm number in alarm history (nine alarms ago)
0000h 002Ah Alarm number in alarm history (ten alarms ago)
0000h 002Bh Alarm number in alarm history (eleven alarms ago)
0000h 002Ch Alarm number in alarm history (twelve alarms ago)
0000h 002Dh Alarm number in alarm history (thirteen alarms ago)
0000h 002Eh Alarm number in alarm history (fourteen alarms ago)
0000h 002Fh Alarm number in alarm history (fifteen alarms ago)
No. of the alarm or warning currently occurring
Detail of the alarm or warning currently occurring
Detail of an alarm that occurred before
No. of an alarm that occurred before
6 5 INDEXER OPERATION 5.1 Link device
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0000h 0030h Alarm occurrence time in alarm history (latest alarm)
Returns the occurrence time of the alarm that occurred before. Always 0
0000h 0031h Alarm occurrence time in alarm history (one alarm ago)
0000h 0032h Alarm occurrence time in alarm history (two alarms ago)
0000h 0033h Alarm occurrence time in alarm history (three alarms ago)
0000h 0034h Alarm occurrence time in alarm history (four alarms ago)
0000h 0035h Alarm occurrence time in alarm history (five alarms ago)
0000h 0036h Alarm occurrence time in alarm history (six alarms ago)
0000h 0037h Alarm occurrence time in alarm history (seven alarms ago)
0000h 0038h Alarm occurrence time in alarm history (eight alarms ago)
0000h 0039h Alarm occurrence time in alarm history (nine alarms ago)
0000h 003Ah Alarm occurrence time in alarm history (ten alarms ago)
0000h 003Bh Alarm occurrence time in alarm history (eleven alarms ago)
0000h 003Ch Alarm occurrence time in alarm history (twelve alarms ago)
0000h 003Dh Alarm occurrence time in alarm history (thirteen alarms ago)
0000h 003Eh Alarm occurrence time in alarm history (fourteen alarms ago)
0000h 003Fh Alarm occurrence time in alarm history (fifteen alarms ago)
0000h 0040h Input device status 0 Reads the status (OFF/ON) of input devices.
Bit 0 to bit F indicate the OFF/ON status of the corresponding input devices. 0: Servo-on 1: Start 2: Rotation direction specifying 3: Proximity dog 4 to 5: For manufacturer setting 6: Operation mode selection 1 7: Operation mode selection 2 8: Monitor output execution demand 9: Instruction code execution demand A to E: For manufacturer setting F: Clear
Always 0
0000h 0041h Input device status 1 Reads the status (OFF/ON) of input devices.
Bit 0 to bit F indicate the OFF/ON status of the corresponding input devices. 0: Upper stroke limit *1
1: Lower stroke limit *1
2: Operation alarm reset 3 to F: For manufacturer setting
Always 0
0000h 0042h Input device status 2 Reads the status (OFF/ON) of input devices.
Bit 0 to bit F indicate the OFF/ON status of the corresponding input devices. 0: Position command execution demand 1: Speed command execution demand 2 to 5: For manufacturer setting 6: Internal torque limit selection 7: Proportional control (PID control) 8: Gain switching 9: For manufacturer setting A: Position/speed specifying method selection B to F: For manufacturer setting
Always 0
Code No. Item/function Reading data content (Servo amplifier Master station)
RWwn5 RWwn4 RWrnC RWrnD
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0000h 0043h Input device status 3 Reads the status (OFF/ON) of input devices.
Bit 0 to bit F indicate the OFF/ON status of the corresponding input devices. 0 to 9 For manufacturer setting A: Reset B to F: For manufacturer setting
Always 0
0000h 0081h Energization time Reads the energization time since shipment.
Returns the energization time [h]. Always 0
0000h 0082h Power on frequency Reads the number of power-on times since shipment.
Returns the number of power-on times. Always 0
0000h 00A0h Load to motor inertia ratio Reads the estimated load to motor inertia ratio on the servo motor shaft.
Return unit [0.01 times] The load to motor inertia ratio is returned.
Always 0
0000h 00B0h Home position within one-revolution (CYC0) Reads the cycle counter value of an absolute home position.
Return unit [pulse] Stores the lower 16 bits of the cycle counter value of the absolute home position (32-bit data).
Stores the upper 16 bits of the cycle counter value of the absolute home position.
0000h 00B2h Home position multi-revolution data (ABS0) Reads the multi-revolution counter value of an absolute home position.
Return unit [rev] Returns the multi-revolution counter value.
Always 0
0000h 00C0h Error parameter No./Point data No. reading Reads the parameter No. and point table No. that have an error.
Always 0
0000h 0100h to 011Fh
Monitor multiplying factor Reads the multiplying factor of data to be read with a monitor code. The instruction codes 0100h to 011Fh correspond to each of the monitor codes 0000h to 001Fh. To the instruction code that has no corresponding monitor code, "0000h" is applied.
0000: 1 0001: 10 0002: 100 0003: 1000
Always 0
0000h 0200h Parameter group reading Reads the parameter group written with the code No. 8200h.
Always 0
Code No. Item/function Reading data content (Servo amplifier Master station)
RWwn5 RWwn4 RWrnC RWrnD
Parameter No. or point table No.
Type 1: Parameter 2: Point table
Parameter group 0: [Pr. PA_ _ ] 1: [Pr. PB_ _ ] 2: [Pr. PC_ _ ] 3: [Pr. PD_ _ ] 4: [Pr. PE_ _ ] 5: [Pr. PF_ _ ] 6 to A: For manufacturer setting B: [Pr. PL_ _ ] C: [Pr. PT_ _ ] E: [Pr. PN_ _ ]
Parameter group 0: [Pr. PA_ _ ] 1: [Pr. PB_ _ ] 2: [Pr. PC_ _ ] 3: [Pr. PD_ _ ] 4: [Pr. PE_ _ ] 5: [Pr. PF_ _ ] 6 to A: For manufacturer setting B: [Pr. PL_ _ ] C: [Pr. PT_ _ ] E: [Pr. PN_ _ ]
0 00
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*1 The setting of [Pr. PD41 Sensor input type selection] enables switching between indicating the state of input (LSP/LSN) from the servo amplifier and the state of input (RY (n + 1) 0/RY (n + 1) 1) from the controller. When [Pr. PD41] is the initial value, the state of input to the servo amplifier is indicated. When it is set to input to the servo amplifier, bit 0 and bit 1 of setting value [Pr. PA14 Rotation direction selection/travel direction selection] are interchanged.
0000h 0201h to 02FFh
Parameter data reading Reads the setting values of the parameters in the group read with the code No. 0200h. The lower two digits of the code No. which are converted to decimal correspond to the parameter No.
Stores the lower 16 bits of the setting value of the requested parameter No.
Stores the upper 16 bits of the setting value of the requested parameter No.
0000h 0301h to 03FFh
Data form of parameter Reads the data form of the parameter numbers in the group read with the code No. 0200h. The lower two digits of the code No. which are converted to decimal correspond to the parameter No.
Stores the data form of the requested parameter No. Always 0
0000h 0601h to 06FFh
Servo motor speed of point table No. 1 to 255 The lower two digits of the code No. which are converted to decimal correspond to the point table No.
Stores the lower 16 bits of the servo motor speed of the requested point table No.
Stores the upper 16 bits of the servo motor speed of the requested point table No.
0000h 0701h to 07FFh
Acceleration time constant of point table No. 1 to 255 The lower two digits of the code No. which are converted to decimal correspond to the point table No.
Stores the acceleration time constant of the requested point table No. Always 0
0000h 0801h to 08FFh
Deceleration time constant of point table No. 1 to 255 The lower two digits of the code No. which are converted to decimal correspond to the point table No.
Stores the deceleration time constant of the requested point table No. Always 0
Code No. Item/function Reading data content (Servo amplifier Master station)
RWwn5 RWwn4 RWrnC RWrnD
Decimal point position 0: No decimal point 1: First least significant digit
(no decimal point) 2: Second least significant digit 3: Third least significant digit 4: Forth least significant digit
Data form 0: Data is used unchanged in
hexadecimal. 1: Data must be converted into
decimal. Parameter writing type 0: Enabled after writing 1: Enabled when power is
cycled after writing 2: Enabled when the controller
is reset
0
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Writing instruction code Data requested to be written with the instruction codes 8000h to 91FFh is written to the servo amplifier. Set the instruction code No. corresponding to the item in instruction code (RWwn4 and RWwn5) and the data to be written in writing data (RWwnC and RWwnD). The instruction code No. and response data are all hexadecimal. Setting any instruction code No. that is not given in this section will store an error code (_ _ 1 _) in respond code (RWrn4).
Code No. Item Writing data content (Master station Servo amplifier)
RWwn5 RWwn4 RWwnC RWwnD 0000h 8010h Alarm reset command
Clears the alarm that is currently occurring.
1EA5h Set to "0000h".
0000h 8101h Feedback pulse value display data clear command Resets the display data of the status display "Cumulative feedback pulses" to "0".
1EA5h Set to "0000h".
0000h 8200h Writing command of parameter group Writes the group of the parameter to write with code No. 8201h to 82FFh and 8301h to 83FFh. Writes the group of the parameter to read with code No. 0201h to 02FFh and 0301h to 03FFh.
Set to "0000h".
0000h 8201h to 82FFh
Data RAM command of parameter Writes the setting values of the parameters in the group written with code No. 8200h to the RAM. This setting value is cleared when the power supply is shut off. The lower two digits of the code No. which are converted to decimal correspond to the parameter No. An error code is returned if a value outside the range of a parameter is written.
Set the lower 16 bits of the parameter setting value. Set the upper 16 bits of the parameter setting value. Set the 16-bit parameter to "0000h" if it has a positive sign. Set it to "FFFFh" if it has a negative sign. Set the 16-bit parameter to "0000h" if it has no sign.
0000h 8301h to 83FFh
Data EEP-ROM command of parameter Writes the setting values of the parameters in the group written with code No. 8200h to the EEP-ROM. The setting value written in the EEP-ROM is held even when the power supply is shut off. The lower two digits of the code No. which are converted to decimal correspond to the parameter No. An error code is returned if a value outside the range of a parameter is written.
Set the lower 16 bits of the parameter setting value. Set the upper 16 bits of the parameter setting value. Set the 16-bit parameter to "0000h" if it has a positive sign. Set it to "FFFFh" if it has a negative sign. Set the 16-bit parameter to "0000h" if it has no sign.
0000h 8601h to 86FFh
Servo motor speed data RAM command of point table Writes the servo motor speed of point table No. 1 to 255 to the RAM. This setting value is cleared when the power supply is shut off. The lower two digits of the code No. which are converted to decimal correspond to the point table No.
Set the lower 16 bits of the servo motor speed. Set the upper 16 bits of the servo motor speed.
0 00
Parameter group 0: [Pr. PA_ _ ] 1: [Pr. PB_ _ ] 2: [Pr. PC_ _ ] 3: [Pr. PD_ _ ] 4: [Pr. PE_ _ ] 5: [Pr. PF_ _ ] 6 to A: For manufacturer setting B: [Pr. PL_ _ ] C: [Pr. PT_ _ ] E: [Pr. PN_ _ ]
0 5 INDEXER OPERATION 5.1 Link device
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0000h 8701h to 87FFh
Acceleration time constant data RAM command of point table Writes the acceleration time constant of point table No. 1 to 255 to the RAM. This setting value is cleared when the power supply is shut off. The lower two digits of the code No. which are converted to decimal correspond to the point table No.
Set the acceleration time constant. Set to "0000h".
0000h 8801h to 88FFh
Deceleration time constant data RAM command of point table Writes the deceleration time constant of point table No. 1 to 255 to the RAM. This setting value is cleared when the power supply is shut off. The lower two digits of the code No. which are converted to decimal correspond to the point table No.
Set the deceleration time constant. Set to "0000h".
0000h 8D01h to 8DFFh
Servo motor speed data EEP-ROM command of point table Writes the servo motor speed of point table No. 1 to 255 to the EEP-ROM. The setting value written in the EEP- ROM is held even when the power supply is shut off. The lower two digits of the code No. which are converted to decimal correspond to the point table No.
Set the lower 16 bits of the servo motor speed. Set the upper 16 bits of the servo motor speed.
0000h 8E01h to 8EFFh
Acceleration time constant data EEP- ROM command of point table Writes the acceleration time constant of point table No. 1 to 255 to the EEP- ROM. The setting value written in the EEP-ROM is held even when the power supply is shut off. The lower two digits of the code No. which are converted to decimal correspond to the point table No.
Set the acceleration time constant. Set to "0000h".
0000h 8F01h to 8FFFh
Deceleration time constant data EEP- ROM command of point table Writes the deceleration time constants of point table No. 1 to 255 to the EEP- ROM. The setting value written in the EEP-ROM is held even when the power supply is shut off. The lower two digits of the code No. which are converted to decimal correspond to the point table No.
Set the deceleration time constant. Set to "0000h".
Code No. Item Writing data content (Master station Servo amplifier)
RWwn5 RWwn4 RWwnC RWwnD
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Respond code (RWrn4) If any of monitor codes, instruction codes, point table No. selection, point table No./position command data, and point table No./speed command data set in remote registers is outside the setting range, the corresponding error code is set in respond code (RWrn4). If the setting is within the setting range, "0000" is set.
Data communication timing chart Data communication timing charts for the indexer operation are the same as those for the point table operation. Refer to the following. Page 44 Data communication timing chart
Error of the monitor code Code No.
0 1 2 3
Error detail
Parameter selection error
Details
A parameter No. that cannot be referred to is specified. Writing data out of range A value out of the range is set.
Writing data out of range A value out of the range is set.
Normal result The code has been completed normally. Code error An incorrect code No. is specified.
Error of the reading instruction code and writing instruction code Code No.
0 1 2 3
Error detail Details Normal result The instruction has been completed normally. Code error An incorrect code No. is specified.
Error of the point table No./position command data/next station Code No.
0 1 2 3
Error detail Details Normal result The instruction has been completed normally.
Writing data out of range A value out of the range is set.
Error of the point table No./speed command data Code No.
0 1 2 3
Error detail Details Normal result The instruction has been completed normally.
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Remote register-based position/speed setting The functions in this section can be used while RY (n + 2) A (Position/speed specifying method selection) is on (the remote register-based position/speed specifying method is selected). Turn off RY (n + 2) A to perform home position return. The position command and speed command necessary for positioning can be selected with [Pr. PT62] as follows.
For the next station No. setting and point table No. (speed command) setting Specify position command data with a next station No., and specify speed command data with a point table No. Then, execute positioning using the servo motor speed, acceleration time constant, and deceleration time constant. Before executing positioning, set [Pr. PT62] to "_ _ 0 _" to enable the operation that follows the settings of the next station No. and point table No. (speed command).
*1 This data is stored in the RAM of the servo amplifier. Thus, the data is cleared when the power supply is shut off. Set the next station No. to RWwn8 (Next station No.) and set the point table No. for the speed command to RWwnA (Point table No.), then turn on RY (n + 2) 0 (Position command execution demand) and RY (n + 2) 1 (Speed command execution demand). Turning on RY (n + 2) 0 and RY (n + 2) 1 stores the next station No. and point table No. into the RAM of the servo amplifier. Once the data is stored, RX (n + 2) 0 (Position command execution completion) and RX (n + 2) 1 (Speed command execution completion) turn on. Do not change the setting of the next station No. and the specified point table No. until RX (n + 2) 0 and RX (n + 2) 1 turn on after RY (n + 2) 0 and RY (n + 2) 1 turn on. If data outside the setting range is set in RWwn8 (Next station No.) and RWwnA (Point table No.), an error code is set in respond code. Turn on RYn1 (Forward rotation start) after RX (n + 2) 0 (Position command execution completion) and RX (n + 2) 1 (Speed command execution completion) have turned on.
0
1
Setting value Position command Speed command Specify a next station No. in RWwn8.
Specify a point table No. in RWwnA. Set the servo motor speed in RWwnA and RWwnB.
ON OFF
ON OFF
ON OFF
ON OFF
ON OFF
RWwn8 (Next station No.)
RWwnA (Point table No.)
RY (n + 2) 0 (Position command execution demand) RY (n + 2) 1 (Speed command execution demand)
Next station No. specification Data hold *1Point table No. specification
RX (n + 2) 0 (Position command execution completion) RX (n + 2) 1 (Speed command execution completion)
RWrn4 (Respond code)
6 ms or longerRYn1 (Start)
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For the next station No. setting and speed command data setting Specify a next station No. and servo motor speed with remote registers, then execute positioning. At this time, the acceleration time constant and deceleration time constant set in point table No. 1 are used. Before executing positioning, set [Pr. PT62] to "_ _ 1 _" to enable the operation that follows the settings of the next station No. and speed command data.
*1 This data is stored in the RAM of the servo amplifier. Thus, the data is cleared when the power supply is shut off. Set the next station No. to RWwn8 (Next station No.), the lower 16 bits of the speed command data to RWwnA (Speed command data lower 16 bits), and the upper 16 bits of the speed command data to RWwnB (Speed command data upper 16 bits). Then, turn on RY (n + 2) 0 (Position command execution demand) and RY (n + 2) 1 (Speed command execution demand). Turning on RY (n + 2) 0 and RY (n + 2) 1 stores the next station No. and speed command data into the RAM of the servo amplifier. Once the data is stored, RX (n + 2) 0 (Position command execution completion) and RX (n + 2) 1 (Speed command execution completion) turn on. Do not change the settings of the next station No. and the speed command data until RX (n + 2) 0 and RX (n + 2) 1 turn on after RY (n + 2) 0 and RY (n + 2) 1 turn on. If data outside the setting range is set in RWwn8, RWwnA, and RWwnB, an error code is set in respond code. Turn on RYn1 (Forward rotation start) after RX (n + 2) 0 (Position command execution completion) and RX (n + 2) 1 (Speed command execution completion) have turned on.
ON OFF
ON OFF
ON OFF
ON OFF
ON OFF
RWwn8 (Next station No.)
RWwnA (Speed command data - Lower 16 bits) RWwnB (Speed command data - Upper 16 bits) RY (n + 2) 0 (Position command execution demand) RY (n + 2) 1 (Speed command execution demand)
Next station No. specification Data hold *1Speed command data setting
RX (n + 2) 0 (Position command execution completion) RX (n + 2) 1 (Speed command execution completion)
RWrn4 (Respond code)
6 ms or longerRYn1 (Start)
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5.2 Switching power on for the first time
To use the servo amplifier in the I/O mode, set [Pr. PN03] to "_ _ _ 1". In addition, the GX Works setting is required. For the GX Works setting, refer to section 4.1 of "MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode)".
When switching the power on for the first time, follow this section to make a startup.
Startup procedure 1. Wiring check Check whether the servo amplifier and servo motor are wired correctly by visual inspection, the DO forced output function (section 4.5 of "MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode)"), etc. (Refer to section 4.1 of "MR-J4- _GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode)".)
2. Surrounding environment check Check the surrounding environment of the servo amplifier and servo motor. (Refer to section 4.1 of "MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode)".)
3. Station No. setting Set the station number with the station number setting rotary switch (SW2/SW3). (Refer to section 4.3 of "MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode)".)
4. Parameter setting Set the parameters as necessary, such as the used operation mode and regenerative option selection. (Page 125 PARAMETERS) Perform setting of [Pr. PN02 Communication error detection time] in accordance with the network topology and the link scan time of the master station. Set [Pr. PD41] to "_ 0 _ _" (Stroke limit always enabled). To input a stroke limit by using the link device, set [Pr. PD41] to "1 _ _ _" (input from controller). Hereafter, instructions are provided in a case where the input from the controller is selected. When [Pr. PD41] is set to "0 _ _ _" (input from servo amplifier), read the words "upper stroke limit" and "lower stroke limit" as "LSP" and "LSN", respectively.
5. Test operation of the servo motor alone in JOG operation of test operation mode With the servo motor disconnected from the machine, perform test operation mode at the slowest speed to check whether the servo motor rotates correctly. For the test operation mode, refer to section 4.5 of "MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode)".
6. Test operation of the servo motor alone in manual operation mode Make sure that the servo motor rotates in the following procedure. Switch on EM2 (Forced stop 2) and RYn0 (Servo-on). When the servo amplifier is in a servo-on status, RXn0 (Ready) switches on. Switch on RY (n + 1) 0 (Upper stroke limit) and RY (n + 1) 1 (Lower stroke limit). When RYn6 (Operation mode selection 1) is switched on, and RYn7 (Operation mode selection 2) is switched off from the controller, switching on RYn1 (Start) in the manual operation mode (JOG operation) rotates the servo motor. (Page 219 JOG operation) Set a low speed in [Pr. PT65 Jog speed command] first, make the servo motor operate, and check the rotation direction of the motor, etc. If the servo motor does not operate in the intended direction, check the input signal.
5 INDEXER OPERATION 5.2 Switching power on for the first time 195
19
7. Test operation with the servo motor and machine connected Make sure that the servo motor rotates in the following procedure. Switch on EM2 (Forced stop 2) and RYn0 (Servo-on). When the servo amplifier is in a servo-on status, RXn0 (Ready) switches on. Switch on RY (n + 1) 0 (Upper stroke limit) and RY (n + 1) 1 (Lower stroke limit). When RYn6 (Operation mode selection 1) is switched on, and RYn7 (Operation mode selection 2) is switched off from the controller, switching on RYn1 (Start) in the manual operation mode (JOG operation) rotates the servo motor. (Page 219 JOG operation) Set a low speed in [Pr. PT65 Jog speed command] first, make the servo motor operate, and check the operation direction of the machine, etc. If the servo motor does not operate in the intended direction, check the input signal. In the status display, check for any problems of the servo motor speed, load ratio, etc.
8. Automatic operation by indexer Check automatic operation from the controller.
9. Gain adjustment Make gain adjustment to optimize the machine motions. (Refer to chapter 6 of "MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode)".)
10.Actual operation
11. Stop Stop giving commands and stop operation.
6 5 INDEXER OPERATION 5.2 Switching power on for the first time
5
5.3 Automatic operation mode
There are the following restrictions on [Pr. PA06 Number of gear teeth on machine side] and the servo motor speed (N) in the absolute position detection system. When [Pr. PA06] 2000, N < 3076.7 r/min When [Pr. PA06] > 2000, N < 3276.7 - CMX r/min When the servo motor is operated continuously at a servo motor speed higher than the limit value, [AL. E3 Absolute position counter warning] will occur. When the same next station No. is specified as station No. of the current position and a positioning operation is executed, the motor does not start because the travel distance is judged as "0".
Automatic operation mode
Logic of indexer A circumference of the load side (360 degrees) is divided into up to 255 stations. The positioning is executed by selecting a station with RWwn6 (Next station No. selection) or RWwn8 (Next station No.). The following diagram is an example for when [Pr. PA14] is set to "0".
The station No. 0 is set as a home position. Set the number of stations with [Pr. PT28].
Rotation direction There are two operation methods: Rotation direction specifying indexer, which always rotates in a fixed direction and executes positioning to a station; Shortest rotating indexer, which automatically changes a rotation direction to the shortest distance and executes positioning to a station.
Station No. 0 Station No. 254
Station No. 253Station No. 2 Station No. 1
CW direction
Rotation direction specifying indexer Shortest rotating indexer
5 INDEXER OPERATION 5.3 Automatic operation mode 197
19
Rotation direction specifying indexer In this operation mode, the servo motor rotates in a fixed direction to execute positioning to a station.
When not using the position/speed specifying method The positioning is executed by selecting a station No. with RWwn6 (Next station No. selection). Use the value set in the point table as the servo motor speed, acceleration or deceleration time constant during operation.
Device/parameter Set input devices and parameters as follows:
*1 The torque limit will change from [Pr. PC77 Internal torque limit 2] to the setting value of [Pr. PA11 Forward rotation torque limit] or [Pr. PA12 Reverse rotation torque limit] when RYn1 (Start) is inputted. After RXnC (Travel completion) is turned on, the time set with [Pr. PT39] has passed, the torque limit will change from [Pr. PA11 Forward rotation torque limit] or [Pr. PA12 Reverse rotation torque limit] to the setting value of [Pr. PC77 Internal torque limit 2].
Point table Set the point table values using MR Configurator2 or link devices. Set the servo motor speed, acceleration time constant, and deceleration time constant in the point table. When you set a value outside this range to the point table, the set value will be clamped with the maximum or minimum value. When changing the command unit or the connected motor results in the set value outside the setting range, [AL. 37] will occur.
Item Device/parameter to be used Setting Indexer method selection Control mode selection of [Pr. PA01] Select "_ _ _ 8" (positioning mode (indexer method)).
Position/speed specifying method RY (n + 2) A (Position/speed specifying method selection)
Turn off RY (n + 2) A.
Next station position RWwn6 (Next station No. selection) Set any next station No.
Selection of rotation direction specifying indexer
RYn6 (Operation mode selection 1) Turn off RYn6.
RYn7 (Operation mode selection 2) Turn on RYn7.
Rotation direction selection RYn2 (Rotation direction specifying) The rotation direction to a station No. will be as follows. Off: Station No. decreasing direction On: Station No. increasing direction
Servo motor speed Point table Set a servo motor speed.
Acceleration time constant/ deceleration time constant
Point table Set an acceleration time constant and deceleration time constant.
Speed command data selection RWwn7 (Speed selection) Set a point table No. that stores speed command data.
Torque limit *1 [Pr. PA11] [Pr. PA12]
Set a torque limit value for during operation.
[Pr. PC77] Set a torque limit value for during stop.
[Pr. PT39] Set time to switch the torque limit value from during operation until during stop.
Item Setting range Unit Description Servo motor speed 0 to permissible speed 0.01 r/min Set the command speed of the servo motor for execution of positioning.
The setting value must be the permissible instantaneous speed or less of the servo motor used. The fractional portion will be rounded down.
Acceleration time constant
0 to 20000 ms Set a time until the servo motor rotates at the rated speed.
Deceleration time constant
0 to 20000 ms Set a time from when the servo motor rotates at the rated speed until when the motor stops.
8 5 INDEXER OPERATION 5.3 Automatic operation mode
5
Other parameter settings Setting an assignment direction of station No. Select an assignment direction of station No. with [Pr. PA14].
Setting the number of stations Set the number of stations with [Pr. PT28].
Operation When a station No. is selected with RWwn6, a point table in which speed command data is stored is selected with RWwn7, and RYn1 is switched on, positioning to the selected station will start at the set speed and acceleration/deceleration time constant.
[Pr. PA14] setting Servo motor rotation direction RYn1 (Start) is on
0 (initial value) Next station No. will be assigned in CW direction in order of 1, 2, 3...
1 Next station No. will be assigned in CCW direction in order of 1, 2, 3...
[Pr. PT28] setting Number of stations 2 3 4 ... 255
Station No. ...
CW
CCW
[Pr. PA14]: 0 (initial value) [Pr. PA14]: 1
Station No. 1234
CW direction
Station No.1 2 3 4
CCW direction
No. 0
No. 1 No. 2No. 1
No. 0
No. 3
No. 0
No. 1
No. 2
No. 0 No. 254No. 1
5 INDEXER OPERATION 5.3 Automatic operation mode 199
20
Timing chart
Always perform a home position return. Executing positioning operation without home position return will trigger [AL. 90 Home position return incomplete warning] and RYn1 (Start) will be disabled.
*5*5*5
*6
*3
*2
[Pr. PC77] [Pr. PC77] [Pr. PC77] [Pr. PC77] [Pr. PA11], [Pr. PA12][Pr. PA11], [Pr. PA12][Pr. PA11], [Pr. PA12]
10 3
(b)
(c) (a)
1
ON OFF ON OFF ON OFF
ON OFF ON OFF
ON OFF ON OFF ON OFF
ON OFF
0 r/min
RYn6 (Operation mode selection 1)
RYn7 (Operation mode selection 2)
RYn0 (Servo-on)
RWwn6 (Next station No. selection) No. 1 No. 3 No. 1
RWwn7 (Speed selection) Point table No. 1 Point table No. 2
4 ms or longer *1 4 ms or longer
RYn1 (Start) *7
6 ms or longerRYn2 (Rotation direction specifying)
3 ms or shorter
Forward rotation
Servo motor speed *4
Reverse rotation
RXn1 (In-position)
RXn2 (Rough match)
RXnC (Travel completion)
RWrn6 (Station No. output)
Torque limit value to be enabled
0 5 INDEXER OPERATION 5.3 Automatic operation mode
5
*1 Configure a sequence in which RWwn6 and RWwn7 is changed earlier taking into consideration the communication delay time. *2 RYn1 is disabled even if it is turned on during operation. To perform the next operation, make sure that RXnC turns on, and then turn on
RYn1. *3 When RYn1 turns on, the servo motor speed and acceleration/deceleration time constants are switched with RWwn7. They are not
switched with RWwn7 (Speed selection) while the servo motor is rotating. *4 Operation is performed as follows.
*5 [Pr. PT39] can be used to set the delay time from when RXnC turns on until when the torque limit value changes to the value of [Pr. PC77].
*6 After power-on, the device turns on if the number of droop pulses is within the in-position range of each station position. *7 Configure a sequence as follows: After an operation mode is selected, RYn1 (Start) turns on upon the lapse of the switching hold time
("8 ms + communication delay time").
Operation (a) (b) (c) Next station No. No. 1 No. 3 No. 1
Servo motor speed Acceleration time constant Deceleration time constant
Point table No. 1 Point table No. 1 Point table No. 2
Positioning
2
1 0
7
6
5 4
3
2
1 0
7
6
5 4
3
2
1 0
7
6
5 4
3
5 INDEXER OPERATION 5.3 Automatic operation mode 201
20
When using the position/speed specifying method (with speed data of point tables) The positioning is executed by selecting a station No. with RWwn8 (Next station No.). Use the value set in the point table as the servo motor speed, acceleration or deceleration time constant during operation.
Device/parameter Set input devices and parameters as follows:
*1 The torque limit will change from [Pr. PC77 Internal torque limit 2] to the setting value of [Pr. PA11 Forward rotation torque limit] or [Pr. PA12 Reverse rotation torque limit] when RYn1 (Start) is inputted. After RXnC (Travel completion) is turned on, the time set with [Pr. PT39] has passed, the torque limit will change from [Pr. PA11 Forward rotation torque limit] or [Pr. PA12 Reverse rotation torque limit] to the setting value of [Pr. PC77 Internal torque limit 2].
Point table Refer to the following. Page 198 Point table
Other parameter settings Refer to the following. Page 199 Other parameter settings
Operation Selecting a station No. with RWwn8 and a point table in which speed command data is stored with RWwnA and switching on RYn1 start positioning to the selected station at the set speed, acceleration time constant and deceleration time constant.
Item Device/parameter to be used Setting Indexer method selection Control mode selection of [Pr. PA01] _ _ _ 8: Select "_ _ _ 8" (positioning mode (indexer method)).
Position/speed specifying method RY (n + 2) A (Position/speed specifying method selection)
Turn on RY (n + 2) A.
[Pr. PT62] Set [Pr. PT62] to "_ _ 0 _".
Next station position RWwn8 (Next station No.) Set any next station No.
Selection of rotation direction specifying indexer
RYn6 (Operation mode selection 1) Turn off RYn6.
RYn7 (Operation mode selection 2) Turn on RYn7.
Rotation direction selection RYn2 (Rotation direction specifying) The rotation direction to a station No. will be as follows. Off: Station No. decreasing direction On: Station No. increasing direction
Servo motor speed Point table Set a servo motor speed.
Acceleration time constant/ deceleration time constant
Point table Set an acceleration time constant and deceleration time constant.
Speed command data selection RWwnA (Point table No./speed command data - Lower 16 bits)
Set a point table No. that stores speed command data.
Torque limit *1 [Pr. PA11] [Pr. PA12]
Set a torque limit value for during operation.
[Pr. PC77] Set a torque limit value for during stop.
[Pr. PT39] Set time to switch the torque limit value from during operation until during stop.
2 5 INDEXER OPERATION 5.3 Automatic operation mode
5
Timing chart
Always perform a home position return. Executing positioning operation without home position return will trigger [AL. 90 Home position return incomplete warning] and RYn1 (Start) will be disabled.
*5*5*5
*6
[Pr. PC77] [Pr. PC77] [Pr. PC77] [Pr. PC77] [Pr. PA11], [Pr. PA12][Pr. PA11], [Pr. PA12][Pr. PA11], [Pr. PA12]
10 3 1
ON OFF ON OFF ON OFF
ON OFF
*2*1
(b)
(c) (a)
ON OFF ON OFF
ON OFF ON OFF
ON OFF ON OFF
ON OFF ON OFF
ON OFF
ON OFF
0 r/min
RYn6 (Operation mode selection 1)
RYn7 (Operation mode selection 2)
RYn0 (Servo-on)
RY (n + 2) A (Position/speed specifying method selection)
RWwn8 (Next station No.) No. 1 No. 3 No. 1
RWwnA (Point table No./ speed command data - Lower 16 bits) No. 1 No. 1 No. 2
RY (n + 2) 0 (Position command execution demand) *3
RX (n + 2) 0 (Position command execution completion)
RY (n + 2) 1 (Speed command execution demand) *3
RX (n + 2) 1 (Speed command execution completion) 4 ms or longer
RYn1 (Start) *7
6 ms or longer RYn2 (Rotation direction specifying)
3 ms or shorter
Forward rotation
Servo motor speed *4
Reverse rotation
RXn1 (In-position)
RXn2 (Rough match)
RXnC (Travel completion)
RWrn6 (Station No. output)
Torque limit value to be enabled
5 INDEXER OPERATION 5.3 Automatic operation mode 203
20
*1 Configure a sequence in which RWwn8 and RWwnA is changed earlier taking into consideration the communication delay time. *2 RYn1 is disabled even if it is turned on during operation. To perform the next operation, make sure that RXnC turns on, and then turn on
RYn1. *3 For details of the operation timing for RY (n + 2) 0 and RY (n + 2) 1, refer to the following.
Page 193 For the next station No. setting and point table No. (speed command) setting *4 Operation is performed as follows.
*5 [Pr. PT39] can be used to set the delay time from when RXnC turns on until when the torque limit value changes to the value of [Pr. PC77].
*6 After power-on, the device turns on if the number of droop pulses is within the in-position range of each station position. *7 Configure a sequence as follows: After an operation mode is selected, RYn1 (Start) turns on upon the lapse of the switching hold time
("8 ms + communication delay time").
Operation (a) (b) (c) Next station No. No. 1 No. 3 No. 1
Servo motor speed Acceleration time constant Deceleration time constant
Point table No. 1 Point table No. 1 Point table No. 2
Positioning
2
1 0
7
6
5 4
3
2
1 0
7
6
5 4
3
2
1 0
7
6
5 4
3
4 5 INDEXER OPERATION 5.3 Automatic operation mode
5
When using the position/speed specifying method (by setting a servo motor speed directly) The positioning is executed by selecting a station No. with RWwn8 (Next station No.). Use the value set in the link device as the servo motor speed during operation. Use the value set in point table No. 1 as the acceleration or deceleration time constant during operation.
Device/parameter Set input devices and parameters as follows:
*1 The torque limit will change from [Pr. PC77 Internal torque limit 2] to the setting value of [Pr. PA11 Forward rotation torque limit] or [Pr. PA12 Reverse rotation torque limit] when RYn1 (Start) is inputted. After RXnC (Travel completion) is turned on, the time set with [Pr. PT39] has passed, the torque limit will change from [Pr. PA11 Forward rotation torque limit] or [Pr. PA12 Reverse rotation torque limit] to the setting value of [Pr. PC77 Internal torque limit 2].
Other parameter settings Refer to the following. Page 199 Other parameter settings
Operation Selecting a station No. with RWwn8 and a servo motor speed with RWwnA and RWwnB and switching on RYn1 start positioning to the selected station at the set speed, acceleration time constant and deceleration time constant of point table No. 1.
Item Device/parameter to be used Setting Indexer method selection Control mode selection of [Pr. PA01] _ _ _ 8: Select "_ _ _ 8" (positioning mode (indexer method)).
Position/speed specifying method RY (n + 2) A (Position/speed specifying method selection)
Turn on RY (n + 2) A.
[Pr. PT62] Set [Pr. PT62] to "_ _ 1 _".
Next station position RWwn8 (Next station No.) Set any next station No.
Selection of rotation direction specifying indexer
RYn6 (Operation mode selection 1) Turn off RYn6.
RYn7 (Operation mode selection 2) Turn on RYn7.
Rotation direction selection RYn2 (Rotation direction specifying) The rotation direction to a station No. will be as follows. Off: Station No. decreasing direction On: Station No. increasing direction
Servo motor speed RWwnA (Speed command data - Lower 16 bits) RWwnB (Speed command data - Upper 16 bits)
Set a servo motor speed.
Acceleration time constant/ deceleration time constant
Point table No. 1 Set an acceleration time constant and deceleration time constant.
Torque limit *1 [Pr. PA11] [Pr. PA12]
Set a torque limit value for during operation.
[Pr. PC77] Set a torque limit value for during stop.
[Pr. PT39] Set time to switch the torque limit value from during operation until during stop.
5 INDEXER OPERATION 5.3 Automatic operation mode 205
20
Timing chart
Always perform a home position return. Executing positioning operation without home position return will trigger [AL. 90 Home position return incomplete warning] and RYn1 (Start) will be disabled.
*5*5*5
*6
[Pr. PC77] [Pr. PC77] [Pr. PC77] [Pr. PC77] [Pr. PA11], [Pr. PA12][Pr. PA11], [Pr. PA12][Pr. PA11], [Pr. PA12]
10 3 1
ON OFF ON OFF ON OFF
ON OFF
(b)
(a) (c)
*2*1
0 r/min
ON OFF ON OFF
ON OFF ON OFF
ON OFF
ON OFF ON OFF
ON OFF ON OFF
ON OFF
RYn6 (Operation mode selection 1)
RYn7 (Operation mode selection 2)
RYn0 (Servo-on)
RY (n + 2) A (Position/speed specifying method selection)
RWwn8 (Next station No.) No. 1 No. 3 No. 1
RWwnA (Speed command data - Lower 16 bits)/RWwnB (Speed command data - Upper 16 bits)
Speed 1 Speed 2 Speed 3
RY (n + 2) 0 (Position command execution demand) *3
RX (n + 2) 0 (Position command execution completion)
RY (n + 2) 1 (Speed command execution demand) *3
RX (n + 2) 1 (Speed command execution completion) 4 ms or longer
RYn1 (Start) *7
6 ms or longerRYn2 (Rotation direction specifying)
3 ms or shorter
Forward rotationServo motor speed *4
Reverse rotation
RXn1 (In-position)
RXn2 (Rough match)
RXnC (Travel completion)
RWrn6 (Station No. output)
Torque limit value to be enabled
6 5 INDEXER OPERATION 5.3 Automatic operation mode
5
*1 Configure a sequence in which RWwn8, RWwnA, and RWwnB is changed earlier taking into consideration the communication delay time.
*2 RYn1 is disabled even if it is turned on during operation. To perform the next operation, make sure that RXnC turns on, and then turn on RYn1.
*3 For details of the operation timing for RY (n + 2) 0 and RY (n + 2) 1, refer to the following. Page 194 For the next station No. setting and speed command data setting
*4 Operation is performed as follows.
*5 [Pr. PT39] can be used to set the delay time from when RXnC turns on until when the torque limit value changes to the value of [Pr. PC77].
*6 After power-on, the device turns on if the number of droop pulses is within the in-position range of each station position. *7 Configure a sequence as follows: After an operation mode is selected, RYn1 (Start) turns on upon the lapse of the switching hold time
("8 ms + communication delay time").
Operation (a) (b) (c) Next station No. No. 1 No. 3 No. 1
Servo motor speed Speed 1 Speed 2 Speed 3
Acceleration time constant Deceleration time constant
Point table No. 1 Point table No. 1 Point table No. 1
Positioning
2
1 0
7
6
5 4
3
2
1 0
7
6
5 4
3
2
1 0
7
6
5 4
3
5 INDEXER OPERATION 5.3 Automatic operation mode 207
20
Shortest rotating indexer operation This operation mode automatically changes a rotation direction to the shortest distance to execute positioning to a station.
When not using the position/speed specifying method The positioning is executed by selecting a station No. with RWwn6 (Next station No. selection). Use the value set in the point table as the servo motor speed, acceleration or deceleration time constant during operation.
Device/parameter Set input devices and parameters as follows:
*1 The torque limit will change from [Pr. PC77 Internal torque limit 2] to the setting value of [Pr. PA11 Forward rotation torque limit] or [Pr. PA12 Reverse rotation torque limit] when RYn1 (Start) is inputted. After RXnC (Travel completion) is turned on, the time set with [Pr. PT39] has passed, the torque limit will change from [Pr. PA11 Forward rotation torque limit] or [Pr. PA12 Reverse rotation torque limit] to the setting value of [Pr. PC77 Internal torque limit 2].
Point table Refer to the following. Page 198 Point table
Other parameter settings (the number of stations) Set the number of stations with [Pr. PT28]. The setting is the same as that of the rotation direction specifying indexer. Refer to the following. Page 199 Other parameter settings [Pr. PA14 Rotation direction selection] is not used with the shortest rotating indexer operation.
Operation When a station No. is selected with RWwn6, a point table in which speed command data is stored is selected with RWwn7, and RYn1 is switched on, positioning to the selected station will start at the set speed and acceleration/deceleration time constant.
Item Device/parameter to be used Setting Indexer method selection Control mode selection of [Pr. PA01] _ _ _ 8: Select "_ _ _ 8" (positioning mode (indexer method)).
Position/speed specifying method RY (n + 2) A (Position/speed specifying method selection)
Turn off RY (n + 2) A.
Next station position RWwn6 (Next station No. selection) Set any next station No.
Selection of shortest rotating indexer operation
RYn6 (Operation mode selection 1) Turn on RYn6.
RYn7 (Operation mode selection 2) Turn on RYn7.
Servo motor speed Point table Set a servo motor speed.
Acceleration time constant/ deceleration time constant
Point table Set an acceleration time constant and deceleration time constant.
Speed command data selection RWwn7 (Speed selection) Set a point table No. that stores speed command data.
Torque limit*1 [Pr. PA11] [Pr. PA12]
Set a torque limit value for during operation.
[Pr. PC77] Set a torque limit value for during stop.
[Pr. PT39] Set time to switch the torque limit value from during operation until during stop.
8 5 INDEXER OPERATION 5.3 Automatic operation mode
5
Timing chart
Always perform a home position return. Executing positioning operation without home position return will trigger [AL. 90 Home position return incomplete warning] and RYn1 (Start) will be disabled.
When travel distances are the same to a target station position from CCW and from CW, the shaft will rotate to the station No. increasing direction.
The following shows a timing chart.
*5*5*5
*6
*3
*2
[Pr. PC77] [Pr. PC77] [Pr. PC77] [Pr. PC77] [Pr. PA11], [Pr. PA12][Pr. PA11], [Pr. PA12][Pr. PA11], [Pr. PA12]
10 3
(b)
(c)
(a)
1
ON OFF ON OFF ON OFF
ON OFF
ON OFF ON OFF ON OFF
ON OFF
0 r/min
RYn6 (Operation mode selection 1)
RYn7 (Operation mode selection 2)
RYn0 (Servo-on)
RWwn6 (Next station No. selection) No. 1 No. 3 No. 1
RWwn7 (Speed selection) Point table No. 1 Point table No. 2
4 ms or longer *1
RYn1 (Start) *7
6 ms or longer
3 ms or shorter
Forward rotation
Servo motor speed *4
Reverse rotation
RXn1 (In-position)
RXn2 (Rough match)
RXnC (Travel completion)
RWrn6 (Station No. output)
Torque limit value to be enabled
5 INDEXER OPERATION 5.3 Automatic operation mode 209
21
*1 Configure a sequence in which RWwn6 and RWwn7 is changed earlier taking into consideration the communication delay time. *2 RYn1 is disabled even if it is turned on during operation. To perform the next operation, make sure that RXnC turns on, and then turn on
RYn1. *3 When RYn1 turns on, the servo motor speed and acceleration/deceleration time constants are switched with RWwn7. They are not
switched with RWwn7 (Speed selection) while the servo motor is rotating. *4 Operation is performed as follows.
*5 [Pr. PT39] can be used to set the delay time from when RXnC turns on until when the torque limit value changes to the value of [Pr. PC77].
*6 After power-on, the device turns on if the number of droop pulses is within the in-position range of each station position. *7 Configure a sequence as follows: After an operation mode is selected, RYn1 (Start) turns on upon the lapse of the switching hold time
("8 ms + communication delay time").
Operation (a) (b) (c) Next station No. No. 1 No. 3 No. 1
Servo motor speed Acceleration time constant Deceleration time constant
Point table No. 1 Point table No. 1 Point table No. 2
Positioning
2
1 0
7
6
5 4
3
2
1 0
7
6
5 4
3
2
1 0
7
6
5 4
3
0 5 INDEXER OPERATION 5.3 Automatic operation mode
5
When using the position/speed specifying method (with speed data of point tables) The positioning is executed by selecting a station No. with RWwn8 (Next station No.). Use the value set in the point table as the servo motor speed, acceleration or deceleration time constant during operation.
Device/parameter Set input devices and parameters as follows:
*1 The torque limit will change from [Pr. PC77 Internal torque limit 2] to the setting value of [Pr. PA11 Forward rotation torque limit] or [Pr. PA12 Reverse rotation torque limit] when RYn1 (Start) is inputted. After RXnC (Travel completion) is turned on, the time set with [Pr. PT39] has passed, the torque limit will change from [Pr. PA11 Forward rotation torque limit] or [Pr. PA12 Reverse rotation torque limit] to the setting value of [Pr. PC77 Internal torque limit 2].
Point table Refer to the following. Page 198 Point table
Other parameter settings Refer to the following. Page 208 Other parameter settings (the number of stations)
Operation Selecting a station No. with RWwn8 and a point table in which speed command data is stored with RWwnA and switching on RYn1 start positioning to the selected station at the set speed, acceleration time constant and deceleration time constant.
Item Device/parameter to be used Setting Indexer method selection Control mode selection of [Pr. PA01] _ _ _ 8: Select "_ _ _ 8" (positioning mode (indexer method)).
Position/speed specifying method RY (n + 2) A (Position/speed specifying method selection)
Turn on RY (n + 2) A.
[Pr. PT62] Set [Pr. PT62] to "_ _ 0 _".
Next station position RWwn8 (Next station No.) Set any next station No.
Selection of shortest rotating indexer operation
RYn6 (Operation mode selection 1) Turn on RYn6.
RYn7 (Operation mode selection 2) Turn on RYn7.
Servo motor speed Point table Set a servo motor speed.
Acceleration time constant/ deceleration time constant
Point table Set an acceleration time constant and deceleration time constant.
Speed command data selection RWwnA (Point table No./speed command data - Lower 16 bits)
Set a point table No. that stores speed command data.
Torque limit*1 [Pr. PA11] [Pr. PA12]
Set a torque limit value for during operation.
[Pr. PC77] Set a torque limit value for during stop.
[Pr. PT39] Set time to switch the torque limit value from during operation until during stop.
5 INDEXER OPERATION 5.3 Automatic operation mode 211
21
Timing chart
Always perform a home position return. Executing positioning operation without home position return will trigger [AL. 90 Home position return incomplete warning] and RYn1 (Start) will be disabled.
When travel distances are the same to a target station position from CCW and from CW, the shaft will rotate to the station No. increasing direction.
*5*5*5
*6
[Pr. PC77] [Pr. PC77] [Pr. PC77] [Pr. PC77] [Pr. PA11], [Pr. PA12][Pr. PA11], [Pr. PA12][Pr. PA11], [Pr. PA12]
10 3 1
ON OFF ON OFF ON OFF
ON OFF
*2*1
(b)
(c)
(a)
ON OFF ON OFF
ON OFF ON OFF
ON OFF ON OFF
ON OFF ON OFF
ON OFF
0 r/min
RYn6 (Operation mode selection 1)
RYn7 (Operation mode selection 2)
RYn0 (Servo-on)
RY (n + 2) A (Position/speed specifying method selection)
RWwn8 (Next station No.) No. 1 No. 3 No. 1
RWwnA (Point table No./ speed command data - Lower 16 bits) No. 1 No. 1 No. 2
RY (n + 2) 0 (Position command execution demand) *3
RX (n + 2) 0 (Position command execution completion)
RY (n + 2) 1 (Speed command execution demand) *3
RX (n + 2) 1 (Speed command execution completion)
RYn1 (Start) *7
6 ms or longer
3 ms or shorter
Forward rotation
Servo motor speed *4
Reverse rotation
RXn1 (In-position)
RXn2 (Rough match)
RXnC (Travel completion)
RWrn6 (Station No. output)
Torque limit value to be enabled
2 5 INDEXER OPERATION 5.3 Automatic operation mode
5
*1 Configure a sequence in which RWwn8 and RWwnA is changed earlier taking into consideration the communication delay time. *2 RYn1 is disabled even if it is turned on during operation. To perform the next operation, make sure that RXnC turns on, and then turn on
RYn1. *3 For details of the operation timing for RY (n + 2) 0 and RY (n + 2) 1, refer to the following.
Page 48 For the position command data setting and point table No. (speed command) setting *4 Operation is performed as follows.
*5 [Pr. PT39] can be used to set the delay time from when RXnC turns on until when the torque limit value changes to the value of [Pr. PC77].
*6 After power-on, the device turns on if the number of droop pulses is within the in-position range of each station position. *7 Configure a sequence as follows: After an operation mode is selected, RYn1 (Start) turns on upon the lapse of the switching hold time
("8 ms + communication delay time").
Operation (a) (b) (c) Next station No. No. 1 No. 3 No. 1
Servo motor speed Acceleration time constant Deceleration time constant
Point table No. 1 Point table No. 1 Point table No. 2
Positioning
2
1 0
7
6
5 4
3
2
1 0
7
6
5 4
3
2
1 0
7
6
5 4
3
5 INDEXER OPERATION 5.3 Automatic operation mode 213
21
When using the position/speed specifying method (by setting a servo motor speed directly) The positioning is executed by selecting a station No. with RWwn8 (Next station No.). Use the value set in the link device as the servo motor speed during operation. Use the value set in point table No. 1 as the acceleration or deceleration time constant during operation.
Device/parameter Set input devices and parameters as follows:
*1 The torque limit will change from [Pr. PC77 Internal torque limit 2] to the setting value of [Pr. PA11 Forward rotation torque limit] or [Pr. PA12 Reverse rotation torque limit] when RYn1 (Start) is inputted. After RXnC (Travel completion) is turned on, the time set with [Pr. PT39] has passed, the torque limit will change from [Pr. PA11 Forward rotation torque limit] or [Pr. PA12 Reverse rotation torque limit] to the setting value of [Pr. PC77 Internal torque limit 2].
Other parameter settings Refer to the following. Page 208 Other parameter settings (the number of stations)
Operation Selecting a station No. with RWwn8 and a servo motor speed with RWwnA and RWwnB and switching on RYn1 start positioning to the selected station at the set speed, acceleration time constant and deceleration time constant of point table No. 1.
Item Device/parameter to be used Setting Indexer method selection Control mode selection of [Pr. PA01] _ _ _ 8: Select "_ _ _ 8" (positioning mode (indexer method)).
Position/speed specifying method RY (n + 2) A (Position/speed specifying method selection)
Turn on RY (n + 2) A.
[Pr. PT62] Set [Pr. PT62] to "_ _ 1 _".
Next station position RWwn8 (Next station No.) Set any next station No.
Selection of shortest rotating indexer operation
RYn6 (Operation mode selection 1) Turn on RYn6.
RYn7 (Operation mode selection 2) Turn on RYn7.
Servo motor speed RWwnA (Speed command data - Lower 16 bits) RWwnB (Speed command data - Upper 16 bits)
Set a servo motor speed.
Acceleration time constant/ deceleration time constant
Point table No. 1 Set an acceleration time constant and deceleration time constant.
Torque limit*1 [Pr. PA11] [Pr. PA12]
Set a torque limit value for during operation.
[Pr. PC77] Set a torque limit value for during stop.
[Pr. PT39] Set time to switch the torque limit value from during operation until during stop.
4 5 INDEXER OPERATION 5.3 Automatic operation mode
5
Timing chart
Always perform a home position return. Executing positioning operation without home position return will trigger [AL. 90 Home position return incomplete warning] and RYn1 (Start) will be disabled.
When travel distances are the same to a target station position from CCW and from CW, the shaft will rotate to the station No. increasing direction.
*5*5*5
*6
[Pr. PC77] [Pr. PC77] [Pr. PC77] [Pr. PC77] [Pr. PA11], [Pr. PA12][Pr. PA11], [Pr. PA12][Pr. PA11], [Pr. PA12]
10 3 1
ON OFF ON OFF ON OFF
ON OFF
(b)(a)
(c)
*2*1
0 r/min
ON OFF ON OFF
ON OFF ON OFF
ON OFF ON OFF
ON OFF ON OFF
ON OFF
RYn6 (Operation mode selection 1)
RYn7 (Operation mode selection 2)
RYn0 (Servo-on)
RY (n + 2) A (Position/speed specifying method selection)
RWwn8 (Next station No.) No. 1 No. 3 No. 1
RWwnA (Speed command data - Lower 16 bits)/RWwnB (Speed command data - Upper 16 bits)
Speed 1 Speed 2 Speed 3
RY (n + 2) 0 (Position command execution demand) *3
RX (n + 2) 0 (Position command execution completion)
RY (n + 2) 1 (Speed command execution demand) *3
RX (n + 2) 1 (Speed command execution completion)
RYn1 (Start) *7
6 ms or longer
3 ms or shorter
Forward rotation
Servo motor speed *4
Reverse rotation
RXn1 (In-position)
RXn2 (Rough match)
RXnC (Travel completion)
RWrn6 (Station No. output)
Torque limit value to be enabled
5 INDEXER OPERATION 5.3 Automatic operation mode 215
21
*1 Configure a sequence in which RWwn8, RWwnA, and RWwnB is changed earlier taking into consideration the communication delay time.
*2 RYn1 is disabled even if it is turned on during operation. To perform the next operation, make sure that RXnC turns on, and then turn on RYn1.
*3 For details of the operation timing for RY (n + 2) 0 and RY (n + 2) 1, refer to the following. Page 48 For the position command data setting and point table No. (speed command) setting
*4 Operation is performed as follows.
*5 [Pr. PT39] can be used to set the delay time from when RXnC turns on until when the torque limit value changes to the value of [Pr. PC77].
*6 After power-on, the device turns on if the number of droop pulses is within the in-position range of each station position. *7 Configure a sequence as follows: After an operation mode is selected, RYn1 (Start) turns on upon the lapse of the switching hold time
("8 ms + communication delay time").
Operation (a) (b) (c) Next station No. No. 1 No. 3 No. 1
Servo motor speed Speed 1 Speed 2 Speed 3
Servo motor speed Acceleration time constant Deceleration time constant
Point table No. 1 Point table No. 1 Point table No. 1
Positioning
2
1 0
7
6
5 4
3
2
1 0
7
6
5 4
3
2
1 0
7
6
5 4
3
6 5 INDEXER OPERATION 5.3 Automatic operation mode
5
5.4 Manual operation mode
When the operation mode is changed during operation, inputting RYn1 (Start) is disabled until the operation stops. Switch on RYn1 (Start) after the operation stops.
For the machine adjustment, home position adjustment, and others, you can shift the position to any position with the station JOG operation or JOG operation.
Station JOG operation
Setting Set devices and parameters as shown below to suit the purpose. With this operation, RWwn6 (Next station No. selection) and RWwn8 (Next station No.) are disabled.
Setting the rotation direction selection Select an assignment direction of station No. with [Pr. PA14].
Item Device/parameter to be used Setting Indexer method selection Control mode selection of [Pr. PA01] Select "_ _ _ 8" (positioning mode (indexer method)).
Manual operation mode selection RYn6 (Operation mode selection 1) Turn on RYn6.
RYn7 (Operation mode selection 2) Turn off RYn7.
Station JOG operation selection [Pr. PT27] Select "_ _ 0 _" (Station JOG operation).
Rotation direction selection RYn2 (Rotation direction specifying) The rotation direction to a station No. will be as follows. Off: Station No. decreasing direction On: Station No. increasing direction
Selection of station No. assignment direction
[Pr. PA14] Page 217 Setting the rotation direction selection
Servo motor speed [Pr. PT65] Set a servo motor speed.
Acceleration time constant/ deceleration time constant
Acceleration time constant: [Pr. PT49] Deceleration time constant: [Pr. PT50]
Set an acceleration time constant and deceleration time constant.
[Pr. PA14] setting Servo motor rotation direction RYn1 (Start) is on
0 (initial value) Next station No. will be assigned in CW direction in order of 1, 2, 3
1 Next station No. will be assigned in CCW direction in order of 1, 2, 3
CW
CCW
[Pr. PA14]: 0 (initial value) [Pr. PA14]: 1
Station No. 1234
CW direction
Station No.1 2 3 4
CCW direction
5 INDEXER OPERATION 5.4 Manual operation mode 217
21
Operation Turning on RYn1 (Start) will start rotating the servo motor in the direction specified with the rotation direction decision, and turning off RYn1 will execute a positioning to the closest station position at which the servo motor can decelerate to a stop. However, the shaft stops based on a set time constant depending on the setting value of deceleration time constant. The speed may not reach the specified servo motor speed.
Timing chart The following shows a timing chart.
*1 The torque limit delay time can be set with [Pr. PT39]. *2 RYn1 is disabled even if it is turned on during operation. To perform the next operation, make sure that RXnC (Travel completion) turns
on, and then turn on RYn1. *3 Configure a sequence as follows: After an operation mode is selected, RYn1 (Start) turns on upon the lapse of the switching hold time
("8 ms + communication delay time").
0 r/min
ON OFF
ON OFF
*1
[Pr. PC77] [Pr. PC77] [Pr. PC77] [Pr. PA11][Pr. PA12][Pr. PA11][Pr. PA12]
*1
[Pr. PC77]
*1
ON OFF ON OFF
ON OFF ON OFF
[Pr. PA11][Pr. PA12]
*2
0 4 8 4
0 1 2 3 4 4 5 6 7 8 8 7 6 5 4
RYn6 (Operation mode selection 1)
RYn7 (Operation mode selection 2)
4 ms or longer 6 ms or longer 4 ms or longer
RYn1 (Start) *3
RYn2 (Rotation direction specifying)
Forward rotation
Servo motor speed
Reverse rotation
Current station No.
RXnC (Travel completion)
RWrn6 (Station No. output)
Torque limit value to be enabled
8 5 INDEXER OPERATION 5.4 Manual operation mode
5
JOG operation
Setting Set devices and parameters as shown below to suit the purpose. With this operation, RWwn6 (Next station No. selection) and RWwn8 (Next station No.) are disabled.
Operation Turning on RYn1 (Start) will start rotating the servo motor in the direction specified with the rotation direction decision and turning off RYn1 will decelerate the servo motor to a stop regardless of the station position.
Timing chart The following shows a timing chart.
*1 The torque limit delay time can be set with [Pr. PT39]. *2 Configure a sequence as follows: After an operation mode is selected, RYn1 (Start) turns on upon the lapse of the switching hold time
("8 ms + communication delay time").
Item Device/parameter to be used Setting Indexer method selection Control mode selection of [Pr. PA01] Select "_ _ _ 8" (positioning mode (indexer method)).
Manual operation mode selection RYn6 (Operation mode selection 1) Turn on RYn6.
RYn7 (Operation mode selection 2) Turn off RYn7.
JOG operation selection [Pr. PT27] Select "_ _ 1 _" (JOG operation).
Rotation direction selection RYn2 (Rotation direction specifying) The rotation direction to a station No. will be as follows. Off: Station No. decreasing direction On: Station No. increasing direction
Selection of station No. assignment direction
[Pr. PA14] Page 217 Setting the rotation direction selection
Servo motor speed [Pr. PT65] Set a servo motor speed.
Acceleration time constant/ deceleration time constant
Acceleration time constant: [Pr. PT49] Deceleration time constant: [Pr. PT50]
Set an acceleration time constant and deceleration time constant.
ON OFF
ON OFF
*1
[Pr. PC77] [Pr. PC77] [Pr. PC77] [Pr. PA11][Pr. PA12][Pr. PA11][Pr. PA12]
ON OFF ON OFF
ON OFF ON OFF
0
0 r/min
RYn6 (Operation mode selection 1)
RYn7 (Operation mode selection 2)
6 ms or longer 4 ms or longer
RYn1 (Start) *2
RYn2 (Rotation direction specifying)
Forward rotation
Servo motor speed
Reverse rotation
RXnC (Travel completion)
RWrn6 (Station No. output)
Torque limit value to be enabled
5 INDEXER OPERATION 5.4 Manual operation mode 219
22
5.5 Home position return mode
Before performing the home position return, check that the limit switch operates and RYn2 turns on. Check the home position return direction. An incorrect setting will cause a reverse running. Check the input polarity of the external limit. Otherwise, it may cause an unexpected operation. For the home position return when the servo motor is used in the direct drive motor control mode and the fully closed control mode, refer to "MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode)".
Outline of home position return A home position return is performed to match the command coordinates with the machine coordinates. Under the incremental method, each power-on of the input power supply requires the home position return. Contrastingly, in the absolute position detection system, once you have performed the home position return at machine installation, the current position will be retained even if the power supply is shut off. Therefore, the home position return is unnecessary when the power supply is switched on again. This section shows the home position return types of the servo amplifier. Select the optimum method according to the configuration and uses of the machine.
*1 This is available with servo amplifiers with software version A7 or later.
Type Home position return type Feature Torque limit changing dog type (front end detection, Z-phase reference)
Deceleration starts from the front end of the proximity dog. A position of the first Z- phase signal with which the servo motor can decelerate to a stop or a position moved by the home position shift amount from the Z-phase is set as the home position.
This is a typical home position return method using an external limit. The repeatability of the home position return is high. The machine is less loaded. Used when the width of the external limit can be set equal to or
greater than the deceleration distance of the servo motor.
Torque limit changing dog type (rear end detection, Z-phase reference) *1
Deceleration starts at the front end of the proximity dog. After the rear end is passed, the position specified by the first Z-phase signal, or the position of the first Z-phase signal shifted by the home position shift distance is used as the home position.
Torque limit changing data set type The current position is set as the home position.
An external limit is not required.
Homing method 35, 37 (Homing on current position)
The current position is set as the home position.
The home position return can be performed in the servo-off status.
0 5 INDEXER OPERATION 5.5 Home position return mode
5
Torque limit changing dog type home position return (front end detection, Z-phase reference) This is a home position return type using a proximity dog. Deceleration starts from the front end of the proximity dog. A position of the first Z-phase signal with which the servo motor can decelerate to a stop or a position moved by the home position shift amount from the Z-phase is set as the home position.
Device/parameter Set input devices and parameters as follows:
*1 The setting of the station home position shift distance is disabled at home position return. Cycling the power will enable the setting. *2 [Pr. PT40 Station home position shift distance] is enabled as an offset to the position that the home position return is performed. If a
larger value than the in-position range is set to [Pr. PT40], the completion output of positioning will not turn on (short circuit) at the first power on after home position return.
*3 [Pr. PT70] is available with servo amplifiers with software version A7 or later.
Item Device/parameter to be used Setting Home position return mode selection
RYn6 (Operation mode selection 1) Turn off RYn6.
RYn7 (Operation mode selection 2) Turn off RYn7.
Function selection for torque limit changing dog type home position return *3
[Pr. PT70] Select "0" or "2". 0: Front end detection and automatic retract function for home position return are disabled 2: Front end detection and automatic retract function for home position return are enabled
Torque limit changing dog type home position return (front end detection, Z-phase reference)
[Pr. PT45] Select "-1" or "-33". -1: Forward rotation (CCW) -33: Reverse rotation (CW)
Dog input polarity [Pr. PT29] Select a proximity dog input polarity.
Home position return speed [Pr. PT05] Set the rotation speed specified until an external limit is detected.
Creep speed [Pr. PT06] Set the rotation speed specified after an external limit is detected.
Home position shift distance [Pr. PT07], [Pr. PT69] Set this item to shift the home position, which is specified by the first Z-phase signal after the external limit is detected. Lower/upper settings are enabled.
Acceleration time constant/ deceleration time constant
Acceleration time constant: [Pr. PT56] Deceleration time constant: [Pr. PT56] or [Pr. PT57]
Set an acceleration time constant and deceleration time constant. For the deceleration time constant, when [Pr. PT55] is set to "_ _ _ 0", the value of [Pr. PT56] is used, and when [Pr. PT55] is set to "_ _ _ 1", the value of [Pr. PT57] is used.
Torque limit value for the execution of home position return
[Pr. PA11] Set a torque limit value for home position return in the forward rotation direction.
[Pr. PA12] Set a torque limit value for home position return in the reverse rotation direction.
Torque limit value during stop [Pr. PC77] Set a torque limit value for during stop.
5 INDEXER OPERATION 5.5 Home position return mode 221
22
Timing chart
*1 When the rest of command travel distance is other than "0", RYn1 (Start) is not enabled even if it is turned on. *2 Counting will start when the rest of command travel distance becomes "0". *3 Configure a sequence as follows: After an operation mode is selected, RYn1 (Start) turns on upon the lapse of the switching hold time
("8 ms + communication delay time"). *4 After the front end of the proximity dog is detected, if the Z-phase is detected without reaching the creep speed, [AL. 90] occurs. Check
the home position return speed and creep speed.
ON OFF
ON OFF
ON OFF
0 r/min
ON OFF
ON OFF
ON OFF
ON OFF
ON OFF
*4
0
Power supply
RX (n + 3) A (Malfunction)
RXnC (Travel completion)
RX (n + 1) 0 (Home position return completion 2)
RWrn6 (Station No. output) Maintains the previous value
Home position return speed
Creep speedForward rotation
Servo motor speed Home position
shift distanceReverse rotation
Setting time of [Pr. PT56] or [Pr. PT57]
[Pr. PT56] setting time Position where the station home
position shift distance is added
Proximity dog
Z-phase
5 ms or longer
RYn1 (Start) *3
Ignored *1 5 ms or longer
RYn3 (Proximity dog)
RYn6 (Operation mode selection 1)
RYn7 (Operation mode selection 2)
[Pr. PT39] setting time *2
Torque limit value in [Pr. PC77] Torque limit value of [Pr. PA11] and [Pr. PA12] Torque limit value in [Pr. PC77]Torque limit
2 5 INDEXER OPERATION 5.5 Home position return mode
5
When the automatic retract function for home position return is disabled Set [Pr. PT70] to "_ _ _ 0". When the stroke end is detected
When the automatic retract function for home position return is enabled Set [Pr. PT70] to "_ _ _ 2". When a home position return is started from the proximity dog
When the movement is returned at the stroke end
*1 This is not available with the software limit.
Home position return direction Stroke end
Forward rotation
Servo motor speed
Home position return start position Stops due to the occurrence of [AL. 90]
Home position return direction Proximity dog
Servo motor speed Reverse rotation
Moves back automatically before the proximity dog, then performs home position return from this position.
Home position return start position
Stroke end *1 Home position return directionProximity dog
Performs home position return from this position.
Home position return start position
Forward rotation
Servo motor speed Reverse rotation
5 INDEXER OPERATION 5.5 Home position return mode 223
22
Torque limit changing dog type home position return (rear end detection, Z-phase reference) This is a home position return type using a proximity dog. Deceleration starts at the front end of the proximity dog. After the rear end is passed, the position specified by the first Z-phase signal, or the position of the first Z-phase signal shifted by the home position shift distance is used as the home position.
Device/parameter Set input devices and parameters as follows:
*1 The setting of the station home position shift distance is disabled at home position return. Cycling the power will enable the setting. *2 [Pr. PT40 Station home position shift distance] is enabled as an offset to the position that the home position return is performed. If a
larger value than the in-position range is set to [Pr. PT40], the completion output of positioning will not turn on (short circuit) at the first power on after home position return.
*3 [Pr. PT70] is available with servo amplifiers with software version A7 or later.
Item Device/parameter to be used Setting Home position return mode selection
RYn6 (Operation mode selection 1) Turn off RYn6.
RYn7 (Operation mode selection 2) Turn off RYn7.
Function selection for torque limit changing dog type home position return *3
[Pr. PT70] Select "1" or "3". 1: Rear end detection and automatic retract function for home position return are disabled 3: Rear end detection and automatic retract function for home position return are enabled
Torque limit changing dog type home position return (rear end detection, Z-phase reference)
[Pr. PT45] Select "-1" or "-33". -1: Forward rotation (CCW) -33: Reverse rotation (CW)
Dog input polarity [Pr. PT29] Select a proximity dog input polarity.
Home position return speed [Pr. PT05] Set the rotation speed specified until an external limit is detected.
Creep speed [Pr. PT06] Set the rotation speed specified after an external limit is detected.
Home position shift distance [Pr. PT07], [Pr. PT69] Set this item to shift the home position, which is specified by the first Z-phase signal after the external limit is detected. Lower/upper settings are enabled.
Acceleration time constant/ deceleration time constant
Acceleration time constant: [Pr. PT56] Deceleration time constant: [Pr. PT56] or [Pr. PT57]
Set an acceleration time constant and deceleration time constant. For the deceleration time constant, when [Pr. PT55] is set to "_ _ _ 0", the value of [Pr. PT56] is used, and when [Pr. PT55] is set to "_ _ _ 1", the value of [Pr. PT57] is used.
Torque limit value for the execution of home position return
[Pr. PA11] Set a torque limit value for home position return in the forward rotation direction.
[Pr. PA12] Set a torque limit value for home position return in the reverse rotation direction.
Torque limit value during stop [Pr. PC77] Set a torque limit value for during stop.
4 5 INDEXER OPERATION 5.5 Home position return mode
5
Timing chart
*1 When the rest of command travel distance is other than "0", RYn1 (Start) is not enabled even if it is turned on. *2 Counting will start when the rest of command travel distance becomes "0". *3 Configure a sequence as follows: After an operation mode is selected, RYn1 (Start) turns on upon the lapse of the switching hold time
("8 ms + communication delay time"). *4 After the front end of the proximity dog is detected, if the rear end of the proximity dog is detected without reaching the creep speed, [AL.
90] occurs. Check the length of the proximity dog or check the home position return speed and creep speed.
ON OFF
ON OFF
ON OFF
0 r/min
ON OFF
ON OFF
ON OFF
ON OFF
ON OFF
*4
0
[Pr. PA11], [Pr. PA12][Pr. PC77] [Pr. PC77]
Power supply
RX (n + 3) A (Malfunction)
RXnC (Travel completion)
RX (n + 1) 0 (Home position return completion 2)
RWrn6 (Station No. output) Maintains the previous value
Home position return speed
Creep speedForward rotation
Servo motor speed
Reverse rotation
Home position shift distance[Pr. PT56]
setting time Setting time of [Pr. PT56] or [Pr. PT57]
Position where the station home position shift distance is added
Proximity dog
Z-phase
5 ms or longer
RYn1 (Start) *3
Ignored *1
RYn3 (Proximity dog)
RYn6 (Operation mode selection 1)
RYn7 (Operation mode selection 2)
[Pr. PT39] setting time *2
Enabled torque limit
5 INDEXER OPERATION 5.5 Home position return mode 225
22
When the automatic retract function for home position return is disabled Set [Pr. PT70] to "_ _ _ 1". When the stroke end is detected
When the automatic retract function for home position return is enabled Set [Pr. PT70] to "_ _ _ 3". When a home position return is started from the proximity dog
When the movement is returned at the stroke end
*1 This is not available with the software limit.
0 r/min
Home position return direction Stroke end
Forward rotation
Servo motor speed
Home position return start position Stops due to the occurrence of [AL. 90]
0 r/min
Home position return direction Proximity dog
Servo motor speed Reverse rotation
Moves back automatically before the proximity dog, then performs home position return from this position.
Home position return start position
0 r/min
Stroke end *1 Home position return directionProximity dog
Performs home position return from this position.
Home position return start position
Servo motor speed Reverse rotation
6 5 INDEXER OPERATION 5.5 Home position return mode
5
Torque limit changing data set type
When the data set type home position return is selected, [AL. 42] and [AL. 52] will not be detected. If the servo motor is rotated in the home position return mode and the mode is changed to automatic mode without home position return, the following may occur. [AL. 42] or [AL. 52] can occur. Even though [AL. 42] or [AL. 52] does not occur, the motor will try to compensate a position gap to the
command position at start signal input because the current position is out of position with the command position. Watch out for the servo motor rotation due to the compensation for the gap to zero between command position and current position.
When [AL. 90] is occurring, performing home position return will automatically cancel the alarm. When [AL. 25] is occurring, cycling the power will cancel the alarm.
When setting any position as home, use the torque limit changing data set type home position return. The JOG operation, the manual pulse generator operation, and others can be used for the travel. With this home position return, torque will not be generated simultaneously at switching to the home position return mode. Any home position can be set by rotating the shaft with an external force. Additionally, the proximity dog is not used. The proximity dog is disabled even if it is turned off.
Device/parameter Set input devices and parameters as follows:
Item Device/parameter to be used Setting Home position return mode selection
RYn6 (Operation mode selection 1) Turn off RYn6.
RYn7 (Operation mode selection 2) Turn off RYn7.
Torque limit changing data set type home position return
[Pr. PT45] Select "-3" (data set type).
Torque limit value during stop [Pr. PC77] Set a torque limit value for during stop.
5 INDEXER OPERATION 5.5 Home position return mode 227
22
Timing chart
*1 Configure a sequence that changes the operation mode earlier by the communication delay time. *2 Configure a sequence as follows: After an operation mode is selected, RYn1 (Start) turns on upon the lapse of the switching hold time
("8 ms + communication delay time").
ON OFF
ON OFF
ON OFF
ON OFF ON OFF
ON OFF
ON OFF
ON OFF
ON OFFPower supply
RX (n + 3) A (Malfunction)
RXnC (Travel completion) 3 ms or shorter
RX (n + 1) 0 (Home position return completion 2)
Station output 0RWrn6 (Station No. output)
RXn1 (In-position) 4 ms or longer *1
6 ms or longer
RYn1 (Start) *2
RYn3 (Proximity dog)
Ignored RYn6 (Operation mode selection 1)
RYn7 (Operation mode selection 2)
Torque limit value in [Pr. PC77]Torque limit value in [Pr. PC77] Torque limit value 0Torque limit
8 5 INDEXER OPERATION 5.5 Home position return mode
5
Homing method 35, 37 (Homing on current position) In the servo-off status, any home position can be set by rotating the servo motor shaft with an external force. When using the servo motor with an electromagnetic brake, use the torque limit changing data set type because the brake operates in the servo-off status.
Device/parameter Set input devices and parameters as follows:
Timing chart
*1 Configure a sequence that changes the operation mode earlier by the communication delay time. *2 Configure a sequence as follows: After an operation mode is selected, RYn1 (Start) turns on upon the lapse of the switching hold time
("8 ms + communication delay time").
Item Device/parameter to be used Setting Home position return mode selection
RYn6 (Operation mode selection 1) Turn off RYn6.
RYn7 (Operation mode selection 2) Turn off RYn7.
Homing method 35, 37 [Pr. PT45] Select "-5" or "37" (Homing on current position).
RYn0 (Servo-on) ON OFF
RX (n + 3) A (Malfunction) ON OFF
RXnC (Travel completion) ON OFF
ON OFF
ON OFF
RYn1 (Start) *2
RYn3 (Proximity dog)
RX (n + 1) 0 (Home position return completion 2)
ON OFF
ON OFF
ON OFF
RYn6 (Operation mode selection 1)
RYn7 (Operation mode selection 2)
Ignored
Torque limit value in [Pr. PC77]Torque limit value in [Pr. PC77]
RWrn6 (Station No. output)
Torque limit
6 ms or longer
4 ms or longer *1
(Servo motor in coasting state)
Station output 0
RXn1 (In-position) ON OFF
5 INDEXER OPERATION 5.5 Home position return mode 229
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5.6 Application of indexer function Backlash compensation Setting [Pr. PT14 Backlash compensation] stops the servo motor at a position compensated by the setting value of this parameter when a command direction in automatic operation is reversed.
Backlash compensation is available with servo amplifiers with software version A8 or later. Before using this function, press a workpiece against the machine side so that the clearance between parts such as gear teeth on the machine side and the motor side or between feed screws will be generated only on one side.
The timing charts are for when the travel distance between stations is set to 1000 and the backlash compensation is set to 10.
For home position return types where the servo motor operates at home position return The backlash compensation direction will be determined by the home position return direction just before the completion of home position return.
1000 2000 1000 - 10 2000
ON OFF ON OFF
0 r/min
Power supply
RX (n + 1) 0 (Home position return completion 2)
Forward rotation
Servo motor speed Reverse rotation
RWwn6 (Next station No. selection) No. 0 No. 1 No. 2 No. 1 No. 2
Servo motor current position
Home position return
As the rotation direction immediately before home position return is in the forward rotation, backlash compensation is applied when positioning is performed in the reverse rotation.
0 5 INDEXER OPERATION 5.6 Application of indexer function
5
For home position return types where the servo motor does not operate at home position return The backlash compensation direction will be determined by "Backlash compensation direction selection at data set type home position return" in [Pr. PT38] as follows:
When [Pr. PT38] is set to "0 _ _ _" (automatic setting) Be sure to perform JOG operation before home position return, then press parts such as gears or feed screw tooth on the motor side against the machine side. The backlash compensation direction will be determined by the motor rotation direction just before the completion of home position return.
When [Pr. PT38] is set to "1 _ _ _" (CCW direction or positive direction) or "2 _ _ _" (CW or negative direction)
The compensation will apply to the set direction. Before home position return, be sure to press gears or feed screws on the motor side against the machine side in the opposite direction of the compensation direction set in [Pr. PT38]. The following timing chart is for when [Pr. PT38] is set to "1 _ _ _" (CCW direction or positive direction).
ON OFF ON OFF
0 r/min
1000 2000 1000 - 10 2000
Power supply
RX (n + 1) 0 (Home position return completion 2)
JOG operation Forward rotation
Servo motor speed Reverse rotation
RWwn6 (Next station No. selection) No. 0 No. 1 No. 2 No. 1 No. 2
Servo motor current position
Home position return
As the rotation direction immediately before home position return is in the forward rotation, backlash compensation is applied when positioning is performed in the reverse rotation.
ON OFF ON OFF
0 r/min
1000 + 10 2000 + 10 1000 2000 + 10
Power supply
RX (n + 1) 0 (Home position return completion 2)
Forward rotation
Servo motor speed Reverse rotation
RWwn6 (Next station No. selection) No. 0 No. 1 No. 2 No. 1 No. 2
Servo motor current position
Home position return
The compensation will be applied to the compensation direction set in [Pr. PT38].
5 INDEXER OPERATION 5.6 Application of indexer function 231
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6 SPEED CONTROL OPERATION The items shown in the following table are the same as those for the motion mode. For details, refer to each section indicated in the detailed explanation field. "MR-J4-_GF_" means "MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode)".
The speed control operation is available with servo amplifiers with software version A6 or later. When you use a linear servo motor, replace the following left words to the right words. Load to motor inertia ratio Load to motor mass ratio Torque Thrust
6.1 Link device Profile Some input devices can be assigned to the CN3 pin using [Pr. PD03] to [Pr. PD05]. When using the CC-Link IE Field Network communication and CN3 connector's input signal, assigned devices other than upper stroke limit, lower stroke limit and proximity dog can be used simultaneously. Some output devices can be assigned to the CN3 pin with [Pr. PD07] to [Pr. PD09]. The assigned devices can be used together when using the CC-Link IE Field Network communication and CN3 connector's output signal. When turning off input/output signals, turn off both CC-Link IE Field Network communication and external I/O signals of the CN3 connector. The following shows the profile of link devices communicated with the master station in cyclic communication.
Item Detailed explanation Startup MR-J4-_GF_ section 4.2
Switch setting and display of the servo amplifier MR-J4-_GF_ section 4.3
Test operation MR-J4-_GF_ section 4.4
Test operation mode MR-J4-_GF_ section 4.5
2 6 SPEED CONTROL OPERATION 6.1 Link device
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RYn profile
*1 "n" depends on the station No. setting. *2 This is available with servo amplifiers with software version A7 or later.
Master station Servo amplifier (RYn)
Device No. *1 Device Symbol CN3 connector pin No. RYn0 Servo-on SON
RYn1 Forward rotation start ST1
RYn2 Reverse rotation start ST2
RYn3 Unavailable
RYn4
RYn5
RYn6
RYn7
RYn8 Monitor output execution demand MOR
RYn9 Instruction code execution demand COR
RYnA to RYnC
Unavailable
RYnD Speed acceleration/deceleration selection
STAB
RYnE to RYnF Unavailable
RY (n + 1) 0 Upper stroke limit FLS
RY (n + 1) 1 Lower stroke limit RLS
RY (n + 1) 2 to RY (n + 1) F Unavailable
RY (n + 2) 0
RY (n + 2) 1 Speed command execution demand SPR
RY (n + 2) 2 to RY (n + 2) 5
Unavailable
RY (n + 2) 6 Internal torque limit selection *2 CTL
RY (n + 2) 7 Proportional control (PID control) PC
RY (n + 2) 8 Gain switching CDP
RY (n + 2) 9 Unavailable
RY (n + 2) A Speed specifying method selection CSL
RY (n + 2) B to RY (n + 2) F
Unavailable
RY (n + 3) 0 to RY (n + 3) 9
RY (n + 3) A Reset RES
RY (n + 3) B to RY (n + 3) F
Unavailable
6 SPEED CONTROL OPERATION 6.1 Link device 233
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RXn profile
*1 "n" depends on the station No. setting.
Servo amplifier Master station (RXn)
Device No. *1 Device Symbol CN3 connector pin No. RXn0 Ready RD
RXn1 to RXn3 Unavailable
RXn4 Limiting torque TLC
RXn5 Speed reached SA
RXn6 Electromagnetic brake interlock MBR 13
RXn7 Unavailable
RXn8 Monitoring MOF
RXn9 Instruction code execution completion
COF
RXnA Warning WNG
RXnB Unavailable
RXnC
RXnD Dynamic brake interlock DB
RXnE Unavailable
RXnF Zero speed detection ZSP
RX (n + 1) 0 to RX (n + 1) F
Unavailable
RX (n + 2) 0
RX (n + 2) 1 Speed command execution completion
SPF
RX (n + 2) 2 to RX (n + 2) F
Unavailable
RX (n + 3) 0 to RX (n + 3) 9
RX (n + 3) A Malfunction ALM 15
RX (n + 3) B Remote station communication ready CRD
RX (n + 3) C to RX (n + 3) F
Unavailable
4 6 SPEED CONTROL OPERATION 6.1 Link device
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RWwn profile
*1 "n" depends on the station No. setting.
RWrn profile
*1 "n" depends on the station No. setting.
Master station Servo amplifier (RWwn)
Device No. *1 Device RWwn0 Monitor 1
RWwn1 Unavailable
RWwn2 Monitor 2
RWwn3 Unavailable
RWwn4 Instruction code - Lower 16 bits
RWwn5 Instruction code - Upper 16 bits
RWwn6 Unavailable
RWwn7 Speed selection
RWwn8 Unavailable
RWwn9
RWwnA Speed command data - Lower 16 bits/speed selection
RWwnB Speed command data - Upper 16 bits
RWwnC Writing data - Lower 16 bits
RWwnD Writing data - Upper 16 bits
RWwnE Unavailable
RWwnF
Servo amplifier Master station (RWrn)
Device No.*1 Device RWrn0 Monitor 1 data - Lower 16 bits
RWrn1 Monitor 1 data - Upper 16 bits
RWrn2 Monitor 2 data - Lower 16 bits
RWrn3 Monitor 2 data - Upper 16 bits
RWrn4 Respond code
RWrn5 Unavailable
RWrn6
RWrn7
RWrn8
RWrn9
RWrnA
RWrnB
RWrnC Reading data - Lower 16 bits
RWrnD Reading data - Upper 16 bits
RWrnE Unavailable
RWrnF
6 SPEED CONTROL OPERATION 6.1 Link device 235
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Detailed explanation of the RYn/RXn profile
RYn profile Device No. Device Description RYn0 Servo-on Turn on RYn0 to power on the base circuit, and make the servo amplifier ready to operate.
(servo-on status) Turn it off to shut off the base circuit, and coast the servo motor.
RYn1 Forward rotation start This is used to start the servo motor. The following shows the rotation directions.
If both RYn1 and RYn2 turn on or off during operation, the servo motor decelerates to a stop. The servo motor will not be servo-locked at a stop. The servo motor speed will turn 0 r/min by the control, and the stop position will not be maintained.
RYn2 Reverse rotation start
RYn8 Monitor output execution demand Turning on RYn8 sets the following data. At this time, RXn8 turns on. While RYn8 is on, the monitor value is always updated. RWrn0: Lower 16 bits of data requested with RWwn0 (Monitor 1) RWrn1: Upper 16 bits of data requested with RWwn0 (Monitor 1) RWrn2: Lower 16 bits of data requested with RWwn2 (Monitor 2) RWrn3: Upper 16 bits of data requested with RWwn2 (Monitor 2) RWrn4: Respond code indicating a normal or error result
RYn9 Instruction code execution demand
Turning on RYn9 executes the processing corresponding to the instruction code set with RWwn4 and RWwn5. After the instruction code execution is completed, a respond code indicating a normal or error result is stored in RWrn4, and RXn9 turns on. Refer to the following for details of the instruction code. Page 241 Instruction code
RYnD Speed acceleration/deceleration selection
Enables selecting the acceleration/deceleration time constants while the servo motor rotates in the speed control mode (point table method).
RY (n + 1) 0 Upper stroke limit To execute the operation, turn on RY (n + 1) 0 and RY (n + 1) 1. Turning off the device corresponding to the address increasing or decreasing direction will bring the servo motor to a slow stop and make it servo-locked. The stop method can be changed with [Pr. PD12].RY (n + 1) 1 Lower stroke limit
RY (n + 2) 1 Speed command execution demand
Turning on RY (n + 2) 1 sets the point table No. or speed command data set in RWwnA and RWwnB. If a point table No. or speed command data is set to the servo amplifier, a respond code indicating a normal or error result is set in RWrn4 and RX (n + 2) 1 (Speed command execution completion) turns on. When [Pr. PT62] is set as follows, the reflecting timing of the speed command data can be switched. When [Pr. PT62] is set to "0 _ _ _", the point table No. and speed command data set in
RWwnA and RWwnB will be reflected by turning on RY (n + 2) 1. When [Pr. PT62] is set to "1 _ _ _", the point table No. and speed command data set in
RWwnA and RWwnB will be reflected while RY (n + 2) 1 is being turned on.
RY (n + 2) 6 Internal torque limit selection If RY (n + 2) 6 is turned on, the setting value of [Pr. PA11 Forward rotation torque limit] or [Pr. PA12 Reverse rotation torque limit] is compared with [Pr. PC77 Internal torque limit] and the lower one will be enabled.
RYn2 RYn1 Servo motor starting direction
[Pr. PA14] = 0 [Pr. PA14] = 1
Stop (stops with the speed command = 0)0 0
0 1 CCW direction CW direction
1 0 CW direction CCW direction
Stop (stops with the speed command = 0)1 1
*1 0: off, 1: on
RYnD *1 Acceleration/deceleration time constants
Acceleration/deceleration time constants of point table No. 10
1 Acceleration/deceleration time constants of point table No. 2
*1 0: off, 1: on
6 6 SPEED CONTROL OPERATION 6.1 Link device
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RY (n + 2) 7 Proportional control (PID control) Turn on RY (n + 2) 7 to switch the speed amplifier from the proportional integral type to the proportional type. If the servo motor at a stop is rotated even one pulse due to any external factor, it generates torque to compensate for a position shift. When the servo motor shaft is to be locked mechanically after RXnC (Travel completion) is turned off, switching on RY (n + 2) 7 (Proportional control) upon turning RXnC (Travel completion) off will suppress the unnecessary torque generated to compensate for a position shift. When the shaft is to be locked for a long time, turn on RY (n + 2) 7 and make the torque less than the rated torque with the torque limit. This function will be enabled by selecting "PI control enabled (_ _ _ 0)" in "PI-PID switching control selection" of [Pr. PB24].
RY (n + 2) 8 Gain switching Turn on RY (n + 2) 8 to use the values of [Pr. PB29] to [Pr. PB36] and [Pr. PB56] to [Pr. PB60] as the load to motor inertia ratio and gain values.
RY (n + 2) A Speed specifying method selection
Select how to give a speed command. Off: Specify a point table No. with RWwn7 (Speed selection) to give a speed command. On: When [Pr. PT62] is set to "_ 0 _ _"
Specify a point table No. in RWwnA to give a speed command. When [Pr. PT62] is set to "_ 1 _ _"
Set the speed command data in RWwnA and RWwnB to give a speed command.
RY (n + 3) A Reset Turn on RY (n + 3) A to reset alarms. However, some alarms cannot be cleared with RY (n + 3) A.
Device No. Device Description RXn0 Ready When the servo-on is on and the servo amplifier is ready to operate, RXn0 turns on.
RXn4 Limiting torque RXn4 turns on when a generated torque reaches a value set with [Pr. PA11 Forward rotation torque limit] or [Pr. PA12 Reverse rotation torque limit].
RXn5 Speed reached RXn5 will turn off during servo-off. When the servo motor speed reaches the following range, RXn5 will turn on. Set speed ((Set speed 0.05) + 20) r/min When the set speed is 20 r/min or less, RXn5 is always on.
RXn6 Electromagnetic brake interlock When using the device, set operation delay time of the electromagnetic brake in [Pr. PC02]. When a servo-off status or alarm occurs, RXn6 turns off.
RXn8 Monitoring Refer to RYn8 (Monitor output execution demand).
RXn9 Instruction code execution completion
Refer to RYn9 (Instruction code execution demand).
RXnA Warning When a warning occurs, RXnA turns on. When a warning is not occurring, turning on the power will turn off RXnA after 4 s to 5 s.
RXnD Dynamic brake interlock RXnD turns off when the dynamic brake needs to operate.
RXnF Zero speed detection RXnF turns on when the servo motor speed is zero speed or less. Zero speed can be changed with [Pr. PC07].
RX (n + 2) 1 Speed command execution completion
Refer to RY (n + 2) 1 (Speed command execution demand).
RX (n + 3) A Malfunction When an alarm occurs, RX (n + 3) A will turn on. When an alarm is not occurring, turning on the power will turn off RX (n + 3) A after 4 s to 5 s.
RX (n + 3) B Remote station communication ready
Turning on the power will turn on RX (n + 3) B. When an alarm occurs, RX (n + 3) B will turn off.
Device No. Device Description
6 SPEED CONTROL OPERATION 6.1 Link device 237
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Detailed explanation of the RWwn/RWrn profile
RWwn profile Device No. Device Description Setting range RWwn0 Monitor 1 Setting a monitor code to monitor in RWwn0 and turning on RYn8
store data in RWrn0 and RWrn1. At this time, RXn8 turns on. Refer to the following for monitor codes for status display. Page 240 Monitor code
Page 240 Monitor code
RWwn2 Monitor 2 Setting a monitor code to monitor in RWwn2 and turning on RYn8 store data in RWrn2 and RWrn3. At this time, RXn8 turns on. Refer to the following for monitor codes for status display. Page 240 Monitor code
Page 240 Monitor code
RWwn4 Instruction code - Lower 16 bits Set an instruction code No. used to read or write a parameter or point table data or to refer to an alarm. Setting an instruction code No. in RWwn4 and turning on RYn9 execute the instruction. RXn9 turns on after the instruction execution is completed. Refer to the following for the instruction code No. Page 241 Instruction code
Page 241 Instruction code
RWwn5 Instruction code - Upper 16 bits When a value other than "0000h" is set in this device, the instruction code is not executed even if RYn9 is turned on and "_ _ 1 _" is set in respond code.
0000h
RWwn7 Speed selection Specify the point table No. that stores the speed command data being used. The speed command data must be the permissible instantaneous speed or less of the servo motor being used.
Point table No.: 1 to 255
RWwnA Speed command data - Lower 16 bits/speed selection
This function can be used while RY (n + 2) A (Position/speed specifying method selection) is on (the remote register-based speed specifying method is selected). For the point table No. setting When RY (n + 2) 1 is turned on
after a point table No. is set in RWwnA while [Pr. PT62] is set to "0 _ _ _", the point table No. will be set in the servo amplifier. Once the setting is completed, RX (n + 2) 1 turns on.
For the speed command data setting When RY (n + 2) 1 is turned on after the lower 16 bits of the servo motor speed is set in RWwnA and the upper 16 bits of the servo motor speed is set in RWwnB while [Pr. PT62] is set to "1 _ _ _", the speed command data will be set in the servo amplifier. Once the setting is completed, RX (n + 2) 1 turns on. The servo motor speed unit is 0.01 r/min or 0.01 mm/s.
Point table No.: 1 to 255 Speed command data: 0 to permissible speedRWwnB Speed command data - Upper 16
bits
RWwnC Writing data - Lower 16 bits Set writing data used to write a parameter or point table data or to clear the alarm history. Setting writing data in RWwnC and RWwnD and turning on RYn9 write the data to the servo amplifier. When the writing is completed, RXn9 turns on. Refer to the following for writing data. Page 244 Writing instruction code
Page 244 Writing instruction codeRWwnD Writing data - Upper 16 bits
8 6 SPEED CONTROL OPERATION 6.1 Link device
6
RWrn profile Device No. Device Description Setting range RWrn0 Monitor 1 data - Lower 16 bits The lower 16 bits of the data corresponding to the monitor code
set in RWwn0 are stored.
RWrn1 Monitor 1 data - Upper 16 bits The upper 16 bits of the data corresponding to the monitor code set in RWwn0 are stored. A sign is set if no data is set in the upper 16 bits.
RWrn2 Monitor 2 data - Lower 16 bits The lower 16 bits of the data corresponding to the monitor code set in RWwn2 are stored.
RWrn3 Monitor 2 data - Upper 16 bits The upper 16 bits of the data corresponding to the monitor code set in RWwn2 are stored. A sign is set if no data is set in the upper 16 bits.
RWrn4 Respond code When the codes set in RWwn0 to RWwnD have been executed normally, "0000" is set.
RWrnC Reading data - Lower 16 bits Data corresponding to the reading code set in RWwn4 is set.
RWrnD Reading data - Upper 16 bits
6 SPEED CONTROL OPERATION 6.1 Link device 239
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Code
Monitor code Use any of the instruction codes 0100h to 011Fh to read the decimal point position (multiplying factor) of the status display. Setting any code No. that is not given in this section will set an error code (_ _ _ 1) in respond code (RWrn4). At this time, "0000" is set in RWrn0 to RWrn3.
Code No. Monitored item Response data content (Servo amplifier Master station)
Data length Unit 0000h
0001h
0002h
0003h
0004h
0005h
0006h
0007h
0008h
0009h Speed selection No. 16 bits
000Ah Cumulative feedback pulses 32 bits [pulse]
000Bh
000Ch
000Dh
000Eh Droop pulses 32 bits [pulse]
000Fh
0010h
0011h Regenerative load ratio 16 bits [%]
0012h Effective load ratio 16 bits [%]
0013h Peak load ratio 16 bits [%]
0014h Instantaneous torque 16 bits [%]
0015h ABS counter 16 bits [rev]
0016h Servo motor speed 32 bits 0.01 [r/min]/0.01 [mm/s]
0017h
0018h Bus voltage 16 bits [V]
0019h
001Ah
001Bh
001Ch Position within one-revolution 32 bits [pulse]
001Dh
001Eh
001Fh
0020h
0021h
0022h
0024h
0025h
0026h
0 6 SPEED CONTROL OPERATION 6.1 Link device
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Instruction code Refer to the following for the timing charts of the instruction codes. Page 45 Instruction code
Reading instruction code The data requested to be read with the instruction codes 0000h to 0AFFh is stored in reading data (RWrnC and RWrnD). Set the instruction code No. corresponding to the item in RWwn4 and RWwn5. The instruction code No. and response data are all hexadecimal. Setting any instruction code No. that is not given in this section will store an error code (_ _ 1 _) in respond code (RWrn4). If any unusable parameter or point table is read, an error code (_ _ 2 _) is stored. At this time, "0000" is stored in reading data (RWrnC and RWrnD).
Code No. Item/function Reading data content (Servo amplifier Master station)
RWwn5 RWwn4 RWrnC RWrnD 0000h 0000h Operation mode
Reads the current operation mode. 0000: CC-Link IE operation mode 0001: Test operation mode
Always 0
0000h 0002h Travel distance multiplying factor Reads the multiplying factor of the position data in the point table set with [Pr. PT03].
0000: 1 0100: 10 0200: 100 0300: 1000
Always 0
0000h 0010h Current alarm (warning) reading Reads the alarm No. or warning No. that is currently occurring.
Always 0
0000h 0020h Alarm number in alarm history (latest alarm)
Always 0
0000h 0021h Alarm number in alarm history (one alarm ago)
0000h 0022h Alarm number in alarm history (two alarms ago)
0000h 0023h Alarm number in alarm history (three alarms ago)
0000h 0024h Alarm number in alarm history (four alarms ago)
0000h 0025h Alarm number in alarm history (five alarms ago)
0000h 0026h Alarm number in alarm history (six alarms ago)
0000h 0027h Alarm number in alarm history (seven alarms ago)
0000h 0028h Alarm number in alarm history (eight alarms ago)
0000h 0029h Alarm number in alarm history (nine alarms ago)
0000h 002Ah Alarm number in alarm history (ten alarms ago)
0000h 002Bh Alarm number in alarm history (eleven alarms ago)
0000h 002Ch Alarm number in alarm history (twelve alarms ago)
0000h 002Dh Alarm number in alarm history (thirteen alarms ago)
0000h 002Eh Alarm number in alarm history (fourteen alarms ago)
0000h 002Fh Alarm number in alarm history (fifteen alarms ago)
Detail of the alarm or warning currently occurring
No. of the alarm or warning currently occurring
Detail of an alarm that occurred before
No. of an alarm that occurred before
6 SPEED CONTROL OPERATION 6.1 Link device 241
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0000h 0030h Alarm occurrence time in alarm history (latest alarm)
Returns the occurrence time of the alarm that occurred before. Always 0
0000h 0031h Alarm occurrence time in alarm history (one alarm ago)
0000h 0032h Alarm occurrence time in alarm history (two alarms ago)
0000h 0033h Alarm occurrence time in alarm history (three alarms ago)
0000h 0034h Alarm occurrence time in alarm history (four alarms ago)
0000h 0035h Alarm occurrence time in alarm history (five alarms ago)
0000h 0036h Alarm occurrence time in alarm history (six alarms ago)
0000h 0037h Alarm occurrence time in alarm history (seven alarms ago)
0000h 0038h Alarm occurrence time in alarm history (eight alarms ago)
0000h 0039h Alarm occurrence time in alarm history (nine alarms ago)
0000h 003Ah Alarm occurrence time in alarm history (ten alarms ago)
0000h 003Bh Alarm occurrence time in alarm history (eleven alarms ago)
0000h 003Ch Alarm occurrence time in alarm history (twelve alarms ago)
0000h 003Dh Alarm occurrence time in alarm history (thirteen alarms ago)
0000h 003Eh Alarm occurrence time in alarm history (fourteen alarms ago)
0000h 003Fh Alarm occurrence time in alarm history (fifteen alarms ago)
0000h 0040h Input device status 0 Reads the status (OFF/ON) of input devices.
Bit 0 to bit F indicate the OFF/ON status of the corresponding input devices. 0: Servo-on 1: Forward rotation start 2: Reverse rotation start 3 to 7: For manufacturer setting 8: Monitor output execution demand 9: Instruction code execution demand A to C: For manufacturer setting D: Speed acceleration/deceleration selection E to F: For manufacturer setting
Always 0
0000h 0041h Input device status 1 Reads the status (OFF/ON) of input devices.
Bit 0 to bit F indicate the OFF/ON status of the corresponding input devices. 0: Upper stroke limit*1
1: Lower stroke limit*1
2 to F: For manufacturer setting
Always 0
0000h 0042h Input device status 2 Reads the status (OFF/ON) of input devices.
Bit 0 to bit F indicate the OFF/ON status of the corresponding input devices. 0: For manufacturer setting 1: Speed command execution demand 2 to 5: For manufacturer setting 6: Internal torque limit selection 7: Proportional control (PID control) 8: Gain switching 9: For manufacturer setting A: Speed specifying method selection B to F: For manufacturer setting
Always 0
Code No. Item/function Reading data content (Servo amplifier Master station)
RWwn5 RWwn4 RWrnC RWrnD
2 6 SPEED CONTROL OPERATION 6.1 Link device
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0000h 0043h Input device status 3 Reads the status (OFF/ON) of input devices.
Bit 0 to bit F indicate the OFF/ON status of the corresponding input devices. 0 to 9: For manufacturer setting A: Reset B to F: For manufacturer setting
Always 0
0000h 0081h Energization time Reads the energization time since shipment.
Returns the energization time [h]. Always 0
0000h 0082h Power on frequency Reads the number of power-on times since shipment.
Returns the number of power-on times. Always 0
0000h 00A0h Load to motor inertia ratio Reads the estimated load to motor inertia ratio on the servo motor shaft.
Return unit [0.01 times] The load to motor inertia ratio is returned.
Always 0
0000h 00B0h Home position within one-revolution (CYC0) Reads the cycle counter value of an absolute home position.
Return unit [pulse] Stores the lower 16 bits of the cycle counter value of the absolute home position (32-bit data).
Stores the upper 16 bits of the cycle counter value of the absolute home position.
0000h 00B2h Home position multi-revolution data (ABS0) Reads the multi-revolution counter value of an absolute home position.
Return unit [rev] Returns the multi-revolution counter value.
Always 0
0000h 00C0h Error parameter No./Point data No. reading Reads the parameter No. and point table No. that have an error.
Always 0
0000h 0100h to 011Fh
Monitor multiplying factor Reads the multiplying factor of data to be read with a monitor code. The instruction codes 0100h to 011Fh correspond to each of the monitor codes 0000h to 001Fh. To the instruction code that has no corresponding monitor code, "0000h" is applied.
0000: 1 0001: 10 0002: 100 0003: 1000
Always 0
0000h 0200h Parameter group reading Reads the parameter group written with the code No. 8200h.
Always 0
Code No. Item/function Reading data content (Servo amplifier Master station)
RWwn5 RWwn4 RWrnC RWrnD
Parameter No. or point table No.
Parameter group 0: [Pr. PA_ _ ] 1: [Pr. PB_ _ ] 2: [Pr. PC_ _ ] 3: [Pr. PD_ _ ] 4: [Pr. PE_ _ ] 5: [Pr. PF_ _ ] 6 to A: For manufacturer setting B: [Pr. PL_ _ ] C: [Pr. PT_ _ ] E: [Pr. PN_ _ ]
Type 1: Parameter 2: Point table
0 00
Parameter group 0: [Pr. PA_ _ ] 1: [Pr. PB_ _ ] 2: [Pr. PC_ _ ] 3: [Pr. PD_ _ ] 4: [Pr. PE_ _ ] 5: [Pr. PF_ _ ] 6 to A: For manufacturer setting B: [Pr. PL_ _ ] C: [Pr. PT_ _ ] E: [Pr. PN_ _ ]
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*1 The setting of [Pr. PD41] enables switching between indicating the state of input (LSP/LSN) from the servo amplifier and the state of input (RY (n + 1) 0/RY (n + 1) 1) from the controller. When it is set to input to the servo amplifier, bit 0 and bit 1 of setting value [Pr. PA14 Rotation direction selection/travel direction selection] are interchanged.
Writing instruction code Data requested to be written with the instruction codes 8000h to 91FFh is written to the servo amplifier. Set the instruction code No. corresponding to the item in instruction code (RWwn4 and RWwn5) and the data to be written in writing data (RWwnC and RWwnD). The instruction code No. and response data are all hexadecimal. Setting any instruction code No. that is not given in this section will store an error code (_ _ 1 _) in respond code (RWrn4).
0000h 0201h to 02FFh
Parameter data reading Reads the setting values of the parameters in the group read with the code No. 0200h. The lower two digits of the code No. which are converted to decimal correspond to the parameter No.
Stores the lower 16 bits of the setting value of the requested parameter No.
Stores the upper 16 bits of the setting value of the requested parameter No.
0000h 0301h to 03FFh
Data form of parameter Reads the data form of the parameter numbers in the group read with the code No. 0200h. The lower two digits of the code No. which are converted to decimal correspond to the parameter No.
Stores the data form of the requested parameter No. Always 0
0000h 0601h to 06FFh
Servo motor speed of point table No. 1 to 255 The lower two digits of the code No. which are converted to decimal correspond to the point table No.
Stores the lower 16 bits of the servo motor speed of the requested point table No.
Stores the upper 16 bits of the servo motor speed of the requested point table No.
0000h 0701h to 07FFh
Acceleration time constant of point table No. 1 to 255 The lower two digits of the code No. which are converted to decimal correspond to the point table No.
Stores the acceleration time constant of the requested point table No. Always 0
0000h 0801h to 08FFh
Deceleration time constant of point table No. 1 to 255 The lower two digits of the code No. which are converted to decimal correspond to the point table No.
Stores the deceleration time constant of the requested point table No. Always 0
Code No. Item/function Writing data content (Servo amplifier Master station)
RWwn5 RWwn4 RWwnC RWwnD 0000h 8010h Alarm reset command Clears the
alarm that is currently occurring. 1EA5h Set to "0000h".
0000h 8101h Feedback pulse value display data clear command Resets the display data of the status display "Cumulative feedback pulses" to "0".
1EA5h Set to "0000h".
Code No. Item/function Reading data content (Servo amplifier Master station)
RWwn5 RWwn4 RWrnC RWrnD
0 Decimal point position 0: No decimal point 1: First least significant digit
(no decimal point) 2: Second least significant digit 3: Third least significant digit 4: Fourth least significant digit
Data form 0: Data is used unchanged in hexadecimal. 1: Data must be converted into decimal.
Parameter writing type 0: Enabled after writing 1: Enabled when power is cycled after writing 2: Enabled when the controller is reset
4 6 SPEED CONTROL OPERATION 6.1 Link device
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0000h 8200h Writing command of parameter group Writes the group of the parameter to write with code No. 8201h to 82FFh and 8301h to 83FFh. Writes the group of the parameter to read with code No. 0201h to 02FFh and 0301h to 03FFh.
Set to "0000h".
0000h 8201h to 82FFh
Data RAM command of parameter Writes the setting values of the parameters in the group written with code No. 8200h to the RAM. This setting value is cleared when the power supply is shut off. The lower two digits of the code No. which are converted to decimal correspond to the parameter No. An error code is returned if a value outside the range of a parameter is written.
Set the lower 16 bits of the parameter setting value. Set the upper 16 bits of the parameter setting value. Set the 16-bit parameter to "0000h" if it has a positive sign. Set it to "FFFFh" if it has a negative sign. Set the 16-bit parameter to "0000h" if it has no sign.
0000h 8301h to 83FFh
Data EEP-ROM command of parameter Writes the setting values of the parameters in the group written with code No. 8200h to the EEP-ROM. The setting value written in the EEP-ROM is held even when the power supply is shut off. The lower two digits of the code No. which are converted to decimal correspond to the parameter No. An error code is returned if a value outside the range of a parameter is written.
Set the lower 16 bits of the parameter setting value. Set the upper 16 bits of the parameter setting value. Set the 16-bit parameter to "0000h" if it has a positive sign. Set it to "FFFFh" if it has a negative sign. Set the 16-bit parameter to "0000h" if it has no sign.
0000h 8601h to 86FFh
Servo motor speed data RAM command of point table Writes the servo motor speed of point table No. 1 to 255 to the RAM. This setting value is cleared when the power supply is shut off. The lower two digits of the code No. which are converted to decimal correspond to the point table No.
Set the lower 16 bits of the servo motor speed. Set the upper 16 bits of the servo motor speed.
0000h 8701h to 87FFh
Acceleration time constant data RAM command of point table Writes the acceleration time constant of point table No. 1 to 255 to the RAM. This setting value is cleared when the power supply is shut off. The lower two digits of the code No. which are converted to decimal correspond to the point table No.
Set the acceleration time constant. Set to "0000h".
Code No. Item/function Writing data content (Servo amplifier Master station)
RWwn5 RWwn4 RWwnC RWwnD
0 00
Parameter group 0: [Pr. PA_ _ ] 1: [Pr. PB_ _ ] 2: [Pr. PC_ _ ] 3: [Pr. PD_ _ ] 4: [Pr. PE_ _ ] 5: [Pr. PF_ _ ] 6 to A: For manufacturer setting B: [Pr. PL_ _ ] C: [Pr. PT_ _ ] E: [Pr. PN_ _ ]
6 SPEED CONTROL OPERATION 6.1 Link device 245
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Respond code (RWrn4) The respond code is the same as the positioning mode (point table method). Page 43 Respond code (RWrn4)
Data communication timing chart The data communication timing charts for the speed control mode (point table method) are the same as those for the positioning mode (point table method). Page 44 Data communication timing chart
0000h 8801h to 88FFh
Deceleration time constant data RAM command of point table Writes the deceleration time constant of point table No. 1 to 255 to the RAM. This setting value is cleared when the power supply is shut off. The lower two digits of the code No. which are converted to decimal correspond to the point table No.
Set the deceleration time constant. Set to "0000h".
0000h 8D01h to 8DFFh
Servo motor speed data EEP-ROM command of point table Writes the servo motor speed of point table No. 1 to 255 to the EEP-ROM. The setting value written in the EEP- ROM is held even when the power supply is shut off. The lower two digits of the code No. which are converted to decimal correspond to the point table No.
Set the lower 16 bits of the servo motor speed. Set the upper 16 bits of the servo motor speed.
0000h 8E01h to 8EFFh
Acceleration time constant data EEP- ROM command of point table Writes the acceleration time constant of point table No. 1 to 255 to the EEP- ROM. The setting value written in the EEP-ROM is held even when the power supply is shut off. The lower two digits of the code No. which are converted to decimal correspond to the point table No.
Set the acceleration time constant. Set to "0000h".
0000h 8F01h to 8FFFh
Deceleration time constant data EEP- ROM command of point table Writes the deceleration time constants of point table No. 1 to 255 to the EEP- ROM. The setting value written in the EEP-ROM is held even when the power supply is shut off. The lower two digits of the code No. which are converted to decimal correspond to the point table No.
Set the deceleration time constant. Set to "0000h".
Code No. Item/function Writing data content (Servo amplifier Master station)
RWwn5 RWwn4 RWwnC RWwnD
6 6 SPEED CONTROL OPERATION 6.1 Link device
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6.2 Switching power on for the first time
To use the servo amplifier in the I/O mode, set [Pr. PN03] to "_ _ _ 1". In addition, the GX Works setting is required. For the GX Works setting, refer to section 4.1 of "MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode)".
When switching the power on for the first time, follow this section to make a startup.
1. Wiring check Check whether the servo amplifier and servo motor are wired correctly by visual inspection, the DO forced output function (section 4.5 of "MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode)"), etc. (Refer to section 4.1 of "MR-J4- _GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode)".)
2. Surrounding environment check Check the surrounding environment of the servo amplifier and servo motor. (Refer to section 4.1 of "MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode)".)
3. Station No. setting Set the station number with the station number setting rotary switch (SW2/SW3). (Refer to section 4.3 of "MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode)".)
4. Parameter setting Set the parameters as necessary, such as the used operation mode and regenerative option selection. (Page 125 PARAMETERS) Set [Pr. PD41] to "_ 0 _ _" (Stroke limit always enabled). To input a stroke limit by using the link device, set [Pr. PD41] to "1 _ _ _" (input from controller). Hereafter, instructions are provided in a case where the input from the controller is selected. When [Pr. PD41] is set to "0 _ _ _" (input from servo amplifier), read the words "upper stroke limit" and "lower stroke limit" as "LSP" and "LSN", respectively.
5. Test operation of the servo motor alone in JOG operation of test operation mode With the servo motor disconnected from the machine, perform test operation mode at the slowest speed to check whether the servo motor rotates correctly. For the test operation mode, refer to section 4.5 of "MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode)".
6. Test operation of the servo motor alone by commands Make sure that the servo motor rotates in the following procedure. Switch on EM2 (Forced stop 2) and RYn0 (Servo-on). When the servo amplifier is in a servo-on status, RXn0 (Ready) switches on. Switch on RY (n + 1) 0 (Upper stroke limit) and RY (n + 1) 1 (Lower stroke limit). When a speed command is input from the controller and RYn1 (Forward rotation start) or RYn2 (Reverse rotation start) is switched on, the servo motor starts rotating. Operate the servo motor with a low speed command at first, then check the servo motor rotation direction. If the machine does not operate in the intended direction, check the input signal.
7. Test operation with the servo motor and machine connected Make sure that the servo motor rotates in the following procedure. Switch on EM2 (Forced stop 2) and RYn0 (Servo-on). When the servo amplifier is in a servo-on status, RXn0 (Ready) switches on. Switch on RY (n + 1) 0 (Upper stroke limit) and RY (n + 1) 1 (Lower stroke limit). When a speed command is input from the controller and RYn1 (Forward rotation start) or RYn2 (Reverse rotation start) is switched on, the servo motor starts rotating. Operate the servo motor with a low speed command at first, then check the conditions such as the operation direction of the machine. If the machine does not operate in the intended direction, check the input signal. In the status display, check for any problems of the servo motor speed, load ratio, etc.
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8. Gain adjustment Make gain adjustment to optimize the machine motions. (Refer to chapter 6 of "MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode)".)
9. Actual operation
10.Stop Stop giving commands and stop operation.
8 6 SPEED CONTROL OPERATION 6.2 Switching power on for the first time
6
6.3 Speed control mode (point table method) This section explains how to operate the speed control mode (point table method) of the I/O mode. The valid speed command data is shown in the table below.
Whether the speed command execution demand (RY (n + 2) 1) is used
Speed specifying method selection (RY (n + 2) A)
"Reflection timing selection for the speed specifying data in the speed control mode (point table method)" in [Pr. PT62]
"Speed specifying method selection in the speed control mode (point table method)" in [Pr. PT62]
Timing chart reference
Setting value
Description Setting value
Description
Not used Off Always reflected regardless of the input status of the speed command execution demand (RY (n + 2) 1).
Specify a point table No. in "Speed selection" (RWwn7).
(1) Operating method which does not use the speed command execution demand
Used On 0 Reflected when the speed command execution demand (RY (n + 2) 1) is turned on.
0 Specify a point table No. in "Speed command data/speed selection" (RWwnA).
(2) (a) Operating method which reflects the speed command data at the edge of when the speed command execution demand is turned on
1 Specify a speed command data in "Speed command data/speed selection" (RWwnA and RWwnB).
1 Always reflected while the speed command execution demand (RY (n + 2) 1) is being turned on.
0 Specify a point table No. in "Speed command data/speed selection" (RWwnA).
(2) (b) Operating method which always reflects the speed command data while the speed command execution demand is being turned on
1 Specify a speed command data in "Speed command data/speed selection" (RWwnA and RWwnB).
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Operating method which does not use the speed command execution demand Turn off RY (n + 2) A (Speed specifying method selection). Specifying a point table No. in RWwn7 (Speed selection) operates the servo motor at the speed set in the point table. Set the servo motor speed in the point table in advance.
Operation sequence Forward rotation start and reverse rotation start input
Speed selection changed during the servo motor rotation
0 r/min
RYn1 (Forward rotation start)
RYn2 (Reverse rotation start)
RWwn7 (Speed selection) No. 1
RYnD (Speed acceleration/ deceleration selection)
Acceleration time constant of point table No. 1 Deceleration time constant of
point table No. 1 Servo motor speed of point table No. 1Forward
rotation Servo motor speed
Reverse rotation
RXn5 (Speed reached)
RXnF (Zero speed detection)
ON OFF
ON OFF
0 r/min
ON OFF
ON OFF ON OFF
RYn1 (Forward rotation start)
RYn2 (Reverse rotation start)
RWwn7 (Speed selection) No. 1 No. 3 No. 2
RYnD (Speed acceleration/ deceleration selection)
Servo motor speed of point table No. 2Acceleration time constant of
point table No. 1 Deceleration time constant of point table No. 1
Forward rotation
Servo motor speed Reverse rotation
Servo motor speed of point table No. 3
RXn5 (Speed reached)
RXnF (Zero speed detection)
0 6 SPEED CONTROL OPERATION 6.3 Speed control mode (point table method)
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Speed acceleration/deceleration selection switched
ON OFF
ON OFF
0 r/min
ON OFF
ON OFF ON OFF
RYn1 (Forward rotation start)
RYn2 (Reverse rotation start)
RWwn7 (Speed selection) No. 1 No. 3
RYnD (Speed acceleration/ deceleration selection)
Acceleration time constant of point table No. 1
Deceleration time constant of point table No. 2 Acceleration time constant of point table No. 2
Deceleration time constant of point table No. 1
Forward rotation
Servo motor speed Reverse rotation Servo motor speed of
point table No. 1 Servo motor speed of point table No. 3
RXn5 (Speed reached)
RXnF (Zero speed detection)
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Operating method which uses the speed command execution demand Turn on RY (n + 2) A (Speed specifying method selection). The speed specifying method can be selected with the setting of [Pr. PT62] "_ x _ _". When using speed data of point tables ("_ 0 _ _" in [Pr. PT62]) Specifying a point table No. in RWwnA (Point table No./speed specifying data lower 16 bits) operates the servo motor at the speed set in the point table. Set the servo motor speed in the point table in advance. When setting a servo motor speed directly ("_ 1 _ _" in [Pr. PT62]) Setting the servo motor speed in RWwnA (Point table No./speed specifying data lower 16 bits) and RWwnB (Speed specifying data upper 16 bits) operates the servo motor at the set speed. The reflecting timing of the speed specifying data can be selected with the setting of [Pr. PT62] "x _ _ _".
Operation sequence Operating method which reflects the speed command data at the edge of when the speed
command execution demand is turned on ("0 _ _ _" in [Pr. PT62]) Forward rotation start and reverse rotation start input
ON OFF
ON OFF
0 r/min
ON OFF ON OFF
ON OFF ON OFF
ON OFF ON OFF
RYn1 (Forward rotation start)
RYn2 (Reverse rotation start)
RWwnA, RWwnB (Speed command data) RY (n + 2) A (Speed specifying method selection) RY (n + 2) 1 (Speed command execution demand) RX (n + 2) 1 (Speed command execution completion) RYnD (Speed acceleration/ deceleration selection)
Acceleration time constant of point table No. 1 Deceleration time constant of
point table No. 1
Forward rotation
Servo motor speed Reverse rotation
RXn5 (Speed reached)
RXnF (Zero speed detection)
2 6 SPEED CONTROL OPERATION 6.3 Speed control mode (point table method)
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Speed selection changed during the servo motor rotation
Speed acceleration/deceleration selection switched
ON OFF
ON OFF
0 r/min
ON OFF ON OFF
ON OFF ON OFF
ON OFF ON OFF
RYn1 (Forward rotation start)
RYn2 (Reverse rotation start)
RWwnA, RWwnB (Speed command data) RY (n + 2) A (Speed specifying method selection) RY (n + 2) 1 (Speed command execution demand) RX (n + 2) 1 (Speed command execution completion) RYnD (Speed acceleration/ deceleration selection)
Acceleration time constant of point table No. 1 Deceleration time constant of
point table No. 1
Forward rotation
Servo motor speed Reverse rotation
RXn5 (Speed reached)
RXnF (Zero speed detection)
ON OFF
ON OFF
0 r/min
ON OFF ON OFF
ON OFF ON OFF
ON OFF ON OFF
RYn1 (Forward rotation start)
RYn2 (Reverse rotation start)
RWwnA, RWwnB (Speed command data) RY (n + 2) A (Speed specifying method selection) RY (n + 2) 1 (Speed command execution demand) RX (n + 2) 1 (Speed command execution completion) RYnD (Speed acceleration/ deceleration selection)
Deceleration time constant of point table No. 2
Acceleration time constant of point table No. 1
Acceleration time constant of point table No. 2 Deceleration time constant
of point table No. 1Forward rotation
Servo motor speed Reverse rotation
RXn5 (Speed reached)
RXnF (Zero speed detection)
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Operating method which always reflects the speed command data while the speed command execution demand is being turned on ("1 _ _ _" in [Pr. PT62])
Forward rotation start and reverse rotation start input
Speed selection changed during the servo motor rotation
ON OFF
ON OFF
0 r/min
ON OFF ON OFF
ON OFF ON OFF
ON OFF ON OFF
RYn1 (Forward rotation start)
RYn2 (Reverse rotation start)
RWwnA, RWwnB (Speed command data) RY (n + 2) A (Speed specifying method selection) RY (n + 2) 1 (Speed command execution demand) RX (n + 2) 1 (Speed command execution completion) RYnD (Speed acceleration/ deceleration selection)
Acceleration time constant of point table No. 1 Deceleration time constant of
point table No. 1
Forward rotation
Servo motor speed Reverse rotation
RXn5 (Speed reached)
RXnF (Zero speed detection)
ON OFF
ON OFF
0 r/min
ON OFF ON OFF
ON OFF ON OFF
ON OFF ON OFF
RYn1 (Forward rotation start)
RYn2 (Reverse rotation start)
RWwnA, RWwnB (Speed command data) RY (n + 2) A (Speed specifying method selection) RY (n + 2) 1 (Speed command execution demand) RX (n + 2) 1 (Speed command execution completion) RYnD (Speed acceleration/ deceleration selection)
Acceleration time constant of point table No. 1 Deceleration time constant of
point table No. 1
Forward rotation
Servo motor speed Reverse rotation
RXn5 (Speed reached)
RXnF (Zero speed detection)
4 6 SPEED CONTROL OPERATION 6.3 Speed control mode (point table method)
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Speed acceleration/deceleration selection switched
ON OFF
ON OFF
0 r/min
ON OFF ON OFF
ON OFF ON OFF
ON OFF ON OFF
RYn1 (Forward rotation start)
RYn2 (Reverse rotation start)
RWwnA, RWwnB (Speed command data) RY (n + 2) A (Speed specifying method selection) RY (n + 2) 1 (Speed command execution demand) RX (n + 2) 1 (Speed command execution completion) RYnD (Speed acceleration/ deceleration selection)
Deceleration time constant of point table No. 2
Acceleration time constant of point table No. 1
Acceleration time constant of point table No. 2 Deceleration time constant
of point table No. 1Forward rotation
Servo motor speed Reverse rotation
RXn5 (Speed reached)
RXnF (Zero speed detection)
6 SPEED CONTROL OPERATION 6.3 Speed control mode (point table method) 255
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7 APPLICATION OF FUNCTIONS This chapter explains application of using servo amplifier functions.
7.1 Simple cam function
The simple cam function is available with servo amplifiers with software version A3 or later. The simple cam function can be used with the point table method. This function is not available with the servo amplifier to which the MR-D30 unit has been connected. When writing cam data and cam control data, do so after switching to test operation mode or after network
communication is established between the servo amplifier and controller. When [AL. F5.2 Cam data miswriting warning] occurs during cam data writing, set [Pr. PT34] to "5010" to
initialize the cam data. When using simple cam function, execute operation so that the machine speed of the input axis is less than
"[Cam control data No. 48 - Cam axis one cycle length] 1/2 1000 [command unit/s]". When [Cam control data No. 30] is set to "1", the unit of the cam axis length per cycle will be changed to
[mm], [inch], [degree], or [pulse] by the setting of [Pr. PT01]. When [Cam control data No. 30] is set to "2", the unit of the cam axis length per cycle will be changed to [mm], [inch], [degree], or [pulse] by the setting of [Cam control data No. 14].
Outline of simple cam function Simple cam function enables synchronous control by using software instead of controlling mechanically with cam. The following shows a movement trajectory when the cam below is used and the input axis is rotated once.
By setting cam data and cam control data, the simple cam function enables synchronous control with an input axis (synchronous encoder input or point table command) with a start of positioning.
CAUTION Note that the number of write times to the Flash-ROM where the cam data is stored is limited to approximately 10000. If the total number of write times
exceeds 10000, the servo amplifier may malfunction when the Flash-ROM reaches the end of its useful life.
Output axis
Input axis
2 8
1 3 7
4
5 6
Cam stroke amount
Bottom dead center
Input axis
Cam one cycle length
0
360
Cam axis one cycle current value
Feed current value
1 2 3 4 5 6 7 8 1
Cam axis one cycle
0 45 90 135 180 225 270 315 360
Output axis
Cam stroke amount
6 7 APPLICATION OF FUNCTIONS 7.1 Simple cam function
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Simple cam function block The function block diagram of the simple cam is shown below. Use MR Configurator2 to set the cam data and the cam control data.
Point table
Command pattern generation
S-pattern filter
Encoder pulse count polarity selection
Synchronous encoder axis unit
conversion
Main shaft input axis selection
Cam control
command
M
Servo motor
Encoder
Deviation counter
Main input method
Clutch command
Main shaft clutch smoothing
Sub input method
Cam position compensation time constant
Cam position compensation
execution demand
Cam position compensation
amount
Synchronous encoder
Electronic gearCam conversion
0
+ +
+ -
7 APPLICATION OF FUNCTIONS 7.1 Simple cam function 257
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Simple cam specification list
Specification list
*1 The memory capacity includes a use area (storage area for cam data) for storing in the servo amplifier and an actual operation area (working area for cam data).
Cam resolution Stroke ratio data type
Coordinate data type
Item MR-J4-_GF_-RJ Memory capacity*1 Storage area for cam
data 8 Kbytes (Flash-ROM)
Working area for cam data
8 Kbytes (RAM)
Number of registration Max. 8
Comment Max. 32 single-byte characters for each cam data
Cam data and cam control data
Stroke ratio data type
Cam resolution 256/512/1024/2048
Stroke ratio [%] -100.000 to 100.000
Coordinate data type
Number of coordinate 2 to 1024
Coordinate data Input value: 0 to 999999 Output value: -999999 to 999999
Cam curve 12 types (constant speed/constant acceleration/5th curve/single hypotenuse/cycloid/distorted trapezoid/distorted sine/distorted constant speed/trapecloid/reverse trapecloid/double hypotenuse/reverse double hypotenuse)
Cam resolution Max. number of registration 256 8
512 4
1024 2
2048 1
Number of coordinate Max. number of registration 128 8
256 4
512 2
1024 1
8 7 APPLICATION OF FUNCTIONS 7.1 Simple cam function
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Control of simple cam function The following three cam controls are available by setting the cam data and the cam control data with MR Configurator2.
Cam control method
Description Actual movement
To-and-fro control
Reciprocates within a specified cam stroke.
Feed control Updates a cam standard position per cycle.
Linear control Performs linear control to keep the one-cycle stroke ratio as 100 %.
t
t
Cam data and cam control data
(Cam created by users)
Cam axis one cycle current value (Input)
Cam conversion processing
Feed current value (Output)
t
t
Cam data and cam control data
(Cam created by users)
Cam standard position (First cycle)
Cam standard position (Second cycle)
Cam standard position (Third cycle)
Cam axis one cycle current value (Input)
Cam conversion processing
Feed current value (Output)
t
t
Cam data and cam control data
(Linear cam: Cam No. 0) Cam standard position (First cycle)
Cam standard position (Second cycle)
Cam standard position (Third cycle)
Stroke amount 100%
Cam axis one cycle current value (Input)
Cam conversion processing
Feed current value (Output)
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Operation in combination with the simple cam
Encoder following function The servo amplifier receives A/B-phase output signal from a synchronous encoder and starts the servo motor with the signal. Up to 4 Mpulses/s can be inputted from the synchronous encoder to use with the servo amplifier.
Simple cam position compensation function The servo amplifier receives input signals from the touch probe, calculates compensation, and compensates the position of the cam axis.
MR-J4-GF-RJ servo amplifier
Synchronous encoder Servo motor for driving the cam axis
A/B-phase output
Cam axis
Synchronous encoder Servo motor for driving the cam axis
A/B-phase output
Cam axis
2) Calculates a compensation amount in the servo amplifier
Touch probe
1) Turns on the cam position compensation request by detection of mark sensor
MR-J4-GF-RJ servo amplifier
0 7 APPLICATION OF FUNCTIONS 7.1 Simple cam function
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Setting list
List of items set with MR Configurator2 Set the following on the cam setting window of MR Configurator2.
List of items set with parameters of the servo amplifier Set the following with the parameters of the servo amplifier.
Setting item Setting Cam control data
Main shaft input axis selection
Select a command input method for the cam axis. Select "synchronous encoder axis" or "servo input axis".
Cam No. selection Select the number to create the cam control data.
Resolution setting Set the cam resolution. Select from 256/512/1024/2048.
Cam axis one cycle length
Set a travel distance of cam one cycle. Command unit is used as an input unit.
Cam stroke amount Set a cam stroke amount for the stroke ratio of 100 % when using the stroke ratio data type cam control.
Cam data Create the cam data on the cam creating window of MR Configurator2. After the data is created, write the cam data to the servo amplifier.
Setting item Setting Operation mode selection Select "Positioning mode (point table method)" with [Pr. PA01 Operation mode].
Cam function setting Enable the cam function with [Pr. PT35 Function selection T-5].
Cam data selection Select the cam data to be executed with RWwnE (Cam No. setting). Selecting the cam data for execution is also possible with [Cam control data No. 49 - Cam No.].
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Data to be used with simple cam function
Memory configuration of cam control data and cam data
When [AL. F5.2 Cam data miswriting warning] occurs during cam data writing, set [Pr. PT34] to "5010" to initialize the cam data.
The cam control data and the cam data used for the simple cam are stored in Flash-ROM inside the servo amplifier. When the power is turned on, the cam data and the cam control data are copied from the Flash-ROM to the RAM inside the servo amplifier, and then cam control will be executed.
*1 When the power is turned on, the cam data and the cam control data are copied from the Flash-ROM to the RAM.
Use MR Configurator2 to write the cam data and cam control data. Be sure to write the cam data and the cam control data in servo-off state.
Two writing methods are available.
CAUTION Note that the number of write times to the Flash-ROM where the cam control data and cam data are stored is limited to approximately 10000. If the total
number of write times exceeds 10000, the servo amplifier may malfunction when the Flash-ROM reaches the end of its useful life. If data needs to be changed very frequently, use the temporal writing function and write the data to the RAM, not to the Flash-ROM.
Writing method Description Temporary writing Write the cam control data and the cam data to the RAM of the servo amplifier. After writing, the cam control data and the cam data
will be reflected. The written data will be disabled if the power is turned off. Use this when creating and adjusting the cam control data and the cam data.
Writing Write the cam control data and the cam data to the Flash-ROM. The data will be enabled when the power is cycled after writing. After cycling the power, control is performed based on the written data. Conduct this after the cam control data and the cam data are finalized.
Cam data used for actual cam control is stored
MR-J4-_GF_-RJ Servo amplifier
Reading
Flash-ROM (64 Kbytes) RAM
Cam storage area 8 Kbytes
Working area for cam data 8 Kbytes
Cam control data storage area
Working area for cam control data Cam control
Writing MR Configurator2
Temporary writing
*1
*1
2 7 APPLICATION OF FUNCTIONS 7.1 Simple cam function
7
Cam data
If the cam data is set incorrectly, the position command and speed command may increase and may cause machine interference or [AL. 31 Overspeed]. When you have created and changed cam data, make sure to perform test operations and make appropriate adjustments.
The following two types are available for the cam data.
Stroke ratio data type The following are set in the stroke ratio data type. Set the following items on the cam setting window of MR Configurator2. When "Cam No." is set to "0", straight-line control is performed so that the stroke ratio at the last point of the cam data becomes 100 %.
The following is a setting example for "cam resolution = 512" in the stroke ratio data type.
Cam data type Description Stroke ratio data type Cam curve of one cycle is divided equally by the number of cam resolution and defined.
The cam curve will be created according to the stroke ratio data of the number of cam resolution.
Coordinate data type Data in which cam curve of one cycle is defined with two or more points. The coordinate data is defined as (input value, output value). The input value will be the cam axis one cycle current value, and the output value will be the stroke value from the cam standard position.
Setting item Setting Setting range Cam No. Set a Cam No. 0: Linear cam
1 to 8: User-created cam
Setting method Set "1: Stroke ratio data type".
Cam resolution Set the number of divisions for the cam curve of one cycle. Select from 256/512/1024/2048.
Cam data start position Set the positions of the cam data and cam control data to the position of when "Cam axis one cycle current value" is "0".
0 to "Cam resolution - 1"
Stroke ratio data Set the stroke ratio from the first to the last point. -100.000 to 100.000
100.000
-100.000
0
Stroke ratio [%] (Can be set within the range of -100.000% and 100.000%) Cam axis one cycle length [Cam axis cycle unit]
(Cam standard position)
Zeroth point 512th point (Last point)
7 APPLICATION OF FUNCTIONS 7.1 Simple cam function 263
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Feed current value The feed current value of the cam axis is calculated as follows: Feed current value = Cam standard position + (Cam stroke amount Stroke ratio to cam axis one cycle current value) When the cam axis one cycle current value is in the middle of the specified stroke ratio data, the intermediate value is calculated using the cam data before and after the value.
Cam standard position The cam standard position is calculated as follows: Cam standard position = The preceding cam standard position + (Cam stroke amount Stroke ratio at the last point)
For to-and-fro control, create the cam data in which the stroke ratio at the last point is 0 %.
Cam axis one cycle current value An intermediate value is calculated using
the data before and after the value.
Cam data
One resolution or between two coordinates
t
t
Cam axis one cycle current value
Cam standard position (Third cycle)Cam standard
position (Second cycle)Cam standard
position (First cycle)
Feed current value
Cam stroke amount Stroke ratio at the last point
t
t
Cam axis one cycle current value
Feed current value
Cam standard position (Does not change because the output value is 0.)
4 7 APPLICATION OF FUNCTIONS 7.1 Simple cam function
7
Cam data start position This setting is available only for the stroke ratio data type cam data. The cam data position where the "cam axis one cycle current value" becomes "0" can be set as the cam data start position. The initial value of the cam data start position is "0". The cam axis is controlled with the cam data from the 0th point (stroke ratio = 0 %). When a value other than "0" is set as the cam data start position, cam control is started from the point where the stroke ratio is not 0 %. Set the cam data start position for each cam data within the setting range of "0 to (Cam resolution - 1)".
Timing of applying cam control data New values are applied to "Cam No." and "Cam stroke amount" when RY (n + 1) 3 (Cam control command) turns on. "Cam standard position" is updated when "Cam axis one cycle current value" passes through the 0th point of the cam data.
t
t
Cam axis one cycle current value
Cam standard position (Second cycle)
Cam standard position (Third cycle)
Feed current value
Cam standard position (First cycle)
Cam data start position
Zeroth point Last point
7 APPLICATION OF FUNCTIONS 7.1 Simple cam function 265
26
Coordinate data type The following are set in the coordinate data type. Set the following items on the cam setting window of MR Configurator2. When "Cam No." is set to "0", straight-line control is performed so that the stroke ratio at the last point of the cam data becomes 100 %.
The following is a setting example for the coordinate data type.
If "input value = 0" and "input value = cam axis one cycle length" are not set in the coordinate data, a control is executed by the line created from the closest two points.
Setting item Setting Setting range Cam No. Set a Cam No. 0: Linear cam
1 to 8: User-created cam
Setting method Set "2: Coordinate data type".
Number of coordinate Set the number of coordinates for the cam curve of one cycle. The number of coordinates includes 0th point.
2 to 1024
Cam data start position Setting is not necessary.
Coordinate data Set the coordinate data (input value Xn and output value Yn) for the number of coordinates. Set from the 0th coordinate data (X0 and Y0). Set an input value larger than that of the coordinate data.
-999.999 to 999.999
Output value: Y [Output axis position unit]
Input value: X
999.999
Cam axis one cycle length [Cam axis cycle unit] -999.999
0 (Cam standard position) (X0, Y0)
(X1, Y1) (X2, Y2)
(X3, Y3) (X4, Y4)
(X5, Y5) (X9, Y9)
(X10, Y10)
(X6, Y6) (X7, Y7)
(X8, Y8)
Line created based on (X0, Y0) and (X1, Y1)
Line created based on (X9, Y9) and (X10, Y10)
Output value: Y [Output axis position unit]
Input value: X
999.999
Cam axis one cycle length [Cam axis cycle unit] -999.999
0 (Cam standard position)
(X0, Y0) (X1, Y1)
(X2, Y2)
(X3, Y3) (X4, Y4)
(X5, Y5) (X9, Y9)
(X10, Y10)
(X6, Y6) (X7, Y7)
(X8, Y8)
6 7 APPLICATION OF FUNCTIONS 7.1 Simple cam function
7
Feed current value The feed current value of the cam axis is calculated as follows: Feed current value = Cam standard position + Output value to cam axis one cycle current value When the cam axis one cycle current value is in the middle of the specified stroke ratio data, the intermediate value is calculated using the cam data before and after the value.
Cam standard position The cam standard position is calculated as follows: The preceding cam standard position + Output value corresponding to "Input value = Cam axis one cycle length" - Output value corresponding to "Input value = 0"
For to-and-fro control, use the output value corresponding to "Input value = Cam axis one cycle length" that is equal to output value corresponding to "Input value = 0".
Cam data start position The cam data start position is not used in the coordinate data type.
Timing of applying cam control data A new value is applied to "Cam No." when RY (n + 1) 3 (Cam control command) turns on. "Cam standard position" is updated when the cam axis one cycle current value passes through "0".
One resolution or between two coordinates
Cam axis one cycle current value
Cam data
An intermediate value is calculated using the data before and after the value.
t
t
Cam standard position (First cycle)
Output value corresponding to "Input value = Cam axis one cycle length" - Output value corresponding to "Input value = 0"
Cam standard position (Second cycle)Feed current value
Cam axis one cycle current value
Cam standard position (Third cycle)
t
t
Feed current value
Cam axis one cycle current value
Cam standard position (Does not change because the output value is 0.)
7 APPLICATION OF FUNCTIONS 7.1 Simple cam function 267
26
List of cam control data The following table lists the cam control data added for the simple cam function. Set the cam control data on "[Cam Data Editing] screen" of MR Configurator2.
Once the servo amplifier is powered off, the temporarily written data will be deleted. To store the temporarily written data, be sure to write it to the Flash-ROM before powering off the servo amplifier.
To enable the cam control data whose symbol is preceded by *, cycle the power after setting. The cam control data is not applied by the temporal writing of MR Configurator2.
No. Symbol Name Initial value
Unit Operation mode Control mode
Standard Full. Lin. DD CP PS 1 MCYSM*1 Main axis one cycle current value setting method 0
2 CPRO*1 Cam axis position restoration target 0
3 CBSSM*1 Cam standard position setting method 0
4 CCYSM*1 Cam axis one cycle current value setting method 0
5 MICYS*1 Main axis one cycle current value (initial setting value)
0 10STM [m]/ 10(STM-4) [inch]/ 10-3 [degree]/ [pulse]
6 CIBSS*1 Cam standard position (initial setting value) 0 10STM [m]/ 10(STM-4) [inch]/ 10-3 [degree]/ [pulse]
7 CICYS*1 Cam axis one cycle current value (initial setting value)
0 10STM [m]/ 10(STM-4) [inch]/ 10-3 [degree]/ [pulse]
8 For manufacturer setting 0
9 0
10 0
11 0
12 0
13 0
14 *ETYP Synchronous encoder axis unit 0000h
15 *ECMX Synchronous encoder axis unit conversion: Numerator
0
16 *ECDV Synchronous encoder axis unit conversion: Denominator
0
17 For manufacturer setting 0
18 0
19 0
20 0
21 0
22 0
23 0
24 0
25 0
26 0
27 0
28 0
29 0
30 *MAX Main shaft input axis selection 0
31 For manufacturer setting 0
32 MMIX Main shaft input method 0000h
8 7 APPLICATION OF FUNCTIONS 7.1 Simple cam function
7
*1 The data is updated at cam control switching.
33 For manufacturer setting 0
34 0
35 0
36 CLTMD Main shaft clutch control setting 0000h
37 For manufacturer setting 0
38 0
39 0
40 0
41 0
42 CLTSMM*1 Main shaft clutch smoothing system 0
43 CLTSMT*1 Main shaft clutch smoothing time constant 0 [ms]
44 For manufacturer setting 0
45 0
46 0000h
47 0
48 CCYL*1 Cam axis one cycle length 0 10STM [m]/ 10(STM-4) [inch]/ 10-3 [degree]/ [pulse]
49 CNO*1 Cam No. 0
50 For manufacturer setting 0
51 CSTK*1 Cam stroke amount 0 10STM [m]/ 10(STM-4) [inch]/ 10-3 [degree]/ [pulse]
52 For manufacturer setting 0
53 0
54 0
55 0
56 0
57 0
58 0
59 0
60 CPHV Cam position compensation target position 0 10STM [m]/ 10(STM-4) [inch]/ 10-3 [degree]/ [pulse]
61 CPHT Cam position compensation time constant 0 [ms]
No. Symbol Name Initial value
Unit Operation mode Control mode
Standard Full. Lin. DD CP PS
7 APPLICATION OF FUNCTIONS 7.1 Simple cam function 269
27
Detailed list of cam control data No./symbol/ name
Setting digit
Function Initial value [unit]
Control mode
CP PS 1 *MCYSM Main axis one cycle current value setting method
Select a setting method for the main axis one cycle current value. 0: Previous value 1: Main axis one cycle current value (initial setting value) 2: Calculated from input axis
0
2 *CPRO Cam axis position restoration target
Select a target whose cam axis position is restored. 0: Cam axis one cycle current value restoration 1: Cam standard position restoration 2: Cam axis feed current value restoration
0
3 *CBSSM Cam standard position setting method
Select a setting method for the cam standard position used to restore the cam axis one cycle current value. 0: Feed current value 1: Cam standard position (initial setting value) 2: Previous value The cam standard position of the last cam control is stored in the previous value. The feed current value is stored when the cam standard position of the last cam control has not been saved. Turning off the power clears the previous value.
0
4 *CCYSM Cam axis one cycle current value setting method
Select a setting method for the cam axis one cycle current value used for restoration when "Cam standard position" and "Cam axis feed current value" have been set as the cam axis position restoration targets. 0: Previous value 1: Cam axis one cycle current value (initial setting value) 2: Main axis one cycle current value The cam axis one cycle current value of the last cam control is stored in the previous value. Turning off the power clears the previous value.
0
5 *MICYS Main axis one cycle current value (initial setting value)
Set the initial value of the main axis one cycle current value. When [Cam control data No. 30] is set to "1"
The unit will be changed to 10STM [m], 10(STM-4) [inch], 10-3 [degree], or [pulse] with the setting of [Pr. PT01]. The feed length multiplication (STM) can be changed with the setting of [Pr. PT03]. When [Cam control data No. 30] is set to "2"
The unit and the feed length multiplication (STM) will be changed to 10STM [m], 10(STM-
4) [inch], 10-3 [degree], or [pulse] with the setting of [Cam control data No. 14]. Setting range: 0 to [Cam control data No. 48] - 1
0 Refer to Function column for unit.
6 *CIBSS Cam standard position (initial setting value)
This is enabled when [Cam control data No. 3] is set to "1". Set the initial value of the cam standard position in the output axis position unit. The unit will be changed to 10STM [m], 10(STM-4) [inch], 10-3 [degree], or [pulse] with the setting of [Pr. PT01]. The feed length multiplication (STM) can be changed with the setting of [Pr. PT03]. Setting range: -999999 to 999999
0 Refer to Function column for unit.
7 *CICYS Cam axis one cycle current value (initial setting value)
Set the position to start the search processing to restore the cam axis one cycle current value. Set this item when restoring the position of the return path with the to-and-fro control cam pattern. When [Cam control data No. 30] is set to "1"
The unit will be changed to 10STM [m], 10(STM-4) [inch], 10-3 [degree], or [pulse] with the setting of [Pr. PT01]. The feed length multiplication (STM) can be changed with the setting of [Pr. PT03]. When [Cam control data No. 30] is set to "2"
The unit and the feed length multiplication (STM) will be changed to 10STM [m], 10(STM-
4) [inch], 10-3 [degree], or [pulse] with the setting of [Cam control data No. 14]. Setting range: 0 to [Cam control data No. 48] - 1
0 Refer to Function column for unit.
0 7 APPLICATION OF FUNCTIONS 7.1 Simple cam function
7
14 *ETYP Synchronous encoder axis unit
_ _ _ x Control unit 0: mm 1: inch 2: degree 3: pulse
0h
_ _ x _ Feed length multiplication (STM) 0: 1 1: 10 2: 100 3: 1000 This digit will be set to " 1" when [Cam control data No. 14] is set to "_ _ _ 2" or "_ _ _ 3".
0h
_ x _ _ For manufacturer setting 0h
x _ _ _ 0h
15 *ECMX Synchronous encoder axis unit conversion: Numerator
Set a numerator used to convert encoder pulses of the synchronous encoder axis into the synchronous encoder axis unit. Set the numerator within the following range.
Setting a value out of the range will trigger [AL. F6 Simple cam function - Cam control warning]. When "0" is set, handle the numerator in the same way as when "1" is set. Setting range: 0 to 16777215
0
16 *ECDV Synchronous encoder axis unit conversion: Denominator
Set a denominator used to convert encoder pulses of the synchronous encoder axis into the synchronous encoder axis unit. Set the electronic gear within the range of [Cam control data No. 15]. Setting a value out of the range will trigger [AL. F6 Simple cam function - Cam control warning]. When "0" is set, handle the denominator in the same way as when "1" is set. Setting range: 0 to 16777215
0
30 *MAX Main shaft input axis selection
Select an input axis of the main shaft input. 0: Disabled 1: Servo input axis 2: Synchronous encoder axis Synchronous encoder axis is enabled only in standard control mode. [AL. 37] will occur when this parameter is set to "2" in the following state. When scale measurement mode is disabled When an encoder other than A/B-phase differential output encoder or A/B/Z-phase
differential output encoder is connected
0
32 *MMIX Main shaft input method
_ _ _ x Main input method 0: Input + 1: Input - 2: No input
0h
_ _ x _ Sub input method Set how to total cam position compensation. 0: Input + (cam position compensations are totaled) 1: Input - (cam position compensations are totaled after their plus and minus signs are
reversed) 2: No input (cam position compensations are totaled as 0)
0h
_ x _ _ For manufacturer setting 0h
x _ _ _ 0h
36 *CLTMD Main shaft clutch control setting
_ _ _ x ON control mode 0: No clutch 1: Clutch command ON/OFF
0h
_ _ x _ For manufacturer setting 0h
_ x _ _ 0h
x _ _ _ 0h
42 *CLTSMM Main shaft clutch smoothing system
Select a clutch smoothing system. 0: Direct 1: Time constant method (index)
0
No./symbol/ name
Setting digit
Function Initial value [unit]
Control mode
CP PS
1 16000
ECMX ECDV
6000
7 APPLICATION OF FUNCTIONS 7.1 Simple cam function 271
27
43 *CLTSMT Main shaft clutch smoothing time constant
This is enabled when [Cam control data 42] is set to "1". Set the smoothing time constant. Setting range: 0 to 5000
0 [ms]
48 *CCYL Cam axis one cycle length
Set an input amount required for cam one cycle. When [Cam control data No. 30] is set to "0" or "1"
The unit will be changed to 10STM [m], 10(STM-4) [inch], 10-3 [degree], or [pulse] with the setting of [Pr. PT01]. The feed length multiplication (STM) can be changed with the setting of [Pr. PT03]. When [Cam control data No. 30] is set to "2"
The unit and the feed length multiplication (STM) will be changed to 10STM [m], 10(STM-
4) [inch], 10-3 [degree], or [pulse] with the setting of [Cam control data No. 14]. Setting range: 0 to 999999
0 Refer to Function column for unit.
49 *CNO Cam No.
Set the cam No. of the cam to be executed. When "0" is set, the selections of remote register RWwnE will be prioritized. When a value other than "0" is set, the selections of remote register RWwnE will be disabled. Setting range: 0 to 8
0
51 *CSTK Cam stroke amount
Set a cam stroke amount for the stroke ratio of 100 % when using the stroke ratio data type cam. The unit will be changed to 10STM [m], 10(STM-4) [inch], 10-3 [degree], or [pulse] with the setting of [Pr. PT01]. The feed length multiplication (STM) can be changed with the setting of [Pr. PT03]. Setting range: -999999 to 999999
0 Refer to Function column for unit.
60 *CPHV Cam position compensation target position
Set a compensation target position to the input axis of the cam axis. Set the position of the touch probe using the cam axis one cycle current value. When [Cam control data No. 30] is set to "1"
The unit will be changed to 10STM [m], 10(STM-4) [inch], 10-3 [degree], or [pulse] with the setting of [Pr. PT01]. The feed length multiplication (STM) can be changed with the setting of [Pr. PT03]. When [Cam control data No. 30] is set to "2"
The unit and the feed length multiplication (STM) will be changed to 10STM [m], 10(STM-
4) [inch], 10-3 [degree], or [pulse] with the setting of [Cam control data No. 14]. Setting range: 0 to [Cam control data No. 48] - 1
0 Refer to Function column for unit.
61 *CPHT Cam position compensation time constant
Set the time to apply the position compensation for the input axis of the cam axis. Setting range: 0 to 65535
0 [ms]
No./symbol/ name
Setting digit
Function Initial value [unit]
Control mode
CP PS
2 7 APPLICATION OF FUNCTIONS 7.1 Simple cam function
7
Relation among the main shaft input axis, position data unit, and feed length multiplication setting
The parameters used to set the position data unit and feed length multiplication differ depending on the setting of [Cam control data No. 30 Main shaft input axis selection].
Synchronous encoder axis unit conversion gear setting The input travel distance of the synchronous encoder is in encoder pulse units. You can convert the unit into a desired unit through unit conversation by setting [Cam control data No. 15 Synchronous encoder axis unit conversion: Numerator] and [Cam control data No. 16 Synchronous encoder axis unit conversion: Denominator]. Set [Cam control data No. 15] and [Cam control data No. 16] according to the control target machine.
The travel distance (number of pulses) set in [Cam control data No. 16] is set in [Cam control data No. 15] in synchronous encoder axis position units. Set [Cam control data No. 16] in encoder pulse units of the synchronous encoder.
Item Main shaft input axis selection ([Cam control data No. 30])
0 (disabled) 1 (Servo input axis) 2 (Synchronous encoder axis) Main axis one cycle current value setting method ([Cam control data No. 5])
Unit [Pr. PT01] [Pr. PT01] [Cam control data No. 14]
Multipl ication
[Pr. PT03] [Pr. PT03]
Cam standard position (initial setting value) ([Cam control data No. 6])
Unit [Pr. PT01] [Pr. PT01] [Pr. PT01]
Multipl ication
[Pr. PT03] [Pr. PT03] [Pr. PT03]
Cam axis one cycle current value (initial setting value) ([Cam control data No. 7])
Unit [Pr. PT01] [Pr. PT01] [Cam control data No. 14]
Multipl ication
[Pr. PT03] [Pr. PT03]
Synchronous encoder axis unit conversion: Numerator ([Cam control data No. 15])
Unit [Pr. PT01] [Pr. PT01]
Multipl ication
[Pr. PT03] [Pr. PT03]
Synchronous encoder axis unit conversion: Denominator ([Cam control data No. 16])
Unit [Pr. PT01] [Pr. PT01]
Multipl ication
[Pr. PT03] [Pr. PT03]
Cam axis one cycle length ([Cam control data No. 48])
Unit [Pr. PT01] [Pr. PT01]
Multipl ication
[Pr. PT03] [Pr. PT03]
Cam stroke amount ([Cam control data No. 51])
Unit [Pr. PT01] [Pr. PT01] [Pr. PT01]
Multipl ication
[Pr. PT03] [Pr. PT03] [Pr. PT03]
Cam position compensation target position ([Cam control data No. 60])
Unit [Pr. PT01] [Pr. PT01] [Cam control data No. 14]
Multipl ication
[Pr. PT03] [Pr. PT03]
[Cam control data No. 15] [Cam control data No. 16]
Synchronous encoder axis travel distance
(after unit conversion) =
Synchronous encoder input travel distance (encoder pulse unit)
7 APPLICATION OF FUNCTIONS 7.1 Simple cam function 273
27
Function block diagram for displaying state of simple cam control
Point table
Command pattern generation
S-pattern filter
Encoder pulse count polarity selection
Synchronous encoder axis unit
conversion
Main shaft input axis selection
Cam control
command
M
Servo motor
Encoder
Deviation counter
Main shaft input method
Clutch command
Main shaft clutch smoothing
Cam position compensation time constant
Touch probe
input signal
Cam position compensation
amount
Synchronous encoder
Electronic gearCam conversion
0
+ +
+ -
Load-side encoder information
Under cam control Main axis current value Main axis one cycle current
value
Clutch on/off status Clutch smoothing status
Cam position compensation
execution completed
Cam No. in execution
Cam axis one cycle current value Cam axis feed current value
Cam standard position Cam stroke amount in execution
4 7 APPLICATION OF FUNCTIONS 7.1 Simple cam function
7
Operation
Execute operation so that the machine speed of the input axis is less than "[Cam control data No. 48 - Cam axis one cycle length] 1/2 1000 [command unit/s]". Failure to do so may cause the input axis and output axis to become out of synchronization.
This section explains the operation of the simple cam function using a rotary cutter system as an example.
Configuration example The rotary knife cuts the sheet conveyed by the conveyor at a constant speed into a desired length. To prevent variations in the sheet length and a cutting position mismatch, this device reads registration marks that have been printed on the sheet, and compensates cutting positions.
*1 Set the machine speed of the input axis to a value that satisfies the following expression. Machine speed [Cam control data No. 48 - Cam axis one cycle length] 1/2 1000 [command unit/s] The machine speed can be checked by monitoring the waveform of the main axis current value with the Graph function of MR Configurator2. The machine speed can be obtained from the following expression. Machine speed = (L2 - L1)/(T2 - T1)
MR-J4-GF-RJ Servo amplifier
A/B-phase output
Touch probeMachine speed *1 Rotary knife axis
Synchronous encoder Cam axis driving servo motor
Conveyor axis Drives the conveyor using an inverter or other servo amplifier
T2T1
L1 L2 Main axis current value
Time
7 APPLICATION OF FUNCTIONS 7.1 Simple cam function 275
27
Setting example: When the sheet length is 200.0 mm, the circumferential length of the rotary knife axis (synchronous axis length) is 600.0 mm, and the sheet synchronous width is 10.0 mm
Basic settings require to use the simple cam function
When the conveyor axis (main axis) feeds a sheet by the set length, the rotary knife makes one rotation (600 mm) to cut the sheet. Set the following items as follows.
Set the following items as follows to use the encoder following function.
Item Setting Setting value Operation mode selection ([Pr. PA01]) Select "Point table method". "1000"
Simple cam function setting ([Pr. PT35]) Enable the simple cam function. "_ 1 _ _"
Item Setting Setting value Cam axis one cycle length ([Cam control data No. 48]) Set the sheet length. 200.000
Cam stroke amount ([Cam control data No. 51]) Set the rotation amount per rotation in "m". 600000
Synchronous encoder axis unit ([Cam control data No. 14]) Set the unit of the sheet length. 0 (mm)
Unit of rotary knife axis ([Pr. PT01]) Set "mm" as the unit of position data. "_ 0 _ _"
Cam data Create the cam data with the operation pattern shown in the above figure.
Item Setting Setting value Main shaft input axis selection ([Cam control data No. 30]) Select the synchronous encoder axis. 2
Synchronous encoder axis unit multiplication: Numerator ([Cam control data No. 15])
Refer to the following. Page 273 Synchronous encoder axis unit conversion gear setting
Page 273 Synchronous encoder axis unit conversion gear setting
Synchronous encoder axis unit multiplication: Denominator ([Cam control data No. 16])
(0.0 mm) 180
(100.0 mm) 360
(200.0 mm)
0
t
t
t
(5.0 mm)(5.0 mm)
0
100 % (600.0 mm)
Home position
Cycle length of the rotary knife axis (600.0 mm)
Rotary knife axis (Cam axis)
Sheet synchronous width (10.0 mm) Sheet feeding
Sheet length (200.0 mm)
Cam axis one cycle current value
Sheet length (200.0 mm)
Rotary knife axis (cam axis) speed
Synchronous speed (Sheet feed speed)
Cam stroke ratio (Cam data created by users)
6 7 APPLICATION OF FUNCTIONS 7.1 Simple cam function
7
Operation The following table shows an example of the procedure before operation.
Step Setting and operation 1. Data setting Refer to the setting example on the previous page and set the data.
2. Initial position adjustment Adjust the synchronous positions of the conveyor axis and rotary knife axis. When the position of the conveyor axis (main axis current value) is "0", set the position of the rotary knife axis
(feed current value) to "0". Since the position at power-on is "0", the home position return of the conveyor axis is not required. Perform the home position return on the rotary knife axis at the point where the blade of the cutter become the
top. Adjust the conveyor axis and rotary knife axis so that the 0 position of both axes is located at the center of the sheet length.
3. Selecting cam data Select the cam data to be executed with RWwnE (Cam No. setting). The user can use [Cam control data No. 49 - Cam No.] to select the cam data.
4. Servo-on Switch on RYn0 (Servo-on).
5. Switching cam control Switch on RY (n + 1) 3 (Cam control command) to switch the control to the cam control.
6. Starting the conveyor axis Check that RX (n + 1) 3 (During cam control) is on and start the conveyor axis. The rotary knife axis is driven in synchronization with the conveyor axis.
ON OFF ON OFF
ON OFF ON OFF
360
180
0
0 1
RYn6 (Automatic/manual selection)
RYn0 (Servo-on)
Cam No.
RY (n + 1) 3 (Cam control command)
RX (n + 1) 3 (Under cam control) Max. 20 ms
Conveyor axis travel distance (Main axis current value)
Cam one cycle Cam one cycle Cam one cycle Cam one cycle
Cam axis one cycle current value
Rotary knife angle (Cam axis feed current value)
Sheet
Cutting position Cutting position Cutting position Cutting position
7 APPLICATION OF FUNCTIONS 7.1 Simple cam function 277
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Compensation by touch probe This system detects registration marks that have been equally printed on the sheet, and compensates the difference between the actual cam axis one cycle current value and the ideal cam axis one cycle current value (set value of the cam position compensation target position) by shifting the synchronous phase of the rotary knife axis and the conveyor axis.
Setting example: When the ideal registration mark position is 150 mm and the mark is not detected unless the conveyor feeds the sheet by 151 mm due to stretch
By executing compensation, the rotary knife cuts the sheet keeping the distance of 50 mm between the ideal position for detecting the registration mark and the position for cutting the sheet.
*1 The dot-and-dash line in the above figure shows a waveform of when compensation is not executed.
Item Setting and operation Cam position compensation target position ([Cam control data No. 60])
In this example, the ideal position for detecting the registration mark is 150 mm position from the cam axis one cycle current value. Set "150" for the cam position compensation target position.
Cam position compensation time constant ([Cam control data No. 61])
In this example, the position compensation is executed by one-shot. Set "0" for the cam position compensation time constant.
360
180
0
151 mm 150 mm
ON OFF
150 mm 150 mm 151 mm 151 mm
50 mm
201 mm 201 mm200 mm 200 mm
50 mm 50 mm
*1
Main axis current value
The difference (1 mm) between the registration mark detection position (151 mm) and the cam position compensation target position (150 mm) is compensated.
Cam axis one cycle current value
Rotary knife angle (Cam axis feed current value)
Conveyor travel distance (Cam axis input amount)
Sheet Registration mark
Cutting position
TPR1 or TPR2 (Cam position compensation request)
8 7 APPLICATION OF FUNCTIONS 7.1 Simple cam function
7
Details of cam position compensation The cam position compensation processing compensates the difference between the target position for detecting the sensor and the actual position for detecting the sensor by shifting the cam axis one cycle current value. ccyl', the cam axis one cycle length (sheet length) after compensation, is calculated as follows: CCYL: Cam axis one cycle length ([Cam control data No. 48]) CPHV: Cam position compensation target position ([Cam control data No. 60]) ccyl': Cam axis one cycle length (after compensation) cpos: Cam axis one cycle current value at sensor detection CPHV - cpos: Distance between the target sensor detection position and actual sensor detection position
When the sensor detection position is before the target position (CPHV cpos): ccyl' = CCYL - (CPHV - cpos)
Increase the conveyor travel distance by adding the difference (CPHV - cpos) to the cam axis one cycle current value. Adjust the filter time constant for acceleration/deceleration at compensation with [Cam control data No. 61 Cam position compensation time constant].
When the sensor detection position is after the target position (CPHV < cpos): ccyl' = CCYL + (cpos - CPHV)
Decrease the conveyor travel distance by subtracting the difference (cpos - CPHV) from the cam axis one cycle current value. Adjust the filter time constant for acceleration/deceleration at compensation with [Cam control data No. 61 Cam position compensation time constant].
CPHV - cpos
ccyl'
cpos
Sheet
Cam axis one cycle current value
CPHV ([Cam control data No. 60])
CCYL ([Cam control data No. 48])
cpos - CPHV
ccyl'
cpos
Sheet
Cam axis one cycle current value
CPHV ([Cam control data No. 60])
CCYL ([Cam control data No. 48])
7 APPLICATION OF FUNCTIONS 7.1 Simple cam function 279
28
Cam No. setting method
When the cam No. is set to a value other than "0" to "8", [AL. F6.5 Cam No. external error] will occur. If the cam data of a specified cam No. does not exist, [AL. F6.3 Cam unregistered error] occurs. At this time, the cam control is not executed and the servo motor does not start. Turning off the cam control command clears [AL. F6.3] and [AL. F6.5].
The cam No. can be set and changed using the RWwnE (cam No. setting) in the same way as it is designated in [Cam control data No. 49], and selected in Point table No. selection. The priority level of cam control parameter and RWwnE are as follows.
: Enable, : Disable
[Pr. PT35] setting [Cam control data No. 49] setting
RWwnE Setting
_ 0 _ _ (Simple cam function disabling setting)
The cam function will be disabled with the setting of [Pr. PT35].
_ 1 _ _ (Simple cam function enable setting)
"0" (initial value) Cam No. is determined by the RWwnE setting.
Other than "0" The cam No. is set with the setting of [Cam control data No. 49]. Cam No. setting by the RWwnE is disabled.
0 7 APPLICATION OF FUNCTIONS 7.1 Simple cam function
7
Stop operation of cam control If one of the following stop causes occurs on the output axis during cam control, the cam control stops after the output axis is stopped. (RX (n + 1) 3 (Under cam control) turns off.) To restart the cam control, adjust the synchronous position of the output axis.
Instantaneous stop The operation stops without deceleration. The servo amplifier immediately stops the command.
Deceleration stop The output axis decelerates to stop according to [Pr. PC51 Forced stop deceleration time constant]. After a deceleration stop starts, the cam axis one cycle current value and feed current value are not updated. The path of the feed current value is drawn, and the stop is made regardless of the cam control. Decelerate the input axis to stop when decelerating the output axis to stop in synchronization with the input axis.
When using a positioning command (internal command) for the input axis, inputting a temporary stop or switching the operation mode decelerates the input axis to stop. Since the output axis stops in synchronization with the input axis, the synchronous relationship is kept and the cam control does not stop. When the control mode is switched to the home position return mode, the cam control will stop.
Stop cause Command stop processing
Remark
Software stroke limit detection Instantaneous stop Page 281 Instantaneous stop
Stroke limit detection Instantaneous stop Page 281 Instantaneous stop
Stop due to forced stop 1 or 2, or alarm occurrence Instantaneous stop or deceleration to a stop
Stop due to base circuit shut-off.Page 281 Instantaneous stop Stop by the forced stop deceleration function.Page 281 Deceleration stop
RY (n + 1) 3 (Cam control command) OFF Instantaneous stop Page 281 Instantaneous stop
Servo-off Instantaneous stop Coasting state
Cam axis one cycle current value
Feed current value
Feed speed
t
t
t
Instantaneous stop
t
t
t
Cam axis one cycle current value
Feed current value
Feed speed
Deceleration to a stop
7 APPLICATION OF FUNCTIONS 7.1 Simple cam function 281
28
Restart operation of cam control When the cam control is stopped during operation, a gap is generated in the synchronization between the main shaft and the driven shaft. To solve the gap, return the main shaft and the driven shaft to the synchronization starting point and then start the synchronous operation.
*1 The above shows an example for when the synchronization starting point is the point where both command position and feed current value are "0".
Point table No.
Forward rotation 0 r/min Reverse rotation
Command speed
Forward rotation 0 r/min Reverse rotation
Command speed
RYn6 (Automatic/manual selection)
ON OFF ON OFF
RYn0 (Servo-on)
ON OFF
ON OFF
ON OFF
RYn1 (Forward rotation start)
Command position
Command position
Driven shaft RYn1 (Forward rotation start)
RY (n + 1) 3 (Cam control command)
Cam axis one cycle current value
Cam axis feed current value
RX (n + 1) 3 (Under cam control)
Main shaft/driven shaft
Main shaft
5 ms or longer
3 ms or shorter
Point table No. 1
*1
If the cam control stops during operation, the synchronous position relationship with the main shaft is broken.
Positioning to the synchronization start position (Feed current value 0 (= Command position 0))
Point table in which the command position 0 is set as the target position
Positioning to the synchronization start position (Command position 0)
1 2
3 ms or shorter
Point table No. 1
*1
*1
*1
5 ms or shorter
2 7 APPLICATION OF FUNCTIONS 7.1 Simple cam function
7
Cam axis position at cam control switching The cam axis position is determined by the positional relationship of three values of "Cam axis one cycle current value", "Cam axis standard position" and "Cam axis feed current value". When the control has been switched to the cam control (RY (n + 1) 3 (Cam control command) is on), defining the positions of two of these values restores the position of the remaining one value.
The following table lists the parameters required to be set for the cam axis position restoration. Refer to the following for the settings. Page 262 Data to be used with simple cam function
: Required *1 Set this parameter when [Cam control data No. 3] is set to "1".
Cam axis position restoration target ([Cam control data No. 2])
Cam standard position setting method ([Cam control data No. 3])
Cam standard position (initial setting value) ([Cam control data No. 6])
Cam axis one cycle current value setting method ([Cam control data No. 4])
Cam axis one cycle current value (initial setting value) ([Cam control data No. 7])
Restoration processing details
0: Cam axis one cycle current value restoration
*1
(Used as the search starting point of cam pattern.)
"Cam axis one cycle current value" is restored based on "Cam standard position" and "Cam axis feed current value".
1: Cam standard position restoration
*1 "Cam standard position" is restored based on "Cam axis one cycle current value" and "Cam axis feed current value".
2: Cam axis feed current value restoration
*1 *1 "Cam axis feed current value" is restored based on "Cam axis one cycle current value" and "Cam standard position".
Cam axis one cycle current value
Cam axis feed current value
Cam standard position
7 APPLICATION OF FUNCTIONS 7.1 Simple cam function 283
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Cam axis one cycle current value restoration
For the cam pattern of to-and-fro control, if no corresponding cam axis one cycle current value is found, [AL. F6.1 Cam axis one cycle current value restoration failed] will occur and cam control cannot be executed.
For the cam pattern of feed control, if no corresponding cam axis one cycle current value is found, the cam standard position will automatically change and the value will be searched again.
If the cam resolution of the cam used is large, search processing at cam control switching may take a long time.
When RY (n + 1) 3 (Cam control command) turns on, "Cam axis one cycle current value" is restored based on "Cam standard position" and "Cam axis feed current value" and the control is switched to the cam control. Set the "cam standard position" used for the restoration with cam control data. The feed current value at cam control switching is used as "Cam axis feed current value". The cam axis one cycle current value is restored by searching for a corresponding value from the beginning to the end of the cam pattern. Set the starting point for searching the cam pattern with "[Cam control data No. 7 Cam axis one cycle current value (initial setting value)]". (It is also possible to search from the return path in the cam pattern of to-and-fro control.)
Searching for the cam pattern (It is also possible to search from a value in the middle of the cam axis one cycle current value).
Cam axis one cycle current value
Cam axis feed current value
Cam standard position
4 7 APPLICATION OF FUNCTIONS 7.1 Simple cam function
7
Cam pattern of to-and-fro control Searching from "Cam axis one cycle current value = 0" (Cam data start position = 0)
Searching from a value in the middle of the cam axis one cycle current value (Cam data start position = 0)
Searching from a value in the middle of the cam axis one cycle current value (Cam data start position 0)
Searching fails
The cam axis one cycle current value is restored with the first feed current value that matched. (The cam axis one cycle current value is not restored with the second and subsequent feed current values that matched.)
Search from "Cam axis one cycle current value = 0".
Cam axis one cycle current value
Cam axis feed current value (Feed current value)
Cam standard position
Search from a value in the middle, and the cam axis one cycle current value is restored with the first feed current value that matched. (The cam axis one cycle current value is restored with the second feed current value that matched.)
Search from a value in the middle of the cam axis one cycle current value. (Preceding feed current values are searched later.)
Cam axis one cycle current value (Initial setting)
Cam axis one cycle current value
Cam axis feed current value (Feed current value)
Cam standard position
Search from a value in the middle, and the cam axis one cycle current value is restored with the first feed current value that matched.
Search from a value in the middle of the cam axis one cycle current value.
Cam axis one cycle current value (Initial setting)
Cam data start position
Cam axis one cycle current value
Cam axis feed current value (Feed current value)
Cam standard position
Cam axis one cycle current value
Cam axis feed current value (Feed current value) When no feed current value that matched is found within one
cycle, the restoration fails.
Cam standard position
7 APPLICATION OF FUNCTIONS 7.1 Simple cam function 285
28
Cam pattern of feed control Searching from "Cam axis one cycle current value = 0" (Cam data start position = 0)
Searching from a value in the middle of the cam axis one cycle current value (Cam data start position = 0)
Searching from a value in the middle of the cam axis one cycle current value (Cam data start position 0)
The cam axis one cycle current value is restored with the first feed current value that matched. (The cam axis one cycle current value is not restored with the second and subsequent feed current values that matched.)
Search from "Cam axis one cycle current value = 0".
Cam axis one cycle current value
Cam axis feed current value (Feed current value)
Cam standard position
Search from a value in the middle, and the cam axis one cycle current value is restored with the first feed current value that matched in the next cycle.
The cam standard position is automatically updated to the one in the next cycle.
Cam axis one cycle current value (Initial setting)
Cam axis one cycle current value
Cam axis feed current value (Feed current value)
Cam standard position at the start of the restoration
New cam standard current value
Search from a value in the middle, and the cam axis one cycle current value is restored with the first feed current value that matched.
The cam standard position is automatically updated to the one in the next cycle. (Updated at the cam data 0th point.)
Search from a value in the middle of the cam axis one cycle current value.
Cam axis one cycle current value (Initial setting)
Cam data start position
Cam axis one cycle current value
Cam axis feed current value (Feed current value)
Cam standard position at the start of the restoration
New cam standard current value
6 7 APPLICATION OF FUNCTIONS 7.1 Simple cam function
7
The first searching has failed and the second searching starts
If the first searching has failed, the second searching may not be processed in the next cycle for a cam pattern with a feed stroke smaller than 100 %. By setting or positioning a cam standard position in advance, an intended cam axis one cycle current value can be found in the first searching.
Once the first search fails, the cam standard position is automatically updated and the second search starts so that "Feed current value - New cam standard position" is within the feed stroke amount.
The cam axis one cycle current value is restored with the first feed current value that matched and is found in the second search.
Feed stroke
Cam axis one cycle current value
Cam axis feed current value (Feed current value)
Cam standard position at the start of the restoration
New cam standard current value
7 APPLICATION OF FUNCTIONS 7.1 Simple cam function 287
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Cam standard position restoration If the cam axis position restoration target is set to "Cam standard position restoration" and RY (n + 1) 3 (Cam control command) turns on, the "cam standard position" will be restored based on "Cam axis one cycle current value" and "Cam axis feed current value" and the control is switched to the cam control. Set the "cam axis one cycle current value" used for restoration with cam control data. The feed current value of when RY (n + 1) 3 (Cam control command) is on is used as the "cam axis feed current value".
The following shows an example for restoring the cam standard position to start an operation from a point where both the feed current value and the cam axis one cycle current value are 0" in the cam whose cam data start position is not "0".
The cam standard position is restored to the cam stroke position that corresponds to "Feed current value - Cam axis one cycle current value".
Cam axis one cycle current value
Cam axis feed current value
Cam standard position
Cam data start position
Cam data
0
0
Cam axis one cycle current value
Cam axis feed current value (Feed current value)
Cam standard position
8 7 APPLICATION OF FUNCTIONS 7.1 Simple cam function
7
Cam axis feed current value restoration
When the restored cam axis feed current value differs from the feed current value at cam control switching, the cam axis feed current value moves to the value restored just after cam control switching.
If the difference between the restored cam axis feed current value and the feed current value is larger than the value set in [Pr. PA10 In-position range], [AL. F6.2 Cam axis feed current value restoration failed] will occur and the control cannot be switched to the cam control. Note that, if increasing the value of the in- position range may lead to a rapid cam switching.
If the cam axis position restoration target is set to "Cam axis feed current value restoration" and RY (n + 1) 3 (Cam control command) turns on, "Cam axis feed current value" is restored based on "Cam axis one cycle current value" and "Cam standard position" and the control is switched to the cam control. Set the "cam axis one cycle current value" and "cam standard position" used for the restoration with cam control data.
Cam axis one cycle current value
Cam axis feed current value
Cam standard position
7 APPLICATION OF FUNCTIONS 7.1 Simple cam function 289
29
Clutch The clutch is used to transmit/disengage command pulses from the main shaft input side to the output axis module through turning the clutch ON/OFF, controlling start/stop of the servo motor operation. Set whether or not to use the clutch control with [Cam control data No. 36 - Main shaft clutch control setting]. Although the clutch ON/OFF can be changed during cam control, the setting of [Cam control data No. 36] cannot be changed from "1 (Clutch command ON/OFF)" to "0 (No clutch)" during cam control.
ON control mode "No clutch" When [Cam control data No. 36 - Main shaft clutch control setting] is set to "0 (No clutch)", other clutch parameters are not used due to direct coupled operation.
Clutch command ON/OFF Turning on/off RY (n + 1) 5 (Clutch command) turns on/off the clutch. (Settings in the OFF control mode are not used in the clutch command ON/OFF mode.)
Clutch smoothing method Smoothing is processed with the time constant set in [Cam control data No. 43 Main shaft clutch smoothing time constant] at clutch ON/OFF. After clutch ON smoothing is completed, smoothing is processed with the set time constant when the speed of the input values changes. The travel distance from turning on to off of the clutch does not change with smoothing.
Travel distance after clutch smoothing = Travel distance before clutch smoothing
Time constant method exponential curve smoothing Set [Cam control data No. 42 - Main shaft clutch smoothing system] to "1 (Time constant method (index))".
Clutch command
Clutch on/off status
t
t
Current value before clutch input
Travel distance after clutch output
RY (n + 1) 5
RX (n + 1) 5
t
t
RX (n + 1) 5
RX (n + 1) 6
63 %
63 %
Clutch on/off status
Clutch smoothing status
Speed before clutch processing
Speed after clutch smoothing
Clutch smoothing time constant
0 7 APPLICATION OF FUNCTIONS 7.1 Simple cam function
7
Cam position compensation target position Perform compensation to match the cam axis one cycle current value with the cam position compensation target position ([Cam control parameter No. 60]) by inputting a cam position compensation request.
Cam position compensation target position
After compensation
Before compensation
TPR1 or TPR2 (Cam position compensation request)
Cam axis one cycle current value
Cam feed current value
7 APPLICATION OF FUNCTIONS 7.1 Simple cam function 291
29
Cam position compensation time constant The compensation amount calculated when cam position compensation is requested is divided into the time set in [Cam control data No. 61 Cam position compensation time constant] and used for compensation.
Backup restore function
For details on the backup restore function, refer to section 17.3 in "MR-J4-_GF_(-RJ)Servo Amplifier Instruction Manual (Motion Mode)", and GOT User's Manual.
The backup/restoration function is a function for backing up and restoring all parameter data and point table data in MR-J4- _GF_(-RJ) to GOT by using SLMP. When executing cam backup and restore, the following restrictions apply. When the "Simple cam function selection" of [Pr. PT35] is disabled, cam data can be restored but backing it up is not
possible. When backing up cam data, do so after enabling "Simple cam function selection" of [Pr. PT35]". To prevent backup data inconsistencies, do not change the setting of [Pr. PT35] while backup is in progress. The cam data cannot be backed up while [AL. F5] is occurring. Execute backup after clearing [AL. F5]. If the cam data is written with MR Configurator2 while backup is in progress, the data previously written will be used as the
backup data. When restoring cam data, do so after network communication is established between the servo amplifier and controller. When restoring cam data for the second time, do so after cycling the power of the servo amplifier. Executing restoration
without cycling the power will trigger [AL. F5.2 Cam data - Area miswriting warning]. The cam data cannot be read or written with MR Configurator2 while restoration is in progress as doing so will trigger errors
on MR Configurator2. The backup data including the cam data cannot be restored in servo amplifiers that do not support the simple cam function.
Cam position compensation target position
With time constant Without time constant
Cam axis one cycle current value
TPR1 or TPR2 (Cam position compensation request) RX (n + 1) 4 (Cam position compensation execution completed)
Cam position compensation time constant
2 7 APPLICATION OF FUNCTIONS 7.1 Simple cam function
7
7.2 Override Analog override
Analog override can be used in the point table method and the indexer method. When using the analog override function, set "Override selection" of [Pr. PT38] to "2". When using analog override in the point table method or the indexer method, enable RY (n + 1) B (Analog override selection). Analog override can be used in the following functions: Point table method/indexer method JOG operation Home position return mode in the point table method/indexer method Analog override cannot be used in the following functions: Test operation mode (Positioning operation/JOG operation) with MR Configurator2 If the servo motor speed that has been changed with the analog override value exceeds the maximum speed of the servo motor, the servo motor speed will be limited to the maximum speed of the servo motor.
The servo motor speed can be changed by turning on RY (n + 1) B (Analog override selection) while RWwnF (Analog override) is set. The devices related to analog override are shown in the following table.
Use RY (n + 1) B (Analog override selection) to select the changing value as follows:
Item Name Remark Device RWwnF (Analog override) The override value can be set. Set the override value in % unit in the
range of 0 to 200 %.
RY (n + 1) B (Analog override selection) Turning on RY (n + 1) B enables the setting value of the analog override.
Servo parameter ([Pr. PT38]) RY (n + 1) B Speed changing value _ _ 2 _ Off No change will be made
On The setting value of RWwnF (Analog override) is enabled
Servo amplifier
Analog override
Position control
Speed control
Servo motor
RY (n + 1) B (Analog override selection)
Analog override 0 % to 200 %
7 APPLICATION OF FUNCTIONS 7.2 Override 293
29
Digital override The actual servo motor speed can be obtained by multiplying the command speed and the digital override value selected in RY (n + 1) C (Digital override selection 1) to RY (n + 1) F (Digital override selection 4).
Ex.
When [Pr. PT42] is set to 50 while [Pr. PT43] is set to 5
*1 0: Off 1: On
When [Pr. PT42] is set to 50 while [Pr. PT43] is set to 5 in the rotation direction specifying indexer
Servo parameter ([Pr. PT38]) Device *1 Description
OV3 OV2 OV1 OV0 _ _ 1 _ 0 0 0 0 100 [%] of the speed set with the parameter
0 0 0 1 50 [%] of the speed set with the parameter
0 0 1 0 55 [%] of the speed set with the parameter
0 0 1 1 60 [%] of the speed set with the parameter
1 1 0 1 110 [%] of the speed set with the parameter
1 1 1 0 115 [%] of the speed set with the parameter
1 1 1 1 0 [%] of the speed set with the parameter
Power supply
RX (n + 3) A (Malfunction)
RXnC (Travel completion)
RWrn6 (Station No. output) All turned off All turned off All turned off All turned off
No. 1No. 1 No. 3
RWwn6 (Next station No. selection)
No. 1 No. 3 No. 1 No. 3
Digital override 115% Digital override 100%
Digital override 85% Station position
No. 1 Station
position No. 1 Station
position No. 3 Forward rotationServo motor
speed Station position No. 3
Reverse rotation
Digital override 50%
RYn1 (Start)
RYn2 (Rotation direction specifying)
Within 3.5 ms
Digital override 85%
RY (n + 1) C (Digital override selection 1) to RY (n + 1) F (Digital override selection 4)
Digital override 100% Digital override 50% Digital override 115%
4 7 APPLICATION OF FUNCTIONS 7.2 Override
7
When [Pr. PT42] is set to 50 while [Pr. PT43] is set to 5 in station JOG operation
*1 In the manual operation mode, when RYn1 (Start) is turned on/off with the digital override 0 % then the digital override is set to other than 0 %, the servo motor stops at the closest station even when RYn1 is turned off.
*2 Setting the digital override to 0 % during operation decelerates the servo motor to a stop. After that, the JOG operation will resume if the digital override is set to other than 0 %. In that case, the servo motor stops at the closest station even when RYn1 is turned off.
ON OFF
ON OFF
ON OFF
ON OFF
1 2 2 3 4 5 6 7 8 *2
*1
0 r/min
Power supply
RX (n + 3) A (Malfunction)
RXnC (Travel completion)
RWrn6 (Station No. output)
All turned off All turned off
Station output 2
Station output 1
Station output 8
Digital override 100% Digital override 85%
Forward rotationServo motor
speed Reverse rotationCurrent station position
5 ms or longer
RYn1 (Start)
RY (n + 1) C (Digital override selection 1) to RY (n + 1) F (Digital override selection 4)
Digital override 0%
Digital override 100%
Digital override 0%
Digital override 85%Digital override 50%
Digital override 50%
7 APPLICATION OF FUNCTIONS 7.2 Override 295
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7.3 Internal torque limit selection Device/parameter The input devices and parameters are shown in the following. Input devices used for internal torque limit selection
Parameters set with internal torque limit selection
Details of internal torque limit selection
For positioning mode (point table method) and speed control mode (point table method) The torque limit values to be enabled are shown in the following table.
For stopper type home position return The torque limit values to be enabled are shown in the following table.
Device name Description CTL Internal torque limit selection of the input device
RY (n + 2) 6 Internal torque limit selection of the link device
Parameter Symbol Description Pr. PA11 TLP Forward rotation torque limit
Pr. PA12 TLN Reverse rotation torque limit
Pr. PC77 TL2 Internal torque limit 2
Pr. PT11 ZTT Stopper type home position return torque limit value
Pr. PT48 (_ _ _ x) TOP7A Torque limit selection at stop
CTL and RY (n + 2) 6 (Internal torque limit selection)
Limit value status Torque limit value to be enabled
CCW power running/CW regeneration
CW power running/CCW regeneration
Both are off Pr. PA11 Pr. PA12
Either is on Pr. PA11 Pr. PA12
Pr. PC77 Pr. PC77
CTL and RY (n + 2) 6 (Internal torque limit selection)
Limit value status Torque limit value to be enabled
CCW power running/CW regeneration
CW power running/CCW regeneration
Both are off Pr. PT11 Pr. PT11
Either is on Pr. PC77 > Pr. PT11 Pr. PT11 Pr. PT11
Pr. PC77 < Pr. PT11 Pr. PC77 Pr. PC77
Pr. PC77 > Pr. PA11 Pr. PA12
Pr. PC77 < Pr. PA11 Pr. PA12
6 7 APPLICATION OF FUNCTIONS 7.3 Internal torque limit selection
7
For the positioning mode (indexer method) The torque limit values to be enabled are shown in the following table.
*1 The status switches from "During a stop" to "During operation" while ST1 (Forward rotation start) is being turned on. The status switches from "During operation" to "During a stop" when the time set in [Pr. PT39] passes after MEND (Travel completion) is output.
[Pr. PT48 (_ _ _ x) Torque limit selection at stop]
CTL and RY (n + 2) 6 (Internal torque limit selection)
Operation status *1 Limit value status Torque limit value to be enabled
CCW power running/CW regeneration
CW power running/CCW regeneration
0 (disabled) Both are off During a stop Pr. PC77 Pr. PC77
During operation Pr. PA11 Pr. PA12
Either is on During a stop Pr. PC77 Pr. PC77
During operation Pr. PA11 Pr. PA12
Pr. PC77 Pr. PC77
1 (enabled) Both are off During a stop Pr. PA11 Pr. PA12
Pr. PC77 Pr. PC77
During operation Pr. PA11 Pr. PA12
Either is on During a stop Pr. PA11 Pr. PA12
Pr. PC77 Pr. PC77
During operation Pr. PA11 Pr. PA12
Pr. PC77 Pr. PC77
Pr. PC77 > Pr. PA11 Pr. PA12
Pr. PC77 < Pr. PA11 Pr. PA12
Pr. PC77 > Pr. PA11 Pr. PA12
Pr. PC77 < Pr. PA11 Pr. PA12
Pr. PC77 > Pr. PA11 Pr. PA12
Pr. PC77 < Pr. PA11 Pr. PA12
Pr. PC77 > Pr. PA11 Pr. PA12
Pr. PC77 < Pr. PA11 Pr. PA12
7 APPLICATION OF FUNCTIONS 7.3 Internal torque limit selection 297
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MEMO
8 7 APPLICATION OF FUNCTIONS 7.3 Internal torque limit selection
REVISIONS *The manual number is given on the bottom left of the back cover.
Revision Date *Manual Number Description February 2016 SH(NA)-030221ENG-A First edition
February 2017 SH(NA)-030221ENG-B Indexer positioning function and simple cam function are added. 4. Additional instructions (1) Transportation and installation The ambient humidity is changed. 4. Additional instructions (2) Wiring Partially added. 4. Additional instructions (5) Corrective actions Partially added. 4. Additional instructions (6) Maintenance, inspection and parts replacement Partially added and partially changed. About the manual "MELSERVO MR-D30 Instruction Manual" is added. Section 1.1 (1) Contents were partially added to the table. Section 1.1 (2) Configuration change, (b) is newly added. Section 1.2 "Indexer" is added. Section 1.3 "Indexer" and "Simple cam function" are added. Section 2.1.1 Partially changed and "Simple cam function" is added. Section 2.1.2 "Simple cam function" is added. Section 2.1.3 "Simple cam function" is added. Section 2.1.4 Partially changed and "Simple cam function" is added. Section 2.3.1 (1) (b) Partially changed. Section 2.3.2 (3) Partially changed. Section 2.4.1 (4) Partially changed. Chapter 3 POINT is changed. Section 3.1 "Indexer" and "Simple cam function" are added. Section 3.2.1 [Pr. PA01], [Pr. PA06], and [Pr. PA07] are added. [Pr. PA10] is partially changed. Section 3.2.2 Newly added. Section 3.2.3 [Pr. PD12] is partially changed. Section 3.2.4 [Pr. PT07], [Pr. PT12], [Pr. PT34], [Pr. PT62], and [Pr. PT69] are partially changed. [Pr. PT27], [Pr. PT35], [Pr. PT39], [Pr. PT40], and [Pr. PT45] are added. Section 3.3.2 Newly added. Chapter 5 Newly added. Chapter 6 Newly added.
February 2018 SH(NA)-030221ENG-C Available on e-Manual. Partially changed.
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Japanese manual number: SH-030220-D
2016 MITSUBISHI ELECTRIC CORPORATION
December 2020 SH(NA)-030221ENG-D The speed control mode (point table method), the override function, and the infinite feed function are added. Degree unit is supported. Section 1.1 Partially changed. Section 1.2 Partially added and partially changed. Section 1.3 Partially added. Section 2.1 Partially added and partially changed. Section 2.3 Partially added and partially changed. Section 2.4 Partially changed. Section 2.5 Partially changed. Section 2.7 Newly added. Section 3.1 Partially added and partially changed. Section 3.2 Partially added and partially changed. Section 3.4 Partially added and partially changed. Section 4.2 Partially added and partially changed. Section 5.1 Partially added and partially changed. Section 5.3 Partially added and partially changed. Section 5.4 Partially added and partially changed. Section 5.5 Partially added and partially changed. Section 5.6 Newly added. Chapter 6 Newly added. Section 7.1 Partially changed. Section 7.2 Newly added. Section 7.3 Newly added.
This manual confers no industrial property 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.
Revision Date *Manual Number Description
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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. However, we will charge the actual cost of dispatching our engineer for an on-site repair work on request by customer in Japan or overseas countries. We are not responsible for any on-site readjustment and/or trial run that may be required after a defective unit are repaired or replaced. [Term] For terms of warranty, please contact your original place of purchase. [Limitations] (1) You are requested to conduct an initial failure diagnosis by yourself, as a general rule.
It can also be carried out by us or our service company upon your request and the actual cost will be charged. However, it will not be charged if we are responsible for the cause of the failure.
(2) This limited warranty applies only when the condition, method, environment, etc. of use are in compliance with the terms and conditions and instructions that are set forth in the instruction manual and user manual for the Product and the caution label affixed to the Product.
(3) Even during the term of warranty, the repair cost will be charged on you in the following cases; 1. a failure caused by your improper storing or handling, carelessness or negligence, etc., and a failure caused by your hardware
or software problem 2. a failure caused by any alteration, etc. to the Product made on your side without our approval 3. a failure which may be regarded as avoidable, if your equipment in which the Product is incorporated is equipped with a safety
device required by applicable laws and has any function or structure considered to be indispensable according to a common sense in the industry
4. a failure which may be regarded as avoidable if consumable parts designated in the instruction manual, etc. are duly maintained and replaced
5. any replacement of consumable parts (battery, fan, smoothing capacitor, etc.) 6. a failure caused by external factors such as inevitable accidents, including without limitation fire and abnormal fluctuation of
voltage, and acts of God, including without limitation earthquake, lightning and natural disasters 7. a failure generated by an unforeseeable cause with a scientific technology that was not available at the time of the shipment of
the Product from our company 8. any other failures which we are not responsible for or which you acknowledge we are not responsible for
2. Term of warranty after the stop of production (1) We may accept the repair at charge for another seven (7) years after the production of the product is discontinued. The
announcement of the stop of production for each model can be seen in our Sales and Service, etc. (2) Please note that the Product (including its spare parts) cannot be ordered after its stop of production.
3. Service in overseas countries Our regional FA Center in overseas countries will accept the repair work of the Product. However, the terms and conditions of the repair work may differ depending on each FA Center. Please ask your local FA center for details.
4. Exclusion of loss in opportunity and secondary loss from warranty liability Regardless of the gratis warranty term, Mitsubishi shall not be liable for compensation to: (1) Damages caused by any cause found not to be the responsibility of Mitsubishi. (2) Loss in opportunity, lost profits incurred to the user by Failures of Mitsubishi products. (3) Special damages and secondary damages whether foreseeable or not, compensation for accidents, and compensation for
damages to products other than Mitsubishi products. (4) Replacement by the user, maintenance of on-site equipment, start-up test run and other tasks.
5. Change of Product specifications Specifications listed in our catalogs, manuals or technical documents may be changed without notice.
6. Application and use of the Product (1) For the use of our AC Servo, its applications should be those that may not result in a serious damage even if any failure or
malfunction occurs in AC Servo, and a backup or fail-safe function should operate on an external system to AC Servo when any failure or malfunction occurs.
(2) Our AC Servo is designed and manufactured as a general purpose product for use at general industries. Therefore, applications substantially influential on the public interest for such as atomic power plants and other power plants of electric power companies, and also which require a special quality assurance system, including applications for railway companies and government or public offices are not recommended, and we assume no responsibility for any failure caused by these applications when used. In addition, applications which may be substantially influential to human lives or properties for such as airlines, medical treatments, railway service, incineration and fuel systems, man-operated material handling equipment, entertainment machines, safety machines, etc. are not recommended, and we assume no responsibility for any failure caused by these applications when used. We will review the acceptability of the abovementioned applications, if you agree not to require a specific quality for a specific application. Please contact us for consultation.
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TRADEMARKS MELSERVO and CC-Link IE are trademarks or registered trademarks of Mitsubishi Electric Corporation in Japan and/or other countries. Ethernet is a registered trademark of Fuji Xerox Co., Ltd. in Japan. All other product names and company names are trademarks or registered trademarks of their respective companies.
SH(NA)-030221ENG-D
SH(NA)-030221ENG-D(2012)MEE MODEL: MR-J4-GF-(RJ)INSTRUCTIONMANUAL(IO MODE) MODEL CODE: 1CW863
Specifications subject to change without notice.
When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission.
HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310,
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