Contents

Mitsubishi Electric MRMT2010, MRMT2100, MRMT2200, MRMT2300 Manual PDF

Pages 246
Year 2017
Language(s)
English en
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1 of 246

Summary of Content for Mitsubishi Electric MRMT2010, MRMT2100, MRMT2200, MRMT2300 Manual PDF

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Always connect a circuit protector between the power supply and the power supply (24 V(+)) of the sensing module, in order to configure a circuit that shuts down the power supply on the side of the

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for disinfecting and protecting wooden packaging from insects, they cause malfunction when entering our products... Please take necessary precautions to ensure that remaining materials from fumigant do not enter our products, or treat packaging with methods other than fumigation, such as heat treatment...

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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...

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the total number of the following operations exceeds 100,000, the sensing module may malfunction when the EEP-ROM reaches the end of its useful life...

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4... 1 Summary ... 4- 1 4... 2 Standard specifications ... 4- 1 4... 3 Function list ... 4- 1 4... 4 Parts identification ... 4- 2 4... 5 Station number selection rotary switch ... 4- 3 4... 6 Status display LEDs ... 4- 4 4... 7 Signals and wiring ... 4- 5

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7... 1 Summary ... 7- 1 7... 2 Standard specifications ... 7- 1 7... 3 Function list ... 7- 1 7... 4 Parts identification ... 7- 2 7... 5 Status display LEDs ... 7- 3 7... 6 Signals and wiring ... 7- 4

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10... 1 Explanations of the lists ... 10- 1 10... 2 Alarm list ... 10- 2 10... 3 Warning list ... 10- 5 10... 4 Remedies for alarms ... 10- 6 10... 5 Remedies for warnings ... 10-28 10... 6 Trouble which does not trigger an alarm/warning ... 10-29

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MR-MT2200 Pulse I/O module General-purpose pulse trains are inputted to and outputted from the pulse I/O module... This module outputs position commands in pulses through SSCNET III/H communications and performs position control by using general-purpose pulse train drivers and servo amplifiers... In addition, feedback pulses can also be inputted... This module processes general-purpose pulse train signals synchronized with SSCNET III/H communications... MR-MT2010 is necessary to use this module...

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Vibration resistance 5... 9 m/s2, at 10 Hz to 55 Hz (directions of X, Y and Z axes) Note... When using the MR-MT2000 series at an altitude exceeding 1000 m and up to 2000 m above sea level, the ambient temperature

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The following figure shows a configuration including peripheral equipment as an example of when each MR- MT2010, MR-MT2100, MR-MT2200, MR-MT2300, and MR-MT2400 is used...

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For the module configuration of the sensing module, the head module must be connected at the leftmost side, and up to four extension modules can be connected at the right side of the head module... The head module can be used alone...

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Select this mode to drive motors... Use this mode for driving stepping motors through general-purpose pulse train drivers just like servo amplifier axes by outputting position commands in general-purpose pulse train signals from a servo system controller... Axes are occupied by the number of motor axes connected to MR-MT2200... Axes are occupied in the same way as when MR-J4-B servo amplifiers are used...

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For the sensing module, each extension module occupies one station... When the head module and an extension module are used together, one station is occupied by the combination of the head module and the extension module next to it... However, when the head module is used alone, the head module itself occupies one station... The following shows how stations are counted...

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Two head modules + Two extension modules each for one

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The maximum number of connectable axes in one SSCNET III/H system is equal to the maximum number of connectable axes of the servo system controller... The number of axes per one system is the total number of axes of general-purpose pulse train drivers connected to MR-MT2200 modules and servo amplifiers...

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When the sensing module is connected to a servo system controller, set the communication type of the servo system controller to "SSCNET III/H"... The sensing module cannot be connected to the servo system controller with "SSCNET III"...

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When fumigants that contain halogen materials, such as fluorine, chlorine, bromine, and iodine, are used for disinfecting and protecting wooden packaging from insects, they cause malfunction when entering our products... Please take necessary precautions to ensure that remaining materials from fumigant do not enter our products, or treat packaging with methods other than fumigation, such as heat treatment... Additionally, disinfect and protect wood from insects before packing the products...

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(b) Align the extension unit's coupling hook and the head unit's guide and connect the unit by connecting the connectors on the side... When connecting multiple extension units, align the extension unit's coupling hook to the guide and connect the connectors on the side...

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(d) Attach a connector cover to the rightmost extension module after connecting the necessary number of extension modules... The printed character string "PULL" should be at the top of the connector cover... Be careful in the attachment direction of the connector cover...

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CAUTION Check if the sliding hooks of the module have been securely locked on the DIN rail... Otherwise, it may cause a malfunction and drop of the module...

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(a) Pull down the bottom sliding hook... (b) Pull the module toward you...

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CAUTION Securely pull out the sliding hooks at the top and bottom of a module until they click... Otherwise, it may cause a malfunction and drop of the module...

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Maintain specified clearances between the module and the inner surfaces of a control cabinet or other equipment... Otherwise, it may cause a malfunction...

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For the CN1A connector of MR-MT2010, connect the SSCNET III cable connected to a controller, a servo amplifier at the previous station, or the head module of the sensing module... Put an accessory cap to the CN1B connector of the servo amplifier or the head module of the sensing module in the final station...

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(b) Disconnection Pull out the SSCNET III cable connector while holding a tab on the connector... When the SSCNET III cable is removed from MR-MT2010, be sure to put caps on the connectors to protect them from dusts... Attach the protective tubes on the optical cord ends of the connectors...

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While pressing the release button with a flat head screwdriver with the blade edge width of 2... 0 mm to 2... 5 mm, insert a wire all the way in... Then, remove the screwdriver... We recommend that you use the flat head screwdriver "model: SZS 0,4X2,5, product No... : 1205037" manufactured by Phoenix Contact...

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Use a flat head screwdriver to loosen the terminal block installation screws and remove the terminal block... Use the flat head screwdriver to tighten the terminal block installation screws and install the terminal block... If the terminal block is not fixed securely, it may cause a drop, short-circuit, and malfunction...

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(1) Grounding shield of shielded cables The following shows measures against malfunctions of the sensing module when the sensing module is installed near a device which generates excessive noise... Ground a shield of the shielded cable near the sensing module, and be careful that the cable after grounding should not be affected by electromagnetic induction of the cable before grounding... Partly remove the insulator of the shielded cable, and ground the exposed shielded part by making contact in a large area with the cabinet... You can also use clamp metal parts as shown in figure 5... 2... Mask the painted internal wall of the cabinet that touches the clamp metal parts...

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A ferrite core has the effect of reducing conduction noise in the band around 10 MHz and radiated noise in the bands between 30 MHz to 100 MHz... When the shield effect of the shielded cable drawn out from the cabinet is not obtained enough or when emission of conduction noise from a power supply line should be suppressed, we recommend that you install the ferrite core... Install the ferrite core at the position of the cable shown in the following figure... If the installation position is incorrect, the ferrite core will not be effective...

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The MR-MT2010 SSCNET III/H head module is used for SSCNET III/H communications... This module is necessary to use a sensing module... Connect extension modules to this module... This module can be used alone because it has digital I/Os... 4... 2 Standard specifications

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SSCNET III cable connector (CN1B) Connect the next axis servo amplifier or head module... Put a cap on this connector for the final module...

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Use the rotary switches (SW1 and SW2) of the MR-MT2010 SSCNET III/H head module to set a start station number... Starting from the station number of the head module set with the rotary switches, sequentially assign the station number to each extension module connected to the head module... Each of the extension modules occupies one station...

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When the module is powered on When the module is powered on, both the RUN and ERR LEDs turn on... When the head module is ready to communicate with extension modules without any error, the ERR LED turns off...

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(1) Power supply and I/O signal connector (CN2)

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Common terminals for input signals... Input 24 V DC (24 V DC 10%) for I/O interface... The power supply capacity changes depending on the number of I/O interface points to be used... For sink interface, connect + of 24 V DC external power supply... For source interface, connect - of the 24 V DC external power supply...

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Note... Circuit protectors are required for protecting power supplies, wires, sensing modules, and

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This section provides the details of the I/O signal interfaces (refer to the I/O division in the table) given in section 4... 7... 2... Refer to this section and make connection with the external device... (1) Digital input interface DI-1

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(a) Sink output interface When the output FET is turned on, the current will flow to the drain terminal... Lamps, relays, or photocouplers can be driven... Install a diode (D) for an inductive load, or install an inrush current suppressing resistor (R) for a lamp load... (Rated current: 60 mA or less, maximum current: 75 mA or less, inrush current: 120 mA or less)

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Mass [kg] 0... 2 Note 1... When the module is used at an ambient temperature exceeding 55 C and up to 60 C, the numbers of simultaneously on

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Level output function This function digitally outputs values depending on the level of each monitor value of the pulse I/O module, analog I/O module, and encoder I/F module... Values can be digitally output without the controller...

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When the module is powered on When the module is powered on, both the RUN and ERR LEDs turn on in orange and then show the status above after the initialization of MR-MT2100...

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DI1 CN1-10 External input signal with the timing-latch input function Input digital input signals...

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Common terminals for output signals... Input 24 V DC (24 V DC 10%) for I/O interface... The power supply capacity varies depending on the number of I/O interface points to be used... For sink interface, connect - of the 24 V DC external power supply... For source interface, connect + of the 24 V DC external power supply...

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This section provides the details of the I/O signal interfaces (refer to the I/O division in the table) given in section 5... 6... 2... Refer to this section and make connection with the external device... (1) Digital input interface DI-1

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(a) Sink output interface When the output FET is turned on, the current will flow to the drain terminal... Lamps, relays, or photocouplers can be driven... Install a diode (D) for an inductive load, or install an inrush current suppressing resistor (R) for a lamp load... (Rated current: 60 mA or less, maximum current: 75 mA or less, inrush current: 120 mA or less) A maximum of 1... 6 V voltage drop occurs in MR-MT2100...

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When the output FET is turned on, the current will flow from the output terminal to a load... A lamp, relay, or photocoupler can be driven... Install a diode (D) for an inductive load, or install an inrush current suppressing resistor (R) for a lamp load... (Rated current: 60 mA or less, maximum current: 75 mA or less, inrush current: 120 mA or less) A maximum of 1... 6 V voltage drop occurs in MR-MT2100...

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The MR-MT2200 pulse I/O module can input/output pulses in each input/output type (forward/reverse rotation pulse train, signed pulse train, and A-phase/B-phase pulse train)... The MR-MT2200 pulse I/O module has two modes: axis mode and station mode... In the axis mode, stepping motors can be driven through general-purpose pulse train drivers just like servo amplifier axes... 6... 2 Standard specifications

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Pulse input function This function sends the input number of pulses to the controller... Use parameters to set an input type (forward/reverse rotation pulse train, signed pulse train, or A-phase/B-phase pulse train)...

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A-axis and B-axis are used in the station mode... Set the I/O switching settings of A-axis and B-axis with parameters ([Pr... PTC001] for A-axis and [Pr... PTC017] for B-axis)... Refer to section 6... 5... 2 (1) for setting details...

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When using the pulse I/O unit in station mode, the axis set to pulse output in I/O switching setting can be switched by setting the output function of the open collector pulse output terminal (CW_/CCW_) with the parameter...

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When the module is powered on When the module is powered on, both the AX... A and AX... B LEDs turn on in orange and then show the status above after the initialization of MR-MT2200...

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Upper stroke limit FLS_ CN1-9 CN2-9 The upper stroke limit and lower stroke limit can be connected to the pulse I/O module and used... The signal is enabled by the controller-side setting... Input the upper stroke limit and lower stroke limit... For details, refer to the controller users manual...

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Common terminals for input signals... When DI-2 of I/O division is used, input the I/O interface power supply... The power supply capacity varies depending on the number of I/O interface points to be used... For 24 V input (24 V DC 10%) For sink interface, connect + of 24 V DC external power supply... For source interface, connect - of the 24 V DC external power supply... For 5 V input (5 V DC 10%) For sink interface, connect + of 5 V DC external power supply... For source interface, connect - of the 5 V DC external power supply...

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For differential line driver type (max... output frequency of 4 Mpulses/s) Forward rotation pulse train between CWP and CWN Reverse rotation pulse train between CCWP and CCWN

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Common terminals for input signals... When DI-2 of I/O division is used, input the I/O interface power supply... The power supply capacity varies depending on the number of I/O interface points to be used... For 24 V input (24 V DC 10%) For sink interface, connect + of 24 V DC external power supply... For source interface, connect - of the 24 V DC external power supply... For 5 V input (5 V DC 10%) For sink interface, connect + of 5 V DC external power supply... For source interface, connect - of the 5 V DC external power supply...

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This section provides the details of the I/O signal interfaces (refer to the I/O division in the table) given in section 6... 7... 2... Refer to this section and make connection with the external device... (1) Feedback pulse input interface DI-1

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(a) Sink input interface Transmit signals from sink (open-collector) type transistor output, relay switch, etc...

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Transmit signals from source (open-collector) type transistor outputs, relay switches, etc...

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(b) Source input interface Transmit signals from source (open-collector) type transistor outputs, relay switches, etc...

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(a) Sink output interface When the output transistor is turned on, the current will flow to the collector terminal... Lamps, relays, or photocouplers can be driven... Install a diode (D) for an inductive load, or install an inrush current suppressing resistor (R) for a lamp load... (Rated current: 40 mA or less, maximum current: 50 mA or less, inrush current: 100 mA or less) A maximum of 2... 6 V voltage drop occurs in MR-MT2200...

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When the output transistor is turned on, the current will flow from the output terminal to a load... Lamps, relays, or photocouplers can be driven... Install a diode (D) for an inductive load, or install an inrush current suppressing resistor (R) for a lamp load... (Rated current: 40 mA or less, maximum current: 50 mA or less, inrush current: 100 mA or less) A maximum of 2... 6 V voltage drop occurs in MR-MT2200...

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Check the specifications of the general-purpose pulse train driver to be connected...

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Note... Connect the cable shield directly to FG...

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Check the specifications of the general-purpose pulse train driver to be connected...

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Normally, the driver of the stepping motor, etc... has restrictions on the timing (interval time) of command pulse for switching the motor rotation direction... Considering the restrictions of the driver, set the dwell time (time when pulse is not outputted) to the controller for switching the motor rotation direction... An output change equivalent to when the command pulses are outputted may occur at the following timing of the pulse I/O module... (e... g... at initial setting of polarity and setting of output polarity)

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Input pulse command form selection 0: Forward/reverse rotation pulse train 1: Signed pulse train 2: A-phase/B-phase pulse train

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The following lists the functions of the MR-MT2300 analog I/O module... For details and usage of the functions, refer to the manual for the controller...

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(6) Inter-module connection connector (CN3B) Connect with the head module or the preceding extension module...

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When the module is powered on When the module is powered on, both the RUN and ERR LEDs turn on in orange and then show the status above after the initialization of MR-MT2300...

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Turn on the analog power of the analog I/O module before turning on the control circuit power supply for the head module... Incorrect order of power-on generates [AL... 10... 4]...

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Input analog signals... Apply a voltage of -10 V DC to +10 V DC or -5 V DC to +5 V DC between AIN_P and AIN_N... Use [Pr... PTD001] to select an input voltage range (-10 V DC to +10 V DC or -5 V DC to +5 V DC)...

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This section provides the details of the I/O signal interfaces (refer to the I/O division in the table) given in section 7... 6... 2... Refer to this section and make connection with the external device... (1) Analog input

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2... When there is a potential difference between the AG terminal and the GND of an external device, connect the AG

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The MR-MT2400 encoder I/F module sends position data received from an encoder to the servo system controller through SSCNET III/H communications... The servo system controller performs the position management and fully closed loop control by using the position data obtained through SSCNET III/H communications... 8... 2 Standard specifications

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When the module is powered on When the module is powered on, both the CH... A and CH... B LEDs turn on in orange and then show the status above when the communications with the head module are established and the runtime is started...

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Note... Supply the power to the encoder externally if the power supplied to the encoder is

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When writing parameters from the controller, check that the station number or axis number of the sensing module is set correctly... If the set station number or axis number is incorrect, the parameter setting values of a different station or axis will be written, leading to unexpected operations of the sensing module...

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PTA033 *LO1 Level output function - Setting group 1 - Detailed setting 1 0000h PTA034 LONL1 Level output function - Setting group 1 - Lower limit setting - Lower 0000h

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PTB001 *IDI11 DI1 (CN1-10) setting 1 0000h PTB002 *IDI12 DI1 (CN1-10) setting 2 0000h

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PTB097 ILOFH5 Level output function - Setting group 5 - Upper limit setting - Upper 0000h PTB098 *ILO6 Level output function - Setting group 6 - Detailed setting 1 0000h

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PTB101 ILOFL6 Level output function - Setting group 6 - Upper limit setting - Lower 0000h

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PTC001 *PFSA A-axis setting 0000h PTC002 *PIFA1 A-axis input function setting 1 0000h

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PTC065 *IDO1A1 DO1A (CN1-11) setting 1 0000h PTC066 *IDO1A2 DO1A (CN1-11) setting 2 0000h

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PTD001 *AIF1 Analog input function selection 1 0000h PTD002 *AI1F2 Analog input ch... 1 - Function selection 2 0000h

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PTD052 *AO3SL Analog output ch... 3 - Scaling function - Lower limit setting -20000

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PTE043 **SDPLA Ch... A position variation error threshold - Lower 0000h

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PTE099 **SDPLB Ch... B position variation error threshold - Lower 0000h

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_ _ x _ Digital input signal edge selection Select an edge for the timing latch input... 0: Rising edge 1: Falling edge

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_ _ x _ Digital input signal edge selection Select an edge for the timing latch input... 0: Rising edge 1: Falling edge

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_ _ x _ Digital input signal edge selection Select an edge for the timing latch input... 0: Rising edge 1: Falling edge

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_ _ x _ Digital input signal edge selection Select an edge for the timing latch input... 0: Rising edge 1: Falling edge

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_ _ x _ Digital input signal edge selection Select an edge for the timing latch input... 0: Rising edge 1: Falling edge

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_ _ x _ Digital input signal edge selection Select an edge for the timing latch input... 0: Rising edge 1: Falling edge

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_ _ _ x Function selection Select a function for the digital output signal... 0: Digital output 2: Level output The digital output will be always off when other than above is set...

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_ _ _ x Function selection Select a function for the digital output signal... 0: Digital output 2: Level output The digital output will be always off when other than above is set...

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PTA034 LONL1 Level output function - Setting group 1 - Lower limit setting - Lower Set the lower digits for the lower limit with the level output function... Set with 32-bit signed hexadecimal values by combining upper [Pr... PTA035] and lower [Pr... PTA034]...

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PTA039 LONL2 Level output function - Setting group 2 - Lower limit setting - Lower Set the lower digits for the lower limit with the level output function... Set with 32-bit signed hexadecimal values by combining upper [Pr... PTA040] and lower [Pr... PTA039]...

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_ _ x _ Digital input signal edge selection Select an edge for the timing latch input... 0: Rising edge 1: Falling edge

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_ _ x _ Digital input signal edge selection Select an edge for the timing latch input... 0: Rising edge 1: Falling edge

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_ _ x _ Digital input signal edge selection Select an edge for the timing latch input... 0: Rising edge 1: Falling edge

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_ _ x _ Digital input signal edge selection Select an edge for the timing latch input... 0: Rising edge 1: Falling edge

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_ _ x _ Digital input signal edge selection Select an edge for the timing latch input... 0: Rising edge 1: Falling edge

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_ _ x _ Digital input signal edge selection Select an edge for the timing latch input... 0: Rising edge 1: Falling edge

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_ _ x _ Digital input signal edge selection Select an edge for the timing latch input... 0: Rising edge 1: Falling edge

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_ _ x _ Digital input signal edge selection Select an edge for the timing latch input... 0: Rising edge 1: Falling edge

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_ _ x _ Level output function - Setting group selection Select a setting group for using the level output function... 0: Setting group 1 1: Setting group 2 2: Setting group 3 3: Setting group 4 4: Setting group 5 5: Setting group 6 6: Setting group 7 7: Setting group 8

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_ _ x _ Level output function - Setting group selection Select a setting group for using the level output function... 0: Setting group 1 1: Setting group 2 2: Setting group 3 3: Setting group 4 4: Setting group 5 5: Setting group 6 6: Setting group 7 7: Setting group 8

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_ _ x _ Level output function - Setting group selection Select a setting group for using the level output function... 0: Setting group 1 1: Setting group 2 2: Setting group 3 3: Setting group 4 4: Setting group 5 5: Setting group 6 6: Setting group 7 7: Setting group 8

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_ _ x _ Level output function - Setting group selection Select a setting group for using the level output function... 0: Setting group 1 1: Setting group 2 2: Setting group 3 3: Setting group 4 4: Setting group 5 5: Setting group 6 6: Setting group 7 7: Setting group 8

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_ _ x _ Level output function - Setting group selection Select a setting group for using the level output function... 0: Setting group 1 1: Setting group 2 2: Setting group 3 3: Setting group 4 4: Setting group 5 5: Setting group 6 6: Setting group 7 7: Setting group 8

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_ _ x _ Level output function - Setting group selection Select a setting group for using the level output function... 0: Setting group 1 1: Setting group 2 2: Setting group 3 3: Setting group 4 4: Setting group 5 5: Setting group 6 6: Setting group 7 7: Setting group 8

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_ _ x _ Level output function - Setting group selection Select a setting group for using the level output function... 0: Setting group 1 1: Setting group 2 2: Setting group 3 3: Setting group 4 4: Setting group 5 5: Setting group 6 6: Setting group 7 7: Setting group 8

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_ _ x _ Level output function - Setting group selection Select a setting group for using the level output function... 0: Setting group 1 1: Setting group 2 2: Setting group 3 3: Setting group 4 4: Setting group 5 5: Setting group 6 6: Setting group 7 7: Setting group 8

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_ _ x _ Level output function - Setting group selection Select a setting group for using the level output function... 0: Setting group 1 1: Setting group 2 2: Setting group 3 3: Setting group 4 4: Setting group 5 5: Setting group 6 6: Setting group 7 7: Setting group 8

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_ _ x _ Level output function - Setting group selection Select a setting group for using the level output function... 0: Setting group 1 1: Setting group 2 2: Setting group 3 3: Setting group 4 4: Setting group 5 5: Setting group 6 6: Setting group 7 7: Setting group 8

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_ _ x _ Level output function - Setting group selection Select a setting group for using the level output function... 0: Setting group 1 1: Setting group 2 2: Setting group 3 3: Setting group 4 4: Setting group 5 5: Setting group 6 6: Setting group 7 7: Setting group 8

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_ _ x _ Level output function - Setting group selection Select a setting group for using the level output function... 0: Setting group 1 1: Setting group 2 2: Setting group 3 3: Setting group 4 4: Setting group 5 5: Setting group 6 6: Setting group 7 7: Setting group 8

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_ _ x _ Level output function - Setting group selection Select a setting group for using the level output function... 0: Setting group 1 1: Setting group 2 2: Setting group 3 3: Setting group 4 4: Setting group 5 5: Setting group 6 6: Setting group 7 7: Setting group 8

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_ _ x _ Level output function - Setting group selection Select a setting group for using the level output function... 0: Setting group 1 1: Setting group 2 2: Setting group 3 3: Setting group 4 4: Setting group 5 5: Setting group 6 6: Setting group 7 7: Setting group 8

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_ _ x _ Level output function - Setting group selection Select a setting group for using the level output function... 0: Setting group 1 1: Setting group 2 2: Setting group 3 3: Setting group 4 4: Setting group 5 5: Setting group 6 6: Setting group 7 7: Setting group 8

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_ _ x _ Level output function - Setting group selection Select a setting group for using the level output function... 0: Setting group 1 1: Setting group 2 2: Setting group 3 3: Setting group 4 4: Setting group 5 5: Setting group 6 6: Setting group 7 7: Setting group 8

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PTB074 ILONL1 Level output function - Setting group 1 - Lower limit setting - Lower Set the lower digits for the lower limit with the level output function... Set with 32-bit signed hexadecimal values by combining upper [Pr... PTB075] and lower [Pr... PTB074]...

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PTB079 ILONL2 Level output function - Setting group 2 - Lower limit setting - Lower Set the lower digits for the lower limit with the level output function... Set with 32-bit signed hexadecimal values by combining upper [Pr... PTB080] and lower [Pr... PTB079]...

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PTB084 ILONL3 Level output function - Setting group 3 - Lower limit setting - Lower Set the lower digits for the lower limit with the level output function... Set with 32-bit signed hexadecimal values by combining upper [Pr... PTB085] and lower [Pr... PTB084]...

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PTB094 ILONL5 Level output function - Setting group 5 - Lower limit setting - Lower Set the lower digits for the lower limit with the level output function... Set with 32-bit signed hexadecimal values by combining upper [Pr... PTB095] and lower [Pr... PTB094]...

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PTB099 ILONL6 Level output function - Setting group 6 - Lower limit setting - Lower Set the lower digits for the lower limit with the level output function... Set with 32-bit signed hexadecimal values by combining upper [Pr... PTB100] and lower [Pr... PTB099]...

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PTB109 ILONL8 Level output function - Setting group 8 - Lower limit setting - Lower Set the lower digits for the lower limit with the level output function... Set with 32-bit signed hexadecimal values by combining upper [Pr... PTB110] and lower [Pr... PTB109]...

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_ _ _ x Input pulse train filter selection Noise tolerance is improved when an appropriate filter for the input pulse frequency is selected... 0: Input pulse train is 4 Mpulses/s or less... 1: Input pulse train is 1 Mpulse/s or less... 2: Input pulse train is 500 kpulses/s or less... 3: Input pulse train is 200 kpulses/s or less... 1 Mpulse/s or lower input is supported by "1"... When inputting pulses exceeding 1 Mpulse/s and up to 4 Mpulses/s, set "0"... Incorrect setting may cause the following malfunctions...

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PTC007 *CMXA A-axis input-side electronic gear setting Set an electronic gear when the pulse input function is selected... The electronic gear is applied for the pulses inputted to the pulse I/O module, and the pulses are returned to the controller...

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PTC008 *CDVA A-axis output-side electronic gear setting Set an electronic gear when the pulse output function is selected... The electronic gear is applied for the output command pulses from the controller...

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_ _ _ x Input pulse train filter selection Noise tolerance is improved when an appropriate filter for the input pulse frequency is selected... 0: Input pulse train is 4 Mpulses/s or less... 1: Input pulse train is 1 Mpulse/s or less... 2: Input pulse train is 500 kpulses/s or less... 3: Input pulse train is 200 kpulses/s or less... 1 Mpulse/s or lower input is supported by "1"... When inputting pulses exceeding 1 Mpulse/s and up to 4 Mpulses/s, set "0"... Incorrect setting may cause the following malfunctions...

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PTC023 *CMXB B-axis input-side electronic gear setting Set an electronic gear when the pulse input function is selected... The electronic gear is applied for the pulses inputted to the pulse I/O module, and the pulses are returned to the controller...

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_ _ _ x Polarity selection Select a polarity for the input signal... 0: Positive polarity 1: Negative polarity

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_ _ _ x Polarity selection Select a polarity for the input signal... 0: Positive polarity 1: Negative polarity

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_ _ _ x Polarity selection Select a polarity for the input signal... 0: Positive polarity 1: Negative polarity

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_ _ _ x Function selection Select a function for the digital output signal... 0: Digital output 1: Pulse coincidence output When "Pulse input function (_ _ _ 0)" is selected with "I/O function selection" of [Pr... PTC001], this digit will be always set to "digital output" regardless of the setting value...

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_ _ _ x Function selection Select a function for the digital output signal... 0: Digital output 1: Pulse coincidence output When "Pulse input function (_ _ _ 0)" is selected with "I/O function selection" of [Pr... PTC001], this digit will be always set to "digital output" regardless of the setting value...

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_ _ _ x Function selection Select a function for the digital output signal... 0: Digital output 1: Pulse coincidence output When "Pulse input function (_ _ _ 0)" is selected with "I/O function selection" of [Pr... PTC001], this digit will be always set to "digital output" regardless of the setting value...

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_ _ _ x Function selection Select a function for the digital output signal... 0: Digital output 1: Pulse coincidence output When "Pulse input function (_ _ _ 0)" is selected with "I/O function selection" of [Pr... PTC001], this digit will be always set to "digital output" regardless of the setting value...

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_ _ _ x Function selection Select a function for the digital output signal... 0: Digital output 1: Pulse coincidence output When "Pulse input function (_ _ _ 0)" is selected with "I/O function selection" of [Pr... PTC001], this digit will be always set to "digital output" regardless of the setting value...

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_ _ _ x Function selection Select a function for the digital output signal... 0: Digital output 1: Pulse coincidence output When "Pulse input function (_ _ _ 0)" is selected with "I/O function selection" of [Pr... PTC017], this digit will be always set to "digital output" regardless of the setting value...

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_ _ _ x Function selection Select a function for the digital output signal... 0: Digital output 1: Pulse coincidence output When "Pulse input function (_ _ _ 0)" is selected with "I/O function selection" of [Pr... PTC017], this digit will be always set to "digital output" regardless of the setting value...

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_ _ _ x Function selection Select a function for the digital output signal... 0: Digital output 1: Pulse coincidence output When "Pulse input function (_ _ _ 0)" is selected with "I/O function selection" of [Pr... PTC017], this digit will be always set to "digital output" regardless of the setting value...

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_ _ _ x Function selection Select a function for the digital output signal... 0: Digital output 1: Pulse coincidence output When "Pulse input function (_ _ _ 0)" is selected with "I/O function selection" of [Pr... PTC017], this digit will be always set to "digital output" regardless of the setting value...

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_ _ _ x Function selection Select a function for the digital output signal... 0: Digital output 1: Pulse coincidence output When "Pulse input function (_ _ _ 0)" is selected with "I/O function selection" of [Pr... PTC017], this digit will be always set to "digital output" regardless of the setting value...

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_ _ x _ Count setting for when the count average or moving average is selected Select the average number of processing times when the count average or moving average is selected... 0: None 1: 2 times 2: 4 times 3: 8 times 4: 16 times

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PTD003 *AI1FT Analog input ch... 1 - Primary delay filter time constant Set a primary delay filter time constant of analog input ch... 1... This parameter will be enabled when "Primary delay filter (_ _ _ 3)" is selected with "Input filter selection" of [Pr... PTD002]... The setting range depends on "Analog input sampling cycle" of [Pr... PTD001]... The following shows the setting range... Setting over the range will trigger [AL... 37... 2]...

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PTD011 *AI2FT Analog input ch... 2 - Primary delay filter time constant Set a primary delay filter time constant of analog input ch... 2... This parameter will be enabled when "Primary delay filter (_ _ _ 3)" is selected with "Input filter selection" of [Pr... PTD010]... The setting range depends on "Analog input sampling cycle" of [Pr... PTD001]... The following shows the setting range... Setting over the range will trigger [AL... 37... 2]...

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PTD019 *AI3FT Analog input ch... 3 - Primary delay filter time constant Set a primary delay filter time constant of analog input ch... 3... This parameter will be enabled when "Primary delay filter (_ _ _ 3)" is selected with "Input filter selection" of [Pr... PTD018]... The setting range depends on "Analog input sampling cycle" of [Pr... PTD001]... The following shows the setting range... Setting over the range will trigger [AL... 37... 2]...

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PTD027 *AI4FT Analog input ch... 4 - Primary delay filter time constant Set a primary delay filter time constant of analog input ch... 4... This parameter will be enabled when "Primary delay filter (_ _ _ 3)" is selected with "Input filter selection" of [Pr... PTD026]... The setting range depends on "Analog input sampling cycle" of [Pr... PTD001]... The following shows the setting range... Setting over the range will trigger [AL... 37... 2]...

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An alarm may occur when the difference in the setting of [Pr... PTD043 Analog output ch... 2 - Scaling function - Upper limit setting] and [Pr... PTD044 Analog output ch... 2 - Scaling function - Lower limit setting] is small... In this case, make the difference larger... An alarm may occur when the setting of [Pr... PTD045 Analog output ch... 2 - Scaling function - Shift amount setting] is large... In this case, set the value smaller...

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PTD061 *AO4SF Analog output ch... 4 - Scaling function - Shift amount setting Set the shift amount of the analog output signal for the scaling function... [AL... 37 Parameter error] may occur depending on the setting combination of [Pr... PTD058] to [Pr... PTD061]... Refer to [Pr... PTD058] for details...

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PTD072 *AIAV2C2 Analog input average 2 - Ch... 2 weighting Set the weighting for channel 2...

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_ x _ _ Encoder data conversion waiting time setting Set the data communication conversion time of the encoder... 0: T (Communication data rate setting cycle)/2 1: 0... 5 s 2: 1 s 3: 1... 5 s 4: 2 s 5: 4 s 6: 8 s 7: 10 s

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_ _ x x Effective data length setting Set the effective data length of the encoder... A value of 20h or over will be fixed to 20h... Set the effective data length converted to hexadecimal value... For example, set "0Ch" when the effective data length is 12 bits... Set "19h" when the effective data length is 25 bits... Setting range: 0h to 2Fh

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[Precautions] When using this function, set the threshold for the position variation error smaller than "2^(Multi-turn data length + Single-turn data length - 1)"... When the position variation within the data update cycle is equal to or larger than "2^(Multi-turn data length + Single-turn data length - 1)", the alarm may not be detected... When the data update cycle is doubled, the position variation within the data update cycle will be doubled... Set the parameter according to the data update cycle... When the position variation error threshold is small, an error is more likely to be detected... However, an error caused by external factor such as noise is also more likely to be detected... When the position variation error threshold is large, an error is less likely to be detected... However, an error caused by external factor such as noise is also less likely to be detected... Set the parameter according to the system and environment...

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_ x _ _ Encoder data conversion waiting time setting Set the data communication conversion time of the encoder... 0: T (Communication data rate setting cycle)/2 1: 0... 5 s 2: 1 s 3: 1... 5 s 4: 2 s 5: 4 s 6: 8 s 7: 10 s

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_ _ x x Effective data length setting Set the effective data length of the encoder... A value of 20h or over will be fixed to 20h... Set the effective data length converted to hexadecimal value... For example, set "0Ch" when the effective data length is 12 bits... Set "19h" when the effective data length is 25 bits... Setting range: 0h to 2Fh

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[Precautions] When using this function, set the threshold for the position variation error smaller than "2^(Multi-turn data length + Single-turn data length - 1)"... When the position variation within the data update cycle is equal to or larger than "2^(Multi-turn data length + Single-turn data length - 1)", the alarm may not be detected... When the data update cycle is doubled, the position variation within the data update cycle will be doubled... Set the parameter according to the data update cycle... When the position variation error threshold is small, an error is more likely to be detected... However, an error caused by external factor such as noise is also more likely to be detected... When the position variation error threshold is large, an error is less likely to be detected... However, an error caused by external factor such as noise is also less likely to be detected... Set the parameter according to the system and environment...

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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...

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PB01 *DEL [AL... 35 I/O pulse frequency error] alarm level selection 0000h

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PC43 *HDI11 Head module DI11 (CN2-18) setting 0000h

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PA07 *EGS Input-side electronic gear multiplication Set the multiplication of the electronic gear and feedback counter in the input side... 1: Reciprocal of the output-side electronic gear multiplication 2: 1 When using the electronic gear in axis mode, the maximum frequency of the pulse output is determined by the settings of [Pr... PA06], [Pr... PA07] and [Pr... PB01]... Refer to [Pr... PA06] for details...

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PA16 *PRH Number of pulses per revolution setting Upper Set the number of command pulses per motor revolution... Set the higher four digits of the number of pulses per revolution in decimal numbers in this parameter...

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When using the electronic gear in axis mode, the maximum frequency of the pulse output is determined by the settings of [Pr... PA06], [Pr... PA07] and [Pr... PB01]... Refer to [Pr... PA06] for details...

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_ _ x _ Command pulse output form 0: Forward/reverse rotation pulse train 1: Signed pulse train 2: A-phase/B-phase pulse train (The pulse I/O module

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_ x _ _ INP (In-position) input setting 0: Disuse (Use the virtual INP signal... ) 1: Use (Use the signal from the connected module... ) The virtual INP signal is created in the module when the command frequency is equal to "0"...

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PB18 *BAS Motor rated speed Set the rated speed of the motor to be used... When the rated speed of the motor is unknown, set a value equal to or less than [Pr... PB09 Motor maximum speed]...

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PC33 *HDI1 Head module DI1 (CN2-13) setting Set a function for the head module input signal DI1 (CN2-13)... This parameter is enabled only for the first axis of one block... The setting is not valid for the other axes...

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PC37 *HDI5 Head module DI5 (CN2-15) setting Set a function for the head module input signal DI5 (CN2-15)... This parameter is enabled only for the first axis of one block... The setting is not valid for the other axes...

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PC43 *HDI11 Head module DI11 (CN2-18) setting Set a function for the head module input signal DI11 (CN2-18)... This parameter is enabled only for the first axis of one block... The setting is not valid for the other axes...

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PC47 *HDO1 Head module DO1 (CN2-20) setting Set a function for the head module output signal DO1 (CN2-20)... This parameter is enabled only for the first axis of one block... The setting is not valid for the other axes...

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When an error occurs during operation, the corresponding alarm or warning is displayed on the status display LED... If an alarm is displayed, refer to section 10... 4 and take the appropriate action... If any warning occurs, refer to section 10... 5 and take the appropriate action... 10... 1 Explanations of the lists

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1F... 1 Encoder I/F module - Ch... A encoder not supported

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20... 5 Encoder I/F module - Ch... A Normal communication - Transmission data error 1

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71... 1 Encoder I/F module - Ch... B Normal communication - Receive data error 1

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2... The alarm No... will not be shown... Check the status display LED of each sensing module...

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The alarm No... will not be shown on the module LED... Check the alarm No... of the sensing module by starting MELSOFT MR Configurator2 via MELSOFT MT Works2... The cause of alarm occurrence can also be checked using MELSOFT MR Configurator2... Alarm No... : 10 Name: Undervoltage

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Check the number of modules connected and the setting of the rotary switch... For the axis mode, the setting of the last axis should be 64 or lower... For the station mode, the setting of the last station should be 64 or lower...

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Alarm content A part in the head module failed... An error occurred in the clock transmitted from the controller...

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(1) An error occurred in the synchronous signal transmitted from the controller...

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Disconnect the cables except for the control circuit power supply, and then check the repeatability...

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1B... 2 Driver error 2 (1) RD (Ready) of a general-purpose pulse train driver turns off while command pulses are outputted from the pulse I/O module...

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It does not support... Replace it with the head module with software version which supports the connected encoder...

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Alarm content A communication error has occurred between the encoder connected to ch... A and the encoder I/F module...

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Alarm content A communication error has occurred between the encoder connected to ch... A and the encoder I/F module...

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(1) The external conductor of the encoder cable is not connected to an SHD pin of the connector...

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Alarm content An error was detected in the linear encoder connected to ch... A of the encoder I/F module... (The details vary depending on the linear encoder manufacturer... )

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Alarm content An error was detected in the linear encoder connected to ch... A of the encoder I/F module... (The details vary depending on the linear encoder manufacturer... )

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(2) When using the electronic gear in axis mode, the pulse frequency to be output from Ch... A is high compared to the maximum frequency of the pulse output... [Pr... PA06], [Pr... PA07] and [Pr... PB01]

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(2) When using electronic gear in axis mode, the pulse frequency to be output from Ch... B is high compared to the maximum frequency of the pulse output... [Pr... PA06], [Pr... PA07] and [Pr... PB01]

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(4) A vinyl tape is adhered to the SSCNET III cable, or the cable is in contact with a wire insulator containing migrating plasticizer...

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Alarm content A communication error has occurred between the encoder connected to ch... B and the encoder I/F module...

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Alarm content A communication error has occurred between the encoder connected to ch... B and the encoder I/F module...

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Alarm content A communication error has occurred between the encoder connected to ch... B and the encoder I/F module...

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(1) The external conductor of the encoder cable is not connected to an SHD pin of the connector...

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It is repeatable... Replace the module previous and next to the corresponding module...

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Alarm content An error was detected in the linear encoder connected to ch... B of the encoder I/F module... (The details vary depending on the linear encoder manufacturer... )

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Alarm content A communication error occurred between the head module and controller... An error occurred in the serial communication (Mitsubishi Electric general-purpose AC servo protocol)...

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An operation will be stopped with [AL... E7]... If any other warning occurs, the operation can be continued, but an alarm may occur, causing improper operation... A warning No... will not be shown on the module LED... Check the warning No... of the sensing module by starting MELSOFT MR Configurator2 via MELSOFT MT Works2... Remove the cause of warning according to this section... Use MR Configurator2 to refer to the cause of warning occurrence... Alarm No... : E4 Name: Parameter warning

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The following shows some examples of possible causes which do not trigger an alarm or warning... Remove each cause by referring to this section... 10... 6... 1 MR-MT2010 SSCNET III/H head module

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The number of extension modules connected to the head module exceeded the maximum number...

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The number of extension modules connected to the head module exceeded the maximum number...

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Mounting screw Screw size: M4 Tightening torque: 1... 24 [Nm]

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Mounting screw Screw size: M4 Tightening torque: 1... 24 [Nm]

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Mounting screw Screw size: M4 Tightening torque: 1... 24 [Nm]

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Use the sensing modules within specifications... Refer to section 1... 3, 4... 2, 5... 2, 6... 2, 7... 2 and 8... 2 for specifications such as voltage, temperature, etc... Mitsubishi Electric Co... accepts no claims for liability if the equipment is used in any other way or if modifications are made to the device, even in the context of mounting and installation...

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Sensing modules comply with category C3 in accordance with EN 61800-3... As for I/O wires (max... length 10 m... ) and encoder cables (max... length 30 m), use shielded wires and ground the shields... Sensing modules are not intended to be used on a low-voltage public network which supplies domestic premises; radio frequency interference is expected if used on such a network... The installer shall provide a guide for Installation and use, including recommended mitigation devices... To avoid the risk of crosstalk to signal cables, the installation instructions shall either recommend that the power interface cable be segregated from signal cables... Use the DC power supply installed with the sensing module in the same cabinet... Do not connect the other electric devices to the DC power supply...

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(The product is for business use (Class A) and meets the electromagnetic compatibility requirements... The seller and the user must note the above point, and use the product in a place except for home... )

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(1) Only qualified personnel are authorized to install, start-up, repair or service the machines in which these components are installed... Only trained engineers should install and operate the equipment... (ISO 13849- 1 Table F... 1 No... 5)

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The following shows configuration examples of sensing modules... Sensing modules are connected to the servo system controller by SSCNET III/H communication... Sensing modules can be connected to the same network system with the SSCNET III/H interface servo amplifier...

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The following shows MR-MT2010 signals as a typical example... App... 1... 4... 1 Signal

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operating conditions... (2) Check that the wires are not coming out from the connector... (3) Check for dust accumulation on the sensing module... (4) Check for unusual noise generated from the sensing module...

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Install the product in a load-bearing place of sensing module in accordance with the instruction manual...

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Note... The source output is usable when MR-MT2010 with software version A1 or later is connected...

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App... 1... 7... 6 Dimensions/mounting hole process drawing

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Mounting screw Screw size: M4 Tightening torque:

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Mounting screw Screw size: M4 Tightening torque:

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This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses... Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual...

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MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and/or other countries... All other product names and company names are trademarks or registered trademarks of their respective companies...

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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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SH(NA)030251ENG-B(1702)MEE Printed in Japan Specifications are subject to change without notice... This Instruction Manual uses recycled paper...

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